Mitsubishi Electric MR-E A Series Manuale utente

General-Purpose AC Servo

MODEL

MR-E- A/AG

INSTRUCTION MANUAL

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A - 1

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 Instruction Manual, Installation guide, Servo motor Instruction Manual 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 Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions,

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 Instruction Manual, 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.

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1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage

is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the servo amplifier and servo motor to ground.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you

may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

2. To prevent fire, note the following: CAUTION

Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.

Otherwise a fire may cause.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous

flow of a large current may cause a fire.

When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a

regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the follow CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a

burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo

amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you

may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric

shock, etc.

(1) Transportation and installation CAUTION

Transport the products correctly according to their weights.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.

Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The servo amplifier and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts

missing.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the servo amplifier.

Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.

Use the servo amplifier and servo motor under the following environmental conditions:

Conditions

Environment Servo amplifier Servo motor

[]0to55 (non-freezing) 0 to 40 (non-freezing)

Ambient

temperature [] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

Ambient humidity 90%RH or less (non-condensing) 80%RH or less (non-condensing)

[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)

Storage

temperature []4 to 149 (non-freezing) 5 to 158 (non-freezing)

Storage humidity 90%RH or less (non-condensing)

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude Max. 1000m (3280 ft) above sea level HC-KFE Series X Y : 49

HC-SFE52 to 152 X Y : 24.5

[m/s2] 5.9 or less HC-SFE202 X : 24.5

Y : 49

HC-KFE Series X Y : 161

HC-SFE52 to 152 X Y : 80

(Note)

Vibration

[ft/s2] 19.4 or less HC-SFE202 X : 80

Y : 161

Note: Except the servo motor with reduction gear.

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during

operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo

motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder

may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

When the equipment has been stored for an extended period of time, consult Mitsubishi.

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(2) Wiring CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo

motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction.

Otherwise, the emergency stop and other protective circuits may not operate.

External

24VDC

Servo

Amplifier

Control output

signal

Servo

Amplifier

Control output

signal

External

24VDC

(3) Test run adjustment CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform

unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched

off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is

made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by

electronic equipment used near the servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used

for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor

are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,

install a stopper on the machine side.

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(5) Corrective actions CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a

product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the

purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals

but also by an external emergency stop signal (EMG).

EMGRA

24VDC

Contacts must be open when

servo-on signal is off, when an

alarm (trouble) is present and when

an electromagnetic brake signal.

Electromagnetic brake

Servo motor

Circuit must be

opened during

emergency stop signal.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before

restarting operation.

When power is restored after an instantaneous power failure, keep away from the machine because the

machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Storage for servo motor CAUTION

Note the following points when storing the servo motor for an extended period of time (guideline: three or

more months).

Always store the servo motor indoors in a clean and dry place.

If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.

If the insulation resistance of the winding decreases, reexamine the storage method.

Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be

produced depending on the storage conditions or storage period.

If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to

the machined surfaces of the shaft, etc.

Before using the product after storage for an extended period of time, hand-turn the motor output shaft to

confirm that nothing is wrong with the servo motor. (When the servo motor is equipped with a brake,

make the above check after releasing the brake with the brake power supply.)

(7) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is

recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please consult our sales representative.

(8) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn

without covers and safety guards. When the equipment is operated, the covers and safety guards must be

installed as specified. Operation must be performed in accordance with this Instruction Manual.

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About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of

each country (area).

FOR MAXIMUM SAFETY

This product is not designed or manufactured to be used in equipment or systems in situations that can

affect or endanger human life.

When considering this product for operation in special applications such as machinery or systems used in

passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating

applications, please contact your nearest Mitsubishi sales representative.

Although this product was manufactured under conditions of strict quality control, you are strongly advised

to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the

product is likely to cause a serious accident.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If

the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may

fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

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A - 7

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth

distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in

January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,

1997) of the EC directives require that products to be sold should meet their fundamental safety

requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment

into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and

equipment. This requires the EMC filters to be used with the servo-incorporated machines and

equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to

the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with

the low voltage directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used (Acquisition schedule)

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-E-10A to MR-E-200A

Servo motor :HC-KFE

HC-SFE

(2) Configuration

Reinforced

insulating

transformer

NFB MC SM

No-fuse

breaker Magnetic

contactor

Reinforced

insulating type

24VDC

power

supply

Servo

amplifier

Servo

motor

Control box

Use the no-fuse breaker and magnetic contactor which conform to the EN or IEC Standard.

Design notice: Where residual-current-operated protective device (RCD) is used for protection case of

direvt or indirect contact, only RCD of type B is allowed on the supply side of this Electronic

Equipment(EE).

(3) Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this

purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,

dirt, etc. (IP54).

(4) Power supply

(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in

IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN

Standard should be used in the power input section.

(b) As the external power supply for interface, use a 24VDC power supply that has been insulation-

reinforced in I/O.

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(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the

servo amplifier to the protective earth (PE) of the control box. Connect PE terminal of the control

box to the NEUTRAL of a power supply. Be sure to ground the NEUTRAL of a power supply.

(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the

cables to the terminals one-to-one.

PE terminalsPE terminals

of the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring

(a) The cables to be connected to the terminal block of the servo amplifier must have crimping

terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN

Standard-compliant power connector sets are available from us as options. (Refer to Section 13.1.2)

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in Section 13.2.2.

(b) The sizes of the cables described in Section 13.2.1 meet the following requirements. To meet the

other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient temperature: 40 (104) [ ( )]

Sheath: PVC (polyvinyl chloride)

Installed on wall surface or open table tray

(8) Performing EMC tests

When EMC tests are run on a machine/device into which the servo amplifier has been installed, it

must conform to the electromagnetic compatibility (immunity/emission) standards after it has

satisfied the operating environment/electrical equipment specifications.

For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation

Guidelines(IB(NA)67310).

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A - 9

CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used (Acquisition schedule)

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-E-10A to MR-E-200A

Servo motor :HC-KFE

HC-SFE

(2) Installation

Install a fan of 100CFM (2.8 m3/min) air flow 4 in (10.16 cm) above the servo amplifier or provide

cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having

been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo

amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for

10 minutes after power-off.

Servo amplifier Discharge time

[min]

MR-E-10A 20A 1

MR-E-40A 2

MR-E-70A to 200A 3

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the

National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the Canada

Electrical Code and any applicable provincial codes.

<<About the manuals>>

Relevant manuals

Manual name Manual No.

MR-E Series To Use the AC Servo Safely IB(NA)0300057

EMC Installation Guidelines IB(NA)67310

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