Mitsubishi MELSERVO-SO User manual

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MITSUBISHI GENERAL-PURPOSE AC SERVO SYSTEM
Position Control MR-SO'II P
- Instruction Manual -

Thank you for youi purchase of MITSUBISHI [general-purpose 1
servo-sys tern tlMELSERVO.SOt' .
This manual describes the installation. operation. mainte-
nance. troubleshooting and other important information neces-
sary for successful use of your MELSERVO-SO
.
For trouble.free. long use of your MELSERVO.SO. please read
this manual carefully
.
1 . CHECK UPON UNPACKING ..... 1
2 . TRANSFERENCE ..... 1
3 . INSTALLATION ..... 1
3.1 Servo-amplifier and power unit
3.2 Servo-motor
4 . WIRING ...... 4
4.1 Main (power) circuit
4.2 Control circuit
4.3 Standard :cirirlg diagram
4.4 Input/output terminals
4.5 Connector pin arrangement
4.6 Encoder extension cable
4.7 Capacity
of power supply unit
5 . INITIAL SETTINGS .... 18
6
. OPERATION .... 23
6.1 Check to be accomplished before starting
operation
.... 23
6.2 Initial operation
.... 23
6.3 Safety against power failure .... 25
6.4 Indicator lamps .... 25
7
. ADJUSTMENT .... 28'
8
. MAINTENANCE .... 3i
8.1 Caution on inspection
8.2 Parts and devices to be checked
8.3 Consumable parts

1. CHECK UPON UNPACKING
'When you receive MELSERVO-SO, check it to identify.
(1) See the nameplate to make sure the models of the servo-
amplifier and the servo-motor, and the output ratings
meet your order.
(2) Check all components if they were not damaged during the
transport.
If any damage is found, or any question arises, please address
to our service agency.
2. TRANSFERENCE
The servo-amplifier, power unit and servo-motor should be
carefully handled when they are transferred and located.
During transfer, care should be exercised not to damage the
encoder installed on the servo-motor
.... DO NOT HOLD THE EN-
CODER BY HAND, NOR APPLY A ROPE TO THE ENCODER WHEN THE SERVO-
MOTOR IS LIFTED OR TRANSFERRED.
Encoder
0
3. INSTALLATION
3.1 Servo-amplifier and power unit
1) The servo-amplifier and power unit should be located to
a clean and dry place where they are not exposed to the
direct sunlight, moisture, dense dust and detrimental
gases.
Ambient conditions
Ambient temperature
Ambient humidity
Vibration
0 to 5S°C (to be free from icing)
Max. 90% (to be free from conden-
sation)
Max.
O.SG

go up excessively.
Oil
-
level
v-ring Lip
-
Note
Model l~imension"h"
(mm)
: ( ) is applied to motor
equipped with brake.
2) The motor should _notbe located, where is at high tempera-
ture and high humidity.
If it is likely that the motor is exposed to splashing
oil or water, a suitable cover should be installed and
the leads should be led downward so that oil or water does
not run into the motor along the leads.
Ambient conditions
3) When the motor shaft is directly coupled with a machine
shaft,
it' is recommeded to use a "flexible coupling" .capa-
ble of offsetting alighnment error between the two shafts.
Ambient temperature
Ambient humidity
Vibration
>
should 4). The motor should not be overhauled and the encod,
not be relocated.
0 to 40°c (to be free from icing)
20 to 80%RH (to be free from con-
densation)
Max.
2G
If any foreign sound erises during motor operation, con-
sult our service agency.
5) The motor with magnetic pmke should not be used for
deceleration.
It should be used for prevention of fall in case of
power failure or emergency stop.
6) The shaft of motor with magnetic brake may cause
flux leakage.

tation cannot be reversed (the system differs from con-
ventional motor control systems and inverter-controlled
systems), by changing power phase sequence.
9) The input power source circuit should be such that the
power source cannot be directly applied to the output
terminals
(U. V. W).
Although the servo-amplifier is protected from short-
circuiting between servo-amplifier output lines (term-
inals
U, V and W) by the overcurrent preventive func-
tion, the system
is not protected from ground fault or
any leak trouble. Therefore, care should be exercis-
ed to prevent contact of any conductor with case or
other metallic part.
10)
A grounding wire should be connected to the ground term-
1-
inal (7) without fail (see Fig. 1).
The grounding should be of "class 3" (resistance to
ground: maximum 100~~)with grounding wire of 2mm2 in
size. The grounding wire should be
as short as possi-
ble.
(1) Exclusive
(2) Common (3) Common
grounding grounding grounding
line
.... line .... line .. .
BEST
GOOD
NOT ACCEFTABLE

@ Wiring
Application
Control signal
1 ine
Motor encoder
cable (leads)
o The signal lines should be laid down away from (at
least 20cm) the power lines
at voltage higher than AC
Symbol
CN1
CN2
lOOV ..... Do not place signal line and power line to-
Illustration
Amplifier side Machine
side
F=
A pair of twisted wires
HONDA (0.3mm2) shorter than 2m
MR-SOF
Amplifier side Encoder
A pair of twisted wires
HONDA Max. 30m long is possible
MR-20M when
an extension cable is
used.
gether in the same wire wav or duct).
o If signal line cannot be separated from power line pro-
perly, they should not be laid down in parallel with
each other.
@ Termination of shield wires
o The armor of each shield wire should be connected to
connector terminal
FG of servo-amplifier (SG for encod-
er cable) at one end. The other end of the armor
should be kept open.
@ Surge killer
o Installation of surge killer
AC relay, AC solenoid valve and AC magnetic brake
around the servo-amplifier should be
equipped with
a surge killer.
DC relay and DC solenoid valve externally connected to
the servo-amplifier should be equipped with
a diode
(its withstand voltage should be 4 times the drive vol-

4.3 standard wiring diagram

Signal name
FWD SROKE END
REV STROKE END
ZERO PULSE
CLEAR
CON
pin N6.
47
46
4 5
49
LSP
LSN
OP
CR
Function/application
Forward run stroke end
limit switch terminal
When the terminal
is dis-
connected from terminal
VDG, "FWD runt' pulse sig-
nal
is interrupted and
motor stops. After that,
motor operation can be
reversed. With stroke end
limit switch, LSP - VDG
should be closed for op-
eration.
Reverse run storke end
limit switch terminal
When the terminal
is dis-
connected from terminal
CTJG, "REV run" pulse sig-
nal
is interrupted and
motor stops. After that,
motor can be be run for-
ward. With stroke end
limit switch, LSN - VDG
should be closed for op-
eration.
Zero pulse output terminal
When detector
is aT prede~ermined
pctton TI>& ts clcsed.
This signal is used for
home position return, etc.
(1 signal per revolution
of motor)
Clear signal terminal
When this terminal
is con-
I/O
I
I
0
0

I /O
I
I
AM-
1%
in-
put
Am-
log
,t,
PU~
Signal name
COMMON
FWD PULSE
TRAIN
REV PULSE
TRAIN
SPEED COMMAND
(speed refer-
ence
)
MONITOR
DC POWER SUPPLY
CON -
pin NO.
27,28,29,
30,31
13
12
11
10
4 3
44
9
Symbol'
VDG
PP
PG
NP
NG
VC
MO .
+15V
Functionjapplication
Contact input signal com-
mon terminals. They are
not connected to the con-
trol circuit common line.
FWD pulse train input sig-
nal terminal
Pulse train output from
pulse generator such
as
AD71 is input.
FWD pulse train input sig-
nal common terminal
REV pulse train input sig-
nal terminal
REV pulse train input sig-
nal common terminal
Speed command sigca?. input
terminal
When signal
at +10V is in-
put, the motor runs
at the
rated speed (3000rpm) in
CCW direction.
The input resistance
is 10
-12 KQ.
Either motor speed signal
or motor torque signal is
output (internally selec-
table).
Max. 'IOV, 1mA
+15V DC power supply term-
inal