CONTENTS CHAPTER 1 INTRODUCTION... 1-1 Model Definition 1-2. Parts Identification and Application. 1-2-1 Servo amplifier. 1-2-2 Servo motor 1-3 Basic Configuration 4-3-1 Standard models. 1-3-2 EN Standard-, UL/C-UL Standard-compliant models. CHAPTER 2 OPERATIOI 2-1 Standard Connection Examples. 2-1-1 Connection with the FX-1GM.. 2-1-2 Connection with the FX-1GP 2-1-3 Connection with the FX-20GM or E-20GM .. 2-1-4 Connection with the AD7SPD or A1SD75P (0. 1 Pre-operation checks. 2 Operation procedure... -3 Troubleshooting at start-up........ 4 Determining the cause of a position offset ¥y and Operation... 1 Display flowchart 2 Status display.. =3 Diagnostic mode... 4 5 Alarm mode Parameter mode .. CHAPTER 3 WIRING 3-1 Servo Amplifier 3-1-1. Terminal block 3-1-2 Signal connectors.. 3-1-3 Control I/O signals. 3-1-4 Interfaces 8-2 SerV0 Motor nn : 8-2-1 Connection instructions...... 3-2-2 WO terminals Common LIN nen Grounding Power Supply Circuit Timing Chart at Alarm Occurrence Servo Motor with Electromagnetic Brake.. wooo 1 Noure CHAPTER 4 INSTALLATION... 4-1 Servo Amplifier4-2 Servo Motor.. CHAPTER 5 ADJUSTMENTS AND APPLICATION OPERATIONS... 5-1 Adjustments. 5-1-1 Auto tuning 5-1-2 Manual gain setting 5-2 Application Operations .. 5-2-1 Changing the command pulse train input form. 5-2-2 Changing the 1/0 signals... 5-2-3 Speed control mode... 5-2-4 Torque li 5-2-5 5-2-6 Slight vibration suppression contro! Low acoustic noise mode CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT 6-1 Dedicated Options. 6-1-1 Regenerative brake option... 6-1-2 Cable connectors. 6-1-3 Junction terminal block 6-1-4 Setup software... 6-1-5 RS-2820 option unit (MR-C-T01).. 6-1-6 DIN rail op 6-2 Auxiliary Equipment .. 6-2-1. Electric wires 2. Nosfuse breakers, fuse, magnetic contactors 3 Power factor improving reactors . -4 Relays 5 6 7 Surge absorbers Noise reduction techniques... Leakage current breaker . CHAPTER 7 MAINTENANCE AND INSPECTION. CHAPTER 8 TROUBLESHOOTING. Alarm List 0 CHAPTER 9 CHARACTERISTICS... 9-1 Overload Protection Characteristics. 9-2 Losses Generated in the Servo Amplifier. 3 Electromagnetic Brake Characteristics -4 Vibration Rank..... CHAPTER 10 SPECIFICATIONS... 10-1 Standard Specifications... 10-2 Torque Characteristics 10-2-1 Standard. — 10-2-2 Low acoustic noise mode (carrier frequency 9.0kHz).. 10-3 Outline Drawings10-5 CHAPTER 11 SELECTION... 11-4 11-2 11-3 14-4 11-5 11-6 1-7 11-8 11-9 CHAPTER 12 OPTIONAL PRODUCTS 12-4 12-2 10-3-1 Servo amplifiers. 10-3-2 Servo motors 10-3~8 Servo motors ‘Servo Motor with Special Shaft... List of Specification Symbol Position Resolution and Electronic Gear Setting Servo Motor Speed and Command Pulse Frequency ... Stopping Characteristics Capacity selection method... Load Torque Equations Load Inertia Equations... Zeroing Instructions ... Selection Example.. Servo Motor with Special Flanges 12-1-1 Model definition... 12- 1-2 NEMA flange [email protected] 12-1~3 NEMA flange type (in inches) 12-1-4 Stepping motor intercompatibility series. 12-1-5 Stepping motor intercompatibility series (in inches) 5V Pulse Train Input Servo Amplifiers 12-2-1 Model definitio 12-2~2 Signal connectors 12-23 Inter faces... 12-2-4 Common Line... REVISIONSCHAPTER 4 INSTALLATION This chapter deals with the installation and environmental conditions. Follow the instructions in this chapter when installing the equipment. 4-1 Servo Amplifier 4-2 Servo Motor WIRING INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 CHAPTER 3 OPTIONAL PRODUCTS [ADJUSTMENTS AND APPLICATION OPERATIONS | CHAPTER 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 MAINTENANCE AND INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTERS CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 CHAPTER 12 4-44. INSTALATION A\ CAUTION 4-1 Servo Amp! ZX CAUTION 1. Stacking in excess of the limited number of products is not allowed. 2. Do not install the equipment on or near combustibles. Installing them directly or close to combustibles will cause a fire 3. Install the equipment in a load-bearing place in accordance with the instruction manuals. 4. Do not climb or stand on servo equipment. Do not put heavy objects on servo ‘equipment. 5. Use the equipment within the specified environmental range. 6. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier. 7. Do not block the air intake/exhaust areas of the servo ampli Otherwise, a fault may occur. 8. Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads. 9. Do not install or operate a faulty servo amplifier or servo motor. 10. When the product has been stored for an extended period of time, consult Mitsubishi. ier 1, The equipment must be installed in the specified direction. Otherwise, a fault may occur. 2. Leave specified clearances between the servo amplifier and all other surface or equipment. Otherwise, a fault may ocour. (1) Environmental conditions Environment Conditions ‘Ambient temperature 0 to +80 [°C] (non-freezing) ing) 92 to 122 [°F] (non-fr ‘Ambient humidity ‘902%4RH oF loss (non-condensing) Storage temperature =20 to +65 [°O} (none =4 10 149 [°F] (non-freezing) zing) Storage humility ‘90%RH or loss (non-condensing) Indoors (no direct sunlight) Leticia Free trom corrosive gas, flammable 92s, ell mist, dust and dir. ‘aitude Max. 1000m above éea level 5.9 (0.66) [m/s4] or loss Vibration 194 [Us4] orINSTALATION (2) Installation direction and clearances 1) Installation of one servo amplifier Control pane! [owe Top tome on 10mm (0.4in} C4 il. [SS Imrcto1 bey ormare 2) Installation of two or more servo amplifiers Allow clearance between the top of the servo amplifier and the internal surface of the control panel, and install a fan to prevent the internal temperature of the control enclosure from ex- ‘ceeding the environmental conditions. 3) Others When using heat generating equipment such as regenerative brake option, install them with {ull consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a vertical surface so that itis located correctly. (3) Keep out foreign materials 1) When installing the unit on a panel or inside an enclosure, prevent drill chips and wire frag- ments from entering the servo amplifier. 2) Prevent oil, water and metallic dust from entering the amplifier through openings in the enclo- sure. 8) Provide positive pressure in control enclosure by forcing in clean, dry, cool, non-toxic, non-cor- rosive, non-explosive air.4. INSTALATIO! 4-2 Servo Motor IN AX CAUTION Do not handle the motor by the cables, shaft or encoder. . Securely mount the servo motor to the machine. If mount insecurely, the ‘servo motor may come off during operation. . Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty |. For safety of personnel, always cover rotating and moving parts. 5. Do not load the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. (1) Environmental cor Environment ditions, Conditions ‘Ambient temperature 0 t0 +40 [°C] (non-treezing) ‘32 to 104 [°F] (non-freezing) Serve motor “Ambient humidity ‘BO%RH or less (non-condensing) =18 to 470 [°C] (non-freszing) eee eae 5 to 188 [*F] (non- ring) ee Free from corrosive gas, flammable gas, oil mist, dust and dirt. Altitud Max, 1000m (3280 ft) above sea level Wud Vibration XY: 106 iva? ] 2G) Vibration X,Y: 64.8 [tvs] Graph of servo motor vibration amplitude vs speed Vibration amplitude (both amplitudes) {um} (2) Transportation 200] 109} 20] 60] Maximum allowable 40] 20] 20) %800 1000 1500 2000 2500 8060 3500, Speed {r/min} Do not carry the motor by the shaft or encoder or cables. 4-44. INSTALATION (3) Servo motor load-mounting precautions \9 a pulley to the shaft of the servo motor with a keyway, use the screw hole on the end of the shaft. To install the pulley, first insert a threaded rod into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force on the pulley. 2) When mounting a pulley to the shaft of the servo motor with a keyway, use the screw hole on the end of the shaft. For a shaft without a keyway, use a friction coupling or the like. 1) When mount 3) When removing the pulley, use a pulley remover to protect the shaft from impact. 4) For safety of personnel, a profective cover must be in- Servo motor + stalled overall rotating and moving components. 5) When a shaft end threaded part is needed to mount a pulley on the shaft, please contact us. 6) During assembling, do not strike the shaft. 7) The orientation of the encoder on the servo motor cannot be changed. 8) For installation of the servo motor, use spring wash- ers and fully tighten the bolts so that they do not be- come loose. (4) Permissible load for the shaft 1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the per- missible radial load, 2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load. 3) Do not use a rigid coupling as it will apply excessive bending load to the shaft, leading to shaft breakage. ee od Mero te towing ciagtem’ tend | ow] | 1M [ko] M4} adil toad Ho-Pa0ss, 053, 18] 25 | 1 | 88 | 9 [19.8] 50 | 6 [re 7 wo-razs, «9 | <0 |+2|2ss| 28 [5 |e [10 | ee | ~+— ~~ ; Thrust ond LL Distance from flange mounting surface to load center4. INSTALATION (8) Oil and water protection 1) The servo motor is not waterproof (IP44). Prevent oil and water from entering the servo motor. 2) The HC-PQ series servo motor is not provided with an oil 4. Oifor water seal. Seal the gear box to prevent lubricating oil from en- tering the servo motor. 3) When installing the servo motor horizontally, direct the power [| cable and encoder cable down- ward. When installing the servo motor vertically or obliquely, y | Loop fe te cable provide a loop in the cable. 4) Do not allow cables to touch oil or water. (Figure on the right) 5) When the servo motor is to be installed with the shaft up prevent oil from entering the servo motor from the gear -incorrect> Capillary action Gear Lubricating box, ete. i (6) Installation orientation The servo motor may be installed in any orientation. When the servo motor with electromagnetic. brake is installed with the shaft up, the brake plate may generate sliding sound. The servo motor with reduction gear may also be installed in any orientation.4. INSTALATION ( Cable stress 1) The methed of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. 2) In any application where the servo motor moves, the cables should be free from excessive stress. When the servo motor moves, e.g. the encoder cable and motor cables are contained in cable bearers, run the cables so that their flexing portions fall within the optional encoder cable range and fix the encoder cable and power cable of the servo motor. 3) Av chine comer or walked on by workers or vehicles 4) The flexing life of the MR-CCBLCIM-H encoder cable is shown below. It is 5000 times at the flexing radius of 10mm. In actuality, provide a little allowance for these values. For installation any probal that the cable sheath might be cut by sharp objects, rubbed by a ma- ‘on a machine where the servo motor will move, the flexing radius should be as large as possi- ble 1x 10 5x 10 2x107 1x10" 5x10! 2x10 1x 10% 5x 105 2x10 1 104 7x10 5x 104 ax tof 4 710 20 40 70100 200 Flexing radius (mm his graph gives calculated values. Flexing Life of MR-CCBL LIM-H Encoder CableCHAPTER 5 ADJUSTMENTS AND APPLICATION OPERATIONS This chapter presents a servo gain adjustment procedure and expansion functions available by parameter setting. 5-1 Adjustments 5-1-1 Auto tuning 5-1-2 Manual gain setting 5-2 Application Operations 5-2-1 Changing the command pulse train input form 2 Changing the I/O signals -3 Speed control mode 4 Torque limit 5 Slight vibration suppression control INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 WIRING CHAPTER 3 INSTALLATION CHAPTER 4 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 MAINTENANCE AND INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION _ CHAPTER 11 OPTIONAL PRODUCTS CHAPTER 12 5-15. ADJUSTMENTS AND APPLICATION OPERATIONS SS 5-1 Adjustments 5-1-1 Auto tuning 1es, gains are automatically adjusted by auto tuning. As auto tuning has been made In general mac! valid by parameter setting before shipment, the optimum gains for the machine are automatically achieved by merely operating the servo motor. Therefore, special operation or setting is not needed. If you are not satisfied with machine motions at the time of operation, however, change and adjust the response setting (parameter No. 1) of auto tuning in the following procedure. Actual Machine Motion Ideal Machine Motion Setting Method for Parameter No. 1 ‘Stop setting time is long (Note 1) Reduce stop setting time. Increase the set value of response cating. ‘Ovarshoot is large at a stop. Reduce overshoot. ‘Set the machine selection value to "1" ‘Overshoot is small ata stop but ‘Shorten the eetting time. ‘setting time is long. (Note 2) ‘Set the machine selection value to *2*. Overshootis large at a stop and Reduce overshoot and shorten the Setting time is long, too. (Note 2) setting time, ia Wie mneopine eeiecton venue) Gear noise is generated from the Reduce gear noise. Decreace the eet value of response: machine. setting. Note top setting time indicates a period of time from when the command pulse value is zeroed to when the servo motor comes to a stop. 2: Can be adjusted in software version A or later. 5-1-2 Manual gain setting In most machines, gains can be adjusted automatically by performing auto tuning. In the following cases, however, the gains should be adjusted manually. ‘Adjustment Manual Gain Adjustment Is Required When Phenomenon. plac ‘The machine vibrates at a low-range resonance | The servo motor sha vibrates at a high frequency. frequency (10Hz or more) 1a. When the machine generates noise and | Adjustment 1 ” vibrates, you can not ignore-the motion of the servo motor shaft . When the response s ‘Adjustment 2 auto tuning, vibration ‘On a machine whose ratio of load inertia to _| The servo motor shaft vibrates ‘Adjustment 3 motor inertia is 20 or more times, the servo _| frequency (SHz or less). a [monroe ‘a. When vibration occurs, you can ignore the ) lateral vibration of the servo motor shaft. b. The ratio of load inertia to motor inertia is extremely large. 3a) | The sop setting time made available by auto ‘Adjustment 4 tuning should be further decreased, The position control gain of each axis 4) | be set to the same for interpolation oper with two oF more axe ‘Adjustment5, ADJUSTMENTS AND APPLICATION OPERATIONS The following parameters are used for manual gain adjustment. Note that 00D should be set in pa- rameter No. 12 (parameter write disable) to make application parameter write-enabled. Parameter No. Name. No.1 ‘Auto tuning | No. 23 Ratio of load inertia to motor inertia No. 24 ‘Machine resonance suppression filter No. 25: Position control gain 1 No. 26 Position control gain 2 No. 27 ‘Speed control gain 1 No. 28 ‘Speed control gain 2 No. 29 ‘Speed integral compensation Adjustment 1 ‘Step Operation Description ‘Set 001 In parameter No. 1. ‘Auto tuning is selected. Response setting Is set to slow response. 2_| Set 001 in parameter No. 24. Machine resonance frequency: 1125Hz 19 | Switch servo on and perform operation several times. | Auto tuning le performed Check to see if vibration reduced. “| Inerease the eetting of parameter No, 24 sequentially and execute step 3. To reduce the stop setting time, increase the response 5 | setting of parameter No. 1 sequentially and execute stops 2 to 4. =| Adjustment 2 step ‘Operation Description 4 | Set00T in parameter No. 1. ‘Auto tuning is selected. Response setting is set to slow response. Set the machine's load inertia to motor Inertia in ‘When this parameter value is set, the folowing parameter No. 23. (When its unciear, set an parameter values are set automatically. Each value ‘approximate value.) provides an ideal, hunting-less gain for parameter No. 23 machine resonance doss net occur. 2 + Parameter No. 25 + Parameter No. 26 + Parameter No. 27 + Parameter No. 28 + Parameter No. 29, 3 | Set 2EIDlin parameter No. 1. “Auto tuning is made Invalid to enable manual setting of parameters No. 25 to 28. | im parameter No. 28, eet a value about 100 smaller than | The optimum value Is achieved just before vibration the value set automatically in step 3. to increase. 3 _| Exeoute stops 2 to 4 of Adjustment 1. ‘When machine response does not occur any more, Which is about 50 to 100 smaller than the | confirm the operating status, and at the same time, which gear noise and vibration begins to be ‘gradually retum the setting of parameter No. 28 generated by machine resonance. Feduced in step 4. To reduce the stop esting time, increase the response 7 | setting of parameter No. 1 sequentially and execute stops 1 t0 6.5. ADJUSTMENTS AND APPLICATION OPERATIONS Adjustment 3 Step Operation Description ‘Set 001 in parameter No. 1. ‘Auto tuning is selected. Response setting is set to slow response. Set the machine's load inertia to motor inertia in parameter No. 23. (When iti unclear, eet an approximate value.) When this parameter value is set, the following Parameter values are set automaticaly. Each value provides an ideal, hunting-less gain for parameter No. 28 if machine resonance does not occur. adjustment in the procedure of Adjustment 1 or 2. 2 ‘Parameter No. 25 No: 26 + Parameter No. 27 ter No. 28 + Parameter No. 29 | Switch servo on and perform operation several times. {4 _ | Ifvibration stil persists, re-set the parameter No. 23 value and execute etepe 2 and 3, «5 _| lfvibration occurs due to machine resonance, make Adjustment 4 Sep operation Bescon 1 | St Gor parameter Tato nig ssn Aseponee stg sto sw pene 2 | Sater swoon and poor operon evo imas [Al ining prerned heck oa bon reduce, Tak gin adlusnentin eter cit oloving eta | Tempers asient 1) Sethe acini insa om naa 20 imon iusto Sppronnate vi Pros anda ning ese ga fps Ne SSitmachine eoranee doe ators * paranterN so {Pareto Ne 26 {Parana o:27 {Parana o:28 7 3 Si aes oa par pan svar ties [ Ao rg spared 7 | se2tin parameter No 1 Ate ing ine aT aoa cating parameters No. 25 to 28. While confirming the operating status, adjust the + Parameter No. 28 ‘The optimum value ie achieved just before vibration begins to increase. Increase the setting to reduce the stop setting time. Decrease the setting to disturbance and increase holding force at a stop (servo rigidity). Note that overshoot is more likely to occur. 1ep the epsed constant to load5. ADJUSTMENTS AND APPLICATION OPERATIONS Adjustment 5 ‘Step Operation Description Make gain adjustment of all axes in pees a: era ‘Adjust the gain of each ‘Set 1C1Cor 2C1Dlin parameter No.1. |1Ci"interpolation contro”: The values of parameters No. 25 and 27 change in subsequent operation. 2 2 010"no" Auto tuning is made invalid to enable ‘manual setting of parameters No. 28 to 29, Set the following parameters for each | The gaine for operation of all axes are set fo the same value. axle to the minimum val 3 = Parameter No. 265. ADJUSTMENTS AND APPLICATION OPERATIONS 5-2 Application Operations 5-2-1 Changing the command pulse train input form (1) Input pulse waveform selection A position command pulse train can be input in any of three formats (forward/reverse pulse train, sign plus pulse train, A/B phase pulse train) and further positive or negative logic can be se- lected. On the basis of the following table, set parameter No. 7 according to the pulse train form of the command section. ‘Command Pulse Train Form Forward Rotation Forward rotation pulse train UU Fevers rtaton puve tin [NP 7) o10 Hee PFU UU 3 sign | NP w on i | A phase plas train | L 8 phase pulse train NP m | or Forward rotation pulse tain Reverse rotation pulse train 000 Pulse tran + _ on A phase pulse tain 8 phase pulse train 00 Note: [~~] indicate the timi5. ADJUSTMENTS AND APPLICATION OPERATIONS ET (2) Connections and waveforms 1) Open collector system 2) Connect as shown below: The explanation assumes that the input waveform has been set to the negative logic and for- ward and reverse rotation pulse trains (parameter No. 7 has been set to 010). The waveforms in the table in (1) of this section are voltage waveforms of PP and NP based on SG. Their rela- tionships with transistor ON/OFF are as follows: Forward rotation aro) for] ow [orn] cow oF Reverse rotation sein {ransiston orn on fom]ou for] 00 Differential line driver system Connect as shown below: ‘Servo ampitior 16 Tea Ne. (ace ef Coo The explanation assumes that the input waveform has been set to the negative logic and for- ward and reverse rotation pulse trains (parameter No. 7 has been set to 010). For the differen- tial line driver, the waveforms in the table in (1) of this section are as follows. The waveforms of PP, PG, NP and NG are waveforms based on the ground of the differential line driver. Forward rotaion 1 : pulse train oe No5. ADJUSTMENTS AND APPLICATION OPERATIONS TT 5-2-2 Changing the VO signals The input signal functions of the CN1 connector’s 1s 13, 14 and 15 and the output signal func! of pins 3 and 4 can be changed as indicated below. Use parameters No. 20 and 21 to change the functions of the /0 pins. (1) Functions selectabl 1) VO signals Signat Name | symbot | Comma Functlone/Applcations econ | Conta! Mo Forward otaion [STV [9,14 16) [Sian slanal pat eminae ps rserotaion [st 19, 14,15) in the speed contol mode, connect ST1-86 to rota the servo matorin the sar [Cow crecton or connect S12 torts inthe OW aacton, bisconneet btn'ST1 and 2 rom Sc to bring the serve motor fo sop tre sorvo motor wil ot rote the servo nt en [speed election oir |r, 14.15) | Speed selection signa input trina ous nthe speed contol rege, select he swe moter speed, base Tere motor speed Disconnected [Speed commana (1) (parameter Na. 77) [connected Speed cormare (2 (parameter No.17) frorae iit fren, 14,15) | Toraue tit selection signal input tena lon favs. [Connact TLS olin he torque according tothe torque iit value (peramete No) axirar ore [connected [True inte by parameier Ne 9 sling lwnen tne tunoton of Tie not selcteg, the output ores ted ot vate stn parameter No.8 Jereportonal —Jpc—_—| 3,14, 15) | Proportonal contre selection signal input termine on es cont |connoct PC: to eich tom the proprionalinogrl typ to tho Jeroportona type. ConnactPC-SG when Is dosed to suppress sight bration during serve Tock, fr lroset res |(13, 14,15) [Reset signa input tern. ons. |Connact RES-8G for mare than Some to reset the alam. The following slams cannot be reset. ‘+ Memory alarm 1 (R12) + Encoder lar 1(A20) {Memory alarm 2(A18) 1 Parameter alarm (437) 1 Board alae 1 (447) Jats, tn roganeratve alarm (A30) and overoed (ASO) cannot be roeet ui ne regeneative brake resstar and power Wansistr ave coved, expect [Uprespeed [PF ](@.4) | Upsowspeed signal output terminal por |e lWnen the serve motor speed has dearly reached the preset speed, PF-SG lars connected. They ar Kop connected whan the preset speed Ie SOr/mun or 5 (Refer to 2) Ini section) it sirale lencoder z-prase for [a ya) Deserted in 2), Selon 3-1-2 Ps puso [The output pn san be changed to pin 4, alos ro |a.4) | Ready signa output termina. por Jr.s. whan the sero te evitched on and the servo motor teady to operat, 2 }RO-5G are connects (Refrt 2) b Ins sation.) 5 [2010 specs lzsP jis, 4) |Zero speed detection signa output terminal loo es 3 fectecton When the sarvo motor speed about Strmin. ores, ZSP.SG are Z| Jeonectad SfTorueiimtin [rc — |ia.ay [Torque limtin-progress signal output terminal oor |r. progress when the torque iit range I eschad, TLC-SG are connected leacromagnatic [ark —|(o,4) _—_flecromagoetc brake inarloek signal output terminal pos rs. brake introck When the servo is switched ff ran alarm cure, BFK:SG are Note: 1. Forthe 1/0 interfaces, refer to Section 3-1 ~4. 2, P: Position contro! mode, S: Speed control mode ‘3, Available for the servo ammplifior of software version A2 or later5. ADJUSTMENTS AND APPLICATION OPERATIONS 2) Detailed description a. Uprto-speed - ‘Speed selection (DI1) OFF. ‘Speed setting (2) ee ON t 7 Up-to-speed (PF) OFF b, Ready ‘Servo-on (SON) ON i - 7 a (eee eee a on Ready (RD) OFF —. J c. Electromagnetic brake interlock ‘i a pady (RD) OFF. ‘Alarm Yes a Electromagnetic brake ON ‘Servo amplifier - A EMG, _,Semometor BRK } 8a 82 Connection diagram5. ADJUSTMENTS AND APPLICATION OPERATIONS TT (2) To make the functions valid Set the corresponding parameters. Three input signals (pins 13, 14, 15 of CN1) and two output signals (pins 3, 4 of CN1) can be selected as listed below. Use the parameters to select the re- quired functions. The digits of parameters No. 20 and 21 Parameter No. 20 correspond to the pins of CN1 as shown (Input signal function selection) Pin cn the right. Allocate the functions in the Pin 13 |L14 above table for the respective pins. Pin 15 Parameter No. 21 (Output signal fun Bla Abbre- GN Pin oN Pin fAbbre-] signal Name iG fAbbre-] signal Name ue | usp |Ferrararaaton evoke cele Be | L | ev ebarndad tne 1 | oP | Encoder Z-phase pulse 2 | GR [clear (vot) RO _| Ready aa 3 ‘ST1_| Forward rotation start 43, 14, “ ZSP_| Zero speed detection No. 20 a 4 [sta [Reverse rotaton stan | 18 TTLO__| Torque limit in progress Electromagnetic brake 5 | 11 | speed sotection 5 | ark |Eteetem P0_| Proportional contre TL [Torque limit RES [Reset Note: Available for the servo amplifier of software version A2 or later. MEMO- When LSP and LSN are not selected, set (111 in parameter No. 6 to automatically RANDUM switch these signals on intemally. Operation cannot be performed. Setting example | To select the I/O signals in the following table: Pin No. ory Parameter No. 20, 7 718 [2 : Tuc. | Parameter No. 21 4 BAK o[+ s After setting the parameters, switch power off once, then on again. (8) External 1/0 signal display and output signal forced-output When the functions of the 1/0 signals are changed, they correspond to the segments on the dis- play screen as shown below: Te ga PC sv cr S Input signals Output signals }—SON }—pir }—Pin 3 5—10 Pind cet Ang Lit ON Exlinguished: OFF5. ADJUSTMENTS AND APPLICATION OPERATIONS SS 5-2-3 Speed control mode The servo motor can be rotated at constant speed without the pulse train signal being input. To enter the speed control mode, change the settings of the following parameters. Note that 00C should be set in parameter No. 12 (parameter write disable) to make application parameter write-enabled. Paramater Tame Eat vatee Deseton Wo. 6 [npr egnetetcton 1 Chi [FSF apd LBW ae automatcalyevished on Wa 6 Peiorapod cont mode waecTon Toi [slot the sped coral made No.17__[Speed command (1) = No.18 [Speed command (2) = Set the servo motor epet ‘No. 19 [Speed acceleration/deceleration time conetant | _ — _ |Set the acoeleralion/deceleration time constant No. 20__|Input signal function selection 345 __ [Make ST1, $T2 and OIt valid (Note) No. 21 [Output signal function selection (003 [Make PF and ZSP valid. Note: Available for the servo amplifier of software version A2 or later. To use the equipment in the speed control mode, set the torque limit value (parameter MEMO- _ No. 9) to 75 or less or the acceleration/deceleration time constant (parameter No. 19) to RANDUM — 50ms or more so that the output torque of the servo motor is not clamped at the maximum torque. Timing chart 8 Power supply a 1.58 ortess Executed Conta intiaizaton _Exeets (endee) sero-n (80%) on Forward rotation ON | start (ST!) poe Reverse rotation on \ start (S12) OFF Speed speed selection (011) ON. [oped inl : - / i 3 | 8 ls Forward at 3 Z Servo motor speed I | 2 eae Tee) T = a Revere | | Yi ON f 1 ee Li ul I | Zero speed detection ON esp) OFF, 6-115. ADJUSTMENTS AND APPLICATION OPERATIONS Connection example ZX CAUTION — Always follow the instructions in Chapter 3. Regenerative Make up eequente which ewtches | brake option AXCAUTION fret ateccurencectansom. | |= Sateen i pod Power supply NFB NMC Single-phase 200VAC —5 TO——c* or L Single-phase 100VAc —S 0——o* 10m (32M) or less eS encod lal Euepayoo 61 cl ees s\- —_ aI Forservo motor with Servo-on Se slectromagnetic brake Forwatd rotation start os BIS Reverse rotation start | {OS [=| note 4) Speed selection Ele (Note 3) (wote 2) Trouble [al 1, @= 7a Up-to-speed @ foo oats Zero speed detection ele e fees Tal Note 1. For the EN Standard model, always connect the protective earth (PE) |A\ WARNING terminal (marked @) of the servo amplifier to the protective earth (PE) of the control box to prevent an electric shock. Note 2. Connect the diode in the correct direction. If it is connected reversely, the |A\ CAUTION servo amplifier will be faulty and will not output signals, disabling the emer- gency stop and other protective circuits. Note 3. The trouble (ALM) signal is in conduction when there is no alarm, i.e. in the normal state. MEMo- When this signal is switched off (at occurrence of an alarm), the output RANDUM of the controller should be stopped by the sequence program. 4. Use parameters No. 20 and 21 to set these signals. Note that the func- tions of parameter No. 21 are available for the servo amplifiers of soft- ware version A2 or later. 5-125. ADJUSTMENTS AND APPLICATION OPERATIONS SS 5-2-4 Torque limit The maximum torque of the servo motor can be limited by setting parameter No. 9. ‘Maximum torque (1) To keep the maximum torque limited Set the limit value in parameter No. 9 (torque limit value). The relationship between the parameter set- about 63% of ting and approximate torque is shown on the right. aa (2) Use the torque limit (TL) signal 706 30 Parameter setting When the torque limit (TL) signal is used, the torque limit function is activated or deactivated by ‘switching TL on or off. Use parameter No. 20 to make TL valid. Tse Maximum Torque of Servo Motor Disconnected ‘Maximum torque Connected ‘Torque limited by the setting of parameter No. 9 5-2-5 Slight vibration suppression control The slight vibration suppression control mode is used to reduce servo-specific +1 pulse vibration at the time of a stop. This mode produces an effect especially when the ratio of load inertia to motor inertia is. ‘small (2 to 5 times). Note that when vibration is attributable to looseness (such as gear backlash) or ma- chine resonance, use the machine resonance suppression filter (parameter No. 24). The slight vibration ‘suppression control mode should be used after real-time auto tuning or manual gain adjustment. Usage First, perform realtime auto tuning or manual gain adjustment so that vibration falls within +2 to 3 pulses. Set 001 in parameter No. 31 to enter the slight vibration suppression contro! mode at the time of a stop. Parameter No. 31 olfelL: © TL stot vibration suppression control execution, 5-2-6 Low acoustic noise mode By choosing the low acoustic noise mode in parameter No. 0, the electromagnetic noise of audible frequency generated by the servo motor can be suppressed by about 20dB. Parameter Noo |__. Low acoustic noise mode selection ‘0: norow acoustic noise "low acoustic noise 5-13CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT This chapter describes how to use various options and auxiliary equipment. 6-1 Dedicated Options 6-1-1 Regenerative brake options 6-1-2 Cable connectors 6-1-3 Junction terminal block 6-1-4 Setup software 6-1-5 RS-232C option unit (MR-C-T01) 6-1-6 DIN rail option 6-2 Auxiliary Equipment 6-2-1 Electric wires 2 No-fuse breakers - fuses - magnetic contactors 3 Power factor improving reactors 4 Relays -5 Surge absorbers 6 Noise reduction techniques 7 Leakage current breaker INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 WIRING CHAPTER 3 INSTALLATION CHAPTER 4 ADJUSTMENTS AND APPLICATION OPERATIONS |CHAPTER 5 IS AND Al L rant MAINTENANCE AND INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 OPTIONAL PRODUCTS CHAPTER 12 6-46. OPTIONS AND AUXILIARY EQUIPMENT SS Before connecting any option or auxiliary equipment, confirm the voltage, etc. AXWARNING with a tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options. Unspecified ones may lead to IN Acauriol a fault or fire. 6-1 Dedicated Options 6-1-1 Regenerative brake option (1) Judgment of whether this option is required or not ‘The regenerative brake option is not required for the servo motors in the following cases: 1) Ho-Pa0ss, 053 Except for continuous occurrence of regeneration in a vertical motion application or the like, the regenerative brake option is not required. At this time, there is no limit to the frequency of regeneration. 2) HC-PQ13, 23, 43 Except for continuous occurrence of regeneration in a vertical motion application or the like, the regenerative brake option is not required when the servo motor is run in the left-hand side area of the curves in the following chart. At this time, there is no limit to the frequency of re- generation. (For the HC-PQ23, the characteristic varies according to the input power supply voltage.) 200) J 2507 250] | z * © 200] ze 2 5 150 5 8 100 { pal power sap voage e-MR-C20At 100VAC “= MR-c20At 115VAC 1 MR-G20R 200VAC ff Sms sn See io 7 as Load inertia ratio GDL/GDm* Load inertia ratio GDL/GDm? worare pan Note: If the input power supply voltage may become higher than the power supply voltage indicated inthis graph, reduce the load inertia ratio or use the regenerative brake option.6. OPTIONS AND AUXILIARY EQUIPMENT 250, Deceleration torque [4] J+ MR-C40n 200VAG than the power supply voltage indicated in this graph, J+ MR-C4OA_220VAC reduce the load inertia ratio or use the regenerative / Input power supply vokage| Note: If the input power supply voltage may become higher brake option. t 2 oa Lota nota momont ratio GDL'GDr* Ho-Pa4s (2) Selection of the regenerative brake option When it has been determined that the regenerative brake option is required in (1), select the re- generative brake option as described below. n method 1) Simple selec In horizontal motion applications, select the regenerative brake option as described below: When the servo motor is run alone in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in Section 10-1 *Standard Specifications". When a load is con- nected, the permissible duty changes according to the inertia of the load and can be calculated by the following formula: permissible duty for operation of the servo Permissible, motor alone (value indicated in Section 10—1) , (_rated speed i : duty (mt 7untingpepeea} tmes/minute] where m = load inertia/servo motor inertia From the permissible duty, find whether the regenerative brake option is required or not. Permissible duty > number of positioning times n1 {times/minute] Between the MR-RB013 and MR-RB033, select the one which satisfies the above formula. 2) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applica- tions or when it is desired to make an in-depth selection of the regenerative brake optiot6. OPTIONS AND AUXILIARY EQUIPMENT 1a) Use the following table to calculate the regenerative energy. Formulas for Calculating Torque and Energy for Operation 3} Servo motor speed Motor torus By (Rogeneratve) The following table lists the et fie the regenerative mode. Es op Ton’ | Trae Applied fo Serve Motor Peery leegion [Nm Friclon Come 3 "Gash Ne aX ee Ae 1) [r= Gednate £42 21087 | No. Ty Tp 8 2) [t= tute Ee= 0.1047 | No Tet a 3 2 Ge Ne 5 9) [T9610 7 E20 4,0) [Texte ny = ach =Ne 1087, ae ‘up s)_|Te= Shea 5 n SAOKT No. Te. Tp 6) |te= tute E No» Te = ts w 2 Gey Ne Es 7) [tra Seetnte 5 No - Tr. Tpsde ‘Sum total of regenerative energies | Sum total of negative energies in 1) b) Losses of servo motor and servo amplifier in regenerative mode jiencies and other data of the servo motor and servo ampli- to8) Es ‘Servo Motor Inverse Efficiency (%] | Amplifier Loss [1 | Capacitor charging (J) Ho-Pa03s 35 He-Pa0ss 65 7 Ho-Pais 55 Ho-Pa2s 70 He-pass 8 @ Inverse efficiency (n) :Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency changes according to the speed and generated torque, allow for about 10%. Servo amplifier loss (Ex): Loss consumed in the servo amplifier. Convert this loss into re- generative energy in accordance with the following expression: Ex [Joule] = P{W] - t[s] where t : regenerative operation time, not including driving time6. OPTIONS AND AUXILIARY EQUIPMENT el Capacitor charging (Ec) : Energy charged into the electrolytic capacitor in the servo ampli- fier. Subtract the servo amplifier loss from the inverse efficiency to calculate the energy con- sumed by the regenerative brake option. Er [Joule] = 9 - Es — Ea Eo Calculate the consumption power of the regenerative brake option on the ba: of single- cycle operation period t: [5] to select the regenerative brake option. Pr (W] = Ernst: (3) Connection of the regenerative brake option The regenerative brake option used should be connected as shown below: (6-1) Regenerative brake option Twist. MR-RB Within 5m (16.4ft) c P ‘Servo amplifier (4) Outline drawing adhole By removing the mounting bracket the MA-RBO13 can be installed as ‘shown below. Panel oo i wi screw egenerative riable Dimensions [mn (i Petsrace "Regenerative — sates Weld] pesistance soar fm jaltejelole)jrlo|] a] s|ap| eee 2 (4.33) | (3.98) | (3.38) | (0.71) | (1.38) | (0.63)| (0.18)} (0.71) |(0.13)| (0.2) 2. vee | 17a [150 [20 | sa | 22 | 6 | 26 | a2 | 02 wrneoes | 20 82 : a)/ean|(o20| .02)|(02] (0: 780) 660] 62e)| (1.00 |e-19 [e](020|(1.00)0.18| (46. OPTIONS AND AUXILIARY EQUIPMENT 6-1-2 Cable connectors ‘+ Use the encoder cable 1) or 2) after confi jing the required wirit \g length. When the encoder ca- ble is to be fabricated by yourself, use the encoder connector set 3) and refer to (2) in this sec- tion. * To connect the control signals, they may either be exported directly using the CN1 connector 4) or via the CN1-junction terminal block cable 5) to the junction terminal block 9). Use the options according to the connection method, * To use the RS-232C communication function, use the RS-232C option unit 8) and the communi- cation cable 6) or 7) which matches the personal computer used. Servo motor Servo amplifier cn {Jone cna Naa 8) Fy [aaa ence cabetor—[csOGBL EM. Bove war onder Sr rare aie nnn Sorat tn) eee ho Ter roving 3 ‘oan sarc elk 3a Cater oP eerste ba engin ae a] is oem aa0,som] CS —— 3 [Boum ceoneners RON Sinaio cons (Fa) Sano anpl ne corer a” [percsenes frets rosea) {mao a ; reset tome {ets gece erret 8 rirooe ane {euzecaro-0o at ° mau or esi) 5 {otseaoaav eomatn tn28S9F3008 (Shel it) a ; face engi 0.8(n) _|HFSSA200°2 84h Porore Elects make) {Gat rao or easter) i (orzo sooaeh (sonecen) : $0020 3250-000 fs [Seenniaton cate ar [wicGPORUOHLIN | R-ZH8Gopon side concir ON rake or equilon) —PCODzarex rome [Sele natin] [Horz0cas0vE(Cormeaer nl sous ade connector eez0szv0a00 (het kt) hoeton Electors) ren (eonteton. Decne het at) 8 17 [oorapancaion satis JURLGPCATGBLON RS 23HO opton a connosir Fil makasaqunalon) — OOST BY” foasv Jestietegt ain). |rorz0s000vE{Connesen feteonal computer ide connecter 830.5210000 ne et) Capea acne 6-66. OPTIONS AND AUXILIARY EQUIPMENT (1) Connector outline drawings $87 (026) 11.5 (048) Logo, ete. indlosted here. [Unit: mm} ‘Servo amplifier Connector for ON1, CN2 25-2526 option unit Connector for CN3A Junetion connector for encoder (Nippon AMP make) (Sumitomo aM make) Model Model Connector: 10120-2000VE Housing : 472161. Sheik: 10920-52F0-008 Connector pin #1709594 Crimp termination tool: 75330-1 naoin g 3 4055 237,009) 140 ace q eS vearen| SEHEESIEIG! crs : macnn) Sh Bt 5 t ct jae) = q et i [Tra 0am E of Tyo L—at39 | 32, ee ey MEMO The crimp termination tool is required for witing to the connector. For the crimp ter RANDUM nation tool, contact Nippon AMP.. Mode! Connector: 10120-60006 Shell kt} 10320-3210-000 [Unit: mm (in)]6. OPTIONS AND AUXILIARY EQUIPMENT TT (2) Assembling of cable The specifications and connection of each cable are indicated below. A fabricated cable should be as specified in this section or equivalent and connected correctly. Use the cable conforming to the following list. size Load Insulation Sheath OD Recomme Model Gable Type [rom] (Note) dfmencin)| es FG uLz076. Encoder cable opi 1a? ‘AWG28. Tpair (BLACK) __| Communication cable (0.08 to 6.08) uL2076 ‘ ee ‘AWG24 pair (BLACK) —_| Eneoder cable Note: d is as shown below. 4 Insulation sheath Conductor Sectional view of le For the connector CN1, CN2 or CN3A, connect the external conductor of the shielded cable to the ground plate securely as shown below. a. Termination of external conductor =e Ee a Se oe of ull back the extemal conductor ‘Strip the sheath, to cover the sheath, b. Fitting of the ground plate Ground plate6. OPTIONS AND AUXILIARY EQUIPMENT 1) Encoder cable When fabricating the encoder cable, connect it correctly. Otherwise, misopera- tion may lead to injury. ZAXCAUTION Optional cables MR-JCCBL2M-L. MR-JCCBLIOM-L MR-JCOBLION-H. MR-JOCBLEM-L to to MR-JCCBL2M-H MR-JCCBLSOM-L MR-JCCBLSON-H. MR-JCCBLEM-H Sew ampliier Encoder Seo amply ——Encader_—Seteamolitar Encoder. re fie Pe | te haa tina wa Mba iba Moa 0 [ram [em cy 30 [mw For fabrication ‘= Connection distance of less than 10m (32!) + Connection distance of 10m (Saft) to 50m (164ft) nooder Sere ameter hood Servo amor tae ‘ito (tO ap is ry Iu ‘a fee Mo ® fw fabs 380 Lee MA 7 ha toa fe |won Nt: Wha mn ANGE) we are he wise Junoon ein sk se ‘Sexe amp ie (ON ie) re aucessry signal setae change eal ashes 6-96. OPTIONS AND AUXILIARY EQUIPMENT TS 3) Communication cable NOTICE This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. Select the communication cable according to the RS-232C connector shape of the personal computer used. When fabricating the cable, refer to the connection diagram in this section. The following must be observed in fabrication: + Always use a shielded, multi-core cable and connect the shield. with FG securely. ‘+ The maximum wiring distance, which depends on the surrounding environment, is 15m in a well- environmental office with minimal noise. Use the cable over the shortest possible distance. Connection diagram “+ MR-CPC98CBLIM Personal computer side 82320 option unit + MR-CPCATCBLSM cp Pate] Fa so |e 2 | RXD + [eno ao | 2 te [x0 se | 7 | it | an rm fap es Ls D-SUB2S pins (Note) Half-pitoh 20 pine Personal computor ids RS2926 option unit reo | + | eno axo | 2 | 2 | xo ano | § 14 | ano ars | 7 nok ers | 6 ber | om La [1 0-SUB9 pine Hatch 20 pine Note: The PC98 Note also has the connector of half-ptch 14 pins. Contirm the shape of the RS-232C connector of the personal computer used. 6-106. OPTIONS AND AUXILIARY EQUIPMENT 6-1-3 Junction terminal block (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable(MR- CTBLOSM) as a set. A connection example is shown below: Servo amplifier ‘Junction terminal block Cable clamp MR-TB20 (ABRSBAN-ESET) ental cen18 LS unction terminal block cable = (MR-CTBLOSM) Ground the junction terminal block cable on the junction terminal block side with the standard ac- cessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to (3), Section 6-2-4. (2) Terminal labels The junction terminal block has three terminal block labels which indicate signal arrangement. Out of these labels, use the one for MR-C. This label is for use in the position control mode. When the parameter settings of 1/0 signals have been changed or the position contro! mode is ‘switched to the speed or torque control mode, refer to (2) in Section 6 — 1 ~2 or (2) in Section 3 - 1-2 and apply the accessory signal seales to the labels. (8) Outline drawing 126 (4:96) (ey a MITSUBISHI MR 7820 50(1.97) 60(2:36) a ot fs: ED S. f — 245 (0.18) ‘Terminal screw = V3.5 ‘Applicable cable: Max. 2mm (Crimping terminal wath: 7.2mm (0.283in) max.)6. OPTIONS AND AUXILIARY EQUIPMENT 6-1-4 Setup software The setup software (MR-ZJW3-SETUPSIE or later) uses the communication function of the servo am- plifier to perform parameter setting changes, graph display, test operation, etc. on a personal com- puter. (1) Specifications Hem Description. ‘Communication signal [RS-2326 standard Baudrate DOSIV system: 19200bps Batch display, high-speed dieplay Monitor JGraph display (minimum resolution changes according to the processing speed of the personal |computer) ‘Alarm [alsem display, alarm history Diagnosis DV/DO display, software number display, tuning data display Parameters |Data setting, list display, change list display, detailed information display Test operation |Jog operation, DO forced output (output signal forced output) File operation [Data read, storage, printing Oth [Help display Note: On some personal computers, setup software may not run properly. (2) System configuration 1) Components To use setup software, the following components are required it addition to the servo amplifier and servo motor. Make up a system in accordance with the installation guide of each equipment. Model Deseription Which contains @ 60986 or more GPU and on which Windows 3.1.95 rune (80486 or more recom lmended). Memory : 8MB or more, hard disk : 1MB or more, serial port used. Personal computer OS, Windows 3.1.95 Display [e40_x 400 oF more color of 16-tone monochrome dleplay which can be used with Windows 8.1.95, Keyboard |Which ean be connected to the personal computer. Mouse Which can be used with Windows 3.1.95. Note that a serial mouse le not used, Printer |Which can be used with Windows 3.1.95, IMR-CPCATOBLSM When these cannot be used, refer to Section 6 - 1 ~2 and fabri: RS-2896 option unit_[MA-C-To1 ‘Communication cable Note: Windows is the trade mark of Microsoft Corporation, U.S.A. 2) Configuration diagram ‘servo ampliior Rs-2320 ersonal computer Option unit ees MR-C-TO1 ee a Cy Ul sen rmter FT] CNA, toRs-2320 ‘Connector communication cable6. OPTIONS AND AUXILIARY EQUIPMENT SS 6-1-5 RS-232C option unit (MR-C-T01) This unit is required to use the setup software. (1) Installation and removal of the unit Install or remove option unit as vertically as possible to or from the servo NOTICE amplifier. If it is installed or removed diagonally, the connector CN3 may be damaged. 1) Installation Install the unit after disconnecting the encoder cable from CN2. Securely insert the two catches of the MR-C-T01 into the sockets of the servo amplifier. Install option unit after fixing the servo amplifier on the control box. After installation, the servo amplifier fixing holes are covered by the option unit and the servo amplifier cannot be fixed to the control box. MEMO- RANDUM 2) Removal Hold down the PB button and pull the front side down about 5mm (0.20). Then, pull the back side off. [Unit: mom (in) o en soz s20(6:10)OPTIONS AND AUXILIARY EQUIPMENT 6-1-6 DIN rail option (released soon) For ease of installation, use the DIN rail option (MR-DINO1) when installing more than one servo am- plifier on a wall, (1) Outline drawing Details not yet determined} (2) How to use the option 4) Installation to the servo amplifier ‘Screw the DIN rail option tight on the servo amplifier. Screw Mé x 12 DIN rail option MR-DINOL — ‘Servo amplifier 2) Fitting into the DIN rail 3) Removal from DIN rail Hitch the upper catch in the DIN rail. Push the catch in _After pulling the hook down, until it clicks. pull the servo amplifier toward you and lift it to remove. 3. uit q \Liod 2, Pall toward you. Hook” 1, Pull down hook 6-146. OPTIONS AND AUXILIARY EQUIPMENT eel 6-2 Auxiliary Equipment The auxiliary equipment used must be those specified in this section or equivalent. To comply with the EN or UL/C-UL Standard, use the equipment which conform to the corresponding standard. 6-2-1 Electric wires a fmm Torque Serve Amplifier "Trip T | UvWe | PC | Electromagnetic brake | pound inch) MA-CIOA MR-G20A 076° | ete 2) MR-C1OAt 75 | cawara) | (Note. 0.75 - MB-C20A1 cawers) lawns (aware) i 125 fancne cawat6) Note: 1. The wires are based on the 600V vinyl wires. The wires (U, V, W) in the table assume that the distance between the servo motor and servo amplifier is 30m or less. 2. Twist the wires for connection of the regenerative brake option (P, C). 6-2-2 No-fuse breakers - fuses - magnetic contactors wo Amplifier |No-Fuse [__—~ Fuse Maanelle Contactor Servo Amplltio | Breaker | Class | Current [A] | Voltageivi|_A | B | ACTOR MR-C20A, Ne ma-cioar __|'¥Pe Ks 10 caso | s.nte | s.nzt | s.nat IMa-C20at NFO MA-C40A ype 108 — Powe aor mpoing ectr 6-2-3 Power factor improving reactors i bead arene When connecting directly to a large capacity power transformer 8 = 500 (S00kVA or more, with wiring 10m or less), an excessive current = eels : e will flow when the power is switched on, and may damage the = g, , 3 converter section. In such a case, install a power factor improv. = @ Fe 7 ing reactor (FR-BAL) to suppress the current. cabal Outline drawing and connection diagram of the power factor improving reactor g h | [pel ety |e TB TSF mounting seem serve ampiir Terminal block | Spectication u number i Power supply. OO mn TI fee] ae Dimensions (ram (in) | weight eke Model A _ Amplifier alelelo|e |e iro WR-CioA 195 | 64 | 120| 120 | 45 2 wR-c20a_ | FR-BAL-O4K ma MRLCrOAt (6.31)(2.62)(4.72)\4.72)(1.77) (4) MR-C20at 125 | 74 | 120 | 120 | o7 3 MR-C40A_ FR BALO75K [< 34)):2,01)|(4.72))(4.72)|(2.24)| = (6.6) 6-15OPTIONS AND AUXILIARY EQUIPMENT 6-2-4 Relays The following relays should be used with the interfaces: Interface ‘Selection Example Relay used for switching Used especialy for switching analog input command | To prevent defective conta and digital input command (interface OI-1) (twin contacts). (Ex) OMRON : type G2A.MY als onvot use a relay for small signal Small lay wth 12VD6 or or oe Flay wed for digit! ot sige (rorice 00-1) | mel ay ith 12VD0 or 24VD6 of om o 6-2-5 Surge absorbers ing the electromagnetic brake, always use a surge. absorber. Use the following surge ab- sorber or equivalent. Insulate the wiring as shown in the diagram. ‘Maximum Rating Static | Varistor Voltage Maximum | capacity | ‘ertine'enas) Permissible Circuit | Surge | Energy |psteg power| Limit Voltage ches Voltage Anmuntty | immunity acivm) | pews | tal mo | O m [| w|m | or M 0 wo | soome | 5 on asl emaee | = ato] ~ ua aay Note: 1 time = 8 - 2018 (Example) ERZ-C10DK221 (Matsushita Electric make) TNR-12G221K (Marcon Electronics make) Outline drawing [mm (in)] (ERZ-C10DK221) 135 4.7 210(0.193004) (059), | [sss Solderless terminal for M4 screw 40.8 003), 2.00.2) | 20.03.18) 6-166. OPTIONS AND AUXILIARY EQUIPMENT 6-2-6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which uses smalll signals, it requires general noise reduction as men- tioned below. And, since the output of the servo amplifier is chopped by high carrier frequencies, the servo amplifier can be a source of noise. If peripheral devices malfunction due to noises produced by the servo am- plifier, noise preventive measures must be provided. The measures ill vary slightly according to the route of noise transmission. 1) General reduction techniques + Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables. + Use shielded twisted-wire pair cables for connecting to an encoder and for control ignal transmission, and connect the shield to the SD terminal. ‘+ Ground the servo amplifier, servo motor, etc. together at one point (refer to Section 3-4). 2) Redu If there are noise sources (such as magnetic contactor, magnetic brake, and a large number of n techniques for external noises that cause the servo amplifier to malfunction relays) which make a large amount of noise near the servo amplifier and the servo amplif may malfunction, the following countermeasures are required. + Provide surge absorbers on the noise sources to suppress noises. ‘Attach data line filters to the signal cables + Ground the shields of the encoder connecting wire and the control signal cables with cable clamp fittings. 3) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunc- tion Noises which the servo amplifier produces are classified into those which are radiated from the cables connected to the servo amplifier body and the servo amplifier main circuits (Input and output circuits), those which are induced electromagnetically or statically by the signal cables of the peripheral devices which are located close to the m: circuit wires, and those which are transmitted through the power supply cables. Raves poaieedoy ie wo 7 Rabe aad aa Pome pean 1 fe | roeaementniea aaa mm Re aaa rom ep], moe [ply cable eee Rabe jada rom wine or [nected to the servo motor ee owe #) ands) Tabor varonted og ae ramed ang lectric chs power supply cable eae Ft 6-176. OPTIONS AND AUXILIARY EQUIPMENT Route Countermeasures 1)2)3) |When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction| |due to noise and their signal cables are installed on a panel together with a servo amplifier or close to al [servo amplifier, such devices may malfunction due to noiee transmitted through the ait. The following| techniques are required. 1) Provide maximum clearance between the dev servo amplifier. (2) Provide maximum clearance between the signal cables which are liable to be influenced by noise and| the 1/0 cables of the servo ampli (9) Avoid laying the power lines (V dling them together. (4) Insert a line noise fiter FR-BSFO1 to the /O cables or a radio frequency noise filter (FR-BIF) on the| input (5) Use shielded wires for signal and power cables or put cables in separate metal conduits, 16 which are liable to be influenced by noise and a| les of the servo amplifier) and signal cables side by side or bun-| 4)5)8) lWnen the power lines and the signal cables are laid side by side or bundled together, magnetic Induction| Inoige and static induction noise will be transmitted through the signal cables and malfunction may occur, The following are required. (1) Provide maximum cl ‘servo amplif (2) Provide maximum clearance between the signal cables which ate liable to be influenced by noise and| the V/O cables of the serve amplifier. (3) Avoid laying the power lines (U/O cables of the servo amplifier) and signal cables side by side or bun-| dling them together. (4)_Use shielded wires for signal and power cables or put the cables in separate metal conduits. ance between the devices which are le to be influenced by noise and a| \When the power supply of peripheral devices is connected to the power supply of the servo amplifier sys tem, noises produced by the servo amplifier may be transmitted backward through the power supply cable land the devices may malfunction. The following techniques are required. (1) Insert a radio frequency noise filter (FR-BIF) on the power cables (I/O cables) of the servo amplifor. (2) Insert a line noise fiter (FR-BSFO1) on the power cables of the servo amplifier. 8) \When the cables of peripheral devices are connected to the servo ampli leakage current may flow to malfunction the peripheral devices. In that cast ‘a closed loop circuit, malfunction may be prevented by disconnecting the grounding wire of the peripheral device. 6-18