3. SIGNALS AND WIRING. Mitsubishi Electric PUY-A-NHA3-BS, CC-Link IE Field Network

3. SIGNALS AND WIRING


WARNING

Any person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier Servo amplifier

24 V DC 24 V DC

DOCOM DOCOM

Control output signal RA

Control output signal RA

For sink output interface For source output interface

Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor.

When using the regenerative resistor, switch power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

Do not modify the equipment.

3 - 1


CAUTION

Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.

Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Input power supply circuit

Explanation of power supply system

Connector and pin assignment

Signal (device) explanations

Forced stop deceleration function

Interface

Grounding

MR-J4-_B_ section 3.1







3 - 2


3.1 I/O signal connection example

POINT

Be sure to mount a data line filter to the CC-Link IE Field Network cable.

For the branch of CC-Link IE Field Network by the switching hub, use DT135TX

(Mitsubishi Electric System & Service Co., Ltd.). For details of the switching hub, refer to "MELSEC-Q QD77GF Simple Motion Module User's Manual (Positioning

3.1.1 For sink I/O interface

Control)".

(Note 3, 4)

Forced stop 2

(Note 11)

FLS

RLS

DOG

(Note 5)

MR Configurator2

+

Personal computer

10 m or shorter

(Note 12)

Main circuit power supply

(Note 7) 24 V DC

EM2

DI1

DI2

DI3

DICOM

DICOM

USB cable

MR-J3USBCBL3M

(option)

Servo amplifier

(Note 9)

CN3

20

(Note 9)

CN3

3

10 m or shorter

DOCOM

(Note 7) 24 V DC

2

13 MBR

RA1

12 15 ALM

RA3

19

5

10

(Note 2)

CN5

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

11 LG

Electromagnetic brake interlock

Malfunction (Note 8)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Encoder Z-phase pulse


Control common

(Note 10)

(Note 13)

Short-circuit connector

(Packed with the servo amplifier)

CN8

4

1

14

MO1

LG

MO2

Plate SD

2 m or shorter

Analog monitor 1

±10 V DC

Analog monitor 2

±10 V DC

CC-Link IE Field Network

(Note 6) CN1A CN1B (Note 6)

CN7

MR-J3-T10

(Note 14)

CN10A CN10B

(Note 1)

Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter


Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter

3 - 3


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (normally closed contact).

4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)

5. Use SW1DNC-MRC2-J. (Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.7.)

6. CN1A and CN1B cannot be used. Be sure to cap CN1A and CN1B connector.

7. Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 300 mA. 300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.8.2 (1) of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

8. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)

9. The pins with the same signal name are connected in the servo amplifier.

10. You can change devices of these pins with [Pr. PD07], [Pr. PD08], and [Pr. PD09].

11. Devices can be assigned for these devices with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for QD77GF_.

FLS: Upper stroke limit

RLS: Lower stroke limit

DOG: Proximity dog

12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.

13. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.

14. Connector covers are mounted on the CN10A and the CN10B connectors when the product is shipped from the factory.

Remove those connector covers to connect the CC-Link IE Field Network cables.

3 - 4


3.1.2 For source I/O interface

POINT

For notes, refer to section 3.1.1.

(Note 3, 4)

Forced stop 2

(Note 11)

FLS

RLS

10 m or shorter

(Note 12)


EM2

DI1

DI2

Servo amplifier

(Note 9)

CN3

20

(Note 9)

CN3

3

10 m or shorter

DOCOM

(Note 7) 24 V DC

2

13 MBR

RA1

12 15 ALM

RA3

DOG DI3 (Note 2)

(Note 7) 24 V DC

DICOM

DICOM

19

5

10

(Note 5)

MR Configurator2

+

Personal computer USB cable

MR-J3USBCBL3M

(option)

CN5

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

11 LG

Electromagnetic brake interlock

Malfunction (Note 8)

Encoder A-phase pulse


Encoder B-phase pulse


Encoder Z-phase pulse


Control common

(Note 10)

(Note 13)

Short-circuit connector

(Packed with the servo amplifier)

CN8

4

1

14

MO1

LG

MO2

Plate SD

2 m or shorter

Analog monitor 1

±10 V DC

Analog monitor 2

±10 V DC


(Note 6) CN1A CN1B (Note 6)

CN7

MR-J3-T10

(Note 14)

CN10A CN10B

(Note 1)

Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter


Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter

3 - 5


3.2 Servo motor with an electromagnetic brake

3.2.1 Safety precautions

Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the EMG stop switch.

Servo motor

RA

B 24 V DC

CAUTION

Electromagnetic brake

The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly.

Do not use the 24 V DC interface power supply for the electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

Otherwise, it may cause a malfunction.

POINT

Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge absorber for the electromagnetic brake.

Note the following when the servo motor with an electromagnetic brake is used.

1) The brake will operate when the power (24 V DC) turns off.

2) Turn off the servo-on command after the servo motor stopped.

(1) Connection diagram

Servo amplifier

(Note 2)

24 V DC

MBR

RA1

ALM

(Malfaunction) B1

Servo motor

DOCOM

MBR

RA1

24 V DC

(Note 1)

U

B

B2

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

(2) Setting

In [Pr. PC02 Electromagnetic brake sequence output], set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo-off as in the timing chart in section 3.2.2.

3 - 6


3.2.2 Timing chart

(1) When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) At power-on to ready-off from the controller

Main circuit

Control circuit power supply

ON

OFF

Initialization

EM2 (Forced stop 2)

Controlword

(Controller → Servo amplifier)

Statusword

(Servo amplifier → Controller)

ON (disabled)

OFF (enabled)

Initial value

(A) Not ready to switch on

(2) Shutdown (3) Switch on

Ready-on command on

(4) Enable operation

Servo-on command on

(C) Ready to switch on

(D) Switched on (E) Operation enabled

(B) Switch on disabled

215 V

Bus voltage

Internal inrush relay

Dynamic brake

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)


0 V

ON

OFF

Release

Operation

ON

OFF

(Note 1)

ON

OFF

Release

Operation

100 ms

(Note 4)

Approx. 95 ms

Gate-on processing start Gate-on blocked

Release delay time and external relay, etc. (Note 2)

(8) Shutdown


Operation delay time of the electromagnetic brake

Operation command


0 r/min

(Note 3)

Servo motor speed

0 r/min

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".

3. To prevent the servo motor from rotating rapidly at servo-on, give a current position as a position command from the controller before servo-on.

4. It will be 200 ms for 5 kW and 7 kW servo amplifiers.

3 - 7


(b) Servo-on command on/off

When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not drop down for a vertical axis system, etc.

Main circuit


ON

OFF

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword



Servo-on command on

(5) Disable operation

Servo-on command off

Statusword


Dynamic brake

Base circuit


MBR



Release

Operation

ON

OFF

(Note 1)

ON

OFF

Release

Operation

(E) Operation enabled (D) Switched on

(Note 2)

Tb

Coasting

Servo motor speed


0 r/min



2. Tb is a delay time from electromagnetic brake start to base circuit shut-off at servo-off. Set

Tb in [Pr. PC02].

3 - 8


POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(c) Forced stop 2 on/off

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword



Servo-on command on

Statusword


Base circuit


MBR


ALM (Malfunction)

WNG (Warning)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

ON (No alarm)

OFF (alarm)

Release

Operation

(E) Operation enabled (F) Quick stop active (B) Switched on disabled

(Note 3)

Tb

(Note 2)

Model speed command = 0, and equal to or less than zero speed

Servo motor speed

0 r/min



2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3. Tb is a delay time from electromagnetic brake start to base circuit shut-off at servo-off. Set Tb in [Pr. PC02].

3 - 9


(d) Alarm occurrence

1) When the forced stop deceleration function is enabled

Alarm occurrence

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword



Servo-on command on

Statusword


Base circuit


MBR


ALM (Malfunction)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation

(E) Operation enabled

(G) Fault reaction active

Servo motor speed

0 r/min

Alarm reset

(B) Switched on disabled

(H) Fault

(15) Fault Reset


Servo-on command on


(D) Switched on

Approx. 210 ms

(Note 4)


(Note 3)

Tb

(Note 2)


Controller command is ignored.

Servo amplifier display No alarm Alarm No.

No alarm





4. Waiting time for relay-on + waiting time for servo-on

3 - 10


2) When the forced stop deceleration function is disabled

Servo amplifier display

Alarm occurrence

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword


Statusword


Base circuit


MBR


(Note)

ALM (Malfunction)

Dynamic brake

ON

OFF

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation


Servo-on command on



(H) Fault

Dynamic brake operation delay time

Approx. 10 ms

Dynamic brake

Dynamic brake + electromagnetic brake

Servo motor speed

0 r/min


No alarm Alarm No.

Note. ON: Electromagnetic brake is not activated.


3 - 11


3) When CC-Link IE Field communication brake occurred

Communication broke

(unexpected parallel off)

EM2 (Forced stop 2)

(Note 5)

ON (disabled)

OFF (enabled) (4) Enable operation

Servo-on command on

Controlword


Initial value

Statusword


Base circuit


MBR


ALM (Malfunction)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation


(F) Quick stop active

Communication recovered

(parallel on)

(B) Switch on disabled



Servo-on command on


(D) Switched on

Approx. 210 ms

(Note 4)


(Note 3)

Tb

(Note 2)


Servo motor speed

0 r/min

Servo amplifier display No alarm (d1 or E7) AA No alarm






5. A delay time will be generated between communication brake occurrence and deceleration start due to processing time of parallel off. The dynamic brake will start depending on status of communication brake.

3 - 12


(c) Both main and control circuit power supplies off

Main circuit


EM2 (Forced stop 2)

Main circuit, Control circuit power off

ON

OFF

ON (disabled)

OFF (enabled) (4) Enable operation

Servo-on command on

Controlword


Statusword


Base circuit


MBR


ALM (Malfunction)

[AL. 10.1 Undervoltage]

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)


Dynamic brake

Release

Operation

(Note 2)


Approx. 10 ms

Dynamic brake


Servo motor speed

0 r/min




2. Variable according to the operation status.

3 - 13


(d) Main circuit power supply off during control circuit power supply on

Main circuit


ON

OFF

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller

Statusword

(Servo amplifier

Base circuit

→ Servo amplifier)


MBR


ALM (Malfunction)


Dynamic brake

→ Controller)

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation


Servo-on command on



(H) Fault

(Note 2)

Servo motor speed

The time until a bus voltage drop is detected.

Forced stop deceleration

Dynamic brake


0 r/min

Approx. 10 ms





2. Variable according to the operation status.

3 - 14


(2) When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) At power-on to ready-off from the controller

It is the same as (1) (a) of this section.

(b) Servo-on command on/off

It is the same as (1) (b) of this section.

(c) Off/on of the forced stop command or Forced stop 1

Main circuit


ON

OFF

Forced stop command

(Controller → Servo amplifier) or

EM1 (Forced stop 1)

Controlword


ON (disabled)

OFF (enabled)


Servo-on command on

(F) Quick stop active

Statusword



(B) Switched on disabled

Base circuit


MBR


Dynamic brake

ON

OFF

(Note 1)

ON

OFF

Release

Operation

Servo motor speed


Approx. 10 ms

Dynamic brake



(D) Switched on

Approx. 210 ms (Note 2) (E) Operation enabled

Electromagnetic brake release

0 r/min





(d) Alarm occurrence

1) At alarm occurrence

The servo motor driving during an alarm is the same as (1) (d) 2) of this section.

3 - 15


2) When CC-Link IE Field communication brake occurred

Communication broke

(unexpected parallel off)

(Note 3)

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword



Servo-on command on

Communication recovered

(parallel on)

Initial value

(F) Quick stop active (B) Switch on disabled



Servo-on command on


(D) Switched on

Approx. 210 ms

(Note 2)


Statusword


Base circuit


MBR


ALM (Malfunction)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation



Approx. 10 ms

Dynamic brake


Servo motor speed

0 r/min

Servo amplifier display No alarm (d1 or E7)


AA No alarm




3. A delay time will be generated between communication brake occurrence and deceleration start due to processing time of parallel off.

(e) Both main and control circuit power supplies off

It is the same as (1) (c) of this section.

3 - 16


(f) Main circuit power supply off during control circuit power supply on


ON

OFF

Forced stop command

(Controller → Servo amplifier) or

EM2 (Forced stop 2)

Controlword


ON (disabled)

OFF (enabled)


Servo-on command on


Statusword



(H) Fault

(Note 2)

Base circuit


MBR


ON

OFF

(Note 1)

ON

OFF

ALM (Malfunction)


ON (No alarm)

OFF (alarm)

Dynamic brake

Release

Operation


Approx. 10 ms

Dynamic brake


Servo motor speed

0 r/min





3 - 17


MEMO

3 - 18

3. SIGNALS AND WIRING. Mitsubishi Electric PUY-A-NHA3-BS, CC-Link IE Field Network

3. SIGNALS AND WIRING

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3. SIGNALS AND WIRING. Mitsubishi Electric PUY-A-NHA3-BS, CC-Link IE Field Network