講義三菱技術(shù)shna

General-PurposeACServoEthernetInterfaceMODELMR-JE-_CSERVOAMPLIFIERGeneral-PurposeACServoEthernetInterfaceMODELMR-JE-_CSERVOAMPLIFIERINSTRUCTIONMANUALSafetyInstructionsPleasereadtheinstructionscarefullybeforeusingtheequipment.Tousetheequipmentcorrectly,donotattempttoinstall,operate,maintain,orinspecttheequipmentuntilSafetyInstructionsPleasereadtheinstructionscarefullybeforeusingtheequipment.Tousetheequipmentcorrectly,donotattempttoinstall,operate,maintain,orinspecttheequipmentuntilyouhavereadthroughthisInstructionManual,Installationguide,andappendeddocumentscarefully.Donotusetheequipmentuntilyouhaveafullknowledgeoftheequipment,safetyinformationandinstructions.InthisInstructionManual,thesafetyinstructionlevelsareclassifiedinto"WARNING"and"CAUTION".NotethattheCAUTIONlevelmayleadtoaseriousconsequenceaccordingtoconditions.Pleasefollowtheinstructionsofbothlevelsbecausetheyareimportanttonelsafety.Whatmustnotbedoneandwhatmustbedoneareindicatedbythefollowingdiagrammaticsymbols.InthisInstructionManual,instructionsatalowerlevelthantheabove,instructionsforotherfunctions,andsoonareclassifiedinto"POINT".AfterreadingthisInstructionManual,keepitaccessibletotheoperator.A-1Indicateswhatmustnotbedone.Forexample,"NoFire"isindicatedby .Indicateswhatmustbedone.Forexample,groundingisindicatedby .Indicatesthatincorrecthandlingmaycausehazardousconditions,resultingindeathorsevereinjury.Indicatesthatincorrecthandlingmaycausehazardousconditions,resultinginmediumorslightinjuryto nelormaycausephysicaldamage.CAUTIONWARNING1.Topreventelectricshock,notethefollowing2.Topreventfire,notethefollowing3.1.Topreventelectricshock,notethefollowing2.Topreventfire,notethefollowing3.Topreventinjury,notethefollowingA-2CAUTIONOnlythevoltagespecifiedintheInstructionManualshouldbeappliedtoeachterminal.Otherwise,aburst,damage,etc.mayoccur.Connectcablestothecorrectterminals.Otherwise,aburst,damage,etc.mayoccur.Ensurethatpolarity(+/-)iscorrect.Otherwise,aburst,damage,etc.mayoccur.Theservoamplifierheatsink,regenerativeresistor,servomotor,etc.,maybehotwhilethepowerisonandforsometimeafterpower-off.Takesafetymeasuressuchasprovidingcoverstoavoidaccidentallytouchingthembyhandsandpartssuchascables.CAUTIONInstalltheservoamplifier,servomotor,andregenerativeresistoronincombustiblematerial.Installingthemdirectlyorclosetocombustibleswillleadtosmokeorafire.Alwaysconnectamagneticcontactorbetweenthepowersupplyandthepowersupply(L1/L2/L3)oftheservoamplifier,inordertoconfigureacircuitthatshutsdownthepowersupplyonthesideoftheservoamplifier’spowersupply.Ifamagneticcontactorisnotconnected,continuousflowofalargecurrentmaycausesmokeorafirewhentheservoamplifiermalfunctions.Alwaysconnectamolded-casecircuitbreaker,orafusetoeachservoamplifierbetweenthepowersupplyandthepowersupply(L1/L2/L3)oftheservoamplifier,inordertoconfigureacircuitthatshutsdownthepowersupplyonthesideoftheservoamplifier’spowersupply.Ifamolded-casecircuitbreakerorfuseisnotconnected,continuousflowofalargecurrentmaycausesmokeorafirewhentheservoamplifiermalfunctions.Whenusingtheregenerativeresistor,switchpoweroffwiththealarmsignal.Otherwise,aregenerativetransistormalfunctionorthelikemayoverheattheregenerativeresistor,causin okeorafire.WhenyouusearegenerativeoptionwithanMR-JE-40CtoMR-JE-100C,removethebuilt-inregenerativeresistorandwiringfromtheservoamplifier.Provideadequateprotectiontopreventscrewsandotherconductivematter,oilandothercombustiblematterfromenteringtheservoamplifierandservomotor.WARNINGBeforewiringandinspections,turnoffthepowerandwaitfor15minutesormoreuntilthechargelampturnsoff.Otherwise,anelectricshockmayoccur.Inaddition,whenconfirmingwhetherthechargelampisoffornot,alwaysconfirmitfromthefrontoftheservoamplifier.Groundtheservoamplifierandservomotorsecurely.Any whoisinvolvedinwiringandinspectionshouldbefullycompetenttodothework.Donotattempttowiretheservoamplifierandservomotoruntiltheyhavebeeninstalled.Otherwise,itmaycauseanelectricshock.Donotoperateswitcheswithwethands.Otherwise,itmaycauseanelectricshock.Thecablesshouldnotbedamaged,stressed,loaded,orpinched.Otherwise,itmaycauseanelectricshock.Topreventanelectricshock,alwaysconnecttheprotectiveearth(PE)terminal(marked )oftheservoamplifiertotheprotectiveearth(PE)ofthecabinet.Toavoidanelectricshock,insulatetheconnectionsofthepowersupplyterminals.4.AdditionalinstructionsThefollowinginstructionsshouldalsobefullynoted.Incorrecthandlingmaycauseamalfunction,injury,electricshock,fire,4.AdditionalinstructionsThefollowinginstructionsshouldalsobefullynoted.Incorrecthandlingmaycauseamalfunction,injury,electricshock,fire,etc.(1)TransportationandinstallationA-3CAUTIONTransporttheproductscorrectlyaccordingtotheirmass.Stackinginexcessofthespecifiednumberofproductpackagesisnotallowed.Donotholdtheleadwireoftheregenerativeresistorwhentransportingtheservoamplifier.Installtheservoamplifierandtheservomotorinaload-bearingplaceinaccordancewiththeInstructionManual.Donotgetonorputheavyloadontheequipment.Otherwise,itmaycauseinjury.Theequipmentmustbeinstalledinthespecifieddirection.Leavespecifiedclearancesbetweentheservoamplifierandthecabinetwallsorotherequipment.Donotinstalloroperatetheservoamplifierandservomotorwhichhavebeendamagedorhaveanypartsmissing.Donotblocktheintakeandexhaustareasoftheservoamplifier.Otherwise,itmaycauseamalfunction.Donotdroporstriketheservoamplifierandservomotor.Isolatethemfromallimpactloads.Whenyoukeeporusetheequipment,pleasefulfillthefollowingenvironment.Whentheproducthasbeenstoredforanextendedperiodoftime,contactyourlocalsalesoffice.Whenhandlingtheservoamplifier,becarefulabouttheedgedpartssuchascornersoftheservoamplifier.Theservoamplifiermustbeinstalledinam cabinet.Whenfumigantsthatcontainhalogenmaterialssuchasfluorine,chlorine,bromine,andiodineareusedfordisinfectingandprotectingwoodenpackagingfrominsects,theycausemalfunctionwhenenteringourproducts.Pleasetakenecessaryprecautionstoensurethatremainingmaterialsfromfumigantdonotenterourproducts,ortreatpackagingwithmethodsotherthanfumigation(heatmethod).Additionally,disinfectandprotectwoodfrominsectsbeforepackingproducts.ItemEnvironmentAmbienttemperatureOperation0°Cto55°C(non-freezing)Storage-20°Cto65°C(non-freezing)AmbienthumidityOperation5%RHto90%RH(non-condensing)StorageAmbienceIndoors(nodirectsunlight),freefromcorrosivegas,flammablegas,oilmist,dust,anddirtAltitude1000morlessabovesealevelVbration5.9m/s2,at10Hzto55Hz(directionsofX,YandZaxes)(2)Wiring(3)TestrunandadjustmentA-4CAUTIONBeforeoperation,checktheparametersettings.Impropersettin aycausesomemachinestooperateunexpectedly.Neveradjustorchangetheparametervaluesextremelyasitwillmakeoperationunstable.Donot(2)Wiring(3)TestrunandadjustmentA-4CAUTIONBeforeoperation,checktheparametersettings.Impropersettin aycausesomemachinestooperateunexpectedly.Neveradjustorchangetheparametervaluesextremelyasitwillmakeoperationunstable.Donotgetclosetomovingpartsduringtheservo-onstatus.CAUTIONBeforeremovingtheCNP1connectorofMR-JE-40CtoMR-JE-100C,disconnecttheleadwiresoftheregenerativeresistorfromtheCNP1connector.Wiretheequipmentcorrectlyandsecurely.Otherwise,theservomotormayoperateunexpectedly.Donotinstallapowercapacitor,surgekiller,orradionoisefilter(optionalFR-BIF)ontheservoamplifieroutputside.Toavoidamalfunction,connectthewirestothecorrectphaseterminals(U/V/W)oftheservoamplifierandservomotor.Connecttheservoamplifierpoweroutput(U/V/W)totheservomotorpowerinput(U/V/W)directly.Donotletamagneticcontactor,ervene.Otherwise,itmaycauseamalfunction.Servoamplifier Servomotor Servoamplifier ServomotorUVWTheconnectiondiagramsinthisinstructionmanualareshownforsinkinterfaces,unlessstatedotherwise.ThesurgeabsorbingdiodeinstalledtotheDCrelayforcontroloutputshouldbefittedinthespecifieddirection.Otherwise,theemergencystopandotherprotectivecircuitsmaynotoperate.Servoamplifier Servoamplifier24VDC 24VDCDOCOM DOCOM Controloutput RA Controloutput RAsignal signalForsinkoutputinterface ForsourceoutputinterfaceWhenthecableisnottightenedenoughtotheterminalblock,thecableorterminalblockmaygenerateheatbecauseofthepoorcontact.Besuretotightenthecablewithspecifiedtorque.ConnectingaservomotorofthewrongaxistoU,V,W,orCN2oftheservoamplifiermaycauseamalfunction.ConfigureacircuittoturnoffEM2orEM1whenthepowersupplyisturnedofftopreventanunexpectedrestartoftheservoamplifier.MUVWUVWUVMW(4)Usage(5)CorrectiveactionsA-5CAUTIONEnsuresafetybyconfirmingthepoweroff,etc.beforeperformingcorrectiveactions.Otherwise,itmaycauseanaccident.Whenitisassumedthatahazardousconditionmay(4)Usage(5)CorrectiveactionsA-5CAUTIONEnsuresafetybyconfirmingthepoweroff,etc.beforeperformingcorrectiveactions.Otherwise,itmaycauseanaccident.Whenitisassumedthatahazardousconditionmayoccurduetoapowerfailureorproductmalfunction,useaservomotorwithanelectromagneticbrakeorexternalbraketopreventthecondition.Configureanelectromagneticbrakecircuitwhichisinterlockedwithanexternalemergencystopswitch.ContactsmustbeopenedwhenALM Contactsmustbeopened(Malfunction)orMBR(Electromagnetic withtheemergencystopswitch.brakeinterlock)turnsoff.Servomotor24VDCElectromagneticbrakeWhenanyalarmhasoccurred,eliminateitscause,ensuresafety,anddeactivatethealarmbeforerestartingoperation.Provideanadequateprotectiontopreventunexpectedrestartafteraninstantaneouspowerfailure.RABCAUTIONWhenitisassumedthatahazardousconditionmayoccurduetoapowerfailureorproductmalfunction,useaservomotorwithanexternalbraketopreventthecondition.Donotdisassemble,repair,ormodifytheequipment.Beforeresettinganalarm,makesurethattherunsignaloftheservoamplifierisoffinordertopreventasuddenrestart.Otherwise,itmaycauseanaccident.Useanoisefilter,etc.tominimizetheinfluenceofelectromagneticinterference.Electromagneticinterferencemaybegiventotheelectronicequipmentusedneartheservoamplifier.Burningorbreakingaservoamplifiermaycauseatoxicgas.Donotburnorbreakit.Usetheservoamplifierwiththespecifiedservomotor.Theelectromagneticbrakeontheservomotorisdesignedtoholdthemotorshaftandshouldnotbeusedforordinarybraking.Forsuchreasonsasservicelifeandmechanicalstructure(e.g.whereaballscrewandtheservomotorarecoupledviaatimingbelt),theelectromagneticbrakemaynotholdthemotorshaft.Toensuresafety,installastopperonthemachineside.(6)Maintenance,inspectionandpartsreplacement(7)GeneralinstructionDISPOSALOFWASTEPleasedisposeaservoamplifier,battery(primarybattery)andother(6)Maintenance,inspectionandpartsreplacement(7)GeneralinstructionDISPOSALOFWASTEPleasedisposeaservoamplifier,battery(primarybattery)andotheroptionsaccordingtoyourlocallawsandregulations.EEP-ROMlifeThenumberofwritetimestotheEEP-ROM,whichstoresparametersettings,etc.,islimitedto100,000.Ifthetotalnumberofthefollowingoperationsexceeds100,000,theservoamplifiermaymalfunctionwhentheEEP-ROMreachestheendofitsusefullife.WritetotheEEP-ROMduetoparametersettingchangesWritetotheEEP-ROMduetodevicechangesCompliancewithglobalstandardsForthecompliancewithglobalstandards,refertoapp.3of"MR-JE-_CServoAmplifierInstructionManual".?Aboutthemanual?YoumusthavethisInstructionManualandthefollowingmanualstousethisservo.Ensuretopreparethemtousetheservosafely.A-6ManualnameManualNo.MELSERVO-JEServoAmplifierInstructionManual(Troubleshooting)SH(NA)030166ENGMELSERVOMR-JE-_CServoAmplifierInstructionManual(ProfileMode)SH(NA)030254ENGMELSERVOMR-JE-_CServoAmplifierInstructionManual(CC-LinkIEFieldNetworkBasic)SH(NA)030256ENGMELSERVOHG-KN/HG-SNServoMotorInstructionManualSH(NA)030135ENGMELSERVOEMCInstallationGuidelinesIB(NA)67310ENGRelevantmanualsToillustratedetails,theequipmentinthediagramsofthisInstructionManualmayhavebeendrawnwithoutcoversandsafetyguards.Whentheequipmentisoperated,thecoversandsafetyguardsmustbeinstalledasspecified.OperationmustbeperformedinaccordancewiththisInstructionManual.CAUTIONMakesurethattheemergencystopcircuitoperatesproperlysuchthatanoperationcanbestoppedimmediatelyandapowerisshutoffbytheemergencystopswitch.Itisrecommendedthattheservoamplifierbereplacedevery10yearswhenitisusedingeneralenvironment.Whenusingaservoamplifierwhosepowerhasnotbeenturnedonforalongtime,contactyourlocalsalesoffice.?Cablesusedforwiring?WiresmentionedinthisInstructionManualareselectedbased?Cablesusedforwiring?WiresmentionedinthisInstructionManualareselectedbasedontheambienttemperatureof40°C.?U.S.customaryunits?U.S.customaryunitsarenotshowninthismanual.Convertthevaluesifnecessaryaccordingtothefollowingtable.A-7QuantitySI(metric)unitU.S.customaryunitMass1[kg]2.2046[lb]Length1[mm]0.03937[inch]Torque1[N?m]141.6[oz?inch]Momentofinertia1[(×10-4kg?m2)]5.4675[oz?inch2]Load(thrustload/axialload)1[N]0.2248[lbf]TemperatureN[°C]×9/5+32N[°F]MEMOA-8MEMOA-8CONTENTS1.7Summary 1-1Functionblockdiagram 1-2Servoamplifierstandardspecifications 1-3CombinationsofservoamplifiersCONTENTS1.7Summary 1-1Functionblockdiagram 1-2Servoamplifierstandardspecifications 1-3Combinationsofservoamplifiersandservomotors 1-5Functionlist 1-6Mdesignation 1-9Structure 1-101.7.1Partsidentification 1-101.8Configurationincludingperipheralequipment 1-2.42.5Installationdirectionandclearances 2-2Keepoutforeignmaterials 2-3Encodercablestress 2-4Inspectionitems 2-4Partshavingservicelife 2-53.13.2Inputpowersupplycircuit 3-2I/Osignalconnectionexample 3-.23.2.3Positioncontrolmode 3-5Speedcontrolmode 3-10Torquecontrolmode 3-123.3Explanationofpowersupplysystem 3-.23.3.3Signalexplanations 3-14Power-onsequence 3-15WiringCNP1. 3-Connectorsandpinassignment 3-18Signal(device)explanations 3-20Detailedexplanationofsignals 3-2...6Positioncontrolmode 3-29Speedcontrolmode 3-34Torquecontrolmode 3-37Position/speedcontrolswitchingmode 3-39Speed/torquecontrolswitchingmode 3-41Torque/positioncontrolswitchingmode. 3-433.7Forcedstopdecelerationfunction 3-4..4Forcedstopdecelerationfunction 3-44Basecircuitshut-offdelaytimefunction 3-46Verticalaxisfreefallpreventionfunction 3-47Residualrisksoftheforcedstopfunction(EM2) 3-47Alarmoccurrencetimingchart 3-48Whenyouusetheforcedstopdecelerationfunction 3-48Whenyoudonotusetheforcedstopdecelerationfunction 3-49Interfaces 3-5013.SIGNALSANDWIRING 3-1to3-622.INSTALLATION 2-1to2-61.FUNCTIONSANDCONFIGURATION 1-1to1-.23.9.3Internalconnectiondiagram 3-50Detailedexplanationofinterfaces 3-52SourceI/Ointerfaces 3-55Servomotorwithanelectromagneticbrake 3-Internalconnectiondiagram 3-50Detailedexplanationofinterfaces 3-52SourceI/Ointerfaces 3-55Servomotorwithanelectromagneticbrake 3-56Safetyprecautions 3-56Timingchart 3-58Grounding 3-614.1Switchingpoweronforthefirsttime 4-.24.1.3Startupprocedure 4-2Wiringcheck 4-3Surroundingenvironment 4-44.2Startupinpositioncontrolmode 4-...6Poweronandoffprocedures 4-5Stop 4-5Testoperation 4-6Parametersetting 4-7Actualoperation 4-7Troubleatstart-up 4-84.3Startupinspeedcontrolmode 4-...6Poweronandoffprocedures 4-10Stop 4-10Testoperation 4-11Parametersetting 4-12Actualoperation 4-13Troubleatstart-up 4-134.4Startupintorquecontrolmode 4-...6Poweronandoffprocedures 4-14Stop 4-14Testoperation 4-15Parametersetting 4-16Actualoperation 4-16Troubleatstart-up 4-174.5Displayandoperationsections 4-..4Summary 4-18Scrollingdisplay 4-19Statusdisplaymode 4-20EthernetstatusdisplayLED 4-21Testoperation 4-22Testoperationmode 4-22TestoperationmodeinMRConfigurator2 4-23Motor-lessoperationinthecontroller 4-255.1Parameterlist 5-.25.1.3Basicsettingparameters([Pr.PA__]) 5-2Gain/filtersettingparameters([Pr.PB__]) 5-2Extensionsettingparameters([Pr.PC__]) 5-425.PARAMETERS 5-1to5-484.STARTUP 4-1to4-I/Osettingparameters([Pr.PD__]) 5-5Extensionsetting2parameters([Pr.PE__]) 5-7Extension.55.1.6I/Osettingparameters([Pr.PD__]) 5-5Extensionsetting2parameters([Pr.PE__]) 5-7Extensionsetting3parameters([Pr.PF__]) 5-85.2Detailedlistofparameters 5-...6Basicsettingparameters([Pr.PA__]) 5-10Gain/filtersettingparameters([Pr.PB__]) 5-18Extensionsettingparameters([Pr.PC__]) 5-30I/Osettingparameters([Pr.PD__]) 5-38Extensionsetting2parameters([Pr.PE__]) 5-45Extensionsetting3parameters([Pr.PF__]) 5-46Differentadjustmentmethods 6-1Adjustmentonasingleservoamplifier 6-1AdjustmentusingMRConfigurator2 6-2One-touchtuning 6-.26.2.3One-touchtuningflowchart 6-5Displaytransitionandoperationprocedureofone-touchtuning 6-7Cautionforone-touchtuning 6-186.3Autotuning 6-..4Autotuningmode 6-19Autotuningmodebasis 6-20Adjustmentprocedurebyautotuning 6-21Responselevelsettinginautotuningmode 6-226.46.5Manualmode 6-232gainadjustmentmode 6-277.1Filtersetting 7-...6Machineresonancesuppressionfilter 7-1AdaptivefilterII 7-4Shaftresonancesuppressionfilter 7-7Low-passfilter 7-8AdvancedvibrationsuppressioncontrolII 7-8Commandnotchfilter 7-137.2Gainswitchingfunction 7-..4Applications 7-14Functionblockdiagram 7-15Parameter 7-16Gainswitchingprocedure 7-187.3Toughdrivefunction 7-.2Vibrationtoughdrivefunction. 7-22Instantaneouspowerfailuretoughdrivefunction 7-24adaptivecontroldisabled 7-277.47.5MLostmotioncompensationfunction 7-288.1Explanationforthelists 8-138.TROUBLESHOOTING 8-1to8-87.SPECIALADJUSTMENTFUNCTIONS 7-1to7-306.NORMALGAINADJUSTMENT 6-1to6-288.28.3Alarmlist 8-2Warninglist 8-69.19.2Servoamplifier 9-1Connector 9-3Overloadprotectioncharacteristics 10-1Powersupply8.28.3Alarmlist 8-2Warninglist 8-69.19.2Servoamplifier 9-1Connector 9-3Overloadprotectioncharacteristics 10-1Powersupplycapacityandgeneratedloss 10-2Dynamicbrakecharacteristics 10-4Dynamicbrakeoperation 10-4Permissibleloadtomotorinertiawhenthedynamicbrakeisused 10-510.410.5Cablebendinglife 10-6Inrushcurrentatpower-on 10-611.1Cable/connectorsets 11-.211.1.3Combinationsofcable/connectorsets 11-2Batterycable/junctionbatterycable 11-4Ethernetcable 11-511.2Regenerativeoption 11-11.2.411.2.5Combinationandregenerativepower 11-5Selectionofregenerativeoption 11-6Parametersetting 11-7Connectionofregenerativeoption 11-8Dimensions 11-11JunctionterminalblockMR-TB26A 11-13MRConfigurator2 11-Specifications 11-15Systemrequirements 11-15PrecautionsforusingUSBcommunicationfunction 11-1711.5Battery 11-11.5.4Selectionofbattery 11-18MR-BAT6V1SET-Abattery 11-19MR-BT6VCASEbatterycase 11-23MR-BAT6V1battery 11-2911.611.711.811.911.1011.1111.12Selectionexampleofwires 11-30Molded-casecircuitbreakers,fuses,magneticcontactors 11-31PowerfactorimprovingACreactor 11-32Relay(recommended) 11-33Noisereductiontechniques 11-34Earth-leakagecurrentbreaker 11-42EMCfilter(recommended) 11-4412.1Summary 12-1412.ABSOLUTEPOSITIONDETECTIONSYSTEM 12-1to12-1011.OPTIONSANDPERIPHERALEQUIPMENT 11-1to11-4610.CHARACTERISTICS 10-1to10-69.DIMENSIONS 9-1to9-12.1.412.1.5Features 12-1Restrictions 12-.212.1.312.1.412.1.5Features 12-1Restrictions 12-2Structure 12-2Parametersetting 12-3Confirmationofabsolutepositiondetectiondata 12-3Battery 12-4UsingtheMR-BAT6V1SET-Abattery 12-4UsingtheMR-BT6VCASEbatterycase 12-5Communication-basedabsolutepositiontransfersystem 12-6Communicationcommand 12-6Absolutepositiondatatransferprotocol 12-6App.1HandlingofACservoamplifierbatteriesfortheUnitedNationsRecommendationsontheTransportofDangerousGoods App.-1App.-3App.-4App.-15withDCpowersupply................................App.-16Usingtheneutralpointofa3-phase400VACclasspowersupplyforinputtingaApp.-17Statusofgeneral-purposeACservoproductsforcompliancewiththeChinaRoHSApp.-18App.2App.3App.4App.5App.6App.75APPENDIX App.-1toApp.-19MEMO6MEMO61.FUNCTIONSANDCONFIGURATION1.FUNCTIONSANDCONFIGURATION1.11.FUNCTIONSANDCONFIGURATION1.FUNCTIONSANDCONFIGURATION1.1SummaryTheMitsubishiElectricgeneral-purposeACservoMELSERVO-JEserieshavelimitedfunctionswithkeepinghighperformancebasedonMELSERVO-J4series.Theservoamplifierhasposition,speed,andtorquecontrolmodes.Inthepositioncontrolmode,theumpulsetrainof4Mpulses/sissupported.Further,itcanperformoperationwiththecontrolmodesswitched,e.g.position/speedcontrol,speed/torquecontrolandtorque/positioncontrol.Hence,itisapplicabletoawiderangeoffields,notonlyprecisionpositioningandsmoothspeedcontrolofmachinetoolsandgeneralindustrialmachinesbutalsolinecontrolandtensioncontrol.Theservoamplifiersupportsprofileposition/velocity/torquemodethatdrivemotorswithcommunicationfromthecontroller.Byspecifyingtargetposition,targetspeed,accelerationtimeconstant,anddecelerationtimeconstant,apositioncommandiscreatedintheservoamplifierandthemotorwillbedriven.TheservoamplifierhasaEthernetportandvariousopennetworkssuchasCC-LinkIEFieldNetworkBasic,SLMP,etc.,fordrivingmotors,monitoring,parametersetting,etc.Withone-touchtuningandreal-timeautotuning,youcanautomaticallyadjusttheservogainsaccordingtothemachine.Thetoughdrivefunction,driverecorderfunction,andpreventivemaintenancesupportfunctionstronglysupportmachinemaintenance.TheservoamplifierhasaUSBcommunicationinterface.Therefore,youcanconnecttheservoamplifiertothealcomputerwithMRConfigurator2installedtoperformtheparametersetting,testoperation,gainadjustment,andothers.TheMELSERVO-JEseriesservomotorequippedwithanabsolutepositionencoderwhoseresolutionis131072pulses/revwillenableahigh-accuracypositioning.1-1POINTToensuresafetyofthesystemagainstunauthorizedaccessviaanetwork,takesecuritymeasuressuchasusingafirewall.1.FUNCTIONSANDCONFIGURATION1.2FunctionblockdiagramThefunctionblockdiagramofthisservoisshownbelow.(1)MR-JE-100CorlessRegenerativeoptionServomotorP+CDiodestackDynamiccircuitRelay(Note1)MCCBMCUUL12)PowersupplyVVL2CurrentencoderRegene-M+rativeTRWWL3CHARGElampB1RABElectromagnetic24VDCbrakeB2ControlcircuitpowersupplyBaseamplifierVoltagedetectionCurrentOvercurrentprotectiondetectionEncoderPositioncommandVirtualencoderStep-downcircuitMpositioncontrolMspeedcontrolinputVirtualmotorMpositionMspeedMtorqueBattery(forabsolutepositiondetectionsystem)ActualpositioncontrolActualspeedcontrolCurrentcontrolUSBCN1CN3CN5alAnalog(1channels)I/OcontrolControllercomputerUSBNote1.Thebuilt-inregenerativeresistorisnotprovidedforMR-JE-10CandMR-JE-20C.2.For1-phase200VACto240VAC,connectthepowersupplytoL1andL3.LeaveL2open.Forthepowersupplyspecifications,refertosection1.3.1-2CN4CN2A/DI/Fcontrol1.FUNCTIONSANDCONFIGURATION1.2FunctionblockdiagramThefunctionblockdiagramofthisservoisshownbelow.(1)MR-JE-100CorlessRegenerativeoptionServomotorP+CDiodestackDynamiccircuitRelay(Note1)MCCBMCUUL12)PowersupplyVVL2CurrentencoderRegene-M+rativeTRWWL3CHARGElampB1RABElectromagnetic24VDCbrakeB2ControlcircuitpowersupplyBaseamplifierVoltagedetectionCurrentOvercurrentprotectiondetectionEncoderPositioncommandVirtualencoderStep-downcircuitMpositioncontrolMspeedcontrolinputVirtualmotorMpositionMspeedMtorqueBattery(forabsolutepositiondetectionsystem)ActualpositioncontrolActualspeedcontrolCurrentcontrolUSBCN1CN3CN5alAnalog(1channels)I/OcontrolControllercomputerUSBNote1.Thebuilt-inregenerativeresistorisnotprovidedforMR-JE-10CandMR-JE-20C.2.For1-phase200VACto240VAC,connectthepowersupplytoL1andL3.LeaveL2open.Forthepowersupplyspecifications,refertosection1.3.1-2CN4CN2A/DI/Fcontrol1.FUNCTIONSANDCONFIGURATION1.3Servoamplifierstandardspecifications1-3M :MR-JE-10C20C40C70C100COutputRatedvoltage3-phase170VACRatedcurrent [A]5.86.0inputVoltage/Frequency3-phaseor1-phase200VACto240VAC,50Hz/60Hz3-phaseor1-phase200VACto240VAC,50Hz/60Hz(Note5)Ratedcurrent(Note4)[A]3.85.01.FUNCTIONSANDCONFIGURATION1.3Servoamplifierstandardspecifications1-3M :MR-JE-10C20C40C70C100COutputRatedvoltage3-phase170VACRatedcurrent [A]5.86.0inputVoltage/Frequency3-phaseor1-phase200VACto240VAC,50Hz/60Hz3-phaseor1-phase200VACto240VAC,50Hz/60Hz(Note5)Ratedcurrent(Note4)[A]3.85.0fluctuation3-phaseor1-phase170VACto264VAC3-phaseor1-phase170VACto264VAC(Note5)fluctuationWithin±5%Powersupplycapacity[kVA]Refertosection10.2.Inrushcurrent [A]Refertosection10.5.InterfacesupplyVoltage24VDC±10%Currentcapacity [A]0.3(Note1)ControlmethodSine-wavePWMcontrol,currentcontrolmethodDynamicbrakeBuilt-inCommunica-tionfunctionEthernetconnectionConnectiontomasterstation(controller),etc.USBconnectionConnectiontoa alcomputerorothers(MRConfigurator2-compatible)EncoderoutputpulsesCompatible(A/B/Z-phasepulse)PositionmodeMax.inputpulsefrequency4Mpulses/s(fordifferentialreceiver)(Note3),200kpulses/s(foropencollector)PositioningfeedbackpulseEncoderresolution(resolutionperservomotorrevolution):131072pulses/revCommandpulsefactorElectronicgearA/Bmultiple,A:1to16777215,B:1to16777215,1/10<A/B<4000In-positionrangesetting0pulseto±65535pulses(commandpulseunit)Errorexcessive±3revolutionsTorquelimitSetwithparameterorexternalanaloginput(0VDCto+10VDC/ umtorque)controlmodeSpeedcontrolrangeAnalogspeedcommand1:2000,internalspeedcommand1:5000Analogspeedcommandinput0to±10VDC/ratedspeed(Thespeedat10Vischangeablewith[Pr.PC12].)Speedfluctuationratio±0.01%orless(loadfluctuation0%to100%),0%(powerfluctuation±10%),±0.2%orless(ambienttemperature25°C±10°C)whenusinganalogspeedcommandTorquelimitSetwithparameterorexternalanaloginput(0VDCto+10VDC/ umtorque)TorquemodeAnalogtorquecommandinput0VDCto±8VDC/ umtorque(inputimpedance10k?to12k?)SpeedlimitParametersettingProfilemodeReferto"MR-JE-_CServoAmplifierInstructionManual(ProfileMode)."ProtectivefunctionsOvercurrentshut-off,regenerativeovervoltageshut-off,overloadshut-off(electronicthermal),servomotoroverheatprotection,encodererrorprotection,regenerativeerrorprotection,undervoltageprotection,instantaneouspowerfailureprotection,overspeedprotection,anderrorexcessiveprotectionCompliancewithglobalstandardsCEmarkingLVD:EN61800-5-1EMC:EN61800-3ULstandardUL508CStructure(IPrating)Naturalcooling,open(IP20)Closemounting(Note2)3-phasepowersupplyinputPossible1-phasepowersupplyinputPossibleImpossible1.FUNCTIONSANDCONFIGURATIONNote0.3AisthevalueapplicablewhenallI/Osignalsareused.1.FUNCTIONSANDCONFIGURATIONNote0.3AisthevalueapplicablewhenallI/Osignalsareused.ThecurrentcapacitycanbedecreasedbyreducingthenumberofI/Opoints.Whencloselymountingtheservoamplifier,operatethemattheambienttemperaturesof0°Cto45°Corat75%orsmallereffectiveloadratio.1Mpulse/sorlowercommandsaresupportedintheinitialsetting.Wheninputtingcommandsover1Mpulse/sand4Mpulses/sorlower,changethesettingin[Pr.PA13].Thesearecurrentvaluesfor3-phasepowersupply.Whenusing1-phase200VACto240VACpowersupply,operatetheservoamplifierat75%orsmallereffectiveloadratio.1-4M