Mitsubishi Electric MR-560B Instruction manual

MODEL

MR-J2S-B GIJUTU SIRYOU

MODEL

CODE

1CW502

SH (NA) 030007-G (0711) MEE Printed in Japan

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

General-Purpose AC Servo

J2-Super

Series

SSCNET Compatible

MODEL

MR-J2S- B

SERVO AMPLIFIER

INSTRUCTION MANUAL

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

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

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 L

1

, L

2

, and L

3

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.

Ambient

Ambient humidity

Ambience

Altitude

(Note)

Vibration

Environment temperature

Servo amplifier

Conditions

Servo motor

In [ ] 0 to 55 (non-freezing) operation [ ] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

In storage

In operation

In storage


90%RH or less (non-condensing)

0 to 40 (non-freezing)






Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280 ft) above sea level

[m/s 2 ] 5.9 or less

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152

HC-SFS121 201

HC-SFS202 352

HC-SFS203 353

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

X Y : 49

X Y : 24.5

X : 24.5

Y : 49

X : 24.5

Y : 29.4

X : 11.7

Y : 29.4

[ft/s 2 ] 19.4 or less

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152

HC-SFS121 201

HC-SFS202 352

HC-SFS203 353

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

X Y : 161

X Y : 80

X : 80

Y : 161

X : 80

Y : 96

X : 38

Y : 96

Note. Except the servo motor with reduction gear.

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

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

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

COM

(24VDC)

Control output signal

RA

Servo amplifier

COM

(24VDC)


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

RA EM1

Circuit must be opened during forced stop (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 :MR-J2S-10B to MR-J2S-22KB

MR-J2S-10B1 to MR-J2S-40B1

Servo motor :HC-KFS

HC-MFS

HC-SFS

HC-RFS

HC-UFS

HA-LFS

HC-LFS

(2) Configuration

Control box

(Note)

Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

MC

Reinforced insulating type

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 ) of the servo amplifier to the protective earth (PE) of the control box.

(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 :MR-J2S-10B to MR-J2S-22KB


Servo motor :HC-KFS

HC-MFS

HC-SFS

HC-RFS

HC-UFS

HA-LFS

HC-LFS

(2) Installation

Install a cooling fan of 100CFM (2.8m

3 /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]

3

5

1

2

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 MR-

J2S-B safely.

Also read the manual of the servo system controller.

Relevant manuals

Manual name

MELSERVO-J2-Super Series To Use the AC Servo Safely

(Packed with the servo amplifier)

MELSERVO Servo Motor Instruction Manual

EMC Installation Guidelines

Manual No.

IB(NA)0300010

SH(NA)3181

IB(NA)67310

A - 10

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


1.1 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


1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J2S-350B or less

Regenerative option

(Note 2)

Power supply

NFB MC

Servo amplifier

Diode stack Relay

L

1

L

L

2

3

P C

CHARGE lamp

Regenerative

TR

(Note 3) Cooling fan

D

(Note 1)

L

L

11

21

Control circuit power supply

Current detector

Dynamic brake

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Position command input

Model position control

Model speed control

Virtual motor

Virtual encoder

Model position

Actual position control

Model speed

Actual speed control

Model torque

Current control

U

V

W

Servo motor

U

V

W

M

B1

B2


Encoder

CN1A

I/F Control

CN1B

Controller or

Servo amplifier

Servo amplifier or termination connector

RS-232C

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 L

1

, L

2

and leave L

3

open.

L

3

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


(2) MR-J2S-500B, MR-J2S-700B

(Note)

Power supply

NFB MC

Servo amplifier

Diode stack Relay

L

1

L

2

L

3

CHARGE lamp

Regenerative option

P C N

Regenerative

TR

Cooling fan

L

11

L

21


Current detector

Dynamic brake

Base amplifier

Voltage detection

Overcurrent

Protection

Current detection

Position command input

Model position control

Model speed control

Virtual motor

Virtual encoder

Model position


Model speed


Model torque

Current control

U

V

W

Servo motor

U

V

W

M

B1

B2


Encoder

I/F Control

CN1A CN1B

Controller or

Servo amplifier


RS-232C

CN3

D/A

MR-BAT

Optional battery


detection system)

Analog monitor

(2 channels)

Personal computer

Note. Refer to section 1.3 for the power supply specification.

1 - 3


(3) MR-J2S-11KB or more

Regenerative option

(Note)

Power supply

NFB MC

Servo amplifier

L

2

L

3

L

1

Diode stack Thyristor

P1 P C

CHAR-

GE lamp

N

Regenrative

TR

L

L

11

21


Cooling fan

Current detector

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Position command input Model position control

Model speed control

Virtual motor

Virtual encoder

U

V

W

Servo motor

U

V

W

M

B1

B2


Encoder

Model position


Model speed


Model torque

Current control

I/F Control

CN1A CN1B

Controller or

Servo amplifier



RS-232C D/A

CN3 CN4

MR-BAT

Optional battery


detection system)

Analog monitor

(2 channels)

Personal computer

1 - 4


1.3 Servo amplifier standard specifications

Servo amplifier

MR-J2S10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1

Item

Voltage/frequency

Permissible voltage fluctuation

Ambient

Altitude

Vibration

Mass

3-phase 200 to 230VAC,

50/60Hz or 1-phase 230VAC,

50/60Hz

3-phase 200 to 230VAC:170 to 253VAC

1-phase 230VAC: 207 to

253VAC

3-phase 200 to 230VAC, 50/60Hz

3-phase 170 to 253VAC

1-phase 100 to

120VAC 50/60Hz

1-phase 85 to

127VAC

Permissible frequency fluctuation

Power supply capacity

Inrush current


Within 5%

Control system

Dynamic brake

Protective functions

Structure

Sine-wave PWM control, current control system

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

Self-cooled, open (IP00)

Force-cooling, open

(IP00)

External

Self-cooled, open(IP00)

Ambient temperature



In storage


Ambient humidity

In operation

In storage

Refer to section 11.2


Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280ft) above sea level

5.9 [m/s 2 ] or less

19.4 [ft/s 2 ] or less

[kg] 0.7

0.7

1.1

1.1

1.7

1.7

2.0

2.0

4.9

7.2

16 16 20 0.7

0.7

1.1

[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

1.5

2.4

1 - 5


1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function

High-resolution encoder

Absolute position detection system

Adaptive vibration suppression control

Description Reference

High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.

Merely setting a home position once makes home position return unnecessary at every power-on.

Chapter 13

Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Section 7.3

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Suppresses high-frequency resonance which occurs as servo system response is increased.

Section 7.4

Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator (servo configuration software)-installed personal computer and servo amplifier.

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.

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.

Parameter No.24

Auto tuning

Regenerative option

Brake unit

Return converter

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MELSERVO-J2 series servo amplifier.

Chapter 6

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Section 12.1.1

Used when the regenerative option cannot provide enough regenerative power.

Can be used with the MR-J2S-500B to MR-J2S-22KB.

Used when the regenerative option cannot provide enough regenerative power.

Can be used with the MR-J2S-500B to MR-J2S-22KB.

Section 12.1.2

Section 12.1.3

Torque limit Servo motor torque can be limited to any value.

Parameters

No.10, 11

Forced stop signal automatic

ON

Forced stop (EM1) can be automatically switched on internally to invalidate it. Parameter No.23

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

Analog monitor output

JOG operation positioning operation motor-less operation DO forced output Section 4.4

Servo status is output in terms of voltage in real time.

Parameter No. 22

MR Configurator

(Servo configuration software)

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

Section 12.1.8

1 - 6


1.5 Model code definition

(1) Rating plate

MITSUBISHI

MODEL

MR-J2S-60B

POWER :

INPUT :

OUTPUT :

600W

3.2A 3PH 1PH200-230V 50Hz

3PH 1PH200-230V 60Hz

5.5A 1PH 230V 50/60Hz

170V 0-360Hz 3.6A

SERIAL : A5

TC3 AAAAG52

PASSED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

Model

Capacity

Applicable power supply

Rated output current

Serial number

(2) Model

MR–J2S–

Series

B MR–J2S–100B or less MR–J2S–200B 350B

With no regenerative resistor

Symbol Description

–PX

Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory.

Power Supply

Symbol

None

Power supply

3-phase 200 to 230V

(Note 2) 1-phase 230V

(Note1)

1

1-phase 100V to 120V

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.

MR-J2S-500B

Rating plate

SSCNET compatible

10

20

40

60

70

100

200

Rated output

Symbol

Rated output [kW]

0.1

0.2

0.4

0.6

0.75

1

2

Symbol

350

500

700

11k

15k

22k

Rated output [kW]

3.5

5

7

11

15

22

Rating plate

MR-J2S-11KB 15KB

MR-J2S-700B

Rating plate

MR-J2S-22KB

Rating plate

Rating plate Rating plate

1 - 7


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 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

MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

HC-KFS

053 13

23

43

(Note 1) 73

HC-MFS

053 13

23

43

73

Servo motors

HC-SFS

1000r/min 2000r/min 3000r/min

52 53

81 102 103

121 201 152 202 153 203

301 352 353

(Note 1)

502

(Note 1)

702

HC-RFS

HC-UFS

2000r/min 3000r/min

13

23

43

72

103 153 152

(Note 1) 203 (Note 1) 202

(Note 1)

353 503

(Note 1)

352 502

73

Servo amplifier

1000r/min

Servo motors

HA-LFS

1500r/min 2000r/min

(Note 1)

HC-LFS

MR-J2S-60B

MR-J2S-100B

MR-J2S-200B

MR-J2S-350B

52

102

152

202

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

(Note 2) 601 (Note 2)701M

(Note 1)

801 12K1

(Note 1) 15K1

(Note 1)

20K1 25K1

(Note 1)

11K1M

(Note 1)

15K1M

(Note 1)

22K1M

(Note 1)

502

(Note 1)

702

(Note 1)

11K2

(Note 1)

15K2

(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


1.7 Structure

1.7.1 Parts identification


5

6 7

8 9

A

B

D

01

EF

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 backup.

Section 13.3

Display

The two-digit, seven-segment LED shows the servo status and alarm number.

Axis select switch (SW1)

Chapter 4

SW1

3

5

1

7 8 9

D

B

0

F

Used to set the axis number of the servo amplifier.

Section 3.11

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

Rating plate Section 1.5

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.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply and regenerative option.

Section 3.5.2

Section 10.1

Section 3.5.2

Section 10.1

Section 12.1.1

Protective earth (PE) terminal ( )

Ground terminal.

Section 3.8

Section 10.1

1 - 9


(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.

5

6 7

8 9

A

B

D

01

EF

Name/Application Reference

Battery holder


Section 13.3



Section 13.3

Display


Chapter 4


SW1

3

5

1

7 8 9

D

B

0

F


Section 3.11

Cooling fan

Fixed part

(4 places)







Section 3.2

Section 3.2

Section 3.2

Section 12.1.5


Charge lamp




Section 3.2

Section 12.1.5


Used to connect the input power supply and servo motor.

Section 3.5.2

Section 10.1


Used to connect the control circuit power supply and regenerative option.

Section 3.5.2

Section 10.1

Section 12.1.1


Ground terminal.

Section 3.8

Section 10.1

1 - 10


(3) MR-J2S-500B

5

6 7

8 9

A

B

D

01

EF

POINT


Name/Application



Battery holder


Reference

Section 13.3

Section 13.3

Display


Chapter 4


SW1

3

5

1

7 8 9

D

B

0

F


Section 3.11

Fixed part

(4 places)

Cooling fan



Section 3.2





Section 3.2

Section 3.2

Section 12.1.5



Charge lamp


Section 3.2

Section 12.1.5


Used to connect the control circuit power supply.

Section 3.5.2

Section 10.1

Section 12.1.1


Used to connect the input power supply, regenerative option and servo motor.

Section 3.5.2

Section 10.1

Rating plate


Ground terminal.

Section 1.5

Section 3.8

Section 10.1

1 - 11


(4) MR-J2S-700B

5

6 7

8 9

A

B

D

01

EF

POINT


Name/Application



Battery holder


Reference

Section 13.3

Section 13.3

Display


Chapter 4


SW1

3

5

1

7

8 9

D

B

0

F


Section 3.11

Cooling fan

Fixed part

(4 places)



Section 3.2





Section 3.2

Section 3.2

Section 12.1.5

Charge lamp




Section 3.5.2

Section 10.1

Section 12.1.1



Section 3.2

Section 12.1.5




Section 3.5.2

Section 10.1


Ground terminal.

Section 3.8

Section 10.1

1 - 12



Cooling fan

POINT


Name/Application


SW1

D

E

F

0

B A 9

8

1

2

3

5

7 6


Reference

Section 3.11

Fixed part

(4 places)

Display


Chapter 4

Battery holder


Section 13.3



Monitor output terminal (CN4)

Used to output monitor values on two channels in the

form of analog signals.


Used to connect a personal computer (RS-232C) .

Section 13.3

Section 3.2

Section 12.1.5

Section 3.2

Section 12.1.5





Charge lamp


Section 3.2

Section 3.2





I/O signal connector (CON2)

Used to connect digital I/O signals.

Rating plate

Section 3.5.2

Section 10.1

Section 12.1.1

Section 3.2

Section 12.1.5

Section 3.2

Section 12.1.5

Section 1.5



Section 3.5.2

Section 10.1


Ground terminal.

Section 3.8

Section 10.1

1 - 13


1.7.2 Removal and reinstallation of the front cover

CAUTION

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.

(1) For MR-J2S-350B or less

Removal of the front cover

1)

Reinstallation of the front cover

2)

Front cover hook

(2 places)

2)

Front cover

1) Hold down the removing knob.

2) Pull the front cover toward you.

1)

Front cover socket

(2 places)

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


1)

2)


Front cover hook

(2 places)

2)

1)

Front cover

1) Hold down the removing knob.


Front cover socket

(2 places)

1) Insert the front cover hooks into the front cover sockets of

the servo amplifier.



1 - 14


(3) For MR-J2S-700B

Removal of the front cover Reinstallation of the front cover

Front cover hook

(2 places)

B)

2)

A)

1)

A)

1) Push the removing knob A) or B), and put you

finger into the front hole of the front cover.


(4) For MR-J2S-11KB or more


2)

1)

Front cover socket

(2 places)

1) Insert the two front cover hooks at the bottom into the

sockets of the servo amplifier.



Mounting screws

(2 places)

Mounting screws (2 places)

1) Remove the front cover mounting screws (2 places)

and remove the front cover.

2) Remove the front cover mounting screws (2 places).

3) Remove the front cover by drawing it in the direction of arrow.

1 - 15



Mounting screws

(2 places)

1) Insert the front cover in the direction of arrow.

2) Fix it with the mounting screws (2 places).

Mounting screws (2 places)

3) Fit the front cover and fix it with the mounting screws (2 places).

1 - 16


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.


(a) For 3-phase 200V to 230V or 1-phase 230V

(Note 2)

Power supply

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

Reference

Section 12.2.2

Section 12.2.2

MR Configurator


Section 12.1.8

Options and auxiliary equipment Reference

Regenerative option

Cables

Section 12.1.1

Section 12.2.1

Power factor improving reactor Section 12.2.3

No-fuse breaker

(NFB) or fuse

Servo amplifier

Servo system controller or preceding axis servo amplifier

CN1B

To CN1A

Magnetic contactor

(MC) To CN1B

Subsequent axis servo amplifier

CN1A or

Termination connector

Power factor improving reactor

(FR-BAL)

CHARGE

To CN3

To CN2

L

1

L

2

L

3

U V W

Personal computer

MR Configurator

(Servo configuration software

MRZJW3-SETUP151E)

(Note 1)

Encoder cable

(Note 1)

Power supply lead

Control circuit terminal block

L

21

L

11

D

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 L

1

L

2

and leave L

3

open. Refer to section 1.3 for the power supply specification.

1 - 17


(b) For 1-phase 100V to 120V

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Reference

Section 12.2.2

Section 12.2.2

Section 12.1.8


Regenerative option

Cables

Section 12.1.1

Section 12.2.1


No-fuse breaker

(NFB) or fuse

Servo amplifier

Servo system controller or preceding axis servo amplifier

CN1B

To CN1A

Magnetic contactor

(MC)

To CN1B


CN1A or


To CN3


(FR-BAL)

To CN2

L

1

L

2

CHARGE

U V W

Personal computer

MR Configurator


MRZJW3-SETUP151E)

(Note 1)

Encoder cable

(Note 1)

Power supply lead


L

21

L

11

D

Regenerative option

P

C

Note 1. The HC-SFS, HC-RFS series have cannon connectors.

2. Refer to section 1.3 for the power supply specification.

Servo motor

1 - 18


(2) MR-J2S-200B MR-J2S-350B

(Note)

Power supply

No-fuse breaker

(NFB) or fuse

Magnetic contactor

(MC)


(FA-BAL)


No-fuse breaker

Magnetic contactor

MR Configurator


Reference

Section 12.2.2

Section 12.2.2

Section 12.1.8


Regenerative option

Cables

Section 12.1.1

Section 12.2.1


Servo amplifier

Servo system controller or

Preceding axis servo amplifier

CN1B

L

L

To CN2

11

21

To CN1A

To CN1B

To CN3


CN1A or


Personal computer

MR Configurator


MRZJW3-

SETUP151E)

L

1

L

2

L

3

U V W P C

Regenerative option


1 - 19


(3) MR-J2S-500B

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Reference

Section 12.2.2

Section 12.2.2

Section 12.1.8


Regenerative option

Cables

Section 12.1.1

Section 12.2.1


No-fuse breaker

(NFB) or fuse

Magnetic contactor

(MC)


(FA-BAL)

(Note 1) C P

Regenerative option

L

1

L

2

L

3

U

V

W

L

11

L

21

Servo amplifier

To CN1A

To CN1B

To CN3

To CN2



CN1B


CN1A or


Personal computer

MR

Configurator


MRZJW3-

SETUP151E)

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.


1 - 20


(4) MR-J2S-700B

(Note 2)

Power supply

No-fuse breaker

(NFB) or fuse

Magnetic contactor

(MC)


(FA-BAL)

L

3

L

2

L

1

L

21

L

11


No-fuse breaker

Magnetic contactor

MR Configurator


Reference

Section 12.2.2

Section 12.2.2

Section 12.1.8


Regenerative option

Cables

Section 12.1.1

Section 12.2.1




CN1B

Servo amplifier

To CN1A

To CN1B

To CN3


CN1A or


Personal computer

MR

Configurator


MRZJW3-

SETUP151E)

To CN2

U

V

W

C P

(Note 1) Regenerative option

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.


1 - 21



(Note 3)

Power supply

No-fuse breaker(NFB) or fuse


No-fuse breaker

Magnetic contactor

Reference

Section 12.2.2

Section 12.2.2

MR Configurator


Section 12.1.8


Regenerative option

Cables

Section 12.1.1

Section 12.2.1


Power factor improving DC reactor

Personal computer

Section 12.2.4

MR Configurator


MRZJW3-SETUP151E)

Magnetic contactor

(MC)

(Note 2)


(FR-BAL)

L

21

L

11

L

3

L

2

L

1

To CN3

MITSUBISHI

Analog monitor

To CN4

To CN1A

To CN1B



CN1B


CN1A or

Terminal connector

Forced stop etc.

To CON2

(Note 1) BW

BV

BU

U V W

C

To CN2

Regenerative option

P

(Note 2)

Power factor improving

DC reactor (FR-BEL)

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.


1 - 22

2. INSTALLATION

2. INSTALLATION

CAUTION

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.)

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

Ambient

Environment temperature


In storage

[ ]

[ ]



Ambient humidity

Ambience

Altitude

Vibration

Conditions

In operation

In storage


Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280 ft) above sea level

[m/s

2

] 5.9 [m/s

2

] or less

[ft/s

2

] 19.4 [ft/s

2

] 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

10mm

(0.4 in.) or more

10mm

(0.4 in.) or more

Wiring clearance

70mm

(2.8 in.)

Top

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

Servo amplifier

10mm

(0.4 in.) or more

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


WARNING

Any person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. 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.

CAUTION

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

COM

(24VDC)


RA

Servo amplifier

COM

(DC24V)


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


3.1 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

(Note 9)

MR Configurator


Servo system controller

(Note 10, 14)

Bus cable (Option)

(Note 4)

Personal computer

15m(49.2ft) or less

Servo amplifier

CN3

(Note 5, 8)

(Note 5)

CN1A

CN3

13 MBR

5 COM

10 VDD

20 EM1

3 SG

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

4 MO1

1 LG

14 MO2

11 LG

Plate SD

10m(32.81ft) or less

RA1

(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

A

A

10k

10k

2m(6.56ft) or less

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Encoder Z-phase pulse


Control common


Max. 1mA

Reading in both directions

(Note15)

Cable clamp

(Option)

(Note 5) SW1

CN1B

Setting: 0 (Note 1)

(Note 10, 14)

Bus cable

(Option)

MR-J2S-B

CN1A

(2 axis)

(Note 11)

SW1

CN1B

Setting: 1

MR-J2S-B

CN1A

(3 axis)

(Note 11)

SW1

CN1B

Setting: 2

(Note 13)

MR-A-TM

MR-J2S-B

CN1A

(n axis)

SW1

(Note 11)

CN1B

Setting: n 1

(Note 12) n 1 to 8

3 - 2


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 (MR-

J2CN3TM) 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 (MR-

J2CN3TM). (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

QD75M

Motion controller

Q172CPU(N)

Q173CPU(N)

A motion


Maintenance junction card

MR-J2HBUS M

Q172J2BCBL M(-B)

Q173J2B CBL M

MR-J2HBUS M-A

MR-J2HBUS 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


3.1.2 MR-J2S-11KB or more

(Note 7)

MR Configurator



(Note 8, 12)

Bus cable (Option)

Cable clamp

(Option)

Personal computer

(Note 8, 12)

Bus cable

(Option)

15m(49.2ft) or less

Servo amplifier

(Note 4)

CN3

6

16

7

17

LA

LAR

LB

LBR





8 LZ

18 LZR



1 LG

Plate SD

10m(32.81ft) or less

CN3

CON2

2 EM1

(Note 3, 6)

Forced stop

(Note 4)

CN1A

1

4

SG

DB

(Note 2, 5)

Dynamic brake

RA1 interlock

3 MBR RA2

Magnetic brake interlock

18 COM

15 VDD

CN4

1

2

4

MO1

MO2

LG

A

A

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

10k

10k Analog monitor

Max. 1mA

Reading in both directions

(Note

13)

(Note 4)

SW1

CN1B

Setting : 0

(Note 1)

MR-J2S-B

CN1A (Note 9)

SW1

CN1B

Setting : 1

MR-J2S-B

CN1A (Note 9)

SW1

CN1B

Setting : 2

(Note 11)

MR-A-TM

MR-J2S-B

CN1A (Note 9)

SW1

CN1B

Setting: n-1

(Note 10) n= 1 to 8

3 - 4


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.


QD75M

Motion controller

Q172CPU(N)

Q173CPU(N)

A motion



MR-J2HBUS M

Q172J2BCBL M(-B)

Q173J2B CBL M

MR-J2HBUS M-A

MR-J2HBUS 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


3.2 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.


CN1A

4

TD

6

2

RD

8

10

1

LG

12

RD*

3

5

LG

7

EMG

9

18

BT

20

14

TD*

16

11

LG

13

15

LG

17

EMG*

19

MITSUBISHI

MELSERVO-J2

CN1B

4

TD

6

2

RD

8

10

1

LG

3

5

LG

7

EMG

9

BT

12

RD*

11

LG

13

14

TD*

16

15

LG

17

18

EMG*

19

20

CN2

2

LG

4

1

LG

3

12

LG

14

11

LG

13

6

MD

8

10

5

7

MR

9

BAT

P5

15

16

MDR

18

17

MRR

19

20

P5

P5

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CN3

2

RXD

4

MO1

6

LA

1

LG

3

SG

5

COM

11

12

LG

TXD

13

14

MO2

MBR

15

16

7

LAR

17

8

LB

18

LBR

LZ

9

LZR

19

10 20

VDD EM1

3 - 6



CN1A

Same as the one of the

MR-J2S-700B or less.

CN1B

Same as the one of the

MR-J2S-700B or less.

CN2

2

LG

4

1

LG

3

12

LG

14

11

LG

13

6

MD

8

10

5 15

16

7

MR

MDR

18

9

P5

BAT

20

17

MRR

19

P5

P5

CHARGE

CN4

1

2

MO1

MO2

4 LG

CN3

6

LA

8

LZ

10

2

RXD

4

1

LG

3

12

TXD

14

11

LG

13

5

7

LB

9

15

16

LAR

18

17

LBR

LZR

19

20

MITSUBISHI

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CON2

1

2

SG

EM1

4

3

MBR

DB

5

6

15

VDD

17

19

14

16

18

COM

7 20

8 21

9 22

10 23

11 24

12 25

13 26

3 - 7


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

CN2

CN3

(Note)

(Note)

CN4

Name

Connector for bus cable from preceding axis.

Connector for bus cable to next axis

Encoder connector

Communication connector

(I/O signal connector)

Analog monitor output connector

CON2 IO signal connector

Note. These connectors are exclusive to the MR-J2S-11KB or more.

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

(2) I/O signals

(a) Input signal

Signal

Forced stop

(b) Output signals

Electromagnetic brake interlock

Dynamic brake interlock

Signal


(Differential line driver)





Analog monitor 1

Analog monitor 2

Symbol

MBR

DB

LA

LAR

LB

LBR

LZ

LZR

MO1

MO2

CN3

8

CN3

18

CN3

4

CN3

14

CN3

6

CN3

16

CN3

7

CN3

17

Connector Pin

No.

7kW or less

11kW or more

CN3

13

CON2

3

CON2

4

CN3

6

CN3

16

CN3

7

CN3

17

CN3

8

CN3

18

CN4

1

CN4

2


In the servo-off or alarm status, MBR turns off.

When using this signal, set 1 in the parameter No. 2.

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.

The zero-phase signal of the encoder is output in the differential line driver system.

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

I/O Division

DO-1

DO-1

DO-2

DO-2

Analog output

Analog output

(c) Power supply

Symbol

EM1

Connector Pin

No.

7kW or less

11kW or more

CN3

20

CON2

2


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 dynamic brake is operated.

Turn EM1 on (short EM1 common) in the forced stop state to reset that state.

I/O Division

DI-1

Internal power output for interface

Power input for digital interface

Common for digital interface

Shield

Signal

Control common

Symbol

VDD

COM

SG

LG

SD

Connector Pin

No.

7kW or less

11kW or more


CN3

10

CN3

5

CN3

3

CN3

1

11

CON2

15

CON2

18

CON2

1

CN4

4

Driver power output terminal for digital interface.

Used to output 24V 10% to across VDD-COM. Connect with COM.

Permissible current: 80mA

Driver power input terminal for digital interface.

Used to input 24VDC (200mA or more) for input interface.

Connect with VDD.

Common terminal to VDD and COM. Pins are connected internally.

Separated from LG.

Common terminal to MO1 and MO2.

Plate Plate Connect the external conductor of the shield cable.

3 - 8


3.3 Alarm occurrence timing chart

CAUTION

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.

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

Control circuit power ON

OFF

Base circuit

ON

OFF

Dynamic brake

Servo-on command

(from controller)

Valid

Invalid

ON

OFF

Brake operation

Power off

Brake operation

Power on

Alarm NO YES NO

1s

Reset command

(from controller)

ON

OFF

50ms or more

Alarm occurs. Remove cause of trouble.

Note. Switch off the main circuit power as soon as an alarm occurs.

YES

60ms or more

NO

(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


3.4 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

DI-1

EM1

SG

<Isolated>

Servo motor

M

LA .etc

LAR

.etc

LG

SD

MO1

MO2

LG

TXD

RXD

Differential line driver output

35mA max.


RS-232C

CN2

Servo motor encoder

MR

MRR

LG

SD

Ground

3 - 10


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

24VDC

VDD

R: Approx. 4.7

COM

For a transistor

Approx. 5mA

EM1

TR

V

CES

1.0V

I

CEO

100 A

Switch

SG

(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


(b) Lamp load

Servo amplifier

24VDC

VDD

COM

MBR

SG

R

(3) Encoder pulse output DO-2

(Differential line driver system)

1) Interface

Max. output current: 35mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

150

Servo amplifier

LA

(LB, LZ)

LAR

(LBR, LZR)

LG

SD

LAR

(LBR, LZR)

SD

100

High-speed photocoupler

2) Pulse output

Servo motor CCW rotation

LA

LAR

LB

LBR

/2

LZ

LZR

T

400 s or more

Time cycle (T) is determined by the settings of parameter No.33 and 38.

3 - 12


(4) Analog output

Output voltage : 10V

Max. output current :1mA

Resolution :10bit

Servo amplifier

MO1

(MO2)

LG

10k

Reading in one or both directions

1mA meter

A

SD

3 - 13


3.5 Power line circuit

CAUTION

Always connect a magnetic contactor (MC) between the main circuit power supply and L

1 , L

2 , and L

3 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

Power supply

3-phase

200 to 230V

(Note 1)

L

1

L

2

L

3

L

11

L

21

P

P

1

Servo amplifier

Forced stop

VDD

COM

EM1

SG

Note 1. Make sure to connect P

1

-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


(2) For 1-phase 100 to 120V or 1-phase 230V power supply

(Note 1)

Alarm

RA1


RA2

Forced stop OFF

ON

MC

NFB MC Power supply

1-phase

100 to 120V or

1-phase

230V

L

1

Servo amplifier

L

2

L

3

(Note 2)

L

11

L

21

MC

SK

Forced stop

VDD

COM

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


3.5.2 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

L

1

, L

2

, L

3

Main circuit power supply

Supply L

1

, L

2

and L

3

with the following power.

For 1-phase 230V, connect the power supply to L

1

/L

2

and leave L

3

open.

Power supply

Servo amplifier MR-J2S-10B to

70B

MR-J2S-100B to 22K

MR-J2S-10B1 to 40B1


50/60Hz

1-phase 230VAC,

50/60Hz


50/60Hz

L

1

L

L

2

1

L

2

L

3

L

1

L

2

U, V, W

L

11

P

1

, L

21

Servo motor output

Power factor improving DC reactor


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 P

1

and P.

(Factory-wired.)

When using the power factor improving DC reactor, disconnect the wiring across

P

1

-P and connect the power factor improving DC reactor across P

1

-P.

Refer to section 11.2.4.

Supply the following power to L

11

, L

21

.

Servo amplifier

Power supply


50/60Hz


50/60Hz

MR-J2S-10B to 700B

L

11

L

21

MR-J2S-10B1 to 40B1

L

11

L

21

P, C, D

N

Regenerative option

Return converter

Brake unit

Protective earth (PE)

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.


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.


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.

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

3 - 16


3.5.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.5.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-phase 230V: L 1 , L 2 , 1-phase: L 1 L 2 ).

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 L 11 , L 21 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

Control circuit

Base circuit

Servo-on command

(from controller) power

ON

OFF

ON

OFF

ON

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

Forced stop

VDD

COM

EM1

SG

3 - 17


3.6 Connection of servo amplifier and servo motor

3.6.1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric shock.

CAUTION

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


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


Servo motor

HC-KFS053 (B) to 73 (B)

HC-MFS053 (B) to 73 (B)

HC-UFS13 (B) to 73 (B)

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)

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)

Connection diagram

Servo amplifier

U

V

W

U (Red)

V (White)

W (Black)

(Green)

Servo motor

Motor

(Note 1) 24VDC

B1

EM1

B2

To be shut off when servo-off or alarm occurrence

(Note 2)


CN2

Encoder cable

Encoder


2. This circuit applies to the servo motor with electromagnetic brake.

Servo amplifier Servo motor

U

V

W

U

V

W

Motor

(Note 1) 24VDC

B1

B2

EM1


(Note 2)


CN2

Servo amplifier

Encoder cable

Encoder



Servo motor

U

V

W

U

V

W

Motor

(Note 1)

24VDC

B1

B2

EM1


(Note 2)


CN2

Encoder cable

Encoder



3 - 19


3.6.3 I/O terminals

(1) HC-KFS HC-MFS HC-UFS3000r/min series 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

3

4

1

2 b

Signal

U

V

W

(Earth)

Power supply lead

4-AWG19 0.3m (0.98ft.)

Power supply connector (Molex)

Without electromagnetic brake

5557-04R-210 (receptacle)

5556PBTL (Female terminal)

With electromagnetic brake

5557-06R-210 (receptacle)

5556PBTL (Female terminal)


5557-06R-210

1 4

2 5

3 6

View b

Encoder connector signal arrangement

1

MR

4

MD

7

P5

2 3

MRR BAT

5

MDR

6

8 9

LG SHD

View a

5

6

3

4

Pin

1

2

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


(2) HC-SFS HC-RFS HC-UFS2000 r/min series a

Encoder connector b

Brake connector c


Servo motor

HC-SFS81(B)

HC-SFS52(B) to 152(B)



HC-SFS202(B) to 502 (B)

HC-SFS203(B) 353(B)

HC-UFS72(B) 152(B)

HC-UFS202(B) to 502(B)

Servo motor side connectors

For power supply For encoder

Electromagnetic brake connector

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

HC-SFS702(B)

HC-RFS103(B) to 203 (B)

CE05-2A32-

17PD-B

CE05-2A22-

23PD-B

HC-RFS353(B) 503(B)

CE05-2A24-

10PD-B

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

MS3102A20-

29P

The connector for power is shared.

MS3102A10SL-

4P

The connector for power is shared.

MS3102A10SL-

4P

Power supply connector signal arrangement

CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A32-17PD-B

Key

F

G

H

E

D

View c

A

C

B

Pin

A

B

C

D

E

F

G

H

Signal

U

V

W

(Earth)

E

F

D

Key

G

View c

(Note) B1

(Note) B2






A

C

B


MS3102A20-29P

Key

K

J

L

M

H

T

N

A

P

B

C

D

E

S

G

R

F

View a

Pin

A

B

C

D

E

G

H

J

Signal

MD

MDR

MR

MRR

BAT

LG

Pin

R

S

T

K

L

M

N

P

Signal

SD

LG

P5

Pin

A

B

C

D

E

F

G

Signal

U

V

W

(Earth)

(Note)

(Note)

B1

B2

D

C

Key






A

B

Pin

A

B

C

D

Signal

U

V

W

(Earth)

Electromagnetic brake connector signal arrangement

MS3102A10SL-4P

Key

A

View b

B

Pin

A

B

Signal

(Note) B1

(Note) B2






3 - 21


3.7 Servo motor with electromagnetic brake

CAUTION

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

RA EM1

Circuit must be opened during forced stop (EM1).

24VDC


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

VDD

COM

MBR RA

24VDC

RA

Forced stop

B1

Servo motor

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) 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.

Servo motor speed 0 r/min

(60ms)

Coasting

Tb

Base circuit

ON

OFF

Electromagnetic brake interlock

(MBR)

(Note 1) ON

OFF

Servo-on command

(from controller)

ON

OFF

Driving instruction

(from controller)


0 r/min

Release

Activate

(80ms)

(Note 3)

Electromagnetic brake operation delay time

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

Servo motor speed

Forward rotation

0r/min

(10ms)

ON

Dynamic brake

Dynamic brake



Electromagnetic brake release

(180ms)

Base circuit

OFF

(180ms)

Electromagnetic brake interlock (MBR)

(Note) ON

OFF

Forced stop command

(from controller) or

Forced stop (EM1)

Invalid (ON)

Valid (OFF)


Note. ON: Electromagnetic brake is not activated.


3 - 23


(c) Alarm occurrence

Servo motor speed

Base circuit


Trouble (ALM)

Forward rotation

0r/min

(10ms)

ON

OFF

(Note) ON

OFF

No (ON)

Yes (OFF)

Dynamic brake

Dynamic brake




Note. ON: Electromagnetic brake is not activated.


(d) Both main and control circuit power supplies off

Dynamic brake

Dynamic brake



Servo motor speed

Forward rotation

0r/min

ON

Base circuit

OFF


(Note 2) ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)

Main circuit

Control circuit power

ON

OFF

(Note 1)

15 to 60ms


(Note 2)

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.


3 - 24


(e) Only main circuit power supply off (control circuit power supply remains on)

Servo motor speed

Forward rotation

0r/min

(Note 1)

15ms or more

Dynamic brake

Dynamic brake



ON

Base circuit

OFF


(Note 3) ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)


(Note 2)

Main circuit power supply

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.


3 - 25


3.8 Grounding

WARNING

Ground the servo amplifier and servo motor securely.

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

Servo motor

NFB

MC Servo amplifier

L

1

CN2

(Note 1)

Power supply

Encoder

L

2

L

3

L

11

L

21

U

V

W

U

V

W

M

CN1A

(Note 2)


Outer box

Ensure to connect it to PE terminal of the servo amplifier.

Do not connect it directly to the protective earth of the control panel.

Note 1. For 1-phase 230V, connect the power supply to L

1

L

2

and leave L

3

open.

There is no L

3

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


3.9 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

[mm

2

] AWG

1.25/1.5

2/2.5

16

14

AI1.5-10BK

AI2.5-10BU

Bar Terminal Type

For 1 cable For 2 cables

AI-TWIN2 1.5-10BK

Crimping Tool Manufacturer

CRIMPFOX ZA 3 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


(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

Twisted wire

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.

(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


3.9.2 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

[mm 2 ]

1.25/1.5

2/2.5

AWG

16 AI1.5-10BK

14 AI2.5-10BU

Bar Terminal Type

For 1 cable For 2 cables

AI-TWIN2 1.5-10BK

Crimping Tool Manufacturer

CRIMPFOX ZA 3 or

CRIMPFOX UD 6

Phoenix Contact

(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 1.5mm

2 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


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

Manufacturer/Representative

Nakamura Seisakusho

Shiro Sangyo

3 - 29


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

Strip the sheath.

Screw

Core

External conductor

Sheath

Pull back the external conductor to cover the sheath

Cable

Ground plate

Screw

3 - 30


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).


3

5

6

7

8 9

A

B

D

2

1 0

F

E

9

A

B

7

8

5

6

E

F

C

D

No.

2

3

0

1

4

Description

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Test operation mode or when machine analyzer is used

(Refer to section 6.1.2)

3 - 31


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.


POINT

The power-on sequence is the same as in section 3.5.3.

3 - 32


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 thermal relay

RA3

(Note 1)

Alarm

RA1


RA2

Forced stop OFF ON

MC

MC

SK

3-phase

200 to 230V

NFB

Forced stop

MC

(Note 4)

L

1

L

2

L

3

L

11

L

21

P

P

1

Servo amplifier (Note 2)

Dynamic break Servo motor

HA-LFS series

U

V

W

U

V

W

M

CN2

MR-JHSCBL M cable

Encoder

Cooling fan

BU

BV

BW (Note 3)

VDD

COM

EM1

SG

24VDC power supply

OHS1

RA3

OHS2 Servo motor thermal relay

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 P

1

and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.2.4.

3 - 33


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

L

1

, L

2

, L

3

U, V, W

L

11

, L

21

P, C

N

Connection Target

(Application)

Description

Main circuit power supply Supply L

1

, L

2

and L

3

with three-phase 200 to 230VAC, 50/60Hz power.

Servo motor output Connect to the servo motor power supply terminals (U, V, W).

Control circuit power supply Supply L

11

and L

21

with single-phase 200 to 230VAC power.

Regenerative option

Return converter

Brake unit

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.

P

1

, P


Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

Power factor improving DC reactors

P

1

-P are connected before shipment. When connecting a power factor improving

DC reactor, remove the short bar across P

1

-P. Refer to section 12.2.4 for details.

3 - 34


3.12.3 Servo motor terminals

Terminal box Encoder connector

MS3102A20-29P

Terminal box inside (HA-LFS601 701M 11K2)

Thermal sensor terminal block

(OHS1 OHS2) M4


MS3102A20-29P

Key

L

K

J

H

M

T

N

A

P

B

C

D

S R E

G

F

A

B

C

D

E

F

G

H

Pin Signal

MD

MDR

MR

MRR

BAT

LG

J

Pin Signal

N

P

K

L

M

R

S

T

SHD

LG

P5

Motor power supply terminal block

(U V W) M6 screw

Cooling fan terminal block

(BU BV) M4 screw

Earth terminal

M6 screw

Encoder connector

MS3102A20-29P

Terminal block signal arrangement

OHS1OHS2

U V W

BU BV

3 - 35


Terminal box inside (HA-LFS801 12K1 11K1M 15K1M 15K2 22K2)

Cooling fan terminal block (BU BV BW)

M4 screw

Thermal sensor terminal block (OHS1 OHS2)

M4 screw


(U V W) M8 screw

Earth terminal M6 screw

Encoder connector

MS3102A20-29

Terminal box inside (HA-LFS15K1 20K1 22K1M 25K1)

Encoder connector

MS3102A20-29P


BU BV BW OHS1OHS2

U V W


(U V W) M8 screw

Earth terminal

M6 screw

Cooling fan terminal block

(BU BV BW) M4 screw

Earth terminal

M6 screw

Thermal sensor terminal block

(OHS1 OHS2) M4 screw


U V W

BU BV BW OHS1 OHS2

3 - 36


Signal Name

Power supply

Cooling fan

Abbreviation Description

U V W Connect to the motor output terminals (U, V, W) of the servo amplifier.

Supply power which satisfies the following specifications.

(Note)

BU BV BW

11K2

Servo motor

HA-LFS601, 701M,

HA-LFS801 12K1,

11K1M, 15K1M,

15K2, 22K2

HA-LFS-15K1, 20K1,

22K1M

HA-LFS25K1

Voltage division

200V class

Voltage/frequency


50Hz


60Hz


50Hz/60Hz

Power consumption

[W]

42(50Hz)

54(60Hz)

62(50Hz)

76(60Hz)

Rated current

[A]

0.21(50Hz)

0.25(60Hz)

0.18(50Hz)

0.17(60Hz)

65(50Hz)

85(60Hz)

120(50Hz)

175(60Hz)

0.20(50Hz)

0.22(60Hz)

0.65(50Hz)

0.80(60Hz)

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


MEMO

3 - 38

4. OPERATION AND DISPLAY


4.1 When switching power on for the first time

Before starting operation, check the following.

(1) Wiring

(a) A correct power supply is connected to the power input terminals (L 1 , L 2 , L 3 , L 11 , L 21 ) 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 (L 1 , L 2 , L 3 ) 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


4.2 Start up

WARNING

CAUTION

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.

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

7

8

9

Rotation direction setting

Auto tuning

Servo response

Setting Description

0

Increase in positioning address rotates the motor in the CCW direction.

1 Used.

5 Slow response (initial value) is selected.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

4 - 2


(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.


Servo amplifier

Operation/command

Servo off command

Forced stop command

Alarm occurrence

Forced stop

(EM1) OFF

Stopping condition

The base circuit is shut off and the servo motor coasts.

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.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop.

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


4.3 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

(Note)

Ready ON

Ready OFF/servo OFF

When alarm occurs, alarm code appears.

(Note)

Servo ON

Ready ON/servo OFF or

Forced stop and forced stop reset

(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


(2) Indication list

Indication Status Description

(Note 1)

(Note 1)

(Note 1)

(Note 2)

(Note 3)

AA

Ab

AC

Ad

AE b# d#

C#

**

88 b0.

Initializing

Initializing

Initializing

Initializing

Initialize completion

Ready OFF

Servo ON

Servo OFF

Alarm Warning

CPU error

Power to the servo system controller was switched off during power-on of the servo amplifier.

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.

Communication started between the servo system controller and servo amplifier.

The initial parameters from the servo system controller were received.

Initial data communication with the servo system controller was completed.

The ready off signal from the servo system controller was received.



The alarm No./warning No. that occurred is displayed. (Refer to section 9.1.)

Initial data communication with the servo system controller was completed.

JOG operation, positioning operation, programmed operation, DO forced output.

(Note 1) b#.

d#.

c#.

(Note 3)

Test operation mode

Motor-less operation

Note 1. # denotes any of numerals 0 to 8 and what it means is listed below.

#

4

5

6

2

3

0

1

7

8

Description

Set to the test operation mode.

First axis

Second axis

Third axis

Fourth axis

Fifth axis

Sixth axis

Seventh axis

Eighth axis

2. ** indicates the warning/alarm No.

3. Requires the MR Configurator (servo configuration software).

4 - 5


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 MRZJW3-

SETUP121E), 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

Speed [r/min]

Acceleration/deceleration time constant [ms]

Initial value

200

1000

Setting range

0 to max. speed

1 to 20000

2) Operation method

Operation

Forward rotation start

Reverse rotation start

Stop

Screen control

Click the "Forward" button.

Click the "Reverse" button.

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

Travel [pulse]

Speed [r/min]

Acceleration/deceleration time constant [ms]

Initial value

100000

200

1000

Setting range

0 to 9999999

0 to max. speed

1 to 50000

2) Operation method

Operation

Forward rotation start

Reverse rotation start

Pause

Screen control

Click the "Forward" button.

Click the "Reverse" button.

Click the "Pause" button.

4 - 6


(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

Start

Stop

Screen Control

Click the "Start" button.

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 torque

Load Item

Load inertia moment ratio

Condition

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


(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 Operation Operation from controller

Operation from MR Configurator

(servo configuration software)

0000(initial value)

000A

000C

000E

000F

100E

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Parameter No. 1 to 75






Parameter No. 1 to 11 40

Parameter No. 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

Classification

No. Symbol

5

6

3

4

1 *AMS Amplifier setting

2 *REG Regenerative resistor

For manufacturer setting by servo system controller

Automatically set from the servo system controller

7

8

9

10

11

12

13

14

15

16

17

*FBP

*POL Rotation direction selection

ATU

RSP

TLP

TLN

GD2

PG1

VG1

PG2

VG2

VIC

18 NCH Machine resonance suppression filter 1 (Notch filter)

19

20

21 MBR Electromagnetic brake sequence output

22 MOD Analog monitor output

23 *OP1 Optional function 1


25

26

27

28

29

30

31

FFC

INP

LPF

MO1

MO2

Feed forward gain

In-position range

Low-pass filter/adaptive vibration suppression control

For manufacturer setting

Analog monitor 1 offset

Analog monitor 2 offset


ZSP Zero speed

ERZ

Feedback pulse number

Auto tuning

Servo response

Forward rotation torque limit (Note 2)

Reverse rotation torque limit (Note 2)

Ratio of load inertia to servo motor inertia (load inertia ratio)

Position control gain 1

Speed control gain 1



Speed integral compensation

Error excessive alarm level

Name

32 OP5 Optional function 5


34

35

36

VPI

VDC

PI-PID control switch-over position droop


Speed differential compensation

37 For manufacturer setting

38 *ENR Encoder pulses output


40 *BLK Parameter write inhibit (Note 2)

(Note 1)

Initial

Value

0000

0000

0080

000

1

0

0

Unit

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

%

% times rad/s rad/s rad/s rad/s ms

% pulse ms mV mV

0001

50

80 r/min

(Note 3)

0.025rev

0000

0000

0

0

980 pulse

0010

4000 pulse/rev

0

0000

Customer setting

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

Classification

No. Symbol Name

45

46

47

41

42

43

44


48

49 *CDP Gain changing selection

50

51

CDS

CDT

Gain changing condition

Gain changing time constant

52 GD2B Ratio of load inertia moment to servo motor inertia moment 2

53 PG2B Position control gain 2 changing ratio

54 VG2B Speed control gain 2 changing ratio

67

68

69

70

71

63

64

65

66

72

73

74

75

55 VICB Speed integral compensation changing ratio


57

58

59

60 *OPC Optional function C

61

62

NH2 Machine resonance suppression filter 2


Note. Depends on parameter No. 49 setting.

0

0

0

0

0

400

100

1

1

0

0

0

0

100

0000

0000

0000

0000

0000

0000

0000

0

0000

10

1

7.0

100

100

Initial

Value

500

0000

0111

20

50

0

0

Unit

(Note) ms time

%

%

%

Customer setting

5 - 3

5. PARAMETERS

(2) Details list

Classification

No.

Symbol Name and Function

1 *AMS Amplifier setting

Used to select the absolute position detection.

0 0 0

Initial

Value

0000

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

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.

0000

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

0080

0000

1

5 - 4

Unit

Setting

Range

Refer to name and function column.


5. PARAMETERS

Classification

No. Symbol

6 *FBP

Name and Function


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.

Initial

Value

0

Setting Number of feedback pulses

0

1

6

16384

8192

32768

7 131072

255 Depending on the number of motor resolution pulses.

POINT

If the number of pulses set exceeds the actual motor resolution, the motor resolution is set automatically.

7 *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.

0

Unit

Setting

Range



CCW

8

CW

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 value

Gain adjustment mode

Description

0 Interpolation mode Fixes position control gain 1 (parameter

No. 13).

1

3

4

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.

Manual mode1 Simple manual adjustment.

2 Manual mode 2 Manual adjustment of all gains.

0001 Refer to name and function column.

5 - 5

5. PARAMETERS

Classification

No. Symbol

9

Name and Function

RSP Servo response

Used to select the response of auto tuning.

10

11

12

13

Initial

Value

7kW or less

:0005

0 0 0

Response level selection

Set value

3

4

1

2

5

Response level

Low response

Machine resonance frequency guideline

15Hz

20Hz

25Hz

30Hz

35Hz

8

9

6

7

Middle

response

45Hz

55Hz

70Hz

85Hz

C

D

A

B

105Hz

130Hz

160Hz

200Hz

E

F

High response

240Hz

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.

11kW or more

:0002

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.

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.

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)

PG1 Position control gain 1

Used to set the gain of position loop 1. Increase the gain to improve track ability performance in response to the position command.

When auto turning mode 1,2 is selected, the result of auto turning is automatically used.

300

300

7.0

7kW or less:35

11kW or more:19

Unit

%

% times rad/s

Setting

Range


0 to

500

0 to

500

0.0

to

300.0

4 to

2000

5 - 6

5. PARAMETERS

Classification

No. Symbol

14

15

16

17

Name and Function

VG1 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.


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 vibration and/or noise.

When auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used.


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 vibration and/or noise.

When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used.

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.

Initial

Value

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 18 NCH Machine resonance suppression filter 1 (Notch filter)

Used to select the machine resonance suppression filter.

(Refer to section 7.2.)

0

Unit rad/s rad/s rad/s ms

Setting

Range

20 to

5000

1 to

1000

20 to

20000

1 to

1000


19

Notch frequency selection

Setting Frequency

00

01

Invalid

4500

02

03

04

05

2250

1500

1125

900

06

07

750

642.9

Setting

08

09

0A

0B

0C

0D

0E

0F

Frequency

562.5

500

450

409.1

375

346.2

321.4

300

Setting

10

11

12

13

14

15

16

17

Frequency

281.3

264.7

250

236.8

225

214.3

204.5

195.7

Setting

18

19

1A

1B

1C

1D

1E

1F

Frequency

187.5

180

173.1

166.7

160.1

155.2

150

145.2

Notch depth selection

Setting Depth

0

1

2

3

Deep to

Shallow

Gain

40dB

14dB

8dB

4dB

FFC 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.

0 % 0 to

100

5 - 7

5. PARAMETERS

Classification

No. Symbol

20

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

10 10

6

3

8192 8.192

8

21 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).


0 0

Initial

Value

100

0

0001

Unit pulse

Setting

Range

0 to

50000 ms 0 to

1000


9

A

7

8

B

4

5

6

Setting

2

3

0

1

Analog monitor1 (MO1) Analog monitor2 (MO2)

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque) (Note)

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque) (Note)

Current command ( 8V/max. current command)

Speed command ( 8/max. speed)

Droop pulses ( 10V/128 pulses)





Bus voltage ( 8V/400V)

Note. 8V is outputted at the maximum torque.


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

0000 Refer to name and function column.

5 - 8

5. PARAMETERS

Classification

No. Symbol Name and Function


Used to select slight vibration suppression control and motor-less operation

0 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.)

0

Initial

Value

0000

0000

26

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

VG2 setting 10

2 (1 GD2 setting 0.1)

[H z ]

For 2kW or more

VG2 setting 5

2 (1 GD2 setting 0.1)

[H z ]

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


Do not change this value by any means.

0

Unit

Setting

Range



5 - 9

5. PARAMETERS

Classification

No. Symbol

27

Name and Function

MO1 Analog monitor 1 offset

Used to set the offset voltage of the analog monitor1 (MO1) output.

28 MO2 Analog monitor 2 offset

Used to set the offset voltage of the analog monitor2 (MO2) output.

29

30



ZSP Zero speed

Used to set the output range of the zero speed signal (ZSP).

Initial

Value

0

0

0001

Unit mV mV

50

31

32

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.

OP5 Optional function 5

Used to select PI-PID control switch-over.

0 0 0

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

80

0000

0000 r/min

(Note)

0.025rev

0 to

10000

1 to

1000



Setting

Range

999 to

999

999 to

999

35

36

34 VPI 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.



VDC Speed differential compensation

Used to set the differential compensation.



5 - 10

0

0

980

0010 pulse 0 to

50000

0 to

1000

5. PARAMETERS

Classification


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

1400[pulse]

39

40 *BLK

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

Set value

[pulses/rev]

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

131072

8

1

4

4096[pulse]



Parameter write inhibit

Initial

Value

Unit

4000 pulse/rev

Setting

Range

1 to

65535

0

0000

Setting

0000

(initial value)

000A

Operation

Reference

Write

Operation from

Parameter No. 1 to 75 controller

Operation from

MR Configurator

(servo configuration)


Parameter No. 40


000C

Reference

Write

Reference



Write

000E

000F

100E

Reference

Write

Reference

Write

Reference

Write









Parameter No. 40

5 - 11

5. PARAMETERS

Classification


44

45

46

41

42

43



47

48

49 *CDP Gain changing selection

Select the gain changing condition. (Refer to section 7.5)

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)

Initial

Value

500

0000

0111

20

50

0

0

0

0000

50

51

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)

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.


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.

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.

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.

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.

56

57



58

59

10

1

7.0

100

100

100

0000

0000

0000

0000

Unit kpps pulse r/min ms times

%

%

%

Setting

Range

Refer to

Name and function column.

0 to

9999

0 to

100

0 to

300.0

10 to

200

10 to

200

50 to

1000

5 - 12

5. PARAMETERS

Classification


60 *OPC Optional function C

Used to select the encoder pulse output direction.

0 0 0

Set value

0

Encoder pulse output phase changing

Changes the phases of A, B-phase encoder pulses output .

Servo motor rotation direction

CCW CW

A-phase

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

Initial

Value

0000

61 NH2 Machine resonance suppression filter 2

Used to selection the machine resonance suppression filter 2. (Refer to section 7.2.)

0

0000


Set "00" when you have set adaptive vibration suppression control to be "valid" or "held"

(parameter No. 25: 1 or 2 ).

Setting Frequency

04

05

06

07

00

01

02

03

Invalid

4500

2250

1500

1125

900

750

642.9

Setting

08

09

0A

0B

0C

0D

0E

0F

Frequency

562.5

500

450

409.1

375

346.2

321.4

300

Setting

10

11

12

13

14

15

16

17

Frequency

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


Setting

0

1

2

3

Depth

Deep to

Shallow

Gain

40dB

14dB

8dB

4dB

Unit

Setting

Range

Refer to


Refer to


5 - 13

5. PARAMETERS

Classification

No. Symbol

69

70

71

72

65

66

67

68

62

63

64

73

74

75

Name and Function



0

0

0

0

0

0

1

1

0

0

0

Initial

Value

0000

400

100

Unit

Setting

Range

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.

Setting range [mV] Parameter No.

27

28

Description

Used to set the offset voltage for the analog monitor 1(MO) output.

Used to set the offset voltage for the analog monitor 2(MO2) output.

999 to 999

5 - 14

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 Output item

0 Servo motor speed

Description

CCW direction

8[V]

Setting

6

Output item

Droop pulses

( 10V/128pulse)

Description

10[V]

CCW direction

Max. speed

0 Max. speed

128[pulse]

0

128[pulse]

1 Torque (Note)

8[V]

CW direction

8[V]

Driving in CCW direction

Max. torque

0 Max. torque

7 Droop pulses

( 10V/2048pulse)

CW direction

10[V]

10[V]

CCW direction

2048[pulse]

0 2048[pulse]

2 Servo motor speed

Driving in CW direction

8[V]

CW direction

8[V]

CCW direction

8 Droop pulses

( 10V/8192pulse)

CW direction

10[V]

10[V]

CCW direction

8192[pulse]

0 8192[pulse]

Max. speed 0 Max. speed

3 Torque (Note)

Driving in

CW direction

8[V]

Driving in

CCW direction

9 Droop pulses

( 10V/32768pulse)

CW direction

10[V]

10[V]

CCW direction

32768[pulse]

0 32768[pulse]

Max. torque 0 Max. torque

4 Current command

8[V]

Max. current

command

CCW direction

5 Speed command

0 Max. current

command

CW direction

8[V]

CCW direction

8[V]

Max. speed

0 Max. speed

A Droop pulses

( 10V/131072pulse)

CW direction

10[V]

10[V]

CCW direction

131072[pulse]

0

131072[pulse]

B Bus voltage

CW direction

10[V]

8[V]

0 400[V]

CW direction

Note. Outputs 8V at the maximum torque.

8[V]

5 - 15

5. PARAMETERS

(3) Analog monitor block diagram

5 - 16

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.

Parameter

No.

Code Name Main modifications/additions

6

8

9

18

20

22

25

31

33

38

FBP

ATU

RSP

NCH Machine resonance suppression filter 1

(Notch filter)

INP In-position range

MOD

LPF

ERZ

OP6

ENR


Auto tuning

Servo response level


Low-pass filter/adaptive vibration suppression control

Error excessive alarm level

Optional function 6

Encoder pulses output

The encoder resolution of the compatible motor changed to 131072 pulses/rev.

Gain adjustment modes were increased.

The response level setting range was increased to meet the enhanced response.

The machine resonance suppression filter (notch filter) setting range was increased.

The setting unit become the feedback pulse unit in parameter

No. 6.

The data that may be output by analog monitor was added.

The low-pass filter and adaptive vibration suppression control functions were newly added.

The setting unit was changed in response to the enhanced resolution

(131072 pulses/rev) of the encoder.

The communication baud rate with the personal computer was changed to max. 57600bps.

The encoder feedback pulses can be output from the servo amplifier.

These pulses can be set.

Note. As of November, 2003

(Note) Setting from peripheral software of conventional servo system controller

Setting cannot be made.

The resolution is 16384 pulses/rev.

Setting can be made but the added modes cannot be used.

Some response levels cannot be set.

Some filter frequencies cannot be set.

Setting can be made.

Setting can be made but the bus voltage cannot be set.

Setting can be made.

Setting can be made but the setting unit is [0.1 rev].



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


(For details, refer to section 6.1.1.)

Set value Gain adjustment mode

0 Interpolation mode

Description

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

7

8

5

6

3

4

1

2

B

C

9

A

Response level

Low response

Middle

response

High response


15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

70Hz

85Hz

105Hz

130Hz

160Hz

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

4

5

2

3

6

7

0

1


Set value Frequency

Invalid

4500

2250

1500

1125

900

750

642.9


Set value Depth

0 Deep

Gain

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 MR-

J2S- 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


6.1 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


Auto tuning mode 1

(initial value)

Auto tuning mode 2

Manual mode 1

Manual mode 2

Interpolation mode

Parameter No. 8 setting

0001

0003

0004

0002

0000

Estimation of load inertia moment ratio

Always estimated

Fixed to parameter No.

12 value

Automatically set parameters

GD2 (parameter No. 12)

PG1 (parameter No. 13)

VG1 (parameter No. 14)



VIC (parameter No. 17)








Always estimated

Manually set parameters

RSP (parameter No. 9)


RSP (parameter No. 9)

















6 - 1


(2) Adjustment sequence and mode usage

START

Yes

Interpolation

made for 2 or more axes?

No

Auto tuning mode 1

Operation

Yes

OK?

No

Auto tuning mode 2

Operation

Yes

OK?

No

Manual mode 1

Operation

Yes

OK?

No

Manual mode 2

END

No

Interpolation mode

Operation

OK?

Yes

Usage

Used when you want to match the position gain

(PG1) between 2 or more axes. Normally not used for other purposes.

Allows adjustment by merely changing the response level setting.

First use this mode to make adjustment.

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.

You can adjust all gains manually when you want to do fast settling or the like.

6 - 2


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

Machine analyzer

Gain search

Description

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.

Adjustment

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.

Machine simulation

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.

You can optimize gain adjustment and command pattern on personal computer.

6 - 3


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.

12

13

14

15

16

17

Abbreviation

GD2

PG1

VG1

PG2

VG2

VIC

Name

Ratio of load inertia moment to servo motor inertia moment






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.

13

14

15

16

17

Abbreviation

PG1

VG1

PG2

VG2

VIC






Name

6 - 4


6.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Command

Automatic setting

Servo motor

Load inertia moment

Encoder

Control gains

PG1,VG1

PG2,VG2,VIC

Current control

Current feedback

Gain table

Set 0 or 1 to turn on.

Real-time auto tuning section

Switch

Load inertia moment ratio estimation section

Position/speed feedback

Speed feedback

Parameter No.8

1

Parameter No.9

5

Auto tuning selection

Response level setting

Parameter No.12

Load inertia moment ratio estimation value

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 EEP-

ROM.

6 - 5


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?

Yes

END

No

To manual mode

6 - 6


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



D

E

F

A

B

C

7

8

5

6

9

1

2

3

4

Machine rigidity

Low

Middle

High

Machine characteristic


Guideline of corresponding machine

15Hz

20Hz

25Hz

30Hz

Large conveyor

35Hz

45Hz

55Hz

70Hz

85Hz

Arm robot

General machine tool conveyor

105Hz

130Hz

160Hz

Precision working machine

Inserter

Mounter

Bonder 200Hz

240Hz

300Hz

6 - 7


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.

GD2

User setting

PG1

VG2

VIC

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.

12

16

17

Abbreviation

GD2

VG2

VIC

Name




(b) Adjustment procedure

Step

1

2

3

4

5

Operation

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.

Description

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 - 8


(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 loop response frequency(Hz)

Speed control gain setting

(1 ratio of load inertia moment to servo motor inertia moment) 2

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.

Speed integral composition setting (ms)

2000 to 3000

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.

12

13

16

17

Abbreviation

GD2

PG1

VG2

VIC

Name





(b) Adjustment procedure

Step

1

2

3

4

5

6

7

Operation

Set an estimated value to the ratio of load inertia moment to servo motor inertia moment (parameter No. 12).

Set a slightly smaller value to the position control gain 1 (parameter

No. 13).

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.

Increase the position control gain 1 (parameter No. 13).

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 3 to 5.

While checking the settling characteristic and rotational status, fineadjust each gain.

Description

Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

Increase the position control gain.

Suppression of machine resonance

Refer to section 7.2 and 7.3.

Fine adjustment

6 - 9


(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)

(

1

to

1

5

)

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) 22

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


6.4 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.

12

15

16

17

Abbreviation

GD2

PG2

VG2

VIC

Name





(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.

13

14

Abbreviation

PG1

VG1



Name

(2) Adjustment procedure

Step Operation

1

2

3

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).

During operation, increase the response level selection (parameter No. 9), and return the setting if vibration occurs.

Check the values of position control gain 1 (parameter No. 13) and speed control gain 1 (parameter No. 14).

4 Choose the interpolation mode (parameter No. 8: 0000).

5

6

7

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.

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.

Looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting.

Description

Select the auto tuning mode 1.

Adjustment in auto tuning mode

1.

Check the upper setting limits.

Select the interpolation mode.

Set position control gain 1.

Set speed control gain 1.

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)

60

131,072(pulse)

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


6.5 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


MELSERVO-J2 series

Response level setting Machine resonance frequency

1

2

3

4

5

20Hz

40Hz

60Hz

80Hz

100Hz

MELSERVO-J2-Super series

Response level setting Machine resonance frequency guideline

E

F

C

D

A

B

8

9

5

6

7

3

4

1

2

15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

70Hz

85Hz

105Hz

130Hz

160Hz

200Hz

240Hz

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



Interpolation mode

Auto tuning mode 1

Auto tuning

Auto tuning mode 2

Auto tuning invalid

Manual mode 1

Manual mode 2

Auto tuning selection

MELSERVO-J2 series MELSERVO-J2-Super series

0

1

0

1

2

3

4

2

Remarks

Position control gain 1 is fixed.

Ordinary auto tuning

Estimation of load inertia moment ratio stopped.

Response level setting valid.

Simple manual adjustment

Manual adjustment of all gains

6 - 12

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

Parameter

No.18

0

Parameter

No.25

Machine resonance suppression filter 1 except

Adaptive vibration

suppression control 1

00 or 2

Low-pass filter

0

Parameter

No.25

Current command

Servo motor

1

Encoder

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.

Machine resonance point

Mechanical system response level

Frequency

Notch depth

Frequency

Notch 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


(2) Parameters

Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No.

18).

Parameter No. 18


02

03

04

05

06

07

Setting Frequency

00

01

Invalid

4500

2250

1500

1125

900

750

642.9

0A

0B

0C

0D

0E

0F

Setting Frequency

08

09

562.5

500

450

409.1

375

346.2

321.4

300

Setting Frequency Setting Frequency

10

11

12

13

14

15

16

17

281.3

264.7

250

236.8

225

214.3

204.5

195.7

18

19

1A

1B

1C

1D

1E

1F

187.5

180

173.1

166.7

160.1

155.2

150

145.2


Setting Depth (Gain)

0

1

2

3

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


7.3 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.



Frequency



Frequency

Notch depth

Notch depth

Frequency Frequency

Notch frequency Notch frequency

When machine resonance is large and frequency is low 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


(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) initial value

1: Invalid

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


7.5 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

Comparator

CDS

Parameter No.50

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


7.5.3 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

No.

13

14

12

15

16

17

52

53

54

55

49

Abbrevi ation

Name



GD2




VIC Speed integral compensation

GD2B

PG2B

Ratio of load inertia moment to servo motor inertia moment 2

Position control gain 2 changing ratio

VG2B

VICB

Speed control gain 2 changing ratio

Speed integral compensation changing ratio

CDP Gain changing selection

50 CDS Gain changing condition

Unit rad/s rad/s

0.1

times rad/s rad/s ms

0.1

times

%

%

% kpps pulse r/min

Description

Position and speed gains of a model used to set the response level to a command. Always valid.

Control parameters before changing

Used to set the ratio of load inertia moment to servo motor inertia moment after changing.

Used to set the ratio (%) of the after-changing position control gain 2 to position control gain 2.

Used to set the ratio (%) of the after-changing speed control gain 2 to speed control gain 2.

Used to set the ratio (%) of the after-changing speed integral compensation to speed integral compensation.

Used to select the changing condition.

Used to set the changing condition values.

51 CDT Gain changing time constant ms

You can set the filter time constant for a gain change at changing.

7 - 6


(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 Speed control gain 2 Speed control gain 2 changing ratio /100 3000rad/s

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


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.


Command frequency

Droop pulses

Servo motor speed

Unit kpps pulse 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


7.5.4 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.

13

14

Abbreviation

PG1

VG1

12

15

16

17

52

53

54

55

GD2

PG2

VG2

VIC

GD2B

PG2B

VG2B

VICB

Name











49

51

CDP

CDT



Setting

100

1000

4

120

3000

20

100

70

133

250

0001

Control command from controller

100

(b) Changing operation

Control command from controller

(CDP)

OFF

ON

After-changing gain

OFF

Unit rad/s rad/s

0.1 times rad/s rad/s ms

0.1 times

%

%

% ms

Change of each gain

Before-changing gain

CDT 100ms







4.0

120

3000

20

100

1000

10.0

84

4000

50

4.0

120

3000

20

7 - 8


(2) When you choose changing by droop pulses

(a) Setting

Parameter No.

13

14

12

15

16

17

52

53

54

55

49

50

51

(b) Changing operation

Abbreviation

PG1

VG1

GD2

PG2

VG2

VIC

GD2B

PG2B

VG2B

VICB

CDP

CDS

CDT

Name














Setting

100

1000

40

120

3000

20

100

70

133

250

0003

(Changed by droop pulses)

50

100

Unit rad/s rad/s

0.1 times rad/s rad/s ms

0.1 times

%

%

% pulse ms

Command pulse

Droop pulses

Droop pulses [pulses] 0

CDS

CDS

After-changing gain

Change of each gain

Before-changing gain

CDT 100ms







4.0

120

3000

20

10.0

84

4000

50

100

1000

4.0

120

3000

20

10.0

84

4000

50

7 - 9


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.

Servo amplifier

Part name

Smoothing capacitor

Relay

Cooling fan

Absolute position battery

Life guideline

10 years

Number of power-on and number of forced stop times:100,000times.

10,000 to 30,000hours (2 to 3 years)


(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

Display Name Power

OFF ON

Error reset CPU reset

8E

88

92

96

9F

46

50

51

52

35

36

37

45

31

32

33

34

17

19

1A

20

24

25

30

10

12

13

15

16

E0

E1

E3

E4

E6

E7

E9

EE

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

(Note 2)

(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

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1) 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 Definition

Undervoltage Power supply voltage dropped.

MR-J2S- B:

160VAC or less

MR-J2S- B1:

83VAC or less

Cause Action

1. Power supply voltage is low.

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

Check the power supply.

Change the servo amplifier.

Checking method

Alarm (10) occurs if power is switched on after CN1A, CN1B and CN3 connectors are disconnected.

12

13


Memory error 1 RAM, memory fault

Clock error Printed board fault

Faulty parts in the servo amplifier

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

9. TROUBLESHOOTING

Display

15

16

17

19

Name Definition

Memory error 2 EEP-ROM fault

Cause

1. Faulty parts in 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.

Action


2. The number of write times to EEP-

ROM exceeded 100,000.

Encoder error 1 Communication error occurred

Board error

1. Encoder connector (CN2) disconnected.

between encoder 2. Encoder fault and servo amplifier. 3. Encoder cable faulty

(Wire breakage or shorted)

CPU/parts fault 1. Faulty parts in 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.

Connect correctly.

Change the servo motor.

Repair or change the cable.


The output terminals U, V, W of the servo amplifier and the input terminals U, V, W of the servo motor are

2. The wiring of U, V, W is disconnected or not connected.

not connected.

Memory error 3 ROM memory fault Faulty parts in the servo amplifier

Checking method


Correctly connect the output terminals U,

V, W of the servo amplifier and the input terminals U, V, W of the servo motor.


1A Motor

20 combination error

Encoder error 2

24

25

Main circuit error

Absolute position erase

Wrong combination of servo amplifier and servo motor.

Communication

Wrong combination of servo amplifier and servo motor connected.

1. Encoder connector (CN2) error occurred between encoder disconnected.

2. Encoder fault and servo amplifier. 3. Encoder cable faulty

(Wire breakage or shorted)

Encoder detected acceleration error.

4. Excessive acceleration is occurred due to oscillation and others.

Ground fault occurred at the servo motor outputs

(U,V and W phases) of the servo amplifier.

1. Power input wires and servo motor output wires are in contact at main circuit terminal block (TE1).

2. Sheathes of servo motor power cables deteriorated, resulting in 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.

Use correct combination.

Connect correctly.



1. Decrease the speed control gain 2.

2. Decrease the auto tuning response level.

Connect correctly.

Change the cable.


Absolute position data in error

Power was switched on for the first time in the absolute position detection system.

1. Battery voltage low

2. Battery cable or battery is faulty.

3. Super capacitor of the absolute position encoder is not charged.

9 - 3

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

30

Name

Regenerative error

31

32

Overspeed

Overcurrent

Definition

Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.

Cause

1. Mismatch between used regenerative option and parameter No. 2 setting

2. Built-in regenerative resistor or regenerative option is not connected.

3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded.

Checking method

Call the status display and check the regenerative load ratio.

Set correctly.

Connect correctly.

Action

1. Reduce the frequency of positioning.

2. Use the regenerative option of larger capacity.

3. Reduce the load.

Regenerative transistor fault

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.

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.

Review power supply

Change the servo amplifier or regenerative option.


Speed has exceeded the instantaneous permissible speed.

1. Small acceleration/deceleration time constant caused overshoot to be large.

2. Servo system is instable to cause overshoot.

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.


Correct the wiring.

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)

3. Encoder faulty.

1. Short occurred in servo amplifier output phases U, V and W.

2. Transistor of the servo amplifier faulty.

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.

5. Improper wiring of the regenerative option.


Correct the wiring.

Take noise suppression measures.

Wire the regenerative option correctly.

9 - 4

9. TROUBLESHOOTING

Display

33

34

35

36

37

45

Name

Overvoltage

CRC error

Definition

Converter bus voltage exceeded

400VDC.

Bus cable is faulty

Cause Action

1. Regenerative option is not used.

Use the regenerative option.

2. Though the regenerative option is used, the parameter No. 2 setting is " 00 (not used)".

Make correct setting.

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.

5. Wire breakage of built-in regenerative resistor or regenerative option

6. Capacity of built-in regenerative resistor or regenerative option is insufficient.

7. Power supply voltage high.

8. Ground fault occurred in servo amplifier output phases U, V and W.


1. For wire breakage of built-in regenerative resistor, change the servo amplifier.

2. For wire breakage of regenerative option, change the regenerative option.

Add regenerative option or increase capacity.

Review the power supply.

Correct the wiring.

9. The jumper across BUE-SD of the

FR-BU2 brake unit is removed.

1. Bus cable disconnected.

2. Bus cable fault

Fit the jumper across BUE-SD.

Connect correctly.

Change the cable.

Command frequency error

Parameter error


Input frequency of command pulse is too high.

Transfer error Bus cable or printed board is faulty

3. Noise entere bus cable.

4. Termination connector disconnected.

5. The same No. exists in the servo amplifier side axis setting.

1. Command given is greater than the maximum speed of the servo motor.

2. Noise entered bus cable.

3. Servo system controller failure

1. Bus cable is disconnected.

2. Bus cable fault.

Take measures against noise.

Connect termination connector.

Set correctly.

Review operation program.

Take action against noise.

Change the servo system controller.

Connect the connector of the bus cable.

Change the cable.

3. Printed board is faulty.

4. Terimination connector disconnected


Connect termination connector.

Parameter setting is wrong.

1. Servo amplifier fault caused the parameter setting to be rewritten.

2. There is a parameter whose value was set to outside the setting range by the controller.



Change the parameter value to within the setting range.

3. The number of write times to EEP-

ROM exceeded 100,000 due to parameter write, etc.

1. Servo amplifier faulty.



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.

1. Change the servo amplifier or cooling fan.

2. Reduce ambient temperature.

9 - 5

9. TROUBLESHOOTING

Display Name

46 Servo motor overheat

50

51

Overload 1

Overload 2

Definition

Servo motor temperature rise actuated the thermal sensor.

Load exceeded overload protection characteristic of servo amplifier.

Cause

1. Ambient temperature of servo motor is over 40 (104 ).

2. Servo motor is overloaded.

Action

Review environment so that ambient temperature is 0 to 40 (32 to 104 ).

1. Reduce load.

2. Review operation pattern.

3. Use servo motor that provides larger output.


3. Thermal sensor in encoder is faulty.

1. Servo amplifier is used in excess of its continuous output current.

2. Servo system is instable and hunting.

3. Machine struck something.

1. Reduce load.



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.


2. Install limit switches.

Connect correctly.

4. Wrong connection of servo motor.

Servo amplifier's output terminals

U, V, W do not match servo motor's input terminals U, V, W.

5. Encoder faulty.

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.


Machine collision or the like caused max.

For the time of the alarm occurrence, refer to the section

11.1.





3. Servo system is instable and hunting.



Connect correctly.

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.

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 (Note)

Name

Error excessive

8E Serial communication error

88 Watchdog

Definition

The deviation between the model position and the actual servo motor position exceeds the parameter No.31

setting value (initial value: 2 revolutions).

Cause

1. Acceleration/deceleration time constant is too small.

2. Torque limit value is too small.

3. Motor cannot be started due to torque shortage caused by power supply voltage drop.

4. Position control gain 1 (parameter

No.13) value is small.

5. Servo motor shaft was rotated by external force.


Action

Increase the acceleration/deceleration time constant.

Increase the torque limit value.

1. Review the power supply capacity.

2. Use servo motor which provides larger output.

Increase set value and adjust to ensure proper operation.

1. When torque is limited, increase the limit value.

2. Reduce load.





Connect correctly.

7. Encoder faulty




Serial communication error occurred between servo amplifier and communication device (e.g. personal computer).

1. Communication cable fault

(Open cable or short circuit)

2. Communication device (e.g.

personal computer) faulty

CPU, parts faulty Fault of parts in servo amplifier

Checking method



Change the communication device (e.g.

personal computer).


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

96

Name

92 Open battery cable warning

Home position setting warning

Definition

Absolute position detection system battery voltage is low.

Home position return could not be made in the precise position.

Cause

1. Battery cable is open.

2. Battery voltage supplied from the servo amplifier to the encoder fell to about

3.2V or less.

(Detected with the encoder)

1. Droop pulses remaining are greater than the in-position range setting.

2. Home position return was executed during operation command.

3. Creep speed high.

9F Battery warning Voltage of battery for absolute position 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.

Battery voltage fell to 3.2V or less.

(Detected with the servo amplifier)

Regenerative power increased to 85% or more of permissible regenerative power of built-in regenerative resistor or regenerative option.

Checking method

Call the status display and check regenerative load ratio.

Action

Repair cable or changed.

Change the battery.

Remove the cause of droop pulse occurrence.

Reduce creep speed.

Change the battery.

1. Reduce frequency of positioning.

2. Change regenerative option for the one with larger capacity.

3. Reduce load.

E1 Overload warning

There is a possibility that overload alarm 1 or 2 may occur.

Load increased to 85% or more of overload alarm 1 or 2 occurrence level.

Refer to 50, 51.

Cause, checking method

Refer to 50, 51.

E3 Absolute position counter warning

Absolute position encoder pulses faulty.

1. Noise entered the encoder.

2. Encoder faulty.

E4

E6

E7

E9

EE

Parameter warning

Servo forced stop warning

Controller forced stop warning

Main circuit off warning

SSCNET error warning

Parameter outside setting range.

EM1 is off.

Servo-on command was issued with main circuit power off.

The servo system controller connected is not SSCNET-compatible.

Parameter value set from servo system controller is outside setting range

External forced stop was made valid.

(EM1 turned off.)

Forced stop signal was entered into the servo system controller.

Take noise suppression measures.


Set it correctly.

Ensure safety and deactivate forced stop.

Ensure safety and deactivate forced stop.

Switch on main circuit power.

9 - 8



10.1 Servo amplifiers

(1) MR-J2S-10B to MR-J2S-60B


70 (2.76)

6 ( 0.24) mounting hole B

A

MITSUBISHI

OPEN

C

N

1

A

E

N

C

C

N

2

L1 L2 L3

(Note)

C

N

3

U V W

C

N

1

B

6

(0.24)

PE terminal

135 (5.32)

Rating plate

TE1

[Unit: mm]

([Unit: in])

Terminal layout

(Terminal cover open)

MITSUBISHI

OPEN

C

N

2

E

N

C

C

N

1

A

C

N

3

C

N

1

B

TE2

4(0.16)

Servo amplifier

Variable dimensions

A B

Mass

[kg]([lb])

MR-J2S-10B(1)

MR-J2S-20B(1)

MR-J2S-40B(1)

MR-J2S-60B

50 (1.97)

70 (2.76)

6 (0.24)

22 (0.87)

0.7 (1.54)

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

L

1

U

L

2

L

3

V W

L

1

U V

L

2

W

Terminal screw: M4

Tightening torque: 1.2 [N m] (10.6 [lb in])

Terminal screw: M4


Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

TE2

Front

D C P L 21 L 11

PE terminals

Terminal screw: M4


10 - 1


(2) MR-J2S-70B MR-J2S-100B

6 ( 0.24) mounting hole

70(2.76)

22

(0.87)

MITSUBISHI

OPEN

C

N

1

A

E

N

C

C

N

2

L1 L2 L3

C

N

3

C

N

1

B

U V W

22

(0.87)

6(0.24)

42

(1.65)

PE terminal

6(0.24)

70(2.76) 190(7.48)

Rating plate

Servo amplifier

MR-J2S-70B

MR-J2S-100B

Mass

[kg]([lb])

1.7

(3.75)


TE1

L

1

U

L

V

2

L

3

W

Terminal screw: M4


TE2

Front

D C P L

21

L

11

N

PE terminals

Mounting Screw

Screw Size:M5

Tightening torque:3.24[N m](28.676 [lb in])

6(0.24)

[Unit: mm]

([Unit: in])

Terminal layout

(Terminal cover open)

MITSUBISHI

OPEN

C

N

2

E

N

C

C

N

1

A

C

N

3

C

N

1

B

TE2 TE1

Terminal screw: M4


10 - 2


(3) MR-J2S-200B MR-J2S-350B

2- 6 ( 0.24) mounting hole

6

(0.24)

90(3.54)

78(3.07)

MITSUBISHI

70(2.76) 195(7.68)

[Unit: mm]

([Unit: in])

Terminal layout

MITSUBISHI

TE2

TE1

PE terminal

Cooling fan wind direction

Servo amplifier

MR-J2S-200B

MR-J2S-350B

Mass

[kg]([lb])

2.0

(4.41)


TE1

L

1

L

2

L

3

U V W

Terminal screw: M4


TE2

L

11

L

21

D P C N

Terminal screw: M4


PE terminals

Terminal screw: M4


Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

10 - 3


(4) MR-J2S-500B


(0.24)

6

130(5.12)

118(4.65)

(0.24)

6

70

(2.76)

OPEN

MITSUBISHI

OPEN

C

N

1

A

C

N

2

C

N

1

B

C

N

3

[Unit: mm]

([Unit: in])

200(7.87)

(0.19) 5

TE1

Terminal layout

MITSUBISHI

OPEN

C

N

1

A

C

N

2

C

N

1

B

C

N

3

TE2

N.P. N.P.

6(0.24)

Cooling fan


Cooling fan

Servo amplifier

MR-J2S-500B

Mass

[kg]([lb])

4.9(10.8)

TE1

L

1

C

P

L

2

L

3

V

W

N

U


PE terminals

Terminal screw : M4

Tightening torque : 1.2 [N m](10.6[lb in])

Built-in regenerative resistor lead terminal fixing screw

Terminal screw : M4

Tightening torque : 1.2 [N m](10.6[lb in])

TE2

L

11

L

21

Terminal screw : M3.5

Tightening torque : 0.8 [N m](7[lb in])

Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

10 - 4


(5) MR-J2S-700B

2- 6( 0.24) mounting hole

(0.39)

10

180(7.09)

160(6.23) 10

(0.39)

70

(2.76)

MITSUBISHI

OPEN

C

N

1

A

C

2

C

N

3

C

N

1

B

OPEN

200(7.87)

138(5.43) 62

(2.44)

6(0.24)

[Unit: mm]

([Unit: in])

Terminal layout

MITSUBISHI

OPEN

C

N

1

A

C

2

C

N

1

B

C

N

3

TE2

TE1

Servo amplifier

MR-J2S-700B

6 (0.24)

Mass

[kg]([lb])

7.2(15.9)

Cooling fan Cooling fan wind direction

TE1

L

1

L

2

L

3

C P N U V

Terminal screw : M4


W

TE2

L

11

L

21

Terminal screw : M3.5


PE terminals

Built-in regenerative resistor lead terminal fixing screw

Terminal screw : M4


Mounting Screw

Screw Size : M5

Tightening torque :

3.24[N m]

(28.676 [lb in]

10 - 5


(6) MR-J2S-11KB 15KB


(0.47)12

MITSUBISHI

CN4

Cooling fan

CN2

TE2

CHARGE

C

N

1

B

C

N

1

A

C

N

3

CON2

TE1

12(0.47)

236(9.29)

260(10.24) 12(0.47)

75

(2.95)

[Unit: mm]

([Unit: in])


Servo amplifier

MR-J2S-11KB

MR-J2S-15KB

Mass

[kg]([lb])

15(33.1)

16(35.3)

TE1


PE terminal

C N L

1

L

2

L

3

U V W P

1

Terminal screw : M6

Tightening torque : 3.0[N m] (26[lb in)]

P

TE2

Terminal screw : M6


Mounting Screw

Screw Size:M10

Tightening torque:

26.5[N m]

(234.545[lb in])

L

11

L

21

Terminal screw : M4

Tightening torque : 1.2[N m] (10.6[lb in])

10 - 6


(7) MR-J2S-22KB


(0.47)12

MITSUBISHI

Cooling fan

CN2 CHARGE

TE2

CN4

C

N

1

B

C

N

1

A

C

N

3

CON2

TE1

12(0.47)

326(12.84)

350(13.78) 12(0.47)

75

(2.95)

[Unit: mm]

([Unit: in])

Coolig fan wind direction

Servo amplifier

MR-J2S-22KB

Mass

[kg]([lb])

20(44.1)


TE1

L

1

L

2

L

3

U V W P

1

Terminal screw : M8


P C N

TE2

L

11

L

21

Terminal screw : M4

Tightening torque : 1.2[N m] (10.6[lb in)]

PE terminal

Terminal screw : M8


Mounting Screw

Screw Size:M10

Tighting torque:

26.5[N m]

(234.545[lb in])

10 - 7


10.2 Connectors

(1) Servo amplifier side

<3M>

(a) Soldered type

Model

Connector : 10120-3000PE 10126-3000PE

Shell kit : 10320-52F0-008 10326-52F0-008

12.0(0.47)

[Unit: mm]

([Unit: in])

A 14.0

(0.55)

Logo, etc. are indicated here.

B 12.7

(0.50)

Connector

10120-3000PE

10126-3000PE

Shell kit

10320-52F0-008

10326-52F0-008

(b) Threaded type

Model

Connector : 10120-3000PE

Shell kit : 10320-52A0-008

Note. This is not available as option

and should be user-prepared.

A

Variable dimensions

B

22.0(0.87)

25.8(1.02)

33.3(1.31)

37.2(1.47)

12.0(0.47)

[Unit: mm]

([Unit: in])

22.0(0.87) 14.0

(0.55)

27.4

(1.08)

Logo, etc. are indicated here.

33.3

(1.31)

12.7

(0.50)

10 - 8


(c) Insulation displacement type

Model

Connector : 10120-6000EL

Shell kit : 10320-3210-000

6.7

( 0.26)

[Unit: mm]

([Unit: in])

2- 0.5

(0.02)

20.9(0.82) Logo, etc. are indicated here.

29.7

(1.17)

(2) Bus cable connector

(a) Honda Tsushin Industry PCR type

PCR-LS20LA1

13.0

(0.51)

HONDA

23.0(0.91)

14.2(0.56)

(0.04)1 12.2

(0.48)

1(0.04)

RS

A HOND

PCR-LS20LA1W

[Unit: mm]

([Unit: in])

10.4(0.41)

RS

27.4(1.08)

32.0(0.91)

27.4(1.08)

32.0(0.91) 1.9

(0.08)

1 12.2

(0.04) (0.48)

1

(0.04)

Number of Pins

20

Connector

PCR-S20FS (soldering type)

PCR-S20F (insulation displacement type)

(Note) Model

Case

PCR-LS20LA1

PCR-LS20LA1W

Note. PCR-S20F and PCR-LS20LA1W are not options and are to be supplied by the customer.

Crimping terminal

FHAT-002A

10 - 9


(b) Honda Tsushin Industry HDR type

Number of Pins

14

26

Connector

HDR-E14MG1

HDR-E26MG1

Model HDR

Connector case

HDR-E14LPA5

HDR-E26LPA5

Note. Not available from us and to be supplied by the customer.

(Note) Crimping terminal

Wire straightening tool : FHAT-0029

Insulation displacement tool : FHPT-0004C

Model Connector : HDR-E14MG1

Connector case : HDR-E14LPA5

Model Connector : HDR-E26MG1

Connector case : HDR-E26LPA5

[Unit: mm]

([Unit: in])

17 (0.67)

5.6 ( 0.22)

21.8 (0.86)

6 7 (0.24 0.28)

21 (0.83) 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)

Type

DE-C1-J6-S6

C

D

A

1

34.5(1.36)

B

1

19(0.75)

C

0.25

24.99(0.98)

D

1

33(1.30)

E

6(0.24)

F

Reference

18(0.71)

G

#4-40

10 - 10

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

100 100

During servo lock

10

During servo lock

10

1 1

0.1

0 50 100 150 200

(Note) Load ratio [%]

250 a. MR-J2S-10B to MR-J2S-100B

300

10000

0.1

0 50 100 150 200


250 b. MR-J2S-200B to MR-J2S-350B

300

10000

1000

100

During servo lock

During rotation

1000

During rotation

100

10

During servo lock

10

1

0 50 100 150 200


250 300

1

0 100 200

(Note) Load ratio [%] d. MR-J2S-11KB to MR-J2S-22KB

300 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

MR-J2S-350B

Servo motor

HC-KFS053 13

HC-MFS053 13

HC-UFS13

HC-KFS23

HC-MFS23

HC-UFS23

HC-KFS43

HC-MFS43

HC-UFS43

HC-SFS52

HC-SFS53

HC-LFS52

HC-KFS73

HC-MFS73

HC-UFS72 73

HC-SFS81

HC-SFS102 103

HC-LFS102

HC-SFS121

HC-SFS201

HC-SFS152 153

HC-SFS202 203

HC-RFS103

HC-RFS153

HC-UFS152

HC-LFS152

HC-SFS301

HC-SFS352 353

HC-RFS203

HC-UFS202

HC-LFS202

(Note 1)

Power supply capacity[kVA]

2.5

4.8

5.5

3.5

3.5

3.5

3.5

1.8

2.5

2.5

1.7

2.1

3.5

2.5

1.3

1.3

1.5

1.7

1.0

1.0

1.0

1.3

0.5

0.5

0.9

0.9

0.9

0.3

0.3

0.3

0.5

(Note 2)

Servo amplifier-generated heat[W]

At rated torque With servo off

90

120

130

90

90

90

90

50

90

90

50

90

90

90

50

50

50

50

40

40

40

50

25

25

35

35

35

25

25

25

25

20

20

20

20

20

20

20

15

20

20

15

20

20

20

15

15

15

15

15

15

15

15

15

15

15

15

15

15

15

15

15

Area required for heat dissipation

[m 2 ]

1.8

2.7

2.7

1.8

1.8

1.8

1.8

1.0

1.8

1.8

1.0

1.8

1.8

1.8

1.0

1.0

1.0

1.0

0.8

0.8

0.8

1.0

0.5

0.5

0.7

0.7

0.7

0.5

0.5

0.5

0.5

[ft 2 ]

19.4

29.1

29.1

19.4

19.4

19.4

10.8

19.4

19.4

19.4

19.4

10.8

19.4

19.4

8.6

8.6

8.6

10.8

10.8

10.8

10.8

10.8

5.4

5.4

7.5

7.5

7.5

5.4

5.4

5.4

5.4

11 - 2

11. CHARACTERISTICS

Servo amplifier

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

Servo motor

HC-SFS502

HC-RFS353

HC-RFS503

HC-UFS352

HC-UFS502

HC-LFS302

HA-LFS502

HC-SFS702

HA-LFS702

HA-LFS11K2

HA-LFS801

HA-LFS12K1

HA-LFS11K1M

HA-LFS15K2

HA-LFS15K1

HA-LFS15K1M

HA-LFS22K2

HA-LFS20K1

HA-LFS25K1

HA-LFS22K1M

(Note 1)

Power supply capacity[kVA]

7.5

5.5

7.5

5.5

7.5

4.5

7.5

10.0

10.6

16.0

12.0

18.0

16.0

22.0

22.0

22.0

33.0

30.1

37.6

33.0

(Note 2)

Servo amplifier-generated heat[W]

At rated torque With servo off

195

135

195

300

300

530

195

195

195

120

390

580

530

640

640

640

850

775

970

850

25

25

25

25

25

45

25

25

25

25

45

45

45

45

45

45

55

55

55

55

Area required for heat dissipation

[m 2 ]

3.9

2.7

3.9

3.9

3.9

2.4

3.9

6.0

6.0

11

7.8

11.6

11.0

13

13

13

17

15.5

19.4

17.0

[ft 2 ]

42.0

29.1

83.9

124.8

118.4

139.0

139.0

139.0

183.0

166.8

42.0

42.0

42.0

25.8

42.0

64.6

64.6

118.4

208.8

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.

P

A K T............................................................................................................................................. (11.1) where, A : Heat dissipation area [m 2 ]

P : Loss generated in the control box [W]

T : Difference between internal and ambient temperatures [ ]

K : 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

Machine speed

V

0 t e

Time

Fig. 11.3 Dynamic brake operation diagram

L max

V

0

60 t e 1

J

L

J

M

....................................................................................................................... (11.2)

L max

: Maximum coasting distance .................................................................................................[mm][in]

Vo : Machine rapid feed rate ........................................................................................ [mm/min][in/min]

J

M

J

L

: Servo motor inertial moment................................................................................. [kg cm

: Load inertia moment converted into equivalent value on servo motor shaft

2 ][oz in 2 ]

................................................................................................................................. [kg cm 2 ][oz in 2 ]

: Brake time constant ........................................................................................................................ [s] t e : 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.

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (11.2).

16

14

12

10

8

6

053

73

23

4

2

43 13

0

0 500 1000 1500 2000 2500 3000

Speed[r/min]

20

18

16

14

12

10

8

6

4

2

0

0

23

73

053

43

13

500 1000 1500 2000 2500 3000

Speed [r/min]

HC-KFS series HC-MFS series

11 - 5

11. CHARACTERISTICS

120

100

80

40

35

30

25

20

15

10

5

0

0

121

201

301

50 500

Speed [r/min]

HC-SFS1000r/min series

81

1000

53

203

60

40 353

20

103

0

0 50 500 1000 1500

Speed [r/min]

153

2000 2500 3000


20

15

10

5

0

0

40

35

30

25

100

90

80

70

60

50

40

30

20

10

0

0

72

152

352

502

202

500 1000 1500

Speed [r/min]

2000

HC-UFS 2000r/min series

15K2

22K2

11K2

500 1000 1500 2000

Speed [r/min]

HA-LFS series

11 - 6

20

15

10

5

0

0

45

40

35

30

25

352202

500

702

502

1000

Speed [r/min]

102

1500

52

152

2000


18

16

14

12

10

8

6

4

2

0

0

103

153

503

353

203

500 1000 1500 2000 2500 3000

Speed [r/min]

HC-RFS series

70

73

60

50

40

30

20

13

23

43

10

0

0 50 500 10001500200025003000

Speed [r/min]

HC-UFS3000r/min series

20

15

10

5

0

0

40

35

30

25

302

500 1000 1500 2000

Speed [r/min]

HC-LFS series

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

MR-J2S-10B to MR-J2S-200B


MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

(Note) MR-J2S-11KB to MR-J2S-22KB

Load inertia moment ratio [times]

Note. Assumes that the external dynamic brake is used.

30

16

15

(Note) 30

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 10 8

5 10 7 a

1 10 7

5 10

1 10

5 10

6

6

5

1 10 5

5 10 4

1 10 4

5 10 3 b

1 10 3

4 7 10 20 40 70 100

Flexing radius [mm]

200 a : Long flexing-life encoder cable

MR-JCCBL M-H

MR-JHSCBL M-H

MR-ENCBL M-H b : Standard encoder cable

MR-JCCBL M-L

MR-JHSCBL M-L

11 - 7

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

MR-J2S-10B 20B

MR-J2S-40B 60B

MR-J2S-70B 100B

MR-J2S-200B 350B

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

MR-J2S-10B1 20B1

MR-J2S-40B1

Inrush Currents (A

0-p

)

Main circuit power supply (L

1

, L

2

, L

3

) Control circuit power supply (L

11

, L

21

)

30A (Attenuated to approx. 5A in 10ms)



70 to 100A

(Attenuated to approx. 0A in 0.5 to 1ms)


100 to 130A




30A

(Attenuated to approx. 0A in several ms)




100 to 130A


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


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.

Servo amplifier Built-in regenerative resistor

MR-RB032

[40 ]

Regenerative power[W]

MR-RB12

[40 ]

MR-RB32

[40 ]

MR-RB30

[13 ]

MR-J2S-10B(1)

MR-J2S-20B(1)

MR-J2S-40B(1)

MR-J2S-60B

MR-J2S-70B

MR-J2S-100B

MR-J2S-200B

MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

Note. Always install a cooling fan.

20

100

100

130

10

10

10

20

170

30

30

30

30

30

30

100

100

100

100

100

300

300

300

300

300

(Note)

MR-RB50

[13 ]

500

500

500

MR-RB31

[6.7 ]

300

(Note)

MR-RB51

[6.7 ]

500

Servo amplifier External regenerative resistor

(Accessory)

500 (800)

850 (1300)

850 (1300)

(Note) Regenerative power[W]

MR-RB65

[8 ]

500 (800)

MR-RB66

[5 ]

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

Note. Values in parentheses assume the installation of a cooling fan.

850 (1300)

MR-RB67

[4 ]

850 (1300)

12 - 1


(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

2

[times/min] where m 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.

a. Regenerative energy calculation

Use the following table to calculate the regenerative energy.

tf(1 cycle)

No

Up

M

Friction torque

T

F

( )

1)

T psa1 t1

(Driving)

2)

T psd1 t2

4)

Down

T psa2 t3

Time t4

T psd2

8)

5)

T

U

6)

3)

(Regenerative) 7)

( )

Formulas for calculating torque and energy in operation

Regenerative power

1) T

1

Torque applied to servo motor [N m]

(J

L

J

M

) No

9.55 10

4

1

T psa1

T U

T

F E 1

0.1047

2

Energy [J]

No T

1

T psa1

2)

3)

T

2

T

3

T

U

T

F

(J

L

J

M

) No

9.55 10

4

1

T psa1

T

U

T

F

E

2

E

3

0.1047 No T

2

0.1047

2

No T

3 t

1

T psd1

4), 8)

5)

T

4

T

5

T

U

(J

L

J

M

) No

9.55 10

4

1

T psa2

T

U

T

F

E

4

E 5

0 (No regeneration)

0.1047

2

No T

5 T psa2

6)

7)

T

6

T

7

T

U

T

F

(J L J M ) No

9.55 10

4

1

T psa2

T

U

T

F

E

6

E

7

0.1047 No T

6

0.1047

2

No T

7 t

3

T psd2

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

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[%]

90

90

90

90

80

80

85

85

90

85

85

85

55

55

70

70

Capacitor charging[J]

70

120

170

250

18

18

40

40

45

11

12

11

9

4

9

4

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


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


(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.

D

Regenerative option

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: 1.0m

3 ).

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.

Top

Cooling fan Terminal block

[Unit : mm(in)]

Cooling fan installation screw hole dimensions

2-M3 screw hole

(for cooling fan installation)

Depth 10 or less

(Screw hole already machined)

Thermal relay

Bottom

82.5

(3.25)

40 (1.58)

Vertical installation

Horizontal installation Installation surface

12 - 4


(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.

Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor.

Servo amplifier

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: 1.0m

3 ).

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

12 - 5

Accessory screw


For the MR-RB50 MR-RB51 install the cooling fan as shown.

Top

Cooling fan Terminal block

[Unit : mm(in)]

Cooling fan installation screw hole dimensions

2-M3 screw hole

(for cooling fan installation)

Depth 10 or less

(Screw hole already machined)

Thermal relay

Bottom

82.5

(3.25)

40 (1.58)

Vertical installation

Horizontal 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 : 1.0m

3 ) improves the regeneration capability. In this case, set "0E " in parameter No. 2.

5m or less

Do not remove the short bar.

Servo amplifier

P

1

P

C

(Note) Series connection

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

Regenerative resistor

MR-J2S-11KB GRZG400-2

MR-J2S-15KB GRZG400-1

MR-J2S-22KB GRZG400-0.8

Regenerative power [W]

Normal Cooling

500

850

850

800

1300

1300

Resistance

[ ]

8

5

4

Number of resistors

4

5

5

12 - 6


(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 GRZG400-2

Ω

, GRZG400-

1

Ω

and GRZG400-0.8

Ω

, respectively. When using any of these regenerative options, make the same parameter setting as when using the GRZG400-2

Ω

, GRZG400-1

Ω

or GRZG400-0.8

Ω

(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.

Regenerative option

P

1

P

C

(Note)

P

C

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

MR-J2S-11KB-PX

MR-J2S-15KB-PX

MR-J2S-22KB-PX

Regenerative option model

MR-RB65

MR-RB66

MR-RB67

Resistance

[ ]

8

5

4

Regenerative power [W]

Without cooling fans

With cooling fans

500

850

850

800

1300

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: 1.0m

3 )

Mounting screw

4-M3(0.118)

TE

G4 G3 C P

12 - 7


(5) Outline drawing

(a) MR-RB032 MR-RB12

LB

LA

6 (0.24) mounting hole

MR-RB

[Unit: mm (in)]

TE1

G3

G4

P

C

6 (0.24)

7 (0.28)

10

(0.39)

90 (3.54)

100 (3.94)

17

(0.67)

5 (0.20)

20

(0.79)

(b) MR-RB30 MR-RB31 MR-RB32

318 (12.5)

335 (13.2)

12 - 8

LC

LD

1.6 (0.06)

TE1

Terminal block

G3

G4

P

C

Terminal screw: M3

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])

Regenerative option

MR-RB032

MR-RB12

Variable dimensions Mass

LA LB LC LD [kg] [lb]

30

(1.18)

40

(1.58)

15

(0.59)

15

(0.59)

119

(4.69)

169

(6.65)

99

(3.9)

149

(5.87)

0.5 1.1

1.1 2.4

[Unit: mm (in)]

Terminal block

P

C

G3

G4

Terminal screw: M4

Tightening torque: 1.2 [N m] (10.6 [Ib in])

Mounting screw

Screw: M6

Tightening torque: 5.4 [N m] (47.79 [Ibi n])

Regenerative option

MR-RB30

MR-RB31

MR-RB32

Mass [kg] (Ib)

2.9 (6.4)


(c) MR-RB50 MR-RB51

49

(1.93)

82.5

(3.25)

Fan mounting screw

(2-M3 screw)

On opposite side

7 14 slot

Wind blows in the arrow direction

[Unit: mm (in)]

Terminal block

P

C

G3

G4

Terminal screw: M4

Tightening torque: 1.2 [N m]

(10.6 [Ib in])

Mounting screw

Screw: M6

Tightening torque: 5.4 [N m]

(47.79 [Ib in])

Regenerative option

MR-RB50

MR-RB51

Mass [kg] (Ib)

5.6 (12.3)

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)

Approx.30 (1.18)

8 (0.32)

(d) MR-RB65 MR-RB66 MR-RB67

[Unit: mm (in)]


15 (0.59)

TE1

G4G3 CP

10 (0.39)

230 (9.06)

260 (10.2)

230 (9.06)

2.3 (0.09)

215 (8.47)

4-M3 screw

Cooling fan mounting

Terminal block

G4 G3 C P

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])

Regenerative option

MR-RB65

MR-RB66

MR-RB67

Mass

[kg]

10

11

11

(lb)

22.0

24.3

24.3

82.5 82.5

(3.25) (3.25)

(e) GRZG400-2 GRZG400-1 GRZG400-0.8 (standard accessories)

10 ( 5.5) (2.4) [Unit: mm (in)]

384

410

40

12 - 9

Mounting screw

Screw size: M8



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

FR-BU2-15K

Resistor unit

FR-BR-15K

Number of connected units

1

Permissible continuous power [kW]

0.99

Total resistance

[ ]

8

FR-BU2-30K

FR-BU2-55K

FR-BR-30K

FR-BR-55K

MT-BR5-55K

1

1

1

1.99

3.91

5.5

4

2

2

Applicable servo amplifier

MR-J2S-350B

MR-J2S-500B

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

MR-J2S-22KB

12 - 10


(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.

No.

Parameter

Name

0 Brake mode switchover

1 Monitor display data selection

2 Input terminal function selection 1

3 Input terminal function selection 2

77 Parameter write selection

78 Cumulative energization time carrying-over times

CLr Parameter clear

ECL Alarm history clear

C1 For manufacturer setting

Change possible/ impossible

Remarks

Impossible Do not change the parameter.

Possible Refer to the FR-BU2-(H) Brake Unit

Instruction Manual.

Impossible Do not change the parameter.

(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

(Note 1)

Power supply

NFB MC

OFF

ON

MC

MC

SK

L

1

L

2

L

3

L

11

L

21

Servo amplifier

(Note 3)

P

1

P

D

P

(Note 9)

N

C

CN3

20

3

10

5

13

EM1

SG

VDD

COM

ALM

(Note 8)

(Note 2)

(Note 10)

P

PR

FR-BR

(Note 5)

TH1

TH2

FR-BU2

PR

P/

N/

(Note 4)

BUE

SD

MSG

SD

A

B

C

(Note 6)

12 - 11


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 P

1

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

OFF

ON

RA3

MC

MC

SK

(Note 1)

Power supply

NFB MC

L

1

L

2

L

3

L

11

L

21

Servo amplifier

CN3

20

3

10

5

13

EM1

SG

VDD

COM

ALM

C (Note 8)

P

1

P

(Note 2)

(Note 6)

N

(Note 7)

P

PR

MT-BR5

(Note 4)

TH1

TH2

FR-BU2

PR

P/

N/

(Note 3)

BUE

SD

MSG

SD

A

B

C

(Note 5)

SK

RA3

Note 1. For power supply specifications, refer to section 1.3.

2. Make sure to connect P

1

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


(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 Resistor unit Brake unit Resistor unit

P

N

P

N

P

PR

P

PR

P

N

Twist P

N

P

PR

Twist P

PR

5m or less 5m or less 10m or less 10m or less

(d) Cables

For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.

a) Main circuit terminal

N/ P/ PR

Terminal block

Brake unit

FR-BU2-15K

FR-BU2-30K

FR-BU2-55K

Main circuit terminal screw size

M4

M5

M6

Crimping terminal

N/ , P/ ,

PR,

5.5-4

5.5-5

14-6

Tightening torque

[N m]

([lb in])

1.5 (13.3)

2.5 (22.1)

4.4 (38.9)

Cable size

N/ , P/ , PR,

HIV cables, etc. [mm 2 ]

3.5

5.5

14

AWG

12

10

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

PC BUE SD

RES

Jumper

SD MSG MSG SD SD

Sheath

Core

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

Cable size: 0.3mm

2

to 0.75 mm

2

Screw driver: Small flat-blade screwdriver

(Tip thickness: 0.4mm/Tip width 2.5mm)

12 - 13


(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

MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

Brake unit

FR-BU2-15K

FR-BU2-15K

FR-BU2-30K

FR-BU2-30K

FR-BU2-30K

FR-BU2-55K

FR-BU2-30K

FR-BU2-55K

FR-BU2-55K

Number of connected units

1

1

1

1

1

1

1

1

1

Crimping terminal (Manufacturer)

FVD5.5-S4

(Japan Solderless Terminal)

FVD5.5-6(Japan Solderless Terminal)

FVD14-6(Japan Solderless Terminal)

FVD5.5-6(Japan Solderless Terminal)



Note. Symbols in the applicable tool field indicate the following applicable tools.

(Note)

Applicable tool b b a a a b

(4) Outline dimension drawings

(a) FR-BU2 brake unit

Symbol a b

Applicable tool

Body

Head

Dice

YNT-1210S

YF-1 E-4

YNE-38

DH-112 DH-122

Manufacturer

Japan Solderless

Terminal

[Unit: mm]

FR-BU2-15K

5 hole

(Screw size: M4)

6 56

68

5

6

Rating plate

18.5

52

132.5

62

4

12 - 14


FR-BU2-30K

2- 5 hole

(Screw size: M4)

6 96

108

FR-BU2-55K

2- 5 hole

(Screw size: M4)

5

6

Rating plate

18.5

52

129.5

59

5

6 158

170

5

6

Rating plate

18.5

52

142.5

72

5

12 - 15


(b) FR-BR resistor unit

2 C

[Unit: mm]

(Note)

Control circuit terminal

Main circuit terminal

(Note)

Approx. 35

C

W1 1

C

Approx. 35

For FR-BR-55K, a hanging bolt is placed on two locations (Indicated below).

Hanging bolt

204

W 5

(c) MT-BR5- (H) resistor unit

Note. Ventilation ports are provided on both sides and the top. The bottom is open.

Resistor unit

FR-BR-15K

FR-BR-30K

FR-BR-55K

W W1 H H1 H2 H3 D D1 C

170 100 450 410 20 432 220 3.2

6

340 270 600 560 20 582 220 4 10

480 410 700 620 40 670 450 3.2

12

Approximate mass

[kg] ([lb])

15 (33.1)

30 (66.1)

70 (154)

NP

Resistor unit

MT-BR5-55K

[Unit: mm]

Resistance value

2.0

Approximate mass

[kg] ([lb])

50 (110)

M6

M4

193

37 60

480

510

10 21

189

4 15 mounting hole 7.5

75 300

450

75

7.5

12 - 16


12.1.3 Power regeneration converter

When using the power regeneration converter, set " 01" in parameter No.2.

(1) Selection

The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the MR-J2S-500B to MR-J2S-22KB.

Power regeneration converter

FR-RC-15K

FR-RC-30K

FR-RC-55K

Nominal regenerative power

(kW)

Servo amplifier

15

30

55

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

500

300

200

100

50

30

20

0 50 75 100

Nominal regenerative power (%)

150

12 - 17



(Note 5)

Power supply

NFB

FR-RC

B C

RA2

Servo amplifier

L

11

L

21

(Note 3) Power factor improving reactor

MC FR-BAL

L

1

L

2

L

3

VDD

COM

EM1

SG

Ready

RDY

N/

SE

N

R/L

1

S/L

2

T/L

3

(Note 2)

C

P/

P P

1

(Note 4)

5m(16.4ft) or less

RDY output

A

B

C

B

C

Alarm output

EM1

RX

R

SX

S

(Note 1)

Phase detection terminals

TX

T

Power regeneration converter FR-RC

Operation ready

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 P

1

and P. (Factory-wired.)


12 - 18


(3) Outside dimensions of the power regeneration converters

2- D hole

[Unit : mm(in)]

Mounting foot (removable)

Mounting foot movable

Rating plate

Front cover

Display panel window

Cooling fan

AA

A

D F

K

C

Heat generation area outside mounting dimension


FR-RC-15K

FR-RC-30K

FR-RC-55K

A AA B BA C D E EE K F

270

(10.6)

340

(13.4)

480

(18.9)

200

(7.87)

270

(10.6)

410

(16.1)

450

(17.7)

600

(23.6)

700

(27.6)

432

(17.0)

582

(22.9)

670

(26.4)

195

(7.68)

195

(7.68)

250

(9.84)

10

(0.39)

10

(0.39)

12

(0.47)

10

(0.39)

10

(0.39)

15

(0.59)

8

(0.32)

8

(0.32)

15

(0.59)

3.2

(0.13)

3.2

(0.13)

3.2

(0.13)

87

(3.43)

90

(3.54)

135

(5.32)

Approx.

mass [kg(Ib)]

19

(41.9)

31

(68.3)

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)

(2- D hole)

Model

FR-RC-15K

FR-RC-30K

FR-RC-55K

A

260

(10.2)

330

(13.0)

470

(18.5)

B

412

(16.2)

562

(22.1)

642

(25.3)

D

10

(0.39)

10

(0.39)

12

(0.47)

[Unit : mm(in)]

AA

200

(7.87)

270

(10.6)

410

(16.1)

BA

432

(17.0)

582

(22.9)

670

(26.4) a

12 - 19


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

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

Dynamic brake

DBU-11K

DBU-15K

DBU-22K

12 - 20



(Note 4)

Power supply

NFB

(Note 1) EM1

Operation-ready

ON

OFF

MC

MC

SK

MC

Servo amplifier

CON2

15 VDD

18

4

COM

DB

(Note 3)

L

1

L

2

L

3

L

11

L

21

P

P

1

U

V

W

CON2

2

1

Plate

EM1

SG

SD

RA1

EM1

(Note 2)

14 13 U V W

W

E

U

V

Servo motor

M

RA1 a 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.


1

and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.2.4.


Coasting

Servo motor rotation

Present

Alarm

Base

Absent

ON

OFF

RA1

ON

OFF

Dynamic brake

Invalid

Valid

Forced stop

(EM1)

Short

Open

Dynamic brake a. Timing chart at alarm occurrence

Coasting

Dynamic brake b. Timing chart at forced stop (EM1) validity

12 - 21


(3) Outline dimension drawing

5

(0.2)

[Unit: mm]

([Unit: in])

D

(0.2)5

100(3.94)

C

D G

F

2.3(0.09)

Terminal block

E

(GND) a b 13 14

Screw : M3.5

Tightening torque: 0.8 [N m](7 [lb in])

Dynamic brake

DBU-11K

DBU-15K, 22K

U V W

Screw : M4


A

200

(7.87)

250

(9.84)

B

190

(7.48)

238

(9.37)

C

140

(5.51)

150

(5.91)

D

20

(0.79)

25

(0.98)

E

5

(0.2)

6

(0.24)

F

170

(6.69)

235

(9.25)

G

163.5

(6.44)

228

(8.98)

Mass

[kg]([Ib])

2 (4.41)

6 (13.23)

Connection wire [mm

2

]

5.5

5.5

12 - 22


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 Servo amplifier

(Note 1)

Bus cable

CN1A CN1B

(Note 1)

Connector set

CN2 CN3

(Note 1)

Bus cable

(Note 1)

CN1A CN1B

13)


CN2 CN3

15)

Personal computer

14)

22)

(Note 2)

CON2 CN4

23) (Note 2)

3) 4) 5)

HA-LFS

To U, V, W

20) 21)

1) 2)

HC-KFS

HC-MFS

HC-UFS 3000r/min

7) 8)

16) 17) 18)

3) 4) 5)

19)

6)

HC-SFS

HC-RFS

HC-UFS 2000r/min

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-J2-03B5

12) Connector set:MR-J2CN1 QD75M

Motion controller

Q172CPU(N)

Q173CPU(N)

A motion

MR-J2S- B

MR-J2-03B5


MR-J2S- B

10) Bus cable :MR-J2HBUS M

24) Bus cable :Q172J2BCBL M(-B)

25) Bus cable :Q173J2B CBL M

9) Bus cable :MR-J2HBUS M-A

10) Bus cable :MR-J2HBUS M

11) Connector set:MR-J2CN1-A

12) Connector set:MR-J2CN1

2. The cable and connector are used for only servo amplifier of 11kW or more.

12 - 23


No.

Product Model

1) Standard encoder cable

MR-JCCBL M-L

Refer to (2) in this section.

Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Description

Housing: 1-172161-9

Connector pin: 170359-1

(AMP or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industry)

2) Long flexing life encoder cable

3) Standard encoder cable

MR-JCCBL M-H


MR-JHSCBL M-L


4) Long flexing life encoder cable

5) IP65-compliant encoder cable

MR-JHSCBL M-H


MR-ENCBL M-H



Shell kit: 10320-52F0-008

(3M or equivalent)


Shell kit: 10320-52F0-008

(3M or equivalent)

Plug: D/MS3106B20-29S

Cable clamp: D/MS3057-12A

(DDK)

Plug: D/MS3106A20-29S (D190)

Cable clamp: CE3057-12A-3-D

Back shell: CE02-20BS-D

(DDK)

Application

Standard flexing life

IP20

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)

Long flexing life

IP20


IP20

Long flexing life

Long flexing life

IP65

IP67

Not oilresistant.

IP20


MR-J2CNS Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Plug: D/MS3106B20-29S

Cable clamp: D/MS3057-12A

(DDK)

IP20


MR-ENCNS Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Plug: D/MS3106A20-29S (D190)


Back shell: CE02-20BS-S-D

(DDK)

IP65

IP67

9) Bus cable MR-J2HBUS M-A


Connector: PCR-S20FS

Case: PCR-LS20LA1

(Honda Tsushin)

10) Bus cable MR-J2HBUS M


Connector: 10120-6000EL

Shell kit: 10320-3210-000

(3M or equivalent)


Shell kit: 10320-3210-000

(3M or equivalent)


Shell kit: 10320-3210-000

(3M or equivalent)

12 - 24


No.

Product

11) Connector set

Model

MR-J2CN1-A

Refer to (4) in this section

Connector: PCR-S20FS

Shell kit: PCR-LS20LA1

(Honda Tsushin)

Description

Connector: 10120-3000PL

Shell kit: 10320-52F0-008

(3M or equivalent)

Application

12) Control signal connector set

MR-J2CN1 Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

13) Termination connector

14) Maintenance junction card

15) Communication cable

MR-A-TM

MR-J2CN3TM Refer to section 12.1.6.

MR-CPCATCBL3M



Shell kit: 10320-3210-000

(3M or equivalent)

16) Power supply connector set



19) Brake connector set


MR-PWCNS1

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNS2

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNS3

Refer to the Servo

Motor Instruction

Manual.

MR-BKCN

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNK1


22) Connector Set

23) Monitor cable

MR-PWCNK2

MR-J2CMP2

MR-H3CBL1M

Qty: 2 each

Connector: DE-9SF-N

Case: DE-C1-J6-S6

(Japan Aviation Electronics)

For connection with PC-ATcompatible personal computer

Plug: CE05-6A22-23SD-D-BSS

Cable clamp:CE3057-12A-2-D

(DDK)

Plug: CE05-6A24-10S1D-D-BSS


(DDK)

Plug: CE05-6A32-17SD-D-BSS


(DDK)

Plug: D/MS3106A10SL-4S (D190) (DDK)

Cable connector: YS010-5-8 (Daiwa Dengyo)

EN

Standardcompliant

IP65 IP67

EN

Standardcompliant

IP65 IP67

IP20 Plug: 5559-04P-210

Terminal: 5558PBT3L (For AWG16)(6 pcs.)

(Molex)

Plug: 5559-06P-210

Terminal: 5558PBT3L (For AWG16)(8 pcs.)

(Molex)


Shell kit: 10326-52F0-008

(3M or equivalent)

Servo amplifier side connector

(Tyco Electronics)

Housing: 171822-4

For motor with brake

IP20

12 - 25


No.

Product

24) Bus cable

25) Bus cable

Model

Q172J2BCBL M

(-B)


Connector: HDR-E14MG1

Shell kit: HDR-E14LPA5

(Honda Tsushin)

Description


Shell kit: 10320-3210-000

(3M or equivalent)

(Note)

Q173J2B CBL M


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.

Connector: HDR-E26MG1

Shell kit: HDR-E26LPA5

(Honda Tsushin)


Shell kit: 10320-3210-000

(3M or equivalent)

Application

12 - 26


(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 M-

Symbol

L

H

Specifications


Long flexing life

Symbol (Note) Cable length [m(ft)]

30

40

50

2

5

10

20

2 (6.56)

5 (16.4)

10 (32.8)

20 (65.6)

30 (98.4)

40 (131.2)

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.

Servo amplifier

Encoder cable supplied to servo motor

Encoder connector

Encoder cable

(option or fabricated)

Servo motor

Encoder connector

1-172169-9 (Tyco Electronics)

CN2

50m(164.0ft) max.

30cm

(0.98ft)

Encoder

1 2 3

MR MRR BAT

4 5 6

MD MDR

7

P5

8 9

LG SHD

12 - 27


P5

LG

P5

LG

P5

LG

MR-JCCBL2M-L

MR-JCCBL5M-L

MR-JCCBL2M-H

MR-JCCBL5M-H

Drive unit side Encoder side

19

11

20

12

18

2

7

MR-JCCBL10M-L to

MR-JCCBL30M-L

Drive unit side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

Encoder side

7

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

8

1

2

4

5

3

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

(Note) (Note)

SD Plate 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.

8

1

2

4

5

3

Drive unit side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

MR-JCCBL10M-H to

MR-JCCBL50M-H

Encoder side

7

MR

MRR

MD

MDR 16

BAT

LG

SD

7

17

6

9

1

Plate

(Note)

8

1

2

4

5

3

9

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.

P5

LG

P5

LG

P5

LG

For use of AWG22

Drive unit side

(3M)

Encoder side

19

11

20

12

18

2

7

MR

MRR

7

17

8

1

2

BAT

LG

9

1

3

(Note)

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.

12 - 28


(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 M-

Symbol

L

H

Specifications


Long flexing life

Symbol (Note) Cable length [m(ft)]

30

40

50

2

5

10

20

2 (6.56)

5 (16.4)

10 (32.8)

20 (65.6)

30 (98.4)

40 (131.2)

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

30

40

50

2

5

10

20

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)


For the pin assignment on the servo amplifier side, refer to section 3.2.1.

Servo amplifier

Encoder cable

Encoder connector

Servo motor

(Optional or fabricated)

Encoder connector

CN2 Encoder

L

K

J

H

M

T

S

N

A B

P

G

R

C

D

E

F

50m(164.0ft) max.

Pin Signal

A MD

B MDR

C MR

D MRR

E

F BAT

G LG

H

J

N

P

R

S

T

Pin Signal

K

L

M

SHD

LG

P5

12 - 29


MR-JHSCBL2M-L

MR-JHSCBL5M-L

MR-JHSCBL2M-H

MR-JHSCBL10M-L to

MR-JHSCBL30M-L

MR-JHSCBL5M-H

MR-ENCBL2M-H

MR-ENCBL5M-H

Servo amplifier side Encoder side Servo amplifier side

MR-JHSCBL10M-H to

MR-JHSCBL50M-H

MR-ENCBL10M-H to

MR-ENCBL50M-H

Encoder side Servo amplifier side Encoder side

P5

LG

P5

LG

MR

MRR

P5

LG

BAT

LG

SD

17

18

2

9

1

19

11

20

12

7

S

R

C

D

(Note 1)

Plate N

(Note@2) Use of AWG24

(Less than 10m(32.8ft))

F

G

P5

LG

P5

LG

P5

LG

MR

MRR

BAT

LG

SD

19

11

20

12

18

2

7

17

9

1

S

R

C

D

F

G

(Note 1)

Plate N

Use of AWG22

(10m(32.8ft) to 50m(164.0ft))

P5

LG

P5

LG

P5

LG

MR

MRR

BAT

LG

SD

19

11

20

12

18

2

7

17

9

1

S

R

C

D

F

G

(Note 1)

Plate 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


(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

TXD

RXD

GND

RTS

CTS

DSR

DTR

7

8

6

4

3

2

5

D-SUB9 pins

Servo amplifier side

Plate

2

1

12

11

FG

RXD

LG

TXD

LG

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


(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


0.5 (1.64)

1 (3.28)

5 (16.4)


MR-J2HBUS M-A

PCR-S20FS (Connector)

PCR-LS20LA1(Case)

10120-6000EL(Connector)

10320-3210-000(Shell kit)

LG

LG

RD

RD*

TD

TD*

LG

LG

EMG

EMG*

14

5

15

6

16

1

11

2

12

4

1

11

2

12

4

14

5

15

7

17

SD 20 Plate

12 - 32


(b) MR-J2HBUS M

1) Model definition

Model: MR-J2HBUS M

Symbol

05

1

5


0.5 (1.64)

1 (3.28)

5 (16.4)


MR-J2HBUS M


10320-3210-000(Shell kit)


10320-3210-000(Shell kit)

LG

LG

RD

RD*

TD

TD*

LG

LG

EMG

EMG*

BAT

6

16

7

17

14

5

15

12

3

13

4

1

11

2

8

18

9

19

10

20

6

16

7

17

14

5

15

12

3

13

4

1

11

2

8

18

9

19

10

20

SD Plate Plate

12 - 33


(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 M-

Symbol Connection of battery unit

No

-B

No

Yes

Symbol

05

1

5


0.5 (1.64)

1 (3.28)

5 (16.4)


Q172J2BCBL M

HDR-E14MG1(Connector)

HDR-E14-LPA5(Connector case)


10320-3210-000(Shell kit)

TD1

TD1*

LG

LG

RD

RD*

LG

BT

EMG

EMG*

SD

10

6

13

4

1

8

2

9

3

11

Shell

14

5

9

7

2

12

1

11

4

17

Plate

RD

RD*

LG

LG

TD

TD*

LG

BT

EMG

EMG*

SD

Q172J2BCBL M-B




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

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

Symbol

05

1

5

Symbol

No

2

3

4


0.5 (1.64)

1 (3.28)

5 (16.4)

SSCNET line number

SSCNET1 Line

SSCNET2 Line

SSCNET3 Line

SSCNET4 Line

12 - 34



Q173J2B CBL M When =4



TD1

TD1*

LG

LG

RD1

RD1*

LG

BT

EMG12

EMG12*

16

2

15

13

1

14

3

26

6

19


10320-3210-000(Connector case)

SSCNET1 Line

2

12

1

11

4

14

5

9

7

17

Plate

RD

RD*

LG

LG

TD

TD*

LG

BT

EMG

EMG*

SD

= No

SSCNET2 Line

TD2

TD2*

RD2

RD2*

4

17

5

18

11

4

14

5

2

12

1

9

7

17

Plate

RD

RD*

LG

LG

TD

TD*

LG

BT

EMG

EMG*

SD

SSCNET3 Line

TD3

TD3*

LG

LG

RD3

RD3*

EMG34

EMG34*

22

8

21

7

20

9

12

25

11

4

14

5

2

12

1

9

7

17

Plate

RD

RD*

LG

LG

TD

TD*

LG

BT

EMG

EMG*

SD

SSCNET4 Line

TD4

TD4*

RD4

RD4*

SD

10

23

11

24

Shell

11

4

14

5

2

12

1

9

7

17

Plate

RD

RD*

LG

LG

TD

TD*

LG

BT

EMG

EMG*

SD

= 2

= 3

= 4

12 - 35


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

Bus cable

MR-J2HBUS M

Maintenance junction card (MR-J2CN3TM) Communication cable

CN3B

CN3 CN3A

CN3C

A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6

VDD COM EM1 DI MBR EMGO SG PE LG LG MO1 MO2

Forced stop Analog monitor 2

RA1

Electromagnetic brake interlock Analog monitor 1


CN3A

13

14

15

16

9

10

11

12

17

18

19

20

5

6

7

8

3

4

1

2

Shell

CN3B

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

Shell

CN3C

B4

B3

B2

B1

A1

A2

A3

A4

B5

B6

A5

A6

TE1

LG

LG

MO1

MO2

VDD

COM

EM1

DI

MBR

EMGO

SG

PE

(3) Outline drawing

[Unit: mm]

([Unit: in])

CN3A CN3B CN3C

2- 5.3(0.21)(mounting hole)

A1

B1

TE1

88(3.47)

100(3.94)

12 - 36

A6

B6

3(0.12)

41.5(1.63)

Mass: 110g(0.24Ib)


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 Conforms to RS-232C.

Baud rate [bps]

Monitor

Alarm

Diagnostic

Parameters

Test operation

Advanced function

File operation

Others

Description

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

Digital I/O, no motor rotation, total power-on time, amplifier version info, motor information, tuning data, absolute encoder data, Axis name setting.

Parameter list, turning, change list, detailed information

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


(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 ®

Windows NT ® Workstation 4.0, Windows ®

95, Windows

2000 Professional, Windows ®

® 98, Windows ® Me,

XP Professional and Windows

XP Home Edition operates

Processor: Pentium ® 133MHz or more (Windows

Windows

Pentium

Pentium

®

®

®

2000 Professional)

150MHz or more (Windows

300MHz or more (Windows

Memory:16MB or more (Windows ® 95)

®

®

®

95, Windows

Me)

® 98, Windows NT

XP Professional, Windows ®

® Workstation 4.0,

XP Home Edition)

24MB or more (Windows

32MB or more (Windows

®

®

98)

Me, Windows NT

Free hard disk space: 60MB or more

Serial port used

® Workstation 4.0, Windows

128MB or more (Windows ® XP Professional, Windows ®

® 2000 Professional)

XP Home Edition)

®

Windows ® 95, Windows ® 98, Windows ®

(English version)

Me, Windows NT ® Workstation 4.0, Windows ® 2000 Professional

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. Note that a serial mouse is not used.


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 CN2 Servo motor

To RS-232C connector

12 - 38


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 FR-

CV 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.

Item

Maximum number of connected servo amplifiers

Total of connectable servo amplifier capacities [kW]

Total of connectable servo motor rated currents [A]

Maximum servo amplifier capacity [kW]

7.5K

3.75

33

3.5

11K

5.5

46

5

15K

7.5

61

7

FR-CV-

22K

6

11

90

11

30K

15

115

15

37K

18.5

145

15

55K

27.5

215

22

When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).

Power regeneration common converter

FR-CV-7.5K(-AT)

FR-CV-11K(-AT)

FR-CV-15K(-AT)

FR-CV-22K(-AT)

FR-CV-30K(-AT)

FR-CV-37K

FR-CV-55K

Dedicated stand-alone reactor

FR-CVL-7.5K

FR-CVL-11K

FR-CVL-15K

FR-CVL-22K

FR-CVL-30K

FR-CVL-37K

FR-CVL-55K

12 - 39



(Note 8)

Power supply

NFB

MC

(Note 1)

RA1 RA2

FR-CVL

R/L

11

S/L

21

T/L

31

R2/L

12

S2/L

22

T2/L

32

RESET

(Note 1)

EM1 OFF ON

MC

MC

SK

FR-CV

R2/L

1

S2/L

2

P/L

T2/L

3

N/L

Servo amplifier

L

L

11

21

U

V

P

(Note 6)

W

N

CN2

Servo motor

U

V

W Thermal relay 0HS2

0HS1

(Note 2)

R/L

11

S/L

21

T/MC1

P24

SD

EM1

SG

COM

EM1

(Note 1)

RA1

(Note 5)

RES

RDYB

SD

RDYA

(Note 3)

RSO

(Note 4)

SE

A

RA1 (Note 1)


B

C

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.


1

and P. (Factory-wired.)


(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]

1 or less

2

5

7

11

15

22

Wires[mm 2 ]

2

3.5

5.5

8

14

22

50

12 - 40


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.


FR-CV-7.5K TO FR-CV-15K

FR-CV-22K • FR-CV-30K

FR-CV-37K • FR-CV-55K

Grounding wire size [mm 2 ]

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.

FR-CV-55K

R2/L

1

P/L

S2/L

2

N/L

T2/L

3

R/L

11

S/L

21

T/MC1

50mm 2

Wire as short as possible.

22mm 2

Servo amplifier (15kW)

P

N

First unit:

50mm assuming that the total of servo amplifier

capacities is 27.5kW since 15kW + 7kW + 3.5kW

+ 2.0kW = 27.5kW.

22mm 2

8mm 2


P

N

(Note)

Second unit:


capacities is 15kW since 7kW + 3.5kW + 2.0kW =

12.5kW.

8mm 2

5.5mm

2

Servo amplifier (3.5kW)

P

N

(Note)

Third unit:


capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.

3.5mm

2

3.5mm

2


P

N

(Note)

Fourth unit:

3.5mm assuming that the total of servo amplifier

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 7kW: across P-C) of built-in regenerative resistor.

(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


(5) Specifications


FR-CV-

Item

Total of connectable servo amplifier capacities [kW]

Maximum servo amplifier capacity [kW]

Output

Power supply

Protective structure (JEM 1030), cooling system

Environment

Total of connectable servo motor rated currents [A]

Regenerative braking torque

Short-time rating

Continuous rating

Rated input AC voltage/frequency

Permissible AC voltage fluctuation

Permissible frequency fluctuation

Power supply capacity (Note 2) [kVA]

Ambient temperature

Ambient humidity

Ambience

Altitude, vibration

No-fuse breaker or leakage current breaker

7.5K

3.75

3.5

33

11K

5.5

5

46

15K

7.5

7

61

22K

11

11

90

100% torque

30K

15

15

115

37K

18.5

15

145

55K

27.5

22

215

Total capacity of applicable servo motors, 300% torque, 60s (Note 1)

17

Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz

Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz

20 28

5%

41 52

Open type (IP00), forced cooling

66 100

10 to 50 (14 to 122 )(non-freezing)


Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt)

1000m or less above sea level, 5.9m/s 2 or less

30AF

30A

S-N20

50AF

50A

S-N35

100AF

75A

S-N50

100AF

100A

S-N65

225AF

125A

S-N95

225AF

125A

225AF

175A

S-N95 S-N125 Magnetic contactor

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


12.1.10 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

D

4-M10 Screw

[Unit: mm(in)]

Changeable dimension

Model

MR-JACN15K

MR-JACN22K

A B C D

236

(9.291)

326

(12.835)

255

(10.039)

345

(13.583)

270

(10.63)

360

(14.173)

203

(7.992)

290

(11.417)

Servo amplifier

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

Punched hole

A

B

C

(2) How to assemble the attachment for a heat sink outside mounting attachment

Screw

(2 places)

Attachment

MR-JACN15K

Screw

(4 places)

Attachment

MR-JACN22K

12 - 43


(3) Fitting method

Attachment

Fit using the assembling screws.

Attachment

Servo amplifier

Servo amplifier

Punched hole

Control box a. Assembling the heat sink outside mounting attachment

(4) Outline dimension drawing

(a) MR-JACN15K (MR-J2S-11KB, MR-J2S-15KB) b. Installation to the control box

20 (0.787)

Panel

Servo amplifier

Attachment

Attachment

Servo amplifier

236 (9.291)

280 (11.024)

260 (10.236)

4- 12

Mounting hole

Panel

3.2 (0.126)

155 (6.102) 105

260

(4.134)

(10.236)

11.5

(0.453)

12 - 44


(b) MR-JACN22K (MR-J2S-22KB)

68(2.677)

Panel

Servo amplifier

326(12.835)

370(14.567)

350(13.78)

Attachment

Servo amplifier

Attachment

4- 12

Mounting hole

Panel

3.2(0.126)

155(6.102) 105 11.5

260

(4.134) (0.453)

(10.236)

12 - 45


12.2 Auxiliary equipment

Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-

UL (CSA) Standard, use the products which conform to the corresponding standard.

12.2.1 Recommended wires

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

1) Main circuit power supply lead 3) Motor power supply lead

Servo amplifier Servo motor

Power supply

L

1

L

2

L

3

U

V

W

U

V

W Motor

4) Power regeneration

converter lead

2) Control power supply lead

L

11

L

21

5) Electromagnetic

brake lead


Regenerative option

N

C

P

4) Regenerative option lead

Encoder cable

(refer to section 12.1.4)

Power supply

B1

B2


Encoder

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


Table 12.1 Recommended wires

Servo amplifier

1) L

1

L

2

L

3

(Note 1) Wires [mm 2 ]

2) L

11

L

21

3) U V W P

1

P 4) P C N

MR-J2S-10B(1)

MR-J2S-20B(1)

MR-J2S-40B(1)

MR-J2S-60B

MR-J2S-70B

MR-J2S-100B

MR-J2S-200B

2 (AWG14) : a

1.25 (AWG16) : a

MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

3.5 (AWG12) : b

5.5 (AWG10) : b

8 (AWG8) : c

14 (AWG6) :d

22 (AWG4) :e

50 (AWG1/0) :g

1.25

(AWG16)

2 (AWG14) : a

3.5 (AWG12) : b

(Note 2)

5.5 (AWG10) : b

5.5 (AWG10) : b

8 (AWG8) : c

22 (AWG4) :e

30 (AWG2) :f

60 (AWG2/0) :g

Note 1. For the crimping terminals and applicable tools, see the table 12.2.

2. 3.5mm

2 for use of the HC-RFS203 servo motor.

2 (AWG14) : a

3.5(AWG12): b

5.5(AWG10): b

5) B1 B2

1.25 (AWG16)

6) BU BV BW

2(AWG14)

Use wires 6) of the following sizes with the power regeneration converter (FR-RC).

Model

FR-RC-15K

FR-RC-30K

FR-RC-55K

Wires[mm 2 ]

14(AWG6)

14(AWG6)

22(AWG4)

Table 12.2 Recommended crimping terminals

Symbol a b

(Note 1 2) f c d e g

Servo amplifier side crimping terminals

Crimping terminal Applicable tool Manufacturer name

32959

FVD5.5-4

FVD8-5

FVD14-6

FVD22-6

38-S6

R38-6S

(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


(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Type Model

Length

[m(ft)]

Encoder cable

MR-JCCBL M-L

MR-JCCBL M-H

MR-JHSCBL M-L

MR-JHSCBL M-H

MR-ENCBL 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 cable

MR-CPCATCBL3M 3 (9.84)

Bus cable

MR-J2HBUS M

MR-J2HBUS M-A

Q172J2BCBL M(-B)

Q173J2B CBL M

0.5 to 5

(1.64 to 16.4)

Note 1. d is as shown below.

Table 12.3 Wires for option cables

Core size

[mm 2 ]

Number of Cores

Structure

[Wires/mm]

Characteristics of one core

Conductor resistance[ /mm]

Insulation coating

ODd[mm] (Note 1)

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)

8

(4 pairs)

12

(6 pairs)

8

(4 pairs)

12

(6 pairs)

6

(3 pairs)

12

(6 pairs)

12

(6 pairs)

12

(6 pairs)

14

(7 pairs)

8

(4 pairs)

20

(10 pairs)

14

(7 pairs)

7/0.127

12/0.18

40/0.08

40/0.08

7/0.127

12/0.18

40/0.08

40/0.08

40/0.08

40/0.08

7/0.127

7/0.127

222

62

105

105

222

62

105

105

105

105

222

222

0.38

1.2

0.88

0.88

0.38

1.2

0.88

0.88

0.88

0.88

0.38

0.38

d

(Note 3)

Finishing

OD [mm]

5.6

8.2

7.2

8.0

4.7

8.2

6.5

7.2

6.5

7.2

4.6

6.1

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)

Conductor Insulation sheath

2. Purchased from Toa Electric Industry

3. Standard OD. Max. OD is about 10% greater.

12 - 48


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

Fuse

Class Current [A] Voltage AC[V]

MR-J2S-10B(1)

MR-J2S-20B

30A frame 5A

30A frame 5A

K5

K5

MR-J2S-40B 20B1 30A frame 10A

MR-J2S-60B 40B1 30A frame 15A

MR-J2S-70B

MR-J2S-100B

30A frame 15A

30A frame 15A

MR-J2S-200B

MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

30A frame 20A

30A frame 30A

K5

K5

50A frame 50A K5

100A frame 75A K5

100A frame 100A K5

K5

K5

K5

K5

MR-J2S-15KB

MR-J2S-22KB

225A frame 125A K5

225A frame 175A K5

10

10

15

20

20

25

40

70

125

150

200

250

350

250

Magnetic contactor

S-N10

S-N18

S-N20

S-N35

S-N50

S-N65

S-N95

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] Servo amplifier

NFB

MC

R

FR-BAL

X

MR-J2S- B

L

1

3-phase

200 to 230V

S Y

L 2

T Z

L 3

W D1

Installation screw

(Note)

1-phase

230V

NFB MC

R

FR-BAL

S

X

Y

Servo amplifier

MR-J2S- B

L

1

L

2

R X S Y T Z

T Z

C W1

1-phase

100 to 120V

NFB

MC

R

FR-BAL

S

X

Y

L

3

Servo amplifier

MR-J2S- B1

L

1

L

2

T Z

Note. For the 1-phase 230V power supply, Connect the power supply to L

1

, L

2

and leave L

3

open.

Servo amplifier Model

W W1

Dimensions [mm (in) ]

H D D1 C

MR-J2S-10B(1)/20B

MR-J2S-40B/20B1

FR-BAL-0.4K

135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 45 0

-2.5

(1.77

0

-0.098

) 7.5 (0.29)

FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57 0

-2.5

(2.24

0

-0.098

) 7.5 (0.29)

MR-J2S-60B/70B/40B1 FR-BAL-1.5K

160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79) 55 0

-2.5

(2.17

0

-0.098

) 7.5 (0.29)

MR-J2S-100B

MR-J2S-200B

FR-BAL-2.2K

160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58) 75 0

-2.5

(2.95

0

-0.098

) 7.5 (0.29)

FR-BAL-3.7K

220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54) 70 0

-2.5

(2.76

0

-0.098

) 10 (0.39)

MR-J2S-350B

MR-J2S-500B

FR-BAL-7.5K

220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72) 100 0

-2.5

(3.94

0

-0.098

) 10 (0.39)

FR-BAL-11K 280 (11.02) 255 (10.04) 220 (8.66) 135 (5.31) 100 0

-2.5

(3.94

0

-0.098

) 12.5 (0.49)

MR-J2S-700B/11KB FR-BAL-15K 295 (11.61) 270 (10.62) 275 (10.83) 133 (5.24) 110 0

-2.5

(4.33

0

-0.098

) 12.5 (0.49)

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)

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)

Mounting screw size

Terminal screw size

M5

M5

M6

M6

M8

M4

M4

M4

M4

M8

M3.5

M3.5

M3.5

M3.5

M4

M5

M6

M6

M8

M8

Mass

[kg (lb)]

2.0 (4.4)

2.8 (6.17)

3.7 (8.16)

5.6 (12.35)

8.5 (18.74)

14.5 (32.0)

19 (41.9)

27 (59.5)

35 (77.16)

43 (94.79)

12 - 49


12.2.4 Power factor improving DC reactors

The input power factor is improved to be about 95%.

(Note 1) Terminal cover

Screw size G

Rating plate

E

A or less

2-F L

Notch

H

B or less

F

Mounting foot part

FR-BEL

5m or less

P

Servo amplifier

(Note2)

P

1

Note 1. Fit the supplied terminal cover after wiring.

2. When using the DC reactor, remove the short-circuit bar across P

1

-P.

Servo amplifier

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

Power factor improving DC reactors

A B C

Dimensions [mm (in) ]

D E F L G H

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)

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)

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)

Terminal screw size

M5

M6

M6

Mass

[kg (lb)]

Used wire

[mm

2

]

3.8(8.38) 22(AWG4)

5.4(11.91) 30(AWG2)

6.7(14.77) 60(AWG1/0)

12 - 50


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.

Permissible circuit voltage

Maximum rating

Surge immunity

Energy immunity

AC[Vma] DC[V]

140 180

[A]

(Note)

500/time

[J]

5

Note. 1 time 8 20 s

Rated power

[W]

0.4

Maximum limit voltage

[A]

25

[V]

360

(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)

Static capacity

(reference value)

[pF]

300

Varistor voltage rating (range) V1mA

[V]

220

(198 to 242)

0.8 (0.03)

Vinyl tube

Crimping terminal for M4 screw

12 - 51


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


(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

Routes 4) and 5)

Route 3)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Route 6)

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Route 7)

Route 8)

5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor

power

supply

Sensor

8)

3)

Servo motor M

12 - 53


Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. 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.

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.

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.

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.

[Unit: mm]([Unit: in.])

Impedance[ ]

10 to 100MHz

80

100 to 500MHz

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


(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

Rated voltage

AC[V]

200

C [ F] R [ ] Test voltage AC[V]

0.5

50

(1W)

Across

T-C 1000(1 to 5s)

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.])

Vinyl sheath

Blue vinyl cord Red vinyl cord

6(0.24)

18 1.5

(0.71 0.06)

10 3

(0.39

0.12)

10(0.39)or less 10(0.39)or less

200(7.87) or more

15 1(0.59 0.04)

48 1.5

(1.89 0.06)

200(7.87) or more

10 3

(0.39

0.15)

4(0.16)

31(1.22)

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

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.

Strip the cable sheath of the clamped area.

Cable clamp

(A,B)

Cable

Earth plate cutter cable

12 - 55

External conductor

Clamp section diagram


Outline drawing

Earth plate

2- 5(0.20) hole installation hole

17.5(0.69)

[Unit: mm]

([Unit: in.])

Clamp section diagram

L or less 10(0.39)

0 0.

(Note)M4 screw

6

(0.24) 35(1.38)

22(0.87)

Note. Screw hole for grounding. Connect it to the earth plate of the control box.

Type

AERSBAN-DSET

AERSBAN-ESET

A

100

(3.94)

70

(2.76)

B

86

(3.39)

56

(2.20)

C

30

(1.18)

Accessory fittings clamp A: 2pcs.

clamp B: 1pc.

Clamp fitting

A

B

L

70

(2.76)

45

(1.77)

12 - 56


(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

Use the line noise filters for wires of the main power supply

(L

1

L

2

L

3

) 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.

Example 1

NFB MC

Servo amplifier

Power supply

L

1

L

2

Line noise filter

L

(Number of turns: 4)

3

Example 2

NFB MC

Servo amplifier

Power supply

L

1

L

2

Line noise filter

L

3

Two filters are used

(Total number of turns: 4)

Outline drawing [Unit: mm] ([Unit: in.])

FR-BSF01(for MR-J2S-200B or less)

Approx.110(4.33)

95 0.5(3.74 0.02) 2- 5(0.20)

Approx.65 (2.56)

33(1.30)

FR-BLF(MR-J2S-350B or more)

7(0.28)

130(5.12)

85(3.35)

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

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.

NFB MC Servo amplifier

Power supply

L

1

L

2

L

3

Outline drawing (Unit: mm) ([Unit: in.])

Leakage current: 4mA

Red White Blue Green

29 (1.14)

5 (0.20) hole

Radio noise filter FR-BIF

58 (2.28) 29 (1.14)

44 (1.73)

7 (0.28)

12 - 57


(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.

Varistor

Maximum rating

Permissible circuit voltage

Surge current immunity

Energy immunity

AC[V rms

] DC[V]

TND20V-431K 275

TND20V-471K 300

350

385

8/20 s[A]

10000/1 time

7000/2 time

2ms[J]

195

215

Rated pulse power

[W]

1.0

Maximum limit voltage

[A] [V]

Static capacity

(reference value)

[pF]

100

710

775

1300

1200

Varistor voltage rating (range)

V1mA

[V]

430(387 to 473)

470(423 to 517)

D T Model

TND20V-431K

TND20V-471K

D

Max.

21.5

H

Max.

24.5

T

Max.

6.4

6.6

E

1.0

3.3

3.5

(Note)L min.

20

Note. For special purpose items for lead length (L), contact the manufacturer.

d

0.05

0.8

[Unit: mm]

W

1.0

10.0

W

d

E

12 - 58


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)

Cable

NV

Noise filter

Ig1 Ign

Servo amplifier

Iga

Cable

Ig2

M

Igm

K: Constant considering the harmonic contents

Leakage current breaker

Type

Mitsubishi products

Models provided with harmonic and surge reduction techniques

General models

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

BV-C1

NFB

NV-L

K

1

3

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 12.1.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 12.1.)

Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)

Iga: Leakage current of the servo amplifier (Found from Table 12.5.)

Igm: Leakage current of the servo motor (Found from Table 12.4.)

120

100

80

60

40

[mA]

20

0

2 3.5

5.5

8 1422 38 80 150

30 60 100

Cable size[mm 2 ]

Fig. 12.1 Leakage current example

(Ig1, Ig2) for CV cable run

in metal conduit

Table 12.4 Servo motor's leakage current example (Igm)

Servo motor output [kW]

0.05 to 0.5

0.6 to 1.0

1.2 to 2.2

3 to 3.5

5

7

11

15

22

Leakage current [mA]

0.1

0.1

0.2

0.3

0.5

0.7

1.0

1.3

2.3

Table 12.5 Servo amplifier's leakage current example (Iga)

Servo amplifier capacity [kW]

Leakage current

[mA]

0.1 to 0.6

0.7 to 3.5

5 7

11 15

22

Servo amplifier

0.1

0.15

2

5.5

7

Table 12.6 Leakage circuit breaker selection example

Rated sensitivity current of leakage circuit breaker [mA]



MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB to MR-J2S-22KB

15

30

50

100

12 - 59


(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions.

2mm 2 5m 2mm 2 5m

NV

Servo amplifier

MR-J2S-60B

M

Servo motor

HC-MFS73

Ig1 Iga 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 NV-

SP/CP/SW/CW/HW series.

12 - 60


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

Servo amplifier

Model

Recommended filter

Leakage current [mA]

Mass

[kg]([Ib])



MR-J2S-200B MR-J2S-350B

MR-J2S-500B

MR-J2S-700B

MR-J2S-11KB

MR-J2S-15KB

MR-J2S-22KB

(Note)

SF1252

SF1253

HF3040A-TM

(Note) HF3050A-TM

(Note) HF3060A-TMA

(Note) HF3080A-TMA

(Note) HF3100A-TMA

38

57

1.5

1.5

3.0

3.0

3.0

0.75(1.65)

1.37(3.02)

6.0(13.23)

6.7(14.77)

10.0(22.05)

13.0(28.66)

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.)


(Note 1)

Power supply

NFB

EMC filter

(SF1252, SF1253)

LINE LOAD

L

1

L

1

L

2

L

3

L

L

2

3

(Note 2)

MC

Servo amplifier

L

1

L

2

(Note 1)

Power supply

L

3

L

11

L

21

NFB

EMC filter

(SOSHIN Electric Co., Ltd)

1

2

3

1

2

3

4

5

6

E

MC

Servo amplifier

L

1

L

2

L

3

L

11

L

21

Surge protector 1

(RAV-781BYZ-2)

(OKAYA Electric Industries

Co., Ltd.)

1 2 3

Surge protector 2

(RAV-781BXZ-4)

(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 230V power supply, connect the power supply to L

1

, L

2

and leave L

3

open. There is no L

3

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


(3) Outline drawing

(a) EMC filter

SF1252

149.5(5.886)

L1

L2

L3

6.0(0.236)

LINE

(input side)

SF1253

209.5(8.248)

L1

L2

L3

[Unit: mm(in)]

6.0(0.236)

LINE

(input side)

L1'

L2'

L3'

LOAD

(output side)

8.5

(0.335)

42.0

(1.654)

16.0(0.63)

HF3040A-TM HF3050A-TM HF3060A-TMA

6-K

3-L 3-L

L1'

L2'

L3'

LOAD

(output side)

8.5

(0.335)

23.0(0.906)

49.0

(1.929)

M

C 1

B 2

A 5

C 1

H 2

J 2

Model

HF3040A-TM

HF3050A-TM

HF3060A-TMA

A

260

(10.24)

290

(11.42)

290

(11.42)

B

210

(8.27)

240

(9.45)

240

(9.45)

C

85

(8.35)

100

(3.94)

100

(3.94)

D

155

(6.10)

190

(7.48)

190

(7.48)

E

140

(5.51)

Dimensions [mm(in)]

F G

125

(4.92)

44

(1.73)

H

140

(5.51)

175

(6.89)

175

(6.89)

160

(6.29)

160

(6.29)

44

(1.73)

44

(1.73)

170

(6.69)

230

(9.06)

J

70

(2.76)

100

(3.94)

160

(6.29)

K

R3.25

(0.128), length

8 (0.32)

L

M5

M6

M6

M

M4

M4

M4

12 - 62


HF3080A-TMA HF3100A-TMA

8-K

3-L 3-L

M

C 1 C 1

B 2

A 5

C 1

H 2

J 2

Model

A B C

HF3080A-TMA

HF3100A-TMA

405

(15.95)

350

(13.78)

100

(3.94)

D

220

(8.66)

E

Dimensions [mm(in)]

F G

200

(7.87)

180

(7.09)

56

(2.21)

H

210

(8.27)

J

135

(5.32)

K

R4.25

(0.167), length

12(0.472)

L

M8

M

M6

12 - 63


(b) Surge protector

RAV-781BYZ-2

4.2 0.2

[Unit: mm]

1) 2)

Black Black

3)

Black

30 0

UL-1015AWG16

1 2 3

4.2 0.2

41 1.0

RAV-781BXZ-4

[Unit: mm]

1) 2) 3) 4)

1 2 3

41 1.0

30 0

UL-1015AWG16

12 - 64

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 system controller Servo amplifier

Position data

Current position

Home position data

LS0

CYC0

Battery MR-BAT

Servo motor

1 pulse/rev accumulative revolution counter

Super capacitor

Within one-revolution counter

Detecting the number of revolutions

Detecting the position within one revolution

High speed serial communication

13 - 1


13.2 Specifications

(1) Specification list

System

Battery

Item

Maximum revolution range

(Note 1) Maximum speed at power failure

(Note 2) Battery backup time

(Note 3) Data holding time during battery replacement

Battery storage period

500r/min

Description

Electronic battery backup system

1 piece of lithium battery ( primary battery, nominal 3.6V)

Type: MR-BAT or A6BAT

Home position 32767 rev.

Approx. 10,000 hours (battery life with power off)

2 hours at delivery, 1 hour in 5 years after delivery

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

Battery (MR-BAT)

Servo motor


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


13.3 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

Operation window

Battery connector

CON1

CON1

Battery Battery holder

For MR-J2S-200B or less

Battery connector

CON1

Battery

Battery holder

For MR-J2S-200B MR-J2S-350B

CON1

Battery holder

Battery holder Battery

For MR-J2S-500B MR-J2S-700B

13 - 3

Battery connector

Battery

For MR-J2S-11KB or more


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

HC-KFS053

HC-KFS13

HC-KFS23

HC-KFS43

HC-KFS73

HC-MFS053

HC-MFS13

HC-MFS23

HC-MFS43

HC-MFS73

HC-SFS81

HC-SFS121

HC-SFS201

HC-SFS301

HC-SFS52

HC-SFS102

HC-SFS152

HC-SFS202

HC-SFS352

HC-SFS502

HC-SFS702

HC-SFS53

HC-SFS103

HC-SFS153

HC-SFS203

HC-SFS353

Servo amplifier

(Software version)

MR-J2S-10B

MR-J2S-10B1

MR-J2S-10B

MR-J2S-10B1

MR-J2S-20B

MR-J2S-20B1

MR-J2S-40B

MR-J2S-40B1

MR-J2S-70B (Version A3 or later)

MR-J2S-10B

MR-J2S-10B1

MR-J2S-10B

MR-J2S-10B1

MR-J2S-20B

MR-J2S-20B1

MR-J2S-40B

MR-J2S-40B1

MR-J2S-70B

MR-J2S-100B

MR-J2S-200B

MR-J2S-200B

MR-J2S-350B

MR-J2S-60B

MR-J2S-100B

MR-J2S-200B

MR-J2S-200B

MR-J2S-350B

MR-J2S-500B (Version B0 or later)


MR-J2S-60B

MR-J2S-100B

MR-J2S-200B

MR-J2S-200B

MR-J2S-350B

Servo motor

HC-RFS103

HC-RFS153

HC-RFS203

HC-RFS353

HC-RFS503

HC-UFS72

HC-UFS152

HC-UFS202

HC-UFS352

HC-UFS502

HC-UFS13

Servo amplifier

(Software version)

MR-J2S-200B

MR-J2S-200B




MR-J2S-70B

MR-J2S-200B




MR-J2S-10B

MR-J2S-10B1

HC-UFS23

HC-UFS43

HC-UFS73

HC-LFS52

HC-LFS102

HC-LFS152

HC-LFS202

HC-LFS302

MR-J2S-20B

MR-J2S-20B1

MR-J2S-40B

MR-J2S-40B1

MR-J2S-70B






HA-LFS801

HA-LFS12K1

HA-LFS15K1

HA-LFS20K1

HA-LFS25K1

MR-J2S-11KB (Version A3 or later)





HA-LFS11K1M MR-J2S-11KB (Version A4 or later)

HA-LFS15K1M MR-J2S-15KB (Version A3 or later)

HA-LFS502

HA-LFS702



HA-LFS11K2

HA-LFS15K2

HA-LFS22K2




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

MR-J2CNM

MR-J2CN1

MR-J2CNS

MR-ENCBL M-H

MR-ENCNS

MR-PWCNS1

MR-PWCNS2

MR-PWCNS3

MR-BKCN

MR-J2CN1-A

Current Product

Amplifier connector (3M or equivalent)

10120-3000VE (connector)



Encoder connector (DDK)

MS3057-12A (Cable clump)

MS3106B20-29S (Straight plug)



MS3106A20-29S (D190) (Plug, DDK)

CE3057-12A-3 (D265) (Cable clump, DDK)

CE02-20BS-S (Back shell, DDK)

Power supply connector (DDK)

CE05-6A22-23SD-B-BSS (Connector and back shell)

CE3057-12A-2 (D265) (Cable clump)








MS3106A10SL-4S (D190) (Plug, DDK)

Controller connector (Honda Tsushin Industry)



10120-3000VE (Connector)

Note. RoHS compatible 36210-0100FD may be packed with current connector sets.

RoHS Compatible Product


10120-3000PE (connector)



Encoder connector (DDK)

D/MS3057-12A (Cable clump)

D/MS3106B20-29S (Straight plug)



D/MS3106A20-29S (D190) (Plug, DDK)

CE3057-12A-3-D (Cable clump, DDK)

CE02-20BS-S-D (Back shell, DDK)


CE05-6A22-23SD-D-BSS (Connector and back shell)

CE3057-12A-2-D (Cable clump)





CE05-6A32-17SD-D-BSS (Connector and back shell)



D/MS3106A10SL-4S (D190) (Plug, DDK)

Controller connector (Honda Tsushin Industry)



10120-3000PE (Connector)

App - 2

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Data *Manual Number Revision

Sep., 2000 SH(NA)030007-A First edition

Jan., 2001 SH(NA)030007-B Servo amplifier: Addition of MR-J2S-500B and MR-J2S-700B

Servo motor: Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353,

HC-RFS503, HC-UFS502 and HC-UFS352

Section 1.4: Addition of brake unit and regeneration converter

Section 1.7: Overall reexamination

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 12.1.4: 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 3.6.3: Addition of Note

Section 3.9: Reexamination of contents

Section 3.12: Addition


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 12.1.7 (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

(2.8m

3 /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 CE05-

2A32-17PD-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


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 M

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 12.2.9 (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”


Jan., 2006 SH(NA)030007-F Correction of “Thermal protector” to “Thermal sensor”

Safety Instructions: Addition of 4.(2) CAUTION sentence

Safety Instructions: Addition of 4.(4) CAUTION sentence

FOR MAXIMUM SAFETY: Sentence addition

EEP-ROM life: Sentence addition

Section 1.2 (1): Correction of error in writing



Section 1.5 (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 1.8 (1): Note 2. Sentence reexamination

Section 1.8 (1): 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 3.12.3: 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


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


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 3.5.2: Addition of sentence

Section 3.6.2: Addition of CAUTION sentence

Section 3.7 (3) (a): Change of timing chart


Nov., 2007 SH(NA)030007-G Section 3.8: Change of power supply notation

Section 3.12: Addition and change of CAUTION sentence

Section 3.12.1: Addition of Note sentence

Section 5.1: Addition of item and change of parameter No. in table

Section 5.2 (1): Correction of error in writing of initial value for parameter

No.17

Correction of error in writing of name for parameter No.52




Section 5.2 (2): Correction of error in writing of name for parameter No.14



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


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

MODEL

MR-J2S-B GIJUTU SIRYOU

MODEL

CODE

1CW502

SH (NA) 030007-G (0711) MEE Printed in Japan

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

General-Purpose AC Servo

J2-Super

Series

SSCNET Compatible

MODEL

MR-J2S- B

SERVO AMPLIFIER

INSTRUCTION MANUAL

G