Mitsubishi Melservo-j2 series Manuale utente

General-Purpose AC Servo

SSC-NET Compatible

MR-J2- B

Specifications and Installation Guide

Series

Thank you for choosing this Mitsubishi AC servo. This Specifications and Installation Guide gives handling

information and precautions for using the servo amplifier and servo motor. Incorrect handling may cause an

unexpected fault. Before using the servo amplifier and servo motor, please read this Specifications and

Installation Guide carefully to use the equipment to its optimum.

Please forward this Specifications and Installation Guide to the end user.

Safety Instructions

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have

read through this Specifications and 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 Specifications and Installation Guide, 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 .

After reading this Specifications and Installation Guide, always keep it accessible to the operator.

In this Specifications and Installation Guide, instructions at a lower level than the above, instructions for other

functions, and so on are classified into "NOTICE", "INFORMATION" and "MEMORANDUM".

NOTICE Indicates that incorrect handling may cause the servo amplifier to be faulty and may not

lead to physical damage.

INFOR-

MATION Indicates that parameter setting change, etc. will provide another function or there are

other usages.

MEMO-

RANDUM Indicates information needed for use of this equipment

SAFETY INSTRUCTIONS

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 Installation guide 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 parts may damaged.

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 motor by the cables, shaft or encoder.

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

Install the servo amplifier in a load-bearing place in accordance with the Installation guide.

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

The controller 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

[] 0 to 55 (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

MC-MF series

HA-FF series HU-UF13 to 73 XY: 19.6

HC-SF81

HC-SF52 to 152

HC-SF53 to 153

HC-RF series

HC-UF72 152 X: 9.8

Y: 24.5

HC-SF121 201

HC-SF202 352 HC-SF203 353

HC-UF202 X: 19.6

Y: 49

[m/s2] 5.9 or less

HC-SF301 X: 11.7

Y: 29.4

MC-MF series

HA-FF series HU-UF13 to 73 XY: 64

HC-SF81

HC-SF52 to 152

HC-SF53 to 153

HC-RF series

HC-UF72 152 X: 32

Y: 80

HC-SF121 201

HC-SF202 352 HC-SF203 353

HC-UF202 X: 64

Y: 161

Vibration

[ft/s2] 19.4 or less

HC-SF301 X: 38

Y: 96

CAUTION

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.

For safety of personnel, always cover rotating and moving parts.

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.

(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.

COM

(24VDC)

Servo

Amplifier

Control

output

signal

Servo

Amplifier

COM

(24VDC)

Control

output

signal

(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 instable.

(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.

(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.

EM1RA1

24VDC

Contacts must be open when

servo is off or when an

alarm (trouble) is present.

Electroma

netic brake

Servo motor

Circuit must be

opened during

emergency stop.

When any alarm has occurred, eliminate its cause, ensure safety, then reset 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) 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.

(7) Disposal CAUTION

Dispose of the product as general industrial waste.

(8) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Installation Guide 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 Specifications

and Installation Guide.

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 to a machine/equipment which incorporates the servo, not to the servo

alone. Hence, the EMC filter must be used to make this machine/equipment which incorporates the

servo comply with the EMC Directive. For specific methods to comply with the EMC Directive, refer to

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

This servo has been approved by TUV, third-party evaluation organization, which confirmed that it

can comply with the EMC Directive in the methods given in the "EMC Installation Guidelines".

(2) Low Voltage Directive

The Low Voltage Directive applies also to the servo alone. Therefore, our servo is designed to comply

with the Low Voltage Directive.

This servo has been approved by TUV, third-party evaluation organization, which confirmed that it

complies with the Low Voltage Directive.

(3) Machinery Directive

Since the servo amplifiers are not machines, they need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used

Use the following models of servo amplifiers and servo motors:

Servo amplifier series: MR-J2-10B to MR-J2-350B

Servo motor series : HC-FF C-UE

HC-MF -UE

HC-SF

HC-RF

HC-UF

(2) Structure

Reinforced

insulating

transformer

NFB MC SM

No-fuse

breaker Magnetic

contactor

Reinforced

insulating type

24VDC

power

supply

Servo

amplifier

Servo

motor

Control box

(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

1) 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.

2) When supplying interface power from external, use a 24VDC power supply which has been

insulation-reinforced in I/O.

(5) Grounding

1) 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.

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

cables to the terminals one-to-one.

PE terminals PE terminals

3) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals

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

(6) Wiring

1) 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

2) When the servo motor has a power supply lead, use a fixed terminal block to connect it with the

servo amplifier. Do not connect cables directly.

Terminal block

(7) Auxiliary equipment and options

1) The no-fuse breaker and magnetic contactor used should be the EN or IEC Standard-compliant

products of the models described in Section 6-2-1.

2) The sizes of the cables described in Section 6-2-1 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

3) When the EMC filter is used, the radio noise filter (FR-BIF) described in (5), Section 6-2-6 is not

required.

(8) Servo motor

For outline dimension drawings not shown, contact Mitsubishi.

(9) 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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