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MITSUBISHI GENERAL-PURPOSE AC SERVO SYSTEM

Position Control MR-SO'II

P

- Instruction Manual -
Thank you f o r y o u i p u r c h a s e of MITSUBISHI [ g e n e r a l - p u r p o s e 1
s e rvo-sys tern tlMELSERVO.SOt' .
T h i s manual d e s c r i b e s t h e i n s t a l l a t i o n . o p e r a t i o n . mainte-
nance. t r o u b l e s h o o t i n g and o t h e r i m p o r t a n t i n f o r m a t i o n neces-
s a r y f o r s u c c e s s f u l u s e o f y o u r MELSERVO-SO .
For trouble.free. l o n g u s e o f y o u r MELSERVO.SO. please read
t h i s manual c a r e f u l l y .

.
1 CHECK UPON UNPACKING ..... 1
2 . TRANSFERENCE ..... 1
3 . INSTALLATION ..... 1
3.1 S e r v o - a m p l i f i e r and power u n i t
3.2 Servo-motor

4 . WIRING ...... 4
4.1 Main (power) c i r c u i t
4.2 Control c i r c u i t
4.3 S t a n d a r d :cirirlg diagram
4.4 Input/output terminals
4.5 Connector p i n arrangement
4.6 Encoder e x t e n s i o n c a b l e
4.7 C a p a c i t y of power s u p p l y u n i t

5 . I N I T I A L SETTINGS .... 18
6 . OPERATION .... 2 3
6.1 Check t o b e accomplished b e f o r e s t a r t i n g
operation .... 23
6.2 I n i t i a l operation .... 2 3
6.3 S a f e t y a g a i n s t power f a i l u r e .... 25
6.4 I n d i c a t o r lamps .... 25

7 . ADJUSTMENT .... 28'

8 . MAINTENANCE .... 3i

8.1 C a u t i o n on i n s p e c t i o n
8.2 P a r t s and d e v i c e s t o be checked
8.3 Consumable p a r t s
1. CHECK UPON UNPACKING

'When you r e c e i v e MELSERVO-SO, check i t t o i d e n t i f y .

(1) See t h e nameplate t o make s u r e t h e models o f t h e servo-

a m p l i f i e r and t h e servo-motor, and t h e o u t p u t r a t i n g s
meet y o u r o r d e r .

( 2 ) Check a l l components i f t h e y were n o t damaged d u r i n g t h e

transport.

If any damage i s found, o r any q u e s t i o n a r i s e s , p l e a s e a d d r e s s

t o o u r s e r v i c e agency.

2. TRANSFERENCE

The s e r v o - a m p l i f i e r , power u n i t and servo-motor s h o u l d be

c a r e f u l l y h a n d l e d when t h e y a r e t r a n s f e r r e d and l o c a t e d .

During t r a n s f e r , c a r e s h o u l d be e x e r c i s e d n o t t o damage t h e
encoder i n s t a l l e d on t h e servo-motor .... DO NOT HOLD THE EN-
CODER BY HAND, NOR APPLY A ROPE TO THE ENCODER WHEN THE SERVO-
MOTOR I S LIFTED OR TRANSFERRED.

Encoder

0
3. INSTALLATION
3.1 S e r v o - a m p l i f i e r and power u n i t

1) The s e r v o - a m p l i f i e r and power u n i t s h o u l d be l o c a t e d t o

a c l e a n and d r y p l a c e where t h e y a r e n o t exposed t o t h e
d i r e c t s u n l i g h t , m o i s t u r e , dense d u s t and d e t r i m e n t a l
gases.

Ambient c o n d i t i o n s
Ambient temperature 0 t o 5S°C ( t o be f r e e from i c i n g )
Ambient humidity Max. 90% ( t o b e f r e e from conden-
sation)
Vibration Max. O.SG
 go up e x c e s s i v e l y .

Model l ~ i m e n s i o n"h" ( m m )

- -
Oil level

Note : ( ) i s a p p l i e d t o motor
v-ring Lip equipped w i t h b r a k e .
2 ) The motor s h o u l d _ n o t b e l o c a t e d , where i s a t h i g h tempera-
t u r e and h i g h humidity.

If i t i s l i k e l y t h a t t h e motor i s exposed t o s p l a s h i n g
o i l o r w a t e r , a s u i t a b l e c o v e r s h o u l d be i n s t a l l e d and
t h e l e a d s s h o u l d be l e d downward s o t h a t o i l o r w a t e r does
n o t r u n i n t o t h e motor a l o n g t h e l e a d s .

Ambient c o n d i t i o n s

Ambient t e m p e r a t u r e 0 t o 40°c ( t o be f r e e from i c i n g )

Ambient humidity 2 0 t o 80%RH ( t o be f r e e from con-
densation)
Vibration Max. 2G
>

3 ) When t h e motor s h a f t i s d i r e c t l y c o u p l e d w i t h a machine

s h a f t , i t ' i s recommeded t o u s e a " f l e x i b l e c o u p l i n g " .capa-
b l e o f o f f s e t t i n g alighnment e r r o r between t h e two s h a f t s .

4). The motor s h o u l d n o t be o v e r h a u l e d and t h e encod, should

n o t be r e l o c a t e d .

I f any f o r e i g n sound e r i s e s d u r i n g motor o p e r a t i o n , con-

s u l t o u r s e r v i c e agency.

5 ) The motor w i t h magnetic pmke s h o u l d n o t be used f o r

deceleration.
I t should be used f o r p r e v e n t i o n o f f a l l i n c a s e of
power f a i l u r e o r emergency s t o p .

6 ) The s h a f t o f motor w i t h magnetic brake may c a u s e

f l u x leakage.
 t a t i o n cannot be r e v e r s e d ( t h e system d i f f e r s from con-
v e n t i o n a l motor c o n t r o l s y s t e m s and i n v e r t e r - c o n t r o l l e d
s y s t e m s ) , by changing power p h a s e sequence.

9) The i n p u t power s o u r c e c i r c u i t s h o u l d be s u c h t h a t t h e
power s o u r c e cannot be d i r e c t l y a p p l i e d t o t h e o u t p u t
t e r m i n a l s (U. V. W).

Although t h e s e r v o - a m p l i f i e r i s p r o t e c t e d from s h o r t -
c i r c u i t i n g between s e r v o - a m p l i f i e r o u t p u t l i n e s (term-
i n a l s U, V and W) by t h e o v e r c u r r e n t p r e v e n t i v e func-
t i o n , t h e system is n o t p r o t e c t e d from ground f a u l t o r
any l e a k t r o u b l e . Therefore, c a r e should be e x e r c i s -
e d t o p r e v e n t c o n t a c t o f any c o n d u c t o r w i t h c a s e o r
other metallic part.

1 0 ) A grounding w i r e s h o u l d be c o n n e c t e d t o t h e ground term-

1-
inal without
(7) f a i l ( s e e F i g . 1).

The grounding s h o u l d be o f " c l a s s 3" ( r e s i s t a n c e t o

ground: maximum 1 0 0 ~ w
~ i )t h g r o u n d i n g w i r e o f 2mm2 i n
size. The grounding w i r e s h o u l d be as s h o r t as p o s s i -
ble.

( 1 ) Exclusive ( 2 ) Common (3) Common

grounding grounding grounding
line .... line .... l i n e .. .
BEST GOOD NOT ACCEFTABLE
Application Symbol Illustration

Amplifier s i d e Machine
side
Control s i g n a l F=
CN1
1i n e A p a i r of twisted wires
HONDA ( 0 . 3mm2) s h o r t e r t h a n 2 m
MR-SOF

Amplifier s i d e Encoder

Motor e n c o d e r
cable ( l e a d s ) CN2 A p a i r of twisted wires
HONDA Max. 30m l o n g i s p o s s i b l e
MR-20M when an e x t e n s i o n c a b l e i s
used.

@ Wiring
o The s i g n a l l i n e s s h o u l d b e l a i d down away from ( a t
l e a s t 20cm) t h e power l i n e s a t v o l t a g e h i g h e r t h a n AC
lOOV ..... Do n o t p l a c e s i g n a l l i n e and power l i n e t o -
g e t h e r i n t h e same w i r e wav o r d u c t ) .

o I f s i g n a l l i n e c a n n o t be s e p a r a t e d from power l i n e pro-

p e r l y , t h e y s h o u l d n o t be l a i d down i n p a r a l l e l w i t h
each o t h e r .

@ Termination o f s h i e l d w i r e s

o The armor o f each s h i e l d w i r e s h o u l d be c o n n e c t e d t o

c o n n e c t o r t e r m i n a l F G o f s e r v o - a m p l i f i e r ( S G f o r encod-
e r c a b l e ) a t one end. The o t h e r end o f t h e armor
s h o u l d b e k e p t open.

@ Surge k i l l e r

o I n s t a l l a t i o n of surge k i l l e r

AC r e l a y , AC s o l e n o i d v a l v e and AC magnetic b r a k e
around t h e s e r v o - a m p l i f i e r s h o u l d be
equipped w i t h a s u r g e k i l l e r .

DC r e l a y and DC s o l e n o i d v a l v e e x t e r n a l l y c o n n e c t e d t o
t h e s e r v o - a m p l i f i e r s h o u l d be equipped w i t h a d i o d e
( i t s w i t h s t a n d v o l t a g e s h o u l d be 4 t i m e s t h e d r i v e vol-
4.3 standard w i r i n g diagram
 CON Function/application
S i g n a l name p i n N6. I/O

FWD SROKE END LSP 47 Forward r u n s t r o k e end I

l i m i t switch terminal

When t h e t e r m i n a l i s d i s -
c o n n e c t e d from t e r m i n a l
VDG, "FWD runt' p u l s e s i g -
n a l i s i n t e r r u p t e d and
motor s t o p s . After t h a t ,
motor o p e r a t i o n can be
reversed. With s t r o k e end
l i m i t s w i t c h , LSP - VDG
s h o u l d be c l o s e d f o r op-
eration.

REV STROKE END LSN 46 Reverse run s t o r k e end I

l i m i t switch terminal

When t h e t e r m i n a l i s d i s -
connected from t e r m i n a l
CTJG, "REV run" p u l s e s i g -
n a l i s i n t e r r u p t e d and
motor s t o p s . After t h a t ,
motor can be be run f o r -
ward. With s t r o k e end
l i m i t s w i t c h , LSN - VDG
s h o u l d be c l o s e d f o r op-
eration.

ZERO PULSE OP 45 Zero p u l s e o u t p u t t e r m i n a l 0

When d e t e c t o r i s aT prede~ermined
pctton TI>& t s clcsed.
T h i s s i g n a l i s used f o r
home p o s i t i o n r e t u r n , e t c .
(1 s i g n a l p e r r e v o l u t i o n
o f motor)

CLEAR CR 49 Clear signal terminal 0

When t h i s t e r m i n a l i s con-
 CON -
S i g n a l name Symbol' pin NO.
Functionjapplication I/O

COMMON VDG 2 7 , 2 8 , 2 9 , C o n t a c t i n p u t s i g n a l com-

30,31 mon t e r m i n a l s . They a r e
n o t c o n n e c t e d t o t h e con-
t r o l c i r c u i t common l i n e .

FWD PULSE PP 13 FWD p u l s e t r a i n i n p u t s i g - I

TRAIN nal terminal

P u l s e t r a i n o u t p u t from
p u l s e g e n e r a t o r such as
AD71 i s i n p u t .

PG 12 FWD p u l s e t r a i n i n p u t s i g -
n a l common t e r m i n a l

REV PULSE NP 11 REV p u l s e t r a i n i n p u t s i g - I

TRAIN nal terminal

NG 10 REV p u l s e t r a i n i n p u t s i g -
n a l common t e r m i n a l

SPEED COMMAND VC 43 Speed command sigca?. i n p u t AM-

(speed refer- t erminal 1%
ence ) in-
put
When s i g n a l a t +10V is i n -
p u t , t h e motor r u n s a t t h e
r a t e d s p e e d (3000rpm) i n
CCW d i r e c t i o n .
The i n p u t r e s i s t a n c e i s 10
-12 KQ.

MONITOR MO . 44 E i t h e r motor speed s i g n a l Am-

log
o r motor t o r q u e s i g n a l i s ,t,
output ( i n t e r n a l l y selec- P U ~
table).

Max. 'IOV, 1mA

DC POWER SUPPLY +15V 9 +15V DC power supply term-

inal
*
Signal name CON
p i n NO. Function/application 1 /O

ENCODER OUTPUT 0A 33 2000 p u l s e s . 0 -

(Open c o l l e c t o r OB 34 per revolu-
type 1 02 35 t i o n o f motor ( s e l e c t a -
b l e ) c a n be o u t p u t from
OA and OB.

When OZ i s used, one

pulse per revolution of
motor i s o u t p u t .

Fhase o f o u t p u t from OA
i s i n advance o f phase
o f o u t p u t from OB by
h/2 phase.

COMMON OG 19, 20 Open c o l l e c t o r o u t p u t

common t e r m i n a l s

ENCODER OUTPUT T h i s is connected t o t h e

SIGNAL p3E-l
motor encoder.

( 2 ) Power supply u n i t

Table 2 Power s u p p l y u n i t 1 / 0 t e r m i n a l s

Signal name Symbo1 Function/application

AC POWER SUPPLY R, S To b e c o n n e c t e d t o commercial power

AClOOV 50/60Hz.

DC OUTPUT P, N To be c o n n e c t e d t o s e r v o - a m p l i f i e r
i n p u t t e r m i n a l s P znd N.

CONTACT OUTPUT a, c Auxiliary contact output terminals

f o r e x t e r n a l N F , used when p r o t e c t i v e
c i r c u i t i s b u i l t up

GROUND 1--- To be c o n n e c t e d t o grounding l i n e .

4.6 Encoder extension cable

The motor encoder has a cable of lm long (with a connector)

and can be immediately connected to the servo-amplifier.

If the distance between the servo-motor and the servo-ampli-

fier is longer than lm, use an extension cable specified by
us.

Cable length Model

MR-SOCBLSM

Motor cable (leads)

....l m long

4.7 Capacity of power supply unit

Make sure the capacity of the power supply unit is large

enough for the rated output of the servo-amplifier, or for
the total rated output of the servo-unplifiers (when two or
more servo-amplifiers are fed with one power supply unit).
 ( 3 ) Jumper p i n s

Jumper p i n s s h o u l d be s e t i n accordance w i t h t h e t a b l e
shown below. For l o c a t i o n of each jumper p i n , r e f e r t o
Fig. 3 ( 8 . 3 ) .

Table 3
Abbre- Description Factory
Function viation setting
In-position When t h i s p i n i s s e t , i n - p o s i t i o n No.
X8
range magnifi- range s e t by "IN-PI1 d i a l i s magni-
cation
f i e d 8 times.

High SPM g a i n W When t h i s p i n is removed, g a i n dur- Yes.

I ing operation increases.
When h i g h SPM g a i n i s r e q u i r e d , r e -
move t h e p i n and s e t "R-GN" VR (po-

--
I tentiometer) properly.

Positioning =]<hey a r e s e t so t h a t positioning Yes.

c o n t r o l loop c o n t r o l g a i n i s w i t h i n a range from
gain GNB Yes.
25 t o 50. Refer t o 5 ( 4 ) .

Level c l e a r LCR I When t h i s p i n i s s e t , r e s i d u a l No.

pulses i n t h e deviation counter i s
s e t t o zero (while "clear" s i g n a l
I i s on). The p i n i s s e t when analog
I speed r e f e r e n c e s i g n a l i s used.

Speed SPMO T h i s p i n i s s e t f o r use o f speed Yes.

Monitor monitor f u n c t i o n .

r
Output is 210~/3000rpm.
--

Torque T h i s p i n i s s e t f o r use o f t o r q u e No.

monitor f u n c t i o n .
Output i s *9V/300%.

Speed a m p l i f i e r Over-shoot can No.

i n t e g r a l cornpfi- be minimized
Load G D ~
so;t*cn f o r l a r g e load
Motor GD G D ~when p i n i s
time c o n s t a n t
s e t properly.
This pin i s s e t f o r
Load G D ~
Motor G D ~
> 5-
 fo : P u l s e frequency o f speed r e f e r e n c e s i g n a l

Jumper p i n s e -t-t.i n g
GNA GNB
. Ks
.. .

X X 4
X 0 2
0 X 1.33
0 0 1

0:Jumper pin s e t
X : Jumper p i n n o t s e t
R e l a t i o n s h i p between R e l a t i o n s h i p between K s
VR "P-GN" s e t t i n g and and jumper p i n s e t t i n g
KPO

Example o f s e t t i n g :

When "P-RATElf i s s e t t o "4", "P-GN" t o "3", and b o t h jump-

e r p i n s "GNA" and "Gr\TBtt a r e s e t , t h e p o s i t i o n i n g c o n t r o l
loop g a i n is,

When motor i s o p e r a t e d a t - 3000rpm, t h e number o f r e s i d u a l

p u l s e s i s as follows:

fo =
pf .-=
No 8000
3000 = IOOxlO3 PPS
P-RATE 60 4 60

Pf : Number o f p o s i t i o n i n g feedback p u l s e s (8000 p u l s e s )

N, : Motor speed (rprn) 100 x lo3
E = = 2353 p u l s e s
42.5
@ For a p p l i c a t i o n where p o s i t i o n i n g i s r e p e a t e d f r e q u e n t l y

o Remove jumper p i n "Kp".

o S e t VR "R-GN" t o 0110 p o s i t i o n and s e t "P-GNU and jump-

e r p i n s "GNA" and 1tGN311.
6. OPERATION
6.1 Check t o be accomplished b e f o r e s t z r t i n g o p e r a s i o n
A f t e r t h e completion o f i n s t a l l a t i o n and w i r i n g , perform
t h e f o l l o w i n g check:

(1) Check t h e w i r i n g a g a i n .

o Are t h e DC s u p p l y l i n e s P and N w i r e d p r o p e r l y ?

o Is t h e motor phase sequence ( U : r e d , V: white and W:

black) correct?
o Is AC power s u p p l y n o t connected t o t h e s e r v o a m p l i f i -
e r output?

( 2 ) Is s h o r t - c i r c u i t i n g n o t c a u s e d by w i r e c h i p , s w a r f o r
any o t h e r metal c h i p ?

(3) Are t e r m i n a l screws and o t h e r screws n o t l o o s e ?

T i g h t e n l o o s e screw i f found.

( 4 ) Is any conductor o r c a b l e n o t t e n s e e x c e s s i v l y ?

(5) Are t h e ~ o t c rand machine ready f o r o p e r a t i o n ?

( 6 ) Are jumper p i n s i n t h e s e r v o - a m p l i f i e r s e t p r o p e r l y ?

6.2 I n i t i a l operation
(1) Normal o p e r a t i o n

@ A f t e r m&ing s u r e ItSERVO ONtt s i g n a l is n o t g i v e n , t u r n

.on t h e power.

v] lamp on t h e power u n i t and

servo-mplifier w i l l light.
ml l a p on t h e

@ A f t e r making s u r e p o s i t i o n i n g command s i g n a l i s n o t
i n p u t , t u r n on "SERVO ONtt s i g n a l .

ISON] lamp w i l l l i g h t and t h e motor is e n e r g i z e d , b u t

h e l d locked i n t h e c u r r e n t p o s i t i o n ( s e r v o l o c k condi-
tion).
Check t h a t "INPtt lamp l i g h t s b r i l l i a n t l y . I f t h e lamp
6.3 S a f e t y a g a i n s t power f a i l u r e

(1) The i n p u t power c i r c u i t (power u n i t primary c i r c u i t )

s h o u l d have a "holding f u n c t i o n u t h a t p r e v e n t s a u t o m a t i c
r e s t a r t when t h e power i s r e s t o r e d a f t e r power f a i l u r e .

( 2 ) For u s e o f a motor equipped w i t h magnetic b r a k e , s t a r t

s i g n a l must be t u r n e d on a f t e r t h e magnetic b r a k e i s r e -
leased.

( 3 ) The magnetic brake i s used f o r p r e v e n t i o n o f f a l l o f

load. T h e r e f o r e , use i t o n l y f o r b r a k i n g i n c a s e o f
power f a i l u r e o r emergency s t o p .

6.4 I n d i c a t o r lamps

The s e r v o - a m p l i f i e r and t h e power u n i t have t h e i n d i c a t o r

lamps l i s t e d i n Table 4.

To m o n i t o r o p e r a t i o n o f t h e s e r v o - a m p l i f i e r and t h e power,
o r t o t r a c e back t r o u b l e t o t h e c a u s e , s e e t h e s e lamps.
For l o c a t i o n o f each lamp, s e e Fig. 2.

Table 4 I n d i c a t o r lamps

Name Symbo 1 Description Unit

POWER PWR L i g h t s when t h e power i s t u r n e d Servo-
amplifier
on and t h e system i s f e d w i t h
t h e power.

SERVO ON SON L i g h t s when "SERVO ON" s i g n a l i s

given.
The lamp becomes b r i g h t e r when
speed r e f e r e n c e p u l s e s a r e i n -
put.

IN-POSI- I NP L i g h t s when motion r e a c h e s t h e

TION i n - p o s i t i o n r a n g e , o r when speed
r e f e r e n c e p u l s e s i s reduced t o
53 p u l s e s . The lamp becomes
b r i g h t e r when p o s i t i o n i n g i s
completed and r e s i d u a l p u l s e s
a r e f3 p u l s e s .
 '+
a umarss Q
PN'R
Indicat 0v
lamps
EEX ntrol s i g n a l conntctor)

lOOY ?
Q Q

.) Power supply u n i t
(b) Servo a m p l i f i e r

VR c o n t r o l s have a s c a l e of 10 gradua-
tions (0, l, 2 .... 10).
S e t t i n g i s I1O" when i t i s t u r n e d counter-
clockwise u n t i i t s t o p s , and "10" when
f u l l y t u r n e d clockwise.

The d i a l shown t o t h e l e f t h a s a s c a l e of
16 g r a d u a t i o n s ( 0 , 1, 2 F).....

Fig. 2 Unit panel f r o n t view

 Sym- F u n c t i o n and a d j u s t m e n t Setting at
Name
bol shipment

>
Time

Po$t i o n ZERO I n normal o p e r a t i o n , r e a d j u s t - "5"

control ment o f t h i s VR i s n o t r e q u i r -
ZERO
adjustment ed.
It i s s e t s o t h a t "INP" lamp
becomes b r i g h t e s t when motor
is i n "servo lock" condition.

GAIN ad- R-GN T h i s a d j u s t m e n t c a n be made "0"

justment
when jumper p i n ltKp" is remov-
during
operation ed.
P o s i t i o n i n g motion becomes
f a s t e r when i t i s t u r n e d c l o c k -
wise.
Note t h a t e x c e s s s e t t i n g may
cause h u n t i n g .

S t a n d a r d s e t t i n g : "3" - "5"

Note: If l o a d i n e r t i a i s t o o l a r g e and d e s i r e d r e s p o n s e
cannot be o b t a i n e d by changing s e t t i n g o f V-GN,
s e t P-GN t o s l i g h t l y l a r g e r g a i n and d e c r e a s e s e t t i n g
o f P-GN.

Note: To check s i g n a l waveform, u s e a n synchroscope p l a c e d

above t h e ground ( i n s u l a t e d from t h e ground).
When c h e c k i n g , u s e c a r e n o t t o a l l o w t h e synchroscope
probe t o come i n t o c o n t a c t w i t h a l i v e p a r t o t h e r t h a n
check p i n .

To check speed f e e d b a c k s i g n a l , c o n n e c t t h e synchro-

s c o p e a c r o s s check p i n s and m.
F o r l o c a t i o n o f each c h e c k p i n , r e f e r t o Fig. 3 8tP.C.
8. MAINTENANCE

Since t h e s e r v o - a m p l i f i e r i s o f s o l i d s t a t e t y p e , d a i l y check
and maintenance i s n o t r e q u i r e d .

It i s , however, recommended t h a t it i s i n s p e c t e d a t l e a s t
yearly .
The b r u s h - l e s s servo-motor does n o t r e q u i r e p e r i o d i c mainte-
nance.

8.1 Caution on i n s p e c t i o n

To check t h e s e r v o - a m p l i f i e r under o p e r a t i o n , measure vol-

t a g e s and c u r r e n t s r e f e r r i n g t o t h e i n s t r u c t i o n d e s c r i b e d
under paragraph 9.2, and u s i n g c a r e t o a v o i d e l e c t r i c shock
( r e f e r t o para. 9 . 1 ) .

8.2 P a r t s and d e v i c e s t o be checked

@ See t h e s e r v o - a m p l i f i e r i n t e r i o r i f d u s t i s d e p o s i t e d
and remove t h e d u s t i f found.

@ Check t e r m i n a l screws on t e r m i n a l b l o c k s f o r l o o s e n e s s
and r e t i g h t e n l o o s e s c r e w s i f found.

@) Check t h e p a r t s and d e v i c e s f o r c o n d i t i o n ( d i s c o l o r a t i o n
due t o h e a t , damage, brezkage of conductor, e t c . ) .
8.3 Consumable p a r t s

The s e r v o - m p l i f i e r u s e s t h e f u s e shown i n t h e f o l l o w i n g
list. If t h e f u s e i s blown o u t , r e p l a c e it w i t h t h e
l i s t e d one o r e q u i v a l e n t ( t h e s e r v o - u n p l i f i e r i s f u r n i s h e d
with one s p a r e f u s e ) .

A m p l i f i e r model Fuse Rating Manufacturer

MR-SO53 P
MR-S0103P MF60NRlOAS 10A
MR-S0203P TOY0 FUSE CO. , LTD.
MR-SO403 P MF60NR15AS 15A

GTX s e r i e s , ASAHI, i s a l s o a p p l i c a b l e .
 Function Voltage/wavef orm CON 1
. - -- --.- -- -.

?WM c o n t r o l About 6Vp-p Without

sarrier

Zurrent feed- 1~p-p/Ratedcurrent Without

~ a c ks i g n a l

Encoder out- PUS P V and PW o u t p u t s a r e i n t h e Ji t h o u t

3ut following phase sequence when t h e
motor runs counter-clockwise.

Encoder o u t p u t P A , PB and PZ o u t p u t s a r e i n t h e ii t h o u t
following phase sequence when t h e
motor r u n s counter-clockwise.
PA and PB o u t p u t s a r e 2000p/revs
and a t lOOkHz when t h e motor r u n s
a t 3000rpm.
PZ o u t p u t i s l p / r e v s SVo-p.
rY- \
9. TROUBLESHOOTING

9.1 C a u t i o n s on troubleshooting

If any t r o u b l e o r f a i l u r e occurs, p e r f o r m check and r e p a i r

w i t h t h e cautions described b e l o w .

THE SERVO-AMPLIFIER HAS A LARGE-CAPACITY CAPACITOR THAT

HOLDS DC VOLTAGE F O R ABOUT 5 MIN. A F T E R THE POWER I S TURN-
OFF. WHILE T H E S E R V O - A M P L I F I E R I S UNDER " L I V E " CONDITION,
1- LAMP (RED) ON THE POWER UNIT REMAINS LIGHTING.
THEREFORE: BE CAREFUL To PREVENT P6CIDEC.(T SUCH AS ELEC!TRLC! SHOCK.

THE PORTIONS WHERE WARNING IHIGH-VOLTAGE] ARE GIVEN ARE AT

H I G H VOLTAGE. CARE SHOULD B E E X E R C I S E D TO PREVENT ELEC-
T R I C SHOCK OR S H O R T - C I R C U I T I N G WHEN YOU G A I N A C C E S S T O
T H E S E PORTIONS.

WHEN THE CONTROL C I R C U I T I S . C H E C K E D FOR CONTINUITY, U S E A

MULTIMETER, BUT DO NOT U S E A MEGGER OR BUZZER.

DO NOT U S E A MEGGER T O CHECK. OTHERWlSE, THE SERVO-AMPLI-

F I E R MIGHT B E S E R I O U S L Y DAMAGED.
L

Check:

(1) noes any a l a r m o r w a r n i n g l a m p l i g h t ?

(2) If a l a r m or w a r n i n g l.amp l i g h t s , i d e n t i f y the l a m p .

(3) Is t h e f a i l u r e o r t r o u b l e reproducable?
(4) A r e m o t o r and s e r v o - a m p l i f i e r t e m p e r a t u r e s and unbient
temperature normal?

(5) D i d t h e f a i l u r e o r t r o u b l e occur d u r i n g a c c e l e r a t i o n ,
o r deceleration o r constant-speed operation?
What w a s t h e speed w h e n t h e f a i l u r e o r t r o u b l e occur-
red?

(6) D o e s the m o t o r run i n correct d i r e c t i o n ?

(7) D i d instantaneous p o w e r f a i l u r e occur?

9.2 I n s t r u m e n t s used i n check

The f o l l o w i n g i n s t r u m e n t s s h o u l d be c s e d t o measure v o l t a g e s ,
c u r r e n t s and wattages.

@ Power supply v o l t a g e ..... Moving-iron type o r r e c t i f i e r

type voltmeter

Output v o l t a g e ..... R e c t i f i e r
type voltmeter (in-
s e r t a CR f i l t e r as shown below).
Servo-amplifier
1

Min. lSW)

. f i e r type voltmeter

Non-polarity capacitor

@ Output c u r r e n t ..... Moving-iron type

@ Wattage ..... Electrodynarnometer

For measurement o f v o l t a g e s on c o n t r o l c i r c u i t t e r m i n a l s ,
u s e a multimeter.
When a synchroscope o r d i g i t a l v o l t m e t e r i s used, i t s i n p u t
c u r r e n t should be s m a l l e r t h a n ImA and i t should n o t be
grounded .
9.3 C a n t r o l s i g n a l waveform check

To check waveforms o f c o n t r o l s i g n a l s , connect a synchro-

scope t o p i n s o f c o n n e c t o r "CON1" (5046-12A, MOLEX).

For waveforms on check p i n s and l o c a t i o n o f each check p i n ,

r e f e r t o Table 6 and F i g . 3 r e s p e c t i v e l y .
*Iarm Function Cause Check Re me dy
1amp

Overcurrent External noise a m p l i f i e r i s equipped w i t h s u r g e

protection absorber.
Excessively l a r g e o Measure motor t e m p e r a t u r e r i s e . o Lighten t h e l o a d .
load torque o Measure t h e motor i n p u t c u r r e n t . o Use a motor having
o Check t h e l o a d t o r q u e . l a r g e r capacity.

E x c e s s i v e l y heavy o Measure motor t e m p e r a t u r e r i s e . o Reduce t h e l o a d

duty t o r q u e and l o a d
inertia G D ~ .
o Check t h e o p e r a t i o n p a t t e r n . o Change t h e o p e r a t i o n
OC Overload pattern.
protection
Too l o n g a c c e l e r a - o Check t h e l o a d . o Reduce t h e l o a d
t i o n time t o r q u e and l o a d i n e r -
t i a GD*.
o Use a motor having
l a r g e r capacity.

Unstable c o n t r o l o The d e t e c t o r ( e n c o d e r ) i s defec- o Replace t h e d e t e c t o r

tive . ( c o n s u l t t h e manufact-
ure ) .
o The motor i s connected t o t h e o Connect i n c o r r e c t
s e r v o - a m p l i f i e r i n wrong phase phase sequence.
sequence.
 Function Cause Check Remedy
lamp
nected o r
EEX short-cir-
cuited cable.
Overspeed Motor speed i s o Speed s e t t i n g i s improper, o P r o p e r l y s e t speed.
protection over 115% of o Speed r e f e r e n c e s i g n a l v o l t a g e
rated voltage. i s not within f l O V .
o Overshoot i s e x c e s s i v e . o Change s e t t i n g of
pzzi'].
o Load causks r o t a t i o n t o motor. o Change o p e r a t i n g con-
d i t i o n s o r use a motor
having l a r g e r c a p a c i t y .

Excess e r r o r Difference i n o A c c e l . e r a t i o n / d e c e l e r a t i o n time o Prolong a c c e l e r a t i o n

number o f p u l s e s d e c e l e r a t i o n time, o r
between i n p u t reduce l o a d torque.
p u l s e s and f e e d
o Use a motor having
back p u l s e s i s
larger capacity.
more t h a n 4096.
o Other p r o t e c t i v e f u n c t i o n t r i p s . o See i n d i c a t o r lamp.
I I~ltitude I Max. lOOOm above s e a I
I l~ibration
I
I Max. O . 5 G I
Weight 2.2 2.4 2.4
I 2.6

( 2 ) Se rvo-mo t o r
\
- Model
- HA-SO53 HA-SO103 HA-SO203 HA-SO403

Rated o u t p u t (W) 50 100 200 400

Rated t o r q u e (kg.cm) 1.62 3.25 6.5 13.0

Rated s p e e d (rpm) 3000

P e r m i s s i b l e maximum 3500
speed ( rpm

Max. torque (kg.cm) 4.86 9.75 19.5 39.0

Power r a t e (kW/S) 3.9(3.1) 9.2(8.1)- 9.1(7.0) 13.6(10.4)

Inertia J (kg.cm.s2) 0.066x10-~ 0 . 1 1 x 1 0 - ~ 0.45~10-3 I.~XIO-~

(0.128
10.084 x I C - ~ ] x 1r3(0.59
) x1r3) (1.6 x 1 r 3 )

G D ~( k g . c m 2 ) 0.26(0.33) 0.44(0.51j 1.77(2.30) 4.8(6.2)

Weight (kg 1 . 6 2 1 1.9(2.4) 3.0(3.8) 5.0(6.2)

Arnbien t t e m p e r z t u r e 0 t o 40°c

Rated v o l t a g e (V) DC24V

c a p a c i t y (w) - 7 8 10
k .
Static friction
4.0 9.0 17
t o r q u e (kg.cm )
C 1 -
her- J (kg.cm.s2) 0.018 x 0.14 x 0.40 x
tia 10-3
5:
G D ~(kg.cm2) 0.07 0.53 1.4

Note: Value i n ( ) shows t h a t f o r motor e q u i p p e d w i t h m a g n e t i c

brake.
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