Mitsubishi Electric SERVO SYSTEM MELSERVO-J5 MR-J5-A Installation Manual

Installation Manualfor Servo Amplifiers MR-J5-AArt. no.: 505580 ENG, Version A, 03112020Mitsubishi Electric Corporation2-7-3 Marunouchi, Chiyoda-ku, Tokyo, JapanMitsubishi Electric Europe B.V.Gothaer Straße 8, 40880 Ratingen, GermanyAll rights reserved. Specified product properties andtechnical data do not represent a guarantee declaration.1 About this DocumentThis English document is the original mounting instruction.1.1 Documentation for the MELSERVOservo amplifier MR-J5-AThis manual describes the mounting of the MR-J5-A servo amplifier.The following manuals contain further information about the devices:● MR-J5-A - User's Manual (Introduction), Art.no.: SH(NA)-030296-*● MR-J5 - User's Manual (Hardware), Art.no.: SH(NA)-030298-*● MR-J5 - User's Manual (Function), Art.no.: SH(NA)-030300-*● MR-J5 - User's Manual (Adjustment), Art.no.: SH(NA)-030306-*● MR-J5-A - User's Manual (Parameters), Art.no.: SH(NA)-030310-*● MR-J5 - User's Manual (Troubleshooting), Art.no.: SH(NA)-030312-*● MR-J5 - Servo Motor User's Manual (HK), Art.no.: SH(NA)-030314-*● MR-J5 - Servo Motor User's Manual (LM), Art.no.: SH(NA)-030316-*● MR-J5 - Servo Motor User's Manual (TM), Art.no.: SH(NA)-030318-*● MR-J5 - Partner's User's Manual Encoder, Art.no.: SH(NA)-030320-*These can be obtained free of charge from our website atwww.mitsubishi-automation.com.If you have any questions concerning the programming and operation of theequipment described in this manual, please contact your relevant sales officeor department.In addition mounting protective devices also requires specific technical skillswhich are not detailed in this documentation.1.2 Function of this DocumentThis manual instructs the technical staff of the machine manufacturer and/orthe machine operator on the safe operating of the MR-J5-A servo amplifier.This manual does not provide manuals for operating the machine in whichsafety servo system is, or will be integrated. Information of this kind will befound in the operating manuals for the machine.2 Safety InstructionsThis chapter deals with your own safety and the safety of the equipment oper-ators. Please read this chapter carefully before beginning with the mountingwork.In this manual special warnings that are important for the proper and safe useof the products are clearly identified as follows:2.1 Professional engineerThe MR-J5-A servo amplifier may only be mounted by professional engineers.Safety persons are defined as persons who…● have undergone the appropriate technical training. Please note appropri-ate technical training is available from your local Mitsubishi Electric office.Please contact your local office for locations and schedules.● have been instructed by the responsible machine operator in the opera-tion of the machine and the current valid safety guidelines and● have access to the operating manuals of the MR-J5-A servo amplifier andhave read and familiarised themselves with them and● have access to the operating manuals for the protective devices (e.g. lightcurtain) connected to the safety control system and have read and familiar-ised themselves with them.2.2 Applications of the DeviceMR-J5-A servo amplifier complies with the following safety standards and canbe used with either the MR-J3-D05 safety logic unit, with certified safety relays,or safety PLCs. It can be used …● in accordance with EN ISO 13849-1:2015 Category 3 PL e● in accordance with EN 62061 SIL CL 3● in accordance with EN 61800-5-2 SIL 3 (STO)● in accordance with EN 61800-5-1● in accordance with EN 61800-3● in accordance with EN 60204-12.3 Correct UseThe MELSERVO MR-J5-A servo amplifier may only be used within specific oper-ating limits (voltage, temperature, etc., refer to the chapter ”Technical data” ofthe Instruction manual). It may only be used by qualified personnel and only atthe machine at which it was mounted and initially commissioned by qualifiedpersonnel in accordance with the instruction manual of the servo amplifierMR-J5-A.Mitsubishi Electric Co. accepts no claims for liability if the equipment is used inany other way or if modifications are made to the device, even in the contextof mounting and installation.2.4 General Protective Notes and Protective MeasuresPlease observe the following items in order to ensure proper use of theMELSERVO MR-J5-A servo amplifier.● Safety components and systems may only be installed and commissionedby qualified personnel and professional engineers.● All safety-related components (switches, relays, PLCs, cabling, etc.), thecontrol cabinet and fault considerations and exclusions must comply withthe requirements of EN ISO13849-1 (EN954-1) and EN ISO 13849-2 up tothe minimum level of certification being targeted. Please refer to the safetystandards for additional information and requirements.● When mounting, installing and using the MELSERVO MR-J5-A servo ampli-fier observe the standards and directives applicable in your country.● The notices about noises during test operation in the manuals should beobserved.● The national rules and regulations being applied to the installation, useand periodic technical inspection of the MELSERVO MR-J5-A servo ampli-fier, are in particular:– Machinery Directive 2006/42/EC– EMC Directive 2014/30/EU– RoHS Directive 2011/65/EU– Low-Voltage Directive 2014/35/EU– Work safety regulations/safety rules● Manufacturers and owners of the machine on which a MELSERVO MR-J5-Aservo amplifier is used are responsible for obtaining and observing all app-licable safety regulations and rules.● It is imperative that the notices, in particular the test notices of the manualsbe observed.● The tests must be carried out by specialised personnel or specially qualifiedand authorised personnel and must be recorded and documented to ensurethat the tests can be reconstructed and retraced at any time by third parties.● Installation and wiring must also be in accordance with the safety stand-ards being targeted.● The STO function (Safe Torque Off), as described in IEC 61800-5-2, only pre-vents the servo amplifier from supplying energy to the servo motor. It doesnot guarantee, that the shaft of the servo motor will not rotate due to exter-nal or unforeseen forces. If an external force acts upon the drive axis, addi-tional safety measures, such as brakes or counter-weights must be used.● The MR-J5-A servo amplifier fulfils the requirements to conducted emissionsat the mains connections in the frequency range from 150 kHz to 30 MHz.(Bases for the evaluation: Product standard EN 61800, adjustable speedelectrical power drive systems, Part 3: EMC)2.5 Residual riskMachine builders are responsible for all risk evaluations and all associatedresidual risks. Below are residual risks associated with the STO/EMG function.Mitsubishi Electric is not liable for any damages or injuries caused by the resid-ual risks.2.6 DisposalDisposal of unusable or irreparable devices should always occur in accordancewith the applicable country-specific waste disposal regulations (e.g. EuropeanWaste Code 16 02 14).2.7 Lithium battery transportationTo transport lithium batteries, take actions to comply with the instructions andregulations such as the United Nations (UN), the International Civil AviationOrganization (ICAO), and the International Maritime Organization (IMO).The battery options (MR-BAT6V1SET and MR-BAT6V1) are assembled batteriesfrom lithium metal battery CR17335A which are not subject to the dangerousgoods (Class 9) of the UN Recommendations.Rating plateModelSerial numberM R - J 5 - 6 0 A ä=äMitsubishi Electricgeneral-purposeAC servo amplifierMELSERVO-J5SeriesSymbol Rated output[kW] Symbol Rated output[kW]10 0.1 70 0.7520 0.2 100 140 0.4 200 260 0.6 350 3.5CapacityApplicable power supplyRated output currentModel codeStandard, Manual numberAmbient temperatureIP ratingKC mark numberYear and month of manufactureCountry of originBlank: Standard-RJ: Compatible with load-side encoder A/B/Z-phase input/high-resolution analoginputA: General-purpose interfaceP DANGER:Personnel health and injury warnings.Failure to observe the precautions described here can resultin serious health and injury hazards.E CAUTION:Equipment and property damage warnings.Failure to observe the precautions described here can resultin serious damage to the equipment or other property.P DANGERBefore starting installation wait for at least 15 minutes after the powersupply has been switched off. The capacitor is charged with dangeroushigh voltage for some time after power off.E CAUTIONObserve the protective notes and measures!E CAUTIONThe MR-J5-A servo amplifier complies to the EMC Directive 2014/30/EUand the relevant requirements of EN 61800-3:2004/A1:2012 (Secondenvironment/PDS Category "C3"). The MR-J5-A servo amplifier is there-fore only suitable for use in an industrial environment and not for privateuse.P DANGER● For proper installation, wiring, and adjustment, thoroughly read themanual of each individual safety related component.● Be sure that all safety related switches, relays, sensors, etc., meet therequired safety standards. The Mitsubishi Electric safety related com-ponents mentioned in this manual are certified by TUV Rheinland asmeeting the requirements of EN ISO 13849-1:2015 Category 3, PLe, andIEC 61508 SIL 3.P DANGER● Safety is not assured until safety-related components of the systemare completely installed or adjusted.● Perform all risk assessments and safety level certification to the ma-chine/system as a whole. It is recommended that an external govern-ing body, such as TUV Süd, oversea final safety certification of thesystem.● Only qualified personnel are authorized to install, start-up, repair orservice the machines in which these components are installed. Onlytrained engineers should install and operate the equipment.(ISO 13849-1 Table F.1 No.5)● To prevent accumulation of multiple failures, perform a failure checkat regular intervals as deemed necessary by the applicable safetystandard. Regardless of the system safety level, failure checks shouldbe performed at least once per year.● If the upper and lower power transistor in the inverter bridge have fail-ure simultaneously, the servo motor may move maximum of 0.5rotation.E CAUTION● Separate the wiring for safety function from other signal wirings. (ISO13849-1 Table F.1 No.1)● Protect the cables with appropriate ways (routing them in a cabinet,using a cable guard, etc.).● Keep the required clearance/creepage distance depending on voltageyou use.