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

...

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

+ 64 hidden pages

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