Instruction manual

MITSUBISHI
ELECTRIC
400VAC Compatible
Instructions and Cautions for
Safe Use of AC Servos
J2-Super Series
General-Purpose AC Servo
H
MITSUBISHI ELECTRIC CORPORATION
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
IB
(
NA
)
0300069-H
(
1305
)
MEE Printed in Ja
p
an
This guide uses recycled paper.
S
p
ecifications sub
j
ect to chan
g
e without notice.
If this is the first time for you to use the MELSERVO-J2-Super Series,
the optionally available MR-J2S- Servo Amplifier Instruction Manual,
MELSERVO-J2-Super 400VAC compatible Servo Amplifier Supplementary
Instruction Manual and MELSERVO Servo Motor Instruction Manual are required.
Always purchase them and use the MELSERVO-J2-Super Series safely.
Country/Region
USA
Germany
Italy
China
Taiwan
Korea
Singapore
Sales office
Mitsubishi Electric Automation Inc.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA
Mitsubishi Electric Europe B.V. German Branch
Gothaer Strasse 8, D-40880 Ratingen, Germany
Mitsubishi Electric Europe B.V. Italian Branch
Viale Colleoni 7
1-20041 Agrate Brianza (Milano), Italy
Mitsubishi Electric Automation (Shanghai) Ltd.
4F Zhi Fu Plazz, No. 80 Xin Chang Road
Shanghai 200003, China
Setsuyo Enterprise Co., Ltd.
6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan
Mitsubishi Electric Automation Korea Co., Ltd.
3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul
157-200, Korea
Mitsubishi Electric Asia Pte, Ltd.
307 Alexandra Road #05-01/02,
Mitsubishi Electric Building Singapore 159943
Tel/Fax
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Safety Instructions
n
(Always read these instructions before using the equipment.)
Install, and peruse all this guide and attached documents before the drive and maintenance and
the check. After that, use these correctly. Use it after it is skilled of the knowledge of the
equipment, information on safety, and all of notes.
In this guide, 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 guide, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this guide, always keep it accessible to the operator.
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester
and others. Otherwise, an electric shock may occur. In addition, always confirm from the front
of the servo amplifier, whether the charge lamp is off or not.
Connect the servo amplifier and servo motor 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 servo amplifier and servo motor 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. You may get an electric shock.
Do not operate 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 servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material.
Installing them directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor between the main circuit power supply and L
1
, L
2
, and
L
3
of the servo amplifier, and configure the wiring to be able to shut down the power supply on
the side of the servo amplifier’s power supply. If a magnetic contactor is not connected,
continuous flow of a large current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off.
Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other
combustible matter from entering the servo amplifier and servo motor.
Always connect a no-fuse breaker to the power supply of the servo amplifier.
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 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.
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 mass.
Use the eye-bolt of the servo motor to only transport the servo motor and do not use it to
transport in the condition to have installed a servo motor on the machine.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the instruction manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other
equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has
any parts missing.
Do not block the intake and exhaust areas of the servo amplifier and servo motor which has a
cooling fan. Doing so may cause faults.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When storing or using the servo amplifier and servo motor, comply with the environmental
conditions given in the Servo Amplifier Instruction Manual and Servo Motor Instruction
Manual.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may
come off during operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil
leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts
of the servo motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine.
The encoder may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft
may break.
When the equipment has been stored for an extended period of time, contact your local sales
office.
When treating the servo amplifier be careful about the edged parts such as the corners of the
servo amplifier.
The servo amplifier must install in the metal cabinet (control box).
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate
unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between
the servo motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo
motor. Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U,
V, W) directly. Do not let a magnetic contactor, etc. intervene.
Servo amplifier Servo motor
U
V
W
U
V
W
M
Servo amplifier
Servo motor
U
V
W
U
V
W
M
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted in the
specified direction. Otherwise, the emergency stop and other protective circuits may not
operate.
COM
(24VDC)
RA
Control
output
signal
RA
COM
(24VDC)
Control
output
signal
Servo amplifier Servo amplifier
When the cable is not tightened enough to the terminal block (connector), the cable or
terminal block (connector) may generate heat because of the poor contact. Be sure to tighten
the cable with specified torque.
(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.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent
an accident. A sudden restart is made if an alarm is reset with the run signal on.
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.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should
not be used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the
servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor
shaft. To ensure safety, install a stopper on the machine side.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo
amplifier.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power
failure or a product fault, use a servo motor with electromagnetic brake or an external brake
mechanism for the purpose of prevention.
Configure a circuit so that the electromagnetic brake activates with the external emergency
stop switch at the same time.
RA
24VDC
Electroma
g
netic brake
Servo motor
Circuit must be opened during
external emergency stop switch.
Contacts must be open when the servo-on
(SON) or the electromagnetic brake interlock
(MBR) signal turns off, or the trouble (ALM)
occurs.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm
before restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine
because the machine may be restarted suddenly (design the machine so that it is secured
against hazard if restarted).
(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 contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this guide 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 guide and instruction manual.
n
DISPOSAL OF WASTE
n
Please dispose a servo amplifier, battery (primary battery) and other options according to your
local laws and regulations.
BATTERY transportation
MR-BAT and A6BAT are lithium metal batteries. MR-BAT and A6BAT are not subject to the
dangerous goods (Class 9) of the UN Recommendations.
To transport lithium metal batteries and lithium metal batteries contained in equipment by means
of transport subject to the UN Recommendations, take actions to comply with the following
regulations: the United Nations Recommendations on the Transport of Dangerous Goods, the
Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO), and the
International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime
Organization (IMO).
To transport the batteries, check the latest standards or the laws of the destination country and
take actions.
For more information, consult our branch or representative. (As of May 2013)
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
1. INTRODUCTION
1.1 Introduction to the manuals
If this is the first time for you to use the MELSERVO-J2-Super Series, the optionally
available MR-J2S- Servo Amplifier Instruction Manual (see the list below) and
MELSERVO Servo Motor Instruction Manual (SH(NA)3181) are required. Please read
them all carefully to use the MELSERVO-J2-Super Series safely.
Servo amplifier Manual name Manual No.
MR-J2S- A Servo Amplifier Instruction Manual SH(NA)030006
MR-J2S-A
MR-J2S-400VAC Compatible Servo Amplifier Supplementary
Instruction Manual
SH(NA)030026
MR-J2S- B Servo Amplifier Instruction Manual SH(NA)030007
MR-J2S-B
MR-J2S-400VAC Compatible Servo Amplifier Supplementary
Instruction Manual
SH(NA)030026
1.2 Contents of the packing
After unpacking, check the rating plate to confirm that the servo amplifier and servo motor
you received are as you ordered.
(1) Servo amplifier
Contents Quantity
Servo amplifier [pc.] 1
CNP1 CNP2 CNP3 CN4 [pc.] (Note) 1 each
MELSERVO-J2-Super Series
Instructions and Cautions for Safe Use of AC Servos (This guide) [pc.]
1
Note. Only for the MR-J2S-200A4 or less
(2) Servo motor
Contents Quantity
Servo motor [pc.] 1
Safety Instructions for Use of AC Servo (for motors) [pc.] 1
1.3 Model code definition
(1) Rating plate
MITSUBISHI
MADE IN JAPAN
MODEL
MR-J2S-350A4
MITSUBISHI ELECTRIC CORPORATION
AC SERVO
PASSED
POWER :
INPUT :
OUTPUT :
SERIAL :
3.5kW
7.9A 3PH 380-480V 50Hz
323V 0-360Hz 26.6A
3PH 380-480V 60Hz
AZXXXXXXX
TC3XXAAAAG52
Model
Capacity
Applicable power supply
Rated output current
Serial number
(2) Model code
MR-J2S-
Rated output
Series name
Corresponding
Symbol
A
B
Corresponding
General-purpose interface
SSCNET compatible
Symbol
350
Rated output [kW]
3.5
5
15
11
22
Symbol Optional feature
None
PX
Optional feature
Standard feature
Three-phase 380 to 480VAC power supply specifications
500
11K
15K
22K
2200
1100
0.660
7700
This symbol is affixed to indicate that the 11k to
12kW servo amplifier does not need the external
regenerative resisitor equipped as standard because
the regenerative brake option (MR-RB6B-4, MR-
RB60-4, MR-RB6K-4), brake unit (FR-BU2-H) or
power return converter (FR-RC) is purchased.
2. COMPLIANCE WITH THE EUROPEAN EC
DIRECTIVES
2.1 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 also to machines and equipment into which servos have been
installed.
(1) EMC directive
The EMC directive also applies to the servo amplifier, and this servo amplifier is
designed to comply with the EMC directive. The EMC directive also applies the servo
amplifier-incorporated machines and equipment. This requires the EMC filters to be
used with the servo amplifier-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 also applies to the servo amplifier, and this servo amplifier is
designed to comply with the low voltage directive.
(3) Machinery directive
Servo amplifier is a main component in a machine configuration. Do not allow using the
machine until the machine in which these servo amplifiers are mounted is declared to
comply with the machinery directive.
2.2 For compliance
Be sure to perform an appearance inspection of every unit before installation. In addition,
have a final performance inspection on the entire machine/system, and keep the inspection
record.
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which standard product.
Servo amplifier series: MR-J2S-60A4 to 22KA4
MR-J2S-60B4 to 22KB4
Servo motor series : HC-SFS
4, HA-LFS 4