Mitsubishi melservo-j2 series Installation Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Manuals
  4. Controller
  5. melservo-j2 series
  6. Installation manual
Mitsubishi melservo-j2 series Installation Manual

Mitsubishi melservo-j2 series Installation Manual

General purpose ac servo
Hide thumbs Also See for melservo-j2 series:
Table of Contents

Advertisement

Quick Links

Download this manual See also: Instruction Manual
General-Purpose AC Servo
J2
Series
SSC-NET Compatible
MR-J2-
B
Specifications and Installation Guide
C

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi melservo-j2 series

Summary of Contents for Mitsubishi melservo-j2 series

  • Page 1 General-Purpose AC Servo Series SSC-NET Compatible MR-J2- Specifications and Installation Guide...
  • Page 2 Thank you for choosing this Mitsubishi AC servo. This Specifications and Installation Guide gives handling information and precautions for using the servo amplifier and servo motor. Incorrect handling may cause an unexpected fault. Before using the servo amplifier and servo motor, please read this Specifications and Installation Guide carefully to use the equipment to its optimum.
  • Page 3 SAFETY INSTRUCTIONS 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the motor by the cables, shaft or encoder.
  • Page 5 Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
  • Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
  • Page 7 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) Disposal CAUTION Dispose of the product as general industrial waste.
  • Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
  • Page 9 Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray 3) When the EMC filter is used, the radio noise filter (FR-BIF) described in (5), Section 6-2-6 is not required. (8) Servo motor For outline dimension drawings not shown, contact Mitsubishi.
  • Page 10 (9) Performing EMC tests When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC Directive guidelines on the servo amplifier, refer to the "EMC INSTALLATION GUIDELINES(IB(NA)67310)".
  • Page 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the following models of servo amplifiers and servo motors: Servo amplifier series: MR-J2-10B to MR-J2-350B Servo motor series : HC-FF C-UE HC-MF HC-SF HC-RF HC-UF (2) Installation Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.

  • Page 12: Table Of Contents

    CONTENTS CHAPTER 1 INTRODUCTION......................1-1 to 1-16 Inspection at delivery......................... 1-1 1-1-1 Packing list..........................1-1 1-1-2 Model definition ........................1-1 1-1-3 Combination with servo motor ....................1-7 Parts identification and applications ....................1-8 1-2-1 Servo amplifier......................... 1-8 1-2-2 Servo motor ..........................1-13 Function list ............................
  • Page 13 CHAPTER 6 OPTION AND AUXILIARY EQUIPMENT ..............6-1 to 6-22 Dedicated options ..........................6-1 6-1-1 Regenerative brake options ....................6-1 6-1-2 Cable connectors ........................6-5 6-1-3 Maintenance junction card ....................6-12 6-1-4 Set-up software (will be released soon) ................6-13 Auxiliary equipment ........................6-14 6-2-1 Cables............................

  • Page 14: Chapter 1 Introduction

    Model Capacity POWER :600W INPUT :3.2A 3PH 1PH 200-230V 50Hz Applicable 3PH 1PH 200-230V 60Hz 5.5A 1PH 230V 50/60Hz Rated output current OUTPUT :170V 0-360Hz 3.6A Serial number :TC3XXAAAAG52 SERIAL PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 1 - 1...
  • Page 15 1. INTRODUCTION 2) Model MR-J2-100B or less MR-J2-200B 350B Series name Name plate Name plate General-purpose AC Servo Rated output Symbol Rated Output [W] Symbol Rated Output [W] 1000 2000 3500 1 - 2...
  • Page 16 (2) Servo motors 1) Name plate AC SERVO MOTOR HC-MF13 Model Serial number SERIAL Date of manufacture DATE MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN AC SERVO MOTOR Model HC-RF153 Input power INPUT 3AC 145V 8.2A Rated output OUTPUT 1.5Kw IEC34-1 1994...
  • Page 17 1. INTRODUCTION b HA-FF series (low inertia, small capacity) Appearance 1) Compliance with Standard Series name Symbol Specifications None Standard model (Japan) UL/C-UL Standard 2) Shaft type 3) Reduction gear Symbol Shaft Shape HA-FF Symbol Reduction Gear None (Note) Standard 053 to 63 None Without...
  • Page 18 1. INTRODUCTION c HC-SF series (middle inertia, middle capacity) Appearance Series name 1) Shaft type Symbol Shaft Shape Standard None (Straight shaft) With keyway Note: Without key 2) Reduction gear Symbol (Note) Reduction Gear None Without For general industrial machine (flange type) For general industrial machine...
  • Page 19 1. INTRODUCTION d HC-RF series (low inertia, middle capacity) Appearance Series name 1) Shaft type Symbol Shaft Shape Standard None (Straight shaft) With keyway Note: Without key 2) Reduction gear Symbol Reduction Gear None Without For precision application 3) Electromagnetic brake Symbol Electromagnetic Brake 4) Rated speed...

  • Page 20: Combination With Servo Motor

    1. INTRODUCTION 1 - 1 - 3 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes, the models with reduction gears, the EN Standard-compliant models and the UL/C-UL Standard-compliant models.

  • Page 21: Parts Identification And Applications

    1. INTRODUCTION 1 - 2 Parts identification and applications 1 - 2 - 1 Servo amplifier (1) MR-J2-200B or less 1 - 8...
  • Page 22 1. INTRODUCTION Name/Application Refer To Battery holder Chapter 5(5) Contains the battery for absolute position data backup. Battery connector (CON1) Chapter 5(5) Used to connect the battery for absolute position Section 6-2-8 data backup. Display The two-digit, seven-segment LED shows the servo Section 2-3 status and alarm number.
  • Page 23 1. INTRODUCTION (2) MR-J2-200B or more The servo amplifier is shown Installation notch (4 places) without the cover. For removal of the front cover, refer to page 1-12. Cooling fan 1 - 10...
  • Page 24 1. INTRODUCTION Name/Application Refer To Battery holder Chapter 5(5) Contains the battery for absolute position data backup. Battery connector (CON1) Chapter 5(5) Used to connect the battery for absolute position Section 6-2-8 data backup. Display The four-digit, seven-segment LED shows the servo Section 2-3 status and alarm number.
  • Page 25 1. INTRODUCTION Removal of the front cover 1) Hold down the removing knob. 2) Pull the front cover toward you. Front cover Reinstallation of the front cover 1) Insert the front cover hooks into the front cover sockets of the servo amplifier. 2) Press the front cover against the servo amplifier until the removing knob clicks.
  • Page 26 1. INTRODUCTION 1 - 2 - 2 Servo motor Name/Application Refer To Encoder cable Section 6-1-2 Encoder connector for HC-SF/HC-RF Encoder Section 3-2 Section 10-1 Power cable Power leads (U, V, W) Earth lead Section 3-2 Brake lead (For motor with electromagnetic brake) Power supply connector for HC-SF/HC-RF Section 4-2 (4) Servo motor shaft...

  • Page 27: Servo Motor

    1. INTRODUCTION 1 - 3 Function list Function Description Refer To Return to home position is not required at each Absolute position detection system Chapter 5 power on after it has been made once. Suppresses vibration of 1 pulse produced at a servo Slight vibration suppression control Section 2-6-3 motor stop.

  • Page 28: Basic Configuration

    1. INTRODUCTION 1 - 4 Basic configuration To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2-100B or less (Note2) Options and Auxiliary Equipment Refer To...
  • Page 29 1. INTRODUCTION (2) MR-J2-200B or more Options and Auxiliary Equipment Refer To No-fuse breaker Section 6-2-2 Magnetic contactor Section 6-2-2 Set-up software Section 6-1-3 3-phase 200 to 230V Regenerative brake option Section 6-1-1 power supply Cables Section 6-2-1 Power factor improving reactors Section 6-2-3 No-fuse breaker...

  • Page 30: Chapter 2 Operation

    2. OPERATION 2 - 1 Standard connection example CAUTION Always follow the instructions in Chapter 3. Configure up a sequence which CAUTION switches off the MC at alarm or emergency stop. Servo amplifier Servo motor MR-J2- (Axis 1) U (Red) (Note17) V (White) Power supply...

  • Page 31: Operation

    2. OPERATION When using a personal computer during operation, (Note 4) (Note 15) always use the maintenance junction card. Motion 2m max. controller Servo amplifier (273UH171S) MR-J2- Bus cable Plate Machine controller (Model W) Bus cable Do not connect when using external power supply.
  • Page 32 2. OPERATION Note:8. When starting operation, always connect the external emergency stop (EM1) and SG. (Normally closed contacts) By setting 0001 in parameter No. 23, the external emergency stop signal can be made invalid. 9. Applies to the servo motor with electromagnetic brake. 10.

  • Page 33: Pre-Operation Checks

    2. OPERATION 2 - 2 Operation 2 - 2- 1 Pre-operation checks Before starting operation, check the following: (1) Wiring 1) A correct power supply is connected to the Servo amplifier Servo power input terminals (L1, L2, L3, L11, L21) of motor the servo amplifier.

  • Page 34: Power On

    2. OPERATION 2 - 2 - 2 Power on By switching on the main circuit/control circuit power, the display as shown on the right is provided and the servo amplifier enters a servo on state. If the servo system controller is not switched on, the servo amplifier cannot go into the servo on Display (For axis No.

  • Page 35: Display

    2. OPERATION 2 - 3 Display Use the display (2-digit, 7-segment display) to view the communication condition with the servo system controller at power on, confirm numbers, and diagnose a fault at alarm occurrence. 3 AC200/220 ON Waiting for servo system controller power to switch ON Servo system controller power ON Initial data communication...

  • Page 36: Test Operation Mode

    2. OPERATION Indication list Indication State Description Servo system controller power is off after the servo amplifier power has been Initializing switched on. Servo system controller power was switched off while the servo amplifier Initializing power was on. (Note 4) Initializing Communication between servo system controller and servo amplifier started.
  • Page 37 2. OPERATION 2 - 4 Parameters (1) Parameter list Change the parameter settings as required when using the regenerative option or when adjusting the gains, for example. Set the parameter values with the servo system controller or the personal computer which uses the set-up software MRZJW3-SETUP41E or later.
  • Page 38 2. OPERATION Customer Code Name and Function Initial Value Unit Setting *AMS Amplifier setting 0000 *REG Regenerative brake resistor 0000 For manufacturer setting 0080 For manufacturer setting For manufacturer setting For manufacturer setting *POL Motor rotation direction Auto tuning 0001 Servo response setting 0001 Forward rotation torque limit...
  • Page 39 2. OPERATION (2) Detailed explanation of the parameters To make the * marked parameter valid, set its value and switch power off once, then switch it on again. Class Code Name and Function Initial Value Unit Setting Range *AMS Amplifier setting: 0000 0000h Used to select the absolute position detection system.

  • Page 40: Auto Tuning

    2. OPERATION Class Code Name and Function Initial Value Unit Setting Range Auto tuning: 0001 0000h Used to select auto tuning. 0002h Positioning system 0: Used in incremental system. 1: Used in absolute position detection system. Servo response setting: 0001 0001h Used to set the response of auto tuning.
  • Page 41 2. OPERATION Class Code Name and Function Initial Value Unit Setting Range Ratio of load inertia to servo motor inertia (load 0.1 times 0 to 1000 inertia): Used to set the ratio of load inertia to servo motor inertia. Position control gain 1: rad/s 4 to 1000 Used to set the gain of position loop 1.Increase the...
  • Page 42 2. OPERATION Class Code Name and Function Initial Value Unit Setting Range Feed forward gain: 0 to 100 By setting 100% for constant-speed operation, droop pulses will not be generated. Note that sudden acceleration/deceleration will increase overshoot. (As a guideline, acceleration/deceleration time to/from the rated speed is 1s or longer when the set value is 100.) When setting this parameter,...
  • Page 43 2. OPERATION Class Code Name and Function Initial Value Unit Setting Range *OP1 Optional function 1: 0000 0000h Used to make the external emergency stop signal (EM1) invalid. 0001h External emergency stop signal (EM1) 0: Used 1: Not used (Automatically switched on internally) Optional function 2: 0000...
  • Page 44 2. OPERATION Class Code Name and Function Initial Value Unit Setting Range Zero speed: r/min 0 to 10000 Used to set the output range of the zero speed signal (ZSP). Error excessive alarm level: kpulse 1 to 1000 Used to set the output range of the error excessive alarm (52).
  • Page 45 2. OPERATION 2 - 5 Test operation mode 1. The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always CAUTION use it with the servo motor alone. 2.
  • Page 46 2. OPERATION Test Operation Mode Description Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the external emergency stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.
  • Page 47 2. OPERATION (2) Configuration Configuration should be as in Section 2-1 or Section 6-1-3. Always install an external emergency stop switch to enable a stop at occurrence of an alarm. (3) Operation procedure Test Operation Mode Operation Procedure Connection with Servo System Controller 1) Switch power off.

  • Page 48: Manual Gain Adjustment

    2. OPERATION 2 - 6 Adjustments 2 - 6 - 1 Auto tuning In general machines, gains are automatically adjusted by auto tuning. As the corresponding parameter is factory-set to make auto tuning valid, merely running the servo motor will automatically set the optimum gains for the machine without special operation or setting.
  • Page 49 2. OPERATION The following parameters are used for manual gain adjustment. Parameter No. Name No. 8 Auto tuning No. 9 Servo response setting No.12 Ratio of load inertia moment to servo motor inertia moment No.18 Machine resonance suppression filter No.13 Position loop gain 1 No.15 Position loop gain 2...
  • Page 50 2. OPERATION Adjustment 2 Step Operation Description Set 0001 in parameter No. 8. Auto tuning is selected. Set 0001 in parameter No. 9. Response is set to low level. Set the machine's load inertia moment to servo When this parameter value is set, the motor inertia moment in parameter No.
  • Page 51 2. OPERATION Adjustment 4 Step Operation Description Set 0001 in parameter No. 8. Auto tuning is selected. Set 0001 in parameter No. 9. Response is set to low level. Switch servo on and perform operation several Auto tuning is performed. times.

  • Page 52: Slight Vibration Suppression Control

    2. OPERATION 2 - 6 - 3 Slight vibration suppression control The slight vibration suppression control mode is used to reduce servo-specific 1 pulse vibration at the time of a stop. This mode produces an effect especially when the ratio of load inertia moment to servo motor inertia moment is small (2 to 5 times).

  • Page 53: Chapter 3 Wiring

    3. WIRING 1. Any person who is involved in wiring should be fully competent to do the work. 2. Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. 3.

  • Page 54: Servo Amplifier

    3. WIRING 3 - 1 Servo amplifier Only the specified voltage should be applied to each terminal. Otherwise, a burst, CAUTION damage, etc. may occur. 3 - 1 - 1 Terminal blocks (1) Signal arrangement Terminal block signals are as listed below: Servo Amplifiers MR-J2-10B MR-J2-70B...
  • Page 55 3. WIRING (2) Signals Symbol Signal Description Main circuit power input terminals Supply L1, L2 and L3 with the following power: For single-phase 230VAC, connect the power supply L1/L2 and leave L3 open. Servo amplifier MR-J2-10B to 70B MR-J2-100B to 350B Power supply L1, L2, L3 Main circuit power supply...
  • Page 56 3. WIRING Cable Size Bar Terminal Type Crimping tool For 1 cable For 2 cables Al0.25-6YE 0.25 Al0.25-8YE Al0.5-6WH Al0.5-8WH Al0.75-6GY Al-TWIN2 0.75-8GY 0.75 Al0.75-8GY Al-TWIN2 0.75-10GY CRIMPFOX-UD6 Al1-6RD Al-TWIN2 1-8RD Al1-8RD Al-TWIN2 1-10RD Al1.5-6BK Al-TWIN2 1.5-8BK Al1.5-8BK Al-TWIN2 1.5-12BK Al2.5-8BU Al-TWIN2 2.5-10BU Al2.5-8BU-1000...

  • Page 57: Signal Connectors

    (1) Signal arrangement All connectors are half-pitch connectors (Molex 52986-2011 or equivalent). CN1A and CN1B signals change with the control mode. Refer to (2) in this section. CN1A CN1B MITSUBISHI MELSERVO-J2 EMG* EMG* The connector frames are connected with the PE terminal inside the servo amplifier.
  • Page 58 3. WIRING (2) Connector applications Connector Name Function/Application Used for connection with the controller or preceding-axis CN1A Connector for bus cable from preceding axis. servo amplifier. Used for connection with the next-axis servo amplifier or CN1B Connector for bus cable to next axis for connection of the termination connector (MR-A-TM) Encoder connector Used for connection with the servo motor encoder.

  • Page 59: Interfaces

    3. WIRING 3 - 1 - 3 Interfaces The details of the interfaces (refer to I/O Division in the table) to the signals indicated in Section 3.1.2 are given below. Refer to the following information and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
  • Page 60 3. WIRING 2) Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC Do not connect VDD-COM. 24VDC 24VDC (3) Analog output Output 10V Max.1mA Servo amplifier (MO2) Reading in one or both directions 1mA meter 3 - 8...

  • Page 61: Control Axis Selection

    3. WIRING 3 - 1 - 4 Control axis selection Use the axis select switch (CS1) to set the control axis number for the servo. The control axis number set to CS1 should be the same as the one set to the servo system controller. If the same numbers are set to different control axes in a single communication system, the system will not operate properly.

  • Page 62: Connection Of Servo Amplifier And Servo Motor

    3. WIRING 3 - 2 Connection of servo amplifier and servo motor 3 - 2 - 1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent an electric shock. 1. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

  • Page 63: Connection Diagram

    3. WIRING 3 - 2 - 2 Connection diagram The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 6-2-1. For the servo motor connection diagram, refer to Section 6-1-2.

  • Page 64: I/O Terminals

    3. WIRING 3 - 2 - 3 I/O terminals (1) HC-MF(-EC/-UL) series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m With end-insulated round crimping terminal 1.25-4 : U phase White : V phase Black : W phase (Note) Green : Earth Encoder cable 0.3m Brake cable With connector 172169-9...
  • Page 65 3. WIRING (4) HA-FF-EC series Power supply connector signal arrangement CE05-2A14S-2PD-B Signal (Earth) Encoder connector MS3102A20-29P Power supply connector Brake connector CE05-2A14S-2PD-B MS3102E10SL-4P Connector Servo Motor For power supply For encoder For brake HA-FF053C(B)-UE CE05-2A14S-2PD-B MS3102A20-29 MS3102E10SL-4P HA-FF63C(B)-UE Encoder connector signal arrangement Brake connector signal arrangement MS3102A20-29P MS3102E10SL-4P...
  • Page 66 3. WIRING (5) HC-SF HC-RF HC-UF2000 r/min series Servo Motor Side Connectors Motor plate Servo Motor (Opposite side) For power Electromagnetic For encoder supply Brake Connector HC-SF81(B) The connector CE05-2A22- HC-SF52(B) to 152(B) for power is 23PD-B HC-SF53(B) to 153(B) shared.

  • Page 67: Connectors Used For Servo Motor Wiring

    3. WIRING 3 - 2 - 4 Connectors used for servo motor wiring This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent. (1) HC-MF(-UE), HA-FF, HC-UF 3000r/min series Use round crimping terminals (1.25-4) for connection of the power supply and electromagnetic brake. For connection of the encoder, use the connector indicated in this section or equivalent.
  • Page 68 3. WIRING For connection of encoder 2) Cable 2) Cable clamp clamp 1) Plug Cable 1) Plug Cable 1) Plug (Daiichi Denshi Kogyo) Connector Supplied for 2) Cable clamp Servo Motor Servo Motor (Daiichi Denshi Kogyo) Type Model Straight MS3106B20-29S HA-FF C(B) -UE MS3102A20-29P MS3057-12A...
  • Page 69 3. WIRING b When using flexible conduits For connection of power supply 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit 1) Plug 2) Cable Connector Conduit Connector Supplied Servo Motor (Daiichi Denshi for Servo Motor Type Maker Size...
  • Page 70 3. WIRING For connection of brake 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 2) Cable Connector Conduit 1) Plug Servo Motor Supplied for (Daiichi Denshi Kogyo) Type Maker Size Model Model Servo Motor Nippon 1/4 RCC-102RL-MS10F VF-02 flex...
  • Page 71 3. WIRING 2) EN Standard, UL/C-UL Standard-compliant a When using cabtyre cables For connection of power supply 2) Connector for cable Cable Cable 1) Plug 1) Plug 2) Connector for cable 2) Connector for Cable Connector Supplied 1) Plug Servo Motor for Servo Motor (Daiichi Denshi Kogyo) Maker...
  • Page 72 3. WIRING b When using flexible conduits For connection of power supply 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 1) Plug 2) Cable Connector Conduit Servo Motor Supplied for (Daiichi Denshi Type Maker Size Model...
  • Page 73 3. WIRING For connection of brake 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 1) Plug 2) Cable Connector Conduit Servo Motor Supplied for (Daiichi Denshi Type Maker Size Model Model Servo Motor Kogyo) Nippon RCC-102RL-MS10F...
  • Page 74 3. WIRING (3) HC-SF, HC-RF, HC-UF2000r/min series 1) Non-waterproof, UL/C-UL Standard-compliant a When using cabtyre cables For connection of power supply 2) Cable 2) Cable clamp clamp 1) Plug Cable 1) Plug Cable 1) Plug (Daiichi Denshi Kogyo) Connector Supplied for 2) Cable clamp Servo Motor Type...
  • Page 75 3. WIRING b When using flexible conduits For connection of power supply 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 1) Plug 2) Connector for conduit Conduit Servo Motor Supplied for (Daiichi Denshi Type Maker Size...
  • Page 76 3. WIRING For connection of encoder 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 1) Plug 2) Connector for conduit Conduit Servo Motor Supplied for (Daiichi Denshi Type Maker Size Model Model Servo Motor Kogyo) RCC-104RL-MS20F VF-04...
  • Page 77 3. WIRING 2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant a When using cabtyre cables For connection of power supply 2) Cable 2) Cable 1) Plug clamp Cable 1) Plug clamp Cable 2) Cable clamp 1) Plug (Daiichi Denshi Kogyo) Connector Supplied (Daiichi Denshi Kogyo) Servo Motor for Servo Motor...
  • Page 78 3. WIRING b When using flexible conduits For connection of power supply 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 1) Plug 2) Connector for conduit Conduit Servo Motor Supplied for (Daiichi Denshi Type Maker Size...
  • Page 79 3. WIRING For connection of encoder 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 1) Plug 2) Connector for conduit Conduit Servo Motor Supplied for (Daiichi Denshi Type Maker Size Model Model Servo Motor Kogyo) RCC-104RL-MS20F VF-04...

  • Page 80: Common Line

    3. WIRING 3 - 3 Common line The power supply and its common line are shown below. To conform to the EMC Directive, refer to the EMC INSTALLATION GUIDELINES (IB(NA)67310). 24VDC Digital input 27VDC or less Isolated CN1A CN1B Analog monitor output EMG* Servo motor Earth...

  • Page 81: Grounding

    3. WIRING 3 - 4 Grounding 1. Ground the servo amplifier and servo motor securely. WARNING 2. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.

  • Page 82: Power Supply Circuit

    3. WIRING 3 - 5 Power supply circuit 1. When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION 2. Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
  • Page 83 3. WIRING 2) For single-phase 100V to 120VAC/single-phase 230VAC power supply Emergency stop Power Servo amplifier Single-phase 100 to 120AC MR-J2- B single-phase L3 (Note) 230VAC Emergency stop Servo on Note: Not provided for single-phase 100V to 120VAC. (3) Timing chart Son accepted (1s) 3-phase power supply...

  • Page 84: Alarm Occurrence Timing Chart

    3. WIRING 3 - 6 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal CAUTION is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.

  • Page 85: Servo Motor With Electromagnetic Brake

    3. WIRING 3 - 7 Servo motor with electromagnetic brake 1. Make up the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Shut off by servo-on signal OFF, Shut off by emergency stop alarm or electromagnetic brake signal.
  • Page 86 3. WIRING (3) Timing charts 1) Servo on signal command (from controller) ON/OFF Tb (ms) after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
  • Page 87 3. WIRING 3) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) 4) Both main and control circuit power supplies off Dynamic brake Dynamic brake (10ms)

  • Page 88: Chapter 4 Installation

    9. Do not install or operate a faulty servo amplifier or servo motor. 10. When the product has been stored for an extended period of time, consult Mitsubishi. 4 - 1 Servo amplifier 1. The equipment must be installed in the specified direction. Otherwise, a fault may occur.
  • Page 89 4. INSTALLATION (2) Installation direction and clearances 1) Installation of one servo amplifier Control box Control box 40mm (1.6 in.) Wiring clearance or more 70mm (2.8 in.) 10mm 10mm (0.4 in.) (0.4 in.) or more or more Bottom MR-J2 40mm (1.6 in.) or more 2) Installation of two or more servo amplifiers...
  • Page 90 4. INSTALLATION 3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. (3) Keep out foreign materials 1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier.
  • Page 91 4. INSTALLATION 4 - 2 Servo motor 1. Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur. 2. The lifting eyebolts of the servo motor may only be used to transport the servo motor.
  • Page 92 4. INSTALLATION Graph of vibration servo amplitude vs. speed 1000 1500 2000 2500 3000 3500 Speed [r/min] (2) Transportation Do not hold the encoder or shaft to carry the servo motor. (3) Load mounting precautions (Prevention of impact on shaft) 1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end.
  • Page 93 4. INSTALLATION (4) Permissible load for the shaft 1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load. 2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load.

  • Page 94: Servo Motor

    Oil should be shut off on the gear box side. Some HA-FF series servo motors are equipped with an oil seal. Please contact Mitsubishi. The HA-FF series servo motor equipped with an oil seal is available. Please contact Mitsubishi. Gear...
  • Page 95 4. INSTALLATION 3) When installing the servo motor horizontally, face the power cable and encoder cable downward. When installing the servo motor vertically or obliquely, provide a trap for the cable. Cable trap 4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right) Cover Servo motor...
  • Page 96 4. INSTALLATION (7) Cable stress 1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. 2) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any application where the servo motor itself will move, run the cables so that their flexing portions fall within the flexing life range of the encoder cable.

  • Page 97: Chapter 5 Absolute Position Detection System

    5. ABSOLUTE POSITION DETECTION SYSTEM (1) Specifications Item Description System Electronic battery backup system 1 piece of lithium battery (primary battery, nominal 3.6V) Battery Type: MR-BAT or A6BAT Encoder resolution Refer to (2) in Section 10-1. Maximum revolution range Home position 32767 rev.
  • Page 98 5. ABSOLUTE POSITION DETECTION SYSTEM 2) Configuration Servo system controller Servo amplifier Servo amplifier CON1 CON1 Battery Battery Bus cable MR-A-TM CN1A CN1B CN1A CN1B Servo motor Servo motor (3) Battery installation procedure The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions: 1.

  • Page 99: Option And Auxiliary Equipment

    6. OPTION AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a WARNING tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.
  • Page 100 6. OPTION AND AUXILIARY EQUIPMENT 2) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a.
  • Page 101 6. OPTION AND AUXILIARY EQUIPMENT (3) Connection of the regenerative brake option When using the regenerative brake option, always remove wiring from across P-D and install the regenerative brake option across P-C. Set parameter No.2 according to the option to be used. The regenerative brake option will generate heat of about 100 .
  • Page 102 6. OPTION AND AUXILIARY EQUIPMENT (4) Outline drawing 1) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole MR-RB 5 (0.20) 6 (0.23) 1.6 (0.06) (0.79) Variable Dimensions Weight Regenerative Regenerative Resistance Brake Option Power[W] [kg] [lb] MR-RB032 (1.18) (0.59) (4.69) (3.9) MR-RB12...

  • Page 103: Cable Connectors

    6. OPTION AND AUXILIARY EQUIPMENT 6 - 1 - 2 Cable connectors (1) Cable selection Use the encoder cable 1), 2), 3) or 4) after confirming the servo motor series and required wiring length. When fabricating the encoder cable, use the encoder connector set 5) or 6) and refer to (2) in this section.

  • Page 104: Maintenance Junction Card

    6. OPTION AND AUXILIARY EQUIPMENT Product Model Description For CN2 Servo amplifier side connector Servo motor encoder side (3M or equivalent) connector (AMP) 0120-3000VE (Connector) 1-172161-9 (Housing) Encoder 10320-52F0-008 (Shell kit) 170359-1 (Connector pin) connector set for MR-J2CNM MTI-0002 (Clamp) HC-MF/HA-FF Servo amplifier side connector Servo motor encoder side...
  • Page 105 6. OPTION AND AUXILIARY EQUIPMENT (2) Standard encoder cable The specifications and connection of each cable are indicated below. A fabricated cable should be as specified in the following table or equivalent and connected correctly. Core Insulation Sheath OD Core Size [mm Pair Recommended Cable Model Cable Type...
  • Page 106 6. OPTION AND AUXILIARY EQUIPMENT 1) Encoder cable connection diagrams If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. a. For HC-MF/HA-FF Optional cables MR-JCCBL2M-L MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Servo amplifier side Encoder side Servo amplifier side...
  • Page 107 6. OPTION AND AUXILIARY EQUIPMENT b. For HC-SF/HC-RF When fabricating an encoder cable, fabricate it as shown below: MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL50M-L MR-JHSCBL50M-H MR-JHSCBL5M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side Plate Plate Plate...
  • Page 108 6. OPTION AND AUXILIARY EQUIPMENT 2) Bus Cable When you fabricate the bus cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. For the optional bus cable, pins not used normally are connected. When the customer fabricates the bus cable, pins without signals need not be connected.
  • Page 109 6. OPTION AND AUXILIARY EQUIPMENT 3) Communication cable This cable may not be used with some personal computers. After fully examining the NOTICE signals of the RS-232C connector, refer to this section and fabricate the cable. Select the communication cable according to the shape of the RS-232C connector of the personal computer used.
  • Page 110 6. OPTION AND AUXILIARY EQUIPMENT 6 - 1 - 3 Maintenance junction card (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Servo amplifier Communication cable Maintenance junction card (MR-J2CN3TM) Bus cable...

  • Page 111: Set-Up Software (Will Be Released Soon)

    6. OPTION AND AUXILIARY EQUIPMENT 6 - 1 - 4 Set-up software (will be released soon) Some functions of the setup software may not be available for some versions. NOTICE Contact us for details. The setup software (MRZJW3-SETUP41E or later) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.

  • Page 112: Auxiliary Equipment

    6. OPTION AND AUXILIARY EQUIPMENT 6 - 2 Auxiliary equipment The auxiliary equipment used must be those indicated in this section or equivalent. To comply with the EN Standard or UL/C-UL Standard, use the auxiliary equipment which conform to the corresponding standard.

  • Page 113: Relays

    6. OPTION AND AUXILIARY EQUIPMENT Dimensions [mm (in) ] Weight Servo Amplifier Model [kg (lb) ] MR-J2-10B/20B FR-BAL-0.4K (5.31) (2.25) (4.72) (4.72) (1.77) (4.4) MR-J2-40B FR-BAL-0.75K (5.31) (2.91) (4.72) (4.72) (2.24) (6.6) MR-J2-60B/70B FR-BAL-1.5K (6.30) (2.99) (5.71) (5.71) (2.17) (8.8) MR-J2-100B FR-BAL-2.2K (6.30)

  • Page 114: Noise Reduction Techniques

    6. OPTION AND AUXILIARY EQUIPMENT 6 - 2 - 6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
  • Page 115 6. OPTION AND AUXILIARY EQUIPMENT Sensor power supply Servo amplifier Instrument Receiver Sensor Servo motor Noise Transmission Route Suppression Techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
  • Page 116 6. OPTION AND AUXILIARY EQUIPMENT (1) Data line filter Noise can be prevented by installing a data line filter onto the encoder cable, etc. Example: Data line filter: ZCAT3035-1330 [TDK] ESD-SR-25 [Tokin] Impedance specifications (ZCAT3035-1330) Impedance[ ] [Unit:mm]([Unit:in.]) 10 to 100MHZ 100 to 500MHZ 39 1(1.54 0.04) Loop for fixing the cable band...
  • Page 117 6. OPTION AND AUXILIARY EQUIPMENT (3) Cable clamp fitting (AERSBAN- SET) Generally, the earth of the shielded cable may Strip the cable sheath of only be connected to the connector's SD terminal. the clamped area. cutter However, the effect can be increased by directly connecting the cable to an earth plate as shown below.
  • Page 118 6. OPTION AND AUXILIARY EQUIPMENT (4) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

  • Page 119: Leakage Current Breaker

    Make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm (11.8 in)) to minimize leakage currents. Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ... (6-2) K: Constant considering the harmonic contents Cable Leakage current breaker Mitsubishi Noise Type products filter Servo...

  • Page 120: Battery (Mr-Bat, A6Bat)

    6. OPTION AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo amplifier HA-FF63 MR-J2-60B Use a leakage current breaker generally available. Find the terms of Equation (6-2) from the diagram: 0.1[mA] 1000 0.1[mA]...

  • Page 121: Chapter 7 Inspection

    7. INSPECTION 1. Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING 2.
  • Page 122 7. INSPECTION 1) Smoothing capacitor : Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment. 2) Relays : Their contacts will wear due to switching currents and contact faults occur.

  • Page 123: Troubleshooting

    8. TROUBLESHOOTING 8 - 1 Alarm and warning lists When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 8.2 or 8.3 and take the appropriate action. Alarms Warnings Display...

  • Page 124: Remedies For Alarms

    8. TROUBLESHOOTING 8 - 2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. WARNING When the absolute position erase alarm (25) has occurred, always make home position setting again.
  • Page 125 8. TROUBLESHOOTING Display Name Definition Cause Action Encoder error 2 Communication error 1. Encoder connector disconnected. Connect correctly. occurred between 2. Encoder cable faulty Repair or change the cable. encoder and servo (wire breakage or short) amplifier. Output side Servo motor outputs Contact of power supply input cables Correct wiring.
  • Page 126 8. TROUBLESHOOTING Display Name Definition Cause Action Overspeed Speed has exceeded 1. Small acceleration/deceleration time Increase acceleration/ the instantaneous constant caused overshoot to be deceleration time constant. permissible speed. large. 2. Servo system is instable to cause 1. Re-set servo gain to proper value. overshoot.
  • Page 127 8. TROUBLESHOOTING Display Name Definition Cause Action Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier. error wrong. parameter setting to be rewritten. 2. Regenerative brake option not used Set parameter No. 2 correctly. with servo amplifier was selected in parameter No.
  • Page 128 8. TROUBLESHOOTING Display Name Definition Cause Action Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to flow 2. Wrong connection of servo motor. Connect correctly. successively for Servo amplifier's output terminals several seconds.

  • Page 129: Remedies For Warnings

    8. TROUBLESHOOTING 8 - 3 Remedies for warnings If a warning occurs, the servo amplifier does not go into a servo off status. However, if operation is continued in the warning status, an alarm may occur or proper operation not performed. Eliminate the cause of the warning according to this section.

  • Page 130: Chapter 9 Characteristics

    9. CHARACTERISTICS 9 - 1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below.
  • Page 131 9. CHARACTERISTICS (2) MR-J2-200B and MR-J2-350B HC-SF series 1000 HC-RF series HC-UF series During rotation During stop Load ratio [%] 9 - 2...

  • Page 132: Losses Generated In The Servo Amplifier

    9. CHARACTERISTICS 9 - 2 Losses generated in the servo amplifier (1) Amount of heat generated by the servo amplifier Table 9-1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 9-1 in consideration for the worst operating conditions.
  • Page 133 9. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier An enclosure or control box for the servo amplifier should be designed to operate at the ambient temperature of 40 (104 ) within a temperature rise of 10 (50 ). (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat...

  • Page 134: Electromagnetic Brake Characteristics

    9. CHARACTERISTICS 9 - 3 Electromagnetic brake characteristics CAUTION The electromagnetic brake is designed to hold a load. Do not use it for braking. The characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below: Though the brake lining may rattle during operation, it poses no functional problem.
  • Page 135 9. CHARACTERISTICS Servo Motor HC-RF HC-UF Series Series 103B to 23B 43B 72B 152B 202B Item 203B (Note 1) Type Spring-loaded safety brake (Note 4) Rated voltage Rated current at 20 0.26 0.33 0.42 Excitation coil resistance at 20 16.8 Capacity ON current 0.25...
  • Page 136 9. CHARACTERISTICS (2) Electromagnetic brake power supply 24VDC of the internal power output for interface (VDD) cannot be used. Prepare the following power supply for use with the electromagnetic brake only. Examples of connection of the brake exciting power supply are shown in Fig. 9-2 (a) to (c). (a) is for AC off, and (b) and (c) for DC off. When DC is switched off, the braking delay time will be shortened, but a surge absorber must be installed on the brake terminal.
  • Page 137 9. CHARACTERISTICS L max (9-2) Where, L max : Maximum coasting distance [mm] Machine's fast feed speed [mm/min] Delay time of control section [sec] Braking delay time of brake (Note) [sec] Braking time [sec] J ) No 9.55 0.8T ) : Load inertia moment converted into equivalent [kg cm value on servo motor shaft...

  • Page 138: Dynamic Brake Characteristics

    9. CHARACTERISTICS 9 - 4 Dynamic brake characteristics When an alarm, emergency stop or power failure occurs, the dynamic brake is operated to bring the servo motor to a sudden stop. Fig. 9-4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
  • Page 139 9. CHARACTERISTICS 0.045 0.12 0.04 0.035 0.03 0.08 0.025 0.06 0.02 0.04 0.015 0.01 0.02 0.005 1000 1500 2000 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] Fig. 9-7 HC-SF 2000r/min Series Fig. 9-8 HC-SF 3000r/min Series Dynamic Brake Time Constant Dynamic Brake Time Constant 0.018 0.09...

  • Page 140: Vibration Rank

    If there is a possibility that the load inertia MR-J2-200B moment may exceed, contact Mitsubishi. MR-J2-350B 9 - 5 Vibration rank The vibration rank of the servo motor is V-10 at the rated speed. Measure vibration in the following position with the servo motor installed as shown below.

  • Page 141: Chapter 10 Specifications

    10. SPECIFICATIONS 10 - 1 Standard specifications (1) Servo amplifiers Servo Amplifier MR-J2- 100B 200B 350B Item Three-phase 200 to 230VAC, 50/60Hz or single- Three-phase 200 to Voltage/frequency phase 230VAC, 50/60Hz (Note1) 230VAC, 50/60Hz Power Single-phase 230VAC: 207 to 253VAC supply Permissible voltage fluctuation Three-phase 170 to 253VAC...
  • Page 142 10. SPECIFICATIONS HC-SF 1000r/min Series HC-SF 2000r/min Series Servo Motor (Middle inertia, middle capacity) (Middle inertia, middle capacity) Item Applicable servo MR-J2- B amplifier Rated output [kW] 0.85 (Note 1) Continuous Rated [N m] 8.12 11.5 19.1 28.6 2.39 4.78 7.16 9.55 16.7...
  • Page 143 10. SPECIFICATIONS HC-SF 3000r/min Series HC-RF Series Servo Motor (Middle inertia, middle capacity) (Low inertia, small capacity) (Note9) (Note9) Item Applicable servo MR-J2- B amplifier Rated output [kW] (Note 1) Continuous [N m] 1.59 3.18 4.78 6.37 11.1 3.18 4.78 6.37 Rated torque running duty...
  • Page 144 10. SPECIFICATIONS HC-UF 2000r/min Series HC-UF 3000r/min Series Servo Motor (Pancake type middle capacity) (Pancake type small capacity) Item (Note9) 73 Applicable servo MR-J2- B amplifier Rated output [kW] 0.75 0.75 (Note 1) Continuous [N m] 3.58 7.16 9.55 0.32 0.64 Rated running duty...

  • Page 145: Torque Characteristics

    10. SPECIFICATIONS 10 - 2 Torque characteristics If load is applied during a stop (during servo lock), 70% of the rated torque should not be exceeded. NOTICE The broken line in the graph applies to the case the motor is used with the servo amplifier having the single-phase 100VAC power supply feature.
  • Page 146 10. SPECIFICATIONS [HA-FF63] [HA-FF33] [HA-FF43] Short-duration Short-duration Short-duration running region running region running region Continuous Continuous Continuous running region running region running region 1000 2000 3000 4000 1000 2000 3000 4000 1000 2000 3000 4000 Speed [r/min] Speed [r/min] Speed [r/min] (3) HC-SF series [HC-SF52] [HC-SF102]...
  • Page 147 10. SPECIFICATIONS [HC-SF301] Short-duration running region Continuous running region 1000 Speed [r/min] [HC-SF53] [HC-SF103] [HC-SF153] Short-duration Short-duration Short-duration running region running region running region Continuous Continuous Continuous running region running region running region 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed [r/min]...
  • Page 148 10. SPECIFICATIONS (5) HC-UF series [HC-UF72] [HC-UF152] [HC-UF202] Short-duration Short-duration Short-duration running region running region running region Continuous Continuous Continuous running region running region running region 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-UF13] [HC-UF23] [HC-UF43]...

  • Page 149: Servo Motors With Reduction Gears

    10. SPECIFICATIONS 10 - 3 Servo motors with reduction gears The servo motor with reduction gear must be installed in the specified direction. CAUTION Otherwise , it can leak oil, leading to a fire or fault. Servo motors are available with reduction gears designed for: 1) general industrial machines; and 2) precision applications.
  • Page 150 10. SPECIFICATIONS The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below: Servo Motor Nominal HC-MF053(B)G1 HC-MF13(B)G1 HC-MF23(B)G1 HC-MF43(B)G1 HC-MF73(B)G1 Reduction Ratio 9/44 19/96 1/12 49/576 25/288 525/6048 1/20 25/484 253/5000 625/12544 (3) HA-FF series...
  • Page 151 10. SPECIFICATIONS (4) HC-SF series For General Industrial Machines For Precision Applications Reduction Gear Series (HC-SF G1(H)) (HC-SF G2) Mounting method As in 1) in this section Flange mounting Mounting direction As in 1) in this section In any directions As in 1) in this section Grease lubrication (Already packed) Lubrication...
  • Page 152 Grease: Albania Grease/Shell OIL b. Lubricating oil Ambient IDEMITSU Nisseki- GENERAL Japan Temperature COSMO OIL KOSAN Shell OIL ESSO OIL Mobil OIL Mitsubishi Oil Energy CO., LTD 10 to 5 COSMO BONNOC DAPHNE Omala Oils SPARTAN Mobilgear JOMO. GEAR...

  • Page 153: Servo Motors With Special Shafts

    10. SPECIFICATIONS 10 - 4 Servo motors with special shafts The standard shaft of the servo motor is straight without a keyway. Shafts with keyway and D cut are also available. These shafts are not appropriate for applications where the servo motor is started and stopped frequently. Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys.
  • Page 154 10. SPECIFICATIONS Keyway [Unit: mm] ([Unit: in]) Variable Dimensions Servo Motor Model HC-SF81K 24h6 0.036 HC-SF52K to 152K (0.94) (2.17) (1.97) (1.42) (0.20) (0.16) (0.31) (0.16) HC-SF53K to 153K HC-SF121K to 301K 0.036 HC-SF202K to 702K M8 threads (1.38) (3.11) (0.39) (2.17) (0.20)

  • Page 155: Outline Dimension Drawings

    10 - 5 - 1 Servo amplifiers (1) MR-J2-10B to MR-J2-60B [Unit : mm] ([Unit : in]) 70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal (0.24) 4(0.16) Servo Amplifier...
  • Page 156 10. SPECIFICATIONS (2) MR-J2-70B MR-J2-100B [Unit: mm] 6 ( 0.24) 70(2.76) ([Unit:in]) mounting hole 70(2.76) 190(7.48) Terminal layout (0.87) (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal 6(0.24) 6(0.24) (0.87) (1.65) 6(0.24) Servo Amplifier Weight Model [kg]([lb])
  • Page 157 10. SPECIFICATIONS (3) MR-J2-200B MR-J2-350B [Unit: mm] ([Unit: in]) 6 ( 0.24) 70(2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI 12-M4 screw 3-M4 screw PE terminal Servo Amplifier Weight Model [kg]([lb]) MR-J2-200B MR-J2-350B (4.41) PE terminals Terminal screw: M4 0.7 Tightening torque: 1.24 [N m] (175.6 [oz in])

  • Page 158: Servo Motors

    10. SPECIFICATIONS 10 - 5 - 2 Servo motors (1) HC-MF series 1) Standard (without electromagnetic brake, without reduction gear) Variable Dimensions Output Inertia Moment Weight Model J( 10 kg m (kg) HC-MF053 81.5 29.5 0.019 0.40 HC-MF13 96.5 44.5 0.03 0.53 [Unit: mm]...
  • Page 159 10. SPECIFICATIONS Output Inertia Moment Weight Model J( 10 kg m (kg) HC-MF73 [Unit: mm] 4- 6.6 Motor plate (Opposite side) Motor plate Bottom Bottom Bottom Caution plate 86.7 25.2 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m White: Phase V...
  • Page 160 10. SPECIFICATIONS Variable Dimensions Output Braking Force Inertia Moment Weight Model (N m) J( 10 kg m (kg) HC-MF23B 131.5 49.1 0.136 HC-MF43B 156.5 72.1 0.191 [Unit: mm] Motor plate 4- 5.8 (Opposite side) Motor plate Bottom Bottom Bottom 10.6 Caution plate 25.2 Power supply lead 4-AWG19 0.3m...
  • Page 161 10. SPECIFICATIONS 3) With reduction gear for general industrial machine a) Without electromagnetic brake Variable Dimensions Inertia Moment Output Reduction Reduction Ratio Weight Model Backlash J( 10 kg m Gear Model (Actual Reduction Ratio) (kg) HC-MF053G1 K6505 1/5(9/44) 0.055 60min. max. HC-MF053G1 K6512 1/12(49/576)
  • Page 162 10. SPECIFICATIONS Variable Dimensions Output Reduction Reduction Ratio Inertia Moment Weight Model Gear Model (Actual Reduction Ratio) J( 10 kg m (kg) HC-MF23G1 102.6 K9005 1/5(19/96) 0.249 HC-MF23G1 122.6 K9012 1/12(25/288) 0.293 HC-MF23G1 122.6 K9020 1/20(253/5000) 0.266 [Unit: mm] For reverse rotation command "Rotation direction"...
  • Page 163 10. SPECIFICATIONS Reduction Ratio Output Reduction Gear Inertia Moment Weight Model Backlash Model J( 10 kg m (kg) Normal Reduction ratio Actual Reduction Ratio HC-MF43G1 K10020 1/20 253/5000 0.653 60min. max. HC-MF73G1 K10005 1.02 60min. max. HC-MF73G1 K10012 1/12 525/6048 1.686 60min.
  • Page 164 10. SPECIFICATIONS b) With electromagnetic brake Variable Dimensions Output Braking Force Reduction Reduction Inertia Moment Weight Model Backlash (N m) Gear Model Ratio J( 10 kg m (kg) HC-MF053BG1 0.32 K6505 1/5(9/44) 0.058 60min. max. HC-MF053BG1 0.32 K6512 1/12(49/576) 0.080 60min.
  • Page 165 10. SPECIFICATIONS Variable Dimensions Output Reduction Reduction Ratio Inertia Moment Weight Model Gear Model (Actual Reduction Ratio) J( 10 kg m (kg) HC-MF23BG1 102.6 K9005 1/5(19/96) 0.289 HC-MF23BG1 122.6 K9012 1/12(25/288) 0.333 HC-MF23BG1 122.6 K9020 1/20(253/5000) 0.306 [Unit: mm] For reverse rotation command "Rotation direction"...
  • Page 166 10. SPECIFICATIONS Reduction Ratio Output Brake Force Reduction Inertia Moment Weight Model Normal Actual Backlash (N m) Gear Model J( 10 kg m (kg) Reduction ratio Reduction Ratio HC-MF43BG1 K10020 1/20 253/5000 0.700 60min. max. HC-MF73BG1 K10005 1.145 60min. max. HC-MF73BG1 K10012 1/12...
  • Page 167 10. SPECIFICATIONS 4) With reduction gear for precision application a) Without electromagnetic brake Variable Dimensions Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash Model J( 10 kg m (kg) HC-MF053G2 BK1-05B-A5MEKA 0.067 3 min. max. HC-MF053G2 BK1-09B-A5MEKA 0.060 3 min.
  • Page 168 10. SPECIFICATIONS Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash Model J( 10 kg m (kg) HC-MF13G2 BK1-05B-01MEKA 0.078 3 min. max. HC-MF13G2 BK1-09B-01MEKA 0.072 3 min. max. HC-MF13G2 BK1-20B-01MEKA 1/20 0.122 3 min. max. HC-MF13G2 BK1-29B-01MEKA 1/29 0.096 3 min.
  • Page 169 10. SPECIFICATIONS Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Model J( 10 kg m (kg) HC-MF23G2 BK1-05B-02MEKA 0.191 HC-MF23G2 BK2-09B-02MEKA 0.208 HC-MF23G2 BK3-20B-02MEKA 1/20 0.357 HC-MF23G2 BK3-29B-02MEKA 1/29 0.276 Output Variable Dimensions (Reduction Model Ratio) HC-MF23G2 106.6 HC-MF23G2 124.6 HC-MF23G2 1/20...
  • Page 170 10. SPECIFICATIONS Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Model J( 10 kg m (kg) HC-MF43G2 BK2-05B-04MEKA 0.295 HC-MF43G2 BK3-09B-04MEKA 0.323 HC-MF43G2 BK4-20B-04MEKA 1/20 0.426 HC-MF43G2 BK4-29B-04MEKA 1/29 0.338 Output Variable Dimensions (Reduction Model Ratio) HC-MF43G2 131.6 HC-MF43G2 152.6 HC-MF43G2 1/20...
  • Page 171 10. SPECIFICATIONS Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Model J( 10 kg m (kg) HC-MF73G2 BK3-05B-08MEKA 0.973 HC-MF73G2 BK4-09B-08MEKA 0.980 HC-MF73G2 BK5-20B-08MEKA 1/20 1.016 12.0 HC-MF73G2 BK5-29B-08MEKA 1/29 0.910 12.0 Output Variable Dimensions (Reduction Model Ratio) HC-MF73G2 156.7 HC-MF73G2 192.7...
  • Page 172 10. SPECIFICATIONS b) With electromagnetic brake Variable Dimensions Braking Force Output Reduction Gear Reduction Inertia Moment Weight Model Backlash (N m) Model Ratio J( 10 kg m (kg) HC-MF053G2 0.32 BK1-05B-A5MEKA 0.070 3 min. max. HC-MF053G2 0.32 BK1-09B-A5MEKA 0.063 3 min. max. HC-MF053G2 0.32 BK1-20B-A5MEKA...
  • Page 173 10. SPECIFICATIONS Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash (N m) Model J( 10 kg m (kg) HC-MF13BG2 0.32 BK1-05B-01MEKA 0.080 3 min. max. HC-MF13BG2 0.32 BK1-09B-01MEKA 0.074 3 min. max. HC-MF13BG2 0.32 BK2-20B-01MEKA 1/20 0.124 3 min.
  • Page 174 10. SPECIFICATIONS Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio (N m) Model J( 10 kg m (kg) HC-MF23BG2 BK1-05B-02MEKA 0.239 HC-MF23BG2 BK2-09B-02MEKA 0.256 HC-MF23BG2 BK3-20B-02MEKA 1/20 0.405 HC-MF23BG2 BK3-29B-02MEKA 1/29 0.324 Variable Dimensions Output (Reduction Model Ratio) HC-MF23BG2 106.6...
  • Page 175 10. SPECIFICATIONS Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio (N m) Model J( 10 kg m (kg) HC-MF43BG2 BK2-05B-04MEKA 0.344 HC-MF43BG2 BK3-09B-04MEKA 0.372 HC-MF43BG2 BK4-20B-04MEKA 1/20 0.475 HC-MF43BG2 BK4-29B-04MEKA 1/29 0.386 Variable Dimensions Output (Reduction Model Ratio) HC-MF43BG2 131.6...
  • Page 176 10. SPECIFICATIONS Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio (N m) Model J( 10 kg m (kg) HC-MF73BG2 BK3-05B-08MEKA 1.098 HC-MF73BG2 BK4-09B-08MEKA 1.105 HC-MF73BG2 BK5-20B-08MEKA 1/20 1.141 13.0 HC-MF73BG2 BK5-29B-08MEKA 1/29 1.035 13.0 Variable Dimensions Output (Reduction Model Ratio)
  • Page 177 10. SPECIFICATIONS (2) HA-FF series 1) Standard HA-FF053 HA-FF13 [Unit: mm] Caution plate Earth terminal M3 screw (Opposite side) Bottom Bottom V ring Bottom Motor plate 4- 4.5 Power supply cable VCTF 3-1.25 0.5m (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m...
  • Page 178 10. SPECIFICATIONS 2) With electromagnetic brake HA-FF053B HA-FF13B [Unit: mm] 4- 4.5 Earth terminal M3 screw Caution plate (Opposite side) Bottom Bottom Bottom Brake cable Motor plate VCTF 2-0.5 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m With connector 172169-9 Power supply cable (AMP make) VCTF 3-1.25...
  • Page 179 10. SPECIFICATIONS 3) With reduction gear for general industrial machine HA-FF053(B)G1 HA-FF13(B)G1 [Unit: mm] Earth terminal M3 screw Caution plate 27.5 (Opposite side) Bottom Bottom Motor plate Power supply cable 4- 6.5 VCTF 3-1.25 0.5m (With end-insulated round 15h6 crimping terminal 1.25-4) Section AA Red: Phase U...
  • Page 180 10. SPECIFICATIONS HA-FF33(B)G1 HA-FF43(B)G1 [Unit: mm] 4- 10 37.5 Earth terminal M3 screw (Opposite side) Caution plate Bottom M6 screw, depth 12 Top Bottom 19h6 Motor plate Power supply cable Section AA VCTF 3-1.25 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m With connector 172169-9 Red:...
  • Page 181 10. SPECIFICATIONS 4) With reduction gear for precision application [Unit: mm] Earth terminal M3 screw Caution plate (Opposite side) 200W or more Earth terminal M3 screw (Opposite side) 100W or less 4- LZ Bottom Bottom Motor plate Power supply cable VCTF 3-1.25 0.5m (With end-insulated round crimping terminal 1.25-4)
  • Page 182 10. SPECIFICATIONS [Unit: mm] 4- 12 Earth terminal M3 screw (Opposite side) 200W or more Caution plate Earth terminal M3 screw (Opposite side) 100W or less Bottom Motor plate Power supply cable VCTF 3-1.25 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m Red: Phase U...

  • Page 183: Servo Motors (In Inches)

    10. SPECIFICATIONS HA-FF63(B)G2 1/45 [Unit: mm] 371(407.5) 6- 12 Caution plate Bottom Earth terminal Bottom Motor plate M3 screw (Opposite side) Power supply cable VCTF 3-1.25 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m Red: Phase U With connector 172169-9 White: Phase V (AMP make)
  • Page 184 10. SPECIFICATIONS (3) HC-SF Series 1) Standard (without electromagnetic brake, without reduction gear) Variable Dimensions Output Inertia Moment Weight Model (kW) J( 10 kg m (kg) HC-SF52 51.5 HC-SF53 HC-SF102 76.5 13.7 HC-SF103 HC-SF81 0.85 101.5 HC-SF152 HC-SF153 [Unit: mm] 4- 9 mounting hole Use hexagon socket 39.5...
  • Page 185 10. SPECIFICATIONS Output Inertia Moment Weight Model (kW) J( 10 kg m (kg) HC-SF301 [Unit: mm] Motor plate 39.5 (Opposite side) Bottom Bottom Oil seal S40608B Motor flange direction 19.5 Encoder connector 131.5 MS3102A20-29P 4- 13.5 mounting Power supply connector hole Use hexagon Earth socket head cap...
  • Page 186 10. SPECIFICATIONS Variable Dimensions Output Braking Force Inertia Moment Weight Model (kW) (N m) J( 10 kg m (kg) HC-SF121B 68.5 43.1 52.5 18.0 HC-SF202B HC-SF203B HC-SF201B HC-SF352B 110.5 43.1 92.0 25.0 HC-SF353B [Unit: mm] 39.5 18 3 Motor plate (Opposite side) Bottom Bottom...
  • Page 187 10. SPECIFICATIONS (4) HC-RF Series 1) Standard (without electromagnetic brake, without reduction gear) Variable Dimensions Output Inertia Moment Weight Model (kW) J( 10 kg m (kg) HC-RF103 HC-RF153 HC-RF203 [Unit: mm] 4- 9 mounting hole Use hexagon socket head cap screw. Motor plate 39.5 (Opposite side)
  • Page 188 10. SPECIFICATIONS (5) HC-UF Series 1) Standard (without electromagnetic brake) Output Inertia moment Weight Model (kW) J( 10 kg m (kg) 10.4 HC-UF72 0.75 [Unit: mm] 110.5 39.5 Motor plate (Opposite side) 2-M6 screw Bottom Bottom Oil seal S30457B 19.5 Motor flange direction Encoder connector...
  • Page 189 10. SPECIFICATIONS Variable Dimensions Output Inertia moment Weight Model (kW) J( 10 kg m (kg) HC-UF202 42.5 38.2 [Unit: mm] 39.5 Motor plate 2-M8 (Opposite side) screw Bottom Bottom Oil seal S40608B Motor flange direction 19.5 Encoder 4- 13.5 mounting hole connector Use hexagon socket head cap screw.
  • Page 190 10. SPECIFICATIONS Output Variable Dimensions Inertia Moment Weight Model kg m (kg) HC-UF23 43.8 0.241 HC-UF43 58.8 0.365 [Unit: mm] Motor plate Motor plate (Opposite side) TUV plate Bottom Bottom Bottom Oil seal SC15307 26.9 Power supply lead 4-AWG19 0.3m Encoder cable 0.3m (With end-insulated round crimping terminal 1.25-4) With connector 1-172169-9...
  • Page 191 10. SPECIFICATIONS 2) With electromagnetic brake Model Output (kW) Braking Force (N m) Inertia moment J( 10 kg m Weight (kg) HC-UF72B 0.75 12.4 [Unit: mm] 39.5 Motor plate 2-M6 screw (Opposite side) Bottom Bottom Oil seal S30457B Motor flange direction 19.5 Brake Encoder connector...
  • Page 192 10. SPECIFICATIONS Variable Dimensions Output Braking Force Inertia moment Weight Model (kW) (N m) J( 10 kg m (kg) HC-UF202B 42.5 43.1 46.8 [Unit: mm] 2-M8 Motor plate(Opposite side) screw Bottom Bottom Oil seal S40608B 19.5 Encoder Motor flange direction connector 4- 13.5 mounting hole Use hexagon socket...
  • Page 193 10. SPECIFICATIONS Variable Dimensions Output Braking Force Inertia moment Weight Model (N m) J( 10 kg m (kg) HC-UF23B 43.8 0.323 HC-UF43B 58.8 0.477 [Unit: mm] Motor plate 4- 6.6 Motor plate (Opposite side) TUV plate Bottom Bottom Bottom Oil seal SC15307 47.2 26.9...

Table of Contents