1. FUNCTIONS AND CONFIGURATION
1.4 Function list
1.4.1 Applicable control mode for each actuator
1.4.1 Applicable control mode for each actuator.
The following control mode can be selected for applicable actuators.
Please refer 「3. SIGNALS AND WIRING」and「5. PARAMETERS」about wiring and parameter setting.
Table. Applicable control mode.
Driver type Actuator type
Control mode Note 1)（Selected by parameter number PA1.）
Position control Speed control Torque control
LECSB
（Absolute）
LEY ○ ○Note 2) ○Note 3)
LJ1 ○ × ×
LG1 ○ × ×
LTF ○ × ×
LEF ○ × ×
LEJ ○ × ×
Command method [Pulse train] [ON/OFF Signal] [ON/OFF Signal]
Operation method Positioning operation Setting speed operation Setting torque operation
Note 1. The control change mode cannot be used.
Note 2. Make the moving range limitation by external sensor etc to avoid actuator hitting to the work piece or stroke end.
Note 3. When using the pushing operation, the following parameter should be set.
If not, it will cause malfunction.
LECSB ： The value of the parameter value [PC13] “Analog torque maximum output command”
should be 30% or less.
（30% = Maximum pushing force of the product.）
（○：Applicable，×：Inapplicable）
1 - 8 1.5 Model code definition
(1) Model
(2) Option Model
a) Motor cable / Lock cable / Encoder cable
Incremental
ＬＥＣＳ
Motor type
－
Ａ S１
Driver Type
１
AC200～230V 50,60Hz AC100～120V 50,60Hz ２
１
Power supply B
Pulse input type
（Incremental encoder）
A
AC Servo motor（S1,S2）
400W
Pulse input type
（Absolute encoder）
AC Servo motor（S3）
AC Servo motor（S4）
Type Capacity Encoder
AC Servo motor（S5,S6）
AC Servo motor（S7）
AC Servo motor（S8）
50,100W 100W 200W
Absolute
ＬＥ
Cable Content
AC Servo motor S
Encoder cable E
Lock cable B
Motor cable M
－
－ C
Motor Type
S M
Opposite axis side B
Axis side A
Connector Direction
Robot cable R
Standard cable S
Cable Type
５ A
S
1 - 9 b） I/O Connector
*LE-CSNB is 10150-3000PE(Connector)/10350-52F0-008（Shell kit）of Sumitomo 3M Limited or equivalent goods.
Applicable wire size: AWG24~30 c）Regenerative options
*MR-RB□ of Mitsubishi Electric Corporation.
d）Setup software (MR Configurator2TM)
* SW1DNC-MRC2-□ of Mitsubishi Electric Corporation.
Refer to the website of Mitsubishi Electric Corporation for the information of the operating environment and upgrading.
Prepare USB cable should be ordered separately.
e）USB cable(3m)
* MR-J3USBCBL3M of Mitsubishi Electric Corporation.
f）Battery
* MR-J3BAT of Mitsubishi Electric Corporation.
Battery for replacement.
Absolute position data is maintained by installing the battery to the driver.
ＬＥＣ-MR-Ｊ3ＢＡＴ ＬＥＣ-MR-Ｊ3ＵＳＢ
ＬＥ-CＳＮB
Driver Type
LECSB B
ＬＥC-MR-RB-032
Regenerative option Type
Permissible regenerative power 100W 12
Permissible regenerative power 30W 032
ＬＥＣ-MRC2□
Languag
English version E
Japanese version NIL
Chinese version C
1 - 10 g） I/O Connector
*LEC-CSNB-1(Connector/ Shell kit) is 10150-3000PE (Connector)/ 10350-52F0-008(Shell kit) of Sumitomo 3M Limited or equivalent goods.
Applicable wire size: AWG24
1.6 Combination with servo motor
The following table lists combinations of driver and servo motors. The same combinations apply to the models with a lock and the models with a reduction gear.
Driver
Servo motors LE-□-□
LECSB□-S5 S5,S6
LECSB□-S7 S7
LECSB□-S8 S8
ＬＥC-CＳＮB-1
Driver Type
LECSA A
Cable length(L)[m]
1.5
1
1 - 11 1.7 Structure
1.7.1 Parts identification (1) LECSB□-□
MODE UP DOWN SET
Main circuit power supply connector (CNP1) Connect the input power supply.
USB communication connector (CN5) Connect the personal computer.
Analog monitor connector (CN6) Outputs the analog monitor.
RS-422 communication connector (CN3) Connect the personal computer.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative option.
I/O signal connector (CN1) Used to connect digital I/O signals.
Charge lamp
Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery holder
Contains the battery for absolute position data backup.
Battery connector (CN4)
Used to connect the battery for absolute position data backup.
Servo motor power connector (CNP3) Connect the servo motor.
Section 3.1
The 5-digit, seven-segment LED shows the servo status and alarm number.
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
MODE UP DOWN SET
Operation section
Used to perform status display, diagnostic, alarm and parameter setting operations.
Chapter 6
Chapter 6 Detailed explanation
1 - 12
1.8 Configuration including auxiliary equipment POINT
Equipment other than the driver and servo motor are optional or recommended products.
(1) LECSB□-□
(a) For 3-phase or 1-phase 200 to 230VAC
(Note 3) Power supply
Line noise filter (FR-BSF01) (NFB) or fuse
CN5
Power factor improving DC reactor
Junction terminal block CN6
(Note 2) MR Configurator
Personal computer
Note 1. The battery is used for the absolute position detection system in the position control mode.
3.For 1-phase 200 to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification.
Set up software
（MR Configurator2TM）
LEC-MR-J3BAT Driver
(Mitsubishi Electric Corporation)
1 - 13
(b) For 1-phase 100 to 120VAC
(Note 3) Power supply
Line noise filter (FR-BSF01)
Magnetic contactor (MC) No-fuse breaker (NFB) or fuse
CN5
CN3
Regenerative option
P C
L11
L21
Analog monitor
CN1
CN2
CN4
Junction terminal block CN6
U VW Servo amplifier
Servo motor (Note 1)
Battery MR-J3BAT L1
L2
MR Configurator
Personal computer Power factor
improving AC reactor (FR-BAL)
(Note 2) R S
Note 1. The battery is used for the absolute position detection system in the position control mode.
2. The power factor improving DC reactor cannot be used.
3. Refer to section 1.3 for the power supply specification.
Set up software
（MR Configurator2TM）
LEC-MR-J3BAT Driver
(Mitsubishi Electric Corporation)
2 - 1
2. INSTALLATION ...2 2.1 Installation direction and clearances...3 2.2 Keep out foreign materials ...4 2.3 Cable stress ...5 2.4 Inspection items ...5 2.5 Parts having service lives ...6
2 - 2
2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.CAUTION
Stacking in excess of the limited number of product packages is not allowed.
Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For details of the environmental condition, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the driver.
Do not block the intake and exhaust areas of the driver and servo motor which has a cooling fan. Doing so may cause faults.
Do not subject the driver to drop impact or shock loads as they are precision equipment.
Do not install or operate a faulty driver.
When the product has been stored for an extended period of time, contact your local sales office.
When handling the driver, be careful about the edged parts such as the corners of the each unit.
The driver must be installed in the metal cabinet (control box).
2 - 3 2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may occur.
Leave specified clearances between the driver and control box inside walls or other equipment.
(1) LECSB□-□
(a) Installation of one driver
Control box
Top
Bottom Control box
40mm or more Servo amplifier
40mm or more 10mm or
more
10mm or more
Wiring allowance 80mm Driver
2 - 4 (b) Installation of two or more drivers
POINT
Close mounting is available for the driver of under 3.5kW for 200V class and 400W for 100V class.
Leave a large clearance between the top of the driver and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the drivers closely, leave a clearance of 1mm between the adjacent drivers in consideration of mounting tolerances.
In this case, make circumference temperature into 0 to 45 , or use it at 75 or a smaller effective load ratio.
40mm or more Control box
100mm or more
40mm or more 10mm or more Control box
Leaving clearance Mounting closely
1mm 1mm 100mm or more
30mm or more
30mm or more
30mm or more
30mm or more
Top
Bottom
(2) Others
When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the driver is not affected.
Install the driver on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the driver.
(2) Prevent oil, water, metallic dust, etc. from entering the driver through openings in the control box or a cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.
2 - 5 2.3 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section 11.4 for the flexing life.
2.4 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the driver whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock.
POINT
Do not test the driver with a megger (measure insulation resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check the cables and the wires for scratches and cracks. Perform periodic inspection according to operating conditions.
2 - 6 2.5 Parts having service lives
The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions.
Part name Life guideline
Smoothing capacitor 10 years
Relay Number of power-on and number of emergency stop times : 100,000 times
Cooling fan 10,000 to 30,000hours (2 to 3 years) Driver
Absolute position battery Refer to section 14.2
(1) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 (104 ) surrounding air temperature or less).
(2) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity.
(3) Driver cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
3 - 1
3. SIGNALS AND WIRING ... 2 3.1 Input power supply circuit ... 3 3.2 I/O signal connection example ... 6 3.2.1 Position control mode ... 6 3.2.2 Speed control mode ... 8 3.2.3 Torque control mode ... 10 3.3 Explanation of power supply system ... 12 3.3.1 Signal explanations ... 12 3.3.2 Power-on sequence ... 13 3.3.3 CNP1, CNP2, CNP3 wiring method ... 15 3.4 Connectors and signal arrangements ... 21 3.5 Signal explanations ... 25 3.6 Detailed description of the signals ... 35 3.6.1 Position control mode ... 35 3.6.2 Speed control mode ... 39 3.6.3 Torque control mode ... 41 3.6.4 Position/speed control change mode ... 44 3.6.5 Speed/torque control change mode ... 46 3.6.6 Torque/position control change mode ... 48 3.7 Alarm occurrence timing chart ... 49 3.8 Interfaces ... 50 3.8.1 Internal connection diagram ... 50 3.8.2 Detailed description of interfaces ... 51 3.8.3 Source I/O interfaces ... 55 3.9 Treatment of cable shield external conductor ... 56 3.10 Connection of driver and servo motor ... 57 3.10.1 Connection instructions ... 57 3.10.2 Power supply cable wiring diagrams ... 58 3.11 Servo motor with a lock ... 59 3.11.1 Safety precautions ... 59 3.11.2 Setting ... 59 3.11.3 Timing charts ... 60 3.11.4 Wiring diagrams (LE-□-□ series servo motor) ... 62 3.12 Grounding ... 64
3 - 2
3. SIGNALS AND WIRING
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the driver whether the charge lamp is off or not.
Ground the driver and the servo motor securely.
Do not attempt to wire the driver and servo motor until they have been installed.
Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpected resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output signal
DICOM
24VDC Servo amplifier
RA
For sink output interface
DOCOM
Control output signal
DICOM
24VDC Servo amplifier
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the driver.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) : Mitsubishi Electric Corporation) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
Controller Driver Controller Driver
3 - 3 3.1 Input power supply circuit
CAUTION
Always connect a magnetic contactor between the main circuit power and L1, L2, and L3 of the driver, and configure the wiring to be able to shut down the power supply on the side of the driver’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the driver malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
Check the model and input the correct voltage for the power supply of the driver.
When a voltage, which exceeds the maximum input voltage of the driver specifications, is input, the driver malfunctions.
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as alarm occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply to LECSB□-□
P( )
CN1 CN1 24VDC
Trouble
Emergency stop (Note 6) Servo-on
RA
Emergency stop OFF
3 - 4
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13. Use only one of power factor improving DC reactor or power factor improving AC reactor.
2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface.
For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using the external sequence.
7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.
(2) For 1-phase 200 to 230VAC power supply to LECSB□-□
P
CN1 CN1 24VDC
Trouble
Emergency stop (Note 6) Servo-on
RA
Emergency stop OFF
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13. Use only one of power factor improving DC reactor or power factor improving AC reactor.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using the external sequence.
7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.
Driver
3 - 5 (3) For 1-phase 100 to 120VAC power supply to LECSB□-□
P
CN1 CN1 24VDC
Trouble
Emergency stop (Note 6) Servo-on
RA
Emergency stop OFF
Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using the external sequence.
7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.
Driver
3 - 6
3.2 I/O signal connection example 3.2.1 Position control mode
(Note 12)
Trouble (Note 6) Zero speed detection Limiting torque
Encoder A-phase pulse (differential line driver) 21 DICOM
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
Upper limit setting
42
External torque limit selection Forward rotation stroke end Reverse rotation stroke end (Note 3, 5) Analog torque limit
10V/max. torque
Analog monitor 1
Analog monitor 2 Driver
(Note 9) Set up software
（MR Configurator2MT）
LEC-MR-J3USB (option)
3 - 7
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10 300mA current for interfaces from the outside. 300mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface.
5. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the PC or PLC…etc should be stopped by the sequence program.
7. The pins with the same signal name are connected in the driver.
8. This length applies to the command pulse train input in the differential line driver system. It is 2m or less in the open collector system.
9. Use LEC-MRC2E.
10. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note
10. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note