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

(2) Power supply unit
Table
2 Power supply unit 1/0 terminals
*
Signal name
ENCODER OUTPUT
(Open collector
type 1
COMMON
ENCODER OUTPUT
SIGNAL
0 A
OB
02
OG
CON
pin NO.
33
34
35
19, 20
p3E-l
Signal name
AC POWER SUPPLY
DC OUTPUT
CONTACT OUTPUT
GROUND
Function/application
2000 pulses .
per revolu-
tion of motor (selecta-
ble
) can be output from
OA and OB.
When OZ is used, one
pulse per revolution of
motor
is output.
Fhase of output from OA
is in advance of phase
of output from
OB by
h/2 phase.
Open collector output
common terminals
This
is connected to the
motor encoder.
Symbo
1
R, S
P,
N
a, c
1-
- -
1 /O
0 -
Function/application
To be connected to commercial power
AClOOV 50/60Hz.
To be connected to servo-amplifier
input terminals P
znd N.
Auxiliary contact output terminals
for external
NF, used when protective
circuit
is built up
To be connected to grounding line.

4.6 Encoder extension cable
The motor encoder has
a cable of lm long (with a connector)
and can be immediately connected to the servo-amplifier.
If the distance between the servo-motor and the servo-ampli-
fier is longer than lm, use an extension cable specified by
us.
Cable length Model
MR-SOCBLSM
Motor cable (leads)
. ... lm long
4.7 Capacity of power supply unit
Make sure the capacity of the power supply unit is large
enough for
the rated output of the servo-amplifier, or for
the total rated output of the servo-unplifiers (when two or
more servo-amplifiers are fed with one power supply unit).

(3) Jumper pins
Jumper pins should be set in accordance with the table
shown below. For location of each jumper pin, refer to
Fig. 3
(8.3).
Table 3
Function Abbre-
viation Description Factory
setting
No.In-position
range magnifi-
cation
X8
range set by "IN-PI1 dial is magni-
fied
8 times.
When this pin
is set, in-position
Yes.
W High SPM gain When this pin
is removed, gain dur-
I ing operation increases.
When high
SPM gain is required, re-
move the pin and set
"R-GN" VR (po-
I tentiometer) properly.
--
Positioning
control loop
gain
=]<hey are set so that positioning Yes.
Yes.
GNB
Level clear
control gain
is within a range from
25 to 50. Refer to 5(4).
No.
LCR
I When this pin is set, residual
pulses in the deviation counter
is
set to zero (while "clear" signal
I is on). The pin
is set when analog
I speed reference signal is used.
SPMO
Monitor
This pin
is set for use of speed
monitor function.
Output
is 210~/3000rpm.
Speed Yes.
Torque
r
--
This pin is set for use of torque
monitor function.
No.
Output
is *9V/300%.
Speed amplifier
integral
cornpfi-
so;t*cn
time constant
Over-shoot can
Load
GD~
be minimized
for large load
Motor
GD
GD~ when pin is
This pin is set for set properly.
No.
Load
GD~
Motor GD~
> 5-

fo : Pulse frequency of speed reference signal
0: Jumper pin set
X : Jumper pin not set
. Ks
.. .
4
2
1.33
1
Jumper pin setting - -.
Relationship between Relationship between Ks
VR "P-GN" setting and and jumper pin setting
KPO
GN A
X
X
0
0
Example of setting:
GNB
X
0
X
0
When "P-RATElf is set to "4", "P-GN" to "3", and both jump-
er pins
"GNA" and "Gr\TBtt are set, the positioning control
loop gain
is,
When motor is operated at- 3000rpm, the number of residual
pulses
is as follows:
pf .-= No
8000
fo =
4
3000 = IOOxlO3 PPS
P-RATE 60 60
Pf : Number of positioning feedback pulses (8000 pulses)
N, : Motor speed (rprn)
E =
100 x lo3
= 2353 pulses
42.5
@ For application where positioning is repeated frequently
o Remove jumper pin "Kp".
o Set VR "R-GN" to 0110 position and set "P-GNU and jump-
er pins
"GNA" and 1tGN311.

6. OPERATION
6.1 Check to be accomplished before stzrting operasion
After the completion of installation and wiring, perform
the following check:
(1) Check the wiring again.
o Are the
DC supply lines P and N wired properly?
o
Is the motor phase sequence (U: red, V: white and W:
black) correct?
o
Is AC power supply not connected to the servo amplifi-
er output?
(2) Is short-circuiting not caused by wire chip, swarf or
any other metal chip?
(3) Are terminal screws and other screws not loose?
Tighten loose screw
if found.
(4) Is any conductor or cable not tense excessivly?
(5) Are the ~otcrand machine ready for operation?
(6) Are jumper pins in the servo-amplifier set properly?
6.2 Initial operation
(1) Normal operation
@ After m&ing sure ItSERVO ONtt signal is not given, turn
.on the power.
v] lamp on the power unit and ml lapon the
servo-mplifier will light.
@ After making sure positioning command signal is not
input, turn on "SERVO
ONtt signal.
ISON] lamp will light and the motor is energized, but
held locked in the current position (servo lock condi-
tion).
Check that "INPtt lamp lights brilliantly. If the lamp

6.3 Safety against power failure
(1) The input power circuit (power unit primary circuit)
should have
a "holding functionu that prevents automatic
restart when the power
is restored after power failure.
(2) For use of
a motor equipped with magnetic brake, start
signal must be turned on after the magnetic brake is re-
leased.
(3) The magnetic brake is used for prevention of fall of
load. Therefore, use
it only for braking in case of
power failure or emergency stop.
6.4 Indicator lamps
The servo-amplifier and the power unit have the indicator
lamps listed in Table
4.
To monitor operation of the servo-amplifier and the power,
or to trace back trouble to the cause, see these lamps.
For location of each lamp, see Fig. 2.
Table
4 Indicator lamps
Unit
Servo-
amplifier
Name
POWER
SERVO
ON
IN-POSI-
TION
Symbo 1
PWR
SON
I NP
Description
Lights when the power
is turned
on and the system
is fed with
the power.
Lights when "SERVO
ON" signal is
given.
The lamp becomes brighter when
speed reference pulses are in-
put.
Lights when motion reaches the
in-position range, or when speed
reference pulses
is reduced to
53 pulses. The lamp becomes
brighter when positioning
is
completed and residual pulses
are
f3 pulses.

'+
a umarss Q
Indicat
lamps
lOOY ?
QQ
.) Power supply unit
PN'R
0 v
EEX
ntrol signal conntctor)
(b) Servo amplifier
VR controls have a scale of 10 gradua-
tions (0,
l, 2 .... 10).
Setting
is I1O" when it is turned counter-
clockwise unti
it stops, and "10" when
fully turned clockwise.
The dial shown to the left has a scale of
16 graduations (0,
1,
2 .... F).
Fig. 2 Unit panel front view

Note: If load inertia is too large and desired response
cannot be obtained by changing setting of
V-GN,
set P-GN to slightly larger gain and decrease setting
of P-GN.
Note: To check signal waveform, use an synchroscope placed
above the ground (insulated from the ground).
When checking, use care not to allow the synchroscope
probe to come into contact with
a live part other than
check pin.
Name
Po$t ion
control
ZERO
adjustment
GAIN ad-
justment
during
operation
To check speed feedback signal, connect the synchro-
scope across check pins and
m.
Function and adjustment
>
Time
In normal operation, readjust-
ment of this VR is not requir-
ed.
It is set so that "INP" lamp
becomes brightest when motor
is in "servo lock" condition.
This adjustment can be made
when jumper pin
ltKp" is remov-
ed.
Positioning motion becomes
faster when
it is turned clock-
wise.
Note that excess setting may
cause hunting.
Standard setting: "3"
- "5"
Sym-
bol
ZERO
R-GN
For location of each check pin, refer to Fig. 3 8tP.C.
Setting at
shipment
"5"
"0"

8. MAINTENANCE
Since the servo-amplifier is of solid state type, daily check
and maintenance
is not required.
It is, however, recommended that it is inspected at least
yearly
.
The brush-less servo-motor does not require periodic mainte-
nance.
8.1 Caution on inspection
To check the servo-amplifier under operation, measure vol-
tages and currents referring to the instruction described
under paragraph
9.2, and using care to avoid electric shock
(refer to para.
9.1).
8.2 Parts and devices to be checked
@ See the servo-amplifier interior if dust is deposited
and remove the dust if found.
@ Check terminal screws on terminal blocks for looseness
and retighten loose screws if found.
@) Check the parts and devices for condition (discoloration
due to heat, damage, brezkage of conductor, etc.
) .
8.3 Consumable parts
The servo-mplifier uses the fuse shown in the following
list. If the fuse is blown out, replace it with the
listed one or equivalent (the servo-unplifier
is furnished
with one spare fuse).
GTX series, ASAHI, is also applicable.
Amplifier model
MR-SO53 P
MR-S0103P
MR-S0203P
MR-SO403 P
Rating
10A
15A
Fuse
MF60NRlOAS
MF60NR15AS
Manufacturer
TOY0 FUSE CO. , LTD.

Function
. -
?WM control
sarrier
Zurrent feed-
~acksignal
Encoder out-
3ut
Encoder output
Voltage/wavef orm
- - - -. - --
About 6Vp-p
1~p-p/Ratedcurrent
PUS PV and PW outputs are in the
following phase sequence when the
motor runs counter-clockwise.
PA, PB and PZ outputs are in the
following phase sequence when the
motor runs counter-clockwise.
PA and PB outputs are 2000p/revs
and at lOOkHz when the motor runs
at
3000rpm.
PZ output is lp/revs SVo-p.
CON 1
-.
Without
Without
Ji thout
ii thout