Mitsubishi Electric MELSERVO MR-D30 Installation Manual page 2

6.4 When using MR-D30 for an MR-J4 series servo amplifier
6.4.1 Input signal
10 m or shorter 10 m or shorter
MR-D30
24 V DC (Note 3) CN10A 24 V DC (Note 3)
2
DICOMA
DICOMA 11
DI1A 4
(Note 1, 2) DI2A 13 (Note 1, 2)
DI3A 5
DI4A 14
DI5A 6
DI6A 15
10 m or shorter 10 m or shorter
24 V DC (Note 3) 24 V DC (Note 3)
CN10B
DICOMB 2
DICOMB 11
DI1B 4
(Note 1, 2) DI2B 13 (Note 1, 2)
DI3B 5
DI4B 14
DI5B 6
DI6B 15
Servo amplifier
Source input interface Sink input interface
Note 1. Separate all the external wires by two types, CN10A and CN10B.
2. Assign each input device to the following combinations of connector and pin. Refer to chapter 7 for each
device.
Combination of connector and pin for input
DI1A (CN10A-4)/DI1B (CN10B-4)
DI2A (CN10A-13)/DI2B (CN10B-13)
DI3A (CN10A-5)/DI3B (CN10B-5)
DI4A (CN10A-14)/DI4B (CN10B-14)
DI5A (CN10A-6)/DI5B (CN10B-6)
DI6A (CN10A-15)/DI6B (CN10B-15)
3. Supply 24 V DC ± 10 % to interfaces from outside. When all the I/O points are used, the required current
capacity is 0.8 A in total. The current capacity can be decreased by reducing the number of I/O points. Refer
to section 7.2 that gives the current value necessary for the interface. The illustration of the 24 V DC power
supply is divided between input signal and output signal for convenience. However, they can be configured by
one.
6.4.2 Output signal
DO1A to DO3A, DO1B to DO3B, and DO4NA can be used as source outputs, and DO4PB can be used as a sink output.
10 m or shorter
MR-D30
CN10A 24 V DC (Note 3)
7 DO24VA
8 DO1A
RA1
Source output
(Note 1, 2)
17 DO2A
RA2
9 DO3A RA3
24 V DC (Note 3)
(Note 4)
16 DO4PA
Source output
(Note 1, 2)
(Note 4) 18
DO4NA RA4
10 m or shorter
CN10B
24 V DC (Note 3)
7 DO24VB
8 DO1B RA5
Source output
(Note 1, 2)
17 DO2B
RA6
9 DO3B
RA7
(Note 4) 16 DO4PB
RA8 Sink output
(Note 1, 2)
(Note 4) 18 DO4NB
24 V DC (Note 3)
Servo amplifier
Note 1. Separate all the external wires by two types, CN10A and CN10B. Be sure to wire them separately by the two
types for power supply for IO (24 V DC, 0 V common). Do not mix them when wiring.
2. Assign each output device to the following combinations of connector and pin. Refer to chapter 7 for each
device.
Combination of connector and pin for output
DO1A (CN10A-8)/DO1B (CN10B-8)
DO2A (CN10A-17)/DO2B (CN10B-17)
DO3A (CN10A-9)/DO3B (CN10B-9)
DO4NA (CN10A-18)/DO4PB (CN10B-16)
3. Supply 24 V DC ± 10 % to interfaces from outside. When all the I/O points are used, the required current
capacity is 0.8 A in total. The current capacity can be decreased by reducing the number of I/O points. Refer
to section 7.2 that gives the current value necessary for the interface. The illustration of the 24 V DC power
supply is divided between input signal and output signal for convenience. However, they can be configured by
one.
4. DO4PA (CN10A-16), DO4NA (CN10A-18), DO4PB (CN10B-16) and DO4NB (CN10B-18) will not be available
with MR-D30 manufactured in September 2014 or before. Do not connect anything to these pins.
7. Signals
7.1 Connector and pin assignment
(1) Input device
Assign the devices to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device
selection DI6]. For the safety observation function control by network, you can input through network.
Device Symbol Connector and pin No. Function
STO CN10A-4 The STO function operates by the STO command.
STOC
command CN10A-5
SS1 CN10A-6 The SS1 function operates by the SS1 command.
SS1C
command CN10A-13
CN10A-14
SS2 The SS2/SOS functions operate by the SS2/SOS command.
SS2C
command CN10A-15
CN10B-4 The SLS function 1 operates by the SLS1 command. [Pr. PSA07 SLS
SLS1
SLS1C CN10B-5 deceleration monitoring time 1] and [Pr. PSA11 SLS speed 1] are used as
command
parameters.
CN10B-6
CN10B-13 The SLS function 2 operates by the SLS2 command. [Pr. PSA08 SLS
SLS2
SLS2C CN10B-14 deceleration monitoring time 2] and [Pr. PSA12 SLS speed 2] are used as
command
CN10B-15 parameters.
The SLS function 3 operates by the SLS3 command. [Pr. PSA09 SLS
SLS3
SLS3C deceleration monitoring time 3] and [Pr. PSA13 SLS speed 3] are used as
command
parameters.
The SLS function 4 operates by the SLS4 command. [Pr. PSA10 SLS
SLS4
SLS4C deceleration monitoring time 4] and [Pr. PSA14 SLS speed 4] are used as
command
parameters.
Test pulse CN10A-12 Outputs test pulses for external wiring diagnosis.
PLSA
output A
Test pulse
CN10B-12 Outputs test pulses for external wiring diagnosis.
PLSB
output B
(2) Output device
The status monitor (SM) of the safety observation function is output from DO1_ to DO4_. The devices can be
assigned to DO1_ to DO4_ with [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection
MR-D30
DO3]. For the safety observation function control by network, you can output through network. Then, DO1_ to
CN10A
DO4_ can be used simultaneously.
2
DICOMA
DICOMA 11
Device Symbol Connector and pin No.
DI1A 4
DI2A 13
DI3A 5 CN10A-8 Indicates that the servo motor speed is at SLS speed or less while speed
SSM output SSMS
CN10A-9 observation is operating by SLS function.
DI4A 14
CN10A-17
DI5A 6 SBC output SBCS Outputs a control signal of the electromagnetic brake.
CN10A-18
DI6A 15 STO output STOS This is a monitor output signal meaning that the STO function is operating.
CN10B-8
This is a monitor output signal meaning that the SS2/SOS function is
SOS output SOSS
CN10B-9
operating.
CN10B-17
CN10B SS1 output SS1S This is a monitor output signal meaning that the SS1 function is operating.
CN10B-16
DICOMB 2
This is a monitor output signal meaning that the SS2/SOS function
SS2 output SS2S
DICOMB 11
monitors the servo motor is in the stop state.
DI1B 4
This is a monitor output signal meaning that the SLS function 1 is
SLS1 output SLS1S
DI2B 13
operating.
DI3B 5
This is a monitor output signal meaning that the SLS function 2 is
SLS2 output SLS2S
DI4B 14 operating.
DI5B 6
This is a monitor output signal meaning that the SLS function 3 is
SLS3 output SLS3S
DI6B 15 operating.
This is a monitor output signal meaning that the SLS function 4 is
SLS4 output SLS4S
operating.
Servo amplifier
(3) Power supply
Name Symbol Connector and pin No.
CN10A-2 This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10 % 0.8 A) for I/O
Digital input CN10A-11 interface. The power supply capacity changes depending on the number of I/O interface
points to be used.
I/F common DICOMA
A For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Test pulse CN10A-1 Input a power supply to output test pulses for external wiring diagnosis. Connect the
power supply DC24VA CN10A-10 positive terminal of the 24 V DC external power supply.
input A
Digital output CN10A-7 This is a common terminal for output signal.
I/F common DO24VA For source interface, connect + of 24 V DC external power supply.
A
DO4A power CN10A-16 This is the power terminal for the DO4A output signal. Connect the positive terminal of the
supply for 24 V DC external power supply.
DO4PA
digital output
I/F
CN10B-2 This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10 % 0.8 A) for I/O
interface. The power supply capacity changes depending on the number of I/O interface
Digital input CN10B-11
I/F common DICOMB points to be used.
B For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Test pulse CN10B-1 Input a power supply to output test pulses for external wiring diagnosis. Connect the
power supply DC24VB CN10B-10 positive terminal of the 24 V DC external power supply.
input B
Digital output CN10B-7 This is a common terminal for output signal.
I/F common DO24VB For source interface, connect + of 24 V DC external power supply.
B
DO4B power CN10B-18 This is the power terminal for the DO4B output signal. Connect the negative terminal of the
supply for 24 V DC external power supply.
DO4NB
digital output
I/F
7.2 Interface (source I/O)
For MR-D30, source type I/O interfaces can be used. The following shows an example of source interface.
(1) Input interface
For MR-D30, source type and sink type I/O interfaces can be used. Transmit signals from source (open-collector)
type transistor output, relay switch, etc. For sink interface, refer to "MR-D30 Instruction Manual".
(a) External device connection
Connect the output signal to DI _ _.
CN10A
DICOMA
24 V DC 5 mA DI1A, etc.
External device
24 V DC
Control
24V IN
output 1
Control
0V IN
output 2
24 V DC 5 mA CN10B
DICOMB
DI1B, etc.
(2) Output interface
When the output transistor is turned on, the current flows from the output terminal to a load. A lamp, relay or
photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing
resistor (R) for a lamp load. (Rated current: 5 mA to 40 mA, maximum current: 50 mA, inrush current: 100 mA or
less)
A 2.4 V voltage drop occurs in MR-D30.
MR-D30
24 V DC ± 10 %
CN10A
0.8 A
DO24VA
DO1A to
DO3A
Load
Input pin
status which
the function
turns to be
CN10B 24 V DC ± 10 % Load
enabled
0.8 A
DO24VB
Opened
DO1B to
DO3B
Opened
Opened
7.3 Wiring method of CN10A and CN10B connectors
Opened
Handle with the tool with care when connecting wires.
(1) Wire strip
Opened
(a) Use wires with size of AWG 24 to 16 (recommended electric wire: UL 1007) and strip the wires to make the
stripped length 10 mm ± 0.5 mm. Confirm the stripped length with gauge, etc. before using the wires.
Opened
(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting lightly, etc.
Then, confirm the stripped length before using the wires. Do not use excessively deformed wires.
Opened
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires
Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires are
connected with inserted connector, the connector and the printed board may malfunction.
With pressing the release button with a flat-blade screwdriver with the blade edge width of 2.0 mm to 2.5 mm,
insert a wire all the way in and remove the screwdriver. Refer to "MR-D30 Instruction Manual" for wiring.
(3) Connectors
Be sure to insert the connector all the way straight until you hear or feel clicking. After connection, tighten the
screw came with the connector using a flat-blade screwdriver. Loosen the screw before disconnection.
8. Display
MR-D30 has four LED indications. They indicate the followings.
LED Lighting status
POWER
Extinguished
POWER Green
Output pin RUN Green RUN
Function status during STO Yellow
operation ERROR Red
Extinguished
Closed
STO
Opened
Extinguished
Opened
ERROR
Opened
Extinguished
Opened
Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Check if
Opened
MR-D30 is connected to the MR-J4-_B_-RJ servo amplifier with the software version B3 or later, or the MR-J4-_A_-RJ
servo amplifier with the software version B5 or later. (Refer to (3) (a) of section 2.3.4.)
Opened
Opened
Opened
The following shows indication example of each state.
Opened
POWER RUN STO ERROR
Function and application
/ ◎/
Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Refer to section 2.3.4 (3) (a) for the
software version of a servo amplifier that is compatible with MR-D30.
9. Setting method
Use MR Configurator2 for the settings. Refer to "MR-D30 Instruction Manual" for details.
Check the contents of [Pr. PSA _ _ ], [Pr. PSC _ _ ], and [Pr. PSD _ _ ] and set [Pr. PSA01 Safety observation function
activation setting] to "_ _ _ 1". Until setting this parameter, STO cannot be canceled due to [AL. 7A Parameter setting
error (safety observation function)] occurrence.
10. Troubleshooting
When power is not supplied or ERROR LED turns on, refer the following table and take the appropriate action.
Event Description
Power is not supplied. Power LED does not turn on
although power is supplied.
MR-D30
ERROR LED is blinking. ERROR LED is blinking and an
alarm No. is displayed on the
servo amplifier.
Approx. 5.6 kΩ ERROR LED is on. ERROR LED has been on.
11. Dimensions
Approx. 5.6 kΩ
28
If polarity of diode is
Four connector fixing screws
reversed, MR-D30
Tightening torque: 0.2 N•m to 0.3 N•m
will malfunction.
Safety relay
CN10A
No. Symbol Symbol
10 DC24VA DC24VA
If polarity of diode is
11 DICOMA DICOMA
reversed, MR-D30
12 PLSA
will malfunction.
13 DI2A DI1A
14 DI4A DI3A
15 DI6A DI5A
16 DO4PA DO24VA
17 DO2A DO1A
18 DO4NA DO3A
12. Installation
Installation direction and clearances
The devices must be installed in the
specified direction. Not doing so
may cause a malfunction.
Mount the servo amplifier on a
cabinet which meets IP54 in the
correct vertical direction to maintain
CAUTION
pollution degree 2.
Even if the power turned off,
touching the resistor will cause an
electric shock because the capacitor
of the servo amplifier is charged for
a while.
13 Connector
Description
Lit Power is being supplied.
Power is not supplied.
Lit The safety observation function is performing. STO, SS1, SS2/SOS, or SLS function
is being executed normally, performing shutoff or observation.
The safety observation function is not performing. Because the operation commands
are not inputted or an internal diagnosis error has occurred.
Lit STO function is performing. The power to the motors is shut off.
STO function is not performing. The power to the motors is not shut off.
Lit Some errors have been detected for MR-D30. (Note)
Blinking Some errors have been detected for MR-D30.
An error is not being detected in MR-D30.
14. Check list for user documentation
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be
Servo responsible for checking the standards in the items.
amplifier Status Description
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
display
1. Is it based on directive/standard applied to the machine?
Normal Power off Power is not supplied.
2. Is directive/standard contained in Declaration of Conformity (DoC)?
For the safety observation function control by input device,
95._ or Ab During diagnosis execute a fixing-diagnosis at start-up. For the safety 3. Does the protection instrument conform to the category required?
observation function control by network, connect networks.
4. Are electric shock protective measures (protective class) effective?
Safety The safety observation function is not performing.
5. Is the safety observation function checked (test of all the shut-off wiring)?
observation
Normal Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.
function is not
performing.
Safety STO or SS1 function is performing.
observation
function is
95._
performing
(shutting power
off).
Safety SLS or SS2/SOS function is performing.
observation
Normal function is
performing
(monitoring).
Error has An error has been detected. Refer to chapter 8 for error
Alarm No.
occurred. details. (Note)
Error has Watchdog is occurring due to parts error, such as the CPU.
Alarm No. occurred
(watchdog)
( : Lit, ◎ : Blinks, : Extinguished)
Cause Action
1. The servo amplifier is Replace the servo amplifier.
malfunctioning.
2. MR-D30 is not connected to the Check the connection.
servo amplifier properly.
3. MR-D30 is malfunctioning. Replace the MR-D30.
An error has occurred in MR-D30 or Check the alarm No. and remove the
servo amplifier. problem referring to "MELSERVO-J4
Servo Amplifier Instruction Manual
(Troubleshooting)".
MR-D30 is malfunctioning. Replace the MR-D30.
[Unit: mm]
104.2
99.2
20 95.4
5 × 6 mounting hole for grounding
Mounting screw
Screw size: M4
Tightening torque: 1.65 N•m
Rating plate
Mass: 0.15 [kg]
CN10B
No. No. Symbol Symbol No.
1 10 DC24VB DC24VB 1
2 11 DICOMB DICOMB 2
3 12 PLSB 3
4 13 DI2B DI1B 4
5 14 DI4B DI3B 5
6 15 DI6B DI5B 6
7 16 DO4PB DO24VB 7
8 17 DO2B DO1B 8
9 18 DO4NB DO3B 9
Cabinet Top Cabinet
40 mm or
more Wiring allowance
80 mm or more
10 mm or 10 mm or
Side
more more
(Note 2) +
MR-D30
MR-D30
Servo amplifier 40 mm or
more
(Note 1)
Bottom
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance
between the bottom and ground will be 120 mm or
more.
2. For MR-J4-500_-RJ, the clearance on the left side will
be 25 mm or more.
Servo amplifier MR-D30
CN10A/CN10B connector:
DFMC 1,5/ 9-STF-3,5 (Phoenix Contact) ×
MR-D30 installation checklist for manufacturer/installer
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