General-Purpose AC Servo
C
Sensing Module
Model
MR-MT2010
MR-MT2100
MR-MT2200
MR-MT2300
MR-MT2400
Installation Guide
IB(NA)0300331-C(1804)MEE
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Printed in Japan
This guide uses recycled paper.
Specifications are subject to change without notice.
Country/Region
USA
Germany
China
Korea
Japan
Sales office
Mitsubishi Electric Automation, Inc.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Mitsubishi Electric Europe B.V. German Branch
Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
Mitsubishi Electric Automation (China) Ltd.
Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China
Mitsubishi Electric Automation Korea Co., Ltd.
7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea
Mitsubishi Electric Corporation
Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan
Tel/Fax
Tel
Fax
Tel
Fax
Tel
Fax
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Fax
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: +1-847-478-2100
: +1-847-478-2253
: +49-2102-486-0
: +49-2102-486-1120
: +86-21-2322-3030
: +86-21-2322-3000
: +82-2-3660-9510
: +82-2-3664-8372/8335
: +81-3-3218-2111
Copyright©2016 Mitsubishi Electric Corporation All Rights Reserved.
Contents of the package
Unpack the product and check the rating plate to see if the sensing module is as you ordered.
Contents Quantit
Sensing module 1
Sensing Module Installation Guide (This guide) 1
Rating plate
The following shows an example of rating plate for explanation of
each item.
MR-MT2010
IP20 MAN.: IB(NA)0300331
AC SERVO
SER. A67001001
DATE: 2016-07
TOKYO 100-8310, JAPAN
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
INPUT: 1.0A DC24V
OUTPUT: 6W
STD.: IEC/EN 61800-5-1
Max. Surrounding Air Temp.: 60°C
MSIP-REI-MEK-TC301A160G51
Serial number
Model
IP rating, Manual number
Applicable power supply
Rated output power
Standard
Ambient temperature
KC certification number
The year and month of manufactur
Country of origin
Model
The following describes what each block of a model
name indicates.
Series
Symbol Type name
2010 SSCNET III/H head module
2100 I/O module
2200 Pulse I/O module
2300 Analog I/O module
2400 Encoder I/F module
Unit
MR - MT 2 0 1 0
1. About the manuals
To use the sensing module safely, read "Sensing module instruction manual" carefully.
1.1 Sensing modules relevant manuals
This installation guide explains how to mount sensing modules. You can also check it with our website for free.
http://www.mitsubishielectric.com/fa/
If you have any questions about the operation or programming of the equipment described in this guide, contact your
local sales office.
In addition, when you mount a protective device, specific technical skills which are not detailed in the guide will be
required.
1.2 Purpose of this guide
This installation guide explains the safe operation of sensing modules for engineers of machinery manufacturers and
machine operators. For detailed information of the products, refer to each "Sensing Module Instruction Manual".
2. About safety
This chapter explains safety of users and machine operators. Please read the chapter carefully before mounting the
equipment. In this installation guide, the specific warnings and cautions levels are classified as follows.
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury
to personnel or may cause physical damage.
2.1 Professional engineer
Only professional engineers should mount sensing modules.
Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on
past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide.
2.2 Applications of the devices
Sensing modules comply with the following standards.
IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1
2.3 Correct use
Use the sensing modules within specifications. Refer to "Sensing Module Instruction Manual" for specifications such as
voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way
or if modifications are made to the device, even in the context of mounting and installation.
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure
safety by confirming the power off, etc. Otherwise, it may cause an accident.
2.3.1 Peripheral device
The followings are selected based on UL 508C, and CSA C22.2 No. 14.
(1) Power supply
Sensing modules can be used under the conditions of the overvoltage category II.
For the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals.
2.3.2 EU compliance
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of
safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this
marking also applies to machines and equipment incorporating servos.
(1) EMC requirement
Sensing modules comply with category C3 in accordance with EN 61800-3. As for I/O wires (max. length 10 m.)
and encoder cables (max. length 30 m), use shielded wires and ground the shields.
Sensing modules are not intended to be used on a low-voltage public network which supplies domestic premises;
radio frequency interference is expected if used on such a network. The installer shall provide a guide for
Installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the
installation instructions shall either recommend that the power interface cable be segregated from signal cables.
Use the DC power supply installed with the sensing module in the same cabinet. Do not connect the other electric
devices to the DC power supply.
(2) For Declaration of Conformity (DoC)
Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the sensing modules are in compliance with EC
directives (EMC directive (2014/30/EU) and RoHS directive (2011/65/EU)). For the copy of Declaration of
Conformity, contact your local sales office.
2.3.3 USA/Canada compliance
This sensing module is designed in compliance with UL 508C and CSA C22.2 No. 14.
(1) Installation
The minimum cabinet size is 150% of volume of each sensing module. Also, design the cabinet so that the
ambient temperature in the cabinet is 60 °C or less. The sensing module must be installed in the metal cabinet.
Additionally, mount the sensing module on a cabinet that the protective earth based on the standard of IEC/EN
60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage
category shown in table in section 8.1. The sensing module needs to be installed at or below pollution degree 2.
For connection, use copper wires.
(2) Short-circuit current rating (SCCR)
SCCR of sensing modules requires support at the branch circuit protection devices (fuse and circuit breaker, etc.).
Selection of the branch circuit protection devices is dependent on the external power supply.
(3) Branch circuit protection
For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical
Code and any applicable provincial codes.
2.3.4 South Korea compliance
This product complies with the Radio Wave Law (KC mark). Please note the following to use the product.
이 기기는 업무용 (A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의 지역에서
사용하는 것을 목적으로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The seller and the
user must note the above point, and use the product in a place except for home.)
2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the sensing modules.
(1) For safety components and installing systems, only qualified personnel and professional engineers should
perform.
(2) When mounting, installing, and using the sensing module, always observe standards and directives applicable in
the country.
(3) The item about noises of the test notices in the manuals should be observed.
2.5 Residual risk
(1) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-1 Table
F.1 No. 5)
(2) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(3) Keep the required clearance/creepage distance depending on voltage you use.
2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-specific
waste disposal regulations. (Example: European Waste 16 02 14)
3. Installation direction and clearances
CAUTION
The devices must be installed in the specified direction. Not doing so may cause a
malfunction.
Mount the sensing module on a cabinet which meets IP54 in the correct vertical direction to
maintain pollution degree 2.
Top
Bottom
80 mm or more longer
for wiring
10 mm or
more
40 mm or more
40 mm or more
Cabinet Cabinet
10 mm or
more
4. Configuration diagram
CAUTION
Securely connect the cables in the specified method. Otherwise, the servo motor may operate
unexpectedly.
The following shows configuration examples of sensing modules.
Sensing modules are connected to the servo system controller by SSCNET III/H communication. Sensing modules can
be connected to the same network system with the SSCNET III/H interface servo amplifier.
Servo system controller
Servo amplifiers Sensing modules
5. Signals
The following shows MR-MT2010 signals as a typical example. For other sensing modules, refer to each "Sensing
Module Instruction Manual".
5.1 Signal
24 12
23 11
22 10
21 9
20 8
19 7
18 6
17 5
16 4
15 3
14 2
13 1
Pin No. Symbol Symbol Pin No.
13 DI1 DI2 1
14 DI3 DI4 2
15 DI5 DI6 3
16 DI7 DI8 4
17 DI9 DI10 5
18 DI11 DI12 6
19 DICOM DICOM 7
20 DO1 DO2 8
21 DOCOM(-) DOCOM(-) 9
22 CTL(+) DOCOM(-) 10
23 24V(+) 24G 11
24 FG FG 12
5.2 I/O device
Symbol Device Connecto
Pin No.
DI1 to DI12 Digital inpu
CN2
1 to 6/13 to 18
DO1/DO2 Digital outpu
8/20
DICOM Common terminal for input signals 7/19
DOCOM(-) Common terminal for output signals 9/10/21
24V(+)/24G Control circuit power supply 11/23
FG Grounding 12/24
6. Maintenance and service
WARNING
To avoid an electric shock, only qualified personnel should attempt inspections. For repair
and parts replacement, contact your local sales office.
6.1 Inspection items
It is recommended that the following points periodically be checked.
(1) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating
conditions.
(2) Check that the wires are not coming out from the connector.
(3) Check for dust accumulation on the sensing module.
(4) Check for unusual noise generated from the sensing module.
7. Transportation and storage
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the limited number of product packages is not allowed.
Install the product in a load-bearing place of sensing module in accordance with the
instruction manual.
Do not put excessive load on the machine.
When you keep or use it, please fulfill the following environment.
Item Environmen
Ambient
temperature
Operation
[°C]
0 to 60 Class 3K3 (IEC/EN 60721-3-3)
Transportation (Note)
[°C]
-20 to 65 Class 2K4 (IEC/EN 60721-3-2)
Storage (Note)
[°C]
-20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient
humidity
Operation, transportation,
storage
5 %RH to 90 %RH
Vibration
resistance
Test condition
10 Hz to 57 Hz with constant amplitude of 0.075 mm
57 Hz to 150 Hz with constant acceleration of 9.8 m/s
2
to IEC/
EN 61800-5-1 (Test Fc of IEC 60068-2-6)
Operation
5.9 m/s
2
Transportation (Note)
Class 2M3 (IEC/EN 60721-3-2)
Storage
Class 1M2 (IEC/EN 60721-3-2)
Pollution degree
2
IP rating
IP20 (IEC/EN 60529)
Open type (UL 50)
Altitude
Operation, storage
Max. 2000 m above sea level
Transportation
Max. 10000 m above sea level
Note. In re
ular transport packa
in
8. Technical data
8.1 MR-MT2010
Item Specification
Control circuit
power supply
input
Voltage 24 V DC
Permissible voltage
fluctuation
24 V DC ± 10%
Rated curren
[A] 1.0
DI
Points 12
Input type Photocoupler insulation, 24 V sink/source inpu
DO
Points 2
Output method Photocoupler insulation, 24 V sink outpu
Mass [kg] 0.2
8.2 MR-MT2100
Item Specification
DI
Points 16
Input type Photocoupler insulation, 24 V sink/source inpu
DO
Points 16
Output method Photocoupler insulation, 24 V sink/source outpu
(Note)
Mass [kg] 0.2
Note. The source output is usable when MR-MT2010 with software version A1 or later is connected.
8.3 MR-MT2200
Item Specification
Number of pulse input/output channels Output: 2/Input: 2/Input and output: 1 each (selective)
Pulse output
Output signal Differential output/open collector outpu
Output pulse train
Forward/reverse rotation pulse train, Signed pulse train, A-phase/B-phase
pulse train
Pulse input
Input signal Differential inpu
Input pulse train
Forward/reverse rotation pulse train, Signed pulse train, A-phase/B-phase
pulse train
DI
Points 14 (7 each axis)
Input type Photocoupler insulation, 24 V sink/source inpu
DO
Points 6 (3 each axis)
Output method Photocoupler insulation, 24 V sink/source outpu
Mass [kg] 0.2
8.4 MR-MT2300
Item Specification
Analog input
Points 4
Input voltage range DC -10 V to +10 V/DC -5 V to +5 V (selective)
Analog output
Points 4
Output voltage range DC -10 V to +10 V
Mass [kg] 0.2
8.5 MR-MT2400
Item Specification
Encoder communication forma
SSI
Mass [kg] 0.2
8.6 Dimensions/mounting hole process drawing
[unit: mm]
1
MR-MT2010
2
MR-MT2100
95
2
5134
120
144
14.55
29.1
2-φ5
Mounting screw
Screw size: M4
Tightening torque:
1.24 [N•m]
95
5134
120
144
14.55
29.1
2-φ5
Mounting screw
Screw size: M4
Tightening torque:
1.24 [N•m]
3
MR-MT2200
4
MR-MT2300
9595
5134
120
144
14.55
29.1
2-φ5
Mounting screw
Screw size: M4
Tightening torque:
1.24 [N•m]
95
5134
120
144
14.55
29.1
2-φ5
Mounting screw
Screw size: M4
Tightening torque:
1.24 [N•m]
5
MR-MT2400
95
5134
120
144
14.55
29.1
2-φ5
Mounting screw
Screw size: M4
Tightening torque:
1.24 [N•m]
[Warranty]
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the
"Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from
which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer
for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site
readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by
you or eighteen (18) months from the date of manufacture whichever comes first ("Warranty Period"). Warranty period for
repaired Product cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our
service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible
for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases.
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software
problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device
required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and
replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and
acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product
from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of
the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if
any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an
external system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants
of electric power companies, and also which require a special quality assurance system, including applications for railway
companies and government or public offices are not recommended, and we assume no responsibility for any failure caused
by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical
treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment
machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these
applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.