Mitsubishi Manuals 1053

BNP-A 2867D E
MITSUBISHI CNC
A1ELD/IS AC
SERVO
MR-S
SERIES
MR-S2 & MR-S3

MAINTENANCE MANUAL
ADVANCED AND EVER ADVANCING
MITSUBISHI ELECTRIC
CONTENTS
I.
MAINTENANCE MANUAL FOR MELDAS MR-S2 SERIES

OF AC SERVO AMPLIFIERS
1.
OUTLINE OF S2 SERIES AC SERVO SYSTEM

1.1
1.2
1.3
2.
4.
1-4
1-4
INSTRUMENTS AND TOOLS USED FOR MAINTENANCE

REPLACING THE BATTERY
1-6
3.1
3.2
3.3
3.4
3.5
3.6
3.7
1-6
1-6
ENVIRONMENTAL CONDITIONS
INPUT POWER SUPPLY
MAIN CIRCUIT CONNECTION
OPTIONAL REGENERATIVE RESISTANCE CONNECTIONS
PRECAUTIONS ON INSTALLING THE SERVO AMPLIFIER
PRECAUTIONS ON INSTALLATION OF SERVO MOTOR AND DETECTOR
CHECKPOINTS FOR POWER ON AFTER INSTALLATION
TROUBLESHOOTING
CONTROL PRINTED CIRCUIT BOARD INSTALLATION /REMOVAL
1-60
1-62
1-63
8.
ABSOLUTE POSITION SYSTEM
8.5
8.6
1-63
1-65
CARD FUNCTIONS
HARDWARE SETTINGS AND CHECK PINS
DETAILS OF SERVO PARAMETER
8.4
1-23
1-60
DETECTOR MOUNTING METHOD
7.
8.1
8.2
8.3
1-18
1-19
1-25
1-28
7-SEGMENT DISPLAY
TROUBLESHOOTING
HARDWARE CHECK METHODS

6.1
6.2
1-7
1-16
1-25
UNIT REPLACEMENT METHODS

5.1
5.2
6.
1-4
INSTALLATION AND ADJUSTMENT PROCEDURE
4.1
4.2
5.
1-1
1-2
1-3
FEATURES OF THE S2 SERIES SERVO SYSTEM

LIST OF S2 SERIES SERVO SYSTEMS
BLOCK DIAGRAM OF MR-S3 SERVO SYSTEM FUNCTIONS
REGULAR MAINTENANCE
2.1
2.2
3.
1-1
1-77
...
1-93
..
PARAMETERS FOR CONFIGURATING ABSOLUTE POSITION SYSTEM

PARAMETERS FOR DOG-TYPE ZERO POINT RETURN
CHECK PROCEDURE FOR ABSOLUTE POSITION DATA
WHEN THERE IS SOMETHING WRONG WITH THE ABSOLUTE POSITION
COORDINATE SYSTEM
CHECKING THE ABSOLUTE POSITION DATA (THE ADDRESSES MAY
DIFFER ACCORDING TO THE ROM VERSION)
ABSOLUTE POSITION DETECTION ALARMS
1-93
1-94
1-94
1-95
1-95
1-97
MAINTENANCE MANUAL FOR MELDAS MR-S3 SERIES

OF AC SERVO AMPLIFIERS
1.
OUTLINE OF S3 SERIES AC SERVO SYSTEM

1.1
1.2
1.3
2.
3.
4.
5.
n-i
H-2
n-3
REGULAR MAINTENANCE
n-4
2.1
2.2
n-4
n-4

INSTALLATION AND ADJUSTMENT PROCEDURE
n-4
3.1
3.2
3.3
3.4
3.5
3.6
3.7
n-4
n-4
ENVIRONMENTAL CONDITIONS
INPUT POWER SUPPLY
MAIN CIRCUIT WIRING
PRECAUTIONS ON INSTALLATION OF SERVO MOTOR AND DETECTOR
CHECKPOINTS FOR POWER ON AFTER INSTALLATION
n-s
n-io
n-i2
n-12
n-12
TROUBLESHOOTING
n-13
4.1
4.2
n-i4
7-SEGMENT DISPLAY
TROUBLESHOOTING
n-13
UNIT REPLACEMENT METHODS

5.1
5.2
6.
FEATURES OF THE S3 SERIES SERVO SYSTEM

LIST OF S3 SERIES SERVO SYSTEMS
n-i
CONTROL PRINTED CIRCUIT BOARD

INSTALLATION/REMOVAL
n-i5
n-15
n-i6
HARDWARE CHECK METHODS
n-i7
6.1
6.2
n-17
CARD FUNCTIONS
7.
DETAILS OF SERVO PARAMETER
8.
...
n-19
n-3i
n-3i
ii
APPENDIX
1.
CABLE DIAGRAMS
A-l
2.
CABLE SPECIFICATIONS
A-13
3.
MAIN CIRCUIT CONFIGURATION
A- 25
4.
CHECKING THE MINIMUM ACCELERATION /DECELERATION TIME

CONSTANT
A-31
5.
CHECKING THE POSITIONING REPEATABILITY
A- 3 3
6.
DETERMINING THE COASTING WITH EMERGENCY STOP
A-40
7.
SERVO MOTOR SPECIFICATIONS
A-41
8.
DETECTOR SPECIFICATIONS
A-42
lil
I. MAINTENANCE MANUAL FOR MELDAS

MR-S2 SERIES OF AC SERVO AMPLIFIERS
(2-axis integrated AC servo amplifiers)
1. OUTLINE OF S2 SERIES AC
SERVO SYSTEM
1.1 FEATURES OF THE S2 SERIES
SERVO SYSTEM
1. OUTLINE OF S2 SERIES AC SERVO SYSTEM

1.1 FEATURES OF THE S2 SERIES SERVO SYSTEM
(1)
The MELDAS MR-S2 series is a

amplifiers
It includes a total of 6 models
varying capacities (0.2kVT to
configure systems with compact
line-up of 2-axis integrated AC servo
which enable combinations of motors with

2.0kW) and which make it possible to
dimensions.
(2)
This system can be connected to the NC of the MELDAS M300 series.
(3)
Serialized for AC servo.

The AC servo motor HA series, featuring outstanding response and ease of
maintenance, is used; it provides a wide range of output.
(4)
Outstanding response and reliability with digital control

Control by means of volume control with analog circuit previously
employed, have been completely replaced with TG race and digital control-realizing superb response repeatability and reliability (standard
specification) .
(5)
The use of electronic gear.

The employment of the electronic gear has reduced the number of different
types of detectors, which had been previously used. The indexing angles
of the motor can be commanded by the software thus simplifying the
procedure for designating specifications.
(6)
Compact converter and reduction of number of cables.

Compactness has been achieved by placing the converter (rectifier unit
and condenser unit), used in the AC input circuit, in the amplifier
container, while reducing the number of cables required.
(7)
Enhancement of reliability by reducing the number of parts (number

reduced by one-half over previous model).
By digitalizing operation, the level of the systems integration has been
raised, while the number of parts have been reduced and reliability
increased.
(8)
Systems intelligence has been enhanced.

The servo side and the host (NC) is linked by a data path, thus, the
reception of control parameters and transfer of self-diagnostics are
possible
The system is designed to be amenable to auto-tuning in the future; it

will be able to adapt to control requirements under software command.
(9)
Optional system for detecting absolute value.

An absolute value detection system, by which there is no need for return
to zero point, when power is turned on, is optional.
Note: For any particulars not mentioned, reference should be made to the
Specifications Manual (BNP-B3501) covering the MR-S2 series of AC
servo amplifiers.
.
,
1-1
ro
Unit forna
Can-
System
System structural
System performance
drawing
Servo
amplifier
model
Cable name
Unit model
AIIJlit Lei ball screw
Motor
Machine ad Amp 1if lerOpt Ion
abaft end /ball screw nntor shaft ad ad detector - machine
card
ad
cable
detector cable
detector end detector detector
Standard type
CN2KO
t
O.
C
o
Maximum follow-up performance:
1 Mpps
: 0.018 o/p
Minimum resolution
(Motor shaft end)
: 3000 rpms
Maximum speed
The maximum speed depends on the
motor being used.
u*.
*!

>oci
0>
u
4J
u
MR-S2-
(/)
(0SE5K)
ro
C/>
Special specification
30
Cl
X)
i:
<j
O -H
U) P
r-i 41
r-i U
u
i:
i
t:
no
MM (4.11
<4 uu
a*
ini
itn JT
kill
UltllM*
LJ
IX tons
o
o
o>
to
"J
tn
0SE5K-
MR-S2-
Q-E31
RF-312
6-12108
(0SE5K)
ion
IJHE'C3
kr>__
-
--3
C_
U *c
-- -aoi
follow-up performance:
1 Mpps
: 1pm or
Minimum resolution
0.5pm
: 3000 rpm
Maximum speed
ctt,
9.52-0]
CN2KO
CN31NRO
Connector
direction
0SE5KMR-S2-
KF-312
6-12108
(06E5K)
System performance depends on the

motor and scale being used.
<
O
Various
scales of
pulse F/B
outputs of
1 p and
0.5 p spe
cification
can be
connected.
CN2KO
CM 31MO
m
2
Optional specification
<0
r-
U
O
f 3
u
01
-X)
B
O
m
<2
i
rH
N*tf sKeli
e4 4<iur
MKM
L.J
1 Mpps
: 0.018 o/p
(Motor shaft end)
Minimum resolution
Maximum
Ull
M
Ml
(A
a oi
u
O
-O M O
02
uo
Q
H
O'H
O
r-i V
r-i U
HM 4II
n4 !
a
o
-<
ti
<
(or
W
MM

1 Mpps (Ball screw end)
: 0.018 o/p
Minimum resolution
(Ball screw end)
Maximum speed
: 3000 rpm
(Ball screw end)
motor
belnR used.
CO
CO
tv)
CO
0AER5K-1X
RF-332
6-12108
-9.52-0
(0KE5K)
Connector
direction
CN2KO
CN33RO
CO
tv)
CO
r*i
CO
CO
to
0SE5K-
MR-S2-
wrwa
M 5*J H
co co <
HHOH
CN33KO
(QAKR5K
-IX)
: 3000 rpm
tv)
CO
-1X-3RF-332 -8-108
V)
MR-S2-
h-*
O CO M
0AKR5K

motor being used.
*
c
speed
<
C/>
o.
|
H
(D
30
Maximum
atall
cn
0SE5KN-ET

: 0.018 o/p
Minimum resolution
(Ball 6crew end)
: 3000 rpm
Maximum speed
(Ball screw end)
motor belnx used.
(/>
H
"T1
L < 7 5mN541C583
L > 7 5mN54 1C582
6-12108
r
O
Axis nuiher
0SE5K-
Remarks
<
o
&
>
o
SERVO SYSTEM
1.3 BLOCK DIAGRAM OF MR- S3
SERVO SYSTEM FUNCTIONS
1.3 BLOCK DIAGRAM OF MR-S3 SERVO SYSTEM FUNCTIONS
N C
Position commands
Servo monitor data

MR-S2 servo
L-axis
M-axis
control
position
control
position
control
Alarm
processing
L-axis
speed
control
M-axis
speed
control
Sequence
u
e
A
Q)
o
u-i
u
c
4J
4J
a;
CO
CO
M-axis
L-axis
LED
current
current
control
control
cd
Main circuit
| Optional
| regenerative i
i resistance
L-axis
M-axis
motor
motor
Detector
1-3
4J
display
4J
Detector
u
QJ
H
c=
:
2. REGULAR MAINTENANCE
2.1 INSTRUMENTS AND TOOLS
USED FOR MAINTENANCE
2.1 INSTRUMENTS AND TOOLS USED FOR MAINTENANCE
(1)
Measuring instruments
Listed below are the measuring instruments required to verify that the
power is being supplied properly to the servo amplifier and that the
servo amplifier is properly connected.
Table 2.1 Measuring instruments used for maintenance

Conditions
Instrument
Application
Tester
For verifying whether servo amplifier fcj

been connected properly before power is
Oscilloscope
For general
switched on
shooting
AC voltmeter
AC supply voltage
DC voltmeter
Maximum scale graduation: 10

V, 30 V Tolerance: Less than;
measurements
and trouble
For measuring AC supply voltage which is
measurement
Tolerance: Less than 22
supplied to servo amplifier

For measuring DC supply voltage
22
AC
For measuring AC
ammeter
current
tor
(2)
Tools
Large- and medium-sized Phillips type screwdriver.
supplied
to
mo
Small flat-head
screwdriver
2.2 REPLACING THE BATTERY

The data in the absolute position detection system are retained by a battery
which is mounted on the RF332 card.
A highly reliable button (storage) battery is employed and defective contact
is eliminated by screwing it down to the circuit board.
: 1 month
Battery back-up time
Service life of battery: 3 years (depends on operating temperature)
The service life of the battery extends for approximately 3 years and so it
should be replaced at an early date before its service life is completed.
(When the battery alarm display appears, it means there is a danger that the
absolute position data will be lost.)
Storage battery used:
mi
GB250-3FB2
)QP
)](>
12 3
- Signifies 1983.
Data of manufacture
Signifies Dec.
This battery is made according to special specifications in order to ensure

a high degree of reliability and, as such, it should be purchased from MELDAS.
When the system is shipped from the MELDAS manufacturing plant, this battery
is fully charged.
1-4
2.2 REPLACING THE BATTERY
How to replace the battery
1. Switch off the NC power and set the input AC200/220 V power NF ON. (The
input power is supplied to the servo amplifier.)
Note: The absolute position data will be erased if the battery is
replaced with no input power (AC 200 V/220 V) supplied to the servo
amplifier.
2. Use a screwdriver to remove the two screws which anchor the battery to
the circuit board.
3. Mount the replacement battery using the screws, taking care to align its
polarities correctly.
Note: The battery will be damaged if its polarities are not aligned
properly. Remember that power is still being supplied and so the
screwdriver should not be brought into contact with any other
parts
4. Switch the NC power back ON and check that everything is in order.
1-5
3. INSTALLATION AND ADJUSTMENT

PROCEDURE
3.1 ENVIRONMENTAL CONDITIONS
PROCEDURE
Bear in mind the following checkpoints when installing the servo amplifier.
If these checkpoints are neglected, the amplifier may not do full justice to
its performance.

The environmental conditions listed below are the conditions relating to the
installation location of the cabinet or pendant control panel which is
designed and manufactured by the machine builder.
Therefore, in order for these conditions to be met, the checkpoints relating
to the installation of the amplifier in Section 3.5 should be strictly adhered
to.
(1)
Ambient temperatures:
(2)
Ambient humidity
0 to 55C during operation

-55 to 70C during storage
Max. 902 relative humidity during operation (no dew or condensation)

Max. 902 relative humidity during storage
High levels of humidity and moisture cause a deterioration in the

insulation and accelerate parts deterioration. Although there is no need
for special dehumidification measures , the system should not be installed
in a location susceptible to humidity or moisture.
(3)
Vibration
5 to 10 Hz, 2.5 mm amplitude
10 to 30 Hz, 1G
Shock: 5G, 10 to 12 ms
(4)
Atmosphere
Avoid using the system in an environment characterized by high
concentrations of dust or dirt and of spray type organic or corrosive
gases
3.2 INPUT POWER SUPPLY

200/220 V
(1)
Input voltage
(2)
Power line frequency:
(3)
Power consumption
(4)
Input transformer
Insert a power transformer into the input with any supply voltages which
is not listed above.
: AC
50/60 Hz; 1 Hz, 3 phases
1-6

PROCEDURE
3.3 MAIN CIRCUIT CONNECTION

3.3.1 EXTERNAL CONNECTED TERMINALS (MR-S2-D-
TE2
type)
board for mounting

regenerative resistance unit)
(terminal
__
TE 2
TE 2
I 2 3
MR-S2
TE1
TE l
board for input power

supply and motor connections )
(terminal
TE i
o |o o o o o ol o o
olo o o olo 000
UPPER
SIDE
I LU I LV 1 LW | MU 1 MV
LOWER
R
S
SIDE
Kota 1: Under no circumstances should any

connection be made to the top
terminals from the nameplate.
fMW
MCI
LC 1 LC 2
, 2 3 4 s . . ,
<3.1 2), <3. <9, SI, G>,
These are the connection terminals.
Terminals 1 through 9 correspond to the upper

side (LU to MV) while terminals 11 through 19
correspond to the lower side (B to MG2)
Haseplate
Under no circumstances should

any connection be mads
screws on this side.
j-
Hu
ky
B
t
Hi-
1-7
He
Hy
to
the

PROCEDURE
3.3.2 TERMINAL BOARD CONNECTIONS

Terminal
board
TE1
Terminal
board No.
Terminal
position
Terminal
No connection
No connection
No connection
LU
Connect the phase U terminal of the L axis motor.
LV
Connect the phase V terminal of the L axis motor.
LW
Connect the phase W terminal of the L axis
motor.
MU
Connect the phase U terminal of the M axis
motor.
MV
Connect the phase V terminal of the M axis
motor.
MW
Connect the phase W terminal of the M axis
motor.
11
12
13
Upper
side
14
Lower
side
When making the EMR connection (external emergency stop),

remove the shorting bar from the R terminal.
Connect the 3-phase AC 200/220V power supply.
15
LG1
16
LG2
Connect the thermal relay terminal 1 of the L axis
motor.
motor.
No connection
17
TE2
Details of connection
name
18
MCI
Connect the thermal relay terminal 1 of the M axis
motor.
19
MG2
motor.
When using the regenerative unit, remove the shorting bar

between terminals D and P and connect the regenerative unit
terminals between terminals C and P.
Connect the chassis ground and motor ground.
Note: The connections differ slightly for the MR-S2S-0-0 type and so reference should be made
Specifications Manual.
1-8
to
the MR-S2

PROCEDURE
3.3.3 CONNECTION DIAGRAM
JC
-<
Sm
*
-e
e o.
o c
b C a
O
y
ac
9
b
.c
S2Uw 5
VJ
-4
 s
>
<
bb
9 b 9
"
3& 9S80
c-
o o
jE
o < S
**
>
c
c m
?*
b
-b
b X 9
b 3
Ob
b 9 C
b
o o
b-b C O
0 9
Q.C 9
9 9 C b 9
U MO 9
b 9
o o
M b b u w
a.
Sa
O-
o o
i
o o
(b
U.
u>
_o
zc
s
:
o o
ae x
-i<6
ii/o1
TJ
o o
Is
s
551
_o
o o
>o
r:
S5
:
A
it
s
B
J J2
Ox
*oc
52
9 b
!
in
5
=1
!
firs
e
O
Q.
9
*0.0 c
IIP
lip
i-
\
S
55 I
\
x o o
1-9
u: x
< s
<
k*
b.

PROCEDURE
Notes :
(1)A 200V class of
servo amplifier is used.

There is no need for a power
transformer provided that the power supply specifications are satisfied.
A step-down insulating transformer should be used with a class 400V servo
amplifier or above. A transformer is not provided in the main circuit area
and so this area must be grounded. The above figure does not show the power
transformer provided for export specifications.
sequence may be adopted for the R, S and T power terminals on

the servo amplifier.
However, when connecting a multiple number of
amplifiers, avoid connecting different signs together.
(2) Any phase
(3) Precautions for connecting the servo amplifier terminals U, V, W.
a. The phase sequence relationship between the servo amplifier terminals U,

V and W and the motor pins A, B and C must be strictly adhered to. An
incorrect phase sequence can lead to motor vibration or rapid rotation,
and is dangerous.
It is not possible to make the motor run in reverse by changing the phase
sequence
b. Under no circumstances should the connections be made so that there is
a danger of power being supplied to the U, V and W output terminals of
Also avoid connections where there is a danger of the U, V and W output
terminals of the servo amplifier being grounded or connected to ground
in error. This may damage the servo amplifier.
c. Do not reverse the L axis (LU, LV, LW) and M axis (MU, MV, MV)
connections for the output terminals on the servo amplifier. Make sure
that the L axis motor capacity is equal to, or greater than, the M axis
motor capacity.
(4) Servo amplifier terminals B and R are connected by a shorting wire. This
wire should be removed for EMR (emergency stop) connection. When the EMR
contact opens, the servo operation will stop rapidly the most reliable
means
(5) Servo amplifier terminals D and C have been connected by a shorting bar.
This bar should be removed and the connections made as shown in the figure
when a regenerative option is employed.
(Refer to Section 3.4)
The regenerative option will generate heat and so measures must be taken
with the surrounding area and connected wires to safeguard against fire.
(6) The Cannon plugs which are used will differ according to the motor.
If
the motor has an electromagnetic brake, reference should be made to Section
5.2.2 for the connections diagram of the brake exciter circuit.

Reference should be made to Section 3.3.7 for the terminal box type of
motor.
(7) Finally, follow the cautionary notes in Sections 3.5 and 3.6.
Connecting the EMR contact to the servo amplifier terminal B gives a

2-system configuration with different emergency stop functions (alarm
codes 55 and E7).
A current of approximately 30mA flows to the EMR contact per axis under
200V and 60 Hz power supply conditions. Once emergency stop occurs, it
cannot be released unless resetting is performed at the NC unit even if
the EMR contact opens again.
1-10

PROCEDURE
3.3.4 CONNECTED MOTORS

The MR-S2 series breaks down by capacity into 5 types, and it should be borne
in mind that there are restrictions on each L axis and M axis governing the
motors which can be used.
L axis drive motor
M axis drive motor
MR-S2-40AMR-S2-80B-
HA053/13
HA23/33
HA40/43
HA80/83
MR-S2-80A-
HA80/83
MR-S2-100B-
HA100
HA053/13
HA23/33
HA40/43
HA40/43
HA80/83
HA80/83
Amplifier model name

MR-S2-13AMR-S2-33A-
HA100
MR-S2-100A-
HA100
(1) The L axis motor must not have a smaller capacity than the M axis motor.
is an amplifier which corresponds to the
For instance, the MR-S2-80B-
HA80 motor for the L axis and since its suffix is "B", it means that for
the M axis it is an amplifier which corresponds to the HA40, which is one
rank below the motor (HA80) for the L axis. Similarly, the MR-S2-80Ahas the suffix "A" which corresponds to HA80 for the M axis and so it is
the amplifier which corresponds to the same HA80 for the L axis.
MR- S 2-0
Suffix
A, B: Denotes capacity of M axis.

: Same capacity as L axis
A
B
: 1 rank below L axis
Number: Denotes capacity of L axis.

This corresponds to HA**
(2) If the HA40 motor is mistakenly connected to the L axis and the HA80 motor
there is a danger
is connected to the M axis when using the MR-S2-80Bthat the HA40 mounted on the L axis will demagnetize when the motors are
A thorough check should be undertaken to prevent this from
driven.
happening
(3) LCN2 (semi-closed) is the feedback connector on the L axis motor; for the
M axis motor, it is MCN2 (semi-closed).
(4)
Typical examples of incorrect connections are shown on the following page.
1-11
PROCEDURE
Examples of incorrect connections

(1) A motor with a
smaller capacity must not be connected to the L axis.
MR-S2
H-
09
LV
uv ur
LV MW
9 9 9
cz
CP
a
(2) The
connections of the L and M detector cables and UVW phase terminals must
not be mixed up.
MR-S 2
RF 2 0 2
LCN 2
CARD
MCN 2
0
c
1-12

PR nr* Frun? F
3.3.5 CANNON PLUGS USED

Motor type
Cannon plug used
Motor end
connector
To amplifier
HA23C
HA33C
6o
cDoc
r.
MOTOR
tj
CD
KS3108A18-12S or
KS3206A18- 12S
(Straight type)
MS3102A18-12P
To amplifer
I
HA40C
HA43C
HA80C
HA83C
MOTOR
i Oc O
Oil
60
nr
Cb
MS3108B22-23S or
MS3106B22-23S
(Straight type)
MS3102A22-23P
Z3
To amplifier
fFO0OA
Eo
op
mu
MOTOR
HA100C
bo o .
in
Cb
KS3108B24-10S or
MS3106B24-10S
MS3102A24-10P
To amplifer
k66o
oDoc
HA23CB
HA33CB
BRAKE MOTOR
HH
WS31081I8-12S or
MS3106A18-12S
(Straight type)
MS3102A18-12P
KS3 108B10SL-4S or
XX
fH
(Straight type)
fs6
oo
bb
KS3106B10SL-4S
MS3102A10SL-4P
HA40CB
HA8CCB
Powar rupply
for braka
The figure shove the

s
-DC 07F- status.
To amplifier
BRAKE MOTOR
Zl
Power
supply I
for braka
excitation
KS3108B22-23S or
MS3106B22-23S
(Straight type)
MS3102A22-23P
'
O OM
o,o o
The f
-DC 0
MS3102A24-10P
MS3102A10SL-4P1
To amplifier
status.
DRAM. MOTOR
o o
HA100CB
re shows the
MS3108B24-10S or
MS3106B24-10S
(Straight type)
MS3108B10SL-4S or
MS3106B10SL-4S
(Straight type)
Note: (1) Select the MS3108 angular plug, MS3106 straight plug
cable clamp (MS3057) or a piping connector.
(2) The position of the Cannon connector key should be set
in the motor flange direction.
1-13
Powar
supply
HtZT
cS
for braka
excitation
iM
je-ie-di

PROCEDURE
3.3.6 CABLES USED

(1) Standards for power cables connected
u, v, w
wire
Note (2)
(Motor ground)
2 mm2 min
(3.5 mm2 max)
Note
(3.5 mm2 max)
HA80
HA83
(3.5 mm2 max)
2 mm2
3.5 mm2
HA100
(
BUD
(Motor
thermostat)
Electromagnetic
brake
Note (4)
For excitation
0.5 mm2 min
Tm
(3.5 mm2 max)
(3.5 mm2 max)
0.5 mm2 mir.

(3.5 mm2max)
(1)
2 mm2 min
HA40
HA13
G1, G 2
Note (3)
Grounding
(Motor main
circuit)
HA053
HA13
EA23
HA33
between amplifiers and motors
2 mm2 min
wi n
(3.5 mm2 max)
0.5 mm2 min

(3.5 mm 2max )
0.5 mm2 min
0.5 mm2 min
(3.5 mm2 max)
(3.5 mm 2max)
(3.5 mm2max)
3.5 mm2 min

8 mm2 max)
(3.5 mm2 max)
2 mm2
min
8 mm2 max)
0.5 mm 2 min
(3.5 mm2 max)
tn-i n
0.5 mm2 min
0.5 mm2 min

(3.5 mm2max)
(2) Standards for power cables connected between amplifier and regenerative
option (terminals P, D)
MR-S2-100A
MR-S2- 100B
MR-S2-80A
3.5 mm2 min
3.5 mm2min
3.5 mm2 min
(Note 5)
P, D
(regenerative option)
MR-S2-80B
MR-S2-40A
MR-S2-33A
2 mm2min
2 mm 2min
2 mn2min
Notes:
(1)
The cables sizes contained inside the parentheses in the above table indicate for reference purposes
the restriction imposed by the dimension of the cap soldered to the Cannon plug cap.
(2)
The "internal regulations" relating

reference purposes.
to
the identification of the grounding wires are indicated for
140-14 Green marking for grounding wires
1. Except in the instances described below, the grounding wires for grounding work must be
marked in green.
[1] When the cable can be identified at a glance as a grounding cable such as when, for
instance, the grounding cable is connected separately from other wires or cables.
[2] When, in cases where one conductor in a cable, tough rubber sheathed cable or cord each
with a multiple number of conductors is used as the grounding wire, that conductor is a
bare wire or it has a green or yellow striped pattern.
Note: In cases where one conductor in a cable, tough rubber sheathed cable or cord each
with a multiple number of conductors is used as the grounding wire, no other conduc
tor except that with the green or yellow striped pattern must be used as the grounding
wire.
2. If it is absolutely necessary that any other conductor except that with the green or yellow
striped pattern must be used as the grounding wire, green-colored tape must be used at the end
or in an appropriate location to identify that this is the grounding wire.
(3) Twist the G1 and G2 connecting wires.
(4) Use shield wires for electromagnetic brake "DC OFF."
(5) The regenerative option generates heat and so flame -resistant wires must be used or the wires must be
subjected to some kind of flame-resistant treatment.
(6) Select wires with excellent bending properties if the operating conditions of the motor are such that
the motor will move.
1-14

PROCEDURE
MOTORS (SPECIAL MODELS) OF TERMINAL BOX TYPE
3.3.7
SERVO AMP
Povr supply
Note(3) for brake
Indica- Solderless
cion
terminal
Details
Blue
Electromagnetic
brake
(when designated)
Motor thermostat
Blue
I
Motor winding
MA
Red
MA
Red
MA
MA
MA
Motor ground
MA
\/
excitation
BG1G2RS
TUVVV/
090909907
M5
XX
MA
Note(2)
M5
Notes:
( 1) Pay attention to the model name of the servo motor since the terminal box type of servo motor is a
special product.
(HA23 - HAI00, HA23B - HA100B)
(2) Use one of the screws marked with an asterisk
* in the figure below as the grounding terminal.
(3) when an electromagnetic brake is provided, a surge absorber (ECR-C10DK221 ) can be installed inside the
Installation procedure diagram N109D132.
motor terminal box.
Detail of motor terminal box

Terminal box
seat
M952C333H20
Pan head screws with SW M5 x 0.8 x 12(xA)
Terminal box top M953C600H01

Pan head screws MA x 0.7 x 6(x2)
33.5
5.5
80
39
\
i
0.8
0
o
022 hole
?o
\Jr
Solderless
terminal
*
*
Red
Terminal packing
(for MA)
The direction of the 22 mm diameter hole can be changed in 90 increments for this terminal box.
The terminal box is shipped from the manufacturing plant in the state which is shown in the outline
drawing. The direction can be changed by removing the screw shown in the figure by the asterisk.
When a spare part is required because the corresponding part has been damaged, make a note of the parts
number shown in the figure and order from your MITSUBISHI representative.
1-15

PROCEDURE
3.4 OPTIONAL REGENERATIVE
RESISTANCE CONNECTIONS
3.4 OPTIONAL REGENERATIVE RESISTANCE CONNECTIONS

(1) When using the GZG200W390HMK optional
regenerative resistance.
Note 2) Optional regenera

tive resistance
GZG200U3 90HMK
s
j
Shorting bar
M4
o6 6
C
Twist these wires
O
C
>
MR-S2
amplifier
MR-S2
amplifier
Standard
type
Regenerative option type
1-16
IL
PROCEDURE
(2) When using the MR-RB30 optional
regenerative resistance
Note 2)
Optional regenera
tive resistance unit
MR-R330
Shorting bar
Note 1)
M4
oo6
TIfist
these
C D P
C D P
wires.
G3
KR-S2
G4 Thermostat
amplifier
MS-S2
anplifier
LG 3 I.G2
LG1 LG2
7
HA
motor
Note 1)
E F
7
Standard
EIlF
HA motor
Thermostat
Regenerative option type
type
Note 1. With the standard type of amplifier, remove the shorting bar connected to the D and P terminals, and
When the MR-RB30 is used,
connect the optional regenerative resistance to the C and P terminals.
connect the motor and the thermostat of the regenerative unit in series.
Note 2. Use three GZG200W390HMK optional regenerative resistance units for each amplifier and use one MRRB30 unit for each amplifier.
Note 3. Change the servo parameter No. 20 ORT (regenerative time constant).
Standard
OR time constant
4680
Additional option present

3010
Note 4. The optional regenerative units generate heat. If they are used very frequently, they will heat up
and thus should not installed on the surface of an insufficiently strong wall. Sufficient clearances
(at least 70 mm) should be left with models for which two or more resistances are used side by side.
Note 5. Use flame -resistant cables for the cables which connect the regenerative options or make the cables
flame-resistant. Reference should be made to Section 1-14-3-3-6 for details on the thickness of the
cables.
1-17

PROCEDURE
3.5 PRECAUTIONS ON INSTALLING
THE SERVO AMPLIFIER
3.5 PRECAUTIONS ON INSTALLING THE SERVO AMPLIFIER

(1)
The servo amplifier is designed to be installed in a cabinet for containing

a high-voltage distribution panel. Do not install the cabinet where it
will be directly exposed to sunlight, near heat-emitting bodies and
outdoors
(2) The
ambient conditions within the cabinet (temperature, humidity,

vibration, atmosphere) must conform to conditions listed in Item 3.1,
"Specifications on the servo amplifier."
The cabinet to be used with
cutting machine tools must be the sealed type; the cabinet should be
designed in accordance with "MELDAS 300 series connection manual." for BNPB3341
(3) The servo amplifier is designed to hang on a wall; be sure to fasten it

securely vertically (so that the printed circuit board is visible from the
front of the cabinet) on the cabinets wall with bolts.
(See diagram
below)
(4)
Install the servo amplifier in a location, where it can be inspected and

replaced easily. On the ambient space required for installing the servo
amplifier, see the diagram of the external dimension for installing it.
(5) The servo amplifier will dissipate some heat; hence, other equipment and
parts must be installed at a relevant distance above and below it so that
heat will not accumulate in its immediate vicinity. (See illustration).
interior of the cabinet is cleaned with compressed air in order to

blow away adhering dusts, avoid blasting the servo amplifier.
(6) When the
(7) Since the regeneration option generates heat,

when it is to be used frequently, its
temperature will rise to a high degree.
Therefore, do not install it against a weall
Top
///////////////////
40
or more
/
that will be adversely affected by heat.

Furthermore, in the case of models where two
or more resistances are used in parallel,
they must be spaced apart adequately--more
than 70 mm apart.
/
/
KR-S
f InstalServoaaplifier
lation
surface
10
or more
noise abatement of the servo amplifier,

see "MELDAS 300 series connection manual."
(8) For
(9) The bus cable connecting the servo amplifier 120
40
or more
Tv1
/
/
'
(excepting the AMP-AMP cable that is less cr

than one meter long), the detector cable, and BOre
the detector cable leading to the detectors
I/F box must be clamped as illustrated. In /////////
addition to serving to securely support the
cable, it also serves to shield the cable.
The proper installation of the cables is
necessary to prevent misoperation of the
system from noises generated from ignoring
this precaution.
For details on the proper installation of the
300
series Diagram
"MELDAS
refer
to
cables,
of clamped
connection manual . "
//>;/?, Bottom
/
Srvo-
amplifier
/
/
(Example)
Clamp
Shield outer
1-18
cables
sheath
Unit: mm
Earth
plate

PROCEDURE
3.6 PRECAUTIONS ON INSTALLATION
OF SERVO MOTOR AND DETECTOR
3.6 PRECAUTIONS ON INSTALLATION OF SERVO MOTOR AND

DETECTOR
(1) Precaution against oil and water
(a) The servo motor is not strictly proof against oil and water.
Therefore,
adequate precautions must be taken to prevent cutting fluids and lubricants
(b)
(c)
(d)
(e)
(f)
from contaminating the servo motor.

If cutting fluids and lubricants
invade the servo motor, the insulation of its coil may deteriorate; if the
interior of the detector is contaminated, it may cause disfunction.
If the cutting fluid, etc. are likely to contaminate the motor, a
protective cover must be placed over the motor.
Make sure that the
protective cover is properly designed to adequately protect the motor.
If the servo motor and detector are to be used in an environment where
their large protective covers are inadequate to prevent them from being
contaminated by a large quantity of cutting fluid, we recommend you to use
the "P" type, which are designed to protect the servo motor and detector
from contamination from liquid sprays.
Do not install the servo motor where a part of it will be immersed in oil
or water.
If the motor is to be installed near the floor, constant
drainage of the floor must be maintained; also pileup of chips on the floor
must not be permitted.
Adequate drainage of oil and water on the mobile table and slide cover must
be maintained.
Make sure that:
(1) The motor on a mobile mounting does not move under a drainage hole for
draining oil and water.
(2) Oil and water accumulated on top of the slide cover or table do not
splash on the motor when the slide cover or table moves.
(3) Oil and water accumulated on the slide cover do not drip onto the motor
from the wiper when the cover shrinks or stretches.
The servo motor must be installed, where it is not exposed to contamination
from oil and water, ventilation is good, its installation and removal can
be done easily.
(2) Precaution against gear oil

(a) The servo motor can oe installed
with the shaft positioned horizontally or

with the shaft positioned vertically. If the shaft is mounted facing up
vertically, precautions must be taken to prevent oil of the machines gear
box dripping down into the motor. In this case, the oil seal on the shaft
is not adequate for preventing contamination from the dripping oil.
(b) Regarding the oil level and pressure in the gear box: The oil level in the
gear box must always be lower than the lip of the oil seal of the servo
motors shaft, while it is being installed, and likewise when it is in
operation or stationary. When the oil level is above the level of the oil
seal, oil may leak into the motor. Some servo motors are not equipped with
oil seal on the shaft end; make sure you are ordering the required type of
motor. Provide the gear box with a ventilation hole to prevent atmospheric
pressure from building up inside the box.
(Side of machine)
Model
Gear
Oil surface
Servomotor
Height from cen

ter of motor
shaft, h (mm)
HA23.HA33
10
HA40.HA80 HA100
20
25
a
Lip
Oil seal
(3) Detector
(a) Take adequate
preventions to avoid shocks on the servo motors detector

while it is being hauled and installed. Provide it with a protective cover
against things banging against it, tools dropped on it, and workers sitting
or mounting on it. Avoid a design of the machine that requires pounding
a coupling on the motor shaft because it may damage the detector
1-19

PROCEDURE
(b) The installation of the machine should be designed with the detectors
connector connected on the "A" direction, as illustrated.
The connector can be connected in the other three directions (B, C and D);
however, then the installation of the servo amplifier becomes complicated

and errors in installing it may occur.
Therefore, installation other than in the "A" direction should be avoided
as much as possible.
Symbols of direction in
which the detector s con
nector can be connected.
(The "A" side is standard.)
Terminal box or the

motors connector
(c) The motor and the detector have been accurately matched (their polarities
are matched) at the factory. If the detector is replaced with another kind
or if the direction of the connector is changed, regulation of the motor
may become impossible or cause overspeeding.

The factory matched relationship between the detector and the motor should
not be changed.
The direction of
the connection should
not be changed.
and cable
(4) Connector
(a) The connector should

If the motor is to be
be faced downwards.
installed vertically or slantwise, install a trap on
the cable.
Cable crap
Top
Bottom
Connector
I1
I|
Top
hi, ..il
Bottom
Connector
(b) The standard Cannon plug is not waterproof.
1-20

PROCEDURE
be conducted by the cable onto the motor and detector;

Make sure that oil and water are not
as a result, they may be damaged.
conducted by the cable; also make sure that the cable is not immersed in
pools of oil or water. (See following illustrations.)
(c) Oil and water may
fi
6
Cover
fi
d
5
fi
fi
A A
Motor
(Mai -function)
6
Cover
Motor
Respiration
Oil/water
accumulation
(Mai -function)
Capillary phenomenon
(d) The cable must be installed with great care to avoid twisting the cable and
to prevent the cables weight from imposing a wrenching stress on the
connector.
If the motor is used for mobile operation, the radius of the cable must be
the type appropriate for such service with adequate life cycle.
(e) The cable must be installed so its insulation will not be subject to cut
by sharp chips, not rub against angular parts of the machine, or stepped
on by workers or run over by vehicles.
(5) Connecting and disconnecting the connector.
connecting and disconnecting of the connector is strictly prohibited

while power is on.
If this warning is disregarded, the motor may be
damaged beyond repair; also this motor may suddenly turn or drop; there is
the danger of a high voltage arc also occurring. The Cannon plug should
be securely fastened with wire.
(b) When power is off, the detector for detecting the absolute value remains
functional because it is powered by a battery. When the detectors cable
is disconnected, the absolute position of the cable connection will be
lost. Hence, in order to forestall the inadvertent disconnection of the
cables plug, it should be securely fastened with wire, and a sign must be
posted besides it saying, "Do not disconnect even if power is off.
fastened by hand. Adequate
(c) The Cannon plug is designed to be securely
space should be provided around it so that manual fastening can be
performed easily.
(a) The
1-21
PROCEDURE
(6) Usage of motor and detector where they are
subject to constant vibration
The Cannon plug and cable clamp of the motor and detector must be securely
fastened with wire. The cables weight, as well as the diameter of its
slack, size of the clamp, and other factors must be optimized to prevent
vibrational stress from transmitting to the cables connection. Make extra
sure all connections are fastened securely.
The necessity for retightening of the Cannon plug and cable clamp during
periodical inspections should be clearly "stated in the machines
maintenance manual
Holes in coupling to securely fasten it with wire to the connector.
In order to forestall uncoupling of the

connection from vibration and shocks, the
coupling nut is provided with three
"safety holes" through which wire can be
threaded for securely fastening the nut
When the machine is
to the connection.
to be used under normal environmental
conditions,
this
precaution is not
necessary.
(The following is , extracts from the
this
safety
catalogue referring to
precaution)
The cable clamp is also provided with two

illustration)
(see
for safely
holes
securing it with wire.
The location of the safety holes of the
differ
somewhat
connector
with
may
different brands.
The wire (0.813, annealed stainless wire)
used for fastening the plug and clamp
must have the mechanical strength and
ease of handling, such as QQ-W-423, FORM1, FS 304, CD-A, 0.032 inches.
Secured
with wire
1
i
Safety holes
3 places
at
jn
L. Safer? hole
The optimum tightening torque of the coupling nut:

This connector is designed for simple tightening by hand; no dedicated tool
is needed for tightening. Where the connection is subject to vibration, it
The Torque is not specified
must be secured against vibration with wire.
by MIL standards.
When the connection is for installation in aircraft, it must be secured with
wire
(7) The servo motor and detector must not be used in the design of a machine,
which requires the motors alteration for retrofitting it on the machine.
1-22

PROCEDURE
3.7 CHECKPOINTS FOR POWER ON
AFTER INSTALLATION
3.7 CHECKPOINTS FOR POWER ON AFTER INSTALLATION

(1)
Before switching on the power.

After connecting the main circuitry wires and cables, check the points
below before switching on the power.
[1] Has the 3-phase AC 200/220 V power supply been connected to the R, S and
T terminals of the terminal board?
[2] Has the motor power line been connected properly in phase with the U, V and
W terminals of the terminal board?
[3] When the optional regenerative resistance is not attached, are terminals
D and P on the terminal board (top part) shortcircuited?
When the optional regenerative resistance is attached, are terminals C and
P on the terminal board (top part) connected properly?
When the optional regenerative resistance is attached, has the shooting bar
between terminals D and P on the terminal board (top part) been removed?
[4] Have the cables from the NC system and cables from the CN1B of the other
axes been connected to connector CN1A?
Has the cable from connector CN1A of the other axis or the termination
connector been connected to connector CN1B?
[5] Has the cable from the detector been connected properly to the connector
(For details on the proper connections,
on the printed circuit board?
refer to the Cable Diagrams in Appendix 2.)
[6] Have the printed circuit boards been properly installed in the units?
[7] Has the AXES SELECTION rotary switch (axis number setting) been set
properly?
[8] Have the main and add-on cards been set properly?
[9] Have the servo parameters been set properly on the NC screen?
[10] If there is a fear of irregular running with the initial model, the effects
can be reduced by switching on the NC power and limiting the motor torque
by reducing the ILP and ILN servo parameters before the NC and servo
amplifier are actually connected.
1230
500
Example: 13. ILP
-500
14. ILN
-1230
--
(2) Checkpoints when the power is switched off.
[1] Ensure that the main breaker supplying the 3-phase AC 200/220 V voltage to
the amplifiers is switched off at least 1 second after the NC power has
been set off. When the absolute value specifications apply, control is
exercised to reduce the battery consumption current during this interval.
(This does not apply to the RF332A card.)
1-23

PROCEDURE
3.7 CHECKPOINTS FOR POWER ON
AFTER INSTALLATION
(3) Checkpoints after switching on the
power
The normal 7-segment display appears after the power has been switched on.
(This is located on the RF202 card.)
3-phase AC 200/220 V power ON
Q i-
ii
NC power ON standby
NC power ON
Io r
Ml,
iFTd
dI
Initial data communication

with NC (instant display)
M >,
>_
i
i
When an
alarm has
arisen.
3
u iReady ON
Ready ON,
servo OFF
r
n
_ _
"I
I c ni
Emergency stop
release
Servo ON
\
J
>(Selected instantly)
appears
1
i
Ready ON,
servo OFF
Alarm
code
During emergency stop
I
L
Ready ON, servo ON
~i
O C
Normal operation
NC power OFF
iRiS
Right-hand segment of
denotes
Ibl llfTTn Idl 'i
the axis number.
(Axis 1 is used as the
example in this case.)
NC power ON
1-24
4. TROUBLESHOOTING
4.1 7-SEGMENT DISPLAY
4. TROUBLESHOOTING
The status of the amplifier is indicated on the 7-segment display at the top
left of the amplifier.
MR-S amplifier status displays
Display
INITIALIZE
NC power ON standby (when NC power is turned

from ON to OFF)
Ab
INITIALIZE
NC power ON standby (when NC power is turned

from OFF to ON and when NC power is OFF)
AC
INITIALIZE
Requesting to send parameters
Ad
INITIALIZE
Requesting to convert parameters
AE
INITIALIZE
Standing by for main servo IT start
b/
READY OFF
Ready off
ct
SERVO OFF
Servo off
d#
SERVO ON
Servo on
WARNING
Warning now generated
t - **
Et
Description
Status
AA
E*
Alarm now generated
ALARM
WATCH DOG ALM
Watchdog alarm
FA
NO CONTROL L
L axis not being controlled (Note 1)
Fb
NO CONTROL M
Note: 1. When the AXES SELECTION switch at the top left of the RF202 card is set
to "F" while the amplifier power is off and then the servo amplifier's
power is switched on, total control will not be exercised over that
axis
(There will be no communication between the NC system in the
initialized status and no alarm will be generated.)
In the case of the figure below, the L axis is the axis which is not
controlled.
(Example)
AXES SELECTION
&

V
: Axis number
: Warning number
**
: Alarm number (Refer to the section on servo alarms and warnings)
1-25
4. TROUBLESHOOTING
4.1 7 -SEGMENT DISPLAY
The display of the statuses starting with INITIALIZE is indicated in sequence

for each axis by the segments which repeatedly light up and go out. Examples
are given below.
Display which appears when the L axis is the 1st axis (X axis)
and the M axis is the 2nd axis (Y axis), and the servo ON status
applies to both axes.
(Example 1)
L axis
Display which appears while the emergency stop signal is being

input from the NC system with the above axis numbers.
r n
L axis
(Example 3)
:<
M axis
status
_(
I
L axis
r n
i
status
c L:<
c*1 u
c
M axis status
status
Display which appears when the AXES SELECTION switch L is set to

"F" because the L axis is not used, when the power is switched
on and when the emergency stop input signal is being input from
the NC system for the M axis.
FTR
L axis
Hc
Display which appears when the motor overheating alarm (No. 46)
occurs in the L (X) axis with the above axis numbers
(The other axis malfunction alarm applies to the M (Y) axis.)
I
I
(Example 4)
M axis status
status
(Example 2)
6 c'
i
I
status
c :
c ni
M axis status
1-26
4. TROUBLESHOOTING
Servo-alarm and warnings

ABBREVIATION NAME
UV
AE
ME1
10
11
12
13
14
15
16
17
'
NS1
NS 2
NS 3
No Signal 1 (main board)

No Signal 2 (add on board enc)
No Signal 3 (add on board IX)
PR
PR
PR
A
A
A
Battery Alarm
No control Axis error
Internal Clock Error
PR
PR
PR
C
C
C
Over Regeneration
Over Speed 1 (2400/3600 rpn)
Over Current
Over Voltage
Data Parity
Data Error
Transfer Error
Parameter Error (initialize)
PR
PR
PR
PR
PR
PR
PR
PR
C
A
m
NR
C
A
RD
BA
NA
ICE
A
C
3E
ME2
27
PR
external Clock Error

Watch Dog error
Memory Error 2
Rotor position Detect error
Board error
CE
24
25
26
Axis/ Cm
C
Reset
AR
PR
PR
PR
PR
PR
WD
20
21
22
23
30
31
32
33
34
35
36
37
NAME
Under Voltage
Axis Error
Memory Error 1
OR
OS1
OC
ov
DP
DE
TE
PE
c
C
A
A
*
C
C
A
C
A
40
41
42
43
44
45
46
47
OHF
OHM
Fin Over Heat

Motor over heat
50
51
52
53
54
55
0L1
0L2
Over Load 1 (parameter settings)

Over Load 2 (C.LIMIT 1 sec)
NR
NR
OD
Over Droop
NR
A
A
AOL
EM
56
OA
Amp Over Load

EMergency
Other Axis alarm
NR
NR
NR
C
C
C
57
C
E0
W0R
WOL
Warning Over Regeneration

Warning Over Load
El
E2
E3
E4
E5
E6
E7
WPE
WA3
WOT
NCE
Warning Parameter Error

Warning Absolute Detect
Warning Over Travel
NC Emergency
*
*
A
A
A
Warning on "resetting":
A/C
Reset when power of PR:NC is OFF; reset is possible when NR:NC requires setting.
are displays of warnings; the servosystem will not be turned off; reset when
*theThese
display shows AR:MR-S and the power of the servoamplif ier is OFF.
In the Axis /Cm column "A" denotes an alarm which is generated independently for each
axis and "C" denotes an alarm which is common among the amplifiers.
1-27
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
4.2 TROUBLESHOOTING
When trouble arises, refer to the following items and remedy the trouble.
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.2.6
4.2.7
4.2.8
Occurrence of servo alarm

No amplifier mounting (alarm at NC side)
Vibration or vibration noise

Poor cutting surface accuracy; poor circularity
Overshooting during positioning"

Surge feed with 1 pulse feed
No. 7 segment display even when power is switched on; alternatively,
when a number appears which is not applicable to a status or alarm
No change in segment display from IB iblfffTTi even when power is switched
on; alternatively, ftjf l , i&irfi , Tftgl appear for an instant and then
display returns to [ffTbl
Note:
Depending on the type of alarm, some alarms may concern a specific axis
only, while others may concern all the axes. In the troubleshooting
procedures, an asterisk (*) denotes an alarm which relates to an axis,
in which case every effort should be made to ensure that the proper
axis is checked.
signifying a
In cases like this, bear in mind that alarm I 56 1
malfunction in another axis wi' occur for the problem-free axes.
Note:
The card names for the MR-S2 are as follows:

: RF202
Main card
: RF22
Base amplifier card
Add-on cards
: RF312
For closed loop
For absolute value detection: RF332
1-28
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
4.2.1 OCCURRENCE OF SERVO ALARM

Alarm number; 10
(1)
Under voltage
This detects a drop in the 3-phase AC 200 /220V supply voltage.

phases )
Cause
1
Check, method
i 3-phase AC 200/220 V drops
below 160V (5Z) or the

voltage has exceeded 260 V.
meter.
Instant failure of 3 -phase

AC 200/220 V
Check input voltage using syn

chroscope and verify whether it
fails instantly.
Approx. 25 msec or more with 200V
input voltage
Alarm number
(2)
11
Axis error
error in the setting position of

amplifier has been detected.
Rotary switch has been

6-E.
Same axis has been selected

with L and M axes.
Alarm number
the rotary
Check method
Cause
set
12
Re-examine power supply

facilities.
An
(3)
Remedy
Check input voltage using volt
(S, T
switch inside
the
Remedy
Check rotary switch setting.
Reset properly.
Check rotary switch setting.

(Setting to same number?)
Reset properly.
Memory error 1
The detects an EPROM check sum error as well as SRAM and 2-port RAM
check errors during initialization.
Check method
Cause
Remedy
EPROM check sum error
Try replacing with problemfree EPROM of another axis.
Replace EPROM.
SRAM, 2-port RAM check

error.
Try replacing with problemfree main card of another axis.

AXES SELECTION must now be
See replacement of
changed.
servo amplifier control cards in
Section 5.1.
Replace main card.
(4)
Alarm
13
number!l_
External clock error
This alarm occurs when there is something wrong with the clock pulses
sent from the NC and the servo amplifier software does not finish
processing within the specified time.
Cause
Disconnected connector of
cable between NC and amplifiei
or between amplifiers.
Remedy
Connect properly.
Replace main card.
functioning properly.
Defective cable between NC

and amplifier or between
amplifiers
A
Conduct visual check.

Main card CN1A, CN1B
NC side
Servo amplifier software is

not
Check method
Strong noise in cables bet

ween NC system and ampli
fier and between amplifier
Replace cable with that of ano-
Replace cable.
ther axis. Does alarm result

for that axis?
Have any measures been taken

to deal with the noise?
and amplifier.
1-29
Deal with the noise (by

shielding the cables, etc.)
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(5)
Alarm number
or
14
Watchdog error
(a
watchdog alarm is
indicated when the 7- segment points have lighted up).

The servo amplifier software does not finish processing within the
specified time.
Cause
Check method
EPROM has not been mounted
Check visually whether it has

been mounted at location marked
on EPROM.
Have any of EPROM pins been bent?
properly.
Remedy
Mount properly.
Q in
2
Damaged EPROM.
(6)
Try replacing it with EPROM of

other axis or problem-free
EPROM.
Replace with problem-free

EPROM.
Malfunction on main card or
Trying replacing it with other
add-on card
axis card.
(for closed loop/absolute

value detection)
Replace with problem- free

card.
AXES SELECTION on main card must

See replacement
now be changed.
of servo amplifier control cards
in Section 3.1.
Alarm number
'
15
Memory error 2
During initialization, there was a parity error or 2-port RAM malfunction

when the initial data were communicated with the NC system.
Cause
Check method
Remedy

and amplifier or between
amplifiers.
Replace cable with that of

another axis. Does alarm result
for that axis?
Replace cable.
High noise level in cables

between NC and amplifier
and between amplifiers.
Disconnect relays, connectors

which go ON, OF? during ini
tializing.
Remedy noise.
See amplifier installa
tion cautions in Section
3.5
1-30
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(7)
Alarm number
16
: Rotor
position detect error
Output signals of U, V and W phases of 3E5K-6-8-108 detector (mounted

on non-load side of motor) are all high or low.
Check method
Cause
1
Disconnected detector con

nector

(Any disconnections?)
Main card on amplifier side
Cannon connector at detec
tor
Defective cable between

amplifier and detector
Remedy
Mount properly.
side
pins A, 5 and 6 of
main card J4 in emergency
stop status and check whether
signals are all high or low.
(1) Observe
Replace cable between

amplifier detector.
(Uhat happens when cable is

shaken? )
(2) Try replacing cable with that
of other axis.
3
Defective detector
Try replacing detector with that

of other axis.
(Remember that zero point will
shift slightly.)
Replace detector.
Incorrect servo parameter

STY setting
Parameter setting has been made

for connection although detector
has not been connected to main
Set correctly.
See details on servo
parameters in Section 7
card.

MTY setting
Parameter speed detector setting

(ENT) is 0 or 1 although standard
encoder (OSE5K-6-8-108) has been
connected to main card.
1-31
Set correctly.
See details on servo
parameters in Section 7
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(8)
Alarm number
17
Board error
During initialization, the A/D converter and its peripheral circuitry on

the main card did not operate properly.
Cause
Check method
Defective RF202 card
Remedy
Try replacing with RF202 of

another axis.
AXES SELECTION SW of RF202
card must now be changed.
See replacement of servo
amplifier control cards in
Section 5.1.
Replace card.
Defective RF22 card
Try replacing it with the RF22

card of another axis.
Replace card.
Defective detector cable

(15V line shortcircuits
Try replacing it with the cable

of another amplifier.
Replace cable.
with shield, etc.)
(9)
Alarm number
20
No signal 1
This is the differential signal of the encoder which is connected to the

main card, and it sets a pair of signals to high or low.
Cause
Check, method
Remedy

is becoming dis

LCN2, MCN2 of RF202 card
tor side
Mount properly.

Try replacing cable with that

of another axis.
Replace cable.
Defective detector

of other axis.
shift slightly.)
Replace detector.
nector (or
connected)
(10)
Alarm number
21
|*
No signal 2
This is the differential signal of the encoder which is connected to the

add-on card, and it sets a pair of signals to high or low.
Check method
Cause

nector (or is becoming
disconnected)
Remedy
Mount properly.
LCN31/33, MCH31/33 of RF312/

332 card
Cannon
connector at
detector
side

Try replacing cable with that of

another axis.
Replace cable.
Defective detector

of other axis.
shift slightly.)
Replace detector.
1-32
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(11)
Alarm number I 22
No signal 3
The output of resolver connected to add-on card for absolute value

detection is OV.
Check method
Cause
Remedy

. LCN33
, MCN33 of RF332 card

is becoming
(1)
disconnected)

tor side.
(2) Observe signal between
RF332 check pin CP3-1 and
3 on synchroscope.
nector (or
'
Mount properly.
8 16v
fx s
(Emergency stop
status)

Try replacing cable with that of

another axis.
Defective add-on card
( 1)
Observe signal between RF332

check pin CP2-1 and 2 on
synchroscope
Replace cable.
Replace RF332 card.

When waveform (1) is not
normal, this alarm applies
to both the L and M axes.
Z':r\-n
(2) See l-( 2)
(Emergency stop
4
(12)

of other axis.
Defective detector
Alarm number
status)
25
Replace detector.
Battery alarm
The voltage of the add-on card for absolute value detection battery has
dropped.
Cause
Check method
Remedy
Battery voltage drop
After switching power OFF,

measure voltage at both ends of
battery.
Battery alarm if voltage drops
below 3.20 V.
Switch ON power daily for

2 or 3 days.
(Power ON for 8 hrs a day)
Defective battery
When malfunction persists even

when above remedial action has
been taken.
Replace battery.
See Section 2.2 for battery
replacement.
See Section 8.4 for proce
dure after replacement.
1-33
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(13)
Alarm number! 26
No control axis error
The rotary switch on the main card has been set to "F" and an overcurrent
has flowed to the DC bus of the corresponding axis which is not being
controlled.
Cause
Rotary switch has been

incorrectly.
set
Check method
Remedy
Conduct visual inspection

(switch is at top left of main
card )
Set properly.
Alarm is not generated by
this error alone.
Failure in power section of

axis which is not being used.
Proceed as for check method

described for alarm 32.
Defective base amplifier

card
Try replacing it with the

trouble-free base amplifier
card of another amplifier.
Replace base amplifier card.
Defective main card.

trouble-free main card of ano
ther amplifier. The AXES
SELECTION switch must be set.
Replace card.
(14)
Alarm number
27
Internal clock error
This alarm occurs' when the clock inside the main card has stopped.
Cause
Defective main card.
Check method

trouble-free main card of
another amplifier.
1-34
Remedy
Replace card.
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(15)
Alarm number
30
Over regeneration
This detects overheating in the regenerative resistance. (Since this is

detected by the software, the calculated values will be cleared when the
servo amplifier power is turned ON and OFF. As a result, the resistance
may be damaged if the power is repeatedly turned OFF and ON after this
alarm has arisen.)

ORT setting
Remedy
Check method
Cause
ORT
Set properly.
4680
optional regenerative
(no
resistance)
3010
(optional regenerative
resistance provided.)
Acceleration/deceleration
frequency has exceeded
specification
Measure the number of accelera

tion/deceleration times with
rapid traverse for 1 minute with
operation program used when alarm
occurred, and check whether this
number agrees with allowable
frequency.
Refer to checking the frequency
of position repeatability in
Appendix 8.
Power transistor used for

regeneration has been dam
aged by shortcircuiting
nal
rval
Proper
resistance
Defect
Several hundred Shortclrcuit or

infinity
ohas
Infinity
Shortclrcuit or
several hundred
ohms

infinity
ohas
Infinity
Shortcircult or
several hundred
ohas
Infinity
ohas
several hundred
ohas
ohas
mo
in
B_E
B
1-35
fre
quency.
(2) Reduce
rapid
traverse
rate.
(3) Add
optional regenera
tive resistance if one

has not been added.
Replace power transistor

or replace unit.
Use a tester to check resistance

of power transistor.
teral- teral-
(1) Reduce repeating
4. TROUBLESHOOTING
| 4.2 TROUBLESHOOTING
(16)
Alarm number
31
Over speed 1 (2400/3600 rpm)
This detects any speed that exceeds the allowable speed of the motor.
Cause
Check method
Remedy

MTY setting
Has setting been made for use

of 2000 rpm specification motor
although 3000 rpm specification
motor is being used?

RUG setting
Has proper setting been made for

detector which is being used as
position detector?
Set properly.
See details on servo para
in Section 7.
meters
Has setting been made properly

in millimeter or degree units
for ball screw lead?
Setting does not necessarily
agree with special gear ratio.
Set properly.
Rapid
high
Value of 3peed (rpm)
Reduce rapid
PIT setting
Set properly.
meters in Section 7.
traverse rate
is too
rapid traverse rate (mm/min)

ball screw lead (mm)
traverse rate.
exceed specifications of motor?
time constant is too low,
overshooting results
Servo system is unstable

and overshooting results
Try increasing acceleration/

deceleration time constant.
Re-examine this time
Try increasing speed loop gain

VG1
Re-set gain.
constant.
Reduce position loop gain PGN.

Note: When PGN is changed, 0D1
& 0D2 must be changed in
inverse proportion.
7
Malfunction in cable bet

ween position detector and
servo amplifier
Any erratic running even

low-speed feed?
Malfunction in position
(1)
detector
(2) If position detector and

speed detector are separate,
at
Try replacing detector.

try
Correct cable.
Replace detector.
applying servo with speed
detector used as position
detector.
9
0.1ft has been set although

least command increment is
Check system specifications.
1-36
Re-set parameter.
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(17)
Alarm number
32
Overcurrent
A current exceeding the permissible value has flowed to the DC bus inside
the unit.
Cause
Check method
Remedy
Servo amplifier output U, V,

W phases mutually shortcircuited
Disconnect U, V and V wires from

terminal board and disconnect
Cannon connector of motor. Use
a tester to check whether there
is shortcircuiting between any of
the cables.
Remedy shortcircuiting.
Servo amplifier output U, V,

W phases mutually grounded
Use a tester to check between U,

V and W of terminal board and
Remedy grounding.
Defective speed detection

cable
Try replacing with problem-free

cable
Replace cable.
Mounting direction of speed

detector and parameter
Relationship between motor,

mounting direction of detector
and parameter is as shown below.
Correct mounting.
Or correct parameter.
See #17 STY in details on
servo parameters in Section
7.
case.
designated do not match
Bit 15
Mounting direction
AC
BD
C
5
Defective speed detector
Defective base amplifier

card.
Replace base amplifier

card.
Defective main card
Replace main card
Try replacing with problemfree detector.
Replace detector.
Note: In case of occurrence of an overcurrent alarm, do not execute servo ON until the cause has been
clarified.
1-37
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
If an overcurrent occurs, a failed transistor module may be to blame.

Before proceeding with restoration, check whether the transistor module is
problem-free by following the procedure below.
Procedure for checking out the transistor module.
No.
Outline
Switch off the 3-phase AC 200 /220V input power.
Remove the card.
Use a tester to measure the resistance between the terminals of the

transistor module. (Multimeter range x 10 ohms)
Transistor
(2)
(1)
(3)
(5)
(A)
(6)
module No.
Normal
Multimeter
Check
terminal
+
N
31
B2 P
B1 P
B2 -U
B3
Defect status
resistance
B3
BA
B5
B6
BA
B5
B6
31
B2
B3
BA
B5
B6
B1
B2
B3
BA
B5
B6
Several
100 ohms
Infinity
Shortcircuit or
infinity
Shortcircuit or
several 100 ohms
Several
100 ohms
Infinity
Shortcircuit or
infinity
Shortcircuit or
several 100 ohms
Several
100 ohms
Infinity
Shortcircuit or
infinity
Shortcircuit or
several 100 ohms
Uhen above items (1) through (6) are checked in sequence and a
malfunction has been discovered, it means that the transistor
module with the corresponding number has failed.
No matter what the malfunction, the transistor module must be
replaced. (Replace the amplifier.)
<2>
3
B :
F
<2>P
<>
B 6
B2
B
v w N
ON(-)
_u_
OP( + )
Proceed to restore in the order of steps 2 and 1.
1-38
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(18)
Alarm number
33
Over voltage
The DC bus voltage inside the unit has exceeded the allowable level
(approx. 400 V)
Check,
Cause
1
Faulty terminal board con

nection.
method
Connection without optional

Remedy
Connect properly
Shorting bar
C D P
Connection with optional

Optional
regenerative
resistance
16
o 61
C D P
Acceleration/ deceleration
frequency is
too
high;
acceleration/deceleration
time constant is low
(1) Try increasing time

(2) Reduce frequency.
(3) Reduce rapid traverse
rate
(1) Try increasing time
top /bottom axes

rate.
Damaged regenerative resist
Use tester to measure resistance

across C and P of terminal board:
Approx. 13 ohms at P(-), C(+).
Measure about 3 minutes after
charge lamp has gone out.
Damage power transistor used

for regeneration

rate.
Low acceleration/deceleration
time constant with unbalanced
ance
(1) Increase time constant.
constant.
(1)
Increase time
constant.
constant.

rate.
Measure resistance following pro

cedure described in (12) -4.
Note: Take care with the connections for the MR-S2S type since the C, D and P terminals in the above
figure are located underneath the card.
1-39
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(19)
Alarm number
34
Data parity
Parity error has occurred in data received from the NC.

Cause
Check method
Faulty connection of CN1A,

CN1B connectors on main
Remedy
Check connections.
Correct connections and

screw down.
card

servo amplifier and NC
Try replacing cable.
Replace cable.
Noise in cable between NC

and servo amplifier
Take measures to counter

noise
See checkpoints for install
ing amplifier in Section 3.5.
(2) Noise arises with ON/OFF
timing of particular contactor
in power board.
(1) Take measures to counter
( 1)
Defective NC card
Try replacing card with problemfree card.
(MC611, etc)
(20)
Alarm number
35
noise.
(2) Add spark killer, etc.
Replace card.
Data error
Movement command 'from NC is abnormally high.

Cause
Faulty connection of CN1A,

Check method
Remedy
Check connections.

screw down.
card

servo amplifier and NC
Replace cable.

and servo amplifier
(1) Take measures to counter
(1) Take measures to
noise
See checkpoints for install
ing amplifier in Section 3.5.
(2) Noise arises with ON/OFF tim
counter
(2) Add
noise.
spark killer,
ing of particular contactor

in power board.
Defective NC card
Try replacing card with problem-
(MC611, etc.)
free card.
1-40
Replace card.
etc.
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(21)
Alarm number
36
Transfer error
The transfer of data periodically from NC has been interrupted.

Check method
Cause
Remedy
Check connections.

screw down.
Defective cable between servo

amplifier and NC
Replace cable.

and servo amplifier
(1)
Take measures to counter

See checkpoints for
noise.
installing amplifier in Sec
tion 3.5.
(2) Noise arises with ON/OFF tim
ing of particular contactor in
power board.
(1) Take measures to
Defective NC card.
Try replacing card with problem-
Replace card.
(MC611, etc.)
free card.
Faulty connection of CHIA,

2
3
card
(22)
Alarm number
37
All illegal servo

initializing.
Illegal data range
noise.
Parameter error
has
parameter
been
from NC
transferred
during
Remedy
Check method
Cause
counter
(2) Add spark killer, etc.
Check upper and lower limits of

settings, and illegal parameter
numbers will be displayed by NC.
See details on servo parameters
in Section 7.
Re-set and
OFF.
set
power ON,
Relationship between STY and

hardware settings is displayed
Re-set and
OFF.
set
power ON,
Servo parameter STY and

hardware (add-on cards)
below.
Card
configuration
Parameter
STY
RF202
mo
RF202
XXX4
RF312
XXX5
RF202 + RF332
XXX4
mi
Illegal parameter number
17
is
displayed by NC. (STY is the 17th

servo parameter.)
3
Illegal combination of RNG,

PIT, PCI, PC2 and PGN servo
parameters
Check upper and lower limits of

settings, and illegal parameter
numbers will be displayed by NC
as
33
- See
(Note 1) details on servo

parameters in Section 7.
1-41
DIP switches are

provided on add-on
cards
Note) No
Re-set and
ON, OFF.
set
and power
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Check method
Cause
Remedy
Defective insertion of CN1A,

card.
Check connections.

screw into place.

system and servo amplifier.
Replace cable.

system and servo amplifier.
(1) Deal with noise.
(1) Deal with noise.

(2) Add a spark killer, etc.
See cautions related to

installation of amplifier
(2)
in Section 3.5.
Noise is generated at timing
when specific relay connector
inside rower board is set ON/
OF?.
(MC611
(23)
Try replacing with a trouble-free

card.
Defective NC card
etc.)
Alarm number
45
Replace card.
Fin overheat
The thermal protector of the fins inside the unit has been tripped.
Cause
Amplifier is being used

a continuous
at
output current
that exceeds its rating.
Check method
Reduce load.
Reduce acceleration/deceleration
frequency.
Reduce rapid traverse rate.
Remedy
Same as left.
Reduce heavv cutting time ratio.
Overloaded regenerative
resistance or regenerative
power transistor
frequency.
Same as left.
Defective thermal protector
Check whether it functions under

no-load conditions.
Replace unit.
1-42
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Alarm number
(24)
46
Motor overheat
The thermal protector built into the motor has been tripped.
Motor is being employed at

output which exceeds its
continuous rating
Motor is hot to the touch.

Try reducing the load.
frequency.
Reduce heavy cutting time ratio.
Reduce load.
Faulty connection in terminal

board
Motor is cold to the touch.

Faulty terminal board Gl, G2
connection.
Connect properly.
I an
Remedy
Check method
Cause
Faulty
motor Cannon connector

Gl, G2.
Check Gl, G2 using tester.
Check Gl , G2 inside
motor
using
Replace
motor.
tester.
Overheating of MR-RB30
optional regenerative unit
(only for axis on which
such a unit has been
mounted)

inside MR-RB30 regeneration
unit (only for axis on which
such a unit has been
mounted)
Optional regenerative unit is

hot. Cause (2) or (3) of (15)
alarm No. 30 (excessive regenera
tion) may be to blame.
Refer to section on excessive
to section on
excessive regeneration.
Refer
regeneration.
Check out G3 and G4 inside
Replace optional regenera
optional regenerative unit using
tive unit.
a multimeter.
1-43
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(25)
Alarm number
50
Overload 1
Operation has been conducted within the shaded area of

characteristics range in the figure below.
Overload 1
the thermal
100
Overload 2
50
(OLL, OLT)
Area in which opera

tion is disabled by
current restrictions.
Parameter settings
U
0)
Area in which continuous

operation is permitted
0)
.a
E-
10
Fixed value
-A
Fixed value
Fixed value
0.5
100
300
200
Rated current
400
500
ratio of motor (Z)
x,
current ratio of the motor at o,
in the figure will differ according to the motor in question.
Reference should be made to the table on the following page.
The values for the time and rated
1-44
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Motor
HA
Time
Level
Time
Level
Time
OLL
250 Z
10 sec.
355 Z
1 sec
250
10
355
375
250
10
500
555
250
10
360
400
250
10
410
455
250
10
305
340
250
10
290
320
43
OLL
80
OLL
83
OLL
OLT/IO sec.
OLT/IO
OLT/IO
OLT/IO
OLT/IO
OLT/IO
100
OLL
OLT/IO
23
33
OLL
40
OLL
Note 1:
Level
Level
Standard setting of parameters:
= 60 sec.
If the parameters are changed when ILP= 1364 and ILN

A level will also change in proportion.
Note 3:
"O" and
relate to this alarm.
1-45
375
150 Z
OLL
OLT/10
Note 2:
"*
= -1364,
the
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Cause
Check, method
:\emedy
Motor is being employed at

an output which exceeds its
continuous rating
Motor is hot to the touch.

Try reducing the load.
frequency.
Reduce heavy cutting time ratio.
Reduce load.
Collision with machine
Collision with machine?
Distance from machine.

(Check whether soft limit
functions properly.)
Unsuitable OLL, OLT servo

parameter settings
Check whether they conform to

standard settings.
OLL: 150
OLT: 600
Correct as on left.
Hunting caused by reverse
1. Incorrect wiring of motor power

line.
2. Incorrect STY servo parameter
setting.
3. Incorrect MTY servo parameter
setting.
Correct as on left.
servo
Malfunction in detector
system
Hunting caused by instabil

ity in servo system
1. Detector malfunction
Try replacing with problem-free
detector.
2. Malfunction in detector cable.
Try replacing it with troublefree cable.
1. Incorrect
setting.
2. Incorrect
setting.
3. Incorrect
setting.
4. Incorrect
setting.
5. Incorrect
setting.
Correct as on left.
in Section 7.
meters
PGN servo parameter
Correct as on left.
PCI servo parameter
meters
PC2 servo parameter

RNG servo parameter
VG1 servo parameter
1-46
in Section 7.
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(26)
Alarm number
51
Overload 2
Operation
has been performed in the shaded

characteristics shown in the figure below.
area
of
the
thermal
1/
Overload 1
100
Overload 2
Area in which opera
tion is disabled by
50
current
restrictions
Area in which continuous
operation is permitted
a
10
4L
0.5
200
100
Rated
current
300
400
500
ratio of motor (Z)
The values for the time and rated current ratio at o, D, x, A in the
figure will differ according to the motor in question. Reference should
be made to the table on the following page.
1-47
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Motor
HA
Level
Time
23
OLL
33
OLL
OLT/IO sec.
OLT/IO
40
OLL
0LT/10
43
OLL
80
OLL
OLT/IO
OLT/IO
83
OLL
100
OLL
OLT/IO
OLT/IO
Note 1:
Level
Time
Level
Time
250 Z
10 sec.
355 Z
1 sec
250
10
355
250
10
500
555
250
10
360
400
250
10
410
455
250
10
305
340
250
10 .
290
320
Standard setting of parameters:
OLL
= 150 Z
OLT/10
= 60
Level
375 Z
375
sec.
Note 2:
If the parameters are changed when ILP= 1364 and ILN = -1364, the
A level will also change in proportion.
Note 3:
The value of '"X" relates to this alarm.
1-48
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Remedy
Check, method
Cause
1
Acceleration/ deceleration
Observe
current on servo monitor

screen and check, whether is
exceeds level of "x" in table on
previous page for 1 or more
seconds.
Increase time
1. Incorrect wiring of power line.

setting.
setting.
Correct as on left.
1. Detector malfunction Try re

placing with problem-free
detector.
Try replacing it with troublefree cable.
Correct as on left.
time constant is too low
servo
motor
system
5.
Hunting caused by
instability in servo system
Drop in DC bus voltage

inside unit
1. Incorrect
setting.
2. Incorrect
setting.
3. Incorrect
setting.
4. Incorrect
setting.
5. Incorrect
setting.
PGN servo parameter
PCI servo parameter
Correct as on left.
in Section 7.
meters
PC2 servo parameter

RNG servo parameter
VG1 servo parameter
Does left display lamp on unit

terminal board light during ready
ON status when 7 -segment display
:
?
shows
or
1-49
constant.
Replace unit.
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
Alarm number
(27)
52
Over drop
The actual machine position is distanced from the ideal machine position
vis-a-vis the command position by an amount equivalent to the distance
set by 0D1 and 0D2.
The figure below shows a case where the actual machine position has
entered within the shaded area.
Command position
C
T*
'
/ / /.
0D2
/
Ideal machine
position
0D1
Y / \/
0D2
ri
//
/ /,
/
ODJ
Time
Servo ON
1-50
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
time constant is
Remedy
Check method
Cause
too
low
Try increasing time constant and

calculate minimum time constant
from the formula below.
Ts
When
N
Jm
Tm
:
:
:
:
2tN (Ja
60 x (Tm
Increase time constant or

reduce rapid traverse rate.
- Jj,)
- TL)
rapid
traverse speed (rpm)

inertia ( kg cm* sec 2)
load inertia ( kg cm* sec2)
maximum torque of motor
(kg* cm* sec 2 )
motor
TL : maximum rapid
traverse
load torque (kg* cm)
Ts min: minimum acceleration/

deceleration time
constant
(S)
See Appendix 7 for motor constants
Current is restricted more
Check ILP, ILN servo parameters.
Correct as on left.
than necessary
3
1. Incorrect wiring of motor power

line.
setting
setting.
Correct as on left.
1. Detector malfunction Try replac

ing with problem-free detector.
Try replacing it with trouble-
Correct as on left.
9ervo
system
free cable.
Hunting caused by
instability in servo
system
PGN servo parameter
Correct as on left.
PCI servo parameter
meters
RNG servo parameter
1. Incorrect
setting.
2. Incorrect
setting
3. Incorrect
setting.
4. Incorrect
setting
5. Incorrect
setting.
in Section 7.
PC2 servo parameter
VG1 servo parameter
Drop in DC bus voltage

inside unit
Does left display lamp on unit

terminal board light during ready
ON status (when 7 -segment display
|,jj | )J
shows ;J| |
Replace unit.
Improper servo system gain
1. Try increasing VG1 servo para

meter in units of 20.
2. Try reducing PGN servo para
meter in units of 5.
1. Correct as on left and

see what happens.
2. Correct as on left.
Simultaneous interpola
tion axis must have same
value
1-51
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(28)
Alarm number
54
Amp overload
The total current of the motor connected to the amplifier has exceeded
the level given below and operation has gone beyond the fixed time
duration. The current levels and time duration are shown in the table
below.
Amplifier
Current level (A)
Tine duration (min)
MR-S2-33A
MR-S2-40A
21
MR-S2-80B
MR-S2-80A
12
MR-S2-100B
32
MR-S2-100A
MR-S3-80AA
MR-S3-100BB
32
12
MR-S3-100AB
MR-S3-100AA
Cause
Check method
Remedy
Amplifier has been used at

a level exceeding conti
nuous rating.
Try reducing load.

Reduce acceleration/
deceleration frequency.
Reduce rapid traverse rate
Reduce heavy cutting time pro
Reduce load.
Incorrect setting of servo
Does servo parameter MTY coincide

with connected motor?
Correct as described on
left.
1. Connection of motor power

cable
2. Incorrect setting of servo
parameter STY
3. Incorrect setting of servo
parameter 1OT
left.
Refer to servo parameter
details in Section 7.
1. Incorrect setting
parameter PGN
parameter PCI
parameter PC2
parameter PNG
5. incorrect setting
parameter VG1
left.
Refer to servo parameter
details in Section 7.
portion.
parameter
MTY.
Hunting caused by inverse

servo.
Hunting caused by
instability in servo system.
1-52
of servo
of servo
of servo
of servo
of servo
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(29)
Alarm number; 55
Emergency
The shortcircuit between terminal board B and R was released (coupled to

emergency stop by the machine).
The standard specifications, however, apply to the type characterized by
shortcircuiting inside the terminal board.
Cause
Check method
Remedy
Emergency stop
Are 3 and R released during emer
Heavy vibration applied

to unit
Over 5G? (Level at which buttom

of unit is normally tapped with
Defective
unit
R phase input is missing,

or connecting wire
jrmal
operation
gency stop?
Remove source of vibration.
mallet?)
(30)
contactor
inside
Other axis alarm
Check continuity between contacts

of contactor. (See figure of
main circuitry configuration.)
Replace unit.
Check R terminal connections.
Connect properly or re
place cable.
56
An alarm has occurred in one of the axes in the same amplifier or the
alarm occurs in the unit connected to the CN1B side. Alternatively, the
cable end (termination connector) has become disconnected.
Example)
Other axis malfunction alarm
occurs in the amplifier at
the CN1A side of the ampli

fier in which an alarm has
Emergency stop signal from NC
Axis in which alarm

has occurred;
no-signal alarm
stops the
amplifier
at
system
the CHIB side
of the amplifier in which an alarm

has occurred.
occurred
sc
HISiE
iSI 10E
I
ICNl
'A B
CM
(CM
AB
L+LJHJ
Cable end; termination connector
When an alarm occurs in one axis inside the ampli

fier, the other axis malfunction alarm occurs in
the other axes.
Cause
Remedy
Check method
Alarm has occurred in

servo amplifier at CN1B
side.
Normal operation
Disconnected cable end
Attach end properly.
No power supplied to
amplifier(s) not being
used.
Power input to B axis has been

disconnected if, in example of
figure above, B axis is not being
used.
1-53
In example on left:
1. Supply B axis power.
Dr
2. Connect cable end

axis CN1B.
to
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
(31)
Warning number
Warning over regeneration
EO
This senses a level of excessive regeneration which is 802 of the alarm level. This is not an alarm
and so the servo OFF status does not result. However, if operation is continued regardless, there
is a possibility that the excessive regeneration alarm will result.
See (15) excessive regeneration.
It is particularly recommended that the remedies in 2 of (15) excessive regeneration be carried

Note:
(32)
out.
Check whether the regeneration load on the servo monitor screen while EO is displayed has
increased little by little. If it has increased, refer to (15) excessive regeneration.
Furthermore, actual use is not hindered when the regenerative load is constant.
Warning number
El
: Warning overload
This senses a level of overload 1 which is 802 of the alarm. This is not an alarm and so the servo
OFF status does not result. However, if operation is continued regardless, there is a possibility
that the overload 1 alarm will result. See overload 1.
(33)
Warning number
E4
|:
Warning parameter error
A parameter has been set which exceeds the setting range.

(Refer to the details on the servo parameters in Section 7 for the setting ranges.)
An illegal parameter is ignored and the value prior to the setting of the illegal parameter is
retained.
The illegal parameter is released by setting the proper value.
The servo OFF status does not result.
(34)
E5
Warning number
I
: Warning absolute detect

I
There is an error in the internal data for absolute position detection.

The servo OFF status does not result.
Cause
Check method
Error in resolver data at

point of dog-type zero
point return
Error if servo monitor screen

1 x value is as below:
278 < 1 x < 4722
5070 < 1 x
(See absolute position system
in Section 8. )
Incorrect absolute value
Remedy
1. Perform dog-type zero

point return again.
2. If value on left is still
produced, replace detector
and add-on card for abso
lute value detection.
Replace detector and add-on

card.
compensation data
For warnings relating to the absolute position system, refer to the absolute position system in Section
8.
(35)
Warning number
E6
|: Warning
over travel
This warning occurs during speed loop control with overtravel when the speed loop step system has been
selected by overtravel based on the limit switch. It may be possible for the speed loop control time
to be set by parameters on the NC side.
Check method
Cause
(36)
During overtravel?
Overtravel
Warning number
E7
Remedy
Normal operation
: NC emergency
The NC system is set to emergency stop.
Cause
Check method
Remedy
Normal operation
NC emergency stop
1-54
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
4.2.2 NO AMPLIFIER MOUNTING (ALARM AT NC SIDE)

The "no amplifier mounted" alarm occurs from the NC system.
Cause
Check method
Remedy
Ho power supplied
amplifier
Servo amplifier power is

switched on after NC power
Try switching on servo amplifiers

power first.
Servo amplifier is not

operating properly.
cate
to
servo
Does servo amplifiers 7-segment
Switch power ON.
display light?
7 -segment display does
not
indi

MCP and amplifier, or bet
ween amplifiers.
Try replacing cable with problem-
Defective cable end
Try replacing cable end.
Correct as on left.
1. Replace EPROM.
2. Replace main card.
Replace cable.
free cable.
Replace cable end.
(termination connector)
4.2.3 VIBRATION OR VIBRATION NOISE

(1)
Faint vibrations are felt when the machine is touched or the sound of
vibration resembling a hum is heard.
Check and remedy method

1
Try adjusting the servo parameters.

Servo parameters
<D
5. VG1 Try reducing this in units of 50 (lower limit: 50).
(D
11. IQG Reduce this in units of 50 (lower limit: 128).
CD
12. IDG Reduce this in units of 50 (lower limit: 256).

17. STY Try raising FBC (bit 11).
17. STY Try raising FBF (bit 10).
17. STY Try raising both FBC and FBF.
Note 5: VG1 is the parameter for the responsiveness of the speed

loop. The responsiveness will deteriorate if the parameter
is set too low.
(2)
Vibration or noise during rapid traverse

Try adjusting the servo parameters.

Servo parameters
Proceed in the same way as for (1).

Enter the value equivalent to cutting feed speed + 100 rpm
into SP2 and enter the same value as VG1 into VG2. Repeat
rapid traverse and keep reducing VG2 in units of 10.
(Limit: 0)
1-55
4. TROUBLESHOOTING
4.2 TROUBLESHOO..NG
4.2.4 POOR CUTTING SURFACE ACCURACY; POOR CIRCULARITY

1
When surface accuracy in 45 direction of taper, arc is poor.
v
or
Z
Servo parameters
5. VG1 Try in creasing this in units of 50.

(Limit is reached if vibration or noise is generated
during stop or rapid traverse)
8. VIA Try increasing this in units of 200

(upper limit: 2000).
31. SP4 Set 10 in this.
Noticeable projections appear at point where arc quadrant cutting

changes (joins are noticeable).
Servo parameters
5. VG1 Try increasing this in units of 50.

17. STY Try raising SMC (bit 14) and increasing from
16. TGN 0 in units of 20.
If increased too much, indentation results.
Too high
1-56
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
4.2.5 OVERSHOOTING DURING POSITIONING; LIMIT CYCLE OCCURS

1
With semi-closed loop system

Servo parameters


(upper limit: 2000)
Note: If the overshooting amount is high (over 5 microns), check the

droop on the servo monitor screen and try the above remedy if
the overshoot is the approximately the same.
If there is no improvement, increase PGN by 20 or increase the
acceleration/deceleration time constant of the axis specifica
tions
If there is no overshooting, overshooting occurs not with the
Check out the
motor itself but with the machine system.
machine system.
With closed loop system

Servo parameters


3. PGN Try reducing this in units of 5. (Min. 20)

The simultaneous interpolation axis must be set to
the same value
27.SSF Try raising PID (bit 0)

7. VIL and reducing this in units of 5 from 10000.
(Lower
27.SSF Raise PID (bit 0), IDC (bit 1) and IDF (bit 2),
and reduce VIL is units of 20 from 10000.
Note)
limit: 9800)
(Lower limit: 9500)

Overshooting and limit cycle are eliminated by (4)
but try (5) if the response is poor.
When variations of less than 1 or 0.1 micron are generated

during stop when a 1 or 0.1 micron scale is used, raise SSF
CNG (bit 11).
Note: The same caution as that described in the Note for the semiclosed loop system applies to the closed loop system. When the
servo monitor screen droop does not overshoot, there should be
no overshooting at the scale location. Proceed with the
measurement near in the scale vicinity using a dial gauge.
Check out the machine system if there is no overshooting.
1-57
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
4.2.6 SURGE FEED WITH 1 PULSE FEED

1
When there is no movement even when several pulses are supplied, check
the servo monitor screened roop and check whether about the same amount
of droop has occurred.
(1) When
droop has occurred

Servo parameters
<D

8. VIA Try increasing this in units of 200.
(Limit applies if vibration or noise arises during
stop or rapid traverse)
Note: when closed loop 27. SSF PID (bit 0) is raised:

Servo parameters
Proceed with
in Section 4.2.5.
(2) When droop has not occurred

In the case of the motor or closed loop system, all the parts up to
the ball screw end detector and scale are moving and so the subse
quent machine system is responsible for the surge feed.
Check out the machine system.
4.2.7 NO 7-SEGMENT DISPLAY EVEN WHEN POWER IS SWITCHED ON;

ALTERNATIVELY, E2SI APPEARS.
Cause
Control power supply on

RP202 card is shorted by
detector cable.
Try disconnecting detector

cable from RP202 card. (Do
this in emergency stop status.)
Replace detector or detector
Control power supply on

PJ202 card is shorted by
Try disconnecting add-on card

(Do this in
(RP312/332)
emergency stop status.)
Replace add-on card.
Visually inspect whether it is

mounted at location marked on
EPROM. Also, check whether any
of EPROM pins have been bent.
Re -mount EPROM properly.
add-on card (RF312/332).

3
Remedy
Check, method
EPROM on RF202 card is not

mounted properly.
HiEl
1-58
cable.
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
4.2.8 NO CHANGE IN SEGMENT DISPLAY FROM MS , [ME , EVEN WHEN

NC POWER IS SWITCHED ON; ALTERNATIVELY, MS > rl , Mt
APPEARS FOR AN INSTANT AND THEN DISPLAY RETURNS TO ME ,
Cause
Remedy
Check method
Disconnected cable between

NC system and amplifier or
between amplifiers
Visual check
RF202 card CN1A, CN1B
NC side.
Connect properly.
Incorrect setting of RF202

card axis No. selector
Check whether axis number is

duplicated.
Set properly.

system and amplifier or
between amplifiers
switch.
If
l~> j appears momentarily up
Replace cable.
the se
quence of the cable connections
from the NC system, the subsequent
cables may be defective. Try
replacing the cable.
to a particular axis in
Momentarily
IS
NC
inn
n
noj
Defect may lie in these cables.
Defective RF202 card
,*-j
; appears momentarily up
to a particular axis in the se
If
Replace RF202 card.
quence of the cable connections

from the NC system, the sub
sequence cards are suspect.

Try replacing the RF202 card.
Momentarily
Hi
111 Hi
NC
OtLftlS
Defect may lie in these cables.
Problem in NC system soft

ware or hardware
(1) Does NC system start up
normally?
(2) Try replacing card to which
cable to servo amplifier has
been connected.
1-59
Repair NC side
Replace NC card
(MC611
etc.)
5. UNIT REPLACEMENT METHODS
5.1 CONTROL PRINTED CIRCUIT BOARD

INS TALLATION / REMO VAL

5.1
5.1.1 CONTROL PRINTED CIRCUIT BOARD REMOVAL
1
Removing the add-on printed circuit boards

1)
Switch off tha power and disconnect the accessory

connectors.
Note: When tha absolute value detection card is in

position, do not disconnect the connectors.
Dog-typa zero point return must be performed
when th-a connectors have been disconnected.
2) Remove the 4 screws which attach the printed circuit
boards
3) Disconnect the connectors for each of the PCBs.
RF202 card
>
Add-on
card(s)
M3
a/
0
Cable
Removing Che sain card (RP202)

1) Switch off Che power and disconnect the accessory
connectors
2} Remove the supports used to secure the card and
draw the card forward.

3) Remove the supports in tha order of 1, 2 and 3.
V3
RP202
card
0
r
[]
How
to remove
[]
the base amplifier card (RP22)
1) When the RP202 main card is removed, the RF22 card is visible underneath.
2) This card can also be removed by following the same procedure as for stage 2.
Note: If stage 3 is conducted without conducting stage 2, the RF202/22 cards can be
removed together.
1-60

INSTALLATION / REMOVAL
5.1.2 CONTROL PRINTED CIRCUIT BOARD MOUNTING

I
Mounting the base amplifier card (RF22)

1)
Insert
connectors C0N2 through C0N4 on the

PCB along the connector guide at the main
circuit side.
2) After having inserted the connectors, look
through the check hole to check whether the
connectors below have been aligned properly.
Note: If the connector below is not aligned,
press down firmly on the top of the
connector on the PCB.
3) Check whether the 6 supports are firmly in
place.
Push here.
Connectors
C0N2
Check hole
'2ZZ
Printed circuit board

7,
Guide
00
How to mount the main card (RF202)

1)
2)
3)
4)
5)
Install the card so that CONI (reverse side of card) interlocks on the RF22 card.
After having installed the card, check that CONI is securely in place.
Check that the 6 supports are firmly in place.
Attach the accessory connectors.
Check the settings when the card is replaced.
Mounting the add-on card (RF312/332)

1) Align the connectors of the add-on card with the connectors (JI) on tie RF202 card and
mount.
2)
3)
Tighten up the 4 mounting screws.

Mount the accessory connectors.
1-61
5.2 DETECTOR MOUNTING METHOD
5.2

In an AC servo system, the magnetic pole positions (positions of the
magnets) in the motor must be detected.
Since this differs from when a DC servo system is used, proceed to mount
the detector in the following sequence.
(1) Mounting surface of detector
4-M5 x 0.8, 7.5 depth
Mark-off line
Key
Positioning mark (x4)
(2) Detector
Oval hole
Screw hole for

tightening (M4
Key groove
__
* 0.7)
Key groove
Groove for
mounting
S75 0-ring
Detector
side
Motor side
Bellows
(3) Mounting (for "A" mounting direction of detector)

4-M5 x 0.8 x 15
screw
S75
0-ring
--5
o-
ft
ft
JSL-J
A
ie-
'*/ ffliyN
' /6>+-0\
B
1
HA
motor
Detector
Note: When the mounting direction of the detector is B, C or D, the

detector connector is brought to the B, C or D position in the above
figure
(4) Mounting procedure

1) Mount the 0-ring (S75) onto the detector flange.
2) Mount the M4 hexagon socket head screws onto the coupling.
3) Align the motor shaft key with the key groove on the detector bellows
and fit together.
4) Align the positioning marks on the detector with the mark-off line on
the motor.
5) Mount the detector onto the motor (using the M5 x 0.8 screws).
6) Tighten the screw on the key groove and secure it so that the key does
not move.
7) Put the rubber cap of the detector in place.
Note: The positions of the detector and bellows stand in a fixed rela
tionship to each other and so the bellows should not be removed
from the detector.
1-62
6. HARDWARE CHECK METHODS
6.1 CARD FUNCTIONS

6.1
CARD FUNCTIONS
(1) RF202 (main card)
CN1A
DSP
From NC system
or other axis
NC1B
Program
memory
To other axis
Common
memory
or cable end
(termination card)
LCN2
Data
memory
Encoder
From detector
interface
MCN2
7-segaent
display
CONI
J1
To
RP312/
332 card
Alarm
detection
1/2
Current
feedback.
detection
1/2
To R?22 card
PWM
output
(L axis
M axis)
Alarm
detection
Control
power
supply
1-63
6.1 CARD FUNCTIONS
(2) RF22 (base amplifier card)

Control
power
supply
CON 3
To main circuit
3ase
\
CON 1
amplifiers;
L axis,
M axis
CON 4
To
RF202 card
Regenerative
control
To main circuit
Alarm
detection
CON 2
2/2
From main circuit
Current
detection
2/2
Note) The RF22 and RF202 cards always function as a pair.

(3)
RF312/332
(add-on card)
PI
LCN31/33
From
RF202
card
Encoder
From
detector
interface
MCN31/33
Resolver
interface
-X
Absolute
value
counter
Not provided on RF312 card
1-64
6.2 HARDWARE SETTINGS AND CHECK

PINS
6.2
6.2.1 HARDWARE SETTINGS

RF202 setting outline
too
ED
; ON setting
qc B
a MN
oj T M
IQOI
The standard settings are

shovn in the figure.
qE
OF? setting
XR
AT E
1TCE
2 TCE
ASY-SYN
R F 202
a
i
Setting
Name
Standard
Function
ED
CB
MN
TM
EXE
ATE
1TCE
2TCE
ASY-SYN
L
M
Emergency stop
Contactor block
Monitor mode
mode
sync selection
3eration
Td compensation
L axis
Td compensation
L axis
IT clock selection
Axis
tion
Axis
tion
number selec
for L axis
number selec
for M axis
OFF
OF?
OFF
OFF
OFF
ON
OFF
OFF
ON
ON
Invalid
ON
ON
ON
ON
Invalid
ON
ON
SYN
ASY
Valid
Valid
Valid
Test mode
Invalid
Invalid
Invalid
Normal mode
Not synchronized
Synchronized
with MC?
with MCP
Valid
Valid
SYN: MCP clock
Stand alone
OFF
ON
ASY: Internal clock
0-5: Axis selection number in normal

mode
F : When corresponding axis is

being used
6-E: Axis selection error
1-65
not
0-5, F
Setting by
capacity
motor
0-5, F

PINS
R F 312
No settings at all are required for this card.
1-66

PINS
Set ON.
nm
m
rri
S Y
B AC 1
1B A C 2
fR
ON setting
| Q Q | ! OF? setting
shown in the figure.
R F 332
Inn
1VR 1 2 VR 1
[
1
Stand
ard
Setting
Name
RSYD
Function
Absolute value coun
ON
OFF
Invalid
Valid
ON
ter reset
BAC1
Battery connection
Connected
BAC2
Battery connection
Connected
OFF
Must be ON
during use.
( See Notes )
OFF
Do not touch
the controls
which were ad
justed before
the card was
1VR1 Resolver phase

adjustment for L
axis
2VR2
Not
connected
Not
connected
Remarks
Resolver phase
adjustment for M
axis
shipped from
manufacturing
plant.
Observe the settings in the table even when the card is not being used.
Note: When the card is shipped, BAC1 and BAC2 are OFF.
Set them ON before switching on the power.
It should be borne in mind that if these ON settings are not made, the
absolute values will not be backed up by the batteries.
1-67

PINS
6.2.2 CHECK PINS AND WAVEFORMS

When connecting the synchroscope probe to the check pins, proceed during
emergency stop.
(1) RF202
U5
J7
2J5
J6
Stud
(for mounting
add-on card
control ground)
Stud
(for mounting
add-on card
shield ground)
/
Note:
Do not use this
as the check pin
ground.
U4
2J4
1-68

PINS
Terminal
Signal
name
name
nJ4-l
nJ4-2
nJ4-3
B
Z
Signal and waveform
Ground
terminal
Encoder phase A
Encoder phase B
Encoder phase Z
Bottom
right stud
n
n
l (L axis encoder feedback signal)

2 (M axis encoder feedback signal)
During counterclockwise rotation as seen

from motor shaft load side
Waveform examples:
n-1,2
1-L axis
2-M axis
--
T
A
-4.5-5.5v
a
-0.5-0.5v
T<.
Z
1 encoder rotation
R
: Motor speed (rpn)
Encoder : OSE5K-6-8-108 (5000 p/r)
R x
*5000[9*c1
a, b, c, d
To
nJA-A
nJA-5
nJA-6
U
V
W
Bottom
right stud
to
--T -JJT
3T
Encoder phase U
Encoder phase V
Encoder phase W
Waveform examples:
from
P
n-1,2
1-L
2-M
axis
axis
1
e
motor
shaft load side
4.5 5.Sv
f
w
1 encoder rotation
R : Motor speed (rpm)
e.f.g.h.j.k
1-69
--p
--0.5-0.5v

PINS
Terminal
Signal
name
name
nJ5-l
nJ5-2
nJ5-3
nJ5-4
nJ5-5
oJ5-6
UP
UN
VP
VN
UP
UN
Ground
terminal
Bottom
right stud
PUM output phase U, side P

PWM output phase U, side N
PUM output phase V, side P
PUM output phase V, side N

PUM output phase U, side P
PUM output phase v, side N
Uaveform example:
n-1,2
1-L
2-M
Signal and waveform
During servo ON stop
axis
axis
tw
r
L
UN
tw =
J6-1
J6-2
J6-3
J6-4
J6-5
J6-6
J6-7
J6-8
J7-1
J7-2
J7-3
1U
IV
J6-8
2V
3U
3V
EXT
AG
P5
5C
J7-4
P15
N15
J7-5
J7-6
15G
AN
L axis
L axis
M axis
M axis
motor
444
phase U current
V current
motor phase
motor phase
motor phase
motor phase
motor phase
U current
V current
U current
S axis
V current
S axis
External analog input
Analog ground
2U
J7-2
Motor
Current
HA23, 33
HA40, 43
HA80, 83
BA100
12.7 A/V
21.2 A/V
J7-5
6.1 A/V
Acceleration
Deceleration
Uaveforms differ according

to load.
(Current values are given as
the respective peaks.)
31.8 A/V
4.75 to 5.25 V
+5V,
Control ground
+15V
14.25 to 15.75V
-15V
12 16v
-0-1.5v
UP
-14.25
to
-15.75V
Control ground
Analog speed input terminal
1-70
(used only
when testing)

PINS
Check pins and waveforms

Make sure that the emergency stop status is established when the synchroscope
probe touches the check pins.
(2) RF22
FIN 1
P5
O 1 UPB
1UPE
oVr
5G
1 UNB
O 1 VPB
1 VPE
O 1 VNB
0-
O 1 WPB
1 WPE
O-C*-
1 WNB
0 2 UPB
2 UPE
oft-
0 2 UNB
0 2 VPB
2 VPE
oVr
2 VNB
0 2 WPB
2 WPE
CH+
0 2 WNB
oN
follOC
LlllE
02E
2 OC
P2 4
2 4G
1 5G
N1 5
PI 5
01
1-71
FIN1 and FIN2 are connected

to the control ground.

PINS
Terminal
Signal
name
Ground
P5
5G
5G
5G
15G
N15
P15
N15
P15
15G
15G
P24
P24
24G
24G
24G
IOC
IE
IOC
IE
IE
L axis OC level detection
20C
2E
20C
2E
M axis OC level detection

M axis OC detection ground
name
P5
Signal and waveform
terminal
15G
4.75 to 5.25V
Control ground
Cctrol ground
-15V
-14.25
-15.75V
15.75V
to
14.25
to
20
28V
to
L axis OC detection ground
2E
Motor
Waveform example:
jUlMjln.
Bus
Uipv
current
3A23 , 33
EA40 , 43
EA80, 83
HA100
1UPB
1UPB
1UPE
1UNB
1UNB
1VPB
1VPB
1VPE
1VNB
1VNB
1WPB
1WPB
1WPE
1WNB
1WNB
2UPB
2UPB
2UPE
2UNB
2UNB
2VPB
2VPB
2VPE
2UNB
2VNB
2WPB
2WPB
2WPE
2WNB
2WNB
2.2 A/V
4
Acceleration
Deceleration
7.2
11.4
L axis phase U P side base

amplifier output
L axis phase U M side base
amplifier output
L axis phase V P
amplifier output
L axis phase V N
amplifier output
L axis phase W P
amplifier output
L axis phase W N
amplifier output
M axis phase U P
amplifier output
M axis phase U N
amplifier output
M axis phase V P
amplifier output
M axis phase V N
amplifier output
M axis phase W P
amplifier output
M axis phase W N
amplifier output
1-72
Waveform example:
With servo ON
stop
side base
side base
- 11
7
side base
side base
side base
side base
- 2 -- 6 V
side base
lB
side base
side base
side base
B= 4 4 4 M s

PINS
(3) RF312
1CP1
aa
2 CP ;
1-73

PINS
Terminal
name
nCP-1
nCP-2
nCP-3
n-1,2
1-L axis
2-M axis
Signal
name
A
B
Z
Ground
terminal
Bottom
right stud
Signal and waveform
Encoder phase A
Encoder phase 3
Encoder phase Z
Waveform examples:
During counterclockwise rotation as seer.

from detector shaft side
T>.
Z
R
: Motor speed (rpo)
Encoder : OSE5K-ET (5000 p/r)
x6000[sec]
a, b, c, d
To * T
to
1-74
--T
3T
-4.5-5.5v
-0.5-0.5v

PINS
(4) RF332
1 CP 1
1 CP 3
a an
2 CP 1
2 CP 3
1-75

PINS
Terminal
Signal
name
name
nCPl-1
nCPl-2
nCPl-3
n-1,2
1-L axis
2-M axis
B
Z
Ground
terminal
Bottom
right stud
Signal and waveform
Encoder phase A
Encoder phase B
Encoder phase Z
Waveform examples:

4 .5 5.5v
-0.5-0.5v
TII
Z
R
:
Encoder :
T
Motor speed (rum)

0AER-SK-1X (5000 p/r)
R x
a, b, c, d
To
CP2-1
EX
CP2-2
n-1,2
15C
1-L
2-M
to
-4T -feT
3T
Square wave for resolver excitation

CP2-2
Control ground
axis
axis
Waveform example:
EX
-3.5-5.5v
-0.5- 1 v
te
nCP3-l
n-1.2
1-L axis
2-M axis
FBL
CP3-3
Resolver FB level
Uaveform example:
FBL
0v
te
te
nCP3-2
nCP3-3
nCP3-4
P15
15C
N15
CP3-3
+15V control power

Control ground
-15V control power
1-76
= 222 /* s
14.25 to 15.75V
-14.25
to
-15.75V
16vp.p
7. DETAILS OF SERVO PARAMETER

There are 32 servo parameters and the method used for their display and
Reference should
setting varies in accordance with the NC unit used.
therefore be made to the Operating Instructions.
The parameter contents are shown on the following pages.
1-77
Parameter contents
Item
Description
Setting range
(unit)
PCI
This sets the number of gear teeth on the motor side.

(Setting should be made so the PCI and PC2 have the
lowest possible integral ratio.)
PC2
This
1 to 30 (Note 1)
sets
the number of gear teeth on the machine
side.
to
30 (Note 1)
(Setting should be made so the PCI and PC2 have the

lowest possible integral ratio.)
PGN
This sets the position loop gain in gradations of

0 23
Normally, setting is made to 33.00.
LGN
This is usually
Hexadecimal setting
VG1
Sets the velocity loop gain.

The standard setting is 150. When set higher
(approx. 200 to 300), the response is enhanced but
this is accompanied by increased vibration and noise.
(Equivalent to VR9 in conventional amplifiers.)
VG2
This is set when using the VG1 variable function.

Set the gain of the speed loop with a speed which is
1.2 times the rated motor speed.
Normally, it is set to 0.
-32768
VIL
Sets the velocity loop delay compensation.

The delay is not compensated at 10000, and set when
lower, the gain is reduced. If parameter SSF bit 0
is 0, however, the setting becomes invalid and is con
sidered to be set at 10000.
When the parameter is valid, this is normally set at 9990.
(Equivalent to IND 1 or 2 in conventional amplifiers.)
9000
VIA
Sets the frequency for velocity loop advance compensation.

At a higher setting, the response improves but normally
it is fixed at the standard setting. The response is
controlled by VG1. Normally setting is made to 682.
( Equivalent to VR3 in a conventional amplifier )
163
set to
0.
1-78
to
to
100 (rad/sec)
500
to
to
to
32767
10000
16384
(0.085 rad/sec)
1QA
Setting range (unit)
Description
Item
This is the current loop internal compensation.

It is normally set to the standard setting.
(Refer to the standard settings on the attached
1 to 7680
sheet.)
10
IDA

(Refer to the standard settings on the attached sheet.)
11
IQG

(Refer to the standard settings on the attached sheet.)
100
12
IDG
This is the
current loop internal compensation.

set to the standard setting.
to
32767
to
5000
1 to 2560
It is normally
(Refer to the standard settings on the attached sheet-.)
13
ILP
This sets the current limit value. This is set by

multiplying the value of a in the table below by the
1 to 1364
ak current (A) which is to be limited.

cannot be set to a value higher than the maximum
current value.
Current limit when ILP, ILN 1364
(in the same sequence as the signals)
14
ILN
Motor model
Max
current
HA23, 33
40, 43
80, 83
12A
24
40
100
60
-1 to -1364
166
79
47
32
15
FFC
Not used
16
TGN
This sets the lost motion correction gain. If bit

14 of parameter STY is 0, no correction results.
This is usually set to 0.
1-79
0 to 100 (I)
Description
Item
17
STY
This setting relates
VDR j
EDCB
SMcj
VDR
to
the servo loop.
A987
PBC FB?
Eexadecimal setting
654
ABS PDC
|FCL PD2 PD1 VD2 VD1
: Velocity detector connector
(Usually set to 0)
0: Direction A or C (same as, or opposite to, direc
tion of motor Cannon plug.)
Is Direction B or D (differs by 90 from direction A
or C.)
: Lost motion compensation
SMC
(Usually
set to 0)
0: No operation
1: Operation (gain by TGN)
: Speed feedback correction
F3C
(Usually set to 0)
0: Not corrected
1: Corrected (used to correct jitter with light loads)
FBF
: Speed feedback correction

(Usually set to 0)
0: Not corrected
Is Corrected (used to reduce machine vibration)
: Absolute value detection function
ABS
0: No operation
1: Operation (valid only with an absolute value sys
tem)
PDC
: Position feedback polarity
0: Normal polarity (mounted on the no-load side of

the motor or in the same direction)
1: Reverse polarity (opposite to the above direc
tion)
FCL
: Servo loop
0: Semi-closed loop
1: Closed loop (includes ball screw end detection)
PD2
PD1 I : Position detector connection destinaJ tion cards
VD2
VD1
: Velocity detector connection destina

tion cards
Connection desti
nation card
PD2/VD2
PD1/VD1
0
0
Main card
Add-on card
Example) This sets one of the values in the table below

according to the servo amplifier.
Servo
PD2
PD1
VD2
VD1
0
0
0
0
1
1
0
0
0
0
0
0
0
1
amplifier
E01
E31
Z33
1-80
0
4
4
5
Description
Item
the ball screw pitch (lead) as is.
18
PIT
This
19
RUG
This sets one of the values in the table below

according to the position detector used.
sets
5000 p/r
0SE5K-6-8-108
0AER5K-1X-3-8-108
0SE5K-ET-3-9 52-0
0AER5R- 1X-ET-3-9 52-0
to
4000
PIT
1M
Scale resolution)
This sets the thermal time constant of the regenerative

resistance over-heating detectors (OR, WOR)
Standard (no
resistance)
100
25000 p/r
Linear scale
Inductosyn
ORT
50 (mm)
20
. .
20
to
RNG
Position detector
0AER25K-1X-3-8-108
51
to
18000 (100 ms)
external regenerative
4680
External regenerative resistance present
3010
The same value must be input for the axis parameters in

the same amplifier.
21
OLT
22
0LL
This sets the detection time constant of the motor over

load detectors (0L1, WOL)
60 sec. is the standard setting. (Setting: 600)
to
18000 (100 ms)
This sets the detection level of the motor overload
to
500 (2)
.
standard setting.
detectors (0L1, UOL)
1501 is the
1-81
Description
Item
23
0D1
Setting range
This sets the range for excessive errors during servo

ON. The maximum deviation froa the ideal droop (when
the load is small for the command) is used for the
setting. Ideally, there should be no deviation but,
in reality, errors in the ideal droop calculation and
the effects of the load together result in deviation.
Set it to over 20Z of the max. droop during trapid
traverse, as a guideline for setting.
>
*// /
0D1
///
k -rrr:
/
A
Setting
Ideal
droop
An excessive error alarm will result unless the droop

is within the shaded area above.
Example: Rapid traverse

13 m/min
33
Position loop gain
Interpolation unit
0.5fi
In the above case, 0D1 is set using the for
mula below.
IS Y i Q6
3030
3100
x 0.2
60 x 33 x 0.5
33
Position loop gain
Interpolation unit
0.3M
The 0D1 settings for the above case based on
the rapid
below.
Rapid
traverse rate are
traverse
Setting
1 m/min
300
2 m/min
500
3 m/min
700
A m/min
900
5 m/min
1100
6 m/min
1300
8 m/min
1700
10 m/min
2100
12 m/min
2500
15 m/min
3100
16 m/min
3300
18 m/min
3700
20 m/min
A100
2A m/min
A900
1-82
shown in the table
(unit)
1 to 32767
(interpolation unit)
24
ZRZ
25
MTY
Description
Item
I
0 to 32767
This sets the in-position judgement value.

The servo parameter is not changed except during in
position.
Units of 100 are the normal guideline for setting.
This
sets
Hexadecimal setting
the model names of the motor and detector.
ENT
PEN
PEN: This is
set
MTT
for the position detector as indi
cated below.
ENT: This is
set
for the velocity detector
(mounted on the no-load side of the motor) as

indicated below.
With a semi-closed system:
PEN
ENT
PEN/ENT
Detector
5000 p/r encoder
0SE5K-6-8-108,
0SE5X-ET-3-9 52-0
5000 p/r encoder + resolver IX

OAER5K-1X-3-8-108,
0AER5K- 1X-ET-3-9 .52
Linear scale (inductosyn + A/D conver

ter, optical scale magnescale)
When HA053/HA13 is used
MTT: This is set for the

Motor type
HA053
HA13
HA23
HA33
40
43
80
83
100
26
0D2
motor type
as below.
MTT
8C
8D
8E
8?
0
80
1
81
This sets the range of excessive error during servo

OFT. The setting is made in accordance with 0D1.
If 0 is set, excessive errors will not be detected.
1-83
0 to 32767
Item
27
SSF
Description
Setting range
This selects the special servo function.
Eexadecimal setting
FEDCBA9876543210
I VBS joDul ODI
CNG PGR DIR IND
DPC
IDF IDC PID
-I
[
PID
: Velocity loop delay compensation

(Normally set to 0)
0: No operation
1: Operation
IDC
the response
improvement when the above PID setting is
conducted for a closed loop.
: Setting is made to
IDF
IDF
IDC
PID
Semi-closed standard
Closed loop standard
Closed loop response
improvement
IND
: Setting is made when the inductosyn and
converter
are used.
A/D
DIR
Zero point return + direc

tion when inductosyn + A/D
converter are used
Zero point return

direc
tion when inductosyn + A/D
converter are used
PGR
DIR
IND
PCI, PC2 setting range expansion function

(Available starting with B1 version)
Os Invalid
Is Valid
position loop gain PGN as an integer,

the values of PCI and PC2 on page 12 can
be set up to 4-fold. In this case, PGN
can be changed only after the NC power
has been switched on.) (Note 1)
(With
CNG
Compensation with closed loop stop

0: Invalid
Is Valid
for microscopic jitter
within 1 or 0.1 micron in the stop status
when a 1 or 0.1 micron scale is used.)
(This compensates
ODI 0D1, 0D2 parameter regular change

0: Invalid
Is Valid
(This is used for special NC applications such
as stopping the machine by holding it. When
valid, 0D1 and 0D2 parameters can be changed
even if the NC power is not set OFF.)
1-84
(unit)
Settling range (unit)
Description
Item
QDU 0D1, 0D2 parameter xlO function

0: Invalid
Is Valid
(This is used when the value of 0D1 and 0D2
exceeds 32700. When valid, the value pro
duced by multiplying the 0D1 and 0D2 sett
ing by 10 falls under the actual excessive
error range )
VBS Software blind zone compensation

0: Invalid
Is Valid
(The compensation amount is based on SP3.
Normally, the RP202/203 card setting (O TCE)
is removed for use. When valid, bear in
mind that PID, IDC and IDF cannot be used.
29
SP2
This is set when the VG1 variable function is used.

When it is not used, be sure to set it to 0.
When it is used, the speed of the motor which starts
to select the speed loop gain is set in 0.1 rpm units.
vci
VC2
SP2
Rated speed x 1.2
Speed
30
SP3
This sets the

sation.
amount
of software blind zone compen
It is valid when VBS (bit 15) of SS? has been

and it is normally set as 30 when valid.
Set it to 0 when it is not used.
1-85
set,
-32768
to
32767
Description
Item
Setting range
31
SPA
Not used
32
SP5
Unbalanced torque compensation

This is used when SMC (bit 14) of STY or PID (bit 0)
of SSF has been set. Proceed to check the maximum
setting if the current load is positive and the mini
mum value if it is negative after feeding in the +
and
directions using manual pulses with about a
dozen pulses at a time, while observing the current
load (2) of the servo monitor on the I/P diagnosis
screen. Set the average of the + and - direction
values into SP5. Sat a negative value by first
setting it to an absolute value and then subtracting
it from 65537. (Available starting with BO version)
Example :
When the current load applying with feed is 502
direction and -102 in the
in the
direction
20
50-10/2
Therefore, 20 is
set
into SP5.
When the current load applying with feed is -302

in the + direction and -102 in the
direction
-30-10/2
-20
This is a negative value. Therefore, 65537

65517, and 65517 is set into SP5.
1-86
|-2DJ
(unit)
Note 1.
Restrictions placed on PCI and PC2

Settings 1 through 30 are used as a rule for PCI and PC2 and if the following restrictions are
satisfied, other settings can also be made.
1. With a semi-closed system

(1) PCI s 2730 / (PIT x RHG)
(2) PC2 s 32767 / (RNG x U)
Where U is the interpolation unit
2. With a closed system (including ball screw end)
(1) PCI s 2730 / (PIT x RNG)
(2) PC2 s 8190 / PGN
U: interpolation unit
The value of PIT, which is obtained by reducing PIT and RNG, is substituted in the above formula.
The value entered for RNG is the value applying before the reduction.
33, the value of PIT1
0.5 and PGN
10, RNG
20, U
Example: In a fully closed system with PIT
obtained by reducing PIT is equal to 1
(1
(1) PCI
20)
273
x
*2370/1
(2) PC2 s 32767/ (20 x 0.5)
3276
(3) PC2 s 8190/33
248
Therefore, PCI < 273, PC2 < 248
3. The restrictions change when SSP bit A
|PGR |
is made valid.
1) With a semi-closed system:

(1) PCI s 10920/ (PIT x PNG)
(2) PC2 s 32767/ (RNG x U)
2) With a closed system:

(1) PCI s 10920/ (PIT x PNG)
(2) PC2 s 32760/PGN
Note 2.
Interpolation unit (U)

This is the NC internal unit.
(input unit)
Command (input) unit
10 M/5 M
1 M/0 *5 M
0.1 M/0.05 M
Note 3.
It is one of the values below, depending on the command unit
Interpolation unit(V)
5
0.5
0.05
Parameters 3 through 16 are valid immediately if their settings are changed; the settings should
be changed during emergency stop.
Parameters 1, 2 and 17 through 32 are not valid unless the power is switched off once.
1-87
Note 4.
Setting examples for PCI, PC2 and PIT
Description
Item
1
2
PCI
PC2
(1) When detector is on motor no-load side
With ball screw

The
gear ratio between
the motor and machine sides is reduced and set.
Example: Deceleration ratio of 18/30 is reduced and 3/5 is
30
set.
-VvVW\/-
|-
18
cl:
P C 2
With rotary axis
The
gear ratio between
: 5
the motor and machine sides is reduced and set.
Example: When rotary angle is 360.
1 .57rev
240
i
cl:l
P c 2 : 240
(PIT: 360)
(2)
When detector is on machine side (including ball screw end)
ball screw
With
Same as with linear
30
scale (1)
-VMW-
MZH
18
PCI
PC2
: 3
: 5
In the case of a rotary type, the gear ratio from the

detector is set.
30
motor to
/WWW-2
I18
: 3
PC2 : 5
PCI
Exception: With a special gear conf iguration
40
H-
10mm
*WWW
-J
16
8 mm
20
PS
A/WWV
H*
24
20_3
20
16~4
PC 1
: 3
PC 2
P ITI8
1-88
the
Item
Description
With rotary axis
The
gear ratio from
PCI, PC2
coat.
the motor to detector is
Example :
set.
177/??77m
240
\Z
<1I
PC l
: 1
PC 2
: 240
(PIT: 360)
Exception: With a special gear configuration
37 rev
120
v;
fO
i
HZ
:l
PC 2 : 2
p i T : 3
p
18
PIT
Set as shown here.
(1) With ball screw
When detector is on motor no-load side

The
ball screw pitch is set as is.
Example:
1-VWW
CH
Ball screw pitch (lead): 10 mm
P I T
: 10
Detector: machine side

Setting is made to the detector equivalent ball screw pitch.
Example:
E-J-VMr
cCH
10mm
p i T
: io

i
10mm
Oi
/VWV- 30
is
p i T
:6
1-89
fra
10x = 6
Description
Item
PIT
cont.
When detector is on machine

The
ball screw pitch is set
side (linear scale)

as is.
Linear scale and inductosyn
J-Vv*M10mm
id-:
P ! T
(2)
: 10
With a rotary axis
When detector is
The
rotary angle
on motor no-load side

of a single rotation at the machine side is set.
This is normally set as 360.
120
4<>
P I T ! 360
When detector is on machine side (rotary Inductosyn, etc.)
rotary angle of a single
at the machine side is set.
The
120
rotation
\Z
'<3-
1
P ! T 1 360
3*/rsv
120 V,
1
HZ1
p
p
ci:i
c2:2.
p i T
1-90
:3
Noes 5 i Examples of settings by units end detectors
Amplifier model
E-01
E-31
Velocity detector
0SE5K
0SE5K
0SE5K-ET
Position detector
(bell
end)
screw
Linear scale
(in)
17. STY
xxOO
0AER3K- 1X
Inductosyn
A/C con
Rotary Inductosyn
verter
A/D converter
1 /2000
1/2000
Servo
para
Z-33
360P
Linear scale
0SE5K
0AER3K- 1X-ET
(O.ln)
xx14
xxl4
xx 1 4
xx54
XX 5 4
xxl4
xx34
xxl4
xx 5 4
PIT
PIT
360
PIT x 10
xx85
xx54
xx 9 4
xxD4
meter
19. RNG
20
20
20
20
23. MTT
11xx
1lxx
41XX
A lxx
A lxx
A lxx
99 xx
9lxx
27. SSP
0000
0000
0000
0100(f)
0300(- )
0100(f)
0300(- )
0000
0000
0000
M
I
VO
PIT
Others
360
Example with 1/90
gear ratio
PCI
1
PC2
90
--
Zero
point
return
vl
001
0D2 x 10
ZR2
ro
3
>
t
\
4. gras pc
20, 10, 3,
4, 2, 1
20, 10, 3,
4, 2, 1
Note)
2, 1
2, 1
Note)
20
20
para
meter
Note i Any value may be used if the quotient produced by dividing (number of output pulses of phase A from phase Z to phase Z) x 4/1000 by an integer is a value
which represents an Integer| in the case of a scale with only 1 pulse for the Z phase, any value may be used if it is an Integer.
(./)
co
B
<
O
>T)
M
1
M
50
Standard parameter setting list by MR-S2 motor

Motor HA053
HA 13
HA32
HA23
EA40
HA A 3
HA80
HA83
HA100
33.00
Remarks
Parameter
1
PCI
PC2
PGN
33.00
33.00
33.00
33.00
33.00
33.00
33.00
33.00
LGN
VG1
70
70
100
100
150
150
150
150
150
VG2
VIL
10000
10000
10000
10000
10000
10000
10000
10000
10000
VIA
682
682
682
682
682
682
682
682
682
IQA
1024
1024
2048
2048
2048
1024
2048
1024
1024
10
IDA
1024
1024
2048
2048
2048
2048
2048
2048
2048
11
IQG
256
256
224
224
512
256
512
256
256
12
IDG
256
256
224
224
512
512
512
512
512
13
ILP
1230
1230
1230
1230
1230
1230
1230
1230
1230
14
ILN
-1230
-1230
-1230
-1230
-1230
-1230
-1230
-1230
-1230
15
77C
16
TGN
4680
4680
4680
4680
4680
4680
4680
4680
4680
17
STY
18
PIT
19
RUG
20
ORT
Set 3010 when the

optional regenera
tive resistance is
used.
21
OLT
600
600
600
600
600
600
600
600
600
22
OLL
150
150
150
150
150
150
150
150
150
23
OD1
24
ZRZ
100
100
100
100
100
100
100
100
100
25
MTY
XX8C
XX8D
XX8E
XX8?
XXOO
mo
XX01
mi
XX02
26
OD2
27
SSF
28
SP1
29
SP2
30
SP3
31
SP4
32
SP5
The machine specifications should be referred to for the settings in the blank columns.
(Indicated by "$ " in the remarks column.)
It should be borne in mind that mistakes can easily be made for the settings in the "XX" areas.
1-92
8. ABSOLUTE POSITION SYSTEM
8.1 PARAMETERS FOR CONFIGURATING


(T20/T30 system and M300 series)
8.1 PARAMETERS FOR CONFIGURATING ABSOLUTE POSITION
SYSTEM
(1)
Absolute position function valid parameter.

[NC basic specifications] Axes
M3
abson 1
T20/T30
None
(2) Zero point return parameter
M3
grspc
20
T20/T30
AU
0 OR 20
(3) Absolute position
detection system parameter: [Servo parameter]
i) Motor end detection
M3
#17
T20/T30
#17
STY
85H
133D
ii) Ball screw end detection
M3
#17
T20/T30
#17
STY
84H
132D
(4) Absolute position detector parameter: [Servo parameter]
i) Motor end detection
M3
#25
T20/T30
#25
MTY
9900H
39168D
ii) Ball screw end detection
M3
#25
T20/T30
#25
MTY
9100H
37120D
1-93
8.2 PARAMETERS FOR DOG-TYPE ZERO

POINT RETURN
8.2
PARAMETERS FOR DOG-TYPE ZERO POINT RETURN

Zero point shift
/A
Dog
7Y
4* A
Absolute
Machine
2ero point
value ,
reference
point
Absolute position reference
A
Grid interval
Movement of encoder
rotation
value settings
Read switch counter

value N
Data backed up by NC
system
(fixed values)
Resolver zero point

position IX
Note: 1. Unless dog-type zero point return is performed, the reference

values applying for the previous dog-type zero point return are
retained as the above N and IX reference absolute values.
2. The N and IX data are displayed on the servo monitor screen for
the M3 system and on the interface diagnosis screen for the
T20/T30
8.3
system.
CHECK PROCEDURE FOR ABSOLUTE POSITION DATA
(1) Set
the zero point shift to zero.
(The machine stops above the absolute

value reference point.)
Note: When dog-type zero point return is performed, the N and IX values
backed up by the NC system are also reset.
(2) Conduct high-speed zero point return.
(3) On the diagnosis screen, check whether the current reed switch value ni and
IX data are the same as the N and IX reference values.

(4) As the check for the grid, check on the diagnosis screen whether the value
on the cyclic counter is near 0 or 20,000.
1-94

8.4 WHEN THERE IS SOMETHING WRONG
WITH THE ABSOLUTE POSITION
COORDINATE SYSTEM
8.4 WHEN THERE IS SOMETHING WRONG WITH THE ABSOLUTE

POSITION COORDINATE SYSTEM
(1) Check the present N and IX reference values.
(2) Conduct dog-type zero point return. (Alarm release)
(3) Check the N and IX reference values applying with the present dog- type zero
point return.
CHECKING THE ABSOLUTE POSITION DATA
8.5
(THE ADDRESSES MAY DIFFER ACCORDING TO THE ROM VERSION)
M3
(1)
Servo monitor screen

Standard values N, IX
(displayed for all axes)
Interface diagnosis screen

The address are set on the I/F diagnosis
screen.
(2) Servo data window

i) Addressing
1st axis
2nd axis
3rd axis
:
ii) Data
(A10008 )
(A10009 )
(A10108)
(A10109 )
(A10208)
(A10209 )
(address
(address
(address
(address
(address
H)
L)
H)
L)
H)
(address L)
(B)
(B)
(B)
(B)
(B)
(B)
The absolute value data below appears on the I/F

diagnosis screen.
2nd axis A10108
1st axis A10008

9
Data 1
Data 1
Data 2
Data 2
Data 3
Data 3
Data 4
Data 4
(3) Servo window addresses
Address H
Address L
L/M/S axis
L/M/S axis
8E/8F/8F
8E/8F/8F
8E/8F/8F
CB/4B/CB
95/15/95
C0/40/C0
Present reed switch value ni

Present resolver value lXi
Cyclic counter value
T20/T30
(1) Standard
1st axis
2nd axis
values N, IX
N : 1CB102
3
IX: 1CB104
5
N : 1CB112
3
IX: 1CB114
5
1-95
Diagnosis screen
(Data
(Data
(Data
(Data
(Data
(Data
(Data
(Data
L)
H)
L)
H)
L)
H)
L)
H)
Data
H/L
Data 3,4
Data 3,4
Data 3,4


COORDINATE SYSTEM
Diagnosis screen
The addresses are set on the diagnosis screen.
03
INPUT (addressing valid)
The absolute value data below appears on the diagnosis
screen

1) Addressing
181FF2
1st axis
181F00
F01
(address L)
(address H)
2nd axis
181F10
Fll
2) Data
(address L)
(address H)
1st axis
2nd axis
181F02
Data 1
181F12
Data 1
03
Data 2
13
Data 2
04
Data 3
14
Data 3
05
Data 4
15
Data 4

Present resolver value 1 Xi
M310
Address H
Address L
L/M/S axis
L/M/S axis
8E/8F/8F
8E/8F/8F
8E/8F/8F
CB/4B/CB
95/15/95
C0/40/C0
values N, IX
(Displayed for all axes)
Data L/H
Data 1,2
Data 1,2
Data 1,2
(1) Reference
Servo monitor screen

1) Addressing
1st axis (9689)
(9688)
2nd axis (9989)
(9988)
3rd axis (9C89)
(9C88)
:
(9F89)
:
( 9F88 )
:
Interface diagnosis screen

(address
(address
(address
(address
(address
(address
L)
H)
L)
H)
L)
H)
:
:
Address
(B)
(B)
(B)
(B)
(B)
(B)
950C
proceeds ;
9B0C
when it
is set
to 0,
2) Data
2nd axis 9988

9
Data 1
Data 1
Data 2
Data 2
Data 3
Data 3
Data 4
Data 4
1-96
to "1",
monitoring
980C
9E0C
1st axis 9688

9
When bit
7 is set
it is
suspended.


COORDINATE SYSTEM

Present resolver value lXi
Address H
Address L
L/M/S axis
L/M/S axis
8E/8F/8F
8E/8F/8F
8E/8F/8F
CB/4B/CB
95/15/95
C0/40/C0
Window function for MR-S amplifier in M310L/M

(1)
(2)
Data
L/H
Data 1,2
Data 1,2
Data 1,2
system
The amplifier addresses are set in the window address (W)

The window monitor start bit is set when monitoring the data of the
addresses set in (1).
When this is done, the amplifier data are sampled and monitored in 3.5
ms cycles in the window data.
Monitoring is cancelled when the monitor start bit is reset (to zero).
Address
Axis 1
Address for
setting
Window monitor
950C
980C
980C
9E0C
9688
9988
9C88
9F88
968A
998A
9C8A
9F8A
start
Window address
Address for
monitoring
data
8.6
ABSOLUTE POSITION DETECTION ALARMS
The following errors relating to absolute position detection are indicated.

No.
Abbreviation
25
BA
Battery
malfunction
E5
WAB
Description
Name
Voltage drop in battery used to back up

absolute position detector circuit on
RF332/RF333 card.
Replace or recharge battery.
Absolute position data may be lost.
Absolute posi Incorrect encoder/resolver error of

tion detection reference 1 x value backed up by NC sys
20 < 1 x < 340 or 365 < x 1 or
tem.
error warning
I ERE I > 50.
Absolute position data may be lost.
1-97
II. MAINTENANCE MANUAL FOR MELDAS

MR-S3 SERIES OF AC SERVO AMPLIFIERS
(3-axis integrated AC servo amplifiers)
SERVO SYSTEM
1.1 FEATURES OF THE S3 SERIES
SERVO SYSTEM
1. OUTLINE OF S3 SERIES AC SERVO SYSTEM

1.1 FEATURES OF THE S3 SERIES SERVO SYSTEM
(1)
The MELDAS MR-S3 series is a

amplifiers
It includes a total of 4 models
varying capacities (1.0 kW to
configure systems with compact
line-up of 3-axis integrated AC servo

which enable combinations of motors with
2.0 kW) and which make it possible to
dimensions.
(2)
This system can be connected to the NC of the MELDAS M300 series.
(3)
Serialized for AC servo.
The AC servo motor HA series, featuring outstanding response and ease of

maintenance, is used; it provides a wide range of output.
(4)
Outstanding response and reliability with digital control

Control by means of volume control with analog circuit previously
employed, have been completely replaced with TG race and digital control-realizing superb response repeatability and reliability (standard
specification)
(5)
The use of electronic gear.

The employment of the electronic gear has reduced the number of different
types of detectors, which had been previously used. The indexing angles
of the motor can be commanded by the software thus simplifying the
procedure for designating specifications.
(6)
Compact converter and reduction of number of cables.

Compactness has been achieved by placing the converter (rectifier unit
and condenser unit), used in the AC input circuit, in the amplifier
container, while reducing the number of cables required.
(7)
Enhancement of reliability by reducing the number of parts (number

reduced by one-half over previous model).
By digitalizing operation, the level of the systems integration has been
raised, while the number of parts have been reduced and reliability
increased.
(8)
Systems intelligence has been enhanced.

The servo side and the host (NC) is linked by a data path, thus, the
reception of control parameters and transfer of self-diagnostics are
possible.
The system is designed to be amenable to auto-tuning in the future; it
will be able to adapt to control requirements under software command.
(9)
Optional system for detecting absolute value.

An absolute value detection system, by which there is no need for return
to zero point, when power is turned on, is optional.
Note: For any particulars not mentioned, reference should be to the
Specifications Manual (BNP-B3501) covering the MR-S3 series of AC
servo amplifiers.
n-i
fo
System structural
Conrnund
System
System performance
drawing
Ikiit format
Servo
amplifier
model
Cable name
Unit model
Aopllflcr - ball screw
Motor
Machine end Ampl If ierOpt ion
shaft end /ball screw
shaft end end detector machine
card
detector end detector detector cable end detector cable
O
4
 7 . 5m-
"Tl
L < 7 5m-
(0SE5K)
cn
CO
N541C582
V)
X)
33
T.)
TV
C
ahll
I-
T3
:*
r.
uo
O-H
MU
u
r.
a
f-i
-t
v
w
o
u
U
Mi 4.IMMI
i
OH
T3
o
XI
IbIM
to
u.
X,
>
o
'<u
m*
ts
i=r
* Maximum follow-up performance:

Minimum resolution
: 0.018 o/p
(Ball screw end)
: 3000 rpm
Maximum speed
(Ball screw end)
motor being used. _
Maximum follow-up
Minimum
NO*
Maximum
uu
MK-S3-
0SE5KN-ET
0SE5K- r~i-3-
RF-313
6-12108
9.52
(0SL5K)
Connector
direction
1 Mpps
: 1pm or
speed
0.5pm
: 3000 rpm
CN2KO
CN31NRO
0SE5KMR-S3-
a-E3i
RF-313
6-12108
(0KE5K)
System performance depends on the

motor and scale being used.
(/>
Various
scales of
pul6e F/B
outputs of
1 M and
0.5p spe
cif lcatlon
can be
<
o
CN2KO
CN31MO
t.
O
x>
ikill
TJ
4>
<
o
Iini
1
g
TJ
Maximum follow-up
in
performance:
1 Mpps
: 0.018 o/p
(Motor shaft end)
: 3000 rpm
Maximum speed
Minimum
resolution
0AER5K
MR-S3-
CN33KO
i
.4
:
G
V- O
'
<
0
o
XI
U-.4
o
r-4 V
m m
4J
MII MI
1:
o
n
o
1
H
ML 4.IHIM
(Ball screw end)

ixlmum speed depends on the
motor being used.
The
CO O
wr;cj
wwnr
HHMH
2:
a SM
30
LO
CO
o
co
CO
co
Maximum
follow-up performance:
resolution
Minimum
: 0.018 o/p
*
(Ball screw end)
: 3000 rpm
* Maximum speed
KHWH
CO
(QAER5K
-ix)
TJ
fj
to
CO
-1X-3RF-333 -8-108

being used.
cx
I-*
motor
u
O
</)
<
in
connected.
o.
o
m
(/>
33
performance:
resolution
(/)
CN2KO
performance:
1 Mpps
: 0.018 o/p
Minimum resolution
(Motor shaft end)
: 3000 rpms
Maximum speed
motor being used.
Standard type
i-
Remarks
0AER5K-1X
MR-S3-
RF-333
0SE5K-
ETa3
6-12108
9.52-0
(0SE5K)
Connector
direction
CO
CO
!*J
CN2KO
CN33RO
CO
Pd
<
>
O
CO
CO
M
90
O
1. OUTLINE OF S3 SERIES AC SERVO

SYSTEM
1.3 BLOCK DIAGRAM OF MR- S3 SERVO
SYSTEM FUNCTIONS
1.3
HC
Servo monitor
data
Position commands
MR- S3 servo
I
Sequence
control
L-axis
position
control
M-axis
position
control
L-axis
speed
M-axis
speed
control
1
S-axis
position
control
'
Alarm
processing
control
S-axis
speed
control
i
a
S
c
-2
tM
JJ
'
L-axis
LED
current
display
S-axis
03
03
current
current
control
control
M-axis
control
CQ
Main circuit
Optional
regenerative
resistance
i_
I
I
I
. - I
K7
L-axis
M-axis
S-axis
motor
motor
motor
Detector
Detector
n-3
Detector
2.1 INSTRUMENTS AND TOOLS FOR

MAINTENANCE
2.1
Refer to the MR-S2 Maintenance Manual.
2.2
The data in the absolute position detection system are retained by a battery
which is mounted on the RF333 card.
For details on the replacement method, refer to the MR-S2 Maintenance Manual.

PROCEDURE
3.2 INPUT POWER SUPPLY
n-4

PROCEDURE
3.3 MAIN CIRCUIT WIRING
3.3
MAIN CIRCUIT WIRING
3.3.1 EXTERNALLY CONNECTED TERMINALS (MR-S2TEZ
TE2
- DTYPE)
board for mounting

regenerative resistance unit)
( terminal
TE2
i : J
D
MR-S3
TEl (terminal board for input power
TEl
supply and
motor connections)
TEl
ooooooooooooo
ooooooooooooo
UPPER
SIDE
I LU I IV I LW I MU | MV | MW|
LOWER
B
R
S
SIDE -1
T LG 1 LG 2
SU |
MCI MG2
Nota 1:
any connection be made to the
top terminals from the name
plate.
sv I SW
SCI
SC2
s , 7 , ,_, ._c
J <3,1 <3,1 )J 0.1 J Q.1 <3,1 J SjJ <3.1 .l
, , , .
- These
-*
are the connection
terminals.
Terminals 0 through C correspond to the upper side

(LU to SW) while terminals 10 through 1C correspond
to the lower side (B to SG2).
Nameplate

any connection be made to the
screws on this side.
<1
/
7
RT203 crd
iLo
w><
7
Sty
&
5/
A*
&
5*
n-5

PROCEDURE
3.3.2 TERMINAL BOARD CONNECTIONS

Terminal
board
Terminal
board No.
Terminal
position
Terminal
Details of connection
name
No connection
No connection
No connection
No connection
LU
Upper
Connect the phase U terminal of the L axis
motor.
LV
Connect the phase V terminal of the L axis
motor.
LW
Connect the phase W terminal of the L axis motor.
side
TE1
MU
Connect the phase U terminal of the M axis
motor.
MV
Connect the phase V terminal of the M axis
motor.
MW
Connect the phase W terminal of the M axis
motor.
su
Connect the phase U terminal of the S axis
motor.
SV
Connect the phase V terminal of the S axis
motor.
su
Connect the phase W terminal of the S axis motor.
No connection
10
11
12
13
14
15
16
Lower
side
When making the EMR connection ( external emergency stop ) ,

remove the short bar from the R terminal.
Connect the 3-phase AC 200/Z20V power supply.
LG1
motor.
LG2
Connect the thermal relay terminal 2 of the S axis
motor.
17
No connection
18
MG1
motor.
19
MG2
motor.
1A
TE2
IB
SGI
1C
SG2
P
E
When using the regenerative unit, remove the short bar

between terminals D and P and connect the regenerative unit
terminals between terminals C and P.
Connect the chassis ground and motor ground.
Note: The connections differ slightly for the MR-S2S-QO type and so reference should be made to the MR-S2
Specifications Manual.
n-6
PROCEDURE
3.3.3 CONNECTION DIAGRAM

U
cn
C3

B OWw
>
T*
o o
00
W
SM
K
0 0
vi
**
a
c
c
c
T1
H
w w ce
r
t
o >
o o
LJ U.
&
to
o o-
oc
o o
Li
e->
32
o o
zz
=
w
j2
M
S
"
<j
G
rr>
C/1
jOv-
l
X
P</
-O0
f-
"
%->
go 0
-5
Sa.
C 00
g|>o
z a
0
00
c
-wx
w w
o oo
c c
-r4 O
jj
1
a
fl.
7)
00
f-
3*0
-i5 = < =ou:*-
is P
13
3
IS
X
0 0
C
X o
>
iu
z

X X
c-6
_o
\\
n-7
o < a L> u
o < as o w '*-
t>
is
s
]

PROCEDURE
Notes :
class of servo amplifier is used.

There is no need for a power
transformer provided that the power supply specifications are satisfied.
A step-down insulating transformer should be used with a class 400V servo
amplifier or above. A transformer is not provided in the main circuit area
and so this area must be grounded. The above figure does not show the power
transformer provided for export specifications.
( 1) A 200V
(2) Any phase sequence may be adopted for the R, S and T power terminals on the
servo amplifier. However, when connecting a multiple number of amplifiers,

avoid connecting different signs together.
(3)
Precautions for connecting the servo amplifier terminals U, V, W.

a. The phase sequence relationship between the servo amplifier terminals
U, V and W and the motor pins A, B and C must be strictly adhered to.
An incorrect phase sequence can lead to motor vibration or rapid
rotation, and is dangerous.
It is not possible to make the motor run in reverse by changing the phase
sequence
b. Under no circumstances should the connections be made so that there is
a danger of power being supplied to the U, V and W output terminals of
Also avoid connections where there is a danger of the U, V and W output
terminals of the servo amplifier being grounded or connected to ground
in error. This may damage the servo amplifier.
c. Do not reverse the L axis (LU, LV, LW) and M axis (MU, MV, MW)
connections for the output terminals on the servo amplifier. Make sure
that the L axis motor capacity is equal to, or greater than, the M axis
motor capacity.
amplifier terminals B and R are connected by a short wire. This wire

should be removed for EMR (emergency stop) connection. When the EMR contact
opens, the servo operation will stop rapidly by the most reliable means.
(4) Servo
(5) Servo amplifier terminals D and P have been connected by a short bar.
This
bar should be removed and the connections made as shown in the figure when
a regenerative option is employed. (Refer to Section 3.4.)
The regenerative option will generate heat and so measures must be taken
with the surrounding area and connected wires to safeguard against fire.
(6) The Cannon plugs which are used will differ according to the motor. If the
motor has an electromagnetic brake, reference should be made to Section
5.2.2 for the connections diagram of the brake exciter circuit.

Reference should be made to Section 3.3.7 for the terminal box type of
motor.
(7) The cautionary notes in Sections 3.5 and 3.6 should be strictly adhered to.
Connecting the EMR contact to the servo amplifier terminal B gives a

2-system configuration with different emergency stop functions (alarm
codes 55 and E7).
A current of approximately 30mA flows to the EMR contact per axis under
200V and 60 Hz power supply conditions. Once emergency stop occurs, it
cannot be released unless resetting is performed at the NC unit even if
the EMR contact opens again.
n-s

PROCEDURE
3.3.4 CONNECTED MOTORS

The MR-S3 series breaks down by capacity into 4 types, and it should be borne
in mind that there are restrictions on each L axis and M axis governing on the
motors which can be used.
L axis
drive motor
Amplifier model name
HA33/23
HA40/43
HA80/83
MR-S3-33AA-
MR-S3-40AAMR-S2-80AAMR-S2-100BBMR-S2-100ABMR-S2-100AA-
(1)
M axis
drive
motor
HA100
HA33/23
HA40/43
HA80/83
HA80/83
HA80/83
HA100
HA100
HA33/23
HA40/43
HA80/83
HA80/83
HA100
HA100
HA100
S axis
drive motor
The L axis motor must not have a smaller capacity than the M axis motor.
Also, the M axis motor must not have a smaller capacity than the S axis
motor
is an amplifier which corresponds to the

For instance, the MR-S3-100ABHA100 motor for the L axis and since its suffix letter is "A", it means
that it corresponds to HA100 as for the L axis. The next suffix letter is
"B and so it corresponds to the HA80 which is one rank below from the L
axis
MR-S3-
-T
Suffix
A, B: Denotes capacity of S axis.

: Same capacity as L axis
A
3
;uffix
A, B: Denotes capacity of M axis.

s Same capacity as L axis
A
E
Number: Denotes capacity of L axis.

This corresponds to HA**
(2)
If the HA80 motor is mistakenly connected to the L axis and the HA100 motor
there is a danger
is connected to the S axis when using the MR-S3-100ABthat the HA80 mounted on the L axis will demagnetize when the motors are
A thorough check should be undertaken to prevent this from
driven.
happening
(3) LCN2 (semi-closed) is the feedback connector on the L axis motor, for the
M axis motor, it is MCN2 (semi-closed); and for the S axis motor it is
SCN2
3.3.5 CANNON PLUGS USED
3.3.6 CABLES USED

3.3.7 TERMINAL BOX MOTORS
For details, refer to the MR-S2 Maintenance Manual.
n-9

PROCEDURE
3.4
(1) When
using the MR-RB50 optional regenerative resistance.
Note 2)
MR-RB50 optional
regenerative
resistance
MR-RB50
Shorting bar
Note
1)
M4
oo
o66
c
Twist
these
wires
C D P
C D P
'p
G3
MR-S3
amplifier
MR-S3
amplifier
LG1 LG2
G4
Thermostat
LG1 LG2
Note 1)
HA motor
HA motor
Thermostat
Standard
type
Optional regenerative resistance type
n-io
PROCEDURE
(2) Checkpoints after switching on the power
The normal 7-segment display appears after the power has been switched on.
(This is located on the RF203 card.)
3-phase AC 200/ 220V power ON
NC power ON
i I )J
standby
NC power ON
nr
*oi
>_
-I
-c !
_
LLL
When an
alarm has
arisen.
Alarm code
appears
LTD
u
1 1_ | z<
u;
Initial data
communication
with NC
(instant display)
i<
>
i
I
(Selected
instantly)
Ready ON,
serve OF?
i- i L.
Ir
Ready OF?,
servo OFF
Ready ON
Tr
Outing emergency stop
zi
jil
i>-
Servo ON
Ready ON, servo ON
[did
d ~l
Normal operation
NC power OFF
o 1ioi
ri
Right-hand segment of
denotes
ibi BID
I
the axis number.
(Axis 1 is used as the
example in this case.)
NC power ON
n-n

PROCEDURE
3.5 PRECAUTIONS ON INSTALLING
THE SERVO AMPLIFIER
Note 1. With the standard type of amplifier, remove the short bar connected
to the D and P terminals, and connect the optional regenerative
resistance to the C and P terminals.
When the MR-RB30 is used,
connect the motor and the thermostat of the regenerative unit in
series
Note 2. Use three GZG200W390HMK optional regenerative resistance units for

each amplifier and use one MR-RB30 unit for each amplifier.
Note 3. Change the servo parameter No. 20 ORT (regenerative time constant).
Standard
Additional option
present
OR time constant
Note 4
4680
3010
The regenerative options generate heat.

If they are used very
frequently, they will heat up and thus should not installed on the
surface of an insufficiently strong wall. Sufficient clearances (at
least 70 mm) should be left with models for which two or more
resistances are used side by side.
Note 5. Use flame- resistant cables for the cables which connect the
regenerative options or make the cables flame-resistant. Reference
should be made to Section 1-14-3-3-6 for details on the thickness of
the cables.
3.5
3.6 PRECAUTIONS ON INSTALLATION OF SERVO MOTOR AND
DETECTOR
3.7 CHECKPOINTS FOR POWER ON AFTER INSTALLATION

(1) Before switching on the power
(2) Checkpoints when the power is switched off
n-12
4. TROUBLESHOOTING
4. TROUBLESHOOTING
The status of the amplifier is indicated on the 7-segment display in the
center of the amplifier.
The alarm code appears when an alarm has arisen.
MR-S amplifier status displays
Description
Display
AA
Status
INITIALIZE
Ab
INITIALIZE
AC
Ad
AE
INITIALIZE
INITIALIZE
INITIALIZE
Requesting to send parameters

Requesting to convert parameters
Standing by for main servo IT start
b#
C#
d#
READY OFF
Ready off
Servo off
Ft
F/
gowgrONandby (when NC power is turned

fiom ?g &aywe9cNSorisi8Frned
SERVO OFF
SERVO ON
E*
WARNING
**
ALARM
Servo on
Warning now generated

Alarm now generated
Watchdog alarm
S axis not being controlled (Note 1)
WATCH DOG ALM

NO CONTROL L
NO CONTROL M
NO CONTROL S
FA
Fb
FC
Note: When the AXES SELECTION switch at the top left of the RF203 card is set
to "F" while the amplifier power is off and then the servo amplifiers
power is switched on, total control will not be exercised over that
axis.
(There will be no communication between the NC system in the

initialized status and no alarm will be generated.)
In the case of the figure below, the L axis is the axis which is not
controlled.
(Example)
AXES SELECTION
<$*
V
00
vl_
*
**
: Axis number
: Warning number
: Alarm number (Refer to the section on servo alarms and warnings)
(in the MR-S2 Maintenance Manual.)
n-13
4. TROUBLESHOOTING
4.2 TROUBLESHOOTING
The display of the statuses starting with INITIALIZE is indicated in sequence

for each axis by the segments which repeatedly light up and go out. Examples
are given below.
Display which appears when the L axis is the 1st axis (X axis),
the M axis is the 3rd axis (Z axis), and the S axis functions as
the 2nd axis, and the servo ON status applies to all axes.
(Example 1)
cMTr
cf I
dI C
Display which appears while the emergency stop signal is being

input from the NC system with the above axis numbers.
(Example 2)
FFTl-n
c :<
*'!
E '1
c :<
Display which appears when the excessive error alarm (No. 52)
occurs in the M(Z) axis with the above axis numbers.
(The other axis malfunction alarm applies to the L(X) and S(Y)
(Example 3)
axes )
fSHSU
S b
i- i
-S b
(Example 4)
Display which appears when the AXES SELECTION switch is set to

"F* because the S axis is not used, when the L axis is made the
first (X) axis and the M-axis is made the second (Y) axis, when
the power is switched on and when the servo ON status is
established.
-fdTfl-f
:: .?
2EK
c *
Note: Refer to the MR-S3 Maintenance Manual for the alarm codes.
4.2 TROUBLESHOOTING
The troubleshooting procedures are common to the MR-S2.
Note: The card names for the MR-S3 are as follows:
RF203
Main card
RF23
Base amplifier card
Add-on cards
RF313
{ For closed loop
RF333
For absolute value detection
n-14

INSTALLATION /REMOVAL

5.1
5.1.1 CONTROL PRINTED CIRCUIT BOARD REMOVAL
Removing the add-on printed circuit boards
1) Switch off the power and disconnect the accessory

connectors.
Note: When the absolute value detection card Is In

position, do not disconnect the connectors.
Dog-type zero point return must be performed
when the connectors have been disconnected.
2) Remove the 5 screws which attach the printed circuit
boards.
3) Disconnect the connectors for each of the PCBs.
RF203 card
Add-on
card
\y
Cable
Removing the main card (RF203 )
2
1)
Switch off the power and disconnect the accessory
connectors.
2) Remove the screw on the left of CONI.
3) Remove the supports used to secure the
card and draw the card forward.

4) Remove the supports in the order
of 1, 2 and 3.
V]
RI203
card
CONI
C3
r
3
How
to
remove the base amplifier card (RJ23)
1) When the RF203 main card is removed, the RF23 card is visible underneath.
2) This card can also be removed by following the same procedure as for stage 2.
Note: If stage 3 is conducted without conducting stage 2, the RF203/23 cards can be
removed together.
n-is

5.1.2 CONTROL PRINTED CIRCUIT BOARD MOUNTING

I
Mounting the base amplifier card (RF23)

1)
Insert connectors COH2 through C0N5 on the

PCB along the connector guide at the main
circuitry side.
Push here.
2) After having inserted the connectors, look

through the check hole to check whether the
connectors below have been aligned properly.
Note: If the connector below is not aligned,
press down firmly on the top of the
connector on the PCB.
3) Check whether the 6 supports are firmly in
place.
Connectors
C0N2
C0N5
Check hole
Printed
circuit board
05
Guide
f
How
2
1)
2)
3)
4)
5)
6)
to mount
the main card (RF203)
Install the card so that CONI (reverse side of card) interlocks on the RF2 card.
After having installed the card, check that CONI is securely in place.
Tighten up the screw on the left of CONI.
Check that the 6 supports are firmly in place.
Attach the accessory connectors.
Check the settings when the card is replaced.
Mounting the add-on card (RF313/333)

1) Align the connectors of the add-on card with the connectors (Jl) on the RF202 card and
mount.
2) Tighten up the 4 mounting screws.
3) Mount the accessory connectors.

n-16

6.1 CARD FUNCTIONS

6.1 CARD FUNCTIONS
(1) RF203 (main card)
CN1A
DSP
From NC
system or
other axis
NC1B
To other
Program
axis or
cable end
Common
memory
memory
(termination
card)
LCN2
Data
memory
From
detector
Encoder
interface
MCN2
7-segment
display
CONI
To
RF313/
333
card
..
/
Alarm
SCN2
detection
1/2
Current
feedback
detection
1/2
To R?23
PHM axis
(L.M.S axis)
Alarm
detection
Control
power supply
n-i7
6.1 CARD FUNCTIONS
(2) RF23 (base
amplifier card)
Control
power
supply
CON4
To main circuit
-si
Base
amplifiers;
L axis,
M axis
CON 1
CON5
To R1
RF203 card
To main circuit
Regenerative
control
CON2
Alarm
detection
From main circuit
2/2
C023
Current
detection
2/2
From main circuit
Note) The RF23 and RF203 cards always function as a pair.

(3)
RF313/333
(add-on card)
LCN31/33
PI
From
RF203
Encoder
interface
From
detector
Resolver
interface
MCN31/33
X
Absolute
value
counter
Not provided on RF313 card
n-18
SCN31/33

PINS
6.2 HARDWARE SETTINGS AND CHECK PINS

6.2.1 HARDWARE SETTINGS
DQQ

ED
CB
PO M N
oo TM
0~5
t If 1 : ON
oo
setting
| C O 1 OFF setting
shown in the figure.
o o EXR
ATE
1TCE
2 TCE
3TCE
A S Y
-S
YN
R F 203
(R
Setting
Name
Standard
Function
ED
CB
MN
TM
EXP
ATE
1TCE
2TCE
3TCE
ASY-SYN
L
M
Emergency stop
Contactor block
Monitor mode
eration mode
rt sync selection
S axis
IT clock selection
Axis
tion
Axis
tion
Axis
tion
number selec
for L axis
number selec
for M axis
number selec
for S axis
Invalid
Invalid
Invalid
Normal mode
Synchronized
with MCP
Valid
Valid
Valid
Teat mode
Not synchronized
with MCP
Td compensation
L axis
Td compensation
L axis
Td compensation
Stand-alone
OFF
ON
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
ON
ON
Valid
Invalid
ON
ON
ON
ON
Valid
Invalid
ON
ON
Invalid
ON
ON
SYN
AST
Valid
SYN: MCP clock
AST: Internal clock
0-5: Axis selection number in normal

mode
: When corresponding axis is
being used
6-E: Axis selection error
n-19
0-5, F
Setting by
motor
not
0-5, F
0-5, F
capacity

PINS
No settings at all are required for this card.
n-20

PINS
Set ON.
(R S Y pm
rTJ
BACI
IB A c 2ET1
t k II
ON setting
[Q Q1
OFF setting
The standard settings are shown

in the figure.
RF333
1VR 12VR 1
]
[
1
3VR1
_[
Stand
ard
Setting
Function
Name
RSYD
Absolute value coun
ON
OFF
Invalid
Valid
ON
ter reset
BACI
Battery connection
Connected
Not
BAC2
Battery connection
Connected
Not
connected
1VR1
Resolver phase
adjustment for L
axis
OFF
OFF
connected
Must be ON
during use.
> (See Notes)
Do not touch
the controls
which were ad
justed before
the card was
shipped from
the manufac
turing plant.
2VR1 Resolver phase

adjustment for M
axis
3VR1
Remarks
Resolver phase
adjustment for S
axis
Observe the settings in the table even when the card is not being used.
Note: When the card is shipped, BACI and BAC2 are OFF.
Set them ON before switching on the power.
It should be borne in mind that if these ON settings are not made, the
absolute values will not be backed up by the batteries.

n-21

PINS
6.2.2 CHECK PINS AND WAVEFORMS

Make sure that the emergency stop status is established when the synchroscope
probe touches the check pins.
(1) RF203
1J5
J7
2J5
J6
3J5
Stud
(Shield ground for
installing add-on card)
Note:
Do not use this as the
check pin ground.
1J4
2J4
3J4
Stud
ground for
installing add-on
(Control
card)
n-22

PINS
Terminal
Signal
name
name
nJA-1
nJA-2
nJA-3
A
B
Z
Signal and waveform
Ground
terminal
Bottom
right stud
Encoder phase A
Encoder phase B
Encoder phase Z
n-1,2
1-L
1 (L axis encoder feedback signal)

2 (M axis encoder feedback signal)

Waveform examples:
2-M
3-S
--
axis
axis
axis
-4.5-5.5v
c
-0.5-0.5v
To
Z
1 encoder rotation
Motor speed (rpm)

0SE5K-6-8-108 (5000 p/r)
R
:
Encoder :
R x
&5000t,ecl
HT * hT
a, b, c, d
To
nJA-4
nJA-5
nJA-6
U
V
U
Bottom
right stud
to
3T
Encoder phase U
Encoder phase V
Encoder phase W
Waveform examples:
n-1,2
1-L
2-M
3-S
axis
axis
axis
-4.5 5.5v
U
f
1 encoder rotation
z
R
: Motor speed (rpm)
--$p i-jfop
n-23
- 0.50.5v

PINS
Terminal
Signal
name
name
nJ5-l
nJ5-2
nJ5-3
nJ5-4
nJ5-5
nJ5-6
UP
UN
VP
VN
WP
WN
Ground
terminal
Bottom
right stud
PWM
PWM
PWM
PWM
PWM
PWM
output
output
output
output
output
output
phase
phase
phase
phasp
phast*
phase
U,
U,
V,
",
w,
side
aide
aide
side
side
w, side
Waveform example:
n-1,2
1-L
2-M
Signal and waveform
P
N
P
N
P
N
During servo ON stop
axis
tw
axis
UP
tw
1U
IV
J6-8
2U
2V
3U
3V
EXT
AG
P15
N15
J7-5
J7-6
15C
AN
5G
J7-2
Motor
Current
HA23 , 33
HA40, 43
HA80 , 83
HA100
6.1 A/V
4.75
12.7 A/V
21.2 A/V
31.8 A/V
to
Acceleration Deceleration
Waveforms differ according to
load.
(Current values are given as
the respective peaks.)
5.25 V
Control ground
15V
-15V
J7-5
= 444 t* s
L axis motor phase U current

L axis motor phase V current
M axis motor phase U current
M axis motor phase V current
S axis motor phase U current
S axis motor phase V current
External analog input
Analog ground
P5
J7-1
J7-2
J7-3
J7-4
-0-1.5v
UN
J6-1
J6-2
J6-3
J6-4
J6-5
J6-6
J6-7
J6-8
-12-16%
14.25 to 15.75V
-14.25 to -15.75V
Control ground
Analog speed input terminal (used only when testing)
n-24

PINS
Check pins and waveforms

When connecting the synchroscope probe to the check pins, proceed during
emergency stop.
(2) RF23
FIN2
1UPE
oft
IV PE
oC*
OllPB
OIUNB
OIVPB
01VNB
OIWPB
SB
02UPB
2UPE
oft
2VPE
oft
2WPE
3UPE
Oft
3VPE
o-D+
2UNB
02V PB
O 2VNB
02WPB
5G P5
02WNB
F1
03UPB
3UNB
0 3V PB
03VNB
o P15
03WPB
3WPE
o-Of-
P24
o7115G
ilN15
3WNB
24G
O N
FIN2 is connected to the control ground (5G).
n-25

PINS
Terminal
Signal
name
name
P5
5G
P5
5G
Ground
terminal
Signal and waveform
4.75
5G
to
5.25V
Control ground
15G
15G
N15
P15
N15
P15
15G
15G
-15V
+15V
-14.25 to -15.75V
14.25 to 15.75V
P24
24G
P24
24G
24G
+24V
20
1UPB
1UPB
1UPE
1UNB
1UNB
1VPB
1VPB
1VPE
1VNB
1VNB
1WPB
1WPB
1WPE
1WNB
1WNB
2UPB
2UPB
2UPE
2UNB
2UNB
2VPB
2VPB
2VPE
2UNB
2VKB
2WPB
2WPB
2WPE
2WNB
2WNB
3UPB
3UPB
3UPB
3UNB
3UNB
3VPB
3VPB
3VPB
3VNB
3VNB
3WPB
3WPB
3WNB
3WHB
Control ground
3WPB
N
to
28V
L axis phase U P
amplifier output
L axis phase U M
amplifier output
L axis phase V P
amplifier output
L axis phase V N
amplifier output
L axis phase W P
amplifier output
L axis phase U N
amplifier output
M axis phase U P
amplifier output
M axis phase U N
amplifier output
M axis phase V P
amplifier output
M axis phase V N
amplifier output
M axis phase W P
amplifier output
M axis phase U N
amplifier output
S axis phase U P
amplifier output
S axis phase U N
amplifier output
S axis phase V P
amplifier output
S axis phase V N
amplifier output
S axis phase W P
amplifier output
S axis phase tf N
amplifier output
n-26
side base
side base
Waveform example:
With servo OH
stop
side base
side base
- 7 UV
side base
side base
side base
side base
-2
side base
side base
side base
side base
side base
side base
side base
side base
side base
slue base
B= 4 4 4 M s
6V

PINS
(3) RF313
1CP1
aa
2 CP I
3CP!
n-27

PINS
Terminal
Signal
name
name
nCP-1
nCP-2
nCP-3
n-1,2
1-L axis
2-M axis
A
B
Ground
terminal
Bottom
right stud
Signal and waveform
Encoder phase A
Encoder phase B
Encoder phase Z
Waveform examples:

B
T,i
: Motor speed (rpm)

R
Encoder : OSE5K-EK (5000 p/r)
R x
a, b, c, d
To
T to 3T
n-28
-4.5-5.ru
-0.5-O.5v

PINS
(4) RF333
CP 2
1 CP 1
1CP3
2 CP 1
2CP3
D
I D
n-29
3CP1
3CP3

PINS
Terminal
Signal
name
name
nCPl-1
aCPl-2
nCPl-3
n-1,2
1-L
2-M
Ground
terminal
Bottom
right stud
axis
axis
Signal and waveform
Encoder phase A
Encoder phase B
Encoder phase Z
Waveform examples:

-4.S-5.5v
A
-0.S-0.5v
Tn
z
: Motor speed (rpm)
R
Encoder : 0AER-SK-1X (5000 p/r)
R x
a, b, c, d
To
CP2-1
CP2-2
n-1,2
1-L
2-M
EX
15G
to
-T i -ijT
3T
Square wave for resolver excitation
CP2-2
Control ground
axis
axis
Waveform example:
EX
-3.5-5.5v
-0.5- 1 v
te
nCP3-l
n-1,2
1-L axis
2-M axis
PBL
CP3-3
Resolver FB level
Waveform example:
FBL
0v
te
te
nCP3-2
nCP3-3
nCP3-4
P15
15G
N15
CP3-3
= 222
+15V control power

Control ground
14.25
-15V control power
-14.25 to -15.75V
n-30
to
15.75V
16v,.
|.

There are 32 servo parameters and the method used for their display and
setting varies in accordance with the NC unit used.
Reference should
therefore be made to the Operating Instructions.
For details on the parameters, refer to the MR-S2 Maintenance Manual.

For details on the absolute position system, refer to the MR-S2 Maintenance
Manual .
11-31
APPENDIX
APPENDIX 1.
CABLE DIAGRAMS
APPENDIX 1.1
MR-S2-CE-E01
CABLE DIAGRAM
APPENDIX 1. CABLE DIAGRAMS

APPENDIX 1.1 MR-S2-DD-E01 CABLE DIAGRAM
<y
MR 52
EI3E01
RF202
MR S2
CARD
CN1B
CM A
LCN'2
HONDA
MR 20KFA
I UP
Up
gtf
MCN2
L
o ;Lol,Lv Low pMiH;I LC2
o
s J-r -i o
Optional regenerative
3M 3596 5002SC 50PM

A 3781 1050 (MCP)
'SIF
EZU E 0]
FFI
RF2n?
CARD
CN1B
LCN2
3$
MCN2
TEJ
M
MX
MGI
AMP Z2
CM A
TST
0
Jo
31
M3 10 NC
L HONDA MR 50RMA
3780 0050
AMP r i
See Section A. 1(9).
Of
SIF
r 3M 7650 6002SC 50PM

&
<>r
resistance unit.
*CABLE CLAMP MARKS -} (

3M 7650 6002SC 50PM
L 3780 0050
M320 M230
MCP
r-*
(<
"o''.
0
O
NF
.Pi
MR
f-6"b
.iJ
J.
r-j) CN2K1
LNCOHDER
OSF 5K
MOTOR 5 IL
MYJ
Part No.
II A
223 L
C5
'"Ef
Part name
Qty
AMP-AMP CABLE
K-l
CABLE END
AMP-ENC CABLE
Note (2)
Note (3)
CN2KN
(Omitted)
L-c3)
MCP -AMP or
SIP-AMP CABLE
0CN2KIN i:
ENCORDER MOTOR 1M
OSE 5K
HA E3 C
Note (1)
CN2K2
T2T
)(
)(
Standard
length
5 a
0.5 a
Max.
length
Reference
section No.
Remarks
Max.
length
3D m
Section 5.3
CAM11 or CAM21
CAM11
RF5A
5 m
50 a
Section 5.A.1
CN2K1-CN2KN
N: total number of axes; but N < 6 (N < A with M310 NC system)

K: Number of amplifiers
Example of total length for cables with Part No. (Y) and (2): Standard length with 3
6.0 m.
amplifiers is 1 x 5 + (2x0.5)
Make sure that the capacity of the L axis motor is equal to, or greater than, the capacity
of the M axis motor.
A-l

APPENDIX 1.2
MR-S2-CE3-E31 CABLE DIAGRAM
(Ball screw detection end)
APPENDIX 1.2
MR-S2-DD-E31 CABLE DIAGRAM

The diagram indicates a case where

the first amplifier is MR-S2-ODE-31
and the second amplifier is
MR-S2Q3E-01
n J|
<!
*CABIE CLAMP MARKS
MR S2
E3E01
&
3M 7650 6002SC 50PM

l 3780 0050
CARD
CNIB
resistance unit
AWh
3M 3596 5002SC 50PM

& 3781 1050 (MCP)
HONDA MR 50RMA (SIF)
EZZa H-0!
AMP s;
RF202
CARD
CM A
CN1B
MCN2
YfTET
HONDA
MR 20RFA
See Section 4.1(9).
3$
MCN3I
LCN 2
00
CARD
LCN31
M3 10 NC
;
MR S2
> TV>
or
CM A
RF312
3M:7650 6002SC 50PM

& 3780 0050
AMP S 1
RF202
-} (
M320 M330
MCP
!L . ,
<
LCN2
MCN2
TZJ
F)
0
o
NF
SPH
X
r
)(
)(
CN2K1
)(
CN2K
MOTOR 9 1 1
ENCORDER
OSE-5K
HAB23C
L3F3
M3102A20-29P
ENCORDER
OSF5K-ET
t
i
(Omitted: same connec

tions as with L axis)
-
I
CN2KCN 1)
CN2KN
(Omitted)
CN31 R2
BALL
SCREV
\\\\v
1
-
M3102A22-14P
CN31NR1
Part No.
1
2
3
4
Note (1)
Note (2)
Note (3)
Part name
Qty
Standard
length
Max.
length
Reference
section No.
Remarks
Item 5.3
CAM11
AMP-AMP CABLE
CABLE END
AMP-ENC CABLE
K-l
1
0.5 a
5 m
50 m
Item 5.4.1
CN2K1-CN2KN
AMP-ENC CABLE
5 m
50 m
Item 5.4.1
CN31NR1-CN31NRN
SIP-AMP CABLE
Max.
Le56
RF54
N: total number of axes; n: number of MR-S2-ULE31 axes, but N < 6, N<n (n

2 in this
figure) K: Number of amplifiers
Standard length with 3
Example of total length for cables with Part No. and
6.0 m.
amplifiers is 1 x 5 + (2 x 0.5)
A-2

APPENDIX 1.3
MR-S2-CD-E31 CABLE DIAGRAM
(Scale feedback, 1 micron)

the first amplifier is MR-S2-CEE31
and the third amplifier is MR-S2CDE01.
r( r
K
*CABLE CLAMP MARKS -} (

-i
p 3M 7650 6002SC 50PM

4 3780 0050
i
MRS 2 rrrtF ni
r- 3M 7650 6002SC 50PM

& 3780 0050
AMP #1
RF202
CARD
CNIA
CN1B
RF312
HONDA
_ .1
MCN2
& 3781 1050
(MCP)
(SIF)
E23 E-01
AMP S2
CARD
CNIA
CN1B
LCN2
LJ
> >
)(
MCN2
TJ
iff
NF
3PH
EMR
r~ 3M 3596 5002SC 50PM
RF202
>i
>
resistance unit
MCN31
LCN2
MR20RFA
M3 10 NC
CARD
LCS31
or
L HONDA MR SORMA
MR S2
(D
See Section 4.1(9).
M320. M33C
MCP
or
SIF
ttt
)(
)(
A
CN2K1
r
MOTOR #11
ENCORDER
HA ESC
OSE 5K
L-
EF
F_J
CN2K
k
\

CN2K IN 1)
CN2KN
(Omitted)
CN31 R2
1 micron scale
M3102A20 29P
laterfac* unit
( tad*
by scale Maufictartr) J
CN31
R1
Part No.
Note (2)
Note (3)
Qty
MCP -AMP or
SIP-AMP CABLE
K-l
AMP-AMP CABLE
CABLE END
AMP-ENC CABLE
AMP CABLE
Note (1)
Part name
Standard
length
5 m
Max.
length
Reference
section No.
30 m
with
total
Section 5.3
length
0.5 m
N
n
5 a
5 m
50 a
50 a
Section 5.4.1
Details available
separately
Remarks
CAM11 or CAM21
CAM11
RP54
CN2K1-CN2KN
CN311-CN312
1 in this
N: total number of axes; n: number of MR-S2-Ll_t31 axes, but N<6, N>n (n
_
figure) K: Number of amplifiers
and (2): Standard length with 3
Example of total length for cables with Part No.
(2 x 0.5)
6.0 m.
amplifiers is 1 x 5
is
motor
greater than the capacity of the M axis
Make sure that the capacity of the L axis
motor
A- 3

APPENDIX 1.4
MR-S2-ED-E31 CABLE DIAGRAM

The diagram indicates an example of
1-micron/pulse inductosyn scale
UCpM320.M330! * See Section 4.1(9) .
feedback MR-S2QHE31 for the amplifier
i or
and MR-S2CDE01 for the second amplifier H VSIF *M3l NC
a
.
3|f
*CABLE CLAMP MARKS
3M-7650-6002SC-50PM
A 3780-005C
:3M
i
EZ3E-01
MR -Si
AMP 5 1
RF312
ru
CARD
MCN31
j=JMCS2
: LCN31
'--A
CM
L
NF
3PH H*"*
EMR
LCN2
\J
o
ttt
)(
r 5 CS31M2
IPH
100V
t \
til
ICN31M1
LZJ
M
I
MCN2
TEJ
)(
CN2A
CN2B
CN2C
-CJ
CN40E>
Outside board
rZL.
CN5
FT]
SCALE
|urm
ItPAS
!MHt: .
1PAS1
51
|i
INDUCTCSYN
n
SRCN6A13-3S
Inside board
52
ENC
f
ENCOKDfcRI
IHAC3C;
OSE 5K
;
I
I
CM A CN3.A CMB CN3B CMC CN3C
II
El
A/D BOX (MHI-0.001/P;
CN2K1
CN2K2 &
MOTOR
<&
/
CARD
s:
CMB
(A' Sw
i
i
; LCN2
AMP
RF202
'T CNIA
r<
>i (>
CM 9
.S1F
MR-S2 CUE-1
!' <
CM A
I
- HONDA MR-50RMA
& 3780-0050
RF202
xM
HONDA
MR 20RFA
resistance unit
- 5002SC 30PM
- 3X1&35963781-1050
-765* -6002SC -50PM
(MCP;
SLDER
IMHI.
J3
--a.
52
SLIDER
52
MS3302A20-2SP-
SCALE
Part No.
Part name
MCP-AMP
CABLE
AMP-AM?
Q'ty
K-l
Standard
length
Max length Reference
CAM11
30 a with
total
length
CABLE END
AMP -ENC
CABLE
AMP-A/D
CABLE
5 a
5 a
Part name
50 a
15 a
10
A/D POSER
Qty Max.
length
20 a
CABLE
Section
5.3
CAM11
11
A/D SLIDER
CABLE
20 a
RJ54
12
A/D LPA
20 a
IPA- SCALE
CABLE
0.5 a
CABLE
Part No.
section No.
5 a
0.5 a
Remarks
5.4.1
Section
5.4.5
CN2R1CN2X3
Operating
instruction
sannal No.
1-134 dated
November
1985 end
published
by
CABLE
Section
Remarks
Reference
section No.
Mitsubishi
13
Heavy
Industries
CN31M1CN31M3
Note (1) Ni Total number of axaa; but N < 6 (N < 4 with M310 NC system)
Kt Number of amplifier#
(2) Example of total length for cables with Part No. Q) and (2)-: Standard length with 3 amplifiers is 1x5+ (2x0.5)
(3) Make sure that the capacity of the L axis motor is equal to, or greater than, the capacity of the M axis actor.
(4) The plugs with a 4
rk are accesaoriea of the inductoeyn system.
A-4
6.0m.

APPENDIX 1.5
MR-S2-CD-Z33 CABLE DIAGRAM
(Absolute value, semi-closed)
MR-S2-CO-Z33 CABLE DIAGRAM

(Absolute value, semi-closed)
APPENDIX 1.5
The diagram indicates a case where MR-S2-CEZ33 applies to all axes.
< <! S1F
DOABLE CLAMP MARKS
-} (
r 3M 7650 6002SC 50PM

4 3*800050
rI
EI3E01
MR s 2
r_J
AMP
RF202
CARD
RF3J2
CARD
s:
IT
MCN33
Tsr
L
AMP HZ
CMB
ICN33
MCN33
LCN2 T2hT
CARD
CM A
\EI
ZTR
resistance unit
i=f
RF 202
CM3
LCS33
C3 E 01
CM A
HONDA
MR J0KFA
M310 NC
L HONDA MR 50RMA S1F'
MR S2
Of
3M 3596 5002SC 50PM

4 3781 1050 < MCP)
!-
3M 7650 6002SC 50PM

L 3780 0050
See Section 4.1(9).
M320 M33Q
MCP
~\r
'71
MC\2J
0
>
91
NF
Pi:
MR
r~
<) CN33K2
CS33K1
MOTOR S 1
bNCORDER
0AER5K IX
MOTOR
ENCOKDKR
OAER5K IX
E3 C
HA
/
< CN33K3 N 1
s:
\
0CN33KN
(Omitted)
iiA
S3 C
I
V 53302A 22 HP
Part No.
Note (2)
Note (3)
MCP -AMP or
SIF-AMP CABLE
AMP-AMP CABLE
CABLE END
5
Note (1)
Part name
AMP-ENC CABLE
Qty
Standard
length
K-l
Remarks
30 a
5 m
Reference
section No.
Max.
length
with
0.5 m
total
length
5 a
20 m
CAM11
Section 5.3
CAM11
RF54
Section 5.4.3
CN33K1-CN33KN
N: total number of axes; but N < 6 (N < 4 with M3 U) NC system), K: Number of amplifiers
and
Example of total length for cables with Part No.
6.0 m.
A- 5

APPENDIX 1.6
MR-S2-CO-Z33 CABLE DIAGRAM
(Absolute value, ball screw end)
APPENDIX 1.6 MR-S2-DD-Z33 CABLE DIAGRAM

The diagram indicates a case where the first amplifier is MR-S2-CDZ33 and the
second amplifier is MR-S2-COE01
M320 MDO
f| r1 MCP
or
A yi siK
&CABIE CLAMP MARKS
p 3M 76S0 6002SC EOPM
p 3M 7650 6002SC SOPM

4 3780 0OS0
MRS 2
E3E0I
CN1 A
CN1B
RF332
)i
RF202
/<] (7
SI rCNIA
\}
-li LL
I=[
AMP S2
CARD
CN1B
MCN33
LCS-2
MCS2
(C
ft
V
j- 3M.3596 5002SC SOPM

L- HONDA MR
CARD
LCN33
hv.N0A
MR 20RFA
resistance unit
CARD
MR-S2 CD E 1
AMP 11
RK202
M3 10 SC
& 3781 1050 (MCP)

50RMA 'SIF'
4 3780 0050
} (
See Section A. 1(9).
or
[o
MCN2
TEJ
TET
on1
LCN2
NF
JPH
)(
P-0CN2K1
0 CN2K2
0CN33R2
MOTOR 311
ENCORDER
OSE-SK
T2H
MS3102A20 29P

E2C
HA
0 CN2K (N 1'
0 CN2KN
(Omitted)
BALL
SCREV
ENCORDER
OAER5K IX FT
HE
MS3102A22 UP
dD
(D CN33 R1
Part No.
Note (1)
Note (2)
Note (3)
Part name
Qty
MCP -AMP or
S1F-AMP CABLE
K-l
AMP-AMP CABLE
CABLE END
AMP-ENC CABLE
AMP-ENC CABLE
totalnumber
Standard
length
5 m
0.5 m
length
Reference
section No.
30 m
with
total
Section 5.3
Max.
length
Remarks
CAM11
CAM11
RF54
5 m
5 m
Section 5.4.3
CN33K1-CN33K3
Section 5.4.2
CN33R1-CN33R2
of axes ;n| number of MR-S2-DDZ33 axes; but N < 6, N < n (n
lengthfor
1 in this
cables with Part No. (l) and (5): Standard length with 3
Example of total
amplifiers is 1 x 5 (2 x 0.5) 6.0 m.
Make sure that the capacity of the M axis motor is greater than the capacity of the L axis
motor.
A- 6

APPENDIX 1.7
MR-S3-CX1-E01 CABLE DIAGRAM
CABLE CLAMP MARKS
AMPS 1
)C
or
LCN2
-3M : 3596-5002 SC -50PM
Moo_o
SCN2
o!
Jo
Si
AMPS 2
RF20 CARD
MCN2
0
o
resistance unit
MR-S3 EZZ3 KOI
i?
<
o' o
X
CN1B
CM A
CMB
0 0
See Section 4.1(9).
M310 N'C
S1F
RF203 CARD
CM A
HONDA
MR JilUFA
or
3M : 7650-6002 SC E0PM
&3781-1050 MCP
& 3780-0050
L HONDA : MR-50RMA SIF
r JM 765U-60D2 SC SuPM
i3780-0050
MR S3 E23 KOI
MCF M320. M330
MCN2
LCN2
SCN2
lJ
I
oI
oo
o
o
fl
poo
o
Nr
JIMlfa"*
iCN2K3
4.CN2K1
T5F--
M3102A20-29P
Part No.
Note (1)
Note (2)
Note (3)
U3 &
Part name
Qty
MCP -AMP or
SIP-AMP CABLE
AMP -AMP CABLE
K-l
CABLE END
AMP-ENC CABLE
V
3)CN2K5
1CN2K4
KNCUKDKK MOTORS 1M,

OSK-5K
HA EC [
KNtOROKK MOTORS IL
HA B3 t
0CN2K6
(Omitted.)
Standard
length
5 a
?
0.5 a
)C
Max.
length
Reference
section No.
30 a
with
total
length
Section 5.3
Remarks
CAM11 or CAM21
CAM11
RF54
50 a
5 a
Section 5.4.1
CN2K1-CN2KN
N: total number of axes; but N < 6 (N < 4 with M3 U1NC system), K: Number of amplifiers
Example of total length for cables with Part No. (y and

5.5 m.
amplifiers is 1x5+ (lx 0.5)
Make sure that the capacity of the L axis motor is equal
A- 7
to,
or greater than, the capacity

APPENDIX 1.8 MR- S3 -CUE- E31 CABLE
SYSTEM DIAGRAM
APPENDIX 1.8 MR-S3-DDD-E31 CABLE SYSTEM DIAGRAM

the first amplifier is MR-S3-CTTIE31
and the second amplifier is MR-S2CEE01.
nr
__
e CABLE CLAMP MARKS}
3M : 765o 6002 SC-EOl'M
r3M : 7650 -6002 SC SoI'M

&3780-0050
CO D
KF203 CARD
CN1B
CM A
RF313 CARD
MCN31
LCN31
HONDA
MR -20RFA
Boo
IJ? ? '
S
lO
(AVM-
: 3596 5002 SC 501' M
L HONDA : MR-50R.MA iSIF*

E01
J f
cirri'
AMI'S 2
Ci
RF202 CARD
CN1A
CNIB
hJ SCN2
fco
m at
resistance unit
> >
SCX 31
IJ MCN2
W
r&J
~ 3M
M3t0 NC
MR-S2
AMI'S 1
U;
;;
See Section 4.1(9).
or
&378I-1050 ( MCI';
&378U-005U
-E31
MR S3
MEO. M33D
o! o
LCK2
MCN2
TAJ
IZJ
o
O
NF
31'H
JC 3c
viCN2K
ENCORDER MOTORS IL
OSESK
HAE3 C
C3 Q
M3102A20 29P
ENCODER
OSESKN-ET
3C
3(
iCN2K2
(Oaictad:
tioss
COBC-
for L
UCN31K2
axis)
iCX2K3
(OBICC:
does
ii
for L axis)
-UCN3IK3
3C
\CDCN2KN
ACN2K i N-l i
(Omitted)
BALL SCREW
M3102A22-14P
CN31NR1
Part Ho.
Note (2)
Note (3)
Parc name
Qty
MCP-AMP or
CABLE
SIP-AMP*
AMP-AMP CABLE
E-l
CABLE END
AMP-ENC CABLE
AMP-ENC-CABLE
5
Note (1)
dJ
Standard
length
5 a
0.5 a
Max.
length
Reference
section Ho.
30 a
with
total
length
Section 5.3
Remarks
CAM11
CAM11
RP54
5 a
5 a
50 a
Section 5.4.1
CN2K1-CN2KN
50 a
Section 5.4.1
CN31R1-CN31R
N: total number of axes; n: Number of MR-S3-CQ31 axes. N<6, N<n(n-lin this

figure), K: Number of amplifiers
Example of total length for cables with Part No. (T) and (2): Standard length with 3
amplifiers is 1 x 5 + (2 x 0.5) 6.0 a.
of the M axis motor which in turn must be equal to, or greater than, the capacity of the
S axis motor.
A- 8

APPENDIX 1.9
MR-S3-EQHE31 CABLE DIAGRAM
(Scale feedback, 1 micron scale)
APPENDIX 1.9 MR-S3-nnn-E31 CABLE DIAGRAM

(Scale feedback, 1 micron scale)
The diagram indicates a case where the first amplifier is MR-S2-CDZ33 and
the second amplifier is MR-S2CEE01.
at a
CABLE CLAMP MARKS
P773-E3I
MR
3M : 7650 6002 SC-E0PM

& 37X0-0050
7650-6H02 SC 50PM
&37Hi.on50
r 3M
-3M : 3596-5002 SC 50PM

&3781-1050 MCP
: MK-30KMA SIF
at
CMB
RF313 CARD
MCN3I
LCN31
m at
0
o
po1 o
AMPs 2
CNiB
LCN2
LAI
M
!
_L
9 9
MCN2
LAJ
0
i
>
>
NF
iPH
tNk
r- 4
CN2K1
EMORDER MOTORS 1L
OSESK
HAEZ3C
iCN2K.i
iCN2K2
X K
(Otaitted: sa collec
tions as for L axis)

tion* as for L axis)
ACN2K N-l
-VCN31H3
XCN2KN
(Omitted)
* < CX31H2
1 micron scale
CH
M31D2A2I* 29 P
Interface unit (made
by scale sacufacturcr)
f
7 CN3IH I
Part No.
Note (2)
Note (3)
Qty
MCP -AMP or
SIP-AMP CABLE
AMP-AMP CABLE
K-l
CABLE END
AMP-ENC CABLE
Note (1)
Part name
RF202 CARD
SCN31
0,0
pi
CM A
MCN-
HONDA
MR-20RFA
C~&\)0
kF203 CARD
resistance unit
UHONDA
CO D
CM A
See Section A.1(9).
or
M310 NC
MR S2-E3 E01
AMPsl
M320. M330
Standard
length
5 m
Max.
length
30 m
with
total
length
0.5 m
Reference
section No.
Section 5.3
Remarks
CAM11
CAM11
RF5A
Section 5. A. 3
5 m
CN33K1-CN33K3
CN33R1-CN33R2
Section 5. A. 2
5 m
AMP-ENC-CABLE
n
N: total number of axes; n: Number of MR-S3-CO*31 axes. N<6, N>n(n-lin this
figure), K: Number of amplifiers
Example of total length for cables with Part No. (l) and (2): Standard length with 3
6.0 m.
Make sure that the capacity of the L axis motor is greater than, the capacity of the M
axis motor which in the turn must be greater than the capacity of the S axis motor.
A- 9

APPENDIX 1.10
MR-S3-CD-E31 CABLE DIAGRAM
(Inductosyn feedback 1-micron)

(Inductosyn feedback, 1-micron)
The diagram indicates an example of
a 1-micron /pulse inductosyn scale
feedback MR-S3mE31 for the first

amplifier and MR-S2CHE01 for the
second amplifier.
See Section 4.1(9).
&L
CABLE CLAMl* MARKS9 (

:$M
SC WM
&37OO05u
MR S3 CZ3 K3I
(***r
JM : :>5U-6002 SC H0IW1
76S0-64J(J
*3780-0050
KK2IW
EZ2
CARL)
CNI A
C'NIB
RF31J CARD
MCN3I
LCN31
jajSCN*
RTZT-
s~
SCN3I
SMCN2
LCN2
HONDA
MR -iuKFA
0
Trrn
_ 11? _ 91
NF
ji*H
4-<n>
)C
CN31M3.fi;
5C
CN3lM2QS/j
ll'H
100 V
"
rn
CX2A
BOX
iXN2Kl
LM.4
LJ
CN'iKjJ
V*
CN2C
CN2B
J
AD
(MH1 : 0 001 mm V
CN4
LMAICMB C.\3B1LMC LN3C

I
t&J
| I
LA 1
SRCN6A13-3S
U0 00
Laside board
Outside board
=2
ENC
INDUCTOSYN
ENCORDER MOTOR;
osE-sK
HAEzac
-,1
Lpizs
SI
SCALE
SUD&T
nnnn pn pjj 11
MS3102.A20 PJ
Q-
JZL
CN5
_EL
CSS
r-EL
CN5
[PA=I
mat
IWLS3
MHI
CN6
"ET
CN6
MHU
iMHl*
[css
4J
SLIDER
53
52
SLIDER is 3
SCALE
SCALE
Part Mo.
Part nsae
MCP-AM?
Qty
1
Standard
length
5 a
CABLE
AMP-AMP
CABLE
X-l
0.5 a
Max length Reference

section Mo.
Remarks
CAM11
Max.
10
11
RI54
CABLE END
AMP- ENC
CABLE
5 a
50 a
Section
5.4.1
CN2X3
AMP-A/D
5 a
15 a
Section
CH31M1-
5.4.5
CM2X1-
12
13
Reference
section Mo.
20 a
Operating
instruction
A/D SLIDER
20 a
1-134 dated
November
1985 end
A/D LPA
CABLE
20 m
gubliehed
0.5 a
Mitsubishi
Heavy
Industries
A/D POWER
CABLE
CABLE
Qty
TAflT.g
Mots
Part case
length
CAM11
30 a with
Section
total
5.3
length
Part No.
I?A-SCALE
CABLE
Remarks
CN31M3
but N < 6, M > n (n

2 in this figure), A: Kuaner or aapiiziers
N: Total nuaber of exes; a: nuaber of MR-S3 E-31
(2 x 0.5) 6.0 a.
(2) Example of totSLl length for cables with Part No. H) snd (2) : Standard length with 3 aaplifiere is 1 x 5
the
of
(3) The plugs with a
inductosyn
ay stem.
mark are accessories
(1)
A-10

APPENDIX 1.11
MR-S3-CD-Z33 CABLE DIAGRAM

The diagram indicates a case where MR-S2-CX3Z33 applies to all axes.
nr
__
CABLE CLAMP MARIS
MR-S3f77771-E01
or
&37S1 1050 MCP
MR 20RFA
CNIB
CM A
loo
jo <?
LCN
SCN
\=i
-EJ-R-nsrR
Jo
o|
RF333 CARD
MCN
9*
LCN2LJ
SCN 2
RF203 CARD
MCN2
AMP = 2
Erl
RF 333 CARD
GJ
SIF
MR S3-EZ221 E01
CN1B
LCN
resistance unit.
- 3M : 3596-5002 SC-50PM
RF203 CARD
CN1A
HONDA
See Section 4.1(9).
L HONDA : MR-50RMA
AMP= l
-r-Fl-
|*
MCP M32G. M33G

M310 NC
3M 7650-6002 SC-E0PM
&3780-0050
r.3M : 7650-6002 SC-50PM

&3780-0050
M
999
00
MCN
MCN2IZ:
W
09999
o
09
SCN
SCN 2 i
999
o
NF
EMU
.
j- SON33K1
1CN33K2
ENCORDER MOTORtL
IX HACK
0AER5K
1
;TCN33K4
ENCORDER MOTOR slM

0AER5K-1X HAC3C
MS3102A22 14 P
Note (3)
'iN33K6
(Omitted)
Part name
Qty
Max.
length
Standard
length
Note (1)
Note (2)
\3CN33K5
W3 3
C3
Part No.
KN33K3
MCP -AMP or
SIP-AMP CABLE
AMP-AMP CABLE
K-l
CABLE END
AMP-ENC CABLE
5 m
0.5 m
Reference
section No.
30 m
1 with
total
length
Remarks
CAM11
Section 5.3
CAMil
RB54
5 m
20 m
Section 5.4.3
CN33K1-CN33KN
N: total number of axes; but N < 6 (N < 4 with M3 10 NC syssem) , K: Number of amplifiers.
Example of total length for cables with Part No. Q) and
5.5 m.
amplifiers is 1x5+ (lx 0.5)
A-ll

APPENDIX 1.12
MR- S3 -CD- Z 33 CABLE DIAGRAM

The diagram indicates a case where the first amplifier is MR-S3-CDD-Z33 and the
second amplifier is MR-S2-CD-E01
- ;M : Tfi.Mi
\MP
F-t
CMH
KK.LO CAKD
MCN
MK-2IIKFA
D
S1K
AMP=.
pA
J
CN IB
i\: \
-*l N.5..
L
o o
KF-'U.' CARD
LJ MCN.1
LCN2
HONDA
3Q flt
MK ioKMA
E3 K*I
KP.'u.i CARD
LCN33
resistance unit.
Mir
MK s-
CN ! A
\\.
SC AiPM
-HONDA
=.
lo L)
\i
Mh
:M
\ ,7>*l lii.rtl
MK S E2ZJ
&
See Section 4.1(9).
Kuiwi
A;
SC .mlM
wmj
SG
- M \K*K>
K A! *.I I 1 1 \W
v;
\ur
MCN2
LCN:
s
;0
1
SJ
.ILSLL
NF
3PH
X X
ENR
f- jCNJKl
ENCORDER MOTORS IL
OSESK
HAtZZJC
M3102A20-29F,
ENCODER
0AER3K ;.\ ET
3C
iCN.'K:
pQ
; CN:K :
r*
(Omitted: saae connec
, (Omitted:
saae connections
as for L axis) 1
tions as for L axis)
CN.K
-CNJ3K.5
L-CNOK:
3C
CN2KN
1
(Omitted)
BALL SCREW
IN?
M3102A2M4 l'
t
CN33K1
Part No.
dD
Part name
Qty
Max.
length
Standard
length
1
Note (1)
Note (2)
Note (3)
MCP-AMP or
SIP-AMP CABLE
5 m
Reference
section No.
Remarks
30 m
0.5 m
with
total
length
5 m
50 m
Section 5.4.1
CN2K1-CN2KN
5 m
50 m
Section 5.4.2
CN33R1-CN33R2
AMP-AMP CABLE
CABLE END
K-l
1
AMP-ENC CABLE
AMP-ENC CABLE
CAM11 or CAM21
Section 5.3
CAM11
RF54
N: total number of axes; n: Number of MR-S3-CEE31 axes; but N s 6, N e n (n

1 in this
figure), R: Number of amplifiers.
Example of total length for cables with Part No. (l) and (2): Standard length with 3
amplifiers is 1 x 5 + (2 x 0.5) * 6.0 a.
Make sure that the capacity of the L axis motor is greater than the capacity of the M axis
motor which in turn must be greater than the capacity of the S axis motor.
A-12
APPENDIX 2
APPENDIX 2. CABLE SPECIFICATIONS

Specifications
Cable
3M
CAfUl
1o
26 o
2o
27 0
MCP-AMP
CABLE
30
28 04 o-
II
?or connecting
CN1A on ampli
fier with CAM11
on MCP
29o
5o
300
60
310
70
32o
AMP-AMP
CABLE
For connecting
CA1A on
next
amplifier with
CN1B on ampli
fier
So
33 0
9o
34 0
10 o
35 0
llo
36 0
120
37 0
13 0
380
14 0
39 0
15o
400
16 0
41 o
170
42 0
180
430
190
44 0
200
45 o
210
46o
22o
47 0
230
480
24 0
490
25o
50o
3M
r~
o ]
XX
XX
XX
XX
XX
XX
XX
XX
XX
XX
26
2
2?
-o 3
28
o 4
29
-o 5
o30
o 6
o 7
032
o 8
o 9
0 34
olO
035
oil
XX
036
012
0 37
ol3
0 38
o 19
039
o 15
040
016
041
XX
XX
XX
XX
XX
0 17
XX
XX
042
ol8
043
019
XX
XX
XX
XX
XX
XX
XX
044
020
045
021
046
o22
-047
023
048
024
049
025
050
/
Metal shell
Cable clamp inside shell
A-13
APPENDIX 2
Cable
Specifications
(CAN11
cont )
Length L
W
u
TJ
\
50 25
TJT
CAMll
1 26
1 26
50 25
25 paired shield cable

3M: 50-pin female
N540C892
3M:3779-A450
connector
Notes: (1) Refer to the cable system diagram for the standard and maximum
lengths
(2) No distinction is made between the left and right ends of the
CAMll cable.
RP54 CABLE END

For insertion
into CN1B on
the final
amplifier
14
76
3M: 50-pin female
A-14
connector
APPENDIX 2
DETECTOR CABLES
AMP-ENC CABLE
Cable
Description
Detector end
MS
AMP end
MR
CN2K1
When cable
length is
more than
7.5 m and
under 50 a
CN2K6
12o
40
30-
Uo
15o
16o
l7o
18o190
10o
11*
CN31R1
6o
7o
2o
AMR-ENC CABLE
lo
Connector model
connector
MR-20L5
MPR-20M01
MRP-M102
Case
Housing
OG
J
K
oL
OM
XX
OT
XX
7P
XX
XX
B24 }'
MR
XX
XX
~
CN31R6
<3
XX
XX
XX
13o
Contact
Cannon
connector
Connector
MS3108B20-29S
Cable
type
F-DPEVSB
12P x 0.2SQ
ZZXX
8
20o
XX
XX
B24\
9
s
B24 9
824 9
CN
7.5 a
5'
60
70
20
lo
So
Spare
XX
Spar,
XX
i ! XX j_
\
824 9
'
+5
PBR
PB
+15
+15
GND
+5
PW
11 PWR
12 PA
10
13
PAR
18
PUR
PV
19
PVR
20
SG
16
17
Spare
-ON
Positioning
key groove
0SE-5K
1
15
Standard length -5m
Signal (reference)
PZ
PZR
PU
14
are the
same as in the figure above
However, this applies only
to a length L of 7.5 m or
less.
0
Length L
GND
zx
B24 9
<9
50 a
S the connections
20o
RF202 card nCN2
Apart from pins P, R and
When cable
length is
less than
Maximum length
2
3
10
11
12
13
14
15
16
17
18
19
20
A-15
N541C582
N541C583
APPENDIX 2
AMP-ENC CABLE
Cable
Description
CN33K1
AMP end
<
Detector end
MR-S AMP
CN33K6
CN33R1
12
13
14
15
16
RFB1A
RFB1B
CN33R6
R COS
R COSE
18
R SIN
R SINE
10
rnx
LB
11
+ 15V
2
5
GND
-15 V
1
4
+5 V
S
Case
Housing
Contact
Male
c::
iTX
r
LA
AMP DETECTOR
CABLE
X
X
X
X
X
19
Detector
A
B
C
D
F
xn
Xi:
L
M
Xi;
-T
u
T
XU
L---3
X
X
X
XT
X
X
X
>
B24-9
B24 9
MR-20L5
MRP-20M01
MRP-Ml02
Connector
Clamp
Cable type
G>*
Length L
MS3108B22-14S
MS3057-12A
F-DPWSBS5P/
7P x 0.2SQ
Poeitioning
key groove
Standard length = 5 m
Maximum length = 20 m
N541C616
A-16
APPENDIX 2
AMP-ENC CABLE (OSE5KN/OSE5KN-ETD ONLY)

Description
Cable
A/D box end
AH? end
CN2NK1
PA IPAR 13
PB
PBR 3
PZ u
PZR 15
PU 16
PUR i:
PV 18
PVR 19
PW lit
PWR 11
P15 3
CN2NK6
CN31NR1
AMR-ENC CABLE
D
F
G
H
XX
XX
K
L
M
XX
XX
CN31NR6
P15 h
GND
2
P5
GND 1
A
B
XX
XX
XX
BLia
Connector type
MR
connector
Housing
MR-20L5
MRP-20M01
Contact
MRP-M102
Case
Cannon
connector
Connector
MS3108B22-14S
MS3057-12A
Clamp
Cable
type
12P x 0.2SQ
F-DPEVSB
XX
XX
XX
Note)
P5
SG
20
B24l
9
B24-9
XX
XX
s
B24-9
4-FG
N
Maximum length
50 a
This cable is used for the 19-pin connector type standard encoder
OSE5KN-6-12-108 and the 19-pin connector type ball screw mounting
encoder 0SE5RN-ET1-3-9. 52-0 rather than the" 17-pin connector type
encoders 0SE5R-6-12-108 and OSE5K-ET1-3-9. 52-0 and the absolute value
encoders 0AER5K and 0AER25K.
Male
Length L
RF01 card CN2

1
GND
P5
PBR
PB
P15
P15
GND
P5
9
10
PM
11
PMR
12
PA
13
PAR
Positioning
key groove
Signal (reference)
OSE 5KN
PZ
PZR
15
16
PU
17
PUR
18
PV
19
PVR
20
SG
14
8
9
10
11
12
13
14
15
16
17
18
19
20
A-17
N541C671
APPENDIX 2
AMP-A/D CABLE
Cable
Description
CN31M1
A/D box end
AMP end
<>
12 o
CN31M6
XX
XX
XX
13 o4 o
AMP-A/D CABLE
14
15 o
1
~T \
xc
O-
8 o
oi
<5
3
<3 4
5
6
7
Spare
<5
20 O
10
Note: The above wiring configuration is an example of wiring

when an A/D converter is used.
Case
Housing
Contact
MR-20L5
MRP-20M01
MRP-M102
Cable type
F-DPEVSB
12P x 0.2SQ
l>
o]
Male
o
Length L
Signal (reference)
RF312 card nCN31
1
GND
+5
PBR
PB
+15
+15
GND
+5
Inductosyn A/C CN2
14
PZ
(1)
PA
(2)
15
PZR
(3)
PB
PZ
(A)
PB
(6)
PZ
(5)
16
10
11
12
PA
13
PAR
PA
17
(7)
GP
(10)
SE
18
(12)
TSA
(13)
TSB
(15)
OBI
(16)
0B2
19
20
Since the plug JMSP21-16M

other end is an
accessory of the inductosyn
system, no plug is
supplied
at the
SG
A-18
Standard length
Maxlcun length
20 a
50 m
APPENDIX 2
20-pin Square Connector (Honda)

(1) Connector case MR20L5
39.3
18
This is tightened by hand.
MR Hi
HONDA
CD
(2) Connector case MR-20L

39. o
'll
=1
pi | CD |
45
Space for using a screw

drivers required here.
MR-GL
HONDA
(3) Soldering type of connectors
MR-20M
MR-20F
Soldering type /male connector

32.8'
27.8
-t
32.8'
27.8.
2-2. 8*
o-
ol
Soldering type /female connector
2-2.8#
77 !
-* 1
-i I
9 r=u =
HESS 3la"
2 2
cH
ITT:
T|T
c*5
oe
22.3
22.3
A-19
TTT
,11
SPECIFICATIONS
Cannon Plugs for Detectors (Japan Aviation Electronics)

(1)
Angular plugs MS3108B20-29S
Positioning
key groove
1-3/8-18UNEF-2B
18.3
iT
<
Safety hole
<-r-
si5.
1-3/1618UNEF-2:
60.7
Effective thread
Length
77
The Cannon
connector
key is positioned in
the motor flange
direction.
(2) Straight
plugs MS3106B20-29S
18.3
1-1/4-18UNEF-2B
1-3/16-18UNEF-2A
S3
9.5 Effective thread length
55.6
Safety hole
23.8
10.3
1-3 16-18UNEF-2B
1.61
410
CO
419
4
allowable
( Maximum
)
cable diameter
The connectors and cables are not provided with the servo amplifiers
and motors.
A-20
APPENDIX 2
Cannon Plugs for Detectors (Japan Aviation Electronics)

(3) Angular plugs MS3108B22-14S
Positioning
key groove
1-3/8-18UNEF-2B
18.3
T
f* 1 Safely
hole
\!
m\
LO
'I
C'-
HB 1-3/16-
1 -"NEF
-\
Effective thread
length
60.7
j_
*23-2)
77
The Cannon connector

key is positioned in
the no tor flange
direction.
(4) Straight plugs MS3106B22-14S
If-11-0
1-3/8-18UNEF-2 B
18.3
1-3/16-18UNEF-2A
CM
CM
en
9.5 Effective thread length
55.6
Safety hole
The connectors and cables are not provided with the servo amplifiers
and motors
A-21
APPENDIX 2
Protective Tubes for Cables

If the effects of noise cannot be avoided or if the noise immunity properties
are to be increased, the metal tubes listed below should be selected and the
signal cables passed through them.
These protective tubes should also be used if there is a danger that the outer
covering of the cable will be cut or rubbed by metal chips.
Since the MS3057 cable clamp cannot be attached at the detector end, the cable
may break particularly in applications involving bending and vibration. The
0.2SQ cable cannot be used and so a cable with a proven record and a larger
conductor cross section area should be employed instead.
The instructions
given by MITSUBISHI should be followed for the classification into shield and
twisted cables.
Example of assembly
Application
For
motor
detector
1-3/16-18UNEF-2B
Table 5.4
Cable selection examples

Connector
Tub.
(D
FBA-4
(FePb wire
braid
covering)
Amplifier
PBC-104 (straight)
PBC-204 (45*)
PBC-304 (90*)
Price tube
PA-2 #17
BC-17 (straight)
Mounting
screw
Manufacturer
Motor detector
end
G16
G16
G16
RCC-104 -CA2022
Conduit
thread 15
PDC20-17
Sankei SS
PDC20-17
Daiwa Dengyo XX
Japan Flex XX
(FePb covering)
Hiflex PT #17
(FePb covering)
PSG-17 (straight)
PLG-17 (90)
PS-17 (straight)
Thread dia
26.4
Thread dia.
26.4
PF 1/2
A-22
APPENDIX 2
Cable Clamps
A earth plate for the detector cable should be installed near the servo
amplifier and, as shown in the figure, part of the cable covering should be
stripped away to leave the outer sheath exposed and this part should be pressed
against the earth plate using the cable clamp. If the cables are thin, several
should be clamped together. (Refer to Section 4.1 (9).)
4ir
Cable
Cable clamp
(metal fittings A, B)
Earth plate
rn
>
LO
D
i
Shield
outer
sheath
Detail of clamping area
Earth plate D as well as cable clamps A and B can be obtained from your
MITSUBISHI representative.
Outline drawing of cable

clamp
Outline drawing of earth plate (D)

100
35
30
0
24' 0.2
L."
f'-
CM
CM
CO
2-05 hol
mounting hole
6
3
\ screw
860.3
'
c_y
CO
24 + 0.3
0
s
30
oust be connected from the

earth plate to the earth plate on the cabinet.
The grounding wire
Two
metal fittings A can be used.
Screw hole for connecting grounding

wire to earth plate on cabinet.
A-23
Metal fitting A
70
Metal fitting B
45
APPENDIX 2
Cable Materials
When the cables connecting the motor amplifiers are lengthy and the motor
moves, use cables with a superior resistance to bending.
The tables below show the typical types of cables as manufactured by
MITSUBISHI.
Shield cables
Name :
No. size
(mm2 )
Finished
Cable characteristics
outer
diameter
(mm)
Configuration
( stands /mm)
Conductor
resistance
Color
3 ending
resistance
Remarks
Bending
Remarks
(fl/km)
12-paired shielded cable

Name: F-DPEVSB 12P x 0.2Q
Finished
No. size
outer
(mm2 )
diameter
(mm)
Configuration
(stands/mm)
Conductor
resistance
Color
resistance
(O/ka)
12 x 0.2
11.0
40/0.08
100.5
Black
Approx. 220
x 10* times
R200
at
Paired shield cable with 7 twisted pairs of conducting wires

Name: F-DPWSBS 7P x 0.2SQ
Finished
No. size
outer
(mm2 )
diameter
(mm)
Configuration Conductor
(stands/mm)
Color
Bending
resistance
Black
Approx. 24
x 10* times
at R200
resistance
Remarks
(O/ka)
7 x 0.2
12.3
26/0.1
107
Paired shield cable with 7 twisted pairs of conducting wires + bundle of

non-pairs wires
Name: JPW-SBS-SB 7P x 0.2SQ
Finished
No. size
outer
(mm2 )
diameter
(mm)
Configuration
(stands/mm)
Conductor
resistance
Color
Bending
Remarks
resistance
(O/ka)
7 x 0.2
13.0
26/0.1
Black
107
A-24
1st electrical work

specifications
TS-86062
APPENDIX 2
Special shield cable

Name: F-DPWSBS5P7P x 0.2SQ
Finished
No. size
outer
(mm2)
diameter
(am)
Configuration
(stands/mm)
Conductor
resistance
Bending
Color
Remarks
resistance
<n/km)
Approx. AO
5 x 0.2
7 x 0.2
1A.0
26/0.1
93.9
Black
x
at
A-25
10*
times
R200
Shield cable with 12

pairs including 5
pairs in each shield
3KO-NC6265
APPENDIX 3
APPENDIX 3.1 MAIN CIRCUIT
CONFIGURATION OF MR-S2
APPENDIX 3. MAIN CIRCUIT CONFIGURATION

APPENDIX 3.1 MAIN CIRCUIT CONFIGURATION OF MR-S2
a
a3
O
1i
8l*i
ill
55
s ITi s si
E
i SIS

a u
85 S
S-r
Ri5;
?!
1I
SIS
5 S
r-
25
si*
.
S 2
s si
< a
i|*|3
FI
5 I
r ;a
r 5
5
5 2
>iu||
iSis j
is 3
*|=*
-i-;s
- 1|=
11
is 5
-iSlsjl
IS s
iS;
8 8
8 xi
z IB
; 3
Til]
2
*i
2i
sis
-;I
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2 2
Si
8
22
I
2
zi
2
1"u*81
2 2
Hi
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3
o
_C
JO o
Sl
5 B
:s!
ai
V*
5J2
s*
i|c 3
3 si
33
u IF
:>
SI2I z
R sd
~;a s
j s
5
2
=1
z5
5i
it
2i
r55
'o
S|: 8
;
2 S
2I
21
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zI
S f
!i
2 II
< a1 u
iS
it
&
CM
CM
a|5S
=!
CM
CC
sjl!-* i
2i
::
2
O
sss
il
r I&
8 8: 3
CM
ss r I
<
2
u
z
c
2
ffl
A-26
i*
i
-s
z=
5
z
c
u
APPENDIX 3
0)
SI
g;
- .waiK C.i
o
,\an
I
Q nCiwJ
CO1
nan
IA
inn
---
n n*
:A
<a
;A 1 KJ
zA
1i
1 K
[Vi
'
w
iv?
Mi
>
<
iii
--
ii
nsj
o<n
cs.
-0S ki
--i
::
cn
c-5
1?
id
_
AE
i
CM
-=H h
+0
a.
4<h
og
V-?,
ft
-=
al
-KJ
<
Lzr+5
+CH
CM
CM
i2>
CM
CM
S
o>|
i OK
I dHO
E
~
S0
:zs>? t
a9 z
v9r
H li'
:-
u
r-
*f
_|0 16 16
<
Q
2
5 5
A-27
-6
- 114-1
'8
[5
>
<
ZIP
T';E
=,
dK
a1
cMrfci
'i
; A lK
1 n :i K
w
Z:
fc
n a IK
'
s!
-
a 1K ;
r-5
<->VW
AVV-
r.wun
Q <?
r~
| : 6 I
2:
APPENDIX 3
APPENDIX 3.2
MR-S2 MAIN CIRCUIT PARTS LAYOUT
APPENDIX 3.2 MR-S2 MAIN CIRCUIT PARTS LAYOUT

VIE W
TOP
BOTTOM
/T--Tv
TE 2
VIE W
TH
SK 3
RM 1
TR 2
RM 2
SK 4
FAN
RM 3
TR 3
EH
DS 1
TR 1
MCI
C1
i
1
RA 1
_f
TE 1
Note: The fan is present in the MR-S2-100B model and above.
A-28
APPENDIX 3
CONFIGURATION OF MR- S3
APPENDIX 3.3 MAIN CIRCUIT CONFIGURATION OF MR-S3

1
a z'z-z
cn
I*
s 1a fI
hi
'i
2;2
SlSj 8
SC sisls
! S-.S
I i
,
<
S3 '
CM
CM
11
S!3 2 I.SI
t
8:i
a
u
IT?
cn
S 5
i
ba
T3
a .
ni!
ill- = i
a
8 IIS!
r Ill;
-!=i
2
S
S slSIs
is*
I5
a:
TTt
2 a1 s
<ia
-j
<.

Sir! 3
: >2 >
23 2 5
:s-s:
2x
-:=;
z
u
fijs
-S
>
-lilajj
.i- =I
Sisi
-ii 8
--tlisjs
z
Z
-!i sTs
s'slaiE!" r
:>
JO
-IS *IS
--
2 f
2; 4
a|a
s!S
sjs*
sit
2iS
22
- -
= :
-j *
=I
= =
= '
ifi
S|S
!l
"
!-
-1 3
22
L)
-S
-.a
-;g
"ii
z
O
0)
y
A-29
-Ii
-jS
in
c:
ii
5?
-Is
~i*
r.
<
is
-s
-IS
rr
SS
,1
->2 ;
<
z
=!*
,8
~ iis.
2! 5
sit
CM
S'5I
"iiiS'ig
<
~j
-iEl='i *
=1
'-'S;=!?l-S
i s '-,fc
> 9jJ
1=| -l9|a|
2iS
2:
CM
=: =
*1
.S
T
V5 O
=i
*!
sli
2'r
1/)
IJJ'S
aijls-j
-Hi
=1
8.2
c
u
-I*
z
3
i<
CM
o
APPENDIX 3
-2
CD
- =
\an
> '
n'
zn n
2A
40-
JOX
*i-
Ia
+o
i.
---
-VNO.
-&
Ai.
3
ii
-W
+0
+0
=1
io
CM
CM
t/5
IDW
6~
JHO
CM
i
P
a{3
a:
c7
6 6
Q
pOM
::::!
E
3 a
8S2
VS2
I0S
Hh
nin
A
Ih
Ji=
xi
<
CMS
5
u
<
"V
dS
i
=T-
dl\
jji\
3d1
Q a:6 V46 6
A-30
H'-
- -aiS
a-j;
!S
Tt
is ,
2A
"V
>
zn
to
+3-
ijy
J_
yr%.
to
<-
tg
3:
sir
UN
iy
U3V vs.u
dl
LTL
,n
_cj_m
<-
<
lA
1A IW
<
21
>
r?-43
=T!
yi
-to
~
TKUSrd
ACIS
e>
u->
(i
"c? "
1CII%
AG11N
aLUJ
60
v.ClK
s
i\
2:
*000
ion
-u
5 o
F-
wan
y-r
HO
Is
is
-to
APPENDIX 3
APPENDIX 3.4
APPENDIX 3.4
TOP
BOTTOM
VIEW
V I EW
\
TH 2
TH
SK 3
RM2
RM1
T R 2
RM3
SK 4
TR 3
RM4
F AN
SK 5
RA 1
C1
TR 4
S K 1|
MC 1
TR 1
DS 1
S K 2I
F I L
MC 2
TE 1
A-31
APPENDIX 4
CHECKING THE MINIMUM ACCELERA
TION/DECELERATION TIME CONSTANT
APPENDIX 4 CHECKING THE MINIMUM AC
CELERATION/DECELERATION
TIME CONSTANT
When the machine is accelerated or decelerated, the output torque of the motor
is limited by the motor and amplifier. This means that the machine must be
operated above a particular time constant.
Take care not to make the time constant too low since this will increase the
error between the command value and machine position and result in an excessive
error alarm.
(1)
Checking the minimum acceleration/deceleration time constant

The minimum acceleration/deceleration time constant is checked in the
sequence shown in the graph below.
Typ of amplifier
15)
i4 '
(6.
Minimum acceleration/
deceleration time
constant
12!
;3>
Load inertia
Type of motor
Motor speed
Determine the motor speed at the rapid traverse and cutting feed rates.
Select the type of motor at (2).
Select the load inertia at (3).
Select the type of amplifier used at (4).
At (5), select whether exponential function commands or linear
acceleration commands are to be used and whether the semi-closed, closed
or dual feedback system is to be used.
VI) The minimum acceleration/deceleration time constant is produced at (6).
Set a value which is higher than that produced when actually operating
the machine.
I)
II)
m)
IV)
V)
A-32
APPENDIX 4
CHECKING THE MINIMUM ACCELERA
TION/DECELERATION TIME CONSTANT
MR
MR S 80
yX0/
MR $40
;
MR S 200
.71
'
MR S 300
<>
o
*
A
V7
:/AS
i.
vK.
A*
- \vVr-
cV
/
\
e>
V7
oVO*
Kc?
\
>
*
0.02 0.04 0.06
0.08
0.1
0.14
0.12
0.16 0.18 0.2
Minl.mua acceleration/
deceleration time constant ( sec)
HA40
HA80
\
7
HA100
HA 200-
W
mm
T7 /
N\
1000
HA300
2000
Motor speed
A-33
rpm
APPENDIX 5
CHECKING THE POSITIONING
REPEATABILITY
APPENDIX 5 CHECKING THE POSITIONING

REPEATABILITY
Once the machine has been installed properly, an axis moving vertically will
cause a regenerative energy to be generated. As a result, the construction has
been designed to enable the regeneration resistance built into the amplifier
or an externally attached resistance to dissipate this energy.
A particular point to bear in mind is that this energy will be great for a
machine in which the vertical axis is unbalanced and that it will consequently
act to restrict the positioning repeatability.
A check must therefore be
exercised following the checking procedure given below.
the positioning repeatability

The positioning repeatability is checked in sequence, as shown in the graph
below.
(1) Checking
J (load inertia
JL
motor
inertia
JJJ)
<D
ni
///
A
___
--
U (unbalanced weight (kg))
n2
ni "2
(d)
(O
[1] Calculate the combined total J of the inertia of the motor used and motor
shaft equivalent load inertia.
[2] Find motor speed N for the rapid traverse rate.
[3] Find the point d) at which line (c) and the extended lines of (J) and
(f) intersect.
[4] Find the unbalanced weight V of the vertical axis.
[5] Find the movement stroke (maximum) h @ of the vertical axis.
[6] Find the point at which line (d) and the extended lines of and
intersect.
and n2 axes intersect is
[7] Connect (D and and the point where the
the repeatability (times /minute) value.
where iij : Repeatability when resistance is built into MR-S
amplifier.
n2 : Repeatability when external optional regeneration
resistance is mounted
are limited to less than nlt n2 *
Note: Above repeatability nt and
F/N (times /minute) by the movement stroke (maximum value) and
rapid traverse rate F (mm/min) of the vertical axis.
Speed
Ljmc
Area of shaded section

Amount of movement: per
revolution
Time
Single cycle
Note: The above frequency applies only when the motor of one axis
has been moved.
A- 34
APPENDIX 5
REPEATABILITY
(2) Computation graphs (J = 0 to 0.56 kg*cmsec*)
31 5
2
%
4.
%%
u-1
**
o
O OLO
on s\j
acr-~ vo
t.n
ac
co
o
o
4?
-3=
ii
i
i$
i
(<0,
Vs
x
2i
co
O
A-35
-.
g g S S <=>
o
<=
APPENDIX 5
REPEATABILITY
(3) Computation graphs (J = 0 to 0.28 kg-cm*sec*)
-2 I
c-
i
Csj
ft
%
%
%
%
3
s?
I
>
U*>
TT
ft
CS3
UD
sg; 2"*
CT)
oS
"
(a,
'*
+
-5
vO
CVJ
<vj
2
d
A- 3 6
APPENDIX 5
REPEATABILITY
(4) Check
method using calculation formula
Use the following formula when employing a formula to check the positioning
repeatability.
n
i
_Ji_
100
-,
120WR
(k 2yNi \ 2
60
. g + Wi g
JUg .0.8
where
n
J
: Position repeatability (times/min)

: Motor shaft equivalent inertia (kg-cmsec2)
(J
: M axis, J: S axis)
; L axis, J
N
5
+ JM
JL =
JL Motor shaft equivalent load inertia (kg.cm.sec2)
JM = Rotor inertia of motor used (kg.cm-sec2)

: Rapid traverse motor speed (rpm)
(N : L axis,
: M axis, N : S axis)
:
9.8m/ sec2
s Unbalanced weight (kg)

(W : L axis, W : M axis, W
: S axis)
When the frictional force Wf (kg) is exerted upwards:

W =
WR
WH
Wf
W: Total weight of unbalanced area (kg)

: Total stroke for vertical axis mm)
S axis)
(h : L axis , h : M axis , h
: Allowable heat generation of regeneration resistance (W)
Standard specifications
2 axis type MR-S2 80A and below
MR-S2 100B and above
3 axis type All series
100W
14 0W
200W
When optional regenerative resistance has been attached

G8G200W390HM x 3: 250W
2-axis type Separate specifications
Sheet-metal specifications MR-RB30
: 500W
3-axis type Sheet-metal specifications MR-RB50
A- 3 7
APPENDIX 5
REPEATABILITY
drawing of regeneration resistance
(5) Outline
Note: The MR-RB30 and GZG200W390HMK are used for the MR-S2 series; the MRRB50 is used for the MR-S3 series.
Model
Rated power
MR-RB30
250 W
Resistance
Remarks
13 ohms
Built-in thermostat
2-M6 mounting screw
MR-RB30
Model
in
ac
<0,
in
CM
W
30
NP
p=
s
CM
1/3
ad
10
90
318
17
335
100
(Unit:
Model
Rated power
MR-RB50
450 W
Resistance
Remarks
Built-in thermostat
13 ohms
105
sco ml
co
CM
m~i
D
Terminal
(board
2.3
200
Note: Use the cooling fan (3.5
m
17
12
7
118
130
m/s or more,
A- 38
D92) for forced cooling.
APPENDIX 5
REPEATABILITY
Mounting
direction
Mount the unit in direction A or B as shown in the figure below.
Top
Top
Oh
Bottom
Bottom
Fig. A
Fig. B
4i
Model
Rated power
GZG200W390HMK
200 W
Resistance
39 ohms
Remarks
3 units connected in
parallel for use
#4.3x 2
<
-a3
287
306
26
Three GZG200W390HMK units are required for one amplifier.

(Unit: mm)
A-39
APPENDIX 6
DETERMINING THE COASTING WITH
EMERGENCY STOP
APPENDIX 6 DETERMINING THE COASTING

WITH EMERGENCY STOP
When the malfunction is detected by the system, the motor uses a dynamic brake
to stop the machine.
The amount by which the machine coasts at times like
these can be calculated using the formula below.
Fm
103
DU
Te =
where
T*
(Te
(1
0.03) mm
+Aj
x 1.1
: Rapid traverse rate (m/min)
Jl
JM
: Motor shaft equivalent load inertia (kg.cm.sec*)
: Rotor inertia of motor shaft (kg.cmsec2)

: Motor constant
Note: There may be fluctuations of 10Z in the value of

depending on
the induced voltage constant of the motor.
T changes in accordance with the motor speed and it should be
determined from the maximum operating speed in the figure below.
0.05
0.01
HA-13
0.03
HAH
ilA 100
HA83
0.02
1IA23
HAW)
0.01
11 A.33
500
1000
Type of motor
2000
1500
JM
(kgcmsec2)
HA23
0.001
HA33
0.002
HA40/43
HA80/83
0.02
HA100
0.07
0.01
A- 40
2500
3000
N (rpm)
APPENDIX 7
SERVO MOTOR SPECIFICATIONS
APPENDIX 7 SERVO MOTOR SPECIFICATIONS
3.3l r
32
'
'
oS
I| 5
2* 32. 1| 2
|I
s" m
s -5
hl
||||
s
II 32 *22. 1I i
Is
II il :j :
=I!
1 1i
I15Hi
51
r
IM !
il d
1
is 3
3 il St
1 1 2- 2- v I
1 I1
1 Is 6 52 1 ! 5 il ! sl 1 PH
1
Is 522 223. i! 2
il d Isri i
Is o 22 32. I! 2
il Sij II i
s
II 2
Is sis
il il 1 IflH
Ml
I i ilil II I 1 III I il
Is
I
IIII
:1
0 2*
1
2
2
;i
I2**a
IJ
Is
il il ii ! 1 j 11
II
Is 2- :v II 2 2 il il s| I 1
2 5 s il il ? I
Is o 21 2-2 I s
2I
o
IS I' 2--5 I 5 2 5 il ll I j
5s
a
1
5
1,1
E
II
*'
2 I
fit!
:r
tjijn
1#
in1
if
m Mj 1
1311
5;
III III;
liii 3 sax sssi

i
hi* I?
5S5
iI
If
:j
8
3
1
H ,5
II
Is.
l!
!
l! il
f5
1IH1
! isiiii
Mill
A-41
APPENDIX 8
DETECTOR SPECIFICATIONS
APPENDIX 8 DETECTOR SPECIFICATIONS

Classi
Type
Model name
Max.
rpm
Power supply
0SE5K-6-8-
3000
DC5V
fication
Motor
shaft
end
detec
Standard
encoder
108
-0.5V
Detector output
A phase! B phase , Detection of machines posi

tion (gradual increase to 4f old, 20000 P/R)
5000 P/R
Z phase, 1 P/R
tor
Application classification of
output signal
Zero point indexing
U phase, V phase, Detecting motor's magnetic

V phase, 2 P/R
pole
HA053
HA13
0HE
2500-6-8
3000
DC5V
+0.25V
-0.5V
encoder
A phase, B phase, Detecting machine's position

(After gradual increase to 42500 P/R
fold, 10000 P/R)
Z phase, 1 P/R
Zero-point indexing
U phase, V phase, Detecting motor's magnetic

W phase, 2 P/R
pole
Absolute
value
encoder
Encoder
Ball
screw
0AER5K1X-3-8-108
3000
DC5V
-0.25V
-0.5V
0SE5K-ET3-9.52-0
3000
DC5V
-0.5V
end

fold, 20000 P/R)
Z phase, 1 P/R
Zero-point indexing
1 x resolver
Detecting motors magnetic

pole and absolute value
LA phase, LB
phase, 1 P/R
Absolute value of multiple

rpm (max. 32000 rev.)

(After
5000 P/R
r gradual increase to 4fold, 20000 P/R)
detec
Z phase, 1 P/R
tor
Absolute
value
encoder
0AER5K-
1X-ET-39.52-0
Inductosyn system (ref.)

Product of Mitsubishi Heavy
Industry: See (4) below
Manual Ho. 1-134 (1985.11)
3000
DC5V
+0.25V
-0.5V
30
Signal phase
m/min
100/110V
Zero-point indexing

f old, 20000 P/R)
Z phase, 1 P/R
Zero-point indexing
1 x resolver
Detecting absolute value
LA phase, LB
phase, 1 P/R
rpm (max. 32000 rev.)
Absolute value of multiple
A phase, B phase, Detecting machines position

(After gradual increase to 40.004 ma/P
fold, 0.001 mm P/R)
Z phase, 2 mm/P
Zero-point indexing
2 mm)
(grid width
Regarding the servo systems capacity, see Item 1.2.

A special protective unit must be specified if the detector is to be used where oil and water will
drip on it.
3. Wiring plugs and cables do not come with the detector as accessories.
4. The user is requested to purchase from the manufacturer the foilowing items: inductosyn (INDUCTOSYN)
000, 1-3 axes in a unit), and
system, IPA (1 preamplifier /axis) , A/D converter (resolution
accessories (plugs for wiring, etc.)
Note: 1.
2.
A-42
HISTORY OF PAST
AMENDMENTS
REVISIONS/
HISTORY OF PAST REVISIONS /AMENDMENTS
Revision or amendment
Suffix
Month/Year
Nov. 1987
Issue of maintenance manual
Feb. 1988
A section on the GZG200W390HMK was added to the

methods of connecting the optional regenerative
resistance units in Section 3. A.
Outline drawings of the GZG200W39 OHMK optional
regenerative resistance unit were added in
Appendix 5.
Sept. 1988
Addition of MR-S3 Maintenance Manual; addition of

MR-S2-13A.
1989
Change of model name according to the detector

version up.
OSE5K-6-8-108
Feb.1990
OSE5K-6-12-108
Addition of MR-S3-40AA/33A Specification.
A-43
1990
MITSUBISHI ELECTRIC CORPORATION
ALL RIGHTS RESERVED
A MITSUBISHI ELECTRIC CORPORATION

HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TEL: 03-3218-3426
NOTICE: These products/technologies are subject to U.S. regulations and/or

COCOM strategic restrictions; diversion contrary thereto is prohibited.
Printed in U.S.A.
New publication, effective July 1997.

Specifications subject to change without notice

Mitsubishi Manuals 1053

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Mitsubishi Manuals 1053

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BNP-A 2867D E

MR-S2 & MR-S3

ADVANCED AND EVER ADVANCING

MAINTENANCE MANUAL FOR MELDAS MR-S2 SERIES

OUTLINE OF S2 SERIES AC SERVO SYSTEM

INSTRUMENTS AND TOOLS USED FOR MAINTENANCE

CONTROL PRINTED CIRCUIT BOARD INSTALLATION /REMOVAL

ABSOLUTE POSITION SYSTEM

DETAILS OF SERVO PARAMETER

DETECTOR MOUNTING METHOD

HARDWARE CHECK METHODS

UNIT REPLACEMENT METHODS

INSTALLATION AND ADJUSTMENT PROCEDURE

FEATURES OF THE S2 SERIES SERVO SYSTEM

PARAMETERS FOR CONFIGURATING ABSOLUTE POSITION SYSTEM

MAINTENANCE MANUAL FOR MELDAS MR-S3 SERIES

OUTLINE OF S3 SERIES AC SERVO SYSTEM

INSTRUMENTS AND TOOLS USED FOR MAINTENANCE

INSTALLATION AND ADJUSTMENT PROCEDURE

UNIT REPLACEMENT METHODS

FEATURES OF THE S3 SERIES SERVO SYSTEM

CONTROL PRINTED CIRCUIT BOARD

HARDWARE CHECK METHODS

DETAILS OF SERVO PARAMETER

ABSOLUTE POSITION SYSTEM

MAIN CIRCUIT CONFIGURATION

CHECKING THE MINIMUM ACCELERATION /DECELERATION TIME

CHECKING THE POSITIONING REPEATABILITY

DETERMINING THE COASTING WITH EMERGENCY STOP

SERVO MOTOR SPECIFICATIONS

I. MAINTENANCE MANUAL FOR MELDAS

1. OUTLINE OF S2 SERIES AC SERVO SYSTEM

The MELDAS MR-S2 series is a

line-up of 2-axis integrated AC servo

which enable combinations of motors with

This system can be connected to the NC of the MELDAS M300 series.

Serialized for AC servo.

Outstanding response and reliability with digital control

The use of electronic gear.

Compact converter and reduction of number of cables.

Enhancement of reliability by reducing the number of parts (number

Systems intelligence has been enhanced.

The system is designed to be amenable to auto-tuning in the future; it

Optional system for detecting absolute value.

Maximum follow-up performance:

System performance depends on the

Maximum follow-up performance:

Maximum follow-up performance:

The maximum speed depends on the

Maximum follow-up performance:

1.3 BLOCK DIAGRAM OF MR-S3 SERVO SYSTEM FUNCTIONS

Servo monitor data

Table 2.1 Measuring instruments used for maintenance

For verifying whether servo amplifier fcj

Maximum scale graduation: 10

For measuring AC supply voltage which is

Tolerance: Less than 22

supplied to servo amplifier

2.2 REPLACING THE BATTERY

This battery is made according to special specifications in order to ensure

2.2 REPLACING THE BATTERY

How to replace the battery

4. Switch the NC power back ON and check that everything is in order.