mitsubishi MR-S Maintenance Manual
BNP-A
2867D
E
MITSUBISHI
A1ELD/IS
&
MR-S2
MAINTENANCE
MR-S3
AC
MANUAL
SERVO
CNC
MR-S
SERIES
EVER
ADVANCED
MITSUBISHI
AND
ELECTRIC
ADVANCING
CONTENTS
MAINTENANCE
I.
AC
OF
1.
OUTLINE
1.1
1.2
1.3
REGULAR
2.
2.1
2.2
3.
INSTALLATION
3.1
3.2
3.3
3.4
3.5
3.6
3.7
TROUBLESHOOTING
4.
4.1
4.2
SERVO
OF
FEATURES
OF
LIST
BLOCK
INSTRUMENTS
REPLACING
ENVIRONMENTAL
INPUT
MAIN
OPTIONAL
PRECAUTIONS
PRECAUTIONS
CHECKPOINTS
7-SEGMENT
TROUBLESHOOTING
DIAGRAM
POWER
CIRCUIT
MANUAL
AMPLIFIERS
S2
SERIES
S2
OF
SERIES
SERVO
MR-S3
SERVO
OF
S2
THE
SERIES
MAINTENANCE
TOOLS
AND
THE
BATTERY
AND
CONDITIONS
SUPPLY
CONNECTION
REGENERATIVE
INSTALLING
ON
INSTALLATION
ON
FOR
DISPLAY
POWER
USED
ADJUSTMENT
RESISTANCE
ON
.
FOR
AC
SERVO
SERVO
SYSTEMS
SYSTEM
FOR
SERVO
THE
OF
AFTER
MELDAS
SYSTEM
SYSTEM
FUNCTIONS
MAINTENANCE
PROCEDURE
CONNECTIONS
AMPLIFIER
SERVO
INSTALLATION
MOTOR
MR-S2
AND
DETECTOR
SERIES
1-1
1-1
1-2
1-3
1-4
1-4
1-4
1-6
1-6
1-6
1-7
1-16
1-18
1-19
1-23
1-25
1-25
1-28
UNIT
5.
5.1
5.2
HARDWARE
6.
6.1
6.2
DETAILS
7.
ABSOLUTE
8.
8.1
8.2
8.3
8.4
8.5
8.6
REPLACEMENT
CONTROL
DETECTOR
PRINTED
MOUNTING
CIRCUIT
CHECK
FUNCTIONS
CARD
HARDWARE
OF
SETTINGS
SERVO
POSITION
CONFIGURATING
PARAMETERS
PARAMETERS
CHECK
THERE
WHEN
COORDINATE
CHECKING
DIFFER
ABSOLUTE
FOR
FOR
PROCEDURE
ACCORDING
SOMETHING
IS
SYSTEM
ABSOLUTE
THE
POSITION
DOG-TYPE
FOR
METHODS
METHOD
BOARD
METHODS
AND
CHECK
PINS
PARAMETER
SYSTEM
ABSOLUTE
ZERO
POINT
WRONG
VERSION)
ROM
ALARMS
i
POSITION
ABSOLUTE
POSITION
TO
THE
DETECTION
INSTALLATION
...
POSITION
RETURN
DATA
THE
(THE
ABSOLUTE
WITH
DATA
/REMOVAL
SYSTEM
POSITION
ADDRESSES
MAY
..
1-60
1-60
1-62
1-63
1-63
1-65
1-77
1-93
1-93
1-94
1-94
1-95
1-95
1-97
MAINTENANCE
OF
AC
OUTLINE
1.
SERVO
S3
OF
MANUAL
FOR
AMPLIFIERS
SERIES
AC
SERVO
MELDAS
SYSTEM
MR-S3
SERIES
n-i
1.1
1.2
1.3
2.
REGULAR
2.1
2.2
3.
INSTALLATION
3.1
3.2
3.3
3.4
3.5
3.6
3.7
TROUBLESHOOTING
4.
4.1
4.2
UNIT
5.
5.1
5.2
HARDWARE
6.
FEATURES
OF
LIST
BLOCK
DIAGRAM
MAINTENANCE
INSTRUMENTS
REPLACING
ENVIRONMENTAL
INPUT
MAIN
OPTIONAL
PRECAUTIONS
PRECAUTIONS
CHECKPOINTS
7-SEGMENT
TROUBLESHOOTING
POWER
CIRCUIT
REPLACEMENT
CONTROL
DETECTOR
THE
SERIES
OF
AND
BATTERY
S3
MR-S3
TOOLS
OF
S3
THE
AND
CONDITIONS
SUPPLY
WIRING
REGENERATIVE
ON
ON
FOR
DISPLAY
INSTALLING
INSTALLATION
POWER
.
PRINTED
MOUNTING
CHECK
CIRCUIT
METHOD
SYSTEMS
SERVO
USED
SERVO
SYSTEM
FOR
MAINTENANCE
SYSTEM
SERIES
SERVO
ADJUSTMENT
RESISTANCE
ON
THE
OF
AFTER
SERVO
SERVO
INSTALLATION
METHODS
BOARD
INSTALLATION/REMOVAL
METHODS
FUNCTIONS
PROCEDURE
CONNECTIONS
AMPLIFIER
MOTOR
AND
DETECTOR
n-i
H-2
n-3
n-4
n-4
n-4
n-4
n-4
n-4
n-s
n-io
n-i2
n-12
n-12
n-13
n-13
n-i4
n-i5
n-15
n-i6
n-i7
6.1
6.2
7.
DETAILS
ABSOLUTE
8.
FUNCTIONS
CARD
HARDWARE
OF
POSITION
SETTINGS
SERVO
AND
CHECK
PINS
PARAMETER
SYSTEM
ii
...
n-17
n-19
n-3i
n-3i
)
APPENDIX
1.
2.
3.
4.
5.
6.
7.
8.
CABLE
CABLE
MAIN
CHECKING
CONSTANT
CHECKING
DETERMINING
SERVO
DETECTOR
DIAGRAMS
SPECIFICATIONS
CIRCUIT
MOTOR
CONFIGURATION
MINIMUM
THE
THE
POSITIONING
COASTING
THE
SPECIFICATIONS
SPECIFICATIONS
ACCELERATION
REPEATABILITY
EMERGENCY
WITH
/DECELERATION
STOP
TIME
A-l
A-13
25
A-
A-31
33
A-
A-40
A-41
A-42
lil
I.
MAINTENANCE
MANUAL
FOR
MELDAS
MR-S2
(2-axis
integrated
SERIES
AC
OF
servo
AC
SERVO
amplifiers)
AMPLIFIERS
1.
1.1
OUTLINE
SERVO
SYSTEM
FEATURES
SERVO
OF
S2
OF
SYSTEM
SERIES
THE
S2
AC
SERIES
OUTLINE
1.
1.1
FEATURES
(1)
The
amplifiers
It
varying
configure
(2)
This
(3)
Serialized
The
maintenance,
(4)
Outstanding
Control
employed,
-realizing
specification)
(5)
The
The
types
of
procedure
(6)
Compact
Compactness
and
container,
MELDAS
includes
capacities
system
servo
AC
by
have
use
of
employment
detectors,
of
motor
the
converter
condenser
OF
OF
MR-S2
.
total
a
systems
can
for
motor
is
response
means
been
superb
.
electronic
of
can
for
designating
has
unit),
while
S2
THE
with
be
servo.
AC
used;
the
and
been
reducing
SERIES
S2
series
models
of
6
(0.2kVT
compact
connected
series,
HA
it
and
volume
of
completely
response
gear.
electronic
which
commanded
be
reduction
achieved
used
SERIES
is
a
line-up
which
2.0kW)
to
dimensions.
the
to
featuring
provides
reliability
control
replaced
repeatability
gear
been
had
specifications.
the
in
by
of
placing
by
the
number
AC
SERVO
of
enable
and
of
NC
outstanding
a
wide
with
with
with
has
previously
the
number
AC
input
of
SERVO
SYSTEM
2-axis
combinations
which
the
MELDAS
digital
analog
TG
and
used.
of
circuit,
of
race
cables.
converter
required.
range
reduced
software
the
cables
integrated
make
M300
response
output.
control
circuit
and
reliability
number
the
The
thus
SYSTEM
AC
of
motors
it
possible
series.
and
ease
previously
the
of
control-
(standard
different
amplifier
digital
indexing
simplifying
(rectifier
in
servo
with
to
of
angles
the
unit
(7)
(8)
(9)
Enhancement
reduced
By
raised,
by
digitalizing
while
increased.
System’s
servo
The
reception
possible
The
will
Optional
An
to
Note:
,
.
system
be
able
absolute
zero
point,
For
Specifications
servo
.
of
reliability
one-half
operation,
the
intelligence
and
side
control
of
is
designed
to
adapt
system
for
value
when
any
particulars
amplifiers.
over
number
has
the
parameters
to
detecting
detection
power
Manual
previous
the
of
been
host
be
to
control
is
not
reducing
by
model).
level
parts
enhanced.
(NC)
is
and
amenable
requirements
absolute
system,
turned
mentioned,
(BNP-B3501)
1-1
of
have
linked
transfer
by
on,
the
the
been
to
auto-tuning
value.
which
is
reference
covering
number
system’s
reduced
by
of
under
there
optional.
of
integration
and
path,
data
a
self-diagnostics
in
software
need
no
is
should
MR-S2
the
parts
the
be
has
reliability
thus,
future;
command.
for
made
series
(number
been
the
are
return
the
to
of
it
AC
ro
name
model
Ion
Opt
card
RF-312
KF-312
RF-332
RF-332
Unit
Motor
abaft
detector
0SE5K-
6-12-
108
(0SE5K)
0SE5K-
6-12108
(0SE5K)
0SE5K-
6-12-
108
(06E5K)
0AKR5K
-1X-3-
-8-108
(QAKR5K
-IX)
0SE5K-
6-12-
108
(0KE5K)
Machine
end
/ball
end
0SE5KN-ET
ctt,
9.52-0]
Connector
direction
Various
scales
pulse
outputs
1
0.5
cification
can
connected.
ad
screw
detector
of
F/B
of
p
and
p
spe¬
be
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direction
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speed
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resolution
speed
speed
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follow-up
resolution
speed
scale
follow-up
resolution
speed
speed
used.
follow-up
Mpps
resolution
speed
speed
used.
performance
type
performance:
(Motor
depends
specification
performance:
(Ball
screw
(Ball
6crew
(Ball
screw
depends
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specification
performance:
depends
being
specification
performance:
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depends
specification
performance:
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screw
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screw
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screw
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shaft
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the
the
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the
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amplifier
model
1
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MR-S2-
o/p
rpms
MR-S2-
o/p
Q-E31
rpm
1
Mpps
MR-S2-
or
rpm
the
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MR-S2-
o/p
rpm
o/p
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rpm
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1.
1.3
OUTLINE
SERVO
BLOCK
SERVO
OF
S2
SYSTEM
DIAGRAM
SYSTEM
SERIES
OF
FUNCTIONS
MR-
AC
S3
1.3
BLOCK
Servo
monitor
r
i
DIAGRAM
MR-S2
servo
Sequence
control
Alarm
processing
LED
display
data
N
OF
C
MR-S3
Position
T
L-axis
position
control
L-axis
speed
control
L-axis
current
control
SERVO
commands
SYSTEM
I
M-axis
position
control
M-axis
speed
control
M-axis
current
control
FUNCTIONS
\
u
e
3
A
A
Q)
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o
u-i
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c
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c=
cd
:
I
7
s
I
1
r
|
Optional
regenerative
|
resistance
i
circuit
r
.
i
i
L-axis
motor
Main
1-3
Detector
V
M-axis
motor
Detector
2.
REGULAR
2.1
INSTRUMENTS
USED
MAINTENANCE
FOR
AND
MAINTENANCE
TOOLS
j
REGULAR
2.
INSTRUMENTS
2.1
(1)
Measuring
Listed
power
servo
Instrument
Tester
Oscilloscope
AC
voltmeter
voltmeter
DC
ammeter
AC
(2)
Tools
Large-
screwdriver
REPLACING
2.2
below
is
amplifier
Table
and
MAINTENANCE
AND
instruments
are
being
supplied
is
2.1
Measuring
AC
supply
Tolerance:
30
scale
V
Tolerance:
Maximum
V,
±22
medium-sized
THE
voltage
TOOLS
the
measuring
properly
properly
Conditions
measurement
Less
than
±22
graduation:
Less
Phillips
BATTERY
connected.
instruments
10
than;
USED
instruments
to
type
the
used
FOR
required
servo
for
Application
For
verifying
been
connected
switched
For
general
shooting
For
measuring
supplied
For
measuring
For
measuring
tor
screwdriver.
MAINTENANCE
to
verify
servo
before
and
voltage
voltage
supplied
Small
and
amplifier
trouble¬
amplifier
maintenance
whether
properly
on
measurements
AC
supply
servo
to
DC
AC
amplifier
supply
current
that
that
fcj
power
is
is
which
mo¬
to
flat-head
the
the
data
The
which
highly
A
eliminated
is
Battery
Service
service
The
should
(When
absolute
Storage
This
a
high
When
fully
is
is
be
the
battery
mi
battery
degree
the
the
in
mounted
reliable
by
back-up
life
life
replaced
battery
position
is
of
system
charged.
absolute
on
button
screwing
time
battery:
of
of
at
alarm
data
used:
©
made
reliability
shipped
is
position
RF332
the
(storage)
:
battery
the
early
an
display
will
GB250-3FB2
(
according
it
1
3
be
and,
from
card.
down
month
years
extends
date
appears,
lost.)
)QP
to
as
the
detection
battery
the
to
(depends
before
Data
special
such,
MELDAS
system
is
employed
circuit
on
approximately
for
its
means
it
)](§>
manufacture
of
specifications
should
it
manufacturing
are
board.
operating
service
there
12
1
be
retained
defective
and
temperature)
3
years
is
life
a
danger
is
3
Signifies
-
Signifies
order
in
purchased
plant,
byabattery
contact
so
and
completed.
that
1983.
Dec.
ensure
to
MELDAS.
from
battery
this
it
the
1-4
REGULAR
2.
MAINTENANCE
How
to
1.
2.
3.
4.
replace
Switch
input
Note:
a
Use
circuit
the
Mount
polarities
Note:
Switch
the
the
off
power
The
is
absolute
replaced
amplifier.
screwdriver
board.
the
replacement
correctly.
battery
The
properly.
screwdriver
.
parts
the
NC
battery
NC
power
supplied
with
Remember
power
position
no
remove
to
will
should
back
and
to
input
battery
be
ON
set
the
power
the
damaged
that
not
and
the
servo
data
using
power
be
2.2
(AC
two
brought
check
REPLACING
input
amplifier.)
will
200
screws
screws,
the
its
if
is
that
AC200/220
erased
be
V/220
which
polarities
still
being
into
everything
THE
V)
anchor
taking
contact
BATTERY
V
power
if
supplied
care
are
supplied
is
the
the
with
in
NF
battery
to
battery
to
not
and
any
order.
ON.
the
align
aligned
servo
so
other
(The
is
to
its
the
1-5
3.
INSTALLATION
PROCEDURE
mind
Bear
in
these
If
its
performance.
3.1
ENVIRONMENTAL
The
environmental
installation
designed
Therefore,
to
to.
(1)
the
Ambient
installation
the
checkpoints
location
and
manufactured
order
in
temperatures:
following
are
conditions
for
of
the
AND
ADJUSTMENT
checkpoints
neglected,
the
CONDITIONS
of
these
listed
the
the
by
conditions
amplifier
0
to
-55
cabinet
machine
55°C
70°C
to
below
in
3.
INSTALLATION
PROCEDURE
3.1
when
amplifier
are
or
pendant
builder.
to
Section
during
during
ENVIRONMENTAL
installing
the
may
conditions
the
not
control
be
met,
3.5
the
should
checkpoints
operation
storage
AND
ADJUSTMENT
CONDITIONS
servo
do
full
relating
panel
strictly
be
amplifier.
justice
to
which
relating
adhered
to
the
is
3.2
(2)
Max.
Max.
High
insulation
in
(3)
Vibration
10
(4)
Atmosphere
Avoid
concentrations
gases
INPUT
(1)
Input
(2)
Power
(3)
Power
(4)
Input
Insert
is
Ambient
for
special
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5
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902
relative
902
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and
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.
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a
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humidity
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dust
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ms
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storage
moisture
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an
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and
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spray
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Although
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there
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or
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no
the
need
high
which
1-6
3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
ADJUSTMENT
AND
CONNECTION
3.3
3.3.1
MAIN
CIRCUIT
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mads
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to
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Hu
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3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
AND
ADJUSTMENT
CONNECTION
3.3.2
Terminal
board
TE1
TE2
TERMINAL
Terminal
board
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1
2
3
4
5
6
7
8
9
11
12
13
14
15
16
17
18
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reference
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3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
ADJUSTMENT
AND
CONNECTION
3.3.3
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3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
:
AND
ADJUSTMENT
CONNECTION
(1)A
transformer
A
amplifier
and
transformer
(2)
Any
the
amplifiers,
(3)
Precautions
a.
b.
c.
(4)
Servo
wire
contact
means
class
200V
step-down
this
so
phase
servo
The
phase
V
and
W
incorrect
and
is
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is
not
sequence
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a
the
Also
no
danger
servo
avoid
terminals
error.
in
not
Do
connections
that
the
motor
capacity.
amplifier
should
opens,
.
of
servo
provided
insulating
above.
or
area
must
provided
sequence
amplifier.
avoid
for
connecting
sequence
and
the
phase
dangerous.
possible
.
circumstances
of
power
amplifier.
connections
of
the
This
reverse
for
L
axis
terminals
be
removed
the
amplifier
that
transformer
A
transformer
be
grounded.
for
may
be
However,
connecting
relationship
motor
sequence
make
to
being
servo
may
damage
the
L
the
output
motor
capacity
for
servo
the
export
adopted
different
the
pins
can
the
should
supplied
where
amplifier
axis
and
B
EMR
operation
is
power
should
is
The
specifications.
for
when
servo
between
and
B
A,
lead
motor
the
to
there
being
the
servo
(LU,
terminals
is
are
R
(emergency
will
used.
supply
be
not
provided
above
the
R,
connecting
signs
amplifier
the
C
must
to
motor
run
in
connections
U,
the
a
is
danger
grounded
amplifier.
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LV,
on
the
equal
to,
connected
stop)
stop
There
is
specifications
used
with
in
figure
does
and
S
a
together.
terminals
servo
be
amplifier
strictly
vibration
reverse
be
and
and
by
made
W
of
the
or
M
amplifier.
greater
a
V
servo
or
connection.
rapidly
no
need
a
class
the
main
not
T
power
multiple
U,
or
by
changing
so
output
U,
connected
axis
than,
shorting
the
for
are
circuit
show
terminals
V,
terminals
adhered
rapid
that
terminals
V
and
(MU,
wire.
When
most
a
satisfied.
400V
the
number
W.
to.
rotation,
the
there
W
output
to
ground
MV,
Make
M
the
the
reliable
power
servo
area
power
on
of
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phase
is
of
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sure
axis
This
EMR
(5)
Servo
This
when
(Refer
The
with
(6)
The
the
5.2.2
Reference
motor.
(7)
Finally,
Connecting
2-system
codes
A
current
and
200V
cannot
the
EMR
amplifier
bar
should
a
regenerative
Section
to
regenerative
the
surrounding
Cannon
motor
for
has
the
should
follow
the
configuration
E7).
and
55
of
approximately
60
Hz
be
released
contact
terminals
be
plugs
an
electromagnetic
connections
the
contact
EMR
power
unless
opens
removed
option
3.4)
option
which
be
made
cautionary
with
supply
again.
area
andChave
D
and
is
will
and
are
used
diagram
to
the
to
different
30mA
conditions.
resetting
the
connections
employed.
generate
connected
will
brake,
of
Section
notes
servo
flows
is
1-10
been
heat
wires
differ
reference
the
brake
3.3.7
Sections
in
amplifier
emergency
the
to
Once
performed
connected
made
so
and
to
according
exciter
the
for
terminal
stop
contact
EMR
emergency
at
shown
as
measures
safeguard
should
terminal
3.5
and
functions
per
stop
the
NC
a
by
to
be
circuit.
3.6.
B
unit
shorting
in
must
against
the
made
box
gives
(alarm
axis
occurs,
even
the
be
motor.
to
a
under
bar.
figure
taken
fire.
Section
type
it
if
If
of
3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
ADJUSTMENT
AND
CONNECTION
3.3.4
in
motors
(1)
CONNECTED
The
MR-S2
mind
that
which
Amplifier
MR-S2-13A-
MR-S2-33A-
MR-S2-40A-
MR-S2-80B-
MR-S2-80A-
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instance,
For
HA80
motor
theMaxis
rank
below
has
the
amplifier
the
MR-
series
model
suffix
S
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there
can
motor
for
it
the
breaks
name
is
which
MOTORS
down
restrictions
are
be
used.
must
the
MR-S2-80B-
the
motor
"A"
axis
L
amplifier
an
(HA80)
which
corresponds
Suffix
by
not
corresponds
axis
L
have
and
A,
capacity
drive
HA053/13
HA23/33
HA40/43
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HA100
HA100
smaller
a
is
since
which
for
the
to
B:
:
A
B
:
into
each
on
motor
an
amplifier
its
corresponds
axis.
L
to
the
Denotes
Same
rank
1
5
axis
L
capacity
suffix
HA80
same
capacity
capacity
below
types,
is
Similarly,
for
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it
and
andMaxis
axis
M
than
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the
the
for
of
L
axis
corresponds
HA40,
M
the
M
axis
which
to
as
should
governing
drive
HA053/13
HA23/33
HA40/43
HA40/43
HA80/83
HA80/83
HA100
theMaxis
means
it
which
MR-S2-80A-
the
axis
and
axis.
L
axis.
be
motor
that
so
borne
motor.
to
is
it
the
the
for
one
is
(2)
(3)
(4)
HA40
the
If
is
connected
that
the
driven.
happening
(semi-closed)
LCN2
axis
M
Typical
HA40
A
.
motor,
examples
motor
to
mounted
thorough
it
Number:
is
the
is
of
mistakenly
axis
M
on
check
the
is
MCN2
incorrect
Denotes
corresponds
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connected
when
using
the
axis
L
should
feedback
(semi-closed).
connections
1-11
capacity
the
will
be
connector
of
L
HA**
to
the
to
MR-S2-80B-
demagnetize
undertaken
on
shown
are
axis.
and
axis
L
when
to
prevent
theLaxis
the
on
there
motor;
following
the
the
HA80
is
motors
this
danger
a
for
motor
are
from
the
page.
3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
AND
ADJUSTMENT
CONNECTION
Examples
(1)
A
motor
of
incorrect
with
a
smaller
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capacity
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and
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phase
terminals
must
1-12
3.
INSTALLATION
PR
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3.3
MAIN
run?
F
CIRCUIT
ADJUSTMENT
AND
CONNECTION
3.3.5
Motor
CANNON
type
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3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
ADJUSTMENT
AND
CONNECTION
3.3.6
(1)
HA053
HA13
EA23
HA33
HA40
HA13
HA
HA83
HA100
(2)
P,
(regenerative
Notes:
(1)
(2)
CABLES
Standards
80
Standards
option
(Note
D
The
cables
the
restriction
The
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reference
:
5)
option)
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(Motor
circuit)
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3.5
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mm2
for
(terminals
sizes
contained
imposed
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power
w
main
min
max)
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min
max)
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wi
max)
min
max)
power
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by
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min
inside
the
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cables
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dimension
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wire
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2
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BUD
max)
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max)
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n
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min
max)
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connected
100B
parentheses
of
the
the
identification
between
MR-S2-80A
3.5
mm2
in
soldered
cap
G1,G
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thermostat)
0.5
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0.5
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between
min
the
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of
amplifiers
2
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2
mm
mm2
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mm2
mm
mm2
mm2
amplifier
MR-S2-80B
2
mm2min
table
the
to
the
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min
max)
min
max)
min
2
max)
min
max)
indicate
Cannon
grounding
and
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brake
For
and
MR-S2-40A
2
2
mm
min
for
plug
cap.
wires
motors
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excitation
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mm2max)
0.5
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min
mm2
mm2max)
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MR-S2-33A
2
mn2min
reference
are
indicated
mir.
min
)
min
purposes
(4)
for
(3)
(4)
(5)
(6)
140-14
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Except
marked
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[2]
2.
If
or
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instance,
When,
with
bare
Note:
it
striped
in
the
shield
regenerative
motor
marking
in
in
the
in
a
wire
In
with
tor
wire.
is
absolutely
pattern
an
appropriate
G1
to
wires
will
the
green.
cable
the
cases
multiple
or
cases
a
except
and
wires
some
with
move.
for
grounding
instances
it
multiple
must
G2
for
option
described
can
identified
be
grounding
where
one
numberofconductors
has
a
green
one
where
number
that
with
necessary
be
usedasthe
location
connecting
electromagnetic
enerates
g
kind
excellent
flame-resistant
of
wires
cable
conductor
or
conductor
of
the
that
to
wires.
bending
below,
at
is
connected
yellow
conductors
green
any
grounding
identify
brake
heat
properties
a
in
in
and
the
glance
a
is
striped
a
or
other
treatment.
grounding
as
separately
cable,
tough
usedasthe
pattern.
cable,
tough
usedasthe
is
yellow
striped
conductor
wire,
this
that
"DC
OFF."
so
flame
the
if
wires
a
grounding
from
rubber
grounding
rubber
except
green-colored
is
the
-resistant
operating
for
other
grounding
pattern
that
grounding
wires
grounding
cable
wires
sheathed
wire,
sheathed
must
with
tape
must
conditions
work
such
as
or
cableorcord
that
conductor
cableorcord
wire,
be
used
the
green
be
must
wire.
be
usedorthe
of
must
when,
for
cables.
other
no
the
as
or
usedatthe
the
motor
be
each
is
a
each
conduc¬
grounding
yellow
wires
are
end
such
must
be
that
1-14
3.
INSTALLATION
PROCEDURE
3.3
MAIN
CIRCUIT
AND
ADJUSTMENT
CONNECTION
3.3.7
Notes:
MOTORS
(
)
Pay
1
special
(HA23
(2)
Use
(3)
when
motor
Details
Electromagnetic
brake
(when
designated)
Motor
thermostat
Motor
winding
Motor
ground
attention
product.
HAI00,
-
the
one
of
an
electromagnetic
terminal
Pan
(SPECIAL
Indica-
cion
I
Note(2)
model
the
to
HA23B
screws
box.
HA100B)
-
marked
brake
Installation
Detail
*
head
screws
80
MODELS)
Solderless
Blue
!
Blue
Red
Red
U
V
U
name
with
is
Pan
head
Terminal
0.7
MA
x
terminal
MA
MA
MA
MA
MA
MA
MA
M5
the
of
asterisk
an
provided,
procedure
of
motor
Terminal
screws
box
6(x2)
x
OF
Note(3)
\
m
servo
motor
*
a
surge
diagram
terminal
box
SW
with
top
M953C600H01
TERMINAL
Pov«r
supply
for
brake
excitation
/
XX
since
the
in
figure
absorber
N109D132.
box
seat
M952C333H20
x
M5
0.8
x
5.5
BOX
the
terminal
belowasthe
(ECR-C10DK221
12(xA)
33.5
TYPE
SERVO
BG1G2RS
090909907
o
box
type
grounding
)
can
AMP
TUVVV/
of
installed
be
39
servo
terminal.
M5
motor
inside
a
is
the
s
*
*
\
T
The
direction
The
drawing.
When
number
022
terminal
a
spare
shown
hole
The
of
box
direction
part
the
in
the
is
is
mm
22
shipped
can
required
figure
i
\Jr
diameter
from
be
changed
because
order
and
o
Solderless
terminal
(for
MA)
hole
manufacturing
the
the
from
?o
be
can
by
removing
corresponding
your
1-15
\
0.8
/
changed
plant
the
MITSUBISHI
0
90°
in
the
in
shown
screw
has
part
representative.
$
Terminal
increments
state
in
been
damaged,
the
for
which
figure
Red
packing
this
is
make
terminal
shown
by
a
the
note
the
in
asterisk.
of
box.
the
outline
parts
3.
INSTALLATION
PROCEDURE
3.4
OPTIONAL
RESISTANCE
ADJUSTMENT
AND
REGENERATIVE
CONNECTIONS
3.4
(1)
OPTIONAL
When
using
Shorting
6 6
o
P
D
C
REGENERATIVE
GZG200W390HMK
the
bar
M
4
>
RESISTANCE
optional
regenerative
2)
Note
r
C
Optional
tive
resistance
GZG200U3
O
P
D
CONNECTIONS
resistance.
regenera¬
90HMK
s
J
j
Twist
these
wires
L
IL
MR-S2
amplifier
Standard
type
Regenerative
MR-S2
amplifier
option
type
1-16
3.
INSTALLATION
PROCEDURE
3.4
OPTIONAL
RESISTANCE
ADJUSTMENT
AND
REGENERATIVE
CONNECTIONS
(2)
When
HA
using
o
C
MS-S2
anplifier
motor
o
D
the
Shorting
6
P
LG1
7
F
E
MR-RB30
bar
M
2
LG
optional
regenerative
Note
1)
resistance
Note
MR-R330
2)
Optional
resistance
tive
regenera¬
unit
4
D
P
C
TIfist
these
wires.
r
1
G3
KR-S2
amplifier
LG
HA
3
motor
I.G2
Note
EIlF
Thermostat
G4
Thermostat
1)
7
Note
Note
Note
Note
Note
Standard
With
1.
connect
connect
Use
2.
RB30
3.
Change
The
4.
and
(at
5.
Use
flame-resistant.
cables.
the
three
unit
OR
time
optional
thus
least
flame
the
the
the
should
type
standard
GZG200W390HMK
for
70
-resistant
optional
motor
each
servo
parameter
constant
regenerative
not
mm)
should
type
and
amplifier.
installed
cables
Reference
of
amplifier,
regenerative
the
thermostat
optional
No.
Standard
4680
units
left
be
for
should
20
on
generate
the
with
the
remove
resistance
the
of
regenerative
ORT
(regenerative
Additional
surface
models
cables
made
be
the
regenerative
heat.
of
for
which
to
1-17
Regenerative
shorting
to
resistance
option
3010
If
an
which
connect
Section
bar
theCandPterminals.
insufficiently
time
present
they
two
1-14-3-3-6
unit
units
constant).
are
or
the
option
connected
series.
in
for
used
very
strong
resistances
more
regenerative
for
to
each
frequently,
wall.
options
details
type
theDand
the
When
amplifier
Sufficient
are
the
on
terminals,
P
MR-RB30
and
they
used
make
or
thickness
use
will
clearances
side
the
is
by
one
heat
cables
of
and
used,
MR-
side.
up
the
3.5
PRECAUTIONS
ON
INSTALLING
3.
INSTALLATION
PROCEDURE
3.5
PRECAUTIONS
THE
THE
SERVO
AMPLIFIER
SERVO
ADJUSTMENT
AND
ON
INSTALLING
AMPLIFIER
(1)
The
a
will
outdoors
(2)
The
vibration,
"Specifications
cutting
designed
B3341
(3)
The
securely
front
below)
(4)
Install
replaced
amplifier,
(5)
The
parts
heat
(6)
When
blow
(7)
Since
when
temperature
Therefore,
that
Furthermore,
or
they
than
(8)
For
see
(9)
The
(excepting
than
the
I/F
addition
cable,
The
necessary
system
this
For
cables,
connection
servo
high-voltage
be
directly
.
ambient
machine
in
.
servo
vertically
of
.
the
easily.
servo
the
more
noise
"MELDAS
bus
one
detector
box
proper
precaution.
details
must
will
away
the
it
will
must
70
it
mm
cable
meter
must
from
amplifier
not
interior
adhering
regeneration
is
resistances
abatement
to
refer
amplifier
distribution
conditions
atmosphere)
accordance
amplifier
cabinet)
the
servo
see
the
be
installed
accumulate
to
will
do
not
be
adversely
in
the
be
spaced
apart.
300
series
connecting
the
AMP-AMP
long),
cable
be
clamped
serving
serves
also
installation
to
prevent
noises
the
on
manual
is
exposed
on
tools
amplifier
On
diagram
of
dusts,
be
rise
install
case
of
leading
generated
proper
to
.
"
designed
must
the
servo
must
with
is
designed
(so
that
on
the
ambient
dissipate
will
at
in
the
cabinet
avoid
option
used
to
it
affected
of
used
are
apart
the
connection
the
cable
detector
the
as
securely
to
to
of
misoperation
installation
"MELDAS
be
to
panel.
to
sunlight,
within
the
conform
amplifier."
be
the
"MELDAS
the
the
in
300
to
hang
printed
cabinet’s
location,
a
space
of
the
external
a
relevant
its
some
immediate
is
cleaned
blasting
generates
frequently,
a
high
against
degree.
a
by
models
in
where
parallel,
adequately--more
servo
servo
that
amplifier,
manual."
amplifier
is
cable,
the
to
detector’s
illustrated.
the
support
the
cables
shield
of
from
ignoring
300
installed
Do
not
near
cabinet
to
conditions
sealed
series
on
circuit
wall
required
heat;
distance
vicinity.
the
heat,
its
weall
heat.
two
less
and
In
the
cable.
is
the
of
the
series
in
install
heat-emitting
The
type;
connection
a
wall;
with
where
dimension
hence,
above
with
compressed
servo
40
or
40
or
120
cr
BOre
/////////
Diagram
of
clamped
cables
a
cabinet
the
(temperature,
listed
cabinet
cabinet
the
be
board
is
bolts.
can
it
for
installing
for
other
and
(See
amplifier.
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more
10
or
more
4
.
more
'
for
cabinet
in
be
to
manual."
sure
visible
be
inspected
installing
equipment
below
illustration).
air
Tv1
S«rvo-
amplifier
containing
bodies
humidity,
Item
used
should
to
fasten
(See
the
it
in
KR-S
Servo-
aaplifier
//>;/»ÿ?,
/
/
Unit:
/
/
S
/
/
y
where
for
from
diagram
servo
so
order
Top
/
/
/
/
/
f
Instal-
lation
£
Y
surface
/
/
/
/
/
/
Bottom
mm
Earth
plate
it
and
3.1,
with
be
BNP-
it
the
and
it.
and
that
to
1-18
(Example)
Shield
sheath
Clamp
outer
3.
INSTALLATION
PROCEDURE
3.6
PRECAUTIONS
OF
SERVO
AND
ON
MOTOR
ADJUSTMENT
INSTALLATION
DETECTOR
AND
3.6
PRECAUTIONS
DETECTOR
(1)
Precaution
(a)
The
servo
adequate
from
invade
interior
(b)
If
the
protective
protective
(c)
If
the
their
contaminated
the
"P"
from
(d)
Do
not
or
water.
drainage
must
(e)
Adequate
be
maintained.
Make
(1)
The
draining
(2)
Oil
splash
(3)
Oil
(f)
(2)
(a)
(b)
(Side
Oil
from
The
servo
from
be
done
Precaution
The
servo
with
vertically,
box
dripping
is
not
Regarding
gear
motor’s
operation
seal,
seal
oil
motor.
pressure
of
surface
against
motor
precautions
contaminating
servo
the
of
the
cutting
cover
cover
servo
large
motor
protective
by
type,
contamination
install
If
of
the
be
not
sure
drainage
that:
motor
permitted.
oil
and
water
on
and
water
the
wiper
motor
and
water,
oil
easily.
against
motor
shaft
the
precautions
adequate
down
the
box
must
shaft,
stationary.
or
oil
may
leak
on
the
Provide
from
machine)
Gear
„
T
Lip
Oil
ON
is
motor,
detector
fluid,
must
is
a
large
which
the
the
floor
of
mobile
on
a
and
accumulated
the
motor
accumulated
must
can
positioned
into
for
oil
level
always
while
into
shaft
the
building
Servomotor
a
seal
INSTALLATION
and
oil
not
must
the
properly
and
are
from
servo
motor
must
oil
water
strictly
be
taken
servo
the
insulation
is
contaminated,
etc.
be
placed
detector
covers
quantity
designed
liquid
motor
is
maintained;
be
and
water
motor.
are
designed
are
sprays.
where
to
mounting
water.
on
when
the
on
the
installed,
cover
when
be
ventilation
gear
oil
oe
installed
vertically.
be
must
the
motor.
preventing
and
be
lower
is
it
the
end;
box
gear
up
When
pressure
being
motor.
make
with
inside
contamination
than
the
/
proof
to
over
are
of
to
be
on
does
top
slide
the
shrinks
where
is
with
taken
In
installed,
oil
Some
sure
ventilation
a
the
Height
of
ter
shaft,
OF
against
prevent
If
its
of
the
to
be
to
a
part
installed
the
mobile
not
of
cover
it
the
If
to
prevent
this
the
lip
level
servo
are
box.
from
cen¬
motor
(mm)
h
it
adequately
also
the
cover
its
shaft
likely
inadequate
cutting
protect
slide
good,
in
the
you
Model
SERVO
oil
cutting
cutting
coil
may
to
motor.
used
to
fluid,
the
of
pileup
move
slide
or
stretches.
or
is
not
installation
shaft
the
case,
from
gear
of
and
is
motors
ordering
hole
HA23.HA33
and
fluids
fluids
deteriorate;
may
cause
contaminate
Make
protect
an
in
prevent
recommend
we
servo
it
will
table
under
the
of
and
near
cover
table
do
moves.
not
exposed
positioned
is
of
oil
oil
the
the
box:
the
above
likewise
10
The
oil
the
are
the
to
prevent
HA40.HA80
MOTOR
water.
and
and
disfunction.
the
sure
the
environment
them
motor
be
immersed
floor,
chips
slide
a
drainage
table
or
onto
drip
contamination
to
and
horizontally
mounted
machine’s
the
seal
dripping
oil
seal
when
level
not
equipped
required
20
AND
Therefore,
lubricants
lubricants
if
motor,
that
motor.
where
from
being
you
to
detector
and
in
constant
the
cover
hole
the
facing
the
oil.
the
it
of
floor
do
motor
shaft
in
servo
is
the
type
on
removal
on
level
of
atmospheric
HA100
25
the
the
use
oil
must
for
not
can
gear
the
oil
with
a
or
up
in
of
(3)
(a)
Detector
Take
while
against
or
mounting
a
coupling
adequate
is
it
things
preventions
being
banging
on
it.
the
on
hauled
Avoid
motor
to
and
against
a
shaft
avoid
installed.
it,
design
because
1-19
shocks
tools
of
Provide
dropped
the
may
it
the
on
machine
damage
it
on
servo
with
it,
that
the
motor’s
a
protective
and
requires
detector
workers
detector
cover
sitting
pounding
.
3.
INSTALLATION
PROCEDURE
3.6
PRECAUTIONS
OF
SERVO
AND
ON
MOTOR
ADJUSTMENT
INSTALLATION
AND
DETECTOR
(b)
(c)
installation
The
connector
The
connector
however,
errors
and
Therefore,
much
as
The
motor
matched)
are
or
if
become
may
The
factory
be
not
connected
then
in
installation
as
possible.
Symbols
which
nector
(The
"A"
and
the
direction
impossible
changed.
can
the
installing
of
direction
the
detector’
be
can
side
the
at
the
matched
of
the
on
be
connected
installation
in
s
con¬
connected.
standard.)
is
detector
factory.
of
or
relationship
machine
the
it
other
the
cause
direction,
"A"
in
of
may
than
have
If
connector
overspeeding.
should
the
the
occur.
in
D
/
Terminal
motor’s
been
the
detector
between
be
as
other
servo
the
"A"
3
box
or
connector
accurately
is
changed,
the
designed
illustrated.
three
amplifier
direction
the
matched
is
replaced
detector
with
directions
becomes
regulation
and
the
should
(their
with
the
detector’s
(B,
C
and
complicated
be
avoided
polarities
another
of
the
motor
D);
kind
motor
should
(4)
(a)
Connector
(b)
Connector
The
connector
the
If
cable.
the
Top
t
Bottom
standard
The
motor
F
hi,
Connector
and
1 1
I
cable
should
is
to
|
I
|
..il
Cannon
be
plug
be
faced
installed
is
downwards.
vertically
waterproof.
not
1-20
Top
a
Bottom
slantwise,
or
The
the
not
direction
connection
be
changed.
install
Cable
of
should
crap
a
trap
on
3.
INSTALLATION
PROCEDURE
3.6
PRECAUTIONS
OF
SERVO
AND
ON
MOTOR
ADJUSTMENT
INSTALLATION
AND
DETECTOR
(c)
and
Oil
result,
as
a
conducted
pools
Cover
water
by
oil
of
-function)
(Mai
Respiration
may
they
the
or
Motor
be
may
cable;
water.
6
conducted
be
also
(See
fi
fi
d
damaged.
make
following
5
6
fi
by
the
Make
sure
/
cable
sure
that
illustrations.)
—
M
(Mai
Capillary
onto
that
the
A
-function)
the
motor
oil
cable
fi
A
6
phenomenon
and
and
water
is
not
Cover
Motor
Oil/water
accumulation
detector;
are
immersed
/
not
in
(d)
(e)
(5)
(a)
(b)
(c)
The
cable
to
prevent
connector.
the
type
cable
sharp
by
motor
workers
If
the
The
by
on
Connecting
The
connecting
while
damaged
the
be
When
functional
is
power
danger
securely
power
disconnected,
lost.
cable’s
posted
Cannon
The
space
should
performed
must
the
appropriate
must
chips,
and
beyond
of
fastened
is
because
Hence,
plug,
besides
plug
easily.
installed
be
cable’s
is
used
installed
be
not
or
run
disconnecting
and
is
disconnecting
on.
repair;
a
high
off,
it
the
order
in
should
it
saying,
it
is
be
provided
weight
for
mobile
for
rub
against
over
If
also
voltage
with
the
detector
is
absolute
to
be
designed
with
such
so
vehicles.
by
the
this
this
arc
wire.
powered
forestall
securely
"Do
not
to
around
great
from
operation,
service
its
angular
connector.
of
warning
motor
also
for
by
position
disconnect
securely
be
it
care
imposing
with
insulation
parts
the
connector
is
may
occurring.
detecting
battery.
a
of
inadvertent
the
fastened
so
avoid
to
a
wrenching
the
radius
adequate
will
the
of
disregarded,
suddenly
the
When
cable
the
wire,
with
even
if
fastened
manual
that
twisting
of
the
life
cycle.
be
not
machine,
strictly
is
the
or
turn
Cannon
The
absolute
detector’s
the
connection
disconnection
and
power
hand.
by
fastening
the
stress
cable
subject
or
prohibited
motor
drop;
plug
value
a
sign
off.
is
cable
on
must
to
stepped
may
there
should
remains
cable
will
of
must
Adequate
can
and
the
be
cut
be
is
be
the
be
be
1-21
3.
INSTALLATION
PROCEDURE
3.6
PRECAUTIONS
SERVO
OF
AND
ON
MOTOR
ADJUSTMENT
INSTALLATION
DETECTOR
AND
(6)
Usage
The
fastened
slack,
vibrational
sure
The
periodical
maintenance
•Holes
In
connection
coupling
"safety
threaded
to
to
conditions,
necessary.
(The
catalogue
precaution)
The
•
holes
securing
The
•
connector
different
•The
used
must
ease
1,
Cannon
all
necessity
in
order
the
be
following
cable
location
wire
for
have
of
304,
FS
of
motor
plug
with
of
size
stress
connections
inspections
manual
coupling
forestall
to
from
nut
holes"
for
securely
connection.
used
under
this
referring
clamp
it
illustration)
with
(see
of
may
brands.
(0.813,
fastening
the
handling,
CD-A,
and
detector
and
cable
wire.
the
clamp,
from
for
retightening
.
to
securely
vibration
is
provided
through
When
normal
precaution
extracts
is
,
is
also
wire.
the
safety
differ
annealed
the
mechanical
such
0.032
clamp
The
cable’s
and
transmitting
are
fastened
should
uncoupling
and
which
fastening
the
environmental
to
provided
holes
somewhat
stainless
plug
strength
as
QQ-W-423,
inches.
where
fasten
shocks,
with
wire
machine
this
for
and
of
other
of
the
is
from
with
they
the
weight,
factors
to
securely.
the
be
clearly
it
of
the
the
three
be
can
nut
is
not
the
safety
two
safely
of
the
with
wire)
clamp
and
FORM-
are
motor
the
Cannon
with
subject
and
as
well
must
cables’
wire
detector
as
be
connection.
and
plug
"stated
to
Safety
3
at
places
jn
L.
to
constant
the
optimized
cable
in
the
1
i
holes
3
Safer?
must
diameter
clamp
the
connector.
Secured
with
hole
vibration
be
securely
to
prevent
Make
machine’s
wire
of
its
extra
during
(7)
•The
This
is
must
by
When
wire
The
which
optimum
connector
needed
be
MIL
the
.
servo
tightening
for
secured
standards.
connection
motor
requires
is
designed
tightening.
against
is
and
the
motor’s
torque
vibration
for
detector
of
simple
for
Where
installation
must
alteration
1-22
the
the
with
not
coupling
tightening
connection
wire.
aircraft,
in
be
used
retrofitting
for
nut:
is
The
in
by
subject
the
hand;
Torque
must
it
design
no
it
dedicated
vibration,
to
is
not
be
of
on
specified
secured
machine,
a
the
machine.
tool
it
with
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