Mitsubishi Electric Melservo-H, MR-H30KBN, MR-H30KAN, MR-H30KACN, MR-H30KDN Specifications

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General-Purpose AC Servo

H Series

200VAC Large-Capacity Servo MR-H30KAN MR-H30KBN MR-H30KACN MR-H30KTN MR-H30KDN Specifications and Instruction Guide

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read through this Specifications and Instruction guide, Installation guide, Servo motor Instruction Manual and appended docum ents c ar eful ly an d ca n us e th e eq uipm ent cor rec tl y. Do not us e t he s ervo am plif ier and ser v o motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING CAUTION

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 Specific atio ns and Ins truct ion Manu al, instr uctio ns at a lo wer level than the above, ins truct ions for oth er functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

A - 1

1. To prevent electric shock, note the following:

CAUTION

• Before wiring or inspec t i on, s witc h po wer off an d wa it for more than 1 0 minutes. Then, c o nfirm the volt ag e is safe with voltage tester. Otherwise, you may get an electric shock.

• Connect the Converter unit to ground.

• Any person who is involved in wiring and inspection should be fully competent to do the work.

• Do not atte mpt to wi re th e C onv e rte r uni t un ti l th ey have been installed. Otherwise , you may get an elect ric

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 fr ont c o ver removed. H ig h-vo l t ag e t er minals and ch ar g ing area

are exposed and you may get an electric shock.

• Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The Converter unit is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

• Do not install the Converter unit and regenerative brake resistor on or near combustibles. Otherwise a fire may cause.

• When the Converter unit has become faulty, switch off the main Converter unit power side. Continuous flow of a large current may cause a fire.

• When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

• Only the vo ltage specified in t he Instruction Man ual should be ap plied to each ter minal,, Otherwis e,, a burst,, damage,, etc. may occur.

• Connect the terminals correctly to prevent a burst,, damage,, etc.

• Ensure th a t po l a rity (

• During power- on or f or some time after power-off, do no t t ouch the Conver ter unit fins , r e ge nerative brak e

resistor, servo motor, etc. Their temperatures may be high and you may get burnt.

, ) is correct. Otherwise, a burst, damage, etc. may occur.

A - 2

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 weights.

• Stacking in excess of the specified number of products is not allowed.

• Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

• The Converter unit must be installed in the specified direction.

• Leave specified clearances between the Converter unit and control enclosure walls or other equipment.

• Do not install or operate the Converter unit which has been damaged or has any parts missing.

• Provide adequate pr otection to prevent screws and other co nductive matter, oil and other com bustible

matter from entering the Converter unit.

• Do not drop or strike converter unit or servo motor. Isolate from all impact loads.

• Use the servo amplifier and servo motor under the following environmental conditions:

Environment

Ambient temperature Ambient humidity 90%RH or less (non-condensing)

Storage temperature

Storage humi d i t y 90%RH or less (non-condensing) Ambience Altitude Max. 1000m (3280 ft) above sea level Vibration

[°C] 0 to 55 (non-freezing) [°F] 32 to 131 (non-freezing)

[°C] 20 to 65 (non-freezing) [°F]

[m/s2] 5.9 or less

[ft/s

] 19.4 or less

4 to 149 (non-freezing)

Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Conditions

Servo amplifier

• When the equipment has been stored for an extended period of time, consult Mitsubishi.

A - 3

(2) Wiring

CAUTION

• Wire the equipment correctly and securely.

• The surge absorbing dio de i nst a l le d on the DC ou tp ut signal relay mus t b e wired in the specified direc t io n.

Otherwise, the emergency stop and other protective circuits may not operate.

Converter unit Servo Amplifier

VIN

(24VDC)

Control

output

signal

Converter unit Servo Amplifier

VIN

(24VDC)

Control

output

signal

(3) Test run adjustment

CAUTION

• Before operat ion, c heck the param eter s ettings. Im proper set tings ma y cause s ome mac hines to p erform unexpected operation.

• The parameter settings must not be changed excessively. Operation will be insatiable.

A - 4

(4) Usage

CAUTION

• Provide an external em ergency stop circ uit to ensur e that oper ation can b e stopped and power s witched off immediately.

• Any person who is involved in disassembly and repair should be fully competent to do the work.

• Do not modify the equipment.

• Use a noise f ilter , etc . to m in im ize t he inf luenc e of el ectromagnetic inter fere nce , whic h m a y be c ause d by

electronic equipment used near the servo amplifier.

(5) Corrective actions

CAUTION

• When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

(6) Maintenance, inspection and parts replacement

CAUTION

• With age, the electrol ytic capacitor will deteriora te. To prevent a secondar y accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative.

(7) Disposal

CAUTION

• Dispose of the product as general industrial waste.

(8) General instruction

• To illustrate details , th e equ i pment in the d ia grams of this Specifications a nd Ins truction Manu al may have been drawn withou t covers and safety guards. W hen the equipment is op erated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.

A - 5

COMPLIANCE WITH EC DIRECTIVES

EN Standard-compliant models are scheduled for release.

CONFORMANCE WITH UL/C-UL STANDARD

UL/C-UL Standard-compliant models are scheduled for release.

<About the Manuals> If it is the first time for you to use this servo, the optionally available Instruction Manual and Servo Motor

Instruction Manual are required in addition to this Specifications and Installation Guide. Always purchase them and use the servo safely.

Relevant manuals

MR-H AN

Manual Name Manual No.

MR-H AN Servo Amplifier Instruction Manual SH(NA)3190 MELSERVO Servo Motor Instruction Manual

MR-H BN

SH(NA)3181

(Sub number B or later)

Manual Name Manual No.

MR-H BN Servo Amplifier Instruction Manual SH(NA)3192 MELSERVO Servo Motor Instruction Manual

SH(NA)3181

(Sub number B or later)

MR-H ACN

Manual Name Manual No.

MR-H ACN Servo Amplifier Instruction Manual SH(NA)3198 MELSERVO Servo Motor Instruction Manual

SH(NA)3181

(Sub number B or later)

MR-H TN

Manual Name Manual No.

MR-H TN Servo Amplifier Instruction Manual Scheduled for making MELSERVO Servo Motor Instruction Manual

SH(NA)3181

(Sub number B or later)

MR-H DN

Manual Name Manual No.

MR-H-D-UE Installation Guide IB(NA)67327 MR-H AN Servo Amplifier Instruction Manual SH(NA)3190

MELSERVO Servo Motor Instruction Manual

SH(NA)3181

(Sub number B or later)

A - 6

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 - 12

1.1 Packing list..............................................................................................................................................1 - 1

1.2 Overview..................................................................................................................................................1 - 1

1.3 Function block diagram .........................................................................................................................1 - 1

1.4 Standard specification............................................................................................................................1 - 4

1.4.1 Converter unit..................................................................................................................................1 - 4

1.4.2 Servo amplifier.................................................................................................................................1 - 4

1.5 Model definition......................................................................................................................................1 - 5

1.5.1 Rating plate......................................................................................................................................1 - 5

1.5.2 Model.................................................................................................................................................1 - 5

1.6 Combination with converter unit • servo motor .................................................................................1 - 5

1.7 Parts identification.................................................................................................................................1 - 6

1.7.1 MR-HP-30KA...................................................................................................................................1 - 6

1.7.2 MR-H

1.7.3 MR-H

1.7.4 MR-H

1.7.5 MR-H

1.8 Servo system with auxiliary equipment..............................................................................................1 -11

AN•MR-H DN................................................................................................................1 - 7

BN.......................................................................................................................................1 - 8

ACN....................................................................................................................................1 - 9

TN......................................................................................................................................1 -10

2. INSTALLATION 2 - 1 to 2 - 2

2.1 Environmental conditions......................................................................................................................2 - 1

2.2 Installation direction and clearances ...................................................................................................2 - 2

3. SIGNALS AND WIRING 3 - 1 to 3 - 16

3.1 Connectors and signal layouts ..............................................................................................................3 - 2

3.1.1 MR-HP30KA ....................................................................................................................................3 - 2

3.1.2 MR-H

3.1.3 MR-H

3.1.4 MR-H

3.1.5 MR-H

3.1.6 Explanation of signals.....................................................................................................................3 - 9

3.2 Power line circuit...................................................................................................................................3 -10

3.2.1 Connection example........................................................................................................................3 -11

3.2.2 Terminal ..........................................................................................................................................3 -12

3.2.3 How to use the connection bars.....................................................................................................3 -12

3.2.4 Power-on sequence..........................................................................................................................3 -13

3.3 Servo motor side details........................................................................................................................3 -14

3.4 Grounding...............................................................................................................................................3 -15

AN•MR-H DN................................................................................................................3 - 3

BN.......................................................................................................................................3 - 4

ACN....................................................................................................................................3 - 5

TN.......................................................................................................................................3 - 7

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT 4 - 1 to 4 - 8

4.1 Display flowchart....................................................................................................................................4 - 1

4.2 Status display mode...............................................................................................................................4 - 2

- 1 -

4.2.1 Display exapmles.............................................................................................................................4 - 2

4.2.2 Status display list............................................................................................................................4 - 2

4.3 Diagnostic mode......................................................................................................................................4 - 3

4.3.1 Diagnostic list...................................................................................................................................4 - 3

4.3.2 External output signal indication..................................................................................................4 - 3

4.3.3 Output signal forced output............................................................................................................4 - 4

4.4 Alarm mode.............................................................................................................................................4 - 5

4.5 Parameter mode .....................................................................................................................................4 - 6

4.5.1 Operation example...........................................................................................................................4 - 6

4.5.2 Parameter list ..................................................................................................................................4 - 7

5. INSPECTION 5 - 1 to 5- 2

5.1 Inspection ................................................................................................................................................5 - 1

5.2 Life ...........................................................................................................................................................5 - 1

6. TROUBLESHOOTING 6 - 1 to 6 - 4

6.1 Servo amplifier........................................................................................................................................6 - 1

6.1.1 Alarm codes ......................................................................................................................................6 - 1

6.1.2 Alarm corrective actions .................................................................................................................6 - 1

6.2 Converter unit.........................................................................................................................................6 - 2

6.2.1 Alarms and warning list .................................................................................................................6 - 2

6.2.2 Remedies for alarms........................................................................................................................6 - 2

6.2.3 Remedies for warnings....................................................................................................................6 - 4

6.2.4. Cleaning the alarm history............................................................................................................6 - 4

7. OUTLINE DIMENSIONAL DRAWINGS 7 - 1 to 7 - 6

7.1 Converter unit (MR-HP30KA) ..............................................................................................................7 - 1

7.2 Servo amplifier........................................................................................................................................7 - 2

7.3 Connector.................................................................................................................................................7 - 4

8. CHARACTERISTICS 8 - 1 to 8 - 4

8.1 Overload protection characteristics......................................................................................................8 - 1

8.2 Power supply equipment capacity and generated loss .......................................................................8 - 2

8.3 Dynamic brake characteristics..............................................................................................................8 - 3

9. OPTIONS AND AUXILIARY EQUIPMENT 9 - 1 to 9 - 16

9.1 Option ......................................................................................................................................................9 - 1

9.1.1 Regenerative brake option..............................................................................................................9 - 1

9.1.2 External dynamic brake..................................................................................................................9 - 5

9.1.3 Cables and connecotors...................................................................................................................9 - 7

9.1.4 Heat sink outside mounting attachment (MR-ACN) ...................................................................9 - 9

9.1.5 MR-H-D01 option card ...................................................................................................................9 -10

- 2 -

9.2 Auxiliary equipment..............................................................................................................................9 -11

9.2.1 Recommended wires.......................................................................................................................9 -11

9.2.2 No-fuse breakers, magnetic contactors.........................................................................................9 -12

9.2.3 DC reactor........................................................................................................................................9 -12

9.2.4 Noise reduction products ...............................................................................................................9 -13

9.2.5 Leakage current breaker................................................................................................................9 -14

APPENDIX App - 1 to App - 10

APPENDIX 1. 200VAC 37kW SERVO (MR-H37K )......................................................................... App - 1

Appendix 1.1 Precautions for use.......................................................................................................App - 1

Appendix 1.2 Packing list....................................................................................................................App - 1

Appendix 1.3 Standard specifications................................................................................................App - 2

Appendix 1.4 Model code.....................................................................................................................App - 3

Appendix 1.5 Combination with converter unit................................................................................ App - 4

Appendix 1.6 Installation....................................................................................................................App - 4

Appendix 1.7 Outline dimensional drawing...................................................................................... App - 5

Appendix 1.8 Characteristics..............................................................................................................App - 7

Appendix 1.9 Option and auxiliary equipment................................................................................. App - 8

Appendix 1.10 Auxiliary equipment..................................................................................................App - 9

- 3 -

MEMO

- 4 -

1. FUNCTIONS AND CONFIGURATION

1.1 Packing list

After unpacking , check the name plate to m ake sure th at the Conv erter unit re ceived are as ordered by the customer.

(1) Converter unit

Model Converter unit

MR-HP30KA 1

(2) Servo amplifier

POINT

• The regenerative brake resistor is not packed with the servo amplifier. Always purchase the regenerati ve brake option. (Refer to Section 9.1.1.)

Model Servo Amplifier Connection conductors

MR-H-30KAN

MR-H30KBN

MR-H30KACN

MR-H30KTN MR-H30KDN

121

Specification and Installtion

Guide

(3) Servo motor

Model Servo motor [pcs.] T O USE THE AC SERVO SAFELY

HA-LF30K2 1 1

1.2 Overview

The 30kW large-capacity type is newly available a s the Mitsubishi MELSER VO-H serie s general-purpo se AC servo. This type is applicable to the fields where the same servo functions are used but a larger capacity is necessary.

1.3 Function block diagram

The function block diagram of the Servo is shown on the next page.

1 - 1

1. FUNCTIONS AND CONFIGURATION

NFB

DCL

Regenerative brake option

BU BV

Power Suply 3-phase 200VAC to 230VAC

NFB MC

Converter unit

DS RA

L1 L2 L3

L11 L21

Regenerative brake

P1 P2 P

CHARGE lamp

Fan

Control power supply

Base amplifier

I/F

CN1 CN5

Trouble

Voltage

detection

CPU

Converter-servo amplifier protection coordination

Overcurrent

protection

CN5A

L11 L12

1 - 2

1. FUNCTIONS AND CONFIGURATION

BU BV BW

L11 L12

Servo amplifier(Note)

L11 L12

CHARGE lamp

Regenerative brake

(Note) Pulse input

Control power supply

Model position

control

Fan

Base amplifier

Model speed

control

Current detector

Overcurrent

protection

Virtual

motor

Virtual

encoder

Current

detection

Servo motor

CN2

Encoder

BU BV BW

Fan

Thermal relay

OHS1

OHS2

CN5A

MR-A-TM termination connector (Option)

MR-BAT

Optional battery (for absolute posidtion)

Note: For MR-H-AN

CN5A

CN5B

CN5

CN1 CN11 CN12

(Note)

D I/O control Servo on Start Failure,etc

Model position Model speed

Actual position

control

A/D

I/F

CN1 CN4 CN3

Analog 2ch

Actual speed

control

RS-232C

Model touque

Current control

D/A

Analog monitor 2CH

Parameter uni t

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.4 Standard specificati on

1.4.1 Converter unit

Model

Item

Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz

Main circuit power supply

Control power supply

Rated output 30kw Regenerative power (Using regenerative brake option)

Protective function Structure Open(IP00)

Environment

Weight [Kg] [lb] 22 [48.502]

Permissible voltage fluctuation Permissible frequency fluctuation Voltage/frequency 1-phase 200 to 230VAC, 50/60Hz Permissible voltage fluctuation Permissible frequency fluctuation Power consumption 50W

Ambient tempera ture Ambient humidity 90%RH or less (non-condensing) Storage temperture Storage humi d i t y 90%RH or les s (non-condens i ng ) Ambient Altitud Max. 1000m (3280 ft) above sea level Vibration

3-phase 170 to 253VAC, 50/60Hz

Within

1-phase 170to 235VAC, 50/60Hz

Within

One MR-RB139: 1300W Three MR-RB139s: 3900W Regenerative overvoltage shutoff, overload shutoff (electronic thermal protector) Regenerative alarm protection, undervoltage, instantaneous power failure protection

0 to 55 [°C] (non-freezing) 32 to

Indoors (no direct sunligh t ) Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s2] or less

19.4 [ft/s

131 [°F] (non-freezing)

20 to 65 [°C] (non-freezing) 4 to 149 [°F] (non-freezing)

MP-HP30K

] or less

1.4.2 Servo amplifier

Servo amplifier

Item

Voltage/frequency Single-phase 200 to 230VAC, 50/60Hz

Permissible voltage Control power supply

Main circuit power supply The main circuit power of the servo amplifier is supplied by the converter unit. System Sine-wave PWM control, current control system Structure Open (IP00)

Environment

Weight Kg [lb] 47 [103.617] Function Refer to the corresponding Servo Amplifier Instruction Manual of 22kW or less.

fluctuaion

Permissible frequency

fluctuation

Power consumption 50W

Ambient tempera ture 0 to 55 [°C] (non-freezing), storage: 20 to 65 [°C] (no n -free zin g )

Humidity 90%RH or less (non-condensing), storage: 90%RH or less (non-condensing)

Ambience

Altitude Max. 1000m (3280ft) above sea level

Vibration 5.9 [m/s

Single-phase 170 to 253VAC, 50/60Hz

Within

Indoors (no direct sunligh t ) Free from corrosive gas, flammable gas, oil mist, dust and dirt

] or less

MR-H30K

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.5 Model definition

1.5.1 Rating plate

1.5.2 Model

MITSUBISHI

MODEL

POWER

MR-H30KA

POWER : INPUT :

OUTPUT : SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

30kW AC200V-230V 50/60Hz

A TC300A156G54

MR-H

Series name

AC SERVO

PASSED

Symbol

General-Purpose Interface

Positioning function built-in

ACN

TN DN

Rated output

Symbol

30K

Model Capacity

Applicable power supply

Rated output current Serial number

Servo Type

SCCNET-compatible

CC-Link-compatible

Source I/O

Output [kW]

1.6 Combination with converter unit • servo motor

The following table table lists combinations of Convert er unit • servo amplifi ers and s ervo motors.

Converter unit Servo amplifier Servo motor

MR-HP30KA MR-H30K HA-LF30K2

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification

1.7.1 MR-HP-30KA

TE2-1 TE2-2

TE3

TE1-1

Name/Application

TE2-1, TE2-2 (PN terminals) Connect to the servo amplifier using the connection

conductors supplied to the servo amplifier.

Display The four-digit, seven-segment LED shows the servo status and alarm number.

Operation section Used to perform status display, diagnostic, alarm and

parameter point table operations.

MOVE UP

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

CN1 Outputs an alarm signal.

CN3 For maker adjustment. Leave this open.

DOWN

SET

Used to set data.

Used to change the display data in each mode.

Used to change the mode.

Refer To

Section

3.2.2(1)

Chapter 4

Section 3.1.2

TE1-2

CN6 For maker adjustment. Leave this open.

CN5 Connect to CN5A of the servo amplifier.

(Ground terminal)

TE1-2 Supply main circuit power.

TE1-1 Connect the regenerative brake option or DC reactor.

TE3 Supply control circuit power.

Section 3.2.2

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.7.2 MR-H AN•MR-H DN

TE2-1

TE1

Charge lamp

TE2-2

CN3 CN4

CN1

Name/Application

TE2-1, TE2-2 (PN terminals) Connect to the PN terminals of the converter unit

using the connection conductors supplied.

Battery holder Contains the battery for absolute position data backup.

Display The four-digit, seven-segment LED shows the servo status and alarm number.

Switch window CN5 : Connector for connection of the battery for

absolute position detection CS1 : Status indication select switch

CN5

CS1

CN3 (Analog monitor output connector) Used to output an analog monitor signal.

CN12 (MR-H-D01 option card) Used to input an auxiliary pulse train when the MR-H-D01 option card is loaded.

CN4 (Communication connector) Used for connection with the MR-PRU01A/personal computer.

CN11 (MR-H-D01 option card) Used to connect extra digital I/O signals when the MR-H-D01 option card is loaded.

CN1 (I/O signal connector) Used to connect digital I/O signals.

CN2 (Encoder connector) Connector for connection of the servo motor encoder.

(Ground terminal)

CN5A, CN5B (Converter unit connectors) CN5A: Connect to CN5 of the converter unit. CN5B: Connect the termination connector (MR-A-TM).

CN5A

Front

CN5B

View a

TE3 (Control circuit terminal) Supply control circuit power.

TE1 Connect to U, V, W of the servo motor.

Refer To

Section 3.2.2

Servo Amplifier Instruction Manual

Section 3.1.2 Section 9.1.5 Servo Amplifier Instruction Manual

Servo Amplifier Instruction Manual

Section 3.1.2 Section 9.1.5 Servo Amplifier Instruction Manual

Section 3.1.2 Servo Amplifier Instruction Manual

Section 3.2.2

Section 3.2.1

Section 3.2.2

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.7.3 MR-H BN

TE2-1

TE1

Charge lamp

TE2-2

CN3

CN6

CN4

CN1BCN1A

Name/Application

TE2-1, TE2-2 (PN terminals) Connect to the PN terminals of the converter unit

using the connection conductors supplied. Battery holder

Contains the battery for absolute position data backup. Display

The four-digit, seven-segment LED shows the servo status and alarm number. Switch window

· CN5: Connector for connection of the battery for absolute position detection

· CN1: Axis select switch

CN5

CS1

CN3 (Analog monitor output connector) Used to output an analog monitor signal.

CN4 (Communication connector) Used for connection with the MR-PRU01A/personal computer.

CN1B (Bus cable connector) Used to connect a bus cable which links with a subsequent axis servo amplifier or termination controller.

CN1A (Bus cable connector) Used to connect a bus cable which links with a controller or preceding-axis servo amplifier.

CN6 (I/O signal connector) Connect the CN6 connector which comes standard. The CN6 connector is shorted between EM1-EM2. When making up an emergency stop circuit externally, open EM1-EM2 and connect an external emergency stop switch across them.

CN2 (Encoder connector) Connector for connection of the servo motor encoder.

(Ground terminal)

CN5A, CN5B (Converter unit connectors) CN5A: Connect to CN5 of the converter unit. CN5B: Connect the termination connector (MR-A-TM).

CN5A

Front

CN5B

View a

TE3 (Control circuit terminal) Supply control circuit power.

TE1 Connect to U, V, W of the servo motor.

Refer To

Section 3.2.2

Servo Amplifier Instruction Manual

Section 3.1.3 Servo Amplifier Instruction Manual

Section 3.2.2

Section 3.2.1

Section 3.2.2

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.7.4 MR-H ACN

TE2-1

TE1

Charge lamp

TE2-2

CN3 CN4

CN1

Name/Application

TE2-1, TE2-2 (PN terminals) Connect to the PN terminals of the converter unit

using the connection conductors supplied.

Battery holder Contains the battery for absolute position data backup.

Display The four-digit, seven-segment LED shows the servo status and alarm number.

Switch window

CN5 : Connector for connection of the battery for

absolute position detection

CS1 : Status indication select switch

CN5

CS1

CN3 (Analog monitor output connector) Used to output an analog monitor signal.

CN12 (MR-H-D01 option card) Used to input an auxiliary pulse train when the MR-H-D01 option card is loaded.

CN4 (Communication connector) Used for connection with the MR-PRU01A/personal computer.

CN11 (MR-H-D01 option card) Used to connect extra digital I/O signals when the MR-H-D01 option card is loaded.

CN1 (I/O signal connector) Used to connect digital I/O signals.

CN2 (Encoder connector) Connector for connection of the servo motor encoder.

(Ground terminal)

CN5A, CN5B (Converter unit connectors) CN5A: Connect to CN5 of the converter unit. CN5B: Connect the termination connector (MR-A-TM).

CN5A

Front

CN5B

View a

TE3 (Control circuit terminal) Supply control circuit power.

TE1 Connect to U, V, W of the servo motor.

Refer To

Section 3.2.2

Servo Amplifier Instruction Manual

Section 9.1.5 Servo Amplifier Instruction Manual

Servo Amplifier Instruction Manual

Section 9.1.5 Servo Amplifier Instruction Manual

Section 3.1.4

Servo Amplifier Instruction

Manual

Section 3.1.4 Servo Amplifier Instruction Manual

Section 3.2.2

Section 3.2.1

Section 3.2.2

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.7.5 MR-H TN

TE2-1

TE1

Charge lamp

TE2-2

CN3

CN4

CN1

Name/Application

TE2-1, TE2-2 (PN terminals) Connect to the PN terminals of the converter unit

using the connection conductors supplied. Battery holder

Contains the battery for absolute position data backup. Display

The four-digit, seven-segment LED shows the servo status and alarm number.

Switch window CN5 : Connector for connection of the battery for

absolute position detection CS1 : Status indication select switch

CN5

CS1

CN3 (Analog monitor output connector) Used to output an analog monitor signal.

Station number switches Used to set the station number of the servo amplifier.

SW4: Used to set the second digit. (X10)

SW3: Used to set the first digit. (X1)

SW2 (Baudrate switch)

Used to choose the CC-Link communication baudrate.

Communication alarm display Shows the alarm in CC-Link communication.

RD SD L.ERR L.RUN

CN4 (Communication connector) Used for connection with the MR-PRU01A/personal computer.

SW1 (Occupied station count switch) Use to set the number of stations occupied.

CC-Link terminal block Used to wire the CC-Link cables.

CN1 (I/O signal connector) Used to connect digital I/O signals.

CN2 (Encoder connector) Connector for connection of the servo motor encoder.

(Ground terminal)

CN5A, CN5B (Converter unit connectors) CN5A: Connect to CN5 of the converter unit. CN5B: Connect the termination connector (MR-A-TM).

CN5A

Front

CN5B

View a

TE3 (Control circuit terminal) Supply control circuit power. TE1

Connect to U, V, W of the servo motor.

Refer To

Section 3.2.2

Servo Amplifier Instruction Manual

Section 3.1.5 Servo Amplifier Instruction Manual

Section 3.2.2

Section 3.2.1

Section 3.2.2

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliar y equipm ent

No-fuse breaker

Magnetic contactor

Line noise filter

3-phas e, 200 to 230VAC

RS T

(NFB)

(MC)

(FR-BLF)

(Note3)

Converter unit

CN1 CN5

Servo Configuration

software

The parameter unit or Servo Configuration software is required for parameter setting .

Parameter unit cable

communication cable

P N

(Note 1)

P N

Parameter unit

Servo amplifier

CN4

Personal computer

No-fuse breaker

(NFB)

(Control signal)

Power factor improving

DC reactor

(MR-DCL K)

Regenerative brake option

(MR-RB )

(Note 2)

L11

L21

CN5A

L1 L2 L3

L11

L21

(MR-J2HBUS M)

CN2

CN1

Encoder cable (MR-HSCBL M)

VWE

Servo motor HA-LF series

1 - 11

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 12

2. INSTALLATION

• Stacking in excess of the limited number of products is not allowed.

• Install the equipment to incombustibles. Installing them directly or close to

• Install the equipment in a load-bearing place in accordance with this Instruction

• Do not get on or put heavy load on the equipment to prevent injury.

• Use the equipment within the specified environmental condition range.

• Provide an adequ a te prot e cti on to preve nt scr ew s, meta lli c de t rit u s and ot he r

CAUTION

• Do not block the intake/exhaust ports of the Converter unit and servo amplifier.

• Do not subject the Converter unit and servo amplifier to drop impact or shock loads

• Do not install or operate a faulty Converter unit and servo amplifier.

• When the product has been stored for an extended period of time, consult

combustibles will led to a fire.

Manual.

conductive matter or oil and other combustible matter from entering the Converter unit and servo amplifier.

Otherwise, a fault may occur.

as they are precision equipment.

Mitsubishi.

2.1 Environmental con dit ions

Environment Conditions

Ambient temperature Ambient humidity 90%RH or less (non-condensing) Storage temperature

Storage humidity 90%RH or less (non-condensing) Ambient Altitude Max. 1000m (3280 ft) above sea level Vibration

0 to 55 [°C] (non-freezing) 32 to

131 [°F] (non-freezing)

20 to 65 [°C] (non-freezing) 4 to 149 [°F] (non-freezing)

Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s2] or less

19.4 [ft/s

] or less

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances

• Install the equipment in the specified direction. Not doing so can cause a failure.

CAUTION

(1) Installation of one servo amplifier

• Leave the specified clearances between the converter unit/servo amplifier and the control box inside walls or other equipment. Not doing so can cause a failure.

Converter unit

50mm

(1.969in)

or more

Servo Amplifier

50mm

(1.969in)

or more

100mm

100mm (3.937in) or more

(3.937in)

or more

Top

Bottom

120mm

(4.724in)

or more

Front view

Side view

(2) Mounting dimensional diagram

Exclusive connection co nductor

Converter unit

110

(4.33)

200

(4.66)

(1.77)

(0.47)

(1.77)

8-M10 screw

Servo amplifier

(1.77)

10(0.39)10

480(18.9)

(0.39)

500(19.69)

Servo Amplifier Model

MR-H30K

[Unit: mm] ([Unit: in])

Dimension

450

(17.717)

360

(14.173)

(3) Others

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the Converter unit and servo amplifier is not affected. Install the Converter unit and servo amplifier on a perpendicular wall in the correct vertical direction.

2 - 2

3. SIGNALS AND WIRING

• Any person who is involved in wiring should be fully competent to do the work.

• Before starting wiring, make sure that the charge lamp is off and the voltage is safe

in the tester or the like more than 10 minutes after power-off. Otherwise, you may get an electric shock.

WARNING

CAUTION

• Ground the Conv e rte r uni t an d se rvo a mpl i fie r and th e se rvo mot o r se cur ely .

• Do not attempt to wire the Converter unit and servo amplifier and servo motor until

they have been installed. Otherwise, you may get an electric shock.

• The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock.

• Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate resulting in injury.

• Connect cables to correct terminals to prevent a burst, fault, etc.

• Ensure th a t po l a rity (

• The surge absorbing diode installed to the DC relay designed for control output

should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the emergency stop and other protective circuits.

, ) is correct. Otherwise, a burst, damage, etc. may occur.

Converter unit Servo Amplifier

VIN

(24VDC)

Control

output

signal

Converter unit Servo Amplifier

VIN

(24VDC)

Control

output

signal

• Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the Converter unit and servo amplifier.

• Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF option) with the power line of the servo motor.

• When using the regenerative brake resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

• Do not modify the equipment.

POINT

• The pin with the same signal name are connected in the servo amplif ier.

3 - 1

3. SIGNALS AND WIRING

3.1 Connectors and signal layouts POINT

• The signal layouts of the connectors are views from the wiring section of the cable connectors.

3.1.1 MR-HP30KA

CN1 (alarm output connector) Model: 10114-3000VE(3M make)

Converter unit

CN1 CN3

Leave this open.

CN6 Leave this open.

CN5 Connect to CN5A of the servo amplifier.

COM

ALM

VDD

3 - 2

3. SIGNALS AND WIRING

3.1.2 MR-H AN•MR-H DN

Servo amplifier

CN2 (for encoder signals)

Model PCR-S20FS (Honda Tsushin make)

CN4 (For parameter unit)

CN2

CN1

CN1 (for I/O signals)

Model PCR-S50FS (Honda Tsushin make)

TLAP

TLAN

FPA

LSN

DI0

DI2

DI4

N15R

FPB

NPR

LSP

DI1

DI3

EMG

ALM

SON

PPO

VIN

VDD

P15R

LAR

LBR

LZR

PPR

RES

NPO

VDD

ZSP

TLC

CN3

(Note) CN12

(MR-H-D01)

(Note) CN11 (MR-H-D01)

Note: Used when the MR-H-D01 option card is loaded.

CN11 (for MR-H-D01 I/O signals)

Model PCR-S50FS (Honda Tsushin make)

DO13

DO11

VDD

DI19

17 SG 15

DI05

DI03

DI01

DO05

DO03

DO01

DI21

DO12

VIND

DI18

16 SG 14

DI04

DI02

DI10

DO04

DO02

DO00

DI20

50 SD

DO14

DI17

DI15

DI13

DI10

DI08

DI06

DO09

DI23

DI22

DO15

DI16

DI14

DI12

DI11

DI09

DI07

DO10

DO08

DO07

DO06

BAT

MRR

CN12 (for MR-H-D01 input signals)

Model PCR-S20FS (Honda Tsushin make)

OP24

OP5

NP1D

PP1D

NPD

NPRD

NTR

CN3 (for analog monitor)

Model 171822-4 (AMP mak e)

(M01) 1

PTR

PPRD

P24

PPD

(M02) 2

(M0G) 4

3 - 3

3. SIGNALS AND WIRING

3.1.3 MR-H BN

Servo amplifier

CN2 (for encoder signals)

Model PCR-S20FS (Honda Tsushin make)

CN3

CN4 (

For parameter unit

CN1A

(For connection of preceding axis)

CN2

CN1B (

For connection of

subsequent axis

CN6

(For electromagnetic brake/ emergency stop signal)

CN1A (For connection of preceding axis)

Model PCR-S20FS (Honda Tsushin make)

RD*

TD*

EMG*

EMG

BAT

)

CN1B (For connection of subsequent axis)

Model PCR-S20FS (Honda Tsushin make)

RD*

TD*

EMG*

20 SD

EMG

MRR

CN6 (For connection of electromagnetic

brake/emergency stop signal)

Model FCN-3610P008 (Fujitsu make)

4A DB

MBR3ACOM

2A 2B

EM11AEM2

CN6 connector (EM1-EM2 shorted) supplied as standard

3 - 4

CN3 (For analog monitor)

Model 171822-4 (AMP make)

(M01) 1 (M02) 2

(M0G) 4

3. SIGNALS AND WIRING

3.1.4 MR-H ACN (1) Positioning system

Servo amplifier

Model PCR-S20FS (Honda Tsushin make)

CN2 (for encoder signals)

CN3

CN4 (For parameter unit)

CN2

CN1

CN1 (For input signals)

Model PCR-S50FS (Honda Tsushin make)

TLAP

FPA

LSN

DI0

DI2

ST2

N15R

FPB

LSP

DI1

ST1

EMG

ALM

OVR

8 LZ 10

SON

JFS

PPO

VIN

VDD

24 PF

P15R

LAR

LBR

LZR

DEC

STP

NPO

VDD

CPO

(Note) CN12

(MR-H-D01)

(Note) CN11 (MR-H-D01)

Note: Used when the MR-H-D01 option card is loaded.

CN11 (MR-H-D01 option card)

Model PCR-S50FS (Honda Tsushin make)

DO13

DO11

VDD

DI19

DI05

DI03

DI01

DO05

DO03

DO01

DI21

DO12

VIND

DI18

DI04

DI02

DI10

DO04

DO02

DO00

DI20

50 SD 48

DO14

DI17

DI15

DI13

DI10

DI08

DI06

DO09

DI23

DI22

DO15

DI16

DI14

DI12

DI11

DI09

DI07

DO10

DO08

DO07

DO06

BAT

MRR

CN12 (MR-H-D01 option card)

Model PCR-S20FS (Honda Tsushin make)

OP5

PP1D

NPRD

NTR

OP24

NP1D

NPD

PTR

PPRD

P24

PPD

CN3 (For analog monitor)

Model 171822-4 (AMP make)

(M01) 1 (M02) 2

(M0G) 4

3 - 5

3. SIGNALS AND WIRING

(2) Roll feed system

Servo amplifier

Model PCR-S20FS (Honda Tsushin make)

CN2 (for encoder signals)

CN3

CN4 (For parameter unit)

CN2

CN1

CN1 (For input signals)

Model PCR-S50FS (Honda Tsushin make)

TLAP

FPA

LSN

DI0

DI2

ST2

N15R

FPB

LSP

DI1

ST1

EMG

ALM

OVR

8 LZ 10

SON

JFS

PPO

VIN

VDD

P15R

LAR

LBR

LZR

DEC

STP

NPO

VDD

CPO

25 ZP

(Note) CN12

(MR-H-D01)

(Note) CN11 (MR-H-D01)

Note: Used when the MR-H-D01 option card is loaded.

CN11 (MR-H-D01 option card)

Model PCR-S50FS (Honda Tsushin make)

DO13

DO11

VDD

DI19

DI05

DI03

DI01

DO05

DO03

DO01

DI21

DO12

VIND

DI18

DI04

DI02

DI10

DO04

DO02

DO00

DI20

DO14

DI17

DI15

DI13

DI10

DI08

DI06

DO09

DI23

DI22

DO15

DI16

DI14

DI12

DI11

DI09

DI07

DO10

DO08

DO07

DO06

BAT

P5 10

MRR

CN12 (MR-H-D01 option card)

Model PCR-S20FS (Honda Tsushin make)

OP5

PP1D

NPRD

NTR

OP24

NP1D

NPD

PTR

PPRD

P24

PPD

CN3 (For analog monitor)

Model 171822-4 (AMP make)

(M01) 1 (M02) 2

(M0G) 4

3 - 6

3. SIGNALS AND WIRING

3.1.5 MR-H TN (1) Positioning system

Servo amplif ier

CN3

CN4 (For parameter unit)

CN2

CN1

Model PCR-S50FS (Honda Tsushin make)

Model PCR-S20FS (Honda Tsushin make)

CN2 (for encoder signals)

BAT

MRR

TLAP

FPA

LSN

DI0

DI2

ST2

N15R

28 LG 30 LG 32

FPB

34 LG

LSP

DI1

ST1

EMG

ALM

OVR

SON

JFS

PPO

VIN

VDD

P15R

LAR

LBR

LZR

DEC

STP

NPO

VDD

CPO

CN3 (For analog monitor)

Model 171822-4 (AMP make)

(M01) 1 (M02) 2

(M0G) 4

3 - 7

3. SIGNALS AND WIRING

)

(2) Roll feed system

Servo amplifier

CN2 (for encoder signals)

Model PCR-S20FS (Honda Tsushin make

CN3

CN4 (For parameter unit)

CN2

CN1

Model PCR-S50FS (Honda Tsushin make)

TLAP

FPA

PS2

MO0

MO2

ST2

N15R

FPB

MD1

ST1

EMG

ALM

OVR

SON

JFS

PPO

VIN

VDD

INP

P15R

LAR

LBR

LZR

DEC

STP

NPO

VDD

CPO

BAT

LG 19

CN3 (For analog monitor)

Model 171822-4 (AMP make)

(M01) 1 (M02) 2

(M0G) 4

MRR

3 - 8

3. SIGNALS AND WIRING

3.1.6 Explanation of signals

For the servo amplifier signals, refer to the Servo Amplifier Instruction Manual of 22kW or less. This section provides the converter unit signals. For the I/O interfaces (symbols in I/O column in the table), refer to this section(2)

(1) Signals

Signal Name Pin Code Pin No. Function/Application I/O Category

24V 10% is output across VDD-SG.

Driver power supply VDD 12

Digital I/F power supply input

24V common SG 5 Common terminal for VDD. Isolated from LG. Signal common SE 3 Shield SD Plate Connect one end of the shield cable.

Trouble ALM 8

COM 13

Connect with COM when using this power supply for the digital interface. Permissible current: 80mA Enter 24VDC Digital interface driver power supply input terminal. Connect to VDD when using VDD as an interface power supply. Connect a 24VDC, 80mA or more power supply here when using an external powe r supply.

Common for open collector output. Connect to SG.

ALM-SG are disconnected when the protective circuit is activated to shut off the base circuit at po wer-off. They are connected when the st at u s is normal at power-off.

10% for digital interface.

DO-1

(2) Interface

Here are give n the details of the o utput signal interface ( DO-1: Refer to I/O Ca tegory in the above table) given in (1) of this sectio n. Refer to this section and conn ect the interfaces w ith the external equipment. A lamp, relay or photocoupler can be driven. (Permissible current: 40mA or less, inrush current: 100mA or less)

For use of internal power supply For use of external power supply

Converter unit

24VDC

VDD

COM

ALM

Load

If the diode is not connected as shoun, the converter unit willl be damaged.

Converter unit

24VDC

VDD

COM

ALM

Do not connect VDD-COM.

24VDC

Load

If the diode is not connected as shoun, the converter unit willl be damaged.

10%

3 - 9

3. SIGNALS AND WIRING

3.2 Power line circuit

• Insulate the connections of the power supply terminals. Not doing so can cause an

WARNING

CAUTION

electric shock.

• When the servo amplifier has become faulty, switch power off on the Converter unit power side. Continuous flow of a large current may cause a fire.

• Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

• Connect the power supply phases (U, V, W) of the servo amplifier and servo motor correctly. Not doing so can cause the servo motor to run abnormally.

• Do not connect a three-phase 200V power supply directly to the servo motor. Doing so can cause a failure.

3 - 10

3. SIGNALS AND WIRING

3.2.1 Connection example

3-phase 200 to 230VAC 50/60Hz

MCNFB

DC reactor

(Option)

P N

CN5

MR-J2HBUS

M cable

MR-A-TM

termination

connector

(Option)

L1 L2

Converter

unit L11 L21

P1 P2

(Note2)

13 12

COM

VDD

RA3

ALM

PP N

CN5

Servo

amplifier

CN2

P N

(Note3)

External dynamic

brake

MR-HSCBL

M cable

24VDC

power

supply

U V

OHS1

RA2

Servo motor HA-LFseries

Encoder

Fan

OHS2

BV BW

Servo motor thermal relay

PC PC PC

Servo

RA1

Convert

RA3

G3 G4 G3 G4 G3 G4

(Note1) Regenerative brake option

Fan Fan

(Note1) Regenerative brake option

Fan

Motor thermal relay

EMG OFF ON

RA2

(Note1) Regenerative brake option

Operation-ready

L11 L21

CN1

22 20 48

VDD

VIN

ALM

RA1

(Note4)

Note: 1. For the MR-RB 139. For the MR-RB1 37, three units are use d as one set (permis sible wattage:

3900W).

2. When using the DC reactor, disconnect the short bar across P1-P2.

3. When using the external dynamic, Refer to Section 9.1.2.

4. Not provided for the MR-H

BN.

3 - 11

3. SIGNALS AND WIRING

3.2.2 Terminal

Refer to Section 7.2 for the terminal block arrangement and signal layout.

(1) Converter unit

Signal Name Abbreviati on Terminal Block Description

Main circuit power supply L1•L2•L3 TE1-2 Connect three-phase 200 to 230VAC, 50/60Hz to L1, L2, L3.

Control circuit power supply L11•L21 TE3 Connect single-phase 200 to 230VAC, 50/60Hz.

DC reactor P1•P2 TE1-1

Regenerative brake P•C TE1-1

PN power output P•N

Grounding PE

TE2-1 TE2-2

(2) Servo amplifier

Signal Name Abbreviati on Terminal Block Description

Servo motor output U•V•W TE1A Connect to the servo motor power supply terminals (U, V, W).

Control circuit power supply L11•L21 Connect single-phase 200 to 230VAC, 50/60Hz.

PN power supply P•N

Grounding PE

TE2-1 TE2-2

When using the DC reactor, connect it after removing the connection plate across P1-P2. Connect to the P and C terminals of the regenerative brake option. Connect to the P and N terminals of the converter unit. Use the accessory connection bars to make connection.

Connec t this term inal to the pro tective e arth (PE) terminals of the servo motor and control box for grounding

Connect to the P and N terminals of the converter unit. Use the accessory connection bars to make connection.

Connec t this term inal to the pro tective e arth (PE) terminals of the servo motor and control box for grounding

3.2.3 How to use the connection bars

Connect P and N of the servo amplifier and P and N of the converter unit using the connection conductors as shown below.

Connection conductors

Converter unit

Servo amplifier

3 - 12

3. SIGNALS AND WIRING

3.2.4 Power-on sequence

1) Always wire the pow er supply as shown in above Section 3.7.1 using the magnetic co ntactor with the main circuit power supply. Configure up an external sequence to switch off the magnetic contac tor as soon as an alarm occurs.

2) Switch on the control circuit power supply L

, L21 simultaneously with the main circuit power supp ly

or before switch ing on the main c ircuit power supply. If the main circuit powe r supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the three-phase power supply, the b ase circuit will switch on in a bout 1 second, and the ready sign al (RD) will switch on in further about 20ms, making the servo amplifier ready to operate.

• To stop operation and switch power off immediately, provide an external emergency

CAUTION

stop circuit.

Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at an emergency stop. Opening EMG-SG coasts the servo motor. When the optional dynamic brake is used, the servo motor comes to a sudden stop.At this time, the display shows the servo emergency stop warning (ALE6). During ordinary operation, do not use the external emergency stop signal to alternate stop and run. If the start signal is on or a pulse train is input during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop, always shut off the run command.

Servo amplifier

VDD

VIN

EMG

3 - 13

3. SIGNALS AND WIRING

3.3 Servo motor side details

Terminal box

Terminal box inside

Portion a

Portion b

Motor power supply terminal block

Cooling fan terminal block M 4 screw

Note: 1. The encoder connector may also be fitted to portion a.

2. Wiring may also be carried out from portion b.

Encoder connector MS3102A20-29P

(Note1)

(Note2)

Earth terminal M5 screw

Thermal protector termi nal block M4 screw

Encoder connector signal arrangement MS3102A-29P

Key

S R

Pin Signal Pin Signal

AMD K BMDR L CMR M

DMRR NSHD

FBAT R LG

GLG SP5 HT

Power supply connection screw size

Servo Motor Power Supply Connection

Screw Size

HA-LF30K2 M10

Signal Name Abbreviati on Description

Power supply U•V•W Connect to the motor output terminals (U, V, W) of the servo amplifier.

Supply power which satisfies the following specifications.

Item Description

Cooling fan BU•BV•BW

Voltage/frequency Three-phase 200 to 230VAC, 50/60Hz

Power consumption [W] 45(50Hz)/63(60Hz)

Rated voltage [V] 0.32(50Hz)/0.35(60Hz)

Motor thermal relay OHS1•OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.

Earth terminal

For grounding, connect to the earth of the control box via the earth terminal of the servo amplifier.

3 - 14

3. SIGNALS AND WIRING

3.4 Grounding

WARNING

• Gorund the servo amplifier and servo motor securely

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

Control box

Servo motor

Encoder

3-phase

00 to 30VAC

NFB

Converter

unit

Line filter

Servo amplifier

P N

CN2

U V

Must be grounded by cable

Earth plate

Programmable

controller

Outer box

3 - 15

3. SIGNALS AND WIRING

MEMO

3 - 16

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.1 Display flowchart

Use the display (4-dignht, 7-segment LED) on the front panel of theConverter unit for stat us dis play, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the MODE, UP or DOWN button once to move the next screen.

button

MODE

Status display Diagnosis Alarm

Basic parameters

Bus voltage

Effective load ratio

Peak load ratio

Within one-revolution po sit i on

[%]

Sequence

External I/O siglal

Output signal forcded output

Sorftware version L

Sorftware version H

Current alarm

Last alarm

Tenth alarminpast

Parameter

errorNo.

ParameterNo.0

ParameterNo.1

DOWN

ParameterNo.8

ParameterNo.9

4 - 1

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.2 Status display mode

The servo status during operation is shown on the 4-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. The converter unit display section can show four items of data such as the effective load factor.

4.2.1 Display examples

The following table shows the display exam ples.

Item Status Display

Bus voltage 225[V]

Effective load factor 67[%]

Peak load factor 95[%]

Regenerative load factor 90[%]

4.2.2 Status display list

The following table lists the servo statuses that may be displayed.

Status Display Symbol Unit Description Indication Range

Bus voltage d V The converter unit voltage is displayed. 150 to 500

Continuous effective load torque is displayed. (Note)

Effective load factor J %

Peak load factor b %

Regenerative load factor

The effective value is displayed relative to the rated torque of 100%. The peak output is displayed. (Note) The peak value in the past 15 seconds is displayed relative to the rated torque of 100%. The percentage of regnerative power to the permissible regenerative value is displaed.

0 to 300

Note: Output speed torque

4 - 2

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.3 Diagnostic mode

4.3.1 Diagnostic list

Name Display Unit

Not ready. Indicates that the servo amplifier is being initialized or an alarm has

Sequence

External I/O signal display

Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON/OFF status of trouble (ALM). Lit : ON Extinguished: OFF

ALM

For details, refer to Section 4.3.2.

Output signal forced outpu t

Software version Low Indicates the version of the software.

Software version High Indicates the system number of the software.

Allows trouble (ALM) to be switched on/off forcibly. For details, refer to Section 4.3.3.

ALM

4.3.2 External output signal indication

You can check the ON/OFF status of the trouble (ALM) signal. Call the display screen shown after power-on.

Press MODE once

Press UP once

External I/O signal display screen

Indicates the ON/OFF status of trouble (ALM). Lit : ON Extinguished: OFF

4 - 3

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.3.3 Output signal forced output

You can force the trouble (ALM) signal to be switched on/off, independently of the servo status. This function is used for output signal.

Press MODE once.

Press UP twice

Press SET for more than 2 seconds.

The signal under the lit LED is switched on/off.

Trouble (ALM)

Call the display screen shown after power-on.

Indicates ON/OFF of the trouble (ALM) signal. (Lit: ON, extinguished: OFF)

Press UP once.

Trouble (ALM) switches on. (ALM-SG are connected.)

Press DOWN once.

Trouble (ALM) switches off.

Press SET for more than 2 seconds.

4 - 4

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.4 Alarm mode

The current alarm, parameter error and point table error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display example are shown b elow.

Name Display Description

Indicates on occurren ce of an alarm.

Current alarm

Indicates that alarm 33 (overvo ltage) occurred. Flickers at alarm occurrence.

Indicates that the last alarm is alarm 50.

Indicates that the second alarm in the past is alarm 33.

Indicates that the third alarm in the past is alarm 10.

Alarm history

Parameter error

Indicates that the fourth alarm in the past is alarm 10.

Indicates that the fifth alarm in the past is alarm 10.

Indicates that the sixth alarm in the past is alarm 50.

Indicates that there is no seventh alarm in the past.

Indicates that there is no eighth alarm in the past.

Indicates that there is no ninth alarm in the past.

Indicates that there is no tenth alarm in the past.

Indicates no occurrence of alarm 37(parameter error).

Indicates that the data of parameter No.1 is faulty.

Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth

dight digit flickers.

(3) To clear any alarm, switch power off, then on or press the "SET" button on the current alarm screen.

Note that this should be done after removing the case of the alarm.

4 - 5

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.5 Parameter mode

4.5.1 Operation example

The following example gives the operation procedure after power-on for use of the regenerative brake options (MR-RB137).

Press MODE three time

The parameter number is displaed.

Pless UP or DOWN to change the number.

Press UP twice

Press UP fourth

Use UP or DOWN .

( 4: MR-RB137s (3 pcs.) are used)

Press S E T to ente r.

The set value of the specified parameter number flickers.

During flickering, the set value can be change.

To shift to the next parameter, press the "UP"/"DOWN" button. When changing the p ar amete r N o. 0 se ttin g, chang e its se t v alue, the n swtc h po we r of f on ce and swi tc h it on again to make the new value valid.

4 - 6

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.5.2 Parameter list

No. Symbol Name and Function

0 STY Control mode, regenerative brake option selection

Initial value

0000 0000h

Used to select the control mode regenerative brake option.

000

Select the regenerative brake option. "1" and "2" are provided for maker adjustment and should not be set. 0: No used 1: For maker adjustment 2: For maker adjustment 3: MR-RB139 4: MR-RB137 (3 pcs.)

1 0000 2 0000 3 4 DMD Status display selection

For maker setting Do not change.

0001 0000 0000h

Used to select the status display shown at power-on.

000

Unit

Control

Mode

0003h 0004h

0003h

Status display of converter unit display section at power-on. 0: Bus voltage (initial value) 1: Effective load ratio

2: Peak load ratio 3: Regenerative load ratio

5 ACL Alarm history clear

0000 0000h

Used to select alarm history clear

000

Alarm history clear 0: Invalid 1: Valid

Used to select alarm history clear. When alarm history clear is made valid, the

alarm history is cleared at next power-on. After the alarm history is cleared,the setting is autmatically made invalid (reset to 0).

6 0 7 0 8 0 9

For maker setting Do not change.

0000

0001h

4 - 7

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

MEMO

4 - 8

5. INSPECTION

• Before starti ng mainten ance and/or inspection , make sur e that t he char ge lamp is off more than 10 minut es after power-off . Then, confirm that the volta ge is safe in

WARNING

5.1 Inspection

It is recommended to make the following checks periodically:

1) Check for loose terminal block screws. Retighten any loose screws.

2) Check the servo motor bearings, brake section, etc. for unusual noise.

3) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions.

4) Check the servo motor shaft and coupling for misalignment.

the tester or the like. Otherwise, you may get an electric shock.

• Any person wh o is in vol ved in ins pec tio n sh oul d be f ully c om petent to do t he work . Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

POINT

• Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty.

• Do not disassemble and/or repair the equipment on customer side.

5.2 Life

The following parts mu st be changed periodica lly as listed below. If any part is found f aulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.

Part Name Life Guideline

Smoothing capacitor 10 years

Converter unit

Cooling fan

10,000 to 30,000

hours (2 to 3 years)

5 - 1

5. INSPECTION

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment.

(2) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life at cumulative 100,000 switching time s (switching life) , which depends on the power sup ply capacity.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection.

(4) Servo motor bearings

When the servo moto r is run a t ra ted spee d un der r ated load , ch ange the bearin gs in 20,00 0 to 30, 000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection.

(5) Servo motor oil seal

Must be changed in 5,000 hours of operation at rated speed as a guideline. This differs on the operating conditions. These parts must also be changed if oil leakage, etc. is found during inspection.

(6) Servo motor cooling fan

The design life of the cooling fan is 20,000 hours. Change the cooling fan periodicall y.

5 - 2

6. TROUBLESHOOTING

6.1 Servo amplifier POINT

• This section provides the alarms which are different in definition from those of the servo amplifiers of 22kW and less.

6.1.1 Alarm codes

(Note)

Indication

AL.1b 0 1 0 0 0 1 0 Converter RD off Converter RD off

Note. 0 : Correspo nding terminal-S G off (open )

1: Corresponding terminal-SG o n ( short)

Alarm Code

ZSP PF RD D003 D002 D001 D000

MR-H-DO1 Alarm Code

(Note)

Function Name

Parameter Unit Screen Display

6.1.2 Alarm corrective actions

Parameter Unit Screen Display

Indication Name Definition

AL.10 Under

voltage

Power supply voltage dropped. 160V or less

Current Alarm

(name and

definition)

Under volt

Alarm

Occurrence

Factor

Power Volt

under 160V

15 ms IPF

Power Volt

under 160V

15ms IPF

Insuf. Power

capacity

Cause Action

1. Power supply voltage is low.

2. Power failed instantaneously.

Main circuit power supply: 10ms or less Control circuit power supply: 100ms or less

3. Shortage of power supply capacity caused the power s upply voltage to drop at start, etc.

4. Power switched on within 5s after it had switched of f .

5. Faulty parts in the servo amplifier

Checking method Alarm (AL.10) occurs if power is switched on after all connectors are disconnected.

Review the power supply.

Change the Servo amplifier.

RD off

AL.33 Over

voltage

Servo on (SON) signal switched on when the ready signal (RD) of t h e converter was off. Converter bus voltage exceed ed 400V.

Converter RD off

Over volt.

Converter RD

off

Reg. Resist. Has

trouble

Reg. Tr.

damaged

Reg. Resist has

trouble

Power volt

exceeded

6 - 1

1. Bus voltage is low.Al.1b Converter

2. Alarm occurred in the converter.

1. Lead of regenerative brake option is open or disconnected.

2. Regenerative brake transistor failed.

3. Wire breakage of built-in regenerative brake resistor or regenerative brake option

4. Capacity of regenerative b ra ke option is insuf f i ci ent .

5. Power supply voltage high. Review the

Remove the cause of the converter alarm and deactivate the alarm.

1. Change lead.

2. Connect correctly.

Increase regenerative brake option capacity.

power supply.

6. TROUBLESHOOTING

6.2 Converter unit

6.2.1 Alarms and warning list

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 6.2.2 ro 6.2.3 and take the approporiate action. Switch power off, then on to deactivate the alarm. The alarms marked " column of the table can be deactivated by pressing the "RES" key of the servo amplifier side parameter unit or switching on the reset signal (RES).

Indication Function Name Alarm Deactiv iation

A.10 Under voltage A.12 Memory alarm 1 A.13 Clock alarm A.15 Memory alarm 2 A.30 Regenerative alarm A.33 Over voltage A.37 Parameter alarm

Alarm

A.45 A.50 Over load 1

A.51 Over load 2

8888 Watchdog A.E0 A.E1 Over load warning

Warning

A.E9

Main circuit device overheat

Excessive regenerative load warning

Undervoltage warning

" in the Alarm De activation

6.2.2 Remedies for alarms

CAUTION

• When any alarm has occurred, elim inate its cause , ensure safety, the n reset the alarm, and restart operation. Otherwise, injury may occur.

POINT

• When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation. If operation is resumed by switching control circuit power off, then on to reset the alarm, the converter unit and regenerative brake option may become faulty.

• Regenerative alarm (A.30)

• Overload 1 (A.50)

• Overload 2 (A.51)

• The alarms can be deactivated by switching power off, then on, by pressing the "RES" key of the parameter unit or by turning on the reset signal (RES).

When an alarm occurs, the trouble (ALM) signal switches off and the display section shows the alarm number. Remove the cause of the alarm in accordance with this section.

6 - 2

6. TROUBLESHOOTING

Indication Name Definition Cause Action

A.10 Undervoltage Control power supply

A.12 Memory alarm 1 RAM, ROM memory

A.13 Clock alarm Printed board fault A.15 Memory alarm 2 EEP-ROM fault

A.30 Regenerative

alarm

A.33 Over voltage Converter bus voltage

alarm

A.45 Main circuit

device overheat

A.50 Over load 1 Load exceeded

voltage dropped to 160V or less.

fault

Permissible regenerative power of the built-in regenerative brake resistor or regenerative brake option is exceeded.

exceeded 400V.

Parameter setting is wrong.

Main circuit device overheat

overload protection characteristic of Converter unit

1. Power supply voltage is low.

2. Instant aneous control po wer failure occurred for more than 100ms.

3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

4. Power switched on within 5s after it had switched of f .

5. Faulty parts in the servo amplifier

Checking method Alarm (A.10) occurs if power is switched on after all connectors are disconnected.

Failure of the part in t he convert er unit .

Checking method Alarm (A.10, A.13, A.15) occurs if all connectors are disconnected and power is switched on.

1. Wrong setting of paramete r No . 0 Set correctly.

2. Regenerative brake option is not connected.

3. High-duty operation or continuous regenerative operation caused the permissib le regenerat ive power of the regenerative brake option to be exceeded.

Checking method Call the status display and check the regenerative load ratio.

4. Power supply voltage is abnormal.260V or more

5. Regenerative transistor faulty.

Checking method

1) The regenerative brake option has overheated abnormally.

2) The alarm occurs even after removal of the built-in regenerative brake resistor or regenerative brake option.

6. Regenerative brake option faulty. Change Converter unit or

7. Unusual overheat due to cooling fan stop

1. Lead of regenerative brake option is open or disconnected.

2. Regenerative transistor faulty.

3. Wire breakage of regenerative brake option

4. Capacity of regenerative bra ke option is insufficient.

1. Servo amplifier fault caused the parameter setting to be rewritten.

2. Parameter data mis-se tting. Set parameter correctly.

1. Servo amplifier faulty. Change the servo amplifier

2. The power supply was turned on and off continuously by ov erload ed status.

3. Air c oo l i n g fa n o f s er v o a mp l i fi e r s t op s . The cooling method is reviewed .

Converter unit is used in excess of its continuous output current.

Review the power supply.

Change the Converter unit.

Connect co rrectly.

1. Reduce the frequency of positioning.

2. Use the regenerative bra ke option of larger capacity.

3. Reduce the load.

Review power supply

Change the Converter unit.

regenerative brake option.

1. Change the Converter unit or cooling fan.

2. Reduce ambient temperature.

1. Change lead.

2. Connect co rrectly.

1. For wire breakage of built-in regenerative brake resistor, change servo amplifier.

2. For wire breakage of regenerative brake option, change regenerative brake option.

Add regenerati ve brake opti o n or increase capacity. Change the Converter unit.A.37 Parameter

The drive method i s reviewed.

1. Reduce load.

2. Review operation pattern.

6 - 3

6. TROUBLESHOOTING

Indication Name Definition Cause Action

A.51 Over load 2 Machine collision or the

like caused max. output current to flow successively for several seconds.

8888 Watch dog CPU/part is faulty. Failure of the part in the converter

6.2.3 Remedies for warnings

Continuing operation in an alarm occurrence status may result in an alarm or disable proper operation. Eliminate the cause of the warning according to this section. The warning displayed will disappear when the cause of its occurrence is resolved.

Indication Name Definition Cause Action

A.E0 Excessive

regenerative load warning

There is a possibility that regenerative power may exceed permissible regenerative power of regenerative brake option.

Machine struck something. 1. Review operation pattern.

2. Install limit switches.

Change the converter unit.

unit.

Checking method

Alarm (8888) occurs if all connectors are disconn e ct ed and power is switched on.

Regenerative power increased to 85% or more of permissible regenerative power of built-in regenerative brake resistor or reg e n erative brake option.

Checking method

Call the status display and check regenerative load ratio.

1. Reduce frequency of positioning.

2. Change regenerative brake option for the one with lar ge r capacity.

3. Reduce load.

A.E1 Over load

warning

There is a possibility that overload alarm 1 or 2 may occur.

Bus voltage dropped to or below 18V.

Load increased to 85% or more of overload alarm 1 or 2 occurrence level.

Cause, checking method

Refer to A.50,51.

1. Power supply voltage is lo w . Review power supply.A.E9 Undervoltage

2. P and/or N is not connected. Carry out wiring properly.

Refer to A.50, A.51.

6.2.4. Clearing the alarm history

You can clear the alarm numbers stored in the alarm history of the alarm mode. To ensure that you can control the alarms that will occur after regular operation, make this setting before starting regular operation to clear the alarm history. After setting "0001" in parameter No. 5, switch power off on ce. Switching it on again clears the alarm history. At this time, the parameter No. 5 setting returns to "0000".

6 - 4

7. OUTLINE DIMENSIONAL DRAWINGS

POINT

• Refer to Section 2.2. for the mounting dimensional drawing.

7.1 Converter unit (MR-HP30KA)

[Unit: mm] ([Unit: in])

2- 12 Installation hole hole

(1.77)

MITSUBISHI

MELSERVO

MR-HP55KA4

TE2-1

TE1-1

TE1-2

12(0.47)

110

(4.33)

200

(7.87)

TE2-2

(1.77)

(0.39) 10

(18.9) 480

(0.13)

3.2

(0.39)

(19.69) 500

(6.89)

175

(4.92)

125

(11.81) 300

Safety cover

(2.95)

FAN WIND DIRECTION

MITSUBISHI AC SERVO

PASSED

Weight: 22kg(48.50 lb)

Terminal block signal layout TE1-1

P1 P2 P C

TE1-2

L1 L2 L3

TE2-1 TE2-2

P N

TE3

L11 L21

Terminal block screw: M10

7 - 1

BC310C252A

7. OUTLINE DIMENSIONAL DRAWINGS

7.2 Servo amplifier (1) MR-H30K

MITSUBISHI

MELSERVO

TE2-1

(except MR-H-BN)

2- 12 Installation hole

L11 L21

TE3

CHARGE

CN5A CN5B

CN2

TE2-2

CN3

CN4

CN1

[Unit: mm] ([Unit: in])

FAN WIND DIRECTION

10(0.39)

75(2.95)

Safety cover

(0.79)

480(18.9)

500(19.69)

(1.77)

(0.47)

TE1

360(14.17) 450(17.72)

(1.77)

(0.13)

3.2

AC SERVO

PASSED

MITSUBISHI

(0.39)

Weight: 47kg(103.62 lb)

Terminal block signal layout TE1

Terminal block screw: M10

TE3

(6.89)

175

(11.81) 300

(4.92)

L11L21

TE2-1 TE2-2

Terminal block screw: M10

125

7 - 2

7. OUTLINE DIMENSIONAL DRAWINGS

(2) MR-H30KBN

[Unit: mm] ([Unit: in])

MITSUBISHI

MELSERVO

TE2-1

(1.77)

2- 12 Installation hole

TE1

(0.47)

L11 L21

360(14.17) 450(17.72)

TE3

CHARGE

CN5A CN5B

CN2

TE2-2

CN3CN4

CN6

(1.77)

(4.33)

110

10(0.39)

75(2.95)

FAN WIND DIRECTION

Safety cover

(0.79)

480(18.9)

500(19.69)

CN1BCN1A

(0.39)

Weight: 47kg(103.62 lb)

AC SERVO

PASSED

MITSUBISHI

Terminal block signal layout

TE1

Terminal block screw: M10

(0.13)

3.2

7 - 3

(6.89)

175

(4.92)

125

(11.81)

300

TE3

L11L21

TE2-1 TE2-2

Terminal block screw: M10

7. OUTLINE DIMENSIONAL DRAWINGS

7.3 Connector Signal connector

Model Connector : 10120-3000VE Shell kit : 10320-52F0-008

22.0 (0.87)

39.0 (1.54)

23.8 (0.94)

33.3 (1.31)

(0.55)

12.7(0.50)

14.0

[Unit: mm] ([Unit: in])

12.0(0.47)

Logo, etc. are indicated here.

Model Connector : 10120-6000EL Shell kit : 10320-3210-000

(0.39)

10.0

20.9 (0.82)

2- 0.5 (0.02)

29.7 (1.17)

[Unit: mm] ([Unit: in])

6.7

( 0.26)

11.5(0.45)

Logo, etc. are indicated here.

42.0 (1.65)

33.0 (1.30)

17.0

( 0.67)

HONDA

42.5(1.67)

51.1 (2.01)

Number of Pins

PCR-S50FS(soldering type) PCR-S50F(insulation displacement type)

[Unit: mm] ([Unit: in])

19.0 (0.75)

Model

Connector Case

PCR-LS50LA1

Crimping terminal: FHAT-002A Note: PCR-S50F is not an option and is to be supplied by the customer

7 - 4

7. OUTLINE DIMENSIONAL DRAWINGS

13.0

(0.91)

38.5(1.52)

27.4

32.0(1.26)

Number of Pins

( 0.51)

14.2(0.56)

23.0

(1.08)

(0.04)

12.2

(0.48)

HONDA

(0.04)

Connector Case

PCR-S20FS(soldering type) PCR-S20F(insulation displacement type)

Model

20.6

38.5(1.52)

(0.81)

PCR-LS20LA1WPCR-LS20LA1

HONDA

27.4(1.08)

32.0(1.26)

PCR-LS20LA1

PCR-LS20LA1W

1.9

(0.08)

(0.04)

[Unit: mm] ([Unit: in])

10.4(0.41)

(0.04)

12.2

(0.48)

Crimping terminal: FHAT-002A Note: PCR-S20F and PCR-LS20LA1W are not options and to be supplied by the customer.

Housing Model: 171822-4

[Unit: mm] ([Unit: in])

5.8 (0.23)

14.0

(0.55)

Contactor Model: 170262-2(chain type) 170204-2(loose type)

11.1(0.44)

5.0(0.20)

11.9 (0.47)

[Unit: mm] ([Unit: in])

Applicable wire range AWG 30-26 (0.05 to 0.15mm Contactor caulking hand tool Model: 722561-1

)

7 - 5

7. OUTLINE DIMENSIONAL DRAWINGS

MEMO

7 - 6

8. CHARACTERISTICS

8.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. Overload 2 alarm (A.51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph. It is recommended to use th e mach ine wh ich gener ates un balan ced tor que, e.g . a vert ical lif t applic ation, so that the unbalanced torque is not more than 70% of the rated torque.

10000

1000

[s]Operation time

100

0 100

During stop

(90)

During rotation

Load ratio [%]

200

(180)

300

(270)

8 - 1

8. CHARACTERISTICS

8.2 Power supply equipment capacity and generated loss (1) Power supply equ ip ment capa ci ty and ge ne ra te d lo ss

Table 8.1 indicates the generated loss and power supply capacity under rated load per combination of the converter unit and servo amplifier. When the servo motors is run at less than the maximum speed, the power supply equip ment ca paci ty is lowe r than the value in the table but the he at gen erate d doe s not change. Since the servo motor requires 2 to 2.5 times greater instantaneous power for acceleration, use the power supply which ensures that the voltage lies within the permissible voltage fluctuation at the main circuit power supply terminals ( L1, L2, L3) of the converter unit. The power supply equip ment capacity changes with the power supply impedance. The actually generated heat falls within the ranges at rated torque and at zero torque according to the frequencies of use during operation. When designing an enclosed control box, use the values in the table, considering the worst operating conditions. The generated heat in Table 8.1 does not include heat produced during regeneration.

Table 8.1 Power Supply Capacity and Generated Heat Per Servo Amplifier at Rated Output

Servo Amplifier Converter Unit

MR-H30K MH-HP30KA 48

Power Supply

Capacity [kVA]

(Note) Servo Amplifier-Generated Heart[W]

At rated torque At zero torque [m

1650

(1100

550)

(30 30)

Area Required for Heat Dissipation

][ft

24.1 259.4

]

Note: The heat ge n er ate d by th e se r vo am plif ie r i s in dicated in the lef t te rm within the p are n the se s ,

and the heat generated by the converter unit in the right term.

(2) Heat dissipation area of enclosed control box

When setting the temperature inside the enclosed control box (hereafter referred to as the control box) which will cont ain the co nverter un it and serv o amp lifier, factor in the allow ance of about 5°C (4 1°F) relative to the maximum operating environmental condition temperature of 55°C (13 1°F) so that it is a maximum of 10°C (50°F) higher than the ambient temperature of 40°C (104°F). Use Expression (8.1) to calculate the heat dissip ation area of the control b ox.

where, A : Heat dissipation area [m

......................................................................................................................................................(8.1)

]

P : Loss generated in the control box [W]

T : Difference between internal and ambient temperatures [°C]

K : Heat dissipation coefficient [5 to 6] When calculating the heat dissipation area with Equation 8.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 8.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount must be added to the enclosure's surface area. The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a fan should be considered. Table 8.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40°C (104°F) under rated load.

8 - 2

8. CHARACTERISTICS

(Outside)

(Inside)

Air flow

Fig 8.1 Temperature Distribution in Enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper.

(3) Fitting of the servo amplifier

When mounted with the heat sink outside mounting attachment (option), the servo amplifier can dissipate generated loss directly to the outside of a control box. This method can reduce the heat dissipation area of the control box since 45 to 55% of the generated loss given in Tabl e 8 .1 is dissi pated to the outside of the enclosure. For details of the heat sink outside mounting attachment, refer to Section 9.1. 4 .

8.3 Dynamic brake characteristics

When the optional dynamic brake is used, the occurrence of an alarm, emergency stop or a power failure causes the dynamic brake to be operated to bring the servo motor to a sudden stop. Fig. 8.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 8.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant t varies with the servo motor and machine operation speeds. (Refer to Fig. 8.3.)

Emergency stop(EMG)

ON OFF

Time constant

Time

Machine speed

Fig 8.2 Dynamic Brake Operation Diagram

Lmax

.......................................................................................................................(8.2)

L max : Maximum coasting distance................................................................................................[mm][in]

V J

: Machine rapid feedrate.........................................................................................[mm/min][in/min]

: Servo motor inertial moment .................................................................................[kg•cm2][oz•in2]

: Load inertia moment converted into equivalent value on servo motor shaft .....[kg•cm2][oz•in2]

τ : Brake time constant (Fig. 8.3)........................................................................................................[s]

: Delay time of control section (Fig 8.2)...........................................................................................[s]

(There is internal relay delay time of about 30ms.)

8 - 3

8. CHARACTERISTICS

0.045

Time constant

0.035

0.025

0.015

0.005

0.04

0.03

0.02

0.01

0 500

1000

Speed

1500 2000

HA-LF30K2

Fig 8.3 Dynamic Brake

If the dynamic brake is operated at more than 10 times as large as the ratio of load inertia moment to servo motor inertia moment, the brake resistor of the dynamic brake may burn out. If the value is exceeded, contacts us.

8 - 4

9. OPTIONS AND AUXILIARY EQUIPMENT

• Before connec ting any option or auxil iary equipment, make s ure that the charge

WARNING

lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock.

CAUTION

• Use the specified aux ili ary e quipm ent and opti ons . Uns pec ifi ed o nes m a y lead t o a fault or fire.

9.1 Option

9.1.1 Regenerative brake option

CAUTION

• The specified co mbi na tion s of re ge ne rat ive b rake op ti o n s and se rv o amplifiers may only be used. Otherwise, a fire may occur.

(1) Combination and regenerative power

The regenerative power values in the table are the regenerative power of the resistor and are not the rated power.

Regenerative Power [W]

Servo Amplifier Converter unit

MR-H30K MR-HP30KA 1300 3900

MR-RB139 (1.3

)

(Note) Three MR-RB137

) in parallel

(1.3

Note: The composite resis tor value of three options is 1.3Ω. The resistor value of one option is 4Ω.

(2) Parameter setting

When using the regenerative brake option, set the parameter of the converter unit. Match parameter No. 0 to the regenerative brake option used.

ParameterNo.0

Regenerative brake option selection 0: Not used 1: MR-RB139 2: MR-RB137(3 pcs.)

(3) Regenera tiv e loss o f se rv o ampli fi e r and se rv o moto r

Servo Amplifier Inverse Efficiency [%] C Charge [J]

MR-H30KA 90 390

9 - 1

9. OPTIONS AND AUXILIARY EQUIPMENT

(4) Connection of the regenerative brake option

Always supply single-phase 200VAC to the cooling fan. The cooling fan specifications are as follows.

Item Specifications

Voltage, frequency Sin gle-phase 200VAC, 50/60Hz

Power consumption [W] 20(50Hz)/18(60Hz)

The regenerative brake option generates heat of 100°C higher than the ambient temperature. Fully consider heat dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative brake option. Always twist the wires for connection with the converter unit.

(a) MR-RB139

Converter unit

DC reactor

(Option)

(Note)

Servo motor

24VDC power supply

Single-phase 200VAC

Regenerative brake

option

Fan

Note: When using the DC reactor, remove the short bar across P1-P2.

OHS1

OHS2

Servo motor thermal relay

9 - 2

9. OPTIONS AND AUXILIARY EQUIPMENT

(b) MR-RB137

DC reactor

Converter unit

(Option)

(Note)

Rrgeneative brake

option Regenerative brake option

G4G3

Regenerative brake

option

G4G3

Fan

Regenerative brake

option

G4G3

Fan

RSRSRS

Single-phase 200VAC

Note: When using the DC reactor, remove the short bar across P1-P2.

24VDC power supply

Servo motor

OHS1

OHS2

Servo motor thermal relay

9 - 3

9. OPTIONS AND AUXILIARY EQUIPMENT

(5) Outline dimension drawings

2- 10hole

480(18.9)

(0.39)

[Unit: mm] ([Unit: in])

500(19.69)

(0.59)

TE1

230(9.06)

260(10.24)

10(0.39)

(0.59)

(0.39)

Regenerative

Brake Option

MR-RB139 MR-RB137

197(7.76) 215(8.47)

Weight

[kg (lb)]

10(22.05) 11(24.25)

2.3(0.09)

(0.59)

9 - 4

Terminal block signal layout TE1

RSG4G3CP

Terminal screw: M5

9. OPTIONS AND AUXILIARY EQUIPMENT

9.1.2 External dynamic brake

POINT

• Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure.

• For the braking time taken when t he dynamic brake is operated, refer to Section 8.3.

• The brake unit is rated for a short duration. Do not use it for high duty.

(1) Selection of dynamic brake

The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated. Set

Servo Amplifier Converter unit Dynamic Brake

MR-H30K MR-HP30KA DBU-37K

(2) Connection example

1 in parameter No. 3.

3-Phase

200 to 230VAC

50/60Hz

Servo

RA1

MCNFB

EMG OFF ON

L1 L2

Converter

unit L11 L21

Operation-ready

PP N

L11 L21

Servo

amplifier

CN1

22 20 48 12 46 40 50

P N

Servo motor

U V

VDD VIN

RA1

ALM SON EMG

SG SD

RA1

EMG

14 13

a b

9 - 5

Dynamic

Brake

DBU-37K

Wire[mm2]

a b

U V W

9. OPTIONS AND AUXILIARY EQUIPMENT

(3) Operation timing

Servo motor rotation

Alam

(ALM)

Present

Absent

Base

OFF

RA1

OFF

Dynamic brake

Emergency stop

(EMG)

Invalid

Valid

Short Open

a. Timing chart at alarm(ALM) occurrence b. Timing chart at emergency stop(EMG) validity

(4) Outline dimension drawing

Coasting

2- 10(0.39) Installation hole

Dynamic brake

(0.39)

Coasting

Dynamic brake

30(1.18)

15(0.59)

TE2 TE1

10(0.39)

230(9.06)

1314

UVW

230(9.06)

260(10.24)

370(14.57)

(0.59)

15(0.59)

390(15.35)

(0.39)

330(12.99)

30(1.18)

TE1

Screw: M5

TE2

Screw: M3.5

220(8.66) 235(9.25)

b1314

2.3(0.09)

15(0.59)

9 - 6

9. OPTIONS AND AUXILIARY EQUIPMENT

9.1.3 Cables and connecotors POINT

• For other connectors, refer to the Servo Amplifier Instruction Manual of 22kW or less.

(1) Cable make-up

The following cables are used for connection with the servo motor and other models.

Servo amplifier

Converter unit

CN2CN1

CN6

CN5

No. Product Name Model Description Application

1) Encoder cable MR-HSCBL M Refer to this section (2)

Servo amplifier side connector (Honda Tsushin Kogyo make) Connector: PCR-S20FS Cable: PCR-LS20LA1

CN5A CN5B

CN2

Encoder side connect or (Japan Aviation Electronics Industry make) Plug: MS3106B20-29S Cable clamp: MS-3057-12A

Long flexing life IP22

2) Encoder

connector set

3) Bus cable MR-J2HBUS M

MR-JSCNS Servo amplifier side connector

Refer to this se ction (4)

(Honda Tsushin Kogyo make) Connector: PCR-S20FS Cable: PCR-LS20LA1

3M make or equivalent Connector: 10120-3000VE Shell kit: 10320-52F0-008

9 - 7

Encoder side connect or (Japan Aviation Electronics Industry make) Plug: MS3106B20-29S Cable clamp: MS3057-12A

3M make or equivalent Connector: 10120-3000VE Shell kit: 10320-52F0-008

IP22

9. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Name Model Description Application

4) Control signal

connector set

5) Connector set MR-HP4CN1 Converter unit side connector

6) Termination

connector

MR-J2CN1 Servo amplifier side connectors

(3M make or equivalent) Connector: 10120-3000VE Shell kit: 10320-52F0-008

(3M make or equivalent) Connector: 10114-3000VE Shell kit: 10314-52F0-008

MR-A-TM

9 - 8

9. OPTIONS AND AUXILIARY EQUIPMENT

9.1.4 Heat sink outside mounting attachment (MR-ACN)

Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed. In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the control box. The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions.

(1) Panel cut dimensions

[Unit : mm(in)]

205

(8.09)

455

(17.91)

(7.48)

(17.32)

190

440

(23.82) 605

(22.64)

575

(17.48) 444

C A

4-M10 Screw

Servo amplifier

Converter unit

MR-HP30KA MR-ACNP55K

MR-H30K MR-ACN55K

Attachment

Variable Dimensions

ABCD

156

(6.16)

406

(15.98)

110

(4.33)

360

(14.17)

(0.59)

(2) Fitting method

B D

Attachment

Square hole

control

box Attachment supplied to the servo amplifier(Note)

a. Assembling the heat sink outside mounting attachment b. Installation to the control box Note: Remove the attachment supplied and fit it in the specified position.

9 - 9

9. OPTIONS AND AUXILIARY EQUIPMENT

9.1.5 MR-H-D01 option card

Used for alarm code output, etc. See Chapter 3 for the connection and usage. The MR-H-D01 can be used with the MR-H-AN or MR-H-ACN.

(1) Specifications

Item Specifications

Function Extra digital I/O, point table expansion memory Digital input 24 points, photocoupler isolated, 24VDC, 5mA Digital output 16 points, open collector, 24VDC, 50mA max.

Pulse train input

(2) Part names

DI0 connector Mounting screw hole

System Forwar d/r evers e rotation pulse train, 2-phase pulse train, signed pulse train Frequency Differential 400kpps, open collector 200kpps

Connector for connection with servo amplifier

CN11

H-D01

Front surface

(3) Installation to servo amplifier

POINT

The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautio ns:

• Ground human body and work bench.

• Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

Servo amplifier

CN12

CN7

Rear surface

Servo amplifier front

Connector cover

Side panel Remove three screws and open the side panel. Remove the connector cover.

Remove the printed circuit board mounting screw in advance.

9 - 10

CN7

MR-H-D01

Insert

Spacer screw

CN7

9. OPTIONS AND AUXILIARY EQUIPMENT

9.2 Auxiliary equipment

Always use the device s indic ate d in this sec tion or e quiv alen t. To comp ly w ith the EN S tand ard or U L/CUL Standard, use the products which conform to the corresponding standard.

9.2.1 Recommended wires

The following diagram shows the wires used for wiring. Use the wires given in this paragraph or equivalent.

3) Moto r power s u pply lead Servo motor

U V

Motor

Encoder

OHS1

Thermal relay

OHS2

Cooling fan

BU BV BW

Regenerative brake option

4) Regenerative brake option lead

DC reactor

Power supply

1) Main circuit power supply lead

Converter unit

(Note1)

C P

Control power supply lead

L1 L2 L3

L11 L21

Servo amplifier

U V

6) Fan lead

Encoder cable

5) Thermal relay

L11 L21

The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the wiring distance is 30m max. If the wiring distance is over 30m, choose the wire size in consideration of voltage drop.

Table 9.1 Recommened wire

Wires[mm2] Servo Amplifier

Converter unit

L1•L2•L3

L11•L21

U•V•W

P1•P2•

P•C

OHS1•OHS26)BU•BV•BW

MR-H30K MR-HP30K 50(AWG1/0) 2(AWG14) 60(AWG2/0) 5.5(AWG10) 1.25(AWG16) 1.25(AWG16)

9 - 11

9. OPTIONS AND AUXILIARY EQUIPMENT

9.2.2 No-fuse breakers, magnetic contactors

Always use one no-fuse brakers and one magnetic contactor with one servo amplifier.

Servo Amplifier Converter unit No-Fuse Breaker Magnetic Contactor

MR-H30K MR-HP30K

NF400 type

250A

9.2.3 DC reactor

Servo Amplifier Converter unit DC reactor

MR-H30K MR-HP30K MR-DCL-30K

Terminal cover

Terminal block (M3.5 screw) For thermal protector

S-K150

Terminal screw

P1 P2

H or less

+1.5

-1.5

D or less

Mounting hole for M8

(W1)

W or less

Model W D H W1 X Terminal Screw Weight [kg]

MR-DCL30K 135 255 215 80 232 M12 Approx. 9.5

9 - 12

9. OPTIONS AND AUXILIARY EQUIPMENT

(

)

9.2.4 Noise reduction products (1) Line noise filter (FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage curren t (zero-phase c urren t) e specially within 0.5MHz to 5MHz band. The filters are used with the converter power supply wires (L1•L2•L3) and servo amplifier power wires (U•V•W).

(a) Usage

Pass the three-phase wires through four line noise filters. When using the line noise filters with the power wires, passing the power wires together with the ground wire will reduce the filter effect. Run the ground wire separately from the power wires.

Use four FR-BLFs.

(b) Outline drawing

(0.28)

31.5(1.24)

80(3.15)

2.3

130(5.12)

85(3.35)

35(1.38)

160(6.30) 180(7.09)

(0.09)

0.28

(2) Radio noise filter (FR -B I F)

This filter is effec tive in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands. The radio noise filter is designed for the input only.

Connection Diagram Outline Drawing (Unit: mm) ([Unit: mm.])

Red Blue

Make the connection cables as short as possible. Grounding is always required.

NFB

Power supply

Radio noise

filter

FR-BIF-H

Converter unit

L1 L2 L3

White Green

(11.81)

About 300

(1.14)

58(2.28)

Leakage current: 4m

42(1.65)

29(1.14)

(1.73)

(0.28)

5(0.20) hole

(0.16)

9 - 13

9. OPTIONS AND AUXILIARY EQUIPMENT

9.2.5 Leakage current breaker (1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. Make the input and output cable s as short as pos sible, and also make the gro unding cab le as long as possible (about 30cm (11.8 in)) to minimize leakage currents.

Rated sensitivity current

Cable

Noise filter

Ig1

Ign

10 • {Ig1 Ign Iga K • (Ig2 Igm)} [mA]................................................ (9.1)

K: Constant considering the harmonic contents

Leakage current breaker

Mitsubishi

products

NV-SF NV-CF

NV-CA NV-CS NV-SS

Converter

unit

Iga

Servo

amplifier

Cable

Ig2

Igm

Type

Models provided with harmonic and surge reduction techniques

General models

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals

of the servo amplifier (Found from Fig. 9.1.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the

servo motor (Found from Fig. 9.1.) Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF-H) Iga: Leakage current of the servo amplifier (Found from Table 9.3.) Igm: Leakage current of the servo motor (Found from Table 9.2.)

Table 9.2 Servo Motor’s Leakage

Current Example (lgm)

Servo Motor Output

[kW]

30 2.5 All series 5

120 100

[mA]Leakage current

80 60 40 20

5.5814

3.5

Cable size [mm2]

Fig.9.1 Leakage Current Example (lg1, lg2) for CV Cable Run in Metal Conduit

Leakage

Current[mA]

100

150

Table 9.3 Converter Unit•

Servo Amplifier's Leakage Current Example (Iga)

Converter Unit

Servo Amplifier

Leakage

Current[mA]

9 - 14

9. OPTIONS AND AUXILIARY EQUIPMENT

(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions:

22mm

Converter

unit

Servo

amplifier

30mm

HA-LH

Ig1

Iga Igm

Ig2

Use a leakage current breaker generally available. Find the terms of Equation (9.1) from the diagram:

Ig1

Ig2

105

1000

0.475

0.525

[mA]

Ign 0(not used)

5[mA]

Iga

Igm

2.5[mA]

Insert these values in Equation (9.1): Ig

10•{0.475 0 5 3•(0.525 2.5)}

145.5[mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 145. 5[mA] or more. A leakag e current breaker hav ing Ig of 200[mA] is used with the NV-CA/CS/SS series.

9 - 15

9. OPTIONS AND AUXILIARY EQUIPMENT

MEMO

9 - 16

PPENDIX

APPENDIX 1. 200VAC 37kW SERVO (MR-H37K )

The 37kW servo is also available. Use the servo, noting the i nformation describ ed here.

POINT

• Consult us when using the MR-H37KA.

• The information which is identical to that of 30kW is not described here.

Appendix 1.1 Precautions for use

The MR-H37KA may be used with the machine whose driving mode output is 30kW or less.

[r/min]

Servo motor speed

Time

Driving

Servo motor torque

psa

Driving

Regeneration

psd

Time

tf (1 cycle)

Trms

Tmd (regeneration) is not added. Always make the Trms value not more than 75% of the rated torque.

Appendix 1.2 Packing list (1) Servo amplifier

Model Servo amplifier

MR-H37KAN MR-H37KBN

MR-H37KACN

MR-H37KTN MR-H37KDN

Connection conductors

121

Specifications and

installation guide

(2) Servo motor

Model Servo motor TO USE THE AC SERVO SAFELY

HA-LF37K2 1 1

App - 1

APPENDIX

Appendix 1.3 Standard specifications (1) Servo amplifier

Servo amplifier

Item

Voltage/frequency Sigle-phase 200 to 230VAC, 50/60Hz

Control power supply

Main circuit power The main circuit power of the servo amplifier is supplied by the converter unit. System Sine-wave PWM control, current control system Structure Open (IP00)

Enviro nment

Weight [kg]([lb]) 47(103.62) Function Refer to the corresponding Servo Amplifier Instruction Manual of 22kW or less.

Permissible voltage fluctuation Permissible frequency fluctuation Power consumption 50W

Ambient tempera ture Ambient humidity 90%RH or less (non-condensing) Storage temperature Storage humi d i t y 90%RH or les s (non-condens i ng ) Ambient Altitud Max. 1000m (3280ft) above sea level Vibration

Single-phase 170 to 253VAC, 50/60Hz

Within

0 to 55 [°C] (non-freezing) 32 to

Indoors (no direct sunligh t ) Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s2] or less

19.4 [ft/s

131 [°F] (non-freezing)

20 to 65 [°C] (non-freezing) 4 to 149 [°F] (non-freezing)

] or less

MR-H37K

(2) Servo motor

Item

Compatible servo amplifier MR-H37KAN, MR-H37KBN, MR-H37KACN, MR-H37TN, MR-H37KDN Compatible converter unit MR-HP30KA Continuous characteristics (Note 1,6) Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque Power rate at continuous rat ed torque [kW/s] 480

(Note 3) Inertia moment

(Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment

duty [times/min] (Note 4) Power supply capacity See Appendix 1.8. Rated current [A] 102 Maximum current [A] 255 Speed/position detector Encoder (resolution:16384pulse/rev)

Cooling fan

Accessoriess Encoder, oil seal Insulation class Class F Structure Totally-enclosed self-cooling (protection type: IP44) Environmental conditions (Note 5) See Appendix 1.6.

(Note 3) Weigh t

Rated output [kw] 37 Rated torque

J[10-4kg •m2 ] 650

MR-RB139(1300W) 49Regenerative brake MR-RB137 3pcs (3900W) 147

Power supply

Rated current [A] 0.32(50Hz),/63(60Hz) Speed [r/min] 2650(50Hz),/3100(60Hz)

Voltage, frequency Three-phase 200 to 230VAC 50/60Hz Power consumption [W] 45(50Hz),/63(60Hz)

Servo motor

[N•m] 177

[oz•in] 25065.38

[N•m] 422

[oz•in] 59760.39

[oz •in2 ] 3553.84

[kg] 180

HA-LF Series (Three-phase, For 200VAC, Low Inertia, Large Capacity)

HA-LF37K2

10 time or less

[lb] 396.83

App - 2

APPENDIX

Note: 1. When the power supply voltage drops, we cannot guarantee the output and rated speed.

2. If the load inertia moment ratio exceeds the indicated value, place consult us.

3. When the servo motor is equipped with reduction gear or electromagnetic brake, refer to the corresponding outline dimension drawing. For the EN Standard- and UL/C-UL Standardcompliant models, please consult us.

4. The regenerative brake duty indica ted is the permissible duty when the servo motor running without load at the rated speed is deceilerated to a stop. When a load is connected, the value in the table is multiplied by 1/(m

1), where m speed higher than the rated, the permissble number of times is in inverse proportion to the square of (running speed/rated speed). When t he running speed varies frequently or when the regenerative mode continues as in vertical feed, calculate regenerative heat generated during operation. Provisions must be made to keep this generated heat below the permissible value.

5. When the equipment is to be used in places where it is subjected to oil and/or water,such as on machine field sites, optional features apply to the equipment. Please contact.

6. 80%ED at low noise. 80%ED: Indicates the condition the in which opera tion time at read torque accounts for 80% and the other no-land time accounts for 20% in a single operation cycle.

Truque

100%

time

tb 60sec.(continuous operation time)

%ED

100

load inertia monemt/motor inertia moment. At the

Appendix 1.4 Model code (1) Servo amplifier

(2) Servo motor

MR-LF

Series name

MR-H

Series name

Rated speed

2000[r/min]

Rated output Symbol

Rated output

37K

Symbol

General interface

SSC NET compatible

ACN

Rated output

Symbol

37K

[kW]

Servo Type

Positioning function built-in

CC-Link compatible

Source I/O

Output [kW]

Appearance

App - 3

APPENDIX

(

)

Appendix 1.5 Combination with converter unit

Converter unit Servo amplifier Servo motor

MR-HP30KA MR-H37K HA-LF37K2

Appendix 1.6 Installation (1) Environment conditions

Environment Conditions

Ambient temperature Ambient humidity 80%RH or less (non-condensing) Storage temperature

Storage humidity 90%RH or less (non-condensing) Ambient Altitude Max. 1000m (3280 ft) above sea level Vibration

0 to 40 [°C] (non-freezing)

104 [°F] (non-freezing)

32 to

15 to 70 [°C] (non-freezing) 5 to 158 [°F] (non-freezing)

Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s2] or less

32 [ft/s

] or less

(2) Installation direction and clearances

Exclusive connection conductor

Converter unit

(4.33)

(1.77)

110

200

(8.66)

(1.77)

0.86

(1.77)

8-M10 Screw

Servo amplifier

W2 W1

(1.77)

480(18.9)

(0.39)

Servo Amplifier Model

500(19.69)

MR-H37K

(0.39)

[Unit: mm] ([Unit: in])

Dimension

450

(17.72)

360

(14.17)

App - 4

APPENDIX

Appendix 1.7 Outline dimensional drawing (1) Servo amplifier

(a) MR-H37K

((except MR-H-BN))

[Unit: mm] ([Unit: in])

MITSUBISHI

MELSERVO

TE2-1

(1.77)

2- 12 Installation hole

TE1

(0.47)

360(14.17) 450(17.72)

CHARGE

TE3

L11 L21

CN5A CN5B

CN2

TE2-2

CN3

CN4

CN1

(1.77)

FAN WIND DIRECTION

10(0.39)

75(2.95)

Safety cover

(0.79)

480(18.9)

500(19.69)

AC SERVO

PASSED

MITSUBISHI

(0.39)

Weight: 47kg(103.62 lb)

Terminal block signal layout TE1

Terminal block screw: M10

(0.13)

3.2

App - 5

(6.89)

175

(4.92)

125

(11.81) 300

TE3

L11L21

TE2-1 TE2-2

Terminal block screw: M10

APPENDIX

(b) MR-H37KBN

[Unit: mm] ([Unit: in])

MITSUBISHI

MELSERVO

TE2-1

(1.77)

2- 12 Installation hole

TE1

(0.47)

L11 L21

360(14.17) 450(17.72)

TE3

CHARGE

CN5A CN5B

CN2

TE2-2

CN3CN4

CN6

(1.77)

(4.33)

10(0.39)

110

75(2.95)

FAN WIND DIRECTION

Safety cover

(0.79)

480(18.9)

500(19.69)

CN1BCN1A

(0.39)

Weight: 47kg(103.62 lb)

AC SERVO

PASSED

MITSUBISHI

Terminal block signal layout TE1

Terminal block screw: M10

(6.89)

175

(4.92)

(0.13)

125

3.2

App - 6

TE3

L11L21

(11.81)

300

TE2-1 TE2-2

Terminal block screw: M10

APPENDIX

(2) Servo motor

Model

Inertia moment J

10-4kg•m2](oz•in)

[

Weight [kg](lb)

HA-LF37K2 650(3553.84) 180(396.83)

(25.98)

(0.24)

(0.43)

Cooling fan rotation

irection

(11.26) (10.47)

(0.24)

(1.06)

(6.3)

Inlet

(5.43)

( 2.48)

Encoder connector MS3102A20-29P

(7.56)

(5.00)

(11.97)

Appendix 1.8 Characteristics (1) Power supply equ ip ment capa ci ty and ge ne ra te d lo ss

(18.35)

(16.77)

(5.00)

Exhaust

(0.98)

(4.25)

(5.51)

(0.20)

(5.51)

(0.98)

Oil seal S659013B

(0.32)

( 2.36)

M12 screw

[Unit: mm] ([Unit: in])

4- 19

Use hexagon socket head cap screw.

(11.02)

(10.24)

13.78

( 9.84)

(2.17)

(5.00)

(12.21)

11.81

(5.00)

)

-0.035

(0.79)

(6.299

Servo amplifier Converter unit

Power Supply

MR-H37K MH-HP30K A 59

Capacity

(Note) Servo Amplifier Generated Heat [W]

At rated output At zero torque

1850

(1300

550)

(30 30)

Area Required for Heat

Dissipation[m

](ft2)

30.6(329)

Note: The heat generated by the servo amplifier is indicated in the left term within the parentheses, and the heat

generated by the converter unit in the right term.

(2) Dynamic brake characteristics

0.045

Time constant

0.04

0.035

0.03

0.025

0.02

0.015

0.01

0.005

HA-LF37K2

0500

1000

1500 2000

Speed

App - 7

APPENDIX

]

(3) Servo motor torque characteristic

600

442 400

[N m]

Torque

200

200 177 143

Short-duration

operation region

Continuous

operation region

Speed [r/min

1000 1620

2000

Appendix 1.9 Option and auxiliary equipment (1) Regenerative brake option

(a) Combination and regenerative power

Regenerative power [W]

Servo amplifier Converter unit

MR-RB139 (1.3

(Note) Three MR-RB137s

)

(1.3

) in parallel

MR-H37K MR-HP30KA 1300 3900

Note: The composite resistor value of three options is 1. 3Ω. The resistor value of one option is 4Ω.

(b) Regenerative loss of servo amplifier and servo motor

Servo amplifier Inverse efficiency [%] C Charge [J]

MR-H37KA 90 390

(2) External dynamic brake

Servo amplifier Converter unit Dynamic brake

MR-H37K MR-HP30KA DBU-37K

(3) Heat sink outside mounting attachment (MR-ACN)

Servo amplifier

Converter unit

MR-HP37KA MR-ACN55K

(23.82) 605

(22.64)

575

(17.48) 444

(0.59)

B D

4-M10 Screw

App - 8

Attachment

[Unit : mm](Unit : in)

Variable Dimensions

ABCD

406

(15.98)

360

(14.17)

455

(17.91)

140

(17.32)

APPENDIX

(4) Encoder cable

Encoder cable Application

MR-HSCBL M Long Flexing Life

MR-EN1CBL M-H Long Flexing Life•IP65

Appendix 1.10 Auxiliary equipment (1) Recommended wires

Wires[mm2] Servo amplifier

MR-H37K MR-HP30K 60(AWG2/0) 2(AWG14) 80(AWG3/0) 5.5(AWG10) 1.25(AWG16) 2(AWG14)

Converter unit

L1•L2•L3

L11•L21

(2) No-fuse breakers, magnetic contactors

Servo amplifier Converter unit No-fuse breaker Magnetic contactor

MR-H37K MR-HP30K

NF400 type

300A

U•V•W

P1•P2•

S-K180

P•C

OHS1•OHS26)BU•BV•BW

(3) DC reactors

Servo amplifier DC reactors W D H W1 X Terminal Screw Weight [kg(lb)]

MR-H37K MR-DCL37K 135 255 215 80 232 M12

Approx. 9.5

(Approx. 20.94)

App - 9

APPENDIX

MEMO

App - 10

REVISIONS

*The manual number is given on the bottom left of the b ack cover.

Print Data *Manual Number Revision

May.,2000 IB-0300004-A First edition

Mitsubishi Electric Melservo-H, MR-H30KBN, MR-H30KAN, MR-H30KACN, MR-H30KDN Specifications

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Packing list

1.2 Overview

1.3 Function block diagram

1.4 Standard specificati on

1.4.1 Converter unit

1.4.2 Servo amplifier

1.5 Model definition

1.5.1 Rating plate

1.5.2 Model

1.6 Combination with converter unit • servo motor

1.7 Parts identification

1.7.1 MR-HP-30KA

1.8 Servo system with auxiliar y equipm ent

2. INSTALLATION

2.1 Environmental con dit ions

2.2 Installation direction and clearances

3. SIGNALS AND WIRING

3.1 Connectors and signal layouts POINT

3.1.1 MR-HP30KA

3.1.6 Explanation of signals

3.2 Power line circuit

3.2.1 Connection example

3.2.2 Terminal

3.2.3 How to use the connection bars

3.2.4 Power-on sequence

3.3 Servo motor side details

3.4 Grounding

4. DISPLAY SECTION AND OPERATION SECTION OF THE CONVERTER UNIT

4.1 Display flowchart

4.2 Status display mode

4.2.1 Display examples

4.2.2 Status display list

4.3 Diagnostic mode

4.3.1 Diagnostic list

4.3.2 External output signal indication

4.3.3 Output signal forced output

4.4 Alarm mode

4.5 Parameter mode

4.5.1 Operation example

4.5.2 Parameter list

5. INSPECTION

5.1 Inspection

5.2 Life

6. TROUBLESHOOTING

6.1 Servo amplifier POINT

6.1.1 Alarm codes

6.1.2 Alarm corrective actions

6.2 Converter unit

6.2.1 Alarms and warning list

6.2.2 Remedies for alarms

6.2.3 Remedies for warnings

6.2.4. Clearing the alarm history

7. OUTLINE DIMENSIONAL DRAWINGS

7.1 Converter unit (MR-HP30KA)

7.2 Servo amplifier (1) MR-H30K

7.3 Connector Signal connector

8. CHARACTERISTICS

8.1 Overload protection characteristics

8.2 Power supply equipment capacity and generated loss (1) Power supply equ ip ment capa ci ty and ge ne ra te d lo ss

8.3 Dynamic brake characteristics

9. OPTIONS AND AUXILIARY EQUIPMENT

9.1 Option

9.1.1 Regenerative brake option

9.1.2 External dynamic brake

9.1.3 Cables and connecotors POINT

9.1.4 Heat sink outside mounting attachment (MR-ACN)

9.1.5 MR-H-D01 option card

9.2 Auxiliary equipment

9.2.1 Recommended wires

9.2.2 No-fuse breakers, magnetic contactors

9.2.3 DC reactor