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General-Purpose AC Servo MODEL MR-J2S- B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J2-Super Series E.
A - 1 Safety Instructions (Alwa ys read thes e instr uctions before us ing the equipm ent.) Do not attem pt to instal l, opera te, m ainta in or ins pect the s ervo am plifier an d servo m otor unt il.
A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wiri ng or insp ectio n, s witch power off and wait f or m ore th an 10 m inu tes. T hen, c onf irm the vol tage is saf e with vo ltage t ester. Ot herwis e, you m ay get an e lectric shoc k.
A - 3 4. Additional instruct ions The fol lowing instruc tions sho uld also be fu lly n oted . Inc orrec t han dling m ay caus e a f ault, inj ury, electr ic shock , etc. (1) Transportation and installation CAUTION Trans port the pr oducts correc tl y accordin g to their weights .
A - 4 CAUTION Secur el y att ach th e serv o m otor to the m achi ne. If attac h ins ecure l y, the ser vo m otor m ay com e of f duri ng operat ion. The s ervo m otor with r educti on gear m us t be ins ta lled i n th e spec ified direc ti on to pr even t oi l leak age .
A - 5 (4) Usa ge CAUTION Prov ide a f orc ed st op cir cuit to e nsure that oper atio n can be s topp ed and po wer s witch ed of f im m ediate ly. Any per son who is invol ved in dis ass em bly and re pair s houl d be f ull y com pete nt to do t he wor k.
A - 6 (6) Maintenance, inspection and parts replacement CAUTION W ith age, the ele ctrolyti c capacito r of the servo ampli fier will dete riorate. To p revent a second ary acciden t due t o a fau lt, it is r ecom m ended t o rep lace t he e lectr olytic cap acitor e very 10 years wh en us ed i n gener al environm ent .
A - 7 COMPLIANCE WITH EC DI RECTIVES 1. W HAT ARE EC DIRECTI VES? The EC directives were issued to standardize the regulations of t he EU countries and ensure smooth distribution of safet y-guaranteed products.
A - 8 (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvol tage cat egory II set forth in IEC6 0664-1. For this purpose, a reinforced insulat ing transformer conforming to the IEC or EN standard should be used in the power input section.
A - 9 CONFORMANCE WIT H UL/C-UL STANDA R D (1) Ser vo am pl ifiers an d servo m otors us ed Use the serv o amplif iers and se rvo motor s which co mply with the stand ard mod el.
A - 10 <<Abou t t he manual s>> This Instruc tion M anua l and the ME LSER VO Serv o Moto r Ins truction M anual are requ ired if you use the General -Purpose AC servo M R-J2S-B for the first time. Always purchase them and use the MR- J2S-B s afely.
1 CONTENTS 1. FUNCT IONS AN D CONFIGU RATION 1- 1 to 1- 22 1.1 Intro duction ............................................................................................................... ............................... 1- 1 1.2 Fu nction b lock di agram .
2 3.12 Po wer line circui t of the MR-J2 S-11KB to M R-J2S- 22K B ............................................................... 3-29 3.12.1 Co nnection ex ample ........................................................................................
3 9. TRO UBLE SHOOT ING 9- 1 to 9- 8 9.1 Alarm s and w arning list .................................................................................................... ..................... 9- 1 9.2 Remedie s for alarm s ..............................
4 Appe ndix Ap p- 1 to App- 2 App. Combin ation o f serv o amplifie r and servo mo tor ................................................................
5 Opti onal S ervo Mo tor Instruct ion Manu al CO NTENTS The rough table of contents of the optio nal ME LSERVO Servo Motor In struc tion Manua l is in troduced here for your reference. Note that the contents of the S ervo Motor Instruction Manual are not included in the Serv o Amp lifier Instru ct ion Man ual .
6 MEM O.
1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubish i MELSERVO-J 2-Super series general-pu rpose AC servo is b ased on the ME LSERVO-J2 series and has further higher performance and higher fun ctions.
1 - 2 1. FUNCTIONS A ND CONFIGU RATION 1.2 Func tion bloc k diagr am The function block diagram of this servo is shown below. (1) MR-J2S-350B or less RS-232C RA DS (MR-J2S-200B or more) Fan Servo moto.
1 - 3 1. FUNCTIONS A ND CONFIGU RATION (2) MR - J2S - 50 0B , MR- J2S - 700B RS-232C RA DS Fan Servo mo t or NFB MC L 1 L 2 L 3 L 11 L 21 E2 Actua l positio n control Actu al speed control CN2 CON1 MR.
1 - 4 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-11KB or more CN2 DS CON1 CN1A CN1 B RS-232C D/A L 1 L 2 L 3 L 11 L 21 NFB MC MR-B AT PC U V W U V W M E1 E2 N P1 CN3 CN4 Power supply 3- ph as e 200 t.
1 - 5 1. FUNCTIONS A ND CONFIGU RATION 1.3 Serv o am plifier s tandard s pecif icati ons Servo Amplifier MR-J 2S- Item 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 1 1 K B 1 5 K B 2 2 K B 10B1 20B1 40.
1 - 6 1. FUNCTIONS A ND CONFIGU RATION 1.4 Func tion list The followi ng table lists t he functions of t his servo. For details of the functi ons, refer to the reference fiel d. Function Description Ref erence High-resolution encoder High-resolution encoder of 131072 pulses /rev is used as a servo motor encoder.
1 - 7 1. FUNCTIONS A ND CONFIGU RATION 1.5 Mode l code d efinit ion (1) Rating plate POWER MITSUBI SHI AC S ERVO MADE IN JAPA N MODEL MR-J 2S-60B MITSUBISHI ELECTRIC CORPORATION 600W 3.
1 - 8 1. FUNCTIONS A ND CONFIGU RATION 1.6 Com bination with ser vo motor The follo w ing ta ble li st s comb ina tion s of servo amp l ifie r s and se rv o mo to rs. T he sa me comb in a t ion s ap ply to the mod els w ith e lectr om agnet ic br ake s and the m ode ls w ith re duct ion g ears .
1 - 9 1. FUNCTIONS A ND CONFIGU RATION 1.7 Structure 1.7.1 Parts ide ntificat ion (1) MR-J2S-100B or less Reference Section13.3 Chapter4 Name/A pplicatio n Battery holder Contains the battery for absolute position data backup. Battery connecto r (CO N1) Used to c onnect the battery for abso lute position data backup.
1 - 10 1. FUNCTIONS A ND CONFIGU RATION (2) MR-J2S-200B MR- J2S-3 50B POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. Reference Section13.3 Chapter4 Name/Applicat ion Bat tery holde r Contains the battery for absolut e position data backup.
1 - 11 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. 1 C B 9 8 7 5 4 3 0 F D A B C D E F 0 1 2 3 4 5 6 7 8 9 Reference Section13.
1 - 12 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.
1 - 13 1. FUNCTIONS A ND CONFIGU RATION (5) MR-J2S-11KB or more POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. Installa tion not ch (4 pl ace s) Cooling fan Section3.8 Sectio10.1 Reference Chapter4 Section3.
1 - 14 1. FUNCTIONS A ND CONFIGU RATION 1.7.2 Rem oval an d reinst allatio n of the f ront co ver CAUTION T o avoid the r isk of an electr ic s hock , do not o pen th e fr ont co ver while p ower is on.
1 - 15 1. FUNCTIONS A ND CONFIGU RATION (3) For MR-J2S-700B Fro nt co ve r so cke t (2 places) A) 1) Removal of the f ront cover Reinstallation of the f ront cover 1) Insert the two front cover hook s at the bott om into the so ckets of the se rvo amp lif ier.
1 - 16 1. FUNCTIONS A ND CONFIGU RATION 1) Insert the front cover in the d irection of arrow. Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting scre ws (2 pl aces). Mounting screws (2 places) 3) Fit the front cove r and fix it with the moun ting screws (2 places).
1 - 17 1. FUNCTIONS A ND CONFIGU RATION 1.8 Servo system with auxiliar y equipm ent W ARNING To pre vent an elec tric shoc k, a lwa ys con nect t he pr otec tive eart h ( PE) t erm inal (term inal m ar k ed ) of the ser vo amplifi er to the prot ecti ve earth (P E) of the co ntrol box.
1 - 18 1. FUNCTIONS A ND CONFIGU RATION (b) F or 1-p has e 10 0V t o 12 0VA C L 1 L 2 L 21 L 11 UV W D P C 1-phase 100VAC power supply No-fuse breaker (NFB) or fu se Magnetic contactor (MC) To CN2 To .
1 - 19 1. FUNCTIONS A ND CONFIGU RATION (2) MR-J2S-200B MR- J2S-3 50B L 1 L 2 L 3 L 11 L 21 U V W PC 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Mag netic contactor (MC) To CN 3 .
1 - 20 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B To CN1 A Options and auxi liary equipment No-fuse breaker Magnetic c ontactor MR Configurator (Serv o co nf i gur at ion s o f t war e ) Regenera tive brak e option Reference Section 12 .2.2 Section 12 .
1 - 21 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B W V Options and auxi liary equipment No-fuse brea ker Magnetic c ontactor MR Co nfi gur a to r (Servo c onfiguration softwa re) Regenerat i ve brake opt i on Reference Section 12.2. 2 Section 12.
1 - 22 1. FUNCTIONS A ND CONFIGU RATION (5) MR-J2S-11KB or more L 11 L 21 L 2 L 1 L 3 To CN2 To CN1B To CN1A To CN3 MITS UBI SHI U VW BW C P To CON2 BV BU Options and aux iliary equipme nt No-fuse break er Magnetic conta cto r MR Configu rator (Servo config uration software) Regene rati ve bra ke o ption Refe rence Sec tion 12 .
2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in exc ess of the lim ited n um ber of pr oduc ts is not allo wed. Instal l th e equi pm ent to incom busti bles. Inst alling t hem direc tl y or cl ose to com bustibl es will l ed to a fire. Instal l the equ ipm ent in a load- bea rin g place in accorda nce with this Ins tr uctio n Manual .
2 - 2 2. INSTALLATION 2.2 Instal lation direc tion and clearanc es CAUTION The equ ipm ent must be i nsta lled in th e sp ecif ied d irec tion. Other wise, a f ault m ay occur. Leave s pecif ied cl earanc es bet we en the s erv o am plif ier a nd co ntro l box ins ide walls or other eq uipm ent.
2 - 3 2. INSTALLATION (2) I nstal lati on of two or m ore ser vo am pl ifiers Leave a large clearance b etween the top of the s ervo amplifier and the internal surface of the control box, and install a fan to prevent the int ernal temperature of the control box from exceeding the environm ental con ditio ns.
2 - 4 2. INSTALLATION 2.4 Cable s tress (1) T he way of clam ping the cable must be fully examined so that flexing stress and cable' s own weight stress are not appli ed to the cable connection.
3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND W IRING W ARNING Any per son who is invol ved i n wir ing s houl d be f ull y com peten t to d o the wor k. Befor e st arting wiri ng, m ak e sure t hat t he vo ltag e is safe in t he test er m ore t han 10 minutes after po wer-of f.
3 - 2 3. SIGNALS AND WI RING 3.1 Conn ection ex ample of contr ol sig nal s ystem POINT Refer to Section 3.5 for the connect ion of t he power supply syst em and to Section 3.
3 - 3 3. SIGNALS AND WI RING Note 1. To preve nt an e lec tric s hock , al ways co nnec t the pr otecti ve eart h ( PE) term ina l (t erm inal m arked ) of the ser vo am pl ifier to th e prot ect ive e arth ( PE) of th e contr ol b ox. 2. Connect the diode in the cor rect direc tion.
3 - 4 3. SIGNALS AND WI RING 3.1.2 MR-J 2S-11 KB or m ore (Note 3, 6) RA1 CN3 CN1A CN1B 1 A 10k 2 4 MO1 MO2 LG A 10k CN4 2 1 4 EM1 SG MBR CON2 CS1 Setting : 0 CS1 Setting : 2 CS1 Setting : 1 MR-J 2S -.
3 - 5 3. SIGNALS AND WI RING Note 1. To preve nt an e lec tric s hock , al ways co nnec t the pr otecti ve eart h ( PE) term ina l (t erm inal m arked ) of the b ase un it t o the protec ti ve e arth ( PE) of t he con tro l box. 2. Connect t he dio de in t he cor rect direc tion.
3 - 6 3. SIGNALS AND WI RING 3.2 I/O sign als 3.2.1 Connec tors a nd signal arrangem ents POINT The pin configura tions of the connect ors are as viewed from the cabl e connector wiring section.
3 - 7 3. SIGNALS AND WI RING (2) MR-J2S-11KB or more 2 RXD 4 6 LA 8 LZ 10 1 LG 3 5 7 LB 9 12 TXD 14 16 LAR 18 LZR 20 11 LG 13 15 17 LBR 19 CN3 CON2 2 EM1 4 6 8 10 1 SG 3 5 7 9 15 VDD 17 19 21 23 14 16.
3 - 8 3. SIGNALS AND WI RING 3.2. 2 Si gn al ex plana ti on s For the I/O in terfaces ( symbols in I/O column in the table), refer to Section 3.4.2. (1) C onnect or applic ati ons Connector Nam e Functi on/Application CN1A Connector for bus cable from preceding axis.
3 - 9 3. SIGNALS AND WI RING 3.3 Alarm occ urrenc e timing c hart CAUTION W hen an al arm has occ urr ed, rem ov e its c aus e, m ake s ure tha t the oper atio n sign al is not be ing in put, ensure safety , and reset the alarm be fore rest arting operat ion.
3 - 10 3. SIGNALS AND WI RING 3.4 Interf aces 3.4.1 Comm on line The foll owing diagram sh ows the power suppl y and its common li ne. To conform to the EMC directive, refer to the EMC Installat ion Guide li nes (IB(NA)673 10). EM1 SG MR MRR SD M DI-1 COM VDD LG SD CN2 LG RS-232C LG RA Servo amplifi er 24V DC MBR <Isolated> LA .
3 - 11 3. SIGNALS AND WI RING 3.4.2 Detai led desc ription of the interf aces This s ection gives the details of the I/O signal interfaces (refer to I/O Divisi on in the table) indicated in Section s 3.2. 2. Refer to this sec tion and conn ect th e inter fac es with the exte rn al equip men t.
3 - 12 3. SIGNALS AND WI RING (b) Lamp load 24VDC VDD COM R Servo amplifier MBR SG (3) En cod e r pul se outp ut DO -2 (Diff erenti al line dr iver sy stem) 1) Inte rface Max.
3 - 13 3. SIGNALS AND WI RING (4) Ana log output Output voltage : 10V Max. output current : 1mA Resolu tion :1 0bit MO1 (MO2) LG SD A Servo amplifier Reading in one or both directi ons 1mA meter 10k.
3 - 14 3. SIGNALS AND WI RING 3.5 Power line circ u it CAUTION W hen the servo am plif ier has becom e f ault y, switc h p ower of f on the am plifi er power s ide. Cont inuous flo w of a lar ge cur rent m a y cause a fir e. Switch power off at d etecti on of an al arm .
3 - 15 3. SIGNALS AND WI RING (2) For 1-phas e 100 t o 120V AC or 1-ph ase 230VA C powe r s uppl y EM1 COM OFF ON MC MC SK NFB MC L 1 L 2 L 3 L 11 L 21 VDD SG (Note 1) Alarm RA1 Controller emergency stop RA2 Forced stop Servo amplifier Forced stop Power supply 1-phase 100 to 120VAC or 1-phase 230VAC (Note 2) Note: 1.
3 - 16 3. SIGNALS AND WI RING 3.5.2 T erminals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifie r.
3 - 17 3. SIGNALS AND WI RING 3.5.3 Power -on se quence (1) Po wer-o n proc edur e 1) Alw ays wi re the po wer su pply as shown in a bove Se ction 3. 5.1 u sing th e magne tic cont actor wi th the main circuit power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-pha se 230V: L 1 , L 2 ).
3 - 18 3. SIGNALS AND WI RING 3.6 Conn ection of servo am plifier an d servo m otor 3.6.1 Connec tion ins tructi ons W ARNING Insula te th e con nectio ns of the p ower supp l y termina ls to pre vent a n el ectric shock . CAUTION Connec t the wires to the corr ect phas e term ina ls (U , V, W ) of the servo am plifier and ser vo m otor.
3 - 19 3. SIGNALS AND WI RING Servo m otor Connection diagram HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) Servo amplifier (Note 1) Servo motor Electromagnetic brake 24VDC EM.
3 - 20 3. SIGNALS AND WI RING 3.6.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS3 000r/m in s eries 24 13 4 Power suppl y connector ( molex) Without electr omagnetic brake 5557-04R-21 0 (receptac le) 5556PBT L (F ema le termina l) With elec tromagnet ic brake 5557-06R-21 0 (receptac le) 5556PBT L (F ema le termina l) Encoder cable 0.
3 - 21 3. SIGNALS AND WI RING (2) HC-SFS HC-RF S HC-UFS200 0 r/min s eries Ser vo m oto r si d e con ne ct ors Servo motor For power supply For enc ode r Electromagnetic brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnec t or for power is shared.
3 - 22 3. SIGNALS AND WI RING 3.7 Serv o motor with elec trom agnetic brak e CAUTION Configur e t he el ectrom agn etic br ak e circ uit s o th at it is ac tiva ted n ot o nly b y the inte r face uni t sig nal s bu t also by a fo rce d st op (EM1 ).
3 - 23 3. SIGNALS AND WI RING (3) T iming c harts (a) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on i s switched off, the servo lock is released and the servo motor coasts. If the electroma gnetic brake is made vali d in the servo lock status, the brake life may be shorter.
3 - 24 3. SIGNALS AND WI RING (c) Alarm occurrence Servo motor spee d ON OFF Base circui t Electromagnetic brake interlock (MBR) Invalid( ON) Vali d(OFF ) Trouble (ALM) No Yes Dynamic brake Dynamic br.
3 - 25 3. SIGNALS AND WI RING 3.8 Groundi ng W ARNING Groun d the s erv o am plifier a nd ser vo m otor s ecur ely. To pre vent an elec tric shoc k, a lwa ys connec t t he pr otectiv e e arth ( PE) term inal of the ser vo am plif ier with th e pr otect ive earth (PE) of th e co ntrol box.
3 - 26 3. SIGNALS AND WI RING 3.9 Serv o amplif ier term inal block (T E2) wiring method (1) T erm inatio n of t he ca bles Solid wire: After the s he ath h as be en s tripp ed, t he cab le ca n be used as it is. ( Ca ble s ize: 0 .2 to 2.5m m 2 ) Approx.
3 - 27 3. SIGNALS AND WI RING 3.10 Instr uctions for the 3 M connec tor When fabricati ng an encoder c able or the like, securely connect the shielded external conductor of the cable to the ground plat e as shown in this section and fi x it to the connector shell.
3 - 28 3. SIGNALS AND WI RING 3.11 Control ax is select ion POINT The control a xis number set t o CS1 should be the s a me as the one set to the servo sys tem controller. Use the axis se lect switch (C S1) to se t the control axi s number for the servo.
3 - 29 3. SIGNALS AND WI RING 3.12 Power line c ircuit of the MR- J2S-11 KB to MR- J2S-22 KB CAUTION W hen the servo am plif ier has becom e f ault y, switc h p ower of f on the am plifi er power s ide. Cont inuous flo w of a lar ge cur rent m a y cause a fir e.
3 - 30 3. SIGNALS AND WI RING 3.12.2 Se rvo am plifier term inals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifie r.
3 - 31 3. SIGNALS AND WI RING 3.12.3 Ser vo m otor term inals Pin Signal Pin Signal AM D K BM D R L CM R M DM R R N S H D EP FB A T R L G GL G S P 5 HT Terminal box Encoder connector MS3102A20-29P Key.
3 - 32 3. SIGNALS AND WI RING Term inal box i nside ( HA-LFS1 5K2 HA-L FS-22K2) Earth terminal M5 screw BG72706 Thermal p rotector te rminal block (OHS1, OHS2) M4 screw Cooling fan terminal bloc k (BU.
4 - 1 4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 W hen switch ing power on f or the firs t tim e Before starti ng operation, check the followi ng: (1) W iring (a) A correct power supply is connected to the power inpu t termin als ( L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo amplifie r.
4 - 2 4. OPERATION AND DISPLAY 4.2 Start up W ARNING Do not oper ate the switch es wit h wet hands . You m ay get an elec tric shock . Do not o per ate the co ntrol ler with the f ront c over rem oved . High- volt age term inals and ch argin g are a ex posed and you m a y get an e lectr ic s hock .
4 - 3 4. OPERATION AND DISPLAY (3) Servo-on Switch t he servo-on in t he followi ng procedure: 1) Switch on m ain circui t/control circu it power supply. 2) The controller transmits the servo-on command. When pla ced in the s ervo-on status, t he servo amplifier is ready to operate and the servo motor is locked.
4 - 4 4. OPERATION AND DISPLAY 4.3 Serv o am plifier d ispla y On the s ervo amplifier display (two-digit, s even-segment dis play), check the status of communication with the servo s ystem controller at power-on, check the axis number, and di agnos e a fa ult at occurrence of an alarm.
4 - 5 4. OPERATION AND DISPLAY (2) Indi cati on list Indication S tatus Description AA Initializing The s ervo a mplifie r was sw itch ed on w hen pow er to t he serv o system controll er is off. Ab Initializing Power to th e serv o syste m contr oller w as swit ched of f during power- on of the servo amplifier.
4 - 6 4. OPERATION AND DISPLAY 4.4 Tes t operatio n m ode CAUTION The tes t oper at ion m ode is des igne d for s erv o op erati on co nfir m ation an d not f or mac hine opera tio n confir m ation. Do not us e this m ode with the mac hine. A lwa ys use th e ser vo m otor al one.
4 - 7 4. OPERATION AND DISPLAY (c) Program operation Positioni ng operation can be performed in two or more operation p atterns combined, without using the servo system controller.
4 - 8 4. OPERATION AND DISPLAY (2) C onfi gurat ion Configu ration shou ld be a s in Se ction 3.1. A lway s ins tall a force d stop swi tch to e nab le a s top at occurrence of an alar m. (3) Op erati on proc ed ure (a) Jog operation, positi oning operati on, program operation, DO forced output.
5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adj ust or chan ge the par am eter val ues extr emel y as it wil l mak e operatio n instab le. POINT When the servo amplifier is connected with the servo sy stem controller, the parame ter s ar e se t to the valu es o f the serv o sy ste m co ntr oller .
5 - 2 5. PARAMETERS (1) Item list Classi fi- cation No. Sym bo l Name (Note 1) Initial Value Unit Custom er setting 1 *AMS Am plifie r setting 0000 2 *REG Regenerative br ake resistor 0000 3 0080 4 00.
5 - 3 5. PARAMETERS (2) Details li st Classi fi- cation No. Symb ol Name and Function Initial Value Unit Settin g Range 1 *AMS Amplifier setting Use d to selec t the abs o lute pos it i on de te c tion. Absolute position detect ion selection 0: Invalid (Used in incremental system.
5 - 4 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range Feedba ck pul se numb er Set t he numb er of p ulses p er revolution i n the controll er side command unit.
5 - 5 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 9 RSP Servo respon se Us e d to se l e c t th e re spo n se o f au to tu ni ng. Response level selection If the machine hunts or generates la rge gear sound, decrease th e set val ue.
5 - 6 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 14 VG1 Speed l oop gain 1 Normally this parameter setting need not be changed. Higher s etting increases the response level but is liable to ge nerate vibration and/o r noise.
5 - 7 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 20 INP In-position range Used to set the d roop pulse range in w hich the in-position (I NP) will be output to th e contr oller. Make setti ng in the fe edback pulse unit (parame ter No.
5 - 8 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 24 *OP2 Option al fu ncti on 2 Used to s elect sli ght vibrat ion s uppres sion cont rol and m otor-les s operat ion Slight vibration suppre ssion control selectio n Made valid when auto tuning selection is set to "0002" in parameter No.
5 - 9 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 27 MO1 Analog monitor 1 offset Used to s et the offs et volt age of th e anal og m onit or1 (MO1 ) o utput. 0m V 999 to 999 28 MO2 Analog monitor 2 offset Used to s et the offs et volt age of th e anal og m onit or2 (MO2 ) o utput.
5 - 10 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 38 *ENR Encod er output puls es Used to s et the enc oder p ulses (A-p hase , B-ph ase) outp ut by the servo amplifier. Se t th e va l ue 4 t im e s g r e ate r tha n the A-p h as e an d B- ph a se p u lse s .
5 - 11 5. PARAMETERS 5.3 Analog m onitor The servo s tatus can be output to t wo channels in t erms of voltage. Use this funct ion when using an ammeter to monitor the servo status or synchronizing the torque/speed wit h the other servo. (1) Setting Change the followi ng di gits of parameter No.
5 - 12 5. PARAMETERS (2) Setting descri ptio n The servo amplifier is factory-set to output the servo motor speed to analog monitor (MO1) and the torque to analog monitor (M O2). Th e set ting can be changed as listed below by ch angin g the parame ter No.
5 - 13 5. PARAMETERS (3) Ana log m on itor b lock diag ram PWM M Current control Speed control Current comm and Position control Dr oop p ul s e Differ- ent ial Speed comm and Bus voltage Speed comm a.
5 - 14 5. PARAMETERS 5.4 Replac em ent of MR-J 2- B b y MR-J2S- B When u si ng th e M R-J 2S- B on the servo s ystem controller peripheral software incompatib le with the MR-J2 S- B, you ca nnot use s ome pa rame ter f unct ions . Read th is secti on car efull y and set app ropri ate value s in the par ameter s.
5 - 15 5. PARAMETERS 5.4.2 Exp lanation of the m odif ied param eters (1) Fe edback pu lse n um ber (p aram eter No. 6) This par amete r was newl y adde d to th e MR-J 2S- B. If the peri pheral software of the servo system controller is no t comp atib le wi th the MR-J 2S- B, this para meter setting cannot be ch anged.
5 - 16 5. PARAMETERS (4) Mac hin e res onanc e suppr ess ion f ilter 1 (par am eter No . 18) The settings of this parameter were ch anged for the MR-J 2S - B . If the peripheral software of the servo system controller is not compatible with the MR-J2 S- B, the parame te r settin gs are as indicated below.
5 - 17 5. PARAMETERS (9) Opt ional func tion 6 (par am eter N o. 33) This par amete r was newl y adde d to th e MR-J 2S- B. If the peri pheral software of the servo system controller is no t comp atib le wi th the MR- J2S- B, this parameter setting cannot be changed.
5 - 18 5. PARAMETERS MEMO.
6 - 1 6. GENERAL GAI N ADJUSTMENT 6. GENERAL GAIN ADJUS TMENT 6.1 Diff erent adjus tm ent methods 6.1.1 Adjus tm ent on a sin gle s ervo am plif ier The gain ad justme nt in this sectio n can be mad e on a single servo amp lifier . For gain adjustme nt, f irst execute a uto tuning mode 1.
6 - 2 6. GENERAL GAIN ADJUSTMENT (2) Adj ustm ent s equenc e a nd m ode us age Usage Used when you wa nt t o match the p osition gain (PG1) be tween 2 or mo re axes. No rmally not used for other purp oses . Allows adjustment by merely chan gin g the re spo nse leve l se tt ing .
6 - 3 6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjus tm ent using M R Conf igurat or (ser vo conf iguration sof tware) POINT When usi ng the machine anal yzer, set the servo am plifier's a xis number for "F".
6 - 4 6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto t uning m ode The servo amplifier has a real-time auto tuning function which estimates the machine characteris ti c (load inerti a mome nt ra tio) in rea l ti me an d au tom atica lly sets the o ptim um g ain s acc ording to th at valu e.
6 - 5 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto t uning m ode o peration The block dia gram of real-t ime auto tuning is shown bel ow. 5 1 Servo motor Comma nd Automa tic se ttin g Control gains PG1,VG1 P.
6 - 6 6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjus tm ent procedur e b y auto tunin g Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atic ally sets the optim um gain s th at match the mac hine . Me rely chan gin g t he re spon se leve l setting value as re quire d comp lete s the adju stmen t.
6 - 7 6. GENERAL GAIN ADJUSTMENT 6.2.4 Respo nse lev el setti ng in auto tunin g m ode Set t he response (parameter No.9) of the whole servo syst em. As the re sponse level se tting is incre ased, the trackabi lity and settling time for a co mmand decrea ses, but a too high re sponse level wil l generate vibration.
6 - 8 6. GENERAL GAIN ADJUSTMENT 6.3 Manual m ode 1 (sim ple m anual a djustm ent) If you a re not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters.
6 - 9 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed con trol ga in 2 ( parame ter No . 16) This paramet er determines the response level of the speed control loop. Increasin g this value enhances response but a t oo high value will make the mechanical system liable to v ibrate.
6 - 10 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Posi tio n contro l gain 1 (p arame ter No . 13) This paramet er determines the response level of the positi on control loop.
6 - 11 6. GENERAL GAIN ADJUSTMENT 6.4 Interpo latio n mode The i nterpolation mode is used to match the position control gains of the axes when performing the interpolati on operation of s ervo motors of two or more a xes for an X-Y table or the like.
6 - 12 6. GENERAL GAIN ADJUSTMENT 6.5 Dif ferenc es in auto t uning between MELSER VO-J 2 and M ELSER VO-J2- Super 6.5 .1 Respon se leve l settin g To meet higher response demands, the MELSERVO-J 2-Super series has been changed in response level setting range from the MELS ERVO-J2 series .
7 - 1 7. SPECIA L ADJUSTMENT FUNCTI O NS 7. SPECIAL A DJUST MENT FUNCT IONS POINT The functions given in this chapter need not be used genera lly. Use t h em if you are no t satisfie d with the m achine statu s afte r makin g adju stmen t in the me thod s in Chap ter 6.
7 - 2 7. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No. 18). 3 1 2 0 00 01 02 03 04 05 06 07 Invalid 4500 2250 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 1500 1125 900 750 642.
7 - 3 7. SPECIAL ADJUSTMENT FUNCT IONS 7.3 Adaptive v ibrat ion suppr ess i on co ntrol (1) Function Adaptiv e vibr ation su ppres sion con trol is a fun ction in wh ich the serv o amp lifier dete cts m achine reson ance and se ts the fil ter c har acter ist ics au tom at ically to suppr ess me ch anical sy ste m v ibra tion .
7 - 4 7. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The op eration of adapt ive vi bratio n sup pres sion co ntro l sele ction ( para meter N o.2 5).
8 - 1 8. INSPECTION 8. INSPECTION W ARNING Befor e st arting m aint enanc e an d/or insp ectio n, m ake s ure th at th e char ge lam p is off more th an 10 m inut es af ter power-of f. T hen, c onf irm that th e vol tage is s afe in the t ester or th e lik e.
8 - 2 8. INSPECTION MEMO.
9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarm s and warnin g 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 t ake the appropria te action.
9 - 2 9. TROUBLESHOOTING 9.2 Rem edies f or alarm s CAUTION W hen an y alarm has oc curre d, e lim inate its c aus e, ens ure s afet y, then r ese t the alarm , and r estar t oper ation . Ot herwis e, i njur y ma y occur. If an absol ute pos it ion er ase alarm (25) occur red, al ways m ake hom e p ositi on settin g ag ain.
9 - 3 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Faulty parts in th e servo amplifier Checkin g meth od Alarm (15) occur s if power is swit ch ed on a f te r dis con ne cti o n of all cables but th e control circ uit p ower su ppl y ca bles.
9 - 4 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Mismatch between used regen erativ e bra ke op tion a nd par am ete r No. 2 s e tti ng Set correctly . 2. B ui l t- i n rege ne ra t ive bra k e resistor or regenerative bra ke opti on is not c onne cted .
9 - 5 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Regenerative bra ke option is not used. Use the re generative brake option. 2. Though the regenerative brake option is used, t he p aramet er N o. 2 setting is " 00 (n ot us ed)".
9 - 6 9. TROUBLESHOOTING Display Name Definition C ause A ction 1. Ambient temper ature of ser vo moto r is ov er 40 . Re view environment so that ambient temperature is 0 to 40 . 2. Serv o m otor is ov e rl oa d ed. 1. Redu ce load. 2. Re view operati on p attern .
9 - 7 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Ac celerat ion /decel erati on tim e constant is too s mall. Increase the a ccele ratio n/dec elerat ion time constant. 2. Torque limit valu e is too small. Increase the torque limit value.
9 - 8 9. TROUBLESHOOTING 9.3 Rem edies f or warn ings If E6, E7, E9 or EE occurs, the servo off status is establ ished. If any other warning occurs, operation can be continued but a n alarm may take place or proper operation may no t be performed. Eliminate the cause of the warning according to this section.
10 - 1 10. OUTLINE DIMENSION DRAWINGS 10. OUTLINE DIMENSION DRA W INGS 10.1 Servo am plif iers (1) MR-J2S-10B to MR-J2S-60B MR- J2S -10B 1 to MR- J2S - 4 0B1 E N C () [Uni t: mm] 6 ( 0.24) m ounting hole A7 0 ( 2 . 7 6 ) 135 (5. 32 ) TE2 4(0.16) B 168 (6.
10 - 2 10. OUTLINE DIMENSION DRAW INGS (2) MR-J2S-70B MR- J2S- 100B C N 1 A OPEN MIT SUBISH I C N 1 B C N 2 E N C C N 3 7 (0.28) C N 1 A OPEN L1 L2 L3 UV W MIT SUBISH I C N 1 B C N 2 E N C C N 3 [Unit: m m] ([Un it: in] ) 70(2.76) 70(2.76) 190(7.48) 22 TE1 TE2 6(0.
10 - 3 10. OUTLINE DIMENSION DRAW INGS (3) MR-J2S-200B MR- J2S-3 50B MITSUBIS HI MITSUBIS HI 70(2.76) 195(7.68) 90(3.54) 78(3.07) 6 168(6.61) 156(6.14) 6 6 ( 0. 24) mounting hole Ter min al la yo ut TE1 [Uni t: mm] ([Uni t: i n ]) TE2 PE te rminal (0.
10 - 4 10. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500B [Unit: m m] ([Un it: in ] ) C N 2 C N 3 C N 1 A C N 1 B OPEN OPEN C N 2 C N 3 C N 1 A C N 1 B OPEN TE1 TE2 2- 6( 0.2 4) mounting hole 130(5.12) 118(4.65) 7.5 (0.5) (0.24) 6 (0.24) 250(9.84) 235(9.
10 - 5 10. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700B C N 1 B C N 1 A C N 3 C N 2 TE2 OPEN C N 1 B C N 1 A C N 3 C N 2 TE1 2- 6( 0. 24) mounting hole 7.5 (0.5) (0.39 ) 10 180(7.09) 160(6.23) (0.39) 10 70 (2.76) 200(7.87) 138(5.43) 62 (2.44) 6(0.24) Terminal layout [Unit: m m] ([Un it: in] ) 20 (0.
10 - 6 10. OUTLINE DIMENSION DRAW INGS (6) MR-J2S-11KB 15 KB 3.9(0.15) Fan air orientation Fan 75 (2.95) 12(0.47) C N 3 C N 1 A C N 1 B CN4 MITSU BISH I TE1 CON2 376(14.8) 400(15.75) 12 12(0.47) 12(0.47) (0.47)12 236(9.29) 260(10.24) CHARGE CN2 TE2 2- 12( 0.
10 - 7 10. OUTLINE DIMENSION DRAW INGS (7) MR-J2S-22KB 3.9(0.15) Fan ai r or ie nt ati on Fan 75 (2.95) [Uni t: mm] ([Un it: in ] ) C N 3 C N 1 A C N 1 B CN4 MIT SUBIS HI TE1 CON2 12(0.47) 326(12.84) 376(14.8) 400(15.75) 12 350(13.78) 12(0.47) 12(0.47) (0.
10 - 8 10. OUTLINE DIMENSION DRAW INGS 10.2 Connectors (1) Servo amplifie r side <3M > (a) Soldered type 12 .0(0.47 ) B A 23 .8(0.94 ) 39.0(1.54) 12.
10 - 9 10. OUTLINE DIMENSION DRAW INGS (c) Insulation displacement type Model Connector : 10 120-6000EL Shell kit : 10320-32 10-000 33.0(1.30) 42.0(1.65) 29.7 (1.17) 20.9(0.82) 11.5 (0.45) 6.7 Logo, etc. are indicated here. 2- 0.5 (0.02) [Un it: mm] ([Un it: in] ) ( 0.
10 - 10 10. OUTLINE DIMENSION DRAW INGS (b) Ho nd a Tsu shi n Indu st ry HDR ty pe Model HDR Num b er of P ins Connector Connec tor case (Note) Crimping terminal 14 HDR-E14MG1 HDR-E14LP A5 26 HDR-E26M.
11 - 1 11. CHARACTERISTI CS 11. CHARA CTE RISTICS 11.1 Overl oad prot ectio n character istic s An electroni c thermal relay is built in th e servo amplifier to protect the servo motor and servo amplifier from overloads.
11 - 2 11. CHARA CTERIST ICS 11.2 Power suppl y equipm ent c apacit y and gener ated loss (1) Am ount of he at g ener ated b y th e ser vo am plif ier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under r ated load.
11 - 3 11. CHARA CTERIST ICS (Note 2) Servo amplifier-generat ed heat[W] Area required for heat dissipat ion Servo amplifier Serv o motor (Note 1) Power supply capacity[k VA] At rated t orque W ith servo off [m 2 ] [ft 2 ] HC-SFS502 7.5 195 25 3.9 42.
11 - 4 11. CHARA CTERIST ICS (2) H eat d issipa tion area f or e nclos ed ser vo am pl ifier The encl osed control box (hereafter called the control box) which will contain the servo ampli fier should be design ed to ensu re that it s temper ature ri se is wi thin 10 at t he ambient temperat ure of 40 .
11 - 5 11. CHARA CTERIST ICS 11.3 D ynamic br ake c haracter istics Fig. 11 .6 shows t he pattern in which the servo motor comes to a stop when the dynamic brak e is operated. Use Equati on 11.2 to calculate an approximate coast ing distance to a stop.
11 - 6 11. CHARA CTERIST ICS 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02 0 500 1000 1500 2000 2500 3000 73 23 43 053 13 Speed [r/min] Time constant [s ] Time c onsta nt [s] 0.005 0.0 1 0.015 0.0 2 0.025 0.0 3 0.035 0.0 4 0 50 500 01 0 0 0 121 201 301 81 Speed [r/min] b.
11 - 7 11. CHARA CTERIST ICS Use the dynamic brake at the l oad inertia moment indicated in the following table. If the load inertia mome nt is higher than this value, the bui lt-in dy namic b rake m ay burn. I f there is a po ssibili ty that the load inertia moment may exceed the value, contact Mitsubis hi.
11 - 8 11. CHARA CTERIST ICS 11.5 Inrus h curren ts at p ower-on of m ain circ uit and con trol c ircuit The foll owing table i ndicates the in rush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2 500kVA and the wiring length of 10m.
12 - 1 12. OPTIONS AND AU XILIARY EQUIPMENT 12. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Befor e connec tin g any opti on or aux iliar y equ ipm ent, m ak e sure t hat t he ch arge la mp is off mo re th an 10 minu tes a fter pow er-o ff, then confi rm the volt age wi th a tester or th e lik e.
12 - 2 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Se lect ion of th e reg enerat ive brak e op tion (a) Simple se lectio n meth od In horizontal motion appli cations, select the regenerat ive brake o.
12 - 3 12. OPTIONS AND AU X I LIARY EQU IPMENT b. Losses of servo mo tor and servo amplif ier in regenerative mode The foll owing table lis ts the effici encies and other data of the servo motor and servo amplifier in the regenerative mode.
12 - 4 12. OPTIONS AND AU X I LIARY EQU IPMENT (4) C onnect ion of the r eg enerat ive br ak e opti on The regenerati ve brake option will cause a temperature rise of 100 degrees relative to the ambient temper ature . Fully ex amine heat di ssipat ion, in stal latio n po sition , u sed c ables, etc .
12 - 5 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-J2S-500B MR-J 2S-700B Always remove the w iring (acro ss P-C) of the servo ampl ifier built-in regenera tive br ake re sistor and fit th e regen era tive bra ke op tion acro s s P-C. The G3 and G4 terminals act as a thermal protector.
12 - 6 12. OPTIONS AND AU X I LIARY EQU IPMENT For the MR-R B5 0 MR-R B51 in sta ll the cool ing f an as shown . 82.5 40 (1.58) 82.5 133 Fan installation screw hole dim ensions 2-M3 screw hol e (fo r .
12 - 7 12. OPTIONS AND AU X I LIARY EQU IPMENT (d) MR-J2S-11KB-PX to MR-J2S-22KB-PX (when using the regenerative brake option) The MR-J2 S-11KB- PX to MR -J2S-2 2K B-PX se rvo amplif iers ar e no t suppl ied wi th reg ener ative brake resistors. When using any of these servo amplifiers, al ways use the M R-RB65, 66 or 67 regenerative b rake option.
12 - 8 12. OPTIONS AND AU X I LIARY EQU IPMENT (5) Outlin e drawing (a) MR-RB032 MR-R B12 LA 5 (0. 2 0) LB TE1 6 (0. 2 3) 6 (0. 2 3) 156 ( 6.14 ) 168 (6. 61 ) 144 (5. 67 ) 12 ( 0. 47) 6 (0. 2 3) 12 ( 0. 47) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Uni t: mm ( in)] 6 (0.
12 - 9 12. OPTIONS AND AU X I LIARY EQU IPMENT (c) MR-RB50 MR- RB51 Tightening torque: 5.4 [N m](47.79 [lb in]) Terminal b lock G4 G3 C P Termin al sc rew: M4 Tightening torque: 1.2 [N m](10 [lb in]) [Unit: mm (in)] 49 (1.93) 82.5 (3.25) 200 (7. 87 ) 223 (8.
12 - 10 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.2 Br ake unit POINT The brake un it and re sisto r unit of o ther than 200V class are not applicable to the se rvo amplif ier. The bra ke unit and resist or unit of the s ame capacity must be combined.
12 - 11 12. OPTIONS AND AU X I LIARY EQU IPMENT The cabl es between t he servo amplifi er and brake unit and between the resistor unit and brake unit should be as sho rt as po ssib le. The c ables longer than 5m (16.4 04ft) sho uld be tw iste d. If twis ted, the cables must not be long er th an 10m(32 .
12 - 12 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Resistor unit (FR-BR) [Unit : m m (in)] 33 (1.299) 204 (8.031) 40 (1.575) K (F) (F) BA 1 (0.039) C 5 (0.197) 2- D AA 5 ( 0.197) EE (E) A 5 (0.197) EE (E) (Note) Control circuit terminals Mai n cir cu i t terminals FR-BR-55K Two eye bolts are provided (as shown below).
12 - 13 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) C onnect ion exam ple Powe r supp ly 3-phase 200V or 230V AC NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 EM1 SG Powe r regene ration converter FR-RC SK ON MC B C NPC RDY SE Alarm output RDY output A B C 5m(16.
12 - 14 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Outs ide dim ensio ns of the pow er rege ner ation c on verters [Unit : m m(in)] AA A C F K EE BA B E D 2- D hole Rating plate Fron t c ov er Displa.
12 - 15 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.4 Ext erna l dynam ic brak e (1) Se lect ion of d ynam ic brak e The dynami c brake is designed to bring t he servo motor to a s udden stop when a power failure occurs or the protective circuit is acti vated, and is built in the 7kW or l ess servo a mplifier.
12 - 16 12. OPTIONS AND AU X I LIARY EQU IPMENT Servo moto r rotation Coasting Alarm RA1 ON OFF Forced stop (EM 1) Absent Invalid Valid Short Open a. Timing chart at alarm occurrence b.
12 - 17 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) O utlin e dim ens io n dra wing UV W D 100(3.94) D (0.2)5 C E G F 2.3(0.09) Terminal block Screw : M3.5 Screw : M4 B A 5 (0.2) E 13 14 E (GND) ab [Unit : mm ] ([Unit: i n ]) Tightening torque: 1.2 [N m](10 [lb in]) Tightening torque: 0.
12 - 18 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.5 Cabl es and c onnector s (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models.
12 - 19 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation 1) Standard encoder cable MR-JCCBL M-L Refer to (2) in this section.
12 - 20 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation Connec tor: PCR-S20FS Shell kit : PCR-LS20 LA1 (Honda Tsushin) Connector: 10120-3000EL Shell kit: 10320-52F 0.
12 - 21 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation Connector: HDR-E14MG1 Shell kit: HDR-E14LP A5 (Honda Tsushin) Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or eq uivale nt) (Note) 24) Bus cable Q172J2BCBL M (-B) Refer to (4) in this section Socket: HCN 2-2.
12 - 22 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you ha ve f abric ated t he enc od er ca ble, c onn ect it corr ectl y. Other wise, m isop erati on or e xpl osion m a y occur . POINT The encoder cabl e is not oil resistant.
12 - 23 12. OPTIONS AND AU X I LIARY EQU IPMENT P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 MR-JC CBL2.
12 - 24 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JHSCBL M-L MR- JHS CBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RFS HC- UFS 2000r /min ser ies se rv o moto rs. 1) Model explanation L H 2 5 10 20 30 2 (6.56) 5 (16.4) 10 (32.
12 - 25 12. OPTIONS AND AU X I LIARY EQU IPMENT MR-JHSC BL2M-L MR-JHSC BL5M-L MR-JHSC BL2M-H MR-JHSC BL5M-H MR-ENCBL2 M-H MR-ENCBL5 M-H MR-JHSC BL10M-L to MR-JHSC BL30M-L MR-JHSC BL10M-H to MR-JHSC BL50M-H MR-ENCBL1 0M-H to MR-ENCBL5 0M-H Servo amplifier side Enco der sid e (Note2) U se of AWG24 (Less than 1 0m(32.
12 - 26 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of t h e RS-2 32C connector, refer to thi s section and fabricate the cable.
12 - 27 12. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable CAUTION W hen f abricat ing the bus cab le, d o no t mak e incor rec t conn ectio n. Do ing s o can cause m isoperat ion or ex plosi on. When f abrica ting thi s cable , use the re commend ed cab le giv en in Se ction 12 .
12 - 28 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-J2HBUS M 1) Model definition Model:MR- J2HBU S M 05 1 0.5 (1.64) 1 (3.28) 5 5 (16.4) Cable Length [m(ft)] Symbol 2) Connection diagram MR-J2 HBUS.
12 - 29 12. OPTIONS AND AU X I LIARY EQU IPMENT (c) Q172J2BCBL M(-B) When using t he battery unit Q170BAT, use the Q172J2B CBL M-B. For the Q17 0BAT, refer to the Motion Control ler Q Series User's Manual (IB(NA)0 30002 1). 1) Model definition Mode l:Q1 72J2 BCBL M- 05 Cable Length [m(ft)] 5 Symbol 0.
12 - 30 12. OPTIONS AND AU X I LIARY EQU IPMENT 2) Connection diagram HDR-E26MG1(Connector) HDR-E26-LPA5(Connector case) 1012 0-6 000 EL( Con nec tor) 10320-3210-000(Connector case) 14 3 16 2 15 13 26.
12 - 31 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.6 Main tenanc e junct ion card ( MR-J2CN 3TM) POINT The MR-J2 S-11KB or more al lows only th e relaying of si gnals using CN3A/C N3 C.
12 - 32 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.7 Batter y (MR-BAT , A6B AT) POINT The revis ion (Editi on 44) of the Dangero us Goods Rule of t he Internatio nal Air Tr anspor t Asso ciation (IATA) we nt into ef fect on January 1, 2003 and w as enf orced immed iately.
12 - 33 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.8 MR Conf igurator (s ervo conf igur ations s oft ware) The MR Confi gurator (servo configurati on software) uses the communication function of the servo amplifi er to perform parameter settin g changes, graph display, test operation, et c.
12 - 34 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.9 Po wer regen erat ion comm on c onverter POINT For details of the power re generation common converter F R-CV, refer to the FR-CV In stalla tion Gu ide (IB( NA)0600 075). Do no t supp ly p ower to the main c ircuit p ower supp ly termin als ( L1, L 2, L3) of the se rvo ampl ifier .
12 - 35 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Connection diagram RA1 EM1 C B R/L 11 Three-p hase 200 to 23 0VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 N/L P24 SD RDYB RDYA RSO SE A .
12 - 36 12. OPTIONS AND AU X I LIARY EQU IPMENT 2) Grounding For grounding, use the wire of th e size equal to or greater than that indicated in the following table, and make it as short a s pos sible. Power regeneration comm on convert er Grounding wire size [mm 2 ] FR-CV-7.
12 - 37 12. OPTIONS AND AU X I LIARY EQU IPMENT (5) S pecif ica tions Power regeneration comm on convert er FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7. 5 11 15 18. 5 27.5 Maximu m se rvo a mp li fi er capa city [kW] 3.
12 - 38 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.10 H eat sink outside m ounting attachm ent (MR- JACN) Use the heat si nk outside mounti ng attachment to mount the heat generati on area of the se.
12 - 39 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Fitting method Attachm ent Fit using the assembiling screws. Servo amplif ier Attachm ent Servo amp lif ier Punched hol e Control box a. Ass embl ing the heat sink outs ide m ounti ng a ttachm ent b.
12 - 40 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JACN22K (M R-J2S-22KB) 68(2.677) 145(5.709) 400(15.748) 35(1.378) 194(7.638) 84 58 12 3.2(0.126) 326(12.835) 155(6.102) 105 11.5 260 370(14.567) 350(13.78) 510(20.079) 580(22.835) Atta chment Servo amplifer Atta chment 4- 12 Mounting hole Servo amplifer Panel Panel (2.
12 - 41 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2 Auxil iar y equipm ent Alway s use the d evice s indic ate d in th is sec tion or equ iva lent. To comply wi th the EN Stan dard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard.
12 - 42 12. OPTIONS AND AU X I LIARY EQU IPMENT Table 12. 1 Rec omm ended wires (Note 1) Wires [mm 2 ] Servo a mplifier 1) L 1 L 2 L 3 2) L 11 L 21 3) U V W P 1 P 4) P C N 5) B1 B2 6) BU BV BW MR-J2S-10B(1) MR-J2S-20B(1) MR-J2S-40B(1) MR-J2S-60B MR-J2S-70B 1.
12 - 43 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) W ires for cab les When f abrica ting a cable , use the w ire mod els given in the fo llowin g ta ble or e quiv alen t: Table 12.
12 - 44 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.2 No-f use bre aker s, fus es, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instea d of the no-fuse breaker, use the one having the speci ficati ons given in this s ection.
12 - 45 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.4 Po wer fac tor im provin g DC reac tors The input power factor is im proved to be about 95 %. Screw size G (Note 1) Terminal cover 2-F L Notch A or less E Name plate C or less D B or less H F L Mounting foot part FR-BEL P P 1 Servo amplifier (Note2) Note1.
12 - 46 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.5 Re lays The followi ng relays should be used with the int erfaces: Interface Selection exam pl e Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts).
12 - 47 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction techni que s for ex terna l noi ses th at cau se the servo ampl ifier to malf unct ion If there a re noise s ources (such as a magnetic c.
12 - 48 12. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression t echniques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc.
12 - 49 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for i nstallation to an AC relay, AC valve, AC electromagnetic brake or the li ke near the servo ampli fi er is shown below. Us e this product or equival ent.
12 - 50 12. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 screw 11(0.43) 3 (0.12) 6 (0.24) C A 6 22(0.87) 17.5(0.69) 35(1.38) 35 (1.38) L or less 10(0.39) 30(1.18) 7 (0.28) 24 0 0.2 Note: Screw ho le for grounding.
12 - 51 12. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiat ed from the power supply side and output side of the servo amplifier and als o in suppressing high-frequency leakage current (zero-phase current) especi ally w ithin 0.
12 - 52 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.8 Leak age cur rent br eaker (1) Selecti on method High-frequency chopper currents controlled b y pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor whi ch is run with a commercial power supp ly.
12 - 53 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) S elect ion exam ple Indicated below is an example of selecting a l eakage current break er under the followi ng conditions: M Servo ampl ifier MR-J 2S-60B Servo mot or HC-MFS73 Ig1 Ig 2 Iga Ig m NV 2mm 2 5m 2mm 2 5m Use a leakage curren t breaker de signed for suppres sing harmonics/ surges.
12 - 54 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.9 EMC f ilter For compliance with the EMC d irective of the EN standard, it is recommended to use the following filter.
12 - 55 12. OPTIONS AND AU X I LIARY EQU IPMENT HF3040A-T M HF305 0A-T M HF3060A-T MA H 2 J 2 G 1 F 2 E 1 D 2 3-L 6-K 3-L M C 1 B 2 A 5 C 1 Dimension s [ mm(in ) ] Model AB C DEFG H J KL M HF3040A-TM 260 (10.24) 210 (8.27) 85 (8.35) 155 (6.10) 140 (5.
12 - 56 12. OPTIONS AND AU X I LIARY EQU IPMENT MEMO.
13 - 1 13. ABSOLUTE POS ITION DETECTION SYSTEM 13. ABSOLU TE POSITION DE TECTION SYSTEM CAUTION If an abs olut e pos itio n eras e a larm ( 25) has occ urr ed, a lways p erf orm hom e posit ion s ett ing aga in. Not do ing s o can ca use r una way. 13.
13 - 2 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.2 Specif ic ati ons (1) Specifi cation li st Item Descripti on System Electronic battery backup system Battery 1 pi ece of li th ium battery ( pri mary ba tte ry, nomina l 3.6V) Type: MR-BAT or A6BAT Maxim um revolu tion ran ge Home posi tion 32767 rev.
13 - 3 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.3 Batter y inst al lat ion proc ed ure W ARNING Befor e star ting b atter y ins ta llatio n proce dur e, m ak e sure th at th e charg e lam p is off more t h an 10 mi nu te s aft e r pow e r -o ff. Then , con fi r m th at th e v ol ta ge is sa fe in th e tester or th e lik e.
13 - 4 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.4 Confir m ation of abso lute p osition detec tio n data You can confirm the absolute po sition data with MR Configurator ( servo configuration software). Click "Di agno stic s" and "Abso lute Enc ode r Data" to open th e abso lute posi tion dat a di splay scree n.
App - 1 App endix App. Com bination of servo a mplifier a nd serv o motor The servo amplifier software versions comp atible with the servo motors are indicated in the paren theses. The servo amplifiers whose software versions are no t indicated can be used reg ardless of the versions.
App - 2 Appendix MEMO.
REVISIONS *The manual numb er is given on the bottom left of t he back cover. Print Data *M anual Number Rev ision Sep., 2000 SH(NA)030007-A First edition Jan.
Print Data *M anual Number Rev ision Oct., 2002 SH(NA)030007-C Section 3.6.3: Add ition of N ote Section 3. 9: Reexam ination of cont ents Section 3. 12: Addition Section 3.12.2: Additio n of power fa ctor improvi n g DC reactor Section 4. 3 (2): Addit ion of initi alizatio n completi on Section 5.
Print Data *M anual Number Rev ision May., 2003 SH(NA)030007-D COMPLIANCE WITH EC DIRECTIVES 2 (6): Addition of (6) CONFORMANCE WITH UL/C-UL STANDAR D: Addition of (2) Air volume (2.8m 3 /mi n) Sectio n 1.3: In ru sh curre nt additi on Section 3. 1.1: Reexa mination of table in N ote Section 3.
Print Data *M anual Number Rev ision Jan., 2004 SH(NA)030007-E Section 5.2 (2): Partial addition of parameter No. 2 Note addition of paramete r No. 31 Section 5. 4.2: (10) del etion Section 9. 2: Display 32 item additi on, Partial r eexaminat ion/Note add ition of display 52 Section 1 0.
HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030007-E (0401) MEE Printed in Japan Specifications subject to change without notice.
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