Contents

Safety Instructions
DISPOSAL OF WASTE
STO function of the servo amplifier
Compliance with global standards
About the manuals
Wiring
U.S. customary units
CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Summary
- 1.2 Function block diagram
- 1.3 Servo amplifier standard specifications
- 1.4 Combinations of servo amplifiers and servo motors
- 1.5 Function list
- 1.6 Model designation
- 1.7 Structure
  - 1.7.1 Parts identification
  - 1.7.2 Removal and reinstallation of the front cover
- 1.8 Configuration including peripheral equipment
2. INSTALLATION
- 2.1 Installation direction and clearances
- 2.2 Keeping out of foreign materials
- 2.3 Encoder cable stress
- 2.4 SSCNET III cable laying
- 2.5 Inspection items
- 2.6 Parts having service life
- 2.7 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
3. SIGNALS AND WIRING
- 3.1 Input power supply circuit
  - 3.1.1 200 V class
  - 3.1.2 400 V class
  - 3.1.3 100 V class
- 3.2 I/O signal connection example
  - 3.2.1 For sink I/O interface
  - 3.2.2 For source I/O interface
- 3.3 Explanation of power supply system
  - 3.3.1 Signal explanations
  - 3.3.2 Power-on sequence
  - 3.3.3 Wiring CNP1, CNP2, and CNP3
- 3.4 Connectors and pin assignment
- 3.5 Signal (device) explanations
  - 3.5.1 Input device
  - 3.5.2 Output device
  - 3.5.3 Output signal
  - 3.5.4 Power supply
- 3.6 Forced stop deceleration function
  - 3.6.1 Forced stop deceleration function
  - 3.6.2 Base circuit shut-off delay time function
  - 3.6.3 Vertical axis freefall prevention function
  - 3.6.4 Residual risks of the forced stop function (EM2)
- 3.7 Alarm occurrence timing chart
  - 3.7.1 When you use the forced stop deceleration function
  - 3.7.2 When you do not use the forced stop deceleration function
- 3.8 Interfaces
  - 3.8.1 Internal connection diagram
  - 3.8.2 Detailed explanation of interfaces
  - 3.8.3 Source I/O interfaces
- 3.9 SSCNET III cable connection
- 3.10 Servo motor with an electromagnetic brake
  - 3.10.1 Safety precautions
  - 3.10.2 Timing chart
- 3.11 Grounding
4. STARTUP
- 4.1 Switching power on for the first time
  - 4.1.1 Startup procedure
  - 4.1.2 Wiring check
  - 4.1.3 Surrounding environment
- 4.2 Startup
- 4.3 Switch setting and display of the servo amplifier
  - 4.3.1 Switches
  - 4.3.2 Scrolling display
  - 4.3.3 Status display of an axis
- 4.4 Test operation
- 4.5 Test operation mode
  - 4.5.1 Test operation mode in MR Configurator2
  - 4.5.2 Motor-less operation in controller
5. PARAMETERS
- 5.1 Parameter list
  - 5.1.1 Basic setting parameters ([Pr. PA_ _ ])
  - 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
  - 5.1.3 Extension setting parameters ([Pr. PC_ _ ])
  - 5.1.4 I/O setting parameters ([Pr. PD_ _ ])
  - 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])
  - 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
  - 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
- 5.2 Detailed list of parameters
  - 5.2.1 Basic setting parameters ([Pr. PA_ _ ])
  - 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
  - 5.2.3 Extension setting parameters ([Pr. PC_ _ ])
  - 5.2.4 I/O setting parameters ([Pr. PD_ _ ])
  - 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
  - 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
  - 5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
6. NORMAL GAIN ADJUSTMENT
- 6.1 Different adjustment methods
  - 6.1.1 Adjustment on a single servo amplifier
  - 6.1.2 Adjustment using MR Configurator2
- 6.2 One-touch tuning
  - 6.2.1 One-touch tuning flowchart
  - 6.2.2 Display transition and operation procedure of one-touch tuning
  - 6.2.3 Caution for one-touch tuning
- 6.3 Auto tuning
  - 6.3.1 Auto tuning mode
  - 6.3.2 Auto tuning mode basis
  - 6.3.3 Adjustment procedure by auto tuning
  - 6.3.4 Response level setting in auto tuning mode
- 6.4 Manual mode
- 6.5 2 gain adjustment mode
7. SPECIAL ADJUSTMENT FUNCTIONS
- 7.1 Filter setting
  - 7.1.1 Machine resonance suppression filter
  - 7.1.2 Adaptive filter II
  - 7.1.3 Shaft resonance suppression filter
  - 7.1.4 Low-pass filter
  - 7.1.5 Advanced vibration suppression control II
  - 7.1.6 Command notch filter
- 7.2 Gain switching function
  - 7.2.1 Applications
  - 7.2.2 Function block diagram
  - 7.2.3 Parameter
  - 7.2.4 Gain switching procedure
- 7.3 Tough drive function
  - 7.3.1 Vibration tough drive function
  - 7.3.2 Instantaneous power failure tough drive function
- 7.4 Compliance with SEMI-F47 standard
- 7.5 Model adaptive control disabled
- 7.6 Lost motion compensation function
- 7.7 Super trace control
8. TROUBLESHOOTING
- 8.1 Explanation for the lists
- 8.2 Alarm list
- 8.3 Warning list
- 8.4 Troubleshooting at power on
9. DIMENSIONS
- 9.1 Servo amplifier
- 9.2 Connector
10. CHARACTERISTICS
- 10.1 Overload protection characteristics
- 10.2 Power supply capacity and generated loss
- 10.3 Dynamic brake characteristics
  - 10.3.1 Dynamic brake operation
  - 10.3.2 Permissible load to motor inertia when the dynamic brake is used
- 10.4 Cable bending life
- 10.5 Inrush currents at power-on of main circuit and control circuit
11. OPTIONS AND PERIPHERAL EQUIPMENT
- 11.1 Cable/connector sets
  - 11.1.1 Combinations of cable/connector sets
  - 11.1.2 MR-D05UDL3M-B STO cable
  - 11.1.3 SSCNET III cable
  - 11.1.4 Battery cable/junction battery cable
- 11.2 Regenerative options
  - 11.2.1 Combination and regenerative power
  - 11.2.2 Selection of regenerative option
  - 11.2.3 Parameter setting
  - 11.2.4 Connection of regenerative option
  - 11.2.5 Mounting direction
  - 11.2.6 Dimensions
- 11.3 FR-BU2-(H) brake unit
  - 11.3.1 Selection
  - 11.3.2 Brake unit parameter setting
  - 11.3.3 Connection example
  - 11.3.4 Dimensions
- 11.4 FR-RC-(H) power regeneration converter
- 11.5 FR-CV-(H) power regeneration common converter
  - 11.5.1 Model designation
  - 11.5.2 Selection
- 11.6 Junction terminal block PS7DW-20V14B-F (recommended)
- 11.7 MR Configurator2
  - 11.7.1 Engineering software
  - 11.7.2 Precautions for using USB communication function
- 11.8 Battery
  - 11.8.1 Selection of battery
  - 11.8.2 MR-BAT6V1SET battery
  - 11.8.3 MR-BAT6V1BJ battery for junction battery cable
  - 11.8.4 MR-BT6VCASE battery case
  - 11.8.5 MR-BAT6V1 battery
- 11.9 Selection example of wires
- 11.10 Molded-case circuit breakers, fuses, magnetic contactors
- 11.11 Power factor improving DC reactors
- 11.12 Power factor improving AC reactors
- 11.13 Relay (recommended)
- 11.14 Noise reduction techniques
- 11.15 Earth-leakage current breaker
- 11.16 EMC filter (recommended)
- 11.17 External dynamic brake
- 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
- 11.19 Multifunction regeneration converter FR-XC-(H)
  - 11.19.1 Multifunction regeneration converters and dedicated stand-alone reactors
  - 11.19.2 Precautions
  - 11.19.3 Servo amplifier settings
  - 11.19.4 Capacity selection
  - 11.19.5 Connection diagrams
  - 11.19.6 Wiring and peripheral options
12. ABSOLUTE POSITION DETECTION SYSTEM
- 12.1 Summary
  - 12.1.1 Features
  - 12.1.2 Structure
  - 12.1.3 Parameter setting
  - 12.1.4 Confirmation of absolute position detection data
- 12.2 Battery
  - 12.2.1 Using MR-BAT6V1SET battery
  - 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
  - 12.2.3 Using MR-BT6VCASE battery case
13. USING STO FUNCTION
- 13.1 Introduction
  - 13.1.1 Summary
  - 13.1.2 Terms related to safety
  - 13.1.3 Cautions
  - 13.1.4 Residual risks of the STO function
  - 13.1.5 Specifications
  - 13.1.6 Maintenance
- 13.2 STO I/O signal connector (CN8) and signal layouts
  - 13.2.1 Signal layouts
  - 13.2.2 Signal (device) explanations
  - 13.2.3 How to pull out the STO cable
- 13.3 Connection example
  - 13.3.1 Connection example for CN8 connector
  - 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
  - 13.3.3 External I/O signal connection example using an external safety relay unit
  - 13.3.4 External I/O signal connection example using a motion controller
- 13.4 Detailed description of interfaces
  - 13.4.1 Sink I/O interface
  - 13.4.2 Source I/O interface
14. USING A LINEAR SERVO MOTOR
- 14.1 Functions and configuration
  - 14.1.1 Summary
  - 14.1.2 Servo system with auxiliary equipment
- 14.2 Signals and wiring
- 14.3 Operation and functions
  - 14.3.1 Startup
  - 14.3.2 Magnetic pole detection
  - 14.3.3 Home position return
  - 14.3.4 Test operation mode in MR Configurator2
  - 14.3.5 Operation from controller
  - 14.3.6 Function
  - 14.3.7 Absolute position detection system
- 14.4 Characteristics
  - 14.4.1 Overload protection characteristics
  - 14.4.2 Power supply capacity and generated loss
  - 14.4.3 Dynamic brake characteristics
  - 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used
15. USING A DIRECT DRIVE MOTOR
- 15.1 Functions and configuration
  - 15.1.1 Summary
  - 15.1.2 Servo system with auxiliary equipment
- 15.2 Signals and wiring
- 15.3 Operation and functions
  - 15.3.1 Startup procedure
  - 15.3.2 Magnetic pole detection
  - 15.3.3 Operation from controller
  - 15.3.4 Function
- 15.4 Characteristics
  - 15.4.1 Overload protection characteristics
  - 15.4.2 Power supply capacity and generated loss
  - 15.4.3 Dynamic brake characteristics
16. FULLY CLOSED LOOP SYSTEM
- 16.1 Functions and configuration
  - 16.1.1 Function block diagram
  - 16.1.2 Selecting procedure of control mode
  - 16.1.3 System configuration
- 16.2 Load-side encoder
  - 16.2.1 Linear encoder
  - 16.2.2 Rotary encoder
  - 16.2.3 Configuration diagram of encoder cable
  - 16.2.4 MR-J4FCCBL03M branch cable
- 16.3 Operation and functions
  - 16.3.1 Startup
  - 16.3.2 Home position return
  - 16.3.3 Operation from controller
  - 16.3.4 Fully closed loop control error detection functions
  - 16.3.5 Auto tuning function
  - 16.3.6 Machine analyzer function
  - 16.3.7 Test operation mode
  - 16.3.8 Absolute position detection system under fully closed loop system
  - 16.3.9 About MR Configurator2
17. APPLICATION OF FUNCTIONS
- 17.1 J3 compatibility mode
  - 17.1.1 Outline of J3 compatibility mode
  - 17.1.2 Operation modes supported by J3 compatibility mode
  - 17.1.3 J3 compatibility mode supported function list
  - 17.1.4 How to switch J4 mode/J3 compatibility mode
  - 17.1.5 How to use the J3 compatibility mode
  - 17.1.6 Cautions for switching J4 mode/J3 compatibility mode
  - 17.1.7 Cautions for the J3 compatibility mode
  - 17.1.8 Change of specifications of "J3 compatibility mode" switching process
  - 17.1.9 J3 extension function
- 17.2 Master-slave operation function
- 17.3 Scale measurement function
  - 17.3.1 Functions and configuration
  - 17.3.2 Scale measurement encoder
  - 17.3.3 How to use scale measurement function
APPENDIX
- App. 1 Peripheral equipment manufacturer (for reference)
- App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods
- App. 3 Symbol for the new EU Battery Directive
- App. 4 Compliance with global standards
- App. 5 MR-J3-D05 Safety logic unit
- App. 6 EC declaration of conformity
- App. 7 How to replace servo amplifier without magnetic pole detection
- App. 8 Two-wire type encoder cable for HG-MR/HG-KR
- App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service
- App. 10 Analog monitor
- App. 11 Special specification
- App. 12 Driving on/off of main circuit power supply with DC power supply
- App. 13 Optional data monitor function
- App. 14 STO function with SIL 3 certification
- App. 15 When using the servo amplifier with the DC power supply input
- App. 16 Status of general-purpose AC servo products for compliance with the China RoHS directive
- App. 17 Encoder output pulse setting method
- App. 18 How to adjust the error excessive alarm level
REVISION
Warranty

Mitsubishi Electric SSCNETIII, H Interface Instruction Manual

Mitsubishi Electric SSCNETIII, H Interface manual cover

Pages 724

Year 2021

Language(s)

of 724

Mitsubishi Electric SSCNETIII, H Interface Specification

The Mitsubishi Electric SSCNETIII/H Interface is an advanced servo network interface designed to optimize high-speed, high-precision motion control systems. This interface is part of the SSCNETIII family, renowned for its enhanced data communication capabilities and synchronization efficiency in industrial automation environments. The SSCNETIII/H Interface supports data transfer rates of up to 150 Mbps, ensuring rapid transmission of control signals and feedback data between motion controllers and servo amplifiers. It facilitates seamless integration with Mitsubishi Electric’s servo systems, enhancing real-time performance and coordination across multiple axes.

This interface employs a deterministic communication protocol, which minimizes latency and jitter, crucial for applications requiring precise timing and coordination. It supports a network length of up to 3200 meters, accommodating expansive manufacturing setups without compromising signal integrity. The SSCNETIII/H Interface is engineered to handle complex motion profiles and large-scale automation systems, offering robust scalability.

It is compatible with Mitsubishi’s iQ Platform, allowing for intuitive system configuration and maintenance through a unified engineering environment. This compatibility ensures easy system upgrades and expansions, promoting long-term operational efficiency. The interface supports a wide range of functions, including real-time diagnostics and monitoring, enhancing system reliability and reducing downtime.

The SSCNETIII/H Interface is designed with a high level of electromagnetic compatibility, ensuring stable operation in industrial settings prone to electrical noise. Its plug-and-play capability simplifies installation, reducing setup time and costs. This interface is ideal for industries seeking to enhance productivity and precision in automated processes, reflecting Mitsubishi Electric’s commitment to delivering cutting-edge solutions for industrial motion control.

Mitsubishi Electric SSCNETIII, H Interface F.A.Q.

How do I connect a Mitsubishi Electric SSCNETIII servo amplifier to a motion controller?

To connect an SSCNETIII servo amplifier to a motion controller, use the SSCNETIII cables to link the amplifier's input port to the controller's output port. Ensure all devices are powered off during connection, and verify the correct cable type according to the system specifications.

What are the common troubleshooting steps if the SSCNETIII network is not communicating?

Check all cable connections for secure fit and correct routing. Verify the network configuration settings in the controller software. Ensure all devices are powered on and check for any error codes on the devices. Use diagnostic tools provided by Mitsubishi Electric to further analyze communication issues.

How can I update the firmware for a device on the SSCNETIII network?

Download the latest firmware from Mitsubishi Electric's official website. Connect the device to a computer via USB or serial interface and use the Mitsubishi Electric firmware update tool to upload the new firmware, following the on-screen instructions.

Is it possible to extend the cable length in an SSCNETIII network?

Yes, you can extend the cable length, but it is crucial to adhere to Mitsubishi Electric's specified maximum cable length to avoid signal degradation. Use only certified SSCNETIII cables for extensions.

What maintenance is required for SSCNETIII network devices?

Regularly check all connections for wear and secure fit. Keep devices clean and free from dust. Perform periodic firmware updates and ensure cooling systems are functioning properly to prevent overheating.

How do I diagnose and resolve a servo amplifier alarm in an SSCNETIII network?

Consult the servo amplifier manual to identify the alarm code. Follow the recommended troubleshooting steps, which may include checking the wiring, load conditions, and parameter settings. Reset the alarm after resolving the issue.

Can SSCNETIII be used in a multi-axis control system?

Yes, SSCNETIII is designed for high-performance multi-axis control, providing precise synchronization and communication between multiple servo amplifiers and the motion controller.

What are the environmental requirements for installing SSCNETIII network devices?

Install devices in a clean, dry environment, with ambient temperature and humidity levels within the specified range in the device datasheet. Avoid exposure to corrosive gases or dust.

How can I ensure optimal performance of my SSCNETIII network?

Ensure all devices are correctly configured and regularly maintained. Utilize Mitsubishi Electric's diagnostic tools to monitor network performance and address any issues promptly. Regularly update device firmware for optimal functionality.

What should I do if I experience intermittent communication losses in the SSCNETIII network?

Inspect all cable connections for damage or loose fittings. Ensure that cables are not subject to interference from electrical noise. Check the network configuration settings and consider using a network analyzer to capture and diagnose network traffic issues.