MITSUBISHI GENERAL-PURPOSE AC SERVO MELSERVO-SC — Instruction Manual — MITSUBISHI ELECTRIC BNO-cetons-o19‘Thank you for your purchase of Miteubsshi MELSERVO-SC. ‘This instruction manual describes handling, installation, operation and maintenance of your AC servo system. Although it is easy to use the AC servo amplifier and motor, Amadequate use and operation might cause unforeseen trouble. Before operating your system, read this manual carefully to use the system for a long time without problem: conrenrs SMPORTANT ee a 1, UNPACKING AND CHECKING 2... 0.00. 3 CU eanctrwe ee 3 BLINSTALLATION ee a Oo erro smplitter ee a Goa sero nccen 5 4. EXTERNAL WIRING AND CONSTRUCTION =... 0... 9 4-1 Power supply connection... 0... ee 4-2 Standard wiring diagram 2 2. 2 ee 10 4-3 Connection of regenerative unit 2... ..... 14 4-4 Connection of the dynamic brake option ...... 15 4-5. Assombly of the detector cables... 1... .. 16 4-6 Common line 2 ee ee ee 8 4-7 Signal circuitry... ee eee 9 Ci) Cee rsurt: Ghodeonsndcogbe 4-9 Countermeasure against noise 2... 2... s 26 4-10 Configuration of input/output terminals... . . 30 5. PUSHBUTTON SWITCH OPERATION... .......... 33 5-1 Display description... 2.0... 0-04.24 33 5-2 How to read display and how to set parameter... 35 i= oexnazrom vaoceoons) et tee ee aa eet, eeceiegior ies ge 8 aul 6-2 Initialization ©... ee ee AD eo) fest operations] en ge ete ead 6-4 optimizing the operating conditions ....... 477. TROUBLESHOOTING doo6 foe 7-1 Investigation procedure and countermeasures 1-2 for alarm occurrence ‘Troubleshooting 8. MAINTENANCE AND INSPECTION 8-1 Cautions and inspection 8-2 Voltage and current measurement 8-3 Poriodic inspection 8-4 Storage Pocgcco05o- 8-5 Layout on the printed circuit board 9. INPUT/OUTPUT TERMINALS =... 9-1 Description of terminals 9-2 Input/output interface : 9-3 Control signals and operation nodes 10. DISPLAY AND PARAMETER LIST 10-2 20-2 10-3 10-4 10-5 10-6 Operation status monitor Diagnosis indication Alarm indication 5a User paranetor setting data Special parameter data Paramter setting value entry -u- 50 56 61 61 62 63 65 66 70 70 a 1” 16 16 19 80 aL 85 86epoRTaNT Before the use of your MELSERVO-SC, please read the instructions described here. Note that inadvertent handling or operation may result in serious damage to your MELSERVO-SC. (1mstaLtarron) Install the amplifier in accordance with the instructions INSTALLATION" Particular attention should be paid to the ambient temperature, location of heat-generating devices (discharge resistor unit, etc.) and the handling of motor encoder. Observe the designated combinations for the amplifier and motor or optional dynamic brake combination. If operated with combinations other than those specified, the motor may be danaged. (array 1. Carefully identify each phase (U, V and Ww) on the amplifier output and the motor input and connect the cable correctly»... 2. eee eee ee See 48 (1). 2. Do not connect power supply other than that specified (3. phase 200¥) to the amplifier power input terminals (R, and ) (otherwise, the amplifier may be damaged) Be eco (1), 3. Do not connect AC power supply to the amplifier output terminals (U, V and W) or the motor input terminals (U,V and W) (otherwise, the amplifier and motor may be danaged) See 4-8 (1). gr mi a sy oa4. When a discharge resistor unit (option) is connected to the amplifier, remove the jumper bar (otherwise, the amplifier may be damaged)... , See 4-3 and 4-8 (1). 5. When a diode is used with relay for output signal (RD, PF, etc.), do not connect it inversely (otherwise, the amplifier may be damaged)... . See 4-2 and 4-8 (2). + When input signal using "b* contact is used, connect the signal line to "Sc" terminal .. See 4-2 and 4-8 (2). 7. Ground the amplifier and the motor to a single point See e ees See 42 and 4-8 (1). (OPERATION AND OPERATION SEQUENCE) 1. Do not frequently turn on and off the power supply and the "SON" signal to be less than 10 or 20 tines per day. (Otherwise, the amplifier might be damaged) bee ees See 4-7 (1) and 4-7 (2), 2. bo not frequently turn off and on the power to restore the amplifier from alarm condition. (AL30,50,51) (Otherwise the amplifier might be damaged) Fee ee ee See 4-7 (3) and ToL. 3. When a braked motor is used, the start signal should be given after the motor is released from the brake. bee ee See 4-8 (2) (HAIWTENANCE AND TROUBLESHOOTING) 1. Do not use a megger to check the amplifier (otherwise, the amplifier may be damaged) ........ See G1. 2. While the "CHARGE" lamp is on, do not touch any Live part of the amplifier (otherwise, you may receive an electric SHOCK) ee SOO BL, 3. P.C. board dedicated to each model is used and not compatible with other model. ae1. UNPACKING AND CHECKING After unpacking the MBLSERVO-SC, check the following points at first, (Q) Check the nameplates of amplifier and motor to make sure the models and output ratings meet your order. (2) Check that the amplifier and servo motor have not been @amaged during transportation. Tf you have any question or find trouble with your MELSERVO- SC system, contact nearby-located our sales representative. [Combination of the motor and amplifier} The motor and amplifier can be used with the following combinations. These cannot be used with other combinations, 0 always confirm before wiring. ‘The options are also exclusive, so inspect simultaneously. 2. HANDLING carry and handle the servo amplifier and motor carefully to avoid damage to then. (2) ‘Te cover of servo amplifier is made of steel sheet. hen the servo amplifier is carried, do not hold st in such a manner that force is exerted on only the Do not place an object on the cover. otherwise the cover might be deformed or damaged. (2) Carefully handle the encoder of servo motor and use care not to give mechanical impact to it nen carrying the motor, do not apply hand or slinger to the encoder to 1ift ae3. INSTALLATION a4 Servo amplifier (1) Install the servo amplifier in a clean and well-ventilated @ cy o o location. po not install the servo amplifier in direct sunlight, or areas with high temperature, high humidity, dust and corrosive gases. Bnvironnental conditions ore to sec (to be free from freezing) 308 RH or Tee Ambient temperature ambient hunidity to be free from conden (sation. : Vibration 5.0m/s* oF less ‘The servo amplificr ie a wall-mount type. Install it on a wall vertically and securely with bolts or screws so that the letters "NELSERVO-sc* face front. (see the figure below). generates heat during ope- FLUE mow. ration, provide sufficient clearance (at Least 40nm Since the servo amplifier Mit around the servo ‘amplifier (see the right figure). (seer tor ra aca) When the servo amplilier is housed in a cubicte, enclosure, ote, pay attention to prevent deposit of dust in the unit. ‘The discharge resistor unit (option) generates heat Wit is used under heavy service duty, its temperature may reach about 100'c. © Do not install it on a wall vulnerable to heat. @® tis recommended that the unit is installed outside the panel... for prevention of heat rise in the panel ® Make suitable provisions to prevent any cable or wire from. ‘coming into contact with the discharge resistor nit, Also note the nistruction and caution describat in 4-3 for safe use of the unit.342. Servo motor (Q) do not install the servo motor to direct sunlight, high temperature and high humidity. Environment [ambient fo ~ are feeomperature | (to be free fron freezing) fe0% RH or less lAnbient = (to be free from condensa-| humidity: ions 1. vibra~[HA-SC |19.6n/s* or less voir [sion [nasa [xs9.8m/s? ¥24.5n/S* or lose Siistiee (2) If the servo motor may be exposed to water or oil, protect the motor with a cover or other suitable ~ means and install the motor with | the leads directed downward 20 that vater or of cannot run into sont wee the motor along the Loads (see the Figure). When the motor is mounted = vertically or slantly, provide a trap for cable. ® f on | ‘The cable sonctines guides oily water to the motor or detector to take an adverse effect on it. Take care to prevent the cable from guiding oily water or dipping in the oily water pan.(3) Sufticiently check the cable clamp method, and prevent. the cable connection area from being exposed to the bending stress or the woight stress of the cable itself. In the application where the motor is moved, determine the curveture radius of the cable judging from the bending durability and cable type. ‘Take care to prevent the cable sheath from being cut by sharp cut chips, torn with the corer or the machine or stepped on by man or cart. (4) The servo motor is horizontally mounted, and the spindle can be faced upward or downward as desired. @ wen the spindle is faced upward, take some counter- measures to prevent oil from entering the motor from the gear box or similar, In this case, only the oil seal provided on the motor can not prevent entry of the oil. ® te motor provided with electromagnetic brake is also horizontally mounted, and the spindle can be faced upward or downward as desired. When it is faced upward, vibration of the brake plate may result in sounding. But it ie not an abnormality. ® The motor provided with reducer can not be operated in ‘any other position except shown in the outline drawing. Use the motor as specified in the outline drawing. @ When the motor is horizontally mounted, always keep the oil level lower than the ofl seal ripple of the servo motor shaft, and provide the air breather port on the gear box to prevent the inner pressure from rising. Tf it is higher than the ofl seal ripple, ofl may enter the motor. fincsais| ~_[AR-SaLo#, 09 ede1 |row = [a] aasasar |in-scosa| na-scza] ma-sces ingeesa acsaidse HABE) fincseea frase rer cae PRES] nent eight from InotSe hate oe |e zo} a cany |a2 (aay |a4 any enter atm) Notes values if (Sie fe et ESPs, we, aaNote: For geared motors, some [_ fee sores restrictions are imported au jaar] on installation. salt Install such a motor in we accordance with the appli es cable drawing. (5) Daring transportation and installation, use care not to give mechanical shock or impact to the encoder of motor. Do not hold the encoder by hand, nor apply a wire rope or Slinger to the encoder to life the motor. In installation or assembly, do not hammer the motor end. Do not change orientation of the encoder. * Os Sees (6) For connection of the motor shaft to a machine shaft, it is reconmendod to use a “flexible coupling* which can automatically adjust misalignment of two shafts. When the motor is secured in position, be sure to align its shaft with the shaft of the associated machine. Upon periodic inspection, check shaft alignment and correct if necessary. (Permissive shaft core alignment} 0.850 Measure 4 circumference locations for the shaft core alignnent. vt Mount the shaft so that the difference oo between the maximum and minimum values is less than that shown in the alagran. -7-(7) Do not exert a load exceeding the Limit shown below to the motor shaft. Permissive shaft end load for the servo motor Permissive |Perissive ecoee oe radial load {thrust load HA-scos3 1530 107m | 9@Nem HA-Sc13 1530 Li7Nem | 98Nem asc [a-sca3 1930 176Nem | 147m [HA-SC43,63 1=40 323mm | 204em HA-SA22, 33, 125 196Nem | 147¥em [standard fwa-sas2,53(7) ~| 2-55 900Nem | gsoem HACSAL02,103 (2) |(Z-58_392Nem) HA-SA fua-saz20 - : = Pee eae 135 296mem | 1960 [aa-sar020 1=55 637mm | _4900em row |uuaeasan = = = inertia |ria-sal02L soe oe aoe Notes: 1. The permissive thrust load and pernissive radial load are applicable when they work independent1y. 2, The permissive radial load parenthesized with (" )-is applicable for the taper-shatted + The codes in the table are as follows: 1 Section * | oe Li Distance (nm) from the flange mounting surface to the center of the load:4. EXTERNAL WIRING AND CONSTRUCTION 4-1 Power supply connection ‘The power supply and ground wiring is shown below. ‘To prevent malfunction caused by external interference (noises) and to assure safe operation, the servo amplifier, positioning unit and servo motor should be grounded. The servo motor and the servo amplifier should be grounded to @ single point (common grounding line). Notes: 1) Better noise withstanding effect can be expected if the shield of motor detector cable is grounded via the earth plate. See 4-9 (5)+ 2) Arrange the signal cables remotely from the power cable:4-2. Standard wiring diagram (1) Example of connection with the positioning control operation AD72 [Pexcncnceacarsries Fig. 4-1 Example of connection with positioning control operation ab? pe d no(2) Example of connection with the position Ang control operation MR-PO Fig. 4-2 Standard connecting diagram I of positioning control operation ne(3) Spoed control operation Fig. 4-3. Standard connecting diagram of speed control operation -42-(4) Torque control operation Fig. 4-4 Standard connecting diagram of torque control operation -ua-4-3 Connection of the regenerative unit When the regeneration frequency is high and a regenerative option unit 1s used, connected as shown below. Always connect the regenerative option unit when using the MR- sc100. Servo. Ragenerative option ae amplifier | unit used Short bar at shipping ex-8¢10,20| None None [connect MR-RBO82 or MR- [Always remove when mR-Sc40,60/RB32 as necessary. fusing the regenorative option unit. le. [connect either MR-RBOG? [None sc100 [oP MR RDS2 (2) Connection of the regenerative option unit MR-RBOB2 vita List (D) Connection of the regenerative option unit MR-RB32 Fig. 4-5 Connection of the regenerative unit -ueCautions for operations 1. When the regenerative option is used, be sure to renove the short bar (D to P) in the servo amplifier (for HR-Sc40 oF WR-SC60. This is not included in MR-SC100 at shipment.) When operated with the short bar attached, the anplifice nay be. damaged. 2. When ‘the regenerative option unit is wired, be sure to se twist cables. Make the cables as short ae possible (Sm or les): 3. Always use twist cables for the temperature detector when using the HACSA motor to prevent malfunctions with Inductive noise.” Renove the short bar between Gland G2 at this tine. 4. The regenerative option unit main body generates a heat of up to 100 deg, so do not mount it directly onto @ wall surface that is not heat resistant. Use nonflamnable wires or those that have boon protected with nonflammable means (silicone tubing, ete.}, and make sure that they do not touch the regonorative Option unit. 5. When the regenerative option unit is used, sot a value that corresponds with parameter No.l. 4-4 Connection of the dynamic brake option Rapid stop is applied with the dynamic brake option when it is necessary to stop the motor due to an emergency stop or an alarm. Select according to the motor being used. If mistaken, the motor may burn out. (oe) Yee gone ven 9.389 oF A TRESPASS GEST Sine aloes [REG ST] 4, ye nan bras connector jo b MR BDBU—14 ORL Shr and trae off when eke plese i oD LOPS lian Eee Soo rote Eontacr point off Tne sate RES e Berar Fig. 4-6 Connection of the dynamic brake soAssenbly of the detector cablos Assemble the connection cables with the motor PLC and servo amplifier as shown below. when placing an order (core wire ©f 0.2mm), specify the type of the cable set corresponding to the necessary wire length. () Relay cable for HA-Sc type motor detector A cable connector (1m) is built into the encoder so it can be connected to the servo amp connector (CN2). However, if a wire length exceeding 1m is necessary, assomble ae shown below. Fig. 4-7 Connecting diagram 1 for encoder cable (relay cable length 5m or less) - 16 -Fig. 4-8 Connecting diagram 11 for encoder cable (zelay cable length 5m to 30m) (2) cable for HA-SA type motor detector (a) Sm or lese (b) 30m or less Fig. 4-9 Connacting diagram for PLG cable -u-“6 Common Line ‘The common line in the servo amplifier is shown below. ‘The @igital input and output signals are insulated fron the internal circuit with the photocoupler. ‘The analog output signal is connected to the pulse series input and output signal with the internal common line. opt 0) | Fig. 4-10 Common line in the servo amplifier ae4-7. Signal cireutery (2) Power-on sequence ® Apply a 3-phase ac power supply to terminals R, S, and to start the power in the control circuit. Tt will take a maximum of one second (normally 0.3 sec.) to initialize the servo amplifier. @® The alarm signal will turn on in 0.1 second after the power is turned on. This will turn off when an alarm Occurs or the power is turned off. © Tf the servo on (SoN) signal turns on after initializing, and the internal contactor (MC) ie turned on, the main circuit will be fed with power and operation will be possible. @ If the reset signal (RES) turns on, the base current of the transistor is shut off, the motor will coast. @® If the servo on signal turns off, the contactor will be open. Fig. 4-11 Main circuit external connection diagram Fig. 4-12 timing chart for when the powor is turned on [important] Do not turn the SOW signal ON and OFF frequently, as it will lead to trouble. (The total open/close times: 100000 times. Guideline: 20 tines/day or less) Always start and stop with the special external input signal. -1-(2) smexgency stop eiroult Use the dynamic brake (optional) when the motor must be stopped suddenly due to an alarm or emergency. For details on the external connections refer to section 4-4, and for the timing chart, refer to section (3) below. (3) Timing chart in cage of alarm Tf an alarm occurs in the servo amplifier, the power transistor base current will be shut off and the motor will stop. ‘To remove the alarm condition, use the "RES" signal or turn the power off and on. (*The overload" alarm cannot. be reset with the "RES" signal ... refer to Section 7.1). Fig. 4-13 ‘Timing chart in case of alarm [important 1. TE ‘the power is turned on and off repeatedly to reset. without’ removing the cause of the alarm (overcurrent or overload), the heat rise may result in damage to the power traitsistor in the servo amplifier. Operation should be resumed after allowing the power transistor to cool off for at least 30 minutes after the cause of the alarm is removed. Tf the power is turned off and then on repeatedly to Reset the regenerative overvoltage alarm (AL30), the discharge resistor nay overheat and cause trouble. Tf instantaneous power failure lasting 15 msec or longer occurs, the protective function will activate, If the power failure continues for another 10 msec (30 to 30 fasec.), the power will stop, the protective function will be resét. the servo amplifier will be initialized when ‘the power is restored. To prevent accidents, the "SON" signal should be turned of when instantancous power failure occurs. - 20 -(4) Use of motor equipped with magnetic brake If @ magnetic brake is used as additional safety means (for prevention of upper/lower shaft falling, or. support. of dynamic brake during emergency), pay attention to the following points. @ Me brake should be for safety type, and is activated when the DC24V power is turned off. When the brake is activated, the "SON" signal should be turned off. © When the brake is used to prevent upper/lower shaft: from falling, en appropriate time delay should be considered 8 for the sequence. a + If a time delay cannot be provided at servo off ("SON" Signal OFr), the Dc power supply should be turned off. when the "SON" signal turns off eo that the dropping distance is minimized as mich as possible. Braking delay tine AC off: Approx. 0ci_ sec. De off: Approx: 0.03 sec. =a4-8 cautions for wiring (2) Main ctreute Table 4-1 Cautions for wiring (main circuit) Description AC power supply 1. For AC power supply, 200V supply is used. If available power supply is 400v, use an insulating transformer to provide’ 200V supply. Single-phase operation is impossible 2. Capacitor is used in the primary supply circuit. Immediately after the powor Le turned on, large current flows for charge of the capacitor and may cause voltage drop. Conscquentiy, it is recommended that Progranpable controller, if used together with the sorvo amplifier, ie fed with Independent powar: 3. Do not connect a wire 10m or less to power source that exceeds 1000KVA. Magnetic brake power supply For the motor magnetic brake, DC24V ie used. Note that servo amplifier driver power supply "vpD" (De24v) may not be used to Grive the magnetic brake. cable size and no-fuse breaker Recommended cable/wire size and no-fuse breaker are listed below. coy vine oy Continued on the next page. paDescription fairing 1. Note that each phase of servo amplifier output (U,V,W) Must meet that of motor input. If phase sequence does not meet, the notor may'run out of control of generate intense Yibration. Note that correct phase sequence cannot be achieved only by changing connection betwoon two phases. For power source terminals (R,S,T) of servo amplifior, it is not necessary to consider phase seqience. 2. Do not connect power source to the output terminals (U,V,n)= 3. The sorvo amplifier cannot be covered accidents due to leakage. Pay attention eo that the cable does nat touch the chassis, etc. Tf the overcurrent protector is, Eopoatediy operated, it will lead to deterioration of thé parts, and the transistor will be sometimes broken. If the protector is activated, securely correct the cause. 4. Be sure to use twisted wixes for connection of motor thermal protector (Gl, G2)~ = whan HA-SA motor if used, When thermal ‘protector is net used, shore~ circuit terminals Gl and G2. When HA-SC notor is used. 5. Optional discharge resistor for regenerative brake. The regenerative option is differently connected depending on a model. Refer to Ttem 4-3. Any other except the exclusive unit can not be connected to the connection terminals of the regenerative option of the servo amplifier. If it is improperly wired, the amplifier will be broken. Moreover, refer to Item 4-3 for other caittionary points. Continued on the next page. -23-Deseription Dynamic brake connect the dynanic brake option that conresponds to tho motor being used eee. Refer to Section 4-4. ‘The motor may burn’ out (pulses) ‘Alam (alam 52) will occur if the remaining pulses axe nore than 65 Fpolses. In this case, Kp should be set so that the following condition is mots # © 65 x 10° (pulses) If the motor runs in spite of the speed command is during speed servo operation This problem occurs due to the offset of the input of an external speed reference signal (does not occur when the internal speed reference command is used). To stop the motor. set "VC offset (parameter No.13) so that the motor does not run when speed reference voltage is ov. turn off start signal (DI3, DI4) at stop of the motor ss++ control leop changes to position control loop and servo lock eccura. if start signal cannot be turned off, “proportional control” mode should be selected (external signal PC-sC "ON") and setting of parameter No.31 (speed proportional control) be decreased (about 800 to 980). ~ 497. TROUBLESHOOTING Investigation procedure and countermeasure for alarm rm ‘The alarm (servo protective function) activates because of ‘the following causes. If an alarm occurs, check the alarm code fon the display, grasp the cause and take the suitable countermeasure. Note: oe In case of the regeneration abnormality protection (alarm code A130) and overload protections 1 and 2 (alarm codes ALSO and 51), the operation state is held in the servo amplifier evan if the protective circuit is activated. ‘The menorized content can be cleared by turning off the external power supply, but can not be cleared with the RES signal. ‘This will not be cleared ‘even when the servo on (SON) signal is turned off. If resetting is repeated by turning off the external power supply when the alarm code ALJ0, 50 or 51 feccurs, overheating may lead to breakage of the element. Aftor the cause is securely renoved, restart. the operation. In case of alarm (A130) if the input power supply is frequently turned off and then on to reset the system, overheat of the discharge resistor unit may cause trouble to the servo amplifier. Reset the system after the cause of alarm is removed. = 50-Table 7-1 Investigation procedure and coutnermeasure for alarm eo ere Steams “© | Raa te eo | atts oi cect wane | eee [SERRE LE ie SST Baer Ee en a iefectives Vineeatiation (location fecrrectiy. ™™ snd bending’ of pin} att fraeenaoy oo) © RES = [ess Sead GB gues we teas suis feoed tastuce aay [ leyeck [2s zalay = |feeovy the caure oF seeee) a 7 fear taste (v0) detseelve ~ 51MP] ew com = = F Beer page ear am ioconnected 2, Histently taheenes. [detectar (wip Isoee’eonnactione SS SEP SRS a, age = ee ili aw | Ecce get se | tas _ a Ee ce dL—rt—~—té—‘_eéee_s_OCOCO‘CN cnr te) [sbactnnn ey” com) * ) -32--s3-ars fouta trounte (or) y sary [racanatar exror (28) ~ 547-2, Troubleshooting If trouble occurs with the servo motor or amplifier, find the cause and remedy in accordance with the following chart: (2)_Notor does not start. t . = "gee" Ege ate tegen. eeu} Soiwariaree |S | 1 plSyea'by read or as ESRI] scone cape Gher mss) 56 -a1 MAINTENANCE AND INSPECTION Cautions and inepection Z£ any trouble occurs with your serve system, perform inspection in accordance with the following instruction: cautions MELSERVO-SC servo amplifier uses large capacitor. After the power is turned off, the capacitor remains charged for a while. Before making inspection, check that the CHARGE lanp (zed lamp on P.C. board) is off. Parts at uppor portion of P.C. board RG60 to RG69 are at high voltage. during inspection, take care not to touch these parts. Do not use a megger to check insulation resistance, withstand voltage, etc. Otherwise the servo amplifier might be damaged seriously. General inspection (2) 1s alarm code displayed? (2) 1s the same trouble reproducible (check alarm his~ tory)? (3) Ave temperature of motor and servo amplifier, and anbiont temperature normal? a lihen does the trouble occur? (during acceleration, deceleration or, constant~speed operation)? (5) Is direction of rotation of the motor correct? (6) Did instantaneous power failure occur? (7) does the trouble occur when specific operation is done or specific reference signal is given? (8) Does the same trouble occur frequently (what is the frequency) ? 0 Did the trouble occur when load was applied to the motor? (20) Pid the servo motor or servo amplifior be remedied in the past? (21) How long have the servo motor and servo amplifier been used? - 61(22) Is the supply voltage proper? Does voltage regulation change remarkably during operation? 8-2 Voltage and current measurement a ee eo a Motor voltage neasurenent Voltage output from the servo amplifier is under PRM control and there- fore has pulse waveform. To measure this type of voltage accurately, use @ filter circuit shown to the right and a rectifier type voltmeter. Since pulse waveform of current is transformed to waveform by reactance of the motor, a moving core current meter can be used. To measure power, use an electrodynamoneter type instrument. Other instruments When a synchroscope or digital voltmeter is used, pot ground it. Use an instrument requiring input rent less than Ima. ~62- type a0Periodic inspection The servo amplifier is a static equipment, and requires no daily maintenance and inspection. However, perform inspection at least yearly. ‘The servo motor is of brush-less type, and requires no periodic maintenance. But, it 1a recommended to check for sound level and vibration from time to tine. (2) cautions When inspection is made under Live condition, pay atten- tion to the cautions described in para. @.1 and 8.2. (2) Inspection points a. Check if dust deposit is found in the servo ampli- tier and clean, if necessary. b. Check terminal screws for looseness and retighten. Check if any component is defective or damaged (iscoloration due to overheat, open circuit, etc.). For continuity test of control circuit, use a multi- meter (high-resistance range). Do not use a megger or buzzer. fe. Check cooling fan for operation. Check that motor bearings, brake, etc. do not gener ate abnormal sound, Check cables (particularly, detector cable) for condition. G Replacement of components the following components wear or deteriorate with time and wear or deterioration may adversely affect the Performance of the amplifier or cause trouble with the amplifier end therefore should be periodically checked and replaced. -e-® Smoothing capacitor ... it deteriorates due to ripple current. ‘Though the life of the amoothing capacitor depends on ambiont temperature aid service conditions, is should be re- placed in 10 years (when used continuously in an al y tioned room), Since the capacitor may deteriorate suddenly, it should be checked at least yearly (every 6 months if it has been long used), Make visual check for 8. Casing ... Swell of side wall oF bottom 1b. Sealing plate .. Remarkable warpage or erack ©. Relief valve ... Remarkable extended or opened valve Also check the capacitor for visible defect, discoloration, elec trolyte leakage, ete The life terminates when the capacitance decreases to 85% or Jess of the initial capacitance. Capacitance can be measured with a capacitometer (various capacitometers are available in the market). ® Relays... worn out contacts may cause contact failure The life of relay will be usually 100,000 cycles of operation (though it largely depends on voltage and current applied). @® Motor bearings ... The life of motor bearings is 20,000-20,000 hr fof operation when the motor is operated at the rated speed fand under the rated load. If the motor generates foreign sound or intense vibrations, it should be replaced. Component | Standard life] Replacenent, ete Snoothing ara | Replace (the card.) capacitor 20 ye ae e Check and determine. (Replace the card.) Motor bearings | 2-3 yeara | Check and determine. ~ 648-4 Storage (Q) Motor When the motor is kept stored for any length of tine, pay attention to the following: a. Store it in @ clean and dry location. Storage temperature | Storage humidity =15°C to +70°C 908 RK or lee Note: To be free fron freezing and condensation. b. Tf the motor is stored outdoor or in humid environ ment, cover it properly to prevent entrance of rain water and dust. ©. When once used motor is stored long, apply anti- corrosive compound to shaft and other unprotected surfaces. (2) Servo amplifier It is not recommended to store the servo amplifier long. If long storage is necessary, store it with the following caution. a. Store it ina clean and dry location. Storage temperature | Storage humidity =asc to 465°C | 908 RH or leas Notes: 1, To be free from freezing and condensation. 2. Storage temperature shown above is for short-term storage. b. Because it is of open construction, take care not to allow entrance of dust and foreign matter. -65-Layout on the printed circuit board Check pins and switches aze laid out as shown in Fig. 8-1. Though the ordinary inspection and state check are carried out by the key setter and indicator, check the following states and signals as necessary. The switches which are designated “maker setting pur- pose" shall not be operated by the user. ® up Table a1 @ switches CPU error Located on the printed circuit boara indication |sa. Te ds 1it whan the CPU error lamp (red) | occurs in the serve amplifier. The following switches are provided. Set the switches according to the operation purpose. Table 8-2 Setting switeh List Printed | Switeh [Set at ecaction board | nano | delivers MODE Te] pusn- | Used for display of state S| Bitton | and alam and secting of nosso [OOM switch | (neter to the Chapter 5) ae Te is turned on Fo set the | oFF | special parameter and check the maintenance parameter. as Waker setting purpose or 2eo4| OF | test mode operation: ons | or! | Maker setting purpose 04 In accordance with the pulse p) | train input interface, wr | E> | open collector type Gj <2+ Lower sida’ (OC) + Differential driver type "Upper side (Dr)© check pins The functions and voltage waveforms of the check pins fon the printed circuit board are shown below. The check pin terminals are located on the printed circuit board Asi04, For pin locations, refer to Fig. 8-1. Table 8-3 check pin list ‘Tarim Signal [Ground Signal, content and waveform same {name [terminal ¥ Motor W-phase current sz] v | a2(6) | motor v-phase current 6 Control ground Wavefori] The waveform is different example | depending on the load, etc. W/V yates, Cy" indieaten tiaens valve. Continued to the next page. - 67Pisin] Signal Ground pane | terminal Signal, content and waveform a B | 32 (ey zee 32 (S) Encoder Phase A Bncoder Phase Encoder Phase Waveform] CCW revolution viewed from the example J load shaft of the motor. : a a ia (ee) mr 1 wotoe evmelutton (2/atn-} Encoder Phase U Encoder Phase V Encoder Phase W Waveform ‘example CCW revolution viewed from the load shaft of the motor a eee epee a7 vs | a7as) ms ‘mtrel grand $5¥ (4.95 to 5.250) =15V (14.25 tm - 15.75) $15V_(04.25 to 15.950) 37 a7 Tnterface signal ground $200en THR Pe erin rae Smertaon fag. vpn collessr eypelener side (C0) a + iiterential receiver pepe sidan) Fig. 6-1 Layout crawing of printod circuit board (ote) 216,57 ebow chock pins. ~ 69 -9. INPUT/OUTPUT ‘TERMINALS 9-1 Description of terminals ‘able 9-1 Terminal list ‘Terminal Terminal | symbo1| 26 Description Le lconnect to the commercial power acopewer | as supply (200V/S0Hz or 200/220/230v/ eupely bone) Servo connect to the motor terminals amplifier |u,vyw] ter |(u,v,W «+; phase sequence may not output, be’ changed)» When using the regenerative option Discharge unit, connect if between Pxc.” in resistor unite that have a short-bar for regeza-| P,D,c jnounted batween ?-D at shipment (MR-| tive brake SC40, MR-SC6O), renove the short= (option) bar when connecting the regenerative option unit. Motor Connect to motor thermal protector rotec- | 1,62 eee 7 TE2 leerminal (red). connected to ground (internally if Jconnected to the neutral point of Ground, m1 [power filter, and chassis) * Surely grounded together with motor ground at one point -10-mable 92 cw sims oom [om] sce] euciniono emctin, apstnion fttor [a com | 9 |S Stents aah 20" eStaitn SE ee. free tn Sess ane thee cnet eee Bie aimee tay eta beats oy Tent | gm | ag | EESUGn IS) cooctioy piace a Reverse run argos, sonteel asad the torque” etiuttonce year Sar eee an Sn ar REGGE opted pts i se aoe potions. | au] [RR REE SATE Shen ae BESSA) 28] BN eaten a rae 7 HES eee el seme | oe | on |ectsie eRe ae Sie a ts sevty i SGUCU SIE ERL STE aan, | -nesisvet nam | mea] irae] secretin of tmeion,apatention [feta | [Son‘of comand! gnit ané'1/0"folay driver) peed soevel Uipwe eantnal pT T= 7 femnnd tt) or ESrgeejcontcat | TOW | 35 (0 25 ink cote tna seni ee efatwae,,, en, s10e0> 49 apenied, ister th ERS Sat farmer foes (el,terige Heats command inpat tornipats Pei vhg meernal eran "aindt signal” Wau) ia ) vise | oa9.3 Control signals and operation nodes © torque Limit signal (Lar, TAN) ‘The relationship between torque Limit reference signal and operation mode in position control and speed cont- rol operation is shown below. To use torque limit, turn on TL (external torque limit) signal. Pay attention to polarity of TLAP and TLAN. Torque Limit signal operation mode Signal | Signal voltage : FTES [pow mar | +0.05 to siov | Fe F9- Trev run ™ = stov | rwa run | Rev Eeg- an | -0.05 to -10v| Pwa hare © wonitor Relationship between speed or torque monitor output and operation mode is as listed below. Operation node Monitor s8v output, @ output | © output = speed | Forward | Reverse | nated speed Torque | nev run| Fwd run| Max. torque @ setection of direction of rotation Relationship between combination of external speed reference signal (VC) and forvard/reverse start sig nal (STL, ST), and direction of rotation of motor in ‘speed control operation is listed below. ERE. speed reference] Fwd Seat | Rev. stare (c)_pelarit sion’ | st ‘ow’ ©® plus red run | Rew run © minus Rev run | Pwd run =m.@ speed selection Relationship between speed select signal (DIL, 12) and external speed reference signal in speed control or torque control operation is listed below. © torque type selection Speed reference prt | 012 ist speed (sch) | on | OFF Speed set by 2nd speed (sc2) | oFF | ow parameter 3rd speea (sc) | on | ow External speed reference (vc) | OFF | OFF Relationship between combination of forward/reverse start signal (SM, S12) and torque control signal (ua), and torque type in torque control operation is Listed below. ‘Torque reference | Operation mode TLAP polarity a ® plus Rev cen | Fwd run © minus Fwd run | Rev run ao10. DISPLAY AND PARAMETER LIST 10-1 operation status monitor During operation, variables listed below can be displayed for monitor. Desired variable can be selected even during operation by pressing [UP] or [DUWT] button. Usually, variable can be read in the order Listed below. Tt is, however, possible to place » desired variable to the head by the parameter No.24 (zefer to 10-4). Table 10-1 Status monitor display List Description (aisplay example) Anount of motor rotation te displayed in terms of pulses. HA-SC motor 8000 pulses/zev, HA-SA motor 12000! pulses/rev. TE cumulative pulses excead 959999, count returns to "0". When "Ser button ie pressed, the readout is reset to. "0 For reverse rotation, all dis- Played numerals are accompanied with decimal point. amma OOM sam (fotation! fotaeion! Nane [S| Range /anit Cunutative| | -999999 puises feedback £0 pulses 999999 pulses Motor spaed is displayed. For reverse rotation, symbol (-) is placed at head of numerals. om cH Reverse Forward (rotation! (otation! Motor . speed 2000 ein Continued to the next page. - 6Description (aisplay example) Remaining pulses 70000 patos Remaining pulses are displayed. Por reverse rotation, all dis- played nunerals are accom panied with decimal point. ESE] CLO — se) (A negative, (A positive, ‘Bunber ‘number Cumulative: roference pulses 799999 pulses 95999 pulses Input positioning reference pulses are displayed. Value not subjected to pulse multiplication (CHx/cov) is Gisplayed. Pulse count may not mest cumulative feedback pulses. When count exceeds 99999, it returns t0 "0", The readout can be reset to "O" by pressing "SET" button. For reverse rotation, all Gisplayed numerals are accom- Panied with decimal point. (EEE eo PRESEN (Reverse , (Forward (rotation rotation! Reference pulse fran frequency, PA =200kpps to Input positioning reference pulse train frequency is dis- playea. Unit is KPPS when decimal point is used, and FPS when Gecinal point’ is not used. Value not subjected to pulse multiplication is displayed. For reverse rotation, symbol (-) is placed st head of pumerals. eoanocd (Reverse (Forward (Forward rotation rotation ratation ‘20kpPS) L00pps)_200KppS) Continued to the next pager --‘baacripeion Name [por | Range/unit (display example) a Speed reference signal (apocd Speea Limit) ‘voltage is displayed. reference |p | 9 45 sigy | tt is 10V at full range: voltage EE co en Reverse Forward ‘rotation! (rotation! a Reverse torgue Limit signal Limit uP 0 to lov voltage is displayed. signa oleae SE foo Forward torque Limit signal S28 Jon | a eo -tov | voltege ie displayed. signa a voltage CEEBEE) Regenerative brake load is aisplayes in terms of percont~ age to permissive regenerative Stake ancy Peres Ie depends on whether optional ne ta] oto 1008 | discharge resistor is coed or ce not. (parameter 1 should be set properly) cum | continuous and effective load Losa an | 50 torgue is displayed: Fate about 2508 onc Peak torque during acceleration or deceleration ig displayed ia Peak 6 Tho maximum motor torque is Toad ge]? Sout a008 | assumed 1008 oEcoe Continued to the neXt PAGE -78-10-2 Diagnosis indscation This display mode is selected to check external control sequence. Table 10-2 Diagnosis display list Display Description control sequence lalla ‘The system 1s not ready for loperation This display appears during initialization after or before servo OM, or during alarming. ‘The system is ready for opera— ‘This display appears when initialization is completed after the power is turned on, indicating that operation can be started. External 1/0 signals Ee Status (ON or OFF) of external input or output signal ia dis~ played. Upper vertical Line of each LED segment corresponds to input signal, and lower verti~ cal line to output signal. In the example shown to the Lest, all input and output Signals are on. Relationship between segment vertical line and input/output signal is as shown below. ‘Note L-Enput signal pin hie adapted to state at shipwents (can be change! vith the paranater ht 27,18) 2.1se and Usi are glowing contimioasiy under tho speed or toraie enerol mode. (setting at ehspment} Software For manufacturer's control. IMaker con- ferol nunber| EISIEIg) Ca — DATA — For maker control -79-wien goceestor date wat 7a FREIBETETG) | is"enet cise cree we? Nortnaeee | ataberentet ta cuariayes, cvs | fete paraccec te catered e GIREIESSIE} [pice sua *srrs aetesett ot Alarm history or parameter error {s displayed. Diiring alarm, the decimal point at the top digit flicker no matter what isplay mode is used, Nane Display Description alarm history Slane con be Sisplayed in a etithe Gop digit’ iy fliauaee (Ealchorihe obeuet daly tn alarm Sonattton}® A10-4 User paraneter setting data Table 10-4 User paraneter setting coREroT TATE sotoe ret St: RSstesondas (Bulge EES pee Before operation, tise az: Speed Tnai051°9 hpceds) Rie patanatee be put G3: Sfeea (anatog, 3 speeds] eorove | | Eas S2iRe"sS LETS, 4: forges fanaton) Sneo' ana’ conuppi ving Simorgecerol(ealonand position (gute | | SEP tne cae ‘eeayisiec. “Rata eee a o- | cnx | Reference price muttipticetion (nunerator) >| ys |. ote: GEE snouta be Larger nan ys but anatier ine a Smoo escrtntion [ae Pes ose ir DPT aie ia? Joo | REMSERE.SRIE tne cate tet = ie os) aie eae |e es | 100 [iia |2808° Setiog valve 300 | 100 | 200 | 300 ie ) we na] aw tase 382 (onan [saa ara co Swans [ae | [oe set | er Sea tage (peed cetcen ot epeed tinue) oe | 6 | 200 |u| OS sea | nd speee range (epeedretarence or speed tines ot | %¢ | 3000 |rmif sity ISL on apt ethan itt ect J Speed reference (2) ne ‘Speed acceteration/deceleration tine constant 7 (nie eteateytcneien ne, aeSebecta she functiong of input elaee, (compacts CM Won. 12, 24, 28, 27, 23) ‘ecerenry to aajusts anitin’ vaduat ale Wr"aboon’befows 2” (* 2 really TBH Ueterstt"Sptea « [ee t_[sm | sre [ow [on jecgy eres sees = [rows [1] en | ene | oa [om ee SEIN! be rejected at » parapoter erzor, (10' fn exctuded ftom att,) GLEE. esses heaps pte ret Saestana sss. Yonktor mote lection) 2" Speed monatar Tt output) 1h Eetgee"soaiton (2 SUGPIE} ay 2i dpeca'nondtor’ {e Suehaey 3: Segue’ monster (0 sutfas) 22 4 Cortene"oucpe (2 Suepee) i, #2 "15 tongue control node (BY outpvt. for aaeioun torque. “2 usd an the gut of the standard shat of the SEER spt fated ny sttn te pwr off, bok o ein the -sos Special paraneter data Table 20-5 Seecie| 2 Por sanafectorer's setting 808 20] Josspitione 9 207 comand = pe rial a we ana de rdeTopiice th #0598St $SDor= ‘fe"evtrioted by efther vette of" Lover EEA EERSTE Nee Te SSE ems ee ood Sit sao tees de Eetreecoh i sete wfeh intel iret ie, ‘She output tongee with Haar of "is fans” erat Por penatactarar's setting a She siceder output" (open collector methods =" ‘ev fanvsn foto) wien Uharaitiainy Seiden UES OF [Polen npecefon/ecnleatin tig constants wom EIESSREISE5 cor ee cone note opeation. 1, Inca ote ini valu (mtr rr ed LV ata pnd of he te ed ‘Wie Pr 50 eat a ther ape 10 ite stg 2, Forpwaneters sare who tr eg compen aa WY ail by trite pow ply ako. = 85 -u-6 Parameter setting value entry table Set paraneter according to the purpose of operation or specifications before starting operation. Parameters, as shown below, are composed of user paraneters, special parameters and maintenance parameters but the setting by user is limited to the user paraneters. ‘Table 10-6 Parancter setting recording table2A. MITSUBISHI ELECTRIC CORPORATION {cri we ud pas ale COGN Sues ean ea enn ay ae wa