Download Mitsubishi GENERAL PURPOSE AC SERVO MR-E- A/AG Specifications

SERVO AMPLIFIERS & MOTORS
MR-E
User-friendly servo
with easy operation
Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001
(standards for environmental management systems) and ISO9001(standards for quality
assurance management systems)
EC97J1113
Competent footwork
Enhancing
1
created by high performance and easy operations
the system cost performance
1. High Performance
●Integrating the MR-J2-Super’s
high performance
High response is realized.
High-accuracy positioning is possible.
● Gain settings can be performed easily by the advanced
real-time auto-tuning function.
● Vibration can be suppressed by the adaptive vibration
control function.
● Optimum tuning is possible with a personal computer and
the setup software.
● 2 types of the pulse train interface (position control or
speed control operation) and the analog input interface
(speed control or torque control operation) are provided.
●
●
2. Easy To Use
●Easy operation
Connectors have been installed on the fore part of the
servo amplifier, thereby connecting the cables easily.
● Connectors have been adapted for the servo amplifier
terminal block, thereby reducing the time required for
wiring.
● The MR-E series is compatible with the MR-J2-Super
series for setting.
●
3. Global Standard Products
●Compatible with global standards
●
The MR-E standard
specifications conform to EN,
UL and cUL standards.
2
Applications
Extensive applications
Processing machines or machine
tool feed
Z
Food processing machines,
packing machines or feeders
X
Y
Grinding machines
Transfer machines
Loaders/unloaders
Wood working machines
Dedicated machines
Various positioning can be
completed easily with pulse
trains.
Pillow packing machines
Filling machines
Label printing, label attaching machines
Bag manufacturing machines
Press feeders
Roll feeders
For various applications,
Mitsubishi AC servo
MR-E Series
Textile machines
The IP65 compatible motor
can be used safely for food
processing applications.
Enhancing machine
performance
General-purpose
inverter
General-purpose
motor
Stepping motor
Weaving machines
Embroidery machines
Knitting machines
Winding machines
Stranding machines
Paper manufacturing machines
3
High-speed and high-accuracy
applications are possible, enabling easy
replacement with conventional devices.
Replacement of inverters, stepping
motors or DC servos
Replacement from clutch, mechanical
structure systems or hydraulic/air cylinders
By using the servo as an alternative to legacy
products, higher quality can be achieved.
Servo Motor Features/Model Configurations
Servo Motor Series
Medium capacity series Small capacity series
Motor series
With Global standards
Rated speed
Rated output electro(maximum speed)
Protection
magnetic
UL
level
EN
(kW)
brake
cUL
(r/min)
(B)
Feature
●HF-KE series
● Belt
IP65
IP55
3000
(4500)
● Mounters
4 types
0.1, 0.2, 0.4,
0.75
Excluding
the shaftthrough
portion and
connector
● Sewing
Stable control
from low
speeds to high
speeds allows
compliance
with a variety
of applications.
IP65
2000
(3000)
drive
● Robots
●HF-SE series
Note: A
Application
examples
4 types
0.5, 1.0, 1.5,
2.0
Excluding
the shaftthrough
portion
machines
tables
● Food processing
machines
● X-Y
● Conveyor
machines
● Robots
● X-Y
tables
mark shows production range.
Model Configurations
■For servo amplifier
MR-E- 10 A
Mitsubishi general-purpose
AC servo amplifier
MR-E Series
● Conforms to following standards:
EN, UL and cUL
A : Pulse train interface
AG : Analog input interface
List of compatible motors
Symbol
10
20
40
70
100
200
HF-KE
13
23
43
73
—
—
HF-SE
—
—
—
52
102
152, 202
Note: There are some motors that cannot be connected depending on the
amplifier’s software version.
Refer to the servo motor specifications in this catalog.
■For servo motor
1 3 B
HF-KE
Symbol Rated output (kW)
Symbol
Motor series
HF-KE
Low inertia, small capacity
HF-SE
Medium inertia, medium capacity
1 to 7
0.1 to 0.75
10 to 20
1.0 to 2.0
Symbol Rated speed (r/min)
2
2000 (Note 1)
3
3000 (Note 2)
Notes: 1. 2000r/min is only for HF-SE series.
2. 3000r/min is only for HF-KE series.
● Conforms to following standards:
EN, UL and cUL
Symbol
None
B
Electromagnetic brake
None
Installed
Note: Refer to “Electromagnetic brake specifications”
in this catalog for the compatible models and
detailed specifications.
Symbol
None
Shaft end
Standard (Straight shaft)
K
Key way or with key (Note)
D-cut (Note)
D
Note: Refer to “Special shaft end specifications” in this
catalog for the compatible models and detailed
specifications.
4
Motor Specifications and Characteristics
HF-KE series servo motor specifications
Servo motor series
HF-KE series (Low inertia, small capacity)
Models Servo motor model
Specifications
Servo amplifier model
HF-KE13 (B)
HF-KE23 (B)
HF-KE43 (B)
HF-KE73 (B)
MR-E-10A/AG (Note 9)
MR-E-20A/AG (Note 9)
MR-E-40A/AG (Note 9)
MR-E-70A/AG (Note 9)
Power facility capacity (Note 2) (kVA)
Continuous Rated output (W)
running
Rated torque (N·m [oz·in])
duty
0.3
0.5
0.9
1.3
100
200
400
750
0.32 (45.3)
0.64 (90.6)
1.3 (184)
2.4 (340)
Maximum torque (N·m [oz·in])
0.95 (135)
1.9 (269)
3.8 (538)
7.2 (1020)
39.9
Rated speed (r/min)
3000
Maximum speed (r/min)
4500
Permissible instantaneous speed (r/min)
11.5
16.9
38.6
Rated current (A)
0.8
1.4
2.7
5.2
Maximum current (A)
2.4
4.2
8.1
15.6
(Note 5)
(Note 5)
249
140
(Note 5)
(Note 5)
747
210
—
(Note 5)
2490
700
—
—
—
With no options
Regenerative
braking frequency MR-RB032 (30W)
(times/min)
MR-RB12 (100W)
(Note 3, 4)
MR-RB32 (300W)
Moment of inertia Standard
J (×10-4kg·m2)
With electromagnetic brake
[J (oz·in2)]
Servo motor
5175
Power rate at continuous rated torque (kW/s)
0.088 (0.481)
0.24 (1.31)
0.42 (2.30)
2100
1.43 (7.82)
0.090 (0.492)
0.31 (1.70)
0.50 (2.73)
1.63 (8.91)
15 times the servo motor’s inertia moment maximum (Note 6)
Recommended load/motor inertia moment ratio
Incremental encoder (resolution per servo motor rotation: 16384 p/rev)
Speed/position detector
Attachments
—
Totally enclosed non ventilated (protection level: IP55) (Note 1, 7)
Structure
0 to 40°C (32 to 104°F) (non freezing), storage: −15 to 70°C (5 to 158°F) (non freezing)
Ambient temperature
Ambient humidity
Environment
80% RH maximum (non condensing), storage: 90% RH maximum (non condensing)
Atmosphere
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000m or less above sea level; X: 49m/s2 Y: 49m/s2
Elevation/vibration (Note 8)
Mass
(kg [lb])
Standard
0.56 (1.3)
0.94 (2.1)
1.5 (3.4)
2.9 (6.4)
With electromagnetic brake
0.86 (1.9)
1.6 (3.6)
2.1 (4.7)
3.9 (8.6)
Notes:1. If used in location such as actual site of machinery where oil or water may contact the product, special specifications apply, so contact Mitsubishi.
2. The power facility capacity varies depending on the power supply’s impedance.
3. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load from the rated speed to a stop. When a load is connected, however,
the value becomes the table value divided by (m+1) where m is the load inertia moment divided by the motor inertia moment. When the operating speed exceeds the rated speed,
the regenerative braking frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating speed varies frequently or when regeneration is
constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section
“Options ●Optional regeneration unit” in this catalog for details on the tolerable regenerative power (W).
4. The regenerative braking frequency of the 600W and smaller servo amplifier may fluctuate due to the affect of the power voltage since the energy charged by the electrolytic capacitor in the servo amplifier is large.
5. There are no limits on regeneration frequency as long as the effective torque is within the rated torque range. However, the load/motor of inertia moment ratio must be 15 times or
less.
6. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table.
7. The shaft-through portion and connector for cable terminal are excluded.
8. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite
X
Y
direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.
9. The servo amplifier software is compatible with the HF-KE Series from version A5 or above.
HF-KE series servo motor torque characteristics
HF-KE23 (B) (Note 1, 2)
70
0.5
35
0.25
210
Peak running range
1.5
140
1.0
70
0.5
Continuous running
range
Continuous running range
0
0
1000
2000
3000
4000 4500
0
4.0
560
Torque (oz•in)
Peak running range
0.75
Torque (N•m)
Torque (oz•in)
Torque (N•m)
Torque (oz•in)
105
HF-KE43 (B) (Note 1, 2)
2.0
280
1.0
0
1000
2000
3000
4000 4500
420
Torque (N•m)
HF-KE13 (B) (Note 1, 2)
140
Peak running range
3.0
280
2.0
140
1.0
0
Continuous running
range
0
Speed (r/min)
Speed (r/min)
1000
2000
3000
4000 4500
Speed (r/min)
HF-KE73 (B) (Note 1, 2)
840
Torque (N•m)
Torque (oz•in)
1120
8.0
Peak running range
6.0
560
4.0
280
2.0
Notes:
1.
2.
Continuous running
range
5
0
0
1000
2000
3000
Speed (r/min)
4000 4500
: For 3-phase 200VAC.
: For 1-phase 230VAC.
Motor Specifications and Characteristics
HF-SE series servo motor specifications
Servo motor series
Models Servo motor model
HF-SE series (Medium inertia, medium capacity)
HF-SE52 (B)
HF-SE102 (B)
MR-E-70A/AG (Note 7)
MR-E-100A/AG (Note 7)
Power facility capacity (Note 1) (kVA)
1.0
1.7
2.5
Continuous
running
duty
0.5
1.0
1.5
2.0
2.39 (338)
4.77 (675)
7.16 (1010)
9.55 (1350)
7.16 (1010)
14.3 (2020)
21.5 (3040)
28.6 (4050)
Specifications
Servo amplifier model
Rated output (kW)
Rated torque (N·m [oz·in])
Maximum torque (N·m [oz·in])
HF-SE152 (B)
Rated speed (r/min)
2000
Maximum speed (r/min)
3000
Servo motor
Permissible instantaneous speed (r/min)
HF-SE202 (B)
MR-E-200A/AG (Note 7)
3.5
3450
Power rate at continuous rated torque (kW/s)
9.34
19.2
28.8
23.8
Rated current (A)
2.9
5.3
8.0
10
Maximum current (A)
8.7
15.9
24
30
With no options
120
62
MR-RB032 (30W)
180
93
152
—
71
—
600
—
310
—
1800
—
930
—
Standard
6.1 (33.4)
With electromagnetic brake
8.3 (45.4)
Regenerative
braking frequency MR-RB12 (100W)
(times/min)
MR-RB30 (300W)
(Note 2, 3)
MR-RB32 (300W)
MR-RB50 (500W)
Moment of inertia
J (×10-4kg·m2)
[J (oz·in2)]
—
—
456
—
213
—
11.9 (65.1)
760
17.8 (97.3)
355
38.3 (209)
14.0 (76.5)
20.0 (109)
47.9 (262)
Recommended load/motor inertia moment ratio
15 times the servo motor’s inertia moment maximum (Note 4)
Speed/position detector
Incremental encoder (resolution per servo motor: 16384 p/rev)
—
Attachments
Totally enclosed non ventilated (protection level: IP65) (Note 5)
Structure
0 to 40°C (32 to 104°F) (non freezing), storage: −15 to 70°C (5 to 158°F) (non freezing)
Ambient temperature
80% RH maximum (non condensing), storage: 90% RH maximum (non condensing)
Ambient humidity
Atmosphere
Environment
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000m or less above sea level
Elevation
Vibration (Note 6)
Standard
Mass
(kg [lb])
X : 24.5m/s2
Y : 49m/s2
X,Y : 24.5m/s2
4.8 (11)
6.7 (15)
With electromagnetic brake
6.5 (15)
8.5 (19)
8.3 (19)
11 (25)
12 (27)
18 (40)
Notes:1. The power facility capacity varies depending on the power supply’s impedance.
2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load from the rated speed to a stop. When a load is connected, however,
the value becomes the table value divided by (m+1) where m is the load inertia moment divided by the motor inertia moment. When the operating speed exceeds the rated speed,
the regenerative braking frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating speed varies with the frequency or when
regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to
the section “Options ●Optional regeneration unit” in this catalog for details on the tolerable regenerative power (W).
3. The regenerative braking frequency of the 600W and smaller servo amplifier may fluctuate due to the affect of the power voltage since the energy charged by the electrolytic
capacitor in the servo amplifier is large.
4. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table.
5. The shaft-through portion is excluded.
6. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the
motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.
7. The servo amplifier software is compatible with the HF-SE Series from version A5 or above.
X
Y
HF-SE series servo motor torque characteristics
420
700
3
5
1120
0
1000
2000
Speed (r/min)
Peak
running range
16
8
3000
0
0
1000
2000
Speed (r/min)
2800
1400
Continuous running
range
Continuous running
range
0
2240
Torque (oz•in)
10
4200
24
Torque (N•m)
1400
Torque (oz•in)
Peak
running range
6
Peak
running range
HF-SE202 (B) (Note 1)
HF-SE152 (B) (Note 1)
3360
15
Torque (N•m)
Torque (oz•in)
Torque (N•m)
Torque (oz•in)
840
2100
9
3000
0
1000
2000
Peak
running range
20
10
Continuous running
range
Continuous running
range
0
30
Torque (N•m)
HF-SE102 (B) (Note 1)
HF-SE52 (B) (Note 1, 2)
1260
3000
0
0
1000
2000
3000
Speed (r/min)
Speed (r/min)
Notes:
1.
2.
: For 3-phase 200VAC.
: For 1-phase 230VAC.
6
Motor Dimensions
●HF-KE13(B)
(Unit: mm)
2-ø4.5
mounting hole
Use hexagonal cap
head bolts.
20.5
96.4(137.5)
20.7
1
2.5
3
2
M40
25
5
Standard
4
A
45°
with Brake Power supply
6
38.8 (Note 3)
ø30h7
ø4
37.1
28.5
21
ø8h6
20.7
21.5
(Note 3)
7.2
1
4
2
5
3
6
A
18.4
(Note 3)
25.2
72.3(Note 3)
19.2
Power supply lead 13.9
0.3m
27.5
40.5
Power supply
connector pin assignment
Pin No. Signal name
1
U phase
2
V phase
3
W phase
4
Earth
6.4
connector pin assignment
Pin No.
Signal name
1
U phase
2
V phase
3
W phase
4
Earth
5
B1
6
B2
Protective tubing
Brake lead (Note 3)
0.3m
Power supply connector (made by Molex)
5557-04R-210 (receptacle) in standard case
5557-06R-210 (receptacle) (Note 3)
5556PBT (female terminal)
A
13°
7°
Encoder cable 0.3m
With 1-172169-9 connector
(made by AMP)
Insulok (Note 3)
Standard
●HF-KE23(B), HF-KE43(B)
4-ø5.8
mounting hole
Use hexagonal cap
head bolts.
L
1
3
ø14h6
45°
with Brake Power supply
Power supply lead
0.3m
25.2
19.2
KL
71.8 (Note 3)
2
5
3
6
A
connector pin assignment
Pin No. Signal name
1
U phase
V phase
2
3
W phase
4
Earth
5
B1
6
B2
Model
5.9
L
KL
HF-KE23 (B)
90.6 (130.1)
39.3
HF-KE43 (B)
112.5 (152)
61.2
27.8
Power supply connector (made by Molex)
5557-04R-210 (receptacle) in standard case
5557-06R-210 (receptacle) (Note 3)
5556PBT (female terminal)
13.5°
7°
A
4
Variable dimensions
13.9
Protective tubing
Insulok (Note 3)
Brake lead (Note 3)
0.3m
Encoder cable 0.3m
With 1-172169-9 connector
(made by AMP)
1
47.1 (Note 3)
47.1
37.5
ø50h7
ø7
0
(Note 3)
7.2
4
A
M60
30
7
3
2
Power supply
connector pin assignment
Pin No. Signal name
U phase
1
V phase
2
W phase
3
4
Earth
●HF-KE73(B)
127.8(171)
M80
40
8
4-ø6.6 mounting hole Use
hexagonal cap head bolts.
3
45°
Standard
1
3
2
4
A
7.2
(Note 3)
25.2
79.5 (Note 3)
Power supply lead
0.3m
19.2
72.3
Protective tubing
27.8
Power supply connector (made by Molex)
5557-04R-210 (receptacle) in standard case
5557-06R-210 (receptacle) (Note 3)
5556PBT (female terminal)
A
7°
7°
Encoder cable 0.3m
With 1-172169-9 connector
(made by AMP)
14 12
Insulok (Note 3)
Brake lead (Note 3)
0.3m
Notes:
1. Use a friction coupling to fasten a load.
2. Dimensions inside ( ) are for the models with electromagnetic brake.
3. Only for the models with electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have the polarity.
4. For dimensions where there is no tolerance listed, use general tolerance.
7
0
56.4 (Note 3)
57.1
47.5
ø19h6
ø70h7
ø9
with Brake
1
4
2
5
3
6
A
Power supply
connector pin assignment
Pin No.
1
2
3
4
Signal name
U phase
V phase
W phase
Earth
Power supply
connector pin assignment
Pin No.
Signal name
1
U phase
2
V phase
3
W phase
4
Earth
5
B1
6
B2
Motor Dimensions
●HF-SE52(B), HF-SE102(B), HF-SE152(B)
(Unit: mm)
4-ø9 mounting hole
Use hexagonal cap head bolts.
L
39.7(45)
55
50
12
M130
45°
3
(Note 3)
ø1
ø1
65
112.5
(Note 3)
ø110h7
(Note 3)
81.5
79.9(Note 3)
(Note 3)
45
ø24h6
(Note 3)
19.5
(Note 3)
(Note 3)
60.5(Note 3)
20.9
Encoder connector
MS3102A20-29P
13.5
KL
Brake connector
CM10-R2P (Note 3)
Power supply connector
MS3102A18-10P
58
Earth
Brake
29
(Note 3)
W
C
B
D
A
V
U
Power supply connector
pin assignment
Motor flange
direction
Brake connector
pin assignment
Motor flange
direction
(Note 3)
Variable dimensions
Model
L
KL
HF-SE52 (B)
120 (154.5)
57.8
HF-SE102 (B)
142 (176.5)
79.8
HF-SE152 (B)
164 (198.5)
101.8
●HF-SE202(B)
4-ø13.5 mounting hole
Use hexagonal cap head bolts.
145(194.5)
ø2
30
00
ø2
140.9
96.9(Note 3)
81.5
(Note 3)
45°
75
0
ø114.3 -0.025
3
ø35 +0.010
0
(Note 3)
(Note 3)
M176
79
18
40(47)
19.5
(Note 3)
44
(Note 3)
68(Note 3)
Encoder connector
MS3102A20-29P
Brake connector
CM10-R2P (Note 3)
Power supply connector
MS3102A22-22P
(Note 3)
24.8
79.8
82
Brake
W
Earth
C
B
Brake connector
pin assignment
Motor flange
direction
(Note 3)
D
A
U
V
Power supply connector
pin assignment
Motor flange
direction
Notes:
1. Use a friction coupling to fasten a load.
2. Dimensions inside ( ) are for the models with electromagnetic brake.
3. Only for the models with electromagnetic brake. The electromagnetic brake terminals do not have the polarity.
4. For dimensions where there is no tolerance listed, use general tolerance.
8
Motor Special Specifications
Special shaft end specifications
Motors with the following specifications are available.
HF-KE series
● With key (200, 400, 750W)
R
Q
Variable dimensions
S
R
Q
W
QK
QL
U
Y
QK
200, 400
5
14h6
30
27
5
20
3
3
M4 screw
Depth: 15mm
750
6
19h6
40
37
6
25
5
3.5
M5 screw
Depth: 20mm
HF-KEMK
QL
U
A
øS
T
W
Capacity
(W)
Motor
model
(Note 1)
Y
T
A
A-A
(Unit: mm)
● D-cut (100W)
25
(Note 1)
21.5
1
20.5
ø8h6
(Unit: mm)
HF-SE series
● Key way
R
Q
Variable dimensions
S
R
Q
W
QK
QL
U
r
Y
0.5 to 1.5
24h6
55
50
8
0
-0.036
36
5
4 +0.2
0
4
M8 screw
Depth: 20mm
35 + 0.01
0
79
75
10
0
-0.036
55
5
5 + 0.2
0
5
M8 screw
Depth: 20mm
HF-SEMK
2.0
QK
U
QL
A
øS
Capacity
(kW)
W
Motor
model
(Note 1, 2)
A
r
Y
A-A
(Unit: mm)
Notes:
1. Cannot be used in applications that involve high frequency. Loose keys may damage the motor shaft.
2. A key is not installed. The key shall be installed by the user.
Electromagnetic brake specifications
HF-KE series
Motor model
13B
Type
23B
Brake life (Note 1)
(Braking work per
braking action)
102B
152B
202B
Spring-action safety brake
0
0
24VDC-10%
(N·m)
0.32
1.3
1.3
2.4
8.5
8.5
8.5
44
(oz·in)
45.3
184
184
340
1200
1200
1200
6230
6.3
7.9
7.9
10
20
20
20
34
(J)/time
5.6
22
22
64
400
400
400
4500
(J)/hour
56
220
220
640
4000
4000
4000
45000
20000
(5.6J)
20000
(22J)
20000
(22J)
20000
(64J)
20000
(200J)
20000
(200J)
20000
(200J)
20000
(1000J)
Times
Notes:
1. The brake gap cannot be adjusted. The brake life shows the time until the readjustment is needed.
2. The electromagnetic brake is for holding. It cannot be used for braking applications.
9
52B
24VDC-10%
Power consumption (W) at 20°C (68°F)
Permissible
braking work
73B
Spring-action safety brake
Rated voltage
Brake static
friction torque
HF-SE series
43B
Peripheral Equipment (standard interface)
Connections with peripheral equipment
Peripheral equipment is connected to MR-E as described below.
Connectors, options, and other necessary equipment are available so that users can set up MR-E easily and begin using it right away.
Power supply
3-phase 200-230VAC
or
1-phase 230VAC
CN3 for RS-232C communication (option)
Display panel
Displays monitoring data, parameters,
and alarms.
Circuit breaker
(NFB)
Connect the unit to user’s personal computer to
perform monitoring, batch parameter entry and
saving, graph display, and test operation. Dedicated
cable and setup software are also available.
Setting section
Parameter settings and monitoring
etc. are executed with push buttons.
Used to protect the power
supply line.
Servo amplifier
MR-E- A/AG
Magnetic contactor
(MC)
CN3
Used to turn off the servo
amplifier’s power when an
alarm has been triggered.
Positioning controllers
The MR-E can be connected to a
Mitsubishi controller or any pulse train
output controller.
CN1
R
S
Control signal
connector
T
Power factor
improvement
reactor
(FR-BAL)
CN2
X
Y
FX 2N-10GM FX 2N-1PG QD75P QD75D
FX 2N-20GM FX 2N-10PG P1,2,4 D1,2,4
A1SD75P
P1 to 3
Z
Control signal (for operation panel)
Connected to the PLC’s I/O port or the
machine’s operation panel.
Charge lamp
CNP2
Illuminates when the main circuit power supply
is ON. Do not plug/unplug power lines when
this lamp is ON.
CNP1
L3
L2
L1
Optional regeneration unit (option)
C
Install this unit in situations involving frequent regeneration and large load inertia moments. Connect this unit referring
to “Standard Wiring Diagram”.
P
Note: 1. When using a 1-phase 230VAC power supply, connect the power supply to the L1 and L2 terminals.
Do not connect anything to L3.
HF- E servo motor
(Above picture is HF-KE73.)
10
Amplifier Specifications
MR-E-A
Servo amplifier model MR-E-
10A
Voltage/frequency (Note 1)
Power
supply
Permissible voltage
fluctuation
20A
40A
70A
3-phase 200 to 230VAC: 3-phase170 to 253VAC
1-phase 230VAC: 1-phase207 to 253VAC
3-phase 170 to 253VAC
±5% maximum
Permissible frequency fluctuation
Sine-wave PWM control/current control system
Dynamic brake
Safety features
Built-in
None
None
Installed
Installed
Installed
Installed
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal),
encoder fault protection, regeneration fault protection, undervoltage/sudden power outage protection,
overspeed protection, excess error protection
500kpps (when using differential receiver), 200 kpps (when using open collector)
Servo amplifier
Maximum input pulse frequency
Position
control
mode
Positioning feedback pulse
Resolution per encoder/servo motor rotation: 16384 p/rev
Command pulse multiple
Electronic gear A/B multiple, A: 1 to 65535, B: 1 to 65535 1/50 < A/B < 50
Positioning complete width setting
0 to ±16384 pulses (command pulse unit)
±2.5 rotations
Excess error
Set by parameters
Torque limit
Speed control range
Speed
control
mode
Internal speed command 1:5000
±0.01% maximum (load fluctuation 0 to 100%)
0% (power fluctuation ±10%)
Speed fluctuation rate
Set by parameters
Torque limit
Self-cooling open (IP00)
Structure
90% RH maximum (non condensing), storage: 90% RH maximum (non condensing)
Ambient humidity
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Atmosphere
1000m or less above sea level
Elevation
5.9m/s2 maximum
Vibration
Mass
(kg [lb])
Fan cooling open (IP00)
0 to 55°C (32 to 131°F) (non freezing), storage: –20 to 65°C (–4 to 149°F) (non freezing)
Ambient temperature
Environment
200A
3-phase 200 to 230VAC 50/60Hz (Note 2)
Control system
Built-in regenerative resistor
100A
3-phase 200 to 230VAC 50/60Hz or
1-phase 230VAC 50/60Hz (Note 2)
0.7 (1.6)
0.7 (1.6)
1.1 (2.5)
1.7 (3.8)
1.7 (3.8)
2.0 (4.4)
10AG
20AG
40AG
70AG
100AG
200AG
MR-E-AG
Servo amplifier model MR-E-
Power
supply
Voltage/frequency (Note 1)
3-phase 200 to 230VAC 50/60Hz or
1-phase 230VAC 50/60Hz (Note 2)
3-phase 200 to 230VAC 50/60Hz (Note 2)
Permissible voltage
fluctuation
3-phase 200 to 230VAC: 170 to 253VAC
1-phase 230VAC: 207 to 253VAC
3-phase 170 to 253VAC
±5% maximum
Permissible frequency fluctuation
Sine-wave PWM control/current control system
Control system
Built-in
Dynamic brake
Built-in regenerative resistor
Servo amplifier
Safety features
None
None
Installed
Installed
Installed
Installed
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal),
encoder fault protection, regeneration fault protection, undervoltage/sudden power outage protection,
overspeed protection, excess error protection
Analog speed command 1:2000, internal speed command 1:5000
Speed control range
0 to ±10VDC/rated speed
Analog speed command input
Speed
control
mode
Speed fluctuation rate
±0.01% maximum (load fluctuation 0 to 100%)
0% (power fluctuation ±10%)
±0.2% maximum (ambient temperature 25°C±10°C [77°F±50°F]), when using analog speed command
Set by parameters or external analog input (0 to +10VDC/maximum torque)
Torque limit
Torque
control
mode
0 to ±8VDC/maximum torque (input impedance 10 to 12kΩ)
Analog torque command input
Set by parameters or external analog input (0 to ±10VDC/rated speed)
Speed limit
Self-cooling open (IP00)
Structure
90% RH maximum (non condensing), storage: 90% RH maximum (non condensing)
Ambient humidity
Environment
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Atmosphere
1000m or less above sea level
Elevation
5.9m/s2 maximum
Vibration
Mass
11
(kg [lb])
Fan cooling open (IP00)
0 to 55°C (32 to 131°F) (non freezing), storage: –20 to 65°C (–4 to 149°F) (non freezing)
Ambient temperature
0.7 (1.6)
0.7 (1.6)
1.1 (2.5)
1.7 (3.8)
1.7 (3.8)
2.0 (4.4)
Notes: 1. Rated output and rated speed of the servo motor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The
torque drops when the power supply voltage is less than specified.
2. When the power supply is 3-phase 200VAC or 1-phase 230VAC, the mentioned torque characteristics in which the servo amplifier is combined with a servo motor is applied.
Standard Wiring Diagram
MR-E-A type: Position control operation
●Connection to QD75D (position servo, incremental)
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
NFB
MC
Power supply
3-phase 200 to 230VAC
or
1-phase 230VAC (Note 12)
Servo amplifier
MR-E-MA
CNP 1 CNP 2
U
L1
L2
L3
Servo motor
HF-KE series
U 1
V
2
W
V
W
4
The servo amplifier could be
damaged if the optional
regeneration unit is incorrectly
connected.
B1
P
C
Optional
regeneration unit
D
(Note 2)
EMG
5
6
(Note 7)
Shut off when the servo
on signal turns off and
when alarm signal is issued.
Built-in
regenerative
resistor
PULSE F–
PULSE R+
PULSE R–
CLEAR
MM16
MM17
MM18
MM13
MM14
PG
NP
NG
MM11
MM12
RD
PG05
MM 9
PG0 COM
MM10
LZ
LZR
LG
PP
CR
SG
23
22
25
P5
7 P5
7 P5
2
LG
8 LG
8 LG
3
MR
1 MR
1 MR
4
MRR
2 MRR
2 MRR
7
MD
4 MD
4 MD
8
MDR
5 MDR
5 MDR
9
—
3
3
24
5
13
11
19
20
14
Encoder A-phase pulse
(differential line driver)
LA
LAR
15
16
Encoder B-phase pulse
(differential line driver)
Control common
LB
LBR
17
18
Control common
Encoder Z-phase pulse
(open collector)
(Note 11)
1
LG
14
OP
21
SD
PLATE
2m maximum
for open collector.
10m maximum
for differential line driver.
10
LG
PLATE SD
EMG
8
Servo on
Reset
(Note 4)
Forward stroke end
Reverse stroke end
SON
4
RES
3
LSP
6
LSN
7
SG
13
10m maximum
1
OPC
2
ALM
9
(Note 6) Malfunction
RA1
Zero speed detection
RA2
ZSP
12
In position
RA3
INP
10
10m maximum
9 SD
6 CNT
6 CNT
Servo motor
CN3
2
TXD
1
RXD
3
LG
RS-232C
RD
GND
SD
GND
Personal computer
running
Microsoft Windows
HF-SE series
U
A
V B
SM
W C
D
U
V
W
(Note 10)
B1
24VDC
B2
EMG
Shut off when
the servo on
signal turns off
and when alarm
signal is issued.
Monitor output
Maximum +1mA total
Double oscillation (±10V output) (Note 13)
4
MO1
A
6
MO2
A
3
LG
PLATE
SD
Monitor output 1
(Note 7)
Electromagnetic
brake
10kΩ
Monitor output 2
10kΩ
2m maximum
VIN
—
9 SD
15m maximum
(Note 3) Emergency stop
(Note 1)
—
Encoder
CN2
CN1
Pin No.
MM15
(Note 9) Control common
External 24VDC
power supply
(0.2A or more)
B2
Disconnect P and D
when connecting the
optional regeneration
unit externally.
(Note 5)
Name
PULSE F+
CLEAR COM
READY
RDY COM
Power supply 24VDC for
the electromagnetic brake
Electromagnetic
brake
CN2
1 P5
(Note 11)
2 LG
S
R
3 MR
C
4 MRR
D
7 MD
A
8 MDR
B
9
F
G
—
10 LG
PLATE SD
Encoder
Positioning unit
QD75D
Connect P and D when
using the built-in
regenerative resistor.
SM
3
N
M
Notes:
1. Do not reverse the diode’s direction. Connecting it backwards could cause the servo amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
2. Provide a 24VDC ±10% 200mA power supply from an external source for the interface. 200mA is the value when all input/output signals are used. The current capacity can be stepped
down according to the number of input/output points in use.
3. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
4. LSP and LSN contacts must be closed for normal operation. If they are not closed, the commands will not be accepted.
5. Signals with the same name are connected inside.
6. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
7. For the motor with an electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have the polarity.
8. Connect the shield wire securely to the plate inside the connector (ground plate).
9. This connection is not necessary for QD75D of the positioning unit. Note that the connection between LG and control common terminal is recommended to increase noise resistance
depending on the positioning unit being used.
10. Always use a shielded multicore cable up to a maximum of 15m in a low noise environment. However, if the RS-232C communication is set up with a baud rate of more than
38400bps, keep the cable length to within 3m.
11. Refer to “MR-E-A/AG INSTRUCTION MANUAL” for details.
12. When using a 1-phase 230VAC power supply, connect the power supply to the L1 and L2 terminals. Do not connect anything to L3. The 1-phase 230VAC power supply is available only
for MR-E-70A or smaller servo amplifiers.
13. Use the analog monitor/RS-232C branch cable (MR-E3CBL15-P) when connecting the analog monitor output 1 (MO1), analog monitor output 2 (MO2) and a personal computer.
12
Standard Wiring Diagram
MR-E-A type: Internal speed control operation
●Connection
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
NFB
MC
Power supply
3-phase 200 to 230VAC
or
1-phase 230VAC (Note 11)
Servo amplifier
MR-E-MA
CNP 1
L1
L2
L3
Servo motor
HF-KE series
CNP 2
U
U
4
B1
CN1
PP
Encoder Z-phase pulse (differential line driver)
PG
NP
23
22
25
NG
24
LZ
LZR
19
20
15
16
LA
LAR
Encoder A-phase pulse (differential line driver)
LB
Encoder B-phase pulse (differential line driver)
LBR
Control common
Control common
LG
OP
SD
Encoder Z-phase pulse (open collector)
17
18
Built-in
regenerative
resistor
(Note 10)
1
P5
7 P5
7 P5
2
LG
8 LG
8 LG
3
MR
1 MR
1 MR
4
MRR
2 MRR
2 MRR
7
MD
4 MD
4 MD
8
MDR
5 MDR
5 MDR
9
10
3
—
LG
PLATE SD
—
3
—
9 SD
9 SD
6 CNT
6 CNT
Servo motor
HF-SE series
21
PLATE
CN3
2
2m maximum
(Note 3) Emergency stop
EMG
8
Servo on
Forward rotation start
Reverse rotation start
(Note 4) Forward stroke end
Reverse stroke end
SON
4
ST1
3
ST2
5
LSP
LSN
6
7
SG
13
10m maximum
RxD
3
LG
RD
GND
SD
GND
Personal computer
running
Microsoft Windows
U
V A
W B
C
D
U
V
W
24VDC
B2
EMG
3
PLATE
Monitor output
Maximum +1mA total
Double oscillation (±10V output) (Note 12)
A
MO1
Monitor output 1
10kΩ
MO2
A
Monitor output 2
LG
10kΩ
SD
(Note 7)
Shut off when the
Electromagnetic
servo on signal turns brake
off and when alarm
signal is issued.
CN2
(Note 10)
1 P5
S
2 LG
Ready
RA1
RD
3 MR
R
C
(Note 6) Malfunction
RA2
ALM
9
4 MRR
D
Zero speed detection
Speed reached
RA3
ZSP
12
7 MD
RA4
SA
10
8 MDR
A
B
(Note 1)
11
2m maximum
—
F
10 LG
PLATE SD
G
N
9
10m maximum
SM
B1
(Note 9)
15m maximum
6
1
RS-232C
TxD
1
4
VIN
(Note 7)
14
10m maximum
(Note 2)
6
Shut off when the servo
on signal turns off and
when alarm signal is issued.
CN2
(Note 5)
B2
EMG
Encoder
D
Disconnect P and D
when connecting the
optional regeneration
unit externally.
Power supply 24VDC for
the electromagnetic brake
Electromagnetic
brake
5
Encoder
P
C
Optional
regeneration unit
External 24VDC
power supply (0.2A or more)
SM
3
The servo amplifier could be
damaged if the optional
regeneration unit is incorrectly
connected.
Connect P and D when
using the built-in
regenerative resistor.
1
V
2
W
V
W
M
13
Notes:
1. Do not reverse the diode’s direction. Connecting it backwards could cause the servo amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
2. Provide a 24VDC±10% 200mA power supply from an external source for the interface. 200mA is the value when all input/output signals are used. The current capacity can be stepped
down according to the number of input/output points in use.
3. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
4. LSP and LSN contacts must be closed for normal operation. If they are not closed, the commands will not be accepted.
5. Signals with the same name are connected inside.
6. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
7. For the motor with an electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have the polarity.
8. Connect the shield wire securely to the plate inside the connector (ground plate).
9. Always use a shielded multicore cable up to a maximum of 15m in a low noise environment. However, if the RS-232C communication is set up with a baud rate of more than
38400bps, keep the cable length to within 3m.
10. Refer to “MR-E-A/AG INSTRUCTION MANUAL” for details.
11. When using a 1-phase 230VAC power supply, connect the power supply to the L1 and L2 terminals. Do not connect anything to L3. The 1-phase 230VAC power supply is available only
for MR-E-70A or smaller servo amplifiers.
12. Use the analog monitor/RS-232C branch cable (MR-E3CBL15-P) when connecting the analog monitor output 1 (MO1), analog monitor output 2 (MO2) and a personal computer.
Standard Wiring Diagram
MR-E-AG type: Speed control operation
●Connection
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
NFB
MC
Power supply
3-phase 200 to 230VAC
or
1-phase 230VAC (Note 11)
Servo amplifier
MR-E-MAG
CNP 1
L1
L2
L3
Servo motor
HF-KE series
CNP 2
U
U
4
B1
B2
CN2
(Note 5)
LA
LAR
19
20
15
16
LB
LBR
17
18
LZ
LZR
Encoder Z-phase pulse (differential line driver)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common
Control common
LG
OP
Encoder Z-phase pulse (open collector)
SD
14
21
PLATE
2m maximum
10m maximum
EMG
8
Servo on
Forward rotation start
Reverse rotation start
(Note 4) Forward stroke end
Reverse stroke end
SON
4
ST1
3
ST2
5
LSP
LSN
6
7
SG
13
10m maximum
(Note 2)
P5
7 P5
7 P5
2
LG
8 LG
8 LG
3
MR
1 MR
1 MR
4
MRR
2 MRR
2 MRR
7
MD
4 MD
4 MD
8
MDR
5 MDR
5 MDR
9
—
10
LG
RA1
Upper limit setting
—
3
VIN
1
RD
11
RA2
ALM
9
RA3
ZSP
RA4
SA
12
10
CN3
2
RS-232C
RD
GND
SD
GND
TxD
1
RxD
3
LG
9 SD
6 CNT
6 CNT
Personal computer
running
Microsoft Windows
26
LG
14
Upper limit setting
U
V A
W B
C
D
U
V
W
4
MO2
3
LG
TLA
SD
2
PLATE
(Note 7)
10kΩ
A
CN2
Monitor output 2
10kΩ
SD
2m maximum
(Note 10)
1 P5
S
2 LG
3 MR
R
C
4 MRR
D
7 MD
A
B
8 MDR
Analog torque limit
+10V/maximum torque
B2
Shut off when the
Electromagnetic
servo on signal turns brake
off and when alarm
signal is issued.
Monitor output
Maximum +1mA total
Double oscillation (±10V output) (Note 12)
A
MO1
Monitor output 1
6
SM
B1
24VDC
EMG
PLATE
VC
—
9 SD
(Note 9)
15m maximum
10m maximum
Analog speed command
±10V/rated speed
3
Servo motor
HF-SE series
(Note 1)
Ready
(Note 6) Malfunction
Zero speed detection
Speed reached
(Note 10)
1
PLATE SD
(Note 3) Emergency stop
(Note 7)
Shut off when the servo
on signal turns off and
when alarm signal is issued.
Built-in
regenerative
resistor
Connect P and D when Disconnect P and D when
using the built-in
connecting the optional
regenerative resistor.
regeneration unit externally.
CN1
6
EMG
Encoder
D
Power supply 24VDC for
the electromagnetic brake
Electromagnetic
brake
5
—
F
10 LG
PLATE SD
G
N
9
Encoder
P
C
Optional
regeneration unit
External ±15VDC
power supply
SM
3
The servo amplifier could be
damaged if the optional
regeneration unit is incorrectly
connected.
External 24VDC
power supply (0.2A or more)
1
V
2
W
V
W
M
2m maximum
Notes:
1. Do not reverse the diode’s direction. Connecting it backwards could cause the servo amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
2. Provide a 24VDC±10% 200mA power supply from an external source for the interface. 200mA is the value when all input/output signals are used. The current capacity can be stepped
down according to the number of input/output points in use.
3. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
4. LSP and LSN contacts must be closed for normal operation. If they are not closed, the commands will not be accepted.
5. Signals with the same name are connected inside.
6. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
7. For the motor with an electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have the polarity.
8. Connect the shield wire securely to the plate inside the connector (ground plate).
9. Always use a shielded multicore cable up to a maximum of 15m in a low noise environment. However, if the RS-232C communication is set up with a baud rate of more than
38400bps, keep the cable length to within 3m.
10. Refer to “MR-E-A/AG INSTRUCTION MANUAL” for details.
11. When using a 1-phase 230VAC power supply, connect the power supply to the L1 and L2 terminals. Do not connect anything to L3. The 1-phase 230VAC power supply is available only
14
for MR-E-70AG or smaller servo amplifiers.
12. Use the analog monitor/RS-232C branch cable (MR-E3CBL15-P) when connecting the analog monitor output 1 (MO1), analog monitor output 2 (MO2) and a personal computer.
Standard Wiring Diagram
MR-E-AG type: Torque control operation
●Connection
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
NFB
MC
Power supply
3-phase 200 to 230VAC
or
1-phase 230VAC (Note 10)
Servo amplifier
MR-E-MAG
CNP 1
L1
L2
L3
Servo motor
HF-KE series
CNP 2
U
U
4
B1
P
C
Optional
regeneration unit
D
Power supply 24VDC for
the electromagnetic brake
B2
Electromagnetic
brake
5
6
(Note 6)
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
Built-in
regenerative
resistor
Disconnect P and D when
connecting the optional
regeneration unit externally.
CN1
Encoder Z-phase pulse (differential line driver)
LZ
LZR
Encoder A-phase pulse (differential line driver)
LA
LAR
19
20
15
16
LB
LBR
17
18
Control common
LG
OP
Encoder Z-phase pulse (open collector)
SD
14
P5
7 P5
7 P5
2
LG
8 LG
8 LG
3
MR
1 MR
1 MR
4
MRR
2 MRR
2 MRR
7
MD
4 MD
4 MD
8
MDR
5 MDR
5 MDR
21
PLATE
2m maximum
10m maximum
9
—
10
LG
PLATE SD
(Note 3) Emergency stop
EMG
8
Servo on
Forward rotation select
Reverse rotation select
SON
4
RS1
5
RS2
3
SG
13
CN3
VIN
1
1
RxD
3
LG
11
Ready
RA1
RD
Malfunction
Zero speed detection
RA2
ALM
9
RA3
ZSP
12
10m maximum
Analog torque command
±8V/rated speed
TC
2
LG
14
Upper limit setting
—
9 SD
9 SD
6 CNT
6 CNT
RD
GND
SD
GND
Personal computer
running
Microsoft Windows
4
MO1
A
6
MO2
A
3
LG
U
V A
W B
C
D
U
V
W
VLA
SD
26
PLATE
B2
EMG
(Note 6)
Shut off when the
servo on signal turns Electromagnetic
off and when alarm brake
signal is issued.
Monitor output 1
10kΩ
CN2
Monitor output 2
10kΩ
SD
2m maximum
(Note 9)
1 P5
S
2 LG
3 MR
R
C
4 MRR
D
7 MD
A
B
8 MDR
Analog speed limit 0 to
±10V/maximum torque
SM
B1
24VDC
Monitor output
Maximum +1mA total
Double oscillation (±10V output) (Note 11)
PLATE
Upper limit setting
3
(Note 8)
15m maximum
(Note 1)
(Note 5)
RS-232C
TxD
10m maximum
(Note 2)
—
Servo motor
HF-SE series
2
External 24VDC
power supply (0.2A or more)
3
—
F
10 LG
PLATE SD
G
N
9
Encoder
Encoder B-phase pulse (differential line driver)
Control common
(Note 9)
1
Encoder
CN2
(Note 4)
External ±15VDC
power supply
SM
3
The servo amplifier could be
damaged if the optional
regeneration unit is incorrectly
connected.
Connect P and D when
using the built-in
regenerative resistor.
1
V
2
W
V
W
M
2m maximum
15
Notes:
1. Do not reverse the diode’s direction. Connecting it backwards could cause the servo amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
2. Provide a 24VDC±10% 200mA power supply from an external source for the interface. 200mA is the value when all input/output signals are used. The current capacity can be stepped
down according to the number of input/output points in use.
3. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
4. Signals with the same name are connected inside.
5. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
6. For the motor with an electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have the polarity.
7. Connect the shield wire securely to the plate inside the connector (ground plate).
8. Always use a shielded multicore cable up to a maximum of 15m in a low noise environment. However, if the RS-232C communication is set up with a baud rate of more than
38400bps, keep the cable length to within 3m.
9. Refer to “MR-E-A/AG INSTRUCTION MANUAL” for details.
10. When using a 1-phase 230VAC power supply, connect the power supply to the L1 and L2 terminals. Do not connect anything to L3. The 1-phase 230VAC power supply is available only
for MR-E-70AG or smaller servo amplifier.
11. Use the analog monitor/RS-232C branch cable (MR-E3CBL15-P) when connecting the analog monitor output 1 (MO1), analog monitor output 2 (MO2) and a personal computer.
Amplifier Dimensions
●MR-E-10A/AG, 20A/AG
(Unit: mm)
Approx. 70
50
135
Space required for heat radiation
(40 minimum)
6
156
6
168
6
ø6
mounting hole
Space required for heat radiation
(40 minimum)
6
Three ground (PE)
terminals (M4)
Mounting screw size: M5
4
●MR-E-40A/AG
70
22
135
156
6
168
Approx. 70
Space required for heat radiation
(40 minimum)
6
ø6
mounting hole
6
Space required for heat radiation
(40 minimum)
Three ground (PE)
terminals (M4)
Mounting screw size: M5
4
16
Amplifier Dimensions
●MR-E-70A/AG, 100A/AG
(Unit: mm)
Approx. 70
190
70
22
25
Space required for heat radiation
(40 minimum)
168
156
ø6
mounting hole
6
Space required for heat radiation
(40 minimum)
22
42
6
6
Three ground (PE)
terminals (M4)
Mounting screw size: M5
●MR-E-200A/AG
Approx. 70
6
90
78
195
40
Space required for heat radiation
(40 minimum)
168
156
6
ø6
mounting hole
Fan
(airflow direction)
Three ground (PE)
terminals (M4)
Space required for heat radiation
(40 minimum)
Mounting screw size: M5
6
17
Options
● Optional regeneration unit
Built-in regenerative
resistor/tolerable
regenerative power (W)
MR-RB032
MR-RB12
MR-RB30
MR-RB32
MR-RB50
Resistance value (Ω)
MR-E-10A/AG
—
30
✕
✕
✕
✕
40
MR-E-20A/AG
—
30
100
✕
✕
✕
40
MR-E-40A/AG
10
30
100
✕
✕
✕
40
MR-E-70A/AG
20
30
100
✕
300
✕
40
MR-E-100A/AG
20
30
100
✕
300
✕
40
MR-E-200A/AG
100
✕
✕
300
✕
500
13
Servo amplifier model
Optional regeneration unit/tolerable regenerative power (W)
Notes: 1. Connect the optional regeneration unit referring to “Standard Wiring Diagram”.
2. The tolerable regenerative power in the table differs from the regenerative resistor’s rated wattage.
● MR-RB032, MR-RB12
● MR-RB30, MR-RB32
ø6
mounting hole
144
142
P
G4 G3 C
8.5
5
168
156
125
(6)
(12)
8.5
LB
150
LA
318
17
7
335
90
10
100
12
6
79
TE1
6
1.6
<Terminal arrangement>
LD
(20)
Mounting screw size: M6
P
LC
<Terminal arrangement>
TE1
Mounting screw size: M5
Variable dimensions
LA
LB
LC
LD
Mass
kg (lb)
MR-RB032
30
15
119
99
0.5 (1.1)
MR-RB12
40
15
169
149
1.1 (2.5)
Model
Model
C
Mass
kg (lb)
G3
MR-RB30
2.9 (6.4)
G4
MR-RB32
2.9 (6.4)
Terminal screw size: M4
G3
G4
P
C
Terminal screw size: M3
49
12.5
● MR-RB50 (Note 4)
82.5
P
162.5
Wind blows in
direction of arrow
200
217
17
<Terminal arrangement>
7 ✕ 14
long hole
12.5
133
2.3
G4 G3 C
350
82.5
162.5
Fan mounting screw
2-M3 screw
provided on
opposite side
7
12
Approx.30
108
120
Mounting screw size: M6
Model
Mass
kg (lb)
MR-RB50
5.6 (13)
P
C
G3
G4
Terminal screw size: M4
8
(Unit: mm)
Notes: 1. The optional regeneration unit will heat up to approx. 100°C (212°F), so do not directly mount it on a wall susceptible to heat. Use nonflammable wires or provide flame resistant
treatment (use silicon tubes, etc.), and wire so that the wires do not contact the optional regeneration unit.
2. Always use twisted wires for the optional regeneration unit, and keep the length as short as possible (5m or less).
3. Always use twisted wires for a thermal sensor, and make sure that the sensor does not fail to work properly due to inducted noise.
4. When using the MR-RB50, always forcibly cool with a cooling fan (approx. 1.0m3/min, M92). The cooling fan must be prepared by user.
18
Options
● Cables and connectors (for MR-E-MA/AG type)
Optional cables and connectors are shown in the diagram below.
QD75P
QD75D
Positioning
unit
Servo motor HF-SE series
10
Servo motor HF-KE series
7
A1SD75P
CN3
CN1
FX2N-20GM
9
FX2N-10GM
5 6
8
FX2N-10PG
CN2
FX2N-1PG
CNP2
19 20
13 14
CNP1
11 12
23
Operation
panel
1
15 16 17 18
Main power supply
Item
q
Encoder cable for
HF-KE
series motor
Model
Protection
level
M=cable length
2, 5, 10, 20, 30, 40, 50m (Note 1)
IP20
MR-EKCBLMM-L M=cable length
2, 5, 10, 20, 30m (Note 1)
IP20
MR-ESCBLMM-H
IP20
MR-ESCBLMM-L
IP20
w
M=cable length
2, 5, 10, 20, 30m (Note 1)
19 20
21 22
2 3
4
MR-EKCBLMM-H
M=cable length
2, 5, 10, 20, 30, 40, 50m (Note 1)
Cable attached
to motor
0.3m
Description
Amplifier-side connector (made by
Molex or an equivalent product)
(Note 3)
Junction connector (made by AMP)
1-172161-9 (black connector housing)
170359-1 (connector pin)
Encoder
MTI-0002 (cable clamp, made by TOA ELECTRIC INDUSTRIAL)
Amplifier-side connector (made by
Molex or an equivalent product)
(Note 3)
Encoder connector (made by DDK)
MS3057-12A (cable clamp)
MS3106B20-29S (straight plug) Encoder
(Note 4)
Select one for use with CN2
Encoder cable for
HF-SE
series motor
Backshell (made by DDK)
CE02-20BS-S
MR-ENECBLMM-H M=cable length
2, 5, 10, 20, 30, 40, 50m (Note 1, 5)
e
IP65
IP67
Amplifier-side connector (made by
Molex or an equivalent product)
(Note 3)
r
Encoder
connector set for
HF-KE
series motor
MR-ECNM
IP20
MR-ECNS
IP20
Encoder
connector set for
HF-SE
series motor
For CN1
y
u
Amplifier-side connector (made by
Molex or an equivalent product)
(Note 3)
Amplifier-side connector (made by
Molex or an equivalent product)
(Note 3)
t
Plug (made by DDK)
MS3106A20-29S (D190)
MR-ENECNS
CN1 connector
MR-ECN1
(20 pcs/box unit)
Plug (made by DDK)
MS3106A20-29S (D190)
IP65
IP67
—
Cable clamp (made by DDK)
CE3057-12A-3 (D265)
Junction connector (made by AMP)
1-172161-9 (black connector housing)
170359-1 (connector pin)
MTI-0002 (cable clamp, made by TOA ELECTRIC INDUSTRIAL)
(Note 2)
Encoder connector (made by DDK)
MS3057-12A (cable clamp)
MS3106B20-29S (straight plug)
Backshell (straight) (made by DDK)
CE02-20BS-S
Cable clamp (made by DDK)
CE3057-12A-3 (D265)
Amplifier-side connector (made by
Molex or an equivalent product)
(Note 3)
Amplifier-side connector (made by 3M or an equivalent product)
10126-3000VE (connector)
10326-52F0-008 (shell kit)
Notes: 1. -H and -L indicate bending life. -H products have a long bending life.
2. AMP 172161-1 (white) can be used for the connector housing. For connector pins, 170363-1 (bulk) can be used.
3. Soldered models are as follows:
54593-1011 (connector housing), 54594-1015 (cover A), 54595-1005 (cover B), 58935-1000 (shell cover), 58934-1000 (shell body), 58937-0000 (cable clamp) and 58203-0010
(screw).
Press bonding models are as follows:
51209-1001 (connector housing), 54594-1015 (cover A), 54595-1005 (cover B), 58935-1000 (shell cover), 58934-1000 (shell body), 59351-8187 (terminal), 58937-0000 (cable clamp)
and 58203-0010 (screw).
4. MR-ESCBLMM-H and -L are not IP65 compliant.
5. The encoder cable is not oil-resistant.
19
Options
Item
For CN3
i
o
For brake
Select one for use with motor power supply (for CNP2)
Select one for use with amplifier power supply (for CNP1)
Select one for use with motor power supply (motor side)
!0
Personal computer communication cable
Analog monitor RS-232C connector
Analog monitor/RS-232C branch cable
Model
QC30R2
Cable length 3m
MR-ECN3
(20 pcs/box unit)
MR-E3CBL15-P
Protection
level
—
—
Description
RS-232C option connector
(Marushin electric mfg. or an equivalent product)
MP371/6 (connector) (mini-DIN 6-pin male)
DOS/V personal computer connector
(made by Japan Aviation Electronics Industry)
DE-9SF-N (connector)
DE-C1-J6-S6 (case)
Analog monitor, RS-232C option connector
(Marushin electric mfg. or an equivalent product)
MP371/6 (connector) (mini-DIN 6-pin male)
RS-232C option connector (Marushin electric mfg. or an equivalent product)
MP371/6 (connector) (mini-DIN 6-pin male)
Analog monitor connector
—
(Marushin electric mfg. or an equivalent product)
MJ372/6 (connector) (mini-DIN 6-pin female)
MJ372/6 (connector) (mini-DIN 6-pin female)
!1
Motor power supply connector set
(motor side) for HF-KE series motor
MR-PWCNK1
IP20
Plug (made by Molex)
5559-04P-210
male terminal (made by Molex)
5558PBT3L (for AWG16)
!2
Motor power supply connector set
(motor side) for HF-KE series motor
with electromagnetic brake
MR-PWCNK2
IP20
Plug (made by Molex)
5559-06P-210
male terminal (made by Molex)
5558PBT3L (for AWG16)
!3
Motor power supply connector set
(motor side) for HF-SE52, 102, 152
MR-PWCNS4
(Straight type)
IP65
IP67
!4
Motor power supply connector set
(motor side) for HC-SE202
MR-PWCNS5
(Straight type)
IP65
IP67
!5
Amplifier power supply connector set
(press bonding type)
MR-E-10A/AG to 100A/AG
!6
Amplifier power supply connector
(inserted type)
MR-E-10A/AG to 100A/AG
MR-ECNP1-B
(20 pcs/box unit)
!7
Amplifier power supply connector set
(press bonding type)
MR-E-200A/AG
MR-ECNP1-A1
(20 pcs/box unit)
!8
Amplifier power supply connector
(inserted type)
MR-E-200A/AG
MR-ECNP1-B1
(20 pcs/box unit)
!9
Motor power supply connector set
(amplifier side)
MR-E-10A/AG to 100A/AG
(press bonding type)
MR-ECNP2-A
(20 pcs/box unit)
@0
Motor power supply connector
(amplifier side)
MR-E-10A/AG to 100A/AG
(inserted type)
MR-ECNP2-B
(20 pcs/box unit)
@1
Motor power supply connector set
(amplifier side)
(press bonding type)
MR-E-200A/AG
MR-ECNP2-A1
(20 pcs/box unit)
@2
Motor power supply connector
(amplifier side)
(inserted type)
MR-E-200A/AG
MR-ECNP2-B1
(20 pcs/box unit)
Brake connector set for HF-SE series motor
MR-BKCNS1
(Straight type)
@3
Plug (straight) (made by DDK)
CE05-6A18-10SD-B-BSS
Cable clamp (made by DDK)
CE3057-10A-1 (D265)
Plug (straight) (made by DDK)
CE05-6A22-22SD-B-BSS
Cable clamp (made by DDK)
CE3057-12A-1 (D265)
Connector 51240-0600
(made by Molex or an equivalent product)
MR-ECNP1-A
(20 pcs/box unit)
Terminal 56125-0118
(made by Molex or an equivalent product)
—
Connector 54927-0610
(made by Molex or an equivalent product)
—
Connector 54241-0600
(made by Molex or an equivalent product)
Terminal 56125-0118
(made by Molex or an equivalent product)
—
Connector 54928-0610
(made by Molex or an equivalent product)
—
Connector 51240-0300
(made by Molex or an equivalent product)
Terminal 56125-0118
(made by Molex or an equivalent product)
—
Connector 54927-0310
(made by Molex or an equivalent product)
—
Connector 54241-0300
(made by Molex or an equivalent product)
Terminal 56125-0118
(made by Molex or an equivalent product)
—
Connector 54928-0310
(made by Molex or an equivalent product)
—
IP65
IP67
Connector (straight) (made by DDK)
CM10-SP2S-L
Including contact (soldered type)
CM10-#22SC (S2) -100.
20
Ordering Information for Customers
Ordering information for customers
2
1
Plug
Cable
clamp
2
Cable
1
Plug
Cable
clamp
Cable
● Servo motor power supply connectors
Power supply connectors are not included with the motors. Order from the previous pages,
or choose from among the following recommended products. To order the following
recommended products, contact the relevant manufacturers directly.
1
Motor model
Plug (made by DDK)
2
Model
Straight
IP65
IP67
EN standards
General environment
(Note)
(For HF-KE series motor)
Cable clamp (made by DDK)
General environment
(Note)
Cable diameter (mm)
Model
8.5 to 11
CE3057-10A-2 (D265)
10.5 to 14.1
CE3057-10A-1 (D265)
8.5 to 11
CE3057-10A-2 (D265)
10.5 to 14.1
CE3057-10A-1 (D265)
CE05-6A18-10SD-B-BSS
Angled
CE05-8A18-10SD-B-BAS
Straight
MS3106B18-10S
Angled
MS3108B18-10S
Straight
IP65
IP67
EN standards
HF-SE202
(Angled type)
Protection level
Type
HF-SE52, 102, 152
(Straight type)
MS3057-10A
14.3
(Inner diameter of bushing)
CE05-6A22-22SD-B-BSS
Angled
CE05-8A22-22SD-B-BAS
Straight
MS3106B22-22S
Angled
MS3108B22-22S
MS3057-10A
9.5 to 13
CE3057-12A-2 (D265)
12.5 to 16
CE3057-12A-1 (D265)
9.5 to 13
CE3057-12A-2 (D265)
12.5 to 16
CE3057-12A-1 (D265)
MS3057-12A
15.9
(Inner diameter of bushing)
MS3057-12A
Note: Not compliant with EN standards.
Motor model
(made by Molex)
Protection level
General environment
HF-KE series
without Brake
Plug 5559-04P-210
male terminal 5558PBT3L (AWG16)
with Brake
Plug 5559-06P-210
male terminal 5558PBT3L (AWG16)
EN standards
3
1
● Encoder connectors
Encoder connectors are not included with the motors. Order from the previous pages, or
choose from among the following recommended products. To order the following
recommended products, contact the relevant manufacturer directly.
Motor model
HF-SE series
Protection
level
IP65, IP67
1
2
Plug (made by DDK)
MS3106A20-29S (D190)
Plug
2
Cable
clamp
Backshell
Backshell (made by DDK)
Type
Model
Straight
CE02-20BS-S
Angled
CE-20BA-S
2
1
1
HF-SE series
21
General environment
Plug (made by DDK)
Plug
(Angled type)
Cable clamp (made by DDK)
Model
6.8 to 10
CE3057-12A-3 (D265)
Plug
2
Cable
clamp
Cable
(Straight type)
Protection level
Cable
Cable diameter (mm)
2
Motor model
Backshell
(Straight type)
3
1
Cable
clamp
3
Cable
2
1
Plug
Cable
clamp
Cable
(Angled type)
Cable clamp (made by DDK)
Type
Model
Cable diameter (mm)
Model
Straight
MS3106B20-29S
Angled
MS3108B20-29S
15.9
(Inner diameter of bushing)
MS3057-12A
Ordering Information for Customers/Options
● Brake connectors
Brake connectors are not included with the motors. Order from the previous pages, or
choose from among the following recommended products. To order the following
recommended products, contact the relevant manufacturer directly.
(Straight type)
Connector
Motor model
Protection level
Contact
Type
Straight pulg
Cable diameter (mm)
CM10-SP2S-S
CM10-SP2S-M
IP65
HF-SE
Straight
IP67
Manufacturer
Socket contact
4 to 6
Soldered type
CM10-#22SC (S2)-100
6 to 9
CM10-SP2S-L
9 to 11.6
CM10-SP2S-S
4 to 6
CM10-SP2S-M
CM10-#22SC (C3)-100
Press bonding type
DDK Ltd.
6 to 9
CM10-SP2S-L
9 to 11.6
Options
● Power factor improvement reactor (FR-BAL)
This reactor enables users to boost the servo amplifier’s power factor and reduce its power supply capacity.
Connections
H±5
External dimensions
Servo amplifier
NFB
3-phase
200 to
230VAC
D1
W
MC
FR-BAL MR-E-MA/AG
R
X
L1
S
Y
T
Z
L2
L3
D±5
Mounting screw
RXSYT Z
NFB
C
W1
1-phase
230VAC
Variable dimensions (mm)
Servo amplifier
Model
MR-E-10A/AG, 20A/AG FR-BAL-0.4K
Mounting
Terminal
screw size screw size
W1
H
D
D1
C
135
120
115
59
0
45 -2.5
7.5
M4
M3.5
2.0 (4.5)
MR-E-40A/AG
FR-BAL-0.75K
135
120
115
69
0
57 -2.5
7.5
M4
M3.5
2.8 (6.2)
MR-E-70A/AG
FR-BAL-1.5K
160
145
140
71
0
55 -2.5
7.5
M4
M3.5
3.7 (8.2)
7.5
M4
M3.5
5.6 (13)
10
M5
M4
8.5 (19)
MR-E-100A/AG
FR-BAL-2.2K
160
145
140
91
MR-E-200A/AG
FR-BAL-3.7K
220
200
192
90
0
70 -2.5
FR-BAL
Servo amplifier
MR-E-MA/AG
R
X
S
Y
T
Z
L1
L2
Mass
kg (lb)
W
0
75 -2.5
MC
(Unit: mm)
22
Peripheral Equipment
● EMC filter
The following filters are recommended as a filter compliant with the EMC directive for the servo amplifier’s power supply.
Model
Applicable servo amplifier
Fig.
SF1252
MR-E-10A/AG to MR-E-100A/AG
A
SF1253
MR-E-200A/AG
B
External dimensions
● SF1252
Connections
(Unit: mm)
149.5
ø6.0
156.0
168.0
140.0
LINE
(input side)
A
LOAD
(output side)
8.5
16.0
42.0
Servo amplifier
EMC filter
Model
Mass kg (lb)
SF1252
0.75 (3.1)
(Note 1)
Power supply
3-phase
200 to 230VAC
or
1-phase
230VAC
LINE
NFB
LOAD
L1
L1’
L2
L2’
L3
L3’
MC
L1
L2
L3
(Note 2)
● SF1253
209.5
ø6.0
140.0
168.0
156.0
LINE
(input side)
B
LOAD
(output side)
8.5
23.0
49.0
23
Model
Mass kg (lb)
SF1253
1.37 (3.1)
Notes: 1. When using a 1-phase 230VAC power supply, connect the
power supply to the L1 and L2 terminals. Do not connect
anything to L3. The 1-phase 230VAC is available only for
MR-E-70A/AG or smaller servo amplifiers.
2. Connect when the power supply has earth.
Peripheral Equipment
● Electrical wires, circuit breakers and magnetic contactors
Electrical wire size (mm2) (Note 1)
Circuit breaker
Magnetic contactor
30A frame 5A
S-N10
2 (AWG14)
1.25 (AWG16)
2 (AWG14)
1.25 (AWG16)
MR-E-20A/AG
30A frame 5A
S-N10
2 (AWG14)
1.25 (AWG16)
2 (AWG14)
1.25 (AWG16)
MR-E-40A/AG
30A frame 10A
S-N10
2 (AWG14)
1.25 (AWG16)
2 (AWG14)
1.25 (AWG16)
MR-E-70A/AG
30A frame 15A
S-N10
2 (AWG14)
1.25 (AWG16)
2 (AWG14)
1.25 (AWG16)
MR-E-100A/AG
30A frame 15A
S-N10
2 (AWG14)
2 (AWG14)
2 (AWG14)
1.25 (AWG16)
MR-E-200A/AG
30A frame 20A
S-N18
2.5 (AWG14) (Note 2)
2.5 (AWG14) (Note 2)
2 (AWG14)
1.25 (AWG16)
Servo amplifier
L1, L2, L3,
MR-E-10A/AG
U, V, W,
P, C, D
B1, B2
Notes: 1. The wires in the above table are assumed to use a 600V polyvinyl chloride electrical wire having a length of 30 m.
2. When using AWG14 at an ambient temperature of 40°C or more, use heat-resistant PVC (rated 105°C [221°F] or more). Refer to the specifications in this catalog for the permissible
ambient temperature of the servo amplifier and servo motor.
External dimensions
<FR-BSF01>
110
95±0.5
2-ø5
11.25±0.5
65
3
65
ø3
4.5
● Data line filter
Attaching a data line filter to the pulse output cable or motor
encoder cable of the pulse train output controller (QD75D,
etc.) is effective in preventing noise penetration.
Sample configuration
Data line filter: ESD-SR-25 (made by NEC TOKIN),
ZCAT3035-1330 (made by TDK)
● Line noise filter (FR-BSF01)
This filter is effective in suppressing radio noise emitted from
the servo amplifier’s power supply side or output side, and
high-frequency leakage current (zero-phase current). Especially
effective in the 0.5 to 5MHz band.
(22.5)
● Surge suppressor
Attach surge suppressors to the servo amplifier and signal
cable’s AC relays, AC valves and AC electromagnetic brake.
Attach diodes to DC relays and DC valves.
Sample configuration
Surge suppressor: 972A-2003 504 11 (rated 200VAC, made by
Matsuo Denki)
Diode
: A diode with resisting pressure 4 or more
times greater than the relay’s drive voltage,
and 2 or more times greater than the current.
Connections
Wind 3-phase wires an equal number of
times in the same direction, and connect
them to the power supply side and output
side of the servo amplifier. The effect of the
filter on the power supply side rises as the
number of winds increases, but generally
wind the wires four times each. If the wire is
thick and hard to wind, use two or more
filters, and make sure that the total number of
turns exceeds the above number. Make sure
that the number of turns on the output side is
four times or less. Do not wind the grounding
(earth) wire together with the 3-phase wires.
The effect of the filter will drop. Use a
separate wire for grounding.
Unit: mm
● Radio noise filter (FR-BIF)
This filter effectively controls noise emitted from the power
supply side of the servo amplifier and is especially effective for
radio frequency bands 10MHz or lower. Available only for
input.
External dimensions
NFB
MC
Power
supply
Servo amplifier
L1
Line noise
filter
L2
L3
Connections
Leakage current: 4mA
White
Red Blue Green
NFB
MC
L1
300
Power
supply
L2
Servo amplifier
L3
ø5
hole
58
FR-BIF
4
42
29
29
7
44
Notes:
1. Cannot be connected to output side of the servo
amplifier.
2. Wiring should be as short as possible.
3. Be sure to insulate the unused wire when using the
FR-BIF with the 1-phase wire.
(Unit: mm)
24
Using a Personal Computer
Software to facilitate a use with a personal computer is available.
<Capacity selection software>
● MRZJW3-MOTSZ111E
A user-friendly design facilitates selecting the optimum servo amplifier,
servo motor (including the servo motor with a electromagnetic brake) and
optional regeneration unit just by entering constants and an operation
pattern into machine-specific windows.
Features
(1) User-defined operation patterns can be set. The operation
pattern can be selected from the position control mode
operation or speed control mode operation. The operation
pattern can be also displayed in the graph.
(2) The feedrate (or motor speed) and torque can be also
displayed in the graph during the selection process.
(3) Compatible with Windows® 95, Windows® 98, Windows® 98
Second Edition, Windows® Me, Windows NT® Workstation4.0,
Windows® 2000 Professional, Windows® XP Professional
and Windows® XP Home Edition (Note 1).
● Operating conditions
Personal computer
(Note 1, 2)
IBM PC/AT compatible unit running Windows® 95, Windows® 98, Windows® 98 Second Edition, Windows® Me, Windows NT® Workstation4.0,
Windows® 2000 Professional, Windows® XP Professional and Windows® XP Home Edition.
Processor
: Pentium® 133MHz or faster (Windows® 95, Windows® 98, Windows® 98 Second Edition, Windows NT® Workstation4.0,
Windows® 2000 Professional)
Pentium® 150MHz or faster (Windows® Me)
Pentium® 300MHz (Windows® XP Professional/Home Edition)
Memory
: 16MB or more (Windows® 95), 24MB or more (Windows® 98, Windows® 98 Second Edition)
32MB or more (Windows® Me, Windows NT® Workstation4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional/Home Edition)
Free hard disk space
: 40MB or more
OS
Windows® 95, Windows® 98, Windows® 98 Second Edition, Windows® Me, Windows NT® Workstation4.0, Windows® 2000 Professional,
Windows® XP Professional, Windows® XP Home Edition
Monitor
Keyboard
Capable of resolution 800✕600 or more, high color (16-bit display).
Compatible with above personal computers.
Mouse
Compatible with above personal computers. Note that serial mice are incompatible.
Printer
Compatible with above personal computers.
● Specifications
Item
Description
Types of
machine component
Horizontal ball screws, vertical ball screws, rack and pinions, roll feeds, rotating tables, dollies, elevators, conveyors, other (direct
inertia input) devices
Output
of results
Parameter
Selected servo amplifier model, selected servo motor model, selected regenerative resistor model, load inertia moment, load inertia
moment ratio, peak torque, peak torque ratio, effective torque, effective torque ratio, regenerative power, regenerative power ratio
Printing
Prints input specifications, operation pattern, calculation process, selection process feedrate (or motor speed) and torque graphs,
and selection results
Data storage
Assigns a file name to input specifications, operation patterns and selection results, and saves them on hard disk or floppy disk, etc.
Inertia moment calculation function
25
Cylinder, core alignment column, variable speed, linear movement, suspension, conical, truncated cone
Notes:
1. Pentium is registered trademark of Intel Corporation. Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries.
2. This software may not run correctly, depending on the personal computer being used.
3. The screens shown on this page are for reference and may differ from the actual screens.
4. The servo amplifiers MR-E are planned to be compatible with the software version A3 or above.
Using a Personal Computer
< Setup software >
● MRZJW3-SETUP154E (Note6) (E:English)
This software makes it easy to perform monitor display,
diagnostic, reading and writing of parameters, and test
operations from the setup with a personal computer.
● Operating conditions
Features
(1) This software can easily set up and tune your servo system
with a personal computer.
Compatible personal computers: Windows® 95, Windows® 98,
Windows® 98 Second Edition, Windows® Me, Windows NT®
Workstation4.0, Windows ® 2000 Professional, Windows ® XP
Professional and Windows® XP Home Edition (Note 1, 2).
(2) Multiple monitor functions
Graphic display functions are provided to display the servo
motor status with the input signal triggers, such as the
command pulse, droop pulse and speed.
(3) Test operations with a personal computer
Test operation of the servo motors can be performed with a
personal computer.
Personal computer
(Note 1, 2)
IBM PC/AT compatible unit running Windows® 95, Windows® 98, Windows® 98 Second Edition, Windows® Me, Windows NT® Workstation4.0,
Windows® 2000 Professional, Windows® XP Professional and Windows® XP Home Edition.
Processor
: Pentium® 133MHz or faster (Windows® 95, Windows® 98, Windows® 98 Second Edition, Windows NT® Workstation4.0,
Windows® 2000 Professional)
Pentium® 150MHz or faster (Windows® Me)
®
Pentium 300MHz (Windows® XP Professional/Home Edition)
Memory
: 16MB or more (Windows® 95), 24MB or more (Windows® 98, Windows® 98 Second Edition)
32MB or more (Windows® Me, Windows NT® Workstation4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional/Home Edition)
Free hard disk space
: 60MB or more
Serial port used
OS
Windows® 95, Windows® 98, Windows® 98 Second Edition, Windows® Me, Windows NT® Workstation4.0, Windows® 2000 Professional,
Windows® XP Professional, Windows® XP Home Edition
Monitor
Keyboard
Capable of resolution 800✕600 or more, high color (16-bit display)
Compatible with above personal computers.
Mouse
Compatible with above personal computers. Note that serial mice are incompatible.
Printer
Compatible with above personal computers.
Communication cable
QC30R2
● Specifications
Main-menu
Monitors
Alarms
Functions
Batch display, high speed monitor, graph display
Alarm display, alarm history, display of data that generated alarm
Diagnostics
Digital I/O display, failure to rotate reason display, power ON count display, amplifier version display, motor information display,
tuning data display, automatic voltage control offset display (Note 4), axis name setting
Parameters
Parameter setting, display of change list, tuning display, display of detailed information
Test operations
Advanced function
JOG operation, positioning operation (Note 5), operation without motor, forced digital output, program operation using simple
language (Note 5)
Machine analyzer, gain search (Note 5), machine simulation
File operation
Data reading, saving and printing
Others
Automatic operation, help display
Notes:
1. Pentium is registered trademark of Intel Corporation. Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States
and other countries.
2. This software may not run correctly, depending on the personal computer being used.
3. The screens shown on this page are for reference and may differ from the actual screens.
4. The autmatic voltage control offset display is compatible only with the MR-E-AG type.
5. Positioning operation, program operation using simple language and gain search are compatible only with the MR-E-A type.
6. The servo motor HF-KE series and HF-SE series are planned to be compatible with the software version E3 or above.
26
The Differences: Comparison with MR-J2-Super Series
The Differences (Comparison with MR-J2-Super series)
● Servo amplifier
MR-E-MA/AG series
Item
External dimensions/Mounting method
MR-E-MA/AG
MR-J2S-MA
Same as MR-J2-MA
—
External
connection
Rated output
Encoder
0.1 to 2kW
0.05 to 37kW
2mm pitch input/output connector 10pins
Half pitch 20pis
Half pitch 26pins
Half pitch 20pins, 2pcs
MiniDIN 6pins
Half pitch 20pins
Input/output
RS-232C
Power supply motor
Power supply
Connector
Terminal block
Common power supply for main circuit and control circuit
Independent power supplies for main circuit and
control circuit
None
Built-in
RS-232C only
Selecting RS-232C or RS-422 possible
6 inputs / 4 outputs (A type)
9 inputs / 6 outputs
2 channels (AG type)
2 channels
24VDC power supply for input/output
interface
Communication interface
Digital input/output
Analog input
● Servo motor
Item
Encoder resolution
External dimensions/Mounting method
HF-ME
HC-MFS
INC 16384 p/rev
ABS 17bits (131072 p/rev)
Compatible (Same as HC-MFS) (Note1)
Motor power supply connector
HF-KE is compatible with HC-KFS
HF-SE is incompatible with HC-SFS
—
Brake connector
Encoder connector
Compatible (Same as HC-MFS)
—
0.1 to 2kW
0.05 to 37kW
Rated output
Protection level
Same as HC-MFS
Note: The total length dimensions differ.
Connectivity with MR-J2-Super
The MR-E series servo amplifiers cannot be connected to the motors of the MR-J2-Super series.
The HF-ME series motors cannot be connected to MR-J2-Super series servo amplifiers.
Connectivity with existing servo motors (HC-ME Series)
Existing servo motors (HC-ME Series) can be used.
27
—
—
Cautions Concerning Use
To ensure safe use
• To use the products given in this catalog properly, always
read the “Installation Guide” and “MR-J3 INSTRUCTION
MANUAL” before starting to use them.
• These products have been manufactured as a generalpurpose part for general industries, and have not been
designed or manufactured to be incorporated in a device or
system used in purposes related to human life.
• Before using the products for special purposes such as
nuclear power, electric power, aerospace, medicine,
passenger movement vehicles or underwater relays, contact
Mitsubishi.
• These products have been manufactured under strict quality
control. However, when installing the product where major
accidents or losses could occur if the product fails, install
appropriate backup or failsafe functions in the system.
Cautions concerning use
Transport and installation of motor
• Protect the motor or encoder from impact during handling.
When installing a pulley or coupling, do not hammer on the
shaft. Impact can damage the encoder. In the case of the
motor with a key, install a pulley or coupling with the screw of
shaft-end. Use a pulley extractor when taking off the pulley.
• Do not apply a load exceeding the tolerable load onto the
servo motor shaft. The shaft could break.
Installation
• Avoid installation in an environment in which oil mist, dust,
etc. are in the air. When using in such an environment,
enclose the servo amplifier in a sealed panel. Protect the
motor by furnishing a cover for it or taking similar
measures.
• Mount the amplifier vertically on a wall.
• When installing several amplifiers in a row in a sealed
panel, leave 10mm or more open between each amplifier.
When installing several units in a row, leave 100mm or
more open in the upward direction, and 40mm or more in
the downward direction, or install a fan to prevent heat
from accumulating.
When using one amplifier, leave 40mm or more open in the
upward and downward directions.
40mm or (100mm or more
more for several units)
10mm or
more
40mm or
more
• For a single motor, the motor can be mounted horizontally
or vertically. When mounting vertically (shaft-up), take
measures on the machine side to ensure that oil from the
gear box does not get into the motor.
• Do not touch the servo motor during or after operation until
it has had sufficient time to cool.
The motor could be very hot, and sever burns may result
from touching the motor.
• The optional regeneration unit becomes hot (temperature
rise of 100°C (212°F) or more) with frequent use. Do not
install within flammable objects or objects subject to thermal
deformation. Take care to ensure that electrical wires do not
come into contact with the main unit.
• Carefully consider the cable clamping method, and make
sure that bending stress and the stress of the cable’s own
weight are not applied on the cable connection section.
• If using in an application where the servo motor moves,
select the cable bending radius according to the required
bending life and wire type.
• Fix the power supply and encoder cables led out from the
servo motor onto the servo motor so that they do not move.
Failure to do so could result in disconnections.
Do not modify the connector or terminals, etc., on the end
of the cable.
Grounding
• Securely ground to prevent electric shocks and to stabilize
the potential in the control circuit.
• To ground the servo motor and servo amplifier at one point,
connect the grounding terminals of each unit, and ground
from the servo amplifier side.
• Faults such as a deviation in position could occur if the
grounding is insufficient.
Wiring
• When a commercial power supply is applied to the
amplifier’s output terminals (U, V, W), the amplifier will be
damaged. Before switching the power on, perform thorough
wiring and sequence checks to ensure that there are no
wiring errors, etc.
• When a commercial power supply is applied to the motor’s
input terminals (U, V, W), the motor will be damaged.
Connect the motor to the amplifier’s output terminals (U, V,
W).
• Match the phase of the motor’s input terminals (U, V, W) to
the amplifier’s output terminals (U, V, W) before connecting.
If they are not the same, the motor control cannot be
performed.
• In the case of position or speed control mode, connect the
stroke end signals (LSP, LSN) to the common terminal (SG).
If the signals are invalid, the motor will not rotate.
• Connect P and D on the power supply connector (CNP1)
when using the built-in regenerative resistor.
Factory settings
• All available motor and amplifier combinations are
predetermined. Confirm the models of the motor and
amplifier to be used before installation.
• Select the control mode, motor series and motor capacity
with parameter No. 0.
• For MR-E-MA, default value is set to the position control
mode. Change the setting value when using the speed
control mode.
• For MR-E-MAG, default value is set to the speed control
mode. Change the setting value when using the torque
control mode.
• Change parameter No. 0 when using the optional
regeneration unit. The optional regeneration unit is disabled
as the default, so the parameter must be changed to
increase the regeneration performance.
28
Cautions Concerning Use
Operation
• When a magnetic contactor (MC) is installed on the
amplifier’s primary side, do not perform frequent starts and
stops with the MC. Doing so could cause the amplifier to fail.
• Turn MC OFF if an alarm occurs.
• As for the amplifier, when a trouble occurs, the amplifier’s
safety features are activated, halting output, and the dynamic
brake instantly stops the motor.
• When using a motor with an electromagnetic brake, do not
apply the brake when the servo is on. Doing so could cause
an amplifier overload or shorten brake life. Apply the brake
when the servo is off.
Precautions for Choosing the Products
• Mitsubishi will not be held liable for damage caused by
factors found not to be the cause of Mitsubishi; opportunity
loss or lost profits caused by faults in the Mitsubishi
products; damage, secondary damage, accident
compensation caused by special factors unpredictable by
Mitsubishi; damages to products other than Mitsubishi
products; and to other duties.
29
Cautions concerning model selection
• Select a motor with a rated torque above the continuous
effective load torque.
• Design the operation pattern in the command section so that
positioning can be completed, taking the stop setting time
(ts) into account.
Speed
Command pattern
Actual motor operation
Command time
Positioning time
ts
Time
• The load inertia moment should be below the recommended
load inertia moment ratio of the motor being used. If it is too
large, desired performance may not be attainable.
MEMO
30
Safety Warning
To ensure proper use of the products listed in this catalog,
please be sure to read the instruction manual prior to use.
L(NA)03018A 0507 Printed in Japan (MDOC)
New publication, effective July 2005
Specifications subject to change without notice.