Mitsubishi Electric MELSERVO EMC Instruction sheet

Mitsubishi Electric AC Servo System
K
EMC Installation
Guidelines

1
CONTENTS
1. SUMMARY 1 - 1 to 1 - 2
2. EMC DIRECTIVE 2 - 1 to 2 - 2
3. EMC COUNTERMEASURES 3 - 1 to 3 -10
3.1 Basic EMC countermeasures .................................................................................................................. 3 - 1
3.2 Cabinet design ......................................................................................................................................... 3 - 1
3.3 Filter wiring and installation...................................................................................................................... 3 - 4
3.4 Cable treatment........................................................................................................................................ 3 - 6
4. EMC COUNTERMEASURE PARTS 4 - 1 to 4 - 12
4.1 Noise filter (For controller power supply)................................................................................................. 4 - 1
4.2 EMC filter (For servo amplifier power supply) ......................................................................................... 4 - 1
4.3 Ferrite core (Data line filter) ..................................................................................................................... 4 - 7
4.4 Shield clamp fitting ................................................................................................................................... 4 - 8
4.5 Line noise filter ......................................................................................................................................... 4 - 8
4.5.1 Connection example ......................................................................................................................... 4 - 8
4.5.2 Precautions....................................................................................................................................... 4 -10
4.6 Surge protector........................................................................................................................................ 4 -11
5. CONNECTION EXAMPLE FOR EMC COUNTERMEASURES 5 - 1 to 5 - 4
5.1 For 22kW or less of 1-axis ....................................................................................................................... 5 - 1
5.2 For 1kW or less of multi axis.................................................................................................................... 5 - 2
5.3 For 30kW or more .................................................................................................................................... 5 - 3
6. SUPPLEMENT 6 - 1 to 6 - 6
6.1 Reasons why the shield is grounded on both the cabinet side and the servo motor chassis side ....... 6 - 1
6.1.1 Grounding the shield at the servo amplifier side only ...................................................................... 6 - 1
6.1.2 Grounding the shield at both ends of the cable................................................................................ 6 - 2
6.2 Reasons why the grounding position in the cabinet is specified to be 10 cm or less from the
cabinet exit ............................................................................................................................................... 6 - 3

2
6.3 Reasons why the shield must be grounded with the P clip or U clip...................................................... 6 - 3
6.4 Connecting multiple servo amplifiers to one EMC filter (1: n connection) ............................................. 6 - 4
6.4.1 Selection method............................................................................................................................... 6 - 4
6.4.2 Selection example ............................................................................................................................. 6 - 5

1 - 1
1. SUMMARY
1. SUMMARY
We have carried out EMC standard compliance confirmation tests with the servo amplifier in the installation
environment described in this manual. After incorporating the servo amplifier in the machine or equipment,
confirm the EMC standard compliance of the entire machine or equipment on customer side.
For the EMC countermeasures, refer to this guideline or the instruction manual of the servo amplifier used.

1 - 2
1. SUMMARY
MEMO

2 - 1
2. EMC DIRECTIVE
2. EMC DIRECTIVE
Mitsubishi Electric general-purpose AC servo MELSERVO complies with products standard EN 61800-3. This
directive largely regulates the following two withstand levels.
(1) Emission (EMI: Electromagnetic Interference)
Capacity to prevent output of obstructive noise that adversely affects external sources.
(2) Immunity (EMS: Electromagnetic Susceptibility)
Capacity to not malfunction due to obstructive noise from external source.
The details of each level are classified below.
Class Name Details Products
standard
Emission
(EMI)
Radiated noise Electromagnetic noise radiated through the air,
etc.
EN 61800-3
Conducted noise Electromagnetic noise discharged from power
supply line, etc.
Immunity
(EMS)
Electrostatic discharge immunity test
IEC 61000-4-2
Noise from a charged human body, etc.
Radiated, radio-frequency, electromagnetic
field immunity test
IEC 61000-4-3
Electromagnetic noise from wireless transmitters
or broadcasting companies, etc.
Electrical fast transient/burst immunity test
IEC 61000-4-4
Relay noise or electromagnetic noise caused by
live electricity being turned on or off, etc.
Immunity to conducted disturbances,
induced by radio-frequency fields
IEC 61000-4-6
Electromagnetic noise flowed from power supply
wires or earthing wires, etc.
Power-frequency magnetic field immunity
test
IEC 61000-4-8
Electromagnetic noise of 50/60Hz power supply
frequency, etc.
Voltage dips, short interruptions and
voltage variations immunity tests
IEC 61000-4-11
Power supply drop, etc.
Surge immunity test
IEC 61000-4-5
Electromagnetic conducted noise discharged by
thunder, etc.

2 - 2
2. EMC DIRECTIVE
MEMO

3 - 1
3. EMC COUNTERMEASURES
3. EMC COUNTERMEASURES
CAUTION
The servo amplifier must be installed in the metal cabinet.
3.1 Basic EMC countermeasures
POINT
According to the NFPA79 approved by the United States, when the shielded
wire is not used for wiring between a servo amplifier and a servo motor, the
wiring must be insulated from wiring of other control or signal circuits.
(Example: 100 mm or more for 20 A or less)
Take the following measures firmly as EMC countermeasures.
(1) Install the device in a sealed metal cabinet.
(2) Install a noise filter.
(3) Accurately earth the device.
(4) Use shielded wires for cables and wires.
(5) Separate the primary-side wiring and the secondary-side wiring as far as possible.
(6) Install the surge protector. (Refer to section 4.6.)
3.2 Cabinet design
The servo is a complex component incorporated into another machine. It must always be installed in a cabinet.
The design of the cabinet is a very important factor for EMC countermeasures, so please take the following
points into consideration.
(1) Use a metal cabinet.
(2) Accurately earth the cabinet unit with a thick and short cable.

3 - 2
3. EMC COUNTERMEASURES
(3) Weld or screw close the joining sections of the cabinet's top plate and side plate. Keep the joining
clearance to 10cm or less. The diameter of the openings on the cabinet such as the ventilation hole should
be 10cm or less. If there are holes larger then this, plug them with metal plates or punched metal. In this
case, such as when painted surfaces are to be connected, make sure that there is a good electrical
connection to prevent antenna effect.
Example)
Remove paint
Hole exceeding
10cm
Faraday cage effect grill
Provide an electrical continuity.
(4) The door of the cabinet must be accurately earthed with the cabinet. If the door earthing is insufficient, the
door itself will act as a large antenna and will radiate noise.
Take the following measures for this.
1) Use a metal door.
2) Connect the door and cabinet with thick braided wire at as many points as possible.
3) Use an EMI gasket or conductive packing for the contact between the door and cabinet.
Cabinet
Metal cabinet
Enforce conductance treatment on
sections that the EMI gasket contacts.
EMI gasket
Packing
door

3 - 3
3. EMC COUNTERMEASURES
(5) To take preventive measures against the noise of the input power source cable in the cabinet, install the
shielding partition at nearby site where the power is input so that the input power cable does not receive
harmful effects of the radiated noise.
AC input
Filter MCCB
Radiated noise
Cabinet
AC input
Filter MCCB
Radiated noise
Shielding
partition
Controller Servo amplifier Controller Servo amplifier
Cabinet
The power supply line noise is
eliminated by the filter, but cable
contains noise again because of the
noise radiated in the cabinet.
Use a metal plate, etc., for the
shielding partition.
Make sure there are no gaps.

3 - 4
3. EMC COUNTERMEASURES
3.3 Filter wiring and installation
POINT
For when multiple servo amplifiers are connected to one EMC filter, refer to
section 6.4.
(1) Wire the servo and filter as shown below.
Power
supply
Molded-
case
circuit
breaker
EMC
filter
Magnetic
contactor
Servo amplifier
Control circuit
power supply
Main circuit
power supply
Servo
motor
Wiring length 1.5m or less (recommended)
(2) Arrange the EMC filter input cable and output cable as far apart as possible. If they are too close, the output
line noise will be induced into the input cable, and effect of the filter will be lost. Separate these cables by at
least 30cm or more.
EMC
filter
EMC
filter
Input
(power supply
side)
Output
(servo amplifier side)
OK NG
Input
(power supply side)
Output
(servo amplifier side)
The output side noise is induced to the input side.

3 - 5
3. EMC COUNTERMEASURES
(3) Installation of filter.
Install the servo amplifier and EMC filter on the same cabinet.
Install the filter on the right or left side of the servo amplifier, as shown below.
(For details of the EMC filter, refer to section 4.2.)
The surface inside the cabinet where the filter is to be installed must be bare metal or metal plated surface
so that the rear surface of the filter electrically contacts the cabinet. Treat the surface where the servo
amplifier is installed in the same manner. The filter input wire (a) must be kept as far apart from the output
wires (b), (c) and (d). Keep the wiring ((b), (c), (d)) between the filter and servo amplifier as short as
possible.
(The sum of (b) and (c) is 1.5m or less.)
Cabinet
Servo amplifier
Filter
Bare metal or
metal plated
surface
(no paint, etc)
Control circuit
power supply
Main circuit
power supply
Power
supply
input
(b)
(c)
(d)
(a)
Magnetic
contactor

3 - 6
3. EMC COUNTERMEASURES
3.4 Cable treatment
(a) Securely earth the cabinets 1 and 2, and the servo motor.
(b) Keep the main circuit power supply cable of the servo amplifier, power cable of the servo motor, and
wire for the control circuit signal apart (30 cm or more). These cables must not be routed in close parallel
or bundled.
The following drawing shows an example of the installation.
The methods for treating each cable are described separately.
(The numbers assigned to each cable in the drawing indicate section number of this manual where details are
explained.)
Servo motor
Encoder
Section 3.4(1)
Servo amplifierController Power supply
Section 3.4(2)
EMC filter
Section 3.4(7)
Section 3.4(4)
Section 3.4(3)
Controller, etc.
Cabinet 2
Cabinet 1
Magnetic
contactor
Section
3.4(3)
Option
24VDC
power
supply
Surge protector

3 - 7
3. EMC COUNTERMEASURES
(1) Servo motor power cable
POINT
If removing the insulator of a shield causes electrical shock or injuries and
threatens the machinery safety, additional protective covers or enclosures may
be required.
Cabinet
To servo
amplifier
Using shield cable
Shield cable
Servo motor
Connector
Earth with P or U clip
Conduit connector
Multiple core cable
Servo motor
Earth with surface paint removed
Cabinet
To servo
amplifier Connector
Conduit
Using conduit
Keep as
close as
possible
10cm or less
1) Use four wires (3-phase earth), that is completely shielded and that has no breakage for the servo
motor power cable. Connect the earth wire to the earth ( ) terminal on the servo amplifier and servo
motor.
Material of shield has to be copper.
2) Connect the shield of the cable to the earth on both the cabinet side and servo motor chassis side.
For the reasons why the shield is grounded on both the cabinet side and the servo motor chassis side,
refer to section 6.1. Earth the shield on the servo amplifier side at a position 10cm or less from the
cabinet. For the reasons why the shield grounding position on the servo amplifier side is specified to
be 10 cm or less from the cabinet, refer to section 6.2.
3) Earth the shield with a metal P clip or U clip. For the reasons why the P clip or U clip is specified as a
grounding method, refer to section 6.3.
Example of connection
with P clip
Example of connection
with U clip

3 - 8
3. EMC COUNTERMEASURES
4) Directly earth the shield. It is not recommended to solder the wire to the braided wire (shield) and
ground with its end.
Example of earthing
w
ith wire soldering
Solder
5) When not using a shield cable for the servo motor power cable, put the cable into a metal conduit.
6) Earth the servo motor power cable on the cabinet side with the conduit connector and cabinet side
wall. (Remove paint from the side wall of the cabinet.)
7) When grounding the servo motor power cable connected to the servo motor, take the following
measure by fixing the cable cramp to the conduit connector shown in the following drawing.
Clamp fitting
Conduit
Conduit connector Connector
To earth (Use as thick and short wire as possible)
8) Keep the cable length at 50m or less.
(2) Encoder cable
Cabinet
To servo
amplifier
Shield twisted pair cable
Connector
As close as
possible
10cm or less
Use a shielded twisted pair cable, and earth on the servo amplifier and encoder side with a P clip or U clip.
Keep the cable length at 50m or less.

3 - 9
3. EMC COUNTERMEASURES
(3) Controller connection (command) cable (except for SSCNET III cable)
1) If controller and servo amplifier are in the same cabinet
Use a shielded twisted pair cable, and earth on the controller and servo amplifier side with a P clip or
U clip. If the cable length is 2m or less, the earthing can be done at one position on the controller
side.
As close as
possible Servo
amplifier
Controller
Cabinet
Shield twisted pair cable
As close as
possible
2) If controller, etc. is in the different cabinet from servo amplifier
Use a shielded twisted pair cable and earth the shield on the controller, etc. and servo amplifier side
with a P clip and U clip.
Controller,
etc.
Cabinet
Servo
amplifier
Cabinet
10cm or less
Shield twisted pair cable
10cm or less
(4) Cable of the same cabinet
For the connection cables of the options such as the parameter unit or dynamic brake option, etc., arranged
in the same cabinet as the servo amplifier, use a shielded cable (shielded twisted pair cable for parameter
unit). Earth the shield on the option and servo amplifier side with a P clip or U clip.
If the cable length is 2m or less, the earthing can be done at one position on the servo amplifier side.
As close as
possible
Servo
amplifier
Option
Cabinet
As close as
possible

3 - 10
3. EMC COUNTERMEASURES
(5) Regenerative option connection cable
For the regenerative option cable, use a twisted cable with shield or a twisted cable covered with shield
braid. Earth the shield on the option and servo amplifier with a P clip or U clip. The drawing shows the
treatment for when the regenerative option is installed outside the cabinet.
As close as
possible
Regenerative
option
Cabinet
10cm or less
Shield braid
Servo
amplifier
Twisted cable
(6) Input power supply cable
Use the conventional multiple core cable.
Using shielded input power cables increases the effect of EMC countermeasures.
(7) 24VDC cable (for servo amplifier)
Use a vinyl wire or multiple core cable.

4 - 1
4. EMC COUNTERMEASURE PARTS
4. EMC COUNTERMEASURE PARTS
This chapter explains parts used in EMC countermeasures. For details of the parts, contact the parts
manufacturer.
4.1 Noise filter (For controller power supply)
For the noise filter installed to the controller, refer to the manual of the controller used.
4.2 EMC filter (For servo amplifier power supply)
POINT
For connection with servo amplifiers, refer to each servo amplifier instruction
manual.
For when multiple servo amplifiers are connected to one EMC filter, refer to
section 6.4.
It is recommended to use the following filter. Some EMC filters are large in leakage current. Some EMC filters
for servo amplifiers of special specifications (such as RJ, ED, PX, RU, and RZ) are also large in leakage
current.
Select a molded-case circuit breaker in considering the increase of leakage current, so that the leakage current
does not affect servo amplifiers, converter units and drive units.
Refer to instruction manuals of each product for the products other than series described in this section.

4 - 2
4. EMC COUNTERMEASURE PARTS
(1) Combination of 22kW or less servo amplifiers and filters
(a) For MR-J5 series
1) Manufactured by COSEL Co., Ltd.
Servo amplifier
Recommended filter/Operating temperature range: -40 °C to 85 °C (Category
C2, C3 (Note)) Mass
[kg]
Model Rated current [A] Rated voltage [VAC]
MR-J5-10 to MR-J5-100
MR-J5W2-22G
MR-J5W2-44G
MR-J5W3-222G
FSB-10-254-HU 10
250
1.8
FSB-20-254-HU 20
FSB-30-254-HU 30
MR-J5-500 , MR-J5-700 FSB-40-324-HU 40 3.3
MR-J5-200 , MR-J5-350
MR-J5W2-77G, MR-J5W2-
1010G
MR-J5W3-444G
FSB-30-254-HU 30 1.8
Note. Category C2: First environment (residential and other environments) and second environment (commercial, light industrial,
and industrial environments)
Category C3: Second environment (commercial, light industrial, and industrial environments)
2) Manufactured by Soshin Electric Co., Ltd.
Servo amplifier
Recommended filter/Operating temperature range: -20 °C to 50 °C (Category
C3 (Note)) Mass
[kg]
Model Rated current [A] Rated voltage [VAC]
MR-J5-10 to MR-J5-100
HF3010C-SZB 10
500
0.9
HF3020C-SZB 20 1.3
HF3030C-SZB 30 1.3
MR-J5-500 , MR-J5-700 HF3040C-SZB 40 2.0
MR-J5-200 , MR-J5-350
MR-J5W2-77G, MR-J5W2-
1010G
MR-J5W3-444G
HF3030C-SZB 30 1.3
Note. Category C3: Second environment (commercial, light industrial, and industrial environments)
(b) For MR-J4 series
Servo amplifier
Recommended filter (SOSHIN Electric Co., Ltd) Mass
[kg] ([lb])
Model Rated current
[A]
Rated voltage
[VAC]
Leakage
current [mA]
MR-J4-10 to MR-J4-100
MR-J4W2-22B MR-J4W3-222B HF3010A-UN (Note) 10
250
5
3.5 (7.72)
MR-J4W2-44B HF3010A-UN2 (Note)
MR-J4-200 MR-J4-350
MR-J4W2-77B MR-J4W2-1010B
MR-J4W3-444B
HF3030A-UN (Note) 30 5.5 (12.13)
MR-J4-500 MR-J4-700 HF3040A-UN (Note) 40 6.5 6 (13.23)
MR-J4-11K to MR-J4-22K HF3100A-UN (Note) 100 12 (26.46)
MR-J4-60 4MR-J4-100 4 TF3005C-TX 5 6 (13.23)
MR-J4-200 4 to MR-J4-700 4 TF3020C-TX 20
MR-J4-11K 4 TF3030C-TX 30 500 5.5 7.5 (16.54)
MR-J4-15K 4 TF3040C-TX 40
12.5 (27.56)
MR-J4-22K 4 TF3060C-TX 60
MR-J4-10 1 to MR-J4-40 1 HF3010A-UN (Note) 10 250 5 3.5
Note.
A
surge protector is separately required to use any of these EMC filters. (Refer to section 4.6.)

4 - 3
4. EMC COUNTERMEASURE PARTS
Servo amplifier
Recommended filter (COSEL Co., Ltd) Mass
[kg] ([lb])
Model Rated current
[A]
Rated voltage
[VAC]
Leakage
current [mA]
MR-J4-11K to MR-J4-22K FTB-100-355-L (Note) 100 500 40 5.3 (11.69)
MR-J4-22K 4 FTB-80-355-L (Note) 80 500 80 5.3 (11.69)
Note.
A
surge protector is separately required to use any of these EMC filters. (Refer to section 4.6.)
(c) For MR-JN series
Servo amplifier
Recommended filter (SOSHIN Electric Co., Ltd) Mass
[kg] ([lb])
Model Rated current
[A]
Rated voltage
[VAC]
Leakage
current [mA]
MR-JN-10A(1) to MR-JN-20A(1)
MR-JN-40A HF3010A-UN (Note) 10 250 5 3.5 (7.72)
Note.
A
surge protector is separately required to use any of these EMC filters. (Refer to section 4.6.)
(d) For MR-J3W series
Servo amplifier
Recommended filter (SOSHIN Electric Co., Ltd) Mass
[kg] ([lb])
Model Rated current
[A]
Rated voltage
[VAC]
Leakage
current [mA]
MR-J3W-22B MR-J3W-44B HF3010A-UN (Note) 10 250 5 3.5 (7.72)
MR-J3W-77B MR-J3W-1010B HF3030A-UN (Note) 30 5.5 (12.13)
Note.
A
surge protector is separately required to use any of these EMC filters. (Refer to section 4.6.)
(e) For MR-J3 series
Servo amplifier
Recommended filter (SOSHIN Electric Co., Ltd)
Mass [kg] ([lb])
Model Rated current
[A]
Rated voltage
[VAC]
Leakage
current [mA]
MR-J3-10 to MR-J3-100
MR-J3-10 1 to MR-J3-40 1 HF3010A-UN (Note) 10 5 3.5 (7.72)
MR-J3-200 MR-J3-350 HF3030A-UN (Note) 30 250 5.5 (12.13)
MR-J3-500 MR-J3-700 HF3040A-UN (Note) 40 6.5 6.0 (13.23)
MR-J3-11K to MR-J3-22K HF3100A-UN (Note) 100 12 (26.46)
MR-J3-60 4MR-J3-100 4 TF3005C-TX 5 6.0 (13.23)
MR-J3-200 4 to MR-J3-700 4 TF3020C-TX 20
MR-J3-11K 4 TF3030C-TX 30 500 5.5 7.5 (16.54)
MR-J3-15K 4 TF3040C-TX 40
12.5 (27.56)
MR-J3-22K 4 TF3060C-TX 60
Note.
A
surge protector is separately required to use any of these EMC filters. (Refer to section 4.6.)