MITSUBISHI General Purpose AC Servo MAO T Specifications and Instruction Manual 9 MITSUBISHI ELECTRICA\CAUTION Incorrect handling or misuse of servo drive equipment may cause equipment damage or bodily harm! In addition to the safety and handling information given throughout this manual, please fol- low the below listed precautions to assure safe equipment operation 1. Installation (1) Maintain the operating environment, power supply voltage, etc. wit ranges. (2) Do not connect AC power directly to the servo motor. (3) Keep combustible materials away from the servo amplifier and any regenerative resistor. Provide for adequate heat dissipation around the servo amplifier and any regenerative re- sistor. (4) Provide adequate protection to prevent oil, water, and foreign matter from entering the servo amplifier and servo motor. (5) Do not subject the servo motor shaft or encoder to impact, or shock loads. (6) Eliminate and prevent stress or damage to the encoder, servo motor, electromagnetic brake and other cables. (7) The grounding terminals of the servo amplifier and servo motor must be connected to- gether at one point and then connected to earth ground at one point. (8) The load connected to the servo motor must be within the recommended moment of iner- tia load-ratio as noted in specifications. (9) Do not connect a capacitive filter, etc, to the servo amplifier output. (10) When using servo motors with gear reducers, observe noted restrictions pertaii stall ing, ete, (11) Maintain servo motor shaft end loading within specified value the specified ing to i n orientation, speed, torque characteristics, permissible moments of inertia load- OPERATION (1) When using emergency stop switches, and/or forward and reverse stroke limit switches, test their proper operation before operating the machine. (2) For safety, test machine operation at lowest possible speed. (8) When furnished, the electromagnetic brake supplied on a servo motor is designed only for holding a properly sized load while the drive is stopped. The brake is not intended for bringing the load to a stop. (4) Provide adequate protection to prevent oil, water, and foreign matter from entering the servo amplifier and servo motor. MAINTENANCE (1) Three minutes must be allowed after power has been switched off to the equipment, be- fore conducting maintenance, adjustments, repairs, etc. (2) The encoder must not be disassembled or removed from the servo motor. To do so, will void warranty. (3) The servo amplifier must not be tested with a megger.Contents 1. Installation and Operation 1-1 General installation and operation ...... Precautions when installing the unit Inspection at delivery Installation ......... Making start up easier 2. Outline of Wiring and Operation ........ 2-1 Connection of the power supply and servo motor .... 2-1.1. Conneetion systems .... : 2.1.2. Servo motor connection precations 2-1.3 Servo motor terminal details . 2-1.4 Wiring the servo amplifier terminal block 2-2 Power supply .. 2-2.1 Power and main control circuit wiring 2-2.2 Emergency stop circuit .. 2-2.3 Alarm occurrence timing chart. 2-2.4 Electromagnetic brake operation . 2-3 Servo amprifier display operation 3. Start Up and Operation of Position Servo .........+++ 3-1 Wiring ...... ae 3-2 Checking wiring ........ 3-8 Switching power on and setting parameters 3-4 Operation . : 3-5 The display and setting functions 3-5.1 Display flow chart . : 3-5.2 Status display ........... 3-5.3 Diagnosis mode .... 3-5.4 Alarm mode ..... 3-5.5 Parameters 3-6 Wiring ...... 3-6.1 Standard connection diagram 4 3-6.2 Common line diagram for position servo 3-6.3 Interface power supply 3-7 Explanation of signals 4, Start Up and Operation of " Speed Seve ai Wing ceteeeeeee enone 4-2. Checking wiring 4-3 Switching power on and setting parameters 4-4 Operation ... ee 4-5 Display and setting function 4-5.1 Display flow chart . 4-5.2 Status display4-5.3 Diagnosis mode 45.4 Alarm mode .. 4-5.5 Parameters . 4-6 Wiring ...... 4-6.1 Standard connection diagram » : 4-6.2 Common line diagram for speed servo 4-6.3 Interface power supply......... : 4-7 Explanation of signals ............... Adjustments and Appli Here 5-1 Adjustments .. 5-1.1. Start-up adjustment sequence 5-1.2 Automatic tuning 5-1.3 Adjustment of the loop gain 5-1.4 Clever usage of the ultracompact HA-ME servo motor . 5-2 Adjustments and application operations 5-2.1 Rotation trouble display mode . 5-2.2 Do (output signal) check mode . 5-2.3 Test mode operation 1 (operation with no commands) 5-2.4 Test mode operation 2 (operation without motor) . . 5-2.5 Alarm history clear (H2 display) . Sree 5-2.6 Offset adjustment mode (speed servo) 5-2.7 Check of digital input/output signal .. (external input/output signal) mode fion Operations . Methods for Using the Auxiliary Equipment and Options ........... 6-1 Regenerative option ee 6-2 Dynamic brake option ... 6-3 Power factor improvement reactor FR. BAL. 6-4 Cables and connectors 1 Options list ........ .2 Connector diagrams . .3 Cable specifications . 6-4.4 Connection diagram for option cables 6-5 Junction terminal block (Model: A6TBXY36) . .. 6-6 Electrical wires, breakers and magnetic contactors 6-7 Selection of relays 6-8 Selection of the external speed command and external torque limit command pote! 6-9 Noise reduction techniques ....... 6-10 Selection of power supply and surge absorber for electromagnetic brake. 6-11 Leakage current breaker . ae : 6-12 External power for interface devices . Setting ... 7-1 List of control variables . 7-2 Position resolution and parameter sett 0 . 7-3. Servo motor speed and command pulse frequency .10. 7-4 Stopping characteristics of the servo motor 7-5 Servo motor selection 7-6 Load torque equations 7-7 Load inertia equations — 7-8 Procedure for setting the mechanical o 7-9 Example of servo motor selection .. Troubleshooting = 8-1 Troubles shooting points . 8-2 How to measure the voltage and current of the servo 8-3 Periodic inspection and maintenance . 8-4 Alarms ......... esos 8-5 Determining the cause of a position offset. Data ... 9-1 Torque characteristics ...... 9-2 Servo amplifier overload protection characteristics . 9-3 Losses generated in servo amplifier . Regenerative brake characteristics . Electromagnetic brake characteristics . Dynamic brake characteristics Mechanical characteristics of the servo motor . 9-7-1 Vibration rank ...... 9-7-2 Flex life of the encoder ‘cable 9-8 Servo Motor with reduction gear . 9-8-1 HA-ME series ... 9-8-2 HA-FE series 9-8-3 HA-SE series 9-9 Servo motor with tapered shaft . 9-10 Servo motor with special shaft Specifications . 10-1 Model configuration 10-2 Standard specifications . . 10-3 Outer dimensions of servo amplifier ... 10-4 Outer dimensions of servo motor .. eens 10-5 Outer dimensions of UL listed and CSA certified servo motor ... 10-6 Protective functions ..Start Up and Operation of Position Servo Start Up and Operation of Speed Servo Adjustments and Application Operations Methods for Using the Auxiliary Equipment and Options Setting Troubleshooting Specifications 01. Installation and Operation 1-1 General stallation and operation With the following information and guidance, the servo system will provide many years of reliable and efficient operation. Please use this information to assist in operation and installation. aigecamsenanes) agape (For UL listed and CSA 200, 220, 230VAC/G0Hz, Cerifed 100 to 120V S0/60H2)| i Power lctor improvement ACroactor (REAL) | | __ F teaver sunoty specications, Points for hand [Power supply specifications Please use the eervo within the tolarable Refer Section 10:2 No-fuse breaker, leakage current breaker | or tuse i i A large invush currents applied to the; Section 6-6 [servo when the power suprly is switched | Section 6-11 JON. Refer tothe eeloction table forthe breaker or fuse, [The magnetic contactor use 7 Always instal this magnetic contactor.Do | Section 2.2.1 Rot start and stop the servo with this! “Section 6 magnetic contactor, as te ie ofthe servo [Reactor installation 7 [The optional reactor must be installed for | power factor improvement or with a large! Power capacity (SOOKVA ormore witha | wing distance less than 10m). i Select the reactor according tothe servo model Section 6-6 instalation site The lie ofthe sarvo ie affected by the anbient temperature. The maximum value for the ambient temperature is a MAX of 55°C, and the unit should be Used at an average of 40 °C. Section 1-4 wiring Incorrect wiring wil lead to servo damage. The contol signal line and main circuit should be separated a proper distance, to reduce noise, Section 241 Section 3-6.1 Section 46.1 Position control made specifications ‘The postion servo start-up and operations are noted. Chapter 3 ‘Speed control mode The speed serv startup and operations are noted. Chapter 4 tt ‘Option (encordar cable) Options! specifications The methods for using the aunitiary lequipment and options are noted. Chapter 6 Servo motor cable Ser Sen0 | cable Length HAME| —S0em HAFE | 50en [Output side connecting equipment Do not connect a phase advancing capacitor, surge suppressor, or radio noise reduction fiter (option FR-BIF), These may cause damage of faults in the equipment. [Grounding [Ground the serve motor and servo ampitior terminals at one point with the minimum distance to prevent an electric shock and Section 12 Section 21, HASE | None I [Servo moter assembly Section 1.2 [Do not shock the serve motor shattor | section 21.3 detector by hammering, ete. 141. Installation and Operation ee 1-2 Precautions when installing the unit Improper handling of equipment may cause damage. The important points are noted below. Refer to these and other related items for proper use of the unit. Handling (1) Do not shock the servo motor or encoder. The servo motor may fail if the shaft is hammered or the servo motor dropped. (2) Do not directly apply commercial power (200VAC) to the servo motor. The windings will be damaged and the servo motor magnet will be demagnetized. Always drive the servo motor with the specified servo amplifier. Connections (1) Connect the servo amplifier and servo motor ground terminals on the amplifier side, and ground the terminals together with the minimum distance possible. To prevent an electrical shock and ‘malfunctions, the terminals should be grounded at the resistance of 100 max. (2) Always match the servo amplifier and servo motor U, V and W phases. The rotation direction cannot be changed like a general-purpose servo motor by inverting two wires. (3) The amplifier may be damaged if AC power is applied to the servo amplifier U, V and W terminals. ‘Supply the correct AC power to the R, S and T terminals. If a power supply voltage used is other than the specified, connect a power transformer. (4) Connect the correct option to the regenerative option terminal (between C-P), and set the corresponding parameters ‘The amplifier may be damaged and the regenerative resistor overheated or burt out if these are incorrect, (6) When connecting external relays, it is imperative that a diode be connected correctly across the relay-see diagram. 121. Installation and Operation vin (P24) MAS © (Correct Diode connections Operation and sequence \« TS Incorrect Diode connection (1). The servo motor's electromagnetic brake is used only in times of emergency and holding It has been designed as a holding device during power failures. If itis used for braking during deceleration, the brake will wear out quickly (2) Connect the power supply R, $ and T terminals to the breaker and magnetic contactor. ‘These are necessary to shut off the circuit to prevent secondary disasters when an alarm occurs or an erroneous current flows. (3) Anundervoltage alarm may occur when the servo amplifier is switched on again immediately being switched OFF. Switch the power on again after the waiting time shown in the following table. (All values given are the MAX values.) ToAIo BOA] oq Soe zons sons Model |yionatoona] OA | sz00A | 0508 |i Sta zoMas Watingiime | 10sec. | ven] 1oaen_ | vaeeu [80a A\CAUTION (1) A*high voltage" will remain in the servo amplifier for a short time even after the power is switched off (2) The servo amplifier may be damaged it a megger test is performed. Megger tests must not be done. Continuity checks using a circuit tester are recommended. (3) The servo motor encoder cannot be removed. Do not remove the cover, etc. 131. Installation and Operation 1-3. Inspection at delivery Confirm the following items after unpacking. (1) Inspect the nameplate and confirm that the specifications are as ordered. Appearance Details onthe nameplate | Details on the model (See Section 10-1) = MR-JOO-UL) es TAFE TANE -——epleale ctor cpacty | Mode a las goa saose MITSUBISHI hiacownen Loo ypio8 rao ac neu Aceon seni. “zara A mnweeneacre caro = its [esi soins Servo amplifier Manufacturing No. ‘seurrent status Soba | Gamay ated output current ae -Appicable power supply ow Mode! MITSUBISHI lac sero moter AC SERVO MOTOR | |HAWMESetes | 20007min HA-FE1S SERIAL Simba] —veron DATA None [panes Eos TRE COM ae Servo motor Manutacturing date Rated aa Manutacturing No. 141. Installation and Operation Appearance Details on the nameplate Details on the model (See Section 10-1) Hare eKe) we SO lac sore motr | Rated speed Brake cues RAE Senae. | 88000min Mode! ad oa MITSUBISHI = AC SERVO MOTOR 0 HA-FE13 — SERIAL HA-SE[_] (C)(B) DATA vase O Qo (G)-UL) Bsus ELTR ORAS TT i inetd 3 g 8 5 3 Manufacturing date Pepe Diokeincudes HkSE Seren it Conmacon Manufacturing No. [esasriie [Rae oom 360 ‘Options are noted in Chapter 6 The low noise function and the HA-SE servo motors for 1,000 rpm and 3,000 rpm can be used only with the new version. To identity the version: The version is indicated by the last one or two digits of the SERIAL number provided on the nameplate. Old version: One alphabet character New version: Two alphabet characters 151. Installation and Operation ———$—$—$ 1-4 Installation Installation of the servo amplifier (1) Working environment Ambient temperature | 0 to 55 °C (with no freezing) (Note) Ambient humidity | 90%RH or less (with no dew condensation) Vibration 5.9mV/s* (0.6) or less. Note: To ensure servo amplifier long life and high reliability, the temperature in the control box should be designed and maintained to be as low as possible. (but above the minimal) (2) Installation direction and clearance + Install the MELSERVO-J so that it can (op) be seen from the front. ‘+ When installing two servo amplifiers side by side in a closed panel, provide a 10mm clearance or more between the sides of the amplifiers. Also pro- The fins become hot. Vie a dom clearance or mere over Soren ee the top and under the bottom of the — thefins. | servo amplifiers. When installing several servo amplii- 100mm oF more H GE E fo fg i Io a ooh ers side by side, provide a 100mm ——somm or more “ore, “Sam, som, elearanece over the top of the sono a amplifiers or install a ventilating fan to ensure proper heat dissipation. ‘+ When using regeneration units, install them away from the servo amplifier. ‘Groundh (3) Keep out foreign materials ‘+ When installing unit on a panel or inside and enclosure, prevent drill chips and wire fragments from entering the servo amplifier. + Prevent oil, water, and metallic dust from entering the amplifier through openings in the enclosure. * Provide positive pressure in control enclosure by forcing in clean, dry, cool, non-toxic, non-cor- rosive, non-explosive air. 161. Installation and Operation ———— Installation of the servo motor (1), Working environment [Ambient temperature [0 to 40 °O (with no freezing) 1 [Ambient humidity [2026RH oF less (with no dew condensation) 1 eS HA-FE, HA-ME _ |X, V: 10.6mis? (2G) ~y Vibration | HA-SE 1.5KW or less |X: 9.8mis” (1G) Y: 24.5mis* (2.5G} HA-SE2, 35KW _ |X: 19.6ms" (2G) ¥: 49m/s" (5G) Vibration Graph of vibration servo amplitude vs, speed. 200 = Fob 2 8 = so g 9 = at 2 af i g 3 & 3 ‘500 1000 1500 7000 2800" 2000 3600 ‘Speed (cin) (2) Servo motor load-mounting precautions @) ‘= Use the screw hole on the end of the shaft (only for the HA-FE servo motor) when mounting a pulley. ‘+ When removing a pulley, use a pulley remover. ‘+ Do not push or pull on encoder to move servo motor. ‘+ During assembly, the shaft end must not be hammered. (The encoder may fail.) ‘+ The oriertation of the encoder on the servo motor cannot be changed. Installation orientation Top + The servo motor can be installed horizontally or vertically, 7 with the shaft end up or down, + Install the servo motor so that the cables face downward. Bottom + When installing vertically, provide a cable trap so that oil rN V and water do not enter the servo motor. berate! 171. Installation and Operation (4) Cable protection —,_ Cable trap * Provide stress relief to cables. Prevent cable abrasion. + In applications where the servo motor moves, the cable bending radius must be determined according tothe bend- ing life and type of wire. (8) Tolerable load for the shaft + Use flexible coupling, and make sure that the misalignment of the shattis less than the maximum, value. ‘+ When using a pulley, sprocket or timing belt, select a diameter that will fit into the maximum radial load, ae Meira tl Heiman ast HA-ME0SS, 13 88 (9kgt) 59 (Ska) HAME23, 43 245 _{25kgt} L=30 98_{10kgt) HAMETS 392 _(40kgf} L=30) 147 _(15kgt} HA-FE053 408 _(1tkgf} L=30 98 _{10kgf} ream HAFETS 118 _(12kaf} L=30 98_(10kgH) 1 HA-FE2S, 33 176 _{18kgf} L=30 147_(15kof) ees HA-FESS, 63 323 (S3kgf) L=40 264 (29kof) Thrust direction HA-SES2 to 152 HA-SES3 10 158 980 (100kg1) L=55 490 (S0kgt) HA-SES1 HA-SE202, 352 HA-SE203, 353 2058 (210kgf} L=79 980 (100kgf} HASE121 to.301 (6) Oil and water protection + The servo motor is not waterproof, Prevent oil and water from entering the servo motor. ‘+ When installed to a gear box, maintain the oil level distance(h) from the servo motor shaft V ring oil seal according to the following chart Also provide a breathing hole on the gear box to suppress the internal pressure. Motor Distance h (mm) HA-FEO5S, 13 @ [HA-FE23, 33 12 HA-FE43, 63 14 oe HA-SES2 to 152 HA-SESS to 153, 20 Ciatance hy HA-SES1 HA-SE202, 352 aa HA-SE203, 353 28 V ring oF eit coat HA-SE121 to 301 + The HA-FE servo motor with oil seal is standard. + The HA-ME servo motor is not supplied with an oil seal. Seal the gear box so that lubricant does not enter the servo motor. 181. Installation and Operation 1-5 Making start up easier The following chat lists the engineered.in functions and features that help make the start up and se of the Mitsubishi servo system easy and quick. ‘Main function Explanation Refer to: [Auto tuning} By detecting the current and speed at start up, the inertia of the load is automatically calculated. The optimum gain for | Section §-4.2 lobtaining smooth acceleration/deceleration is automatically selected. [Test operation without |The motor can now be rotated without external commands Jexternal commands} _| from the positioning unit or control unit, just by using the four |(Test mode operation 1) buttons on the front panel of the servo amplifier. Section 5-2.3 ‘The rotation speed can also be set. This allows the machine movement test testing. [Operation without | The servo amplifier can be operated without the motor. motor] ‘Confirmation of the functions with the control board unit and | Section 5-2.4 (Test mode operation 2) | sequence checks are possible. [Digital input signal test] |The ON/OFF status of the servo ON, stroke end, ready etc., ican be monitored. Section 3-5.3 ‘The wiring can be checked before operation or when the —_| Section 4.5.3 servo motor does not rotate. [Forced output of the _ | The digital outputs such as trouble, ready, positioning digital signats] complete, zero speed and limiting torque canbe forcibly | saction 5.0.2 (do

_|switched ON/OFF for each point : [check screen) Use this for checking the wiring. _ [Seif diagnosis} The cause is displayed ifthe servo motor does not operate (Display of reason for _|when the input signal is input errs motor not operating) |The servo motor can be restored to operation ina shor time if erors as displayed are checked [Automatic offset] |The analog speed command offset adjustment is periormed. : [Set this before operation. Sees [Various status display |The speed, load ratio, or inpuVoutput status is displayed, functions] and diagnosis is simple with this feature. lex Section 3-5 5 Section 4-5 i GGG] - Rotating speed 2000r/min SE] ~ The peak joad rato is 150% of the 1 5G) © motor rated load [Connector relay [An option that converts the connector to terminal Blocks has terminal block} been prepared, The connectors no longer need to be Section 6-5 soldered2. Outline of Wiring and Operation 2-1 Connection of the power supply and servo motor 2-11 Connection systems foow tev”) Siphase AC power supply sareoH 200 to 230 (For UL tsted ana) 50/60HZ CSA cated ao Récwmmninangtrrecomes — Sitcom + For speed control : Section 46 Configure co that the MC shitches OFF when an alarm occurs ‘puso tale tpt poston: ing unit i nesesary forthe pestoning tone. AC servo amplifor MRIJOA serene : a a “yp coe Se ee oo ment dans ——__ Opening angie wmelitir model | screw size]_widthA_| cable size Cpe CNN ! a es MAIO-At touaoat | MAX 0.7 lee IF MB-JIOMA to Jeoma | STEW M200 w 9608 ss [SSO 1 oo vn seve | cable eng }HAME 30cm wae eae = EE Serve motor at2. Outline of Wiring and Operation ee 2-1.2 Servo motor connection precautions 1) Always match the motor lead phases (U, V, W) with the servo amplifier output terminals (U, V, W). 2) The servo motor may be demagnetized or bumntout if AC power is applied to the servo motor terminals ‘The servo motor cannot be connected to any terminals other than the servo amplifier output terminals (U, V, W). 3) Always ground the servo motor with the grounding terminal E. To ground, connect the servo amplifier grounding terminal, and the earth plate in the control panel to earth. Refer to Sections 3-6.2 and 4-6.2. 4) The user must supply a 24VDC power supply (the current capacity is given in Section 9-5) for the brake lead of the servo motor with electromagnetic brake is used, ‘The power supply VDD (24VDO) in the servo amplifier cannot be used for the brake. Note: Use a screw and nut when connecting servo amplifier and servo motor wires as shown in the ary ampiier sido diagram on the right. Se Wind several layers of insulation tape aroundthe eae connection. For the HA-SE servo motor, take Wind insulation tape care not to damage the insulation when connect tice to four times. ing the terminal box. 2:1.3 Servo motor terminal details (1) HA-ME(-UL) series J aS 405% length 0.3m (With insulation sleoved round solderiess terminal 1.25-4) Feed: U phase, black: W phase Encoder cable: length 0.2m POR-S20FS White: V phase, green: ground POR-LS2OLAt Brake lead wie 2.058% length 0.3m (With insulation sleeved round soldelees terminal 1.25-4) (2) HA-FE(-UL) series ‘Grounding trina rung wma Ma exrow serow (200 Wer oe) {a0 se pton Encoder cable: length 0.50,” brake lead woe ee VOTE 2.05% erg 0.5m hircow) Power spplyiead wre (th inslaion sleeved round slderess termina 1.25-4) iad 23! length Om (With instar sleeved round solderess terminal 1.25-4) Note:The UL fsted/CSA cared servo motor Red: U phase (HAFH-UL has the folowing connector: Wiite: pase POR-S20FS Black: W phase ey PORASZOLAT N2|2. Outline of Wiring and Operation (3) HA-SE series Connector Terminal box MS3102A20.29A, HA-SE servo motor terminal box detailed diagram 922 2 40 2 2 | Ground terminal | 122 MS screw “Three motor power leads (U, V, W) with erimp contact ‘Thermal protector leads with insulating shield (ed) and crimp contact 1. 25-4 (Connection sorow size: M4) Standard With brake i ous)and 80 oun tine Meow hase pote pero 9 Theat potuctr ands wi ning ‘hid eo) and emp contact 1,264 {Conecton vr sox te) : Lt fe Ee 922 it HA-SE102 to HA-SE352 232. Outline of Wii (4) HA-SE-UL series Encoder connector MS3102420.20P Power supply connector ing and Operation ‘2000 rimin series | Power supply connector ‘Cable connector 1000 r/min series | 2000 r/min series HA-SES2C(B)UL_| HA-SESSC(6)-UL — HA-SE1020(8)UL | HA-SE1030(8)-UL HA-SEB1C(B)-UL HA-SE152C(8)-UL_ HA-SES30(8)-UL_ Ms3102422-23 Ms3106B22-238, HASE121C(8)-UL_ HA-SE2020(6)-UL_ HA-SE2036(8)-UL_ HA-SE2010(8)-UL, HA-SES520(6)-UL. HA-SES53C(8)-UL_ HA-SE01C(@}UL Msg102A24-10P Ms3106824-10S. Cable connector (Cannon make) Ms3106B22-23S O® Oe © @® Cable connector (Cannon make) Ms3106B24-10S © ©@® © © ‘Symbol Signal ‘A__ [Power supply (0) B__ [Power supply (V) © ___ [Power supply (W) D [Ground E__| Thermal protector F__ | Thermal protector @ [Blank H__ [Blank ‘Symbol Signal ‘A__ [Power supply (U) B___ [Power supply (V) [Power supply (W) D___ [Ground E | Thermal protector F__ [Thermal protector G__|Biank 242. Outline of Wiring and Operation ————— (8) The det ‘of each servo motor encoder’s connector pin layout are noted on the reference section given below. Serve motor Refer tor [HA-ME Section 6-4.4(1) HAMEL, HAE Section 64412) HAFEUL Section 6-4.4(1) eeu Section 6-4.4(3) Note: The connection cable between the servo motor encoder and amplifier is an option, Refer to Section 6-4 for details of producing this cable, 2-1.4 Wiring the servo amplifier terminal block FIELD WIRING REFERENCE TABLE FOR INPUT (R, S, T) AND OUTPUT (U, V, W) CRIMPING TERMINALS TYPE | wane age ‘SCREW TORQUE | AND TOOL TYPE (Note 1) Serve amplire | scREWsi ‘TEMP RATING sh EWSIZE "(POUND INCH) | — GRIMPING ‘CRIMPING pos Terminats | _“Toous 35787-0 MRJ9SOA wa 8 ae 59209 AWGTO7S"C MRTOOA ue = 24160.0 cas) | AnaTSS GHueR moveis| we 2 22959, 47087 AWGTA7ES Note: 1. Manufacturer: AMP INCORPORATED, HARRISBURG, PA 17105 2. Use copper wire only.2. Outline of Wiring and Operation ———— 2-2 Power supply 2-2.1. Power and main control circuit wiring ‘The AC power and main control circuit should be wired as shown below. Basic connection The control circuit will be enabled when the AC power is applied to terminals R,S,(7). Allow at least one second for initialization, then close the "Servo on” contact to enable the drive. The main circuit will be switched off when the reset (RES) contact is closed. This will cause the ‘servo motor to coast to a stop. Connection for single-phase 100V power supply Single-phase sSpover sey uc ms fwere _n, a soca i rorutises s | EShentes tT {ow 200 4 setiy-——— ~ -———— Connection for 3-phase 200V power supply Se apie TUL sane mato ws Baa w | onto! i a ca: Reset “Thermal protector (sppleable ont ‘he HASE moter Nin cet power supply Conta ntaize Transistor base circuit ‘SON signal RES signal AD signal ‘atm signal ung Fig. 2-2 Timing chart when power is swiched on 262. Outline of Wiring and Operation 2.2.2 Emergency stop circuit Use the dynamic brake (optional) when the motor must be stopped immediately when an alarm or emergency occurs, Refer to Section 6-2 for wiring and timing chart 2-23 Alarm occurrence timing chart When an alarm occurs in the servo ampifier, the transistor's bases will be shut off and the servo motor will coast to stop. The power should be shut off. (Refer to Fig. 2-1.) To restart the drive, remove the cause, and switch the power ON. ey nila ([EXRRTEEREEE Poe OF SER ase cireuit Servoon (SON) signa a Ready (RO) output signa t ' ' ‘ax out \ a ae : ee faa Instantaneous power Bio Alarm such as overose co Min. 15m8 1 (the alarm output is ad snitched OFF by a faut) Eliminate the cause of alarm Fig. 2-3 Timing chart during alarm Important ] Do not repeatedly restart the drive without removing the cause of an overload or over, current alarm. Continued attempts to run under these conditions could damage the servo amplifier. 272. Outline of Wii ig and Operation 2-2.4 Electromagnetic brake operation (Refer to section 9-5) For applications requiring a brake to hold the motor shaft (vertical lift applications), an electromag- netic brake should be used with the servo motor. Please note the following: 1) The brake is a fail-safe type. The brake will operate when the power Supply (24VDC) is off. 2) When operating the brake, always switch OFF the “servo ON" signal 3) Inall applications take the braking delay time into consideration + Ifa time delay cannot be provided at servo off, the DC power for the brake should be sow gras —_fy Sone _ switched off when the "servo ON" signal l switches OFF in order to minimize switch- Brake power ing delay. Brake release Brake engage Braking delay time: Approx. 0.18 ‘Approx. 0.15, DC OFF: Approx. 0.038 282. Outline of Wiring and Operation a 2-3. Servo amprifier display operation Status display flow chart The servo amplifier status can be monitored and parameters can be set with the display section (S-digit, 7-segment display) on the front of the servo amplifier. Confirm the parameter settings before operation, diagnose errors, confirm extemal sequences, and confirm the operation status with this display. ‘An example of the display flow chart (for the position servo) is shown below. Refer to Section 3-5.1 or 4-5.1 for a detailed flow chart for the position or speed control. For details of the display, refer to the subsequent pages. Momentarily press "MODE" to move across chart. Momentarily gress "UP" or "DOWN" to move up or down colums. ‘Co appears five sec. ‘after power ON (edd For 2 see. (P= Pros swe HOPE, MODE Display mode transition F a [c 3 Ccumiative fosdback Poses ‘oior pe fomortogt py ¥ Giinneo) {iaa9 cumulative feedback pikes) Eeral eigral ‘Seno op Transition tioper da) Y ve Y { } t i Y i { gag ae Fig. 2-4 Details of the display 29 ‘Monitor selection ae)2. Outline of Wiring and Operation Display and button operation (1) Layout of the display section« Button functions: MODE : The setting status, diagnosis/setting, parameter and display details. SET: Thisis used to set the parameter data. UP —_| This is used to change the display in each DOWN | mode and to change the data numerical values. (2) Display after power is switched ON + When the power is switched ON, *rdy", indicating initialization, willbe displayed for approx. 2 seconds, Keys pressed during this display will be ignored. + Next, the servo type will be displayed. LP-P: positioning servo LP-U: speed servo 1 + Then, the status will show. positioning servo speed servo ‘When power is switched ON (ater 5 see) Status moniter [= a eo u (3) Mode details 1) Status display mode The display details are selected by pressing the "UP" or "DOWN" button. 2) Diagnosis/setting mode ‘Automatic tuning, ON/OFF status diagnosis of the external input/output signals, and test operation with the operation buttons is possible. 3) Alarm mode ‘The alarm code will be displayed from any screen when an alarm occurs. 4) Parameter mode ‘The parameters required for the motor type, e.g. control method (position, speed) electronic gears, and acceleration/deceleration times, must be set before operation Refer to the parameter tables in Sections 3-5.5 and 4-5.5, and set with the following procedure. Note: Parameters marked "*" in the table are validated when the power is cycled after setting, To ensure safety, set the parameters with the "servo ON" signal swiched OFF. Confirm that the setting for Pr. 0 and Pr. 1 is correct before operation. 2102. Outline of ing and Operation Operation procedure Ap 3 + Enter the parameter mode by pressing the "MODE" ue ‘ button. "0" will flicker as the Pr. No. + Select the Pr. No. to be set with the "UP, DOWN" I ‘batons + The parameter to be set, Pr. 5, and the data will be EQ Sp displayed. = |G oF + The data part will flicker when the "SET" button is 5 pressed ie q of + Change the data with the "UP, DOWN" buttons. Pe u + Press the "SET" button, and the setting will be com- Coy pleted cual pee Note: Some parameters will not be validated unless the power is switched OFF and ON once (ex. Pr. 0, Pr. 1). Refer to Sections 3-5.5 and 4-5.5 for details. ant3. Start Up and Operation of Position Servo 3-1 Wiring Wire according to the wiring diagram. Refer to Section 3-7 for the definitions and use of the servo amplifier signals and functions. Examples of operation with positioning unit AD71 or FX-1GM are shown in Section 3-6.1 3-2 Checking wiring (1). Refer to the wiring diagram and confirm that the wiring is correct. (Refer to Section 3-6) (2) Especially note the following wiring. The unit may be damaged if itis miswired. [Main circuit 1) A source of AC power which conforms to the specification must be connected to the servo amplifier power supply terminals (R, S, 1). If the power does not conform to the specification, drop the voltage to the specified voltage by using a transformer. 2) Power supply lines (R, S, T) must not be connected to the servo motor output terminals (U, V, Ww). 3) The phases of the output terminals (U, V, W) and servo motor terminals (U, V, W) must match. 4) AC power must not be directly applied to the servo motor. phase 200 V series “The ampifir will be damaged if commercial power is 2 applied tothe servo amplifier ouput terminals. ‘The servo motor will be damaged 4 (demagnetized, burt) I AC power is applied directly. Transformer Power supply, 400 HOV For RMeCAor mee, ° theisracascay od Fagenerave eitance (optional) ‘The phases must match at3. Start Up and Operation of Position Servo [Control circuit] 1) Stroke end limit switches LSs (LSP, LSN on CN1) and SG must connected as shown below (normally closed). “Jumper” circuit when there is no limit switch on the machine. 2) Connect 24VDC to the interface power supply terminal (VIN). Connect VIN and VDD when using the power supply in the servo amplifier (VDD). 3) If the pulse train is an open collector type, connect the open collector power supply (OPC) terminal and VOD. Do not connect when a differential type is used. 4) When connecting a relay to the open collector output terminals, insert a diode parallel to the relay. The diode must be connected with correct polarity. Otherwise, the servo amplifier will be damaged. To be connected when internal power supplies Forward run stroke end! 28 N00 used. Feevered run sighe end ay 4 CAUTION ‘The servo amplifier wit be damaged if the diode is not connected as shown, Some relays have internal enubber diodes, ‘observe pola 323. Start Up and Operation of Po: 3-3. Switching power on and setting parameters The setting of the 1) motor type and 2) servo loop type has been set factory set. These parameters are validated when the power is switched OFF once after setting and then switching ON again. (1) ‘Switching power ON ‘Switch the SON signal OFF and switch ON the AC power. oe + When the power is switched ON, "tdy’, indicat- switched ON i ization, will be displayed for approx. 2 seconds. + Next, the servo type will be displayed. LP-P: positioning servo ee + Status display status monitor [= A The cumulative feedback pulse will be dis- L u played. (2) Setting parameters After switching the power ON, the parameters must be set as needed. The unit may not operate property i the following three items are not set correctly. Always confirm the settings, and set as needed 1) Motor type (Parameter No. 0 MTY) Refer to the combination table below and set the parameter according to the type of servo motor being used. The servo motor may be damaged if not set correctly. Values in shaded areas in the table shown below are initial values. ] ee Sen mae serve ng peta stn 2 un soa | 20a | 40a | 60A | 70A | 1008 | 200A] 350A |1oMA} 20M] aon] 700A i = Yt cucu te : Simi WAFE} 8B fas] -[a|-|-1|-1|-|-|-|-|-|- |) eee 3 ETE TE Ts | ree [200 [058] - | - | - mse 9 PT Pr Free fo fT a ee -T-1-1-)sleet- 1-1-1. _ -T- see ae eee ee rea ec Taal» Leet el Pee TEEPEEEL EEE ‘The setting forthe HA-FE and HA-SE servo motors cannot be made by the MA-.CIMA servo ampiiir.3. Start Up and Operation of Position Servo —— Setting example ‘Operate HA-FE4S with servo amplifier MR-J40A. ‘The value for Parameter No. 0 for this combination of servo motor and servo amplifier must be changed from the factory setting. The table on the previous page shows that the value must be changed from "33" to "43". Use the following procedure to change the value. Power ON TTS oo 43 1 ‘Switch power OFF-ON 2) Servo loop type (Parameter No. 1 STY) Press the (MODE] button three times. ‘The initial value (HA-FE3) will be displayed, Press the [SET] button. ‘The data section will flicker. Change the data to 0 43 with the [UP] and [DOWN] buttons. Press the [SET] button, ‘The setting will be finished, and the parameter No. section will flicker. ‘The data will be registered and the setting com- pleted. The servo loop type, Parameter No. 1, defines whether the drive is a speed or position type. ‘The value of the parameter also defines the auto tuning mode and whether the regenerative option is to be used. If a model above the MR-J40A is used, the regenerative option must be installed. Set the parameter value accor ° ° 1g to the following chart. ‘5: Low noise mode, speed servo (analog, thre intemal speeds) ce 0: Standard made, postion servo (pulse train) 1: Standard mode, speed servo (analog, three intemal speeds) 4: Low noise mode, position servo (pulse train) Seta [neat cphonconsinaten| Feamrraie | sepals a a = eames ites [2 [wn =| sees, 7 ee cs 5S MR-RB10 x2 150 decides] 8 MR-RB90_ 300 ee : inte = 343. Start Up and Operation of Position Servo 3) Electronic gears (Parameters No. 2,3 CMX, CDV) Set this according to the machine. Normally the movement amount for one command pulse is set to a value such as 1m, 10um. Refer to Section 3-5.5 (2) for setting methods, 353. Start Up and Operation of Position Servo ———— 3-4 Operation The servo motor is operated with the following procedure after the power is switched ON and the parameters have been set. Power ON Parameter setting ‘Servo ON + Input signal check *Servo ON" cignal on, input ‘Command pulse train Interruption and stopping of operation The "servo ON" signal is switched ON. The operable status is entered, and the motor is servo-locked. If the motor is not servo-locked, the "servo ON" signal is not ON. Confirm the status with the monitor, and check the wiring, [Diagnosis screen] ‘+ Servo ON/OFF check Power ON ~— Press the [MODE] button once. Ic g T Switch servo ON. -d- oF] EA This display will show when the servo ON turns ON. le d-04] ‘When the following steps are carried out from the above (-d- oF} display, the input signal ON/OFF status can be checked, Pross the [UP] button once. The extemal input/output signal ON/OFF status will be displayed. Switch the servo ON. When the servo ON ‘switch ON, the following will be displayed. * The ready and positioning completed signals will be output simultaneously and displayed. led - oF | ‘+ When a pulse train is input from the positioning unit, the motor will begin to rotate, First, drive the servo motor at a low speed with JOG, and con- firm the rotation direction and stroke, etc. If the servo motor is not rotat- sd, check the input signal again. Refer to Sections 3-5.3 and + Confirm the motor speed, command pulse frequency and load ratio, etc. ‘on the servo amplifier status display monitor. ‘+ When the checking of the machine operation has been completed, con- firm automatic operation with the positioning unit program, The cperatonwlbe intorupod oF stopped when the folowing ar cared ou. 1) 2) 3) 4) Servo OFF .. Reset . Stroke end OFF........ Alarm... ‘The main transistor’s base current will be shut off and the servo motor will coast to stop. The main transistor's base will be shut off and the servo motor will coast to stop. The dynamic brake (optional) will not operate. The motor will stop immediately and be locked by the servo. Rotation in the reverse direction will be possible. The main transistor’s base will be shut off when an alarm occurs. 363. Start Up and Operation of Position Servo 3-5. The display and setting functions 35.1 Display flow chart Details of the display The status can be monitored and parameters set with the display section (S-digit, 7-segment display) Con the front of the servo amplifier. Confirm the parameter settings before operation, diagnosis trouble, confirm external sequences, and confirm the operation status with this display. ‘An example of the display flow chart (for the position servo) is shown below. Refer to sections 3-5.2 to 3-5.5 for details on the display. (co appears five sc, Pz hors 10 HOO splay mode transition 7. oe ey + id @iij| & 3 ddan [comand gina maain 7 Seer E @ie--) GE: “evs opin Sa female Transtion Ge ue ae) wt Rt uP oid oon ate oS ceuaicamntin| (ote) During an alarm, the fast alam and eurrent alarm are the same, 373. Start Up and Operation of Position Servo V————— 3-52 Status display The various states during operation are displayed. The display details can be changed freely with the UP and DOWN buttons. The display when the power is switched ON is set to Pr. 20. sym- | Display range, Name pale ane Details ‘Cumulative ‘The feedback pulses (4-times multiplying) are counted, feedback pulses | C When the count overflows, it returns to zero. (lower 4 digits) -9999999t0 | The lower 2nd, 3rd and 4th digit decimal points will ‘Cumulative {9999999 pulses | light for reverse run pulses (negative values). feedback pulses The display will be reset to "0° when the "SET" button (upper 3 digits) is pressed. ‘Speed ae ‘The servo motor speed is displayed © Soc min | The lower 2nd, 3rd and ath digit decimal points will light during reverse run. ‘Cumulative ‘The details of the position deviation counter are dis- droop pulses E played. (lower 4 digits) 65835 to ‘The lower 2nd, 3rd and 4th digit decimal points will ‘Cumulative 65535 pulses _| light for reverse run pulses (negative values). droop pulses Ee (upper 1 digity ‘Cumulative ‘The command pulses before the pulses are multiplied ‘command pulses | P with the electronic gear are displayed. (ower 4 digits) 999999910 —_| The lower 2nd, 3rd and 4th digit decimal points will Cumulative 9999999 pulses | light for reverse run pulses (negative values). command pulses | P* ‘The display will be reset to "0" when the "SET" button (upper 3 digits) is pressed. ‘Command pulse ‘The command pulse frequency, before the pulses are frequency np [7200.00 multiplied with the electronic gear, is displayed. During 200.0 kpps __| reverse run, the lower 3rd and 4th decimal points light, and the lower 2nd decimal point will go out. ‘Speed command The speed command voltage is displayed. During voltage F #10.00V | negative voltage, the lower 2nd and 4th decimal points light, and the lower Srd decimal point goes out. Torque limit The torque limit command voltage is displayed cana U | oto10.00v Regenerative The regenerative load ratio for the regenerative option load ratio L Oto 100% _ | telerance value selected in Pr. 1 is displayed in %. A | short time (approximately 30 to 40 minutes) is required for stabilizing. Effective load ‘The load ratio for the rated torque is displayed in %. ratio (Note) ‘The servo motor temperature is assumed, so the effec- J 010.300% | tive torque and display value are not linear. A short time (approximately 10 to 20 minutes) is required for 2 19. Peak load ratio i: cacon ie Toad ratio is daplayed In % according tothe rated “Note: When the display value is not 100%, the display value and effective load ratio will differ. Refer to Section 4-5.2 for this relationship. When the display value is 90, 80 ot 70, the effective load ratio 1s 95, 89 or 84%, 383. Start Up and Operation of Position Servo 36.3 Diagnosis mode This is used to confirm the status of the extemal sequence, etc. Name Display Details Not ready. Tho unit is being initialized after the servo ON has been cd - oO F| | switched ON, or an alarm has occurred, ‘Sequence Automatic tuning can be performed from this screen. (Reefer (automatic 10 Section 51 for details.) tuning) Ready. = Enter the operable status after initialization after switching hhosone ot ‘Automatic tuning can be performed from this screen. The extemal inputioutput sig- nal ON-OFF status is dis- played. ‘The upper of the vertical line So eral rq ft of each segment in the 5- PE ES arm ort digit LED is the input signal, SP forward stoke er and the lower corresponds eon [ Csturmore on eke ond wiheounet soeat remaining puse | The figure on the left shows Input sce tiesance the status when all inpuout- External inpuy sional {| Both inpwvowiput | put signals are switched ON. output signal output sie ont when ON 9° sional foutwien OFF. | The relation of each seg- Ao (2) easy ment's vertical line and in- an APF 68 ptoiea | purvoutput signa is shown ee te cones 5 so corm [on the lett Jeni pinHs Ant 7 wosble nein OP (12) Zphaso PLG pulse The input signal pin Nos. marked "** respond to the factory default setting. (Change these with parameter No. 19.) DO signal check The tea) DO signal check display will appear when the [SET] button is pressed for more than two seconds. ‘The output from connector CN1's 24, 25, 26 and 27 pins enter the state where they can be forcibly switched ON/OFF. Always operate these with the servo switched OFF. (Reter to Section 5-3 for details.) Test mode operation The 288) 200r/min) speed display will appear when the [SET] button is pressed for more than two seconds, and the test operation state will be entered. Always operate this with the servo switched OFF. (Refer to Section 5-4 for details.) 393. Start Up and Operation of Position Servo Name Display Details Software version] |G OR { For MITSUBISHI use FormitsusisHi| [Hf 4] | For MITSUBISHI use Change DATA from 0 to 1, press "SET", and the alarm his- Alarm history 4 2 A] | tory will be cleared. clear Y) | (Refer to Section 5-2.5 for details.) Change the DATA to 53, press “SET” and the unit will oper- No-motor IH 3 7 ate without the motor. operation setting (Refer to Section 5-2.4 for details.) ‘The automatic tuning of the speed command input voltage offset will be executed with "13" and "SET". VC input’ (Refer to Section 5-1.2 for details.) automatic offset 35.4 Alarm mode ‘The history of past alarms, and parameter errors are displayed in this mode. Name Display example Details Current alarm | 4.1. — — | This shows that an alarm has not occurred. This shows that alarm 33 (overvoltage) has occurred. During an alarm, A and the first character's decimal 77 > | point will flicker. (This wil ficker even when the screen is changed.) This shows that alarm 50 (overload) occurred one alarm ago. an” .3 3 Alamhistory | Ay 4 S50 Parameter error | 4 7, y> —s_| This shows that there isan error in the Pr. 5 data. Functions during an alarm (1) The alarm mode display can be entered from any screen other mode. (2) Other displays can be viewed when an alarm occurs, but the first digit’s (5th digit) decimal point will flicker, so you can determine if an alarm is occurring, (3) To reset after an alarm has occurred, switch the power OFF, or switch the external reset signal ON. (4) When resetting the alarm from the servo amplifier unit, press the [SET] button with the current alarm displayed. Note: Create a sequence so that when an alarm occurs, the main circuit contactor MC will be switched off, (Refer to Section 2:2.1.) 3403. Start Up and Operation of Position Servo 3-5.5 Parameters (1) Parameter list Table 3-1 Parameter list for positioning servo Initial a 0 Pei on aes pap stn cL ok tiesto S| Ocnmioemmecme | al | on Cl Bi se multiplieaton [ee 31 | eae | | 4] wnplinpositonrange = | 100 a ead jeogn 25 a ee “ aS - so = - _ © P | / . - - 7] sops|option functions 0000} loto 111Fh. (1) Command pulse input format (2) Command pulse input signal logic (3) Speed proportional command valid 8| _FFC|Feed forward gain o| —% — oto 100 9 Spare Q 10] Pst)Postion ee 9fromstims 33299, 8 | 11] zsP|zero speed 8) tor/min |1 10 500 £ | 12| VGN|Speed loop gain 100 70 to 999 £| 13] vic|Speed integral compensation 25| ms |1t0.999 B| 14) voc|speed proportional contrat gain 98) % — |oto 100 &| 15] Tut |Torquo limit value 100] % — Jot 100 16| _ FST|Feed forward command fiter 0 loto7 17| Moo|Analog monitor, oftset of mv __ [2010 100) 18] — |spare Q 49| 1Po|Inpuvioutput signal selection o42| oto 1AFh 20] *DMD|Monitor selection 00) JO to DFBh (1) Status display when power is switched ON (2) Encoder output division rate (3) Analog monitor output selection #444: The initial value (factory default value) will differ according to the servo amplifier size +: These are validated when the power is cycled after setting. att3. Start Up and Operation of Position Servo (2) Explanation of parameters Table 3-2 Details of positioning servo parameters ciass ‘Abb. Name Inia Valve] _unit_| Range wy Motor ype: ne hans [ i} 7 ——* [ied Motor rating (parameter setting value) mas] — | 10a] 208] 40a | 604 | 708 | 1008] 2008] 250] roma zontal coma roma 104i | 208% | 40a jowarzouatows | See Se ee (eae) eed fe Oe ae (ese anal etter Seer aaa |= |---| eee — ee — 1-1 - [Js | ws] mz [ass| -[-[-1- 3 wasel 1 == TET - fe son aen fgets -t-t-- 1 - ber Basen a (ecnies Seed a) ie Sse feceieea|e= 5 aaa ig [eee eee es [eee = [oss [as [as |e g - Tete T-T- T= Salis) ana) eau)ee & & “STY|Servo loop type: ‘0000 Jot 5 The servo loop and vali of he regenerative option are se 73980 3 Co [To To: Positioning seo (pulse train) 1: Speed serv (analog, thee int 5: Low noise mode, speed serve (analog. three intemal speeds) Lo: No regenerative option 1: Regenerative option (MA-RBOTS) 2 Regenerative option (MR-REOS2) ‘3: Regenerative option (MR-RB064x2 cris) 4 Regenerative option (MR-ABC64) '5: Regenerative pion (MR-AB1O%2 series) 6: Regenerative option (MR-AB20x2 series) 7: Regenerative option (MR-AB1O) {8 Regenerative option (MR-RB20) ‘8: Regenerative option (MR-AB50) ‘The combination ofthe regenerative option and servo ampitieris restricted, Feterto Section 61, 0: Automate tuning valid (medium response) 1: Automatic turing va (as response) 2 Automate tuning vai (sow response) 3: Automatic tuning vais 312 Continued on the next page,3. Start Up and Operation of Position Servo Class] Pr. ‘Abb. Name Initial Value] Unit [Range eMx. [Command pulse multiplication (numerator: The mutiplier ofthe input command pulses is sot here. 1 110.0900] User parameter ‘DV |Eec- |Gommand pulse mulplication (denominator: tronic | ‘The divisor of the input command pulses ia set here fe lex Input command pulse f | Le Setting ange 1. OMX , Bo°cov =? 110 9999] INP [in-postion range When the number of droop pulses as set in this parameters ‘counted, the positioning completed output is set. 100 | pulse | 010.9900] PGN | Position oop gain The position loop gains set here. The value wil change automaticaly when automatic tuning is exe- cuted, 25 rads | Sto 150) Spare Special parameter “OPS | Special function selection: a (2) Command pulse input format ‘0: forwardreverse run pulse train input 1 symbolpulse train input 2: 2-phase pulse tain input (<1) (6) Command pulse input signal fgie ©: input signal negative logic ‘input signal postive loge ©: speed proportional command invalid Vali only whon the extemal input signal PC is ON. 1: spoed proportional command valid (o Use, USN ‘Stop pattorn whon OFF 0: immediate stop 4 erasing top 3: 2-phase puso tain input (<2) For the sating method, 4: 2-phase pulse tain input (x4) refer to Section 9-7. fro 111FH| FFC [Feed forward gain ‘The feed forward gain of the position loop is set. When set to 100%, the droop pulses wil be zero when operating at a constant speed. ‘The overshoot wil increase when sudden acceleration or decel- eration is caried out. (Asa guideline, at FFO=100%, the acceleration'deceleration time: to tho rated spood is 16 or more.) % | 10109] 343 Continued on the next page.3. Start Up and Operation of Position Servo Class Pr. Name initia Value] Unit | Range ‘Special parameter Spare ° 10 Pst Postion command acceleration/deceleraton te constant, (smoothing) This parameter i used to apply alow pass fiter tothe command, puloe train (x) ‘When commanded from an encoder fr synchronization, synchronized operation can be started smoothly even when started during line operation, Line speed _y otset—~y/ ‘Motor speed /) e110 motor © | tomsee | 0 to 9909] amsee | 99100] Time constag’ At ee Time constant set z —— Start : 1 28? Zoro speed ‘The speed for switching on the zero speed output signal ZSP) is, sot here. 5 toumin | 110 500] 12 ven’ Speed loop gain “The speed loop gain ie eet here. ‘The value will change automaticaly when automatic tuning is executed, 100 "7010 099] 18 vic Speed integral compensation “The time constant for integral compensation Is set Tho value wil change automaticaly when automatic tuning is executed, 5 rmeac | 110 999] 4 [Speed proporional contol gain ‘The proportional contel willbe validated when parameter Pr.7is ‘21 oF the proportional contol input signal (PC) is switched ON. ‘The proportional integral control wil be activated when set to 100, and the proportional gain wil docroaso with a smaller value. 98 % | oto 109] 18 TH Torque limit value ‘With a maximum torque of 100%, the proportion of MAX torque to be usedis set. ‘When the extemal torque limit input signal (TL) switches ON, the smaller of the external torque limit value or ths parameter set value willbe used, ‘The MAX torque set with this parameter wil be BV when the torque is monitored with monitor output 00 % | ote 109} 16 FST Feed forward command time constant ‘The fiter time constant fr the positon loop feed forward command is set here. Filter time Filter time constant _| Setvalue | “constant ° ‘ome 4 8 Set value 1 1 5 16 2 6 32 3 4 0 2lime| — ot07| 344 ‘Continued on the next page.3. Start Up and Operation of Position Servo class] Pr. | Abb. Name Initial Value] unit | Range 17 | MOO |Anslog monitor oftest ° mv | -20t0 100] ‘The offeet fr the analog monitor output is set har, 78 Spare ° 19. | 10 |VO signal selection nz 1 to 1AFH| ‘The input signal functions of the connector CN1 pins 22 and 33, and th output signal functions of pins 25 and 28 are selected, Tinput pin function selection Seting | Pin32 [Pin 83] (Fr signal name, : BSP YL | ler to Section 3.7.) 2 cr | TL |e inial value e | ca | rc {output pin function selection Seting | Pin25 | Pin26 1 | zsP | PF 2 | mc | PF 4 pe | zsP |e tnital value e_| no | zp 3 L___ arn cose output 2 :lovais 8 valid g ‘Tho alarm codes rom the output pins (24, 25,26) dur~ ing an alarm are outpit in 3 bis. [Note:The alarm code wil be output whon an alarm ‘curs and the ALM output is switched OFF, ‘Alar name [Alarm No, [ZSP (26)] PF (25) [RD (24)| Code Underwolaga Lio |e ommncinieema ma|ana) Memory error 1 (RAM, ROM) Agia] sig mas manna Ove a Memory error? (EEPROM). sg is [aegis gatinegimt| 0! Magnetic polarity detection error ies [es een as. POB error (AID eror) 73s | gles OnE 0. [Overregeneration go {1 oo [4 [overspeed pie [eee Las. [Overcurrent [oo 4 [4 [Overvotage: sf 4 oo | 4 [Command frequency Sror eer atari as Parameter error sys er gana reaaeaoRsl) ato) Fin overheating age [sig eg OT, [Overioad oe eae eon e. Excessive difference eps [estisneee oeemasatl eas, Screen changed during sare ON loos (esti sea eee a7, 1: continuity with SG, 0: no continuity Continued on the next page. 3153. Start Up and Operation of Position Servo —— [class] pr. | Abb, Name inital Value] Unit | Range 20 | “DMo|Monitor selection ° foto aFbn| ‘The display, monitor output and encoder output vision rate are at. ] === spay status slacon when poweris ON ‘0: Cumulative feedback pulses (lower 4 digits) 1: Curate feedback pulses (upper 3 its) 2: Spued '% Droop pulses (lower 4 digits) ‘4: Droop pulses (upper 3 digits) ‘5: Cumulative command pulses (lower 4 digits) 6 Cumulative command plses (per dg) 7; Command pulse frequency 8 Torus mt command vokage 9: Regenerative tad aio 2 Bleto load mito ts Peak load rao, {+ Encoder output vision rate i validated by itching the power ONOFE. ‘Analog mentor ouput solecon stings mado vad boypressing tho (SET) buon sera eterree TAnaiog monitor output Seu |eiiwae'_[eeecton g ey vt o ve = 2] 6 & a V4 | speed monitor 4 oe | ane |fatecatesevy wo} on7 z (Setting example) 2 at |e Encoder output 1/4 Analog mentor outpat: 0 wt Speed monitor “1 ww When *Spood”is sot as a Ya [Torque monitor (easels 9, the deta statis menor, set ad ue oLo] 3] 2 80 111 [Speedmntor Zaro oartr meter, il sale: of _| we _|svsav) co |W | Torque monitor Zero carter mete, hl sole @ | we [svew Roterto Table 35 in Section 37 (4) 5) Continued on the next page. 3463. Start Up and Operation of Position Servo (8) Relationship of the command pulse and feedback pulse ‘The relationship of the command pulse and feedback pulse vaties according to the setting of each parameter. This relationship is shown in the following diagram. Peo Feed 4 Pee conan er per Peg Pato 16) a = - ~ AC see motor ne| owe | |2 4 Sls Command pase? lta || 228i 43 | ) jomat] (ER) [52 dal” Acceptor ; | zaees | [ema] cs at 2006rmin L_[ em FPA P20 sping Boies PG division FPE put pl ‘at 3000rimin eae et na soe 1) Setting example for operating with AD71 Feedback pulse pe Parameter Motor ee max. output | pace van pulse frequency | Pl®® an | erectronic gear | Smoothing Type (rated format rye (rate pc | nb | tb pe7_| pra | pra | prio AME ale in) | 1000 prev} 200 kpps | SO kpps ‘0000 (3000 rimin) avorwee [fame [1 [oy |, | gfttt,, [tocomer| 200% | sotere Aveo) | Tine train Ha6s. a4 {ooo urin) | 1900 prev] 2o0Kpps | SO hops {$000 nin) 2) Smoothing (Pr. 10) (@) When the electronic gear rate is large (10-fold or more) and the speed is low, the speed will not be smooth, and will cause a pulsating type of rotation. Here, the rotation will smooth-out when Pr. 10 is set to “1" (10ms). (b) When an acceleration/deceleration time is not applied to the command pulse train, and if the command pulse frequency changes suddenly, an overshoot or excessive difference alarm "AL-52" will occur, Set the acceleration/deceleration time constant with Pr. 10. 3) Feed forward (Pr. 8) This function cancels the delay caused by the droop pulses in the deviation counter. Ifthe delay becomes a problem, gradually increase the setting in Pr. 8, and set within the range where overshooting does not occur. This cannot be used if the acceleration/deceleration is rapid. 4) Feed forward command filter (Pr. 16) A filter is used for the feed forward command. 3473. Start Up and Operation of Position Servo 3-6 Wiring (1), Servo amplifier tront view Power su eomecton (S,7 (2) ‘Srpnase 200 V sete: ‘Connect o a commercial power supply of200 to 220 Vac. sore Me Singio phase 100 V series: Connect o a commerea, ower supoiyof 100 f0 115 Vac, 50760 te Display/stting section “The status and alazms ave Regenerative option connection (C, P) Gonnect between P and C ‘when using the regenerative option. Ths ia always needed for MR-ODIA oF more o Connector Nt Serve motor connection Various contol signals are (W, ¥,) inpatoutput Connect withthe sve motor Rter to Section 3.7 for at haga Sxplanatone on te signals. Proper operation wittnot be Roter to section (2), 1 forthe possible if the phases on the Pia layout Iotor and amplifier are mistakenly connected. The ampitier may be damaged it «8 commercial power supply is connected, Grounding Connect withthe serve motor |_[—C ‘ground terminal, and ground (rounding resistance 1000 Max) (a bE sone va Somat te i ware | cane ow prey stelele} Tel fee mersec-a[ | es on PF a : sl | | Seecenanameet qe AX CAUTION Gcedsisrceammeded er thee Sa do nt a cote ae HEE cos? a | || FED | amet nn =e A (ars tate) Fig. 3-1 Standard connection diagram | for position control operation Note: 1. The total current to the external relays should not exceed 80mA. When it exceeds 80mA, supply the /F power from an extemal source (refer to Section 3-6.3). The servo amplifier may be damaged if the diode polarity is inverted and connected ‘Always connect the stroke end LSP and LSN during operation (normally closed). The pins with the same signal name are connected inside the servo amplif 0.3m for the HA-ME series. For the UL listed and CSA certified HA-SE servo motor, connectors are used for connection with the power supply. (Refer to Section 2-1.4.) Motor side: MS3102A22-23P or MS3102A24-10P. Cable side: MS3106B22-23S or MS3106B24-10S eases 3493. Start Up and Operation of Position Servo (2) Example of connection with FX-1GM gpg pon = — Ini agente opin extra wen aig ae Seton 2-21 fhe fe "SE ters er SON oa ee ea —— iota bbe swtahed OFF wih the alarm) | ‘servo motor wee te gp: smneeanc_ NER ME EE eh hs ewe SEE Soe Serre a femmcgmercieiay PE sso smoon a | wae ken fa ‘ral wcetot | 3 [| Seem Le | eee soa | CAUTION Deaton cemeiet eesteon ope cc oa (Guvratton Um 122) 4 i Fig. 3-1 Standard connection diagram | for position control operation Note: 1. The total current to the extemal relays should not exceed 80mA. When it exceeds BOA, supply the VF power from an extemal source (refer to Section 3-6.3). The servo amplifier may be damaged if the diode polar ‘Always connect the stroke end LSP and LSN during operation (normally closed). The pins with the same signal name are connected inside the servo amplifier. 0.3m for the HA-ME series. For the UL listed and CSA certified HA-SE servo motor, connectors are used for connection with the power supply. (Refer to Section 2-1.4.) Motor side: MS3102A22-23P or MS3102A24-10P Cable side: MS3106B22-23S or MS3106B24-10S oasen 3-203. Start Up and Operation of Position Servo 36.2 Common line diagram for position servo ‘The intemal power supply (24V, 15V) and the common lines of the servo amplifier are shown below. ‘The power supply is separated in two systems, so properly wire these. Use shields if the unit is affected by extemal noise, and carefully ground these, MELSERVO -MELSERVOY Tolerable +2av 210% voo | —2mA ‘Approx. sma OF Digital input -—2% (0H) “\ CAUTION Y maximum The servo amplifier wil be current: SomA damaged if the diode is not ‘Open collector ‘connected as shown pulse train Max. 200Kpps [| Tolerable P15R [Soma 15 210% Torque + 10Vimaximum 3 ‘current so motor ‘Serve motor jencoder Grounding 3 @) : 3-213. Start Up and Operation of Position Servo 3-63 Interface power supply ‘The power supply VDD (+24V) built into the servo amplifier can be used for digital input/output signals. Ifthe current capacity is insufficient, do not connect VDD and VIN, instead use an external power sup- ply. ee (aca ae 0 0 Come aby eler to Section 6-12 for recommended power suppl. 4\ CAUTION ‘The servo amplifier a willbe damaged it the ‘ode isnot connected as chown, 3-223. Start Up and Operation of Position Servo 3-7 Explanation of signals (1) Explanation of signals Table 3-3 List of terminals Signal name | Symbol | Pin No. Explanation VO class [Servo ON SON | 28 _ [Operation is possible when the servo ON signals switched ON. The base is shut off when switched |OFF, and the servo motor will coast to stop. [Alarm reset RES | 29 |The alarm can be reset when the alarm reset sig- nal is switched ON for 50msec or more. However, memory, card and parameter errors cannot be re- set with this signal. For regenerative and overload Jerrors, the base will be shut off and the servo mo- tor will coast to stop if this signal is switched ON be-| fore the regenerative resistor or power transistor cools down. The CPU will not be reset with this sig- al. The CPU is reset by switching the power OFF ON. Forward run usP 30 |The servo motor will not rotate unless the forward Di stroke end un or reverse run stroke end signal is ON. If the |orward run stroke end is switched OFF, the servo Reverse run LSN 31 |motor will not rotate in the forward direction. If the stroke end reverse run stroke end is switched OFF, the servo motor will not rotate in the reverse direction, Clear ‘The droop pulses will be cleared when the clear sig- nal is switched ON. External When the external torque limit signal is switched torque limit JON, the torque output by will be limited to the tor- que limit command (TLA) value from an external source. When the proportional control signal is switched JON, the speed servo loop will be changed from a roportional integral type to a proportional type. Forward run | PP, PG | 20, 19 |The command pulse is input pulse train NP,NG | 22,21 |. Forthe open collector type, connect the 24V Reverse run power supply VDD and open collector power sup- pulse t ply OPC, and input each pulse train between PP- : ‘SG, NP-SG. Pulse train PP, PG | 20,19 |+ For the differential receive type, open the open | DI-2 Pulse train | NP|NG@ | 22,21 | collector power supply OPC and input each pulse ‘Symbol . train between PP-PG and NP-NG. A-phase pulse | PP, PG | 20,10 |» Select the forward/reverse run pulse method, train symbol + pulse method, A B phase pulse method B-phase pulse | NP,NG | 22,21 | and the input pulse positive/negative logic with train parameter No. 7. Torque limit TLA 3 |Input the motor torque limit value when the extemal command {torque limit signal is switched ON. The maximum | Analog Horque is 0 to +10V. (The maximum torque given in | input [Section 10-2 is reached at OV.) 18V power PISR 1 |+15V#10% is output between P15R and the control supply common LG. [The maximum current available is 30mA. (Controt La | 6,7,8 |Thisis the common terminal for the torque limit Jcommond Jcommand TLA, monitor MO, A B Z-phase PLG pulse FPA, FPB, OP signals. Continued on the next page. 3:23,3. Start Up and Operation of Position Servo Signal name | Symbol | Pin No. Explanation VO class |Open collector oPpc 23 Connect this terminal to a 24V power supply VDD [power supply |when inputting the pulse train with the open collec- |_| —— [tor method. |24V power voD 35,36 |+24V+10% is output between VDD and common /supply ISG. —_— ‘The maximum current available is 80mA. 24V common ‘SG | 13, 14, |Thisis the common terminal for the 24V power oe 15,16 _|supply. igital VF VIN 34 |A24V power supply is input for the digital VF. [power supply Connect between VIN and VDD when using the — input |24V power supply in the servo amplifier. | Shield sD. 18 |Connect one end of the shield wire. — Ready RD 24 The ready signal switches ON when the servo ON signal is input and the servo in active. Trouble ALM 27 The trouble signal will switch OFF when an alarm loccurs in the servo. If there is no trouble, the trouble signal will switch [ON approx. 0.8 seconds after the power is turned ION. Positioning PF The positioning complete signal switches ON when | DO-1 complete {the number of droop pulses is smaller than the in- (-2) [Position range setin the parameter. Zero speed ZsP_| je) |The zero speed signal switches ON when the motor [detection 26 |speed drops below the zero speed set as in the pa- rameter. Limiting torque | TLC The limiting torque signal switches ON when the torque output reaches the torque limit value. phase PLG | FPA | 10 _ |The feedback pulse from the encoder mounted onto pulse the servo motor is output. ‘The feedback pulse can be divided from 1/1 to 1/32 ‘with the parameter. B-phase PLG_ | FPB | 11 — |Whenthe servo motoris rotating in the forward di- | DO-2 pulse ection, the FPA will be the pulse that is a 90° phase shift forward from FPB. Zphase PLG | OP 42 _ [One pulse will be output with one servo motor rota- pulse tion. Monitor MO “4 _ |The servo motor speed or torque is output as or analog voltage. Select whether to output the speed for torque with parameter No. 20. When outputting | arao {the speed, this is 8V/maximum speed, and when output outputting the torque, this will be 8V/maximum orque as set in parameter No. 15. Output accuracy: +5% "1: Assign clear, external torque limit, or proportional control to pins 32 or 83. Select with parameter NO. 19. The initial setting value is CR-32, TL-33. *2: Assign positioning complete, zero speed detection, or limiting torque to pins 25 and 26. Select with parameter NO. 19. The initial setting value is PF-25, ZSP-26. 3-243. Start Up and Operation of Position Servo (2) Interface The details of each interface noted in Table 3-3 (I/O class) are shown below. Digital input interface (DI-1) Digital input interface (DO-1) Appl signal wih a ministre relay or open co | The lamp relay or phoocoupler canbe ven tector taneistor (7. "oeratie cure: oom ees Fish eurrent 100m toad an ab- renter clompwadine. ba V0 | ier for lamp load in- oe een OO ete teed. fornush curent Aopen. smh wo sw ma A\ CAUTION “The sono ample willbe damaged it the dod isnot conmcted as show Pulse train input intrtace (O42) ~ Open calector ype Max 200 pe + Ditfeontial eclver ype Max 200 Kep= * ha ample, of 833 et ae =, tuoteo.2u8 tie 8 Aeprcx. 10mA te>2hs to>2ys wooue tras Pulse tain ouput intrtace (00-2) 7 ierace example 7 Phase relation * Division waveform 35mA\ Either ON or OFF wit fea mutiple (of each division. (50% duty) fe ple Sto 24v h Max. 35m A Photocoupler v 1. asbosdaPisP/Be tus (Ths sestabished regardiess ofthe output division rate) sPiastns 2 eval 1th duration of ne FPApuse Photécoupler (when the output cvison rate is 1/1, % 3:253. Start Up and Operation of Position Servo (3) Command pulse train format ‘The position command pulse train can be input in any of three formats (forward/reverse run pulse train, symbol + pulse train, AB-phase pulse train), and the positive and negative logic can be selected. Select the command section pulse train format from the following table, and set with the servo amplifier parameter No. 7. Table 3-4 Specified pulse format Command pulse train | Forward run Reverse run Pr.7 setting Remarks | Forward run pulse }AD71 (A type) train pe ULL (Factory default | Note; When the A and B ‘atleg) roca nenton, [Reverse run puse [NP 7. ein ‘0000 ‘one side will be [tam inept 2 pp ULI UU tae 9 | symbol + puso cot A071 (@ ype) aie INP L # z it A-phase pulse tain |PP_[—__J—. Sr Laima | 0002 | puis train after mutiply Bet so tate fequorey [B-phase pulse train {NP [minutely | 0009 _| wil be below 200Kpps. ~4imtply | 0008 Fopartnn pice [pp FLELEUM Reverse run pulse AAA oo train ae 3 PUL 8 Pe Bl symtet «pice 2|tn INP w = é ~multly | c00A_ [Paso ain ater mally pp a Satothat the hase pee tain |e rat | ona pnb bt . LTT Firma | 0000 Note: [ and “L indicate the timing of reading the command pulse. 3-263. Start Up and Operation of Position Servo (4) Explanation of output signals 1) 2 3) Torque limit: Normally, the torque is limited in the servo amplifier to the value set in parameter No. 15. If there are mechanical system limits such as with the gear capacity, the max. torque is set smaller with Pr. 15. To change the torque limit value from an extemal source, wire as shown in the right diagram, and switch the extemal torque limit command TL ON. The torque limit value will be the smaller of the TLA level and Pr. 15 level Torque limit command and motor torque The relation of the TLA voltage level and the motor generated torque is shown on the right. The motor generated torque will have a differ- ence of about 5% depending on the motor. Ifthe speed command is low such as SOmV, a proper limit will not be applied, and the torque will fluctuate. If there are problems, increase the limit value. Limiting torque (TLC): This switches ON when the servo motor torque reaches the set torque limit value such as dur- ing acceleration or deceleration Ifthe external torque limit is not applied, this will tum ON at the output of torque whose torque limit has been set with Pr. 15. Zero speed (ZSP): This switches ON when the servo motor speed drops to or below that set with Pr. 11. The detection has a hysteresis as shown on the Fight. Positioning complete (PF): This switches ON when the droop pulses in the deviation counter are in the positioning com- plete range (in-position) set in parameter No. 4. When operating at a low speed, the droop pulses will be small, so when the positioning complete range No. 4is large, the PF signal will stay ON for a longer time. 3.27 Extomal wiring External torque lit Upper limit seting Torque tit command Fig. 3-3 External torque diagram F “Torque limit value o.08v Tov Command voltage ig. 3-4 Torque limit level TWAinput Hysteresis 0rimin on OFF Motor speed (e/a) Pr. set value 30 Fig. 3-5 Zero speed detection level3. Start Up and Operation of Position Servo 5) Analog monitor output (MO) Any of the following four levels can be selected with parameter No. 20. Table 3-5 Monitor output pattern Monitor ‘Speed Torque (motor current) Pr.20 | Factory Getautt value soo soo coo (G8Vimaximum speed) | (S24Vimaximum speed) | (-8VNO. 15 sting Max. | (Se4Viio. 15 cating Max torque) torque) tas) Mo Mo output MO output details cw 0 cow | cw Speed Speed 3-284. Start Up and Operation of Speed Servo ——_—$—— 41, Wiring Wire according to the wiring diagram. Refer to Section 4-7 for the definition and use of the servo amplifier signals and functions. 4-2. Checking wiring (1). Refer to the wiring diagram and confirm that the wiring is correct. (Section 4-6) (2) Especially note the following wiring. The unit may be damaged if it is miswired. Main circuit 1) A source of AC power which conforms to the specification must be connected to the servo amplifier power supply terminals (R, S, T). I the power does not conform to the specification, drop the voltage to the specified voltage by using a transformer. 2) Power supply lines (R, S, T) must not be connected to the servo motor output terminals (U, V, W). 3) The phases of the output terminals (U, V, W) and motor terminals (U, V, W) must match, 4) AC power must not be directly applied to the servo motor. S-phase 200V series The sere amplifier wil be damaged it {AC powers applied to the serve amplior output terminal The servo motor willbe 4 damaged (demagnetized, Seno amplifier bum) # AC poweris an applied decty. anstormet i R u Rowe sul . 7 v ow zo ee For RaitA oF more, this is necessary. ‘Tha phases must match Regenerative resistance (eptonay Control circuit 1) Connect 24VDC to the interface power supply terminal (VIN). Connect VIN and VDD when using the power supply in the servo amplifier (VOD). 2) When connecting a relay to the open collector output terminals, insert a diode parallel to the relay. The diode must be connected with us shown. Otherwise, the servo amplifier will be damaged. Tobe connected when intemal power ‘To be connected Pos Pea supplies used yoo, ‘when intemal power ‘supplies used vin Tee 4 86 Relay \ A\ CAUTION “The servo amplifier will be damaged ite doe sot comet as shown, Some relays hate era srubber doe, observe rae pela4. Start Up and Operation of Speed Servo nee aeiast lieben tii 4-3. Switching power on and setting parameters The setting of the 1) motor type and 2) servo loop type has been factory set. These parameters are validated when the power is swiched OFF once after setting and then switching ON again. (1). Switching power ON ‘Switch the SON signal OFF and switch ON the power. + When the power is turned ON, "rdy", indicating initialization, will be displayed for approx. 2 sec- onds. L + Next, the servo type will be displayed. The initial value is set at the positioning servo. ae) After setting the motor type (refer to section (2), (ie ul 1), set to the speed servo (refer to section (2), 2) LP-P: Positioning servo LP-V: Speed servo * Status display (iter 5 sec.) ‘The cumulative feedback pulses will be displayed when the power is switched ON. Vin pone Seg am (fo iF Gg (2) Setting parameters Alter switching the power ON, the parameters must be set as needed, The unit may not operate properly ifthe following two items are not set correctly. Always confirm the settings, and set as needed, 1) Motor type (Parameter No. 0 MTY): Refer to the combination table below and set the parameter according to the type of motor being used. The motor may be damaged if not set correctly. Values in shaded areas in the table shown below are factory set values. = — > Serve nour Serve moor ating (parameter valve No.0) Aa toa | 204 | 4on | 608 | 701 | 1008 | 2008 | as08 | roma] ova aon | oma 2 =} sons | zo | doar OM zona onea seen ware] 0 [te] as see cia ee fee fea 7 = aa eee ee] | 3 6 ETT ss Tes [ae Pass [= Bluase] 1 STat= Saleesleaiee g ec -- a1_[ 159 | 20r eee SN eee fee | ee oe fee agg ge (es a fem | ae | ae etalon asso =e bebe is Pe ‘The setting for the HA-FE and HA-SE servo motors cannot be made by the MR-JTMA servo ampli. 424, Start Up and Operation of Speed Servo Setting example ‘The value for Parameter No.0 for this combination of servo motor and servo amplifier must be changed from the factory setting. The table on the previous page shows that the value must be changed from "33" to "43" Use the following procedure to change the value. Press the [MODE] button three times. ‘The initial value (HA-FE33) will be displayed Press the [SET] button. ‘The data section wil flicker. Change the data to 0 43 with the [UP] and [DOWN] buttons. Press the [SET] button. The setting will be finished, and the parameter No. section will flicker. The data will be registered and the setting com- pleted. ‘Switch power OFF->ON 2) Servo loop type (Parameter No. 1 STY): The servo loop type, Parameter No.1, defines whether the drive is a speed or position type. The value of the parameter also defines the auto tuning mode and whether the regenerative option is to be used. If a model above the MR-J40A is used, the regenerative option must be installed. Set the parameter value according to the following chart. 0 1 ©: Standard made, postion servo (pus tain) Tt: standard mode, speed sore (analog, toe internal epaode) 4: Low noise mode, postion servo (puise tain) 5: Low noise me speed servo (analog, three internal speeds) Sa rave pon Sang [ Reserve opm T ort powerW) | __Apotateanailer’ 0 _[Noregeneave optn = MRSIOA, 204 ‘Austo tuning 1 IMR-RBO13. 10 MR-J10A to MR-J100A team response tion to Moat t:Fastengoee 2 |wr-naoae a iene Neen BSowrecnse [5 Iwananee x2 100 TOMA fo Moka «[r-naose co 5 _|wr-nasox2 ‘80 w2000 [Wr Rano 2 00 7 Jwr-nax0 109 8 IMR-RB3O_ 300 MR-J350A oreo 500 434. Start Up and Operation of Speed Servo ee 4-4 Operation The servo motor is operated with the following procedure after the power is switched ON and the parameters have been set. Power ON Parameter setting Servo ON Servo ON signal Forward run start signal (reverse run start signal) ON Operation interruptistop The "servo ON’ signal is switched ON. ‘The operable status is entered, and the servo motor is servo locked. If the servo motor is not servo locked at this point, the "servo ON" signal is not ON. Confirm the status with the monitor, and check the wiring. [Diagnosis screen} + Servo ON/OFF check Power ON Fa} Press the [MODE] button once. T ‘Switch servo ON. apy This display will show when the "servo ON" switches ON. icd-on) + Input signal check When the following steps are carried out from the above display, the input signal ON/OFF status can be checked. Press the [UP] button once. The external input/output signal ON/OFF status will be displayed. Switch the servo ON. ‘When the servo switches ON, the screen on the left will be displayed. * The ready and positioning complete signals will be output simultaneously and displayed. + When the start signal switches ON, the motor will rotate at the speed set with the extemal command. First, set this to a low speed to confirm the rotation direction and movement status of the machine. Set the accelera- tion/deceleration times in parameters No. 5 and 6. Ifthe motor is not rotating as desired, check the input signal again. Refer to Sections 4-5.3 and 5-2. + When operating with the intemal parameter speed, select signals DI1, and Die. * The servo motor speed and load rate, etc. can be checked on the servo ampifier’s status display monitor. ‘The operation will be interrupted or stopped when the following are carried out, 1) Servo OF F...... 2) Reset ea... 8) Start signal OFF oo. 4) Alarm... . The main transistor’s base current will be shut off and the servo motor will coast to stop. The base will be shut off and the motor will coast to stop. The dynamic brake (optional) will not operate. The servo motor will stop and be locked by the servo when both start signals (ST1 and ST2) are switched OFF or ON. .. The base will be shut off when an alarm occurs. 444. Start Up and Operation of Speed Servo 4-5 Display and setting function 4-5.1 Display flow chart Details of the display The status can be monitored and parameters set with the display section (5-digit, 7-segment display) on the front of the servo amplifier. Confirm the parameter settings before operation, diagnose trouble, confirm external sequences, and confirm the operation status with this display. ‘An example of the display flow chart (for the speed servo) is shown below. Refer to sections 4-5.2 to 4-55 for details on the display. ‘When using as a speed servo, the least digit decimal point on the 7 segment LED will ight constantly. 10. appears five see. after power ON (edd Jror2 sec cP ‘Display mode transition 4 F [ (wood Ee Geena | Rw u p@LS 100) ton PSnaE | sentperaornt] sms ‘ E a 1080) te Tot pian sion Se a Goro ei 100) saavtarae | Sateen su me . b t 20) yi oy . sear ent te) During an alarm, the last alarm and ‘eurent alae are the same, Conia andor a om xboard (per dapt tt 454. Start Up and Operation of Speed Servo 4-5.2 Status display ‘The various states during operation are displayed. The display details can be changed freely with the UP and DOWN buttons. The display when the power is switched ON is set to Pr. 20. ‘Sym- | Display range, Name pore | ae Details [Speed r [3.0.0.0t0 [The servo motor speed is displayed. The lower 2nd, 3rd 3000 rimin [and 4th digit decimal points will ight during reverse run. Forward run: 3000, Reverse run: 3.0.0.0. |The lowermost decimal point will always light during speed servo.) [Speed command | F £10.00V |The speed command voltage is displayed. During voltage negative voltage, the lower 2nd and 4th decimal points light, and the lower 3rd decimal point goes out. Positive voltage: 10.00. Negative voltage: 1.00.0. Torque limit U [| 0t010.00V [The torque limit command voltage is displayed. lcommand Regenerative U 0t0 100% |The regenerative load ratio for the regenerative option load ratio tolerance value selected in Pr. 1 is displayed in %. A short time (approximately 30 to 40 minutes) is required for stabilizing. Effective load J (010.300% [The load ratio for the rated torque is displayed in %. ratio (Note) ‘The servo motor temperature is assumed, 50 the effective torque and display value are not linear. A short lime (approximately 10 to 20 minutes) is required for stabilizing Peak load ratio |b 010.300% |The load ratio is displayed in % according to the rated lorque. (Cumulative ¢c |The feedback pulses (4-times multiplying) are counted {eedback pulses land displayed. When the counter overflows, it will be (ower 4 digits) 2999990 to —_| cleared to zero. For the reverse run pulses (negative), (Cumulative © | 9999999 pulses |the lower 2nd, 3rd and 4th digit's decimal points will feedback pulses light. The display will be reset to "0" when the "SET™ (upper 3 digits) button is pressed, Note: When the display value is not 100%, the display value and effective load ratio will differ. Actual relationship between the load ratio and display is as shown below. s Display (36) 100 Load ratio (%) 8 «100180 Effective load ratios for display values 90, 80 and 70 are 95, 89 and 84(%). 4645.3 Diagnosis mode This is used to confirm the status of the extemal sequence, etc. 4. Start Up and Operation of Speed Servo Name Display Details [Sequence {automatic tuning) Ird-o Not ready. |The unit is being initialized atter the servo ON has been |switched ON, or an alarm has occurred. | Automatic tuning can be performed from this screen. (Refer Ito Section 5-1 for details.) Ird-on FHI E Ready. Enter the operable status after initialization after switching the servo ON. [Automatic tuning can be performed from this screen. Extemal input’ Joutput signal Input sido sonal utes Signal (Vie te cone tor ONT pln No, SON sor ON [The extemal inputvoutput signal ON-OFF status is displayed. [The upper vertical line of leach segment in the 5-digit a LED is the input signal, and 20H speed + the lower corresponds to the 202 speed 2 output signal. (eee [STi fowadun stan | The figure on the left shows St2eece nn sir |the status when all rere 9 pierre, ted On, Jout when OFF. |The relation of each 1 lsegment's vertical line and 7 (24 ady input/output signal is shown PF (29) speed reached lon the left. Lszsp gs) er speed Note 1 ‘AM (7) wouble ‘The output signal pin Nos. eee marked * respond to the fac- tory default setting. (Change these with parameter No. 19.) DO signal check The DO signal check display will appear when the [SET] Button is pressed for more than two seconds. The loutput from connector CN1’s 24, 25, 26 and 27 pins enter the state where they can be forcibly switched ON/OFF. ‘Always operate these with the servo ON signal switched OFF. (Refer to Section 5-3 for details.) Test mode loperation The [4 _280) (200r/min) speed display will appear when Ithe [SET] button is pressed for more than two seconds, and the test operation state will be entered Always operate this with the servo ON signal switched OFF. Refer to Section 5-4 for details.) Software version MITSUBISHI USE For MITSUBISHI x <= MITSUBISHI USE 47