Mitsubishi Electric MR-J2S B Series Instruction Manual
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Mitsubishi Electric MR-J2S B Series Instruction Manual

Mitsubishi Electric MR-J2S B Series Instruction Manual

Servo amplifier
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General-Purpose AC Servo
SSCNET Compatible
MODEL
MR-J2S- B
SERVO AMPLIFIER
INSTRUCTION MANUAL
J2-Super
Series
G

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Summary of Contents for Mitsubishi Electric MR-J2S B Series

  • Page 1 General-Purpose AC Servo J2-Super Series SSCNET Compatible MODEL MR-J2S- B SERVO AMPLIFIER INSTRUCTION MANUAL...
  • Page 2 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • 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 servo motor by the cables, shaft or encoder.
  • Page 5 CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
  • Page 6 (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable. (4) Usage CAUTION Provide a forced 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.
  • Page 7 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier 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.
  • 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 (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in IEC60664-1, a reinforced insulating transformer is not required in the power input section.
  • Page 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J2S-10B to MR-J2S-22KB MR-J2S-10B1 to MR-J2S-40B1 Servo motor :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS (2) Installation Install a cooling fan of 100CFM (2.8m...
  • Page 11 <<About the manuals>> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MR- J2S-B safely. Also read the manual of the servo system controller. Relevant manuals Manual name Manual No.

  • Page 12: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-22 1.1 Introduction.............................. 1- 1 1.2 Function block diagram .......................... 1- 2 1.3 Servo amplifier standard specifications ....................1- 5 1.4 Function list ............................. 1- 6 1.5 Model code definition ..........................1- 7 1.6 Combination with servo motor.......................
  • Page 13 3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB ............... 3-32 3.12.1 Connection example ........................3-33 3.12.2 Servo amplifier terminals ......................3-34 3.12.3 Servo motor terminals........................3-35 4. OPERATION AND DISPLAY 4- 1 to 4- 8 4.1 When switching power on for the first time..................4- 1 4.2 Start up..............................
  • Page 14 8. INSPECTION 8- 1 to 8- 2 9. TROUBLESHOOTING 9- 1 to 9- 8 9.1 Alarms and warning list ......................... 9- 1 9.2 Remedies for alarms..........................9- 2 9.3 Remedies for warnings..........................9- 8 10. OUTLINE DIMENSION DRAWINGS 10- 1 to 10-10 10.1 Servo amplifiers...........................
  • Page 15 13.2 Specifications ............................13- 2 13.3 Battery installation procedure ......................13- 3 13.4 Confirmation of absolute position detection data................13- 4 APPENDIX App- 2 App 1. Combination of servo amplifier and servo motor ..............App- 1 App 2. Change of connector sets to the RoHS compatible products ............ App- 2...

  • Page 16: Introduction

    Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1.
  • Page 17 MEMO...
  • Page 18 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions. It is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo amplifier reads position data directly to perform operation.

  • Page 19: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J2S-350B or less Regenerative option Servo amplifier Servo motor Diode (Note 1) Relay stack (Note 2) Current Power detector supply Regenerative CHARGE lamp Dynamic...
  • Page 20 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-500B, MR-J2S-700B Regenerative option Servo amplifier Servo motor Diode stack Relay (Note) Current Power detector supply Regenerative CHARGE lamp Dynamic Cooling fan brake Control Electro- circuit magnetic power brake supply Base Voltage Overcurrent Current amplifier detection Protection detection...
  • Page 21 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-11KB or more Regenerative option Servo amplifier Servo motor Diode stack Thyristor (Note) CHAR- Current Power detector supply Rege- lamp nrative Cooling fan Control Electro- circuit magnetic power brake supply Base Voltage Overcurrent Current amplifier detection protection detection...

  • Page 22: Servo Amplifier Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo amplifier 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 MR-J2S- Item 3-phase 200 to 230VAC, 1-phase 100 to Voltage/frequency 50/60Hz or 1-phase 230VAC, 3-phase 200 to 230VAC, 50/60Hz 120VAC 50/60Hz 50/60Hz...

  • Page 23: Function List

    1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Absolute position detection Merely setting a home position once makes home position return unnecessary Chapter 13...

  • Page 24: Model Code Definition

    3PH 1PH200-230V 60Hz 5.5A 1PH 230V 50/60Hz OUTPUT : 170V 0-360Hz 3.6A Rated output current SERIAL : Serial number AAAAG52 PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR–J2S– MR–J2S–100B or less MR–J2S–200B 350B With no regenerative resistor Series Symbol...

  • Page 25: Combination With Servo Motor

    1. FUNCTIONS AND CONFIGURATION 1.6 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 and the models with reduction gears. Servo motors HC-SFS HC-UFS Servo amplifier HC-KFS HC-MFS...

  • Page 26: Structure

    1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100B or less Name/Application Reference Battery holder Section 13.3 Contains the battery for absolute position data backup. Battery connector (CON1) Section 13.3 Used to connect the battery for absolute position data backup.
  • Page 27 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200B MR-J2S-350B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Reference Battery holder Section 13.3 Contains the battery for absolute position data backup. Battery connector (CON1) Section 13.3 Used to connect the battery for absolute position data...
  • Page 28 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section 13.3 backup.
  • Page 29 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section 13.3 backup.
  • Page 30 1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KB or more POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Reference Axis select switch (SW1) Used to set the axis number of Section 3.11 the servo amplifier.

  • Page 31: Removal And Reinstallation Of The

    1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage CAUTION between P and N is safe with a voltage tester and others.
  • Page 32 1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700B Removal of the front cover Reinstallation of the front cover Front cover hook (2 places) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you 1) Insert the two front cover hooks at the bottom into the finger into the front hole of the front cover.
  • Page 33 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting screws (2 places). 1) Insert the front cover in the direction of arrow. Mounting screws (2 places) 3) Fit the front cover and fix it with the mounting screws (2 places). 1 - 16...

  • Page 34: Servo System With Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal ( WARNING of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100B or less (a) For 3-phase 200V to 230V or 1-phase 230V Options and auxiliary equipment Options and auxiliary equipment...
  • Page 35 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120V (Note 2) Options and auxiliary equipment Reference Options and auxiliary equipment Reference Power supply No-fuse breaker Section 12.2.2 Regenerative option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator Power factor improving reactor Section 12.2.3 Section 12.1.8 (Servo configuration software)
  • Page 36 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200B MR-J2S-350B Options and auxiliary equipment Options and auxiliary equipment Reference Reference (Note) Power supply No-fuse breaker Section 12.2.2 Regenerative option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator Power factor improving reactor Section 12.2.3 Section 12.1.8 (Servo configuration software) No-fuse...
  • Page 37 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500B (Note 2) Options and auxiliary equipment Options and auxiliary equipment Reference Reference Power supply No-fuse breaker Section 12.2.2 Regenerative option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator Power factor improving reactor Section 12.2.3 Section 12.1.8 (Servo configuration software) No-fuse...
  • Page 38 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700B Options and auxiliary equipment Options and auxiliary equipment Reference Reference No-fuse breaker Section 12.2.2 Regenerative option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 (Note 2) Power supply MR Configurator Power factor improving reactor Section 12.2.3 Section 12.1.8 (Servo configuration software) Servo system...
  • Page 39 1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KB or more Options and auxiliary equipment Options and auxiliary equipment Reference Reference No-fuse breaker Section 12.2.2 Regenerative option Section 12.1.1 (Note 3) Magnetic contactor Section 12.2.2 Cables Section 12.2.1 Power supply MR Configurator Power factor improving reactor Section 12.2.3 Section 12.1.8 (Servo configuration software) Power factor improving DC...

  • Page 40: Installation

    2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.

  • Page 41: Installation Direction And Clearances

    2. INSTALLATION 2.2 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm...

  • Page 42: Keep Out Foreign Materials

    2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

  • Page 43: Cable Stress

    2. INSTALLATION 2.4 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) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables.

  • Page 44: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others.

  • Page 45: Connection Example Of Control Signal System

    3. SIGNALS AND WIRING 3.1 Connection example of control signal system POINT Refer to section 3.5 for the connection of the power supply system and to section 3.6 for connection with the servo motor. 3.1.1 MR-J2S-700B or less Servo amplifier (Note 5, 8) 10m(32.81ft) or less (Note 2,6)
  • Page 46 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits.

  • Page 47: Mr-J2S-11Kb Or More

    3. SIGNALS AND WIRING 3.1.2 MR-J2S-11KB or more Servo amplifier (Note 4) Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (Note (differential line driver) Encoder Z-phase pulse (Note 7) Personal computer (differential line driver) MR Configurator (Servo configuration software) Plate 10m(32.81ft) or less CON2...
  • Page 48 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the base unit to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the interface unit will be faulty and will not output signals, disabling the forced stop and other protective circuits.

  • Page 49: I/O Signals

    3. SIGNALS AND WIRING 3.2 I/O signals 3.2.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) MR-J2S-700B or less CN1A CN1B MITSUBISHI MELSERVO-J2 EMG* EMG* The connector frames are connected with the PE (earth) terminal inside the servo amplifier.
  • Page 50 3. SIGNALS AND WIRING (2) MR-J2S-11KB or more MITSUBISHI CN1A Same as the one of the MR-J2S-700B or less. CN1B CON2 Same as the one of the MR-J2S-700B or less. CHARGE The connector frames are connected with the PE (earth) terminal inside the servo amplifier.

  • Page 51: Signal Explanations

    3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to section 3.4.2. (1) 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.

  • Page 52: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.3 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.

  • Page 53: Interfaces

    3. SIGNALS AND WIRING 3.4 Interfaces 3.4.1 Common line The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310). Servo amplifier 24VDC DI-1 <Isolated> LA .etc Differential line driver output .etc...

  • Page 54: Detailed Description Of The Interfaces

    3. SIGNALS AND WIRING 3.4.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in section 3.2.2. Refer to this section 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 55 3. SIGNALS AND WIRING (b) Lamp load Servo amplifier 24VDC (3) Encoder pulse output DO-2 (Differential line driver system) 1) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) 2) Pulse output Servo motor CCW rotation...
  • Page 56 3. SIGNALS AND WIRING (4) Analog output Output voltage : 10V Max. output current :1mA Resolution :10bit Servo amplifier (MO2) Reading in one or both directions 1mA meter 3 - 13...

  • Page 57: Power Line Circuit

    3. SIGNALS AND WIRING 3.5 Power line circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L and L of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may CAUTION cause a fire when the servo amplifier malfunctions.
  • Page 58 3. SIGNALS AND WIRING (2) For 1-phase 100 to 120V or 1-phase 230V power supply (Note 1) Controller Alarm forced stop Forced stop Power supply Servo amplifier 1-phase 100 to 120V or 1-phase 230V (Note 2) Forced stop Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

  • Page 59: Terminals

    3. SIGNALS AND WIRING 3.5.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 10.1. Connection Target Symbol Description (Application) Supply L and L with the following power. For 1-phase 230V, connect the power supply to L and leave L open.

  • Page 60: Power-On Sequence

    3. SIGNALS AND WIRING 3.5.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.5.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L , 1-phase 230V: L , 1-phase: L Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

  • Page 61: Connection Of Servo Amplifier And Servo Motor

    3. SIGNALS AND WIRING 3.6 Connection of servo amplifier and servo motor 3.6.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
  • Page 62 3. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor U (Red) V (White) Motor W (Black) (Green) 24VDC (Note 1) HC-KFS053 (B) to 73 (B) (Note 2) HC-MFS053 (B) to 73 (B) Electromagnetic brake HC-UFS13 (B) to 73 (B) To be shut off when servo-off or alarm occurrence Encoder...

  • Page 63: I/O Terminals

    3. SIGNALS AND WIRING 3.6.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (Molex) Without electromagnetic brake 5557-04R-210 (receptacle) Encoder cable 0.3m (0.98ft.) 5556PBTL (Female terminal) With connector 1-172169-9 With electromagnetic brake (Tyco Electronics) 5557-06R-210 (receptacle)
  • Page 64 3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector HC-SFS81(B) The connector CE05-2A22- HC-SFS52(B) to 152(B) for power is 23PD-B HC-SFS53(B) to 153(B) shared. HC-SFS121(B) to 301(B) CE05-2A24- HC-SFS202(B) to 502 (B) 10PD-B...

  • Page 65: Servo Motor With Electromagnetic Brake

    3. SIGNALS AND WIRING 3.7 Servo motor with electromagnetic brake Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1). Contacts must be open when Circuit must be servo-off, when an alarm occurrence opened during and when an electromagnetic brake...
  • Page 66 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on 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. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
  • Page 67 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Forward Servo motor speed rotation Electromagnetic brake 0r/min (10ms) Base circuit (Note) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) (ON) Trouble (ALM) Yes (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
  • Page 68 3. SIGNALS AND WIRING (e) Only main circuit power supply off (control circuit power supply remains on) Dynamic brake Dynamic brake (10ms) (10ms) Electromagnetic brake Forward (Note 1) Servo motor speed rotation Electromagnetic brake 15ms or more 0r/min Base circuit (Note 3) Electromagnetic brake interlock (MBR)

  • Page 69: Grounding

    3. SIGNALS AND WIRING 3.8 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal WARNING ( ) 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 70: Servo Amplifier Terminal Block (Te2) Wiring Method

    3. SIGNALS AND WIRING 3.9 Servo amplifier terminal block (TE2) wiring method POINT Refer to table 12.1 2) and (4) of section 12.2.1 for the wire sizes used for wiring. 3.9.1 For servo amplifier produced later than January, 2006 (1) Termination of the cables (a) Solid wire After the sheath has been stripped, the cable can be used as it is.
  • Page 71 3. SIGNALS AND WIRING (2) Connection (a) When the cable is inserted directly Insert the cable to the end pressing the button with a small flat-blade screwdriver or the like. Button Small flat blade When removing the short-circuit bar screwdriver or the like from across P-D, press the buttons of P and D alternately pulling the short-circuit bar.

  • Page 72: For Servo Amplifier Produced Earlier Than December, 2005

    3. SIGNALS AND WIRING 3.9.2 For servo amplifier produced earlier than December, 2005 (1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole.

  • Page 73: Instructions For The 3M Connector

    3. SIGNALS AND WIRING 3.10 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 74: Control Axis Selection

    3. SIGNALS AND WIRING 3.11 Control axis selection POINT The control axis number set to SW1 should be the same as the one set to the servo system controller. Use the axis select switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly.

  • Page 75: Power Line Circuit Of The Mr-J2S-11Kb To Mr-J2S-22Kb

    3. SIGNALS AND WIRING 3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply.

  • Page 76: Connection Example

    3. SIGNALS AND WIRING 3.12.1 Connection example Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal turned off as soon as an alarm occurs, a servo forced stop is made valid, a controller forced stop, or a servo motor thermal relay alarm is made valid.

  • Page 77: Servo Amplifier Terminals

    3. SIGNALS AND WIRING 3.12.2 Servo amplifier terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 10.1. Connection Target Symbol Description (Application) Main circuit power supply Supply L and L with three-phase 200 to 230VAC, 50/60Hz power.

  • Page 78: Servo Motor Terminals

    3. SIGNALS AND WIRING 3.12.3 Servo motor terminals Terminal box Encoder connector Signal Signal Encoder connector MS3102A20-29P signal arrangement MS3102A20-29P Terminal box inside (HA-LFS601 701M 11K2) Thermal sensor terminal block (OHS1 OHS2) M4 Motor power supply terminal block Cooling fan (U V W) M6 screw terminal block (BU BV) M4 screw...
  • Page 79 3. SIGNALS AND WIRING Terminal box inside (HA-LFS801 12K1 11K1M 15K1M 15K2 22K2) Cooling fan terminal block (BU BV BW) Thermal sensor terminal M4 screw block (OHS1 OHS2) M4 screw Terminal block signal arrangement OHS1OHS2 Encoder connector Motor power supply MS3102A20-29 terminal block Earth terminal M6 screw...
  • Page 80 3. SIGNALS AND WIRING Signal Name Abbreviation Description Power supply U V W Connect to the motor output terminals (U, V, W) of the servo amplifier. Supply power which satisfies the following specifications. Power Rated Voltage Servo motor Voltage/frequency consumption current division HA-LFS601, 701M,...
  • Page 81 3. SIGNALS AND WIRING MEMO 3 - 38...

  • Page 82: Operation And Display

    4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 When switching power on for the first time Before starting operation, check the following. (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo amplifier.

  • Page 83: Start Up

    4. OPERATION AND DISPLAY 4.2 Start up Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals WARNING and charging area exposed and you may get an electric shock. During power-on or operation, do not open the front cover.
  • Page 84 4. OPERATION AND DISPLAY (3) Servo-on Switch the servo-on in the following procedure. 1) Switch on main circuit/control circuit power supply. 2) The controller transmits the servo-on command. When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

  • Page 85: Servo Amplifier Display

    4. OPERATION AND DISPLAY 4.3 Servo amplifier display On the servo amplifier display (two-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
  • Page 86 4. OPERATION AND DISPLAY (2) Indication list Indication Status Description Power to the servo system controller was switched off during power-on of the Initializing servo amplifier. The servo amplifier was switched on when power to the servo system controller is off. The axis No.

  • Page 87: Test Operation Mode

    4. OPERATION AND DISPLAY 4.4 Test operation mode 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 the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop. By using a personal computer and the MR Configurator (servo configuration software MRZJW3- SETUP121E), you can execute jog operation, positioning operation, motor-less operation and DO forced output without connecting the motion controller.
  • Page 88 4. OPERATION AND DISPLAY (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced 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 89 4. OPERATION AND DISPLAY (2) Configuration Configuration should be as in section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm. (3) Operation procedure (a) Jog operation, positioning operation, program operation, DO forced output. 1) Switch power off.

  • Page 90: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the MR Configurator (servo configuration software) invalid and the servo system controller values valid.
  • Page 91 5. PARAMETERS (1) Item list (Note 1) Classifi- Customer Symbol Name Unit Initial cation setting Value *AMS Amplifier setting 0000 *REG Regenerative resistor 0000 0080 For manufacturer setting by servo system controller Automatically set from the servo system controller *FBP Feedback pulse number *POL Rotation direction selection...
  • Page 92 5. PARAMETERS Classifi- Customer Initial Symbol Name Unit cation setting Value For manufacturer setting 0000 0111 0000 *CDP Gain changing selection Gain changing condition (Note) Gain changing time constant GD2B Ratio of load inertia moment to servo motor inertia moment 2 time PG2B Position control gain 2 changing ratio...
  • Page 93 5. PARAMETERS (2) Details list Classifi- Initial Setting Symbol Name and Function Unit cation Value Range *AMS Amplifier setting 0000 Refer to Used to select the absolute position detection. name function column. Absolute position detection selection 0: Invalid (Used in incremental system.) 1: Valid (Used in absolute position detection system.) *REG...
  • Page 94 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range *FBP Feedback pulse number Refer to Set the number of pulses per revolution in the controller side command name unit. Information on the motor such as the feedback pulse value, present position, droop pulses and within-one-revolution position are derived function from the values converted into the number of pulses set here.
  • Page 95 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range Servo response 7kW or Refer to Used to select the response of auto tuning. less name :0005 function 11kW or column. Response level selection more Response Machine resonance :0002 value level...
  • Page 96 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range Speed control gain 1 7kW or rad/s Normally this parameter setting need not be changed. Higher setting less:177 increases the response level but is liable to generate vibration and/or 5000 noise.
  • Page 97 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range In-position range pulse Used to set the droop pulse range in which the in-position (INP) will be output to the controller. Make setting in the feedback pulse unit 50000 (parameter No.
  • Page 98 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range *OP2 Optional function 2 0000 Refer to Used to select slight vibration suppression control and motor-less name operation function column. Slight vibration suppression control selection Made valid when auto tuning selection is set to "0002"...
  • Page 99 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range Analog monitor 1 offset Used to set the offset voltage of the analog monitor1 (MO1) output. Analog monitor 2 offset Used to set the offset voltage of the analog monitor2 (MO2) output. For manufacturer setting 0001 Do not change this value by any means.
  • Page 100 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range *ENR Encoder pulses output 4000 pulse/rev Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. 65535 Set the value 4 times greater than the A-phase and B-phase pulses. You can use parameter No.
  • Page 101 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range For manufacturer setting Do not change this value by any means. 0000 0111 *CDP Gain changing selection 0000 Refer to Select the gain changing condition. (Refer to section 7.5) Name 0 0 0 function...
  • Page 102 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range *OPC Optional function C 0000 Refer to Used to select the encoder pulse output direction. Name function column. Encoder pulse output phase changing Changes the phases of A, B-phase encoder pulses output .

  • Page 103: Analog Monitor

    5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range For manufacturer setting 0000 Do not change this value by any means. 5.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter.
  • Page 104 5. PARAMETERS (2) Setting description The servo amplifier is factory-set to output the servo motor speed to analog monitor (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No. 22 (Analog monitor output) value. Refer to (3) in this section for the measurement point.
  • Page 105 5. PARAMETERS (3) Analog monitor block diagram 5 - 16...

  • Page 106: Replacement Of Mr-J2- B By Mr-J2S- B

    5. PARAMETERS 5.4 Replacement of MR-J2- B by MR-J2S- B When using the MR-J2S- B on the servo system controller peripheral software incompatible with the MR-J2S- B, you cannot use some parameter functions. Read this section carefully and set appropriate values in the parameters.

  • Page 107: Explanation Of The Modified Parameters

    5. PARAMETERS 5.4.2 Explanation of the modified parameters (1) Feedback pulse number (parameter No. 6) This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. When the servo motor used is the HC-KFS or HC-MFS, the feedback pulse number is 8192 pulses/rev, and when it is the HC-SFS, HC-RFS or HC-UFS, the feedback pulse number is 16384 pulses/rev.
  • Page 108 5. PARAMETERS (4) Machine resonance suppression filter 1 (parameter No. 18) The settings of this parameter were changed for the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, the parameter settings are as indicated below.
  • Page 109 5. PARAMETERS MEMO 5 - 20...

  • Page 110: General Gain Adjustment

    6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.
  • Page 111 6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to Interpolation made for 2 or more match the position gain axes? (PG1) between 2 or more Interpolation mode axes. Normally not used for other purposes.

  • Page 112: Adjustment Using Mr Configurator (Servo Configuration Software)

    6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjustment using MR Configurator (servo configuration software) POINT When using the machine analyzer, set the servo amplifier's axis number for "F". (Refer to section 3.11.) This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator (servo configuration software) which operates on a personal computer.

  • Page 113: Auto Tuning

    6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

  • Page 114: Auto Tuning Mode Operation

    6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Control gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Set 0 or 1 to turn on. Position/speed tuning section feedback...

  • Page 115: Adjustment Procedure By Auto Tuning

    6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.

  • Page 116: Response Level Setting In Auto Tuning Mode

    6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (parameter No. 9) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 117: Manual Mode 1 (Simple Manual Adjustment)

    6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
  • Page 118 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 16) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
  • Page 119 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 13) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling.

  • Page 120: Interpolation Mode

    6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 1 and speed control gain 1 which determine command track ability are set manually and the other gain adjusting parameters are set automatically.

  • Page 121: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super

    6. GENERAL GAIN ADJUSTMENT 6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 6.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.

  • Page 122: Special Adjustment Functions

    7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
  • Page 123 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No. 18). Parameter No. 18 Notch frequency selection Setting Frequency Setting Frequency Setting Frequency Setting Frequency 281.3 Invalid 562.5 187.5 264.7 4500...

  • Page 124: Adaptive Vibration Suppression Control

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Adaptive vibration suppression control (1) Function Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.

  • Page 125: Low-Pass Filter

    7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No. 25). Parameter No. 25 Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration.

  • Page 126: Gain Changing Function

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.5.1 Applications This function is used when. (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

  • Page 127: Parameters

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.3 Parameters When using the gain changing function, always set " 2 " in parameter No.8 (auto tuning) to choose the manual mode 2 of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
  • Page 128 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 12 to 17 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.

  • Page 129: Gain Changing Operation

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
  • Page 130 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to 0.1 times servo motor inertia moment Position control gain 2 rad/s Speed control gain 2...
  • Page 131 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 10...
  • Page 132 8. INSPECTION 8. INSPECTION Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • Page 133 8. INSPECTION MEMO 8 - 2...

  • Page 134: Troubleshooting

    9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 9.2 or 9.3 and take the appropriate action. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.

  • Page 135: Remedies For Alarms

    9. TROUBLESHOOTING 9.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase alarm (25) occurred, always make home position CAUTION setting again.
  • Page 136 9. TROUBLESHOOTING Display Name Definition Cause Action Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
  • Page 137 9. TROUBLESHOOTING Display Name Definition Cause Action Regenerative Permissible 1. Mismatch between used Set correctly. error regenerative power regenerative option and of the built-in parameter No. 2 setting regenerative 2. Built-in regenerative resistor or Connect correctly. resistor or regenerative option is not regenerative option connected.
  • Page 138 9. TROUBLESHOOTING Display Name Definition Cause Action Overvoltage Converter bus 1. Regenerative option is not used. Use the regenerative option. voltage exceeded 2. Though the regenerative option is Make correct setting. 400VDC. used, the parameter No. 2 setting is " 00 (not used)".
  • Page 139 9. TROUBLESHOOTING Display Name Definition Cause Action Servo motor Servo motor 1. Ambient temperature of servo Review environment so that ambient overheat temperature rise motor is over 40 (104 ) . temperature is 0 to 40 (32 to 104 ) . actuated the 2.
  • Page 140 9. TROUBLESHOOTING Display Name Definition Cause Action The deviation 1. Acceleration/deceleration time Increase the acceleration/deceleration (Note) Error excessive between the model constant is too small. time constant. position and the 2. Torque limit value is too small. Increase the torque limit value. actual servo motor 3.

  • Page 141: Remedies For Warnings

    9. TROUBLESHOOTING 9.3 Remedies for warnings POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation.

  • Page 142: Outline Dimension Drawings

    10. OUTLINE DIMENSION DRAWINGS 10. OUTLINE DIMENSION DRAWINGS 10.1 Servo amplifiers (1) MR-J2S-10B to MR-J2S-60B MR-J2S-10B1 to MR-J2S-40B1 [Unit: mm] ([Unit: in]) 70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Rating plate (Note) PE terminal...
  • Page 143 10. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70B MR-J2S-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 Rating plate PE terminal 6(0.24) 6(0.24) (0.87) (1.65) 6(0.24) Mass Servo amplifier [kg]([lb]) MR-J2S-70B (3.75)
  • Page 144 10. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200B MR-J2S-350B [Unit: mm] ([Unit: in]) 2- 6 ( 0.24) 70(2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI PE terminal Cooling fan wind direction Mass Servo amplifier [kg]([lb]) MR-J2S-200B MR-J2S-350B (4.41) Terminal signal layout PE terminals Mounting Screw Screw Size:M5...
  • Page 145 10. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500B [Unit: mm] 2- 6 ( 0.24) mounting hole ([Unit: in]) (0.24) (0.24) 130(5.12) 200(7.87) 118(4.65) (2.76) (0.19) 5 Terminal layout MITSUBISHI OPEN MITSUBISHI OPEN OPEN N.P. N.P. 6(0.24) Cooling fan Cooling fan Cooling fan wind direction Mass Servo amplifier [kg]([lb])
  • Page 146 10. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700B 2- 6( 0.24) [Unit: mm] mounting hole ([Unit: in]) 200(7.87) 180(7.09) (0.39) 160(6.23) 138(5.43) (2.76) 6(0.24) (2.44) (0.39) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN 6 (0.24) Cooling fan Cooling fan wind direction Mass Servo amplifier [kg]([lb]) MR-J2S-700B...
  • Page 147 10. OUTLINE DIMENSION DRAWINGS (6) MR-J2S-11KB 15KB [Unit: mm] ([Unit: in]) Cooling fan wind direction 2- 12( 0.47) mounting hole (2.95) MITSUBISHI Cooling fan CON2 CHARGE 12(0.47) (0.47)12 236(9.29) 260(10.24) 12(0.47) Mass Servo amplifier [kg]([lb]) MR-J2S-11KB 15(33.1) MR-J2S-15KB 16(35.3) Terminal signal layout Mounting Screw PE terminal Screw Size:M10...
  • Page 148 10. OUTLINE DIMENSION DRAWINGS (7) MR-J2S-22KB [Unit: mm] ([Unit: in]) Coolig fan wind direction 2- 12( 0.47) mounting hole (2.95) MITSUBISHI Cooling fan CON2 CHARGE 12(0.47) (0.47)12 326(12.84) 350(13.78) 12(0.47) Mass Servo amplifier [kg]([lb]) MR-J2S-22KB 20(44.1) Terminal signal layout Mounting Screw PE terminal Screw Size:M10 Tighting torque:...

  • Page 149: Connectors

    10. OUTLINE DIMENSION DRAWINGS 10.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type Model Connector : 10120-3000PE 10126-3000PE Shell kit : 10320-52F0-008 10326-52F0-008 [Unit: mm] 12.0(0.47) ([Unit: in]) 14.0 (0.55) Logo, etc. are indicated here. 12.7 (0.50) Variable dimensions Connector Shell kit 10120-3000PE...
  • Page 150 10. OUTLINE DIMENSION DRAWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 [Unit: mm] ( 0.26) ([Unit: in]) 2- 0.5 20.9(0.82) Logo, etc. are indicated here. (0.02) 29.7 (1.17) (2) Bus cable connector (a) Honda Tsushin Industry PCR type [Unit: mm] ([Unit: in]) PCR-LS20LA1...
  • Page 151 10. OUTLINE DIMENSION DRAWINGS (b) Honda Tsushin Industry HDR type Model HDR Number of Pins Connector Connector case (Note) Crimping terminal HDR-E14MG1 HDR-E14LPA5 Wire straightening tool : FHAT-0029 HDR-E26MG1 HDR-E26LPA5 Insulation displacement tool : FHPT-0004C Note. Not available from us and to be supplied by the customer. Model Connector : HDR-E14MG1 Model Connector...

  • Page 152: Characteristics

    11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11.1, Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.

  • Page 153: Power Supply Equipment Capacity And Generated Loss

    11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions.
  • Page 154 11. CHARACTERISTICS (Note 2) (Note 1) Area required for heat dissipation Servo amplifier Servo motor Power supply Servo amplifier-generated heat[W] capacity[kVA] At rated torque With servo off HC-SFS502 42.0 HC-RFS353 29.1 HC-RFS503 42.0 MR-J2S-500B HC-UFS352 42.0 HC-UFS502 42.0 HC-LFS302 25.8 HA-LFS502 42.0 HC-SFS702...
  • Page 155 11. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .

  • Page 156: Dynamic Brake Characteristics

    11. CHARACTERISTICS 11.3 Dynamic brake characteristics 11.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
  • Page 157 11. CHARACTERISTICS 1000 1500 2000 1000 Speed [r/min] Speed [r/min] HC-SFS1000r/min series HC-SFS2000r/min series 500 1000 1500 2000 2500 3000 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] HC-SFS3000r/min series HC-RFS series 10001500200025003000 1000 1500 2000 Speed [r/min] Speed [r/min] HC-UFS 2000r/min series HC-UFS3000r/min series 15K2...

  • Page 158: The Dynamic Brake At The Load Inertia Moment

    11. CHARACTERISTICS 11.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.

  • Page 159: Inrush Currents At Power-On Of Main Circuit And Control Circuit

    11. CHARACTERISTICS 11.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 10m.

  • Page 160: Options And Auxiliary Equipment

    12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an WARNING electric shock may occur.
  • Page 161 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative option (a) Simple selection method In horizontal motion applications, select the regenerative option as described below. When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in section 5.1 of the separately available Servo Motor Instruction Manual.
  • Page 162 12. OPTIONS AND AUXILIARY EQUIPMENT b. Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor charging[J] MR-J2S-10B MR-J2S-10B1...
  • Page 163 12. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. The regenerative option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc.
  • Page 164 12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500B MR-J2S-700B Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally.
  • Page 165 12. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Cooling fan installation screw hole dimensions 2-M3 screw hole (for cooling fan installation) Cooling fan Terminal block Depth 10 or less (Screw hole already machined) Thermal relay Bottom...
  • Page 166 12. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J2S-11KB-PX to MR-J2S-22KB-PX (when using the regenerative option) The MR-J2S-11KB-PX to MR-J2S-22KB-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67 regenerative option.
  • Page 167 12. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole MR-RB 5 (0.20) Terminal block Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw 1.6 (0.06) 6 (0.24) Screw size: M5 (0.79)
  • Page 168 12. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm (in)] Fan mounting screw (2-M3 screw) Terminal block On opposite side 82.5 (1.93) (3.25) Terminal screw: M4 Tightening torque: 1.2 [N m] (10.6 [Ib in]) 7 14 Mounting screw slot Screw: M6 Tightening torque: 5.4 [N m] Wind blows in the...

  • Page 169: Bu2 Brake Unit

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 FR-BU2 brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically.
  • Page 170 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Brake unit parameter setting Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can be changed or not is listed below. Parameter Change possible/ Remarks Name impossible Brake mode switchover Impossible Do not change the parameter.
  • Page 171 12. OPTIONS AND AUXILIARY EQUIPMENT Note 1. For power supply specifications, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C terminals.
  • Page 172 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter).
  • Page 173 12. OPTIONS AND AUXILIARY EQUIPMENT (e) Crimping terminals for P and N terminals of servo amplifier POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. Number of (Note) Servo amplifier Brake unit connected Crimping terminal (Manufacturer)
  • Page 174 12. OPTIONS AND AUXILIARY EQUIPMENT FR-BU2-30K 2- 5 hole (Screw size: M4) Rating plate 18.5 129.5 FR-BU2-55K 2- 5 hole (Screw size: M4) Rating plate 18.5 142.5 12 - 15...
  • Page 175 12. OPTIONS AND AUXILIARY EQUIPMENT (b) FR-BR resistor unit [Unit: mm] (Note) Control circuit (Note) terminal Main circuit terminal Approx. 35 Approx. 35 For FR-BR-55K, a hanging bolt is placed on two locations (Indicated below). Hanging bolt Note. Ventilation ports are provided on both sides and the top. The bottom is open. Approximate Resistor unit mass...
  • Page 176 12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.2. (1) Selection The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the MR-J2S-500B to MR-J2S-22KB. Power Nominal regeneration...

  • Page 177: Power Regeneration Converter

    12. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier (Note 3) Power factor improving reactor FR-BAL (Note 5) Power supply (Note 2) 5m(16.4ft) or less (Note 4) Ready output Alarm output (Note 1) Phase detection terminals Power regeneration converter FR-RC FR-RC Operation ready Note 1.
  • Page 178 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.

  • Page 179: External Dynamic Brake

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure.
  • Page 180 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Operation-ready CON2 (Note 1) Servo motor (Note 4) Power supply (Note 3) CON2 (Note 2) Plate 13 U Dynamic brake Note 1. Configure up the circuit to switch power off in the external sequence at servo alarm occurrence. 2.
  • Page 181 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing [Unit: mm] ([Unit: in]) (0.2) (0.2)5 100(3.94) 2.3(0.09) Terminal block 13 14 (GND) Screw : M4 Screw : M3.5 Tightening torque: 1.2 [N m](10.6 [lb in]) Tightening torque: 0.8 [N m](7 [lb in]) Mass Connection Dynamic brake...

  • Page 182: Cables And Connectors

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.5 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. The broken line areas in the diagram are not options. Servo system Servo amplifier Servo amplifier controller (Note 1)
  • Page 183 12. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard encoder MR-JCCBL M-L Connector: 10120-3000PE Housing: 1-172161-9 Standard cable Refer to (2) in this Shell kit: 10320-52F0-008 Connector pin: 170359-1 flexing life section. (3M or equivalent) (AMP or equivalent) IP20 Cable clamp: MTI-0002 (Toa Electric Industry) Long flexing life...
  • Page 184 12. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 11) Connector set MR-J2CN1-A Connector: PCR-S20FS Connector: 10120-3000PL Refer to (4) in this Shell kit: PCR-LS20LA1 Shell kit: 10320-52F0-008 section (Honda Tsushin) (3M or equivalent) 12) Control signal MR-J2CN1 Connector: 10120-3000PE connector set Shell kit: 10320-52F0-008 (3M or equivalent)
  • Page 185 12. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 24) Bus cable Q172J2BCBL M Connector: HDR-E14MG1 Connector: 10120-6000EL (-B) Shell kit: HDR-E14LPA5 Shell kit: 10320-3210-000 Refer to (4) in this (Honda Tsushin) (3M or equivalent) section (Note) Socket: HCN2-2.5S-2 Terminal: HCN2-2.5S-D-B (Hirose Electric) Note.
  • Page 186 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to section 11.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
  • Page 187 12. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Drive unit side Encoder side Drive unit side Encoder side Drive unit side Encoder side (Note) (Note) (Note) Plate Plate Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system.
  • Page 188 12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL Symbol Specifications Standard flexing life Long flexing life Symbol (Note) Cable length [m(ft)] 2 (6.56) 5 (16.4) 10 (32.8)
  • Page 189 12. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-ENCBL50M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (Note 1) Plate (Note @ 2) Use of AWG24 (Less than 10m(32.8ft)) (Note 1) (Note 1)
  • Page 190 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model: MR-CPCATCBL3M Cable length 3[m](10[ft]) (b) Connection diagram MR-CPCATCBL3M...
  • Page 191 12. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable When fabricating the bus cable, do not make incorrect connection. Doing so can CAUTION cause misoperation or explosion. When fabricating this cable, use the recommended cable given in section 12.2.1 and fabricate it in accordance with the connection diagram shown in this section.
  • Page 192 12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2HBUS M 1) Model definition Model: MR-J2HBUS Symbol Cable length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.4) 2) Connection diagram MR-J2HBUS 10120-6000EL(Connector) 10120-6000EL(Connector) 10320-3210-000(Shell kit) 10320-3210-000(Shell kit) EMG* Plate Plate 12 - 33...
  • Page 193 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Q172J2BCBL M(-B) When using the battery unit Q170BAT, use the Q172J2BCBL M-B. For the Q170BAT, refer to the Motion Controller Q Series User's Manual (IB(NA)0300021). 1) Model definition Model: Q172J2BCBL Symbol Connection of battery unit Symbol Cable length [m(ft)] 0.5 (1.64)
  • Page 194 12. OPTIONS AND AUXILIARY EQUIPMENT 2) Connection diagram Q173J2B When HDR-E26MG1(Connector) 10120-6000EL(Connector) HDR-E26-LPA5(Connector case) 10320-3210-000(Connector case) SSCNET1 Line TD1* RD1* = No EMG12 EMG12* EMG* Plate SSCNET2 Line TD2* RD2* EMG* Plate SSCNET3 Line TD3* RD3* EMG34 EMG34* EMG* Plate SSCNET4 Line TD4* RD4*...

  • Page 195: Maintenance Junction Card (Mr-J2Cn3Tm)

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.6 Maintenance junction card (MR-J2CN3TM) POINT The MR-J2S-11KB or more allows only the relaying of signals using CN3A/CN3C. Since TE1 cannot be used, keep it open. (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.

  • Page 196: Battery (Mr-Bat, A6Bat)

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.7 Battery (MR-BAT, A6BAT) POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries"...
  • Page 197 12. OPTIONS AND AUXILIARY EQUIPMENT (2) System configuration (a) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Model (Note 1) Description IBM PC-AT compatible where the English version of Windows ®...

  • Page 198: Power Regeneration Common Converter

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.9 Power regeneration common converter POINT For details of the power regeneration common converter FR-CV, refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier.
  • Page 199 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection diagram Servo amplifier Servo motor FR-CVL FR-CV R2/L R2/L (Note 8) S2/L Power S2/L W Thermal supply T2/L (Note 6) T2/L relay 0HS2 (Note 2) 0HS1 (Note 1) (Note 5) T/MC1 RESET RDYB Servo system (Note 3) controller...
  • Page 200 12. OPTIONS AND AUXILIARY EQUIPMENT 2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible. Power regeneration common converter Grounding wire size [mm FR-CV-7.5K TO FR-CV-15K FR-CV-22K •...
  • Page 201 12. OPTIONS AND AUXILIARY EQUIPMENT (5) Specifications Power regeneration common converter 7.5K FR-CV- Item Total of connectable servo amplifier capacities [kW] 3.75 18.5 27.5 Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Short-time Output Total capacity of applicable servo motors, 300% torque, 60s (Note 1) Regenerative rating braking torque...

  • Page 202: Heat Sink Outside Mounting Attachment (Mr-Jacn)

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.10 Heat sink outside mounting attachment (MR-JACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
  • Page 203 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Servo Fit using the Punched amplifier assembling Servo hole screws. amplifier Attachment Control box a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing (a) MR-JACN15K (MR-J2S-11KB, MR-J2S-15KB) 20 (0.787) Panel...
  • Page 204 12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JACN22K (MR-J2S-22KB) 68(2.677) Panel Attachment Servo amplifier Servo amplifier Attachment Panel 326(12.835) 4- 12 Mounting hole 370(14.567) 3.2(0.126) 350(13.78) 155(6.102) 11.5 (4.134) (0.453) (10.236) 12 - 45...

  • Page 205: Auxiliary Equipment

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
  • Page 206 12. OPTIONS AND AUXILIARY EQUIPMENT Table 12.1 Recommended wires (Note 1) Wires [mm Servo amplifier 1) L 2) L 3) U V W 4) P C N 5) B1 B2 6) BU BV BW MR-J2S-10B(1) MR-J2S-20B(1) MR-J2S-40B(1) 1.25 (AWG16) : a 2 (AWG14) : a MR-J2S-60B MR-J2S-70B...
  • Page 207 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 12.3 Wires for option cables Characteristics of one core (Note 3) Length Core size Number Type Model Finishing...

  • Page 208: Fuse Breakers, Fuses, Magnetic Contactors

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...

  • Page 209: Power Factor Improving Dc Reactors

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.4 Power factor improving DC reactors The input power factor is improved to be about 95%. (Note 1) Terminal cover Screw size G Rating plate 2-F L Notch B or less A or less Mounting foot part 5m or less Servo amplifier FR-BEL...

  • Page 210: Relays

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.5 Relays The following relays should be used with the interfaces. Interface Selection example Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less...

  • Page 211: Noise Reduction Techniques

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.7 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 212 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 213 12. OPTIONS AND AUXILIARY EQUIPMENT 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 214 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
  • Page 215 12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) 22(0.87) (Note)M4 screw 35(1.38) (0.24) Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
  • Page 216 12. OPTIONS AND AUXILIARY EQUIPMENT (d) 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 217 12. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment.

  • Page 218: Leakage Current Breaker

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.8 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
  • Page 219 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions. Servo Servo motor amplifier HC-MFS73 MR-J2S-60B Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (12.1) from the diagram. Ig1 20 0.1 [mA] 1000...

  • Page 220: Emc Filter

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.9 EMC filter For compliance with the EMC directive of the EN standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Mass Servo amplifier...
  • Page 221 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter [Unit: mm(in)] SF1252 SF1253 6.0(0.236) 6.0(0.236) 149.5(5.886) 209.5(8.248) LINE LINE (input side) (input side) LOAD LOAD (output side) (output side) 16.0(0.63) 23.0(0.906) (0.335) (0.335) 42.0 49.0 (1.654) (1.929) HF3040A-TM HF3050A-TM HF3060A-TMA Dimensions [mm(in)] Model HF3040A-TM...
  • Page 222 12. OPTIONS AND AUXILIARY EQUIPMENT HF3080A-TMA HF3100A-TMA Dimensions [mm(in)] Model R4.25 HF3080A-TMA (0.167), (15.95) (13.78) (3.94) (8.66) (7.87) (7.09) (2.21) (8.27) (5.32) length HF3100A-TMA 12(0.472) 12 - 63...
  • Page 223 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 [Unit: mm] Black Black Black UL-1015AWG16 41 1.0 RAV-781BXZ-4 [Unit: mm] UL-1015AWG16 41 1.0 12 - 64...

  • Page 224: Absolute Position Detection System

    13. ABSOLUTE POSITION DETECTION SYSTEM 13. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm (25) or an absolute position counter warning CAUTION (E3) has occurred, always perform home position setting again. Not doing so can cause runaway. 13.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

  • Page 225: Specifications

    13. ABSOLUTE POSITION DETECTION SYSTEM 13.2 Specifications (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal 3.6V) Battery Type: MR-BAT or A6BAT Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure 500r/min (Note 2) Battery backup time Approx.

  • Page 226: Battery Installation Procedure

    13. ABSOLUTE POSITION DETECTION SYSTEM 13.3 Battery installation procedure Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then, WARNING confirm that the voltage between P and N is safe with a voltage tester and others.

  • Page 227: Confirmation Of Absolute Position Detection Data

    13. ABSOLUTE POSITION DETECTION SYSTEM 13.4 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Click "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Clicking "Diagnostics" in the menu opens the sub-menu as shown below. (2) By clicking "Absolute Encoder Data"...

  • Page 228: Appendix

    APPENDIX App 1. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Servo amplifier Servo amplifier Servo motor...

  • Page 229: App 2. Change Of Connector Sets To The Rohs Compatible Products

    APPENDIX App 2. Change of connector sets to the RoHS compatible products Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability.
  • Page 230 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Sep., 2000 SH(NA)030007-A First edition Jan., 2001 SH(NA)030007-B Servo amplifier: Addition of MR-J2S-500B and MR-J2S-700B Servo motor: Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353, HC-RFS503, HC-UFS502 and HC-UFS352 Section 1.4: Addition of brake unit and regeneration converter Section 1.7: Overall reexamination...
  • Page 231 Print Data *Manual Number Revision Oct., 2002 SH(NA)030007-C Section 3.12.2: Addition of power factor improving DC reactor Section 4.3 (2): Addition of initialization completion Section 5.2 (2): Addition of external dynamic brake selection to parameter No. 2 Renaming of parameter Nos. 3 to 5 Reexamination of parameter No.
  • Page 232 Print Data *Manual Number Revision May., 2003 SH(NA)030007-D Section 9.1: Partial sentence change Section 9.2: Partial POINT sentence reexamination Section 9.2: Reexamination of alarm 12, 13 definitions Reexamination of alarm 15 definition Addition of alarm 37 occurrence factor and corrective action Addition of During rotation: 2.5s or more to alarm 51 Section 10.2 (2) (a): Addition of model PCR Section 11.3: Reexamination of explanation of te...
  • Page 233 Print Data *Manual Number Revision Jan., 2006 SH(NA)030007-F Correction of “Thermal protector” to “Thermal sensor” Safety Instructions: Addition of 4.(2) CAUTION sentence Safety Instructions: Addition of 4.(4) CAUTION sentence FOR MAXIMUM SAFETY: Sentence addition EEP-ROM life: Sentence addition Section 1.2 (1): Correction of error in writing Section 1.2 (2): Correction of error in writing Section 1.2 (3): Correction of error in writing Section 1.5 (2): Reexamination of expression for Note of Power Supply...
  • Page 234 Print Data *Manual Number Revision Jan., 2006 SH(NA)030007-F Section 5.2 (1), (2): Addition of parameter Nos. 49 to 55, 60, 61 Section 5.3: Sentence reexamination Section 5.3 (2): Addition of Note for Torque Section 7.5: Addition of “Gain changing function” Section 9.1: Addition of Note 2 Section 9.2: Addition of CAUTION sentence Reexamination of expression for 17 19...
  • Page 235 Print Data *Manual Number Revision Nov., 2007 SH(NA)030007-G Section 3.8: Change of power supply notation Section 3.12: Addition and change of CAUTION sentence Section 3.12.1: Addition of Note sentence Section 5.1: Addition of item and change of parameter No. in table Section 5.2 (1): Correction of error in writing of initial value for parameter No.17 Correction of error in writing of name for parameter No.52...
  • Page 236 MODEL MR-J2S-B GIJUTU SIRYOU MODEL 1CW502 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030007-G (0711) MEE Printed in Japan Specifications subject to change without notice.

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