mr e brochure

7/31/2019 Mr e Brochure

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User-friendly servowith easy operationUser-friendly servo

with easy operation

MR-E

Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001

(standards for environmental management systems) and ISO9001(standards for quality

assurance management systems)

SERVO AMPLIFIERS & MOTORS

EC97J1113


2/32

EnhancingEnhancing

Competent footworkCompetent footwork


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the system cost performance1.High Performance

2.Easy To Use

3.Global Standard Products

created by high performance and easy operationsreated by high performance and easy operations

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.

Integrating the MR-J2-Supershigh performance

Connectors have been installed on the fore part of theservo amplifier, thereby connecting the cables easily.

Connectors have been adapted for the servo amplifierterminal block, thereby reducing the time required forwiring.

The MR-E series is compatible with the MR-J2-Superseries for setting.

Easy operation

The MR-E standardspecifications conform to EN,UL and cUL standards.

Compatible with global standards

2


4/32

Applications

Extensive applications

General-purposeinverter General-purpose

motor

Stepping motor

Z X

Y

For various applications,

Mitsubishi AC servo

Processing machines or machinetool feed

Grinding machines

Transfer machines

Loaders/unloaders

Wood working machines

Dedicated machines

Various positioning can be

completed easily with pulsetrains.

Weaving machines

Embroidery machines

Knitting machines

Winding machines

Stranding machines

Paper manufacturing machines

Pillow packing machines

Filling machines

Label printing, label attaching machines

Bag manufacturing machines

Press feeders

Roll feeders

The IP65 compatible motor

can be used safely for foodprocessing applications.

Food processing machines,packing machines or feeders

Textile machines Enhancing machineperformance

MR-ESeries

Replacement of inverters, stepping

motors or DC servos

Replacement from clutch, mechanical

structure systems or hydraulic/air cylinders

High-speed and high-accuracyapplications are possible, enabling easyreplacement with conventional devices.

By using the servo as an alternative to legacyproducts, higher quality can be achieved.


5/32

4

Servo Motor Features/Model Configurations

MR-E- 10

HF-KE

Mitsubishi general-purpose

AC servo amplifierMR-E Series

Symbol Motor series

HF-KE Low inertia, small capacity

HF-SE Medium inertia, medium capacity

Symbol Rated output (kW)

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)

A : Pulse train interfaceAG : Analog input interface

For servo amplifier

For servo motor

Symbol Shaft end

None Standard (Straight shaft)

Key way or with key (Note)

D-cut (Note)

K

D

Symbol Electromagnetic brake

None None

InstalledB

List of compatible motors

Conforms to following standards:EN, UL and cUL

Conforms to following standards:EN, UL and cUL

31 B

A

Note: There are some motors that cannot be connected depending on theamplifiers software version.Refer to the servo motor specifications in this catalog.

Note: Refer to Electromagnetic brake specifications

in this catalog for the compatible models anddetailed specifications.

Notes: 1. 2000r/min is only for HF-SE series.2. 3000r/min is only for HF-KE series.

Note: Refer to Special shaft end specifications in this

catalog for the compatible models and detailedspecifications.

Symbol

10

20

40

70

100200

HF-KE

13

23

43

73

HF-SE

52

102152, 202

Servo Motor Series

Model Configurations

Motor series

Rated speed(maximum speed)

(r/min)

Rated output

(kW)

Global standardsWithelectro-

magneticbrake

(B)

ENULcUL

Protectionlevel

FeatureApplicationexamples

HF-KE series

HF-SE series

3000

(4500)

2000

(3000)

4 types

0.1, 0.2, 0.4,

0.75

4 types

0.5, 1.0, 1.5,

2.0

IP55

Excludingthe shaft-throughportion andconnector

Excludingthe shaft-throughportion

IP65

Excludingthe shaft-throughportion

IP65

Stable control

from low

speeds to high

speeds allowscompliance

with a variety

of applications.

Belt driveRobotsMountersSewing

machines

X-Y tables Food processing

machines

Conveyormachines

RobotsX-Y tables

Note: A mark shows production range.

Smallcapacityseries

Medium

capacityseries


6/32

Motor Specifications and Characteristics

HF-KE series (Low inertia, small capacity)Servo motor series

Servo motor model

Servo amplifier model

Rated output (W)

Rated torque (Nm [ozin])

Continuousrunningduty

0.56 (1.3) 2.9 (6.4)

Models

Specifications

0.94 (2.1) 1.5 (3.4)

0.86 (1.9) 3.9 (8.6)1.6 (3.6) 2.1 (4.7)

Notes:1.2.3.

4.

5.

6.7.8.

9.

If used in location such as actual site of machinery where oil or water may contact the product, special specifications apply, so contact Mitsubishi.The power facility capacity varies depending on the power supplys impedance.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 isconstant (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 sectionOptionsOptional regeneration unit in this catalog for details on the tolerable regenerative power (W).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 capaci-tor in the servo amplifier is large.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 orless.Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table.The shaft-through portion and connector for cable terminal are excluded.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 oppositedirection 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.The servo amplifier software is compatible with the HF-KE Series from version A5 or above.

XY

Power facility capacity (Note 2) (kVA)

Maximum torque (Nm [ozin])

Rated speed (r/min)

Maximum speed (r/min)

Permissible instantaneous speed (r/min)

Power rate at continuous rated torque (kW/s)

Rated current (A)

Maximum current (A)

Recommended load/motor inertia moment ratio

Speed/position detector

Mass

(kg [lb])

Regenerative

braking frequency

(times/min)

(Note 3, 4)

Environment

Attachments

Structure

Moment of inertiaJ (10-4kgm2)[J (ozin2)]

With no options

MR-RB032 (30W)

MR-RB12 (100W)

MR-RB32 (300W)

Ambient temperature

Ambient humidity

Elevation/vibration (Note 8)

Atmosphere

Standard

With electromagnetic brake

Standard


HF-KE13 (B)

MR-E-10A/AG (Note 9)

0.3

100

0.32 (45.3)

0.95 (135)

11.5

(Note 5)

(Note 5)

0.088 (0.481)

0.8

2.4


HF-KE23 (B)

0.5

200

0.64 (90.6)

16.9

(Note 5)

(Note 5)

(Note 5)

0.24 (1.31)

1.4

4.2

1.9 (269)


HF-KE43 (B)

0.9

400

1.3 (184)

249

747

2490

0.42 (2.30)

2.7

8.1

3.8 (538)

38.6


HF-KE73 (B)

1.3

750

2100

2.4 (340)

7.2 (1020)

39.9

5.2

15.6

140

210

700

1.43 (7.82)

0.090 (0.492) 0.31 (1.70) 0.50 (2.73) 1.63 (8.91)

3000

4500

5175

15 times the servo motors inertia moment maximum (Note 6)

Incremental encoder (resolution per servo motor rotation: 16384 p/rev)

Totally enclosed non ventilated (protection level: IP55) (Note 1, 7)

0 to 40C (32 to 104F) (non freezing), storage: 15 to 70C (5 to 158F) (non freezing)

80% RH maximum (non condensing), storage: 90% RH maximum (non condensing)

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

Servomo

tor

0 1000 2000 3000 4000 4500

1.5

0.5

1.0

2.0

0 1000 2000 3000 4000 4500

3.0

1.0

2.0

4.0

0 1000 2000 3000 4000 4500

0.75

0.5

0.25

1.0

0 1000 2000 3000 4000 4500

8.0

6.0

4.0

2.0

Notes:1. : For 3-phase 200VAC.2. : For 1-phase 230VAC.

HF-KE series servo motor torque characteristics

HF-KE series servo motor specifications

0

70

35

105

140

Torque

(oz

in)

Torque

(Nm

)

0

560

280

840

1120

Torque

(oz

in)

Torqu

e(N

m

)

0

140

70

210

280

Torque

(oz

in)

Torque

(Nm

)

0

280

140

420

560

Torque

(oz

in)

Torque

(Nm

)

HF-KE73 (B) (Note 1, 2)

HF-KE13 (B) (Note 1, 2) HF-KE23 (B) (Note 1, 2) HF-KE43 (B) (Note 1, 2)

Speed (r/min)

Peak running range

Continuous runningrange

Speed (r/min)

Peak running range

Speed (r/min)

Continuous running range Continuous runningrange

Peak running range

Speed (r/min)


Peak running range


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6

Motor Specifications and Characteristics

Notes:1.2.

3.

4.5.6.

7.

The power facility capacity varies depending on the power supplys impedance.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 whenregeneration 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 tothe section Options Optional regeneration unit in this catalog for details on the tolerable regenerative power (W).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 electrolyticcapacitor in the servo amplifier is large.Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table.The shaft-through portion is excluded.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 themotor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.The servo amplifier software is compatible with the HF-SE Series from version A5 or above.

X Y

Models

Specifications

Rated output (kW)

Rated torque (Nm [ozin])


2000

3000

3450

6.5 (15)

8.5 (19)

8.3 (19)

11 (25)

12 (27)

18 (40)

X,Y : 24.5m/s2X : 24.5m/s2

Y : 49m/s2

HF-SE52 (B)MR-E-70A/AG (Note 7)

1.0

0.5

2.39 (338)

7.16 (1010)

9.34

2.9

8.7

120

180

600

1800

6.1 (33.4)

8.3 (45.4)

HF-SE102 (B)MR-E-100A/AG (Note 7)

1.7

1.0

4.77 (675)

14.3 (2020)

19.2

5.3

15.9

62

93

310

930

11.9 (65.1)

14.0 (76.5)

HF-SE152 (B)

2.5

1.5

7.16 (1010)

21.5 (3040)

28.8

8.0

24

152

456

760

17.8 (97.3)

20.0 (109)

HF-SE202 (B)

3.5

2.0

9.55 (1350)

28.6 (4050)

23.8

10

30

71

213

355

38.3 (209)

47.9 (262)

Servo motor modelServo amplifier model

Attachments

Structure

Power facility capacity (Note 1) (kVA)

Maximum torque (Nm [ozin])

Rated speed (r/min)

Maximum speed (r/min)

Permissible instantaneous speed (r/min)

Power rate at continuous rated torque (kW/s)

Rated current (A)

Maximum current (A)

Recommended load/motor inertia moment ratio

Speed/position detector

Environment

Continuousrunningduty

Regenerativebraking frequency

(times/min)(Note 2, 3)

Elevation

With no options

MR-RB032 (30W)

MR-RB12 (100W)

MR-RB30 (300W)

MR-RB32 (300W)

MR-RB50 (500W)

Ambient temperature

Ambient humidity

Atmosphere

Vibration (Note 6)

4.8 (11)

6.7 (15)

15 times the servo motors inertia moment maximum (Note 4)

Incremental encoder (resolution per servo motor: 16384 p/rev)

Totally enclosed non ventilated (protection level: IP65) (Note 5)




1000m or less above sea level

Servo motor series HF-SE series (Medium inertia, medium capacity)

Notes:1. : For 3-phase 200VAC.2. : For 1-phase 230VAC.

Servomotor

Standard


Mass

(kg [lb])

Moment of inertiaJ (10-4kgm2)[J (ozin2)]

Standard


HF-SE series servo motor torque characteristics

HF-SE series servo motor specifications

0

420

840

1260

Torque

(oz

in)

Torque

(Nm

)

0

700

1400

2100

Torque

(oz

in)

Torque

(Nm

)

0

1120

2240

3360

Torque

(oz

in)

Torque

(Nm

)

0

1400

2800

4200

Torque

(oz

in)

Torque

(Nm

)

HF-SE52 (B) (Note 1, 2) HF-SE102 (B) (Note 1) HF-SE152 (B) (Note 1) HF-SE202 (B) (Note 1)

0 1000 2000 3000

6

3

9

0 1000 2000 3000

10

5

15

0 1000 2000 3000

16

8

24

0 1000 2000 3000

20

10

30

Speed (r/min)

Peakrunning range


Speed (r/min)

Peakrunning range


Speed (r/min)

Peakrunning range


Speed (r/min)

Peakrunning range



8/32

Motor Dimensions

HF-KE23(B), HF-KE43(B)

HF-KE73(B)

Variable dimensions

L KL

HF-KE23 (B)

HF-KE43 (B)

Model

Pin No. Signal name

1

2

3

4A

1

2

3

4

Pin No. Signal name

1

2

3

4

5

6

A

1

2

3

4

5

6

Pin No. Signal name

Pin No. Signal name

1

2

3

4A

1

2

3

4

1

2

3

4

5

6

A

1

2

3

4

5

6

HF-KE13(B)

Pin No. Signal name

12

3

4

Power supplyconnector pin assignment






A

1

2

3

4

Pin No. Signal name

1

2

3

4

5

6

B1

B2

A

1

2

3

4

5

6

U phaseV phase

W phase

Earth

Standard

with Brake

Standard

with Brake

Standard

with Brake

U phase

V phase

W phase

Earth

U phase

V phase

W phase

Earth

U phase

V phase

W phase

Earth

B1

B2

112.5 (152)

90.6 (130.1) 39.3

61.2

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.

U phase

V phase

W phase

Earth

U phase

V phase

W phase

Earth

B1

B2

(Unit: mm)

57.1

45

27.8

14 12

M80

90

47.5

25.2

Encoder cable 0.3mWith 1-172169-9 connector(made by AMP)

70h7

19h6

40127.8(171)

8 3

72.379.5 (Note 3)

7.2

A

Power supply lead0.3m

Insulok (Note 3)

Protective tubing

7

7

19.2

56.4

(Note3)

(Note 3)

Power supply connector (made by Molex)

5557-04R-210 (receptacle) in standard case5557-06R-210 (receptacle) (Note 3)5556PBT (female terminal)

4-6.6 mounting hole Usehexagonal cap head bolts.

Brake lead (Note 3)0.3m

A


7

13

13.9

37.1

46

45

M40

27.5

6.4

20.5 20.7

28.5

25.2

20.7

21

30h7

8h6

40.5



5557-04R-210 (receptacle) in standard case5557-06R-210 (receptacle) (Note 3)

5556PBT (female terminal)

Protective tubing

Insulok (Note 3)Brake lead (Note 3)0.3m

21.5

2596.4(137.5)

72.3(Note 3)

5 2.5

38.8

(Note3)

7.2

19.218.4(Note 3)

2-4.5mounting holeUse hexagonal caphead bolts.

(Note 3)

37.5

25.2

7.2

L 30

7 3

KL


27.8

13.9 5.9

M60

45

70

47.1

(Note3)

47.1

71.8 (Note 3)

Brake lead (Note 3)0.3m

Insulok (Note 3)

Protective tubing

A

7

13

.5


19.2

50h7

14h6


5557-04R-210 (receptacle) in standard case5557-06R-210 (receptacle) (Note 3)5556PBT (female terminal)

4-5.8mounting holeUse hexagonal caphead bolts.

(Note 3)


9/32

8

Motor Dimensions

HF-SE52(B), HF-SE102(B), HF-SE152(B)

HF-SE202(B)

Model

Variable dimensions

HF-SE52 (B)

HF-SE102 (B)

HF-SE152 (B)

(Note 3)

(Note 3)

(Unit: mm)

120 (154.5)

142 (176.5)

164 (198.5)

57.8

79.8

101.8

KLL

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.

BC

AD

BrakeEarth

W

UV

Power supply connectorpin assignmentMotor flangedirection

Brake connectorpin assignmentMotor flangedirection

M130

165

112.5

145

13.558

12 3

L

39.7(45)

55

50

110h7

24h6

60.5(Note 3)

(Note 3)

(Note 3)

(Note 3)

(Note 3) (Note 3)

(Note 3)

79.9

(Note3)

29

45

20.9

81.5

19.5

KL

Power supply connector

MS3102A18-10P

Brake connector

CM10-R2P (Note 3)

Encoder connectorMS3102A20-29P

4-9 mounting holeUse hexagonal cap head bolts.

(Note 3)

(Note 3)

BrakeEarthW

UV

ABC D

Power supply connectorpin assignmentMotor flangedirection

Brake connectorpin assignmentMotor flangedirection

45

140.9

8224.844

145(194.5)

79.8

79

96.9

(Note3)

68(Note 3)

200

23

0

M176

1875

340(47)

81.5

19.5

4-13.5 mounting holeUse hexagonal cap head bolts.

Encoder connectorMS3102A20-29P

Brake connectorCM10-R2P (Note 3)

Power supply connectorMS3102A22-22P

114.3

0-0.0

25

+0.0

10

0

35

(Note 3)

(Note 3)

(Note 3)

(Note 3) (Note 3)

(Note 3)


10/32

Motor Special Specifications

HF-KE series

Special shaft end specificationsMotors with the following specifications are available.

HF-SE series

With key (200, 400, 750W)

HF-KEMK

Variable dimensions

T S W QK QL U Y

M4 screwDepth: 15mm

M5 screwDepth: 20mm

D-cut (100W)

Key way

A-A

W

U

T Y

S

A

A

R

Q

QK QL

(Note 1)

(Note 1)

8h6

1

R Q

(Unit: mm)

(Unit: mm)

(Unit: mm)

Motormodel

Capacity(W)

HF-SEMK

Variable dimensions

S W QK QL U Y

24h6

35

55

79

50

75

36

55

5

5

r

4

5

M8 screwDepth: 20mm

M8 screw

Depth: 20mm

(Note 1, 2)

R Q

Motormodel

Capacity(kW)

A-A

S

U

W

Y

A

A

R

Q

QK

r

QL

0.5 to 1.5

2.0

80

-0.036 4

100

-0.036

+0.20

5+0.2

0+0.01

0

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.

Motor model

(J)/time

(J)/hour

Times

Brake life (Note 1)

(Braking work per

braking action)

Permissible

braking work

Type

Rated voltage

Brake static

friction torque

Power consumption (W) at 20C (68F)

(Nm)

(ozin)

HF-KE series HF-SE series

Spring-action safety brake

24VDC %

13B

45.3

6.3

5.6

20000

(5.6J)

56

0.32

23B

184

7.9

22

20000

(22J)

220

1.3

43B

184

7.9

22

20000

(22J)

220

1.3

73B

340

10

64

20000

(64J)

640

2.4

52B

1200

20

400

20000

(200J)

4000

8.5

102B

20

400

20000

(200J)

4000

8.5

1200

152B

20

400

20000

(200J)

4000

8.5

1200

202B

34

4500

45000

20000

(1000J)

44

6230

Electromagnetic brake specifications

0-10

0-10

Spring-action safety brake

24VDC %

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.

200, 400 14h6 30 27 5 20 3 35

750 19h6 40 37 6 25 5 3.56

25

21.5

20.5


11/32

10

Peripheral Equipment (standard interface)

R S T

CN1

CN3

CN2

X Y

C

P

Z

L3

L2

L1

FX 2N-10GMFX 2N-20GM

FX 2N-1PGFX 2N-10PG

QD75P

P1,2,4

QD75D

D1,2,4

A1SD75P

P1 to 3

CNP2

CNP1

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.

Used to protect the powersupply line.

Circuit breaker

(NFB)

Power supply3-phase 200-230VAC

or1-phase 230VAC

Used to turn off the servoamplifiers power when analarm has been triggered.

Magnetic contactor

(MC)

Power factorimprovementreactor(FR-BAL)

Optional regeneration unit (option)

Install this unit in situations involving fre-quent regeneration and large load iner-tia moments. Connect this unit referringto Standard Wiring Diagram.

Display panel

Setting section

Displays monitoring data, parameters,and alarms.

Parameter settings and monitoringetc. are executed with push buttons.

Servo amplifierMR-E- A/AG

Control signalconnector

CN3 for RS-232C communication (option)Connect the unit to users personal computer toperform monitoring, batch parameter entry andsaving, graph display, and test operation. Dedicatedcable and setup software are also available.

Positioning controllersThe MR-E can be connected to aMitsubishi controller or any pulse trainoutput controller.

Control signal (for operation panel)Connected to the PLCs I/O port or themachines operation panel.

Charge lampIlluminates when the main circuit power supplyis ON. Do not plug/unplug power lines whenthis lamp is ON.

HF-

E servo motor(Above picture is HF-KE73.)

Connections with peripheral equipmentPeripheral 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.


12/32

1

Amplifier Specifications

MR-E-A

MR-E-AG

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. Thetorque 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.

3-phase 200 to 230VAC 50/60Hz or

1-phase 230VAC 50/60Hz (Note 2)

3-phase 200 to 230VAC: 3-phase170 to 253VAC

1-phase 230VAC: 1-phase207 to 253VAC

3-phase 200 to 230VAC 50/60Hz (Note 2)

3-phase 170 to 253VAC

Sine-wave PWM control/current control system

Built-in

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)

Resolution per encoder/servo motor rotation: 16384 p/rev

Electronic gear A/B multiple, A: 1 to 65535, B: 1 to 65535 1/50 < A/B < 50

0 to 16384 pulses (command pulse unit)

2.5 rotations

Set by parameters

Internal speed command 1:5000

0.01% maximum (load fluctuation 0 to 100%)

0% (power fluctuation 10%)

Self-cooling open (IP00) Fan cooling open (IP00)

Set by parameters

5% maximum





5.9m/s2 maximum

Servo amplifier model MR-E-

Voltage/frequency (Note 1)

0.7 (1.6) 0.7 (1.6) 1.1 (2.5) 1.7 (3.8) 1.7 (3.8) 2.0 (4.4)

Permissible voltage

fluctuation

Permissible frequency fluctuation

Power

supply

Control system

Dynamic brake

Built-in regenerative resistor

Safety features

Maximum input pulse frequency

Position

control

mode

Positioning feedback pulse

Command pulse multiple

Positioning complete width setting

Excess error

Torque limit

Speed control rangeSpeed

control

modeSpeed fluctuation rate

Structure

Ambient temperature

Ambient humidity

Atmosphere

Elevation

Vibration

Mass (kg [lb])

Environ-

ment

None None Installed Installed Installed Installed

Torque limit

10A 20A 40A 70A 100A 200A

Servo

amp

lifier

3-phase 200 to 230VAC 50/60Hz or

1-phase 230VAC 50/60Hz (Note 2)

3-phase 200 to 230VAC: 170 to 253VAC

1-phase 230VAC: 207 to 253VAC

3-phase 200 to 230VAC 50/60Hz (Note 2)

3-phase 170 to 253VAC

Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal),encoder fault protection, regeneration fault protection, undervoltage/sudden power outage protection,

overspeed protection, excess error protectionAnalog speed command 1:2000, internal speed command 1:5000

0 to 10VDC/rated speed

0.01% maximum (load fluctuation 0 to 100%)

0% (power fluctuation 10%)

0.2% maximum (ambient temperature 25C10C [77F50F]), when using analog speed command

0 to 8VDC/maximum torque (input impedance 10 to 12k)

Self-cooling open (IP00) Fan cooling open (IP00)





Set by parameters or external analog input (0 to +10VDC/maximum torque)

Set by parameters or external analog input (0 to 10VDC/rated speed)

Sine-wave PWM control/current control system

Built-in

5% maximum

5.9m/s2 maximum

None None Installed Installed Installed Installed

Voltage/frequency (Note 1)

Permissible voltage

fluctuation

Permissible frequency fluctuation

Power

supply

Control system

Dynamic brake

Built-in regenerative resistor

Safety features

Speed control range

Speed

control

mode

Analog speed command input

Speed fluctuation rate

Torque limit

Analog torque command inputTorquecontrolmode Speed limit

Structure

Ambient temperature

Ambient humidity

Atmosphere

ElevationVibration

Mass (kg [lb])

Environ-

ment

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

Servoamp

lifier

Servo amplifier model MR-E-


13/32

12

Standard Wiring Diagram

Notes:1. Do not reverse the diodes 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.

Create a sequence that cuts off the MCwhen an alarm or emergency stop occurs.

Servo amplifierMR-E-MA

(Note 11)

B1

B2

SM

Electromagneticbrake

(Note 7)

7 P5

8 LG

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

7 P5

8 LG

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

RS-232C

RD

GND

GND

SD

(Note 10)15m maximum

Personal computerrunning

Microsoft Windows

Maximum +1mA totalDouble oscillation (10V output)

Monitor output

Monitor output 1

Monitor output 2

10k

10k

2m maximum

UVW

1 P5

2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

PLATE SD

SM

AUVW

BCD

B1

B2

CN2 (Note 11)

S

R

C

D

A

B

F

G

N

M


(Note 7)

(Note 13)

1 P5

2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

SDPLATE

Servo motorHF-SE series

Servo motorHF-KE series

U

V

W

P

C

L1

L2

L3

U

V

W

D

Encoder

Encoder

NFB MC

Power supply3-phase 200 to 230VAC

or1-phase 230VAC (Note 12)

Optionalregeneration unit

CNP 1 CNP 2

Pos

ition

ingun

it

QD75D

PULSE F+ MM15

MM16

MM 9

MM10

MM12

MM14

MM11

MM18

MM13

MM17

Name Pin No.

PULSE F

PULSE R

CLEAR

CLEAR COM

RDY COM

PG05

PG0 COM

READY

PULSE R+

PP 23

PG 22

NP 25

NG 24

CR 5

SG 13

RD 11

LZ 19

LZR 20

LG 14

LA 15

LAR 16LB 17

LBR 18

LG 14

OP 21

SD PLATE

(Note 3) Emergency stop

Servo on

Reset

Forward stroke end

Reverse stroke end

External 24VDC

power supply

(0.2A or more)

(Note 4)

(Note 6) Malfunction

Zero speed detection

In position

(Note 1)

10m maximum

10m maximum

EMG

SON

RES

LSP

LSN

SG

ZSP

ALM

8

4

3

6

7

13

12

9

INP 10

OPC

VIN

2

1

MO14 A

AMO26

LG3

SDPLATE

TXD2

LG3

RXD1

CN3

CN2

Shut off when the servoon signal turns off andwhen alarm signal is issued.

EMG

Power supply 24VDC for

the electromagnetic brake

1

2

3

4

5

6

(Note 9) Control common

Encoder A-phase pulse

(differential line driver)Encoder B-phase pulse

(differential line driver)

Encoder Z-phase pulse

Control common

Control common

CN1(Note 5)

RA1

RA2

RA3

10m maximumfor differential line driver.

2m maximumfor open collector.

(open collector)

MR-E-A type: Position control operation

Connection to QD75D (position servo, incremental)

The servo amplifier could bedamaged if the optionalregeneration unit is incorrectlyconnected.

Disconnect P and Dwhen connecting theoptional regenerationunit externally.

Connect P and D whenusing the built-inregenerative resistor.

(Note 2)

Built-inregenerativeresistor

EMGShut off whenthe servo onsignal turns offand when alarmsignal is issued.

24VDC


14/32

3



inoperable.2. Provide a 24VDC10% 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


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.

Disconnect P and Dwhen connecting the

optional regenerationunit externally.

External 24VDC

power supply (0.2A or more)


Monitor output

(Note 12)

Monitor output 1

Monitor output 2

1

2

3

4

5

6

C

D

Encoder

EncoderRA1

RA2

RA3

RA4


Connect P and D whenusing the built-in

regenerative resistor.

MR-E-A type: Internal speed control operation

Connection



Control commonControl common

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (open collector)


P

CNP1 CNP 2

1 P57 P5 7 P5

8 LG

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

8 LG2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

SD

PP

PG

23

NP

22

NG

25

24

RD 11

LZ 19

LZR 20

LA 15

LAR 16

LB 17

LBR 18

LG 14

OP 21

SD PLATE

PLATE

EMG 8

SON 4

ST1 3

ST2 5

LSP 6

LSN 7

SG 1310k

10k

A

A

2m maximum

2m maximum

ZSP 12

ALM 9

VIN 1

SA 10

TxD

CN3

CN2

CN2

SM

EMG

EMG

AU



VW

U

V

W

UVW

BCD

B1

B2

B1

B2

RS-232C Personal computerrunning

Microsoft Windows


Shut off when theservo on signal turnsoff and when alarmsignal is issued.


2

LG3

1

RxD1

RD

GND

GND

SD

MO14

MO26

LG3

SDP5

2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

PLATE SD

PLATE

Reverse rotation start

Emergency stop

Forward stroke endReverse stroke end

Forward rotation start

Servo on

Malfunction


Speed reached

(Note 3)

(Note 4)

15m maximum(Note 9)

(Note 10)

(Note 10)

(Note 7)

(Note 7)

(Note 6)

(Note 1)


Servo amplifierMR-E-MA

NFB MC

L1

L2

L3

U

V

W

S

R

C

D

A

B

F

G

N

M

Ready

SM


(Note 2)

24VDC



CN1(Note 5)

10m maximum

10m maximum

10m maximum



15/32

14




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


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.

Disconnect P and D whenconnecting the optional

regeneration unit externally.

External 24VDC


External 15VDC

power supply

1

2

3

4

5

6

D

Encoder

Encoder



RA1

RA2

RA3

RA4




MR-E-AG type: Speed control operation

Connection






Control common

Control common


LG 14

OP 21

SD

2m maximum

10m maximum


P

C

CNP1 CNP2

P57 P5 7 P5

8 LG

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

8 LGLG

MR

MRR

MD

MDR

LG

SD

RD 11

LZ 19

LZR 20

LA 15

LAR 16

LB 17

LBR 18

PLATE

PLATE

EMG 8

SON 4

ST1 3

ST2 5

LSP 6

LSN 7

SG 13

10m maximum

10k

10k

A

A

10m maximum

2m maximum

2m maximum

ZSP 12

ALM 9

VIN 1

SA 10

VC 26

LG 14

TLA 2

SD PLATE

TxD

CN3

CN2

CN2

SM

EMG

EMG

AU



VW

U

V

W

UVW

BCD

B1

B2

B1

B2


Microsoft Windows





2

LG3

1

RxD1

RD

GND

GND

SD

MO14

MO26

LG3

SDP5

2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

PLATE SD

PLATE

Servo on

Analog speed command10V/rated speed

Analog torque limit+10V/maximum torque

Reverse rotation start

Emergency stop

Forward stroke endReverse stroke end

Forward rotation start

(Note 3)

(Note 4)

15m maximum(Note 9)

(Note 10)

(Note 10)

(Note 7)

(Note 7)(Note 1)


Servo amplifierMR-E-MAG

NFB MC

L1

L2

L3

U

V

W

S

R

C

D

A

B

F

G

N

M

Malfunction


Speed reached

(Note 6)

Ready

Upper limit setting

Upper limit setting


Monitor output

(Note 12)

SM

Monitor output 1

Monitor output 2

1

2

3

4

7

8

9

10

24VDC

(Note 2)

CN1(Note 5)



16/32

5




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 onlyfor 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.

Disconnect P and D whenconnecting the optional

regeneration unit externally.

External 24VDC


External 15VDC

power supply

1

2

3

4

5

6

D

RA1

RA2

RA3




MR-E-AG type: Torque control operation

Connection







P

C

CNP1 CNP2

1 P57 P5 7 P5

8 LG

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

1 MR

2 MRR

4 MD

5 MDR

3

9 SD

6 CNT

8 LG2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

SD

RD 11

LZ 19

LZR 20

LA 15

LAR 16

LB 17

LBR 18

LG 14

OP 21

SD PLATE

PLATE

EMG 8

SON 4

RS1 5

RS2 3

SG 13

10m maximum

10k

10k

A

A

10m maximum

2m maximum

2m maximum

ZSP 12

ALM 9

VIN 1

TC 2

LG 14

VLA 26

SD PLATE

TxD

CN3

CN2

CN2

SM

EMG

EMG

AU



VW

U

V

W

UVW

BCD

B1

B2

B1

B2


Microsoft Windows





2

LG3

1

RxD1

RD

GND

GND

SD

MO14

MO26

LG3

SDP5

2 LG

3 MR

4 MRR

7 MD

8 MDR

9

10 LG

PLATE SD

PLATE

Reverse rotation select

Emergency stop

Forward rotation select

Servo on

Malfunction


Analog torque command8V/rated speed

Analog speed limit 0 to10V/maximum torque

(Note 3)

15m maximum(Note 8)

(Note 9)

(Note 9)

(Note 6)

(Note 6)

(Note 5)

(Note 2)

(Note 1)


Servo amplifierMR-E-MAG

NFB MC

L1

L2

L3

U

V

W

S

R

C

D

A

B

F

G

N

M

Ready

Upper limit setting

Upper limit setting


Monitor output

(Note 11)

SM

Monitor output 1

Monitor output 2

24VDC

2m maximum

10m maximum

Control common

Control common




CN1(Note 4)

Encoder

Encoder



17/32

16

Amplifier Dimensions

MR-E-10A/AG, 20A/AG

MR-E-40A/AG

(Unit: mm)

6

6

66

Space required for heat radiation(40 minimum)


4

6

6mounting hole

66



4

6mounting hole

Three ground (PE)terminals (M4)


50

168

156

Approx. 70 135

22

70

156

168

135Approx. 70

Mounting screw size: M5



18/32

7

Amplifier Dimensions

MR-E-70A/AG, 100A/AG

MR-E-200A/AG

(Unit: mm)

622

22

190


6

Space required for heat radiation(40 minimum) 6

25

6

6



6

Fan(airflow direction)

6mounting hole


6mounting hole


70

156

168

42

7890

156

168

195

40

Approx. 70

Approx. 70




19/32

18

Options

Optional regeneration unit

Built-in regenerativeresistor/tolerable

regenerative power (W) Resistance value ()

1.666

(20)

5

Model

MR-RB032

MR-RB12

Variable dimensions

LA

30

40

LB

15

15

LC

119

169

LD

99

149

Mass

kg (lb)

Masskg (lb)

Masskg (lb)

0.5 (1.1)

1.1 (2.5)

Model

MR-RB30

MR-RB32

2.9 (6.4)

2.9 (6.4)

Model

MR-RB50 5.6 (13)

G4

G3

C

P

Terminal screw size: M3

TE1

G4

G3

C

P


G4

G3

C

P




8.5

8.5 7

10

Fan mounting screw2-M3 screwprovided onopposite side

82.5

350

162.5

12.5

12.

5

162.5

133

49

2.317200

12

7

120 8

Approx.30108217

82.5

7 14long hole

Wind blows indirection of arrow

(Note 4)

Servo amplifier model

MR-E-10A/AG

MR-E-20A/AG

MR-E-40A/AG

MR-E-70A/AG

MR-E-100A/AG

MR-E-200A/AG

Optional regeneration unit/tolerable regenerative power (W)

MR-RB032 MR-RB12 MR-RB32MR-RB30 MR-RB50

40

40

40

40

40

13


500

300

300

300

30

30

30

30

30

10

20

20

100

Notes: 1. The optional regeneration unit will heat up to approx. 100 C (212F), so do not directly mount it on a wall susceptible to heat. Use nonflammable wires or provide flame resistanttreatment (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.

MR-RB032, MR-RB12

MR-RB50

MR-RB30, MR-RB32

G4G3

C

P

G4

G3

C

P

6mounting hole

125

100

100

100

100

156

168

100

90 335

318

(Unit: mm)

79

150

142

17

Notes: 1. Connect the optional regeneration unit referring to Standard Wiring Diagram.2. The tolerable regenerative power in the table differs from the regenerative resistors rated wattage.

LA

LB

LD

LC

TE1

(6)

144

(12)

12


20/32

Options

9

Model Protectionlevel

MR-ECNM(Note 2)

MR-ECNS

MR-ECN1(20 pcs/box unit)

7

8

9

11 12

19 20

19 20

21 22

10

15 16 17 18

13 14

1

4

6

2 3

5

Main power supply

Servo motor HF-SE seriesServo motor HF-KE seriesPositioningunit

Operationpanel

QD75P

QD75D

A1SD75P

FX2N-20GM

FX2N-10GM

FX2N-10PG

FX2N-1PG

23

CN3

CN1

CN2

CNP2

CNP1

Encoder

Encoder

Backshell (made by DDK)CE02-20BS-S

Cables and connectors (for MR-E-MA/AG type)

Optional cables and connectors are shown in the diagram below.

Cable attachedto motor0.3m

Selectoneforusewith

CN2

ForCN1

q

w

e

r

t

y

Encoder cable forHF-KE

series motor

(Note 4)

Encoder cable for

HF-SE

series motor

Encoder

connector set for

HF-KE

series motor

Encoder

connector set for

HF-SE

series motor

CN1 connector

MR-EKCBLMM-H M=cable length

2, 5, 10, 20, 30, 40, 50m(Note 1)

MR-ESCBLMM-H M=cable length2, 5, 10, 20, 30, 40, 50m (Note 1)

MR-ENECBLMM-H M=cable length2, 5, 10, 20, 30, 40, 50m (Note 1, 5)

MR-EKCBLMM-L M=cable length2, 5, 10, 20, 30m (Note 1)

MR-ESCBLMM-L M=cable length2, 5, 10, 20, 30m (Note 1)

IP20

IP20

IP20

IP20

IP65IP67

IP20

IP20

Item 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)MTI-0002(cable clamp, made by TOA ELECTRIC INDUSTRIAL)

Junction connector (made by AMP)1-172161-9 (black connector housing)170359-1 (connector pin)MTI-0002(cable clamp, made by TOA ELECTRIC INDUSTRIAL)

Amplifier-side connector (made byMolex or an equivalent product)(Note 3)





Encoder connector (made by DDK)MS3057-12A (cable clamp)MS3106B20-29S (straight plug)

Encoder connector (made by DDK)MS3057-12A (cable clamp)MS3106B20-29S (straight plug)

Plug (made by DDK)MS3106A20-29S (D190)

Cable clamp (made by DDK)CE3057-12A-3 (D265)


Backshell (straight) (made by DDK)CE02-20BS-S

Plug (made by DDK)MS3106A20-29S (D190)

Amplifier-side connector (made by 3M or an equivalent product)10126-3000VE (connector)10326-52F0-008 (shell kit)

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.

Notes:

u

MR-ENECNSIP65IP67


21/32

20

Options

Connector (straight) (made by DDK)CM10-SP2S-L

Including contact (soldered type)CM10-#22SC (S2) -100.

Personal computer communication cable QC30R2Cable length 3m

MR-PWCNK1

Plug (made by Molex)5559-04P-210male terminal (made by Molex)5558PBT3L (for AWG16)

MR-PWCNK2

Plug (made by Molex)5559-06P-210male terminal (made by Molex)5558PBT3L (for AWG16)

MR-PWCNS4(Straight type)

Plug (straight) (made by DDK)CE05-6A18-10SD-B-BSS


MR-PWCNS5(Straight type)


Plug (straight) (made by DDK)CE05-6A22-22SD-B-BSS

Amplifier power supply connector set(press bonding type)MR-E-10A/AG to 100A/AG

Amplifier power supply connector(inserted type)MR-E-10A/AG to 100A/AG

Motor power supply connector set(amplifier side)MR-E-10A/AG to 100A/AG(press bonding type)

Motor power supply connector(amplifier side)MR-E-10A/AG to 100A/AG(inserted type)

Brake connector set for HF-SE series motor

MR-ECNP1-A(20 pcs/box unit)

MR-ECNP1-B(20 pcs/box unit)

MR-ECNP2-A(20 pcs/box unit)

MR-ECNP2-B(20 pcs/box unit)

MR-BKCNS1(Straight type)

Connector 51240-0600(made by Molex or an equivalent product)

Terminal 56125-0118(made by Molex or an equivalent product)


Amplifier power supply connector set(press bonding type)MR-E-200A/AG

MR-ECNP1-A1(20 pcs/box unit)



Amplifier power supply connector(inserted type)MR-E-200A/AG

MR-ECNP1-B1(20 pcs/box unit)


Connector 51240-0300

(made by Molex or an equivalent product)

Terminal 56125-0118

(made by Molex or an equivalent product)


Motor power supply connector set(amplifier side)(press bonding type)MR-E-200A/AG

Motor power supply connector(amplifier side)(inserted type)

MR-E-200A/AG

MR-ECNP2-A1(20 pcs/box unit)

MR-ECNP2-B1(20 pcs/box unit)




Analog monitor RS-232C connectorMR-ECN3(20 pcs/box unit)

Analog monitor, RS-232C option connector(Marushin electric mfg. or an equivalent product)MP371/6 (connector) (mini-DIN 6-pin male)

Analog monitor/RS-232C branch cable MR-E3CBL15-P

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)

ModelProtection

levelItem

IP20

IP20

IP65

IP67

IP65

IP67

IP65

IP67

ForCN3

Selectoneforusewithmotorpowersupply(motorside)

Selectoneforusewithamplifierpowersupply(forCNP1)

Selectoneforusewithmotorpowersupply(forCNP2)

Forbrake

i

o

!0

!1

!2

!3

!4

!5

!6

!7

!8

!9

@0

@1

@2

@3

Motor power supply connector set(motor side) for HF-KE series motor

Motor power supply connector set(motor side) for HF-KE series motorwith electromagnetic brake

Motor power supply connector set(motor side) for HF-SE52, 102, 152

Motor power supply connector set(motor side) for HC-SE202

DOS/V personal computer connector(made by Japan Aviation Electronics Industry)DE-9SF-N (connector)DE-C1-J6-S6 (case)

RS-232C option connector(Marushin electric mfg. or an equivalent product)

MP371/6 (connector) (mini-DIN 6-pin male)

Description


22/32

Ordering Information for Customers

1

(For HF-KE series motor)

Cable12

Plug

Cableclamp

HF-SE52, 102, 152

HF-SE202

IP65IP67EN standards

(Note)General environment

(Note)General environment

Protection levelType Model Model

CE3057-10A-2 (D265)

CE3057-10A-1 (D265)

CE3057-10A-2 (D265)

CE3057-10A-1 (D265)

MS3057-10A

MS3057-10A

CE3057-12A-2 (D265)

CE3057-12A-1 (D265)

CE3057-12A-2 (D265)

CE3057-12A-1 (D265)

MS3057-12A

MS3057-12A

CE05-6A18-10SD-B-BSS

CE05-8A18-10SD-B-BAS

Straight

Angled

MS3106B18-10S

MS3108B18-10S

CE05-6A22-22SD-B-BSS

CE05-8A22-22SD-B-BAS

MS3106B22-22S

MS3108B22-22S

Straight

Angled

IP65IP67EN standards

Straight

Angled

Straight

Angled

Cable diameter (mm)

8.5 to 11

10.5 to 14.1

8.5 to 11

10.5 to 14.1

14.3

(Inner diameter of bushing)

9.5 to 13

12.5 to 16

9.5 to 13

12.5 to 16

15.9

(Inner diameter of bushing)

HF-KE seriesGeneral environment

EN standards

Protection level

HF-SE series IP65, IP67 MS3106A20-29S (D190)

Protection

level Type Model Cable diameter (mm) Model

6.8 to 10 CE3057-12A-3 (D265)Straight

Angled

CE02-20BS-S

CE-20BA-S

HF-SE series General environment

Protection levelType Model Cable diameter (mm) Model

15.9

(Inner diameter of bushing)MS3057-12A

Straight

Angled

MS3106B20-29S

MS3108B20-29S

Ordering information for customers Servo motor power supply connectorsPower supply connectors are not included with the motors. Order from the previous pages,

or choose from among the following recommended products. To order the followingrecommended products, contact the relevant manufacturers directly.

Encoder connectorsEncoder connectors are not included with the motors. Order from the previous pages, or

choose from among the following recommended products. To order the followingrecommended products, contact the relevant manufacturer directly.

1

2

Plug Cable Cable

Cableclamp

1

3

Plug

2 Backshell

CableCableclamp

1

2

PlugCableclamp

Cable23

BackshellCableclamp

1 Plug

(Straight type) (Angled type)



Note: Not compliant with EN standards.

with Brake

without BrakePlug 5559-04P-210

male terminal 5558PBT3L (AWG16)

Plug 5559-06P-210

male terminal 5558PBT3L (AWG16)

(made by Molex)

1

2

Plug Cable

Cableclamp

1 Plug (made by DDK) 2 Cable clamp (made by DDK)

1 Plug (made by DDK)3 Cable clamp (made by DDK)2 Backshell (made by DDK)

2 Cable clamp (made by DDK)

Motor model

Motor model

Motor model

Motor model1 Plug (made by DDK)


23/32

22

Ordering Information for Customers/Options

Connector

HF-SEIP65

IP67

Motor model Protection levelType

Contact

Soldered type

Press bonding type

Straight pulg

CM10-SP2S-S

CM10-SP2S-M

CM10-SP2S-L

CM10-SP2S-S

CM10-SP2S-M

CM10-SP2S-L

Socket contact

CM10-#22SC (S2)-100

CM10-#22SC (C3)-100

4 to 6

6 to 9

9 to 11.6

4 to 6

6 to 9

9 to 11.6

Cable diameter (mm)

DDK Ltd.

Manufacturer

Straight

Brake connectorsBrake connectors are not included with the motors. Order from the previous pages, or

choose from among the following recommended products. To order the followingrecommended products, contact the relevant manufacturer directly. (Straight type)

Options

External dimensions Connections

This reactor enables users to boost the servo amplifiers power factor and reduce its power supply capacity. Power factor improvement reactor (FR-BAL)

(Unit: mm)

Mounting screw

Variable dimensions (mm)

W1 H D D1

Mass

kg (lb)Servo amplifier

MR-E-10A/AG, 20A/AG

MR-E-40A/AG

MR-E-70A/AG

MR-E-100A/AG

MR-E-200A/AG

Model

M4

M4

M4

M4

M5

Mounting

screw size

Terminal

screw size

2.0 (4.5)

2.8 (6.2)

3.7 (8.2)

5.6 (13)

8.5 (19)

M3.5

M3.5

M3.5

M3.5

M4

120

120

145

145

200

115

115

140

140

192

59

69

71

91

90

W

FR-BAL-0.4K

FR-BAL-0.75K

FR-BAL-1.5K

FR-BAL-2.2K

FR-BAL-3.7K

C

450

-2.5

57 0-2.5

75 0-2.5

70 0-2.5

D1W

H5

W1C

D5

RXSYTZ

NFB MC FR-BAL

3-phase200 to

230VAC

Servo amplifierMR-E-MA/AG

R

S

T

X

Y

Z

L1

L2

L3

NFB MC FR-BAL

Servo amplifierMR-E-MA/AG

1-phase230VAC

R

S

T

X

Y

Z

L1

L2

135

135

160

160

220

0-2.555

7.5

7.5

7.5

7.5

10


24/32

Peripheral Equipment

3

Model Applicable servo amplifier Fig.SF1252

SF1253

A

B

MR-E-10A/AG to MR-E-100A/AG

MR-E-200A/AG

EMC filterThe following filters are recommended as a filter compliant with the EMC directive for the servo amplifiers power supply.

External dimensions (Unit: mm) Connections

SF1252

SF1253

LINE(input side)

LOAD(output side)

168.0

140.0

156.0

149.5 6.0

42.0

8.5 16.0

Model

SF1252

Mass kg (lb)

0.75 (3.1)

Model

SF1253

Mass kg (lb)

1.37 (3.1)

LINE(input side)

LOAD(output side)

209.5

168.0

140.0

156.0

8.5 23.0

49.0

6.0

A

B

L3

L2

L1

L3

L2

L1

L3

L2

L1

Servo amplifierLOADLINE

EMC filter

NFB MC

(Note 2)

(Note 1)

Power supply3-phase

200 to 230VACor

1-phase230VAC

Notes: 1.

2.

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.

Connect when the power supply has earth.


25/32

24

Peripheral Equipment

MC

FR-BIF

L1

Servo amplifierL2

L3

NFB

29

29 7

44

58

5hole

Leakage current: 4mA

300

42

4

Green

NFBServo amplifier

L1

L2

L3

MC

(Unit: mm)

Electrical wires, circuit breakers and magnetic contactors

MR-E-10A/AG

MR-E-20A/AG

MR-E-40A/AG

MR-E-70A/AG

MR-E-100A/AG

MR-E-200A/AG

30A frame 5A

30A frame 5A

30A frame 10A

30A frame 15A

30A frame 15A

30A frame 20A

2 (AWG14)

2 (AWG14)

2 (AWG14)

2 (AWG14)

2 (AWG14)

2.5 (AWG14) (Note 2)

L1, L2, L3, P, C, D

2 (AWG14)

2 (AWG14)

2 (AWG14)

2 (AWG14)

2 (AWG14)

2 (AWG14)

S-N10

S-N10

S-N10

S-N10

S-N10

S-N18

Circuit breaker

1.25 (AWG16)

1.25 (AWG16)

1.25 (AWG16)

1.25 (AWG16)

2 (AWG14)

2.5 (AWG14) (Note 2)

U, V, W, B1, B2

1.25 (AWG16)

1.25 (AWG16)

1.25 (AWG16)

1.25 (AWG16)

1.25 (AWG16)

1.25 (AWG16)

Magnetic contactorServo amplifierElectrical wire size (mm2) (Note 1)

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 105C [221F] or more). Refer to the specifications in this catalog for the permissible

ambient temperature of the servo amplifier and servo motor.

Surge suppressor

Attach surge suppressors to the servo amplifier and signalcables AC relays, AC valves and AC electromagnetic brake.Attach diodes to DC relays and DC valves.

Sample configurationSurge suppressor:

Diode :

972A-2003 504 11 (rated 200VAC, made byMatsuo Denki)

A diode with resisting pressure 4 or moretimes greater than the relays drive voltage,and 2 or more times greater than the current.

Data line filterAttaching a data line filter to the pulse output cable or motorencoder cable of the pulse train output controller (QD75D,etc.) is effective in preventing noise penetration.

Sample configurationData line filter: ESD-SR-25 (made by NEC TOKIN),ZCAT3035-1330 (made by TDK)

Radio noise filter (FR-BIF)This filter effectively controls noise emitted from the powersupply side of the servo amplifier and is especially effective forradio frequency bands 10MHz or lower. Available only forinput.

Line noise filter (FR-BSF01)

This filter is effective in suppressing radio noise emitted fromthe servo amplifiers power supply side or output side, andhigh-frequency leakage current (zero-phase current). Especiallyeffective in the 0.5 to 5MHz band.


BlueRed

White

Powersupply

1. Cannot be connected to output side of the servoamplifier.

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.

Notes:


Wind 3-phase wires an equal number oftimes in the same direction, and connectthem to the power supply side and outputside of the servo amplifier. The effect of thefilter on the power supply side rises as thenumber of winds increases, but generallywind the wires four times each. If the wire isthick and hard to wind, use two or morefilters, and make sure that the total number ofturns exceeds the above number. Make surethat the number of turns on the output side isfour times or less. Do not wind the grounding(earth) wire together with the 3-phase wires.The effect of the filter will drop. Use aseparate wire for grounding.

Power

supply

Line noise

filter

(22.5

)

65

65

11.2

50.5

4.5

2-5

33

950.5

Unit: mm

110


26/32

Using a Personal Computer

5

Software to facilitate a use with a personal computer is available.

Features

(1) User-defined operation patterns can be set. The operationpattern can be selected from the position control modeoperation or speed control mode operation. The operationpattern can be also displayed in the graph.

(2) The feedrate (or motor speed) and torque can be alsodisplayed in the graph during the selection process.

(3) Compatible with Windows 95, Windows 98, Windows 98Second Edition, Windows Me, Windows NTWorkstation4.0,Windows 2000 Professional, WindowsXP Professionaland WindowsXP Home Edition (Note 1).

MRZJW3-MOTSZ111EA user-friendly design facilitates selecting the optimum servo amplifier,servo motor (including the servo motor with a electromagnetic brake) andoptional regeneration unit just by entering constants and an operationpattern into machine-specific windows.

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

Monitor

Keyboard

Mouse

Printer

Windows95, Windows98, Windows98 Second Edition, WindowsMe, Windows NTWorkstation4.0, Windows2000 Professional,WindowsXP Professional, WindowsXP Home Edition

Capable of resolution 800600 or more, high color (16-bit display).

Compatible with above personal computers.

Compatible with above personal computers. Note that serial mice are incompatible.


Personal computer

(Note 1, 2)

Item Description

Types of

machine component

Parameter

Printing

Data storage

Inertia moment calculation function

Output

of results

Horizontal ball screws, vertical ball screws, rack and pinions, roll feeds, rotating tables, dollies, elevators, conveyors, other (directinertia input) devices

Selected servo amplifier model, selected servo motor model, selected regenerative resistor model, load inertia moment, load inertiamoment ratio, peak torque, peak torque ratio, effective torque, effective torque ratio, regenerative power, regenerative power ratio

Prints input specifications, operation pattern, calculation process, selection process feedrate (or motor speed) and torque graphs,

and selection resultsAssigns a file name to input specifications, operation patterns and selection results, and saves them on hard disk or floppy disk, etc.

Cylinder, core alignment column, variable speed, linear movement, suspension, conical, truncated cone

Operating conditions

Specifications

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.


27/32

26

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 testoperations from the setup with a personal computer.

Features

(1) This software can easily set up and tune your servo systemwith a personal computer.Compatible personal computers: Windows 95, Windows 98,Windows 98 Second Edition, Windows Me, Windows NT

Workstat ion4.0, Windows 2000 Professional, WindowsXPProfessional and WindowsXP Home Edition (Note 1, 2).

(2) Multiple monitor functionsGraphic display functions are provided to display the servomotor status with the input signal triggers, such as thecommand pulse, droop pulse and speed.

(3) Test operations with a personal computerTest operation of the servo motors can be performed with apersonal computer.

OS

Monitor

Keyboard

Mouse

Printer

Communication cable

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 : Pentium133MHz or faster (Windows95, Windows98,Windows 98 Second Edition, Windows NTWorkstation4.0,

Windows2000 Professional)Pentium150MHz or faster (WindowsMe)Pentium300MHz (WindowsXP Professional/Home Edition)

Memory : 16MB or more (Windows95), 24MB or more (Windows98, Windows 98 Second Edition)32MB or more (WindowsMe, Windows NTWorkstation4.0, Windows2000 Professional)128MB or more (WindowsXP Professional/Home Edition)

Free hard disk space : 60MB or moreSerial port used

Windows 95, Windows 98, Windows 98 Second Edition, Windows Me, Windows NT Workstation4.0, Windows 2000 Professional,Windows XP Professional, Windows XP Home Edition

Capable of resolution 800600 or more, high color (16-bit display)


Compatible with above personal computers. Note that serial mice are incompatible.


QC30R2

Operating conditions

Specifications

Main-menu

Monitors

Alarms

Diagnostics

Parameters

Test operations

Advanced function

File operation

Others

Batch display, high speed monitor, graph display

Alarm display, alarm history, display of data that generated alarm

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

Parameter setting, display of change list, tuning display, display of detailed information

JOG operation, positioning operation (Note 5), operation without motor, forced digital output, program operation using simplelanguage (Note 5)

Machine analyzer, gain search (Note 5), machine simulation

Data reading, saving and printing

Automatic operation, help display

1. Pentium is registered trademark of Intel Corporation. Windows and Windows NT are registered trademarks of Microsoft Corporation in the United Statesand 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.

Notes:

Personal computer

(Note 1, 2)

Functions


28/32

The Differences: Comparison with MR-J2-Super Series

7

Connectivity with MR-J2-Super

Servo amplifier

MR-E-MA/AG series

External

connection

Servo motor

External dimensions/Mounting method

Rated output

24VDC power supply for input/output

interface

Communication interface

Digital input/output

Analog input

Encoder

Input/output

RS-232C

Power supply motor

Item MR-E-MA/AG MR-J2S-MA

Encoder resolution

External dimensions/Mounting method

Encoder connector

Rated output

Protection level

Motor power supply connector

Brake connector

Item HF-ME

INC 16384 p/rev

HC-MFS

ABS 17bits (131072 p/rev)

0.1 to 2kW

Same as HC-MFS

0.05 to 37kW

Note: The total length dimensions differ.

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-M

E Series)Existing servo motors (HC-ME Series) can be used.

Same as MR-J2-MA

0.1 to 2kW

2mm pitch input/output connector 10pins

Half pitch 26pins

MiniDIN 6pins

Connector

None

RS-232C only

6 inputs / 4 outputs (A type)

2 channels (AG type)

0.05 to 37kW

Half pitch 20pis

Half pitch 20pins

Terminal block

Built-in

Selecting RS-232C or RS-422 possible

9 inputs / 6 outputs

Common power supply for main circuit and control circuitIndependent power supplies for main circuit and

control circuitPower supply

2 channels

Half pitch 20pins, 2pcs

Compatible (Same as HC-MFS) (Note1)

HF-KE is compatible with HC-KFS

HF-SE is incompatible with HC-SFS

Compatible (Same as HC-MFS)

The Differences (Comparison with MR-J2-Super series)


29/32

28

Cautions Concerning Use

The optional regeneration unit becomes hot (temperaturerise of 100C (212F) or more) with frequent use. Do notinstall within flammable objects or objects subject to thermal

deformation. Take care to ensure that electrical wires do notcome into contact with the main unit.

Carefully consider the cable clamping method, and makesure that bending stress and the stress of the cables 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 requiredbending life and wire type.

Fix the power supply and encoder cables led out from theservo 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 endof the cable.

Grounding Securely ground to prevent electric shocks and to stabilizethe potential in the control circuit.

To ground the servo motor and servo amplifier at one point,connect the grounding terminals of each unit, and groundfrom the servo amplifier side.

Faults such as a deviation in position could occur if thegrounding is insufficient.

WiringWhen a commer ci al powe r supp ly is appl ied to th eamplifiers output terminals (U, V, W), the amplifier will bedamaged. Before switching the power on, perform thorough

wiring and sequence checks to ensure that there are nowiring errors, etc.When a commercial power supply is applied to the motorsinput terminals (U, V, W), the motor will be damaged.Connect the motor to the amplifiers output terminals (U, V,

W).Match the phase of the motors input terminals (U, V, W) tothe amplifiers output terminals (U, V, W) before connecting.If they are not the same, the motor control cannot beperformed.

In the case of position or speed control mode, connect thestroke end signals (LSP, LSN) to the common terminal (SG).If the signals are invalid, the motor will not rotate.

mr e brochure

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