Mitsubishi Electric MELSERVO MR-HP30KA User manual

General-Purpose AC Servo
MODEL
MR-HP30KA/55KA4
CONVERTER UNIT
INSTRUCTION MANUAL
Large-Capacity Servo
Manual Name Manual N0.
Manual Name Manual N0.
Manual Name Manual N0.
Manual Name Manual N0.
Manual Name Manual N0.
Manual Name Manual N0.
Manual Name Manual N0.
Manual Name Manual N0.
MR-J2S- A Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)030006
SH(NA)3181
MR-J2S- B Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)030007
SH(NA)3181
MR-H AN Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)3190
SH(NA)3181
MR-H BN Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)3192
SH(NA)3181
MR-J2S- A Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)030006
SH(NA)3181
MR-J2S-30KA4 to 55KA4
MR-J2S- B Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)030007
SH(NA)3181
MR-J2S-30KB4 to 55KB4
MR-H AN Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)3190
SH(NA)3181
MR-H30KAN4 to 55KAN4
MR-H BN Servo Amplifier Instruction Manual
Servo Motor Instruction Manual
SH(NA)3192
SH(NA)3181
MR-H30KBN4 to 55KBN4
MR-J2S-30KA 37KA
MR-J2S-30KB 37KB
MR-H30KAN 37KAN
MR-H30KBN 37KBN
The corresponding manuals indicated below are required to use the Large-Capacity Servo.
C
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Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Specifications and Instruction guide, Installation guide, Servo motor Instruction Manual 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 Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
: Indicates what must not be done. For example, "No Fire" is indicated by .
: Indicates what must be done. For example, grounding is indicated by .
In this Specifications and Instruction Manual, instructions at a lower level than the above, instructions for other
functions, and so on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
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1. To prevent electric shock, note the following:
CAUTION
Before wiring or inspection, switch power off and wait for more than 20 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the Converter unit 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 converter unit 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.
During power-on or operation, do not open the front cover of the converter unit and the servo amplifier.
You may get an electric shock.
Do not operate the Converter unit and the servo amplifier with the front cover removed. High-voltage
terminals and charging area are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even if the power is off.
The Converter unit is charged and you may get an electric shock.
2. To prevent fire, note the following: CAUTION
Do not install the converter unit and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the converter unit has become faulty, switch off the main converter unit power side.
continuous flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow CAUTION
Only the voltage specified in the Instruction Manual 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.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. since they may be hot
while power is on or for some time after power-off. Their temperatures may be high and you may get burnt
or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
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4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation CAUTION
Transport the products correctly according to their masses.
Stacking in excess of the specified number of products is not allowed.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The Converter unit must be installed in the specified direction.
Leave specified clearances between the Converter unit and control enclosure walls or other equipment.
Do not install or operate the Converter unit 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 Converter unit.
Do not drop or strike converter unit or servo motor. Isolate from all impact loads.
Use the servo amplifier and servo motor under the following environmental conditions:
Conditions
Environment Converter unit/Servo amplifier
[]0to55 (non-freezing)
During
operation [] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
Ambient
temperature In storage[]4 to 149 (non-freezing)
In operation 90%RH or less (non-condensing)
Ambient
humidity In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and
dirt
Altitude Max. 1000m (3280 ft) above sea level
[m/s2]5.9orless
Vibration [ft/s2] 19.4 or less
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring CAUTION
Wire the equipment correctly and securely.
The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction.
Otherwise, the emergency stop and other protective circuits may not operate.
VIN
(24VDC)
RA
Control
output
signal
RA
VIN
(24VDC)
Control
output
signal
Servo Amplifier
Converter unit Servo Amplifier
Converter unit
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(3) Test run adjustment CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
(4) Usage CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
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.
(5) Corrective actions CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
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FOR MAXIMUM SAFETY
This product is not designed or manufactured to be used in equipment or systems in situations that can
affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems used in
passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating
applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised
to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the
product is likely to cause a serious accident.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
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COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the converter unit, servo amplifiers and servo motors which comply with the standard model.
Converter unit :MR-HP30KA MR-HP55KA4
Servo amplifier series :MR-J2S-30K MR-J2S-37K
MR-J2S-30K 4 to MR-J2S-55K 4
Servo motor series :HA-LFS
(2) Configuration
NFB MC M
No-fuse
breaker Magnetic
contactor
Reinforced
insulating type
24VDC
power
supply
Servo
amplifier
Servo
motor
Control box
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
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(4) Power supply
(a) Operate the servo amplifier to meet the requirements of the overvoltage category III set forth in
IEC60664-1.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) 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.
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
PE terminals PE terminals
(c) 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
The cables to be connected to the terminal block of the servo amplifier must have crimping terminals
provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in Section 10.1.3, 10.2.3.
(b) The sizes of the cables described in Section 10.3.3 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
Servo amplifier (Note) Recommended EMC filter
MR-J2S-30KA/B MR-J2S-37KA/B TF3150C-TX
MR-J2S-30KA4/B4 to MR-J2S-45KA4/B4) TF3150C-TX
MR-J2S-55KA4/B4 TF3200C-TX
Note. Soshin Electric A surge protector is separately required to use any of these EMC filters.
(Refer to the EMC Installation Guidelines)
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
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CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the converter unit, servo amplifiers and servo motors which comply with the standard model.
Converter unit :MR-HP30KA MR-HP55KA4
Servo amplifier series :MR-J2S-30K MR-J2S-37K
MR-J2S-30K 4 to MR-J2S-55K 4
Servo motor series :HA-LFS
(2) Installation
Install a fan of 100CFM (2.8 m3/min) air flow 4 [in] (10.16 [cm]) above the servo amplifier or provide
cooling of at least equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
20 minutes after power-off.
Converter unit Servo amplifier Discharge time [min]
MR-J2S-30KA/B
MR-HP30KA MR-J2S-37KA/B
MR-J2S-30KA4/B4
MR-J2S-37KA4/B4
MR-J2S-45KA4/B4
MR-HP55KA4
MR-J2S-55KA4/B4
20
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
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<About the Manuals>
If it is the first time for you to use this servo, the optionally available Instruction Manual and Servo Motor
Instruction Manual are required in addition to this Specifications and Installation Guide. Always purchase them
and use the servo safely.
Relevant manuals
MR-J2S-30KA 37KA MR-J2S-30KA4 to 55KA4
Manual Name Manual No. Manual Name Manual No.
MR-J2S- A Servo Amplifier
Instruction Manual SH(NA)030006 MR-J2S- A Servo Amplifier Instruction Manual SH(NA)030006
Servo Motor Instruction Manual SH(NA)3181 Servo Motor Instruction Manual SH(NA)3181
MR-J2S-30KB 37KB MR-J2S-30KB4 to 55KB4
Manual Name Manual No. Manual Name Manual No.
MR-J2S- B Servo Amplifier
Instruction Manual SH(NA)030007 MR-J2S- B Servo Amplifier Instruction Manual SH(NA)030007
Servo Motor Instruction Manual SH(NA)3181 Servo Motor Instruction Manual SH(NA)3181
MR-H30KAN 37KAN MR-H30KAN4 to 55KAN4
Manual Name Manual No. Manual Name Manual No.
MR-H AN Servo Amplifier
Instruction Manual SH(NA)3190 MR-H AN Servo Amplifier Instruction Manual SH(NA)3190
Servo Motor Instruction Manual SH(NA)3181 Servo Motor Instruction Manual SH(NA)3181
MR-H30KBN 37KBN MR-H30KBN4 to 55KBN4
Manual Name Manual No. Manual Name Manual No.
MR-H BN Servo Amplifier
Instruction Manual SH(NA)3192 MR-H BN Servo Amplifier Instruction Manual SH(NA)3192
Servo Motor Instruction Manual SH(NA)3181 Servo Motor Instruction Manual SH(NA)3181
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