Mitsubishi Electric MELSERVO MR-J2-A Installation instructions

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MELSERVO
Servo Motors and Servo Amplifiers
Specifications and Installation Guide
MR-J2-A
65883
IB 67286-E
MITSUBISHI ELECTRIC
Art.No.:
2001 04 04
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION

– 1 –
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until
you have read through this 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 Installation guide, the safety instruction levels are classified into "WARNING" and "CAU-
TION".
Indicates that incorrect handling may cause hazardous conditions,, result-
ing in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,, result-
ing 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 installation guide, always keep it accessible to the operator.
Thank you for choosing this Mitsubishi AC servo.This 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 Installation
guide carefully to use the equipment to its optimum.
Please forward this Installation guide to the end user.
Safety Instructions
WARNING
CAUTION
In this Installation guide, instructions at a lower level than the above, instructions for other
functions, and so on are classified into "NOTICE", "INFORMATION" and "MEMORANDUM".
Indicates that incorrect handling may cause the servo amplifier to be faulty and may
not lead to physical damage.
Indicates that parameter setting change, etc. will provide another function or there
are other usages.
Indicates information needed for use of this equipment.
NOTICE
INFOR-
MATION
MEMO-
RANDUM

–2 –
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.
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.
SAFETY INSTRCUTIONS
1.To prevent electric shock, note the following:
WARNING
2.To prevent fire, note the following:
CAUTION
3.To prevent injury, note the following:
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 the servo amplifier fins,
regenerative brake resistor, servo motor, etc. Their temperatures may be high and you
may get burnt.
CAUTION

–3 –
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
Transport the products correctly acordng 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.
CAUTION

–4 –
Use the servo amplifier and servo motor under the following environmental conditions:
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 ma-
chine. 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.
CAUTION
Servo Amplifier
Environmen Conditions Servo Motor
Ambient
temperature
Ambient humidity
Storage humidity
Ambience
Altitude
Vibration
Storage
temperature
0 to +55 (non-freezing)
32 to 131
(non-freezing)
90%RH or less
(non-condensing)
-20 to +65
(non-freezing)
-4 to 149 (non-freezing)
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
5.9 (0.6G) or less
19.4 or less
[
°
C]
[
°
F]
[
°
C]
[
°
F]
[m/s
2
]
[ft/s
2
]
0 to +40 (non-freezing)
32 to 104
(non-freezing)
80%RH or less
(non-condensing)
-15 to +70
(non-freezing)
5 to 158 (non-freezing)
MC-MF series
HA-FF series
HU-UF13 to 43
HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-RF series
HC-UF72 •152
HC-SF121 •201
HC-SF202 •352
HC-SF203 •353
HC-UF202
HC-SF301
MC-MF series
HA-FF series
HU-UF13 to 43
HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-RF series
HC-UF72 •152
HC-SF121 •201
HC-SF202 •352
HC-SF203 •353
HC-UF202
HC-SF301
X •Y: 19.6
X: 9.8
Y: 24.5
X: 19.6
Y: 49
X: 11.7 Y: 29.4
X •Y: 64
X: 32
Y: 80
X: 64
Y: 161
X: 39 Y: 96

– 5 –
(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) be-
tween 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 direc-
tion.Otherwise, the emergency stop and other protective circuits may not operate.
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some ma-
chines to perform unexpected operation.
The parameter settings must not be changed excessively. Operation will be instable.
(4) Usage
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
CAUTION
COM
(24VDC)
Servo
Amplifier
RA
Control
output
signal
RA
Servo
Amplifier
COM
(24VDC)
Control
output
signal

–6 –
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 electromag<->netic 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.
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 ma-
chine because the machine may be restarted suddenly (design the machine so that it is
secured against hazard if restarted).
CAUTION
(5) Corrective actions
RA1 EMG
24VDC
Electromagnetic brake
Servo motor
Contacts must be
open when servo
is off or when an
alarm (trouble) is
present.
Circuit must be
opened during
emergency stop.
(6) Maintenance, inspection and parts replacement
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.
CAUTION
(7) Disposal
Dispose of the product as general industrial waste.
CAUTION
(8) General instruction
To illustrate details, the equipment in the diagrams of this 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
Installation guide.

– 7 –
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 fundamen-
tal 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 incor-
porates 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 Guide-
lines".
(2) Low voltage directive
The low voltage directive applies also to the servo alone. Therefore, our servo is designed to
comply with the Low Voltate Directive.
This servo has been approved by TUV, third-party evalution 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 derective.
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-J2-10A to MR-J2-350A
Servo motor series : HC-KF -UE
HC-MF -UE
HC-SF
HC-RF
HC-UF
(2) Structure
(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, car-
bon, 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.
COMPLIANCE WITH EC DIRECTIVES
Servo
motor
Control box
Reinforced
insulating
transformer No-fuse
breaker Magnetic
contactor
Reinforced
insulating type
24VDC
power
supply
Servo
amplifier SMMCNFB

–8 –
(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 as shown at
right below. Always connect the cables to the terminals one-to-one.
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.
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.
3) 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.
(7) Auxiliary equipment and options
1)The no-fuse breaker and magnetic contactor used should be the EN or IEC Standard-compli-
ant products of the models described in Section 6-2-1.
2) The sizes of the cables described in Section 6-2-2 meet the following requirements.To meet
the other requirements, follow Table 5 and Appendix C in EN60204-1.
•Ambient temperature: 40 (104) [°C(°F)]
•Sheath: PVC (polyvinyl chloride)
•Installed on wall surface or open table tray
3) Use the EMC filter for noise reduction.The radio noise filter (FR-BIF) is not needed.
(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 INSTALLA-
TION GUIDELINES (IB(NA)67310)".
PE terminalsPE terminals
Terminal block
Crimping terminal
Insulating tube
Cable