Mitsubishi Electric EMC Installation Guide

Mitsubishi Electric AC Servo System

EMC Installation Guidelines

CONTENTS

CHAPTER 1 INTRODUCTION

1.1

3

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

CHAPTER 2 EMC STANDARDS 5

CHAPTER 3 EMC COUNTERMEASURES

3.1

3.2

3.3

3.4

7

Basic EMC countermeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Cabinet design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Filter wiring and installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Cable layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Servo motor power cable (1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Encoder cable (2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Controller connection (command) cable (except for SSCNET III cable) (3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Cables in the same cabinet (4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Regenerative option connection cable (5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Input power cable (6). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Control circuit power cable (for servo amplifier) (7). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

CHAPTER 4 EMC COUNTERMEASURE PARTS

4.1

4.2

4.3

4.4

4.5

4.6

18

Noise filter (for controller power supply) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

EMC filter (for servo amplifier power supply). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

MR-J5 series/MR-J4 series/MR-JN series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

MR-J3 series/MR-J3W series/MR-J2-Super series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Ferrite core (Data line filter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Cable clamp fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Line noise filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Surge protector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

MR-J5 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

MR-J4 series/MR-JN series/MR-J3 series/MR-J3W series/MR-J2-Super series . . . . . . . . . . . . . . . . . . . . . . . . 23

CHAPTER 5 CONNECTION EXAMPLE FOR EMC COUNTERMEASURES

5.1

5.2

5.3

24

For 1-axis with 22 kW or less . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

For multiple-axis with 1 kW or less . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

For 30 kW or more . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

CHAPTER 6 EMC COUNTERMEASURES AND EFFECTS

6.1

6.2

6.3

6.4

28

Reason for grounding the shield on both the cabinet side and servo motor chassis side . . . . . . . . . . . . 28

Grounding the shielded cable only on the servo amplifier side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Grounding both ends of the shielded cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Reason why the grounding position in the cabinet is specified to be 10 cm or less from the cabinet openings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Reason why grounding with P clips or U clips is required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Connecting multiple servo amplifiers to one EMC filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

1

2

Selection method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Selection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

CHAPTER 7 APPENDIX 35

7.1

7.2

Combination with EMC filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Combination with servo amplifiers of 22 kW or less . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Combination with converter units and drive units of 30 kW or more . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Details of surge protector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

MR-J4 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

MR-JN series/MR-J3 series/MR-J3W series/MR-J2-Super series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

1

INTRODUCTION

The EMC counter measures described in this guideline are recommended. Use this guideline as a reference and take additional countermeasures according to the customer's operating environment.

We have carried out EMC standard compliance confirmation tests with the servo amplifier in the installation environment described in this guideline. After incorporating the servo amplifier in the machine or equipment, confirm the EMC standard compliance of the entire machine or equipment on customer side. For the EMC countermeasures, refer to the instruction manual or user's manual of each servo amplifier in addition to this guideline.

1.1

U.S. CUSTOMARY UNITS

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity

Mass

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

SI (metric) unit

1 [kg]

1 [mm]

1 [N•m]

1 [(× 10

-4

kg•m

2

)]

1 [N]

N [°C] × 9/5 + 32

U.S. customary unit

2.2046 [lb]

0.03937 [inch]

141.6 [oz•inch]

5.4675 [oz•inch

2

]

0.2248 [lbf]

N [°F]

1

1 INTRODUCTION

1.1 U.S. CUSTOMARY UNITS

3

MEMO

4

1 INTRODUCTION

1.1 U.S. CUSTOMARY UNITS

2

EMC STANDARDS

Mitsubishi Electric general-purpose AC servo MELSERVO complies with the product family standard EN 61800-3. This standard largely regulates two types of tolerance, emission and immunity.

Emission (EMI: Electromagnetic Interference) is the ability to prevent equipment from emitting obstructive noise that adversely affects external sources.

Immunity (EMS: Electromagnetic Susceptibility) is the ability to prevent equipment from being affected by obstructive noise from external sources.

The following table shows the classification.

Class

Emission

Electromagnetic interference (EMI)

(Obstructive emission from the product)

Standard

*1

IEC 61800-3

IEC 61800-3



EN 55011

CISPR 11



Environment

2nd Environment

(Category C3/C2)

Commercial, light industrial, and industrial environments

(C3: Commercial, light industrial, and industrial environments C2: In addition to

C3 environments, the servo motor can be used conditionally in residential environments, provided that it is installed and adjusted by specialists.) Immunity

Electromagnetic susceptibility (EMS)

(Immunity to interference)

IEC 61000-4-2

IEC 61000-4-3

IEC 61000-4-4

IEC 61000-4-5

IEC 61000-4-6

IEC 61000-4-8

IEC 61000-4-11

IEC 61000-4-34

Name

Power drive system (PDS) - Electromagnetic compatibility (EMC)

Industrial, scientific, and medical radio frequency equipment - Radio-frequency disturbance characteristics

Industrial, scientific and medical equipment -

Radio-frequency disturbance characteristics -

Limits and methods of measurement

Power drive system (PDS) - Electromagnetic compatibility (EMC)

Electrostatic discharge immunity test

Radiated, radio-frequency, electromagnetic field immunity test

Electrical fast transient/burst immunity test

Surge immunity test

Immunity to conducted disturbances, induced by radio-frequency fields

Power-frequency magnetic field immunity test

Voltage dips, short interruptions and voltage variations immunity tests

*1 The latest standards applicable to servo systems. For the standards of the servo motor to be used, refer to the instruction manual and user's manual of the servo amplifier to be used.

2

2 EMC STANDARDS

5

MEMO

6

2 EMC STANDARDS

3

EMC COUNTERMEASURES

Install the servo amplifier in a metal cabinet.

3.1

Basic EMC countermeasures

The following measures should be taken as EMC countermeasures.

• Install the device in a sealed metal cabinet.

• Install a noise filter.

• Securely ground the device.

• Use shielded wires for cables and wires.

• Separate the primary-side wiring and the secondary-side wiring as far as possible.

• Install the surge protector.



Page 23 Surge protector

3

3 EMC COUNTERMEASURES

3.1 Basic EMC countermeasures

7

3.2

Cabinet design

In addition to the EMC countermeasures described in this chapter, NFPA79 approved by the United States requires that the wiring between a servo amplifier and a servo motor be insulated from wiring of other control or signal circuits if a shielded wire is not used. (Example: 100 mm or more for 20 A or less)

The servo is a complex component incorporated into another machine. The servo amplifier must be installed in a cabinet.

The design and layout of the cabinet is a very important factor in EMC countermeasures. Consider the following when designing the cabinet.

Precautions for cabinet design

1.

Use a metal cabinet.

2.

Securely ground the cabinet using as thick and short wire as possible.

3.

Weld or screw the top and side plates of the cabinet together so that there are no gaps. The distance between the joints should be 10 cm or less. The diameter of the openings on the cabinet such as the ventilation hole should be 10 cm or less. If there are holes larger than this, plug them with metal plates or punched metal. In such a case, make sure that there are no metal or conductor with insufficient electrical connections, such as connection between painted surfaces.

Remove paint

Hole exceeding 10 cm

* Provide an electrical continuity.

8


3.2 Cabinet design

4.

Securely ground the cabinet door to the cabinet. If the door is poorly grounded, the door itself becomes a large antenna and radiates noise. Therefore, take the following measures.

• Use a metal door.

• Connect the door and cabinet with thick braided wire at as many points as possible.

• Use an EMI gasket and conductive packing for the joint between the door and cabinet.

EMI gasket

Cabinet

Conductive packing

Metal cabinet

3

Door

Enforce conductance treatment on sections that the EMI gasket contacts.

5.

As a reliable noise countermeasure for input power cables, insulate the input power supply section with a metal shielding plate and install it without gaps to prevent the input power cable from being affected by radiated noise.

Cabinet

Controller Servo amplifier

Radiated noise

Shielding partition

AC input

Filter MCCB


3.2 Cabinet design

9

3.3

Filter wiring and installation

When connecting multiple servo amplifiers to one EMC filter, refer to the following.



Page 32 Connecting multiple servo amplifiers to one EMC filter

Wiring

Wire the servo and filter as shown below.

Servo amplifier

Power supply

Moldedcase circuit breaker

EMC filter

Magnetic contactor

Main circuit power supply

Servo motor

Control circuit power supply

Wiring length 1.5 m or less (recommended)

Separate the EMC filter input cable and output cable as far as possible. If they are too close, the noise generated from the output cable is induced into the input cable, and the filter is not effective. Separate the cables by at least 30 cm if possible.

Input (power supply side)

Separate the cables by at least 30 cm.

Output (servo amplifier side)

EMC filter

10


3.3 Filter wiring and installation

Installation

Install the servo amplifier and EMC filter to the same cabinet. Install the filter on the right or left side of the servo amplifier as shown in the figure below.

For details of the EMC filter, refer to the following.



Page 18 EMC filter (for servo amplifier power supply)

To ensure that the cabinet, filter, and servo amplifier have the same potential, remove or plate paint on the filter surface and securely ground it to the cabinet.

The same applies to the servo amplifier installation.

Separate the filter input cable (a) from the output cables (b), (c) and (d) as far as possible.

Shorten the wiring ((a), (b), and (c)) between the filter and servo amplifier as short as possible.

(The total of (b) and (c) is 1.5 m or less.)

3

Cabinet

Bare metal or metal plated surface

(no paint, etc)

Servo amplifier

(a)

Power supply input

EMC Filter



(d)

Magnetic contactor

(c)

(b)


3.3 Filter wiring and installation

11

3.4

Cable layout

Securely ground the cabinets 1 and 2 and the servo motor.

Separate the main circuit power cable of the servo amplifier, power cable of the servo motor, and control circuit signal cable by

30 cm or more, and do not wire them in parallel or bundle them.

An installation example is shown in the figure below.

Each cabling method is described separately.

Cabinet 1

Cabinet 2

(7)

(3)

Controller

24 V DC power supply

Servo amplifier

Surge protector

Power supply

EMC filter

Controller, etc.

(3) (2)

(1)

Option

(4)

Magnetic contactor

Encoder

Servo motor

*1

*1 For EMC countermeasures, ground the servo motor from the cabinet via the servo amplifier. The diagram shows the servo motor grounded from the flange for illustrative purposes.

12


3.4 Cable layout

Servo motor power cable (1)

If stripping the cable outer sheath will affect the safety of the machine such as electric shock or injury, it is recommended to install additional protective covers or enclosures.

Shielded cable

Cabinet

To servo amplifier

Grounding with the P or U clip

10 cm or less

Keep as close as possible Connector

3

Shield cable

Servo motor

Metal conduit

Cabinet Earth with surface paint removed

Conduit connector

To servo amplifier Connector

Metal conduit

Multiple core cable

Servo motor

1.

Use four shielded cables (3-phase + ground cable) to prevent disconnection outside the cabinet. Connect the grounding terminals of the servo amplifier and servo motor with the grounding cable.

2.

Ground the shield on both the cabinet side and servo motor chassis side. For the reason why the shield should be grounded on both the cabinet side and servo motor chassis side, refer to the following.



Page 28 Reason for grounding the shield on both the cabinet side and servo motor chassis side

The grounding position of the shield on the servo amplifier side should be within 10 cm from the cabinet. For the reason why the grounding position of the shield on the servo amplifier side should be within 10 cm from the cabinet, refer to the following.



Page 30 Reason why the grounding position in the cabinet is specified to be 10 cm or less from the cabinet openings


3.4 Cable layout

13

3.

Ground the shield with a metal P clip or U clip. For the reasons why the P clip or U clip is specified for grounding, refer to the following.



Page 31 Reason why grounding with P clips or U clips is required

• Example of grounding with P clip

• Example of grounding with U clip

4.

Directly ground the shield. It is not recommended to solder the wire to the braided wire (shield) for grounding.

• Example of grounding with wire soldering

Solder

5.

When not using a shielded cable for the servo motor power cable, route the cable through a metal conduit.

6.

Ground the servo motor power cable on the cabinet side with the conduit connector and cabinet side wall. (Remove paint from the side wall of the cabinet.)

7.

When grounding the servo motor power cable connected to the servo motor, use the cable clamp to ground the conduit connector as shown below.

Clamp fitting

To earth (Use as thick and short wire as possible)

Metal conduit

Conduit connector Connector

8.

The cable length should be 50 m or less.

14


3.4 Cable layout

Encoder cable (2)

Cabinet

To servo amplifier

10 cm or less

As close as possible Connector

Servo motor

Shield twisted pair cable

Use a shielded twisted pair cable for the encoder cable, and ground it on both sides of the servo amplifier and encoder with P clips or U clips. The cable length should be 50 m or less.

3


3.4 Cable layout

15

Controller connection (command) cable (except for SSCNET III cable) (3)

If controller and servo amplifier are in the same cabinet

Use a shielded twisted pair cable, and ground it on both sides of the controller and servo amplifier with P clips or U clips.

When the cable length is 2 m or less, ground the cable on the controller side.

Cabinet

Controller

As close as possible


Servo amplifier


If controller or others is in the different cabinet from servo amplifier

Use a shielded twisted pair cable, and ground it on both sided of the controller or others and servo amplifier with P clips or U clips.

Cabinet

10 cm or less

Cabinet

10 cm or less

Controller, etc.

Servo amplifier


16


3.4 Cable layout

Cables in the same cabinet (4)

For the connection cables of the options such as the parameter unit or dynamic brake option, which is arranged in the same cabinet as the servo amplifier, use a shielded cable (shielded twisted pair cable for the parameter unit), and ground it on both sides of the option and servo amplifier with P clips or U clips.

When the cable length is 2 m or less, ground the cable on the servo amplifier side.

Cabinet

Option



Servo amplifier

3

Regenerative option connection cable (5)

Use a shielded twisted pair cable or twisted cable covered with shield braid for the connection cable of the regenerative option, and ground the shield on the both sides of the option and servo amplifier with P clips or U clips. The following figure shows the treatment when the regenerative option is installed outside the cabinet.

Regenerative option


Twisted cable

Shield braid

Cabinet

10 cm or less

Servo amplifier

Input power cable (6)

Use a multiple core cable. Using a shielded input power cable increases the effect of EMC countermeasures.

Control circuit power cable (for servo amplifier) (7)

Use a vinyl wire or multiple core cable.


3.4 Cable layout

17

4

EMC COUNTERMEASURE PARTS

For details of each part, contact the parts manufacturer.

4.1

Noise filter (for controller power supply)

For the noise filter installed to the controller, refer to the manual of the controller used.

4.2

EMC filter (for servo amplifier power supply)

MR-J3 series, MR-J3W series, and MR-J2-Super series are discontinued models.

• For the connection method of the EMC filter and servo amplifier, refer to the instruction manual and user's manual of each servo amplifier.

• When connecting multiple servo amplifiers to one EMC filter, refer to the following.



Page 32 Connecting multiple servo amplifiers to one EMC filter

• Some EMC filters have a large leakage current.

• When selecting a molded-case circuit breaker, consider the increase in leakage current and select one that will not affect the servo amplifier, converter unit, and drive unit.

MR-J5 series/MR-J4 series/MR-JN series

For the combination of the EMC filter with the servo amplifiers, converter units, and drive units, refer to the instruction manual and user's manual of each product.

MR-J3 series/MR-J3W series/MR-J2-Super series

For the combination of the EMC filter with the servo amplifiers, converter units, and drive units, refer to the following.



Page 35 Combination with EMC filters

18

4 EMC COUNTERMEASURE PARTS

4.1 Noise filter (for controller power supply)

4.3

Ferrite core (Data line filter)

Noise can be prevented by installing a data line filter onto cables such as the encoder cable.

For example, ZCAT3035-1330 by TDK, ESD-SR-250 by TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by

SEIWA ELECTRIC are available as data line filters.

As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. These impedances are reference values and not guaranteed values.

Impedance [ Ω ]

10 MHz to 100 MHz

80

100 MHz to 500 MHz

150

[Unit: mm]

39 ± 1

34 ± 1

Loop for fixing cable band

4

Product name

Lot number

Dimensions (ZCAT3035-1330)

• Usage example

Passing through once Passing through twice Passing through three times


4.3 Ferrite core (Data line filter)

19

4.4

Cable clamp fitting

Generally, connecting the grounding wire of the shielded wire to the SD terminal of the connector provides a sufficient effect.

However, the effect can be increased when the shielded wire is connected directly to the ground plate as shown below. Install the ground plate near the servo amplifier for the encoder cable. Peel part of the cable insulator to expose the external conductor, and press that part against the ground plate with the cable clamp. If the cable are thin, bunch several cables together and clamp them in place.

The cable clamp comes as a set with the grounding plate.

[Unit: mm]

Clamp fittings

(A, B)

Cable

Strip the cable insulator of the clamped area

Grounding plate

Cutter

Cable

External conductor

Clamp section diagram

• Dimensions

[Unit: mm]

Grounding plate

2φ 5 hole

Mounting hole

17.5

Clamp fitting

L or less 10

C A

M4 screw *1

6

35

22

*1 Screw hole for grounding. Connect it to the ground plate of the cabinet.

Model

AERSBAN-DSET

AERSBAN-ESET

A

100

70

B

86

56

Clamp fitting

A

B

L

70

45

C

30



Accessory fittings

Clamp A: 2 pcs.

Clamp B: 1 pc.

Precautions

• The motor cable (single cable type) has no shield on the outermost circumference. Therefore, to ground the motor cable with a cable clamp, use a motor cable (dual cable type).

20


4.4 Cable clamp fitting

4.5

Line noise filter

This filter is effective in suppressing noise radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It is especially effective for noise between 0.5 MHz and 5

MHz band.

Connection example

The line noise filters can be mounted on lines of the main circuit power supply (L1/L2/L3) and of the servo motor power supply

(U/V/W). Pass each of the wires through the line noise filter the same number of times in the same direction.

Wind the wires through the line noise filter to satisfy the required number of passes. If the wires are too thick to wind, use two or more line noise filters to have the required number of passes.

Use the following models of the line noise filter in accordance with the capacity of the servo amplifier, converter unit, and drive unit.

2 kW or less: FR-BSF01 (for the wire size of 3.5 mm

2

(AWG 12) or less)

3.5 kW or more: FR-BLF (for the wire size of 5.5 mm

2

(AWG 10) or less)

When using one line filter

Power supply

Servo amplifier

(Converter unit)

L1

L2

L3

(4 times pass)

4

When using two line filters separately

Power supply

Servo amplifier

(Converter unit)

L1

L2

L3

(4 times pass)


4.5 Line noise filter

21

When contacting and using two line filters

Power supply

Servo amplifier

(Converter unit)

L1

L2

L3

(4 times pass)

When contacting and using four line filters

Servo amplifier

(Converter unit)

L1

Power supply

L2

L3

(4 times pass)

Precautions

• For wires of the main circuit power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate.

• For the servo motor power supply lines, passes must be four times or less. Do not pass the grounding wire through the filter. Otherwise, the effect of the filter will drop.

• Place the line noise filters as close to the servo amplifier as possible for their best performance. Noise-reducing effect will be enhanced.

• In addition to the servo amplifier (converter unit) main circuit power supply side and servo amplifier power output side, the line noise filter can be used for the servo motor brake cable, encoder cable, control signal cable, and others. In this case, passes must be four times or less. However, consider the flex life and use the encoder cable in such a way that it does not affect the servo amplifier, converter unit, drive unit, and servo motor.

22


4.5 Line noise filter

4.6

Surge protector


To prevent damage due to surges (such as lightning and sparks) applied to the AC power supply lines, connect the surge protectors to the main circuit power supply (L1/L2/L3).

MR-J5 series

For details of the surge protector, refer to the user's manual of each product.

MR-J4 series/MR-JN series/MR-J3 series/MR-J3W series/MR-J2-

Super series

For details of the surge protector, refer to the following.



Page 37 Details of surge protector

4


4.6 Surge protector

23

5

CONNECTION EXAMPLE FOR EMC

COUNTERMEASURES

5.1

For 1-axis with 22 kW or less

Molded-case circuit breaker

Surge protector

EMC filter: *13

*1

Cabinet: *5

*1

Magnetic contactor

L1/L2/L3

L11/L21

24 V DC

Cable clamp: *8*14

*1

U/V/W/

*3

Cable clamp: *6*14

*1

*2

Cable clamp: *7*14

*1

E

E

Encoder

U/V/W

Servo motor

Noise filter: *12

*1

Controller

*2

1-axis

Servo amplifier

Option

*2

Cable clamp: *10*14

*1

P/C

Cable clamp: *11*14

*1

Cabinet: *5

*1

Controller, etc.

*2

*2

Cable clamp: *9*14

*1

24

Regenerative option

( )

Cable clamp: *11*14

*1

*1

*2

*3

: Specific EMC countermeasure

: Shielded cable

: Shielded cable or metal conduit

*4 When the control circuit power supply (L11/L21) of the servo amplifier is 24 V DC, connect AC/DC power supply.

*5 Page 8 Cabinet design

*6 Page 13 Servo motor power cable (1)

*7 Page 15 Encoder cable (2)

*8 Page 16 If controller and servo amplifier are in the same cabinet

*9 Page 16 If controller or others is in the different cabinet from servo amplifier

*10 Page 17 Cables in the same cabinet (4)

*11 Page 17 Regenerative option connection cable (5)

*12 Page 18 Noise filter (for controller power supply)

*13 Page 18 EMC filter (for servo amplifier power supply)

*14 Page 20 Cable clamp fitting

5 CONNECTION EXAMPLE FOR EMC COUNTERMEASURES

5.1 For 1-axis with 22 kW or less

5.2

For multiple-axis with 1 kW or less


Surge protector

EMC filter: *13

*1

Cabinet: *5

*1

Magnetic contactor

L1/L2/L3

L11/L21

24 V DC

Cable clamp: *8*14

*1

U/V/W/E

Cable clamp: *6*14

*1

*3

Cable clamp: *7*14

*1

*2

E

E

Encoder

U/V/W

Servo motor

Noise filter: *12

*1

Controller

*2

Option

*2

Cable clamp: *10*14

*1

Multi axis servo amplifier

*4

U/V/W/E

*3

Cable clamp: *6*14

*1

Cable clamp: *7*14

*1

*2

E

E

Encoder

U/V/W

Servo motor

P/C

Cable clamp: *11*14

*1

*2

Cabinet: *5

*1

Controller, etc.

*2

Cable clamp: *9*14

*1

Regenerative option

( )

Cable clamp: *11*14

*1

*1

*2


: Shielded cable

*3 : Shielded cable or metal conduit

*4 The figure is for 2-axis servo amplifiers.











5


5.2 For multiple-axis with 1 kW or less

25

5.3

For 30 kW or more


Surge protector

EMC filter: *16

Cabinet: *8

*1

Magnetic contactor

L1/L2/L3

L11/L21

P2/C *7

*2

Converter unit

Cable clamp: *14*17

*1

24 V DC

*1

*6

L+/L- *4

L+/L- *5

*2

Protection coordination cable

L11/L21

Noise filter: *15

*6

24 V DC

Cable clamp: *11*17

*1

Controller

*2

U/V/W/E

Drive unit or

Servo amplifier

Cable clamp: *9*17

*1

*3

Cable clamp: *10*17

*1

Option

*2

Cable clamp: *13*17

*1

*2

Regenerative option

( )

Cabinet: *8

*1

Controller, etc.

*2

Cable clamp: *12*17

*1

U/V/W

Servo motor

Encoder

E

E

Cable clamp:

Cable clamp: *9*17

*1

*10*17

*1

26


5.3 For 30 kW or more

*1

*2


: Shielded cable

*3 : Shielded cable or metal conduit

*4 The abbreviations of the terminals are P and N for MR-HP30KA or MR-HP55KA4.

*5 The abbreviations of the terminals are P and N for MR-J2S-_(4).

*6 Connect the converter unit and drive unit with the provided bus bar.

*7 The abbreviation of the terminal is P for MR-HP30KA or MR-HP55KA4.











5


5.3 For 30 kW or more

27

6

EMC COUNTERMEASURES AND EFFECTS

6.1

Reason for grounding the shield on both the cabinet side and servo motor chassis side

For the countermeasure against radiated emissions in inverters and servo amplifiers, multiple point grounding, in which both ends of the servo motor power cable and encoder cable are grounded, tends to suppress unwanted noise.

Grounding the shielded cable only on the servo amplifier side

The following figure shows only the wiring of the servo motor power cable. Wire the shielded wire of the encoder cable in the same way as the power cable.

• Example of wiring when the shielded cable is grounded only on the servo amplifier side

Cabinet

Connector

Connect the shield part or earth wire coming out outside the cabinet with the earth terminal of the connector at the servo motor side.

Grounding

To servo amplifier

10 cm or less

Shielded cable

Servo motor

U

V

W

E

Servo motor

Motor

Shield

When a shielded wire is used

• Radiated emissions when the shielded cable is grounded only on the servo amplifier side

The following figure is an example of a measurement result, and does not guarantee the measurement result.

LIMIT: IEC/EN 61800-3 (10 m)

40

30

20

10

0

30

100

[dBuV/m]

90

80

70

60

50

50 70 100

 : Ver. (QP)

 : Hor. (QP)

HORIZONTAL/VERTICAL

200

Frequency

300

28

6 EMC COUNTERMEASURES AND EFFECTS

6.1 Reason for grounding the shield on both the cabinet side and servo motor chassis side

Grounding both ends of the shielded cable

The following figure shows only the wiring of the servo motor power cable. Wire the shielded wire of the encoder cable in the same way as the power cable.

• Example of wiring when both ends of the shielded cable are grounded

Cabinet

To servo amplifier

Grounding with the P or U clip

10 cm or less

As close as possible Connector

Servo motor

Shield cable

When a shielded wire is used

• Radiated emissions when both ends of the shielded cable are grounded

The following figure is an example of a measurement result, and does not guarantee the measurement result.

LIMIT: IEC/EN 61800-3 (10 m)

40

30

20

10

0

30

100

[dBuV/m]

90

80

70

60

50

50 70 100

 : Ver. (QP)

 : Hor. (QP)

HORIZONTAL/VERTICAL

200

Frequency

300

6


6.1 Reason for grounding the shield on both the cabinet side and servo motor chassis side

29

6.2

Reason why the grounding position in the cabinet is specified to be 10 cm or less from the cabinet openings

Various devices are installed inside the cabinet and these devices radiate or propagate unwanted noise to some extent.

Depending on the cable routing method, it may not be possible to suppress the unwanted noise generated in the cabinet.

By grounding the cable just before the exit of the cabinet, the noise flowing out of the cabinet can be suppressed even if unwanted noise is superimposed on the cable. Therefore, it is recommended to ground the cable within 10 cm from the exit of the cabinet.

• Grounding within 10 cm from the exit of the cabinet

Noise

To servo amplifier

Cabinet

Device

10 cm or less

Shielded cable

30


6.2 Reason why the grounding position in the cabinet is specified to be 10 cm or less from the cabinet openings

6.3

Reason why grounding with P clips or U clips is required

If stripping the cable outer sheath will affect the safety of the machine such as electric shock or injury, it is recommended to install additional protective covers or enclosures.

A shielded cable is a cable covered with metal foil or braid (mesh braid). High-frequency noise passes through the shield and releases unwanted noise to the ground, thereby suppressing the radiated emission level.

Grounding a shielded cable using a P clip or U clip reduces the impedance to the ground and allows noise current to flow more smoothly than soldering a wire to the shield or twisting and stretching the shield to ground. Thus, grounding with the P clips or U clips is recommended.

• Grounding example of shielded cable

Solder

6

Example of grounding with the P clip

Example of grounding with the U clip

Example of grounding with wire soldering


6.3 Reason why grounding with P clips or U clips is required

31

6.4

Connecting multiple servo amplifiers to one EMC filter

Confirm the EMC standard compliance of the entire machine or equipment on customer side.

Selection method

Power supply


EMC filter



Magnetic contactor

Magnetic contactor

Servo amplifier

(First)



Servo amplifier

(Second)

Servo motor power cable length

Servo motor




Servo motor

Servo amplifier

(nth)


Magnetic contactor


Servo motor



When multiple servo amplifiers are connected to one EMC filter, if the total length of servo motor power cable is long, the magnetic material used in the EMC filter may cause magnetic saturation and the expected noise attenuation properties may not be obtained.

To obtain the expected noise attenuation properties for any servo amplifier, use an EMC filter that satisfies the following table and calculation formula.

32


6.4 Connecting multiple servo amplifiers to one EMC filter

Selection table of EMC filter by total length of servo motor power cable

■

200 V class

Application environment

IEC/EN 61800-3

Category C2, C3 *1

IEC/EN 61800-3

Category C3 *1

Total length of servo motor power cable

50 m or less

100 m or less

200 m or less

250 m or less

250 m or less

EMC filter

Model

FSB-10-254-HU

FSB-20-254-HU

FSB-30-254-HU

FSB-40-324-HU

HF3010C-SZB

HF3020C-SZB

HF3030C-SZB

HF3040C-SZB

HF3030C-SZL

HF3060C-SZL

HF3100C-SZL

HF3150C-SZL

Rated current

[A]

20

30

40

30

60

100

150

10

20

30

40

10

Rated voltage

[VAC]

250

250

500

500

Operating temperature

[°C]

-40 to 85

-20 to 50

-20 to 50

Mass

[kg]

1.8

3.3

0.9

1.3

2.0

1.3

2.1

5.8

9.0

*1 Category C2: First environment (residential, commercial, light industrial, and industrial environments)

Category C3: Second environment (commercial, light industrial, and industrial environments)

■

400 V class

Application environment

IEC/EN 61800-3

Category C2, C3 *1

Total length of servo motor power cable

50 m or less

EMC filter

Model

FSB-10-355

FSB-20-355

Rated current

[A]

10

20

Rated voltage

[VAC]

500

Operating temperature

[°C]

-40 to 85

*1 Category C2: First environment (residential, commercial, light industrial, and industrial environments)

Category C3: Second environment (commercial, light industrial, and industrial environments)

Mass

[kg]

1.8

Manufacturer

COSEL Co.,

Ltd.

Soshin Electric

Co., Ltd.

Soshin Electric

Co., Ltd.

Manufacturer

COSEL Co.,

Ltd.

Calculation formula

• Rated voltage of the EMC filter [V] ≥ Rated voltage of the servo amplifiers [V]

• Rated current of the EMC filter [A] ≥ Rated current of each servo amplifier [A]

• Total length of servo motor power supply cable [m] acceptable for the EMC filter ≥ Total length of servo motor power supply cable [m]

6



33

Selection example

The following figure shows the connection example when three MR-J5-100A are connected with one EMC filter.

Servo amplifier

Power supply


EMC filter


Magnetic contactor


Servo motor power cable length 15 m


Model: MR-J5-100A

Rated input:

Voltage: 3-phase 200 V AC to 240 V AC

Current: 5 A

Servo motor

Servo amplifier


Magnetic contactor




Model: MR-J5-100A

Rated input:


Current: 5 A

Servo motor

Servo amplifier


Magnetic contactor


Servo motor



Model: MR-J5-100A

Rated input:


Current: 5 A

Apply each data to the following calculation formula.



Page 33 Calculation formula

The calculation results are as follows.

Rated input voltage of EMC filter: 500 V ≥ Rated input voltage of servo amplifier: 3-phase 200 V AC to 240 V AC

Rated input current of EMC filter: 30 [A] ≥ Total rated input current of servo amplifier: 15 [A]

Total length of servo motor power cable [m] acceptable for the EMC filter 100 [m] ≥ Total length of servo motor power cable 60

[m]

Apply the calculation result to the following table.



Page 33 Selection table of EMC filter by total length of servo motor power cable

The table shows that the available EMC filter is "HF3030C-SZL".

34



7

APPENDIX

7.1

Combination with EMC filters


Combination with servo amplifiers of 22 kW or less

MR-J3 series/MR-J3W series

Servo amplifier Recommended filter (Soshin Electric)

Model Rated current [A] Rated voltage

[VAC]

250 MR-J3-10_ to MR-J3-100_

MR-J3-10_1 to MR-J3-40_1

MR-J3-200_/MR-J3-350_

MR-J3-500_/MR-J3-700_

MR-J3-11K_ to MR-J3-22K_

MR-J3-60_4/MR-J3-100_4

MR-J3-200_4 to MR-J3-700_4

MR-J3-11K_4

MR-J3-15K_4

MR-J3-22K_4

MR-J3W-22B/MR-J3W-44B

MR-J3W-77B/MR-J3W-1010B

HF3010A-UN *1

HF3030A-UN *1

HF3040A-UN *1

HF3100A-UN

*1

TF3005C-TX

TF3020C-TX

TF3030C-TX

TF3040C-TX

TF3060C-TX

HF3010A-UN *1

HF3030A-UN *1

*1 To use this EMC filter, a surge protector is required.




10

30

40

100

5

20

30

40

60

10

30

500

250

MR-J2-Super series

Servo amplifier Recommended filter (DEM Manufacturing)


[VAC]

SF1252 10.5

250 MR-J2S-10_ to MR-J2S-100_

MR-J2S-10_1 to MR-J2S-40_1

MR-J2S-200_/MR-J2S-350_ SF1253 27.5



[VAC]

250 MR-J2S-500_

MR-J2S-700_

MR-J2S-11K_

MR-J2S-15K_

MR-J2S-22K_

HF3040A-TM *1

HF3050A-TM *1

HF3060A-TMA

*1

HF3080A-TMA

*1

HF3100A-TMA

*1

MR-J2S-60_4 to MR-J2S-200_4 TF3005C-TX

MR-J2S-350_4 to MR-J2S-700_4 TF3020C-TX

MR-J2S-11K_4

MR-J2S-15K_4

MR-J2S-22K_4

TF3030C-TX

TF3040C-TX

TF3060C-TX





30

40

60

40

50

60

80

100

5

20

500

Mass [kg]

Leakage current

[mA]

5

6.5

5.5

3.5

5.5

6

12

6

5

7.5

12.5

3.5

5.5

Mass [kg]

Leakage current

[mA]

38

57

Leakage current

[mA]

1.5

3.0

5.5

5.5

6.7

10.0

13.0

14.5

6

0.75

1.37

Mass [kg]

7.5

12.5

7 APPENDIX

7.1 Combination with EMC filters

35

7

Combination with converter units and drive units of 30 kW or more

MR-J3 series

Converter unit

Drive unit

MR-J3-CR55K MR-J3-DU30K_/MR-J3-DU37K_

MR-J3-

CR55K4

MR-J3-DU30K_4 to MR-J3-

DU55K_4

Recommended filter (Soshin Electric)

Model Rated current

[A]

Rated voltage

[VAC]

HF3200A-UN *1

TF3150C-TX





200

150

250

500

MR-J2-Super series

Converter unit


Model Rated current

[A]

Rated voltage

[VAC]

MR-HP30KA MR-J2S-30K_/MR-J2S-37K_ HF3200A-TMA

MR-HP55KA4 MR-J2S-30K_4 to MR-J2S-45K_4 TF3150C-TX

*1

MR-J2S-55K_4

200

150

250

500





Leakage current [mA]

9

5.5

Leakage current [mA]

3

5.5

Mass [kg]

18

31

Mass [kg]

23.5

31

36

7 APPENDIX

7.1 Combination with EMC filters

7.2

Details of surge protector

• MR-J3 series, MR-J3W series, and MR-J2-Super series are discontinued models.

• To use an EMC filter on the 200 V class servo amplifier, a surge protector is required.

• To use an EMC filter manufactured by COSEL on the 400 V class servo amplifier, a surge protector is required.

MR-J4 series

Surge protector model

RSPD-250-U4

RSPD-500-U4

LT-CS32G801WS

Maximum continuous operating voltage

50/60 Hz

3 AC 250 V

3 AC 500 V

3 AC 275 V

DC operating start voltage

Voltage protection level

Nominal discharge current

8/20 μ s

700 V ± 25 %

1300 V ± 25 %

660 V ± 10 %

1300 V

2000 V

1400 V

2500 A

2500 A

5000 A

Maximum discharge current

8/20 μ s

5000 A

5000 A

8000 A

Impulse current life

8/20 μ s-1000 A

Manufacturer

About 300 times

About 300 times

About 1000 times

Okaya Electric

Okaya Electric

Soshin Electric

MR-JN series/MR-J3 series/MR-J3W series/MR-J2-Super series

Surge protector model

Circuit voltage

50/60 Hz

RAV-781BYZ-2

RAV-781BXZ-4

3 AC 250 V

3 AC 250 V

Maximum permissible circuit voltage

300 V

300 V

Camp voltage

783 V ± 10 %

1700 V ± 10 %

Surge current withstand

8/20 μ s

2500 A

2500 A

Surge voltage withstand 1.2/50

μ s

20 kV

2 kV

Capacitance

75 pF

75 pF

7

7 APPENDIX

7.2 Details of surge protector

37

38

REVISIONS

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

Revision date

April 1996

November 1997

November 2008

July 2009

January 2012

February 2013

March 2014

*Manual number

IB(NA)-67310-*

IB(NA)-67310-A

IB(NA)-67310-B

IB(NA)-67310-C

IB(NA)-67310-D

IB(NA)-67310-E

IB(NA)-67310-F

Description

First edition

■ Chapter 2

Table revisions

■ Chapter 5

Addition

■ Chapter 6

Addition

All pages change

■ Chapter 2

Change of table

■ Section 4.2

Part added

■ Section 4.2 (2) (b)

Part changed

■ Section 5.1

Note 4 and 5 added

■ Chapter 1

All pages change

■ Chapter 3

CAUTION added

■ Section 3.1

Part changed

■ Section 3.2

Part changed

■ Section 3.3

Part changed

■ Section 3.4

Part changed

■ Section 4.1

Part changed

■ Section 4.2

Part added, part changed

■ Section 4.3

Part changed

■ Section 4.6

Added

■ Section 5.1

Title changed

"For 22kW or less" → "For 22kW or less of 1-axis"

Part change of diagram

■ Section 5.2

Added as"For 1kW or less of multi axis"

Changes to section 5.3 to section 5.2 of the C version

Part change of diagram

■ Section 5.3

■ Section 4.2

POINT is added

■ Section 4.2 (1) (a)

Part added

■ Section 4.2 (1) (f)

Deleted

■ Section 4.2 (2) (c)

Deleted

■ Section 4.6

POINT is added

100V class MR-J4 series servo amplifiers are added.

■ Section 4.2 (1) (a)

MR-J4-10_1 to MR-J4-40_1 are added.

■ Section 4.3

E04SRM563218 is added.

Revision date

October 2014

December 2015

July 2019

July 2020

March 2021

November 2021

*Manual number

IB(NA)-67310-G

IB(NA)-67310-H

IB(NA)-67310ENG-J

IB(NA)-67310ENG-K

IB(NA)-67310ENG-L

IB(NA)-67310ENG-M

Description

MR-J4-DU_ is added.

■ Section 4.2 (2) (a)

MR-J4-DU30K_ to MR-J4-DU55K_ are added.

■ Section 5.3

MR-CR55K_ and MR-J4-DU_ are added.

Chapter 6 is added.

■ Section 3.1

POINT is added. Partially changed.

■ Section 3.3


■ Section 3.3 (1)

Partially added.

■ Section 3.4 (1)


■ Section 3.4 (3)

Partially added.

■ Section 4.2


■ Section 4.6


■ Chapter 6

Newly added.

■ Section 4.2 (1) (a)

Part added

■ Section 4.2 (3)

Added

■ Section 4.6 (a)

Part added

■ Item 6.4.1

Part changed

■ Section 4.2 (1) (a)

Part added

All pages change

■ Section 3.4

Partially added.

■ Section 4.6

Partially added.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 1996 MITSUBISHI ELECTRIC CORPORATION

39

TRADEMARKS

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

All other product names and company names are trademarks or registered trademarks of their respective companies.

40

IB(NA)-67310ENG-M

IB(NA)-67310ENG-M(2111)MEE

MODEL: EMC INSTRUCTION GUIDELINES

MODEL CODE: 1CW950

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

Specifications are subject to change without notice.

No results