Mitsubishi Melservo-J3 Series MR-J3-B Specifications

SERVO AMPLIFIERS & MOTORS
MELSERVO-J3
A sign of the future
Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001
(standards for environmental management systems) and ISO9001(standards for
quality assurance managememt systems)
MELSERVO-J3 The ever-evolving new
Realizing high speeds and high accuracies
■ Tact time improved with high-speed positioning
¡High-speed, high-torque motor HF series
✽Patent pending
(Example) 400W 3000r/min
¡The high speed (6000r/min) and
high-function speed frequency response
(900Hz) shorten positioning times.
r
Powe!
Up
5
Speed
(r/min)
4
Torque(N • m)
r
Highed!
e
e
sp
Peak running range
Shorter positioning time
3
6000
2
1
HF-KP
HF-KP
Continuous running range
HC-KFS
HC-KFS
0
1000
2000
3000
4000
5000
6000
(r/min)
Time
0
¡Maximum speed has been increased to 6000r/min for the HF-KP series, and 3000r/min for the HF-SP 2000r/min series.
■ Machine performance improved with highly accurate operation
¡A high-resolution encoder 262144p/rev (18-bit) is mounted as a standard to realize stability even at low speeds.
¡The absolute encoder is standard equipment.
Home position return at each power on is not
necessary if a battery (MR-J3BAT) is mounted
on the servo amplifier.
1/2 of existing
products
¡Fluctuations in motor torque are reduced by reducing
the cogging torque.
<Cogging torque> (Note 2)
Existing motor (HC series)
New motor (HF series)
Compact and flexible
<Servo amplifier>
¡Installation area is 40% smaller than
existing model (compared with 400W)
MR-J2-Super
40%
smaller
MR-J3
168
(6.61)
Morect!
a
comp
<Servo motor>
¡20% smaller than existing model
(Example: HF-KP series 400W)
Unit: mm (inch)
168
(6.61)
20%
smaller
40 (1.57)
70 (2.76)
¡Close mounting is possible
MR-J2-Super
Small
Mitsubishi comparison
of HC-KFS
MR-J3
168
(6.61)
70 (2.76)
10 (0.39)
230 (9.06)
✽The working
environment
40 (1.57)
40 (1.57) is different for
close mounting.
40 (1.57)
(Note 3)
120 (4.72)
<Servo motor>
¡The connectors of the HF-SP series are smaller than
the existing HC-SFS series, so the user’s system is
even more compact.
Changeable mounting
direction
■ Flexible wiring
• Connectors have been adapted for the servo amplifier terminal
block thereby reducing the time required for wiring. Refer to
the section “Connections with peripheral equipment” in this
catalog for details regarding the connector.
Environmental safety
■ Improved environmental safety
IP65 is conformed as a standard for the servo motor HF-KP
series (excluding the shaft-through portion). (Note 4)
IP67 is conformed as a standard for the servo motor HF-SP
series (excluding the shaft-through portion).
• The cable from the motor can be
led out in the direction of the
motor shaft or opposite direction
of the motor shaft according to
the selected cable. (HF-KP series)
Direction of
motor shaft
Opposite
direction of
motor shaft
Compatible with overseas standards
■ Conformity to EN, UL, cUL standards
The MELSERVO-J3 standard specifications conform to
overseas standards.
✽ This product is not subject to China Compulsory Certification (CCC).
Resists
both water and dust!
1
Evener!
l
m
s al
Notes: 1. “Industry’s No. 1” indicated on pages 1 and 2 of this catalog is current as of August 2003.
2. This data is for the 750W.
3. Refer to “Servo Amplifier Specifications” and “Cautions Concerning Use” in this catalog for details.
4. Use an IP65 compatible cable when using the motor in an IP65 environment.
generation servo
Emerging tuning functions
■ Easy tuning
Detailed setting of the response value now possible!
Ever-evolving Real time
Auto-tuning
With Mitsubishi’s original model adaptive control and the ever-evolving auto-tuning
function, tuning can be completed just by changing the response setting value!!
■ Precise tuning
¡To suppress vibration at the end of the arm or the residual vibration in the machine
Advanced Vibration
Control
The auto-tuning suppresses
Easily eliminates vibration! vibration automatically.
✽Patent pending
Droop pulse
Droop pulse
Command
Command
Tuning ON
Exact!
Machine
end position
Machine
end position
¡When drive shaft, such as ball screw resonates
The optimum “machine resonance suppression filter” is automatically set to suppress
resonance without even measuring the machine system’s (drive shaft) frequency
characteristics. The adaptive frequency range has been increased compared to the
existing models, so resonance at the drive shaft can also be suppressed.
Adaptive Filter II
✽Patent pending
r
Easiee!!
s
u
to
“Adaptive filter @”
function ON
Drive shaft
vibration
¡To improve the synchronization accuracy of printing machines and packaging machines, etc.
The response for just the disturbance element can be increased, making it possible
to suppress the disturbance in a stable state.
(Example) Printing machine
Robust disturbance
compensation
function ON
Droop pulse
Droop pulse
Robust Disturbance
Compensation Function
Precision of the printing rises
by improving the synchronization
accuracy.
■ Powerful startup and tuning support tools – Easy-to-use MR Configurator (Setup software) –
¡For startup
¡To find the motor status
The new “Parameter setting” window
makes start up even easier!
Monitor function
diagnostic function
• USB interface enables the
high-speed sampling and
long-term waveform
measurement.
• One analog channel has
been added to the graph
function (total: 3ch).
• The amplifier
diagnostic function
has been newly
added.
2
Model Configurations
■ For servo amplifier
MR-J3- 10 A
Mitsubishi general-purpose
AC servo amplifier
MELSERVO-J3 Series
A : General-purpose interface
List of compatible motors
✽ Conforms to
following
standards:
EN, UL, cUL
Symbol
HF-KP
10
20
40
60
70
100
200
350
053, 13
23
43
—
73
—
—
—
HF-SP
1000r/min
2000r/min
(Available soon)
—
—
—
—
—
—
52
51
—
—
102
81
152, 202
121, 201
352
301
Symbol
Power supply
None
3-phase 200VAC or
single-phase 230VAC (Note)
1
Single-phase 100VAC
(in planning stages)
Note: The single 230VAC is available only for the
MR-J3-70A or smaller servo amplifiers.
■ For servo motor
HF-KP 05 3 B
Motor series
Symbol
HF-KP
HF-SP
Symbol
Electromagnetic brake
Symbol
Shaft end
None
None
None
Standard (Straight shaft)
B
Installed
K
Key way (Note1)
D
D-cut (Note2)
Low inertia,
small capacity
Notes: 1. The 200W or larger capacity HF-KPMK
has a key.
2. D-cut applies only to the 100W or
smaller capacity HF-KP.
Medium inertia,
medium capacity
✽ Conforms to
following
standards:
EN, UL, cUL
Symbol
Rated output (kW)
Symbol
Rated speed (r/min)
05
0.05
1
1000 (Available soon) (Note1)
1 to 7
0.1 to 0.75
2
2000 (Note1)
10 to 35
1.0 to 3.5
3
3000 (Note2)
Notes: 1. 1000r/min and 2000r/min are available
only for the HF-SP series.
2. 3000r/min is available only for the
HF-KP series.
Note: Contact Mitsubishi for details on whether standards have been acquired for special-order products.
3
Specifications and Characteristics
HF-KP series servo motor specifications
Servo motor series
Models Servo motor model
Servo amplifier model
Specifications
Power facility capacity (Note 1) (kVA)
Continuous Rated output (W)
running
Rated torque (N·m [oz·in])
duty
Maximum torque (N·m [oz·in])
HF-KP series (Low inertia, small capacity)
HF-KP053(B)
HF-KP13(B)
MR-J3-10A
HF-KP43(B)
HF-KP73(B)
MR-J3-20A
MR-J3-40A
MR-J3-70A
0.3
0.3
0.5
0.9
1.3
50
100
200
400
750
0.16 (22.7)
0.32 (45.3)
0.64 (90.6)
1.3 (184.1)
2.4 (339.8)
0.48 (68.0)
0.95 (134.5)
1.9 (269.0)
3.8 (538.1)
7.2 (1019.5)
39.9
Rated speed (r/min)
3000
Maximum speed (r/min)
6000
6900
Permissible instantaneous speed (r/min)
Servo motor
HF-KP23(B)
Power rate at continuous rated torque (kW/s)
4.87
11.5
16.9
38.6
Rated current (A)
0.9
0.8
1.4
2.7
5.2
Maximum current (A)
2.7
2.4
4.2
8.1
15.6
Regenerative
braking frequency
(times/min)
(Note 2)
With no options
(Note 2-1)
(Note 2-2)
448
249
140
MR-RB032 (30W)
9747
4435
1344
747
210
MR-RB12 (100W)
—
—
4480
2490
700
MR-RB32 (300W)
—
—
—
—
2100
0.052 (0.284)
0.088 (0.481)
0.24 (1.312)
0.42 (2.296)
1.43 (7.817)
0.054 (0.295)
0.090 (0.492)
0.31 (1.695)
0.50 (2.733)
1.63 (8.911)
Moment of inertia
Standard
J (×10-4kg·m2)
With electromagnetic brake
[J (oz·in2)]
Recommended load/motor inertia moment ratio
Less than 15-times the servo motor’s inertia moment (Note 3)
Speed/position detector
Resolution per encoder/servo motor rotation: 262144 p/rev
Attachments
18 bit encoder
Class B
Insulation class
Structure
Totally enclosed non ventilated (protection level: IP65) (Note 4)
0 to 40°C (32 to 104°F) (non freezing), storage: −15 to 70°C (5 to 158°F) (non freezing)
Ambient temperature
Environment
Ambient humidity
80% RH max. (non condensing), storage: 90% RH max. (non condensing)
Atmosphere
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
1000 meters or less above sea level; X: 49m/s2 Y: 49m/s2
Elevation/vibration (Note 5)
Mass
(kg [lb])
Standard
0.35 (0.77)
0.56 (1.23)
0.94 (2.07)
1.5 (3.30)
2.9 (6.39)
With electromagnetic brake
0.65 (1.43)
0.86 (1.89)
1.6 (3.53)
2.1 (4.63)
3.9 (8.59)
Notes:1. The power facility capacity varies depending on the power supply’s impedance.
2. The regenerative brake frequency shows the permissible frequency for decelerating the motor without a load from rated speed to a stop. When a load is connected, however, the value
becomes the table value divided by (m+1) where m is the load inertia moment divided by the motor inertia moment. When the rated speed is exceeded, the regenerative brake frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating speed varies with the frequency or when regeneration is constant (as with vertical
feeds), find the regeneration heat generated (W) while operating and do not exceed the permissible value.
2-1. When a motor decelerates to a stop from the rated speed, the regenerative frequency will not be limited if the effective torque is within the rated torque range. When a motor decelerates to a stop from the maximum speed, the regenerative frequency will not be limited if the load inertia moment is 8-fold or less and the effective torque is within the rated torque
range.
2-2. When a motor decelerates to a stop from the rated speed, the regenerative frequency will not be limited if the effective torque is within the rated torque range. When a motor decelerates to a stop from the maximum speed, the regenerative frequency will not be limited if the load inertia moment is 4-fold or less and the effective torque is within the rated torque
range.
3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table.
4. The shaft-through portion is excluded.
X
Y
5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite
direction of the motor shaft). Fretting of the bearing occurs easily when a motor stops, so please maintain vibration to approximately one-half of the allowable value.
HF-KP series servo motor torque characteristics
Peak running range
0.75
70
0.5
35
0.25
2.0
140
1.0
0
Speed (r/min)
HF-KP43 (B) (Note 1, 2)
HF-KP73 (B) (Note 1, 2)
1.0
70
0.5
840
4.0
Speed (r/min)
1000 2000 3000 4000 5000 6000
Speed (r/min)
280
2.0
Notes:
1. For 3-phase 200VAC operation.
2. For single-phase 230VAC operation.
Continuous running range
1000 2000 3000 4000 5000 6000
0
Peak running range
6.0
560
Continuous running range
0
Continuous running range
0
8.0
Torque (N•m)
Peak running range
0
1000 2000 3000 4000 5000 6000
Speed (r/min)
1120
3.0
280
0
1000 2000 3000 4000 5000 6000
4.0
Torque (N•m)
Torque (oz•in)
0
Torque (oz•in)
0
0
Peak running range
1.5
140
Continuous running range
Continuous running range
420
210
2.0
0.2
28
560
HF-KP23 (B) (Note 1, 2)
280
Torque (oz•in)
105
Torque (N•m)
Peak running range
0.4
Torque (oz•in)
Torque (N•m)
Torque (oz•in)
56
HF-KP13 (B) (Note 1, 2)
1.0
140
Torque (N•m)
HF-KP053 (B) (Note 1, 2)
0.6
84
0
1000 2000 3000 4000 5000 6000
Speed (r/min)
4
Specifications and Characteristics
HF-SP series servo motor specifications
Servo motor series
HF-SP2000r/min series (Medium inertia, medium capacity)
Models Servo motor model
Servo amplifier model
Specifications
Power facility capacity (Note 1) (kVA)
Continuous Rated output (kW)
running
Rated torque (N·m [oz·in])
duty
Maximum torque (N·m [oz·in])
HF-SP52(B)
HF-SP102(B)
MR-J3-60A
MR-J3-100A
1.0
1.7
2.5
3.5
5.5
0.5
2.39 (338.4)
1
4.77 (675.4)
1.5
7.16 (1013.9)
2
9.55 (1352.3)
3.5
16.7 (2364.7)
HF-SP202(B)
HF-SP352(B)
7.16 (1013.9)
14.3 (2024.9)
21.5 (3044.4)
28.6 (4049.8)
50.1 (7094.2)
MR-J3-200A
Rated speed (r/min)
2000
Maximum speed (r/min)
3000
MR-J3-350A
3450
Permissible instantaneous speed (r/min)
Servo motor
HF-SP152(B)
Power rate at continuous rated torque (kW/s)
9.34
19.2
28.8
23.8
37.2
Rated current (A)
2.9
5.3
8.0
10
16
Maximum current (A)
With no options
8.7
15.9
24
30
48
60
180
62
93
152
—
71
—
33
—
600
310
—
—
—
—
—
—
930
456
—
213
—
99
—
MR-RB032 (30W)
Regenerative
braking frequency MR-RB12 (100W)
(times/min)
MR-RB30 (300W)
(Note 2)
MR-RB32 (300W)
MR-RB50 (500W)
Moment of inertia
Standard
-4
2
J (×10 kg·m )
With electromagnetic brake
[J (oz·in2)]
Recommended load/motor inertia moment ratio
—
—
760
355
165
6.1 (33.3)
11.9 (65.1)
17.8 (97.3)
38.3 (209)
75.0 (410)
8.3 (45.4)
14.0 (76.5)
20.0 (109)
47.9 (262)
Less than 15-times the servo motor’s inertia moment (Note 3)
Speed/position detector
84.7 (463)
Resolution per encoder/servo motor rotation: 262144 p/rev
Attachments
18 bit encoder
Class F
Insulation class
Structure
Totally enclosed non ventilated (protection level: IP67) (Note 4)
0 to 40°C (32 to 104°F) (non freezing), storage: −15 to 70°C (5 to 158°F) (non freezing)
Ambient temperature
Ambient humidity
Environment
Atmosphere
Mass
(kg [lb])
Elevation
Vibration (Note 5)
Standard
With electromagnetic brake
80% RH max. (non condensing), storage: 90% RH max. (non condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
1000 meters or less above sea level
X: 24.5m/s2 Y: 49m/s2
X: 24.5m/s2 Y: 24.5m/s2
6.5 (14.3)
8.3 (18.3)
12 (26.4)
19 (41.9)
4.8 (10.6)
6.7 (14.8)
8.5 (18.7)
11 (24.2)
18 (39.7)
25 (55.1)
Notes:1. The power facility capacity varies depending on the power supply’s impedance.
2. The regenerative brake frequency shows the permissible frequency for decelerating the motor without a load from rated speed to a stop. When a load is connected, the value becomes
the table value divided by (m+1) where m is the load inertia moment divided by the motor inertia moment. When the rated speed is exceeded, the regenerative brake frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating speed varies with the frequency or when regeneration is constant (as with vertical feeds), find the
regeneration heat generated (W) while operating and do not exceed the permissible value.
3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table.
4. The shaft-through portion is excluded.
X
5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite
Y
direction of the motor shaft). Fretting of the bearing occurs easily when a motor stops, so please maintain vibration to approximately one-half of the allowable value.
HF-SP series servo motor torque characteristics
420
1400
Peak running
range
10
5
700
3
3360
0
1000
2000
1120
0
3000
0
HF-SP202 (B) (Note 1)
1400
5
20
10
5600
2800
Torque (N•m)
Torque (oz•in)
Peak running
range
0
1000
2000
Speed (r/min)
3000
3000
Peak running
range
16
8
Continuous running range
0
0
1000
2000
3000
Speed (r/min)
60
8400
Peak running
range
40
Notes:
1. For 3-phase 200VAC operation.
2. For single-phase 230VAC operation.
20
Continuous running range
0
2000
24
HF-SP352 (B) (Note 1)
30
Torque (N•m)
Torque (oz•in)
2800
1000
Speed (r/min)
Speed (r/min)
4200
2240
Continuous running range
Continuous running range
0
Torque (oz•in)
Peak running
range
6
HF-SP152 (B) (Note 1)
15
Torque (N•m)
Torque (oz•in)
Torque (N•m)
Torque (oz•in)
840
HF-SP102 (B) (Note 1)
2100
9
Torque (N•m)
HF-SP52 (B) (Note 1, 2)
1260
Continuous running range
0
0
1000
2000
Speed (r/min)
3000
Motor Dimensions
Unit: mm (inch)
● HF-KP053(B), HF-KP13(B)
5 (0.2)
ø30h7
0
(ø1.181 -0.0008
)
37.1 (1.46)
ø8h6
0
(ø0.3150 -0.0004
)
38.8 (1.53)(Note 3)
36 (1.42)
Pin No.
1
2
2
2
Power supply connector
KL
Brake connector (Note3)
Signal name
Earth
U
V
W
Brake connector
pin assignment (Note 3)
1
1
9.5
(0.37)
4
(1. ø46
81
1)
Pin No.
1
2
3
4
3
11.7 11.7
(0.46) (0.46)
58.3 (2.30)
(Note 3) 18.4 (0.72)
21.5 (0.85)
(Note 3)
1
2
3
4
2
Encoder
connector
13.7
4.9
(0.54) (0.19)
27.4
(1.08)
Power supply connector
pin assignment
M40 (1.57)
45°
1
21(0.83) 20.7 (0.81)
20.5 (0.81) 20.7 (0.81)
2-ø4.5 (0.177)
mounting hole
Use hexagonal
head bolts
25 (0.98)
2.5 (0.10)
21.5 (0.85)
L
Signal name
B1
B2
6.4 (0.25)
13.9
(0.55)
27.5 (1.08)
<When cable is led out in direction of motor shaft>
Variable dimensions
Model
KL
L
9°
1 2
13°
7°
66.4 (2.61)
24.5
HF-KP053 (B)
<107.5 (4.23)> (0.96)
Encoder
connector
10.1
(0.40)
11.7 11.7
(0.46) (0.46)
21.5
(0.85)
58.3 (2.30)
(Note 3)
(Note 3)
● HF-KP23(B), HF-KP43(B)
4-ø5.8 (0.228)
mounting hole
Use hexagonal
head bolts
30 (1.18)
3 (0.12)
L
47.1 (1.85)
Pin No.
1
2
13.9
(0.55)
27.8
(1.09)
Brake connector (Note3)
2
2
Power supply connector
Signal name
Earth
U
V
W
Brake connector
pin assignment (Note 3)
1
1
ø14h6
0
(ø0.5512 -0.0004
)
Pin No.
1
2
3
4
4
47.1 (1.85) (Note 3)
46 (1.81)
1
2
3
4
3
9.5 (0.37)
KL
Power supply connector
pin assignment
M60 (2.36)
°
45
2
18.3(0.72)
11.8 11.7
(0.46)(0.46) 57.8 (Note3)
(2.28)
21.5
(Note3)
(0.85)
82.4 (3.24)
40.5
<123.5 (4.86)> (1.59)
Brake connector (Note3)
1
Encoder
connector
13.7 10
(0.54)(0.39)
28.4
(1.12)
18.4 (0.72)
(Note 3)
HF-KP13 (B)
Power supply
connector
(2 ø70
.75
6)
ø50h7
0
(ø1.969 -0.0010
)
7 (0.28)
9.5
(0.37)
19.2
(0.76)
KL
Signal name
B1
B2
5.9
(0.23)
<When cable is led out in direction of motor shaft>
Variable dimensions
Model
KL
9°
13.5°
7°
L
(Note 3)
HF-KP23 (B)
Encoder
connector
10.1
(0.40)
11.8 11.7
(0.46) (0.46)
21.5
(0.85)
57.8 (2.28)
(Note 3)
113.8 (4.48)
<157 (6.18)>
45°
2
12 (0.47)
2
14 (0.55)
Pin No.
1
2
3
4
Signal name
Earth
U
V
W
Brake connector
pin assignment (Note 3)
1
1
ø19h6
0
(ø0.7480 -0.0005
)
56 (2.20)
(3 ø90
.54
3)
4
Power supply connector
1
2
3
4
3
9.5 (0.37)
72.3 (2.85)
Power supply connector
pin assignment
4-ø6.6 (0.260)
mounting hole
Use hexagonal
head bolts
2
11.5 (0.45)
Pin No.
1
2
Signal name
B1
B2
27.8
(1.09)
<When cable is led out in direction of motor shaft>
Brake connector (Note3)
7°
7°
7°
27.4
(1.08)
18.4
11.7 (0.72)
(0.46) (Note 3)
65.5 (2.58)
21.4 (Note 3)
(0.84)
61.2
(2.41)
KL
1
13.7 (0.54)
Encoder
connector
11.8 (0.46)
98.5 (3.88)
<138 (5.43)>
Brake connector (Note3)
M80 (3.15)
40 (1.57)
3 (0.12)
ø70h7
0
(ø2.756 -0.0012
)
8 (0.31)
HF-KP43 (B)
Power supply
connector
57.1 (2.25)
● HF-KP73(B)
9.5
(0.37) 19.2
(0.76)
76.6 (3.02)
39.3
<116.1 (4.57)> (1.55)
(Note 3)
Notes:
1. Use a friction coupling to fasten a load.
2. Dimensions inside < > are for the models with electromagnetic brake.
3. Only for the models with electromagnetic brake.
4. For dimensions where there is no tolerance listed, use general tolerance.
Encoder
connector
11.8
(0.46)
11.7
21.4 (0.46)
(0.84)
65.5 (2.58)
(Note 3)
9.5 (0.37)
19.2 (0.76)
72.3 (2.85)
Power supply connector
Brake connector (Note3)
6
Motor Dimensions
Unit: mm (inch)
●HF-SP52(B), HF-SP102(B), HF-SP152(B)
12 (0.47)
55 (2.17)
50 (1.97)
3 (0.12)
45°
ø110h7
0
(ø4.331 -0.0014
)
79.9 (3.15) (Note 3)
50.9 (2.00)
(Note 3)
ø16
5 (6
ø24h6
0
(ø0.9449 -0.0005
)
(Note 3)
13 (0.51)
62.5 (2.46)
Encoder connector
(Note 3)
CM10-R10P
Brake connector
CM10-R2P (Note3)
(Note 3)
ø14
5 (5
.70
9)
(Note 3)
(Note 3)
4-ø9 (0.354)
mounting hole
Use hexagonal
head bolts
M130 (5.12)
.49
6)
112.5 (4.43)
L
38 (1.50)
(Note 3)
(Note 3)
20.9 (0.82)
KL
13.5 (0.53)
29 (1.14)
(Note 3)
58 (2.28)
Power supply connector
MS3102A18-10P
Model
L
KL
HF-SP52 (B)
118.5 (4.67)
<156.5 (6.16)>
57.8
(2.28)
HF-SP102 (B)
140.5 (5.53)
<178.5 (7.03)>
79.8
(3.14)
HF-SP152 (B)
162.5 (6.4)
<200.5 (7.89)>
101.8
(4.01)
2000r/min
Earth
W
C
B
(Note 3)
Brake
D
A
V
Variable dimensions
U
Brake connector
pin assignment
Power supply connector
pin assignment
Motor flange direction
Motor flange direction
●HF-SP202(B), HF-SP352(B)
L
38 (1.50)
M176 (6.93)
45°
44 (1.73)
(Note 3)
+0.010
13
(0.51)
Encoder connector
67 (2.64)
CM10-R10P
(Note 3)
Brake connector
CM10-R2P (Note 3)
140.9 (5.55)
(Note 3)
ø35 0
(ø1.3780 +0.0004
)
0
(Note 3)
(Note 3)
96.9 (3.81)(Note 3)
50.9 (2.00)
0
5)
ø114.3 -0.025
0
(ø4.5 -0.0010
)
05
0 (7
(9.
.87
30
4)
ø2
(Note 3)
4-ø13.5 (0.531)
mounting hole
Use hexagonal
head bolts
ø20
(Note 3)
18 (0.71)
79 (3.11)
75 (2.95)
3 (0.12)
24.8 (0.98)
KL
82 (3.23)
Power supply connector
MS3102A22-22P
Variable dimensions
W
(Note 3)
Brake
Earth
C
B
V
L
KL
HF-SP202 (B)
143.5 (5.65)
<193.5 (7.62)>
79.8
(3.14)
HF-SP352 (B)
183.5 (7.22)
<233.5 (9.19)>
119.8
(4.72)
U
Brake connector
pin assignment
Power supply connector
pin assignment
Motor flange direction
Motor flange direction
Notes:
1. Use a friction coupling to fasten a load.
2. Dimensions inside < > are for the models with electromagnetic brake.
3. Only for the models with electromagnetic brake. The power supply connected to the electromagnetic brake is not related to the polarity.
4. For dimensions where there is no tolerance listed, use general tolerance.
7
Model
D
A
Special Specifications
Special shaft end specifications
Motors with the following specifications are available.
HF-KP series
● D-cut (Note 1) (50, 100W)
25 (0.98)
1 (0.039)
21.5 (0.85)
20.5 (0.81)
ø8h6
(ø0.3150– 00.009 )
Unit: mm (inch)
● With key (200, 400, 750W)
Motor
series
R
Variable dimensions
Capacity
(W)
T
S
R
Q
W
QK
QL
U
Q
Y
14h6
5
30
27
5
20
3
3
M4 screw
200, 400
(0.197) (0.5512 – 00.0004 ) (1.18) (1.06) (0.197) (0.79) (0.12) (0.12) Depth: 15mm (0.591 inch)
HF-KP
QK
A
19h6
6
40
37
6
25
5
3.5
M5 screw
(0.236) (0.7480 – 00.0005 ) (1.57) (1.46) (0.236) (0.98) (0.20) (0.14) Depth: 20mm (0.787 inch)
QL
U
W
750
øS
(Note 1)
Y
T
A
A-A
Unit: mm (inch)
HF-SP 2000r/min series
● Key way
Motor
series
Variable dimensions
Capacity
(kW)
S
R
Q
W
QK
QL
U
r
Y
0.5 to 1.5
24h6
(0.9449– 00.0005 )
55
(2.17)
50
(1.97)
8 – 00.036
(0.315 – 00.001 )
36
(1.42)
5
(0.20)
4 + 0.2
0
(0.16 + 0.008
)
0
4
(0.16)
M8 screw
Depth: 20mm (0.787 inch)
2.0, 3.5
35 0
+ 0.0004
(1.3780 0
)
79
(3.11)
75
(2.95)
10 – 0.036
0
(0.394 – 0.001 )
55
(2.17)
5
(0.20)
5 0
+ 0.008
(0.20 0 )
5
(0.20)
M8 screw
Depth: 20mm (0.787 inch)
HF-SP
+ 0.01
0
+ 0.2
(Note 1, 2)
R
Q
QK
U
QL
W
øS
A
A
r
A-A
Y
Unit: mm (inch)
Notes:
1. Cannot be used in applications that involve high frequency. Loose keys may damage the motor shaft - voiding motor warranty.
2. Keys are not installed. Keys are installed by the user.
Electromagnetic brake specifications
Motor model
HF-KP
23B
43B
Spring-action safety brake
HF-SP 2000r/min
102B
152B
202B
Spring-action safety brake
1.3
184
2.4
340
8.5
1203
8.5
1203
7.9
7.9
10
20
20
22
22
64
400
400
400
4500
4500
3117.6
3117.6
9069.3
56683.3
56683.3
56683.3
637687.1
637687.1
0.32
45.3
0.32
45.3
1.3
184
6.3
6.3
5.6
5.6
793.6
793.6
0
(N·m)
(oz·in)
Power consumption (W) at 20°C
Static friction
torque
(J)/time
(oz·in)/time
(J)/hour
352B
0
24VDC -10%
24VDC -10%
Rated voltage
Brake life (Note 1)
(Braking work per
braking action)
52B
13B
Type
Permissible
braking work
73B
053B
8.5
44
44
1203
20
6230
34
6230
34
56
56
220
220
640
4000
4000
4000
45000
45000
(oz·in)/hour
7936
7936
31176
31176
90693
566833
566833
566833
6376871
6376871
Times
20000
(5.6J)
20000
(5.6J)
20000
(22J)
20000
(22J)
20000
(64J)
20000
(200J)
20000
(200J)
20000
(200J)
20000
(1000J)
20000
(1000J)
Notes:
1. The brake gap cannot be adjusted. The brake life shows time until the readjustment is needed.
2. The electromagnetic brake is for holding. It cannot be used for braking applications.
8
Peripheral Equipment (MR-J3-MA)
Connections with peripheral equipment
Peripheral equipment is connected to MR-J3-A as described below.
Connectors, options, and other necessary equipment are available so that users can set up MR-J3-A easily and begin using it right away.
Power supply
3-phase 200-230VAC
or
1-phase 230VAC (Note 1)
Display panel
Displays monitoring data, parameters,
and alarms.
Setting section
Parameter settings and monitoring
etc. are executed with push buttons.
USB communication (CN5) (option)
Connect the unit to user’s personal
computer to perform monitoring, batch
parameter entry and saving, graph
display, and test operation. Dedicated
cable and MR Configurator (setup
software) are available also.
Circuit breaker
(NFB)
Used to protect the power
supply line.
<With front cover open>
Servo amplifier
MR-J3- A
Magnetic
contactor (MC)
Analog monitor output (CN6): Option
The speed or torque’s
analog signal is
output. (2ch)
Used to turn off the
servo amplifier’s power
when an alarm has been
triggered.
(Note 4)
Power factor
improvement
reactor (FR-BEL)
RS-422 communication (CN3)
A personal computer is connected by
using the RS-422/RS-232C converter.
(Note 2)
(Note 5)
Optional
regeneration unit
(option)
P
Junction terminal block (option)
C
All signals can be recieved easily at
this terminal block without a connection
to CN1.
Install this unit in situations
involving frequent regeneration and large load inertia
moments. Connect this
unit referring to “Standard
Wiring Diagram”.
Charge lamp
Illuminates when the
main circuit power supply
is ON. Do not plug/unplug power lines when
this lamp is ON.
Positioning controllers
Motor power supply
cable (option)
The MR-J3-A can be connected to a
Mitsubishi controller or any pulse train
output controller.
(Note 3)
(Note 3)
Encoder cable
(option)
Servo motor HF(Above picture is HF-KP13.)
9
Battery (option)
A battery (MR-J3BAT) is installed
in the holder when your servo
system is an absolute system.
Not required when your servo
system is an incremental system. Leave the control circuit
power supply ON while replacing the battery.
FX 2N -10GM
FX 2N -20GM
FX 2N -1PG QD75P QD75D
FX 2N-10PG P1, 2, 4 D1, 2, 4
AD75P A1SD75P
P1 to 3 P1 to 3
Control signal (for operation panel)
Connected to the PLC’s I/O port or the
machine’s operation panel.
Notes: 1. If a 1-phase power supply (230VAC) is used, please connect it to terminals L1 and L2. Nothing should be connected to L3.
2. When a personal computer is connected with the RS-422/RS-232C converter cable (refer to “Introductory Parts” in this catalog), some functions of the MR Configurator (setup software)
may be limited.
3. This example is the case that the cable from the motor is led out in the opposite direction of the motor shaft. An option cable is also available for leading the cable out in the direction of
motor shaft. Refer to the section “Options ● Cables and Connectors” in this catalog.
4. Always disconnect the connection across P1-P2 when using the FR-BEL.
5. Always disconnect the connection across P-D when connecting the optional regeneration unit externally.
Servo Amplifier Specifications
MR-J3-A type
Servo amplifier model MR-J3-
10A
Permissible voltage
fluctuation
40A
60A
Servo amplifier
10A1
20A1
40A1
(in planning (in planning (in planning
stages)
stages)
stages)
3-phase 170 to 253VAC
—
±5% max.
—
1-phase 200 to 230VAC 50/60Hz
—
1-phase 170 to 253VAC 50/60Hz
—
±5% max.
—
30
—
24VDC ±10% 300 to 900mA
—
Power consumption (W)
Interface power supply (Note 7)
MR-RB50 (Note 3)
350A
3-phase 200 to 230VAC: 170 to 253VAC
1-phase 230VAC: 207 to 253VAC
Permissible frequency fluctuation
Regenerative
MR-RB032
registor/
tolerable
MR-RB12
Optional
regenerative
regeneration MR-RB30
power (W)
unit
MR-RB32
200A
1-phase 100 to 120VAC
50/60Hz
Voltage/frequency
Permissible voltage
fluctuation
With no option
(Amplifier built-in resistor)
100A
3-phase 200 to 230VAC
50/60Hz (Note 2)
Permissible frequency fluctuation
Control
circuit
power
supply
70A
3-phase 200 to 230VAC 50/60Hz or
1-phase 230VAC 50/60Hz (Note 2)
Voltage/frequency (Note 1)
Main
circuit
power
supply
20A
—
10
10
10
20
20
100
100
✕
30
30
30
30
30
30
✕
✕
100
100
100
100
100
✕
✕
✕
✕
✕
✕
✕
✕
300
300
✕
✕
✕
✕
300
300
✕
✕
✕
✕
✕
✕
✕
✕
500
500
—
Control system
Sine-wave PWM control/current control system
Dynamic brake
Built-in (Note 4)
Safety features
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal),
servo motor overheat protection, encoder fault protection, regeneration fault protection,
undervoltage/sudden power outage protection, overspeed protection, excess error protection
1Mpps (when using differential receiver), 200kpps (when using open collector)
Maximum input pulse frequency
Resolution per encoder/servo motor rotation: 262144 p/rev
Positioning feedback pulse
Position Command pulse multiple
control
Positioning complete width setting
mode
Excess error
Electronic gear A/B multiple, A: 1 to 1048576, B: 1 to 1048576 1/10 < A/B < 2000
0 to ±10000 pulses (command pulse unit)
±3 rotations
Set by parameters or external analog input (0 to +10VDC, max. torque)
Torque limit
Speed control range
Analog speed command 1:2000, internal speed command 1:5000
0 to ±10VDC/rated speed (Note 5)
Analog speed command input
Speed
control
mode
±0.01% max. (load fluctuation 0 to 100%)
0% (power fluctuation ±10%)
±0.2% max. (ambient temperature 25°C±10°C (77°F±50°F)), when using analog speed command
Speed fluctuation rate
Set by parameters or external analog input (0 to +10VDC, max. torque)
Torque limit
Torque
control
mode
0 to ±8VDC max. torque (input impedance 10 to 12kΩ)
Analog torque command input
Set by parameters or external analog input (0 to ±10VDC, rated speed)
Speed limit
Self-cooling open (IP00)
Structure
Ambient temperature (Note 6)
Fan cooling open (IP00)
90% RH max. (non condensing), storage: 90% RH max. (non condensing)
Ambient humidity
EnvironAtmosphere
ment
Elevation
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
1000 meters or less above sea level
5.9m/s2 max.
Vibration
Mass
(kg [lb])
Self-cooling open (IP00)
0 to 55°C (32 to 131°F) (non freezing), storage: –20 to 65°C (–4 to 149°F) (non freezing)
0.8
(1.8)
0.8
(1.8)
1.0
(2.2)
1.0
(2.2)
1.4
(3.1)
1.4
(3.1)
2.3
(5.1)
2.3
(5.1)
—
—
—
Notes:1. Rated output and rated speed of the servo motor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed.
The output capacity and speed cannot be guaranteed when the power supply voltage is less than specified.
2. For torque characteristics applied when the servo amplifier is combined with a servo motor, refer to “servo motor torque characteristics” in this catalog.
3. Install the cooling fan (1.0m3/min, approx. M92).
4. For products without a dynamic brake (MR-J3-MA-ED), special compliance is possible.
5. It is possible to change the speed in 10V using the parameter No.C12.
6. When mounting the amplifier closely, keep the ambient temperature within 0 to 45°C (32 to 113°F), or use with the effective load rate of 75% or less.
7. The power capacity differs according to the number of input/output points in use. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details.
10
Standard Wiring Diagram
MR-J3-MA type: Position control operation
● Connection to QD75D (position servo, incremental)
Power supply
3-phase
200 to 230VAC
(Note 1)
MC
Always disconnect
Power factor
the connection
across P1-P2 when improvement
DC reactor
using the FR-BEL.
FR-BEL
Always disconnect the
(option)
connection across P-D
when connecting the
Optional
optional regeneration
regeneration
unit externally.
unit
The servo amplifier could be
damaged if the optional regeneration
unit or power factor improvement DC
reactor is incorrectly connected.
Positioning unit QD75D
(Note 3) 24VDC power supply +
–
Name
Pin No.
CLEAR COM MM14
MM13
CLEAR
MM12
RDY COM
READY
MM11
PULSE F+
MM15
PULSE F –
MM16
PULSE R+
MM17
MM18
PULSE R –
MM 9
PG05
PG0 COM
MM10
Common terminal
L1
L2
L3
N
P1
P2
CNP1
W
B1
24VDC
L11
L21
CN2
P5
P5
LG
LG
MR
DICOM
DOCOM
CR
OPC
RD
PP
PG
NP
NG
LZ
LZR
LG
MRR
7
MD
4
5
6
7
34
33
1
PLATE
10 meters (32.81 ft) max.
8
MDR
9
BAT
PLATE
SD
CN3
5
4
3
6
1
7
8
Servo on
Reset
Proportional control
(Note 5) Torque limit selection
Forward rotation stroke end
Reversed rotation stroke end
10 meters (32.81 ft) max.
(Note 2)
(Note 7) Malfunction
Zero speed detection
Torque limit in effect
In-position
Upper limit setting
RA1
RA2
RA3
RA4
DICOM
ALM
ZSP
TLC
INP
21
48
23
25
24
10 meters (32.81 ft) max.
P15R
TLA
LG
SD
Analog torque limit
+10V/maximum torque
2 meters (6.56 ft) max.
11
42
15
19
17
18
43
44
47
1
27
28
PLATE
SDP
SDN
RDP
RDN
LG
LG
TRE
MR
MRR
An encoder cable is available. Refer to the section
“Options ● Cables and Connectors” in this
catalog for details on the cable models.
MDR
RDP
RDN
SDP
SDN
GND
GND
(Note 12)
Servo motor
HF-SP series
UA
VB
WC
D
U
V
W
B1
24VDC
SM
Electromagnetic
brake
B2
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
BAT
LG
(Note 13)
CN2
1
P5
P5
2
LG
LG
3
MR
4
MRR
(Note 11)
MD
An encoder cable
7
CN5
BAT
SD
Mount the optional battery
(MR-J3BAT) when using with
the absolute system.
USB
2
3
VBUS
D–
D+
VBUS
D–
D+
5
GND
GND
SHELL
1
MD
RS-422 (Note 14)
CN4
1
2
(Note 13)
(Note 11)
30 meters (98.43 ft) max.
(Note 15)
EMG
SON
RES
PC
TL
LSP
LSN
DOCOM
2
2
4
20
46 (Note 15)
41
12
49
10
11
35
36
8
9
3
B2
1
3
Electromagnetic
brake
1
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
C
CNP2
SM
4
1
2 meters (6.56 ft) max.
(Note 4) Emergency stop
3
W
P
D
2
V
V
CN1
LA
LAR
LB
LBR
LG
OP
P15R
SD
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
U
U
(Note 9)
Encoder A-phase pulse
(differential line driver)
Servo motor
HF-KP series
CNP3
Encoder
NFB
Servo amplifier
MR-J3-MA
SHELL SHIELD
MR
8
MDR is available. Refer
9
BAT
PLATE SD
MRR
MD
Encoder
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
MDR
to the section
“Options ● Cables BAT
SD
and Connectors”
in this catalog for
details on the
cable models.
Personal computer
running Microsoft Windows
(Note 10)
3 meters (9.84 ft) max.
Monitor output
Maximum +1mA total
Double oscillation
CN6 (±10V output)
3
MO1
1
LG
2
MO2
A
MR Configurator
(Setup software)
Monitor output 1
10kΩ
A
Monitor output 2
10kΩ
2 meters (6.56 ft) max.
Notes:
1. When using the 1-phase 230VAC (MR-J3-70A or smaller), connect the power supply to L1 and L2. Do not connect anything to L3.
2. Do not reverse the diode’s direction. Connecting it backwards could cause the amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
3. Use the 24VDC±10% 300 to 900mA power supply. Note that the power capacity differs according to the number of input/output points in use. Refer to “MR-J3-MA SERVO AMPLIFIER
INSTRUCTION MANUAL” for details.
4. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
5. LSP and LSN contacts must be closed for normal operation. If they are not closed, command will not be accepted.
6. Signals with the same name are connected inside.
7. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
8. Connect the shield wire securely to the plate inside the connector (ground plate).
9. Connect between LG and common terminal to increase noise resistance.
10. Max. 3m (9.84ft) is possible in a good noise environment.
11. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details on the connection. Change the parameter No. PC22 when using the 4-wire cable (MR-EKCBL30M-H/-L to
MR-EKCBL50M-H) for the HF-KP series.
12. In the final axis, connect between TRE and RDN.
13. For the motor with an electromagnetic brake. The power supply connected to the electromagnetic brake is not related to the polarity.
14. A personal computer can also be connected with the RS-422/RS-232C conversion cable (refer to “Introductory Parts” in this catalog).
15. This is for sink wiring. Source wiring is also possible. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details.
Standard Wiring Diagram
MR-J3-MA type: Speed control operation
● Connection
Power supply
3-phase
200 to 230VAC
(Note 1)
MC
Always disconnect
Power factor
the connection
improvement
across P1-P2 when
DC reactor
using the FR-BEL.
FR-BEL
Always disconnect the
(option)
connection across P-D
when connecting the
Optional
optional regeneration
regeneration
unit externally.
unit
The servo amplifier could be
damaged if the optional regeneration
unit or power factor improvement DC
reactor is incorrectly connected.
L1
L2
L3
N
P1
P2
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR
LG
OP
P15R
SD
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
CNP1
1
24VDC
CNP2
L11
L21
20
46
8
9
4
5
6
7
34
33
1
PLATE
(Note 5) Forward rotation stroke end
Reversed rotation stroke end
10 meters (32.81 ft) max.
(Note 2)
(Note 7) Malfunction
RA1
Zero speed detection
Torque limit in effect
RA2
Ready
Speed reached
Upper limit
setting
RA3
RA4
RA5
DICOM
ALM
ZSP
TLC
21
48
23
25
CN2
1
P5
P5
2
LG
LG
MR
4
MRR
(Note 10)
MRR
7
MD
8
MDR
An encoder cable is available. Refer to the section
“Options ● Cables and Connectors” in this
catalog for details on the cable models.
MDR
9
BAT
BAT
PLATE
SD
SD
5
4
3
6
1
7
8
P15R
TLA
LG
Upper limit
setting
Analog speed command
±10V/rated speed
(in this wiring diagram,
+10V/rated speed)
VC
SD
2
PLATE
MD
RDP
RDN
SDP
SDN
GND
GND
SM
Electromagnetic
brake
B1
24VDC
B2
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
(Note 11)
(Note 12)
CN2
USB
1
P5
P5
2
LG
LG
3
MR
4
MRR
(Note 10)
MD
An encoder cable
8
VBUS
D–
D+
VBUS
D–
D+
5 GND
SHELL SHIELD
GND
SHELL
2
3
UA
VB
WC
D
U
V
W
7
CN5
(Note 9)
49
24
1
27
28
SDP
SDN
RDP
RDN
LG
LG
TRE
(Note 13)
30 meters (98.43 ft) max.
MR
MDR is available. Refer
MRR
MD
MDR
to the section
9
BAT
“Options ● Cables BAT
PLATE SD and Connectors”
SD
in this catalog for
details on the
cable models.
Personal computer
running Microsoft Windows
3 meters (9.84 ft) max.
Monitor output
Maximum +1mA total
Double oscillation
CN6 (±10V output)
10 meters (32.81 ft) max.
Analog torque limit
+10V/maximum torque
MR
3
1
RD
SA
2
(Note 12)
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
CN3 RS-422
(Note 14)
Servo on
Reset
Speed selection 1
Speed selection 2
Forward rotation start
Reverse rotation start
B2
Electromagnetic
brake
1
Servo motor
HF-SP series
10 meters (32.81 ft) max.
42
15
19
41
16
17
18
43
44
47
SM
4
B1
C
EMG
SON
RES
SP1
SP2
ST1
ST2
LSP
LSN
DOCOM
3
W
W
P
D
2
V
V
2 meters (6.56 ft) max.
(Note 4) Emergency stop
U
U
CN1
(Note 3) 24VDC power supply +
–
Servo motor
HF-KP series
CNP3
Encoder
NFB
Servo amplifier
MR-J3-MA
Encoder
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
3
MO1
1
LG
2
MO2
A
MR Configurator
(Setup software)
Monitor output 1
10kΩ
A
Monitor output 2
10kΩ
2 meters (6.56 ft) max.
2 meters (6.56 ft) max.
Notes:
1. When using the 1-phase 230VAC (MR-J3-70A or smaller), connect the power supply to L1 and L2. Do not connect anything to L3.
2. Do not reverse the diode’s direction. Connecting it backwards could cause the amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
3. Use the 24VDC±10% 300 to 900mA power supply. Note that the power capacity differs according to the number of input/output points in use. Refer to “MR-J3-MA SERVO AMPLIFIER
INSTRUCTION MANUAL” for details.
4. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
5. LSP and LSN contacts must be closed for normal operation. If they are not closed, command will not be accepted.
6. Signals with the same name are connected inside.
7. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
8. Connect the shield wire securely to the plate inside the connector (ground plate).
9. Max. 3m (9.84ft) is possible in a good noise environment.
10. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details on the connection. Change the parameter No. PC22 when using the 4-wire cable (MR-EKCBL30M-H/-L to
MR-EKCBL50M-H) for the HF-KP series.
11. In the final axis, connect between TRE and RDN.
12. For the motor with an electromagnetic brake. The power supply connected to the electromagnetic brake is not related to the polarity.
13. A personal computer can also be connected with the RS-422/RS-232C conversion cable (refer to “Introductory Parts” in this catalog).
14. This is for sink wiring. Source wiring is also possible. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details.
12
Standard Wiring Diagram
MR-J3-MA type: Torque control operation
● Connection
Power supply
3-phase
200 to 230VAC
(Note 1)
Servo amplifier
MR-J3-MA
MC
Always disconnect
Power factor
the connection
improvement
across P1-P2 when
DC reactor
using the FR-BEL.
FR-BEL
Always disconnect the
(option)
connection across P-D
when connecting the
Optional
optional regeneration
regeneration
unit externally.
unit
The servo amplifier could be
damaged if the optional regeneration
unit or power factor improvement DC
reactor is incorrectly connected.
L1
L2
L3
N
P1
P2
CNP3
Encoder Z-phase pulse
(differential line driver)
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR
LG
OP
P15R
SD
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
CNP1
Servo on
Reset
Speed selection 1
Speed selection 2
Forward rotation selection
Reverse rotation selection
B1
24VDC
CNP2
L11
L21
(Note 2)
CN2
Ready
2
1
P5
P5
2
LG
LG
(Note 11)
MR
MR
4
MRR
7
MD
8
9
4
5
6
7
34
33
1
PLATE
8
MDR
9
BAT
BAT
PLATE
SD
SD
(Note 9)
MRR
An encoder cable is available. Refer to the section
“Options ● Cables and Connectors” in this
catalog for details on the cable models.
MDR
RA4
RD
49
CN3 RS-422
5
4
3
6
1
7
8
SDP
SDN
RDP
RDN
LG
LG
TRE
(Note 12)
RDP
RDN
SDP
SDN
GND
GND
(Note 10)
CN5
2
3
VBUS
D–
D+
5
GND
1
UA
VB
WC
D
U
V
W
SM
Electromagnetic
brake
B1
24VDC
B2
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
(Note 11)
CN2
30 meters (98.43 ft) max.
USB
VBUS
D–
D+
GND
SHELL
SHELL SHIELD
10 meters (32.81 ft) max.
MD
Servo motor
HF-SP series
(Note 13)
42
15
19
41
16
18
17
47
RA3
RA2
1
3
21
48
23
25
Zero speed detection
Speed limit in effect
Electromagnetic
brake
20
46
DICOM
ALM
ZSP
VLC
RA1
B2
EMG
Shut off when the servo
on signal turns off and
when alarm signal is issued.
10 meters (32.81 ft) max.
(Note 6) Malfunction
SM
4
1
2 meters (6.56 ft) max.
EMG
SON
RES
SP1
SP2
RS1
RS2
DOCOM
3
W
W
C
D
2
V
V
P
10 meters (32.81 ft) max.
(Note 4) Emergency stop
U
U
CN1
(Note 3) 24VDC power supply +
–
Servo motor
HF-KP series
Encoder
NFB
(Note 8)
1
P5
P5
2
LG
LG
3
MR
4
MRR
7
8
MD An encoder cable
MDR is available. Refer
9
BAT
PLATE SD
MR
(Note 9)
MRR
MD
MDR
Encoder
Create a sequence that cuts off the MC
when an alarm or emergency stop occurs.
to the section
“Options ● Cables BAT
and Connectors”
SD
in this catalog for
details on the
cable models.
Personal computer
running Microsoft Windows
3 meters (9.84 ft) max.
Upper limit setting
Analog torque command
±8V/maximum torque
(in this wiring diagram,
+8V/maximum torque)
P15R
TC
LG
1
27
28
Upper limit setting
Analog speed limit
±10V/rated speed
(in this wiring diagram,
+10V/rated speed)
VLA
SD
2 meters (6.56 ft) max.
13
2
PLATE
Monitor output
Maximum +1mA total
Double oscillation
CN6 (±10V output)
3
MO1
1
LG
2
MO2
A
MR Configurator
(Setup software)
Monitor output 1
10kΩ
A
Monitor output 2
10kΩ
2 meters (6.56 ft) max.
Notes:
1. When using the 1-phase 230VAC (MR-J3-70A or smaller), connect the power supply to L1 and L2. Do not connect anything to L3.
2. Do not reverse the diode’s direction. Connecting it backwards could cause the amplifier to malfunction that signals are not output, and emergency stop and other safety circuits are
inoperable.
3. Use the 24VDC±10% 300 to 900mA power supply. Note that the power capacity differs according to the number of input/output points in use. Refer to “MR-J3-MA SERVO AMPLIFIER
INSTRUCTION MANUAL” for details.
4. EMG (emergency stop) contact (normally closed contact) must be installed. If it is not installed, operation will be impossible.
5. Signals with the same name are connected inside.
6. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
7. Connect the shield wire securely to the plate inside the connector (ground plate).
8. Max. 3m (9.84ft) is possible in a good noise environment.
9. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details on the connection. Change the parameter No. PC22 when using the 4-wire cable (MR-EKCBL30M-H/-L to
MR-EKCBL50M-H) for the HF-KP series.
10. In the final axis, connect between TRE and RDN.
11. For the motor with an electromagnetic brake. The power supply connected to the electromagnetic brake is not related to the polarity.
12. A personal computer can also be connected with the RS-422/RS-232C conversion cable (refer to “Introductory Parts” in this catalog).
13. This is for sink wiring. Source wiring is also possible. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details.
Amplifier Dimensions
● MR-J3-10A, 20A
Unit: mm (inch)
ø6 (0.236)
mounting hole
80 (3.15)
40 (1.57)
135 (5.31)
< Terminal arrangement >
6 (0.24)
6 (0.24)
L1
L2
CNP1
CN6 CN5
CNP1
L1
L2
L3
CN3
P2
P
C
D
CN1
CNP3
L11
L21
P2 < Mounting screw size >
M5
P
U
C
V
W
CNP2
CN4 CN2L CN2
CHARGE
D
L11
L21
6 (0.24)
14(0.55)
6 (0.24)
Screw size: M4
P1
161 (6.34)
168 (6.61)
156 (6.14)
CNP2
L3
N
N
P1
PE
25.5 (1.00)
U
When MR-J3BAT
is mounted
CNP3
V
W
● MR-J3-40A, 60A
80 (3.15)
40 (1.57)
ø6 (0.236)
mounting hole
170 (6.69)
< Terminal arrangement >
6 (0.24)
6 (0.24)
L1
L1
CNP1
L2
CN6 CN5
L2
CNP1
L3
N
L3
PE
Screw size: M4
P
C
CNP3
L21
CN1
D
L11
P1
168 (6.61)
CN3
P2
161 (6.34)
156 (6.14)
N
P1
CNP2
P2 < Mounting screw size >
M5
P
U
C
V
W
CN4 CN2L CN2
CNP2
D
L11
L21
6 (0.24)
14(0.55)
6 (0.24)
CHARGE
25.5 (1.00)
When MR-J3BAT
is mounted
U
CNP3
V
W
● MR-J3-70A, 100A
ø6 (0.236)
mounting hole
< Terminal arrangement >
60 (2.36)
12 (0.47)
80 (3.15)
185 (7.28)
6 (0.24)
L1
CNP1
CN6 CN5
L2
L1
L2
L3
CNP1
PE
L3
N
Screw size: M4
CNP3
CN3
P1
P2
P
C
D
L11
L21
CN1
CNP2
U
P1
161 (6.34)
168 (6.61)
156 (6.14)
N
P2 < Mounting screw size >
M5
P
V
C
CNP2
D
L11
L21
42 (1.65)
25.5 (1.00)
14 (0.55)
6 (0.24)
6 (0.24)
12 (0.47)
CN4 CN2L CN2
W
CHARGE
When MR-J3BAT
is mounted
Fan (airflow direction)
U
CNP3
V
W
14
Note: The CNP1 connector, CNP2 connector and CNP3 connector (insertion type) are enclosed with the servo amplifier.
Amplifier Dimensions
6 (0.24)
● MR-J3-200A, 350A
Unit: mm (inch)
90 (3.54)
85 (3.35)
45 (1.77)
ø6 (0.236)
mounting hole
< Terminal arrangement >
80 (3.15)
L1
195 (7.68)
L2
21.4 (0.84)
L3
CN6 CN5
CN3
CN1
CNP3
14
(0.55)
6 (0.24)
25.5 (1)
6 (0.24)
78 (3.07)
6 (0.24)
P
P2
U
CNP3
P
C
D
L11
L21
CNP2
CHARGE
168 (6.61)
CNP1
U
V
W
N
P1
CN4 CN2L CN2
6 (0.24)
156 (6.14)
CNP1
L1
L2
L3
N
P1
P2
C
CNP2
L11
W
L21
PE
6 (0.24)
When MR-J3BAT
is mounted
Fan (airflow direction)
Screw size: M4
< Mounting screw size >
M5
Note: The CNP1 connector, CNP2 connector and CNP3 connector (insertion type) are enclosed with the servo amplifier.
15
D
V
Options
● Optional regeneration unit
Built-in regenerative resistor/
tolerable regenerative
power (W)
Servo amplifier
model
MR-J3-10A
MR-J3-20A
MR-J3-40A
MR-J3-60A
MR-J3-70A
MR-J3-100A
MR-J3-200A
MR-J3-350A
MR–RB032
MR–RB12
MR–RB30
MR–RB32
MR–RB50
Resistance
value
(Ω)
30
30
30
30
30
30
✕
✕
✕
100
100
100
100
100
✕
✕
✕
✕
✕
✕
✕
✕
300
300
✕
✕
✕
✕
300
300
✕
✕
✕
✕
✕
✕
✕
✕
500
500
40
40
40
40
40
40
13
13
Optional regeneration unit/tolerable regenerative power (W)
—
10
10
10
20
20
100
100
Note: The tolerable regenerative power in the table differs from the regenerative resistor’s rated wattage.
External dimensions
142 (5.59)
100 (3.94)
Mounting screw size: M6
5
(0.20)
<Terminal arrangement>
Type
Mass
kg (lb)
2.9 (6.4)
MR-RB32
2.9 (6.4)
C
Terminal screw size: M3
Variable dimensions
LB
LC
Terminal screw size: M4
D
Fan mounting screw
(2-M3 screw)
provided on
82.5 (3.25) opposite side
133 (5.24) 82.5 (3.25)
P
LA
G4
Mass
kg (lb)
LD
MR-RB032
30 (1.18) 15 (0.59) 119 (4.69) 99 (3.90) 0.5 (1.1)
MR-RB12
40 (1.57) 15 (0.59) 169 (6.65) 149 (5.87) 1.1 (2.4)
2.3
(0.09)
200 (7.87)
217 (8.54)
C
G3
(Note 2) G4
5 m (16.4 ft) or less
17
(0.67)
Mounting screw size: M6
(Note 1)
Fan
7 (0.276)✕14 (0.551)
long hole
P
G3
G4
P
P
C
12.5
(0.49)
49 (1.93)
<Terminal arrangement>
TE1
Type
G3
● MR-RB50
LC
Mounting screw size: M5
Always disconnect the
wire across P-D.
Optional
regeneration unit
C
1.6 (0.06)
LD
20
(0.79)
Servo amplifier
P
MR-RB30
G4 G3 C
12 (0.47)
318 (12.52)
335 (13.19)
350 (13.78)
12.5
(0.49) 162.5 (6.40) 162.5 (6.40)
144 (5.67)
168 (6.61)
156 (6.14)
6 (0.24)
17 (0.67)
90 (3.54)
TE1
6 (0.24)
150 (5.91)
P
7 (0.28)
10
(0.39)
Fan mounting screw
(2-M3 screw)
79 (3.11)
LB
G4 G3 C
6 (0.24)
12 (0.47)
ø6 (0.236)
mounting hole
LA
Connection
Unit: mm (inch)
● MR-RB30, MR-RB32
8.5 (0.33) 125 (4.92) 8.5 (0.33)
● MR-RB032, MR-RB12
Window blows in
direction of arrow
Notes: 1. When using the MR-RB50, always forcibly cool with
the cooling fan (approx. 1.0m3/min, M92).
2. Create a sequence that turns off the magnetic
contactor (MC) when abnormal overheating occurs.
7 (0.28)
30 (1.18)
12 108 (4.25)
(0.47) 120 (4.72) 8 (0.31)
<Terminal arrangement>
Type
MR-RB50
Mass
kg (lb)
P
C
5.6 (12.3)
G3
G4
Terminal screw size: M4
Notes: 1. The optional regeneration unit will heat up to approx. 100°C (212°F), so do not directly mount it on a wall susceptible to heat. Use nonflammable wires or provide flame resistant
treatment (use silicon tubes, etc.), and wire so that the wires do not contact the optional regeneration unit.
2. Always use twisted wires for the optional regeneration unit, and keep the length as short as possible (5m (16.4 ft) or less).
3. Always use twisted wires for a temperature detector, and make sure that the detector does not fail to work properly due to inducted noise.
● Junction terminal block (MR-TB50)
All signals can be recieved with this junction terminal block without a connection to CN1.
235 (9.25)
244 (9.61)
Terminal block screw size: M3.5
Compatible wire: 2mm2 max. (AWG14)
Crimping terminal width: 7.2mm (0.283 inch) max.
2.5 (0.1)
25 (0.98)
MITSUBISHI
MR-TB50
50 (1.97)
50
49
9 (0.35)
25 (0.98)
2-ø4.5 (0.177)
2
1
46.5 (1.83)
Unit: mm (inch)
16
Options
● Cables and connectors (MR-J3-A type)
Optional cables and connectors are shown in the diagram below.
<Servo motor HF-KP series: encoder cable length 10m (32.81ft) or shorter>
Servo amplifier
QD75P
QD75D
AD75P
A1SD75P
FX2N-20GM
FX2N-10GM
FX2N-10PG
FX2N-1PG
22
Positioning
unit
24
CNP1
MR Configurator
(Setup software)
MRZJW3-SETUP211E
25
CN6
23
Operation
panel
CN5
CN3
26
Refer to the section “Introductory Parts”
in this catalog.
CNP2
21
CN1
CNP3
Motor power supply cable
10
Motor power supply cable
11
CN2
Motor electromagnetic brake cable
Motor electromagnetic brake cable
17
16
Encoder cable
Encoder cable
2
1
Cable protection
level IP65
compatible
Servo motor
HF-KP series
Cable protection
Servo motor
level IP65
HF-KP series
compatible
<When cable is led out in opposite direction of motor shaft>
<When cable is led out in direction of motor shaft>
<Servo motor HF-KP series: Encoder cable length over 10m (32.81ft) >
Servo amplifier
QD75P
QD75D
AD75P
A1SD75P
FX2N-20GM
FX2N-10GM
FX2N-10PG
FX2N-1PG
22
Positioning
unit
24
CNP1
MR Configurator
(Setup software)
MRZJW3-SETUP211E
25
CN6
23
Operation
panel
CN5
CN3
26
CN1
Motor power supply cable
12 Wire size 0.75mm2 (AWG19)
(Note 3)
Refer to the section “Introductory Parts”
in this catalog.
CNP2
21
CNP3
Manufacture the relay
cable.
Motor power supply cable
CN2
Manufacture the relay
cable.
Motor electromagnetic brake cable
18 Wire size 0.5mm2 (AWG20)
Manufacture the relay
cable.
Manufacture the relay
cable.
Encoder cable
(Note 4)
3
(Note 3)
13 Wire size
0.75mm2 (AWG19)
Motor electromagnetic brake cable
(Note 4)
19 Wire size
0.5mm2 (AWG20)
Encoder cable
5
5
(Note 2)
4
(Note 2)
Servo motor
HF-KP series
6
Servo motor
6
HF-KP series
Cable protection
level IP20
compatible (Note 1) <When cable is led out in opposite direction of motor shaft>
Cable protection
level IP20
<When cable is led out in direction of motor shaft> compatible (Note 1)
Notes:1. Compatible with protection level IP20. Contact Mitsubishi when using in a protection level IP65 environment.
2. This cable does not have a long bending life, so always fix the cable before using.
3. If the length exceeds 10m (32.81ft), relay the cable using the cable MR-PWS2CBL03M-A1-L/-A2-L. This cable does not have a long bending life, so always fix the cable before using.
4. If the length exceeds 10m (32.81ft), relay the cable using the cable MR-BKS2CBL03M-A1-L/-A2-L. This cable does not have a long bending life, so always fix the cable before using.
<For servo motor HF-SP series>
Servo amplifier
QD75P
QD75D
AD75P
A1SD75P
FX2N-20GM
FX2N-10GM
FX2N-10PG
FX2N-1PG
22
Positioning
unit
24
CNP1
CN6
23
Operation
panel
CN5
CN3
26
21
CNP2
CN1
Motor power supply connector
CNP3
Manufacture this cable.
14 15
Motor electromagnetic brake connector
Manufacture this cable.
Encoder cable
20
7
Servo motor
HF-SP series
17
8
Cable protection
level IP67 compatible
CN2
25
MR Configurator
(Setup software)
MRZJW3-SETUP211E
Refer to the section “Introductory Parts”
in this catalog.
Options
● Cables and connectors
Model
Protection
level
MR-J3ENCBLMM-A1-H M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
IP65
MR-J3ENCBLMM-A1-L
M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
IP65
MR-J3ENCBLMM-A2-H M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
IP65
MR-J3ENCBLMM-A2-L
IP65
MR-J3JCBL03M-A1-L
IP20
Item
q
10m (32.81ft)
or shorter
(Direct
connection
type)
w
r
Encoder cable for CN2
Exceeding
10m (32.81ft)
(Relay type)
t
u
Encoder cable for
HF-KP series motor
Lead out in opposite
direction of motor shaft
Encoder cable for
HF-KP series motor
Lead out in direction
of motor shaft
e
y
Encoder cable for
HF-KP series motor
Lead out in direction
of motor shaft
Encoder cable for
HF-KP series motor
Lead out in opposite
direction of motor shaft
M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
Cable length 0.3m (0.98 ft) (Note 1)
MR-J3JCBL03M-A2-L
Cable length 0.3m (0.98 ft) (Note 1)
MR-EKCBLMM-H
M=cable length
20, 30, 40, 50m (65.62, 98.43, 131.23,
Amplifier-side encoder 164.04 ft) (Note 1)
cable for HF-KP
series motor
MR-EKCBLMM-L M=cable length
20, 30m (65.62, 98.43 ft) (Note 1)
Junction connector,
Exceeding
10m (32.81ft) Amplifier-side
(Relay type) connector (Note 2)
for HF-KP series motor
Encoder cable for
HF-SP series motor
o
Encoder connector set for
HF-SP series motor
Encoder-side connector (made by AMP)
1674320-1
Amplifier-side connector
(made by 3M, or an equivalent product)
36210-0100JL (receptacle)
36310-3200-008 (shell kit)
Junction connector (made by AMP)
1473226-1 (with ring) (contact)
1-172169-9 (housing)
316454-1 (cable clamp)
Use this in combination with t or y.
Junction connector (made by AMP)
1-172161-9 (housing)
170359-1 (connector pin)
MTI-0002 (cable clamp, made by Toa Electric)
IP20
Amplifier-side connector
(made by 3M, or an equivalent product)
36210-0100JL (receptacle)
36310-3200-008 (shell kit)
Use this in combination with e or r.
MR-ECNM
IP20
MR-J3ENSCBLMM-H M=cable length
2, 5, 10, 20, 30, 40, 50m (6.56, 16.40, 32.81,
65.62, 98.43, 131.23, 164.04 ft) (Note 1)
IP67
MR-J3ENSCBLMM-L
M=cable length
MR-J3SCNS
MR-J3BTCBL03M
Battery connection relay cable
IP20
Encoder-side connector (made by AMP)
1674320-1
Amplifier-side connector
(made by Molex, or an equivalent product)
54593-1011 (connector housing)
54594-1015 (plug cover A)
54595-1005 (plug cover B)
58935-1000 (shell cover)
58934-1000 (shell body)
<Applicable cable example>
58937-0000 (cable clamp)
(Note 3)
Wire size: 0.3mm2 (AWG22)
Completed cable outer diameter: φ8.2mm (φ0.323 inch)
Use these in combination with e or r.
Crimping tool (91529-1) is required.
Junction connector (made by AMP)
1-172161-9 (housing)
170359-1 (connector pin)
MTI-0002 (cable clamp, made by Toa Electric)
2, 5, 10, 20, 30m (6.56, 16.40, 32.81, 65.62,
98.43 ft) (Note 1)
i
IP20
Description
Cable length 0.3m (0.98 ft)
IP67
Encoder-side connector (made by DDK)
<For 10m (32.81ft) or shorter cable>
CM10-SP10S-M-C1 (connector)
<For 20m (65.62ft) or longer cable>
CM10-SP10S-M-C2 (connector)
Encoder-side connector (made by DDK)
CM10-SP10S-M-S1 (connector)
IP67
<Applicable cable example>
Wire size: 0.5mm2 (AWG20) or less
Completed cable outer diameter:
φ6.0 to 9.0mm (φ0.236 to 0.354 inch)
Amplifier-side connector
(made by 3M, or an equivalent product)
36210-0100JL (receptacle)
36310-3200-008 (shell kit)
Amplifier-side connector
(made by Molex, or an equivalent product)
54593-1011 (connector housing)
54594-1015 (plug cover A)
54595-1005 (plug cover B)
58935-1000 (shell cover)
58934-1000 (shell body)
58937-0000 (cable clamp)
(Note 3)
Amplifier-side CN2 connector (made by 3M,
or an equivalent product)
36210-0100JL (receptacle)
36310-3200-008 (shell kit)
—
(Note 4)
Junction connector (made by 3M)
36110-3000FD (plug)
Battery-side connector (Hirose Electric)
36310-F200-008 (shell kit)
DF3-2EP-2C (plug)
DF3-EP2428PCA (Crimping terminal for plug) 2 pcs.
Select one of motor power supply cables !0 to !5 for use
Not required when your servo system is used in an incremental mode.
Refer to “Options ● Battery connection relay cable” for details.
MR-PWS1CBLMM-A1-H M=cable length
Power supply cable for 2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
HF-KP series motor
Lead out in direction
of motor shaft
MR-PWS1CBLMM-A1-L M=cable length
!0
10m (32.81ft)
or shorter
(Direct connection
type)
!1
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
MR-PWS1CBLMM-A2-H M=cable length
Power supply cable for 2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
HF-KP series motor
Lead out in opposite
direction of motor shaft MR-PWS1CBLMM-A2-L M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
IP65
IP65
Motor power supply-side connector (made by Japan Aviation Electronics Industry)
JN4FT04SJ1 (plug)
ST-TMH-S-C1B-100-(A534G) (socket contact)
IP65
Lead lead-out
IP65
Notes: 1. -H and -L indicate bending life. -H indicates a long bending life part, -L indicates a standard part.
2. Refer to “MR-J3-MA SERVO AMPLIFIER INSTRUCTION MANUAL” for details on manufacturing the cable.
3. 3M connector can be used for the amplifier-side connector. Model: 36210-0100JL (receptacle), 36310-3200-008 (shell kit)
4. Use this battery connection junction cable (MR-J3BTCBL03M), as the cable is a special cable with a built-in diode. Don’t manufacture the cable.
18
Options
● Cables and connectors
Select one of motor power supply cables !0 to !5 for use
Item
!2
Exceeding
10m (32.81ft)
(Relay type)
!3
Select one of motor brake cables for use
Power supply cable
for HF-KP series motor
Lead out in opposite
direction of motor shaft
MR-PWS2CBL03M-A1-L
Cable length 0.3m (0.98 ft) (Note 1)
MR-PWS2CBL03M-A2-L
Cable length 0.3m (0.98 ft) (Note 1)
Power supply connector for
HF-SP52, 102, 152 motor
MR-PWCNS4
!5
Power supply connector for
HF-SP202, 352 motor
MR-PWCNS5
Brake cable for
HF-KP series motor
Lead out in direction
10m (32.81ft)
of motor shaft
or shorter
(Direct
connection
type)
!7
!8
!9
@0
@1
Brake cable for
HF-KP series motor
Lead out in opposite
direction of motor shaft
Brake cable for
HF-KP series motor
Lead out in direction
Exceeding
of motor shaft
10m (32.81ft)
(Relay type) Brake cable for
HF-KP series motor
Lead out in opposite
direction of motor shaft
(Straight type)
(Straight type)
IP67
IP65
MR-BKS1CBLMM-A2-H M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
IP65
MR-BKS1CBLMM-A2-L
IP65
MR-BKS2CBL03M-A1-L
IP55
19
Motor brake-side connector (made by Japan Aviation Electronics Industry)
JN4FT02SJ1 (plug)
ST-TMH-S-C1B-100-(A534G) (socket contact)
Lead lead-out
Cable length 0.3m (0.98 ft) (Note 1)
MR-BKS2CBL03M-A2-L
Cable length 0.3m (0.98 ft) (Note 1)
MR-J3CN1
@3
Junction terminal
block cable
MR-J2M-CN1TBLMM
IP55
IP67
(Standard accessory: Insertion type)
CN1 connector
For CN5
@4
For CN6
0.5, 1m (1.64, 3.28 ft)
@5
Monitor cable
MR-J3CN6CBL1M
@6
Junction terminal block
MR-TB50
USB cable
Lead lead-out
Motor power supply connector (made by DDK)
CE05-6A22-22SD-B-BSS (plug) (straight)
CE3057-12A-1 (D265) (cable clamp)
<Applicable cable example>
Wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8)
Completed cable outer diameter: φ12.5 to 16mm (φ0.492 to 0.630 inch)
M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
@2
Personal computer
communication
cable
Motor power supply-side connector (made by Japan Aviation Electronics Industry)
JN4FT04SJ1 (plug)
ST-TMH-S-C1B-100-(A534G) (socket contact)
IP67
MR-BKS1CBLMM-A1-L
M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
Description
Motor power supply connector (made by DDK)
CE05-6A18-10SD-B-BSS (plug) (straight)
CE3057-10A-1 (D265) (cable clamp)
<Applicable cable example>
Wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12)
Completed cable outer diameter: φ10.5 to 14.1mm (φ0.413 to 0.555 inch)
IP65
(Straight type)
Servo amplifier
power supply connector set
IP55
MR-BKS1CBLMM-A1-H M=cable length
2, 5, 10m (6.56, 16.40, 32.81 ft) (Note 1)
MR-BKCNS1
Brake connector for
HF-SP series motor
IP55
—
—
For CN1
For CNP1, CNP2, CNP3
Power supply cable
for HF-KP series motor
Lead out in direction
of motor shaft
!4
!6
Protection
level
Model
MR-J3USBCBL3M
Cable length 3m (9.84 ft)
Cable length 1m (3.28 ft)
M=cable length
—
—
—
Motor brake connector (made by DDK)
CM10-SP2S-L-S2 (connector) (straight)
<Applicable cable example>
Wire size: 1.25mm2 (AWG16) or less
Completed cable outer diameter: φ9.0 to 11.6mm (φ0.354 to 0.457 inch)
CNP1 connector
CNP2 connector
• 1kW or less
(made by Molex, or an
(made by Molex, or an
equivalent product)
equivalent product)
54927-0510 (connector)
54928-0610 (connector)
• 2, 3.5kW
(PHOENIX or an
equivalent product)
PC4/6-STF-7.62-CRWH (connector)
CNP3 connector
Insertion tool
• 1kW or less
(made by Molex, or an
(made by Molex, or an
equivalent product)
equivalent product)
54932-0000
54928-0310 (connector)
• 2, 3.5kW
(PHOENIX or an
equivalent product)
PC4/3-STF-7.62-CRWH (connector)
<Applicable cable example>
• CNP1 and CNP3 for 1kW or less
• CNP2 for 3.5kW or less
Wire size: 0.14mm2 (AWG26)
to 2.5mm2 (AWG14)
Completed cable outer diameter:
to φ3.8mm (to φ0.150 inch)
<Applicable cable example>
• CNP1 and CNP3 connector for 2 and 3.5kW
Wire size: 0.2mm2 (AWG24)
to 5.5mm2 (AWG10)
Completed cable outer diameter:
to φ5mm (to φ0.197 inch)
Amplifier-side connector (made by 3M, or an equivalent product)
10150-3000VE (connector)
10350-52F0-008 (shell kit)
Amplifier-side connector
(made by 3M, or an equivalent product)
10150-6000EL (connector)
10350-3210-000 (shell kit) (Note 2)
Junction terminal block-side
connector (made by 3M)
D7950-B500FL (connector)
Amplifier-side connector
mini-B connector (5 pin)
Personal computer-side connector
A connector
Amplifier-side connector (made by Molex)
51004-0300 (housing)
50011-8100 (terminal)
—
Notes: 1. -H and -L indicate bending life. -H indicates a long bending life part, -L indicates a standard part.
2. The model listed in the table is the model for press bonding. The soldered model is 10150-3000VE (connector) and 10350-52F0-008 (shell kit).
Options
● Battery (MR-J3BAT)
The servo motor’s absolute value can be maintained by installing a battery in the servo amplifier.
There is no need to install the battery when your servo system is used in an incremental mode.
Appearance
Installation method
Insert the connector
into CN4.
Model: MR-J3BAT
Nominal voltage: 3.6V
Nominal capacity: 2000mAh
Lithium content: 0.65g
Note: The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations was effected in
January 1st, 2003 and administered immediately.
In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the
air transportation of battery.
This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not subject to the regulations.
These batteries more than 24 units require packing based on Packing Instruction 903.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi. (as of March, 2004)
● Battery connection relay cable (MR-J3BTCBL03M)
Use this to hold the absolute value when shipping the product with the machine and servo amplifier removed. The servo motor HF
series does not have a super capacitor (for holding absolute value for short time) in the encoder. When this option cable is used,
the absolute value can be held even when the encoder cable is disconnected from the servo amplifier, making it easy to do
maintenance on the servo amplifier.
Appearance
Installation method
Servo amplifier
CNP1 CN5
CN6
CN3
CNP2
CN1
CNP3
(Note2)
0.3m (0.98 ft)
(Note2)
CN2
MR-J3ENCBLMM-A1-H/-L
MR-J3BTCBL03M
MR-J3JCBL03M-A1-L
Battery
MR-EKCBLMM-H/-L
Encoder
Notes: 1. The absolute value can not be held when the connections between each cable or the connection with the motor is
disconnected.
2. The encoder cable lead-out direction is shown for the motor shaft side.
An option cable is also available for leading the cable out in the opposite direction of the motor shaft. Refer to the section
“Options ● Cables and Connectors” in this catalog.
Battery
(MR-J3BAT)
Battery connection relay cable
(MR-J3BTCBL03M)
—
Not required
Not required
Absolute value does not need to be held after encoder
cable is disconnected from amplifier
Required
Not required
Absolute value must be held after encoder cable is
disconnected from amplifier (Note)
Required
Required
User’s system
Incremental
Absolute
Note: Start up the absolute system after mounting this option cable.
● Diagnostic cable (MR-J3ACHECK)
This cable is required to use the amplifier diagnostic
function MR Configurator (Setup software).
20
CN6
CN1
CN2
Introductory Parts
To order the following products, contact the relevant manufacturer directly.
● Personal computer communication cable
Item
Protection
level
Model
Description
RS-422 cable
FA-T-RS40S
—
DSV-CABV
—
RS-422/RS-232C
conversion cable
RS-422/RS-232C converter
Amplifier-side connector
RS-232C cable
Manufacturer:
MITSUBISHI ELECTRIC
ENGINEERING COMPANY LIMITED
Personal computer-side connector
Manufacturer: Diatrend Corp.
● RS-422 connector
Item
RS-422 connector
Protection
level
Model
—
TM10P-88P
Description
Manufacturer: HIROSE ELECTRIC CO., LTD.
● RS-422 distributor (for multi drop)
Item
RS-422 distributor
Protection
level
Model
BMJ-8
—
Description
Manufacturer: Hachiko Electric Co. LTD
● Servo amplifier power supply connector (press bonding type) ... For 1kW or less
Item
Model
Protection
level
Description
Amplifier-side
CNP1 connector
51241-0600 (connector)
56125-0118 (terminal)
—
Manufacturer: Molex
Amplifier-side
CNP2 connector
51240-0500 (connector)
56125-0118 (terminal)
—
Manufacturer: Molex
Amplifier-side
CNP3 connector
51241-0300 (connector)
56125-0118 (terminal)
—
Manufacturer: Molex
Protection
level
Description
Applicable cable example
Wire size: 0.75mm2 (AWG18) to 2.5mm2 (AWG14)
Completed cable outer diameter: to φ3.8mm
(to φ0.150 inch)
Crimping tool (CNP57349-5300) is required.
● Encoder connector
<For HF-KP series>
Item
Model
Motor encoder
connector
1674320-1
Amplifier-side
CN2 connector (Note 1)
54593-1011 (connector housing)
54594-1015 (plug cover A)
54595-1005 (plug cover B)
58935-1000 (shell cover)
58934-1000 (shell body)
58937-0000 (cable clamp)
IP65
Applicable cable example
Manufacturer:
Tyco Electronics AMP K.K.
—
Manufacturer: Molex
Protection
level
Description
Wire size: 0.14mm2 (AWG26) to 0.3mm2 (AWG22)
Completed cable outer diameter: φ7.1 ± 0.3mm
(φ0.280 ± 0.012 inch)
Crimping tools 1596970-1 (for gland clip) and
1596847-1 (for receptacle contact) are required.
<For HF-SP series>
Connector
Contact
Item
Type
Model
CM10-SP10S-M-C1
Motor encoder
connector
Straight CM10-SP10S-M-C2
CM10-SP10S-M-S1
Amplifier-side
CN2 connector (Note 1)
—
Press
bonding
type
Manufacturer: DDK Ltd.
Soldered
type
54593-1011 (connector housing)
54594-1015 (plug cover A)
54595-1005 (plug cover B)
58935-1000 (shell cover)
58934-1000 (shell body)
58937-0000 (cable clamp)
Note) 1. The amplifier-side CN2 connector made by 3M can be used.
Model: 36210-0100JL (receptacle), 36310-3200-008 (shell kit).
21
IP67
—
—
Manufacturer: Molex
Applicable cable example
Completed cable
Wire size
outer diameter
2
2
0.3mm (AWG22) to 0.5mm (AWG20)
Crimping tool (357J-50446) is required
φ6.0
0.08mm2 (AWG28) to 0.25mm2 (AWG23) to 9.0mm
Crimping tool (357J-50447) is required
(φ0.236 to
0.354 inch)
0.5mm2 (AWG20) or less
—
—
Introductory Parts
● Motor power supply connector
<For HF-KP series>
Item
Motor power supply-side
connector
Protection
level
Model
JN4FT04SJ1 (plug)
IP65
ST-TMH-S-C1B-100-(A534G) (socket contact)
Description
Applicable cable example
Wire size: 0.75mm2 (AWG19)
Completed cable outer diameter: φ6.2 ± 0.3mm (φ0.244 ± 0.012 inch)
(Vinyl jacket cable FV4C <UL Style 2103> (SP3866W-X)
Manufacturer:
Japan Aviation Electronics
made by KURABE INDUSTRIAL CO.,LTD or equivalent)
Industry, Limited
Crimping tool (CT160-3-TMH5B) is required.
<For HF-SP series>
Plug
Cable clamp
Item
Type
Model
Straight CE05-6A18-10SD-B-BSS
Motor power supply
connector for
HF-SP52, 102, 152
Angled CE05-8A18-10SD-B-BAS
CE3057-10A-1(D265)
IP67
CE3057-10A-2(D265) EN standards
Applicable cable example
Description
Wire size
Angled MS3108B18-10S
MS3057-10A
General
environment
(AWG14) to
3.5mm2 (AWG12)
IP67
CE3057-12A-2(D265) EN standards
Plug
MS3057-12A
Angled MS3108B22-22S
MS3057-12A
General
environment
φ12.5 to 16mm (φ0.492 to 0.630 inch)
3.5mm2
(AWG12) to
8mm2 (AWG8)
(Note 1)
Manufacturer: DDK Ltd.
Protection
level
Description
φ10.5 to 14.1mm (φ0.413 to 0.555 inch)
φ9.5 to 13mm (φ0.374 to 0.512 inch)
Cable
clamp
CE3057-12A-1(D265)
φ8.5 to 11mm (φ0.335 to 0.433 inch)
φ14.3mm (φ0.563 inch)
(Inner diameter of bushing)
Manufacturer: DDK Ltd.
<Angled type>
CE3057-12A-1(D265)
Straight MS3106B22-22S
φ10.5 to 14.1mm (φ0.413 to 0.555 inch)
2mm2
(Note 1)
CE3057-12A-2(D265)
Completed cable outer diameter
φ8.5 to 11mm (φ0.335 to 0.433 inch)
<Straight type>
Cable
Plug clamp
CE3057-10A-1(D265)
MS3057-10A
Angled CE05-8A22-22SD-B-BAS
Protection
level
CE3057-10A-2(D265)
Straight MS3106B18-10S
Straight CE05-6A22-22SD-B-BSS
Motor power supply
connector for
HF-SP202, 352
Model
φ9.5 to 13mm (φ0.374 to 0.512 inch)
φ12.5 to 16mm (φ0.492 to 0.630 inch)
φ15.9mm (φ0.626 inch)
(Inner diameter of bushing)
Note: 1. Not compliant with EN standards.
● Motor brake connector
<For HF-KP series>
Item
Model
JN4FT02SJ1 (plug)
Motor brake
connector
IP65
ST-TMH-S-C1B-100-(A534G)
(socket contact)
Applicable cable example
Wire size: 0.5mm2 (AWG20)
Completed cable outer diameter: φ4.5 ± 0.3mm (φ0.177 ± 0.012 inch)
(Vinyl jacket cable FV2C <UL Style 2103> (SP3866U-X)
Manufacturer:
made by KURABE INDUSTRIAL CO.,LTD or equivalent)
Japan Aviation Electronics
Industry, Limited
Crimping tool (CT160-3-TMH5B) is required.
<For HF-SP series>
Connector
Item
Contact
Type
Model
Protection
level
Applicable cable example
Description
Wire size
CM10-SP2S-M-S2
Motor brake
connector
Straight
Soldered
type
CM10-SP2S-L-S2
CM10-SP2S-S-C3
CM10-SP2S-M-C3
CM10-SP2S-L-C3
Completed cable outer diameter
φ4.0 to 6.0mm (φ0.157 to 0.236 inch)
CM10-SP2S-S-S2
1.25mm2 (AWG16)
or less
IP67
Press
bonding
type
Manufacturer: DDK Ltd.
φ6.0 to 9.0mm (φ0.236 to 0.354 inch)
φ9.0 to 11.6mm (φ0.354 to 0.457 inch)
φ4.0 to 6.0mm (φ0.157 to 0.236 inch)
0.5mm2 (AWG20) to
1.25mm2 (AWG16)
φ6.0 to 9.0mm (φ0.236 to 0.354 inch)
Crimping tool (357J-50448)
is required.
φ9.0 to 11.6mm (φ0.354 to 0.457 inch)
22
MR-J3 basic configuration
MR-J3 basic configurations using the Mitsubishi options are shown below.
When using a servo motor with no electromagnetic brake, parts No.1 to No.5 shown below are required.
When using a servo motor with an electromagnetic brake, parts No.1 to No.6 shown below are required.
< For low inertia, small capacity motor HF-KP series >
No.
Item
Model
1
Servo amplifier
MR-J3-MA
2
Servo motor
HF-KPM(B)
3
CN1 connector
MR-J3CN1
Encoder cable: Select one from (1) to (8) below.
10m (32.81ft) or shorter
(Direct connection type) IP65
Long bending life
(1)
MR-J3ENCBLMM-A1-H
Standard
(2)
MR-J3ENCBLMM-A1-L
this catalog.
Lead out in opposite
direction of motor shaft
Long bending life
(3)
MR-J3ENCBLMM-A2-H
Refer to item w on page 18 of
Standard
(4)
MR-J3ENCBLMM-A2-L
this catalog.
(5)
Two types of cables are required.
• MR-J3JCBL03M-A1-L
• MR-EKCBLMM-H
Standard
(6)
Two types of cables are required.
• MR-J3JCBL03M-A1-L
• MR-EKCBLMM-L
Long bending life
(7)
Two types of cables are required.
• MR-J3JCBL03M-A2-L
• MR-EKCBLMM-H
Standard
(8)
Two types of cables are required.
• MR-J3JCBL03M-A2-L
• MR-EKCBLMM-L
Lead out in direction
of motor shaft
Long bending life
(1)
MR-PWS1CBLMM-A1-H
Refer to item !0 on page 18 of
Standard
(2)
MR-PWS1CBLMM-A1-L
this catalog.
Lead out in opposite
direction of motor shaft
Long bending life
(3)
MR-PWS1CBLMM-A2-H
Refer to item !1 on page 18 of
Standard
(4)
this catalog.
Lead out in direction
of motor shaft
Standard
(5)
Lead out in opposite
direction of motor shaft
Standard
(6)
MR-PWS1CBLMM-A2-L
Connect the user-manufactured cable
to MR-PWS2CBL03M-A1-L (option
cable) and use.
Connect the user-manufactured cable
to MR-PWS2CBL03M-A2-L (option
cable) and use.
Long bending life
Lead out in
direction of
motor shaft
4
Exceeding
10m (32.81ft)
(Relay type)
Refer to item q on page 18 of
Lead out in direction
of motor shaft
IP20
Lead out in
opposite direction
of motor shaft
Refer to item e and t on page
18 of this catalog.
Refer to item r and t on page
18 of this catalog.
Motor power supply cable: Select one from (1) to (6) below.
10m (32.81ft) or shorter
(Direct connection type) IP65
5
Exceeding
10m (32.81ft)
(Relay type)
IP55
Refer to item !2 on page 19 of
this catalog.
Refer to item !3 on page 19 of
this catalog.
Motor electromagnetic brake cable: Select one from (1) to (6) below.
10m (32.81ft) or shorter
(Direct connection type) IP65
6
Exceeding
10m (32.81ft)
(Relay type)
IP55
Lead out in direction
of motor shaft
Long bending life
(1)
MR-BKS1CBLMM-A1-H
Refer to item !6 on page 19 of
Standard
(2)
MR-BKS1CBLMM-A1-L
this catalog.
Lead out in opposite
direction of motor shaft
Long bending life
(3)
MR-BKS1CBLMM-A2-H
Refer to item !7 on page 19 of
Standard
(4)
this catalog.
Lead out in direction
of motor shaft
Standard
(5)
Lead out in opposite
direction of motor shaft
Standard
(6)
MR-BKS1CBLMM-A2-L
Connect the user-manufactured cable
to MR-BKS2CBL03M-A1-L (option
cable) and use.
Connect the user-manufactured cable
to MR-BKS2CBL03M-A2-L (option
cable) and use.
Refer to item !8 on page 19 of
this catalog.
Refer to item !9 on page 19 of
this catalog.
< For medium inertia, medium capacity HF-SP series >
No.
Item
Model
1
Servo amplifier
2
Servo motor
MR-J3-MA
HF-SPM(B)
3
CN1 connector
MR-J3CN1
Encoder cable: Select one from (1) to (2) below.
4
IP67
Long bending life
(1)
MR-J3ENSCBLMM-H
Refer to item u on page 18 of
Standard
(2)
MR-J3ENSCBLMM-L
this catalog.
Motor power supply cable: Select one from (1) to (2) below.
5
6
23
For HF-SP52, 102, 152
(1)
For HF-SP202, 352
(2)
IP67
Motor electromagnetic brake cable
Manufacture the cable using
Refer to item !4 on page 19 of
MR-PWCNS4 (option connector).
this catalog.
Manufacture the cable using
Refer to item !5 on page 19 of
MR-PWCNS5 (option connector).
this catalog.
Manufacture the cable using MR-BKCNS1 (option connector).
Peripheral Equipment
● Power factor improvement reactor (FR-BEL, FR-BAL)
This reactor enables users to boost the servo amplifier’s power factor and reduce its power supply capacity.
The power factor improvement effect of the DC reactor (FR-BEL) is higher than the AC reactor (FR-BAL), the size is compact and
light, and the wiring is easy (The AC reactor uses six wires, and the DC reactor uses two wires). Use of the DC reactor is
recommended.
Type
Applicable servo amplifier
MR-J3-10A
MR-J3-20A
MR-J3-40A
MR-J3-60A
MR-J3-70A
MR-J3-100A
MR-J3-200A
MR-J3-350A
Model
FR-BEL-0.4K
FR-BEL-0.75K
FR-BEL-1.5K
DC reactor
FR-BEL-2.2K
FR-BEL-3.7K
FR-BEL-7.5K
Fig.
Type
Model
FR-BAL-0.4K
FR-BAL-0.75K
A
FR-BAL-1.5K
AC reactor
FR-BAL-2.2K
FR-BAL-3.7K
FR-BAL-7.5K
External dimensions
Variable dimensions mm (inch)
Type
A
Name plate
C or less
D
A
H
B or less
2–F ✕ L
notch
L
E
A or less
Installation leg section F
C
W
D±5 (0.197)
W1
H
D
F✕L
E
D1
135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 45
0
-2.5
FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57
0
-2.5
FR-BAL-0.4K
Mounting screw
RXSYT Z
D
G
H
25
M3.5 (0.98)
25
M4
(0.98)
30
M4 (1.18)
30
M4 (1.18)
40
M4 (1.57)
40
M5 (1.57)
Variable dimensions mm (inch)
Type
D1
W
C
Servo amplifier
MR-J3-350A or smaller
Mounting Mass
screw size kg (lb)
M5
M5
M5
M5
M5
M5
0.5
(1.1)
0.7
(1.5)
1.1
(2.4)
1.2
(2.6)
1.7
(3.7)
2.3
(5.1)
B
FR-BEL
P1
(Note)
P2
Note: Always disconnect the short bar across
P1-P2 when using the DC reactor.
Servo amplifier
3-phase 200VAC
MR-J3-350A or smaller
H±5 (0.197)
B
B
110 50
94 1.6 95
6 ✕ 12
FR-BEL-0.4K (4.33) (1.97) (3.7) (0.06) (3.74) (0.24) ✕ (0.47)
120 53 102 1.6 105
6 ✕ 12
FR-BEL-0.75K (4.72) (2.09) (4.02) (0.06) (4.13) (0.24) ✕ (0.47)
6 ✕ 12
130 65 110 1.6 115
FR-BEL-1.5K (5.12) (2.56) (4.33) (0.06) (4.53) (0.24) ✕ (0.47)
130 65 110 1.6 115
6 ✕ 12
FR-BEL-2.2K (5.12) (2.56) (4.33) (0.06) (4.53) (0.24) ✕ (0.47)
6 ✕ 12
150 75 102 2.0 135
FR-BEL-3.7K (5.91) (2.95) (4.02) (0.08) (5.31) (0.24) ✕ (0.47)
6 ✕ 12
150 75 126 2.0 135
FR-BEL-7.5K (5.91) (2.95) (4.96) (0.08) (5.31) (0.24) ✕ (0.47)
Fig.
Connections
Unit: mm (inch)
Terminal for
connection
Terminal block–Screw size G
Applicable servo amplifier
MR-J3-10A
MR-J3-20A
MR-J3-40A
MR-J3-60A
MR-J3-70A
MR-J3-100A
MR-J3-200A
MR-J3-350A
0
-2.5
C
Mounting Terminal Mass
screw size screw size kg (lb)
(1.77
0
-0.0984
M4
M3.5
2.0 (4.4)
(2.24
0
-0.0984
M4
M3.5
2.8 (6.2)
(2.17
0
-0.0984
) 7.5 (0.3)
) 7.5 (0.3)
FR-BAL-1.5K
160 (6.3) 145 (5.71) 140 (5.51)
) 7.5 (0.3)
M4
M3.5
3.7 (8.2)
FR-BAL-2.2K
0
0
160 (6.3) 145 (5.71) 140 (5.51) 91 (3.58) 75 -2.5
(2.95-0.0984
) 7.5 (0.3)
M4
M3.5
5.6 (12.3)
FR-BAL-3.7K
0
0
220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54) 70 -2.5
(2.76-0.0984
) 10 (0.39)
M5
M4
8.5 (18.7)
FR-BAL-7.5K
0
0
220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72) 100 -2.5
(3.94 -0.0984
) 10 (0.39)
M5
M5
14.5 (31.9)
71 (2.8) 55
NFB
MC
Power supply
3-phase
200 to 230 VAC
FR-BAL
R
X
S
Y
T
Z
L1
L2
L3
Servo amplifier
1-phase 230VAC
MR-J3-70A or smaller
Power supply
1-phase
230 VAC
NFB
MC
W1
FR-BAL
R
X
S
Y
T
Z
L1
L2
● EMC filter
The following filters are provided as a filter compliant with the EMC directive for the servo amplifier’s power supply.
Applicable servo amplifier
MR-J3-10A to 100A
MR-J3-200A
MR-J3-350A
Model
HF3010A-UN
HF3030A-UN
Fig.
A
B
Note: The EMC filters described above are made by Soshin Electric.
External dimensions
Connections
Unit: mm (inch)
● HF3010A-UN
4-5.5 (0.217) ✕ 7 (0.276) 3-M4
A
M4
32 (1.26) ±2 (0.08)
85 (3.35) ±2 (0.08)
110 (4.33) ±4 (0.16)
3-M4
IN
258 (10.16) ±4 (0.16)
273 (10.75) ±2 (0.08)
288 (11.34) ±4 (0.16)
300 (11.81) ±5 (0.20)
65 (2.56) ±4 (0.16)
41 (1.61)
Model
Mass
kg (lb)
HF3010A-UN
3 (6.6)
EMC filter
(Note)
● HF3030A-UN
6-R3.24 (0.128) length 8 (0.315)
3-M5
3-M5
B
85 (3.35) ±1 (0.04)
44 (1.73) ±1 (0.04)
125 (4.92) ±2 (0.08)
140 (5.51) ±1 (0.04)
155 (6.10) ±2 (0.08)
Note: A surge protector is separately required to use this EMC filter.
Refer to “EMC Installation Guidelines”.
Servo amplifier
OUT
MC
1
4
L1
2
5
L2
3
6
L3
E
L11
L21
Model
Mass
kg (lb)
HF3030A-UN 5.5 (12.1)
M4
85 (3.35) ±1 (0.04)
210 (8.27) ±2 (0.08)
260 (10.24) ±5 (0.20)
Power supply
3-phase
200 to 230VAC
or
1-phase
230VAC
IN
NFB
Note: For 1-phase 230VAC power supply, connect the power
supply to L1, L2, and leave L3 open. 1-phase 230VAC is
available only for the MR-J3-70M or smaller.
70 (2.76) ±2 (0.08)
140 (5.51) ±2 (0.08)
Note: A surge protector is separately required to use this EMC filter.
Refer to “EMC Installation Guidelines”.
24
Peripheral Equipment
● Electric wires, circuit breakers, magnetic contactors
Magnetic
contactor
Circuit breaker
Servo amplifier
Electric wire size (mm2)
L1, L2, L3, P1, P2,
(Note 2)
L11, L21
P, C
(Note 2)
U, V, W,
MR-J3-10A
30A frame 5A
MR-J3-20A
1.25
30A frame 10A
MR-J3-40A
(AWG16)
S-N10
2 (AWG14)
1.25
2
MR-J3-60A
(AWG16)
(AWG14)
30A frame 15A
MR-J3-70A
2 (AWG14)
MR-J3-100A
S-N18
30A frame 20A
3.5 (AWG12)
3.5 (AWG12)
MR-J3-200A
S-N20
30A frame 30A
5.5 (AWG10)
5.5 (AWG10)
MR-J3-350A
Notes: 1. Assuming use of a 600V polyvinyl chloride electric wire having a length of 30 m (98.43 ft) for the wires in the table. Use a wire with the above size or larger.
2. Connect a DC reactor or an optional regeneration unit using the 5m (16.4 ft) or shorter electric wire.
B1, B2
1.25
(AWG16)
● Surge suppressor
Attach surge suppressors to the servo amplifier, signal cable’s AC relays, AC valves, and AC electromagnetic brake. Attach diodes to
DC relays and DC valves.
Sample configuration
Surge suppressor: 972A-2003 504 11 (rated 200V, made by Matsuo Denki)
Diode
: A diode with resisting pressure 4 or more times greater than the relay’s drive voltage, and 2 or more times greater
than the current.
● Data line filter
Attaching a data line filter to the pulse output cable or motor encoder cable of the pulse train output controller (QD75D, etc.) is
effective in preventing noise penetration.
Sample configuration
Data line filter: ESD-SR-25 (made by NEC TOKIN), ZCAT3035-1330 (made by TDK)
● Radio noise filter (FR-BIF)
This filter effectively controls noise transmitted from the power supply side of the servo amplifier, and is especially effective for radio
frequency bands under 10MHz. Only for input.
External dimensions
Connections
Unit: mm (inch)
Leakage current: 4mA
White
Red
Blue
Green
300 (11.8)
NFB
MC
L1
Power
supply
L2
Servo amplifier
42 (1.65)
ø5 (0.197)
hole
29 (1.14)
58 (2.28)
4 (0.16)
L3
29 (1.14)
FR-BIF
7
(0.28)
Notes:
1. Cannot be connected to output side of the servo amplifier.
2. Wiring should be as short as possible.
44 (1.73)
● Line noise filter (FR-BSF01, FR-BLF)
This filter is effective for suppressing radio noise emitted from the servo amplifier’s power supply side or output side, and highfrequency leakage current (zero-phase current). Especially effective in the 0.5MHz to 5MHz band.
External dimensions
110 (4.33)
ø7 (0.276)
2-ø5 (0.197)
130 (5.12)
85 (3.35)
25
MC
Servo amplifier
L1
Power
supply
35
(1.378)
80 (3.15)
NFB
L2
L3
2.3 (0.09)
65 (2.56)
3
ø3 99)
.2
(1
3 (0.12)
65 (2.56)
7 (0.276)
95 (3.74)
Wind the 3-phase wires in the same direction and the same number of winds, and then
connect them to the power supply side and output side of the servo amplifier. Increasing
the number of winds on the power supply side is effective, but normally, the number of
penetrations on the power supply side is approx. four times. If the wire is thick and hard to
wind, use two or more filters, and make sure that the total of penetrations exceeds the
above number. Make sure that the number of penetrations on the output side is four times
or less. Do not wind the grounding (earth) wire together with the 3-phase wires. The effect
of the filter will drop.
<FR-BLF>
MR-J3-350A
31.5 (1.24)
22 (0.87)
<FR-BSF01>
MR-J3-200A or smaller
Connections
Unit: mm (inch)
160 (6.30)
180 (7.09)
Line noise
filter
Using a Personal Computer
Servo support software
MR Configurator (Setup software) and capacity selection software are available as support softwares to improve usability.
● Compatible personal computer
IBM PC/AT compatible model running with the following operation conditions.
● Operating conditions
Software
Personal computer (Note 2)
OS
(Note 1)
Capacity selection software
MRZJW3-MOTSZ111E (Note 4)
MR Configurator (Setup software)
MRZJW3-SETUP211E
✕
✕
Windows® 95
Windows® 98
Windows® 98 Second Edition
Windows® Me
Windows NT® Workstation4.0
Windows® 2000 Professional
Windows® XP Professional
Windows® XP Home Edition
Pentium133MHz or more
Processor
Pentium150MHz or more
Pentium300MHz or more
16MB or more
24MB or more
32MB or more
128MB or more
Memory
Open hard disk capacity
Communication interface
Monitor
Keyboard
Mouse
Printer
Communication cable
✕
(Windows® 95, Windows® 98, Windows® 98 Second Edition,
Windows NT® Workstation4.0, Windows® 2000 Professional)
(Windows® Me)
(Windows® XP Professional, Windows® XP Home Edition)
(Windows® 95)
(Windows® 98, Windows® 98 Second Edition)
(Windows® Me, Windows NT® Workstation4.0, Windows® 2000 Professional)
(Windows® XP ProfessionaI, Windows® XP Home Edition)
60MB or more
40MB or more
—
Use serial port or USB port
Capable of resolution 800✕600 or more, high Color (16-bit display)
Compatible with above personal computers.
Compatible with above personal computers. Note that serial mice are incompatible.
Compatible with above personal computers.
Not required
MR-J3USBCBL3M
: Available ✕ : Unavailable
<Capacity selection software>
●MRZJW3-MOTSZ111E (Note 4)
A user-friendly design facilitates selection of the optimum servo amplifier, servo motor (including the servo motor with a electromagnetic
brake) and optional regeneration unit when entering constants and an
operation pattern into machine-specific windows.
Features
(1) User defined operation patterns can be set. The user defined operation pattern can be selected from the position control mode operation or speed control mode operation patterns. The set operation
pattern can be also displayed in the graph.
(2) The feedrate (or motor speed) and torque can be displayed in the
graph during the selection process.
● Specifications
Item
Description
Types of machine
component
Parameter
Output
of results
Printing
Data storage
Inertia moment calculation function
Horizontal ball screws, vertical ball screws, rack and pinions, roll feeds, rotating tables, dollies, elevators, conveyors, and other
(direct inertia input) devices.
Selected servo amplifier model, selected servo motor model, selected regenerative resistor model, load inertia moment, load
inertia moment ratio, peak torque, peak torque ratio, effective torque, effective torque ratio, regenerative power and regenerative
power ratio.
Prints input specifications, operation pattern, calculation process, selection process feedrate (or motor speed) and torque
graphs and selection results.
Assigns a file name to input specifications, operation patterns and selection results, and saves them on hard disk or floppy disk, etc.
Cylinder, core alignment column, variable speed, linear movement, suspension, conical, truncated cone
Notes:
1. Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries.
2. This software may not run correctly depending on the personal computer being used.
3. The screen shown on this page are for reference and may differ from the actual screen.
4. The servo amplifier MR-J3-10A, 20A, 40A or 70A is planned to be compatible with the MRZJW3-MOTSZ111E software version A1 or above in the near future.
The servo amplifier MR-J3-60A, 100A, 200A or 350A and servo motor HF-SP series are planned to be compatible with MRZJW3-MOTSZ111E software version A2 or above in the near future.
26
Using a Personal Computer
Servo support software
<MR Configurator>
● MRZJW3-SETUP211E (Setup software)
This software makes it easy to do setup, tuning, monitor display, diagnostics, reading and writing of parameters, and test operations
with a personal computer. User-satisfying functions that enable the balance with the machine system, optimum control and short start
up time are available.
● Features
(1) This software can set up easily and tune your servo system with a personal computer.
(2) Multiple monitor functions
Graphic display functions are provided to display the servo motor status with the input signal triggers,
such as the command pulse, droop pulse and speed.
(3) Test operations from a personal computer
Allows servo motors to be tested easily from a personal computer with multiple test mode menus.
(4) Further advanced tuning is possible with the improved advanced functions.
● Specifications
Functions
Main-menu
Monitors
Alarms
Batch display, input/output I/F display, high speed monitor, and graph display
Alarm display, alarm history, display of data that generated alarm
Diagnostics
Failure to rotate reason display, system information display, tuning data display, absolute data display, axis name setting,
amplifier diagnostic (Note 2)
Parameters
Parameter setting, device setting, tuning, display of change list, display of detailed information, converter and parameter copy
Test operations
JOG operation, positioning operation, operation without motor, forced digital output, program operation using simple language
Advanced function
Project
Other
Machine analyzer, gain search, machine simulation
Project creation, reading or saving, various data reading, saving or printing
Automatic operation and help display
Notes: 1. The screens shown on this page and next page are for reference and may differ from the actual screens.
2. The amplifier diagnostic function is compatible from the following versions.
• Servo amplifier: Software Version A1 and above
• MR Configurator: MRZJW3-SETUP211E Software Version A0 and above
New functions! Selecting a variety of waveforms now possible !
[Graph] window
Powerful graph functions with 3 analog channels and 4 digital channels support tuning. User-friendly functions such as the [Over write] function and
[Graph history] function and a diverse waveform selection powerfully support user work. Other functions include the [Gray display] function (easy to
read printing data), and functions to save data in CSV format or JPEG format.
Example of using [Over write]
function in [Graph] window
New functions!
Example of using [Torque characteristic
diagram] function in [Graph] window
The speed-torque characteristic diagram of the motor in operation can be displayed using the [Torque characteristic diagram] function.
Since the actual operation status can be displayed on the servo motor torque
characteristics drawing, the status of your servo system can be checked.
27
Using a Personal Computer
Improved accuracy!
Improved usability!
[Machine analyzer operation] window
[Gain search] window
When the [Start] button is pressed, the servo motor is automatically oscillated, and the machine system’s frequency characteristics are displayed.
The frequency characteristics that could only be analyzed in a
range between 0.1 and 1kHz can now be analyzed in a range
between 0.1 and 4.5kHz. Use this also as a tool to comprehend
the machine system’s characteristics. In addition, data can be
overwritten.
While automatically fluctuating the gain, the servo support software “MR Configurator” searches for values with the shortest
settling time and lowest overshooting or vibration.
Ever-higher level tuning is now possible.
Improved usability!
Improved usability!
[Monitor] function:
[Amplifier Data Display] window
[Parameter setting] window
[Input/Output I/F Display]
window
The [Parameter setting] window has been renewed.
The basic setting parameters can be easily set in a
selection format. Settings in the list format are also
possible.
The [Input/Output I/F Display] window has been renewed.
The [Input/Output I/F Display] window and [Amplifier Data Display]
window can be opened simultaneously, so the DI/DO ON/OFF status
and operation status can be checked in real time.
Additional menus further improve usability!
New functions!
[Test mode menu] window
[Amplifier diagnostic procedure] window
The amplifier diagnostic function has been newly added.
The DI/DO signal, command
pulse I/F and encoder pulse output are checked. If any fault is
found, the amplifier’s faulty section is pinpointed to speed up
recovery.
The test operation that
matchs the application
can be selected from
the multiple test mode
menus.
The diagnostic cable
(MR-J3ACHECK) is required.
28
Cautions Concerning Use
To ensure safe use
• To ensure the safe and proper use of the product, we ask
that you read the instruction manual and “MR-J3 INSTRUCTION MANUAL” prior to its use.
• These products are not designed or manufactured for use in
machinery and systems where people’s safety is at stake.
• When considering the product for use in such special applications as equipment or systems employed in passenger
transportation, medicine, aerospace, nuclear power generation, or underwater relays, please contact our sales representative.
• These products have been manufactured to the most rigorous quality standards. However, we ask that you employ
safety devices when using the product in equipment in
which any failure on its part can be expected to cause a serious accident or loss.
Cautions concerning use
Transport and installation of motor
• Protect the motor or encoder from impact during handling.
When installing a pulley or coupling, do not hammer on the
shaft. Impact can damage the encoder. In the case of motor
with key, install a pulley or coupling with the screw of shaftend. Use a pulley extractor when taking off the pulley.
• Do not apply a load exceeding the tolerable load onto the
servo motor shaft. The shaft could break.
Installation
• Avoid installation in an environment in which oil mist, dust,
etc. are in the air. When using in such an environment,
enclose the servo amplifier in an sealed panel. Protect the
motor by furnishing a cover for it or taking similar measures.
• Mount the amplifier vertically on a wall.
• When installing several amplifiers in a row in a sealed panel,
leave 10mm(0.39inch) or more open between each amplifier. The amplifiers can be mounted closely. In this case, keep
the ambient temperature within 0 to 45°C (32 to 113°F), or
use them with the effective load rate of 75% or less.
When using one amplifier, always leave 40mm(1.57inch) or
more open in the upward direction and 40mm(1.57inch) or
more open in the downward direction.
To ensure the life and reliability, keep space as open as possible toward the top plate so that heat does not build up.
Take special care, especially when installing several amplifiers in a row.
• For installing a single motor, the motor can be installed hor100mm
(3.94inch)
or more
10mm
(0.39inch)
or more
29
40mm
(1.57inch)
or more
izontally or vertically. When installing vertically (shaft-up),
take measures on the machine side to ensure that oil from
the gear box does not get into the motor.
• Do not touch the servo motor and so on, while the servo
motor is turned ON or for a while after the power has been
shutoff. The motor could be very hot, and touching it could
burn skin.
• The optional regeneration unit becomes hot (temperature
rise of 100°C(212°F) or more) with frequent use. Do not
install within flammable objects or objects subject to thermal
deformation. Take care to ensure that electric wires do not
come into contact with the main unit.
• Carefully consider the cable clamping method, and make
sure that bending stress and the stress of the cable’s own
weight are not applied on the cable connection section.
• If using in an application where the servo motor moves,
select the cable bending radius according to the required
bending life and wire type.
Grounding
• Securely ground to prevent electric shocks and to stabilize
the potential in the control circuit.
• To ground the servo motor and servo amplifier at one point,
connect the grounding terminal from each unit, and ground
from the servo amplifier side.
• Faults such as a deviation in position could occur if the
grounding is insufficient.
Wiring
• When a commercial power supply is applied to the amplifier’s output terminal (U, V, W), the amplifier will be damaged.
Before switching the power on, perform thorough wiring
and sequence checks to ensure that there are no wiring
errors, etc.
• When a commercial power supply is applied to the motor’s
input terminal (U, V, W), the motor will be burned out.
Connect the motor to the amplifier’s output terminal (U, V,
W).
• Match the phase of the motor’s input terminal (U, V, W) to
the amplifier’s output terminal (U, V, W) before connecting.
If they are not the same, the motor control cannot be performed.
• Validate the stroke end signals (LSP, LSN) in the position control or speed control mode.
The motor will not start if the signals are invalid.
Factory settings
• All available motor and amplifier combinations are predetermined. Confirm the model of the motor and amplifier to be
used before installation.
• For the MR-J3-A type, use the parameter No.A01 for the control mode to set position, speed and torque.
The default value is set to position, so when using the speed
operation, change the setting value.
• When using the optional regeneration unit, please change
the parameter No.A02 (for MR-J3-A type). The optional
regeneration unit is disabled as the default, so the parameter
must be changed to increase the regeneration performance.
Cautions Concerning Use
Operation
• When a magnetic contactor (MC) is installed on the amplifier’s primary side, do not perform frequent starts and stops
with the MC. Doing so could cause the amplifier to fail.
• When a trouble occurs, the amplifier’s safety features are
activated, halting output, and the dynamic brake instantly
stops the motor. If free run is required, contact Mitsubishi
about solutions involving servo amplifiers where the dynamic brake is not activated.
• When using a motor with an electromagnetic brake, do not
apply the brake when the servo is on. Doing so could cause
an amplifier overload or shorten brake life. Apply the brake
when the servo is off.
Cautions concerning model selection
Precautions for Choosing the Products
• The load inertia moment should be below the recommended load inertia moment ratio of the motor being used. If it is
too large, desired performance may not be attainable.
• Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products;
damage, secondary damage, accident compensation caused
by special factors unpredictable by Mitsubishi; damages to
products other than Mitsubishi products; and to other duties.
• Select a motor with a rated torque above the continuous
effective load torque.
• Design the operation pattern in the command section so that
positioning can be completed, taking the stop setting time
(ts) into account.
Speed
Command pattern
Actual motor operation
Command time
Positioning time
ts
Time
30
Safety Warning
To ensure proper use of the products listed in this catalog,
please be sure to read the instruction manual prior to use.
L(NA)03017 A 0403 Printed in Japan (MDOC)
New publication, effective March 2004
Specifications subject to change without notice.