General-Purpose AC Servo

Servo Configuration Software

MODEL

MRZJW3- SETUP154E
INSTALLATION GUIDE

Thank you for choosing the Mitsubishi general-purpose AC servo Servo Configuration
Software.
To optimize the use of the Servo Configuration Software, please read over this Instal-
lation Guide and the corresponding AC servo Installation Guide before using the soft-
ware. After reading the Installation Guide, always place this Installation Guide in a
safe place.

C
 Safety Instructions
(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Installation Guide, and appended documents carefully and can use the equipment correctly. Do
not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety
information and instructions.
In this Installation Guide, the safety instruction levels are classified into "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

CAUTION resulting in medium or slight injury to personnel or may cause physical
damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:

: Indicates what must not be done. For example, "No Fire" is indicated by .

: Indicates what must be done. For example, grounding is indicated by .

In this Installation Guide, instructions at a lower level than the above, instructions for other functions, and so on
are classified into "POINT".
After reading this Installation Guide, always keep it accessible to the operator.

Before executing the test mode, always read Section 2.3 "Precaution for test
CAUTION mode".

Windows is a trademark of Microsoft Corporation.

The "Mitsubishi general-purpose AC servo Servo Configuration Software" is a production of Mitsubishi
Electric Corporation. Mitsubishi Electric Corporation reserves the copyright and all other rights of this
software.
This Installation Guide may not be reproduced or copied, in whole or part, without written consent of
Mitsubishi Electric Corporation.
All other company and product names contained in this Installation Guide are registered trademarks or
trademarks of their respective companies.

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A- 2
 CONTENTS

1. INTRODUCTION 1-1 to 1-12

1.1 Specifications ........................................................................................................................................ 1-1

1.2 System configuration............................................................................................................................ 1-2
1.2.1 Components.............................................................................................................................. 1-2
1.2.2 Communication cable .............................................................................................................. 1-3
1.2.3 Configuration diagrams .......................................................................................................... 1-4
1.3 Basic terms............................................................................................................................................ 1-5
1.4 Basic operations.................................................................................................................................... 1-6
1.5 Screen definitions ................................................................................................................................. 1-8
1.6 Installation procedure.......................................................................................................................... 1-9

2. HOW TO USE THE SOFTWARE 2-1 to 2-8

2.1 Operation............................................................................................................................................... 2-1

2.1.1 Start-up..................................................................................................................................... 2-1
2.1.2 Command selection procedures.............................................................................................. 2-1
2.1.3 Operation procedures within the window ............................................................................. 2-2
2.2 Commands and display windows........................................................................................................ 2-3
2.3 Precautions for test mode .................................................................................................................... 2-5
2.4 Simple language for program operation............................................................................................. 2-6
2.4.1 Language .................................................................................................................................. 2-6
2.4.2 Program example..................................................................................................................... 2-7
2.4.3 Instruction ................................................................................................................................ 2-7

3. TROUBLESHOOTING 3-1 to 3-2

3.1 Communication error ........................................................................................................................... 3-1

3.2 Screen unprintable ............................................................................................................................... 3-1

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1. INTRODUCTION

1. INTRODUCTION

1.1 Specifications

Using the communication function of the servo amplifier, the Servo Configuration Software allows
functions, such as parameter setting change, point data maintenance, graph, program operation mode
and test mode, to be implemented from a personal computer.
Servo amplifier
MR-E-A MR-E-AG
Item
Communication signal Conforms to RS-232C
Baud rate 9600bps
19200bps
38400bps
57600bps
System Station selection
Automatic demo
Monitor Display all High speed monitor
Trend graph
Alarm Display
History
Amplifier data
Diagnostic Digital I/O
No motor rotation
Total power-on time
Amplifier version info
Motor information
Tuning data
Automatic VC offset display
Axis name setting
Parameters Parameter list
Tuning
Change list
Detailed information
Test Jog
Positioning
Operation w/o motor
Forced output
Demo mode
Advanced-function Machine analyzer
Gain search
Machine simulation

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1. INTRODUCTION

1.2 System configuration

1.2.1 Components

To use the Servo Configuration Software, the following components are required in addition to the servo
amplifier and servo motor. Configure the system according to the Installation Guide of each equipment:
Model (Note 1) Description
IBM PC-AT compatible where the English version of Windows 95, Windows 98, Windows Me, Windows
NT Workstation 4.0 or Windows 2000 Professional operates
Processor: Pentium 133MHz or more (Windows 95, Windows 98, Windows NT Workstation 4.0,
Windows 2000 Professional)
(Note 2)
Pentium 150MHz or more (Windows Me)
Personal computer
Memory : 16MB or more (Windows 95), 24MB or more (Windows 98)
32MB or more (Windows Me, Windows NT Workstation 4.0, Windows 2000 Professional)
Free hard disk space: 30MB or more
Serial port used
Windows 95, Windows 98, Windows Me, Windows NT Workstation 4.0, Windows 2000 Professional
OS
(English version)
Display 800 600 or more, connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer. Note that a serial mouse is not used.
Printer Connectable with the above personal computer.
Communication QC30R2
cable When this cannot be used, refer to Section 1.3.2 and fabricate.
Note 1: Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.
2: On some personal computers, this software may not run properly.

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1. INTRODUCTION

1.2.2 Communication cable

(1) Selection
Use a communication cable for connection of the personal computer and the servo amplifier.
Choose the communication cable according to the shape of the RS-232C connector of the personal
computer used.
POINT
Depending on the personal computer used, any of the following cables may
be used.
Confirm the RS-232C connector signal carefully, refer to this section and
fabricate the cable.

Servo
Length
Type amplifier or Application Description
[m(feet)]
Interface unit
Connector: MP371/6 Connector: DE-9SF-N
(Marushin Electric) Case: DE-C1-J6-S6
3 MR-E-A For IBM series
QC30R2 (Japan Aviation Electronics)
(9.84) MR-E-AG (D-SUB 9 pins)

For fabrication, refer to the connection diagram in this section. When fabricating the cable, read and
follow the instructions below:
1) Always use a multi-core cable with a shield and connect the shield to FG securely.
2) Wiring distance depends on surrounding environment but should be as short as possible.
Maximum distance is 15m(49.2feet) in environmentally good places with little noise, e.g. offices.

(2) Communication connector signal pin-outs

MR-E-A, MR-E-AG: (CN3) Servo amplifier side connector

5 LG
1

RXD

2
6
TXD
4

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1. INTRODUCTION

(3) Cable connection diagrams

QC30R2
Personal computer Servo amplifier
side side or Interface unit
Plate FG
TXD 3 1 RXD

RXD 2 2 TXD
GND 5 3 LG
RTS 7
CTS 8
DSR 6
DTR 4
(Note) D-SUB9 pins

Note. Check the RS-232C connector shape of your personal computer.

1.2.3 Configuration diagrams

(1) MR-E-A, MR-E-AG

Servo amplifier

Personal computer

Communication cable

CN3 CN2 Servo motor

To RS-232C connector

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1. INTRODUCTION

1.3 Basic terms

1) Mouse pointer
An on-screen arrow which moves with movements of the mouse.
2) Point
To move the mouse pointer to a particular item or position on the screen.
3) Click
To press and release the left button of the mouse once.
4) Double-click
To press and release the left button of the mouse twice.
5) Drag
To hold down the left button of the mouse and move the mouse.
6) Focus
Highlights characters, button or the like when the menu or button is ready to accept an input from the
keyboard.
7) Text box
Box used to enter characters.
8) List box
Box used to select one of several items.

9) Combo box
Box used to select one of several items.
10) Check box
Box used to select one or more of several items. When a choice is made a mark appears in the box.
11) Option button
Button used to select only one of several items. When a choice is changed moves to a new choice.

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1. INTRODUCTION

1.4 Basic operations

(1) Closing the window

Click the closing bottom at top right corner of the window.

Click

(2) Moving the focus from one window to another

Click the button of the task bar corresponding to the window to be used.

Click

(3) Moving the window

Point to the title bar, drag the window to the required position, and release the button.

Drag

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1. INTRODUCTION

(4) Moving the focus to the menu bar

Click the menu bar. To move the focus to a window, click the window.

Click

Click

(5) Moving the focus inside the window

Click the object to be operated (such as a text box). When the object to be operated is a button, clicking
it will start its processing.

Click

Click

<Short-cut keys>
Any of the following short-cut keys may be used to perform operation from the keyboard:
Intended operation Keyboard
Show help “F1”
End program “Alt” “F4”
Show start menu “Ctrl” “Esc”
Change window “Alt” “Tab”
Change object “Tab”

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1. INTRODUCTION

1.5 Screen definitions

b) e) d)

a)
c)

a) Title bar
b) Menu title
c) Menu bar
Shows the menu title.
d) Menu
Command menu in tier 1
e) System setting display area
Shows the servo amplifier and baud rate which have been set.

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1. INTRODUCTION

1.6 Installation procedure

In this procedure, it is assumed that the hard disk drive of the personal computer is C and the CD drive is
D.
Before running this program, always close all Windows programs.

1) Insert CD-ROM in Drive D (CD drive). Then, click the “Start” button of the task bar to open the start
menu, specify the file name, and click “Run”. When the following window has appeared, type
"D:\SETUP154E\DISK1\SETUP. EXE" and click the “OK” button.

2) After the above window, the following window appears. Click “Next>” button.

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1. INTRODUCTION

3) The User Information screen appears. Type your full name and company name and click “Next>”
button.

4) The Choose Destination Location screen appears. When you specify the destination folder and click
“Next>” button, installation starts.

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1. INTRODUCTION

5) When installation ends, any of the following screens appears. Click the “Finish” button to exit from
Setup.

POINT
In the corresponding window, to stop installation, click the “Cancel” button
or press the “Escape”.

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1. INTRODUCTION

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2. HOW TO USE THE SOFTWARE

2. HOW TO USE THE SOFTWARE

2.1 Operation

The method of selecting the command is the operation procedures using the mouse.
Unavailable commands are grayed out.

2.1.1 Start-up

1) Click the “Start” button of the task bar to open the menu.
2) Point to submenu, “SETUP_Software” from “Programs”.
3) Click “SETUP154E”.

2.1.2 Command selection procedures

1. Clicking method
1) Click the menu title on the menu bar to open the menu.
2) Point to and click the command to be selected.

2. Dragging method
Point to the menu title on the menu bar, hold down the left button and drag the mouse to the
command to be selected, and release the button.

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2. HOW TO USE THE SOFTWARE

2.1.3 Operation procedures within the window

Within the operation window, enter data and/or press the button.

(1) Pressing a button

Click the button in the window.

(2) Entering data

Click the setting area to move the focus there, and enter data from the keyboard.

(3) Selecting data

Click the data to be selected.

(4) Selecting the combo box data, etc.

1) Click on the right of the setting portion to open the combo box.
2) Make selection by clicking the data or like to be chosen.

(5) Pressing the option button

Click the item or button.

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2. HOW TO USE THE SOFTWARE

2.2 Commands and display windows

The following diagram shows a sequence of commands and windows.

Initial screen

Menu Command Display window

File Open File selection

Save

Print

Exit

System System settings System settings

Station Selection Station settings

Automatic Demo
Automatic Demo Demo Operation
Mode
Version information Version information

Program Operation-
Edit

Monitor Amplifier Data Amplifier Data Display Monitor detailed

information

High Speed Monitor High Speed Monitor Amplifier Monitor

Parameter Selection

Trend Graph Graph Graph selection

Trigger selection

Alarms Display Alarm Display Alarm-reset

History Alarm History Alarm-history-clear

Amplifier Data Amplifier Data

To next page

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2. HOW TO USE THE SOFTWARE

Continued from preceding page

Menu Command Display window

Diagnostics I/O Display Digital I/O display I/O Batch Display

No Motor Rotation Motor output disabled

Total Power-on Time Accumulated power-on

time display

Software number display Software number display

Motor Data Display Motor Data Display

Tuning Data Tuning data display

Automatic Voltage Control Automatic Voltage

Control offset

Axis name setting Axis name setting

Parameters Parameter List Parameter list Parameter change list

Tuning Auto tuning Parameter detailed

information
Manual mode 1

Manual mode 2

Change list Change list

Detailed information Parameter detailed

information

Test Jog Jog mode

Positioning Positioning mode

Operation w/o Motor Operation Without

Motor Selection

Forced Output Forced output mode

Demo Mode Program Operation-Edit

Demo Operation Mode

Advanced-
Machine analyzer Machine analyzer
function

Gain search Gain search

Machine simulation Machine simulation

Help Help

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2. HOW TO USE THE SOFTWARE

2.3 Precautions for test mode

Always touch the switches with dry hands. You may get an electric shock if you
touch them with wet hands.
Always operate the equipment with the front cover installed. Removing the front
WARNING cover will expose the terminals and charged area having high voltages, which may
lead to an electric shock.
Keep the front cover closed while power is on the equipment is running.
Otherwise, you may get an electric shock.

Before starting operation, make sure that the parameters are set to correct values.
Depending on machines, they may operate unpredictably.
CAUTION While power is on or for some time after power-off, keep clear of the servo
amplifier´s heat sink and regenerative brake resistor, the servo motor, etc. as they
may be high temperatures. Otherwise, you may get burned.

(1) Servo on
In the Jog, Positioning, Demo Mode or Single-step Feed available in the Test, the servo amplifier's
digital input signal SON is automatically switched on in the servo amplifier to start operation,
independently of the ON/OFF status of SON. Also, any external command pulse or input signal
(except emergency stop) is not accepted until the test mode window is closed to terminate the
command.
SON is automatically switched on by the following operation:
Test mode Mouse
Click the “Forward” or “Reverse” button.
Jog
The servo motor rotates while you are clicking the button.
Positioning Click the “Forward” or “Reverse” button.
Demo Mode Click the “Start” button.

(2) Stop
POINT
To make an emergency stop, switch off the emergency stop signal of the
servo amplifier or shut off the input power.

1) Perform the following operation to stop the test mode:

Test mode Mouse
Jog Click the “Pause” button.
Positioning Click the “Pause” button.
Demo Mode Click the “Reset” button.

2) The servo motor will stop if either of the following situations occurs in the test mode:
The communication cable is disconnected.
If the window is dragged or the other menu is opened, communication between the personal
computer and the servo amplifier may be suspended temporarily, stopping the servo motor
temporarily.

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2. HOW TO USE THE SOFTWARE

2.4 Simple language for program operation

The language used in the program operation-edit window will be described below.

2.4.1 Language

The chart below describes the commands in the program operation-edit window to execute the program
operation mode, in which the MR-E-A goes into the position control mode.
Describe a program in upper case characters and Enter or Return at the end of a line. Up to 300 lines may
be described.
Setting
Command Name Setting range Unit Description
(**: Set value)
Used to set the command speed given to the servo
0 to permissible
motor for positioning. The set value should be not
SPN Feedrate SPN (**) instantaneous r/min
more than the permissible speed of the servo motor
speed
used.
Used to set the acceleration/deceleration time. (Time
Acceleration/decel-
STC STC (**) 0 to 50000 ms required to reach the rated speed of the corresponding
eration time
servo motor)
Used to execute movement by the preset pulses.
9999999 Positioning operation is performed with the set values
MOV Move command MOV (**) to pulse of the feedrate (SPN) and acceleration /deceleration
9999999 time (STC).
No symbol: CCW rotation, : CW rotation
Used to hold the next operation until the preset digital
input signal (DI) of the servo amplifier switches on. By
setting 99, the next operation will be performed
unconditionally. Set the input signal as listed below:
For the MR-E-A, any signal not allocated by signal
assignment in the position control mode using
parameters No. 43 to 47 will be invalid if it is selected.

Set Value MR-E-A

0 SON
1 LSP
Waiting external As listed in the
SYNC SYNC (**) 2 LSN
signal to switch on table at right.
3
4
5 PC
6 RES
7 CR
8
9
10
11
99 Unconditional

Dwell command Used to hold the next operation until the preset time
TIM TIM (**) 1 to 50 s
time elapses.
Used to specify the number of cycles or times (from
TIMES to STOP) that the positioning is to be repeated.
Program count
TIMES TIMES (**) 1 to 99 Times Enter the TIMES (**) at the beginning and STOP at
command
the end of a cycle. Not required for one positioning
cycle.
Used to stop the program being executed.
STOP Program stop
Need not be described on the last line.

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2. HOW TO USE THE SOFTWARE

2.4.2 Program example

As soon as the “Start” button is clicked, SON is switched on automatically to start operation.

Timing chart

ON
SON
OFF
Operation 2
Motor speed : 2000r/min
Acceleration/ : 1200ms
deceleration
time
Movement : 10000 pulse
10s
CCW
Servo motor
speed
CW
Operation 1
Motor speed : 1000r/min
Acceleration/ : 1200ms
deceleration
time
Movement : 12000 pulse

Performed three times.

Program
TIMES (3) ................................ Repeats the program up to STOP three times.
SYNC (0) ................................. Holds the program from running until the input signal with the set
value of 0 (SON) switches on.
SPN (1000) ............................. Sets the command speed to 1000r/min.
Operation 1
STC (1200) .............................. Sets the acceleration/deceleration time to 1200ms.
MOV (12000) .......................... Executes movement by 12000 pulses in the CCW direction.
TIM (10) .................................. Hold the next operation for 10s.
Operation 2
SPN (2000) ............................. Sets the command speed to 2000r/min.
MOV ( 100000) ..................... Executes movement by 100000 pulses in the CW direction.
STOP
In this example, the acceleration/deceleration time in Operations 1 and 2 are the same.
In this case, the acceleration/deceleration time in Operation 2 need not be set. In this way, set values
different from those in the preceding operation need only be described in the operation program.

2.4.3 Instruction

When the program operation mode is executed with the program operation mode window and another
window (Amplifier Data Display window) being displayed at the same time, the program may progress
slower, making the dwell command time longer than the set value.

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2. HOW TO USE THE SOFTWARE

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3. TROUBLESHOOTING

3. TROUBLESHOOTING

3.1 Communication error

If communication between the personal computer and the servo amplifier is suspended and the
communication error as shown in the following window occurs, check the code on the right of the error
message and remove its cause.
<Possible cause> Noise entry, hard disk fault, wiring fault, etc.

Code Definition
001 Parity error occurred in the data sent from the personal computer.
002 Checksum error occurred in the data sent from the personal computer.
003 Character not given in the specifications was sent to the servo amplifier.
004 Command not given in the specifications was sent to the servo amplifier.
Data number not given in the specifications was sent to the servo amplifier.
005
Data outside the permissible range was sent to the servo amplifier.
None Checksum error occurred in the data received by the personal computer.

3.2 Screen unprintable

If a screen is not printed after printing is started, open the Windows setup window and change the
display setting to 256 colors or less.

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3. TROUBLESHOOTING

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REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Apr., 2002 IB(NA)0300058-A First edition
Feb., 2003 IB(NA)0300058-B Section 1.1: Addition of MR-E-AG, Addition of Automatic VC offset display
Section 1.2.2: Addition of MR-E-AG
Section 1.3.3: Addition of MR-E-AG
Section 2.2: Addition of Automatic Voltage Control
Jul., 2003 IB(NA)0300058-C Section 2.1.1: Deletion of "MELSERVO"
MODEL
MODEL
CODE

HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310

This Installation Guide uses recycled paper.

IB (NA) 0300058-C (0307) MEE Printed in Japan Specifications subject to change without notice.