3.For injury preventionCAUTIONDo not apply a voltage other than that specified in the instruction manual on any terminal.Doing so may lead to destruction or damage.Do not mistake the terminal connections,as this may lead to destruction or damage.Do not mistake the polarity(+/-),as this may lead to destruction or damage.Do not touch the heat radiating fins of controller or servo amplifier,regenerative resistor andservomotor,etc.,while the power is ON and for a short time after the power is tumed OFF.In thistiming,these parts bee very hot and may lead to bums.Always turn the power OFF before touching the servomotor shaft or coupled machines,as theseparts may lead to injuries.Do not go near the machine during test operations or during operations such as teaching.Doing so may lead to injuries.4.Various precautionsStrictly observe the following precautions.Mistaken handling of the unit may lead to faults,injuries or electric shocks.(1)System structureCAUTIONAlways install a leakage breaker on the Motion controller and servo amplifier power source.If installation of an electromagic contactor for power shut off during an error,etc.,is specified inthe instruction manual for the servo amplifier,etc.,always install the electromagic contactor.Install the emergency stop circuit extemally so that the operation can be stopped immediately andthe power shut off.Use the Motion controller,servo amplifier,servomotor and regenerative resistor with the correctbinations listed in the instruction manual.Other binations may lead to fire or faults.Use the Motion controller,base unit and motion module with the correct binations listed in theinstruction manual.Other binations may lead to faults.If safety standards(ex.,robot safety rules,etc.,)apply to the system using the Motion controller,servo amplifier and servomotor,make sure that the safety standards are satisfied.Construct a safety circuit externally of the Motion controller or servo amplifier if the abnommaloperation of the Motion controller or servo amplifier differ from the safety directive operation in thesystem.In systems where coasting of the servomotor will be a problem during the forced stop,emergencystop,servo OFF or power supply OFF,use dynamic brakes.Make sure that the system considers the coasting amount even when using dynamic brakes.In systems where perpendicular shaft dropping may be a problem during the forced stop,emergency stop,servo OFF or power supply OFF,use both dynamic brakes and electromagicbrakes.A-3CAUTIONThe dynamic brakes must be used only on errors that cause the forced stop,emergency stop,orservo OFF.These brakes must not be used for nommal braking.OThe brakes(electromagic brakes)assembled into the servomotor are for holding applications,and must not be used for normal brakingThe system must have a mechanical allowance so that the machine itself can stop even if thestroke limits switch is passed through at the max.speed.Use wires and cables that have a wire diameter,heat resistance and bending resistancepatible with the system.OUse wires and cables within the length of the range described in the instruction manual.The ratings and characteristics of the parts (other than Motion controller,servo amplifier andservomotor)used in a system must be patible with the Motion controller,servo amplifier andservomotor.Install a cover on the shaft so that the rotary parts of the servomotor are not touched duringoperation.There may be some cases where holding by the electromagic brakes is not possible due to thelife or mechanical structure(when the ball screw and servomotor are connected with a timing belt,etc.).Install a stopping device to ensure safety on the machine side.(2)Parameter settings and programmingCAUTIONSet the parameter values to those that are patible with the Motion controller,servo amplifier,servomotor and regenerative resistor model and the system application.The protective functionsmay not function if the settings are incorrect.The regenerative resistor model and capacity parameters must be set to values that conform tothe operation mode,servo amplifier and servo power supply module.The protective functionsmay not function if the settings are incorrectSet the mechanical brake output and dynamic brake output validity parameters to values that arepatible with the system application.The protective functions may not function if the settingsSet the stroke limit input validity parameter to a value that is patible with the systemapplication.The protective functions may not function if the setting is incorrect.Set the servomotor encoder type(increment,absolute position type,etc.)parameter to a valuethat is patible with the system application.The protective functions may not function if thesetting is incorrect.Set the servomotor capacity and type(standard,low-inertia,flat,etc.)parameter to values thatare patible with the system application.The protective functions may not function if thesettings are incorrect.Set the servo amplifier capacity and type parameters to values that are patible with thesystem application.The protective functions may not function if the settings are incorrectUse the program mands for the program with the conditions specified in the instructionmanual.A-4CAUTIONSet the sequence function program capacity setting,device capacity,latch validity range,1/Oassignment setting,and validity of continuous operation during error detection to values that arepatible with the system application.The protective functions may not function if the settingsare incorrect.Some devices used in the program have fixed applications,so use these with the conditionsspecified in the instruction manual.OThe input devices and data registers assigned to the link will hold the data previous to whenmunication is terminated by an error,etc.Thus,an error correspondence interlock programspecified in the instruction manual must be used.Use the interlock program specified in the intelligent function module's instruction manual for the(3)Transportation and installationACAUTIONTransport the product with the correct method according to the mass.Use the servomotor suspension bolts only for the transportation of the servomotor.Do nottransport the servomotor with machine installed on it.Do not stack products past the limit.When transporting the Motion controller or servo amplifier,never hold the connected wires orcables.When transporting the servomotor,never hold the cables,shaft or detector.When transporting the Motion controller or servo amplifier,never hold the front case as it may falloff.When transporting,installing or removing the Motion controller or servo amplifier,never hold theedges.Install the unit according to the instruction manual in a place where the mass can be withstood.Do not get on or place heavy objects on the productKeep the designated clearance between the Motion controller or servo amplifier and control panelinner surface or the Motion controller and servo amplifier,Motion controller or servo amplifier andother devices.Do not install or operate Motion controller,servo amplifiers or servomotors that are damaged orthat have missing parts.Do not block the intake/outtake ports of the Motion controller,servo amplifier and servomotor withcooling fan.Do not allow conductive matter such as screw or cutting chips or bustible matter such as oilenter the Motion controller,servo amplifier or servomotor.The Motion controller,servo amplifier and servomotor are precision machines,so do not drop orapply strong impacts on them.Securely fix the Motion controller,servo amplifier and servomotor to the machine according tothe instruction manual.If the fixing is insufficient,these may e off during operation.A-5CAUTIONOAlways install the servomotor with reduction gears in the designated direction.Failing to do somay lead to oil leaks.Store and use the unit in the following environmental conditions.ConditionsEnvironmentMotion controller/Servo amplifierServomotorAmbientAccording to each instruction manual.0C to +40C (With no freezing)temperature(32°Fto+104°F80%RH or lessAmbient humidityAccording to each instruction manual.(With no dew condensation)Storage20℃t0+65℃According to each instruction manual.temperatureIndoors (where not subject to direct sunlight).AtmosphereNo corrosive gases.flammable gases,oil mist or dust must existAltitude1000m (3280.84ft.)or less above sea levelVibrationAccording to each instruction manualWhen coupling with the synchronous encoder or servomotor shaft end,do not apply impact suchas by hitting with a hammer.Doing so may lead to detector damage.Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotorshaft.Doing so may lead to shaft breakage.When not using the module for a long time,disconnect the power line from the Motion controlleror servo amplifier.Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.When storing for a long time,please contact with our sales representative.Also,execute a trial operation.A-6(4)WiringCAUTIONCorrectly and securely wire the wires.Reconfimm the connections for mistakes and the terminalscrews for tightness after wiring.Failing to do so may lead to run away of the servomotor.After wiring,install the protective covers such as the temminal covers to the original positions.Do not install a phase advancing capacitor,surge absorber or radio noise filter (option FR-BIF)on the output side of the servo amplifier.Correctly connect the output side (temminal U,V,W)and ground.Incorrect connections will leadDo not connect a mercial power supply to the servomotor,as this may lead to trouble.Do not mistake the direction of the surge absorbing diodeinstalled on the DC relay for the control signal output of brakeServo amplifiersignals,etc.Incorrect installation may lead to signals not beingVINoutput when trouble occurs or the protective functions not(24VDC)functioning.Control out putDo not connect or disconnect the connection cables betweensignaleach unit,the encoder cable or PLC expansion cable while thepower is ON.Securely tighten the cable connector fixing screws and fixing mechanisms.Insufficient fixing maylead to the cables bing off during operation.Do not bundle the power line or cables.(5)Trial operation and adjustmentCAUTIONConfirm and adjust the program and each parameter before operation.Unpredictablemovements may occur depending on the machine.Extreme adjustments and changes may lead to unstable operation,so never make them.When using the absolute position system function,on starting up,and when the Motioncontroller or absolute value motor has been replaced,always perform a home position return.A-7(6)Usage methodsCAUTIONImmediately turn OFF the power if smoke,abnommal sounds or odors are emitted from theMotion controller,servo amplifier or servomotor.Always execute a test operation before starting actual operations after the program orparameters have been changed or after maintenance and inspection.Do not attempt to disassemble and repair the units excluding a qualified technician whom ourDo not make any modifications to the unit.Keep the effect or electromagic obstades to a minimum by installing a noise filter or by usingwire shields,etc.Electromagic obstacles may affect the electronic devices used near theMotion controller or servo amplifier.When using the CE Mark-pliant equipment,refer to the "EMC Installation Guidelines"(datanumber IB(NA)-67339)for the Motion controllers and refer to the corresponding EMC guidelineinformation for the servo amplifiers,inverters and other equipmentUse the units with the following conditions.ConditionsInput powerAccording to each instruction manual.According to each instruction manual.Tolerable momentary power failureAccording to each instruction manual.(7)Corrective actions for errorsCAUTIONIf an error occurs in the self diagnosis of the Motion controller or servo amplifier,confirm thecheck details according to the instruction manual,and restore the operation.If a dangerous state is predicted in case of a power failure or product failure,use a servomotorwith electromagic brakes or install a brake mechanism extemally.Use a double circuit construction so that the electromagic brake operation circuit can beoperated by emergency stop signals set externally.Shut off with servo ON signal OFF.emergency stopalarm,electromagic brake signal.signal (EMG).ServomotorRA124VDCIf an error occurs,remove the cause,secure the safety and then resume operation after alamrelease.The unit may suddenly resume operation after a power failure is restored,so do not go near themachine.(Design the machine so that personal safety can be ensured even if the machinerestarts suddenly.)A-8(8)Maintenance,inspection and part replacementCAUTIONPerform the daily and periodic inspections according to the instruction manual.Perform maintenance and inspection after backing up the program and parameters for the Motioncontroller and servo amplifier.Do not place fingers or hands in the clearance when opening or closing any opening.Periodically replace consumable parts such as batteries according to the instruction manual.Do not touch the lead sections such as ICs or the connector contacts.Before touching the module,always touch grounded metal,etc.to discharge static electricity fromhuman body.Failure to do so may cause the module to fail or malfunction.Do not directly touch the module's conductive parts and electronic ponentsTouching them could cause an operation failure or give damage to the module.Do not place the Motion controller or servo amplifier on metal that may cause a power leakageor wood,plastic or vinyl that may cause static electricity buildup.Do not perform a megger test(insulation resistance measurement)during inspectionWhen replacing the Motion controller or servo amplifier,always set the new module settingsOWhen the Motion controller or absolute value motor has been replaced,camry out a homeposition retum operation using one of the following methods,otherwise position displacementcould occur.1)After writing the servo data to the Motion controller using programming software,switch on thepower again,then perform a home position retum operation.2)Using the backup function of the programming software,load the data backed up beforereplacementOAfter maintenance and inspections are pleted,confirm that the position detection of theabsolute position detector function is correctDo not drop or impact the battery installed to the module.Doing so may damage the battery,causing battery liquid to leak in the battery.Do not use thedropped or impacted battery,but dispose of it.Do not short circuit,charge,overheat,incinerate or disassemble the batteries.The electrolytic capacitor will generate gas during a fault,so do not place your face near theMotion controller or servo amplifier.OThe electrolytic capacitor and fan will deteriorate.Periodically replace these to prevent secondarydamage from faults.Replacements can be made by our sales representative.Lock the control panel and prevent access to those who are not certified to handle or installelectric equipment.Do not burn or break a module and servo amplifier.Doing so may cause a toxic gas.A-9(9)About processing of wasteWhen you discard Motion controller,servo amplifier,a battery (primary battery)and other optionarticles,please follow the law of each country (area).CAUTIONThis product is not designed or manufactured to be used in equipment or systems in situationsthat can affect or endanger human life.When considering this product for operation in special applications such as machinery or systemsused in passenger transportation,medical,aerospace,atomic power,electric power,orsubmarine repeating applications,please contact your nearest Mitsubishi sales representative.Although this product was manufactured under conditions of strict quality control,you are stronglyadvised to install safety devices to forestall serious accidents when it is used in facilities where abreakdown in the product is likely to cause a serious accident.(10)General cautionsAll drawings provided in the instruction manual show the state with the covers and safetypartitions removed to explain detailed sections.When operating the product,always retum thecovers and partitions to the designated positions,and operate according to the instructionmanual.A-10REVISIONSThe manual number is given on the bottom left of the back coverPrint Date Manual NumberRevisionFeb.,2009 IB(NA)-0300156-A First editionJapanese Manual Number IB(NA)-0300154This manual confers no industrial property rights or any rights of any other kind.nor does it confer any patentlicenses.Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial propertyrights which may occur as a result of using the contents noted in this manual.2009 MITSUBISHI ELECTRIC CORPORATIONA-11