Mitsubishi Electronics MR-E- A/AG 13 - 2

13 - 2

13. OPTIONS AND AUXILIARY EQUIPMENT

(b) To make selection according to regenerative energyUse the following method when regeneration occurs continuously in vertical motion applications orwhen it is desired to make an in-depth selection of the regenerative brake option:a. Regenerative energy calculationUse the following table to calculate the regenerative energy.

M

Friction

torque

Unbalance torque

TF

TU

Servo motor speed

Generated torque

Time

Up No

tf(1 cycle)

Down

( )

( )

(Driving)

(Regenerative)

Tpsd2

t2 t3 t4t1

Tpsa2

Tpsd1

Tpsa1

1)

2)

3)

4) 5)

6)

7)

8)

Formulas for calculating torque and energy in operation

Regenerative power Torque applied to servo motor [N m] Energy [J]

1) T1(JL JM)

9.55 104

N01

Tpsa1 TUTFE12

0.1047 N0T1Tpsa1

2) T2 TU TFE2 0.1047 N0T2t1

3) T3(JL JM)

9.55 104

N01

Tpsd1 TUTFE32

0.1047 N0T3Tpsd1

4), 8) T4 TUE40 (No regeneration )

5) T5(JL JM)

9.55 104

N01

Tpsa2 TUTFE52

0.1047 N0T5Tpsa2

6) T6 TU TFE6 0.1047 N0T6t3

7) T7(JL JM)

9.55 104

N01

Tpsd2 TUTFE72

0.1047 N0T7Tpsd2

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of neg ativeenergies.b. Losses of servo motor and servo amplifier in regenerative modeThe following table lists the efficiencies and other data of the servo motor and servo amplifier inthe regenerative mode.

Servo amplifier Inverse efficiency[%] Capacitor charging[J]

MR-E-10A(1) 55 9

MR-E-20A(1) 70 9

MR-E-40A(1) 85 11

MR-E-70A 80 18

MR-E-100A 80 18

MR-E-200A 85 40

Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servoamplifier when rated (regenerative) torque is generated at rated speed.Since the efficiency varies with the speed and torque, allow for about 10%.Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplif ier.

Contents

Main Safety Instructions WARNING CAUTION 1. To prevent electric shock, note the following: WARNING 2. To prevent fire, note the following: CAUTION 3. To prevent injury, note the follow CAUTION 4. Additional instructions (1) Transportation and installation (2) Wiring (3) Test run adjustment (4) Usage (5) Corrective actions (6) Storage for servo motor (7) Maintenance, inspection and parts replacement (8) General instruction About processing of waste COMPLIANCE WITH EC DIRECTIVES Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Page Page 1. FUNCTIONS AND CONFIGURATION 1 - 2 1.2 Function block diagram The function block diagram of this servo is shown below. 1 - 3 1.3 Servo amplifier standard specifications 1 - 4 1 - 5 1 - 6 1.5 Model code definition (1) Rating plate MR-E-40A : MITSUBISHI MODEL AC SERVO :2.6A 3PH200-230V 50Hz :2.6A3PH200-230V 60Hz :170V 0-360Hz 2.8A :XXXXYYYYY :TCXXXAYYYGZZ (2) Model 1 - 7 1.7 Parts identification (1) MR-E-100A or less 1 - 8 (2) MR-E-200A 1 - 9 1.8 Servo system with auxiliary equipment WARNING 1 - 10 (2) MR-E-200A 2. INSTALLATION 2 - 2 2.2 Installation direction and clearances Page Page 3. SIGNALS AND WIRING WARNING 3 - 2 3.1 Standard connection example 3 - 3 3 - 4 (2) AD75P (A1SD75P ) 3 - 5 3 - 6 (3) QD75D (differential driver) External power supply 24VDC Manual pulse generator MR-HDP01 3 - 7 3 - 8 3.1.2 Internal speed control mode 3 - 9 Note. P: Position control mode, S: Internal speed control mode 3 - 10 3.3 I/O signals 3.3.1 Connectors and signal arrangements 3 - 11 3 - 12 (3) Symbols and signal names Page 3 - 14 3 - 15 3 - 16 (2) Output signals 3 - 17 3 - 18 (3) Communication (4) Power supply Page Page Page Page Page Page Page Page Page CAUTION 3 - 29 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. ALM, etc. Page Page Page Page Page 3 - 35 (2) For 1-phase 230VAC power supply 3.7.2 Terminals Refer to Section 11.1 (4) for the signal arrangement. Page WARNING 3 - 38 3 - 39 3.8.3 I/O terminals (1) HC-KFE series Note:Supply electromagnetic brake power (24VDC). There is no polarity. 3 - 40 (2) HC-SFE series Page 3 - 42 (b) Emergency stop signal (EMG) ON/OFF 3 - 43 (c) Alarm occurrence (d) Power off Page Page Page Page Page 4. OPERATION WARNING CAUTION Page Page Page Page 5. PARAMETERS CAUTION Page 5 - 3 5 - 4 5 - 5 (2) Details list 0 0 5 - 6 5 - 7 5 - 8 5 - 9 5 - 10 5 - 11 5 - 12 5 - 13 5 - 14 5 - 15 5 - 16 5 - 17 5 - 18 5 - 19 5 - 20 5 - 21 5 - 22 5 - 23 5 - 24 CAUTION Page 5 - 27 5 - 28 (3) Analog monitor block diagram Page Page 6 - 1 6. DISPLAY AND OPERATION UP DOWN MODE Command pulse frequency [kpps] Page 6 - 3 6.2.2 Status display list The following table lists the servo statuses that may be shown: 6 - 4 6 - 5 6.3 Diagnostic mode Page Page 6 - 8 (2) Display definition 6 - 9 (3) Default signal indications (a) Position control mode (b) Internal speed control mode Page Page Page Page Page 7 - 1 7. GENERAL GAIN ADJUSTMENT 7 - 2 (2) Adjustment sequence and mode usage Page Page 7 - 5 Page Page Page Page Droop pulse value (pulse) Position control g ain 1 settin g 131,072(pulse) 60 8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 2 Page Page Page 8 - 6 Page 8 - 8 (b) Changing operation 8 - 9 (2) When you choose changing by droop puls es (a) Setting (b) Changing operation Page 9. INSPECTION 9. INSPECTION WARNING 9. INSPECTION 10 - 1 10. TROUBLESHOOTING 10.1 Trouble at start-up CAUTION make operation instable. 10 - 2 Page 10 - 4 10.1.2 Internal speed control mode Page CAUTION 10 - 7 10 - 8 10 - 9 10 - 10 10 - 11 Page 11 - 1 11. OUTLINE DIMENSION DRAWINGS 11.1 Servo amplifiers (1) MR-E-10A MR-E-20A 6 ( 0.24) 11 - 2 (2) MR-E-40A 11 - 3 (3) MR-E-70A MR-E-100A 11 - 4 (4) MR-E-200A 6 ( 0.24) 11 - 5 11.2 Connectors (1) Servo amplifier side <3M > (a) Soldered type (b) Threaded type Page 11 - 7 (4) CNP1 CNP2 Connector (molex) (a) Insulation displacement type 11 - 8 (b) Insertion type 12. CHARACTERISTICS Page Page 12 - 4 Flexing life [times] 13. OPTIONS AND AUXILIARY EQUIPMENT WARNING CAUTION 13 - 2 Generated torque Unbalance torque Servo motor speed 2) 3) Page 13 - 4 (5) Outline drawing (a) MR-RB032 MR-RB12 150(5.91) 12 (0.47) 6 (0.23) 156 (6.14) 13 - 5 (c) MR-RB50 350(13.78) 325(12.80) 13 - 6 13 - 7 13 - 8 CAUTION 13 - 10 wiring diagram, you can fabricate an encoder cable of up to less t ha n 30m . Encoder cable of 30m or more wiring diagram, you can fabricate an encoder cable of up to 50m. 13 - 11 (b) MR-EKCBL M-H (long flex life model) Use this encoder cable with the HC-KFE series servo motor. wiring diagram, you can fabricate an encoder cable of up to less t ha n 30m . 13 - 12 Encoder cable of 30m or more wiring diagram, you can fabricate an encoder cable of up to 50m. 13 - 13 Page 13 - 15 13 - 16 Page Page 13 - 19 (2) Connection diagram Page Page 13 - 22 (2 pairs) (6 pairs) (7 pairs) 13 - 23 Page Page 13 - 26 13 1 (0.51 0.04) 30 1 (1.18 0.04) Page 13 - 28 Outline drawing 13 - 29 65 (2.56) 3 (0.12) 22 (0.87) 42 (1.65) 4 (0.16) Page Ig1 20 1000 50.1 [mA] Ig2 20 1000 50.1 [mA] 13 - 32 (2) Connection example (3) Outline drawing 14. SERVO MOTOR 14 - 2 14.2 Model name make-up (1) Name plate AC SERVO MOTOR HC-SFE152 OUTPUT 1.5kW IEC60034-1 '99 INPUT 3AC 145V 8.2A 2000r/min IP65CI.F 9.5kg SER.No. AS958300202X 14 - 3 (b) HC-SFE series (middle inertia, middle capacity) 2 HC-SFE Series name Reduction gear 14 - 4 14.3 Parts identification Lead type Connector type Page Page Page Page 14 - 9 2) Precision application-compliant (b) HC-SFE (2000r/min) series 1) General industrial machine-compliant 14 - 10 2) Precision application-compliant Page Page Page 14 - 14 (b) When using flexible conduits 14 - 15 14 - 16 (2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 14 - 17 (b) When using flexible conduits 14 - 18 14 - 19 14.6 Specifications 14.6.1 Standard specifications 14 - 20 14 - 21 14.6.2 Torque characteristics [HC-KFE13] [HC-KFE23] [HC-KFE73] Page 14 - 23 (3) HC-SFE series The reduction gear frame numbers are as follows: 14 - 24 (b) Recommended lubricants 1) Grease Albania Grease/Shell OIL 2) Lubricating oil Lubricating oil fill amount ( ) Fill amount [ ] Reduction gear frame No. Horizontal type Vertical type 4135 0.7 1.1 4165 1.4 1.0 (c) Lubricating product changing intervals 1) Grease: 20000 hours or 4 to 5 years 2) Lubricant 14 - 25 (1) Keyway (a) With key (b) Without key 14.6.5 D cut Page Page Page 14 - 29 BC24191* BC24190* HC-KFE13 100 0.084 0.53 Variable Dimensions 14 - 30 HC-KFE73 750 1.51 3 BC24192* HC-KFE13B 100 0.32 0.087 0.89 BC24193* 14 - 31 Variable Dimensions BC24194* HC-KFE23B 200 131.5 49.1 1.3 0.47 1.6 HC- KFE43B 400 156.5 72.1 1.3 0.72 2.1 HC-KFE73B 750 2.4 1.635 4.0 14 - 32 14.8.2 HC-SFE series BC25012* BC25010* Variable dimensions 14 - 33 Variable dimensions BC25013* BC25011* HC-SFE202B 2.0 43.1 52.6 18.5 14 - 34 14.9 Outline dimension drawing (in inches) BC24191* 2.758 1.81 14 - 35 HC-KFE73 750 8.256 6.614 BC24193* 3.543 BC24192* 14 - 36 WK2 [oz in2] 3.543 WK2 [oz in2] 2.756 14 - 37 14.9.2 HC-SFE series BC25012* 5.709 BC25010* 14 - 38 BC25013* BC25011* 5.709 6.496 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15 - 2 15.1.2 Function block diagram The function block diagram of this servo is shown below. 15 - 3 15.1.3 Servo amplifier standard specifications 15 - 4 15.1.4 Model code definition AG - MR - E 15.1.5 Parts identification (1) MR-E-100AG or less 15 - 5 (2) MR-E-200AG 15 - 6 15.1.6 Servo system with auxiliary equipment WARNING 15 - 7 (2) MR-E-200AG 15 - 8 15.2. Signals and wiring 15.2.1 Standard connection example (1) Speed control mode 15 - 9 15 - 10 (2) Torque control mode 15 - 11 Note: S: Speed control mode, T: Torque control mode 15 - 12 15.2.3 Connectors and signal arrangements 15 - 13 Page 15 - 15 15 - 16 15 - 17 (2) Output signals (3) Power Page Page Page Page Page Page Page WARNING CAUTION Page Page Page Page 15 - 30 15 - 31 15 - 32 15.4.2 Details list 0 0 15 - 33 15 - 34 15 - 35 15 - 36 15 - 37 15 - 38 15 - 39 15 - 40 15 - 41 15 - 42 15 - 43 0 1 15 - 44 15 - 45 15 - 46 15 - 47 15 - 48 15 - 49 15 - 50 Page 15 - 52 MODE UP DOWN Command pulse frequency [kpps] 15 - 53 Page 15 - 55 15.5.3 Diagnostic mode Page 15 - 57 (2) Display definition 15 - 58 (3) Default signal indications (a) Speed control mode (b) Torque control mode 15 - 59 15 - 60 (2) Torque control mode Page Page REVISIONS *The manual number is given on the bottom left of the back cover.