Mitsubishi Electric MR-560B Instruction manual

General-Purpose AC Servo
J2-Super Series
SSCNET Compatible
J2-Super Series
MODEL
MR-J2S- B
SERVO AMPLIFIER
INSTRUCTION MANUAL
MR-J2S- B
Servo Amplifier Instruction Manual
MODEL
CODE
G
MODEL
MR-J2S-B GIJUTU SIRYOU
1CW502
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030007-G (0711) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
G
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, always keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( ,
) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A- 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Servo amplifier
Servo motor
[ ] 0 to 55 (non-freezing)
0 to 40 (non-freezing)
In
operation [ ] 32 to 131 (non-freezing)
32 to 104 (non-freezing)
Ambient
temperature
[ ]
20 to 65 (non-freezing)
15 to 70 (non-freezing)
In storage
[ ]
4 to 149 (non-freezing)
5 to 158 (non-freezing)
In operation
90%RH or less (non-condensing)
80%RH or less (non-condensing)
Ambient
humidity
In storage
90%RH or less (non-condensing)
Ambience
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series
X Y : 49
HC-UFS13 to 73
HC-SFS81
HC-SFS52 to 152
X Y : 24.5
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
[m/s2]
5.9 or less
HC-SFS121 201
HC-SFS202 352
X : 24.5
HC-SFS203 353
Y : 49
HC-UFS202 to 502
HC-SFS301
X : 24.5
HC-SFS502 to 702
Y : 29.4
X : 11.7
HA-LFS11K2 to 22K2
Y : 29.4
(Note)
Vibration
HC-KFS Series
HC-MFS Series
X Y : 161
HC-UFS 13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153
X Y : 80
HC-RFS Series
HC-UFS 72 152
19.4 or less
[ft/s2]
HC-SFS121 201
HC-SFS202 352
X : 80
HC-SFS203 353
Y : 161
HC-UFS202 to 502
HC-SFS301
X : 80
HC-SFS502 to 702
Y : 96
X : 38
HA-LFS11K2 to 22K2
Y : 96
Note. Except the servo motor with reduction gear.
Environment
A- 3
CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
Servo amplifier
Servo motor
U
U
V
V
Servo motor
U
U
V
V
M
W
W
Servo amplifier
M
W
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.
Servo
amplifier
Servo
amplifier
COM
(24VDC)
Control
output
signal
COM
(24VDC)
Control
output
signal
RA
RA
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
A- 4
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
(4) Usage
CAUTION
Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but
also by a forced stop (EM1).
Contacts must be open when
servo-off, when an alarm occurrence
and when an electromagnetic brake
interlock (MBR).
Servo motor
Circuit must be
opened during
forced stop (EM1).
RA EM1
24VDC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
A- 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
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 0y 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.
A- 6
COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier
Servo motor
:MR-J2S-10B to MR-J2S-22KB
MR-J2S-10B1 to MR-J2S-40B1
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Control box
(Note)
Reinforced
insulating
transformer
Reinforced
insulating type
No-fuse
breaker
Magnetic
contactor
NFB
MC
24VDC
power
supply
Servo
amplifier
Servo
motor
M
Note. The insulating transformer is not required for the 11kW or more servo amplifier.
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
A- 7
(4) Power supply
(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set
forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC
or EN standard should be used in the power input section.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in IEC60664-1, a reinforced insulating transformer is not required in the
power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked
servo amplifier to the protective earth (PE) of the control box.
) of the
(b) Do not connect two ground cables to the same protective earth (PE) terminal ( ) Always connect
the cables to the terminals one-to-one.
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE)
terminals of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.
(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 12.2.2.
(b) The sizes of the cables described in section 12.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
A- 8
CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier
Servo motor
:MR-J2S-10B to MR-J2S-22KB
MR-J2S-10B1 to MR-J2S-40B1
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
Install a cooling fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or
provide cooling of at least equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
10 minutes after power-off.
Servo amplifier
MR-J2S-10B(1) 20B(1)
MR-J2S-40B(1) 60B
MR-J2S-70B to 350B
MR-J2S-500B 700B
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
Discharge time
[min]
1
2
3
5
4
6
8
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
A- 9
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MRJ2S-B safely.
Also read the manual of the servo system controller.
Relevant manuals
Manual name
Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely
(Packed with the servo amplifier)
MELSERVO Servo Motor Instruction Manual
EMC Installation Guidelines
A - 10
IB(NA)0300010
SH(NA)3181
IB(NA)67310
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-22
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ................................................................................................ 1- 5
1.4 Function list ............................................................................................................................................. 1- 6
1.5 Model code definition .............................................................................................................................. 1- 7
1.6 Combination with servo motor............................................................................................................... 1- 8
1.7 Structure................................................................................................................................................... 1- 9
1.7.1 Parts identification ........................................................................................................................... 1- 9
1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-14
1.8 Servo system with auxiliary equipment............................................................................................... 1-17
2. INSTALLATION
2- 1 to 2- 4
2.1 Environmental conditions....................................................................................................................... 2- 1
2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress .............................................................................................................................................. 2- 4
3. SIGNALS AND WIRING
3- 1 to 3-38
3.1 Connection example of control signal system ....................................................................................... 3- 2
3.1.1 MR-J2S-700B or less ........................................................................................................................ 3- 2
3.1.2 MR-J2S-11KB or more ..................................................................................................................... 3- 4
3.2 I/O signals................................................................................................................................................. 3- 6
3.2.1 Connectors and signal arrangements............................................................................................. 3- 6
3.2.2 Signal explanations .......................................................................................................................... 3- 8
3.3 Alarm occurrence timing chart .............................................................................................................. 3- 9
3.4 Interfaces................................................................................................................................................. 3-10
3.4.1 Common line .................................................................................................................................... 3-10
3.4.2 Detailed description of the interfaces ............................................................................................ 3-11
3.5 Power line circuit.................................................................................................................................... 3-14
3.5.1 Connection example......................................................................................................................... 3-14
3.5.2 Terminals.......................................................................................................................................... 3-16
3.5.3 Power-on sequence........................................................................................................................... 3-17
3.6 Connection of servo amplifier and servo motor ................................................................................... 3-18
3.6.1 Connection instructions .................................................................................................................. 3-18
3.6.2 Connection diagram......................................................................................................................... 3-18
3.6.3 I/O terminals .................................................................................................................................... 3-20
3.7 Servo motor with electromagnetic brake ............................................................................................. 3-22
3.8 Grounding................................................................................................................................................ 3-26
3.9 Servo amplifier terminal block (TE2) wiring method ......................................................................... 3-27
3.9.1 For servo amplifier produced later than January, 2006.............................................................. 3-27
3.9.2 For servo amplifier produced earlier than December, 2005........................................................ 3-29
3.10 Instructions for the 3M connector....................................................................................................... 3-30
3.11 Control axis selection ........................................................................................................................... 3-31
1
3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB ............................................................... 3-32
3.12.1 Connection example ...................................................................................................................... 3-33
3.12.2 Servo amplifier terminals ............................................................................................................. 3-34
3.12.3 Servo motor terminals................................................................................................................... 3-35
4. OPERATION AND DISPLAY
4- 1 to 4- 8
4.1 When switching power on for the first time.......................................................................................... 4- 1
4.2 Start up..................................................................................................................................................... 4- 2
4.3 Servo amplifier display ........................................................................................................................... 4- 4
4.4 Test operation mode ................................................................................................................................ 4- 6
5. PARAMETERS
5- 1 to 5-20
5.1 Parameter write inhibit .......................................................................................................................... 5- 1
5.2 Lists........................................................................................................................................................... 5- 1
5.3 Analog monitor ....................................................................................................................................... 5-14
5.4 Replacement of MR-J2- B by MR-J2S- B ....................................................................................... 5-17
5.4.1 Main modifications made to the parameters ................................................................................ 5-17
5.4.2 Explanation of the modified parameters....................................................................................... 5-18
6. GENERAL GAIN ADJUSTMENT
6- 1 to 6-12
6.1 Different adjustment methods ............................................................................................................... 6- 1
6.1.1 Adjustment on a single servo amplifier.......................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 6- 3
6.2 Auto tuning .............................................................................................................................................. 6- 4
6.2.1 Auto tuning mode ............................................................................................................................. 6- 4
6.2.2 Auto tuning mode operation ............................................................................................................ 6- 5
6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 6
6.2.4 Response level setting in auto tuning mode................................................................................... 6- 7
6.3 Manual mode 1 (simple manual adjustment)....................................................................................... 6- 8
6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 8
6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 8
6.4 Interpolation mode ................................................................................................................................. 6-11
6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 6-12
6.5.1 Response level setting ..................................................................................................................... 6-12
6.5.2 Auto tuning selection....................................................................................................................... 6-12
7. SPECIAL ADJUSTMENT FUNCTIONS
7- 1 to 7-10
7.1 Function block diagram .......................................................................................................................... 7- 1
7.2 Machine resonance suppression filter ................................................................................................... 7- 1
7.3 Adaptive vibration suppression control................................................................................................. 7- 3
7.4 Low-pass filter ......................................................................................................................................... 7- 4
7.5 Gain changing function........................................................................................................................... 7- 5
7.5.1 Applications....................................................................................................................................... 7- 5
7.5.2 Function block diagram.................................................................................................................... 7- 5
7.5.3 Parameters ........................................................................................................................................ 7- 6
7.5.4 Gain changing operation.................................................................................................................. 7- 8
2
8. INSPECTION
8- 1 to 8- 2
9. TROUBLESHOOTING
9- 1 to 9- 8
9.1 Alarms and warning list ......................................................................................................................... 9- 1
9.2 Remedies for alarms................................................................................................................................ 9- 2
9.3 Remedies for warnings............................................................................................................................ 9- 8
10. OUTLINE DIMENSION DRAWINGS
10- 1 to 10-10
10.1 Servo amplifiers................................................................................................................................... 10- 1
10.2 Connectors............................................................................................................................................ 10- 8
11. CHARACTERISTICS
11- 1 to 11- 8
11.1 Overload protection characteristics ................................................................................................... 11- 1
11.2 Power supply equipment capacity and generated loss .................................................................... 11- 2
11.3 Dynamic brake characteristics........................................................................................................... 11- 5
11.3.1 Dynamic brake operation............................................................................................................. 11- 5
11.3.2 The dynamic brake at the load inertia moment ........................................................................ 11- 7
11.4 Encoder cable flexing life .................................................................................................................... 11- 7
11.5 Inrush currents at power-on of main circuit and control circuit .................................................... 11- 8
12. OPTIONS AND AUXILIARY EQUIPMENT
12- 1 to 12-64
12.1 Options.................................................................................................................................................. 12- 1
12.1.1 Regenerative options .................................................................................................................... 12- 1
12.1.2 FR-BU2 brake unit ...................................................................................................................... 12-10
12.1.3 Power regeneration converter .................................................................................................... 12-17
12.1.4 External dynamic brake.............................................................................................................. 12-20
12.1.5 Cables and connectors................................................................................................................. 12-23
12.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................ 12-36
12.1.7 Battery (MR-BAT, A6BAT)......................................................................................................... 12-37
12.1.8 MR Configurator (servo configurations software) .................................................................... 12-37
12.1.9 Power regeneration common converter ..................................................................................... 12-39
12.1.10 Heat sink outside mounting attachment (MR-JACN) ........................................................... 12-43
12.2 Auxiliary equipment .......................................................................................................................... 12-46
12.2.1 Recommended wires .................................................................................................................... 12-46
12.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 12-49
12.2.3 Power factor improving reactors ................................................................................................ 12-49
12.2.4 Power factor improving DC reactors.......................................................................................... 12-50
12.2.5 Relays............................................................................................................................................ 12-51
12.2.6 Surge absorbers ........................................................................................................................... 12-51
12.2.7 Noise reduction techniques......................................................................................................... 12-52
12.2.8 Leakage current breaker............................................................................................................. 12-59
12.2.9 EMC filter..................................................................................................................................... 12-61
13. ABSOLUTE POSITION DETECTION SYSTEM
13- 1 to 13- 4
13.1 Features................................................................................................................................................ 13- 1
3
13.2 Specifications ....................................................................................................................................... 13- 2
13.3 Battery installation procedure ........................................................................................................... 13- 3
13.4 Confirmation of absolute position detection data............................................................................. 13- 4
APPENDIX
App- 2
App 1. Combination of servo amplifier and servo motor ...................................................................... App- 1
App 2. Change of connector sets to the RoHS compatible products .................................................... App- 2
4
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in
the Servo Amplifier Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULATION METHODS FOR DESIGNING
5
MEMO
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2
series and has further higher performance and higher functions.
It is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo
amplifier reads position data directly to perform operation.
Data from a command unit controls the speed and rotation direction of the servo motor and executes
precision positioning.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the
main circuit from overcurrent due to sudden acceleration/deceleration or overload. The torque limit value
can be changed to any value with an external analog input or the parameter.
As this new series has the RS-232C serial communication function, a MR Configurator (servo
configuration software)-installed personal computer or the like can be used to perform parameter setting,
test operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
1- 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J2S-350B or less
Regenerative option
Servo amplifier
(Note 2)
Power
supply
MC
P
C
Servo motor
D
(Note 1)
Relay
L1
L2
L3
Current
detector
Regenerative
TR
CHARGE
lamp
L21
U
V
V
W
W
Dynamic
brake
(Note 3) Cooling fan
L11
U
B1
Control
circuit
power
supply
B2
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
M
Electromagnetic
brake
CN2
NFB
Diode
stack
Encoder
Position command
input
Model position
control
Virtual
encoder
Model speed
control
Virtual
motor
Model
position
Actual speed
control
Model
torque
Current
control
CON1
Actual position
control
Model
speed
I/F Control
RS-232C
CN1A
CN1B
Controller
or
Servo amplifier
Servo amplifier
or
termination
connector
CN3
D/A
MR-BAT
Optional battery
(for absolute position
detection system)
Analog monitor
(2 channels)
Personal computer
Note 1. The built-in regenerative resistor is not provided for the MR-J2S-10B (1).
2. For 1-phase 230V, connect the power supply to L1, L2 and leave L3 open.
L3 is not provided for a 1-phase 100 to120V power supply. Refer to section 1.3 for the power supply specification.
3. Servo amplifiers MR-J2S-200B have a cooling fan.
1- 2
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-500B, MR-J2S-700B
Regenerative option
Servo amplifier
(Note)
Power
supply
MC
P
Servo motor
C N
Relay
L1
L2
L3
Current
detector
Regenerative
TR
CHARGE
lamp
L21
U
V
V
W
W
Dynamic
brake
Cooling fan
L11
U
B1
Control
circuit
power
supply
B2
Base
amplifier
Voltage
detection
Overcurrent
Protection
Current
detection
M
Electromagnetic
brake
CN2
NFB
Diode
stack
Encoder
Position command
input
Model position
control
Virtual
encoder
Model speed
control
Virtual
motor
Model
position
Actual speed
control
Model
torque
Current
control
CON1
Actual position
control
Model
speed
I/F Control
RS-232C
CN1A
CN1B
Controller
or
Servo amplifier
Servo amplifier
or
termination
connector
Note. Refer to section 1.3 for the power supply specification.
1- 3
CN3
D/A
MR-BAT
Optional battery
(for absolute position
detection system)
Analog monitor
(2 channels)
Personal computer
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-11KB or more
Regenerative option
Servo amplifier
NFB
(Note)
Power
supply
MC
P
P1
C
Servo motor
N
Diode
stack Thyristor
L1
CHARGE
lamp
L2
L3
Current
detector
Regenrative
TR
U
U
V
V
W
W
M
Cooling fan
Control
circuit
power
supply
L21
B1 Electromagnetic
B2 brake
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
CN2
L11
Encoder
Position command
input Model position
control
Model speed
control
Model
position
Actual position
control
Virtual
motor
Model
speed
Actual speed
control
Virtual
encoder
Model
torque
Current
control
I/F Control
RS-232C
CN1A
CN1B
Controller
or
Servo amplifier
Servo amplifier
or
termination
connector
CN3
D/A
CN4
CON1
MR-BAT
Optional battery
(for absolute position
detection system)
Analog monitor
(2 channels)
Personal
computer
Note. Refer to section 1.3 for the power supply specification.
1- 4
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Servo amplifier
MR-J2S-
10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1
Power supply
Item
Voltage/frequency
3-phase 200 to 230VAC,
50/60Hz or 1-phase 230VAC, 3-phase 200 to 230VAC, 50/60Hz
50/60Hz
1-phase 100 to
120VAC 50/60Hz
Permissible voltage
fluctuation
3-phase 200 to 230VAC:170
to 253VAC
1-phase 230VAC: 207 to
253VAC
1-phase 85 to
127VAC
3-phase 170 to 253VAC
Permissible frequency
fluctuation
Within 5%
Power supply capacity
Refer to section 11.2
Inrush current
Refer to section 11.5
Control system
Sine-wave PWM control, current control system
Dynamic brake
Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal
relay), servo motor overheat protection, encoder fault protection, regenerative fault protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
Protective functions
Structure
Environment
Ambient
temperature
Ambient
humidity
Force-cooling, open
(IP00)
Self-cooled, open (IP00)
[
In
operation [
In storage
In storage
] 0 to 55 (non-freezing)
] 32 to 131 (non-freezing)
[
]
20 to 65 (non-freezing)
[
]
4 to 149 (non-freezing)
In operation
90%RH or less (non-condensing)
Ambient
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280ft) above sea level
Vibration
Mass
Self-cooled,
open(IP00)
External
5.9 [m/s2] or less
19.4 [ft/s2] or less
[kg] 0.7
0.7
1.1
1.1
1.7
1.7
2.0
2.0
4.9
[lb] 1.5
1.5
2.4
2.4
3.75 3.75
4.4
4.4
10.8 15.9 35.3 35.3 44.1
1- 5
7.2
16
16
20
0.7
0.7
1.1
1.5
1.5
2.4
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function
Description
Reference
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.
Absolute position detection
system
Merely setting a home position once makes home position return unnecessary
Chapter 13
at every power-on.
Adaptive vibration
suppression control
Servo amplifier detects mechanical resonance and sets filter characteristics
Section 7.3
automatically to suppress mechanical vibration.
Low-pass filter
Suppresses high-frequency resonance which occurs as servo system response is
Section 7.4
increased.
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply
connecting a MR Configurator (servo configuration software)-installed personal
computer and servo amplifier.
Machine simulation
Can simulate machine motions on a personal computer screen on the basis of
the machine analyzer results. The MR Configurator (servo configuration
software) is required.
Gain search function
Personal computer changes gains automatically and searches for overshootfree gains in a short time. The MR Configurator (servo configuration software)
is required.
Slight vibration suppression
control
Suppresses vibration of 1 pulse produced at a servo motor stop.
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. Higher in performance than MELSERVO-J2 series servo Chapter 6
amplifier.
Regenerative option
Used when the built-in regenerative resistor of the servo amplifier does not
Section 12.1.1
have sufficient regenerative capability for the regenerative power generated.
Brake unit
Used when the regenerative option cannot provide enough regenerative power.
Section 12.1.2
Can be used with the MR-J2S-500B to MR-J2S-22KB.
Return converter
Used when the regenerative option cannot provide enough regenerative power.
Section 12.1.3
Can be used with the MR-J2S-500B to MR-J2S-22KB.
Torque limit
Servo motor torque can be limited to any value.
Parameter No.24
Parameters
No.10, 11
Forced stop signal automatic
Forced stop (EM1) can be automatically switched on internally to invalidate it. Parameter No.23
ON
Output signal (DO) forced
output
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
Section 4.4
(1) (e)
Test operation mode
JOG operation positioning operation motor-less operation DO forced output Section 4.4
Analog monitor output
Servo status is output in terms of voltage in real time.
Parameter No. 22
MR Configurator
Using a personal computer, parameter setting, test operation, status display,
Section 12.1.8
(Servo configuration software) etc. can be performed.
1- 6
1. FUNCTIONS AND CONFIGURATION
1.5 Model code definition
(1) Rating plate
MITSUBISHI
MODEL
MR-J2S-60B
AC
SERVO
AC SERVO
Model
Capacity
POWER : 600W
POWER
INPUT : 3.2A 3PH 1PH200-230V 50Hz
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
OUTPUT : 170V 0-360Hz 3.6A
SERIAL : A5
TC3 AAAAG52
MITSUBISHI ELECTRIC CORPORATION
Applicable power supply
Rated output current
Serial number
PASSED
MADE IN JAPAN
(2) Model
MR–J2S–
B
MR–J2S–100B or less
MR–J2S–200B 350B
With no regenerative resistor
Symbol
Description
Series
Indicates a servo amplifier
of 11k to 22kW that does
not use a regenerative
resistor as standard
accessory.
–PX
Power Supply
Symbol
Rating plate
Rating plate
Power supply
3-phase 200 to 230V
(Note 2) 1-phase 230V
None
MR-J2S-500B
(Note1)
1-phase 100V to 120V
1
MR-J2S-700B
Note 1. 1-phase 200V to 230V is supported
by 400W or less.
2. 1-phase 100V to 120V is supported
by 750W or less.
SSCNET compatible
Rated output
Symbol
Rated
output [kW]
Symbol
Rated
output [kW]
10
20
40
60
70
100
0.1
0.2
0.4
0.6
0.75
1
350
500
700
11k
15k
22k
3.5
5
7
11
15
22
200
2
Rating plate
MR-J2S-11KB 15KB
Rating plate
1- 7
Rating plate
MR-J2S-22KB
Rating plate
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier
MR-J2S-10B(1)
HC-KFS
053
13
HC-MFS
053
HC-SFS
1000r/min
2000r/min
3000r/min
HC-RFS
HC-UFS
2000r/min
13
3000r/min
13
MR-J2S-20B(1)
23
23
23
MR-J2S-40B(1)
43
43
43
(Note 1) 73
73
MR-J2S-60B
MR-J2S-70B
53
102
103
72
MR-J2S-100B
81
MR-J2S-200B
52
121
MR-J2S-350B
201
301
152
202
352
MR-J2S-500B
(Note 1)
502
MR-J2S-700B
(Note 1)
702
153
203
353
103
153
73
152
(Note 1) 203
(Note 1)202
(Note 1)
353 503
(Note 1)
352 502
Servo motors
Servo amplifier
HA-LFS
1000r/min
1500r/min
2000r/min
(Note 1)
HC-LFS
MR-J2S-60B
52
MR-J2S-100B
102
MR-J2S-200B
152
MR-J2S-350B
202
(Note 1)
502
MR-J2S-500B
MR-J2S-700B
(Note 2)601
(Note 2)701M
(Note 1)
702
MR-J2S-11KB
(Note 1)
801 12K1
(Note 1)
11K1M
(Note 1)
11K2
MR-J2S-15KB
(Note 1)15K1
(Note 1)
15K1M
(Note 1)
15K2
MR-J2S-22KB
(Note 1)
20K1 25K1
(Note 1)
22K1M
(Note 1)
22K2
302
Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to appendix.
2. Consult us since the servo amplifier to be used with any of these servo motors is optional.
1- 8
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-J2S-100B or less
Name/Application
Reference
Battery holder
Section 13.3
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data Section 13.3
backup.
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
Chapter 4
Axis select switch (SW1)
SW1
EF
B CD
345
78 9
Used to set the axis number of the
servo amplifier.
F0 1
23
BCD
45
89
A
67
Section 3.11
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Section 3.2
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section 3.2
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section 3.2
Section 12.1.5
Section 1.5
Rating plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 3.2
Section 12.1.5
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section 3.5.2
Section 10.1
Control circuit terminal block (TE2)
Section 3.5.2
Used to connect the control circuit power supply and Section 10.1
regenerative option.
Section 12.1.1
Protective earth (PE) terminal (
Ground terminal.
1- 9
)
Section 3.8
Section 10.1
01
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200B MR-J2S-350B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery holder
Contains the battery for absolute position data backup.
Section 13.3
Battery connector (CON1)
Used to connect the battery for absolute position data Section 13.3
backup.
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
EF
23
BCD
45
789
A
6
Chapter 4
Axis select switch (SW1)
SW1
01
B CD
345
78 9
Used to set the axis number of
the servo amplifier.
F0 1
Section 3.11
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Section 3.2
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section 3.2
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section 3.2
Section 12.1.5
Section 1.5
Rating plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 3.2
Section 12.1.5
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section 3.5.2
Section 10.1
Cooling fan
Control circuit terminal block (TE2)
Section 3.5.2
Used to connect the control circuit power supply and Section 10.1
regenerative option.
Section 12.1.1
Fixed part
(4 places)
Protective earth (PE) terminal (
Ground terminal.
1 - 10
)
Section 3.8
Section 10.1
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Section 13.3
Battery holder
Contains the battery for absolute position data backup.
Section 13.3
Chapter 4
BCD
45
A
EF
23
Reference
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
89
67
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
01
Axis select switch (SW1)
SW1
B CD
345
78 9
Used to set the axis number of the
servo amplifier.
Section 3.11
F0 1
Fixed part
(4 places)
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section 3.2
Section 3.2
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section 3.2
Section 12.1.5
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 3.2
Section 12.1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
option and servo motor.
Cooling fan
Rating plate
Protective earth (PE) terminal (
Ground terminal.
1 - 11
Section 3.5.2
Section 10.1
Section 12.1.1
Section 3.5.2
Section 10.1
Section 1.5
)
Section 3.8
Section 10.1
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section 13.3
Battery holder
Contains the battery for absolute position data backup. Section 13.3
Chapter 4
EF
23
BCD
45
89
A
67
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
01
Axis select switch (SW1)
SW1
B CD
345
78 9
Used to set the axis number of the
servo amplifier.
Section 3.11
F0 1
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section 3.2
Section 3.2
Section 3.2
Section 12.1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Rating plate
Cooling fan
Fixed part
(4 places)
Section 3.5.2
Section 10.1
Section 12.1.1
Section 3.2
Section 12.1.5
Section 1.5
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative Section 3.5.2
Section 10.1
option and servo motor.
Protective earth (PE) terminal (
Ground terminal.
1 - 12
)
Section 3.8
Section 10.1
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KB or more
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Axis select switch (SW1)
0
EF 1 2
345
BCD
SW1
Used to set the axis number of
the servo amplifier.
Section 3.11
8
67 9A
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
Battery holder
Contains the battery for absolute position data backup.
Chapter 4
Section 13.3
Battery connector (CON1)
Used to connect the battery for absolute position data Section 13.3
backup.
Monitor output terminal (CN4)
Section 3.2
Used to output monitor values on two channels in the
Section 12.1.5
form of analog signals.
Communication connector (CN3)
Used to connect a personal computer (RS-232C) .
Cooling fan
Section 3.2
Section 12.1.5
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Section 3.2
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section 3.2
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Section 3.5.2
Section 10.1
Section 12.1.1
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 3.2
Section 12.1.5
I/O signal connector (CON2)
Used to connect digital I/O signals.
Section 3.2
Section 12.1.5
Rating plate
Fixed part
(4 places)
Section 1.5
Main circuit terminal block (TE1)
Section 3.5.2
Used to connect the input power supply, regenerative
Section 10.1
option and servo motor.
Protective earth (PE) terminal (
Ground terminal.
1 - 13
)
Section 3.8
Section 10.1
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.
CAUTION
(1) For MR-J2S-350B or less
Removal of the front cover
Reinstallation of the front cover
1)
Front cover hook
(2 places)
2)
2)
Front cover
1)
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
(2) For MR-J2S-500B
Removal of the front cover
Reinstallation of the front cover
1)
Front cover hook
(2 places)
2)
2)
1)
Front cover
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 14
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J2S-700B
Reinstallation of the front cover
Removal of the front cover
Front cover
hook
(2 places)
A)
B)
2)
2)
1)
A)
1)
Front cover socket
(2 places)
1) Push the removing knob A) or B), and put you
finger into the front hole of the front cover.
2) Pull the front cover toward you.
1) Insert the two front cover hooks at the bottom into the
sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
(4) For MR-J2S-11KB or more
Removal of the front cover
Mounting screws
(2 places)
Mounting screws (2 places)
2) Remove the front cover mounting screws (2 places).
1) Remove the front cover mounting screws (2 places)
and remove the front cover.
3) Remove the front cover by drawing it in the direction of arrow.
1 - 15
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Mounting screws
(2 places)
2) Fix it with the mounting screws (2 places).
1) Insert the front cover in the direction of arrow.
Mounting screws (2 places)
3) Fit the front cover and fix it with the mounting screws (2 places).
1 - 16
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
WARNING
To prevent an electric shock, always connect the protective earth (PE) terminal (
of the servo amplifier to the protective earth (PE) of the control box.
)
(1) MR-J2S-100B or less
(a) For 3-phase 200V to 230V or 1-phase 230V
Options and auxiliary equipment
(Note 2)
Power supply
Reference
Reference
No-fuse breaker
Section 12.2.2
Regenerative option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
MR Configurator
Section 12.1.8
(Servo configuration software)
No-fuse breaker
(NFB) or fuse
To CN1A
Magnetic
contactor
(MC)
To CN1B
CHARGE
U
V
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
To CN3
Personal
computer
To CN2
L1
L2
L3
Power factor improving reactor Section 12.2.3
Servo system
controller
or
preceding axis
servo amplifier
CN1B
Servo amplifier
Power
factor
improving
reactor
(FR-BAL)
Options and auxiliary equipment
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
W
(Note 1)
Encoder cable
(Note 1)
Power supply lead
Control circuit terminal block
D
L21
L11
P
Regenerative option
Servo motor
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230V power supply may be used with the servo amplifier of MR-J2S-70B or less. For 1-phase 230V, connect the
power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification.
1 - 17
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120V
(Note 2)
Power supply
Options and auxiliary equipment
Reference
Reference
No-fuse breaker
Section 12.2.2
Regenerative option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
MR Configurator
Section 12.1.8
(Servo configuration software)
No-fuse breaker
(NFB) or fuse
To CN1A
Magnetic
contactor
(MC)
To CN1B
CHARGE
U
V
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
To CN3
Personal
computer
To CN2
L1
L2
Power factor improving reactor Section 12.2.3
Servo system
controller
or
preceding axis
servo amplifier
CN1B
Servo amplifier
Power
factor
improving
reactor
(FR-BAL)
Options and auxiliary equipment
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
W
(Note 1)
Encoder cable
(Note 1)
Power supply lead
Control circuit terminal block
D
L21
L11
P
Regenerative option
Servo motor
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. Refer to section 1.3 for the power supply specification.
1 - 18
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200B MR-J2S-350B
(Note)
Power supply
No-fuse
breaker
(NFB) or
fuse
Options and auxiliary equipment
Options and auxiliary equipment
Reference
No-fuse breaker
Section 12.2.2
Regenerative option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
MR Configurator
(Servo configuration software)
Section 12.1.8
Power factor improving reactor Section 12.2.3
Servo system
controller
or
Preceding axis
servo amplifier
CN1B
Servo amplifier
To CN1A
Magnetic
contactor
(MC)
To CN1B
Power factor
improving
reactor
(FA-BAL)
Reference
To CN2
To CN3
Personal
computer
L11
L21
L1
L2
L3
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
U
V W
P
C
Regenerative option
Note. Refer to section 1.3 for the power supply specification.
1 - 19
MR Configurator
(Servo
configuration
software
MRZJW3SETUP151E)
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500B
(Note 2)
Power supply
Options and auxiliary equipment
No-fuse
breaker
(NFB) or
fuse
Reference
Section 12.2.2
Regenerative option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
MR Configurator
(Servo configuration software)
Section 12.1.8
P
(Note 1) C
Regenerative
option
To CN1A
To CN1B
U
V
W
Power factor improving reactor Section 12.2.3
Servo system
controller
or
Preceding axis
servo amplifier
CN1B
Servo amplifier
L1
L2
L3
Reference
No-fuse breaker
Magnetic
contactor
(MC)
Power
factor
improving
reactor
(FA-BAL)
Options and auxiliary equipment
To CN3
Subsequent axis
servo amplifier
CN1A
or
MR
Termination
Configurator
connector
(Servo
configuration
Personal
software
computer
MRZJW3SETUP151E)
To CN2
L11
L21
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 20
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700B
Options and auxiliary equipment
(Note 2)
Power supply
Reference
Reference
No-fuse breaker
Section 12.2.2
Regenerative option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
MR Configurator
(Servo configuration software)
Section 12.1.8
Power factor improving reactor Section 12.2.3
Servo system
controller
or
Preceding axis
servo amplifier
CN1B
No-fuse
breaker
(NFB) or
fuse
L11
Servo amplifier
To CN1A
L21
Magnetic
contactor
(MC)
To CN1B
To CN3
Power
factor
improving
reactor
(FA-BAL)
Options and auxiliary equipment
Subsequent axis
servo amplifier
CN1A
or
Termination
MR
connector
Configurator
(Servo
configuration
Personal
software
computer
MRZJW3SETUP151E)
To CN2
U
V
W
L3
L2
L1
C
P
(Note 1) Regenerative option
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 21
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KB or more
Options and auxiliary equipment
(Note 3)
Power supply
Reference
Options and auxiliary equipment
No-fuse breaker
Section 12.2.2
Regenerative option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
MR Configurator
(Servo configuration software)
Section 12.1.8
Power factor improving reactor Section 12.2.3
Power factor improving DC
reactor
No-fuse breaker(NFB)
or fuse
Section 12.2.4
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
Personal
computer
To CN3
L21
Magnetic
contactor
(MC)
Reference
L11
Analog monitor
To CN4
To CN1A
Servo system
controller or
Preceding axis
servo amplifier
CN1B
To CN1B
Subsequent axis
servo amplifier
CN1A or
Terminal
connector
MITSUBISHI
(Note 2)
Power factor
improving
reactor
(FR-BAL)
L3
L2
L1
Forced stop etc.
To CON2
C
To CN2
Regenerative
option
P
(Note 2)
Power factor improving
DC reactor (FR-BEL)
(Note 1) BW
BV
U VW
BU
Servo motor
HA-LFS series
Note 1. There is no BW when the HA-LFS 11K2 is used.
2. Use either the FR-BAL or FR-BEL power factor improving reactor.
3. Refer to section 1.3 for the power supply specification.
1 - 22
2. INSTALLATION
2. INSTALLATION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 1.3.)
CAUTION
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
2.1 Environmental conditions
Environment
Ambient
temperature
Conditions
In
[ ] 0 to 55 (non-freezing)
operation
[ ] 32 to 131 (non-freezing)
In storage
Ambient
In operation
humidity
In storage
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Ambience
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280 ft) above sea level
2
Vibration
[m/s ] 5.9 [m/s2] or less
[ft/s2] 19.4 [ft/s2] or less
2- 1
2. INSTALLATION
2.2 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
(1) Installation of one servo amplifier
Control box
Control box
40mm
(1.6 in.)
or more
Servo amplifier
Wiring clearance
70mm
(2.8 in.)
Top
10mm
(0.4 in.)
or more
10mm
(0.4 in.)
or more
Bottom
40mm
(1.6 in.)
or more
2- 2
2. INSTALLATION
(2) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm
(4.0 in.)
or more
10mm
(0.4 in.)
or more
Servo
amplifier
30mm
(1.2 in.)
or more
30mm
(1.2 in.)
or more
40mm
(1.6 in.)
or more
(3) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.3 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the
servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an
air purge (force clean air into the control box from outside to make the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.
2- 3
2. INSTALLATION
2.4 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional encoder cable or the power supply and brake
wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and
brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 11.4 for the flexing life.
2- 4
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
WARNING
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off
or not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( ,
) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop(EM1) and other protective circuits.
Servo
amplifier
Servo
amplifier
COM
(DC24V)
COM
(24VDC)
CAUTION
Control
output
signal
RA
Control output
signal
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.
3- 1
3. SIGNALS AND WIRING
3.1 Connection example of control signal system
POINT
Refer to section 3.5 for the connection of the power supply system and to
section 3.6 for connection with the servo motor.
3.1.1 MR-J2S-700B or less
Servo amplifier
(Note 5, 8)
10m(32.81ft) or less
CN3
RA1
13 MBR
(Note 9)
MR Configurator
(Servo configuration
software)
(Note 4)
Personal computer
CN3
15m(49.2ft)
or less
5
COM
10
VDD
20
3
6
16
7
17
8
18
EM1
SG
LA
LAR
LB
LBR
LZ
LZR
4
1
14
(Note 5) 11
CN1A Plate
Servo system controller
(Note 10, 14)
Bus cable (Option)
Cable clamp
(Option)
MO1
LG
MO2
LG
SD
(Note 2,6)
Magnetic brake
interlock
When using the forced stop (EM1) or magnetic brake
interlock (MBR), make sure to connect it.
(Note 3,4,7)
Forced stop
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
A
A
MR-J2S-B
CN1A (2 axis) (Note 11)
SW1
CN1B
Setting: 1
MR-J2S-B
CN1A (3 axis)
SW1
(Note 11)
CN1B
Setting: 2
MR-J2S-B
CN1A (n axis)
SW1
(Note 13)
MR-A-TM
CN1B
Setting: n
3- 2
1
10k
2m(6.56ft) or less
(Note 5) SW1
CN1B
Setting: 0 (Note 1)
(Note 10, 14)
Bus cable
(Option)
10k
(Note 11)
(Note 12)
n 1 to 8
Control common
Analog monitor output
Max. 1mA
Reading in
both directions
(Note15)
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (
) of the servo amplifier to the protective
earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the forced stop (EM1) and other protective circuits.
3. If the controller does not have a forced stop function, always install a forced stop switch (Normally closed).
4. When a personal computer is connected for use of the test operation mode, always use the maintenance junction card (MRJ2CN3TM) to enable the use of the forced stop (EM1). (Refer to section 12.1.6)
5. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
6. The sum of currents that flow in the external relays should be 80mA max.
7. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting “0001” in parameter
No.23, the forced stop (EM1) can be made invalid.
8. When connecting the personal computer together with analog monitor outputs 1, 2, use the maintenance junction card (MRJ2CN3TM). (Refer to section 12.1.3.)
9. Use MRZJW3-SETUP151E.
10. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to
use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.
11. The wiring of the second and subsequent axes is omitted.
12. Up to eight axes (n 1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the
same bus.
13. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier located at the termination.
14. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer
to the following table and choose the bus cable.
MR-J2S-
B
MR-J2-03B5
MR-J2HBUS
QD75M
Motion
controller
Q172CPU(N)
Q172J2BCBL
M
M(-B)
Q173CPU(N)
Q173J2B CBL
A motion
MR-J2HBUS
MR-J2S- B MR-J2-03B5
Maintenance junction card
MR-J2HBUS
M
M-A
M
15. When the A1SD75M (AD75M) is used as the controller, encoder pulses may not be output depending on the software version
of the controller. For details, refer to the A1SD75M (AD75M) Manual.
3- 3
3. SIGNALS AND WIRING
3.1.2 MR-J2S-11KB or more
Servo amplifier
(Note 4)
CN3
6
(Note 7)
Personal computer
MR Configurator
(Servo configuration
software)
15m(49.2ft)
or less
CN3
Servo system controller
(Note 8, 12)
Bus cable (Option)
(Note 4)
CN1A
LA
16
LAR
7
LB
17
LBR
8
LZ
18
LZR
1
LG
Plate
SD
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
10m(32.81ft) or less
CON2
2
EM1
(Note 3, 6)
Forced stop
1
SG
4
DB
RA1
3
MBR
RA2
18
COM
15
VDD
CN4
1
MO1
A
2
MO2
A
4
LG
(Note 2, 5)Dynamic brake
When using the forced stop (EM1), magnetic
brake interlock (MBR) or dynamic brake
interlock (DB), make sure to connect it.
2m(6.56ft) or less
(Note 4) SW1
Cable clamp
(Option)
CN1B
Setting : 0 (Note 1)
MR-J2S-B
CN1A (2 axis) (Note 9)
SW1
CN1B
Setting : 1
MR-J2S-B
CN1A (3 axis) (Note 9)
SW1
(Note 8, 12)
Bus cable
(Option)
CN1B
Setting : 2
MR-J2S-B
CN1A (n axis) (Note 9)
SW1
(Note 11)
MR-A-TM
CN1B
(Note 10)
Setting: n-1 n= 1 to 8
3- 4
interlock
Magnetic brake
interlock
10k
10k
Analog monitor
Max. 1mA
Reading in
both directions
(Note
13)
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (
) of the base unit to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the interface unit will be faulty and will not output signals,
disabling the forced stop and other protective circuits.
3. If the controller does not have a forced stop (EM1) function, always install a forced stop switch (Normally closed).
4. CN1A, CN1B, and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max.
6. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting “0001” in DRU parameter
No.23 of the drive unit, the forced stop (EM1) can be made invalid.
7. Use MRZJW3-SETUP151E.
8. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to
use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.
9. The wiring of the second and subsequent axes is omitted.
10. Up to eight axes (n 1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the
same bus.
11. Always insert the termination connector (MR-A-TM) into CN1B of the interface unit located at the termination.
12. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer
to the following table and choose the bus cable.
MR-J2S-
B
Motion
controller
MR-J2-03B5
MR-J2HBUS
QD75M
Q172CPU(N)
Q172J2BCBL
M
M(-B)
Q173CPU(N)
Q173J2B CBL
A motion
MR-J2HBUS
MR-J2S- B MR-J2-03B5
Maintenance junction card
MR-J2HBUS
M
M-A
M
13. When the A1SD75M (AD75M) is used as the controller, encoder pulses may not be output depending on the software version
of the controller. For details, refer to the A1SD75M (AD75M) Manual.
3- 5
3. SIGNALS AND WIRING
3.2 I/O signals
3.2.1 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
(1) MR-J2S-700B or less
CN1B
CN1A
11
1
2
RD
LG
3
4
TD
6
12
RD*
LG
TD*
16
7
8
RD
13
EMG
BT
LG
TD
15
6
LG
MITSUBISHI
MELSERVO-J2
EMG*
LG
3
4
10
LG
5
2
LG
RXD
13
4
MO1
15
16
6
MD
MDR
LA
MR
9
10
BAT
16
LG
15
LG
17
EMG
18
EMG*
19
20
BT
1
11
12
6
8
13
CN3
14
7
TD*
5
9
19
LG
14
7
8
20
1
LG
RD*
3
CN2
2
12
4
17
18
9
10
LG
14
5
11
1
2
18
P5
20
17
MRR
19
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
P5
P5
3- 6
8
LZ
LG
3
SG
5
COM
7
LB
9
11
12
TXD
14
MO2
LG
13
MBR
15
16
LAR
18
LZR
10
20
VDD
EM1
17
LBR
19
3. SIGNALS AND WIRING
(2) MR-J2S-11KB or more
CN3
1
CN4
2
1 MO1
2 MO2
4
RXD
LG
3
4
11
12
TXD
6
LA
8
LZ
13
14
5
LG
LG
15
16
7
LB
9
10
LAR
18
LZR
17
LBR
19
20
MITSUBISHI
CN1A
Same as the one of the
MR-J2S-700B or less.
CON2
CN1B
Same as the one of the
MR-J2S-700B or less.
1
2
CN2
CHARGE
1
2
LG
LG
3
4
12
LG
11
4
LG
DB
13
6
14
5
3
MBR
VDD 16
17
5
18
19
8
15
16
MD
7 MDR 17
18
MR
MRR
P5
9
19
20
P5
BAT
P5
10
SG
7
6
8
EM1
14
15
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
20
21
9
10
22
23
11
12
24
25
13
3- 7
COM
26
3. SIGNALS AND WIRING
3.2.2 Signal explanations
For the I/O interfaces (symbols in I/O column in the table), refer to section 3.4.2.
(1) Connector applications
Connector
CN1A
CN1B
Name
Connector for bus cable from preceding axis.
Connector for bus cable to next axis
CN2
Encoder connector
CN3
Communication connector
(I/O signal connector)
(Note) CN4
Analog monitor output connector
(Note) CON2 IO signal connector
Function/Application
Used for connection with the controller or preceding-axis
servo amplifier.
Used for connection with the next-axis servo amplifier or
for connection of the termination connector.
Used for connection with the servo motor encoder.
Used for connection with the personal computer.
Serves as an I/O signal connector when the personal
computer is not used.
Used to output analog monitor 1 (MO1) and analog monitor
2 (MO2).
Used to input a forced stop and output the dynamic brake
interlock(DB), the electromagnetic brake interlock
Note. These connectors are exclusive to the MR-J2S-11KB or more.
(2) I/O signals
(a) Input signal
Signal
Forced stop
Symbol
EM1
Connector Pin
No.
7kW
11kW
or less or more
CN3
20
Function/Application
Turn EM1 off (open EM1 common) to bring the motor to a
forced stop state, in which the base circuit is shut off and the
CON2 dynamic brake is operated.
2
Turn EM1 on (short EM1 common) in the forced stop state to
reset that state.
I/O Division
DI-1
(b) Output signals
Signal
Electromagnetic brake
interlock
Dynamic brake
interlock
Encoder A-phase pulse
(Differential line driver)
Encoder B-phase pulse
(Differential line driver)
Symbol
MBR
DB
LA
LAR
LB
LBR
LZ
Encoder Z-phase pulse
(Differential line driver)
LZR
Analog monitor 1
MO1
Analog monitor 2
MO2
Connector Pin
No.
7kW
11kW
or less or more
CN3 CON2
13
3
CON2
4
CN3
CN3
6
6
CN3
CN3
16
16
CN3
CN3
7
7
CN3
CN3
17
17
CN3
CN3
8
8
CN3
CN3
18
18
CN3
CN4
4
1
CN3
CN4
14
2
Function/Application
I/O Division
In the servo-off or alarm status, MBR turns off.
DO-1
in the parameter No. 2.
When using this signal, set 1
When the dynamic brake is operated, DB turns off.
Outputs pulses per servo motor revolution set in parameter
No.38 in the differential line driver system. In CCW rotation
of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of /2.
DO-1
The zero-phase signal of the encoder is output in the
differential line driver system.
DO-2
Used to output the data set in parameter No.22 to across
MO1-LG in terms of voltage. Resolution 10 bits
Used to output the data set in parameter No.22 to across
MO2-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog
output
DO-2
(c) Power supply
Signal
Symbol
Connector Pin
No.
7kW
11kW
or less or more
Internal power output
for interface
VDD
CN3
10
Power input for digital
interface
COM
CN3
5
Common for digital
interface
SG
Control common
LG
Shield
SD
CN3
3
CN3
1
11
Plate
Function/Application
CON2 Driver power output terminal for digital interface.
Used to output 24V 10% to across VDD-COM. Connect with COM.
15
Permissible current: 80mA
power input terminal for digital interface.
CON2 Driver
Used to input 24VDC (200mA or more) for input interface.
18
Connect with VDD.
CON2 Common terminal to VDD and COM. Pins are connected internally.
1
Separated from LG.
CN4 Common terminal to MO1 and MO2.
4
Plate Connect the external conductor of the shield cable.
3- 8
3. SIGNALS AND WIRING
3.3 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
CAUTION
As soon as an alarm occurs, make the Servo off status and interrupt the main
circuit power.
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power
the control circuit off, then on or give the error reset or CPU reset command from the servo system
controller. However, the alarm cannot be deactivated unless its cause is removed.
(Note)
Main circuit power ON
Control circuit
OFF
Base circuit
Dynamic brake
Power off
Power on
ON
OFF
Valid
Invalid
Brake operation
Brake operation
Servo-on command ON
(from controller)
OFF
NO
Alarm
Reset command
(from controller)
YES
NO
1s
ON
OFF
50ms or more
Alarm occurs.
YES
NO
60ms or more
Remove cause of trouble.
Note. Switch off the main circuit power as soon as an alarm occurs.
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32),
overload 1 (50) or overload 2 (51) alarm after its occurrence, without removing its cause, the servo
amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of
the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (30)
alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J2S B, or to 158VDC or less for the MR-J2S
B1.
3- 9
3. SIGNALS AND WIRING
3.4 Interfaces
3.4.1 Common line
The following diagram shows the power supply and its common line.
To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310).
Servo amplifier
24VDC
VDD
COM
MBR
RA
EM1
DI-1
SG
<Isolated>
LA .etc
Differential line
driver output
35mA max.
LAR
.etc
LG
SD
MO1
MO2
Analog monitor output
LG
TXD
RXD
MR
MRR
Servo motor
LG
M
SD
Ground
3 - 10
RS-232C
CN2
Servo motor encoder
3. SIGNALS AND WIRING
3.4.2 Detailed description of the interfaces
This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
section 3.2.2.
Refer to this section and connect the interfaces with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Servo amplifier
VDD
COM
24VDC
R: Approx. 4.7
For a transistor
EM1
Approx. 5mA
Switch
SG
TR
V CES 1.0V
I CEO 100 A
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less)
(a) Inductive load
Servo amplifier
24VDC
VDD
COM
Load
MBR
SG
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
3 - 11
3. SIGNALS AND WIRING
(b) Lamp load
Servo amplifier
24VDC
VDD
COM
R
MBR
SG
(3) Encoder pulse output DO-2
(Differential line driver system)
1) Interface
Max. output current: 35mA
Servo amplifier
Servo amplifier
LA
(LB, LZ)
Am26LS32 or equivalent
LA
(LB, LZ)
100
High-speed photocoupler
150
LAR
(LBR, LZR)
LAR
(LBR, LZR)
LG
SD
SD
2) Pulse output
Servo motor CCW rotation
LA
LAR
Time cycle (T) is determined by the settings
of parameter No.33 and 38.
T
LB
LBR
LZ
LZR
/2
400 s or more
3 - 12
3. SIGNALS AND WIRING
(4) Analog output
Output voltage : 10V
Max. output current :1mA
Resolution :10bit
Servo amplifier
MO1
(MO2)
LG
10k
Reading in one or
A
both directions
1mA meter
SD
3 - 13
3. SIGNALS AND WIRING
3.5 Power line circuit
CAUTION
Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Switch power off at detection of an alarm. Otherwise, a regenerative transistor fault
or the like may overheat the regenerative resistor, causing a fire.
POINT
For the power line circuit of the MR-J2S-11KB to MR-J2S-22KB, refer to
section 3.12 where the power line circuit is shown together with the servo
motor connection diagram.
3.5.1 Connection example
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command
turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made
valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230V power supply
(Note 2)
Alarm
RA1
Controller
forced stop
RA2
Forced
stop
OFF
ON
MC
MC
SK
NFB
MC
L1
Power supply
3-phase
200 to 230V
Servo amplifier
L2
L3
L11
L21
(Note 1)
P
P1
VDD
COM
Forced stop
EM1
SG
Note 1. Make sure to connect P1-P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.2.4.
2. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the
controller side.
3 - 14
3. SIGNALS AND WIRING
(2) For 1-phase 100 to 120V or 1-phase 230V power supply
(Note 1)
Alarm
RA1
Controller
forced stop
RA2
Forced
stop
OFF
ON
MC
MC
SK
Power supply
1-phase
100 to 120V or
1-phase
230V
NFB
MC
L1
Servo amplifier
L2
L3 (Note 2)
L11
L21
VDD
COM
Forced stop
EM1
SG
Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the
controller side.
2. Not provided for 1-phase 100 to 120V.
3 - 15
3. SIGNALS AND WIRING
3.5.2 Terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 10.1.
Symbol
Connection Target
(Application)
Description
Supply L1, L2 and L3 with the following power.
For 1-phase 230V, connect the power supply to L1/L2 and leave L3 open.
Power supply
L1, L2, L3
Main circuit power supply
Servo amplifier MR-J2S-10B to MR-J2S-100B
70B
to 22K
3-phase 200 to 230VAC,
50/60Hz
1-phase 230VAC,
50/60Hz
L1
L1
L2
MR-J2S-10B1
to 40B1
L3
L2
1-phase 100 to 120VAC,
50/60Hz
U, V, W
P1
Servo motor output
L1
L2
Connect to the servo motor power supply terminals (U, V, W). During power-on, do
not open or close the motor power line. Otherwise, a malfunction or faulty may
occur.
When not using the power factor improving DC reactor, connect P1 and P.
(Factory-wired.)
Power factor improving DC
When using the power factor improving DC reactor, disconnect the wiring across
reactor
P1-P and connect the power factor improving DC reactor across P1-P.
Refer to section 11.2.4.
Supply the following power to L11, L21.
Servo amplifier
Power supply
L11, L21
Control circuit power supply
1-phase 200 to 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz
MR-J2S-10B to 700B
L11
MR-J2S-10B1 to 40B1
L21
L11
L21
1) MR-J2S-350B or less
When using servo amplifier built-in regenerative resistor, connect between P
and D terminals. (Wired by default)
When using regenerative option, disconnect between P-D terminals and connect
regenerative option to P terminal and C terminal.
2) MR-J2S-500B and 700B
MR-J2S-500B and 700B do not have D terminal.
When using servo amplifier built-in regenerative resistor, connect P terminal
and C terminal. (Wired by default)
When using regenerative option, disconnect P terminal and C terminal and
connect regenerative option to P terminal and C terminal.
Refer to section 12.1.1.
3) MR-J2S-11KB to 22KB
MR-J2S-11KB to 22KB do not have D terminal.
When not using the power supply return converter and the brake unit, make
sure to connect the regenerative option to P terminal and C terminal.
Refer to section 12.1.1.
P, C, D
Regenerative option
N
Return converter
Brake unit
When using return converter/brake unit, connect to P terminal and N terminal.
Do not connect to servo amplifier MR-J2S-200B or less.
For details, refer to section 12.1.2 to 12.1.3.
Protective earth (PE)
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
3 - 16
3. SIGNALS AND WIRING
3.5.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.5.1 using the magnetic contactor with
the main circuit power supply (3-phase 200V: L1, L2, L3, 1-phase 230V: L1, L2, 1-phase: L1 L2).
Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is
switched on. (Refer to paragraph (2) in this section.)
(2) Timing chart
SON accepted
(3s)
Main circuit
power ON
Control circuit
OFF
ON
Base circuit
OFF
ON
Servo-on command
(from controller)
OFF
60ms
10ms
60ms
(3) Forced stop
CAUTION
Install an forced stop circuit externally to ensure that operation can be stopped and
power shut off immediately.
If the controller does not have a forced stop function, make up a circuit that switches off main circuit
power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is
operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6).
During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of
the servo amplifier may be shortened.
Servo amplifier
VDD
COM
Forced stop
EM1
SG
3 - 17
3. SIGNALS AND WIRING
3.6 Connection of servo amplifier and servo motor
3.6.1 Connection instructions
WARNING
CAUTION
Insulate the connections of the power supply terminals to prevent an electric
shock.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.
POINT
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.
The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.
(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of
the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo
amplifier
Servo motor
PE terminal
(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
3.6.2 Connection diagram
CAUTION
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
For the connection diagram of the MR-J2S-11KB to MR-J2S-22KB, refer
to section 3.12 where the connection diagram is shown together with the
power line circuit.
The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to section 12.2.1. For
encoder cable connection, refer to section 12.1.4. For the signal layouts of the connectors, refer to section
3.6.3.
For the servo motor connector, refer to chapter 3 of the Servo Motor Instruction Manual.
3 - 18
3. SIGNALS AND WIRING
Servo motor
Connection diagram
Servo motor
Servo amplifier
U (Red)
U
V
W
V (White)
W (Black)
Motor
(Green)
(Note 1)
24VDC
B1
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
B2
EM1
To be shut off when servo-off
or alarm occurrence
(Note 2)
Electromagnetic
brake
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
Servo motor
U
V
W
U
V
W
(Note 1)
HC-SFS121 (B) to 301 (B)
HC-SFS202 (B) to 702 (B)
HC-SFS203 (B) 353 (B)
HC-UFS202 (B) to 502 (B)
HC-RFS353 (B) 503 (B)
) of the
Motor
24VDC
B1
B2
EM1
To be shut off when servo-off
or alarm occurrence
(Note 2)
Electromagnetic
brake
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
Servo motor
U
V
W
HC-SFS81 (B)
HC-SFS52 (B) to 152 (B)
HC-SFS53 (B) to 153 (B)
HC-RFS103 (B) to 203 (B)
HC-UFS72 (B) 152 (B)
) of the
U
V
W
(Note 1)
Motor
24VDC
B1
B2
EM1
To be shut off when servo-off
or alarm occurrence
(Note 2)
Electromagnetic
brake
CN2
Encoder cable
Encoder
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3 - 19
) of the
3. SIGNALS AND WIRING
3.6.3 I/O terminals
(1) HC-KFS HC-MFS HC-UFS3000r/min series
Encoder connector signal arrangement
Power supply lead
4-AWG19 0.3m (0.98ft.)
a
Encoder cable 0.3m (0.98ft.)
With connector 1-172169-9
(Tyco Electronics)
Power supply
connector
5557-04R-210
1
3
2
4
View b
Pin
1
2
3
4
b
Power supply connector (Molex)
Without electromagnetic brake
5557-04R-210 (receptacle)
5556PBTL (Female terminal)
With electromagnetic brake
5557-06R-210 (receptacle)
5556PBTL (Female terminal)
Power supply
connector
5557-06R-210
Signal
U
V
W
(Earth)
1
4
2
5
3
6
View b
1
2
3
MR
MRR
BAT
4
5
6
MD
MDR
7
8
9
P5
LG
SHD
View a
Pin
1
2
3
4
5
6
Signal
U
V
W
(Earth)
(Note) B1
(Note) B2
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
3 - 20
3. SIGNALS AND WIRING
(2) HC-SFS HC-RFS HC-UFS2000 r/min series
Servo motor side connectors
Servo motor
HC-SFS81(B)
HC-SFS121(B) to 301(B)
HC-SFS202(B) to 502 (B)
353(B)
HC-RFS103(B) to 203 (B)
Encoder connector
HC-RFS353(B)
b
Brake connector
c
HC-UFS72(B)
Power supply connector
shared.
CE05-2A2410PD-B
MS3102A10SL4P
CE05-2A32-
HC-SFS702(B)
a
for power is
23PD-B
HC-SFS53(B) to 153(B)
17PD-B
MS3102A20-
CE05-2A22-
29P
23PD-B
The connector
CE05-2A24-
503(B)
for power is
10PD-B
shared.
CE05-2A22-
152(B)
brake connector
The connector
CE05-2A22-
HC-SFS52(B) to 152(B)
HC-SFS203(B)
Electromagnetic
For power supply For encoder
23PD-B
HC-UFS202(B) to 502(B)
CE05-2A24-
MS3102A10SL-
10PD-B
4P
Power supply connector signal arrangement
CE05-2A22-23PD-B
Key
F
Pin
A
B
C
D
E
F
G
H
A
G
B
H
E
CE05-2A24-10PD-B
C
D
View c
Signal
U
V
W
(Earth)
Key
F
E
D
A
B
G
C
View c
(Note) B1
(Note) B2
CE05-2A32-17PD-B
Pin
A
B
C
D
E
F
G
Signal
U
V
W
(Earth)
(Note) B1
(Note) B2
Key
D
A
C
B
Pin
A
B
C
D
Signal
U
V
W
(Earth)
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
Encoder connector signal arrangement
Electromagnetic brake connector signal arrangement
MS3102A20-29P
MS3102A10SL-4P
Key
L
A BC
N
M
K
T
J
H
Key
D
P
S
R
G
View a
E
F
Pin
A
B
C
D
E
F
G
H
J
Signal
MD
MDR
MR
MRR
BAT
LG
Pin
K
L
M
N
P
R
S
T
Signal
A
SD
B
View b
LG
P5
3 - 21
Pin
A
B
Signal
(Note)B1
(Note)B2
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
3. SIGNALS AND WIRING
3.7 Servo motor with electromagnetic brake
Configure the electromagnetic brake circuit so that it is activated not only by the
interface unit signals but also by a forced stop (EM1).
Contacts must be open when
servo-off, when an alarm occurrence
and when an electromagnetic brake
interlock (MBR).
Servo motor
Circuit must be
opened during
forced stop (EM1).
RA EM1
CAUTION
24VDC
Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.
POINT
Refer to the Servo Motor Instruction Manual for specifications such as the
power supply capacity and operation delay time of the electromagnetic
brake.
Note the following when the servo motor equipped with electromagnetic brake is used.
1) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.
2) The brake will operate when the power (24VDC) switches off.
3) Switch off the servo-on command after the servo motor has stopped.
(1) Connection diagram
Servo amplifier
RA
VDD
COM
MBR
Forced
stop
Servo motor
B1
24VDC
RA
B2
(2) Setting
In parameter No.21 (electromagnetic brake sequence output), set the time delay (Tb) from
electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (3)
in this section.
3 - 22
3. SIGNALS AND WIRING
(3) Timing charts
(a) Servo-on command (from controller) ON/OFF
Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If
the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay
time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
Servo motor speed
0 r/min
(60ms)
Tb
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR)
(80ms)
Electromagnetic
brake operation
delay time
(Note 1) ON
Servo-on command
(from controller)
OFF
ON
OFF
(Note 3)
Driving instruction
(from controller)
0 r/min
Electromagnetic
brake
Release
Activate
Release delay time and external relay (Note 2)
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual.
3. After the electromagnetic brake is released, give the operation command from the controller.
(b) Forced stop command (from controller) or forced stop (EM1) ON/OFF
Dynamic brake
Servo motor speed
Base circuit
Electromagnetic
brake interlock (MBR)
Forward
rotation
0r/min
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(180ms)
(10ms)
ON
OFF
(180ms)
(Note) ON
Electromagnetic brake
operation delay time
OFF
Forced stop command Invalid (ON)
(from controller)
or
Valid (OFF)
Forced stop (EM1)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 23
3. SIGNALS AND WIRING
(c) Alarm occurrence
Dynamic brake
Servo motor speed
Forward
rotation
0r/min
Dynamic brake
Electromagnetic brake
Electromagnetic brake
(10ms)
ON
Base circuit
OFF
Electromagnetic
brake interlock (MBR)
Trouble (ALM)
(Note) ON
Electromagnetic brake
operation delay time
OFF
No (ON)
Yes (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(d) Both main and control circuit power supplies off
Servo motor speed
Forward
rotation
0r/min
(10ms)
(Note 1)
15 to 60ms
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
ON
Base circuit
OFF
(Note 2) ON
Electromagnetic
brake interlock (MBR)
OFF
Trouble (ALM)
Main circuit
Control circuit
power
Electromagnetic brake
operation delay time
(Note 2)
No (ON)
Yes (OFF)
ON
OFF
Note 1. Changes with the operating status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 24
3. SIGNALS AND WIRING
(e) Only main circuit power supply off (control circuit power supply remains on)
Servo motor speed
Base circuit
Electromagnetic
brake interlock (MBR)
Trouble (ALM)
Main circuit
power supply
Forward
rotation
0r/min
(10ms)
(Note 1)
15ms or more
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
ON
OFF
(Note 3) ON
OFF
Electromagnetic brake
operation delay time
(Note 2)
No (ON)
Yes (OFF)
ON
OFF
Note 1. Changes with the operating status.
2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (E9) occurs and
the trouble (ALM) does not turn off.
3. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 25
3. SIGNALS AND WIRING
3.8 Grounding
Ground the servo amplifier and servo motor securely.
WARNING
To prevent an electric shock, always connect the protective earth (PE) terminal
(
) of the servo amplifier with the protective earth (PE) of the control box.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to
di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always
ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
MC
NFB
Servo motor
Servo amplifier
CN2
Line filter
L1
(Note 1)
Power supply
Encoder
L2
L3
L11
L21
U
U
V
V
W
W
M
CN1A
Programmable
controller
(Note 2)
Protective earth (PE)
Ensure to connect it to PE
terminal of the servo amplifier.
Do not connect it directly
to the protective earth of
the control panel.
Outer
box
Note 1. For 1-phase 230V, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120V power supply. Refer to section 1.3 for the power supply specification.
2. To reduce the influence of external noise, we recommend you to ground the bus cable near the controller using a cable
clamping fixture or to connect three or four data line filters in series.
3 - 26
3. SIGNALS AND WIRING
3.9 Servo amplifier terminal block (TE2) wiring method
POINT
Refer to table 12.1 2) and (4) of section 12.2.1 for the wire sizes used for
wiring.
3.9.1 For servo amplifier produced later than January, 2006
(1) Termination of the cables
(a) Solid wire
After the sheath has been stripped, the cable can be used as it is.
Sheath
Core
Approx. 10mm
(b) Twisted wire
1) When the cable is inserted directly
Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a
short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may
cause a contact fault.
2) When the twisted wires are put together using a bar terminal
Use the bar terminal shown below.
Cable Size
2
Bar Terminal Type
[mm ]
AWG
1.25/1.5
2/2.5
16
14
For 1 cable
AI1.5-10BK
AI2.5-10BU
For 2 cables
AI-TWIN2
1.5-10BK
Crimping Tool
CRIMPFOX ZA 3
Manufacturer
Phoenix Contact
Cut the cable running out of bar terminal to less than 0.5 mm
Less than 0.5mm
When using a bar terminal for 2 cables, insert the cables in the direction where the insulation sleeve
does not interfere with next pole, and pressure then.
Pressure
Pressure
3 - 27
3. SIGNALS AND WIRING
(2) Connection
(a) When the cable is inserted directly
Insert the cable to the end pressing the button with a small flat-blade screwdriver or the like.
Button
Small flat blade
screwdriver or the like
When removing the short-circuit bar
from across P-D, press the buttons
of P and D alternately pulling the
short-circuit bar. For the installation,
insert the bar straight to the end.
Twisted wire
(b) When the twisted wires are put together using a bar terminal
Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.
Bar terminal for one
wire or solid wire
Bar terminal for two wires
When two cables are inserted into one opening, a bar terminal for 2 cables is required.
3 - 28
3. SIGNALS AND WIRING
3.9.2 For servo amplifier produced earlier than December, 2005
(1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Approx. 10mm
(0.39inch)
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault.
Alternatively, a bar terminal may be used to put the wires together.
Cable Size
Bar Terminal Type
[mm2]
AWG
1.25/1.5
2/2.5
16
14
For 1 cable
AI1.5-10BK
AI2.5-10BU
For 2 cables
AI-TWIN2
1.5-10BK
Crimping Tool
Manufacturer
CRIMPFOX ZA 3 or
Phoenix Contact
CRIMPFOX UD 6
(2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that
the cable does not come off. (Tightening torque: 0.3 to 0.4N m(2.7 to 3.5 lb in)) Before inserting the
cable into the opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.
Flat-blade screwdriver
Tip thickness 0.4 to 0.6mm
Overall width 2.5 to 3.5mm
To loosen.
To tighten.
Cable
Opening
Control circuit terminal block
Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The
following table indicates the recommended products of the torque screwdriver for tightening torque
management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit,
please consult us.
Product
Torque screwdriver
Bit for torque screwdriver
Model
N6L TDK
B-30, flat-blade, H3.5 X 73L
3 - 29
Manufacturer/Representative
Nakamura Seisakusho
Shiro Sangyo
3. SIGNALS AND WIRING
3.10 Instructions for the 3M connector
When fabricating an encoder cable or the like, securely connect the shielded external conductor of the
cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor
Sheath
Core
Sheath
External conductor
Pull back the external conductor to cover the sheath
Strip the sheath.
Screw
Cable
Screw
Ground plate
3 - 30
3. SIGNALS AND WIRING
3.11 Control axis selection
POINT
The control axis number set to SW1 should be the same as the one set to
the servo system controller.
Use the axis select switch (SW1) to set the control axis number for the servo. If the same numbers are set
to different control axes in a single communication system, the system will not operate properly. The
control axes may be set independently of the bus cable connection sequence.
Set the switch to "F" when executing the test operation mode using MR Configurator (servo configuration
software).
Axis select switch (SW1)
B C DE
2
A
3 4 5 6
7 8 9
F 0 1
No.
Description
0
Axis 1
1
Axis 2
2
Axis 3
3
Axis 4
4
Axis 5
5
Axis 6
6
Axis 7
7
Axis 8
8
Not used
9
Not used
A
Not used
B
Not used
C
Not used
D
Not used
E
Not used
F
Test operation mode or
when machine analyzer is used
(Refer to section 6.1.2)
3 - 31
3. SIGNALS AND WIRING
3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB
CAUTION
Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to
shut down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Switch power off at detection of an alarm. Otherwise, a regenerative transistor fault
or the like may overheat the regenerative resistor, causing a fire.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
The power-on sequence is the same as in section 3.5.3.
3 - 32
3. SIGNALS AND WIRING
3.12.1 Connection example
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal
turned off as soon as an alarm occurs, a servo forced stop is made valid, a controller forced stop, or a servo
motor thermal relay alarm is made valid. A no-fuse breaker (NFB) must be used with the input cables of
the power supply.
Servo motor (Note 1)
thermal relay Alarm
RA3
RA1
Controller
forced stop
RA2
Forced
stop
OFF
ON
MC
MC
Servo amplifier
(Note 2)
Dynamic
break
NFB
MC
L1
3-phase
200 to 230V
L2
L3
L11
L21
(Note 4)
SK
Servo motor
HA-LFS series
U
U
V
V
W
W
M
CN2
P
MR-JHSCBL M
cable
Encoder
BU
BV
P1
Cooling fan
VDD
COM
Forced stop
EM1
OHS1
24VDC
power supply
BW
(Note 3)
OHS2 Servo motor
thermal relay
RA3
SG
Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the
controller side.
2. When using the external dynamic break, refer to section 12.1.4.
3. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
4. Always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.2.4.
3 - 33
3. SIGNALS AND WIRING
3.12.2 Servo amplifier terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 10.1.
Symbol
Connection Target
(Application)
L1, L2, L3
Main circuit power supply
U, V, W
Servo motor output
L11, L21
Supply L1, L2 and L3 with three-phase 200 to 230VAC, 50/60Hz power.
Connect to the servo motor power supply terminals (U, V, W).
Control circuit power supply Supply L11 and L21 with single-phase 200 to 230VAC power.
P, C
Regenerative option
N
Return converter
Brake unit
Protective earth (PE)
P1, P
Description
The servo amplifier built-in regenerative resistor is not connected at the time of
shipment.
When using the regenerative option, wire it across P-C.
Refer to section 12.1.1 for details.
When using the return converter or brake unit, connect it across P-N.
Refer to sections 12.1.2 and 12.1.3 for details.
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
Power factor improving DC P1-P are connected before shipment. When connecting a power factor improving
DC reactor, remove the short bar across P1-P. Refer to section 12.2.4 for details.
reactors
3 - 34
3. SIGNALS AND WIRING
3.12.3 Servo motor terminals
Terminal box
Encoder connector
MS3102A20-29P
Encoder connector
signal arrangement
MS3102A20-29P
Key
L
M
A B
C
N
T
P
D
K
J
S
H
E
R
G
F
Pin
Signal
Pin
A
MD
K
B
MDR
L
C
MR
M
D
MRR
N
E
Signal
SHD
P
F
BAT
G
LG
H
R
LG
S
P5
T
J
Terminal box inside (HA-LFS601
701M
11K2)
Thermal sensor
terminal block
(OHS1 OHS2) M4
Motor power supply
terminal block
(U V W) M6 screw
Cooling fan
terminal block
(BU BV) M4 screw
Earth terminal
M6 screw
Terminal block signal arrangement
OHS1OHS2
Encoder connector
MS3102A20-29P
3 - 35
U
V
W
BU
BV
3. SIGNALS AND WIRING
Terminal box inside (HA-LFS801
12K1
11K1M
15K1M
Cooling fan terminal
block (BU BV BW)
M4 screw
15K2
22K2)
Thermal sensor terminal
block (OHS1 OHS2)
M4 screw
Terminal block signal arrangement
Motor power supply
terminal block
(U V W) M8 screw
Encoder connector
MS3102A20-29
Earth terminal M6 screw
Terminal box inside (HA-LFS15K1
20K1
22K1M
BU
BV
U
V
BW OHS1OHS2
W
25K1)
Encoder connector
MS3102A20-29P
Motor power supply
terminal block
(U V W) M8 screw
Earth terminal
M6 screw
Earth terminal
M6 screw
Cooling fan
terminal block
(BU BV BW) M4 screw
Terminal block signal arrangement
Thermal sensor
terminal block
(OHS1 OHS2) M4 screw
3 - 36
U
V
W
BU
BV
BW OHS1 OHS2
3. SIGNALS AND WIRING
Signal Name
Power supply
Abbreviation
U
V
W
Description
Connect to the motor output terminals (U, V, W) of the servo amplifier.
Supply power which satisfies the following specifications.
Voltage
division
Servo motor
(Note)
BU BV
BW
Rated
current
[A]
Power
consumption
[W]
42(50Hz)
1-phase 200 to 220VAC
50Hz 54(60Hz)
1-phase 200 to 230VAC
60Hz
0.21(50Hz)
0.25(60Hz)
3-phase 200 to 230VAC
62(50Hz)
50Hz/60Hz 76(60Hz)
0.18(50Hz)
0.17(60Hz)
HA-LFS-15K1, 20K1,
22K1M
65(50Hz)
85(60Hz)
0.20(50Hz)
0.22(60Hz)
HA-LFS25K1
120(50Hz)
175(60Hz)
0.65(50Hz)
0.80(60Hz)
HA-LFS601, 701M,
11K2
Cooling fan
Voltage/frequency
200V
class
HA-LFS801 12K1,
11K1M, 15K1M,
15K2, 22K2
Motor thermal relay OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.
Earth terminal
For grounding, connect to the earth of the control box via the earth terminal of the servo
amplifier.
Note. There is no BW when the HA-LFS11K2 is used.
3 - 37
3. SIGNALS AND WIRING
MEMO
3 - 38
4. OPERATION AND DISPLAY
4. OPERATION AND DISPLAY
4.1 When switching power on for the first time
Before starting operation, check the following.
(1) Wiring
(a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo
amplifier.
(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L1, L2, L3) of the servo motor.
(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(e) Note the following when using the regenerative option, brake unit or power regeneration converter.
1) For the MR-J2S-350B or less, the lead has been removed from across D-P of the control circuit
terminal block, and twisted cables are used for its wiring.
2) For the MR-J2S-500B MR-J2S-700B, the lead has been removed from across P-C of the servo
amplifier built-in regenerative resistor, and twisted cables are used for its wiring.
(f) 24VDC or higher voltages are not applied to the pins of connector CN3.
(g) SD and SG of connector CN3 are not shorted.
(h) The wiring cables are free from excessive force.
(i) CN1A should be connected with the bus cable connected to the servo system controller or preceding
axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent
axis servo amplifier or with the termination connector (MR-A-TM.)
(2) Axis number
The axis number setting of SW1 should be the same as that of the servo system controller. (Refer to
section 3.11.)
(3) Parameters
On the servo system controller screen or using the MR Configurator (servo configuration software),
make sure that correct values have been set in the parameters.
(4) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(5) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.
(b) The servo motor and the machine connected with the servo motor can be operated.
4- 1
4. OPERATION AND DISPLAY
4.2 Start up
WARNING
Do not operate the switches with wet hands. You may get an electric shock.
Do not operate the controller with the front cover removed. High-voltage terminals
and charging area exposed and you may get an electric shock.
During power-on or operation, do not open the front cover. You may get an electric
shock.
CAUTION
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
servo motor, etc.since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
(1) Power on
When the main and control circuit power supplies are switched on, "b1" (for the first axis) appears on
the servo amplifier display.
In the absolute position detection system, first power-on results in the absolute position lost (25) alarm
and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged
capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then
switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.
(2) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions.
Parameter No.
Name
Setting
Description
Increase in positioning address rotates the
7
Rotation direction setting
0
8
Auto tuning
1
Used.
9
Servo response
5
Slow response (initial value) is selected.
motor in the CCW direction.
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
4- 2
4. OPERATION AND DISPLAY
(3) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) The controller transmits the servo-on command.
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked.
(4) Home position return
Always perform home position return before starting positioning operation.
(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor
and brings it to a stop.
When the servo motor is equipped with an electromagnetic brake, refer to section 3.7.
Operation/command
Servo system controller
Servo amplifier
Stopping condition
Servo off command
The base circuit is shut off and the servo motor coasts.
Forced stop command
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to stop. The controller forced stop warning
(E7) occurs.
Alarm occurrence
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to stop.
Forced stop
(EM1) OFF
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to stop. The servo forced stop warning
(E6) occurs.
4- 3
4. OPERATION AND DISPLAY
4.3 Servo amplifier display
On the servo amplifier display (two-digit, seven-segment display), check the status of communication with
the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an
alarm.
(1) Display sequence
Servo amplifier power ON
Waiting for servo system controller
power to switch ON
Servo system controller power ON
Initial data communication
with servo system controller
During forced stop and forced stop
Ready OFF/servo OFF
(Note)
or
Ready ON
Forced stop and forced stop
reset
(Note)
Ready ON/servo OFF
When alarm occurs,
alarm code appears.
Servo ON
(Note)
Ready ON/servo ON
Ordinary operation
Servo system controller power OFF
Servo system controller power ON
Note. The right-hand segments of b1, c1 and d1
indicate the axis number.
(Axis 1 in this example)
4- 4
4. OPERATION AND DISPLAY
(2) Indication list
Indication
Status
Description
Initializing
Power to the servo system controller was switched off during power-on of the
servo amplifier.
Ab
Initializing
The servo amplifier was switched on when power to the servo system
controller is off.
The axis No. set to the servo system controller does not match the axis No.
set with the axis setting switch (SW1) of the servo amplifier.
A servo amplifier fault occurred or an error took place in communication
with the servo system controller. In this case, the indication changes.
"Ab"
"AC"
"Ad"
"Ab"
The servo system controller is faulty.
AC
Initializing
Communication started between the servo system controller and servo
amplifier.
Ad
Initializing
The initial parameters from the servo system controller were received.
AE
Initialize completion
Initial data communication with the servo system controller was completed.
AA
(Note 1)
b#
Ready OFF
The ready off signal from the servo system controller was received.
(Note 1)
d#
Servo ON
The ready off signal from the servo system controller was received.
(Note 1)
C#
Servo OFF
The ready off signal from the servo system controller was received.
(Note 2)
**
Alarm
The alarm No./warning No. that occurred is displayed. (Refer to section 9.1.)
88
CPU error
(Note 3)
b0.
(Note 1)
b#.
d#.
c#.
Warning
(Note 3)
Test operation mode
Initial data communication with the servo system controller was completed.
JOG operation, positioning operation, programmed operation, DO forced
output.
Motor-less operation
Note 1. # denotes any of numerals 0 to 8 and what it means is listed below.
#
Description
0
Set to the test operation mode.
1
First axis
2
Second axis
3
Third axis
4
Fourth axis
5
Fifth axis
6
Sixth axis
7
Seventh axis
8
Eighth axis
2. ** indicates the warning/alarm No.
3. Requires the MR Configurator (servo configuration software).
4- 5
4. OPERATION AND DISPLAY
4.4 Test operation mode
CAUTION
The test operation mode is designed for servo operation confirmation and not for
machine operation confirmation. Do not use this mode with the machine. Always
use the servo motor alone.
If an operation fault occurred, use the forced stop (EM1) to make a stop.
By using a personal computer and the MR Configurator (servo configuration software MRZJW3SETUP121E), you can execute jog operation, positioning operation, motor-less operation and DO forced
output without connecting the motion controller.
When executing the test operation at start up, confirm that the servo motor operates normally at the
slowest speed.
(1) Test operation mode
(a) Jog operation
Jog operation can be performed without using the servo system controller. Use this operation with
the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the jog operation screen of the MR Configurator (servo configuration software).
1) Operation pattern
Item
Initial value
Setting range
Speed [r/min]
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
1 to 20000
2) Operation method
Operation
Screen control
Forward rotation start
Click the "Forward" button.
Reverse rotation start
Click the "Reverse" button.
Stop
Click the "Stop" button.
(b) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this
operation with the forced stop reset. This operation may be used independently of whether the
servo is on or off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of the MR Configurator (servo configuration
software).
1) Operation pattern
Item
Initial value
Setting range
Travel [pulse]
100000
0 to 9999999
Speed [r/min]
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
1 to 50000
2) Operation method
Operation
Screen control
Forward rotation start
Click the "Forward" button.
Reverse rotation start
Click the "Reverse" button.
Pause
Click the "Pause" button.
4- 6
4. OPERATION AND DISPLAY
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the programmed operation screen of the MR Configurator (servo configuration
software). For full information, refer to the MR Configurator (Servo Configuration Software)
Installation Guide.
Operation
Screen Control
Start
Click the "Start" button.
Stop
Click the "Reset" button.
(d) Motorless operation
POINT
Motor-less operation may be used with the MR Configurator (servo
configuration software). Usually, however, use motor-less operation which
is available by making the servo system controller parameter setting.
Without connecting the servo motor, output signals or status displays can be provided in response
to the servo system controller commands as if the servo motor is actually running. This operation
may be used to check the servo system controller sequence. Use this operation with the forced stop
reset. Use this operation with the servo amplifier connected to the servo system controller.
Exercise control on the motor-less operation screen of the MR Configurator (servo configuration
software).
1) Load conditions
Load Item
Condition
Load torque
Load inertia moment ratio
0
Same as servo motor inertia moment
2) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur
as when the servo motor is connected.
Encoder error 1 (16)
Encoder error 2 (20)
Absolute position erasure (25)
Battery cable breakage warning (92)
Battery warning (9F)
(e) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. Use this function
for output signal wiring check, etc.
Exercise control on the DO forced output screen of the MR Configurator (servo configuration
software).
4- 7
4. OPERATION AND DISPLAY
(2) Configuration
Configuration should be as in section 3.1. Always install a forced stop switch to enable a stop at
occurrence of an alarm.
(3) Operation procedure
(a) Jog operation, positioning operation, program operation, DO forced output.
1) Switch power off.
2) Set SW1 to “F”.
When SW1 is set to the axis number and operation is performed by the servo system controller,
the test operation mode screen is displayed on the personal computer, but no function is
performed.
3) Switch servo amplifier power on.
When initialization is over, the display shows the following screen.
Decimal point flickers.
4) Perform operation with the personal computer.
(b) Motor-less operation
1) Switch off the servo amplifier.
2) Perform motor-less operation with the personal computer.
The display shows the following screen.
Decimal point flickers.
4- 8
5. PARAMETERS
5. PARAMETERS
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
POINT
When the servo amplifier is connected with the servo system controller, the
parameters are set to the values of the servo system controller. Switching
power off, then on makes the values set on the MR Configurator (servo
configuration software) invalid and the servo system controller values valid.
In the manufacturer setting parameters, do not set any values other than
the initial values.
Setting may not be made to some parameters and ranges depending on the
model or version of the servo system controller. For details, refer to the
servo system controller user's manual.
5.1 Parameter write inhibit
POINT
When setting the parameter values from the servo system controller, the
parameter No. 40 setting need not be changed.
In this servo amplifier, the parameters are classified into the basic parameters (No. 1 to 11), adjustment
parameters (No. 12 to 26) and expansion parameters (No. 27 to 40) according to their safety aspects and
frequencies of use. The values of the basic parameters may be set/changed by the customer, but those of
the adjustment and expansion parameters cannot. When in-depth adjustment such as gain adjustment is
required, change the parameter No. 40 value to make all parameters accessible. Parameter No. 40 is
made valid by switching power off, then on after setting its value.
The following table indicates the parameters which are enabled for reference and write by parameter No.
40 setting.
Setting
0000(initial value)
000A
000C
000E
000F
100E
Operation
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Operation from controller
Operation from MR Configurator
(servo configuration software)
Parameter No. 1 to 75
Parameter No. 1 to 11 40
Parameter No. 1 to 75
Parameter No. 40
Parameter No. 1 to 75
Parameter No. 1 to 40
Parameter No. 1 to 11 40
Parameter No. 1 to 75
Parameter No. 1 to 40
Parameter No. 1 to 75
Parameter No. 1 to 75
Parameter No. 1 to 75
Parameter No. 1 to 40
Parameter No. 40
5.2 Lists
POINT
For any parameter whose symbol is preceded by*, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid. The parameter is set when communication between the
servo system controller and servo amplifier is established (b* is
displayed). After that, power the servo amplifier off once and then on
again.
5- 1
5. PARAMETERS
(1) Item list
Expansion parameters
Adjustment parameters
Basic parameters
ClassifiNo.
cation
Symbol
(Note 1)
Initial
Value
Name
1
2
3
4
5
6
7
8
*AMS
*REG
Amplifier setting
Regenerative resistor
*FBP
*POL
ATU
Feedback pulse number
Rotation direction selection
Auto tuning
9
RSP
Servo response
10
11
12
TLP
TLN
GD2
Forward rotation torque limit (Note 2)
Reverse rotation torque limit (Note 2)
Ratio of load inertia to servo motor inertia (load inertia ratio)
13
PG1
Position control gain 1
14
VG1
Speed control gain 1
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
18
19
20
21
22
23
24
25
26
27
28
29
30
NCH
FFC
INP
MBR
MOD
*OP1
*OP2
LPF
ZSP
Machine resonance suppression filter 1 (Notch filter)
Feed forward gain
In-position range
Electromagnetic brake sequence output
Analog monitor output
Optional function 1
Optional function 2
Low-pass filter/adaptive vibration suppression control
For manufacturer setting
Analog monitor 1 offset
Analog monitor 2 offset
For manufacturer setting
Zero speed
31
ERZ
Error excessive alarm level
For manufacturer setting by servo system controller
Automatically set from the servo system controller
MO1
MO2
Unit
Customer
setting
0000
0000
0080
000
1
0
0
0001
7kW or
less: 0005
11kW or
more: 0002
300
300
7.0
7kW or
less: 35
11kW or
more: 19
7kW or
less: 177
11kW or
more: 96
7kW or
less: 35
11kW or
more: 19
7kW or
less: 817
11kW or
more:
455
7kW or
less:48
11kW or
more:91
0000
0
100
0
0001
0000
0000
0000
0
0
0
0001
50
80
%
%
times
rad/s
rad/s
rad/s
rad/s
ms
%
pulse
ms
mV
mV
r/min
(Note 3)
0.025rev
32
OP5
Optional function 5
0000
33
*OP6 Optional function 6
0000
34
VPI
PI-PID control switch-over position droop
0
pulse
35
For manufacturer setting
0
36
VDC
Speed differential compensation
980
37
For manufacturer setting
0010
38
*ENR Encoder pulses output
4000
pulse/rev
39
For manufacturer setting
0
40
*BLK Parameter write inhibit (Note 2)
0000
Note 1. Factory settings of the servo amplifier. Connecting it with the servo system controller and switching power on changes them to
the settings of the servo system controller.
2. Setting and changing cannot be made from the peripheral software of the motion controller.
3. The setting unit of 0.025rev applies for the servo amplifier of software version B1 or later. For the amplifier of software version
older than B1, the setting unit of 0.1rev is applied.
5- 2
5. PARAMETERS
Expansion parameter 2
ClassifiNo.
cation
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
Symbol
Initial
Value
Name
For manufacturer setting
*CDP
CDS
CDT
GD2B
PG2B
VG2B
VICB
Gain changing selection
Gain changing condition
Gain changing time constant
Ratio of load inertia moment to servo motor inertia moment 2
Position control gain 2 changing ratio
Speed control gain 2 changing ratio
Speed integral compensation changing ratio
For manufacturer setting
*OPC
NH2
Optional function C
Machine resonance suppression filter 2
For manufacturer setting
Note. Depends on parameter No. 49 setting.
5- 3
500
0000
0111
20
50
0
0
0
0000
10
1
7.0
100
100
100
0000
0000
0000
0000
0000
0000
0000
400
100
1
1
0
0
0
0
0
0
0
0
0
Unit
(Note)
ms
time
%
%
%
Customer
setting
5. PARAMETERS
(2) Details list
ClassifiNo.
cation
1
Symbol
*AMS
Name and Function
Amplifier setting
Used to select the absolute position detection.
Initial
Value
Unit
Setting
Range
0000
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0 0 0
Absolute position detection selection
0: Invalid (Used in incremental system.)
1: Valid (Used in absolute position
detection system.)
2
*REG
Regenerative resistor
Used to select the regenerative option used.
0 0
Basic parameters
Regenerative selection option
00: Regenerative option is not used with 7kW or
less servo amplifier (The built-in regenerative
resistor is used. However, the MR-J2S-10B
does not have a built-in regenerative resistor
and therefore cannot use it.)
Supplied regenerative resistors or regenerative
option is used with 11k to 22kW amplifier
01: FR-RC, FR-BU2, FR-CV
05: MR-RB32
08: MR-RB30
09: MR-RB50 (Cooling fan is required)
0B: MR-RB31
0C: MR-RB51 (Cooling fan is required)
0E: When regenerative resistors or regenerative
option supplied to 11k to 22kW are cooled by
cooling fans to increase capability
10: MR-RB032
11: MR-RB12
The MR-RB65, 66 and 67 are regenerative options
that have encased the GRZG400-2 ,
GRZG400-1 and GRZG400-0.8 , respectively.
When using any of these regenerative options,
make the same parameter setting as when using
the GRZG400-2 , GRZG400-1 or
GRZG400-0.8 (supplied regenerative resistors or
regenerative option is used with 11k to 22kW
servo amplifier).
Select the external dynamic brake.
0: Invalid
1: Valid
Select "1" when using the external dynamic brake
with the MR-J2S-11KB to 22KB.
POINT
Wrong setting may cause the regenerative option
to burn.
If the regenerative option selected is not for use
with the servo amplifier, parameter error (37)
occurs.
3
4
5
For manufacturer setting by servo system controller
Automatically set from the servo system controller
5- 4
0080
0000
1
5. PARAMETERS
ClassifiNo.
cation
6
Initial
Value
Symbol
Name and Function
*FBP
Feedback pulse number
Set the number of pulses per revolution in the controller side command
unit. Information on the motor such as the feedback pulse value, present
position, droop pulses and within-one-revolution position are derived
from the values converted into the number of pulses set here.
Setting
Number of feedback pulses
0
1
6
7
255
16384
8192
32768
131072
Depending on the number of motor resolution pulses.
Unit
Setting
Range
0
Refer to
name
and
function
column.
0
Refer to
name
and
function
column.
0001
Refer to
name
and
function
column.
POINT
If the number of pulses set exceeds the actual motor
resolution, the motor resolution is set automatically.
*POL
Rotation direction selection
Used to select the rotation direction of the servo motor.
0: Forward rotation (CCW) with the increase of the positioning
address.
1: Reverse rotation (CW) with the increase of the positioning
address.
Basic parameters
7
CCW
CW
8
ATU
Auto tuning
Used to select the gain adjustment mode of auto tuning.
0 0 0
Gain adjustment mode selection
(For details, refer to section 6.1.1.)
Set
Gain adjustment
Description
value
mode
0 Interpolation mode Fixes position control
gain 1 (parameter
No. 13).
1
3
Auto tuning mode 1 Ordinary auto tuning.
Auto tuning mode 2 Fixes the load inertia
moment ratio set in
parameter No. 12.
Response level setting
can be changed.
4
Manual mode1
Simple manual
adjustment.
2
Manual mode 2
Manual adjustment of
all gains.
5- 5
5. PARAMETERS
ClassifiNo.
cation
9
Symbol
RSP
Name and Function
Servo response
Used to select the response of auto tuning.
0 0 0
Response level selection
Set
value
Machine resonance
frequency guideline
Unit
Setting
Range
Refer to
name
and
function
column.
7kW or
less
:0005
11kW or
more
:0002
1
15Hz
20Hz
2
25Hz
3
30Hz
4
5
35Hz
45Hz
6
55Hz
7
Middle
70Hz
8
response
9
85Hz
105Hz
A
B
130Hz
160Hz
C
200Hz
D
High
240Hz
E
response
F
300Hz
If the machine hunts or generates large gear
sound, decrease the set value.
To improve performance, e.g. shorten the
settling time, increase the set value.
Basic parameters
Adjustment parameters
Response
level
Low
response
Initial
Value
10
TLP
Forward rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
reverse rotation regenerative mode.
In other than the test operation mode on the MR Configurator (servo
configuration software), the torque limit value on the servo system
controller side is made valid.
300
%
0
to
500
11
TLN
Reverse rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
forward rotation regenerative mode.
In other than the test operation mode on the MR Configurator (servo
configuration software), the torque limit value on the servo system
controller side is made valid.
300
%
0
to
500
12
GD2
Ratio of load inertia to servo motor inertia (load inertia ratio)
Used to set the ratio of the load inertia (inertia moment) to the
inertia moment of the servo motor shaft. When auto tuning mode 1
and interpolation mode is selected, the result of auto tuning is
automatically used. (Refer to section 6.1.1)
7.0
times
0.0
to
300.0
13
PG1
7kW or
Position control gain 1
Used to set the gain of position loop 1. Increase the gain to improve less:35
track ability performance in response to the position command.
When auto turning mode 1,2 is selected, the result of auto turning is 11kW or
automatically used.
more:19
rad/s
4
to
2000
5- 6
5. PARAMETERS
ClassifiNo.
cation
Adjustment parameters
14
Symbol
VG1
Initial
Value
Name and Function
Speed control gain 1
Normally this parameter setting need not be changed. Higher setting
increases the response level but is liable to generate vibration and/or
noise.
When auto tuning mode 1,2 and interpolation mode is selected, the
result of auto tuning is automatically used.
7kW or
less:177
Unit
Setting
Range
rad/s
20
to
5000
11kW or
more:96
15
PG2
7kW or
Position control gain 2
less:35
Used to set the gain of the position loop.
Set this parameter to increase position response to load disturbance.
Higher setting increases the response level but is liable to generate 11kW or
vibration and/or noise.
more:19
When auto tuning mode 1 2, manual mode and interpolation mode
is selected, the result of auto tuning is automatically used.
rad/s
1
to
1000
16
VG2
7kW or
Speed control gain 2
less:817
Set this parameter when vibration occurs on machines of low
rigidity or large backlash.
Higher setting increases the response level but is liable to generate
11kW or
vibration and/or noise.
more:455
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.
rad/s
20
to
20000
17
VIC
Speed integral compensation
Used to set the constant of integral compensation.
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.
ms
1
to
1000
18
NCH
Machine resonance suppression filter 1 (Notch filter)
Used to select the machine resonance suppression filter.
(Refer to section 7.2.)
7kW or
less:48
11kW or
more:91
0000
Refer to
name
and
function
column.
0
Notch frequency selection
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
00
Invalid
08
562.5
10
281.3
18
187.5
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
Notch depth selection
Setting
Depth
Gain
0
Deep
40dB
14dB
8dB
4dB
1
2
3
19
FFC
to
Shallow
Feed forward gain
Set the feed forward gain. When the setting is 100%, the droop
pulses during operation at constant speed are nearly zero. However,
sudden acceleration/deceleration will increase the overshoot. As a
guideline, when the feed forward gain setting is 100%, set 1s or more
as the acceleration/deceleration time constant up to the rated speed.
5- 7
0
%
0
to
100
5. PARAMETERS
ClassifiNo.
cation
20
Symbol
Name and Function
INP
In-position range
Used to set the droop pulse range in which the in-position (INP) will
be output to the controller. Make setting in the feedback pulse unit
(parameter No. 6).
For example, when you want to set 10 m in the conditions that the
ball screw is direct coupled, the lead is 10mm, and the feedback
pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as indicated
by the following expression.
10
10
6
10
10
3
8192
8.192
MBR
Electromagnetic brake sequence output
Used to set a time delay (Tb) from when the electromagnetic brake
interlock signal (MBR) turns off until the base circuit is shut off.
22
MOD
Analog monitor output
Used to select the signal provided to the analog monitor
(MO1) analog monitor (MO2).
(Refer to section 5.3.)
Adjustment parameters
Unit
100
pulse
0
to
50000
0
ms
0
to
1000
8
21
0
0001
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0
Setting
Setting
Range
Initial
Value
Analog monitor1 (MO1) Analog monitor2 (MO2)
0
Servo motor speed ( 8V/max. speed)
1
Torque ( 8V/max. torque) (Note)
2
Servo motor speed ( 8V/max. speed)
3
Torque ( 8V/max. torque) (Note)
4
Current command ( 8V/max. current command)
5
Speed command ( 8/max. speed)
6
Droop pulses
( 10V/128 pulses)
7
Droop pulses
( 10V/2048 pulses)
8
Droop pulses
( 10V/8192 pulses)
9
Droop pulses ( 10V/32768 pulses)
A
Droop pulses ( 10V/131072 pulses)
B
Bus voltage ( 8V/400V)
Note. 8V is outputted at the maximum torque.
23
*OP1
Optional function 1
Used to make the servo forced stop function invalid.
0 0 0
Servo forced stop selection
0: Valid (Use the forced stop (EM1).)
1: Invalid (Do not use the forced stop (EM1).)
Automatically switched on internally
5- 8
5. PARAMETERS
ClassifiNo.
cation
24
Symbol
Name and Function
*OP2
Optional function 2
Used to select slight vibration suppression control and motor-less
operation
0
Initial
Value
Unit
Setting
Range
0000
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0
Slight vibration suppression control selection
Made valid when auto tuning selection is
set to "0002" in parameter No.8.
Used to suppress vibration at a stop.
0: Invalid
1: Valid
Motor-less operation selection
0: Invalid
1: Makes motor-less operation valid.
When motor-less operation is made valid, signal output or
status display can be provided as if the servo motor is
running actually in response to the servo system controller
command, without the servo motor being connected.
Motor-less operation is performed as in the motor-less
operation using the MR Configurator (servo configuration
software). (Refer to (d), (1) of section 4.4.)
25
LPF
Low-pass filter/adaptive vibration suppression control
Used to select the low-pass filter and adaptive vibration suppression
control. (Refer to chapter 7.)
Adjustment parameters
0
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
When you choose "valid", the filter of the handwidth
represented by the following expression is set
automatically.
For 1kW or less
2
VG2 setting 10
[Hz]
(1 GD2 setting 0.1)
For 2kW or more
2
VG2 setting 5
[Hz]
(1 GD2 setting 0.1)
Adaptive vibration suppression control selection
0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance to
suppress machine vibration.
2: Held
The characteristics of the filter generated so far are
held, and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity
selection
Used to select the sensitivity of machine resonance
detection.
0: Normal
1: Large sensitivity
26
For manufacturer setting
Do not change this value by any means.
5- 9
0
5. PARAMETERS
ClassifiNo.
cation
Symbol
Name and Function
Initial
Value
Unit
27
MO1
Analog monitor 1 offset
Used to set the offset voltage of the analog monitor1 (MO1) output.
0
mV
999
to
999
28
MO2
Analog monitor 2 offset
Used to set the offset voltage of the analog monitor2 (MO2) output.
0
mV
999
to
999
29
For manufacturer setting
Do not change this value by any means.
0001
30
ZSP
Zero speed
Used to set the output range of the zero speed signal (ZSP).
50
r/min
0
to
10000
31
ERZ
Error excessive alarm level
Used to set the output range of the error excessive alarm.
Note: The setting unit of 0.025rev applies for the servo amplifier of
software version B1 or later. For the amplifier of software version
older than B1, the setting unit of 0.1rev is applied.
80
(Note)
0.025rev
1
to
1000
32
OP5
Optional function 5
Used to select PI-PID control switch-over.
0000
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0 0 0
Expansion parameters
Setting
Range
PI-PID control switch over selection
0: PI control is always valid.
1: Droop-based switching is valid in position
control mode (refer to parameter No. 34).
2: PID control is always valid.
33
*OP6
Option function 6
Used to select the serial communication baud rate, serial
communication response delay time setting and encoder pulse
output setting.
0
Serial communication baud rate selection
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Serial communication response delay time
0: Invalid
1: Valid, replay sent in 800 s or more
Encoder pulse output setting selection
(refer to parameter No.38)
0: Pulse output designation
1: Division ratio setting
34
VPI
35
36
37
VDC
PI-PID control switch-over position droop
Used to set the position droop value (number of pulses) at which PI
control is switched over to PID control.
Set "0001" in parameter No. 32 to make this function valid.
0
For manufacturer setting
Do not change this value by any means.
0
Speed differential compensation
Used to set the differential compensation.
980
For manufacturer setting
Do not change this value by any means.
0010
5 - 10
pulse
0
to
50000
0
to
1000
5. PARAMETERS
ClassifiNo.
cation
Symbol
Name and Function
38
*ENR
Encoder pulses output
Used to set the encoder pulses (A-phase, B-phase) output by the
servo amplifier.
Set the value 4 times greater than the A-phase and B-phase pulses.
You can use parameter No. 33 to choose the pulse output setting or
output division ratio setting.
The number of A-phase and B-phase pulses actually output is 1/4
times greater than the preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by
4). Use this parameter within this range.
For pulse output designation
Set "0
" (initial value) in parameter No. 33.
Set the number of pulses per servo motor revolution.
Pulse output set value [pulses/rev]
At the setting of 5600, for example, the actually output A-phase
and B-phase pulses are as indicated below.
A-phase and B-phase pulses output
5600
4
Initial
Value
Unit
4000
pulse/rev
Setting
Range
1
to
65535
1400[pulse]
Expansion parameters
For output division ratio setting
Set "1
" in parameter No. 33.
The number of pulses per servo motor revolution is divided by the
set value.
Pulse output
Resolution per servo motor revolution
[pulses/rev]
Set value
At the setting of 8, for example, the actually output A-phase and
B-phase pulses are as indicated below.
A-phase and B-phase pulses output
39
40
131072
8
1
4
4096[pulse]
For manufacturer setting
Do not change this value by any means.
*BLK
0
Parameter write inhibit
Setting
Operation
0000
(initial
value)
Reference
000A
Reference
Write
Write
000C
Reference
0000
Operation from
controller
Parameter No. 1
to 75
Parameter No. 1
to 11 40
Parameter No. 1
to 75
Parameter No. 40
Parameter No. 1
to 75
Parameter No. 1
to 40
Write
000E
Reference
000F
Reference
Write
Write
100E
Reference
Operation from
MR Configurator
(servo configuration)
Parameter No. 1
to 11 40
Parameter No. 1
to 75
Parameter No. 1
to 40
Parameter No. 1
to 75
Parameter No. 1
to 75
Parameter No. 1
to 75
Parameter No. 1
to 40
Write
Parameter No. 40
5 - 11
Refer to
name
and
function
column.
5. PARAMETERS
ClassifiNo.
cation
Symbol
41
Name and Function
For manufacturer setting
Do not change this value by any means.
42
Initial
Value
500
0111
44
20
45
50
46
0
47
0
49
0
*CDP
Gain changing selection
Select the gain changing condition. (Refer to section 7.5)
0000
Refer to
Name
and
function
column.
0 0 0
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No. 52 to 55
settings.
0: Invalid
1: Control instructions from a controller.
2: Command frequency (Parameter No.50
setting)
3: Droop pulse value (Parameter No.50 setting)
4: Servo motor speed (Parameter No.50 setting)
Expansion parameter 2
Setting
Range
0000
43
48
Unit
50
CDS
Gain changing condition
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in parameter
No. 49. The set value unit changes with the changing condition item.
(Refer to section 7.5)
10
kpps
pulse
r/min
0
to
9999
51
CDT
Gain changing time constant
Used to set the time constant at which the gains will change in
response to the conditions set in parameters No. PB26 and PB27.
(Refer to section 7.6.)
1
ms
0
to
100
52
GD2B
Ratio of load inertia moment to servo motor inertia moment 2
Used to set the ratio of load inertia moment to servo motor inertia
moment when gain changing is valid.
7.0
times
0
to
300.0
53
PG2B
Position control gain 2 changing ratio
Used to set the ratio of changing the position control gain 2 when
gain changing is valid.
Made valid when auto tuning is invalid.
100
%
10
to
200
54
VG2B
Speed control gain 2 changing ratio
Used to set the ratio of changing the speed control gain 2 when gain
changing is valid.
Made valid when auto tuning is invalid.
100
%
10
to
200
55
VICB
Speed integral compensation changing ratio
Used to set the ratio of changing the speed integral compensation
when gain changing is valid. Made valid when auto tuning is
invalid.
100
%
50
to
1000
For manufacturer setting
Do not change this value by any means.
0000
56
57
0000
58
0000
59
0000
5 - 12
5. PARAMETERS
ClassifiNo.
cation
60
Symbol
*OPC
Optional function C
Used to select the encoder pulse output direction.
0
0
1
Expansion parameter 2
NH2
Setting
Range
Refer to
Name
and
function
column.
0000
Refer to
Name
and
function
column.
Encoder pulse output phase changing
Changes the phases of A, B-phase encoder pulses
output .
Servo motor rotation direction
CCW
CW
A-phase
A-phase
B-phase
B-phase
A-phase
A-phase
B-phase
B-phase
Machine resonance suppression filter 2
Used to selection the machine resonance suppression filter 2. (Refer
to section 7.2.)
0
Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No. 25: 1
or 2
).
Setting Frequency Setting Frequency Setting Frequency
00
01
02
03
04
05
06
07
Unit
0000
0 0
Set value
61
Initial
Value
Name and Function
Invalid
4500
2250
1500
1125
900
750
642.9
08
09
0A
0B
0C
0D
0E
0F
562.5
500
450
409.1
375
346.2
321.4
300
10
11
12
13
14
15
16
17
Notch depth selection
Setting
0
1
2
3
Depth
Deep
to
Shallow
Gain
40dB
14dB
8dB
4dB
5 - 13
281.3
264.7
250
236.8
225
214.3
204.5
195.7
Setting Frequency
18
19
1A
1B
1C
1D
1E
1F
187.5
180
173.1
166.7
160.1
155.2
150
145.2
5. PARAMETERS
ClassifiNo.
cation
Symbol
62
For manufacturer setting
Do not change this value by any means.
63
Expansion parameter 2
Name and Function
Initial
Value
Unit
Setting
Range
0000
400
64
100
65
1
66
1
67
0
68
0
69
0
70
0
71
0
72
0
73
0
74
0
75
0
5.3 Analog monitor
The servo status can be output to two channels in terms of voltage. The servo status can be monitored
using an ammeter.
(1) Setting
Change the following digits of parameter No. 22.
Parameter No. 22
0
0
Analog monitor 2(MO2) output selection
(Signal output to across MO2-LG)
Analog monitor 1(MO1) output selection
(Signal output to across MO1-LG)
Parameters No. 27 and 28 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
Parameter No.
Description
27
Used to set the offset voltage for the analog monitor 1(MO) output.
28
Used to set the offset voltage for the analog monitor 2(MO2) output.
5 - 14
Setting range [mV]
999 to 999
5. PARAMETERS
(2) Setting description
The servo amplifier is factory-set to output the servo motor speed to analog monitor (MO1) and the
torque to analog monitor (MO2). The setting can be changed as listed below by changing the
parameter No. 22 (Analog monitor output) value.
Refer to (3) in this section for the measurement point.
Setting
0
Output item
Description
Servo motor speed
8[V]
Setting
6
CCW direction
Output item
Droop pulses
( 10V/128pulse)
Description
10[V]
128[pulse]
Max. speed
0 Max. speed
CW direction
1
Torque (Note)
8[V]
0
8[V]
Driving in CCW direction
7
Droop pulses
( 10V/2048pulse)
10[V]
0 2048[pulse]
8[V]
10[V]
CW direction
Servo motor speed
8
CW
direction 8[V]
CCW direction
2048[pulse]
0 Max. torque
2
128[pulse]
10[V]
CW direction
Max. torque
Driving in CW direction
CCW direction
CCW
direction
Droop pulses
( 10V/8192pulse)
10[V]
CCW direction
8192[pulse]
0 8192[pulse]
Max. speed
0 Max. speed
10[V]
CW direction
3
Torque (Note)
9
Driving in
CW direction 8[V]
Driving in
CCW direction
Droop pulses
( 10V/32768pulse)
10[V]
CCW direction
32768[pulse]
0 32768[pulse]
Max. torque
0 Max. torque
10[V]
CW direction
4
Current command
A
8[V] CCW direction
Max. current
command
Droop pulses
( 10V/131072pulse)
10[V]
CCW direction
131072[pulse]
0 Max. current
command
CW direction
5
Speed command
8[V]
0
8[V]
CW direction
B
CCW direction
131072[pulse]
10[V]
Bus voltage
8[V]
Max. speed
0 Max. speed
0
CW direction
8[V]
Note. Outputs 8V at the maximum torque.
5 - 15
400[V]
Command
pulse
Differential
Speed
command
Droop pulse
Position
control
Speed
command
5 - 16
Servo motor speed
Differential
Speed
control
Current
command
Torque
Current
control
Encoder
M Servo Motor
Position feedback
Current feedback
PWM
Current
encoder
Bus voltage
5. PARAMETERS
(3) Analog monitor block diagram
5. PARAMETERS
5.4 Replacement of MR-J2- B by MR-J2S- B
When using the MR-J2S- B on the servo system controller peripheral software incompatible with the
MR-J2S- B, you cannot use some parameter functions. Read this section carefully and set appropriate
values in the parameters.
5.4.1 Main modifications made to the parameters
The following table lists the parameters whose settings have been modified from the MR-J2- B or added
to the MR-J2S- B. The peripheral software of the servo system controller may not be compatible with
some parameters whose settings are different or have been added. For details, refer to the servo system
controller manual.
(Note) Setting from peripheral
software of conventional servo
system controller
Parameter
No.
Code
6
FBP
Feedback pulse number
Setting cannot be made.
The encoder resolution of the
compatible motor changed to 131072 The resolution is 16384
pulses/rev.
pulses/rev.
8
ATU
Auto tuning
Gain adjustment modes were
increased.
Setting can be made but the
added modes cannot be used.
9
RSP
Servo response level
The response level setting range
was increased to meet the enhanced
response.
Some response levels cannot be
set.
18
NCH
Machine resonance suppression The machine resonance suppression Some filter frequencies cannot
filter (notch filter) setting range was be set.
filter 1
increased.
(Notch filter)
20
INP
In-position range
The setting unit become the
feedback pulse unit in parameter
No. 6.
Setting can be made.
22
MOD
Analog monitor output
The data that may be output by
analog monitor was added.
Setting can be made but the bus
voltage cannot be set.
25
LPF
Low-pass filter/adaptive
vibration suppression control
The low-pass filter and adaptive
vibration suppression control
functions were newly added.
Setting can be made.
31
ERZ
Error excessive alarm level
The setting unit was changed in
response to the enhanced resolution
(131072 pulses/rev) of the encoder.
Setting can be made but the
setting unit is [0.1 rev].
33
OP6
Optional function 6
The communication baud rate with
the personal computer was changed
to max. 57600bps.
Setting cannot be made.
38
ENR
Encoder pulses output
The encoder feedback pulses can be
output from the servo amplifier.
These pulses can be set.
Setting cannot be made.
Name
Main modifications/additions
Note. As of November, 2003
5 - 17
5. PARAMETERS
5.4.2 Explanation of the modified parameters
(1) Feedback pulse number (parameter No. 6)
This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system
controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. When
the servo motor used is the HC-KFS or HC-MFS, the feedback pulse number is 8192 pulses/rev, and
when it is the HC-SFS, HC-RFS or HC-UFS, the feedback pulse number is 16384 pulses/rev.
(2) Auto tuning (parameter No. 8)
The set values of this parameter were newly added to the MR-J2S- B. If the peripheral software of
the servo system controller is not compatible with the MR-J2S- B, the parameter settings are as
indicated below. The auto tuning mode 2 and manual mode 1 cannot be used.
0 0 0
Gain adjustment mode selection
(For details, refer to section 6.1.1.)
Set value Gain adjustment mode
Description
0
Interpolation mode
Fixes position control gain 1
(parameter No. 13).
1
2
Auto tuning mode 1
Manual mode 2
Ordinary auto tuning.
Manual adjustment of all gains.
(3) Servo response level (parameter No. 9)
The set values of this parameter were newly added to the MR-J2S- B. In addition, the machine
resonance frequency guidelines corresponding to the set values were changed. If the peripheral
software of the servo system controller is not compatible with the MR-J2S- B, the parameter settings
are as indicated below.
0 0 0
Auto tuning response level setting
Set
value
Response
level
Machine resonance
frequency guideline
1
2
3
4
5
6
7
8
9
A
B
C
Low
response
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
Middle
response
High
response
5 - 18
5. PARAMETERS
(4) Machine resonance suppression filter 1 (parameter No. 18)
The settings of this parameter were changed for the MR-J2S- B. If the peripheral software of the
servo system controller is not compatible with the MR-J2S- B, the parameter settings are as
indicated below. The notch depth is 40dB.
0 0 0
Notch frequency selection
Set value Frequency
0
1
2
3
4
5
6
7
Invalid
4500
2250
1500
1125
900
750
642.9
Notch depth selection
Set value
Depth
Gain
0
Deep
40dB
(5) In-position range (parameter No. 20)
The setting of this parameter was changed for the MR-J2S- B. The setting unit was changed from
the conventional input pulse unit to the feedback pulse unit. For details, refer to section 5.2.
(6) Analog monitor output (parameter No. 22)
The setting of this parameter was changed for the MR-J2S- B. "Bus voltage" is a new choice, but you
cannot select it if the peripheral software of the servo system controller is not compatible with the MRJ2S- B.
Also, the droop pulse output is the encoder resolution unit of the actual motor. For details, refer to
section 5.3.
(7) Low-pass filter/adaptive vibration suppression control (parameter No. 25)
This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system
controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. Hence,
the low-pass filter is "valid" and the adaptive vibration suppression control is "invalid". For details,
refer to sections 7.3 and 7.4.
(8) Error excessive alarm level (parameter No. 31)
The setting of this parameter was changed for the MR-J2S- B. The setting unit was changed from
conventional [k pulse] to [0.1rev]. If the peripheral software of the servo system controller is not
compatible with the MR-J2S- B, the unit is set as [0.1rev] to the MR-J2S- B even when the onscreen setting unit is [k pulse]. For details, refer to section 5.2.
(9) Optional function 6 (parameter No. 33)
This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system
controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. Hence,
the serial communication baud rate is “9600 [bps]”, the serial communication response ready time is
“invalid”, and the encoder pulse output setting selection is "pulse output setting". For details, refer to
section 5.2.
5 - 19
5. PARAMETERS
MEMO
5 - 20
6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Parameter No. 8
setting
Estimation of load inertia
moment ratio
Automatically set
parameters
GD2 (parameter No. 12)
PG1 (parameter No. 13)
VG1 (parameter No. 14)
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
Manually set parameters
RSP (parameter No. 9)
Auto tuning mode 1
(initial value)
0001
Always estimated
Auto tuning mode 2
0003
Fixed to parameter No. PG1 (parameter No. 13)
VG1 (parameter No. 14)
12 value
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
GD2 (parameter No. 12)
RSP (parameter No. 9)
Manual mode 1
0004
VG1 (parameter No. 14)
PG2 (parameter No. 15)
GD2 (parameter No. 12)
PG1 (parameter No. 13)
VG2 (parameter No. 16)
VIC (parameter No. 17)
Manual mode 2
0002
Interpolation mode
0000
GD2 (parameter No. 12)
PG1 (parameter No. 13)
VG1 (parameter No. 14)
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
Always estimated
6- 1
GD2 (parameter No. 12)
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
PG1 (parameter No. 13)
VG1 (parameter No. 14)
6. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Interpolation
made for 2 or more
axes?
Yes
Interpolation mode
No
Operation
Allows adjustment by
merely changing the
response level setting.
First use this mode to make
adjustment.
Auto tuning mode 1
Operation
Yes
No
OK?
No
Operation
Yes
OK?
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
This mode permits
adjustment easily with three
gains if you were not
satisfied with auto tuning
results.
No
Manual mode 1
Operation
Yes
OK?
Yes
Auto tuning mode 2
Used when you want to
match the position gain
(PG1) between 2 or more
axes. Normally not used for
other purposes.
OK?
You can adjust all gains
manually when you want to
do fast settling or the like.
No
Manual mode 2
END
6- 2
6. GENERAL GAIN ADJUSTMENT
6.1.2 Adjustment using MR Configurator (servo configuration software)
POINT
When using the machine analyzer, set the servo amplifier's axis number for
"F". (Refer to section 3.11.)
This section gives the functions and adjustment that may be performed by using the servo amplifier with
the MR Configurator (servo configuration software) which operates on a personal computer.
Function
Description
Adjustment
Machine analyzer
With the machine and servo motor
coupled, the characteristic of the
mechanical system can be measured by
giving a random vibration command from
the personal computer to the servo and
measuring the machine response.
Gain search
Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
Machine simulation
6- 3
You can grasp the machine resonance frequency and
determine the notch frequency of the machine
resonance suppression filter.
You can automatically set the optimum gains in
response to the machine characteristic. This simple
adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
You can automatically set gains which make
positioning settling time shortest.
You can optimize gain adjustment and command
pattern on personal computer.
6. GENERAL GAIN ADJUSTMENT
6.2 Auto tuning
6.2.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No.
Abbreviation
12
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
13
PG1
Position control gain 1
14
VG1
Speed control gain 1
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor is not more than 100
times.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode 1 2 to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (parameter No. 12).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No.
Abbreviation
13
PG1
Position control gain 1
Name
14
VG1
Speed control gain 1
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
6- 4
6. GENERAL GAIN ADJUSTMENT
6.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Command
Encoder
Control gains
PG1,VG1
PG2,VG2,VIC
Current
control
Servo
motor
Current feedback
Set 0 or 1 to turn on.
Load inertia
moment ratio
Switch estimation section
Gain
table
Parameter No.9
Parameter No.8
1
5
Real-time auto
tuning section
Position/speed
feedback
Speed feedback
Parameter No.12
Load inertia moment
ratio estimation value
Response level setting
Auto tuning selection
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to parameter No. 12 (the ratio of load inertia moment to servo motor). These
results can be confirmed on the status display screen of the MR Configurator (servo configuration
software) section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
chose the "auto tuning mode 2" (parameter No. 8: 0003) to stop the estimation of the load inertia moment
ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No. 12)
manually.
From the preset load inertia moment ratio (parameter No. 12) value and response level (parameter No. 9),
the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 6 minutes since power-on.
At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM being
used as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the estimation of
the inertia moment ratio may malfunction temporarily. In such a case,
choose the "auto tuning mode 2" (parameter No. 8: 0003) and set the correct
load inertia moment ratio in parameter No. 12.
When any of the auto tuning mode 1, auto tuning mode 2 and manual mode
1 settings is changed to the manual mode 2 setting, the current control
gains and load inertia moment ratio estimation value are saved in the EEPROM.
6- 5
6. GENERAL GAIN ADJUSTMENT
6.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level
setting value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)
No
Yes
Choose the auto tuning mode 2
(parameter No. 8: 0003) and set
the load inertia moment ratio
(parameter No. 12) manually.
Adjust response level setting
so that desired response is
achieved on vibration-free level.
Acceleration/deceleration repeated
Requested
performance satisfied?
No
Yes
END
To manual mode
6- 6
6. GENERAL GAIN ADJUSTMENT
6.2.4 Response level setting in auto tuning mode
Set the response (parameter No. 9) of the whole servo system. As the response level setting is increased,
the track ability and settling time for a command decreases, but a too high response level will generate
vibration. Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, adaptive vibration suppression control (parameter No. 25) or machine resonance
suppression filter (parameter No. 18) may be used to suppress machine resonance. Suppressing machine
resonance may allow the response level setting to increase. Refer to section 7.2, 7.3 for adaptive vibration
suppression control and machine resonance suppression filter.
Parameter No. 9
5
Response level setting
Machine characteristic
Response level setting
1
Machine rigidity
Low
Machine resonance
frequency guideline
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
8
Middle
85Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
High
Large conveyor
Arm robot
General machine
tool conveyor
70Hz
9
F
Guideline of corresponding machine
300Hz
6- 7
Precision
working
machine
Inserter
Mounter
Bonder
6. GENERAL GAIN ADJUSTMENT
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.
6.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.
User setting
PG1
VG2
VIC
GD2
Automatic setting
PG2
VG1
Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (parameter No. 12) correctly.
6.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control
(parameter No. 25) or machine resonance suppression filter (parameter No.
18) may be used to suppress machine resonance. (Refer to section 7.2, 7.3.)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
12
GD2
Ratio of load inertia moment to servo motor inertia moment
Name
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
(b) Adjustment procedure
Step
1
2
3
4
5
Operation
Description
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (parameter No. 12).
Increase the speed control gain 2 (parameter No. 16) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 17) within
the vibration-free range, and return slightly if vibration takes place.
If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 2 and 3.
While checking the settling characteristic and rotational status, fineadjust each gain.
6- 8
Increase the speed control gain.
Decrease the time constant of the speed
integral compensation.
Suppression of machine resonance
Refer to section 7.2, 7.3.
Fine adjustment
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Speed control gain 2 (parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed control gain setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
Speed loop response frequency(Hz)
2) Speed integral compensation (parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression.
2000 to 3000
Speed integral
composition setting (ms) Speed control gain 2 setting/ (1 ratio of load inertia moment
to servo motor inertia moment.)
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
12
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
13
PG1
Position control gain 1
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
Description
1
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (parameter No. 12).
2
Set a slightly smaller value to the position control gain 1 (parameter
No. 13).
3
Increase the speed control gain.
Increase the speed control gain 2 (parameter No. 16) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
4
Decrease the speed integral compensation (parameter No. 17) within
the vibration-free range, and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
5
Increase the position control gain 1 (parameter No. 13).
Increase the position control gain.
6
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance
the like and the desired response cannot be achieved, response may be Refer to section 7.2 and 7.3.
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 3 to 5.
7
While checking the settling characteristic and rotational status, fineadjust each gain.
6- 9
Fine adjustment
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (parameter No. 13)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
Position control
gain 1 guideline
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
( 13 to 15 )
2) Speed control gain 2 (parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response
frequency(Hz)
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
3) Speed integral compensation (parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression.
Speed integral
compensation setting(ms)
2000 to 3000
Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment set value)
6 - 10
6. GENERAL GAIN ADJUSTMENT
6.4 Interpolation mode
The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 1 and speed control gain 1 which determine command track ability are set manually
and the other gain adjusting parameters are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No.
Abbreviation
Name
12
GD2
Ratio of load inertia moment to servo motor inertia moment
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
Abbreviation
Name
13
PG1
Position control gain 1
14
VG1
Speed control gain 1
(2) Adjustment procedure
Step
Operation
Description
1
Choose the auto tuning mode 1 (parameter No. 8: 0001) and set the machine
resonance frequency of the response level to 15Hz 1 (parameter No. 9: 0001).
Select the auto tuning mode 1.
2
During operation, increase the response level selection (parameter No. 9), and
return the setting if vibration occurs.
Adjustment in auto tuning mode
1.
3
Check the values of position control gain 1 (parameter No. 13) and speed control
gain 1 (parameter No. 14).
Check the upper setting limits.
4
Choose the interpolation mode (parameter No. 8: 0000).
Select the interpolation mode.
5
Set the position control gain 1 of all the axes to be interpolated to the same
value. At that time, adjust to the setting value of the axis, which has the
smallest position control gain 1.
Set position control gain 1.
6
Using the speed control gain 1 value checked in step 3 as the guideline of the
upper limit, look at the rotation status and set in speed control gain 1 the value
three or more times greater than the position control gain 1 setting.
Set speed control gain 1.
7
Looking at the interpolation characteristic and rotation status, fine-adjust the
gains and response level setting.
Fine adjustment.
(3) Adjustment description
(a) Position control gain 1 (parameter No.13)
This parameter determines the response level of the position control loop. Increasing PG1 improves
track ability to a position command but a too high value will make overshooting liable to occur at
the time of settling. The droop pulse value is determined by the following expression.
Droop pulse value (pulse)
Rotation speed (r/min)
131,072(pulse)
60
Position control gain set value
(b) Speed control gain 1 (parameter No. 14)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
6 - 11
6. GENERAL GAIN ADJUSTMENT
6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
6.5.1 Response level setting
To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level
setting range from the MELSERVO-J2 series. The following table lists comparison of the response level
setting.
Parameter No. 9
5
Response level setting
MELSERVO-J2 series
Response level setting
MELSERVO-J2-Super series
Machine resonance frequency
1
Response level setting
20Hz
2
40Hz
Machine resonance frequency guideline
1
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
70Hz
3
60Hz
8
4
80Hz
9
85Hz
5
100Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
F
300Hz
Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.
6.5.2 Auto tuning selection
The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has
the addition of the manual mode 1 which permits manual adjustment with three parameters.
Parameter No. 8
1
Gain adjustment mode selection
Gain adjustment mode
Interpolation mode
Auto tuning mode 1
Auto tuning
Auto tuning
invalid
Auto tuning selection
MELSERVO-J2-Super series
0
0
1
1
Ordinary auto tuning
3
Estimation of load inertia moment
ratio stopped.
Response level setting valid.
4
Simple manual adjustment
2
Manual adjustment of all gains
Auto tuning mode 2
Manual mode 1
Manual mode 2
Remarks
MELSERVO-J2 series
2
6 - 12
Position control gain 1 is fixed.
7. SPECIAL ADJUSTMENT FUNCTIONS
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used generally. Use them if
you are not satisfied with the machine status after making adjustment in
the methods in chapter 6.
If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.
7.1 Function block diagram
Speed
control
00
Machine resonance
suppression filter 1
Parameter
No.18
Parameter
No.25
0
Low-pass
filter
0
Parameter Current
No.25 command
Servo
motor
1
except
Encoder
00
Adaptive vibration
suppression control
1
or
2
7.2 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency) and gain decreasing depth.
Mechanical
system
response
level
Machine resonance point
Frequency
Notch
depth
Notch frequency
Frequency
POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
7- 1
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No.
18).
Parameter No. 18
Notch frequency selection
Setting Frequency Setting Frequency Setting Frequency
Setting Frequency
00
Invalid
08
562.5
10
281.3
18
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
187.5
Notch depth selection
Setting
0
1
2
3
Depth (Gain)
Deep ( 40dB)
( 14dB)
( 8dB)
Shallow ( 4dB)
POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency
is set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator (servo configuration software). This
allows the required notch frequency and depth to be determined.
7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS
7.3 Adaptive vibration suppression control
(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier detects machine
resonance and sets the filter characteristics automatically to suppress mechanical system vibration.
Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of
the resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is
valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes,
it changes the filter characteristics in response to that frequency.
Mechanical
system
response
level
Machine resonance point
Mechanical
system
response
Frequency level
Notch
depth
Machine resonance point
Frequency
Notch
depth
Notch frequency
Frequency
When machine resonance is large and frequency is low
Notch frequency
Frequency
When machine resonance is small and frequency is high
POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration
suppression control has no effect on the resonance frequency outside this
range. Use the machine resonance suppression filter for the machine
resonance of such frequency.
Adaptive vibration suppression control may provide no effect on a
mechanical system which has complex resonance characteristics or which
has too large resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive
vibration suppression control to be "held" (parameter No. 25: 2
) to fix
the characteristics of the adaptive vibration suppression control filter.
7- 3
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (parameter No. 25).
Parameter No. 25
Adaptive vibration suppression control selection
0: Invalid
1: Valid
Machine resonance frequency is always detected to
generate the filter in response to resonance, suppressing
machine vibration.
2: Held
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Set the sensitivity of detecting machine resonance.
0: Normal
1: Large sensitivity
POINT
Adaptive vibration suppression control is factory-set to be "invalid"
(parameter No. 25: 0000).
Selection the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Selection of "large
sensitivity" detects smaller machine resonance and generates a filter to
suppress machine vibration. However, since a phase delay will also
increase, the response of the servo system may not increase.
7.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression.
Filter frequency
(Hz)
2
Speed control gain 2 set value 10
(1 ratio of load inertia moment to servo motor inertia moment set value
0.1)
(2) Parameter
Set the operation of the low-pass filter (parameter No. 25).
Parameter No. 25
Low-pass filter selection
0: Valid (automatic adjustment)
1: Invalid
initial value
POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase the
servo system response to shorten the settling time.
7- 4
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5 Gain changing function
This function can change the gains. You can change between gains during rotation and gains during stop
or can use an external signal to change gains during operation.
7.5.1 Applications
This function is used when.
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an external signal to ensure stability of the servo system since the
load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7.5.2 Function block diagram
The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No. 49) and gain changing condition CDS (parameter
No. 50).
CDP
Parameter No.49
Control command
of controller
Command pulse
frequency
Droop pulses
Changing
Model speed
CDS
Parameter No.50
Comparator
GD2
Parameter No.12
GD2B
Parameter No.52
PG2
Parameter No.15
PG2
PG2B
100
VG2
Parameter No.16
VG2
VG2B
100
VIC
Parameter No.17
VIC
VICB
100
7- 5
Valid
GD2 value
Valid
PG2 value
Valid
VG2 value
Valid
VIC value
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.3 Parameters
When using the gain changing function, always set "
2 " in parameter No.8 (auto tuning) to choose
the manual mode 2 of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrevi
No.
ation
Name
Unit
Description
Position and speed gains of a model used to set the response
level to a command. Always valid.
13
PG1
Position control gain 1
rad/s
14
VG1
Speed control gain 1
rad/s
12
GD2
Ratio of load inertia moment to
servo motor inertia moment
0.1
times
15
PG2
Position control gain 2
rad/s
16
VG2
Speed control gain 2
rad/s
17
VIC
Speed integral compensation
Control parameters before changing
ms
52
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
53
PG2B
Position control gain 2 changing
ratio
%
Used to set the ratio (%) of the after-changing position
control gain 2 to position control gain 2.
54
VG2B
Speed control gain 2 changing
ratio
%
Used to set the ratio (%) of the after-changing speed control
gain 2 to speed control gain 2.
55
VICB
Speed integral compensation
changing ratio
%
Used to set the ratio (%) of the after-changing speed integral
compensation to speed integral compensation.
49
CDP
Gain changing selection
50
CDS
Gain changing condition
51
CDT
Gain changing time constant
0.1
times
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
Used to select the changing condition.
kpps
pulse
r/min
ms
Used to set the changing condition values.
You can set the filter time constant for a gain change at
changing.
7- 6
7. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No. 12 to 17
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (parameter No. 52)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (parameter No. 34).
(3) Position control gain 2 changing ratio (parameter No. 53), speed control gain 2 changing ratio (parameter
No. 54), speed integral compensation changing ratio (parameter No. 55)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2 100, speed control gain 2 2000, speed integral
compensation 20 and position control gain 2 changing ratio 180%, speed control gain 2 changing
ratio 150% and speed integral compensation changing ratio 80%, the after-changing values are as
follows.
Position control gain 2 Position control gain 2 Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 changing ratio /100 3000rad/s
Speed control gain 2 Speed control gain 2
Speed integral compensation Speed integral compensation Speed integral compensation changing
ratio /100 16ms
(4) Gain changing selection (parameter No. 49)
Used to set the gain changing condition. Choose the changing condition in the first digit. If setting "1"
here, the gain changing can be switched with the control command of controller.
Parameter No. 49
Gain changing selection
Gains are changed in accordance with the settings of
parameters No. 52 to 55 under any of the following conditions:
0: Invalid
1: Control command of controller
2: Command frequency is equal to higher than parameter No. 50 setting
3: Droop pulse value is equal to higher than parameter No. 50 setting
4: Servo motor speed is equal to higher than parameter No. 50 setting
(5) Gain changing condition (parameter No. 50)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.50), set the gain changing level.
The setting unit is as follows.
Gain changing condition
Unit
Command frequency
kpps
Droop pulses
pulse
Servo motor speed
r/min
(6) Gain changing time constant (parameter No. 51)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.
7- 7
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No.
Abbreviation
Setting
Unit
13
PG1
Position control gain 1
Name
100
rad/s
14
VG1
Speed control gain 1
1000
rad/s
12
GD2
Ratio of load inertia moment to
servo motor inertia moment
4
0.1 times
15
PG2
Position control gain 2
120
rad/s
16
VG2
Speed control gain 2
3000
rad/s
17
VIC
Speed integral compensation
20
ms
100
0.1 times
52
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
53
PG2B
Position control gain 2
changing ratio
70
%
54
VG2B
Speed control gain 2 changing
ratio
133
%
55
VICB
Speed integral compensation
changing ratio
250
%
49
CDP
Gain changing selection
51
CDT
Gain changing time constant
0001
Control command from
controller
100
(b) Changing operation
OFF
Control command
from controller
(CDP)
Change of
each gain
ON
After-changing gain
Before-changing gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
OFF
4.0
10.0
4.0
Position control gain 2
120
84
120
Speed control gain 2
3000
4000
3000
20
50
20
Speed integral compensation
7- 8
ms
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No.
Abbreviation
Setting
Unit
13
PG1
Position control gain 1
Name
100
rad/s
14
VG1
Speed control gain 1
1000
rad/s
12
GD2
Ratio of load inertia moment to
servo motor inertia moment
40
0.1 times
15
PG2
Position control gain 2
120
rad/s
16
VG2
Speed control gain 2
3000
rad/s
17
VIC
Speed integral compensation
20
ms
100
0.1 times
52
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
53
PG2B
Position control gain 2
changing ratio
70
%
54
VG2B
Speed control gain 2 changing
ratio
133
%
55
VICB
Speed integral compensation
changing ratio
250
%
49
CDP
Gain changing selection
0003
(Changed by droop pulses)
50
CDS
Gain changing condition
50
pulse
51
CDT
Gain changing time constant
100
ms
(b) Changing operation
Command pulse
Droop pulses [pulses] 0
Droop pulses
CDS
CDS
After-changing gain
Change of each gain
Before-changing gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0
4.0
10.0
Position control gain 2
120
84
120
84
Speed control gain 2
3000
4000
3000
4000
20
50
20
50
Speed integral compensation
7- 9
7. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
7 - 10
8. INSPECTION
8. INSPECTION
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.
POINT
Do not test the servo amplifier with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
(1) Inspection
It is recommended to make the following checks periodically.
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.
Part name
Life guideline
Smoothing capacitor
Servo amplifier
Relay
Cooling fan
10 years
Number of power-on and number of forced
stop times:100,000times.
10,000 to 30,000hours (2 to 3 years)
Absolute position battery
Refer to section 13.2
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life when the cumulative number of power-on and forced stop times is 100,000, which depends
on the power supply capacity.
(c) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
8- 1
8. INSPECTION
MEMO
8- 2
9. TROUBLESHOOTING
9. TROUBLESHOOTING
9.1 Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to section 9.2 or 9.3 and take the appropriate action.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the
alarm deactivation column.
Alarm deactivation
Warnings
Alarms
Display
10
12
13
15
16
17
19
1A
20
24
25
30
31
32
33
34
35
36
37
45
46
50
51
52
8E
88
92
96
9F
E0
E1
E3
E4
E6
E7
E9
EE
Name
Undervoltage
Memory error 1
Clock error
Memory error 2
Encoder error 1
Board error
Memory error 3
Motor combination error
Encoder error 2
Main circuit error
Absolute position erase
Regenerative error
Overspeed
Overcurrent
Overvoltage
CRC error
Command frequency error
Transfer error
Parameter error
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Error excessive
Serial communication error
Watchdog
Open battery cable warning
Home position setting warning
Battery warning
Excessive regenerative warning
Overload warning
Absolute position counter warning
Parameter warning
Servo forced stop warning
Controller forced stop warning
Main circuit off warning
SSCNET error warning
Power
OFF ON
Error reset
CPU reset
(Note 2)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
Removing the cause of occurrence
deactivates the alarm automatically.
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. For confirming the connection to the servo system controller, the alarm may not be reset unless turning the power on twice or
more times.
9- 1
9. TROUBLESHOOTING
9.2 Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
If an absolute position erase alarm (25) occurred, always make home position
setting again. Otherwise, misoperation may occur.
As soon as an alarm occurs, mark Servo-off and power off the main circuit and
control circuit.
POINT
When any of the following alarms has occurred, always remove its cause
and allow about 30 minutes for cooling before resuming operation. If
operation is resumed by switching control circuit power off, then on to reset
the alarm, the servo amplifier and servo motor may become faulty. To
protect the main circuit elements, any of these servo alarms cannot be
deactivated from the servo system controller until the specified time elapses
after its occurrence. Judging the load changing condition until the alarm
occurs, the servo amplifier calculates this specified time automatically.
Regenerative error (30)
Overload 1 (50)
Overload 2 (51)
The alarm can be deactivated by switching power off, then on or by the
error reset command CPU reset from the servo system controller. For
details, refer to section 9.1.
When an alarm occurs, the dynamic brake is operated to stop the servo motor. At this time, the display
indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. The MR
Configurator (servo configuration software) may be used to refer to the cause.
Display
10
Name
Undervoltage
Definition
Power supply
voltage dropped.
MR-J2S- B:
160VAC or less
MR-J2S- B1:
83VAC or less
Cause
1. Power supply voltage is low.
Action
Check the power supply.
2. There was an instantaneous
control circuit power failure of
60ms or longer.
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. Main voltage has dropped to the
following voltage or less.
MR-J2S- B: 200VDC
MR-J2S- B1: 158VDC
5. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (10) occurs if power is
switched on after CN1A, CN1B
and CN3 connectors are
disconnected.
12
Memory error 1 RAM, memory fault Faulty parts in the servo amplifier
13
Clock error
Printed board fault
Checking method
Alarm (any of 12 and 13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
9- 2
Change the servo amplifier.
9. TROUBLESHOOTING
Display
15
Name
Definition
Memory error 2 EEP-ROM fault
Cause
Action
1. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (15) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
2. The number of write times to EEPROM exceeded 100,000.
16
17
Encoder error 1 Communication
1. Encoder connector (CN2)
error occurred
disconnected.
between encoder
2. Encoder fault
and servo amplifier. 3. Encoder cable faulty
(Wire breakage or shorted)
Board error
CPU/parts fault
1. Faulty parts in the servo amplifier
Connect correctly.
Change the servo motor.
Repair or change the cable.
Change the servo amplifier.
Checking method
Alarm (17) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
19
2. The wiring of U, V, W is
The output
disconnected or not connected.
terminals U, V, W of
the servo amplifier
and the input
terminals U, V, W of
the servo motor are
not connected.
Memory error 3 ROM memory fault Faulty parts in the servo amplifier
Correctly connect the output terminals U,
V, W of the servo amplifier and the input
terminals U, V, W of the servo motor.
Change the servo amplifier.
Checking method
Alarm (19) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
1A
20
24
25
Motor
combination
error
Encoder error 2
Main circuit
error
Absolute
position erase
Wrong combination
of servo amplifier
and servo motor.
Communication
error occurred
between encoder
and servo amplifier.
Wrong combination of servo
Use correct combination.
amplifier and servo motor connected.
1. Encoder connector (CN2)
disconnected.
2. Encoder fault
3. Encoder cable faulty
(Wire breakage or shorted)
Encoder detected
4. Excessive acceleration is occurred
acceleration error.
due to oscillation and others.
Ground fault
1. Power input wires and servo motor
occurred at the
output wires are in contact at
servo motor outputs
main circuit terminal block (TE1).
(U,V and W phases) 2. Sheathes of servo motor power
of the servo
cables deteriorated, resulting in
amplifier.
ground fault.
3. Main circuit of servo amplifier
failed.
Checking method
Alarm (24) occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.
Absolute position
1. Battery voltage low
data in error
2. Battery cable or battery is faulty.
Power was switched 3. Super capacitor of the absolute
on for the first time
position encoder is not charged.
in the absolute
position detection
system.
9- 3
Connect correctly.
Change the servo motor.
Repair or change the cable.
1. Decrease the speed control gain 2.
2. Decrease the auto tuning response level.
Connect correctly.
Change the cable.
Change the servo amplifier.
Change the battery.
Always make home position setting again.
After leaving the alarm occurring for a few
minutes, switch power off, then on again.
Always make home position setting again.
9. TROUBLESHOOTING
Display
Name
30
Regenerative
error
Definition
Cause
Permissible
1. Mismatch between used
regenerative power
regenerative option and
of the built-in
parameter No. 2 setting
regenerative
2. Built-in regenerative resistor or
resistor or
regenerative option is not
regenerative option
connected.
is exceeded.
3. High-duty operation or continuous
regenerative operation caused the
permissible regenerative power of
the regenerative option to be
exceeded.
Action
Set correctly.
Connect correctly.
1. Reduce the frequency of positioning.
2. Use the regenerative option of larger
capacity.
3. Reduce the load.
Checking method
Call the status display and check
the regenerative load ratio.
Regenerative
transistor fault
31
32
Overspeed
Overcurrent
4. Power supply voltage is abnormal.
MR-J2S- B:260VAC or more
MR-J2S- B1:135VAC or more
5. Built-in regenerative resistor or
regenerative option faulty.
6. Regenerative transistor faulty.
Change the servo amplifier or
regenerative option.
Change the servo amplifier.
Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.
Speed has exceeded 1. Small acceleration/deceleration
the instantaneous
time constant caused overshoot to
permissible speed.
be large.
2. Servo system is instable to cause
overshoot.
Current that flew is
higher than the
permissible current
of the servo
amplifier. (When
the alarm (32)
occurs, switch the
power OFF and
then ON to reset the
alarm. Then, turn
on the servo-on.
When the alarm (32)
still occurs at the
time, the transistor
(IPM IGBT) of the
servo amplifier may
be at fault. Do not
switch the power
OFF/ON repeatedly;
check the transistor
according to the
cause 2 checking
method.)
Current higher than
the permissible
current flew in the
regenerative
transistor.
(MR-J2S-500B only)
Review power supply
3. Encoder faulty.
1. Short occurred in servo amplifier
output phases U, V and W.
2. Transistor of the servo amplifier
faulty.
Increase acceleration/deceleration time
constant.
1. Reset servo gain to proper value.
2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
Change the servo motor.
Correct the wiring.
Change the servo amplifier.
Checking method
Alarm (32) occurs if power is
switched on after U,V and W
are disconnected.
3. Ground fault occurred in servo
amplifier output phases U, V and
W.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Correct the wiring.
5. Improper wiring of the
regenerative option.
Wire the regenerative option correctly.
9- 4
Take noise suppression measures.
9. TROUBLESHOOTING
Display
33
Name
Overvoltage
Definition
Converter bus
voltage exceeded
400VDC.
Cause
1. Regenerative option is not used.
Action
Use the regenerative option.
2. Though the regenerative option is Make correct setting.
used, the parameter No. 2 setting
is "
00 (not used)".
3. Lead of built-in regenerative
resistor or regenerative option is
open or disconnected.
1. Change the lead.
2. Connect correctly.
4. Regenerative transistor faulty.
Change the servo amplifier.
5. Wire breakage of built-in
regenerative resistor or
regenerative option
1. For wire breakage of built-in
regenerative resistor, change the servo
amplifier.
2. For wire breakage of regenerative
option, change the regenerative option.
6. Capacity of built-in regenerative
resistor or regenerative option is
insufficient.
Add regenerative option or increase
capacity.
7. Power supply voltage high.
Review the power supply.
8. Ground fault occurred in servo
Correct the wiring.
amplifier output phases U, V and W.
9. The jumper across BUE-SD of the Fit the jumper across BUE-SD.
FR-BU2 brake unit is removed.
34
35
36
37
CRC error
Bus cable is faulty
Command
Input frequency of
frequency error command pulse is
too high.
Transfer error
Parameter
error
1. Bus cable disconnected.
Connect correctly.
2. Bus cable fault
Change the cable.
3. Noise entere bus cable.
Take measures against noise.
4. Termination connector
disconnected.
Connect termination connector.
5. The same No. exists in the servo
amplifier side axis setting.
Set correctly.
1. Command given is greater than
the maximum speed of the servo
motor.
Review operation program.
2. Noise entered bus cable.
Take action against noise.
3. Servo system controller failure
Change the servo system controller.
Bus cable or printed 1. Bus cable is disconnected.
board is faulty
2. Bus cable fault.
Connect the connector of the bus cable.
Change the cable.
3. Printed board is faulty.
Change the servo amplifier.
4. Terimination connector
disconnected
Connect termination connector.
Parameter setting is 1. Servo amplifier fault caused the
Change the servo amplifier.
wrong.
parameter setting to be rewritten.
2. There is a parameter whose value Change the parameter value to within the
setting range.
was set to outside the setting
range by the controller.
3. The number of write times to EEP- Change the servo amplifier.
ROM exceeded 100,000 due to
parameter write, etc.
45
Main circuit
Main circuit device
device overheat overheat
1. Servo amplifier faulty.
Change the servo amplifier.
The drive method is reviewed.
2. The power supply was turned on
and off continuously by overloaded
status.
3. Air cooling fan of servo amplifier
stops.
9- 5
1. Change the servo amplifier or cooling
fan.
2. Reduce ambient temperature.
9. TROUBLESHOOTING
Display
46
50
Name
Servo motor
overheat
Overload 1
Definition
Servo motor
temperature rise
actuated the
thermal sensor.
Load exceeded
overload protection
characteristic of
servo amplifier.
Cause
Action
1. Ambient temperature of servo
motor is over 40 (104 ).
Review environment so that ambient
temperature is 0 to 40 (32 to 104 ).
2. Servo motor is overloaded.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is
faulty.
Change the servo motor.
1. Servo amplifier is used in excess
of its continuous output current.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto tuning.
2. Change the auto tuning response
setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
5. Encoder faulty.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off,the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
51
Overload 2
Machine collision or 1. Machine struck something.
1. Review operation pattern.
the like caused max.
2. Install limit switches.
For the time of the 2. Wrong connection of servo motor. Connect correctly.
alarm occurrence,
Servo amplifier's output terminals
refer to the section
U, V, W do not match servo
11.1.
motor's input terminals U, V, W.
3. Servo system is instable and
hunting.
1. Repeat acceleration/deceleration to
execute auto tuning.
2. Change the auto tuning response
setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off,the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
9- 6
9. TROUBLESHOOTING
Display
52
Name
Definition
(Note)
The deviation
Error excessive between the model
position and the
actual servo motor
position exceeds the
parameter No.31
setting value (initial
value: 2
revolutions).
Cause
Action
1. Acceleration/deceleration time
constant is too small.
Increase the acceleration/deceleration
time constant.
2. Torque limit value is too small.
Increase the torque limit value.
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
1. Review the power supply capacity.
2. Use servo motor which provides larger
output.
4. Position control gain 1 (parameter Increase set value and adjust to ensure
No.13) value is small.
proper operation.
5. Servo motor shaft was rotated by
external force.
1. When torque is limited, increase the
limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
7. Encoder faulty
Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
8E
88
Serial
Serial
1. Communication cable fault
communication communication
(Open cable or short circuit)
error occurred
error
2. Communication device (e.g.
between servo
amplifier and
personal computer) faulty
communication
device (e.g. personal
computer).
Repair or change the cable.
Watchdog
Change the servo amplifier.
CPU, parts faulty
Fault of parts in servo amplifier
Change the communication device (e.g.
personal computer).
Checking method
Alarm (88) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
Note. The error excessive detection for 2 revolutions is available only when the servo amplifier of software version B1 or later is used.
For the servo amplifier of software version older than B1, an error excessive alarm occurs when the deviation (deviation counter
value) between the instructed position and the actual servo motor position exceeds the parameter No. 1 setting value (initial
value: 8 revolutions).
9- 7
9. TROUBLESHOOTING
9.3 Remedies for warnings
POINT
When any of the following alarms has occurred, do not resume operation
by switching power of the servo amplifier OFF/ON repeatedly. The servo
amplifier and servo motor may become faulty. If the power of the servo
amplifier is switched OFF/ON during the alarms, allow more than 30
minutes for cooling before resuming operation.
Excessive regenerative warning (E0)
Overload warning 1 (E1)
If servo forced stop warning (E6), controller forced stop warning (E7) or SSCNET error warning (EE)
occurs, the servo off status is established. If any other warning occurs, operation can be continued but an
alarm may take place or proper operation may not be performed. Eliminate the cause of the warning
according to this section. Use the MR Configurator (servo configuration software) to refer to the cause of
warning.
Display
Name
Definition
Cause
Action
92
Open battery
cable warning
Absolute position
1. Battery cable is open.
Repair cable or changed.
detection system battery 2. Battery voltage supplied from the servo Change the battery.
voltage is low.
amplifier to the encoder fell to about
3.2V or less.
(Detected with the encoder)
96
Home position
setting warning
Home position return
could not be made in the
precise position.
1. Droop pulses remaining are greater
than the in-position range setting.
Remove the cause of droop pulse
occurrence.
2. Home position return was executed
during operation command.
Reduce creep speed.
3. Creep speed high.
9F
Battery voltage fell to 3.2V or less.
Battery warning Voltage of battery for
absolute position
(Detected with the servo amplifier)
detection system reduced.
E0
Excessive
regenerative
warning
There is a possibility that
regenerative power may
exceed permissible
regenerative power of
built-in regenerative
resistor or regenerative
option.
E1
Overload
warning
There is a possibility that Load increased to 85% or more of overload Refer to 50, 51.
overload alarm 1 or 2
alarm 1 or 2 occurrence level.
may occur.
Cause, checking method
Refer to 50, 51.
E3
Absolute position Absolute position encoder 1. Noise entered the encoder.
counter warning pulses faulty.
E4
Parameter
warning
E6
Servo forced stop EM1 is off.
warning
External forced stop was made valid.
(EM1 turned off.)
Ensure safety and deactivate
forced stop.
E7
Controller forced
stop warning
Forced stop signal was entered into the
servo system controller.
Ensure safety and deactivate
forced stop.
E9
Main circuit off
warning
Servo-on command was
issued with main circuit
power off.
EE
SSCNET error
warning
The servo system
controller connected is
not SSCNET-compatible.
Regenerative power increased to 85% or
1. Reduce frequency of
more of permissible regenerative power of
positioning.
built-in regenerative resistor or
2. Change regenerative option
regenerative option.
for the one with larger
capacity.
Checking method
Call the status display and check
3. Reduce load.
regenerative load ratio.
2. Encoder faulty.
Parameter outside
setting range.
Change the battery.
Take noise suppression
measures.
Change the servo motor.
Parameter value set from servo system Set it correctly.
controller is outside setting range
Switch on main circuit power.
9- 8
10. OUTLINE DIMENSION DRAWINGS
10. OUTLINE DIMENSION DRAWINGS
10.1 Servo amplifiers
(1) MR-J2S-10B to MR-J2S-60B
MR-J2S-10B1 to MR-J2S-40B1
[Unit: mm]
6 ( 0.24) mounting hole
70 (2.76)
20
B
6
(0.24)
([Unit: in])
135 (5.32)
Terminal layout
(Terminal cover open)
(0.79)
A
MITSUBISHI
MITSUBISHI
OPEN
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
Rating plate
TE1
C
N
1
A
C
N
1
B
C
N
2
C
N
3
(
168 (6.61)
156 (6.14)
OPEN
)
E
N
C
6 (0.24)
7 (0.28)
L1
L2
L3
(Note)
U
V
W
TE2
PE terminal
6
(0.24)
4(0.16)
Variable dimensions
Servo amplifier
MR-J2S-10B(1)
MR-J2S-20B(1)
MR-J2S-40B(1)
MR-J2S-60B
A
B
Mass
[kg]([lb])
50 (1.97)
6 (0.24)
0.7 (1.54)
70 (2.76)
22 (0.87)
1.1 (2.43)
Note. This data applies to the 3-phase 200 to 230V and 1-phase 230V power supply models.
Terminal signal layout
TE1
For 3-phase 200 to 230V and 1-phase 230V
For 1-phase 100 to 120V
L1
L2
L3
L1
U
V
W
U
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
L2
V
W
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
PE terminals
Front
D
C
P
L21
L11
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
10 - 1
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
10. OUTLINE DIMENSION DRAWINGS
(2) MR-J2S-70B MR-J2S-100B
[Unit: mm]
70(2.76)
70(2.76)
20
6
(0.24)
22
(0.87)
([Unit: in])
190(7.48)
Terminal layout
(0.79)
6 ( 0.24)
mounting hole
(Terminal cover open)
MITSUBISHI
MITSUBISHI
OPEN
7 (0.28)
6(0.24)
156(6.14)
168(6.61)
OPEN
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
L1
L2
L3
U
V
W
Rating plate
PE terminal
6(0.24)
22
42
(0.87) (1.65)
TE2
TE1
6(0.24)
6(0.24)
Mass
[kg]([lb])
Servo amplifier
MR-J2S-70B
1.7
(3.75)
MR-J2S-100B
Terminal signal layout
TE1
L1
L2
L3
U
V
W
Mounting Screw
Screw Size:M5
Tightening torque:3.24[N m](28.676 [lb in])
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
Front
D
C
P
L21
L11
N
PE terminals
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
10 - 2
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
10. OUTLINE DIMENSION DRAWINGS
(3) MR-J2S-200B MR-J2S-350B
[Unit: mm]
([Unit: in])
70(2.76)
90(3.54)
78(3.07)
6
(0.24)
195(7.68)
6
(0.24)
2- 6 ( 0.24)
mounting hole
Terminal layout
MITSUBISHI
168(6.61)
156(6.14)
MITSUBISHI
TE2
TE1
PE terminal
Cooling fan wind direction
Mass
[kg]([lb])
Servo amplifier
MR-J2S-200B
2.0
(4.41)
MR-J2S-350B
Terminal signal layout
PE terminals
TE1
L1
L2
L3
U
V
W
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
L11
L21
D
P
C
N
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
10 - 3
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
10. OUTLINE DIMENSION DRAWINGS
(4) MR-J2S-500B
[Unit: mm]
([Unit: in])
20
(0.24) 130(5.12) (0.24)
70
6
6 (2.76)
118(4.65)
OPEN
(0.79)
7.5
(0.5)
2- 6 ( 0.24)
mounting hole
200(7.87)
(0.19) 5
MITSUBISHI
235(9.25)
250(9.84)
OPEN
OPEN
TE1
C
N
1
A
C
N
1
B
C
N
1
A
C
N
1
B
C
N
2
C
N
3
C
N
2
C
N
3
TE2
N.P.
N.P.
7.5
(0.5)
Terminal layout
MITSUBISHI
6(0.24)
Cooling fan
Cooling fan wind direction
Servo amplifier
Mass
[kg]([lb])
MR-J2S-500B
4.9(10.8)
Cooling fan
Terminal signal layout
TE1
PE terminals
L1
L2
Built-in regenerative resistor
lead terminal fixing screw
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
TE2
L11
L21
Terminal screw : M3.5
Tightening torque : 0.8 [N m](7[lb in])
10 - 4
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
10. OUTLINE DIMENSION DRAWINGS
(5) MR-J2S-700B
70
10 (2.76)
180(7.09)
160(6.23)
350(13.8)
335(13.2)
(0.39)
200(7.87)
138(5.43)
62
20
7.5
(0.5)
(0.39)
10
(0.79)
2- 6( 0.24)
mounting hole
(2.44)
[Unit: mm]
([Unit: in])
6(0.24)
Terminal layout
MITSUBISHI
MITSUBISHI
OPEN
OPEN
C
N
1
A
C
N
1
B
C
N
1
A
C
N
1
B
C
N
2
C
N
3
C
N
2
C
N
3
TE2
OPEN
TE1
7.5
(0.5)
6 (0.24)
Cooling fan
Servo amplifier
Mass
[kg]([lb])
MR-J2S-700B
7.2(15.9)
TE1
Cooling fan wind direction
PE terminals
L1
L2
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](10[lb in])
Built-in regenerative
resistor lead terminal
fixing screw
Terminal screw : M4
Tightening torque : 1.2 [N m](10[lb in])
TE2
L11 Terminal screw : M3.5
Tightening torque : 0.8 [N m](7[lb in])
L21
10 - 5
Mounting Screw
Screw Size : M5
Tightening torque :
3.24[N m]
(28.676 [lb in]
10. OUTLINE DIMENSION DRAWINGS
(6) MR-J2S-11KB 15KB
12(0.47)
[Unit: mm]
([Unit: in])
2- 12( 0.47)
mounting hole
75
(2.95)
Cooling fan wind direction
MITSUBISHI
C
N
3
C
N
1
A
C
N
1
B
400(15.75)
376(14.8)
CN4
Cooling fan
TE2
CN2
CON2
CHARGE
Mass
[kg]([lb])
MR-J2S-11KB
15(33.1)
MR-J2S-15KB
16(35.3)
260(10.24)
12(0.47)
3.9(0.15)
Servo amplifier
(0.47)
12(0.47) 236(9.29)
260(10.24)
(0.47)12
12
TE1
Terminal signal layout
TE1
PE terminal
L1
L2
L3
U
V
W
P1
P
C
N
Terminal screw : M6
Tightening torque : 3.0[N m] (26[lb in)]
Terminal screw : M6
Tightening torque : 6.0[N m] (52[lb in)]
TE2
L11
L21
Terminal screw : M4
Tightening torque : 1.2[N m] (10.6[lb in])
10 - 6
Mounting Screw
Screw Size:M10
Tightening torque:
26.5[N m]
(234.545[lb in])
10. OUTLINE DIMENSION DRAWINGS
(7) MR-J2S-22KB
12(0.47)
[Unit: mm]
([Unit: in])
2- 12( 0.47)
mounting hole
Coolig fan wind direction
75
(2.95)
MITSUBISHI
C
N
3
C
N
1
A
C
N
1
B
400(15.75)
Cooling fan
376(14.8)
CN4
TE2
CON2
CN2 CHARGE
12
12(0.47)
326(12.84)
350(13.78)
12(0.47)
3.9(0.15)
260(0.24)
(0.47)12
(0.47)
TE1
Servo amplifier
Mass
[kg]([lb])
MR-J2S-22KB
20(44.1)
Terminal signal layout
TE1
PE terminal
L1
L2
L3
U
V
W
P1
P
C
N
Terminal screw : M8
Terminal screw : M8
Tightening torque : 6.0[N m] (52[lb in)]
Tightening torque : 6.0[N m] (52[lb in)]
TE2
L11
L21
Terminal screw : M4
Tightening torque : 1.2[N m] (10.6[lb in)]
10 - 7
Mounting Screw
Screw Size:M10
Tighting torque:
26.5[N m]
(234.545[lb in])
10. OUTLINE DIMENSION DRAWINGS
10.2 Connectors
(1) Servo amplifier side
<3M>
(a) Soldered type
Model
Connector
Shell kit
: 10120-3000PE 10126-3000PE
: 10320-52F0-008 10326-52F0-008
[Unit: mm]
([Unit: in])
10.0
(0.39)
12.0(0.47)
14.0
(0.55)
Logo, etc. are indicated here.
39.0(1.54)
23.8(0.94)
A
B
12.7
(0.50)
Connector
Shell kit
10120-3000PE
10126-3000PE
Variable dimensions
A
B
10320-52F0-008
22.0(0.87)
33.3(1.31)
10326-52F0-008
25.8(1.02)
37.2(1.47)
(b) Threaded type
[Unit: mm]
([Unit: in])
10.0
12.0(0.47)
39.0(1.54)
(0.22)5.7 23.8(0.94)
22.0(0.87)
33.3
(1.31)
14.0
(0.55)
27.4
(1.08)
(0.39)
Model
Connector
: 10120-3000PE
Shell kit
: 10320-52A0-008
Note. This is not available as option
and should be user-prepared.
Logo, etc. are indicated here.
12.7
(0.50)
10 - 8
10. OUTLINE DIMENSION DRAWINGS
(c) Insulation displacement type
Model
Connector
Shell kit
: 10120-6000EL
: 10320-3210-000
11.5
(0.45)
[Unit: mm]
6.7 ( 0.26) ([Unit: in])
2- 0.5
(0.02)
Logo, etc. are indicated here.
42.0(1.65)
33.0(1.30)
20.9(0.82)
29.7
(1.17)
(2) Bus cable connector
(a) Honda Tsushin Industry PCR type
PCR-LS20LA1
PCR-LS20LA1W
13.0
10.4(0.41)
(0.51)
(0.04)1 12.2 1(0.04)
(0.48)
HONDA
RS
27.4(1.08)
32.0(0.91)
27.4(1.08)
32.0(0.91)
1.9
1 12.2 1
(0.08) (0.04)(0.48) (0.04)
(Note) Model
Number of Pins
20
RS
38.5
(1.52)
HONDA
38.5
(1.52)
20.6
(0.81)
14.2(0.56)
23.0(0.91)
[Unit: mm]
([Unit: in])
Connector
PCR-S20FS
Case
(soldering type)
PCR-S20F (insulation displacement type)
PCR-LS20LA1
PCR-LS20LA1W
Note. PCR-S20F and PCR-LS20LA1W are not options and are to be supplied by the customer.
10 - 9
Crimping terminal
FHAT-002A
10. OUTLINE DIMENSION DRAWINGS
(b) Honda Tsushin Industry HDR type
Model HDR
Number of Pins
Connector
Connector case
14
HDR-E14MG1
HDR-E14LPA5
26
HDR-E26MG1
HDR-E26LPA5
(Note) Crimping terminal
Wire straightening tool
: FHAT-0029
Insulation displacement tool : FHPT-0004C
Note. Not available from us and to be supplied by the customer.
Model Connector
: HDR-E26MG1
Connector case : HDR-E26LPA5
Model Connector
: HDR-E14MG1
Connector case : HDR-E14LPA5
[Unit: mm]
([Unit: in])
21.8 (0.86)
6 7 (0.24 0.28)
25
(0.98)
25
(0.98)
10
(0.39)
10
(0.39)
17 (0.67)
5.6 ( 0.22)
21 (0.83)
8.0
(0.32)
8.0
(0.32)
25.8 (1.02)
(3) Communication cable connector
<Japan Aviation Electronics Industry>
[Unit: mm]
([Unit: in])
B
A
Fitting fixing screwG
F
E(max. diameter of cable used)
C
D
Type
DE-C1-J6-S6
A
1
B
1
C
0.25
D
1
34.5(1.36)
19(0.75)
24.99(0.98)
33(1.30)
10 - 10
E
6(0.24)
F
Reference
G
18(0.71)
#4-40
11. CHARACTERISTICS
11. CHARACTERISTICS
11.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier
from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic
thermal relay protection curve shown in any of Figs 11.1, Overload 2 alarm (51) occurs if the maximum
current flew continuously for several seconds due to machine collision, etc. Use the equipment on the lefthand side area of the continuous or broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.
1000
1000
During rotation
During rotation
100
Operation time[s]
Operation time[s]
100
During servo lock
10
1
1
0.1
0.1
0
50
100
150
200
250
During servo lock
10
0
300
50
(Note) Load ratio [%]
150
200
250
300
(Note) Load ratio [%]
a. MR-J2S-10B to MR-J2S-100B
b. MR-J2S-200B to MR-J2S-350B
10000
1000
1000
Operation time[s]
10000
Operation time[s]
100
During rotation
During servo lock
100
During rotation
100
During servo lock
10
10
1
1
0
50
100
150
200
250
300
0
100
200
300
(Note) Load ratio [%]
(Note) Load ratio [%]
d. MR-J2S-11KB to MR-J2S-22KB
c. MR-J2S-500B MR-J2S-700B
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the
electronic thermal relay protection is not activated.
Fig 11.1 Electronic thermal relay protection characteristics
11 - 1
11. CHARACTERISTICS
11.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the servo amplifier
Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at
rated torque and servo off according to the duty used during operation. When the servo motor is run at
less than the maximum speed, the power supply capacity will be smaller than the value in the table,
but the servo amplifier's generated heat will not change.
Table 11.1 Power supply capacity and generated heat per servo amplifier at rated output
Servo amplifier
MR-J2S-10B(1)
MR-J2S-20B(1)
MR-J2S-40B(1)
MR-J2S-60B
MR-J2S-70B
MR-J2S-100B
MR-J2S-200B
Servo motor
(Note 2)
Servo amplifier-generated heat[W]
Area required for heat dissipation
At rated torque
With servo off
[m2]
[ft2]
HC-KFS053 13
0.3
25
15
0.5
5.4
HC-MFS053
0.3
25
15
0.5
5.4
HC-UFS13
0.3
25
15
0.5
5.4
HC-KFS23
0.5
25
15
0.5
5.4
HC-MFS23
0.5
25
15
0.5
5.4
HC-UFS23
0.5
25
15
0.5
5.4
HC-KFS43
0.9
35
15
0.7
7.5
HC-MFS43
0.9
35
15
0.7
7.5
HC-UFS43
0.9
35
15
0.7
7.5
HC-SFS52
1.0
40
15
0.8
8.6
HC-SFS53
1.0
40
15
0.8
8.6
HC-LFS52
1.0
40
15
0.8
8.6
HC-KFS73
1.3
50
15
1.0
10.8
13
HC-MFS73
1.3
50
15
1.0
10.8
HC-UFS72 73
1.3
50
15
1.0
10.8
HC-SFS81
1.5
50
15
1.0
10.8
HC-SFS102
1.7
50
15
1.0
10.8
HC-LFS102
1.7
50
15
1.0
10.8
HC-SFS121
2.1
90
20
1.8
19.4
HC-SFS201
3.5
90
20
1.8
103
19.4
HC-SFS152
153
2.5
90
20
1.8
19.4
HC-SFS202
203
3.5
90
20
1.8
19.4
HC-RFS103
1.8
50
15
1.0
10.8
HC-RFS153
2.5
90
20
1.8
19.4
HC-UFS152
2.5
90
20
1.8
19.4
HC-LFS152
2.5
90
20
1.8
19.4
HC-SFS301
4.8
120
20
2.7
29.1
29.1
HC-SFS352
MR-J2S-350B
(Note 1)
Power supply
capacity[kVA]
5.5
130
20
2.7
HC-RFS203
353
3.5
90
20
1.8
19.4
HC-UFS202
3.5
90
20
1.8
19.4
HC-LFS202
3.5
90
20
1.8
19.4
11 - 2
11. CHARACTERISTICS
Servo amplifier
MR-J2S-500B
MR-J2S-700B
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
Servo motor
(Note 1)
Power supply
capacity[kVA]
(Note 2)
Servo amplifier-generated heat[W]
Area required for heat dissipation
At rated torque
With servo off
[m2]
[ft2]
HC-SFS502
7.5
195
25
3.9
42.0
HC-RFS353
5.5
135
25
2.7
29.1
HC-RFS503
7.5
195
25
3.9
42.0
HC-UFS352
5.5
195
25
3.9
42.0
HC-UFS502
7.5
195
25
3.9
42.0
HC-LFS302
4.5
120
25
2.4
25.8
HA-LFS502
7.5
195
25
3.9
42.0
HC-SFS702
10.0
300
25
6.0
64.6
HA-LFS702
10.6
300
25
6.0
64.6
HA-LFS11K2
16.0
530
45
11
118.4
HA-LFS801
12.0
390
45
7.8
83.9
HA-LFS12K1
18.0
580
45
11.6
124.8
HA-LFS11K1M
16.0
530
45
11.0
118.4
HA-LFS15K2
22.0
640
45
13
139.0
HA-LFS15K1
22.0
640
45
13
139.0
HA-LFS15K1M
22.0
640
45
13
139.0
HA-LFS22K2
33.0
850
55
17
183.0
HA-LFS20K1
30.1
775
55
15.5
166.8
HA-LFS25K1
37.6
970
55
19.4
208.8
HA-LFS22K1M
33.0
850
55
17.0
193.0
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power
factor improving reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, use Equation 12.1 refer to section 12.1.1.
11 - 3
11. CHARACTERISTICS
(2) Heat dissipation area for enclosed servo amplifier
The enclosed control box (hereafter called the control box) which will contain the servo amplifier
should be designed to ensure that its temperature rise is within 10 at the ambient temperature of
40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 )
limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1.
A
P
K
T
............................................................................................................................................. (11.1)
where, A
P
T
K
: Heat dissipation area [m2]
: Loss generated in the control box [W]
: Difference between internal and ambient temperatures [ ]
: Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with Equation 11.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 11.1 for heat generated by the servo amplifier. "A" indicates
the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall,
that extra amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore,
arrangement of the equipment in the enclosure and the use of a cooling fan should be considered.
Table 11.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is
operated at the ambient temperature of 40 (104 ) under rated load.
(Outside)
(Inside)
Air flow
Fig. 11.2 Temperature distribution in enclosure
When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because
the temperature slope inside and outside the enclosure will be steeper.
11 - 4
11. CHARACTERISTICS
11.3 Dynamic brake characteristics
11.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) in this
section.)
Forced stop(EM1)
ON
OFF
Time constant
V0
Machine speed
Time
te
Fig. 11.3 Dynamic brake operation diagram
Lmax
V0
60
te
1
JL
JM
....................................................................................................................... (11.2)
Lmax
Vo
JM
JL
: Maximum coasting distance .................................................................................................[mm][in]
: Machine rapid feed rate ........................................................................................ [mm/min][in/min]
: Servo motor inertial moment................................................................................. [kg cm2][oz in2]
: Load inertia moment converted into equivalent value on servo motor shaft
................................................................................................................................. [kg cm2][oz in2]
: Brake time constant ........................................................................................................................ [s]
te
: Delay time of control section........................................................................................................... [s]
For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo,
there is delay time of about 100ms caused by a delay of the external relay and a delay of the
magnetic contactor built in the external dynamic brake.
16
14
12
10
8
6
4
2
0
0
23
053
Time constant [ms]
Time constant
[ms]
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for the equations (11.2).
73
43
13
500 1000 1500 2000 2500 3000
Speed[r/min]
HC-KFS series
20
18
16
14
12
10
8
6
4
2
0
23
73
053
43
0
500
13
1000 1500 2000 2500 3000
Speed [r/min]
HC-MFS series
11 - 5
11. CHARACTERISTICS
45
40
35
40
121
30
Time constant [ms]
Time constant [ms]
35
201
25
20
301
15
10
81
5
0
0
50
500
Speed [r/min]
702
30
25
352
202
52
20
15
10
502
102
5
0
0
1000
HC-SFS1000r/min series
152
500
1000
1500
Speed [r/min]
2000
HC-SFS2000r/min series
53
80
60
40
353
103
20
0
0
50
18
16
14
12
Time constant [ms]
203
100
103
10
8
6
4
2
0
0
153
500 1000 1500 2000 2500 3000
Speed [r/min]
503
153
353
203
500
HC-SFS3000r/min series
1000 1500 2000 2500 3000
Speed [r/min]
HC-RFS series
70
73
100
90
80
70
60
50
40
30
20
10
0
0
72
Time constant [ms]
Time constant [ms]
60
502
352
152
500
1000 1500
Speed [r/min]
50
40
30
43
20
23
13
10
202
0
0
2000
50
HC-UFS3000r/min series
40
35
35
Time constant [ms]
40
30
25
15K2
20
15
11K2
10
5
0
0
30
25
302
20
15
10
5
22K2
500
500 10001500200025003000
Speed [r/min]
HC-UFS 2000r/min series
Time constant [ms]
Time constant [ms]
120
0
1000 1500 2000
Speed [r/min]
HA-LFS series
0
500
1000 1500
Speed [r/min]
HC-LFS series
11 - 6
2000
11. CHARACTERISTICS
11.3.2 The dynamic brake at the load inertia moment
Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load
inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility
that the load inertia moment may exceed the value, contact Mitsubishi.
Servo amplifier
Load inertia moment ratio [times]
MR-J2S-10B to MR-J2S-200B
MR-J2S-10B1 to MR-J2S-40B1
30
MR-J2S-350B
16
MR-J2S-500B
15
MR-J2S-700B
(Note)MR-J2S-11KB to MR-J2S-22KB
(Note) 30
Note. Assumes that the external dynamic brake is used.
11.4 Encoder cable flexing life
The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 108
5 107
a
1 107
a : Long flexing-life encoder cable
MR-JCCBL M-H
MR-JHSCBL M-H
MR-ENCBL M-H
5 106
1 106
b : Standard encoder cable
MR-JCCBL M-L
MR-JHSCBL M-L
Flexing life [times]
5 105
1 105
5 104
1 104
b
5 103
1 103
4
7
10
20
40
70 100
Flexing radius [mm]
11 - 7
200
11. CHARACTERISTICS
11.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference value) that will flow when the maximum
permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of
10m.
Servo amplifier
Inrush Currents (A0-p)
Main circuit power supply (L1, L2, L3)
MR-J2S-10B
20B
30A (Attenuated to approx. 5A in 10ms)
MR-J2S-40B
60B
30A (Attenuated to approx. 5A in 10ms)
MR-J2S-70B
100B
54A (Attenuated to approx. 12A in 10ms)
MR-J2S-200B
350B
120A (Attenuated to approx. 12A in 20ms)
MR-J2S-500B
44A (Attenuated to approx. 20A in 20ms)
MR-J2S-700B
88A (Attenuated to approx. 20A in 20ms)
MR-J2S-11KB
MR-J2S-15KB
235A (Attenuated to approx. 20A in 20ms)
Control circuit power supply (L11, L21)
70 to 100A
(Attenuated to approx. 0A in 0.5 to 1ms)
100 to 130A
(Attenuated to approx. 0A in 0.5 to 1ms)
30A
(Attenuated to approx. 0A in several ms)
MR-J2S-22KB
MR-J2S-10B1
20B1
MR-J2S-40B1
59A (Attenuated to approx. 5A in 4ms)
72A (Attenuated to approx. 5A in 4ms)
100 to 130A
(Attenuated to approx. 0A in 0.5 to 1ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic
contactors. (Refer to section 12.2.2.)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped
by an inrush current.
11 - 8
12. OPTIONS AND AUXILIARY EQUIPMENT
12. OPTIONS AND AUXILIARY EQUIPMENT
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo
amplifier whether the charge lamp is off or not.
CAUTION
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
12.1 Options
12.1.1 Regenerative options
CAUTION
The specified combinations of regenerative options and servo amplifiers may only
be used. Otherwise, a fire may occur.
(1) Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power[W]
Servo amplifier
Built-in regenerative MR-RB032
resistor
[40 ]
MR-J2S-10B(1)
MR-RB12
[40 ]
MR-RB32
[40 ]
MR-RB30
[13 ]
(Note)
MR-RB50
[13 ]
MR-RB31
[6.7 ]
(Note)
MR-RB51
[6.7 ]
300
500
30
MR-J2S-20B(1)
10
30
100
MR-J2S-40B(1)
10
30
100
MR-J2S-60B
10
30
100
MR-J2S-70B
20
30
100
300
MR-J2S-100B
20
30
100
300
MR-J2S-200B
100
300
500
MR-J2S-350B
100
300
500
MR-J2S-500B
130
300
500
MR-J2S-700B
170
Note. Always install a cooling fan.
(Note) Regenerative power[W]
Servo amplifier
External regenerative resistor
(Accessory)
MR-RB65
[8 ]
MR-J2S-11KB
500 (800)
500 (800)
MR-J2S-15KB
850 (1300)
MR-J2S-22KB
850 (1300)
MR-RB66
[5 ]
MR-RB67
[4 ]
850 (1300)
850 (1300)
Note. Values in parentheses assume the installation of a cooling fan.
12 - 1
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
(a) Simple selection method
In horizontal motion applications, select the regenerative option as described below.
When the servo motor is run without load in the regenerative mode from the running speed to a
stop, the permissible duty is as indicated in section 5.1 of the separately available Servo Motor
Instruction Manual.
For the servo motor with a load, the permissible duty changes according to the inertia moment of
the load and can be calculated by the following formula.
Permissible
duty
Permissible duty for servo motor with no load (value indication section 5.1 in Servo Motor Instruction Manual)
(m l)
ratedspeed
running speed
where m
2
[times/min]
load inertia moment/servo motor inertia moment
From the permissible duty, find whether the regenerative option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative option out of the combinations in (1) in this section.
(b) To make selection according to regenerative energy
Use the following method when regeneration occurs continuously in vertical motion applications or
when it is desired to make an in-depth selection of the regenerative option.
Unbalance torque
Servo motor speed
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Friction
torque
TF
Up
( )
TU
( )
Time
Down
t1
t2
t3
Tpsd1
Tpsa1
Generated torque
M
tf(1 cycle)
No
t4
Tpsd2
Tpsa2
1)
(Driving)
2)
4)
8)
5)
6)
3)
(Regenerative)
7)
Formulas for calculating torque and energy in operation
Regenerative power
1)
T1
2)
T2
3)
T3
4), 8)
T4
5)
T5
6)
T6
7)
T7
Torque applied to servo motor [N m]
(JL JM) No
1
TU TF
Tpsa1
9.55 104
TU
TF
(JL JM) No
9.55 104
TU
(JL JM) No
4
9.55 10
TU TF
(JL JM) No
9.55 104
Energy [J]
E1
E2
1
Tpsa1
1
Tpsa2
TU
TU
TF
TF
E3
Tpsa2
TU
TF
No T1 Tpsa1
0.1047 No T2 t1
0.1047
2
No T3 Tpsd1
E4 0 (No regeneration)
0.1047
E5
No T5 Tpsa2
2
E6
1
0.1047
2
E7
0.1047 No T6 t3
0.1047
No T7 Tpsd2
2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
12 - 2
12. OPTIONS AND AUXILIARY EQUIPMENT
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier
Inverse efficiency[%]
Capacitor charging[J]
55
55
70
70
85
85
85
80
80
85
85
90
90
90
90
90
9
4
9
4
11
12
11
18
18
40
40
45
70
120
170
250
MR-J2S-10B
MR-J2S-10B1
MR-J2S-20B
MR-J2S-20B1
MR-J2S-40B
MR-J2S-40A1
MR-J2S-60B
MR-J2S-70B
MR-J2S-100B
MR-J2S-200B
MR-J2S-350B
MR-J2S-500B
MR-J2S-700B
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
Inverse efficiency ( )
:Efficiency including some efficiencies of the servo motor and servo
amplifier when rated (regenerative) torque is generated at rated speed.
Since the efficiency varies with the speed and torque, allow for about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by
the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J]
Es Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf
[s] to select the necessary regenerative option.
PR [W] ER/tf
(3) Parameter setting
Set parameter No.2 according to the option to be used.
The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2 , GRZG400-1
and GRZG400-0.8 , respectively. When using any of these regenerative options, make the same
parameter setting as when using the GRZG400-2 , GRZG400-1 or GRZG400-0.8 (supplied
regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Parameter No.2
0 0
Selection of regenerative
00: Regenerative option is not used with 7kW or less servo amplifier
(The built-in regenerative resistor is used. However, the MR-J2S-10B does not
have a built-in regenerative resistor and therefore cannot use it.)
Supplied regenerative resistors or regenerative option is used with 11k to 22kW
servo amplifier
01: FR-RC, FR-BU2, FR-CV
05: MR-RB32
08: MR-RB30
09: MR-RB50(Cooling fan is required)
0B: MR-RB31
0C: MR-RB51(Cooling fan is required)
0E: When regenerative resistors or regenerative option supplied to 11k to 22kW are
cooled by cooling fans to increase capability
10: MR-RB032
11: MR-RB12
12 - 3
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Connection of the regenerative option
POINT
When the MR-RB50 MR-RB51 is used, a cooling fan is required to cool it.
The cooling fan should be prepared by the customer.
The regenerative option will generate heat of about 100 . Fully examine heat dissipation,
installation position, used cables, etc. before installing the option. For wiring, use flame-resistant
cables and keep them clear of the regenerative option body. Always use twisted cables of max.
5m(16.4ft) length for connection with the servo amplifier.
(a) MR-J2S-350B or less
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option
overheats abnormally.
Servo amplifier
Always remove the lead from across P-D.
Regenerative option
D
P
P
C
C
G3
(Note 2)
G4
5m (16.4 ft) max.
Cooling fan(Note 1)
Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
For the MR-RB50 install the cooling fan as shown.
[Unit : mm(in)]
Cooling fan installation screw hole dimensions
2-M3 screw hole
Top
Bottom
82.5
(3.25)
Vertical
installation
Horizontal installation
Installation surface
12 - 4
82.5
(3.25)
Thermal relay
133
(for cooling fan installation)
Depth 10 or less
(Screw hole already
machined)
Terminal block
(5.24)
Cooling fan
40 (1.58)
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-J2S-500B MR-J2S-700B
Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit
the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option
overheats abnormally.
Servo amplifier
Always remove wiring (across P-C) of servo
amplifier built-in regenerative resistor.
Regenerative option
P
P
C
C
G3
(Note 2)
G4
5m(16.4ft) or less
Cooling fan(Note 1)
Note 1. When using the MR-RB50 MR-RB51, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
When using the regenerative resistor option, remove the servo amplifier's built-in regenerative
resistor terminals (across P-C), fit them back to back, and secure them to the frame with the
accessory screw as shown below.
Mounting method
Accessory screw
For MR-J2S-500B
For MR-J2S-700B
Accessory screw
Accessory screw
12 - 5
12. OPTIONS AND AUXILIARY EQUIPMENT
For the MR-RB50 MR-RB51 install the cooling fan as shown.
[Unit : mm(in)]
Cooling fan installation screw hole dimensions
2-M3 screw hole
Top
Bottom
82.5
82.5
(3.25)
Thermal relay
133
(for cooling fan installation)
Depth 10 or less
(Screw hole already
machined)
Terminal block
(5.24)
Cooling fan
40 (1.58)
(3.25)
Horizontal installation
Vertical
installation
Installation surface
(c) MR-J2S-11KB to MR-J2S-22KB (when using the supplied regenerative resistor)
When using the regenerative resistors supplied to the servo amplifier, the specified number of
resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less
than the specified number, the servo amplifier may become faulty and/or the regenerative resistors
burn. Install the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans
(92 92, minimum air flow : 1.0m3) improves the regeneration capability. In this case, set "0E
"
in parameter No. 2.
5m or less
Do not remove
the short bar.
(Note) Series connection
Servo amplifier
P1
P
C
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. Install a thermal sensor or like to configure a circuit that
will shut off the main circuit power at abnormal overheat. The supplied regenerative resistor does not have a built-in thermal
sensor. If the regenerative brake circuit fails, abnormal overheat of the resistor is expected to occur. On the customer side, please
also install a thermal sensor for the resistor and provide a protective circuit that will shut off the main circuit power supply at
abnormal overheat. The detection level of the thermal sensor changes depending on the resistor installation method. Please
install the thermal sensor in the optimum position according to the customer's design standards, or use our regenerative option
having built-in thermal sensor (MR-RB65, 66, 67).
Servo amplifier
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
Regenerative
resistor
GRZG400-2
GRZG400-1
GRZG400-0.8
Regenerative power [W]
Normal
Cooling
500
800
850
1300
850
1300
12 - 6
Resistance
[ ]
8
5
4
Number of
resistors
4
5
5
12. OPTIONS AND AUXILIARY EQUIPMENT
(d) MR-J2S-11KB-PX to MR-J2S-22KB-PX (when using the regenerative option)
The MR-J2S-11KB-PX to MR-J2S-22KB-PX servo amplifiers are not supplied with regenerative
resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67
regenerative option.
The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2Ω, GRZG4001Ω and GRZG400-0.8Ω, respectively. When using any of these regenerative options, make the
same parameter setting as when using the GRZG400-2Ω, GRZG400-1Ω or GRZG400-0.8Ω
(supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Cooling the regenerative option with cooling fans improves regenerative capability.
The G3 and G4 terminals are for the thermal sensor. G3-G4 is opened when the regenerative
option overheats abnormally.
Servo amplifier
Do not remove
the short bar.
P1
Regenerative option
P
P
C
C
(Note)
G3
G4
Configure up a circuit which
shuts off main circuit power
when thermal sensor operates.
Note. Specifications of contact across G3-G4
Maximum voltage :120V AC/DC
Maximum current :0.5A/4.8VDC
Maximum capacity : 2.4VA
Servo amplifier
Regenerative
option model
Resistance
[ ]
MR-J2S-11KB-PX
MR-J2S-15KB-PX
MR-J2S-22KB-PX
MR-RB65
MR-RB66
MR-RB67
8
5
4
Regenerative power [W]
Without
With
cooling fans cooling fans
500
800
850
1300
850
1300
When using cooling fans, install them using the mounting holes provided in the bottom of the
regenerative option. In this case, set "0E
" in parameter No. 2.
Top
MR-RB65 66 67
Bottom
TE1
2 cooling fans
(92 92, minimum air flow: 1.0m3)
Mounting screw
4-M3(0.118)
12 - 7
TE
G4 G3 C
P
12. OPTIONS AND AUXILIARY EQUIPMENT
(5) Outline drawing
(a) MR-RB032 MR-RB12
[Unit: mm (in)]
LA
TE1
Terminal block
5 (0.20)
G3
G4
P
C
6 (0.24)
12 (0.47)
G3
G4
P
C
6 (0.24)
TE1
168 (6.61)
156 (6.14)
MR-RB
144 (5.67)
12 (0.47)
6 (0.24)
6 (0.24) mounting hole
LB
Terminal screw: M3
1.6 (0.06)
20
(0.79)
LD
LC
Tightening torque:
0.5 to 0.6 [N m](4 to 5 [lb in])
Mounting screw
Screw size: M5
Tightening torque:
3.24 [N m](28.676 [lb in])
Variable dimensions
LA
LB
LC
LD
30
15
119
99
MR-RB032
(1.18) (0.59) (4.69) (3.9)
40
15
169 149
MR-RB12
(1.58) (0.59) (6.65) (5.87)
Regenerative
option
Mass
[kg] [lb]
0.5 1.1
1.1 2.4
(b) MR-RB30 MR-RB31 MR-RB32
[Unit: mm (in)]
Terminal block
P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m] (10.6 [Ib in])
G4
7 (0.28)
90 (3.54)
10
(0.39) 100 (3.94)
17
(0.67)
Mounting screw
318 (12.5)
335 (13.2)
Screw: M6
Tightening torque: 5.4 [N m] (47.79 [Ibi n])
Regenerative
option
Mass [kg] (Ib)
MR-RB30
MR-RB31
MR-RB32
12 - 8
2.9 (6.4)
12. OPTIONS AND AUXILIARY EQUIPMENT
(c) MR-RB50 MR-RB51
[Unit: mm (in)]
Fan mounting screw
(2-M3 screw)
On opposite side
49
(1.93)
Terminal block
P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m]
(10.6 [Ib in])
G4
82.5
(3.25)
7 14
slot
Mounting screw
Screw: M6
Tightening torque: 5.4 [N m]
Wind blows in the
arrow direction
(47.79 [Ib in])
Regenerative
option
MR-RB50
2.3
(0.09)
200 (7.87)
217 (8.54)
17
(0.67)
12
(0.47)
7 (0.28)
108 (4.25)
120 (4.72)
MR-RB51
Mass [kg] (Ib)
5.6 (12.3)
Approx.30 (1.18)
8 (0.32)
(d) MR-RB65 MR-RB66 MR-RB67
480 (18.9)
500 (19.7)
427 (16.8)
2- 10 ( 0.39)
mounting hole
30 (1.18)
10 (0.39)
[Unit: mm (in)]
Terminal block
G4 G3 C
Terminal screw: M5
Tightening torque: 2.0 [N m](17 [lb in])
Mounting screw
Screw size: M8
Tightening torque: 13.2 [N m](116.83 [lb in])
TE1
43 (1.69)
15 (0.59)
10 (0.39)
G4G3 CP
10 (0.39)
230 (9.06)
260 (10.2)
230 (9.06)
2.3 (0.09)
215 (8.47)
Regenerative
option
(3.25)
4-M3 screw
Cooling fan mounting
82.5
P
Mass
[kg]
(lb)
MR-RB65
10
22.0
MR-RB66
11
24.3
MR-RB67
11
24.3
82.5 82.5
(3.25) (3.25)
GRZG400-0.8 (standard accessories)
( 5.5)
(2.4)
384
410
79
[Unit: mm (in)]
40
10
GRZG400-1
1.6
(e) GRZG400-2
40
12 - 9
Mounting screw
Screw size: M8
Tightening torque: 13.2 [N m](116.83 [lb in])
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.2 FR-BU2 brake unit
POINT
The brake unit and resistor unit of other than 200V class are not
applicable to the servo amplifier. Combination of different voltage class
units and servo amplifier cannot be used.
Install a brake unit and a resistor unit on a flat surface vertically. When
the unit is installed horizontally or diagonally, the heat dissipation effect
diminishes.
Temperature of the resistor unit case rises to higher than 100 . Keep
cables and flammable materials away from the case.
Ambient temperature condition of the brake unit is between 10 (14 )
and 50 (122 ). Note that the condition is different from the ambient
temperature condition of the servo amplifier (between 0 (32 ) and
55 (131 )).
Configure the circuit to shut down the power-supply with the alarm
output of the brake unit and resistor unit under abnormal condition.
Use the brake unit with a combination indicated in (1) of this section.
For executing a continuous regenerative operation, use FR-RC power
regeneration converter or FR-CV power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be
used simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option,
the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide
sufficient regenerative capability.
When using the brake unit, set the parameter No.2 of the servo amplifier to "
01".
When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.
(1) Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Brake unit
Resistor unit
Number of
connected
units
Permissible
continuous
power [kW]
Total
resistance
[ ]
Applicable servo
amplifier
FR-BU2-15K
FR-BR-15K
1
0.99
8
MR-J2S-350B
MR-J2S-500B
FR-BU2-30K
FR-BR-30K
1
1.99
4
MR-J2S-500B
MR-J2S-700B
MR-J2S-11KB
MR-J2S-15KB
FR-BU2-55K
FR-BR-55K
1
3.91
2
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
MT-BR5-55K
1
5.5
2
MR-J2S-22KB
12 - 10
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Brake unit parameter setting
Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can
be changed or not is listed below.
Change
possible/
impossible
Parameter
No.
Name
0
Brake mode switchover
1
Monitor display data selection
2
Input terminal function selection 1
3
Input terminal function selection 2
Impossible
77
Parameter write selection
78
Cumulative energization time
carrying-over times
CLr
Parameter clear
ECL
Alarm history clear
C1
Remarks
Do not change the parameter.
Possible
Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
Impossible
Do not change the parameter.
For manufacturer setting
(3) Connection example
POINT
Connecting PR terminal of the brake unit to P terminal of the servo
amplifier results in brake unit malfunction. Always connect the PR
terminal of the brake unit to the PR terminal of the resistor unit.
(a) Combination with FR-BR resistor unit
(Note 7) Servo motor
thermal relay
RA2
ALM
RA1
EM1
ON
OFF
MC
MC
SK
Servo amplifier
NFB
(Note 1)
Power
supply
MC
L1
L2
L3
L11
L21
CN3
20
3
10
5
13
P1
(Note 3)
P
D
P
(Note 9)
N
C
EM1
SG
VDD
COM
ALM
RA1
FR-BU2
MSG
SD
A
B
C
(Note 6)
PR
P/
(Note 4)
N/
(Note 8)
(Note 10)
(Note 2)
12 - 11
P
PR
FR-BR
(Note 5) TH1
TH2
BUE
SD
12. OPTIONS AND AUXILIARY EQUIPMENT
Note 1. For power supply specifications, refer to section 1.3.
2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P
and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C
terminals.
3. For the servo amplifier of 11k to 22kW, always connect P1 and P (Factory-wired). When using the power factor improving DC
reactor, refer to section 12.2.4.
4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
5. Contact rating 1b contact, 110VAC_5A/220VAC_3A
Normal condition TH1-TH2 is conducting. Abnormal condition TH1-TH2 is not conducting.
6. Contact rating 230VAC_0.3A/30VDC_0.3A
Normal condition B-C is conducting/A-C is not conducting. Abnormal condition B-C is not conducting/A-C is conducting.
7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier.
8. For the servo amplifier of 3.5kW, always disconnect the wiring between P and D terminals.
9. Do not connect more than one cable to each P and N terminals of the servo amplifier.
10. Make sure to connect BUE and SD (Factory-wired).
(b) Combination with MT-BR5 resistor unit
Servo motor
thermal relay
RA2
ALM
RA1
EM1
ON
OFF
RA3
MC
MC
SK
Servo amplifier
NFB
(Note 1)
Power
supply
MC
L1
L2
L3
L11
L21
CN3
20
3
10
5
13
EM1
SG
VDD
COM
ALM
RA1
MT-BR5
(Note 4)
TH1
P
TH2
PR
SK
RA3
FR-BU2
C (Note 8)
P1
(Note 2)
P
PR
P/
(Note 3)
N/
(Note 6)
N
(Note 7)
BUE
SD
MSG
SD
A
B
C
(Note 5)
Note 1. For power supply specifications, refer to section 1.3.
2. Make sure to connect P1 and P (Factory-wired). When using the power factor improving DC reactor, refer to section 12.2.4.
3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
4. Contact rating 1a contact, 110VAC_5A/220VAC_3A
Normal condition TH1-TH2 is not conducting. Abnormal condition TH1-TH2 is conducting.
5. Contact rating 230VAC_0.3A/30VDC_0.3A
Normal condition B-C is conducting/A-C is not conducting. Abnormal condition B-C is not conducting/A-C is conducting.
6. Do not connect more than one cable to each P and N terminals of the servo amplifier.
7. Make sure to connect BUE and SD (Factory-wired).
8. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals.
12 - 12
12. OPTIONS AND AUXILIARY EQUIPMENT
(c) Precautions for wiring
The cables between the servo amplifier and the brake unit, and between the resistor unit and the
brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times
or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using
cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake
unit malfunction.
Servo amplifier
Servo amplifier
Brake unit
P
N
P
N
5m or less
P
PR
Resistor unit
Resistor unit
Brake unit
P
N
P
PR
5m or less
Twist
P
N
P
PR
10m or less
P
PR
Twist
10m or less
(d) Cables
For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.
a) Main circuit terminal
Brake unit
N/
P/
PR
Terminal block
Main
circuit
terminal
screw
size
Crimping
terminal
Cable size
N/ , P/ ,
PR,
Tightening
torque
[N m]
([lb in])
HIV cables,
etc. [mm2]
AWG
N/ , P/ , PR,
FR-BU2-15K
M4
5.5-4
1.5 (13.3)
3.5
12
FR-BU2-30K
M5
5.5-5
2.5 (22.1)
5.5
10
FR-BU2-55K
M6
14-6
4.4 (38.9)
14
6
b) Control circuit terminal
POINT
Undertightening can cause a cable disconnection or malfunction.
Overtightening can cause a short circuit or malfunction due to damage to
the screw or the brake unit.
A
B
C
Sheath
PC BUE SD RES SD MSG MSG SD SD
Core
Jumper
6mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5N m to 0.6N m
2
2
Cable size: 0.3mm to 0.75 mm
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4mm/Tip width 2.5mm)
12 - 13
12. OPTIONS AND AUXILIARY EQUIPMENT
(e) Crimping terminals for P and N terminals of servo amplifier
POINT
Always use recommended crimping terminals or equivalent since some
crimping terminals cannot be installed depending on the size.
Servo amplifier
Brake unit
Number of
connected
units
Crimping terminal (Manufacturer)
MR-J2S-350B
FR-BU2-15K
1
FVD5.5-S4
MR-J2S-500B
FR-BU2-15K
1
(Japan Solderless Terminal)
FR-BU2-30K
1
MR-J2S-700B
FR-BU2-30K
1
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
b
FR-BU2-30K
1
FVD5.5-6(Japan Solderless Terminal)
b
FR-BU2-55K
1
FVD14-6(Japan Solderless Terminal)
a
FR-BU2-30K
1
FVD5.5-6(Japan Solderless Terminal)
b
FR-BU2-55K
1
FVD14-6(Japan Solderless Terminal)
a
FR-BU2-55K
1
FVD14-8(Japan Solderless Terminal)
a
Note. Symbols in the applicable tool field indicate the following applicable tools.
Symbol
Applicable tool
Manufacturer
YF-1 E-4
YNE-38
DH-112 DH-122
a
Body
Head
Dice
b
YNT-1210S
Japan Solderless
Terminal
(4) Outline dimension drawings
(a) FR-BU2 brake unit
[Unit: mm]
FR-BU2-15K
5 hole
(Screw size: M4)
Rating
plate
4
5
6
(Note)
Applicable
tool
56
68
18.5
6
12 - 14
52
132.5
62
12. OPTIONS AND AUXILIARY EQUIPMENT
FR-BU2-30K
2- 5 hole
(Screw size: M4)
Rating
plate
6
5
96
108
5
6
18.5
52
129.5
59
FR-BU2-55K
2- 5 hole
(Screw size: M4)
Rating
plate
5
5
6
158
170
12 - 15
6
18.5
52
72
142.5
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) FR-BR resistor unit
[Unit: mm]
2
C
(Note)
Control circuit
terminal
(Note)
Main circuit
terminal
C
C
Approx. 35
W1
Approx. 35
1
For FR-BR-55K, a hanging bolt is placed
on two locations (Indicated below).
Hanging bolt
W
204
5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
W
W1
H
H1
H2
H3
D
D1
C
Approximate
mass
[kg] ([lb])
FR-BR-15K
170
100
450
410
20
432
220
3.2
6
15 (33.1)
FR-BR-30K
340
270
600
560
20
582
220
4
10
30 (66.1)
FR-BR-55K
480
410
700
620
40
670
450
3.2
12
70 (154)
Resistor unit
(c) MT-BR5- (H) resistor unit
[Unit: mm]
Resistor unit
NP
MT-BR5-55K
M4
M6
193
189
37
60 10 21
480
510
4 15 mounting hole
75
7.5
300
75
450
12 - 16
7.5
Resistance
value
2.0
Approximate
mass
[kg] ([lb])
50 (110)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.3 Power regeneration converter
When using the power regeneration converter, set "
01" in parameter No.2.
Power
Nominal
regeneration
regenerative power
converter
(kW)
FR-RC-15K
15
FR-RC-30K
30
FR-RC-55K
55
Continuous energization time [sec]
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to
the servo amplifiers of the MR-J2S-500B to MR-J2S-22KB.
Servo amplifier
MR-J2S-500B
MR-J2S-700B
MR-J2S-11KB
MR-J2S-15KB
MR-J2S-22KB
12 - 17
500
300
200
100
50
30
20
0
50
75 100
150
Nominal regenerative power (%)
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
L11
NFB
L21
(Note 3) Power factor improving reactor
FR-BAL
MC
L1
(Note 5)
Power
supply
L2
L3
VDD
COM
EM1
SG
(Note 2)
N
RDY
Ready
N/
C
P
P/
P1
5m(16.4ft) or less
(Note 4)
A
SE
RDY
output
R/L1
S/L2
B
B
C
C
Alarm
output
T/L3
RX
R
SX
S
(Note 1)
Phase detection
terminals
TX
T
Power regeneration
converter FR-RC
FR-RC
B C
Operation ready
RA2
EM1
OFF
ON
MC
MC
SK
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the
FR-RC will not operate.
2. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P terminal
and C terminal.
3. For the power factor improving reactor (FR-BAL) to be used, refer to POWER REGENERATION CONVERTER FR-RC
INSTRUCTION MANUAL (IB (NA) 67096). When using FR-BAL with the servo amplifier of 11 k to 22 kW, do not use with the
power factor improving reactor (FR-BAL).
4. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
5. Refer to section 1.3 for the power supply specification.
12 - 18
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outside dimensions of the power regeneration converters
[Unit : mm(in)]
E
2- D hole
Mounting foot (removable)
Mounting foot
movable
Rating plate
Display
panel
window
BA
B
Front cover
Cooling fan
D
K
F
EE
AA
C
A
Heat generation area outside mounting dimension
Power
regeneration
converter
A
AA
B
BA
C
D
E
EE
K
F
Approx.
mass [kg(Ib)]
FR-RC-15K
270
(10.6)
200
(7.87)
450
(17.7)
432
(17.0)
195
(7.68)
10
(0.39)
10
(0.39)
8
(0.32)
3.2
(0.13)
87
(3.43)
19
(41.9)
FR-RC-30K
340
(13.4)
270
(10.6)
600
(23.6)
582
(22.9)
195
(7.68)
10
(0.39)
10
(0.39)
8
(0.32)
3.2
(0.13)
90
(3.54)
31
(68.3)
FR-RC-55K
480
(18.9)
410
(16.1)
700
(27.6)
670
(26.4)
250
(9.84)
12
(0.47)
15
(0.59)
15
(0.59)
3.2
(0.13)
135
(5.32)
55
(121)
(4) Mounting hole machining dimensions
When the power regeneration converter is fitted to a totally enclosed type box, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
(AA)
(Mounting hole)
b
(BA)
[Unit : mm(in)]
(2- D hole)
a
12 - 19
Model
A
B
D
AA
BA
FR-RC-15K
260
(10.2)
412
(16.2)
10
(0.39)
200
(7.87)
432
(17.0)
FR-RC-30K
330
(13.0)
562
(22.1)
10
(0.39)
270
(10.6)
582
(22.9)
FR-RC-55K
470
(18.5)
642
(25.3)
12
(0.47)
410
(16.1)
670
(26.4)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.4 External dynamic brake
POINT
Configure up a sequence which switches off the contact of the brake unit
after (or as soon as) it has turned off the servo on signal at a power failure
or failure.
For the braking time taken when the dynamic brake is operated, refer to
section 13.3.
The brake unit is rated for a short duration. Do not use it for high duty.
(1) Selection of dynamic brake
The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs
or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built
in the 11kW or more servo amplifier, purchase it separately if required. Set " 1
" in the parameter
No. 2.
Servo amplifier
Dynamic brake
MR-J2S-11KB
DBU-11K
MR-J2S-15KB
DBU-15K
MR-J2S-22KB
DBU-22K
12 - 20
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
(Note 1) EM1
Operation-ready
ON
OFF
MC
CON2
15 VDD
MC
SK
NFB
18
COM
4
DB
RA1
MC
Servo motor
L1
(Note 4)
Power
supply
L2
U
L3
V
L11
W
U
V
E
L21
(Note 3)
P
P1
M
W
CON2
2
EM1
1
SG
Plate
SD
EM1
(Note 2)
14
13 U
V W
a
RA1
b
Dynamic brake
Note 1. Configure up the circuit to switch power off in the external sequence at servo alarm occurrence.
2. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open.
Therefore, configure up an external sequence to prevent servo-on.
3. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) When using the power factor
improving DC reactor, refer to section 12.2.4.
4. Refer to section 1.3 for the power supply specification.
Coasting
Coasting
Servo motor rotation
Dynamic brake
Dynamic brake
Present
Alarm
Absent
Base
RA1
Dynamic brake
ON
OFF
ON
OFF
Invalid
Valid
Forced stop
(EM1)
Short
Open
a. Timing chart at alarm occurrence
b. Timing chart at forced stop (EM1) validity
12 - 21
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline dimension drawing
[Unit: mm]
([Unit: in])
D
(0.2)5
100(3.94)
A
E
B
E
5
(0.2)
G
D
C
Terminal block
E
a
(GND)
2.3(0.09)
F
U
b 13 14
V W
Screw : M4
Screw : M3.5
Tightening torque: 0.8 [N m](7 [lb in])
Tightening torque: 1.2 [N m](10.6 [lb in])
Dynamic brake
A
B
C
D
E
F
G
Mass
[kg]([Ib])
Connection
wire [mm2]
DBU-11K
200
(7.87)
190
(7.48)
140
(5.51)
20
(0.79)
5
(0.2)
170
(6.69)
163.5
(6.44)
2 (4.41)
5.5
DBU-15K, 22K
250
(9.84)
238
(9.37)
150
(5.91)
25
(0.98)
6
(0.24)
235
(9.25)
228
(8.98)
6 (13.23)
5.5
12 - 22
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.5 Cables and connectors
(1) Cable make-up
The following cables are used for connection with the servo motor and other models.
The broken line areas in the diagram are not options.
Servo system
controller
Servo amplifier
(Note 1)
Bus cable
Servo amplifier
(Note 1)
Bus cable
CN1A CN1B
CN1A CN1B
13)
Termination connector
CN2 CN3
CN2 CN3
Personal computer
(Note 1)
Connector set
15)
CON2 CN4
14)
(Note 1)
22)
(Note 2)
23) (Note 2)
HA-LFS
To U, V, W
20) 21)
HC-KFS
HC-MFS
HC-UFS 3000r/min
1) 2)
3) 4) 5)
7) 8)
6)
HC-SFS
HC-RFS
HC-UFS 2000r/min
16) 17) 18)
19)
3) 4) 5)
7) 8)
Note 1. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected.
Refer to the following table and choose the bus cable.
MR-J2SQD75M
Motion
controller
B
MR-J2-03B5
10) Bus cable :MR-J2HBUS
M
Q172CPU(N)
24) Bus cable :Q172J2BCBL
M(-B)
Q173CPU(N)
25) Bus cable :Q173J2B
A motion
9) Bus cable :MR-J2HBUS
M-A
10) Bus cable :MR-J2HBUS
M
MR-J2S- B
MR-J2-03B5
Maintenance junction card
CBL
12) Connector set:MR-J2CN1
M
2. The cable and connector are used for only servo amplifier of 11kW or more.
12 - 23
11) Connector set:MR-J2CN1-A
12) Connector set:MR-J2CN1
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing: 1-172161-9
Connector pin: 170359-1
(AMP or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)
Application
Standard
flexing life
IP20
1)
Standard encoder MR-JCCBL M-L
cable
Refer to (2) in this
section.
2)
Long flexing life
encoder cable
3)
Standard encoder MR-JHSCBL M-L Connector: 10120-3000PE
cable
Refer to (2) in this Shell kit: 10320-52F0-008
(3M or equivalent)
section.
4)
Long flexing life
encoder cable
MR-JHSCBL M-H
Refer to (2) in this
section.
5)
IP65-compliant
encoder cable
MR-ENCBL M-H
Refer to (2) in this
section.
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Plug: D/MS3106A20-29S (D190)
Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-D
(DDK)
6)
Encoder
connector set
MR-J2CNM
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing: 1-172161-9
Connector Pin: 170359-1
(AMP or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)
IP20
7)
Encoder
connector set
MR-J2CNS
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Plug: D/MS3106B20-29S
Cable clamp: D/MS3057-12A
(DDK)
IP20
8)
Encoder
connector set
MR-ENCNS
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
9)
Bus cable
MR-J2HBUS M-A Connector: PCR-S20FS
Refer to (4) in this Case: PCR-LS20LA1
section.
(Honda Tsushin)
10) Bus cable
MR-JCCBL M-H
Refer to (2) in this
section.
MR-J2HBUS M
Refer to (4) in this
section.
Long flexing
life
IP20
Plug: D/MS3106B20-29S
Cable clamp: D/MS3057-12A
(DDK)
Standard
flexing life
IP20
Long flexing
life
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
12 - 24
Plug: D/MS3106A20-29S (D190)
Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-S-D
(DDK)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Long flexing
life
IP65
IP67
Not oilresistant.
IP65
IP67
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Application
Connector: 10120-3000PL
Shell kit: 10320-52F0-008
(3M or equivalent)
11) Connector set
MR-J2CN1-A
Refer to (4) in this
section
Connector: PCR-S20FS
Shell kit: PCR-LS20LA1
(Honda Tsushin)
12) Control signal
connector set
MR-J2CN1
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
13) Termination
connector
MR-A-TM
14) Maintenance
junction card
MR-J2CN3TM
15) Communication
cable
MR-CPCATCBL3M Connector: 10120-6000EL
Refer to (3) in this Shell kit: 10320-3210-000
section.
(3M or equivalent)
16) Power supply
connector set
MR-PWCNS1
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A22-23SD-D-BSS
Cable clamp:CE3057-12A-2-D
(DDK)
17) Power supply
connector set
MR-PWCNS2
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A24-10S1D-D-BSS
Cable clamp: CE3057-16A-2-D
(DDK)
18) Power supply
connector set
MR-PWCNS3
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A32-17SD-D-BSS
Cable clamp: CE3057-20A-1-D
(DDK)
19) Brake connector
set
MR-BKCN
Refer to the Servo
Motor Instruction
Manual.
Plug: D/MS3106A10SL-4S (D190) (DDK)
Cable connector: YS010-5-8 (Daiwa Dengyo)
EN
Standardcompliant
IP65 IP67
20) Power supply
connector set
MR-PWCNK1
Plug: 5559-04P-210
Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(Molex)
IP20
21) Power supply
connector set
MR-PWCNK2
Plug: 5559-06P-210
Terminal: 5558PBT3L (For AWG16)(8 pcs.)
(Molex)
For motor
with brake
IP20
22) Connector Set
MR-J2CMP2
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)
23) Monitor cable
MR-H3CBL1M
Servo amplifier side connector
(Tyco Electronics)
Housing: 171822-4
Qty: 2 each
Refer to section 12.1.6.
12 - 25
Connector: DE-9SF-N
Case: DE-C1-J6-S6
(Japan Aviation Electronics)
For
connection
with PC-ATcompatible
personal
computer
EN
Standardcompliant
IP65 IP67
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
24) Bus cable
Model
Q172J2BCBL M
(-B)
Refer to (4) in this
section
Description
Connector: HDR-E14MG1
Shell kit: HDR-E14LPA5
(Honda Tsushin)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
(Note)
Socket: HCN2-2.5S-2
Terminal: HCN2-2.5S-D-B
(Hirose Electric)
Note. When using the battery unit Q170BAT, use the
Q172J2BCBL M-B.
25) Bus cable
Q173J2B CBL M Connector: HDR-E26MG1
Refer to (4) in this Shell kit: HDR-E26LPA5
section
(Honda Tsushin)
12 - 26
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Application
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Encoder cable
CAUTION
If you have fabricated the encoder cable, connect it correctly.
Otherwise, misoperation or explosion may occur.
POINT
The encoder cable is not oil resistant.
Refer to section 11.4 for the flexing life of the encoder cable.
When the encoder cable is used, the sum of the resistance values of the
cable used for P5 and the cable used for LG should be within 2.4 .
When soldering the wire to the connector pin, insulate and protect the
connection portion using heat-shrinkable tubing.
Generally use the encoder cable available as our options. If the required length is not found in the
options, fabricate the cable on the customer side.
(a) MR-JCCBL M-L MR-JCCBL M-H
These encoder cables are used with the HC-KFS HC-MFS HC-UFS3000r/min series servo
motors.
1) Model explanation
Model: MR-JCCBL
MSymbol
L
H
Specifications
Standard flexing life
Long flexing life
Symbol (Note) Cable length [m(ft)]
2
2 (6.56)
5
5 (16.4)
10
10 (32.8)
20
20 (65.6)
30
30 (98.4)
40
40 (131.2)
50
50 (164.0)
Note. MR-JCCBL M-H has no 40(131.2ft)
and 50m(164.0ft) sizes.
2) Connection diagram
The signal assignment of the encoder connector is as viewed from the pin side. For the pin
assignment on the servo amplifier side, refer to section 3.2.1.
Encoder cable
supplied to servo motor
Servo amplifier
Encoder connector
Encoder cable
(option or fabricated)
Servo motor
Encoder connector
1-172169-9 (Tyco Electronics)
1
CN2
Encoder
50m(164.0ft) max.
MR
4
MD
7
P5
30cm
(0.98ft)
12 - 27
2
3
MRR BAT
5
6
MDR
8
9
LG SHD
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JCCBL10M-L
to
MR-JCCBL30M-L
MR-JCCBL2M-L
MR-JCCBL5M-L
MR-JCCBL2M-H
MR-JCCBL5M-H
Encoder side
Drive unit side
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BAT
LG
7
17
6
16
9
1
7
8
1
2
4
5
3
19
11
20
12
18
2
MR
MRR
MD
MDR
BAT
LG
7
17
6
16
9
1
(Note)
SD
Plate
Encoder side
Drive unit side
P5
LG
P5
LG
P5
LG
MR-JCCBL10M-H
to
MR-JCCBL50M-H
7
8
1
2
4
5
3
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BAT
LG
7
17
6
16
9
1
(Note)
9
SD
Plate
Encoder side
Drive unit side
7
8
1
2
4
5
3
(Note)
9
SD
Plate
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
When fabricating an encoder cable, use the recommended wires given in section 12.2.1 and the
MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown
in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder
cable of up to 50m(164.0ft) length including the length of the encoder cable supplied to the servo
motor.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not
required.
Refer to chapter 3 of the servo motor instruction manual and choose the encode side connector
according to the servo motor installation environment.
For use of AWG22
Drive unit side
Encoder side
(3M)
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
7
17
BAT
LG
9
1
SD
Plate
7
8
1
2
3
(Note)
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
12 - 28
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H
These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors.
1) Model explanation
Model: MR-JHSCBL
MSymbol
L
H
Specifications
Standard flexing life
Long flexing life
Symbol (Note) Cable length [m(ft)]
2
2 (6.56)
5
5 (16.4)
10
10 (32.8)
20
20 (65.6)
30
30 (98.4)
40
40 (131.2)
50
50 (164.0)
Note. MR-JHSCBL M-L has no 40(131.2ft)
and 50m(164.0ft) sizes.
Model: MR-ENCBL
M-H
Long flexing life
Symbol
2
5
10
20
30
40
50
Cable length [m(ft)]
2 (6.56)
5 (16.4)
10 (32.8)
20 (65.6)
30 (98.4)
40 (131.2)
50 (164.0)
2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.2.1.
Servo amplifier
Encoder connector
Encoder cable
(Optional or fabricated)
CN2
Encoder connector
Servo motor
L
Encoder
50m(164.0ft) max.
12 - 29
AB
M
N
C
P D
K T
J
S R E
H
F
G
Pin Signal
A
MD
B MDR
C
MR
D MRR
E
F
BAT
G
LG
H
J
Pin Signal
K
L
M
N SHD
P
R
LG
S
P5
T
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JHSCBL2M-L
MR-JHSCBL5M-L
MR-JHSCBL2M-H
MR-JHSCBL5M-H
MR-ENCBL2M-H
MR-ENCBL5M-H
Servo amplifier side
Encoder side
P5
LG
P5
LG
MR
MRR
P5
LG
BAT
LG
SD
19
11
20
12
7
17
18
2
9
1
Servo amplifier side
R
C
D
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
F
G
MR
MRR
7
17
BAT
LG
9
1
SD
Plate
S
(Note 1)
Plate
MR-JHSCBL10M-L
to
MR-JHSCBL30M-L
Encoder side
MR-JHSCBL10M-H
to
MR-JHSCBL50M-H
MR-ENCBL10M-H
to
MR-ENCBL50M-H
Servo amplifier side
Encoder side
S
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
R
C
D
MR
MRR
7
17
R
C
D
F
G
BAT
LG
9
1
F
G
N
SD
Plate
S
N
(Note@2) Use of AWG24
(Less than 10m(32.8ft))
(Note 1)
Use of AWG22
(10m(32.8ft) to 50m(164.0ft))
(Note 1)
N
Use of AWG24
(10m(32.8ft) to 50m(164.0ft))
Note 1. This wiring is required for use in the absolute position detection system. This wiring is not needed for use in the incremental
system.
2. AWG28 can be used for 5m(16.4ft) or less.
When fabricating an encoder cable, use the recommended wires given in section 12.2.1 and the
MR-J2CNS connector set for encoder cable fabrication, and fabricate an encoder cable in
accordance with the optional encoder cable wiring diagram given in this section. You can
fabricate an encoder cable of up to 50m(164.0ft) length.
Refer to chapter 3 of the servo motor instruction guide and choose the encode side connector
according to the servo motor installation environment.
12 - 30
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Communication cable
POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.
(a) Model definition
Model: MR-CPCATCBL3M
Cable length 3[m](10[ft])
(b) Connection diagram
MR-CPCATCBL3M
Personal computer side
Servo amplifier side
Plate
FG
TXD
3
2
RXD
RXD
2
1
12
LG
TXD
GND
RTS
5
7
11
LG
CTS
8
DSR
DTR
6
4
D-SUB9 pins
Half-pitch 20 pins
When fabricating the cable, refer to the connection diagram in this section.
The following must be observed in fabrication.
1) Always use a shielded, multi-core cable and connect the shield with FG securely.
2) The optional communication cable is 3m(10ft) long. When the cable is fabricated, its maximum
length is 15m(49ft) in offices of good environment with minimal noise.
12 - 31
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Bus cable
CAUTION
When fabricating the bus cable, do not make incorrect connection. Doing so can
cause misoperation or explosion.
When fabricating this cable, use the recommended cable given in section 12.2.1 and fabricate it in
accordance with the connection diagram shown in this section. The overall distance of the bus cable on
the same bus is 30m(98.4ft).
(a) MR-J2HBUS M-A
1) Model definition
Model: MR-J2HBUS
M-A
Symbol
05
1
5
Cable length [m(ft)]
0.5 (1.64)
1 (3.28)
5 (16.4)
2) Connection diagram
MR-J2HBUS
PCR-S20FS (Connector)
PCR-LS20LA1(Case)
M-A
10120-6000EL(Connector)
10320-3210-000(Shell kit)
LG
1
1
LG
11
11
RD
2
2
RD*
12
12
TD
4
4
TD*
14
14
LG
5
5
LG
15
15
EMG
6
7
EMG*
16
17
SD
20
Plate
12 - 32
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-J2HBUS M
1) Model definition
Model: MR-J2HBUS
M
Symbol
05
1
5
Cable length [m(ft)]
0.5 (1.64)
1 (3.28)
5 (16.4)
2) Connection diagram
MR-J2HBUS
10120-6000EL(Connector)
10320-3210-000(Shell kit)
M
10120-6000EL(Connector)
10320-3210-000(Shell kit)
LG
1
1
LG
11
11
RD
2
2
RD*
12
12
3
3
13
13
TD
4
4
TD*
14
14
LG
5
5
LG
15
15
6
6
16
16
EMG
7
7
EMG*
17
17
BAT
SD
8
8
18
18
9
9
19
19
10
10
20
20
Plate
Plate
12 - 33
12. OPTIONS AND AUXILIARY EQUIPMENT
(c) Q172J2BCBL M(-B)
When using the battery unit Q170BAT, use the Q172J2BCBL M-B. For the Q170BAT, refer to
the Motion Controller Q Series User's Manual (IB(NA)0300021).
1) Model definition
Model: Q172J2BCBL
MSymbol
No
-B
Connection of battery unit
No
Yes
Symbol
05
1
5
Cable length [m(ft)]
0.5 (1.64)
1 (3.28)
5 (16.4)
2) Connection diagram
Q172J2BCBL
Q172J2BCBL
M
HDR-E14MG1(Connector)
10120-6000EL(Connector)
HDR-E14-LPA5(Connector case) 10320-3210-000(Shell kit)
TD1
TD1*
LG
LG
RD
RD*
LG
BT
EMG
EMG*
SD
1
8
2
9
3
10
6
13
4
11
Shell
2
12
1
11
4
14
5
9
7
17
Plate
RD
RD*
LG
LG
TD
TD*
LG
BT
EMG
EMG*
SD
TD1
TD1*
LG
LG
RD
RD*
LG
BT
EMG
EMG*
SD
1
8
2
9
3
10
6
13
4
11
Shell
BAT
LG
1
2
HCN2-2.5S-2(Socket)
HNC2-2.5S-D-B(Terminal)
(d) Q173J2B CBL M
1) Model definition
Model: Q173J2B
CBL
M-B
HDR-E14MG1(Connector)
10120-6000EL(Connector)
HDR-E14-LPA5(Connector case) 10320-3210-000(Shell kit)
M
Symbol
05
1
5
Cable length [m(ft)]
0.5 (1.64)
1 (3.28)
5 (16.4)
Symbol
No
2
3
4
SSCNET line number
SSCNET1 Line
SSCNET2 Line
SSCNET3 Line
SSCNET4 Line
12 - 34
2
12
1
11
4
14
5
9
7
17
Plate
RD
RD*
LG
LG
TD
TD*
LG
BT
EMG
EMG*
SD
12. OPTIONS AND AUXILIARY EQUIPMENT
2) Connection diagram
Q173J2B
HDR-E26MG1(Connector)
HDR-E26-LPA5(Connector case)
TD1
TD1*
LG
LG
RD1
RD1*
LG
BT
EMG12
EMG12*
1
14
3
16
2
15
13
26
6
19
CBL
M
When
=4
10120-6000EL(Connector)
10320-3210-000(Connector case)
SSCNET1 Line
RD
2
12
RD*
1
LG
11
LG
4
TD
14
TD*
= No
5
LG
9
BT
7
EMG
17
EMG*
Plate
SD
=2
SSCNET2 Line
TD2
TD2*
4
17
RD2
RD2*
5
18
2
12
1
11
4
14
5
9
7
17
Plate
RD
RD*
LG
LG
TD
TD*
LG
BT
EMG
EMG*
SD
=4
SSCNET3 Line
TD3
TD3*
LG
LG
RD3
RD3*
7
20
9
22
8
21
EMG34
EMG34*
12
25
TD4
TD4*
10
23
RD4
RD4*
11
24
2
12
1
11
4
14
5
9
7
17
Plate
RD
RD*
LG
LG
TD
TD*
LG
BT
EMG
EMG*
SD
2
12
1
11
4
14
5
9
7
17
Plate
RD
RD*
LG
LG
TD
TD*
LG
BT
EMG
EMG*
SD
SSCNET4 Line
SD
Shell
12 - 35
=3
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.6 Maintenance junction card (MR-J2CN3TM)
POINT
The MR-J2S-11KB or more allows only the relaying of signals using
CN3A/CN3C. Since TE1 cannot be used, keep it open.
(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor outputs are used at the same time.
Servo amplifier
Communication cable
Maintenance junction card (MR-J2CN3TM)
Bus cable
MR-J2HBUS M
CN3B
CN3
CN3A
CN3C
A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6
VDD
COM EM1DI MBR
EMGO
SG PE
LG
LG
MO1 MO2
Forced stop
Electromagnetic brake interlock
Analog monitor 2
RA1
Analog monitor 1
(2) Connection diagram
TE1
B5
CN3A
CN3B
CN3C
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Shell
Shell
B6
A5
1
A6
3
4
5
A1
A2
10
A3
13
14
15
A4
B4
19
20
B3
Shell
B1
B2
LG
LG
MO1
MO2
VDD
COM
EM1
DI
MBR
EMGO
SG
PE
(3) Outline drawing
[Unit: mm]
([Unit: in])
CN3A
CN3B
CN3C
A1
A6
B1
75(2.95)
MR-J2CN3TM
2- 5.3(0.21)(mounting hole)
B6
TE1
3(0.12)
88(3.47)
41.5(1.63)
100(3.94)
Mass: 110g(0.24Ib)
12 - 36
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.7 Battery (MR-BAT, A6BAT)
POINT
The revision (Edition 44) of the Dangerous Goods Rule of the
International Air Transport Association (IATA) went into effect on
January 1, 2003 and was enforced immediately. In this rule, "provisions of
the lithium and lithium ion batteries" were revised to tighten the
restrictions on the air transportation of batteries. However, since this
battery is non-dangerous goods (non-Class 9), air transportation of 24 or
less batteries is outside the range of the restrictions. Air transportation of
more than 24 batteries requires packing compliant with the Packing
Standard 903. When a self-certificate is necessary for battery safety tests,
contact our branch or representative. For more information, consult our
branch or representative. (As of November, 2007).
Use the battery to build an absolute position detection system.
12.1.8 MR Configurator (servo configurations software)
The MR Configurator (servo configuration software) uses the communication function of the servo
amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal
computer.
(1) Specifications
Item
Communication signal
Baud rate [bps]
Monitor
Alarm
Description
Conforms to RS-232C.
57600, 38400, 19200, 9600
Display, high speed monitor, trend graph
Minimum resolution changes with the processing speed of the personal computer.
Display, history, amplifier data
Diagnostic
Digital I/O, no motor rotation, total power-on time, amplifier version info, motor information,
tuning data, absolute encoder data, Axis name setting.
Parameters
Parameter list, turning, change list, detailed information
Test operation
Advanced function
File operation
Others
Jog operation, positioning operation, motor-less operation, Do forced output, program operation.
Machine analyzer, gain search, machine simulation.
Data read, save, print
Automatic demo, help display
12 - 37
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) System configuration
(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor.
Model
(Note 2)
Personal
computer
OS
Display
Keyboard
Mouse
Printer
Communication
cable
(Note 1) Description
IBM PC-AT compatible where the English version of Windows® 95, Windows® 98, Windows® Me,
Windows NT® Workstation 4.0, Windows® 2000 Professional, Windows® XP Professional and Windows®
XP Home Edition operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0,
Windows® 2000 Professional)
Pentium® 150MHz or more (Windows® Me)
Pentium® 300MHz or more (Windows® XP Professional, Windows® XP Home Edition)
Memory: 16MB or more (Windows® 95)
24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional, Windows® XP Home Edition)
Free hard disk space: 60MB or more
Serial port used
Windows® 95, Windows® 98, Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional
(English version)
One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
Connectable with the above personal computer.
Connectable with the above personal computer. Note that a serial mouse is not used.
Connectable with the above personal computer.
MR-CPCATCBL3M
When this cannot be used, refer to section 12.1.5 (3) and fabricate.
Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, this software may not run properly.
(b) Configuration diagram
Servo amplifier
Personal computer
Communication cable
CN3
To RS-232C
connector
12 - 38
CN2
Servo motor
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.9 Power regeneration common converter
POINT
For details of the power regeneration common converter FR-CV, refer to
the FR-CV Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2,
L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV.
Connect the DC power supply between the FR-CV and servo amplifier
with correct polarity. Connection with incorrect polarity will fail the FRCV and servo amplifier.
Two or more FR-CV's cannot be installed to improve regeneration
capability. Two or more FR-CV's cannot be connected to the same DC
power supply line.
When using the power regeneration common converter, set parameter No. 2 to "
01".
(1) Selection
The power regeneration common converter FR-CV can be used with 750W to 22kW servo amplifiers.
There are the following restrictions on use of the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W]
Total of rated capacities [W] of servo amplifiers connected to FR-CV
2
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.
FR-CV-
Item
7.5K
11K
15K
Maximum number of connected servo amplifiers
22K
30K
37K
55K
6
Total of connectable servo amplifier capacities [kW]
3.75
5.5
7.5
11
15
18.5
27.5
Total of connectable servo motor rated currents [A]
33
46
61
90
115
145
215
Maximum servo amplifier capacity [kW]
3.5
5
7
11
15
15
22
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common converter
Dedicated stand-alone reactor
FR-CV-7.5K(-AT)
FR-CVL-7.5K
FR-CV-11K(-AT)
FR-CVL-11K
FR-CV-15K(-AT)
FR-CVL-15K
FR-CV-22K(-AT)
FR-CVL-22K
FR-CV-30K(-AT)
FR-CVL-30K
FR-CV-37K
FR-CVL-37K
FR-CV-55K
FR-CVL-55K
12 - 39
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection diagram
NFB
FR-CVL
MC
(Note 8)
Power
supply
R/L11
Servo amplifier
FR-CV
R2/L12
S/L21
S2/L22
T/L31
T2/L32
R2/L1
S2/L2
T2/L3
Servo motor
L11
U
U
L21
V
V
W
W Thermal
relay
0HS2
P/L
P
N/L
N
(Note 6)
(Note 2)
CN2
0HS1
R/L11
EM1
S/L21
T/MC1
P24
EM1
SD
SG
RESET
SD
RDYB
RDYA
RSO
(Note 1)
(Note 1)
EM1 OFF
ON
SE
A
MC
B
MC
RA1
(Note 5)
COM
RES
RA1 RA2
(Note 1)
(Note 3)
Servo system
controller
(Note 4)
RA1
(Note 1)
C
SK
24VDC
power
supply
RA2
Note 1. Configure a sequence that will shut off main circuit power at a forced stop or at FR-CV or servo amplifier alarm
occurrence.
2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay
operates.
3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready.
4. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input.
Configure a sequence that will make the servo inoperative when the RSO signal is on.
5. Configure a sequence that will make a stop with the forced stop input of the servo system controller if an alarm occurs in
the FR-CV. When the servo system controller does not have a forced stop input, use the forced stop input of the servo
amplifier to make a stop as shown in the diagram.
6. For 7kW or less servo amplifier, always remove the wiring (3.5kW or less: across P-D, 5k 7kW: across P-C) of built-in
regenerative resistor.
7. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
8. Refer to section 1.3 for the power supply specification.
(3) Wires used for wiring
(a) Wire sizes
1) Across P-P, N-N
The following table indicates the connection wire sizes of the DC power supply (P, N terminals)
between the FR-CV and servo amplifier. The used wires are based on the 600V vinyl wires.
Total of servo amplifier capacities [kW]
Wires[mm2]
1 or less
2
5
7
11
15
22
2
3.5
5.5
8
14
22
50
12 - 40
12. OPTIONS AND AUXILIARY EQUIPMENT
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Grounding wire size [mm2]
Power regeneration common converter
FR-CV-7.5K TO FR-CV-15K
FR-CV-22K • FR-CV-30K
FR-CV-37K • FR-CV-55K
14
22
38
(b) Example of selecting the wire sizes
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo
amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller
capacities.
Wire as short as possible.
FR-CV-55K
R2/L1
P/L
S2/L2
N/L
T2/L3
50mm2
22mm2
22mm2
8mm2
Servo amplifier (7kW)
Second unit:
P (Note)
22mm2 assuming that the total of servo amplifier
N
capacities is 15kW since 7kW + 3.5kW + 2.0kW =
12.5kW.
5.5mm2
Servo amplifier (3.5kW)
Third unit:
P (Note)
8mm2 assuming that the total of servo amplifier
N
capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.
R/L11
S/L21
T/MC1
Servo amplifier (15kW)
First unit:
P
50mm2 assuming that the total of servo amplifier
N
capacities is 27.5kW since 15kW + 7kW + 3.5kW
+ 2.0kW = 27.5kW.
8mm2
3.5mm2
3.5mm2
Servo amplifier (2kW)
Fourth unit:
P
(Note)
3.5mm 2 assuming that the total of servo amplifier
N
capacities is 2kW since 2.0kW = 2.0kW.
Junction terminals
Overall wiring length 5m or less
Note. For 7kW or less servo amplifier, always remove the wiring (3.5kW or less: across P-D, 5k
regenerative resistor.
7kW: across P-C) of built-in
(4) Other precautions
(a) Always use the FR-CVL as the power factor improving reactor. Do not use the FR-BAL or FR-BEL.
(b) The inputs/outputs (main circuits) of the FR-CV and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment
(such as AM radios) used near them. In this case, interference can be reduced by installing the
radio noise filter (FR-BIF) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV and servo
amplifiers should be 5m or less, and the wiring must be twisted.
12 - 41
12. OPTIONS AND AUXILIARY EQUIPMENT
(5) Specifications
Power regeneration common converter
FR-CV-
7.5K
11K
15K
22K
30K
37K
55K
Item
Total of connectable servo amplifier capacities
[kW]
3.75
5.5
7.5
11
15
18.5
27.5
Maximum servo amplifier capacity
[kW]
3.5
5
7
11
15
15
22
Total of connectable servo motor rated
currents
[A]
33
46
61
90
115
145
215
Output
Power supply
Regenerative
braking torque
Short-time
rating
Total capacity of applicable servo motors, 300% torque, 60s (Note 1)
Continuous
rating
100% torque
Rated input AC voltage/frequency
Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz
Permissible AC voltage fluctuation
Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz
Permissible frequency fluctuation
Power supply capacity (Note 2) [kVA]
5%
17
20
Protective structure (JEM 1030), cooling system
10
Ambient humidity
Ambience
41
52
66
100
Open type (IP00), forced cooling
Ambient temperature
Environment
28
to
50
(14
to 122 )(non-freezing)
90%RH or less (non-condensing)
Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt)
Altitude, vibration
1000m or less above sea level, 5.9m/s2 or less
No-fuse breaker or leakage current breaker
30AF
30A
50AF
50A
100AF
75A
100AF
100A
225AF
125A
225AF
125A
225AF
175A
Magnetic contactor
S-N20
S-N35
S-N50
S-N65
S-N95
S-N95
S-N125
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is activated
in the time indicated in section 11.1.
2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
12 - 42
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.10 Heat sink outside mounting attachment (MR-JACN)
Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier
in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and
reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting
attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo
amplifier to the control box.
The environment outside the control box when using the heat sink outside mounting attachment should
be within the range of the servo amplifier operating environment conditions.
(1) Panel cut dimensions
4-M10 Screw
125
39.5
(1.555) (4.921)
A
B
C
D
Servo amplifier
236
(9.291)
255
(10.039)
270
(10.63)
203
(7.992)
MR-J2S-11KB
MR-J2S-15KB
Model
MR-JACN15K
510 (20.079)
331 (13.031)
[Unit: mm(in)]
Changeable
dimension
Punched
hole
MR-JACN22K
326
345
360
290
(12.835)
(13.583)
(14.173)
(11.417)
18
(0.709)
39.5
(1.555)
535 (21.063)
D
A
B
C
(2) How to assemble the attachment for a heat sink outside mounting attachment
Screw
(2 places)
Screw
(4 places)
Attachment
MR-JACN15K
Attachment
MR-JACN22K
12 - 43
MR-J2S-22KB
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Fitting method
Attachment
Fit using the
assembling
screws.
Servo
amplifier
Servo
amplifier
Punched
hole
Attachment
Control box
a. Assembling the heat sink outside mounting attachment
b. Installation to the control box
(4) Outline dimension drawing
(a) MR-JACN15K (MR-J2S-11KB, MR-J2S-15KB)
145 (5.709)
194 (7.638)
84
(3.307)
236 (9.291)
280 (11.024)
260 (10.236)
400 (15.748)
Servo amplifier
Servo amplifier
35
(1.378)
510 (20.079)
Panel
Attachment
Attachment
12
(0.472)
580 (22.835)
58
(2.283)
20 (0.787)
4- 12
Mounting hole
Panel
3.2 (0.126)
155 (6.102)
105
(4.134)
260
(10.236)
12 - 44
11.5
(0.453)
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JACN22K (MR-J2S-22KB)
145(5.709)
194(7.638)
Servo amplifier
370(14.567)
Servo amplifier
35(1.378)
84
(3.307)
326(12.835)
400(15.748)
58
510(20.079)
Panel
Attachment
Attachment
12
(0.472)
580(22.835)
(2.283)
68(2.677)
4- 12
Mounting hole
350(13.78)
Panel
3.2(0.126)
155(6.102)
105
(4.134)
260
(10.236)
12 - 45
11.5
(0.453)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2 Auxiliary equipment
Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL (CSA) Standard, use the products which conform to the corresponding standard.
12.2.1 Recommended wires
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1
4) Power regeneration
converter lead
3) Motor power supply lead
Servo motor
U
U
L2
V
V
L3
W
W Motor
L11
L21
2) Control power supply lead
Power regeneration
converter
Regenerative option
5) Electromagnetic
brake lead
ElectroB1 magnetic
B2 brake
N
C
Encoder
P
4) Regenerative option lead
Encoder cable
(refer to section 12.1.4)
Power supply
Cooling fan
BU
BV
BW
Cooling fan lead
The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the
wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in
consideration of voltage drop.
The alphabets (a, b, c) in the table correspond to the crimping terminals (Table 12.2) used to wire the
servo amplifier. For connection with the terminal block TE2 of the MR-J2S-100B or less, refer to
section 3.9.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
section 3.6.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or
more for wiring.
12 - 46
12. OPTIONS AND AUXILIARY EQUIPMENT
Table 12.1 Recommended wires
Servo amplifier
MR-J2S-10B(1)
MR-J2S-20B(1)
MR-J2S-40B(1)
MR-J2S-60B
MR-J2S-70B
MR-J2S-100B
MR-J2S-200B
(Note 1) Wires [mm2]
1) L1
L2
L3
2) L11
L21 3) U
V
W
P1
8 (AWG8) : c
14 (AWG6) :d
2 (AWG14) : a
3.5 (AWG12) : b
(Note 2)
5.5 (AWG10) : b
5.5 (AWG10) : b
8 (AWG8) : c
22 (AWG4) :e
MR-J2S-15KB
22 (AWG4) :e
30 (AWG2) :f
MR-J2S-22KB
50 (AWG1/0) :g
60 (AWG2/0) :g
MR-J2S-350B
MR-J2S-500B
MR-J2S-700B
MR-J2S-11KB
5.5 (AWG10) : b
4) P
C
N
5) B1 B2
6) BU BV
BW
1.25 (AWG16) : a
2 (AWG14) : a
3.5 (AWG12) : b
P
1.25
(AWG16)
2 (AWG14) : a
1.25 (AWG16)
3.5(AWG12): b
5.5(AWG10): b
2(AWG14)
Note 1. For the crimping terminals and applicable tools, see the table 12.2.
2. 3.5mm2 for use of the HC-RFS203 servo motor.
Use wires 6) of the following sizes with the power regeneration converter (FR-RC).
Model
Wires[mm2]
FR-RC-15K
FR-RC-30K
FR-RC-55K
14(AWG6)
14(AWG6)
22(AWG4)
Table 12.2 Recommended crimping terminals
Symbol
Servo amplifier side crimping terminals
Crimping terminal
Applicable tool
Manufacturer name
a
b
32959
FVD5.5-4
c
FVD8-5
d
FVD14-6
e
(Note 1 2)
f
FVD22-6
38-S6
R38-6S
g
(Note 1)R60-8
47387
YNT-1210S
Body YF-1 E-4
Head YNE-38
Dice DH-111 DH-121
Body YF-1 E-4
Head YNE-38
Dice DH-112 DH-122
Body YF-1 E-4
Head YNE-38
Dice DH-113 DH-123
Body YPT-60-21
Dice TD-124 TD-112
Body YF-1 E-4
Head YET-60-1
Dice TD-124 TD-112
NOP60
NOM60
Body YDT-60-21
Dice TD-125 TD-113
Body YF-1 E-4
Head YET-60-1
Dice TD-125 TD-113
Tyco Electronics
Japan Solderless
Terminal
NICHIFU
Japan Solderless
Terminal
Note 1. Cover the crimped portion with an insulating tape.
2. Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the
size.
12 - 47
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 12.3 Wires for option cables
Type
Length
[m(ft)]
Model
MR-JCCBL
MR-JCCBL
Encoder cable
MR-JHSCBL
MR-JHSCBL
MR-ENCBL
M-L
M-H
M-L
M-H
M-H
2 to 10
(6.56 to 32.8)
20 30
(65.6 98.4)
2 5
(6.56 16.4)
10 to 50
(32.8 to 164)
2 5
(6.56 16.4)
10 to 30
(32.8 to 98.4)
2 5
(6.56 16.4)
10 to 50
(32.8 to 164)
2 5
(6.56 16.4)
10 to 50
(32.8 to 164)
Communication
MR-CPCATCBL3M
3 (9.84)
cable
MR-J2HBUS M
MR-J2HBUS M-A
0.5 to 5
Bus cable
Q172J2BCBL M(-B) (1.64 to 16.4)
Q173J2B CBL M
Core size Number
[mm2]
of Cores
0.08
0.3
0.2
0.2
0.08
0.3
0.2
0.2
0.2
0.2
0.08
0.08
12
(6 pairs)
12
(6 pairs)
12
(6 pairs)
14
(7 pairs)
8
(4 pairs)
12
(6 pairs)
8
(4 pairs)
12
(6 pairs)
8
(4 pairs)
12
(6 pairs)
6
(3 pairs)
20
(10 pairs)
14
(7 pairs)
Characteristics of one core
Structure
Conductor
[Wires/mm] resistance[ /mm]
Insulation coating
ODd[mm] (Note 1)
(Note 3)
Finishing
OD [mm]
7/0.127
222
0.38
5.6
12/0.18
62
1.2
8.2
40/0.08
105
0.88
7.2
40/0.08
105
0.88
8.0
7/0.127
222
0.38
4.7
12/0.18
62
1.2
8.2
40/0.08
105
0.88
6.5
40/0.08
105
0.88
7.2
40/0.08
105
0.88
6.5
40/0.08
105
0.88
7.2
7/0.127
222
0.38
4.6
7/0.127
222
0.38
6.1
Note 1. d is as shown below.
d
Conductor Insulation sheath
2. Purchased from Toa Electric Industry
3. Standard OD. Max. OD is about 10% greater.
12 - 48
5.5
Wire model
UL20276 AWG#28
6pair (BLACK)
UL20276 AWG#22
6pair (BLACK)
(Note 2)
A14B2343 6P
(Note 2)
A14B0238 7P
UL20276 AWG#28
4pair (BLACK)
UL20276 AWG#22
6pair (BLACK)
(Note 2)
A14B2339 4P
(Note 2)
A14B2343 6P
(Note 2)
A14B2339 4P
(Note 2)
A14B2343 6P
UL20276 AWG#28
3pair (BLACK)
UL20276 AWG#28
10pair (CREAM)
UL20276 AWG#28
7pair (CREAM)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.2 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Servo amplifier
No-fuse breaker
Class
MR-J2S-10B(1)
30A frame 5A
K5
MR-J2S-20B
30A frame 5A
K5
MR-J2S-40B 20B1 30A frame 10A
K5
MR-J2S-60B 40B1 30A frame 15A
K5
MR-J2S-70B
30A frame 15A
K5
MR-J2S-100B
30A frame 15A
K5
MR-J2S-200B
30A frame 20A
K5
MR-J2S-350B
30A frame 30A
K5
MR-J2S-500B
50A frame 50A
K5
MR-J2S-700B
100A frame 75A
K5
MR-J2S-11KB
100A frame 100A K5
MR-J2S-15KB
225A frame 125A K5
MR-J2S-22KB
225A frame 175A K5
Fuse
Magnetic contactor
Current [A] Voltage AC[V]
10
10
15
S-N10
20
20
25
40
S-N18
250
70
S-N20
125
S-N35
150
S-N50
200
S-N65
250
S-N95
350
S-N25
12.2.3 Power factor improving reactors
The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be
slightly lower than 90%.
[Unit : mm]
NFB
NFB
D1
Installation screw
C
MC
(Note)
1-phase
230V
D 5
RXSY T Z
MC
3-phase
200 to 230V
H 5
W
Servo amplifier
MR-J2S- B
FR-BAL
R
X
S
Y
T
Z
NFB
MC
1-phase
100 to 120V
L2
L3
Servo amplifier
MR-J2S- B
FR-BAL
R
X
S
Y
T
Z
W1
L1
L1
L2
L3
Servo amplifier
MR-J2S- B1
FR-BAL
R
X
S
Y
T
Z
L1
L2
Note. For the 1-phase 230V power supply, Connect the power supply to L1, L2 and leave L3 open.
Servo amplifier
Model
Dimensions [mm (in) ]
W
W1
H
D
D1
C
Mounting Terminal
screw size screw size
Mass
[kg (lb)]
0
7.5 (0.29)
M4
M3.5
2.0 (4.4)
0
7.5 (0.29)
M4
M3.5
2.8 (6.17)
0
7.5 (0.29)
M4
M3.5
3.7 (8.16)
0
7.5 (0.29)
M4
M3.5
5.6 (12.35)
0
10 (0.39)
M5
M4
8.5 (18.74)
10 (0.39)
M5
M5
14.5 (32.0)
19 (41.9)
MR-J2S-10B(1)/20B
FR-BAL-0.4K
135 (5.31) 120 (4.72)
115 (4.53)
59 (2.32)
0
45-2.5 (1.77-0.098
)
MR-J2S-40B/20B1
FR-BAL-0.75K 135 (5.31) 120 (4.72)
115 (4.53)
69 (2.72)
0
57-2.5 (2.24-0.098
)
MR-J2S-60B/70B/40B1 FR-BAL-1.5K
160 (6.30) 145 (5.71)
140 (5.51)
71 (2.79)
0
55-2.5 (2.17-0.098
)
MR-J2S-100B
FR-BAL-2.2K
160 (6.30) 145 (5.71)
140 (5.51)
91 (3.58)
0
75-2.5 (2.95-0.098
)
MR-J2S-200B
FR-BAL-3.7K
220 (8.66) 200 (7.87)
192 (7.56)
90 (3.54)
0
70-2.5 (2.76-0.098
)
MR-J2S-350B
FR-BAL-7.5K
220 (8.66) 200 (7.87)
0
194 (7.64) 120 (4.72) 100-2.5 (3.94-0.098
)
0
MR-J2S-500B
FR-BAL-11K
0
280 (11.02) 255 (10.04) 220 (8.66) 135 (5.31) 100-2.5 (3.94-0.098
) 12.5 (0.49)
0
M6
M6
MR-J2S-700B/11KB
FR-BAL-15K
0
295 (11.61) 270 (10.62) 275 (10.83) 133 (5.24) 110-2.5 (4.33-0.098
) 12.5 (0.49)
0
M6
M6
27 (59.5)
MR-J2S-15KB
FR-BAL-22K
290 (11.41) 240 (9.75) 301 (11.85) 199 (7.84) 170 5 (6.69 0.2) 25 (0.98)
M8
M8
35 (77.16)
MR-J2S-22KB
FR-BAL-30K
290 (11.41) 240 (9.75) 301 (11.85) 219 (8.62) 190 5 (7.48 0.2) 25 (0.98)
M8
M8
43 (94.79)
12 - 49
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.4 Power factor improving DC reactors
The input power factor is improved to be about 95%.
(Note 1) Terminal cover
Screw size G
D
C or less
Rating plate
2-F L
Notch
H
B or less
L
E
A or less
F
Mounting foot part
5m or less
Servo amplifier
FR-BEL
P
(Note2)
P1
Note 1. Fit the supplied terminal cover after wiring.
2. When using the DC reactor, remove the short-circuit bar across P1-P.
Servo amplifier
Power factor
improving DC
reactors
Dimensions [mm (in) ]
A
B
C
D
E
F
L
G
H
Terminal
Mass
screw size [kg (lb)]
Used wire
2
[mm ]
MR-J2S-11KB
FR-BEL-15K 170(6.69) 93(3.66) 170(6.69)2.3(0.09)155(6.10) 6(0.24) 14(0.55)
M8
56(2.21)
M5
3.8(8.38) 22(AWG4)
MR-J2S-15KB
FR-BEL-22K 185(7.28)119(4.69)182(7.17)2.6(0.10)165(6.49) 7(0.28) 15(0.59)
M8
70(2.77)
M6
5.4(11.91) 30(AWG2)
MR-J2S-22KB
FR-BEL-30K 185(7.28)119(4.69)201(7.91)2.6(0.10)165(6.49) 7(0.28) 15(0.59)
M8
70(2.77)
M6
6.7(14.77) 60(AWG1/0)
12 - 50
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.5 Relays
The following relays should be used with the interfaces.
Interface
Selection example
Relay used for digital input signals (interface DI-1)
To prevent defective contacts , use a relay for small signal
(twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1)
Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY
12.2.6 Surge absorbers
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating
Permissible circuit
voltage
Energy
immunity
Rated
power
DC[V]
[A]
[J]
[W]
180
(Note)
500/time
8
0.4
25
[V]
Static
capacity
(reference
value)
Varistor voltage
rating (range) V1mA
[pF]
[V]
300
220
(198 to 242)
360
20 s
(Example) ERZV10D221 (Matsushita Electric Industry)
TNR-10V221K (Nippon Chemi-con)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)
13.5 (0.53)
4.7 1.0 (0.19 0.04)
0.8 (0.03)
Vinyl tube
30.0 (1.18)
or more
Note. 1 time
5
[A]
16.5
(0.65)
140
3.0 (0.12)
or less
AC[Vma]
Surge
immunity
Maximum
limit voltage
12 - 51
Crimping terminal
for M4 screw
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.7 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and
those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier
is an electronic device which handles small signals, the following general noise reduction techniques are
required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal
transmission, and connect the shield to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.9).
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and
other equipment against large exogenous noise and lightning surge, attaching a varistor to the
power input section of the equipment is recommended.
12 - 52
12. OPTIONS AND AUXILIARY EQUIPMENT
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced
by servo amplifier
Noises transmitted
in the air
Noise radiated directly
from servo amplifier
Route 1)
Noise radiated from the
power supply cable
Route 2)
Noise radiated from
servo motor cable
Route 3)
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
Noise transmitted through
power supply cable
Route 7)
Noise sneaking from
grounding cable due to
leakage current
Route 8)
5)
7)
7)
1)
Instrument
7)
2)
Receiver
Sensor
power
supply
Servo
amplifier
2)
3)
8)
6)
Sensor
4)
Servo motor
12 - 53
M
3)
12. OPTIONS AND AUXILIARY EQUIPMENT
Noise transmission route
Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a control box together with the
servo amplifier or run near the servo amplifier, such devices may malfunction due to noises
transmitted through the air. The following techniques are required.
(1) Provide maximum clearance between easily affected devices and the servo amplifier.
(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
(3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
(4) Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
(5) Use shielded wires for signal and power cables or put cables in separate metal conduits.
4) 5) 6)
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
(1) Provide maximum clearance between easily affected devices and the servo amplifier.
(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
(3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
(4) Use shielded wires for signal and power cables or put the cables in separate metal conduits.
7)
When the power supply of peripheral devices is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the
power supply cable and the devices may malfunction. The following techniques are required.
(1) Insert the radio noise filter (FR-BIF) on the power cables (input cables) of the servo amplifier.
(2) Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
8)
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
(2) Noise reduction products
(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC Tokin are available as data
line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.
10 to 100MHz
100 to 500MHz
80
150
39 1(1.54 0.04)
34 1
(1.34 0.04)
Loop for fixing the
cable band
TDK
Product name
Lot number
Outline drawing (ZCAT3035-1330)
12 - 54
13 1
30 1 (0.51 0.04)
(1.18 0.04)
[Unit: mm]([Unit: in.])
Impedance[ ]
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near the servo amplifier is shown below. Use this product or equivalent.
MC
Relay
Surge suppressor
Surge suppressor
Surge suppressor
This distance should be short
(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200V rating)
Outline drawing [Unit: mm] ([Unit: in.])
Rated
voltage
AC[V]
C [ F]
R[ ]
Test voltage AC[V]
200
0.5
50
(1W)
Across
T-C 1000(1 to 5s)
Vinyl sheath
Blue vinyl cord
Red vinyl cord
10(0.39)or less
10 3
(0.39
0.12)
18 1.5
(0.71 0.06)
6(0.24)
10(0.39)or less
4(0.16)
10 3
(0.39
48 1.5
200(7.87) 0.15)
(1.89 0.06) or more
15 1(0.59 0.04)
200(7.87)
or more
Note that a diode should be installed to a DC relay, DC valve or
the like.
Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like
Maximum current: Not less than twice the drive current of
the relay or the like
31(1.22)
RA
Diode
(c) Cable clamp fitting (AERSBAN -SET)
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath
to expose the external conductor, and press that part against the earth plate with the cable clamp.
If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
Cable
Strip the cable sheath of
the clamped area.
Earth plate
40(1.57)
Cable clamp
(A,B)
cutter
cable
External conductor
Clamp section diagram
12 - 55
12. OPTIONS AND AUXILIARY EQUIPMENT
Outline drawing
[Unit: mm]
([Unit: in.])
Earth plate
Clamp section diagram
2- 5(0.20) hole
installation hole
10(0.39)
0.3
0
24
Note. Screw hole for grounding. Connect it to the earth plate of the control box.
Type
A
B
C
Accessory fittings
Clamp fitting
L
AERSBAN-DSET
100
(3.94)
86
(3.39)
30
(1.18)
clamp A: 2pcs.
A
70
(2.76)
AERSBAN-ESET
70
(2.76)
56
(2.20)
clamp B: 1pc.
B
45
(1.77)
12 - 56
(0.940)
A
35(1.38)
11(0.43)
(0.24)
C
22(0.87)
6
(Note)M4 screw
L or less
35 (1.38)
24
0
0.2
7 (0.28)
(0.940)
B 0.3(0.01)
3 (0.12)
6 (0.24)
30(1.18)
17.5(0.69)
12. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BLF, FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current)
especially within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm] ([Unit: in.])
Use the line noise filters for wires of the main power supply
(L1 L2 L3) and of the motor power supply (U V W). Pass
each of the 3-phase wires through the line noise filter an equal
number of times in the same direction. For the main power
supply, the effect of the filter rises as the number of passes
increases, but generally four passes would be appropriate. For
the motor power supply, passes must be four times or less. Do
not pass the grounding (earth) wire through the filter, or the
effect of the filter will drop. Wind the wires by passing through
the filter to satisfy the required number of passes as shown in
Example 1. If the wires are too thick to wind, use two or more
filters to have the required number of passes as shown in
Example 2. Place the line noise filters as close to the servo
amplifier as possible for their best performance.
FR-BSF01(for MR-J2S-200B or less)
Approx.65(2.56)
FR-BLF(MR-J2S-350B or more)
31.5(1.24)
L2
Line noise
L3
filter
(Number of turns: 4)
Power
supply
11.25 0.5
4.5(0.18)
Servo amplifier
L1
Example 2 NFB MC
(0.45 0.02)
Approx 22.5 (0.89)
33(1.30)
Servo amplifier
L1
L2
L3
Line noise
filter
Two filters are used
(Total number of turns: 4)
7(0.28)
130(5.12)
85(3.35)
7(0.28)
MC
2- 5(0.20)
35
(1.38)
Power
supply
NFB
Approx.65 (2.56)
2.3(0.09) 80(3.15)
Example 1
Approx.110(4.33)
95 0.5(3.74 0.02)
160(6.30)
180(7.09)
(e) Radio noise filter (FR-BIF)...for the input side only
This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
Connection diagram
Outline drawing (Unit: mm) ([Unit: in.])
Red White Blue
Green
L3
Radio noise
filter FR-BIF
58 (2.28)
5 (0.20)
hole
29 (1.14)
44 (1.73)
12 - 57
4 (0.16)
29 (1.14)
42 (1.65)
L1
L2
Power
supply
Leakage current: 4mA
About 300(11.81)
Make the connection cables as short as possible.
Grounding is always required.
When using the FR-BIF with a single-phase wire,
always insulate the wires that are not used for wiring.
Servo amplifier
MC
NFB
7 (0.28)
12. OPTIONS AND AUXILIARY EQUIPMENT
(f) Varistors for input power supply (Recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K manufactured by Nippon Chemicon, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Maximum rating
Varistor
Permissible circuit
voltage
Surge current
immunity
Energy
immunity
Rated
pulse
power
[W]
AC[Vrms]
DC[V]
8/20 s[A]
2ms[J]
TND20V-431K
275
350
10000/1 time
195
TND20V-471K
300
385
7000/2 time
215
1.0
Static
Varistor voltage
Maximum limit capacity
rating (range)
(reference
voltage
V1mA
value)
[A]
100
[V]
[pF]
[V]
710
1300
430(387 to 473)
775
1200
470(423 to 517)
[Unit: mm]
D
T
Model
H
TND20V-431K
TND20V-471K
D
Max.
H
Max.
21.5
24.5
T
Max.
E
1.0
6.4
3.3
6.6
3.5
d
0.05
(Note)L
min.
20
0.8
W
E
L
Note. For special purpose items for lead length (L), contact the manufacturer.
d
12 - 58
W
1.0
10.0
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.8 Leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm (11.8 in)) to minimize leakage currents.
Rated sensitivity current
10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(12.1)
K: Constant considering the harmonic contents
Cable
Leakage current breaker
NV
Noise
filter
Ig1 Ign
Servo
amplifier
Cable
Iga
Ig2
M
Igm
Models provided with
harmonic and surge
reduction techniques
General models
Ig1:
Ig2:
Ign:
Iga:
Igm:
Leakage current
NV-SP
NV-SW
NV-CP
NV-CW
NV-HW
1
BV-C1
NFB
NV-L
3
Leakage current on the electric channel from the leakage current breaker to the input terminals
of the servo amplifier (Found from Fig. 12.1.)
Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 12.1.)
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the servo amplifier (Found from Table 12.5.)
Leakage current of the servo motor (Found from Table 12.4.)
Table 12.4 Servo motor's
leakage current
example (Igm)
120
[mA]
K
Mitsubishi
products
Type
100
80
Servo motor
output [kW]
Leakage
current [mA]
60
0.05 to 0.5
0.1
0.6 to 1.0
1.2 to 2.2
3 to 3.5
5
7
11
0.1
0.2
0.3
0.5
0.7
1.0
15
22
1.3
2.3
40
20
0
2 3.5
8 1422 38 80 150
5.5
30 60 100
Cable size[mm2]
Fig. 12.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit
12 - 59
Table 12.5 Servo amplifier's
leakage current
example (Iga)
Servo amplifier
capacity [kW]
Leakage current
[mA]
0.1 to 0.6
0.1
0.7 to 3.5
0.15
5 7
11 15
22
2
5.5
7
Table 12.6 Leakage circuit breaker selection example
Servo amplifier
Rated sensitivity
current of leakage
circuit breaker [mA]
MR-J2S-10B to MR-J2S-350B
MR-J2S-10B1 to MR-J2S-40B1
15
MR-J2S-500B
30
MR-J2S-700B
50
MR-J2S-11KB to MR-J2S-22KB
100
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection example
Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m
2mm2 5m
NV
Servo
amplifier
MR-J2S-60B
Ig1
Iga
M Servo motor
HC-MFS73
Ig2
Igm
Use a leakage current breaker designed for suppressing harmonics/surges.
Find the terms of Equation (12.1) from the diagram.
Ig1 20
5
1000
0.1 [mA]
Ig2 20
5
1000
0.1 [mA]
Ign
0 (not used)
Iga
0.1 [mA]
Igm
0.1 [mA]
Insert these values in Equation (12.1).
Ig
10 {0.1 0 0.1 1 (0.1 0.1)}
4 [mA]
According to the result of calculation, use a leakage current breaker having the rated sensitivity
current (Ig) of 4[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NVSP/CP/SW/CW/HW series.
12 - 60
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.9 EMC filter
For compliance with the EMC directive of the EN standard, it is recommended to use the following filter.
Some EMC filters are large in leakage current.
(1) Combination with the servo amplifier
Recommended filter
Servo amplifier
MR-J2S-10B to MR-J2S-100B
MR-J2S-10B1 to MR-J2S-40B1
MR-J2S-200B
MR-J2S-350B
Model
Leakage current [mA]
Mass
[kg]([Ib])
SF1252
38
0.75(1.65)
SF1253
57
1.37(3.02)
MR-J2S-500B
(Note) HF3040A-TM
1.5
6.0(13.23)
MR-J2S-700B
(Note) HF3050A-TM
1.5
6.7(14.77)
MR-J2S-11KB
(Note) HF3060A-TMA
3.0
10.0(22.05)
MR-J2S-15KB
(Note) HF3080A-TMA
3.0
13.0(28.66)
MR-J2S-22KB
(Note) HF3100A-TMA
3.0
14.5(31.97)
Note. Soshin Electric. A surge protector is separately required to use any of these EMC filters. (Refer to the EMC Installation
Guidelines.)
(2) Connection example
EMC filter
(SF1252, SF1253)
NFB LINE
LOAD
(Note 1)
Power
supply
(Note 2)
Servo amplifier
NFB
MC
L1
L1
L1
L2
L2
L2
L3
L3
L3
EMC filter
(SOSHIN Electric Co., Ltd)
(Note 1)
Power
supply
MC
Servo amplifier
1
4
L1
2
5
L2
3
6
L3
E
L11
L11
L21
L21
1
2
3
1 2 3
Surge protector 1
(RAV-781BYZ-2)
(OKAYA Electric Industries
Co., Ltd.)
Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 230V power supply, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120V
power supply. Refer to section 1.3 for the power supply specification.
2. Connect when the power supply has earth.
12 - 61
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
(a) EMC filter
SF1252
[Unit: mm(in)]
SF1253
6.0(0.236)
L1
L2
L3
LINE
LOAD
LABEL
LOAD
L1
L2
L3
168.0(6.614)
156.0(6.142)
140.0(5.512)
LINE
LINE
(input side)
LABEL
168.0(6.614)
6.0(0.236)
209.5(8.248)
LOAD
(output side)
L1'
L2'
L3'
8.5
(0.335)
LINE
(input side)
156.0(6.142)
140.0(5.512)
149.5(5.886)
LOAD
(output side)
L1'
L2'
L3'
16.0(0.63)
8.5
(0.335)
42.0
(1.654)
23.0(0.906)
49.0
(1.929)
HF3040A-TM HF3050A-TM HF3060A-TMA
6-K
G 1
C 1
F 2
E 1
D 2
3-L
3-L
M
J 2
C 1
H 2
B 2
A 5
Model
Dimensions [mm(in)]
A
B
C
D
E
F
G
H
J
HF3040A-TM
260
(10.24)
210
(8.27)
85
(8.35)
155
(6.10)
140
(5.51)
125
(4.92)
44
(1.73)
140
(5.51)
70
(2.76)
HF3050A-TM
290
(11.42)
240
(9.45)
100
(3.94)
190
(7.48)
175
(6.89)
160
(6.29)
44
(1.73)
170
(6.69)
HF3060A-TMA
290
(11.42)
240
(9.45)
100
(3.94)
190
(7.48)
175
(6.89)
160
(6.29)
44
(1.73)
230
(9.06)
12 - 62
K
R3.25
100 (0.128),
(3.94) length
160 8 (0.32)
(6.29)
L
M
M5
M4
M6
M4
M6
M4
12. OPTIONS AND AUXILIARY EQUIPMENT
HF3080A-TMA HF3100A-TMA
8-K
3-L
C 1
C 1
F 2
E 1
D 2
G 1
3-L
M
J 2
C 1
H 2
B 2
A 5
Model
HF3080A-TMA
HF3100A-TMA
Dimensions [mm(in)]
A
B
405
350
(15.95) (13.78)
C
D
E
F
G
H
100
(3.94)
220
(8.66)
200
(7.87)
180
(7.09)
56
(2.21)
210
(8.27)
12 - 63
J
K
R4.25
135 (0.167),
(5.32) length
12(0.472)
L
M
M8
M6
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge protector
1)
2)
3)
Black Black Black
11 1
0.2
[Unit: mm]
UL-1015AWG16
2
3
28 1.0
1
4.5 0.5
200
30
0
28.5 1.0
4.2
5.5 1
RAV-781BYZ-2
41 1.0
[Unit: mm]
11 1
1)
UL-1015AWG16
1
2
3
4.5 0.5
200
30
0
28.5 1.0
0.2
28 1.0
4.2
5.5 1
RAV-781BXZ-4
41 1.0
12 - 64
2)
3)
4)
13. ABSOLUTE POSITION DETECTION SYSTEM
13. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If an absolute position erase alarm (25) or an absolute position counter warning
(E3) has occurred, always perform home position setting again. Not doing so can
cause runaway.
13.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the servo system controller power is on or off.
Therefore, once home position return is made at the time of machine installation, home position return is
not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
Servo amplifier
Position data
Current
position
Home position data
LS0
CYC0
Battery MR-BAT
Detecting
the number
of revolutions
Detecting the
position within
one revolution
Position control
speed control
Servo system controller
Servo motor
1 pulse/rev accumulative revolution counter
Super capacitor
Within one-revolution counter
13 - 1
High speed serial
communication
13. ABSOLUTE POSITION DETECTION SYSTEM
13.2 Specifications
(1) Specification list
Item
Description
System
Electronic battery backup system
Battery
1 piece of lithium battery ( primary battery, nominal
Type: MR-BAT or A6BAT
Maximum revolution range
Home position
3.6V)
32767 rev.
(Note 1) Maximum speed at power failure
500r/min
(Note 2) Battery backup time
Approx. 10,000 hours (battery life with power off)
(Note 3) Data holding time during battery
replacement
2 hours at delivery, 1 hour in 5 years after delivery
Battery storage period
5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of
whether power is kept on or off.
3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery voltage low or
the battery removed, or during which data can be held with the encoder cable disconnected.
Battery replacement should be finished within this period.
(2) Configuration
Servo system controller
Servo amplifier
CN1
CN2
CN5
Servo motor
Battery (MR-BAT)
(3) Parameter setting
Set "0001" in parameter No.1 to make the absolute position detection system valid.
Absolute position detection selection
0: Used in incremental system.
1: Used in absolute position
detection system.
13 - 2
13. ABSOLUTE POSITION DETECTION SYSTEM
13.3 Battery installation procedure
WARNING
Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
confirm that the voltage between P and N is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front
of the servo amplifier whether the charge lamp is off or not.
POINT
The internal circuits of the servo amplifier may be damaged by static
electricity. Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
1) Open the operation window. (When the model used is the MR-J2S-200B MR-J2S-350B, also remove
the front cover.)
2) Install the battery in the battery holder.
3) Install the battery connector into CON1 until it clicks.
Battery connector
Battery connector
Operation window
CON1
CON1
Battery
Battery holder
Battery
Battery holder
For MR-J2S-200B or less
For MR-J2S-200B MR-J2S-350B
CON1
Battery connector
CON1
Battery holder
Battery connector
Battery holder
Battery
Battery
For MR-J2S-500B MR-J2S-700B
For MR-J2S-11KB or more
13 - 3
13. ABSOLUTE POSITION DETECTION SYSTEM
13.4 Confirmation of absolute position detection data
You can confirm the absolute position data with MR Configurator (servo configuration software).
Click "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Clicking "Diagnostics" in the menu opens the sub-menu as shown below.
(2) By clicking "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window
appears.
(3) Click the "Close" button to close the absolute encoder data display window.
13 - 4
APPENDIX
App 1. Combination of servo amplifier and servo motor
The servo amplifier software versions compatible with the servo motors are indicated in the parentheses.
The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
Servo motor
Servo amplifier
(Software version)
Servo motor
Servo amplifier
(Software version)
HC-KFS053
MR-J2S-10B
MR-J2S-10B1
HC-RFS103
MR-J2S-200B
HC-RFS153
MR-J2S-200B
HC-KFS13
MR-J2S-10B
MR-J2S-10B1
HC-RFS203
MR-J2S-350B (Version B0 or later)
HC-RFS353
MR-J2S-500B (Version B0 or later)
HC-KFS23
MR-J2S-20B
MR-J2S-20B1
HC-RFS503
MR-J2S-500B (Version B0 or later)
HC-UFS72
MR-J2S-70B
HC-KFS43
MR-J2S-40B
MR-J2S-40B1
HC-UFS152
MR-J2S-200B
HC-UFS202
MR-J2S-350B (Version B0 or later)
HC-KFS73
MR-J2S-70B (Version A3 or later)
HC-UFS352
MR-J2S-500B (Version B0 or later)
HC-MFS053
MR-J2S-10B
MR-J2S-10B1
HC-UFS502
MR-J2S-500B (Version B0 or later)
HC-UFS13
HC-MFS13
MR-J2S-10B
MR-J2S-10B1
MR-J2S-10B
MR-J2S-10B1
HC-UFS23
HC-MFS23
MR-J2S-20B
MR-J2S-20B1
MR-J2S-20B
MR-J2S-20B1
HC-UFS43
HC-MFS43
MR-J2S-40B
MR-J2S-40B1
MR-J2S-40B
MR-J2S-40B1
HC-UFS73
MR-J2S-70B
HC-MFS73
MR-J2S-70B
HC-LFS52
MR-J2S-60B (Version B3 or later)
HC-SFS81
MR-J2S-100B
HC-LFS102
MR-J2S-100B (Version B3 or later)
HC-SFS121
MR-J2S-200B
HC-LFS152
MR-J2S-200B (Version B3 or later)
HC-SFS201
MR-J2S-200B
HC-LFS202
MR-J2S-350B (Version B3 or later)
HC-SFS301
MR-J2S-350B
HC-LFS302
MR-J2S-500B (Version B3 or later)
HC-SFS52
MR-J2S-60B
HA-LFS801
MR-J2S-11KB (Version A3 or later)
HC-SFS102
MR-J2S-100B
HA-LFS12K1
MR-J2S-11KB (Version A3 or later)
HC-SFS152
MR-J2S-200B
HA-LFS15K1
MR-J2S-15KB (Version A3 or later)
HC-SFS202
MR-J2S-200B
HA-LFS20K1
MR-J2S-22KB (Version A3 or later)
HC-SFS352
MR-J2S-350B
HA-LFS25K1
MR-J2S-22KB (Version A3 or later)
HC-SFS502
MR-J2S-500B (Version B0 or later)
HA-LFS11K1M
MR-J2S-11KB (Version A4 or later)
HC-SFS702
MR-J2S-700B (Version B0 or later)
HA-LFS15K1M
MR-J2S-15KB (Version A3 or later)
HC-SFS53
MR-J2S-60B
HA-LFS502
MR-J2S-500B (Version B0 or later)
HC-SFS103
MR-J2S-100B
HA-LFS702
MR-J2S-700B (Version B0 or later)
HC-SFS153
MR-J2S-200B
HA-LFS11K2
MR-J2S-11KB (Version A3 or later)
HC-SFS203
MR-J2S-200B
HA-LFS15K2
MR-J2S-15KB (Version A3 or later)
HC-SFS353
MR-J2S-350B
HA-LFS22K2
MR-J2S-22KB (Version A3 or later)
App - 1
APPENDIX
App 2. Change of connector sets to the RoHS compatible products
Connector sets (options) in the following table are changed to the RoHS compatible products after
September, 2006 shipment.
Please accept that the current products might be mixed with RoHS compatible products based on
availability.
Model
Current Product
RoHS Compatible Product
MR-J2CNM
MR-J2CN1
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
MR-J2CNS
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
Encoder connector (DDK)
MS3057-12A (Cable clump)
MS3106B20-29S (Straight plug)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
Encoder connector (DDK)
D/MS3057-12A (Cable clump)
D/MS3106B20-29S (Straight plug)
MR-ENCBL M-H Amplifier connector (3M or equivalent)
MR-ENCNS
10120-3000VE (connector)
MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3 (D265) (Cable clump, DDK)
CE02-20BS-S (Back shell, DDK)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
D/MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3-D (Cable clump, DDK)
CE02-20BS-S-D (Back shell, DDK)
MR-PWCNS1
Power supply connector (DDK)
CE05-6A22-23SD-B-BSS (Connector and back
shell)
CE3057-12A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A22-23SD-D-BSS (Connector and back
shell)
CE3057-12A-2-D (Cable clump)
MR-PWCNS2
Power supply connector (DDK)
CE05-6A24-24SD-B-BSS (Connector and back
shell)
CE3057-16A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A24-10SD-B-BSS (Connector and back
shell)
CE3057-16A-2-D (Cable clump)
MR-PWCNS3
Power supply connector (DDK)
CE05-6A32-17SD-B-BSS (Connector and back
shell)
CE3057-20A-1 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A32-17SD-D-BSS (Connector and back
shell)
CE3057-20A-1-D (Cable clump)
MR-BKCN
Electromagnetic brake connector
MS3106A10SL-4S (D190) (Plug, DDK)
Electromagnetic brake connector
D/MS3106A10SL-4S (D190) (Plug, DDK)
MR-J2CN1-A
Controller connector (Honda Tsushin Industry)
PCR-S20FS (Connector)
Amplifier connector (3M or equivalent)
10120-3000VE (Connector)
Controller connector (Honda Tsushin Industry)
PCR-S20FS (Connector)
Amplifier connector (3M or equivalent)
10120-3000PE (Connector)
Note. RoHS compatible 36210-0100FD may be packed with current connector sets.
App - 2
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data
*Manual Number
Sep., 2000
SH(NA)030007-A
First edition
Revision
Jan., 2001
SH(NA)030007-B
Servo amplifier: Addition of MR-J2S-500B and MR-J2S-700B
Servo motor: Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353,
HC-RFS503, HC-UFS502 and HC-UFS352
Section 1.4: Addition of brake unit and regeneration converter
Section 1.7: Overall reexamination
Section 3.5.2: Addition of return converter and brake unit
Section 3.7: Reexamination of section 3.7 and later
Section 5.2 (2): Addition of regenerative brake option to parameter No. 2
Section 6.1.2: Addition of POINT
Changing of alarm 24 name
Section 9.2: Changes made to alarm 20 cause and action fields
Addition of alarm 33 causes 1, 2
Section 10.2 (2): Addition
Section 12.1.1 (3): Overall reexamination
Section 12.1.1 (4): Addition
Section 12.1.1 (5): Addition of MR-RB31 and MR-RB51 regenerative brake
options
Section 12.1.2: Addition
Section 12.1.3: Addition
Section 12.1.4: Addition of power supply connector set
Section 12.2.1 (1): Changing of wiring diagram
Addition of brake unit and power regeneration converter
wire size list
Section 12.2.8 (3): Addition of outline drawing
Oct., 2002
SH(NA)030007-C
Servo amplifier: Addition of MR-J2S-11KB, MR-J2S-15KB and MR-J2S-22KB
Servo motor: Addition of HA-LFS and HC-LFS series
About processing of waste: Addition of about processing of waste
SAFETY INSTRUCTIONS: Addition of FOR MAXIMIM SAFETY
CONFORMANCE WITH UL/C-UL STANDARD:
Addition of MR-J2S-11KB to MR-J2S-22KB to(4) Capacitor
discharge time
Addition of(6) Attachment of servo motor
Addition of(7) About wiring protection
Section 1.4: Modification made to the contents of the test operation mode
Section 1.7.1: Deletion of (6)
Section 3.1.1: Addition of MR-J2S-700B or less
Section 3.1.2: Addition of MR-J2S-11KB or less
Section 3.2.1 (2): Addition of MR-J2S-11KB or less
Section 3.2.2: Addition of 11kW and more to the connector pin No.
Section 3.2.2 (C): Addition of dynamic brake sequence
Section 3.3: Addition of Note
Section 3.4.2 (2), (3): Wiring reexamination
Section 3.5: Addition of POINT
Section 3.6.2: Addition of POINT
Section 3.6.3: Addition of Note
Section 3.9: Reexamination of contents
Section 3.12: Addition
Print Data
*Manual Number
Revision
Oct., 2002
SH(NA)030007-C
Section 3.12.2: Addition of power factor improving DC reactor
Section 4.3 (2): Addition of initialization completion
Section 5.2 (2): Addition of external dynamic brake selection to parameter No. 2
Renaming of parameter Nos. 3 to 5
Reexamination of parameter No. 19 contents
Section 9.1: Addition of Note to alarm 30
Section 9.2: Addition of occurrence factor 4 to alarm 16
Changing of occurrence factor and checking method of alarm 50
Changing of occurrence factor and checking method of alarm 51
Section 10.1 (7), (8): Addition of MR-J2S-11KB, 15KB and 22KB
Section 10.2 (a): Addition of connectors and shell kits
Section 11.1 (4): Addition
Section 11.3: Reexamination of HC-KFS series dynamic brake time constants
Addition of HA-LFS series
Section 12.1.1 (3): Addition of sentences
Section 12.1.1 (4) (a): Reexamination of contents
Section 12.1.1 (4) (b): Reexamination of contents
Section 12.1.1 (4) (c): Addition of sentences
Section 12.1.1 (4) (d): Addition
Section 12.1.1 (5) (e): Addition
Section 12.1.2 (1), (3): Addition of FR-BU-55K brake unit
Section 12.1.2 (3) (a), (b): Addition of FR-BR-55K resistor unit
Section 12.1.3 (1), (3), (4): Addition of FR-RC-55K power regeneration converter
Section 12.1.4: Addition; reexamination of subsequent sections
Section 12.1.5: Addition of HA-LFS series wiring
Addition of connector sets and monitor cables
Section 12.1.6: Addition of POINT
Section 12.1.7 (1): Reexamination of contents
Section 12.1.7 (2) (a): Reexamination of contents
Section 12.2.1 (1): Addition of cooling fan wiring
Addition of FR-RC-30K and FR-RC-50K
Section 12.2.1 (2): Reexamination of optional cable table
Section 12.2.4: Addition of power factor improving DC reactor; reexamination
of subsequent sections
Section 12.2.5: Changing of interface name into digital input signals
Section 12.2.8 (1): Reexamination of our leakage current breaker products
Section 12.2.9 (3): Addition of outline drawing
Section 13.3: Addition of MR-J2S-11KB and more
Section 13.4: Screen change
May., 2003
SH(NA)030007-D
COMPLIANCE WITH EC DIRECTIVES 2 (6): Addition of (6)
CONFORMANCE WITH UL/C-UL STANDARD: Addition of (2) Air volume
(2.8m3/min)
Section 1.3: Inrush current addition
Section 3.1.1: Reexamination of table in Note
Section 3.1.2: Reexamination of table in Note
Section 3.6.3: Addition of power supply connector signal arrangement CE052A32-17PD-B
Section 3.12.3: Change of terminal box inside of HA-LFS11K2
Section 5.2 (1): Reexamination of alarm 8 initial value
Section 5.2 (2): Addition of "Use of built-in regenerative brake resistor" to
parameter No. 2
Section 5.2 (2): Reexamination of alarm 8 initial value
Print Data
*Manual Number
Revision
May., 2003
SH(NA)030007-D
Section 9.1: Partial sentence change
Section 9.2: Partial POINT sentence reexamination
Section 9.2: Reexamination of alarm 12, 13 definitions
Reexamination of alarm 15 definition
Addition of alarm 37 occurrence factor and corrective action
Addition of During rotation: 2.5s or more to alarm 51
Section 10.2 (2) (a): Addition of model PCR
Section 11.3: Reexamination of explanation of te
Section 11.5: Addition of inrush currents at power-on of main circuit and
control circuit
Section 12.1.2: Partial sentence addition
Section 12.1.3: Partial sentence addition
Section 12.1.3 (2): Addition of Note
Section 12.1.4 (2): Correction of connection example
Addition of Note
Section 12.1.5: Addition of bus cable connected to motion controller
Section 12.1.5 (4): Reexamination/addition of contents
Section 12.1.6: POINT sentence change
Section 12.2.1 (1): Correction of error in writing of recommended wire
MR-J2S-22KB wire size
Section 12.2.1 (2): Addition of bus cable Q172J2BCBL M/Q173J2B CBL
Jan., 2004
SH(NA)030007-E
Safety Instructions: Overall reexamination
Section 1.5 (2): Partial addition
Section 1.6: Table reexamination
Section 1.8 (3): Note addition
Section 1.8 (4): Note addition
Section 3.1.1: Note 15. reexamination
Section 3.1.2: Note 15. reexamination
Section 4.2: Partial reexamination/addition of CAUTION sentence
Section 5.2: Partial addition of POINT sentence
Section 5.2 (1): Addition of Note 3
Section 5.2 (2): Partial addition of parameter No. 2
Note addition of parameter No. 31
Section 5.4.2: (10) deletion
Section 9.2: Display 32 item addition, Partial reexamination/Note addition of
display 52
Section 10.1: Overall reexamination
Section 11.2: Table change
Section 11.3: Partial text addition
Section 12.1.1 (3): Partial text deletion
Section 12.1.1 (4): Partial text change
Section 12.1.1 (5): Overall reexamination
Section 12.1.4 (2): Addition of Note 2
Section 12.1.7: POINT addition
Section 12.1.8 (1)(a): Partial table reexamination
Section 12.1.9 (2): Partial figure reexamination
Section 12.1.10: Addition
Section 12.2.9 (3): Partial reexamination
Appendix: Addition
WARNING of “To prevent electric shock”: Correction of “10 minutes” to “15
minutes”
Correction of axis switch model to “SW1”
M
Print Data
*Manual Number
Jan., 2006
SH(NA)030007-F
Revision
Correction of “Thermal protector” to “Thermal sensor”
Safety Instructions: Addition of 4.(2) CAUTION sentence
Safety Instructions: Addition of 4.(4) CAUTION sentence
FOR MAXIMUM SAFETY: Sentence addition
EEP-ROM life: Sentence addition
Section 1.2 (1): Correction of error in writing
Section 1.2 (2): Correction of error in writing
Section 1.2 (3): Correction of error in writing
Section 1.5 (2): Reexamination of expression for Note of Power Supply
Section 1.7.1 (1): Reexamination of expression for Application of Encoder
connector Correction of error in writing
Section 1.7.1 (2): Reexamination of expression for Application of Encoder
connector Correction of error in writing
Section 1.7.1 (3): Reexamination of expression for Application of Encoder
connector Correction of error in writing
Section 1.7.1 (4): Reexamination of expression for Application of Encoder
connector Correction of error in writing
Section 1.7.1 (5): Reexamination of expression for Application of Encoder
connector Correction of error in writing
Section 1.8 (1): Note 2. Sentence reexamination
Section 1.8 (1): Addition of “CN1B” for preceding axis servo amplifier
Section 1.8 (2): Addition of “CN1B” for preceding axis servo amplifier
Section 1.8 (3): Addition of “CN1B” for preceding axis servo amplifier
Section 1.8 (4): Addition of “CN1B” for preceding axis servo amplifier
Section 1.8 (5): Addition of “CN1B” for preceding axis servo amplifier
Chapter 2: Addition of CAUTION sentence
Section 3.1.1: Reexamination of connection example correction of error in
writing
Section 3.1.2: Reexamination of connection example correction of error in
writing
Section 3.2.2 (1): Correction of error in writing of CON2 Function description
Section 3.2.2 (2) (a): Correction of error in writing
Section 3.3 (3): Sentence reexamination
Section 3.4.2 (3) 2): Deletion of “OP”
Section 3.5.1 (1): Reexamination of connection example correction of error in
writing/Note addition
Section 3.5.2: Addition of “Power factor improving DC reactor”
Main circuit power supply: Correction of error in writing of Servo
amplifier model name
Reexamination of descriptions for Regenerative brake option,
Return converter and Brake unit
Section 3.7: Addition of CAUTION sentence
Section 3.7 (3) (d), (e): Reexamination of description
Correction of error in writing of Servo motor speed
Section 3.9: POINT addition
Section 3.9.1: Addition
Section 3.9.2: Addition
Section 3.12.3: Correction of Encoder connector position
Correction of error in writing of Terminal box inside
Section 4.4: Sentence addition
Section 5.2 (1), (2): Reexamination of English translation for parameter No.40
Print Data
*Manual Number
Revision
Jan., 2006
SH(NA)030007-F
Section 5.2 (1), (2): Addition of parameter Nos. 49 to 55, 60, 61
Section 5.3: Sentence reexamination
Section 5.3 (2): Addition of Note for Torque
Section 7.5: Addition of “Gain changing function”
Section 9.1: Addition of Note 2
Section 9.2: Addition of CAUTION sentence
Reexamination of expression for 17 19
Addition of Cause 6 to Display 33
Section 9.3: POINT addition
Reexamination of description for Cause 2 of Display 92
Partial addition of sentence to Cause of Display 9F
Reexamination of description for Display E9
Section 11.1: Reexamination of Note sentence
Section 11.2: Note addition
Section 11.3: Reexamination of Dynamic brake time constant
Section 12.1.1 (2) (b): Partial reexamination of Table b. ”Losses of servo motor
and servo amplifier in regenerative mode”
Section 12.1.1 (4): Partial reexamination of sentence
Section 12.1.1 (4) (c): Reexamination of Note sentence
Section 12.1.1 (5) (c): Change of outline drawings
Section 12.1.1 (5) (d): Change of outline drawings
Section 12.1.1 (5) (e): Change of outline drawings
Section 12.1.2 (2): Reexamination of connection example
Section 12.1.3 (2): Reexamination of connection example Note addition
Section 12.1.4 (2): Reexamination of connection example Note addition
Section 12.1.8 (2): Reexamination of descriptions
Section 12.1.9 (2): Addition of Note 6, 7
Section 12.1.9 (3) (b): Note addition
Section 12.1.10 (3): Partial change of error for Figure of “Fitting method”
Section 12.2.3: Partial change of outline drawing and wiring diagram
Section 12.2.7 (2) (d): Partial correction of outline dimension lines
Section 12.2.7 (2) (e): Partial change of connection diagram
Section 12.2.9 (3): Partial reexamination of outline drawing
Chapter 13: Addition of “absolute position counter warning (E3)” to CAUTION
Nov., 2007
SH(NA)030007-G
Safety Instructions: 1 Change of sentence
2 Change of sentence
4-(2) Change of diagram
Addition of sentence
Section 1.2: Change of power supply notation
Partial change of diagram
Addition of Note
Section 1.7.2: Change of CAUTION sentence
Section 1.8: Change of power supply notation
Addition of Note
Chapter 2: Change and addition of CAUTION sentence
Chapter 3: Addition of WARNING sentence and phrase
Addition of CAUTION sentence
Section 3.4.2 (2) (a) (b): Partial change of diagram
Section 3.5: Addition of CAUTION sentence
Section 3.5.2: Addition of sentence
Section 3.6.2: Addition of CAUTION sentence
Section 3.7 (3) (a): Change of timing chart
Print Data
*Manual Number
Nov., 2007
SH(NA)030007-G
Revision
Section 3.8: Change of power supply notation
Section 3.12: Addition and change of CAUTION sentence
Section 3.12.1: Addition of Note sentence
Section 5.1: Addition of item and change of parameter No. in table
Section 5.2 (1): Correction of error in writing of initial value for parameter
No.17
Correction of error in writing of name for parameter No.52
Correction of error in writing of name for parameter No.53
Correction of error in writing of name for parameter No.54
Correction of error in writing of name for parameter No.55
Section 5.2 (2): Correction of error in writing of name for parameter No.14
Correction of error in writing of name for parameter No.15
Correction of error in writing of name for parameter No.16
Correction of error in writing of initial value for parameter
No.18
Correction of error in writing of initial value for parameter
No.21
Addition and partial change of expansion parameter No.40
Correction of error in writing of name for parameter No.52
Section 6.4 (2): Change of operation explanation for step 5
Chapter 8: Change of WARNING sentence
Section 9.2: Addition of item for display 20
Correction of error in writing of name for display 30
Addition of sentence for display 32
Addition of Cause 9 to Display 33
Change of definition for Display 55
Section 10.1: Partial change and addition of phrase
Section 10.2: Change to RoHS compatible connectors
Section 11.3: Addition of title and partial change of sentence
Chapter 12: Change of WARNING sentence
Section 12.1.1 (2) (b): Partial change of energy formula
Section 12.1.1 (3): Partial change of notation
Section 12.1.1 (4): Change of cooling fan specification notation
Section 12.1.1 (5) (b): Change of outline drawing
Section 12.1.1 (5) (c): Change of outline drawing
Section 12.1.2: Significant change of contents
Section 12.1.4: Addition of POINT sentence
Change of power supply notation in diagram
Addition of Note
Section 12.1.5: Change to RoHS compatible connectors and cables
Section 12.1.8 (2) (a): Change of personal computer description
Section 12.1.9 (2): Change of power supply notation in diagram
Addition of Note
Section 12.2.1: Change of crimping terminal of “b” in table 12.2
Section 12.2.7 (2) (b): Addition of sentence for varistor recommendation
Section 12.2.7 (2) (d): Change of sentence in connection diagram
Partial change of outline drawing
Section 12.2.7 (2) (f): Addition of input power varistor (recommended)
Section 12.2.9 (2): Addition of diagram
Section 12.2.9 (3) (b): Addition of surge protector
Section 13.3: Change of WARNING sentence
App.2: Addition of List of RoHS Compatible Product
General-Purpose AC Servo
J2-Super Series
SSCNET Compatible
J2-Super Series
MODEL
MR-J2S- B
SERVO AMPLIFIER
INSTRUCTION MANUAL
MR-J2S- B
Servo Amplifier Instruction Manual
MODEL
CODE
G
MODEL
MR-J2S-B GIJUTU SIRYOU
1CW502
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030007-G (0711) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
G