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MR-JE-_A
Mitsubishi Electric MR-JE-_A User Manual
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SH(NA)030128ENG-J(1708)MEE
Printed in Japan
Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
General-Purpose Interface AC Servo
1CW706
MR-JE-A SERVOAMPLIFIER
INSTRUCTIONMANUAL
J
J
2
Table of Contents
Default Chapter
2
Safety Instructions
2
Table of Contents
10
1 Functions and Configuration
16
Summary
16
Function Block Diagram
17
Servo Amplifier Standard Specifications
19
Combinations of Servo Amplifiers and Servo Motors
21
Function List
22
Model Designation
24
Structure
25
Parts Identification
25
Configuration Including Peripheral Equipment
27
2 Installation
30
Installation Direction and Clearances
31
Keep out Foreign Materials
32
Encoder Cable Stress
33
Inspection Items
33
Parts Having Service Life
34
Restrictions When Using this Product at Altitude Exceeding 1000 M and up to 2000 M above Sea Level
35
3 Signals and Wiring
36
Input Power Supply Circuit
37
I/O Signal Connection Example
42
Position Control Mode
42
Speed Control Mode
47
Torque Control Mode
49
Explanation of Power Supply System
51
Signal Explanations
51
Power-On Sequence
52
Wiring CNP1 and CNP2
53
Connectors and Pin Assignment
55
Signal (Device) Explanations
58
Detailed Explanation of Signals
67
Position Control Mode
67
Speed Control Mode
72
Torque Control Mode
74
Position/Speed Control Switching Mode
77
Speed/Torque Control Switching Mode
79
Torque/Position Control Switching Mode
81
Forced Stop Deceleration Function
82
Base Circuit Shut-Off Delay Time Function
84
Vertical Axis Freefall Prevention Function
85
Residual Risks of the Forced Stop Function (EM2)
85
Alarm Occurrence Timing Chart
86
When You Use the Forced Stop Deceleration Function
86
When You Do Not Use the Forced Stop Deceleration Function
87
Interfaces
88
Internal Connection Diagram
88
Detailed Explanation of Interfaces
90
Source I/O Interfaces
94
Servo Motor with an Electromagnetic Brake
96
Safety Precautions
96
Timing Chart
98
Grounding
101
4 Startup
102
Switching Power on for the First Time
103
Startup Procedure
103
Wiring Check
104
Surrounding Environment
105
Startup in Position Control Mode
106
Power on and off Procedures
106
Stop
106
Test Operation
107
Parameter Setting
108
Actual Operation
108
Trouble at Start-Up
109
Startup in Speed Control Mode
111
Power on and off Procedures
111
Stop
111
Test Operation
112
Parameter Setting
113
Actual Operation
114
Trouble at Start-Up
114
Startup in Torque Control Mode
115
Power on and off Procedures
115
Stop
115
Test Operation
116
Parameter Setting
117
Actual Operation
117
Trouble at Start-Up
118
Display and Operation Sections
119
Display Flowchart
120
Status Display Mode
121
Diagnostic Mode
125
Alarm Mode
127
Parameter Mode
128
External I/O Signal Display
130
Output Signal (DO) Forced Output
133
Test Operation Mode
134
5 Parameters
140
Parameter List
140
Basic Setting Parameters ([Pr. PA
148
Gain/Filter Setting Parameters ([Pr. PB
156
Extension Setting Parameters ([Pr. PC
168
I/O Setting Parameters ([Pr. PD_ _ ])
179
Extension Setting 2 Parameters ([Pr. PE
184
Extension Setting 3 Parameters ([Pr. PF_ _ ])
185
6 Normal Gain Adjustment
188
Different Adjustment Methods
188
Adjustment on a Single Servo Amplifier
188
Adjustment Using MR Configurator2
189
One-Touch Tuning
190
One-Touch Tuning Flowchart
192
Display Transition and Operation Procedure of One-Touch Tuning
195
Caution for One-Touch Tuning
210
Auto Tuning
211
Auto Tuning Mode
211
Auto Tuning Mode Basis
212
Adjustment Procedure by Auto Tuning
213
Response Level Setting in Auto Tuning Mode
214
Manual Mode
215
Gain Adjustment Mode
219
7 Special Adjustment Functions
222
Filter Setting
222
Machine Resonance Suppression Filter
222
Adaptive Filter II
225
Shaft Resonance Suppression Filter
228
Low-Pass Filter
229
Command Notch Filter
234
Gain Switching Function
235
Function Block Diagram
236
Parameter
237
Gain Switching Procedure
239
Tough Drive Function
243
Vibration Tough Drive Function
243
Instantaneous Power Failure Tough Drive Function
245
Model Adaptive Control Disabled
248
Lost Motion Compensation Function
249
8 Troubleshooting
252
Explanations of the Lists
252
Alarm List
253
Warning List
257
9 Dimensions
260
Servo Amplifier
260
Connector
263
10 Characteristics
266
Overload Protection Characteristics
266
Power Supply Capacity and Generated Loss
267
Dynamic Brake Characteristics
269
Dynamic Brake Operation
270
Permissible Load to Motor Inertia When the Dynamic Brake Is Used
271
Cable Bending Life
271
Inrush Current at Power-On
272
11 Options and Peripheral Equipment
274
Cable/Connector Sets
274
Combinations of Cable/Connector Sets
275
Regenerative Option
277
Combination and Regenerative Power
277
Selection of Regenerative Option
278
Connection of Regenerative Option
280
Dimensions
284
Junction Terminal Block MR-TB50
286
MR Configurator2
288
Specifications
288
System Requirements
289
Precautions for Using USB Communication Function
290
Selection Example of Wires
291
Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
292
Power Factor Improving AC Reactor
293
Relay (Recommended)
294
Noise Reduction Techniques
295
Earth-Leakage Current Breaker
301
EMC Filter (Recommended)
303
12 Communication Function (Mitsubishi Electric General-Purpose Ac Servo Protocol)
306
Structure
306
Configuration Diagram
306
Precautions for Using RS422/USB Communication Function
307
Communication Specifications
308
Outline of Communication
308
Parameter Setting
308
Protocol
309
Transmission Data Configuration
309
Character Codes
310
Error Codes
311
Checksum
311
Time-Out Processing
311
Retry Processing
312
Initialization
312
Communication Procedure Example
313
Command and Data No. List
314
Reading Command
314
Writing Commands
318
Detailed Explanations of Commands
320
Data Processing
320
Status Display Mode
322
Parameter
323
External I/O Signal Status (DIO Diagnosis)
327
Input Device On/Off
330
Disabling/Enabling I/O Devices (DIO)
330
Input Devices On/Off (Test Operation)
331
Test Operation Mode
332
Output Signal Pin On/Off (Output Signal (DO) Forced Output)
335
Alarm History
336
Current Alarm
337
Software Version
338
Appendix
340
App. 1 Peripheral Equipment Manufacturer (for Reference)
340
App. 2 Compliance with Global Standards
340
App. 3 Analog Monitor
351
App. 4 Low-Voltage Directive
354
App. 5 Using HF-KN Series and HF-SN Series Servo Motors
355
App. 6 When Turning on or off the Input Power Supply with DC Power Supply
357
1-Phase 200 V AC Class Power Supply
358
Directive
360
4
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Mitsubishi Electric MR-JE-_A Specifications
General
Brand
Mitsubishi Electric
Model
MR-JE-_A
Category
Amplifier
Language
English
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