Contents

Safety Instructions
COMPLIANCE WITH EC DIRECTIVES
CONFORMANCE WITH UL/C-UL STANDARD
About the Manuals
Relevant manuals
CONTENTS
Optional Servo Motor Instruction Manual CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Overview
  - 1.1.1 Features
  - 1.1.2 Features of the servo section
  - 1.1.3 Function block diagram
  - 1.1.4 System configuration
- 1.2 Standard specifications
- 1.3 Function list
- 1.4 Model name make-up
- 1.5 Combination with servo motor
- 1.6 Parts identification
  - 1.6.1 MR-H350TN or less
  - 1.6.2 MR-H500TN to MR-H700TN
  - 1.6.3 MR-H11KTN or more
- 1.7 Servo system with auxiliary equipment
2. INSTALLATION
- 2.1 Environmental conditions
- 2.2 Installation direction and clearances
- 2.3 Keep out foreign materials
- 2.4 Cable stress
3. CC-LINK COMMUNICATION FUNCTIONS
- 3.1 Communication specifications
- 3.2 System configuration
  - 3.2.1 Configuration example
  - 3.2.2 Wiring method
  - 3.2.3 Station number setting
  - 3.2.4 Communication baudrate setting
  - 3.2.5 Occupied station count setting
- 3.3 Functions
  - 3.3.1 Function block diagram
  - 3.3.2 Functions
- 3.4 Servo amplifier setting
  - 3.4.1 Servo amplifier side operation modes
  - 3.4.2 Operation mode changing
- 3.5 I/O Signals transferred to/from the PLC CPU
  - 3.5.1 I/O signals
  - 3.5.2 Detailed explanation of I/O signals
  - 3.5.3 Monitor codes
  - 3.5.4 Instruction codes (RWW2 RWW3)
  - 3.5.5 Answer codes (RWR2)
  - 3.5.6 Setting the CN1 external input signals
- 3.6 Data communication timing charts
  - 3.6.1 Monitor codes
  - 3.6.2 Instruction codes
  - 3.6.3 Position and speed commands
- 3.7 Function-by-function programming examples
  - 3.7.1 System configuration example
  - 3.7.2 Master station parameter setting
  - 3.7.3 Reading the servo amplifier status
  - 3.7.4 Writing the operation commands
  - 3.7.5 Reading the data
  - 3.7.6 Writing the data
  - 3.7.7 Operation
- 3.8 Continuous operation program example
  - 3.8.1 System configuration example
  - 3.8.2 Program example
4. POSITIONING SYSTEM
- 4.1 Positioning system specifications
- 4.2 Standard connection examples
  - 4.2.1 In factory-shipped status
  - 4.2.2 Input signals assigned to CN1
- 4.3 I/O connectors
  - 4.3.1 Connector signal layouts
  - 4.3.2 Signal explanations
  - 4.3.3 Control input/output signals
- 4.4 When switching power on for the first time
  - 4.4.1 Pre-operation checks
  - 4.4.2 Startup
- 4.5 Manual operation mode
  - 4.5.1 JOG operation
  - 4.5.2 Manual pulse generator operation
- 4.6 Automatic operation mode
  - 4.6.1 Positioning operation according to point tables
  - 4.6.2 Positioning operation according to position command data
- 4.7 Manual zeroing mode
  - 4.7.1 Outline of zeroing
  - 4.7.2 Dog type zeroing
  - 4.7.3 Count type zeroing
  - 4.7.4 Data setting type zeroing
  - 4.7.5 Stopper type zeroing
  - 4.7.6 Automatic zeroing return function
- 4.8 Automatic zeroing
- 4.9 Absolute position detection system
- 4.10 Point table data setting procedures of the parameter unit
5. ROLL FEEDING SYSTEM
- 5.1 Roll feeding system specifications
- 5.2 Standard connection example
  - 5.2.1 In factory-shipped status
  - 5.2.2 Input signals assigned to CN1
- 5.3 I/O connectors
  - 5.3.1 Connector signal layouts
  - 5.3.2 Signal explanations
  - 5.3.3 Control input/output signals
- 5.4 When switching power on for the first time
  - 5.4.1 Pre-operation checks
  - 5.4.2 Startup
- 5.5 Manual operation remote mode
  - 5.5.1 Jog operation
  - 5.5.2 Manual pulse generator operation
- 5.6 Manual operation mode
  - 5.6.1 JOG operation
  - 5.6.2 Stepped operation
  - 5.6.3 Manual pulse generator operation
- 5.7 Automatic operation mode
  - 5.7.1 Roll feeding operation according to point table
  - 5.7.2 Roll feeding operation according to position command data
- 5.8 How to set the point table data from the parameter unit
6. WIRINGS
- 6.1 Internal connection diagram of servo amplifier
- 6.2 Interfaces
  - 6.2.1 Common line
  - 6.2.2 Detailed description of the interfaces
- 6.3 Power line circuit
  - 6.3.1 Connection example
  - 6.3.2 The explanation of signals
  - 6.3.3 Power-on sequence
- 6.4 Connection of servo amplifier and servo motor
  - 6.4.1 Connection instructions
  - 6.4.2 Connection diagram with the servo motor
  - 6.4.3 Details of the servo motor side
  - 6.4.4 Servo motor fan (HA-LH11K2 to HA-LH22K2)
- 6.5 Servo motor with electromagnetic brake
  - 6.5.1 Wiring instructions
  - 6.5.2 Operation of electromagnetic brake
- 6.6 Grounding
- 6.7 Alarm occurrence timing chart
7. PARAMETERS
- 7.1 Parameter list
  - 7.1.1 Parameter write inhibit
  - 7.1.2 Lists
- 7.2 Detailed explanation
  - 7.2.1 Electronic gear
  - 7.2.2 Changing the status display screen
  - 7.2.3 Analog output
  - 7.2.4 Changing the stopping pattern at the forward/reverse stroke end
  - 7.2.5 Rough match output
  - 7.2.6 Low acoustic noise mode
8. PARAMETER UNIT AND DISPLAY SECTION
- 8.1 Parameter unit keys
- 8.2 Operation of the parameter unit
- 8.3 Status display
- 8.4 Alarm/diagnosis
- 8.5 Servo amplifier display
  - 8.5.1 Display examples
  - 8.5.2 Selection of display data
- 8.6 Test operation mode
  - 8.6.1 JOG operation
  - 8.6.2 Positioning operation
  - 8.6.3 1-step feed operation
  - 8.6.4 Motorless operation
  - 8.6.5 DO forced output
9. ADJUSTMENT
- 9.1 What is gain adjustment?
  - 9.1.1 Difference between servo amplifier and other drives
  - 9.1.2 Basics of the servo system
- 9.2 Gain adjustment
  - 9.2.1 Parameters required for gain adjustment
  - 9.2.2 Block diagram
  - 9.2.3 What is auto tuning?
- 9.3 Gain adjustment by auto tuning
  - 9.3.1 Adjustment method
  - 9.3.2 Valid conditions
- 9.4 Manual gain adjustment
  - 9.4.1 When machine rigidity is low
  - 9.4.2 When the machine vibrates due to machine resonance frequency
  - 9.4.3 Load inertia moment is 20 or more times
  - 9.4.4 When shortening the settling time
  - 9.4.5 When the same gain is used for two or more axes
10. INSPECTION
- 10.1 Inspection
- 10.2 Life
11. TROUBLESHOOTING
- 11.1 Trouble at start-up
- 11.2 Operation performed at alarm/warning occurrence
- 11.3 CC-Link communication alarm
- 11.4 At occurrence of alarm or warning
  - 11.4.1 Alarm/warning list
  - 11.4.2 Remedies for alarms
  - 11.4.3 Remedies for warnings
  - 11.4.4 RS-232C communication error
- 11.5 Clearing the alarm history
12. OUTLINE DIMENSIONAL DRAWINGS
- 12.1 Servo amplifiers
- 12.2 Connectors
13. CHARACTERISTICS
- 13.1 Overload protection characteristics
- 13.2 Servo amplifier and generated loss
- 13.3 Dynamic brake characteristics
- 13.4 Encoder cable flexing life
14. OPTIONS AND AUXILIARY EQUIPMENT
- 14.1 Options
  - 14.1.1 Parameter unit
  - 14.1.2 Regenerative brake options
  - 14.1.3 Brake unit
  - 14.1.4 Power return converter
  - 14.1.5 External dynamic brake
  - 14.1.6 Cables and connectors
  - 14.1.7 Junction terminal block (MR-TB50)
  - 14.1.8 Servo configuration software
  - 14.1.9 Heat sink outside mounting attachment (MR-ACN)
  - 14.1.10 Large setting/display unit (MR-PRU02)
  - 14.1.11 External digital display (MR-DP60)
  - 14.1.12 Manual pulse generator (MR-HDP01)
  - 14.1.13 Battery (MR-BAT, A6BAT)
- 14.2 Auxiliary equipment
  - 14.2.1 Recommended wires
  - 14.2.2 No-fuse breakers, magnetic contactors
  - 14.2.3 Power factor improving reactors
  - 14.2.4 Relays
  - 14.2.5 Surge absorbers
  - 14.2.6 Noise reduction techniques
  - 14.2.7 Leakage current breaker
  - 14.2.8 Setting potentiometers for analog inputs
15. RS-232C COMMUNICATION FUNCTIONS
- 15.1 Configuration
- 15.2 Communication specifications
- 15.3 Protocol
- 15.4 Character codes
- 15.5 Error codes
- 15.6 Checksum
- 15.7 Time-out operation
- 15.8 Retry operation
- 15.9 Initialization
- 15.10 Communication procedure example
- 15.11 Command and data No. list
  - 15.11.1 Read commands
  - 15.11.2 Write commands
- 15.12 Detailed explanations of commands
  - 15.12.1 Data processing
  - 15.12.2 Status display
  - 15.12.3 Parameters
  - 15.12.4 External I/O signal status (DIO diagnosis)
  - 15.12.5 External output signal ON/OFF (DO forced output)
  - 15.12.6 External input signal ON/OFF
  - 15.12.7 Disable/enable of external I/O signals (DIO)
  - 15.12.8 Test operation mode
  - 15.12.9 Alarm history
  - 15.12.10 Current alarm
  - 15.12.11 Position block
  - 15.12.12 Speed block
  - 15.12.13 Selection between Japanese and English
16. COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES AND UL/C-UL STANDARD
- 16.1 Compliance with EC directives
  - 16.1.1 What are EC directives?
  - 16.1.2 For compliance
  - 16.1.3 Standard connection examples
- 16.2 Conformance with UL/C-UL standard
  - 16.2.1 Servo amplifier and servo motor used
  - 16.2.2 Installation
  - 16.2.3 Power supply
  - 16.2.4 Crimping terminals and crimping tools
  - 16.2.5 Fuses
  - 16.2.6 Terminal block tightening torque
  - 16.2.7 Standard connection example
- 16.3 Sign
  - 16.3.1 Main circuit terminal block
  - 16.3.2 Interfaces
APPENDICES
- Appendix 1 Point table data recording forms
REVISIONS

Mitsubishi Electric MRH TN Instruction Manual

Pages 410

Year 2001

Language(s)

of 410

Mitsubishi Electric MRH TN Specification

The Mitsubishi Electric MRH TN is an advanced series of industrial robots designed for high precision and efficiency in automated manufacturing environments. This robotic system is engineered to enhance productivity with its superior motion control and versatile application capabilities. It features a compact and robust design, allowing it to operate in confined spaces while maintaining optimal performance. The MRH TN series is equipped with Mitsubishi Electric's proprietary servo motor technology, providing exceptional speed, accuracy, and reliability. This ensures smooth and precise operations, which are critical for tasks such as assembly, material handling, and packaging.

The robot includes an intuitive user interface and programming environment, facilitating ease of integration and operation within existing manufacturing setups. It supports a wide range of communication protocols, ensuring seamless connectivity with other industrial equipment and systems. Safety is a paramount consideration, and the MRH TN is built with multiple safety features, including emergency stop functions and collision detection systems, to protect both the operator and the equipment. The energy-efficient design reduces power consumption, contributing to lower operational costs and a smaller environmental footprint.

Additionally, the MRH TN is engineered for longevity and minimal maintenance, incorporating high-quality materials and components that withstand rigorous industrial use. Its modular design allows for easy upgrades and customization, accommodating evolving production needs. Overall, the Mitsubishi Electric MRH TN series represents a cutting-edge solution for manufacturers seeking to enhance operational efficiency, precision, and safety in their automated processes.

Mitsubishi Electric MRH TN F.A.Q.

How do I perform a factory reset on the Mitsubishi Electric MRH TN?

To perform a factory reset on the Mitsubishi Electric MRH TN, first ensure the unit is powered off. Press and hold the reset button located on the back panel while powering on the unit. Hold the button until the display shows 'RESET'. Release the button to complete the process.

What should I do if the MRH TN unit is not turning on?

If the MRH TN unit is not turning on, check the power source for connectivity. Ensure the power cable is securely plugged into the unit and the outlet. If using a power strip, verify it is switched on. If the problem persists, try using a different outlet.

How can I update the firmware of the Mitsubishi Electric MRH TN?

To update the firmware, download the latest firmware version from the Mitsubishi Electric website. Connect a USB drive to your computer and transfer the firmware file to it. Insert the USB drive into the MRH TN's USB port and follow the on-screen instructions to complete the update.

What regular maintenance is required for the MRH TN?

Regular maintenance for the MRH TN includes cleaning the air filters monthly, inspecting the unit for dust and debris, and ensuring that all connections are secure. Additionally, check for firmware updates periodically to keep the system running efficiently.

How can I troubleshoot connectivity issues with the MRH TN?

To troubleshoot connectivity issues, first check that all cables are securely connected. Restart the MRH TN and the connected devices. Ensure that the network settings are correctly configured. If the issue persists, consult the user manual for network configuration steps or contact support.

What indicates a potential overheating issue with the MRH TN?

Signs of overheating in the MRH TN include unusual noises, frequent shutdowns, or error messages related to temperature. Ensure the unit has proper ventilation and is not obstructed by objects. If overheating persists, have the unit inspected by a professional technician.

How do I clean the air filters on the MRH TN?

To clean the air filters, first power off the unit and unplug it. Open the filter cover and remove the filters. Wash the filters with warm, soapy water and let them dry completely before reinserting them into the unit. Close the cover and restore power.

What does the error code 'E2' signify on the MRH TN?

The error code 'E2' on the MRH TN indicates a sensor malfunction. Check the sensor connections and ensure that they are not damaged or loose. If the problem continues, contact a certified technician for further diagnosis and repair.

Can the MRH TN be integrated with smart home systems?

Yes, the MRH TN can be integrated with various smart home systems. Refer to the compatibility list provided in the user manual and follow the setup instructions to connect the unit to your preferred smart home platform.

How do I adjust the temperature settings on the MRH TN?

To adjust the temperature settings, access the control panel on the MRH TN. Use the up and down arrows to set your desired temperature. Confirm the settings by pressing the 'Enter' button. The unit will now operate according to the new temperature setting.