Related Manuals for Mitsubishi Electric Melservo-Jet MR-JET Series
Summary of Contents for Mitsubishi Electric Melservo-Jet MR-JET Series
- Page 1 Mitsubishi Electric AC Servo System MR-JET User's Manual (Hardware) -MR-JET-_G -MR-JET-_G-N1...
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Page 3: Safety Instructions
SAFETY INSTRUCTIONS (Please read the instructions carefully before using the equipment.) To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. -
Page 4: U.s. Customary Units
[Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work. -
Page 5: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 U.S. - Page 6 MR-JET-200G_/MR-JET-300G_ ............. 41 Connector.
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Page 7: Chapter 1 Introduction
INTRODUCTION Wiring procedure Procedure Description Reference Installation Install a servo amplifier. Page 9 INSTALLATION Connecting the power circuit Connect the power circuit. Page 17 Example power circuit connections Connecting I/O signals Page 20 Example I/O Connect I/O signals. signal connections Connecting to the servo Connect the servo amplifier to a servo motor. -
Page 8: Wiring Check
Wiring check Before switching on the power supply, check the following items. Power supply system wiring Power supply system wiring • Check that the power supplied to the power input terminals (L1/L2/L3) of the servo amplifier satisfies the defined specifications. For the power supply specifications, refer to "Servo amplifier standard specifications"... -
Page 9: I/O Signal Wiring
I/O signal wiring • Check that I/O signals are connected correctly. If the DO forced output mode is used, the pins of the CN3 connector can be forcibly switched on/off. This mode is used to check the wiring. Check the wiring in the servo-off state when using this mode. Page 20 Example I/O signal connections •... -
Page 10: Surrounding Environment
Surrounding environment Check the following items about the environment surrounding the servo amplifier and servo motor. Handling cables • Check that the wiring cables have not been stressed. • Check that the encoder cable has been used within its bending life. Page 51 Cable bending life •... -
Page 11: Chapter 2 Installation
INSTALLATION Precautions • Remove the protective sticker from the front of the servo amplifier before use. • Install the servo amplifier and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. In addition, the servo amplifier must be installed in a metal cabinet. •... - Page 12 Installation clearances for the servo amplifier ■Installation of one servo amplifier Cabinet Cabinet 10 mm or more Wiring allowance Wiring allowance 70 mm or more 70 mm or more Servo amplifier 10 mm 10 mm or more or more Bottom Wiring allowance 70 mm or more 2 INSTALLATION...
- Page 13 ■Installation of two or more servo amplifiers Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions. When closely mounting the servo amplifiers, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
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Page 14: Keeping Out Foreign Materials
Keeping out foreign materials When drilling the cabinet for assembly, prevent drill chips and wire fragments from entering the servo amplifier. Prevent foreign matter such as oil, water, and metallic dust from entering the servo amplifier through openings in the cabinet or through a cooling fan installed on the ceiling. -
Page 15: Fan Unit Removal Procedure
Fan unit removal procedure Remove the screws that fixed the fan unit. Keep the removed screws for installation of the new fan unit. Pull up the cover of the fan unit. Pull out the fan unit vertically. 2 INSTALLATION 2.4 Fan unit replacement procedure... -
Page 16: Fan Unit Installation Procedure
Fan unit installation procedure Insert the positioning part of the fan unit vertically, align it to the positioning part of the main unit case, and tighten with screws. Use the same screws as those used for the fan unit before replacement. 2 INSTALLATION 2.4 Fan unit replacement procedure... -
Page 17: Restrictions When Using This Product At An Altitude Over 1000 M And Up To 2000 M
Restrictions when using this product at an altitude over 1000 m and up to 2000 m Ambient temperature As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the ambient temperature range shown in the following figure. [°C] 1000 2000... -
Page 18: Chapter 3 Signals And Wiring
SIGNALS AND WIRING Precautions • Insulate the conductive parts of the terminals. • If using a regenerative resistor, configure a circuit that shuts off the main circuit power supply with an alarm signal because abnormal overheating of the regenerative resistor may cause smoke and fire. •... -
Page 19: Example Power Circuit Connections
Example power circuit connections Precautions • Connect a magnetic contactor between a power supply and the power supply (L1/L2/L3) of a servo amplifier to configure a circuit that shuts off the power supply on the servo amplifier side because failure of the servo amplifier may cause smoke and fire if a magnetic contactor is not connected. -
Page 20: 200 V Class
200 V class For 3-phase 200 V AC to 240 V AC power supply Malfunction Emergency stop switch Servo amplifier Servo motor CNP1 MCCB *3 *5 Built-in 3-phase regenerative 200 V AC to 240 V AC Motor resistor Encoder Encoder cable *1 MR-JET-40_ to MR-JET-300_ have a regenerative resistor. - Page 21 For 1-phase 200 V AC to 240 V AC power supply Precautions • For the notes, refer to the following section. Page 18 For 3-phase 200 V AC to 240 V AC power supply Malfunction Emergency stop switch Servo amplifier Servo motor CNP1 MCCB...
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Page 22: Example I/O Signal Connections
Example I/O signal connections Precautions • Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. • In the torque mode, EM2 functions the same as EM1. For sink I/O interface Servo amplifier 10 m or shorter... - Page 23 For source I/O interface Precautions • For notes, refer to the notes in the following section. Page 20 For sink I/O interface Servo amplifier 10 m or shorter 10 m or shorter *8 *13 24 V DC Power supply Forced stop 2 DOCOM Electromagnetic Forward rotation stroke end...
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Page 24: Explanation Of Power Supply System
Explanation of power supply system Explanation of signals • For the layout of connectors and terminal blocks, refer to the following. Page 39 DIMENSIONS L1/L2/L3 (Connection destination: Main circuit power supply) Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC power supply, connect the power supply to L1 and L3. -
Page 25: Power-On Procedure
Power-on procedure Signals such as output signals may be unstable at power-on. Power-on procedure Connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of a servo amplifier by referring to the following section. Switch off the magnetic contactor as soon as an alarm occurs. ... -
Page 26: Wiring Cnp1
Wiring CNP1 • For the wire sizes, refer to the following. Page 69 Selection example of wires • When wiring, remove the power connectors from the servo amplifier. • Insert only one wire or ferrule into each wire insertion hole on the power connectors. Use the supplied servo amplifier power connector for wiring CNP1. - Page 27 Connecting wires ■Fabricating the wire insulator Refer to the following for the stripped length of the wire insulator. Set the appropriate length based on the wire type and fabrication condition. Page 24 Connector Insulator Core Stripped length Twist the core wires lightly and straighten them as follows. Loose and bent strands Twist and straighten the strands.
- Page 28 *1 If using the ferrule manufactured by DAIDO SOLDERLESS TERMINAL MFG., leave the stripped wire end 8.5 mm ± 0.5 mm from the ferrule tip and insulate the wire using a heat shrink tube with a length of 14 mm or more. 8.5 mm ±...
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Page 29: Connectors And Pin Assignments
Connectors and pin assignments Precautions The pin assignments of the connectors are as viewed from the cable connector wiring section. For wiring to the I/O signal connector (CN3), securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. -
Page 30: Connectors And Pin Assignment
Connectors and pin assignment The front view of the servo amplifier shown below is of MR-JET-_G_ servo amplifier with a rated capacity symbol of 40 or less. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 39 DIMENSIONS The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the servo amplifier. -
Page 31: Signal (Device) Explanation
Signal (device) explanation For the I/O interfaces (symbols in the I/O division column in the table), refer to the following. Page 35 Detailed explanation of interfaces The pin numbers in the connector pin No. column are default numbers. MR-JET-G User's Manual (Parameters) Input device Input device pins The following shows input device pins and the servo parameters used for setting devices. - Page 32 ■PC (Proportional control) Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type. If a servo motor is rotated even for a pulse due to any external factor while it is at a stop, it generates torque to compensate for a position mismatch.
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Page 33: Output Device
Output device Output device pins The following shows the output device pins and the servo parameters used for assigning devices. Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-13 [Pr. PD07] DO-1 CN3-9 [Pr. PD08] CN3-15 [Pr. - Page 34 ■VLC (Limiting speed) If the speed reaches the speed limit value in the torque mode, VLC will turn on. VLC will turn off in the servo-off state. The device cannot be used in the position mode or the velocity mode. ■ZSP (Zero speed detection) If the servo motor speed is the zero speed or less, ZSP will turn on.
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Page 35: Power Supply
Power supply Power supply explanations ■DICOM (Digital I/F power supply input) Input 24 V DC (24 V DC ±10 %, 300 mA) for I/O interfaces. The power supply capacity varies depending on the number of I/O interface points to be used. For sink interfaces, connect the positive terminal of the 24 V DC external power supply. -
Page 36: Interface
Interface Internal connection diagram Servo amplifier Approx. Forced stop 2 24 V DC 6.2 kΩ DOCOM Approx. 6.2 kΩ DICOM 24 V DC Insulated Servo motor Encoder *1 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following. Page 36 Source I/O interface *2 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply. -
Page 37: Detailed Explanation Of Interfaces
Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 29 Signal (device) explanation Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal. -
Page 38: Source I/O Interface
Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc. -
Page 39: Servo Motor With An Electromagnetic Brake
Servo motor with an electromagnetic brake Precautions • For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, and for selecting the surge absorber for the electromagnetic brake, refer to the following. Rotary Servo Motor User's Manual (HG-KNS/HG-SNS) •... -
Page 40: Grounding
Grounding The servo amplifier supplies power to the servo motor by switching on and off a power transistor. Depending on the wiring and ground wire routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and ground it. -
Page 41: Chapter 4 Dimensions
DIMENSIONS 200 V class MR-JET-10G_/MR-JET-20G_/MR-JET-40G_ CN1A CN1B CN3 φ6 mounting hole Approx. 40 2-M5 screw Terminal assignment CNP1 Screw size: M4 Tightening torque: 1.2 [N•m] Approx. 6.8 Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 4 DIMENSIONS 4.1 200 V class... -
Page 42: Mr-Jet-70G_/Mr-Jet-100G
MR-JET-70G_/MR-JET-100G_ CN1A CN1B 3-M5 screw φ6 mounting hole Approx. 60 Terminal assignment CNP1 Screw size: M4 Tightening torque: 1.2 [N•m] 40 ± 0.5 Approx. Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 4 DIMENSIONS 4.1 200 V class... -
Page 43: Mr-Jet-200G_/Mr-Jet-300G
MR-JET-200G_/MR-JET-300G_ CN1A CN1B Approx. 80 φ6 mounting hole Cooling fan 3-M5 screw Exhaust Terminal assignment CNP1 Screw size: M4 Tightening torque: 1.2 [N•m] 60 ± 0.5 Approx. Intake Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 4 DIMENSIONS 4.1 200 V class... -
Page 44: Connector
Connector Precautions • Obtain the wiring instructions from the manufacturer and wire connectors appropriately. CN3 connector Miniature delta ribbon (MDR) system (3M) ■One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10120-3000PE 10320-52F0-008 22.0 33.3... - Page 45 SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 4 DIMENSIONS 4.2 Connector...
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Page 46: Chapter 5 Characteristics
CHARACTERISTICS Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. The actual overload protection level is lower than the electronic thermal protection curve of the servo amplifier and servo motor used. - Page 47 Graph of overload protection characteristics ■HG-KNS13_ 1000 In operation In servo-lock Load ratio [%] ■HG-KNS23_/HG-KNS43_/HG-KNS73_/HG-SNS52_/HG-SNS102_ 1000 In operation In servo-lock Load ratio [%] ■HG-SNS152_/HG-SNS202_/HG-SNS302_ 1000 In operation In servo-lock Load ratio [%] 5 CHARACTERISTICS 5.1 Overload protection characteristics...
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Page 48: Power Supply Capacity And Generated Loss
Power supply capacity and generated loss Servo amplifier generated heat The following table indicates the generated loss and the power supply capacity of the servo amplifier under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions. The actual amount of generated heat depends on the frequency of operation and will be between the "At rated output"... - Page 49 Heat dissipation area for enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) that stores the servo amplifier should be designed to ensure that its internal temperature rise is within +10 °C at an ambient temperature of 40 °C. Calculate the necessary heat dissipation area of the cabinet with the equation below (5.1) while allowing a margin of approximately 5 °C for a maximum ambient temperature of 55 °C.
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Page 50: Dynamic Brake Characteristics
Dynamic brake characteristics • The coasting distance is a theoretically calculated value that does not consider factors such as friction. If the braking distance is not longer than the calculated value, a moving part may crash into the stroke end. Install an anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts. -
Page 51: Dynamic Brake Operation
Dynamic brake operation Calculation of coasting distance The following figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use the equation (5.2) to calculate the approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. - Page 52 Dynamic brake time constant The following shows dynamic brake time constant that is necessary to calculate the equation (5.2). Servo motor Waveform HG-KNS13_ HG-KNS23_ HG-KNS43_ HG-KNS73_ 1000 2000 3000 4000 5000 6000 Speed [r/min] HG-SNS52_ HG-SNS102_ HG-SNS152_ HG-SNS202_ HG-SNS302_ 1000 1500 2000 2500 3000 Speed [r/min] Permissible load to motor inertia when the dynamic brake is used...
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Page 53: Cable Bending Life
Cable bending life The bending life of the cables is shown below. This graph shows calculated values. Since they are not guaranteed values, provide a slight allowance for these values. 1 × 10 5 × 10 1 × 10 Long bending life encoder cable 5 ×... -
Page 54: Inrush Current At Power-On
Inrush current at power-on Since large inrush currents flow in the power supplies, be sure to use molded-case circuit breakers and magnetic contactors. Page 70 Molded-case circuit breakers, fuses, magnetic contactors When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. -
Page 55: Chapter 6 Options And Peripheral Equipment
OPTIONS AND PERIPHERAL EQUIPMENT Precautions • HIV wires are recommended to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous generation servo amplifiers. • To prevent an electric shock or a fire, correctly wire options and peripheral equipment, etc. in the correct combination. •... -
Page 56: Combinations Of Cable/Connector Sets
Combinations of cable/connector sets Controller CN1A CN1B CN1A Servo amplifier Servo amplifier Personal computer CNP1 (1) Supplied with servo amplifier To servo motor encoder To servo motor power supply 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cable/connector sets... - Page 57 List of cable/connector sets Product name Model Description Remark Servo amplifier Supplied with servo power connector amplifiers of 1 kW or less CNP1 connector 1-2349815-2 (TE Connectivity) Applicable wire size: 0.8 mm to 2.1 mm (AWG 18 to 14) Insulator OD: to 3.9 mm Open tool: 1981045-1 (TE Connectivity) ...
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Page 58: Ethernet Cable
Manufacturer Contact SC-E5EW(-L) Mitsubishi Electric System & Service Co., Ltd. Please consult your local Mitsubishi Electric representative. *1 The SC-E5EW cable is for in-cabinet and indoor uses. The SC-E5EW-L cable is for outdoor use. For cables other than SC-E5EW(-L), refer to the CC-Link Partner Association website (https://www.cc-link.org/en/). -
Page 59: Regenerative Option
Regenerative option Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. 200 V class Servo amplifier Regenerative power [W] Built-in MR-RB032 MR-RB12 MR-RB14 MR-RB30 MR-RB34 MR-RB50 regenerative [40 Ω] [40 Ω] [26 Ω] [13 Ω] [26 Ω] [13 Ω]... -
Page 60: Selection Of The Regenerative Option
Selection of the regenerative option A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. Rotary servo motor ■Regenerative energy calculation Servo motor Feed speed of moving part Forward... - Page 61 *1*2 Regenerative Torque T applied to servo motor [N•m] Energy E [J] power /η + J ) • N 0.1047 • • N • T • t psa1 9.55 • 10 psa1 = 0.1047 • N • T • t •...
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Page 62: Servo Parameter Setting
Servo parameter setting Set [Pr. PA02] according to the regenerative option to be used. MR-JET-G User's Manual (Parameters) Connection of regenerative option If using a regenerative option with MR-JET-40_ to MR-JET-300_, remove the built-in regenerative resistor and its wiring from the servo amplifier. If using the MR-RB50, cool it with a cooling fan. - Page 63 Refer to the following diagram and follow the steps (1) to (3) to remove the built-in regenerative resistor installed on the back of MR-JET-40_ to MR-JET-300_. (1) Pull out the power connector (CNP1). Do not forcibly pull the lead wires of the built-in regenerative resistor or the CNP1 connector.
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Page 64: Dimensions
Dimensions MR-RB12/MR-RB14 [Unit: mm] φ6 mounting hole Approx. 20 Mass: 1.1 [kg] • Terminal TE1 Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option... - Page 65 MR-RB30/MR-RB34 [Unit: mm] Screw for mounting cooling fan (2-M4 screw) 101.5 82.5 Intake • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg] MR-RB30 MR-RB34 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
- Page 66 MR-RB50 [Unit: mm] Screw for mounting cooling fan (2-M3 screw) opposite side 82.5 7×14 slotted hole Intake Approx. 30 • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg] MR-RB50...
- Page 67 MR-RB032 [Unit: mm] φ6 mounting hole Approx. 20 Mass: 0.5 [kg] • Terminal TE1 Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
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Page 68: Junction Terminal Block Ps7Dw-20V14B-F (Recommended)
Junction terminal block PS7DW-20V14B-F (recommended) Usage Use junction terminal block PS7DW-20V14B-F (Toho Technology Corp. Kyoto factory) with option cable MR-J2HBUS_M as a set. A connection example is as follows. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET) MR-J2HBUS_M For MR-J2HBUS_M, ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN- ESET). - Page 69 Dimensions of junction terminal block [Unit: mm] 44.11 7.62 φ4.5 TB.E (φ6) M3 × 5L 1.42 M3 × 6L 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 Junction terminal block PS7DW-20V14B-F (recommended)
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Page 70: Mr Configurator2
MR Configurator2 Engineering tool MR Configurator2 (SW1DNC-MRC2-_) can be used with this servo amplifier. For the engineering tool specifications and system configuration, refer to the installation guide of the engineering tool. Precautions for using USB communication function and Ethernet communication function Note the following to prevent an electric shock or malfunction of the servo amplifier. -
Page 71: Selection Example Of Wires
Selection example of wires To make the servo amplifier comply with IEC/EN/UL/CSA standards, refer to "MR-JET Safety Instructions and Precautions for AC Servos (IB(NA)-0300492)" for selection of molded-case circuit breakers and fuses. To comply with other standards, use wire that complies with each standard. Selection conditions of wire size are as follows. -
Page 72: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
*2 Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. *3 Use a molded-case circuit breaker that has operation characteristics equal to or higher than Mitsubishi Electric general-purpose products. -
Page 73: Power Factor Improving Ac Reactor
Power factor improving AC reactor The following shows the advantages of using power factor improving AC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. •... -
Page 74: Relay (Recommended)
Relay (recommended) The following relays should be used with each interface. Interface Selection example Digital input signal (interface DI-1) To prevent loose connections, use a relay for small signal (twin contacts). Relay used for digital input command signals (Ex.) Omron: type G2A, type MY Digital output signal (interface DO-1) Small relay with 12 V DC or 24 V DC of rated current 40 mA or less Relay used for digital output signals... - Page 75 ■Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input/output), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
- Page 76 Noise transmission Suppression techniques route (1), (2), (3) A malfunction due to noise transmitted through the air may occur in devices which handle weak signals and are susceptible to noise, such as measuring instruments, receivers and sensors. In addition, a malfunction may also occur when their signal cables are stored in a cabinet together with the servo amplifier or when the signal cables run near the servo amplifier.
- Page 77 When using a data line filter Servo amplifier Data line filter CN1A 80 mm or shorter surface • Outside the cabinet When using cable clamp fittings Inside the cabinet Outside the cabinet Servo amplifier Cable clamp fitting CN1A Locate 5 mm to 10 mm away from the cabinet entrance.
- Page 78 Noise reduction products ■Data line filter (recommended) Noise can be prevented by installing a data line filter onto cables such as the encoder cable. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.
- Page 79 ■Cable clamp fitting AERSBAN-_SET Generally, connecting the grounding wire of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the ground plate as shown below. Install the ground plate near the servo amplifier for the encoder cable.
- Page 80 ■Line noise filter (FR-BSF01) This filter is effective in suppressing noise radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It is especially effective for noise between 0.5 MHz and 5 MHz band.
- Page 81 ■Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surges from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K and TND20V-471K manufactured by Nippon Chemi-Con are recommended.
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Page 82: Earth-Leakage Current Breaker
Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] . . . (6.1) Cable Noise filter Cable Servo amplifier Earth-leakage current breaker Type Mitsubishi Electric products Models provided with harmonic and surge reduction NV-SP techniques NV-SW NV-CP NV-CW NV-HW... - Page 83 Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit • 200 V class 5.5 14 38 100 60 150 Wire size [mm²] Servo motor leakage current example (Igm) Servo motor output [kW] Leakage current [mA] 0.1 to 1 1.5 to 2 Servo amplifier leakage current example (Iga)
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Page 84: Selection Example
Selection example This section shows examples of selecting an earth-leakage current breaker under the following conditions. 2 mm × 5 m 2 mm × 5 m Servo amplifier Servo motor MR-JET-40G HK-KT43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram. -
Page 85: Emc Filter (Recommended)
6.11 EMC filter (recommended) When connecting multiple servo amplifiers to one EMC filter, refer to "EMC Installation Guidelines". It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have a large leakage current. - Page 86 Connection example ■For 3-phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB 3-phase 200 V AC to 240 V AC Surge protector *1 When a surge protector is used. ■For 1-phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB...
- Page 87 Dimensions ■EMC filter FSB-10-254-HU/FSB-20-254-HU/FSB-30-254-HU [Unit: mm] Terminal block cover 87.5 2-φ5.5 Protective earth (PE) Mounting hole 3-M4 Output 3-M4 Input Protective earth (PE) Mounting plate HF3010C-SZB/HF3020C-SZB/HF3030C-SZB [Unit: mm] R2.2 5×6 210±2 φ4.5 78±4 220±4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 EMC filter (recommended)
- Page 88 ■Surge protector (recommended) For details on surge protectors, refer to "EMC Installation Guidelines". • RSPD series (Okaya Electric Industries) [Unit: mm] φ4.2 ± 0.5 Resin Lead Case 41 ± 1 • LT-CS-WS series (Soshin Electric) Operation status display Grounding wire Vinyl wire 22.5 6 OPTIONS AND PERIPHERAL EQUIPMENT...
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Page 89: Chapter 7 Appendix
APPENDIX 1-phase 200 V AC class power supply input using a neutral point of 3-phase 400 V AC class power supply A 1-phase 200 V AC class power can be supplied to the servo amplifier with a use of a neutral point of a 3-phase 400 V AC class power supply. - Page 90 Precaution Do not directly input the 3-phase 400 V AC class power supply to a 200 V class servo amplifier. Doing so may cause a malfunction. Malfunction Emergency stop switch Servo amplifier 3-phase 400 V AC class MCCB CNP1 7 APPENDIX 7.1 1-phase 200 V AC class power supply input using a neutral point of 3-phase 400 V AC class power supply...
- Page 91 MEMO 7 APPENDIX 7.1 1-phase 200 V AC class power supply input using a neutral point of 3-phase 400 V AC class power supply...
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Page 92: Revisions
First edition This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. -
Page 93: Warranty
WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. -
Page 94: Trademarks
TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. IB(NA)-0300453ENG-A... - Page 96 IB(NA)-0300453ENG-A(1911)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.