Related Manuals for Mitsubishi Electric MELSERVO-JET
Summary of Contents for Mitsubishi Electric MELSERVO-JET
- 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 [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.
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Page 5: About The Manual
ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •... -
Page 6: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL . - Page 7 Servo amplifier................42 MR-JET-10G_/MR-JET-20G_/MR-JET-40G_ .
- Page 8 Characteristics................101 Restrictions .
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Page 9: Chapter 1 Introduction
INTRODUCTION Wiring procedure Procedure Description Reference Installation Install a servo amplifier. Page 12 INSTALLATION Connecting the power circuit Connect the power circuit. Page 20 Example power circuit connections Connecting I/O signals Page 23 Example I/O Connect I/O signals. signal connections Connecting to the servo Connect the servo amplifier to a servo motor. -
Page 10: Linear Servo Motor
Linear servo motor Set [Pr. PA17] and [Pr. PA18.0-3] according to the linear servo motor to be used. LM-H3 series Use servo amplifiers with firmware version B2 or later. Otherwise, [AL. 01A Servo motor combination error] occurs. Linear servo motor Servo amplifier MR-JET-_ Primary side (coil) Secondary side... -
Page 11: 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 12: 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 23 Example I/O signal connections •... -
Page 13: 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 flex life. Page 54 Cable flex life •... -
Page 14: Chapter 2 Installation
INSTALLATION Precautions • Remove the protective sticker on the front of the servo amplifier before use. • Install the servo amplifier and regenerative resistor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. In addition, the servo amplifier must be installed in a metal cabinet. •... -
Page 15: Mounting Direction And Clearances
Mounting direction and clearances Precautions • The servo amplifier must be installed in the specified direction. • To prevent a malfunction, maintain the specified clearances between the servo amplifier and cabinet walls or other equipment. • MR-JET-40_ to MR-JET-300_ have a regenerative resistor on their back. The regenerative resistor generates heat of 100 °C higher than the ambient temperature. - Page 16 ■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 17: 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 cooling fans installed in openings in the cabinet or on the ceiling. -
Page 18: 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 19: 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 20: Restrictions When Using This Product At An Altitude Exceeding 1000 M And Up To 2000 M
Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m Altitude and 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 21: 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 22: 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 23: 200 V Class
200 V class For 3-phase 200 V AC to 240 V AC power supply Servo motor overheat protection Malfunction Emergency stop switch Servo amplifier Servo motor CNP1 MCCB *3 *5 3-phase Built-in regenerative 200 V AC to 240 V AC Motor resistor Encoder... - Page 24 For 1-phase 200 V AC to 240 V AC power supply Precautions • For notes, refer to the notes in the following section. Page 21 For 3-phase 200 V AC to 240 V AC power supply Servo motor overheat protection Malfunction Emergency stop switch...
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Page 25: 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 26 For source I/O interface Precautions • For notes, refer to the notes in the following section. Page 23 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 27: 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 42 DIMENSIONS L1/L2/L3 (Connection destination: 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 28: 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 20 Example power circuit connections When the power supply is switched on, the servo amplifier will receive the servo-on command after 2.5 s to 3.5 s and initial network communication. -
Page 29: Wiring Cnp1
Wiring CNP1 • For the wire sizes, refer to the following. Page 83 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 each power connector. Use the supplied servo amplifier power connector for wiring CNP1. - Page 30 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 27 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 31 *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 32: 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 33: Connectors And Pin Assignments
Connectors and pin assignments 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 42 DIMENSIONS The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the servo amplifier. -
Page 34: Signal (Device) Explanation
Signal (device) explanation For the I/O interfaces (symbols in the column "I/O signal interface type" in the table), refer to the following. Page 38 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... - Page 35 ■EM1 (Forced stop 1) When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. The forced stop will be deactivated if EM1 is turned on (short between commons) while in the forced stop state. ■LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) To operate a servo motor, turn on LSP/LSN.
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Page 36: 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 37 ■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 38: Power Supply
Power supply Power supply explanations ■DICOM (Digital input I/F power supply) 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 39: Interface
Interface Internal connection diagram Servo amplifier Forced stop 2 24 V DC Approx. 6.2 kΩ DOCOM Approx. 6.2 kΩ Approx. 6.2 kΩ 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 39 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 40: 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 32 Signal (device) explanation Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal. -
Page 41: 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 42: 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 "Characteristics of electromagnetic brake" in the following manual. -
Page 43: 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 44: Chapter 4 Dimensions
DIMENSIONS Servo amplifier MR-JET-10G_/MR-JET-20G_/MR-JET-40G_ CN1A CN1B CN3 φ6 mounting hole Approx. 40 2-M5 screw Approx. 6.8 Locking tab Mounting hole location diagram Terminal assignment Mounting screw CNP1 Screw size: M5 Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] CNP1 4 DIMENSIONS 4.1 Servo amplifier... -
Page 45: Mr-Jet-70G_/Mr-Jet-100G
MR-JET-70G_/MR-JET-100G_ CN1A CN1B φ6 mounting Approx. 60 hole 3-M5 screw 40 ± 0.5 Approx. Locking tab Mounting hole location diagram Terminal assignment Mounting screw CNP1 Screw size: M5 Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] CNP1 4 DIMENSIONS 4.1 Servo amplifier... -
Page 46: Mr-Jet-200G_/Mr-Jet-300G
MR-JET-200G_/MR-JET-300G_ CN1A CN1B Approx. 80 φ6 mounting Cooling fan hole 3-M5 screw Exhaust 60 ± 0.5 Approx. Locking tab Mounting hole location diagram Intake Terminal assignment Mounting screw Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] CNP1 4 DIMENSIONS 4.1 Servo amplifier... -
Page 47: 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 48: Scr Connector System (3M)
SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 4 DIMENSIONS 4.2 Connector... -
Page 49: 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 50 ■Characteristic b 1000 : In operation : In servo-lock Load ratio (rated current ratio of rotary servo motor) [%] ■Characteristic c 1000 : In operation : In servo-lock Load ratio (rated current ratio of rotary servo motor) [%] 5 CHARACTERISTICS 5.1 Overload protection characteristics...
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Page 51: Power Supply Capacity And Generated Loss
Power supply capacity and generated loss Power supply capacity The following table indicates power supply capacities of servo amplifiers. When the servo motor runs at less than the rated speed, the power supply capacity is smaller than the value in the table. Rotary servo motor Servo amplifier Power supply capacity [kVA]... -
Page 52: Generated Loss
Generated loss Servo amplifier generated heat The following table indicates the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns. -
Page 53: Dynamic Brake Characteristics
Dynamic brake characteristics • The coasting distance is a theoretically calculated value that does not consider the running load such as friction. Since the coasting distance changes depending on the load moment of inertia, perform a test operation to check the actual braking distance. If the braking distance is too long, a moving part may crash into the stroke end. -
Page 54: 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 55 Dynamic brake time constant The following shows dynamic brake time constant that is necessary to calculate the equation (5.2). ■HG-KNS/HG-SNS Servo motor Waveform HG-KNS13_ HG-KNS23_ HG-KNS43_ HG-KNS73_ 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] HG-SNS52_ HG-SNS102_ HG-SNS152_ HG-SNS202_ HG-SNS302_...
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Page 56: Cable Flex Life
Cable flex life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life factors in conductor and insulation breakage. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration. -
Page 57: Inrush Current At Power-On
Inrush current at power-on A molded-case circuit breaker and magnetic contactor may fail or malfunction due to an inrush current flowing through the servo amplifier's power lines (input lines) at power on. Therefore, use products with the specifications described on the following page. -
Page 58: Chapter 6 Options And Peripheral Equipment
Purchase the cable and connector options indicated in this section for this servo amplifier. Use a cable supplied by Mitsubishi Electric or Mitsubishi Electric System & Service Co., Ltd. When fabricating a cable, select wires in accordance with the uses. For selection example, NFPA 79 (2018 Edition) in North America demands the use of a listed, certified product that has a thermoset insulator and is compliant with the NEC standard RHH, RHW, RHW-2, XHH, XHHW, or XHHW-2. -
Page 59: Combinations Of Cables/Connector Sets
Combinations of cables/connector sets Controller CN1A CN1B CN1A Servo amplifier Servo amplifier Personal computer CNP1 (1) Supplied with servo amplifier To servo motor power supply Battery (MR-BAT6V1SET-B) To servo motor encoder *1 The cable is required to configure an absolute position detection system with an HG-KNS/HG-SNS series rotary servo motor. For configuration of an absolute position detection system, refer to the following. - Page 60 List of cables/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: Up to 3.9 mm Open tool: 1981045-1 (TE Connectivity) ...
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Page 61: Battery Branch Cable
Product name Model Description Remark Page 61 Ethernet cable Connection cable for Ethernet cable CN1A/CN1B connectors Category 5e or higher, (double shielded/STP) straight cable The straight cable (double shielded/STP) is not available as an option. Battery branch cable The cable is required to configure an absolute position detection system with an HG-KNS/HG-SNS series rotary servo motor. For configuration of an absolute position detection system, refer to the following. - Page 62 Precautions • When wiring the connector, ensure that the conductor of the shielded cable is secure against the ground plate, then attach the connector shell. Cable Ground plate Screw Internal wiring diagram LBIR LBIR Ground plate Shell *1 Ensure that no more than 5 mm of the conductor protrudes from the shielded cable. 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets...
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Page 63: Ethernet Cable
Ethernet cable For Ethernet cables used for network wiring, refer to "Communication specifications" in the User's Manual (Communication Function). A commercially available product example is as follows. For the latest product information, contact the manufacturer. Product name Model Specifications Ethernet cable For indoor use SC-E5EW-S_M "_"... -
Page 64: 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 65: 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 66 *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 67: 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 68 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 69: Mounting Direction
Mounting direction The mounting direction of the regenerative option is shown below. Regenerative option Mounting direction MR-RB032 Vertical mounting MR-RB12 Vertical mounting MR-RB14 Vertical mounting MR-RB30 Vertical mounting MR-RB50 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB34 Vertical mounting Bottom Bottom Horizontal mounting... -
Page 70: 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 71 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 72 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 73 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 74: Ps7Dw-20V14B-F Junction Terminal Block (Recommended)
PS7DW-20V14B-F junction terminal block (recommended) Usage Use the junction terminal block (PS7DW-20V14B-F) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. 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 75 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 PS7DW-20V14B-F junction terminal block (recommended)
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Page 76: 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 77: Battery
Battery • For battery transportation and the new EU Battery Directive, refer to "COMPLIANCE WITH GLOBAL STANDARDS" in User's Manual (Introduction). Use a battery when connecting an HG-KNS/HG-SNS series rotary servo motor to configure an absolute position detection system. For configuration of an absolute position detection system, refer to the following. Page 101 ABSOLUTE POSITION DETECTION SYSTEM MR-BAT6V1SET-B battery •... - Page 78 Parts identification and dimensions [Unit: mm] Case Branch cable connector Rating plate Built-in battery connector Fixing hook Fixing clip Approx. 57 27.5 Mass: 62 [g] (including the MR-BAT6V1 battery) • Mounting screw Screw size: M4 Tightening torque: 1.2 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 Battery...
- Page 79 Battery connection Connect as follows. Servo amplifier MR-BAT6V1SET-B Encoder cable MR-BT6V4CBL03M 100 ± 5 mm Servo motor *1 To place the battery in a position within the wiring allowance indicated in section 2.1, allow for 100 ± 5 mm of wire between the encoder connector and the cable retainer clip.
- Page 80 Battery replacement procedure Precautions Before replacing batteries, turn off the power and wait for 15 minutes or more until the charge light turns off. In addition, when confirming whether the charge light is off or not, look at the light from the front of the servo amplifier. The servo amplifier may be damaged by static electricity.
- Page 81 • Removal procedure Remove the servo amplifier-side connector of the battery branch cable from CN2 on the servo amplifier. (1) Remove the encoder cable from the encoder-side connector of the battery branch cable. (2) Unclip the encoder-side cable of the battery branch cable from the retainer clip. (3) Remove the screw for the retainer clip from the battery, unclip the encoder-side cable of the battery branch cable, then reinstall the screw.
- Page 82 ■Replacing the built-in battery Remove the built-in battery connector from the built-in battery connector of the battery. Push in the tab to unclip the case lid. Pull the battery leads through the hole in the lid, then remove the battery and replace it with a new MR-BAT6V1 battery. Once the battery has been replaced, pull the battery leads through the hole in the lid.
- Page 83 Hook the lid to the tabs on the case, then push the two parts of the case together so that tab clips into lock. Locking part Hooks Connect the built-in battery connector to the built-in battery connector of the battery. 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 Battery...
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Page 84: Mr-Bat6V1 Battery
MR-BAT6V1 battery The MR-BAT6V1 is a replacement lithium battery for the MR-BAT6V1SET-B. Store the MR-BAT6V1 in the case to use. The date of manufacture of the MR-BAT6V1 battery is indicated on the battery label. 2CR17335A WK17 Plate 11-04 1650 mAh The year and month of manufacture Item Description... -
Page 85: Selection Example Of Wires
Selection example of wires To comply with the IEC/EN/UL/CSA standard, select the wires by referring to the MR-JET Safety Instructions and Precautions for AC Servos (IB(NA)-0300492). To comply with other standards, use wires that comply with each standard. Selection requirements for the wire size are as follows. Construction requirements: Single wire set in midair Wiring length: 30 m or less The following shows the wires used for wiring. -
Page 86: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
Molded-case circuit breakers, fuses, magnetic contactors When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section. Precautions • Select the molded-case circuit breakers specified in this section. • Wire the molded-case circuit breaker and magnetic contactor as recommended. Servo amplifier Molded-case circuit breaker Fuse... -
Page 87: Example Settings That Comply With Iec/En/Ul 61800-5-1 And Csa C22.2 No.274
Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 The molded-case circuit breakers, semiconductor fuses, and recommended wire gauges in the tables are selections based on the rated I/O of the servo amplifier. Molded-case circuit breaker/Semiconductor fuse Servo amplifier Molded-case circuit breaker (240 V AC) Semiconductor fuse (700 V) SCCR 50 kA... -
Page 88: Power Factor Improving Ac Reactor
Power factor improving AC reactor Advantages • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. • The input power factor is improved to about 80 %. Restrictions When using power factor improving AC reactors for two servo amplifiers or more, connect a power factor improving AC reactor to each servo amplifier. -
Page 89: 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 90 ■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 91 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 92 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 93 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 94 ■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 95 ■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 96 ■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 97: 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 98: Selection Example
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) Servo amplifier Leakage current [mA] MR-JET-10_ MR-JET-20_ MR-JET-40_ MR-JET-70_ 0.15 MR-JET-100_ MR-JET-200_ MR-JET-300_ Earth-leakage current breaker selection example Servo amplifier Rated sensitivity current of earth-leakage current breaker [mA] MR-JET-10_ to MR-JET-300_... -
Page 99: Emc Filter (Recommended)
6.12 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 100 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 101 Dimensions ■EMC filter For dimensions including tolerances, contact the manufacturer. • 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 t = 1.2 • HF3010C-SZB/HF3020C-SZB/HF3030C-SZB [Unit: mm] R2.2 Mounting plate t = 1.0 5 ×...
- Page 102 ■Surge protector (recommended) To use an EMC filter, a surge protector is required. To prevent damage due to surges (such as lightning and sparks) applied to the AC power supply lines, connect the following surge protectors to the power supply (L1/L2/L3). Surge protector Maximum DC operating...
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Page 103: Chapter 7 Absolute Position Detection System
ABSOLUTE POSITION DETECTION SYSTEM Precautions • If [AL. 025 Absolute position erased] or [AL. 0E3 Absolute position counter warning] occurs, execute homing again. • For the replacement procedure of the battery, refer to the following. Page 75 Battery • Once the absolute position detection system has been setup, absolute position data will not be lost even if the connector connected to CN2 is removed. -
Page 104: Servo Parameter Setting
Servo parameter setting Set [Pr. PA03 Absolute position detection system] to "1" (enabled (absolute position detection system)). Homing After the absolute position detection system is enabled, [AL. 025 Absolute position erased] occurs at the initial startup. Then, ABSV (Absolute position erased) turns on. Refer to "CONTROL MODE" in the following manual and perform homing. MR-JET User's Manual (Function) Checking the detected absolute position data Absolute position data can be checked with MR Configurator2. -
Page 105: Configuration And Specifications
Configuration and specifications Connecting the battery backup type absolute position encoder Refer to the following diagram when connecting the absolute position encoder. System architecture Controller Servo amplifier Home position data Command Non-volatile memory position Current position Backup at power off Control Detecting the Detecting the... -
Page 106: Chapter 8 Using A Linear Servo Motor
USING A LINEAR SERVO MOTOR Functions and configuration Outline The following shows the differences between the linear servo motor and the rotary servo motor. Category Item Differences Remark Linear servo motor Rotary servo motor Servo motor Magnetic pole detection Required Not required (adjusted Automatically executed at the first servo-on magnetic pole... -
Page 107: Configuration Including Peripheral Equipment
Configuration including peripheral equipment R S T Junction terminal block Power supply Controller or Controller or Personal servo amplifier servo amplifier computer Molded-case MR Configurator2 circuit breaker (MCCB) Magnetic CN1B CN1A contactor (MC) Line noise filter (FR-BSF01) W V U E Thermistor Linear servo motor... -
Page 108: Startup
Startup When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode). Startup procedure Start up the linear servo system with the following procedure. Installation and wiring Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction What is the type of the linear encoder? -
Page 109: Setting
Setting Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. Setting of linear encoder direction and linear servo motor direction Set [Pr. - Page 110 ■Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure. In servo-off status, move the linear servo motor in the positive direction manually. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2. The servo motor speed is a positive value when [Pr.
- Page 111 Linear encoder resolution setting Set the ratio to the linear encoder resolution with [Pr. PL02 Linear encoder resolution setting - Numerator] and [Pr. PL03 Linear encoder resolution setting - Denominator]. Precautions • The setting values of these servo parameters are enabled after the power is cycled or the software is reset. •...
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Page 112: Magnetic Pole Detection
Magnetic pole detection Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01.0] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods. - Page 113 Magnetic pole detection procedure When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
- Page 114 ■Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
- Page 115 *1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection must be 0.5 mm or less.
- Page 116 ■Setting procedure Detect the magnetic poles, then increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL. 050 Overload 1], [AL. 051 Overload 2], [AL. 033 Overvoltage], [AL. 0E1 Overload warning 1], and [AL. 0EC Overload warning 2] occur.
- Page 117 • [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection] Setting value Load to motor mass ratio/load to motor inertia ratio 10 times or less 10 multiplier 20 multiplier 30 multiplier 40 multiplier 50 multiplier 60 multiplier 70 multiplier 80 multiplier 90 multiplier...
- Page 118 • Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on) Servo-on position (Magnetic pole detection start position) Magnetic pole detection completion position *1 When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off during the magnetic pole detection, the operation of the magnetic pole detection is carried on to the opposite direction.
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Page 119: How To Replace Servo Amplifier Without Magnetic Pole Detection
How to replace servo amplifier without magnetic pole detection When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed, write the magnetic pole information from the servo amplifier before replacement to the one after replacement by using MR Configurator2. -
Page 120: Basic Functions
Basic functions Homing Precautions • The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing. • For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction. - Page 121 Homing setting method ■Incremental linear encoder • Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start.
- Page 122 ■Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting].
- Page 123 Homing methods -11 and -43 The following figure shows the operation of Homing method -11. The operation of Homing method -43 is opposite to that of Homing method -11. Homing direction Creep speed Home position shift distance 0 r/min Servo motor speed Creep speed Machine position Home position...
- Page 124 Example: When the Z-phase is recognized at startup Home position signal A recognized as ON position B recognized as ON position The position where LZ (Encoder Z-phase pulse) is turned on depends on the direction of home position passing. In cases where each homing is required to be completed at the same position, such as dog type homing, start homing with the same direction.
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Page 125: Linear Servo Control Error Detection Function
Linear servo control error detection function If the linear servo control becomes unstable for some reason, the linear servo motor may not operate properly. To detect this state and to stop operation, the linear servo control error detection function is used as a protective function. The linear servo control error detection function has three types of detection methods: the position deviation, speed deviation, and thrust deviation. - Page 126 ■Speed deviation error detection Set [Pr. PL04.0] to "2" to enable the speed deviation error detection. Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection 2: Speed deviation error detection enabled If the difference between the model feedback speed (3) and the feedback speed (4) in the figure is equal to or more than the value of [Pr.
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Page 127: About Mr Configurator2
About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Linear Diagnosis screen. (11) (10) Symbol Name Explanation Unit Cumulative feedback pulses... -
Page 128: Adjustment
Symbol Name Explanation Unit (10) Magnetic Pole Information The magnetic pole information can be displayed and set. (11) Parameter Setting (Electronic The servo parameters for the electronic gear ([Pr. PA06] and [Pr. PA07]) can be displayed and set. gear) Adjustment Auto tuning function... -
Page 129: Characteristics
Characteristics Overload protection characteristics LM-H3 series 1000 : In operation : In servo-lock Load ratio LM-AJ series 1000 : In operation : In servo-lock Load ratio 8 USING A LINEAR SERVO MOTOR 8.5 Characteristics... -
Page 130: Power Supply Capacity And Generated Loss
Power supply capacity and generated loss Linear servo motor Servo amplifier Power supply Servo amplifier-generated heat [W] Area required for (primary side) capacity [kVA] heat dissipation At rated output At servo-off LM-H3P2A-07P-BSS0 MR-JET-40_ LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 MR-JET-70_ LM-H3P3C-36P-CSS0 LM-H3P3D-48P-CSS0 MR-JET-200_ LM-H3P7A-24P-ASS0 MR-JET-70_ LM-H3P7B-48P-ASS0 MR-JET-200_... -
Page 131: Dynamic Brake Characteristics
Dynamic brake characteristics The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below. Lmax = V • (0.03 + M • (A + B • V Lmax: Coasting distance of the machine [m] : Speed when the brake is activated [m/s] M: Full mass of the moving part [kg]... -
Page 132: Permissible Load To Motor Mass Ratio When The Dynamic Brake Is Used
Permissible load to motor mass ratio when the dynamic brake is used Linear servo motor (primary side) Permissible load to motor mass ratio [Multiplier] LM-H3 series LM-AJP1B-07K-JSS0 LM-AJP1D-14K-JSS0 LM-AJP2B-12S-JSS0 LM-AJP2D-23T-JSS0 LM-AJP3B-17N-JSS0 LM-AJP3D-35R-JSS0 LM-AJP4B-22M-JSS0 LM-AJP4D-45N-JSS0 8 USING A LINEAR SERVO MOTOR 8.5 Characteristics... -
Page 133: Absolute Position Detection System
Absolute position detection system When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required. Operating conditions of absolute position detection system • Use an absolute position type linear encoder. • Perform magnetic pole detection in the incremental system, and disable magnetic pole detection after detection. •... -
Page 134: Chapter 9 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 135 Precautions 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. Servo motor overheat protection Malfunction Emergency stop switch Servo amplifier 3-phase 400 V AC class MCCB CNP1 9 APPENDIX...
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Page 136: Revisions
Section 6.2, Section 6.5, Section 6.6, Section 6.7, Section 6.10, Section 6.12, Section 7.1, Section 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 137: 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 138: 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-D... - Page 140 IB(NA)-0300453ENG-D(2107)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.