Bose MR-J2S- B Stereo Amplifier User Manual

General-Purpose AC Servo
J2-Super Series
SSCNET Compatible
MR-J2S- B
Servo Amplifier
Instruction Manual
B
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, always keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
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.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake 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.
During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo
amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you
may get burnt or a parts may dameged.
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 motor by the cables, shaft or encoder.
Do not hold the front cover to transport the controller. The controller 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 controller 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.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Use the servo amplifier and servo motor under the following environmental conditions:
Environment
Ambient
temperature
Ambient
humidity
Ambience
Altitude
Operation
Storage
[
[
[
[
Operation
Storage
[m/s2]
Vibration
[ft/s2]
]
]
]
]
Conditions
Servo amplifier
Servo motor
0 to 55 (non-freezing)
0 to 40 (non-freezing)
32 to 131 (non-freezing)
32 to 104 (non-freezing)
20 to 65 (non-freezing)
15 to 70 (non-freezing)
4 to 149 (non-freezing)
5 to 158 (non-freezing)
90%RH or less (non-condensing)
80%RH or less (non-condensing)
90%RH or less (non-condensing)
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series
X Y : 49
HC-UFS13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153
X Y : 24.5
HC-RFS Series
5.9 or less
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352
X : 24.5
Y : 49
HC-SFS203 353
HC-UFS202 to 502
HC-SFS301
X : 24.5
HC-SFS502 to 702
Y : 29.4
HC-KFS Series
X Y : 161
HC-MFS Series
HC-UFS 13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153
X Y : 80
HC-RFS Series
19.4 or less
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352
X : 80
HC-SFS203 353
Y : 161
HC-UFS202 to 502
HC-SFS301
X : 80
HC-SFS502 to 702
Y : 96
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.
For safety of personnel, always cover rotating and moving parts.
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.
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 must be wired in the specified direction.
Otherwise, the forced stop and other protective circuits may not operate.
Servo
Amplifier
Servo
Amplifier
COM
(24VDC)
COM
(24VDC)
Control
output
signal
Control
output
signal
RA
RA
(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.
A- 4
(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 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.
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 ballscrew 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 servo amplifier signals
but also by a forced stop signal.
Contacts must be open when
servo-on signal is off, when an
alarm (trouble) is present and when
an electromagnetic brake signal.
Circuit must be
opened during
forced stop signal.
Servo motor
RA EM1
24VDC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
A- 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor 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) Disposal
CAUTION
Dispose of the product as general industrial waste.
(8) 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.
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).
This servo is certified by TUV, third-party assessment organization, to comply with the EMC directive
in the conforming methods of the EMC Installation Guidelines.
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier
Servo motor
:MR-J2S-10B to MR-J2S-700B
MR-J2S-10B1 to MR-J2S-40B1
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
(2) Configuration
Control box
Reinforced
insulating type
Reinforced
insulating
transformer
No-fuse
breaker
Magnetic
contactor
NFB
MC
24VDC
power
supply
Servo
amplifier
Servo
motor
SM
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. 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 to meet the requirements of the overvoltage category II set forth in
IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN
standard should be used in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked
servo amplifier to the protective earth (PE) of the control box.
) of the
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) When the servo motor has a power supply lead, use a fixed terminal block to connect it with the
servo amplifier. Do not connect cables directly.
Terminal block
A- 8
(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. The radio noise filter (FR-BIF) is not required.
(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- 9
CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier
Servo motor
:MR-J2S-10B to MR-J2S-700B
MR-J2S-10B1 to MR-J2S-40B1
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
(2) Installation
Install a fan of 100CFM air flow 10.16 cm (4 in) 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
Discharge time
[min]
1
2
3
5
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MRJ2S-B safely.
Also read the manual of the servo system controller.
Relevant manuals
Manual name
Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely
(Packed with the servo amplifier)
MELSERVO Servo Motor Instruction Manual
EMC Installation Guidelines
A - 10
IB(NA)0300010
SH(NA)3181
IB(NA)67310
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-18
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ................................................................................................ 1- 3
1.4 Function list ............................................................................................................................................. 1- 4
1.5 Model code definition .............................................................................................................................. 1- 5
1.6 Combination with servo motor............................................................................................................... 1- 6
1.7 Structure................................................................................................................................................... 1- 7
1.7.1 Parts identification ........................................................................................................................... 1- 7
1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-11
1.8 Servo system with auxiliary equipment............................................................................................... 1-13
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 3-26
3.1 Connection example of control signal system ....................................................................................... 3- 2
3.2 I/O signals................................................................................................................................................. 3- 4
3.2.1 Connectors and signal arrangements............................................................................................. 3- 4
3.2.2 Signal explanations .......................................................................................................................... 3- 5
3.3 Alarm occurrence timing chart .............................................................................................................. 3- 6
3.4 Interfaces.................................................................................................................................................. 3- 7
3.4.1 Common line ..................................................................................................................................... 3- 7
3.4.2 Detailed description of the interfaces ............................................................................................. 3- 8
3.5 Power line circuit.................................................................................................................................... 3-11
3.5.1 Connection example......................................................................................................................... 3-11
3.5.2 Terminals.......................................................................................................................................... 3-13
3.5.3 Power-on sequence........................................................................................................................... 3-14
3.6 Connection of servo amplifier and servo motor ................................................................................... 3-15
3.6.1 Connection instructions .................................................................................................................. 3-15
3.6.2 Connection diagram......................................................................................................................... 3-15
3.6.3 I/O terminals .................................................................................................................................... 3-17
3.7 Servo motor with electromagnetic brake ............................................................................................. 3-19
3.8 Grounding................................................................................................................................................ 3-22
3.9 Servo amplifier terminal block (TE2) wiring method ......................................................................... 3-23
3.10 Instructions for the 3M connector....................................................................................................... 3-24
3.11 Control axis selection ........................................................................................................................... 3-25
4. OPERATION AND DISPLAY
4- 1 to 4- 8
4.1 When switching power on for the first time.......................................................................................... 4- 1
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 5-18
5.1 Parameter write inhibit .......................................................................................................................... 5- 1
5.2 Lists........................................................................................................................................................... 5- 1
5.3 Analog output.......................................................................................................................................... 5-11
5.4 Replacement of MR-J2- B by MR-J2S- B ....................................................................................... 5-14
5.4.1 Main modifications made to the parameters ................................................................................ 5-14
5.4.2 Explanation of the modified parameters....................................................................................... 5-15
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 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- 4
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
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- 7
10. OUTLINE DIMENSION DRAWINGS
10- 1 to 10- 8
10.1 Servo amplifiers................................................................................................................................... 10- 1
10.2 Connectors............................................................................................................................................ 10- 6
2
11. CHARACTERISTICS
11- 1 to 11- 8
11.1 Overload protection characteristics ................................................................................................... 11- 1
11.2 Power supply equipment capacity and generated loss .................................................................... 11- 3
11.3 Dynamic brake characteristics........................................................................................................... 11- 5
11.4 Encoder cable flexing life .................................................................................................................... 11- 7
12. OPTIONS AND AUXILIARY EQUIPMENT
12- 1 to 12-36
12.1 Options.................................................................................................................................................. 12- 1
12.1.1 Regenerative brake options ......................................................................................................... 12- 1
12.1.2 Brake unit...................................................................................................................................... 12- 7
12.1.3 Power return converter ................................................................................................................ 12- 9
12.1.4 Cables and connectors................................................................................................................. 12-12
12.1.5 Maintenance junction card (MR-J2CN3TM) ............................................................................ 12-21
12.1.6 Battery (MR-BAT, A6BAT)......................................................................................................... 12-22
12.1.7 Servo configurations software .................................................................................................... 12-23
12.2 Auxiliary equipment .......................................................................................................................... 12-24
12.2.1 Recommended wires .................................................................................................................... 12-24
12.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 12-26
12.2.3 Power factor improving reactors ................................................................................................ 12-26
12.2.4 Relays............................................................................................................................................ 12-27
12.2.5 Surge absorbers ........................................................................................................................... 12-27
12.2.6 Noise reduction techniques......................................................................................................... 12-27
12.2.7 Leakage current breaker............................................................................................................. 12-33
12.2.8 EMC filter..................................................................................................................................... 12-35
13. ABSOLUTE POSITION DETECTION SYSTEM
13- 1 to 13- 4
13.1 Features................................................................................................................................................ 13- 1
13.2 Specifications ....................................................................................................................................... 13- 2
13.3 Battery installation procedure ........................................................................................................... 13- 3
13.4 Confirmation of absolute position detection data............................................................................. 13- 4
3
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
4
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2
series and has further higher performance and higher functions.
It is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo
amplifier reads position data directly to perform operation.
Data from a command unit controls the speed and rotation direction of the servo motor and executes
precision positioning.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the
main circuit from overcurrent due to sudden acceleration/deceleration or overload. The torque limit value
can be changed to any value with an external analog input or the parameter.
As this new series has the RS-232C serial communication function, a servo configuration softwareinstalled personal computer or the like can be used to perform parameter setting, test operation, status
display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
1- 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
Regenerative brake option
(Note 3)
Servo amplifier
C
Servo motor
D
(Note 1)
DS
RA
L1
Regenerative
brake
transistor
L2
L3
Current
detector
V
V
W
W
SM
Dynamic
brake
(MR-J2S-200B or more)
L21
U
CHARGE
lamp
Fan
L11
U
E1
Control
power
supply
Regenerative
brake
E2
Base amplifier
Voltage
detection
Overcurrent
protection
Electromagnetic
brake
CN2
MC
Current
detection
Encoder
Position command
input
Model position
control
Virtual
encoder
Model speed
control
Virtual
motor
Model
position
Actual position
control
Model
speed
Model torque
Actual speed
control
Current
control
CON1
(Note 2)
NFB
Power
supply
3-phase
200 to
230VAC,
1-phase
230VAC or
1-phase
100to120VAC
P
I/F Control
RS-232C
CN1A
CN1B
Controller
or
Servo amplifier
Servo amplifier
or
termination
connector
D/A
Optional battery
(for absolute position)
CN3
Analog monitor
(2 channels)
Personal computer
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10B(1).
2. For 1-phase 230VAC, connect the power supply to L1,L2 and leave L3 open.
L3 is not provided for a 1-phase 100to120VAC power supply.
3. For MR-J2S-350B or less.
1- 2
MR-BAT
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Servo Amplifier
MR-J2S-
10B
20B
40B
60B
70B
100B
200B 350B
500B
700B 10B1 20B1 40B1
Power supply
Item
Voltage/frequency
3-phase 200 to 230VAC, 50/60Hz or
3-phase 200 to 230VAC, 50/60Hz
1-phase 230VAC, 50/60Hz
1-phase 100 to
120VAC 50/60Hz
Permissible voltage
fluctuation
3-phase 200 to 230VAC:170
to 253VAC
1-phase 230VAC: 207 to 253VAC
1-phase
85 to 127VAC
3-phase 170 to 253VAC
Permissible frequency
fluctuation
Within 5%
Power supply capacity
Refer to Section 11.2
System
Sine-wave PWM control, current control system
Dynamic brake
Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal
relay), servo motor overheat protection, encoder fault protection, regenerative fault protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
Protective functions
Structure
Environment
Ambient
temperature
Ambient
humidity
Self-cooled, open (IP00)
Operation
Storage
[ ] 0 to 55 (non-freezing)
[ ] 32 to 131 (non-freezing)
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
Operation
90%RH or less (non-condensing)
Storage
Ambient
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280ft) above sea level
5.9 [m/s2] or less
Vibration
Weight
Self-cooled,
open(IP00)
Force-cooling, open (IP00)
19.4 [ft/s2] or less
[kg]
0.7
0.7
1.1
1.1
1.7
1.7
2.0
2.0
4.9
7.2
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
1.5
1.5
2.4
1- 3
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the corresponding
chapters and sections.
Function
Description
Refer to
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.
Absolute position detection
system
Merely setting a home position once makes home position return unnecessary
Chapter 13
at every power-on.
Adaptive vibration
suppression control
Servo amplifier detects mechanical resonance and sets filter characteristics
Section 7.3
automatically to suppress mechanical vibration.
Low-pass filter
Suppresses high-frequency resonance which occurs as servo system response is
Section 7.4
increased.
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply
connecting a servo configuration software-installed personal computer and
servo amplifier.
Machine simulation
Can simulate machine motions on a personal computer screen on the basis of
the machine analyzer results.
Gain search function
Personal computer changes gains automatically and searches for overshootfree gains in a short time.
Slight vibration suppression
control
Suppresses vibration of 1 pulse produced at a servo motor stop.
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. Higher in performance than MELSERVO-J2 series servo Chapter 6
amplifier.
Regenerative brake option
Used when the built-in regenerative brake resistor of the servo amplifier does
not have sufficient regenerative capability for the regenerative power Section 12.1.1
generated.
Brake unit
Used when the regenerative brake option cannot provide enough regenerative
power.
Section 12.1.2
Can be used with the MR-J2S-500B MR-J2S-700B.
Return converter
Used when the regenerative brake option cannot provide enough regenerative
power.
Section 12.1.3
Can be used with the MR-J2S-500B MR-J2S-700B.
Torque limit
Servo motor-generated torque can be limited to any value.
Parameter No.24
Parameters
No.10, 11
Forced stop signal automatic Forced stop signal (EM1) can be automatically switched on internally to
Parameter No.23
ON
invalidate it.
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.
Test operation mode
Servo motor can be run from the operation section of the servo amplifier
Section 4.4
without the start signal entered.
Analog monitor output
Servo status is output in terms of voltage in real time.
Servo configuration software
Using a personal computer, parameter setting, test operation, status display,
Section 12.1.7
etc. can be performed.
1- 4
Section 4.4
(1) (e)
Parameter No. 22
1. FUNCTIONS AND CONFIGURATION
1.5 Model code definition
(1) Rating plate
MITSUBISHI
MODEL
AC
SERVO
AC SERVO
Model
MR-J2S-60B
Capacity
POWER : 600W
POWER
INPUT : 3.2A 3PH 1PH200-230V 50Hz
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
OUTPUT : 170V 0-360Hz 3.6A
SERIAL : TC3XXAAAAG52
Applicable power supply
Rated output current
Serial number
PASSED
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
(2) Model
MR–J2S–
B
MR–J2S–100B or less
Series
MR–J2S–200B 350B
Power Supply
Symbol
Power supply
None
3-phase 200 to 230VAC
(Note2) 1-phase 230VAC
(Note1)
1
1-phase 100V to 120VAC
Note:1. Not supplied to the servo amplifier
of MR-J2S-60B or more.
2. Not supplied to the servo amplifier
of MR-J2S-100B or more.
SSCNET compatible
Rating plate
MR-J2S-500B
Rating plate
MR-J2S-700B
Rated output
Symbol
10
20
40
60
70
Rated
output [W]
100
200
400
600
700
Symbol
100
200
350
500
700
Rated
output [W]
1000
2000
3500
5000
7000
Rating plate
1- 5
Rating plate
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier
MR-J2S-10B(1)
HC-KFS
053
13
HC-MFS
053
HC-SFS
1000r/min
2000r/min
3000r/min
HC-RFS
HC-UFS
2000r/min
3000r/min
13
13
MR-J2S-20B(1)
23
23
23
MR-J2S-40B(1)
43
43
43
(Note) 73
73
MR-J2S-60B
MR-J2S-70B
MR-J2S-100B
MR-J2S-200B
MR-J2S-350B
52
53
102
103
72
81
121
201
301
152
202
352
MR-J2S-500B
502
MR-J2S-700B
702
153
203
353
103
153
203
353
503
152
202
352
502
Note: The HC-KFS73 may not be connected depending on the production time of the servo amplifier. Please consult us.
1- 6
73
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-J2S-100B or less
Name/Application
Refer to
Battery holder
Section13.3
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
Section13.3
Chapter4
Axis select switch (CS1)
CS1
EF
B CD
345
789
Used to set the axis number of the
servo amplifier.
F0 1
23
BCD
45
789
A
6
Section3.11
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Section3.2
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section3.2
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section3.2
Section12.1.4
Section1.5
Name plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Connector for connection of the servo motor encoder.
Section3.2
Section12.1.4
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section3.5.2
Section10.1
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative brake option.
Section3.5.2
Section10.1
Section12.1.1
Protective earth (PE) terminal (
Ground terminal.
1- 7
)
Section3.8
Section10.1
01
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200B MR-J2S-350B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
Name/Application
Refer to
Battery holder
Contains the battery for absolute position data backup.
Section13.3
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section13.3
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
BCD
4
23 5
789
A
6
Chapter4
Axis select switch (CS1)
EF
01
CS1
B CD
345
789
Used to set the axis number of
the servo amplifier.
F0 1
Section3.11
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Section3.2
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section3.2
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section3.2
Section12.1.4
Section1.5
Name plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Connector for connection of the servo motor encoder.
Section3.2
Section12.1.4
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section3.5.2
Section10.1
Cooling fan
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative brake option.
Section3.5.2
Section10.1
Section12.1.1
Installation notch
(4 places)
Protective earth (PE) terminal (
Ground terminal.
1- 8
)
Section3.8
Section10.1
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
89
Section13.3
Battery holder
Contains the battery for absolute position data backup.
Section13.3
Chapter4
EF
23
BCD
45
Refer to
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
A
67
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
01
Axis select switch (CS1)
CS1
B CD
345
789
Used to set the axis number of the
servo amplifier.
Section3.11
F0 1
Installation notch
(4 places)
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Section3.2
Section3.2
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section3.2
Section12.1.4
Encoder connector (CN2)
Connector for connection of the servo motor encoder.
Section3.2
Section12.1.4
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
brake option and servo motor.
Section3.5.2
Section10.1
Section12.1.1
Section3.5.2
Section10.1
Cooling fan
Name plate
Protective earth (PE) terminal (
Ground terminal.
1- 9
Section1.5
)
Section3.8
Section10.1
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
Name/Application
Refer to
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section13.3
Battery holder
Contains the battery for absolute position data backup.
Chapter4
BCD
4
23 5
789
A
6
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
Section13.3
EF
01
Axis select switch (CS1)
CS1
B CD
345
78 9
Used to set the axis number of the
servo amplifier.
Section3.11
F0 1
Bus cable connector (CN1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section3.2
Section3.2
Section3.2
Section12.1.4
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Encoder connector (CN2)
Connector for connection of the servo motor encoder.
Installation notch
(4 places)
Section3.2
Section12.1.4
Section1.5
Name plate
Cooling fan
Section3.5.2
Section10.1
Section12.1.1
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
brake option and servo motor.
Section3.5.2
Section10.1
Protective earth (PE) terminal (
Ground terminal.
Section3.8
Section10.1
1 - 10
)
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
To avoid the risk of an electric shock, do not open the front cover while power is
on.
CAUTION
(1) For MR-J2S-200B or more
Reinstallation of the front cover
Removal of the front cover
1)
Front cover hook
(2 places)
2)
2)
Front cover
1)
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
(2) For MR-J2S-500B
Reinstallation of the front cover
Removal of the front cover
1)
Front cover hook
(2 places)
2)
2)
1)
Front cover
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 11
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J2S-700B
Reinstallation of the front cover
Removal of the front cover
Front cover
hook
(2 places)
A)
B)
2)
2)
1)
A)
1)
Front cover socket
(2 places)
1) Push the removing knob A) or B), and put you
finger into the front hole of the front cover.
2) Pull the front cover toward you.
1) Insert the two front cover hooks at the bottom into the
sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 12
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
WARNING
To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the servo amplifier to the protective earth (PE) of the control
box.
(1) MR-J2S-100B or less
(a) For 3-phase 200V to 230VAC or 1-phase 230VAC
(Note2)
3-phase 200V
to 230VAC power
supply or
1-phase 230VAC
power supply
Options and auxiliary equipment
Refer to
Options and auxiliary equipment
No-fuse breaker
Section 12.2.2
Regenerative brake option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
Servo configuration software
Section 12.1.7
Power factor improving reactor Section 12.2.3
No-fuse breaker
(NFB) or fuse
Servo system
controller
or
preceding axis
servo amplifier
Servo amplifier
To CN1A
Magnetic
contactor
(MC)
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
To CN1B
Power
factor
improving
reactor
(FR-BAL)
Refer to
To CN3
CHARGE
Personal
computer
To CN2
L1
L2
L3
U
V
Servo configuration
software
MRZJW3-SETUP121E
W
Protective earth(PE) terminal
(Note1)
Encoder cable
(Note1)
Power supply lead
Control circuit terminal block
D
L21
L11
Regenerative brake
option
P
Servo motor
C
Note: 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70B or less. Connect the power supply to
L1 and L2 terminals and leave L3 open.
1 - 13
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
1-phase 100VAC
power supply
Options and auxiliary equipment
Refer to
Options and auxiliary equipment
No-fuse breaker
Section 12.2.2
Regenerative brake option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
Servo configuration software
Section 12.1.7
Power factor improving reactor Section 12.2.3
No-fuse breaker
(NFB) or fuse
Servo system
controller
or
preceding axis
servo amplifier
Servo amplifier
To CN1A
Magnetic
contactor
(MC)
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
To CN1B
To CN3
CHARGE
Power
factor
improving
reactor
(FR-BAL)
Personal
computer
To CN2
L1
L2
U
V
Servo configuration
software
MRZJW3-SETUP121E
W
Protective earth(PE) terminal
(Note)
Encoder cable
(Note)
Power supply lead
Control circuit terminal block
D
L21
L11
Regenerative brake
option
Refer to
P
Servo motor
C
Note: The HC-SFS, HC-RFS series have cannon connectors.
1 - 14
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200B MR-J2S-350B
3-phase 200V
to 230VAC
power supply
Options and auxiliary equipment
Options and auxiliary equipment
Refer to
No-fuse breaker
Regenerative brake option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
Servo configuration software
Section 12.1.7
Power factor improving reactor Section 12.2.3
No-fuse
breaker
(NFB) or
fuse
Servo system
controller
or
Preceding axis
servo amplifier
Servo amplifier
To CN1A
Magnetic
contactor
(MC)
To CN1B
Power factor
improving
reactor
(FA-BAL)
Refer to
Section 12.2.2
To CN2
To CN3
Personal
computer
L11
L21
L1
L2
L3
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
U
V W
P
C
Regenerative brake option
1 - 15
Servo
configuration
software
MRZJW3SETUP121E
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500B
3-phase 200V
to 230VAC
power supply
Options and auxiliary equipment
Refer to
Options and auxiliary equipment
Refer to
No-fuse breaker
Section 12.2.2
Regenerative brake option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
Servo configuration software
Section 12.1.7
Power factor improving reactor Section 12.2.3
No-fuse
breaker
(NFB) or
fuse
Servo system
controller
or
Preceding axis
servo amplifier
Magnetic
contactor
(MC)
Servo amplifier
Power
factor
improving
reactor
(FA-BAL)
C
P
Regenerative brake
option
To CN1A
L1
L2
L3
To CN1B
U
V
W
To CN3
To CN2
L11
L21
1 - 16
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
Servo
configuration
software
Personal
MRZJW3computer
SETUP121E
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700B
Options and auxiliary equipment
3-phase 200V
to 230VAC
power supply
Refer to
Options and auxiliary equipment
Refer to
No-fuse breaker
Section 12.2.2
Regenerative brake option
Section 12.1.1
Magnetic contactor
Section 12.2.2
Cables
Section 12.2.1
Servo configuration software
Section 12.1.7
Power factor improving reactor Section 12.2.3
Servo system
controller
or
Preceding axis
servo amplifier
No-fuse
breaker
(NFB) or
fuse
Servo amplifier
L11
To CN1A
L21
Magnetic
contactor
(MC)
To CN1B
To CN3
Power
factor
improving
reactor
(FA-BAL)
To CN2
L3
L2
L1
U
V
W
C
P
Regenerative brake
option
1 - 17
Subsequent axis
servo amplifier
CN1A
or
Termination
connector
Personal
computer
Servo
configuration
software
MRZJW3SETUP121E
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 18
2. INSTALLATION
2. INSTALLATION
CAUTION
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led 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.
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.
2.1 Environmental conditions
Environment
Ambient
temperature
Operation
Storage
Ambient
Operation
humidity
Storage
Ambience
Altitude
Vibration
Conditions
[ ] 0 to 55 (non-freezing)
[ ] 32 to 131 (non-freezing)
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
[m/s2] 5.9 [m/s2] or less
[ft/s2] 19.4 [ft/s2] or less
2- 1
2. INSTALLATION
2.2 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
(1) Installation of one servo amplifier
Control box
Control box
40mm
(1.6 in.)
or more
Servo amplifier
Wiring clearance
70mm
(2.8 in.)
Top
10mm
(0.4 in.)
or more
10mm
(0.4 in.)
or more
Bottom
40mm
(1.6 in.)
or more
2- 2
2. INSTALLATION
(2) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm
(4.0 in.)
or more
10mm
(0.4 in.)
or more
Servo
amplifier
30mm
(1.2 in.)
or more
30mm
(1.2 in.)
or more
40mm
(1.6 in.)
or more
(3) Others
When using heat generating equipment such as the regenerative brake 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 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) In any application where the servo motor moves, the cables should be free from excessive stress. For
use in any application where the servo motor moves run the cables so that their flexing portions fall
within the optional encoder cable range. Fix the encoder cable and power cable of the servo motor.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 11.4 for the flexing life.
2- 4
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, make sure that the voltage is safe in the tester more than 10
minutes after power-off. Otherwise, you may get an electric shock.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop and other protective circuits.
Servo
Amplifier
Servo amplifier
COM
(DC24V)
COM
(24VDC)
CAUTION
Control
output
signal
RA
Control output
signal
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative brake resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative brake
resistor, causing a fire.
Do not modify the equipment.
POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.
3- 1
3. SIGNALS AND WIRING
3.1 Connection example of control signal system
POINT
Refer to Section 3.5 for the connection of the power supply system and to
Section 3.6 for connection with the servo motor.
Servo amplifier
(Note 5)
CN3
6
(Note 9)
Servo configuration
software
16
7
17
8
18
Plate
(Note 4)
Personal computer
CN3 (Note 5,8)
CN3
15m(49.2ft)
or less
Servo system controller
A1SD75M(AD75M)
(Note 10, 14) Bus cable
(Option)
MR-J2HBUS M-A
Cable clamp
(Option)
or
Motion
controller
LA
2m(6.56ft) or less
20 EM1
3
SG
4 MO1
LG
1
14 MO2
11 LG
Plate SD
(Note 5) 13 MBR
5 COM
CN1A
10 VDD
(Note 5) CS1
CN1B
Setting:0 (Note 1)
(Note 10, 14) Bus cable
(Option)
MR-J2HBUS M-A
MR-J2S-B
CN1A (2 axis) (Note 11)
CS1
Cable clamp
(Option)
CN1B
Setting 1
MR-J2S-B
CN1A (3 axis)
(Note 10, 14)
Bus cable
(Option)
CS1
(Note 11)
CN1B
Setting 2
MR-J2S-B
CN1A (n axis)
(Note 11)
CS1
(Note 13)
MR-A-TM
3- 2
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
LAR
LB
LBR
LZ
LZR
SD
CN1B
(Note 12)
Setting: n 1 n 1 to 8
(Note 3,4,7)
Forced stop
A
10k
A
10k
RA1
Monitor output
Max. 1mA
Reading in
both directions
(Note 2,6)
Magnetic brake
interlock
Always connect.
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked
) 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 and other protective circuits.
3. If the controller does not have an emergency 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 12.1.5)
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 connect the forced stop signal (EM1) and SG. (Normally closed
contacts) By setting “0001” in parameter No.23, the forced stop signal can be made invalid.
8. When connecting the personal computer together with monitor outputs 1, 2, use the
maintenance junction card (MR-J2CN3TM). (Refer to Section 12.1.3.)
9. Use MRZJW3-SETUP121E.
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/MR H-BN
servo amplifier may be connected on the same bus.
13. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier located
at the termination.
14. The bus cable used with the SSCNET depends on the preceding or subsequent controller or
servo amplifier connected. Refer to the following table and choose the bus cable.
MR-J2S-
B
MR-J2-03B5
MR-H
BN
A1SD75M(AD75M)
MR-J2HBUS M-A
MR-HBUS M
Motion controller
MR-J2HBUS M-A
MR-HBUS M
MR-J2HBUS M
MR-J2HBUS M-A
MR-J2HBUS M-A
MR-HBUS M
MR-J2SMR-J2MR-H
B
B MR-J2-03B5
BN MR-J
B
3- 3
3. SIGNALS AND WIRING
3.2 I/O signals
3.2.1 Connectors and signal arrangements
POINT
The connector pin-outs shown above are viewed from the cable connector
wiring section side.
(1) Signal arrangement
CN1A
11
1
2
RD
LG
3
4
TD
6
12
RD*
5
LG
TD*
16
EMG
RD
13
BT
LG
TD
15
6
LG
MITSUBISHI
MELSERVO-J2
EMG*
LG
3
4
11
12
LG
LG
RXD
13
4
MO1
15
5
16
6
MD
MDR
LA
MR
9
10
BAT
16
LG
15
LG
17
EMG
18
EMG*
19
20
BT
18
P5
20
17
MRR
19
11
1
2
6
8
13
CN3
14
7
TD*
5
9
10
LG
14
7
8
20
1
LG
RD*
3
CN2
2
12
4
19
9
10
LG
17
18
11
1
2
14
7
8
CN1B
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
P5
P5
3- 4
8
LZ
LG
3
SG
5
COM
7
LB
9
12
TXD
14
MO2
LG
13
MBR
15
16
LAR
18
LZR
10
20
VDD
EM1
17
LBR
19
3. SIGNALS AND WIRING
3.2.2 Signal explanations
For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2.
(1) Connector applications
Connector
Name
CN1A
Connector for bus cable from preceding axis.
CN1B
Connector for bus cable to next axis
CN2
Encoder connector
CN3
Communication connector
(I/O signal connector)
Function/Application
Used for connection with the controller or preceding-axis
servo amplifier.
Used for connection with the next-axis servo amplifier or
for connection of the termination connector.
Used for connection with the servo motor encoder.
Used for connection with the personal computer.
Serves as an I/O signal connector when the personal
computer is not used.
(2) I/O signals
(a) Input signal
Signal
Forced stop
Symbol
Connector Pin
No.
Function/Application
I/O Division
EM1
Disconnect EM1-SG to bring the servo motor to a forced stop
state, in which the servo is switched off and the dynamic
brake is operated.
In the forced stop state, connect EM1-SG to reset that state.
DI-1
CN3
20
Symbol
Connector Pin
No.
Function/Application
I/O Division
CN3
13
In the servo-off or alarm status, MBR-SG are disconnected.
When an alarm occurs, they are disconnected, independently
of the base circuit status.
Outputs pulses per servo motor revolution set in parameter
No.38 in the differential line driver system. In CCW rotation
of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of /2.
DO-1
MBR
The zero-phase signal of the encoder is output in the
differential line driver system.
DO-2
Used to output the data set in parameter No.22 to across
MO1-LG in terms of voltage. Resolution 10 bits
Used to output the data set in parameter No.22 to across
MO2-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog
output
(b) Output signals
Signal
Electromagnetic brake
interlock
Encoder A-phase pulse
(Differential line driver)
Encoder B-phase pulse
(Differential line driver)
Encoder Z-phase pulse
(Differential line driver)
LA
LAR
LB
LBR
LZ
LZR
Analog monitor 1
MO1
Analog monitor 2
MO2
CN3
6
CN3
16
CN3
7
CN3
17
CN3
8
CN3
18
CN3
4
CN3
14
DO-2
(c) Power supply
Symbol
Connector Pin
No.
Internal power output
for interface
VDD
CN3
10
Power input for digital
interface
COM
CN3
5
Signal
Common for digital
interface
SG
Control common
LG
Shield
SD
CN3
3
CN3
1
11
Plate
Function/Application
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.
Connect the external conductor of the shield cable.
3- 5
3. SIGNALS AND WIRING
3.3 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
CAUTION
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.
Main circuit power ON
Control circuit
OFF
Base circuit
Dynamic brake
Power off
Power on
ON
OFF
Valid
Invalid
Brake operation
Brake operation
Servo-on command ON
(from controller)
OFF
NO
Alarm
YES
NO
YES
NO
1s
Reset command
(from controller)
ON
OFF
50ms or more
Alarm occurs.
60ms or more
Remove cause of trouble.
(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 brake resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (10) occurs if power is restored after a 60ms or longer power failure of the control circuit
power supply or after a drop of the bus voltage to or below 200VDC. If the power failure persists
further, the control circuit power switches off. When the power failure is reset in this state, the alarm
is reset and the servo amplifier returns to the initial state.
3- 6
3. SIGNALS AND WIRING
3.4 Interfaces
3.4.1 Common line
The following diagram shows the power supply and its common line.
To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310).
Servo amplifier
24VDC
VDD
COM
MBR
RA
EM1
DI-1
SG
<Isolated>
LA .etc
Differential line
driver output
35mA max.
LAR
.etc
LG
SD
MO1
MO2
Analog monitor output
LG
TXD
RXD
MR
MRR
Servo motor
LG
SM
SD
Ground
3- 7
RS-232C
CN2
Servo motor encoder
3. SIGNALS AND WIRING
3.4.2 Detailed description of the interfaces
This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
Sections 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
COM
R: Approx. 4.7
For a transistor
EM1
Approx. 5mA
Switch
TR
SG
V CES 1.0V
I CEO 100 A
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (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- 8
3. SIGNALS AND WIRING
(b) Lamp load
Servo amplifier
24VDC
VDD
COM
R
MBR
SG
(3) Encoder pulse output DO-2
(Differential line driver system)
1) Interface
Max. output current: 35mA
Servo amplifier
Servo amplifier
LA
(LB, LZ)
LA
(LB, LZ)
Am26LS32 or equivalent
100
High-speed photocoupler
150
LAR
(LBR, LZR)
LAR
(LBR, LZR)
LG
SD
SD
2) Output pulse
Servo motor CCW rotation
LA
LAR
T
LB
LBR
/2
LZ signal varies 3/8T on its leading edge.
LZ
LZR
400 s or more
OP
3- 9
3. SIGNALS AND WIRING
(4) Analog output
Output voltage : 10V
Max. output current :1mA
Resolution :10bit
Servo amplifier
MO1
(MO2)
LG
10k
Reading in one or
A
both directions
1mA meter
SD
3 - 10
3. SIGNALS AND WIRING
3.5 Power line circuit
CAUTION
When the servo amplifier has become faulty, switch power off on the amplifier
power side. Continuous flow of a large current may cause a fire.
Use the trouble signal to switch power off. Otherwise, a regenerative brake
transistor fault or the like may overheat the regenerative brake resistor, causing a
fire.
3.5.1 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, or a controller emergency 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 230VAC power supply
(Note)
Controller
Alarm emergency stop Forced
stop
RA1
RA2
OFF
ON
MC
MC
SK
NFB
MC
L1
Power supply
3-phase
200 to 230VAC
Servo amplifier
L2
L3
L11
L21
VDD
COM
Forced stop
EM1
SG
Note: Configure up the power supply circuit which switches off the magnetic contactor after detection of
alarm occurrence on the controller side.
3 - 11
3. SIGNALS AND WIRING
(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply
(Note 1) Controller
Alarm emergency stop Forced
stop
RA1
RA2
OFF
ON
MC
MC
SK
Power supply
1-phase 100 to
120VAC or
1-phase 230VAC
NFB
MC
L1
Servo amplifier
L2
L3 (Note 2)
L11
L21
VDD
COM
Forced stop
EM1
SG
Note: 1. Configure up the power supply circuit which switches off the magnetic contactor after detection
of alarm occurrence on the controller side.
2. Not provided for 1-phase 100 to 120VAC.
3 - 12
3. SIGNALS AND WIRING
3.5.2 Terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to Section 10.1.
Symbol
Signal
Description
Supply L1, L2 and L3 with the following power:
For 1-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.
Power supply
L1, L2, L3
Main circuit power supply
Servo amplifier MR-J2S-10B to MR-J2S-100B
70B
to 700B
3-phase 200 to 230VAC,
50/60Hz
1-phase 230VAC,
50/60Hz
L1
L1
MR-J2S-10B1
to 40B1
L2 L3
L2
1-phase 100 to 120VAC,
50/60Hz
U, V, W
Servo motor output
Servo amplifier
Control circuit power supply
1-phase 200 to 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz
P, C, D
N
Regenerative brake option
Return converter
Brake unit
Protective earth (PE)
L2
Connect to the servo motor power supply terminals (U, V, W).
Power supply
L11, L21
L1
MR-J2S-10B to 700B
L11
MR-J2S-10B1 to 40B1
L21
L11
L21
1) MR-J2S-350B or less
Wiring is factory-connected across P-D (servo amplifier built-in
brake resistor).
When using the regenerative brake option, always remove the
across P-D and connect the regenerative brake option across P-C.
2) MR-J2S-500B or more
Wiring is factory-connected across P-C (servo amplifier built-in
brake resistor).
When using the regenerative brake option, always remove the
across P-C and connect the regenerative brake option across P-C.
Refer to Section 12.1.1 for details.
regenerative
wiring from
regenerative
wiring from
When using the return converter or brake unit, connect it across P-N.
Do not connect it to the servo amplifier of MR-J2S-350B or less.
Refer to Sections 12.1.2 and 12.1.3 for details.
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
3 - 13
3. SIGNALS AND WIRING
3.5.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.5.1 using the magnetic contactor with
the main circuit power supply (3-phase 200V: L1, L2, L3, 1-phase 230V: L1, L2). Configure up an
external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is
switched on. (Refer to paragraph (2) in this section.)
(2) Timing chart
SON accepted
(3s)
Main circuit
power ON
Control circuit
OFF
ON
Base circuit
OFF
ON
Servo-on command
(from controller)
OFF
60ms
10ms
60ms
(3) Forced stop
CAUTION
Install an emergency stop circuit externally to ensure that operation can be
stopped and power shut off immediately.
If the controller does not have an emergency stop function, make up a circuit which shuts off main
circuit power as soon as EM1-SG are opened at a forced stop. To ensure safety, always install a forced
stop switch across EM1-SG. By disconnecting EM1-SG, the dynamic brake is operated to bring the
servo motor to a stop. At this time, the display shows the servo forced stop warning (E6).
During ordinary operation, do not use forced stop signal to alternate stop and run. The service life of
the servo amplifier may be shortened.
Servo amplifier
VDD
COM
Forced stop
EM1
SG
3 - 14
3. SIGNALS AND WIRING
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.
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
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 - 15
3. SIGNALS AND WIRING
Servo motor
Connection diagram
Servo amplifier
Servo motor
U (Red)
U
V (White)
V
W (Black)
W
Motor
(Green)
(Note 1)
24VDC
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
B1
(Note2)
B2
Electromagnetic
brake
EM1
To be shut off when servoon signal switches off or by
alarm signal
CN2
Encoder
Encoder cable
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. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
Servo motor
U
U
V
V
W
W
Motor
(Note 1)
HC-SFS121 (B) to 301 (B)
HC-SFS202 (B) to 702 (B)
HC-SFS203 (B) 353 (B)
HC-UFS202 (B) to 502 (B)
HC-RFS353 (B) 503 (B)
24VDC
(Note2)
B1
B2
EM1
To be shut off when servoon signal switches off or by
alarm signal
Electromagnetic
brake
CN2
Encoder
Encoder cable
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. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
Servo motor
U
U
V
V
W
W
Motor
(Note 1)
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)
24VDC
(Note2)
B1
B2
EM1
To be shut off when servoon signal switches off or by
alarm signal
Electromagnetic
brake
CN2
Encoder cable
Encoder
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. This circuit applies to the servo motor with electromagnetic brake.
3 - 16
3. SIGNALS AND WIRING
3.6.3 I/O terminals
(1) HC-KFS HC-MFS HC-UFS3000r/min series
Encoder connector signal arrangement
Power supply lead
4-AWG19 0.3m(0.98ft)
Encoder cable 0.3m(0.98ft)
With connector 1-172169-9
(AMP)
Power supply
connector
5557-04R-210
1
3
2
4
Power supply connector (molex)
Without electromagnetic brake
5557-04R-210 (receptacle)
5556PBTL (Female terminal)
With electromagnetic brake
5557-06R-210 (receptacle)
5556PBTL (Female terminal)
Pin Signal Lead wire color
1
Red
U
2
V
White
3
Black
W
4 Earth Green/yellow
Power supply
connector
5557-06R-210
3 - 17
1
4
2
5
3
6
1
2
3
MR
MRR
BAT
4
5
6
MD
MDR
7
8
9
P5
LG
SHD
Pin Signal Lead wire color
1
Red
U
2
V
White
3
Black
W
4 Earth Green/yellow
5
B1
6
B2
3. SIGNALS AND WIRING
(2) HC-SFS HC-RFS HC-UFS2000 r/min series
Servo motor side connectors
Motor plate
Servo motor
(Opposite side)
For power supply For encoder
HC-SFS81(B)
HC-SFS52(B) to 152(B)
HC-SFS53(B) to 153(B)
UP
CE05-2A3217PD-B
HC-SFS702(B)
CE05-2A22HC-RFS103(B) to 203 (B)
23PD-B
HC-RFS353(B)
Encoder connector
HC-UFS72(B)
Power supply connector
Brake connector
The connector
for power is
shared.
CE05-2A2223PD-B
HC-SFS121(B) to 301(B)
CE05-2A24HC-SFS202(B) to 502(B)
10PD-B
HC-SFS203(B) 353(B)
DOWN
503(B)
152(B)
HC-UFS202(B) to 502(B)
Electromagnetic
brake connector
MS3102A10SL4P
MS3102A2029P
The connector
for power is
shared.
CE05-2A2410PD-B
CE05-2A2223PD-B
CE05-2A2410PD-B
MS3102A10SL4P
Power supply connector signal arrangement
CE05-2A22-23PD-B
CE05-2A24-10PD-B
Key
Key
F
G
A
B
H
C
E
D
Pin
A
B
C
D
E
F
G
H
Signal
U
V
W
(Earth)
Pin
Signal
U
A
V
B
W
C
(Earth)
D
(Note) B1
E
(Note) B2
F
G
Note:24VDC,without
polarity
A
F
E
B
G
D
C
(Note) B1
(Note) B2
Note:24VDC,without
polarity
Encoder connector signal arrangement
Electromagnetic brake connector signal arrangement
MS3102A20-29P
MS3102A10SL-4P
Key
Key
L
M
T
K
J
A B
N
S
H
G
C
P
D
R
E
F
Pin
A
B
C
D
E
F
G
H
J
Signal
MD
MDR
MR
MRR
BAT
LG
Pin
K
L
M
N
P
R
S
T
Signal
SD
Pin
A
B
A
LG
P5
3 - 18
B
Signal
(Note)B1
(Note)B2
Note:24VDC without
polarity
3. SIGNALS AND WIRING
3.7 Servo motor with electromagnetic brake
Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external forced stop signal.
Contacts must be open when
servo-on signal is off or when an
alarm (trouble) is present and when
an electromagnetic brake signal.
Circuit must be
opened during
forced stop signal.
Servo motor
CAUTION
RA EM1
24VDC
Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
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 for applications
requiring a brake to hold the motor shaft (vertical lift applications):
1) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.
2) The brake will operate when the power (24VDC) switches off.
3) Switch off the servo-on command after the servo motor has stopped.
(1) Connection diagram
Servo amplifier
RA
VDD
COM
MBR
24VDC
Forced
stop
Servo motor
B1
Z
RA
B2
(2) Setting
In parameter No.21 (electromagnetic brake sequence output), set the time delay (Tb) from
electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (3)
in this section.
3 - 19
3. SIGNALS AND WIRING
(3) Timing charts
(a) Servo-on command (from controller) ON/OFF
Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If
the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to
about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
0 r/min
Servo motor speed
Tb
(60ms)
Base circuit
ON
OFF
Electromagnetic
brake (MBR)
Servo-on command
(from controller)
(80ms)
Invalid(ON)
Electromagnetic brake
operation delay time
Valid(OFF)
ON
OFF
(b) Emergency stop command (from controller) or forced stop signal (EM1) ON/OFF
Servo motor speed
(10ms)
Base circuit
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(180ms)
ON
OFF
Electromagnetic
brake interlock (MBR)
Invalid (ON)
Valid (OFF)
(180ms)
Electromagnetic brake
operation delay time
Emergency stop command Invalid (ON)
(from controller)
Valid (OFF)
or
Forced stop (EM1)
3 - 20
3. SIGNALS AND WIRING
(c) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(10ms)
ON
Base circuit
OFF
Invalid(ON)
Electromagnetic
brake interlock (MBR)
Valid(OFF)
Electromagnetic brake
operation delay time
No
Trouble (ALM)
Yes
(d) Both main and control circuit power supplies off
(10ms)
(Note)
15 to 100ms
Servo motor speed
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
ON
Base circuit
OFF
Invalid(ON)
Electromagnetic
brake interlock(MBR) Valid(OFF)
(10ms or less)
Electromagnetic brake
operation delay time
(Note 2)
No
Alarm (ALM)
Yes
Main circuit
ON
power
Control circuit
OFF
Note: Changes with the operating status.
(e) Only main circuit power supply off (control circuit power supply remains on)
(10ms)
(Note 1)
15ms or more
Servo motor speed
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR)
10ms or less
Invalid(ON)
Valid(OFF)
No
Alarm
Electromagnetic brake
operation delay time
(Note 2)
Yes
ON
Main circuit power
OFF
supply
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 ALM signal does not turn off.
3 - 21
3. SIGNALS AND WIRING
3.8 Grounding
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal of
the servo amplifier with the protective earth (PE) of the control box.
WARNING
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cablerouting, 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
MC
NFB
Servo amplifier
CN2
L1
Line filter
(Note 1)
Power supply
3-phase
200 to 230VAC,
1-phase
230VAC or
1-phase
100 to 120VAC
Encoder
L2
L3
L11
L21
U
U
V
V
W
W
SM
CN1A
Servo system
controller
(Note 2)
Protective earth(PE)
Ensure to connect it to PE
terminal of the servo amplifier.
Do not connect it directly
to the protective earth of
the control panel.
Outer
box
Note: 1. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply.
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 - 22
3. SIGNALS AND WIRING
3.9 Servo amplifier terminal block (TE2) wiring method
(1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to
2.5mm2)
Approx. 10mm
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. (Cable size: 0.2 to 2.5mm2)Alternatively, a bar
terminal may be used to put the wires together.(Phoenix contact)
Bar terminal for 1 cable
(Bar terminal ferrule with insulation sleeve)
Cable size
Bar terminal for 2 cable
(Twin ferrule with insulation sleeve)
Bar terminal type
[mm2]
AWG
0.25
24
Al0.25-6YE
Al0.25-8YE
0.5
20
Al0.5-6WH
Al0.5-8WH
0.75
18
Al0.75-6GY
Al0.75-8GY
Al-TWIN2
Al-TWIN2
0.75-8GY
0.75-10GY
1
18
Al1-6RD
Al1-8RD
Al-TWIN2
Al-TWIN2
1-8RD
1-10RD
1.5
16
Al1.5-6BK
Al1.5-8BK
Al-TWIN2
Al-TWIN2
1.5-8BK
1.5-12BK
2.5
14
Al2.5-8BU
Al2.5-8BU-1000
Al-TWIN2
Al-TWIN2
2.5-10BU
2.5-13BU
For 1 cable
3 - 23
For 2 cables
Crimping
tool
CRIMPFOX-UD6
3. SIGNALS AND WIRING
(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: 0.5 to 0.6N m) Before inserting the cable into the
opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.
Flat-blade screwdriver
Tip thickness 0.4 to 0.6mm
Overall width 2.5 to 3.5mm
To loosen.
To tighten.
Cable
Opening
Control circuit terminal block
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
Core
Sheath
External conductor
Pull back the external conductor to cover the sheath
Sheath
Strip the sheath.
Screw
Cable
Screw
Ground plate
3 - 24
3. SIGNALS AND WIRING
3.11 Control axis selection
POINT
The control axis number set to CS1 should be the same as the one set to
the servo system controller.
Use the axis select switch (CS1) 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 servo configuration software.
Axis select switch (CS1)
B C D E
2
A
3 4 5 6
7 8 9
F 0 1
No.
Description
0
Axis 1
1
Axis 2
2
Axis 3
3
Axis 4
4
Axis 5
5
Axis 6
6
Axis 7
7
Axis 8
8
Not used
9
Not used
A
Not used
B
Not used
C
Not used
D
Not used
E
Not used
F
Test operation mode or
when machine analyzer is used
(Refer to Section 6.1.2)
3 - 25
3. SIGNALS AND WIRING
MEMO
3 - 26
4. OPERATION AND DISPLAY
4. OPERATION AND DISPLAY
4.1 When switching power on for the first time
Before starting operation, check the following:
(1) Wiring
(a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo
amplifier.
(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L1, L2, L3) of the servo motor.
(d) The servo amplifier and servo motor are grounded securely.
(e) Note the following when using the regenerative brake option, brake unit or power return 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 or more, the lead has been removed from across P-C of the servo amplifier
built-in regenerative brake 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 CS1 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 servo configuration software, make sure that
correct values have been set in the parameters.
(4) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(5) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.
(b) The servo motor and the machine connected with the servo motor can be operated.
4- 1
4. OPERATION AND DISPLAY
4.2 Start up
WARNING
Do not operate the switches with wet hands. You may get an electric shock.
Do not operate the controller with the front cover removed. High-voltage terminals
and charging area exposed and you may get an electric shock.
During power-on or operation, do not open the front cover. You may get an electric
shock.
CAUTION
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
During power-on or soon after power-off, do not touch or close a parts (cable etc.)
to the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. Their
temperatures may be high and you may get burnt or a parts may damaged.
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, "d1" (for the first axis) appears on
the servo amplifier display.
In the absolute position detection system, first power-on results in the absolute position lost (25) alarm
and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged
capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then
switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.
(2) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions.
Parameter No.
Name
Setting
Description
Increase in positioning address rotates the
7
Rotation direction setting
0
8
Auto tuning
1
Used.
9
Servo response
5
Slow response (initial value) is selected.
motor in the CCW direction.
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
4- 2
4. OPERATION AND DISPLAY
(3) Servo-on
Switch the servo-on in the following procedure:
1) Switch on main circuit/control power supply.
2) The controller transmits the servo-on command.
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked.
(4) Home position return
Always perform home position return before starting positioning operation.
(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor
and brings it to a stop.
When the servo motor is equipped with an electromagnetic brake, refer to Section 3.7.
Operation/command
Servo off command
Servo system controller
Stopping condition
The base circuit is shut off and the servo motor coasts.
The base circuit is shut off and the dynamic brake
Emergency stop command operates to bring the servo motor to stop. The controller
emergency stop warning (E7) occurs.
Alarm occurrence
Servo amplifier
Forced stop signal
(EM1) OFF
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. OPERATION AND DISPLAY
4.3 Servo amplifier display
On the servo amplifier display (two-digit, seven-segment display), check the status of communication with
the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an
alarm.
(1) Display sequence
Servo amplifier power ON
Waiting for servo system controller
power to switch ON
Servo system controller power ON
Initial data communication
with servo system controller
During emergency stop and forced stop
Ready OFF/servo OFF
(Note)
or
Ready ON
Emergency stop and forced stop
reset
(Note)
Ready ON/servo OFF
When alarm occurs,
alarm code appears.
Servo ON
(Note)
Ready ON/servo ON
Ordinary operation
Servo system controller power OFF
Servo system controller power ON
Note: The right-hand segments of b1, c1 and d1
indicate the axis number.
(Axis 1 in this example)
4- 4
4. OPERATION AND DISPLAY
(2) Indication list
Indication
Status
Description
Initializing
The servo amplifier was switched on when power to the servo system
controller is off.
Ab
Initializing
Power to the servo system controller was switched off during power-on of
the servo amplifier.
The axis No. set to the servo system controller does not match the axis No.
set with the axis setting switch (CS1) of the servo amplifier.
A servo amplifier fault occurred or an error took place in communication
with the servo system controller. In this case, the indication changes:
"Ab"
"AC"
"Ad"
"Ab"
The servo system controller is faulty.
AC
Initializing
Communication started between the servo system controller and servo
amplifier.
Ad
Initializing
The initial parameters from the servo system controller were received.
AE
Initialize completion
Initial data communication with the servo system controller was completed.
AA
(Note 1)
b#
Ready OFF
The ready off signal from the servo system controller was received.
(Note 1)
d#
Servo ON
The ready off signal from the servo system controller was received.
(Note 1)
C#
Servo OFF
The ready off signal from the servo system controller was received.
(Note 2)
**
Alarm
The alarm No./warning No. that occurred is displayed. (Refer to Section 9.1.)
88
CPU error
(Note 3)
b0.
(Note 1)
b#.
d#.
c#.
Warning
(Note 3)
Test operation mode
JOG operation, positioning operation, programmed operation, DO forced
output.
Motor-less operation
Note: 1. # denotes any of numerals 0 to 8 and what it means is listed below:
#
Description
0
Set to the test operation mode.
1
First axis
2
Second axis
3
Third axis
4
Fourth axis
5
Fifth axis
6
Sixth axis
7
Seventh axis
8
Eighth axis
2. ** indicates the warning/alarm No.
3. Requires the servo configuration software.
4- 5
4. OPERATION AND DISPLAY
4.4 Test operation mode
CAUTION
The test operation mode is designed for servo operation confirmation and not for
machine operation confirmation. Do not use this mode with the machine. Always
use the servo motor alone.
If an operation fault occurred, use the forced stop (EM1) to make a stop.
By using a personal computer and the servo configuration software (MRZJW3-SETUP121E), you can
execute jog operation, positioning operation, motor-less operation and DO forced output without
connecting the motion controller.
(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 Servo configuration software.
1) Operation pattern
Item
Initial value
Setting range
Speed [r/min]
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
1 to 20000
2) Operation method
Operation
Screen control
Forward rotation start
Press Forward (G) button.
Reverse rotation start
Press Reverse (R) button.
Stop
Press Stop (O) 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 servo configuration software.
1) Operation pattern
Item
Initial value
Setting range
Travel [pulse]
100000
0 to 9999999
Speed [r/min]
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
1 to 50000
2) Operation method
Operation
Screen control
Forward rotation start
Press Forward (G) button.
Reverse rotation start
Press Reverse (R) button.
Pause
Press Pause (O) button.
4- 6
4. OPERATION AND DISPLAY
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the programmed operation screen of the servo configuration software. For full
information, refer to the Servo Configuration Software Installation Guide.
Operation
Screen Control
Start
Press Start (G) button.
Stop
Press Reset (O) button.
(d) Motorless operation
POINT
Motor-less operation may be used with the 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 servo configuration software.
1) Load conditions
Load Item
Condition
Load torque
Load inertia moment ratio
0
Same as servo motor inertia moment
2) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur
as when the servo motor is connected:
Encoder error 1 (16)
Encoder error 2 (20)
Absolute position erasure (25)
Battery cable breakage warning (92)
(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 servo configuration software.
4- 7
4. OPERATION AND DISPLAY
(2) Configuration
Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at
occurrence of an alarm.
(3) Operation procedure
(a) Jog operation, positioning operation, program operation, DO forced output.
1) Switch power off.
2) Set CS1 to “F”.
When CS1 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 servo configuration software
invalid and the servo system controller values valid.
In the maker setting parameters, do not set any values other than the
initial values.
Setting may not be made to some parameters and ranges depending on the
model or version of the servo system controller. For details, refer to the
servo system controller user's manual.
5.1 Parameter write inhibit
POINT
When setting the parameter values from the servo system controller, the
parameter No. 40 setting need not be changed.
In this servo amplifier, the parameters are classified into the basic parameters (No. 1 to 11), adjustment
parameters (No. 12 to 26) and expansion parameters (No. 27 to 40) according to their safety aspects and
frequencies of use. The values of the basic parameters may be set/changed by the customer, but those of
the adjustment and expansion parameters cannot. When in-depth adjustment such as gain adjustment is
required, change the parameter No. 40 value to make all parameters accessible. Parameter No. 40 is
made valid by switching power off, then on after setting its value.
The following table indicates the parameters which are enabled for reference and write by parameter No.
40 setting.
Setting
0000(initial value)
000A
000C
000E
100E
Operation
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Operation from controller
Operation from servo configuration
Parameter No.1 to 39
Parameter No.1 to 11 40
Parameter No.1 to 39
Parameter No.40
Parameter No.1 to 39
Parameter No.1 to 40
Parameter No.1 to 11 40
Parameter No.1 to 39
Parameter No.1 to 40
Parameter No.1 to 39
Parameter No.1 to 40
Parameter No.40
5.2 Lists
POINT
For any parameter whose symbol is preceded by*, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid.
5- 1
5. PARAMETERS
(1) Item list
ClassifiNo.
cation
(Note 1)
Symbol
Name
Initial
Value
1
*AMS
Amplifier setting (Note 2)
0000
2
*REG
Regenerative brake resistor
0000
Adjustment parameters
Basic parameters
3
000
5
1
6
*FBP
7
*POL
Rotation direction selection
8
ATU
Auto tuning
0001
Feedback pulse number
0
0005
0
9
RSP
Servo response
10
TLP
Forward rotation torque limit (Note 2)
300
%
11
TLN
Reverse rotation torque limit (Note 2)
300
%
12
GD2
Ratio of load inertia to servo motor inertia (load inertia ratio)
7.0
times
13
PG1
Position control gain 1
35
rad/s
14
VG1
Speed control gain 1
177
rad/s
15
PG2
Position control gain 2
35
rad/s
16
VG2
Speed control gain 2
817
rad/s
17
VIC
Speed integral compensation
48
ms
18
NCH
Machine resonance suppression filter 1 (Notch filter)
19
FFC
Feed forward gain
0
%
20
INP
In-position range
100
pulse
0
ms
0000
21
MBR
Electromagnetic brake sequence output
22
MOD
Analog monitor output
0001
23
*OP1
Optional function 1
0000
24
*OP2
Optional function 2
0000
25
LPF
Low-pass filter/adaptive vibration suppression control
0000
For manufacturer setting
0
27
MO1
Analog monitor 1 offset
0
mV
28
MO2
Analog monitor 2 offset
0
mV
30
ZSP
Zero speed
50
r/min
31
ERZ
Error excessive alarm level
80
0.1rev
32
OP5
Optional function 5
0000
33
*OP6
Optional function 6
0000
34
VPI
29
For manufacturer setting
35
36
VDC
PI-PID control switch-over position droop
0
For manufacturer setting
0
980
For manufacturer setting
0010
*ENR
Encoder output pulses
4000
For manufacturer setting
0
*BLK
Parameter blocks (Note 2)
0000
39
40
0001
Speed differential compensation
37
38
Customer
setting
0080
For manufacturer setting
4
26
Expansion parameters
Unit
pulse
pulse/rev
Note 1: Factory settings of the drive unit. 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.
5- 2
5. PARAMETERS
(2) Details list
ClassifiNo.
cation
1
Symbol
*AMS
Name and Function
Amplifier setting
Used to select the absolute position detection.
Initial
Value
Unit
Setting
Range
0000
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0 0 0
Absolute position detection selection
0: Invalid (Used in incremental system.)
1: Valid (Used in absolute position
detection system.)
2
*REG
Regenerative brake resistor
Used to select the regenerative brake option used.
0 0
Basic parameters
Regenerative selection brake option
00: Not used
01: FR-RC FR-BU
05: MR-RB32
08: MR-RB30
09: MR-RB50
0B: MR-RB31
0C: MR-RB51
10: MR-RB032
11: MR-RB12
POINT
Wrong setting may cause the regenerative brake option to burn.
If the regenerative brake option selected is not for use with the
servo amplifier, parameter error (37) occurs.
For manufacturer setting
Must not be changed.
3
4
0080
0000
1
5
6
*FBP
Feedback pulse number
Set the number of pulses per revolution in the controller side
command unit. Information on the motor such as the feedback pulse
value, present position, droop pulses and within-one-revolution
position are derived from the values converted into the number of
pulses set here.
Setting
Number of feedback pulses
0
16384
1
8192
6
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.
5- 3
0
Refer to
name
and
function
column.
5. PARAMETERS
ClassifiNo.
cation
7
Initial
Value
Symbol
Name and Function
*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.
Unit
Setting
Range
0
Refer to
name
and
function
column.
0001
Refer to
name
and
function
column.
CCW
CW
Basic parameters
8
ATU
Auto tuning
Used to select the gain adjustment mode of auto tuning.
0 0 0
Gain adjustment mode selection
(For details, refer to Section 6.1.1.)
Set
Gain adjustment
Description
value
mode
0 Interpolation mode Fixes position control
gain 1
(parameter No. 13).
1
Auto tuning mode 1 Ordinary auto tuning.
3
Auto tuning mode 2 Fixes the load inertia
moment ratio set in
parameter No. 12.
Response level setting
can be changed.
Simple manual
Manual mode 1
adjustment.
4
2
Manual mode 2
5- 4
Manual adjustment
of all gains.
5. PARAMETERS
ClassifiNo.
cation
9
Symbol
RSP
Name and Function
Servo response
Used to select the response of auto tuning.
Initial
Value
Unit
0005
Refer to
name
and
function
column.
0 0 0
Auto tuning response level selection
Set
value
Machine resonance
frequency guideline
1
15Hz
20Hz
2
3
25Hz
30Hz
4
5
35Hz
45Hz
6
7
55Hz
Middle
70Hz
8
response
85Hz
9
A
105Hz
130Hz
B
C
160Hz
200Hz
D
High
E
240Hz
response
F
300Hz
If the machine hunts or generates large gear
sound, decrease the set value.
To improve performance, e.g. shorten the
settling time, increase the set value.
Basic parameters
Adjustment parameters
Response
level
Low
response
Setting
Range
10
TLP
Forward rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
reverse rotation regenerative mode.
In other than the test operation mode on the servo configuration
software, the torque limit value on the servo system controller side
is made valid.
300
%
0
to
500
11
TLN
Reverse rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
forward rotation regenerative mode.
In other than the test operation mode on the servo configuration
software, the torque limit value on the servo system controller side
is made valid.
300
%
0
to
500
12
GD2
Ratio of load inertia to servo motor inertia (load inertia ratio)
Used to set the ratio of the load inertia (inertia moment) to the
inertia moment of the servo motor shaft. When auto tuning mode 1
and interpolation mode is selected, the result of auto tuning is
automatically used. (Refer to section 6.1.1)
7.0
times
0.0
to
300.0
13
PG1
Position loop gain 1
Used to set the gain of position loop 1. Increase the gain to improve
trackability performance in response to the position command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
35
rad/s
4
to
2000
5- 5
5. PARAMETERS
Adjustment parameters
Setting
Range
Initial
Value
Unit
Speed loop 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.
177
rad/s
20
to
5000
PG2
Position loop gain 2
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.
35
rad/s
1
to
1000
16
VG2
Speed loop gain 2
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.
817
rad/s
20
to
20000
17
VIC
Speed integral compensation
Used to set the constant of integral compensation.
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.
48
ms
1
to
1000
18
NCH
Machine resonance suppression filter 1 (Notch filter)
Used to select the machine resonance suppression filter.
(Refer to Section 7.2.)
0
ClassifiNo.
cation
Symbol
Name and Function
14
VG1
15
Refer to
name
and
function
column.
0
Notch frequency selection
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
00
Invalid
08
562.5
10
281.3
18
187.5
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
Notch depth selection
Setting
Depth
Gain
0
Deep
40dB
14dB
8dB
4dB
1
2
3
19
FFC
to
Shallow
Feed forward gain
Used to set the feed forward gain for position control. Set "100" to
nearly zero the droop pulse value when operation is performed at
constant speed.
Note that sudden acceleration/deceleration will increase overshoot.
As a guideline, when you set the feed forward gain for 100%, set the
acceleration/deceleration time constant to/from the rated speed for 1s
or longer.
5- 6
0
%
0
to
100
5. PARAMETERS
ClassifiNo.
cation
20
Symbol
Name and Function
INP
In-position range
Used to set the droop pulse range in which the in-position signal
(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
ballscrew is direct coupled, the lead is 10mm, and the feedback
pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as indicated
by the following expression:
10
10
6
10
10
3
8192
8.192
Setting
Range
Initial
Value
Unit
100
pulse
0
to
50000
ms
0
to
1000
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.
100
22
MOD
Analog monitor output
Used to select the signal provided to the analog monitor.
(Refer to Section 5.3.)
0001
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
Adjustment parameters
0
0
Setting
Analog monitor output selection
ch1
23
*OP1
ch2
0
Servo motor speed ( 8V/max. speed)
1
Torque ( 8V/max. torque)
2
Motor speed ( 8V/max. speed)
3
Torque ( 8V/max. torque)
4
Current command ( 8V/max. current command)
5
Command speed ( 8/max. speed)
6
Droop pulses
( 10V/128 pulses)
7
Droop pulses
( 10V/2048 pulses)
8
Droop pulses
( 10V/8192 pulses)
9
Droop pulses ( 10V/32768 pulses)
A
Droop pulses ( 10V/131072 pulses)
B
Bus voltage ( 8V/400V)
Optional function 1
Used to make the servo forced stop function invalid.
0 0 0
Servo forced stop selection
0: Valid (Use the forced stop signal (EM1).)
1: Invalid (Do not use the forced stop signal (EM1).)
Automatically switched on internally
5- 7
5. PARAMETERS
ClassifiNo.
cation
24
Symbol
Name and Function
*OP2
Optional function 2
Used to select slight vibration suppression control and motor-less
operation
0
Initial
Value
Unit
Setting
Range
0000
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0
Slight vibration suppression control selection
Made valid when auto tuning selection is
set to "0002" in parameter No.8.
Used to suppress vibration at a stop.
0: Invalid
1: Valid
Adjustment parameters
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 servo configuration software.
(Refer to (d), (1) in 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
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
VG2 setting 10
When you choose "valid",
2 (1 GD2 setting 0.1) [Hz]
bandwidth filter is set automatically.
Adaptive vibration suppression control selection
0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance to
suppress machine vibration.
2: Held
The characteristics of the filter generated so far are
held, and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity
selection
Used to select the sensitivity of machine resonance
detection.
0: Normal
1: Large sensitivity
26
For manufacturer setting
Must not be changed.
0
5- 8
5. PARAMETERS
ClassifiNo.
cation
Symbol
Name and Function
Initial
Value
Unit
27
MO1
Analog monitor 1 offset
Used to set the offset voltage of the analog monitor ch1 output.
0
mV
999
to
999
28
MO2
Analog monitor 2 offset
Used to set the offset voltage of the analog monitor ch2 output.
0
mV
999
to
999
29
For manufacturer setting
Must not be changed.
0001
30
ZSP
Zero speed
Used to set the output range of the zero speed signal (ZSP).
50
r/min
0
to
10000
31
ERZ
Error excessive alarm level
Used to set the output range of the error excessive alarm.
80
0.1rev
0
to
1000
32
OP5
Optional function 5
Used to select PI-PID control switch-over.
0000
Refer to
name
and
function
column.
0000
Refer to
name
and
function
column.
0 0 0
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.
Expansion parameters
Setting
Range
33
*OP6
Option function 6
Used to select the serial communication baudrate, serial
communication response delay time setting and encoder output
pulse setting.
0
Serial communication baudrate 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 output pulse setting selection
(refer to parameter No.38)
0: Output pulse setting
1: Division ratio setting
34
VPI
35
36
37
VDC
PI-PID control switch-over position droop
Used to set the position droop value (number of pulses) at which PI
control is switched over to PID control.
Set "0001" in parameter No. 32 to make this function valid.
0
For manufacturer setting
Must not be changed.
0
Speed differential compensation
Used to set the differential compensation.
980
For manufacturer setting
Must not be changed.
0010
5- 9
pulse
0
to
50000
0
to
1000
5. PARAMETERS
ClassifiNo.
cation
Symbol
Name and Function
38
*ENR
Encoder output pulses
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 output pulse 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 output pulse designation
Set "0
" (initial value) in parameter No. 33.
Set the number of pulses per servo motor revolution.
Output pulse 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 output pulses
5600
4
Initial
Value
Unit
4000
pulse/rev
Setting
Range
1
to
65535
1400[pulse]
Expansion parameters
For output division ratio setting
Set "1
" in parameter No. 33.
The number of pulses per servo motor revolution is divided by the
set value.
Output pulse
Resolution per servo motor revolution
[pulses/rev]
Set value
At the setting of 8, for example, the actually output A-phase and
B-phase pulses are as indicated below:
A-phase and B-phase output pulses
39
40
131072
8
1
4
4096[pulse]
For manufacturer setting
Must not be changed.
*BLK
0
Parameter blocks
Setting
Operation
0000
(initial
value)
Reference
000A
Reference
Write
Write
000C
Reference
0000
Operation from
controller
Parameter No.1
to 39
Parameter No.1
to 11 40
Parameter No.1
to 39
Parameter No.40
Parameter No.1
to 39
Parameter No.1
to 40
Write
000E
Reference
100E
Reference
Write
Operation from
servo configuration
Parameter No.1
to 11 40
Parameter No.1
to 39
Parameter No.1
to 40
Parameter No.1
to 39
Parameter No.1
to 40
Write
Parameter No.40
5 - 10
Refer to
name
and
function
column.
5. PARAMETERS
5.3 Analog output
The servo status can be output to two channels in terms of voltage. Use this function when using an
ammeter to monitor the servo status or synchronizing the torque/speed with the other servo.
(1) Setting
Change the following digits of parameter No.22:
Parameter No. 22
0
0
Analog monitor ch2 output selection
(Signal output to across MO2-LG)
Analog monitor ch1 output selection
(Signal output to across MO1-LG)
Parameters No.27 and 28 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
Parameter No.
Description
27
Used to set the offset voltage for the analog monitor ch1 output.
28
Used to set the offset voltage for the analog monitor ch2 output.
5 - 11
Setting range [mV]
999 to 999
5. PARAMETERS
(2) Setting description
The servo amplifier is factory-set to output the motor speed to ch1 and the generated torque to ch2.
The setting can be changed as listed below by changing the parameter No.22 value:
Refer to (3) in this section for the measurement point.
Setting
0
Output item
Motor speed
Description
Setting
6
CCW direction
8[V]
Output item
Droop pulses
( 10V/128pulse)
Description
10[V]
CCW direction
128[pulse]
Max. speed
0 Max. speed
0
8[V]
1
Torque
8[V]
Driving in CCW direction
7
Droop pulses
( 10V/2048pulse)
10[V]
0 2048[pulse]
0 Max. torque
2
8[V]
10[V]
CW direction
Motor speed
8
CW
direction 8[V]
CCW direction
2048[pulse]
Max. torque
Driving in CW direction
10[V]
CW direction
CW direction
128[pulse]
CCW
direction
Droop pulses
( 10V/8192pulse)
10[V]
CCW direction
8192[pulse]
0 8192[pulse]
Max. speed
0 Max. speed
10[V]
CW direction
3
Torque
9
Driving in
CW direction 8[V]
Driving in
CCW direction
Droop pulses
( 10V/32768pulse)
10[V]
CCW direction
32768[pulse]
0 32768[pulse]
Max. torque
0 Max. torque
10[V]
CW direction
4
5
Current command
(Torque command)
Command pulse
frequency
8[V] CCW direction
Max. current
command
(Max. torque
command)
0 Max. current
command
(Max. torque
command)
8[V]
CW direction
A
10[V]
CCW direction
131072[pulse]
0
CW direction
B
CCW direction
8[V]
Droop pulses
( 10V/131072pulse)
131072[pulse]
10[V]
Bus voltage
8[V]
Max. speed
0 Max. speed
0
8[V]
CW direction
5 - 12
400[V]
Command
pulse
Differential
Command
pulse frequency
Droop pulse
Position
control
Speed
command
Differential
Motor speed
Speed
control
Current
command
Torque
Current
control
5 - 13
Encoder
M Servo Motor
Position feedback
Current feedback
PWM
Current
encoder
Bus voltage
5. PARAMETERS
(3) Analog monitor block diagram
5. PARAMETERS
5.4 Replacement of MR-J2- B by MR-J2S- B
When using the MR-J2S- B on the servo system controller peripheral software incompatible with the
MR-J2S- B, you cannot use some parameter functions. Read this section carefully and set appropriate
values in the parameters.
5.4.1 Main modifications made to the parameters
The following table lists the parameters whose settings have been modified from the MR-J2- B or added
to the MR-J2S- B. The peripheral software of the servo system controller may not be compatible with
some parameters whose settings are different or have been added. For details, refer to the servo system
controller manual.
Parameter
No.
6
8
(Note) Setting from peripheral
Code
Name
Main modifications/additions
software of conventional servo
system controller
FBP
ATU
Feedback pulse number
Auto tuning
The encoder resolution of the
Setting cannot be made.
compatible motor changed to
The resolution is 16384
131072 pulses/rev.
pulses/rev.
Gain adjustment modes were
Setting can be made but the
increased.
added modes cannot be
used.
9
RSP
Servo response
The response level setting range Some response levels cannot
was increased to meet the
be set.
enhanced response.
18
20
NCH
INP
Machine resonance
The machine resonance
Some filter frequencies
suppression filter 1
suppression filter (notch filter)
cannot be set.
(Notch filter)
setting range was increased.
In-position range
The setting unit became the
Setting can be made.
feedback pulse unit in
parameter No. 6.
22
25
MOD
LPF
Analog monitor output
Low-pass filter/adaptive
The data that may be output by
Setting can be made but the
analog monitor was added.
bus voltage cannot be set.
The low-pass filter and adaptive Setting can be made.
vibration suppression control vibration suppression control
functions were newly added.
31
ERZ
Error excessive alarm level
The setting unit was changed in Setting can be made but the
response to the enhanced
setting unit is [0.1 rev].
resolution (131072 pulses/rev) of
the encoder.
33
OP6
Optional function 6
The communication baudrate
Setting cannot be made.
with the personal computer was
changed to max. 57600bps.
38
ENR
Encoder output pulses
The encoder feedback pulses can Setting cannot be made.
be output from the servo
amplifier. These pulses can be
set.
Note. As of January, 2000
5 - 14
5. PARAMETERS
5.4.2 Explanation of the modified parameters
(1) Feedback pulse number (parameter No. 6)
This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system
controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. When
the servo motor used is the HC-KFS or HC-MFS, the feedback pulse number is 8192 pulses/rev, and
when it is the HC-SFS, HC-RFS or HC-UFS, the feedback pulse number is 16384 pulses/rev.
(2) Auto tuning (parameter No. 8)
The set values of this parameter were newly added to the MR-J2S- B. If the peripheral software of
the servo system controller is not compatible with the MR-J2S- B, the parameter settings are as
indicated below. The auto tuning mode 2 and manual mode 1 cannot be used.
0 0 0
Gain adjustment mode selection
(For details, refer to Section 6.1.1.)
Set value Gain adjustment mode
Description
0
Interpolation mode
1
Auto tuning mode 1
Fixes position control gain 1
(parameter No. 13).
Ordinary auto tuning.
2
Manual mode 2
Manual adjustment of all gains.
(3) Servo response (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 selection
Set
value
Response
level
Machine resonance
frequency guideline
1
2
3
4
5
6
7
8
9
A
B
C
Low
response
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
Middle
response
High
response
5 - 15
5. PARAMETERS
(4) Machine resonance suppression filter 1 (parameter No. 18)
The settings of this parameter were changed for the MR-J2S- B. If the peripheral software of the
servo system controller is not compatible with the MR-J2S- B, the parameter settings are as
indicated below. The notch depth is 40dB.
0 0 0
Notch frequency selection
Set value Frequency
0
1
2
3
4
5
6
7
Invalid
4500
2250
1500
1125
900
750
642.9
Notch depth selection
Set value
Depth
Gain
0
Deep
40dB
(5) In-position range (parameter No. 20)
The setting of this parameter was changed for the MR-J2S- B. The setting unit was changed from
the conventional input pulse unit to the feedback pulse unit. For details, refer to Section 5.2.
(6) Analog monitor output (parameter No. 22)
The setting of this parameter was changed for the MR-J2S- B. "Bus voltage" is a new choice, but you
cannot select it if the peripheral software of the servo system controller is not compatible with the MRJ2S- B.
Also, the droop pulse output is the encoder resolution unit of the actual motor. For details, refer to
Section 5.3.
(7) Low-pass filter/adaptive vibration suppression control (parameter No. 25)
This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system
controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. Hence,
the low-pass filter is "valid" and the adaptive vibration suppression control is "invalid". For details,
refer to Sections 7.3 and 7.4.
(8) Error excessive alarm level (parameter No. 31)
The setting of this parameter was changed for the MR-J2S- B. The setting unit was changed from
conventional [k pulse] to [0.1rev]. If the peripheral software of the servo system controller is not
compatible with the MR-J2S- B, the unit is set as [0.1rev] to the MR-J2S- B even when the onscreen setting unit is [k pulse]. For details, refer to Section 5.2.
5 - 16
5. PARAMETERS
(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 baudrate is “9600 [bps]”, the serial communication response ready time is
“invalid”, and the encoder output pulse setting selection is "output pulse setting". For details, refer to
Section 5.2.
(10) Encoder output pulse (parameter No. 38)
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.
5 - 17
5. PARAMETERS
MEMO
5 - 18
6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Parameter No. 8
setting
Estimation of load inertia
moment ratio
Automatically set
parameters
GD2 (parameter No. 12)
PG1 (parameter No. 13)
VG1 (parameter No. 14)
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
Manually set parameters
RSP (parameter No. 9)
Auto tuning mode 1
(initial value)
0001
Always estimated
Auto tuning mode 2
0003
Fixed to parameter No. PG1 (parameter No. 13)
VG1 (parameter No. 14)
12 value
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
GD2 (parameter No. 12)
RSP (parameter No. 9)
Manual mode 1
0004
VG1 (parameter No. 14)
PG2 (parameter No. 15)
GD2 (parameter No. 12)
PG1 (parameter No. 13)
VG2 (parameter No. 16)
VIC (parameter No. 17)
Manual mode 2
0002
Interpolation mode
0000
GD2 (parameter No. 12)
PG1 (parameter No. 13)
VG1 (parameter No. 14)
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
Always estimated
6- 1
GD2 (parameter No. 12)
PG2 (parameter No. 15)
VG2 (parameter No. 16)
VIC (parameter No. 17)
PG1 (parameter No. 13)
VG1 (parameter No. 14)
6. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Interpolation
made for 2 or more
axes?
Yes
Interpolation mode
No
Operation
Allows adjustment by
merely changing the
response level setting.
First use this mode to make
adjustment.
Auto tuning mode 1
Operation
Yes
No
OK?
No
Operation
OK?
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
This mode permits
adjustment easily with three
gains if you were not
satisfied with auto tuning
results.
No
Manual mode 1
Operation
Yes
OK?
Yes
Auto tuning mode 2
Yes
Used when you want to
match the position gain
(PG1) between 2 or more
axes. Normally not used for
other purposes.
OK?
You can adjust all gains
manually when you want to
do fast settling or the like.
No
Manual mode 2
END
6- 2
6. GENERAL GAIN ADJUSTMENT
6.1.2 Adjustment using 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 servo configuration software which operates on a personal computer.
Function
Description
Adjustment
Machine analyzer
With the machine and servo motor
coupled, the characteristic of the
mechanical system can be measured by
giving a random vibration command from
the personal computer to the servo and
measuring the machine response.
Gain search
Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
Machine simulation
6- 3
You can grasp the machine resonance frequency and
determine the notch frequency of the machine
resonance suppression filter.
You can automatically set the optimum gains in
response to the machine characteristic. This simple
adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
You can automatically set gains which make positioning
settling time shortest.
You can optimize gain adjustment and command
pattern on personal computer.
6. GENERAL GAIN ADJUSTMENT
6.2 Auto tuning
6.2.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No.
Abbreviation
12
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
13
PG1
Position control gain 1
14
VG1
Speed control gain 1
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to motor inertia moment is not more
than 100 times.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode 1 2 to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (parameter No. 12).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No.
Abbreviation
13
PG1
Position control gain 1
Name
14
VG1
Speed control gain 1
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
6- 4
6. GENERAL GAIN ADJUSTMENT
6.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Encoder
Control gains
PG1,VG1
PG2,VG2,VIC
Command
Current
control
Servo
motor
Current feedback
Set 0 or 1 to turn on.
Load inertia
moment ratio
Switch estimation section
Gain
table
Parameter No.9
Parameter No.8
0
0
0
1
0
0
0
5
Real-time auto
tuning section
Position/speed
feedback
Speed feedback
Parameter No.12
Load inertia moment
ratio estimation value
Response level setting
Auto tuning selection
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to parameter No. 12 (load inertia moment ratio). These results can be confirmed on
the status display screen of the 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.
6- 5
6. GENERAL GAIN ADJUSTMENT
6.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level
setting value as required completes the adjustment. The adjustment procedure is as follows.
(1) Basic procedure
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)
No
Yes
Choose the auto tuning mode 2
(parameter No. 8: 0003) and set
the load inertia moment ratio
(parameter No. 12) manually.
Adjust response level setting
so that desired response is
achieved on vibration-free level.
Acceleration/deceleration repeated
Requested
performance satisfied?
No
Yes
END
To manual mode
6- 6
6. GENERAL GAIN ADJUSTMENT
6.2.4 Response level setting in auto tuning mode
Set the response (parameter No.9) of the whole servo system. As the response level setting is increased,
the trackability 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
0 0 0 5
Response level setting
Machine characteristic
Response level setting
1
Machine rigidity
Machine resonance
frequency guideline
Low
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
8
Middle
85Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
High
Large conveyor
Arm robot
General machine
tool conveyor
70Hz
9
F
Guideline of corresponding machine
300Hz
6- 7
Precision
working
machine
Inserter
Mounter
Bonder
6. GENERAL GAIN ADJUSTMENT
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.
6.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.
User setting
PG1
VG2
VIC
GD2
Automatic setting
PG2
VG1
Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (parameter No. 12) correctly.
6.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control
(parameter No. 25) or machine resonance suppression filter (parameter No.
18) may be used to suppress machine resonance. (Refer to Section 7.2, 7.3.)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment:
Parameter No.
Abbreviation
Name
12
GD2
Ratio of load inertia moment to servo motor inertia moment
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
(b) Adjustment procedure
Step
1
2
3
4
5
Operation
Description
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (parameter No. 12).
Increase the speed control gain 2 (parameter No. 16) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 17) within
the vibration-free range, and return slightly if vibration takes place.
If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 2 and 3.
While checking the settling characteristic and rotational status, fineadjust each gain.
6- 8
Increase the speed control gain.
Decrease the time constant of the speed
integral compensation.
Suppression of machine resonance
Refer to Section 7.2, 7.3.
Fine adjustment
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Speed control gain 2 (parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression:
Speed control gain setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
Speed loop response frequency(Hz)
2) Speed integral compensation (parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression:
2000 to 3000
Speed integral
composition setting (ms) Speed control gain 2 setting/ (1 ratio of load inertia moment
to servo motor inertia moment.)
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment:
Parameter No.
Abbreviation
12
GD2
Ratio of load inertia moment to servo motor inertia moment
Name
13
PG1
Position control gain 1
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
1
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (parameter No. 12).
Description
2
Set a slightly smaller value to the position control gain 1 (parameter
No. 13).
3
Increase the speed control gain 2 (parameter No. 16) within the Increase the speed control gain.
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
4
Decrease the speed integral compensation (parameter No. 17) within Decrease the time constant of the speed
the vibration-free range, and return slightly if vibration takes place.
integral compensation.
5
Increase the position control gain 1 (parameter No. 13).
6
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance
the like and the desired response cannot be achieved, response may be Refer to Section 7.2 and 7.3.
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 3 to 5.
7
While checking the settling characteristic and rotational status, fine- Fine adjustment
adjust each gain.
6- 9
Increase the position control gain.
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (parameter No. 13)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves trackability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
Position control
gain 1 guideline
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
( 13 to 15 )
2) Speed control gain 2 (parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression:
Speed loop response
frequency(Hz)
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
3) Speed integral compensation (parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression:
Speed integral
compensation setting(ms)
2000 to 3000
Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment set value)
6 - 10
6. GENERAL GAIN ADJUSTMENT
6.4 Interpolation mode
The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 1 and speed control gain 1 which determine command trackability are set manually
and the other gain adjusting parameters are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No.
Abbreviation
Name
12
GD2
Ratio of load inertia moment to servo motor inertia moment
15
PG2
Position control gain 2
16
VG2
Speed control gain 2
17
VIC
Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
Abbreviation
Name
13
PG1
Position control gain 1
14
VG1
Speed control gain 1
(2) Adjustment procedure
Step
Operation
Description
1
Choose the auto tuning mode 1 (parameter No. 8: 0001) and set the machine
Select the auto tuning mode 1.
resonance frequency of the response level to 15Hz 1 (parameter No. 9: 0001).
2
During operation, increase the response level setting (parameter No. 9), and Adjustment in auto tuning mode
return the setting if vibration occurs.
1.
3
Check the values of position control gain 1 (parameter No. 13) and speed control
Check the upper setting limits.
gain 1 (parameter No. 14).
4
Choose the interpolation mode (parameter No. 8: 0000).
5
Using the position control gain 1 value checked in step 3 as the guideline of the
upper limit, set in position control gain 1 the value identical to the position loop Set position control gain 1.
gain of the axis to be interpolated.
6
Using the speed control gain 1 value checked in step 3 as the guideline of the
upper limit, look at the rotation status and set in speed control gain 1 the value Set speed control gain 1.
three or more times greater than the position control gain 1 setting.
7
Looking at the interpolation characteristic and rotation status, fine-adjust the
Fine adjustment.
gains and response level setting.
Select the interpolation mode.
(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
trackability to a position command but a too high value will make overshooting liable to occur at
the time of settling. The droop pulse value is determined by the following expression.
Droop pulse value (pulse)
Rotation speed (r/min) 131,072(pulse)
Position control gain 1 set value
(b) Speed control gain 1 (parameter No. 14)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
6 - 11
6. GENERAL GAIN ADJUSTMENT
6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
6.5.1 Response level setting
To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level
setting range from the MELSERVO-J2 series. The following table lists comparison of the response level
setting.
Parameter No. 9
0 0 0 5
Response level setting
MELSERVO-J2 series
Response level setting
MELSERVO-J2-Super series
Machine resonance frequency
1
Response level setting
20Hz
2
40Hz
Machine resonance frequency guideline
1
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
70Hz
3
60Hz
8
4
80Hz
9
85Hz
5
100Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
F
300Hz
Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.
6.5.2 Auto tuning selection
The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has
the addition of the manual mode 1 which permits manual adjustment with three parameters.
Parameter No. 8
0 0 0 1
Auto tuning selection
Gain adjustment mode
Interpolation mode
Auto tuning mode 1
Auto tuning
Auto tuning selection
MELSERVO-J2-Super series
0
0
1
1
Ordinary auto tuning
3
Estimation of load inertia moment
ratio stopped.
Response level setting valid.
4
Simple manual adjustment
2
Manual adjustment of all gains
Auto tuning mode 2
Auto tuning Manual mode 1
invalid
Manual mode 2
Remarks
MELSERVO-J2 series
2
6 - 12
Position control gain 1 is fixed.
7. SPECIAL ADJUSTMENT FUNCTIONS
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used generally. Use them
if you are not satisfied with the machine status after making adjustment
in the methods in Chapter 6.
If a mechanical system has a natural resonance point, increasing the servo system response may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.
7.1 Function block diagram
Speed
control
00
Machine resonance
suppression filter 1
Parameter
No.18
Parameter Current
No.25 command
Parameter
No.25
0
Low-pass
filter
0
Servo
motor
1
except
Encoder
00
Adaptive vibration
suppression control
1
or
2
7.2 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency) and gain decreasing depth.
Mechanical
system
response
Machine resonance point
Frequency
Notch
depth
Notch frequency
Frequency
POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
7- 1
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No.
18).
Parameter No. 18
0
Notch frequency selection
Setting Frequency Setting Frequency Setting Frequency
Setting Frequency
00
Invalid
08
562.5
10
281.3
18
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
187.5
Notch depth selection
Setting
0
1
2
3
Depth (Gain)
Deep ( 40dB)
( 14dB)
( 8dB)
Shallow ( 4dB)
POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch
frequency is set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the servo configuration software. This allows the required
notch frequency and depth to be determined.
7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS
7.3 Adaptive vibration suppression control
(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier detects machine
resonance and sets the filter characteristics automatically to suppress mechanical system vibration.
Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of
the resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is
valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes,
it changes the filter characteristics in response to that frequency.
Machine resonance point
Mechanical
system
response
Mechanical
system
response
Machine resonance point
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
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (parameter No.25).
Parameter No. 25
0 0
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).
The filter characteristics generated are saved in the motion controller every
10s since power-on. At next power-on, vibration suppression control is
performed with this data saved in the motion controller being used as an
initial value.
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 ballscrew or the like is used, resonance of high frequency may occur as the response 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
0
Low-pass filter selection
0: Valid (automatic adjustment)
1: Invalid
initial value
POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase
the servo system response to shorten the settling time.
7- 4
8. INSPECTION
8. INSPECTION
WARNING
Before starting maintenance and/or inspection, make sure that the charge lamp is
off more than 10 minutes after power-off. Then, confirm that the voltage is safe in
the tester or the like. Otherwise, you may get an electric shock.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.
POINT
Do not test the servo amplifier with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
(1) Inspection
It is recommended to make the following checks periodically:
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.
Part name
Life guideline
Smoothing capacitor
Servo amplifier
Relay
Cooling fan
10 years
Number of power-on and number of forced
Stop times:100,000times.
10,000 to 30,000hours (2 to 3 years)
Absolute position battery
Refer to Section 13.2
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life when the cumulative number of power-on and forced stop times is 100,000, which depends
on the power supply capacity.
(c) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the 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.
in the alarm deactivation column can be deactivated by the corresponding
The alarms marked
operations.
Alarm deactivation
Warnings
Alarms
Display
10
12
13
15
16
17
19
1A
20
24
25
30
31
32
33
34
35
36
37
45
46
50
51
52
8E
88
92
96
9F
E0
E1
E3
E4
E6
E7
E9
EE
Name
Undervoltage
Memory error 1
Clock error
Memory error 2
Encoder error 1
Board error
Memory error 3
Motor combination error
Encoder error 2
Main circuit error
Absolute position erase
Regenerative error
Overspeed
Overcurrent
Overvoltage
CRC error
Command frequency error
Transfer error
Parameter error
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Error excessive
Serial communication error
Watchdog
Open battery cable warning
Home position setting warning
Battery warning
Excessive regenerative warning
Overload warning
Absolute position counter warning
Parameter warning
Servo forced stop warning
Controller emergency stop warning
Main circuit off warning
SSCNET error warning
Power
OFF ON
Error reset
CPU reset
(Note)
(Note)
(Note)
(Note)
(Note)
(Note)
Removing the cause of occurrence
deactivates the alarm automatically.
Note: Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
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.
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.
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 servomotor. 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
optional servo configuration software may be used to refer to the cause.
Display
10
Name
Undervoltage
Definition
Cause
Action
Review the power supply.
Power supply
1. Power supply voltage is low.
voltage dropped.
2. There was an instantaneous
MR-J2S- B:160V or
control power failure of 60ms or
less
longer.
MR-J2S- B1:83V or 3. Shortage of power supply capacity
less
caused the power supply voltage to
drop at start, etc.
4. Power was restored after the bus
voltage had dropped to 200VDC.
(Main circuit power switched on
within 5s after it had switched off.)
5. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (10) occurs if power is
switched on after CN1A, CN1B
and CN3 connectors are
disconnected.
12
Memory error 1 RAM, memory fault Faulty parts in the servo amplifier
13
Clock error
15
Memory error 2 EEP-ROM fault
16
Encoder error 1 Communication
1. CN2 connector disconnected.
error occurred
2. Encoder fault
between encoder
3. Encoder cable faulty
and servo amplifier.
(Wire breakage or shorted)
Printed board fault
Change the servo amplifier.
Checking method
Alarm (any of 12,13 and 15)
occurs if power is switched on
after CN1A, CN1B and CN3
all connectors are disconnected.
9- 2
Connect correctly.
Change the servo motor.
Repair or change cable.
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Faulty parts in the servo amplifier
17
Board error 2
CPU/parts fault
19
Memory error 3 ROM memory fault
Checking method
Alarm (17 or 19) occurs if power
is switched on after CN1A, CN1B
and CN3 connectors are
disconnected.
1A
20
24
Motor
combination
error
Encoder error 2
Main circuit
error
25
Absolute
position erase
30
Regenerative
alarm
Wrong combination
of servo anplifier
and servo motor.
Communication
error occurred
between encoder
and servo amplifier.
Ground fault
occurred at the
servo motor outputs
(U,V and W phases)
of the servo
amplififer.
Absolute position
data in error
Power was switched
on for the first time
in the absolute
position detection
system.
Permissible
regenerative power
of the built-in
regenerative brake
resistor or
regenerative brake
option is exceeded.
Action
Change the servo amplifier.
Wrong combination of servo
Use correct combination.
amplifier and servo motor connected.
1. CN2 connector disconnected.
2. Encoder fault
3. Encoder cable faulty
(Wire breakage or shorted)
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.
Connect correctly.
Change the servo motor.
Repair or change cable.
1. Battery voltage low
2. Battery cable or battery is faulty.
3. Super capacitor of the absolute
position encoder is not charged
Change 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.
1. Mismatch between used
regenerative brake option and
parameter No. 2 setting
2. Built-in regenerative brake
resistor or regenerative brake
option is not connected.
3. High-duty operation or continuous
regenerative operation caused the
permissible regenerative power of
the regenerative brake option to
be exceeded.
Set correctly.
Connect correctly.
Change the cable.
Change the servo amplifier.
Connect correctly
1. Reduce the frequency of positioning.
2. Use the regenerative brake option of
larger capacity.
3. Reduce the load.
Checking method
Call the status display and check
the regenerative load ratio.
Regenerative
transistor fault
4. Power supply voltage is abnormal.
MR-J2S- B:260V or more
MR-J2S- B1:135V or more
5. Built-in regenerative brake
resistor or regenerative brake
option faulty.
6. Regenerative transistor faulty.
Checking method
1) The regenerative brake option
has overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative brake resistor or
regenerative brake option.
9- 3
Review power supply
Change servo amplifier or regenerative
brake option.
Change the servo amplifier.
9. TROUBLESHOOTING
Display
31
32
33
Name
Overspeed
Overcurrent
Overvoltage
Definition
Cause
Action
Increase acceleration/deceleration time
Speed has exceeded 1. Small acceleration/deceleration
the instantaneous
time constant caused overshoot to constant.
permissible speed.
be large.
2. Servo system is instable to cause
overshoot.
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.
3. Encoder faulty.
Change the servo motor.
Current that flew is 1. Short occurred in servo amplifier
higher than the
output phases U, V and W.
permissible current 2. Transistor of the servo amplifier
of the servo
faulty.
amplifier.
Checking method
Alarm (32) occurs if power is
switched on after U,V and W
are disconnected.
Converter bus
voltage exceeded
400V.
Correct the wiring.
Change the servo amplifier.
3. Ground fault occurred in servo
amplifier output phases U, V and
W.
Correct the wiring.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Take noise suppression measures.
1. Regenerative brake option is not
used.
Use the regenerative brake option.
2. Though the regenerative brake
option is used, the parameter No.
2 setting is "
00 (not used)".
Make correct setting.
3. Lead of built-in regenerative brake 1. Change lead.
2. Connect correctly.
resistor or regenerative brake
option is open or disconnected.
34
CRC error
Bus cable is faulty
4. Regenerative transistor faulty.
Change servo amplifier
5. Wire breakage of built-in
regenerative brake resistor or
regenerative brake option
1. For wire breakage of built-in
regenerative brake resistor, change
servo amplifier.
2. For wire breakage of regenerative brake
option, change regenerative brake
option.
6. Power supply voltage high.
Review the power supply.
1. Bus cable disconnected.
Connect correctly.
2. Bus cable fault
Change the cable.
3. Noise entere bus cable.
Take measures against noise.
4. Termination connector
disconnected.
Connect termination connector.
5. The same No. exists in the servo
amplifier side axis setting.
Set correctly.
9- 4
9. TROUBLESHOOTING
Display
35
36
37
Name
Definition
Command
Input frequency of
frequency error command pulse is
too high.
Transfer error
Cause
Action
1. Command given is greater than
the maximum speed of the servo
motor.
Review opration program.
2. Noise entered bus cable.
Take action against noise.
3. Servo system controller failure
Change the servo system controller.
Bus cable or printed 1. Bus cable is disconnected.
board is faulty
2. Bus cable fault.
Connect the connector of the bus cable.
Change the cable.
3. Printed board is faulty.
Change the servo amplifier
4. Terimination connector
disconnected
Connect termination connector.
Parameter error Parameter setting is 1. Servo amplifier fault caused the
Change the servo amplifier.
wrong.
parameter setting to be rewritten.
2. There is a parameter whose value Change the parameter value to within the
setting range.
was set to outside the setting
range by the controller.
45
46
50
Main circuit
Main circuit device
device overheat overheat
Servo motor
overheat
Overload 1
Servo motor
temperature rise
actuated the
thermal protector.
1. Servo amplifier faulty.
Change the servo amplifier.
The drive method is reviewed.
2. The power supply was turned on
and off continuously by overloaded
status.
3. Air cooling fan of servo amplifier
stops.
1. Change the servo amplifier or cooling
fan.
2. Reduce ambient temperature.
1. Ambient temperature of servo
motor is over 40 .
Review environment so that ambient
temperature is 0 to 40 .
2. Servo motor is overloaded.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal protector in encoder is
faulty.
Change servo motor.
Load exceeded
1. Servo amplifier is used in excess
overload protection
of its continuous output current.
characteristic of
servo amplifier.
Load ratio 300%:
2. Servo system is instable and
2.5s or more hunting.
Load ratio 200%:
100s or more
3. Machine struck something.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
1. Repeat acceleration/
deceleration to execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
1. Review operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
5. Encoder faulty.
Checking method
When the servo motor shaft is
rotated slowly with the servo off,
the cumulative feedback pulses
should vary in proportion to the
rotary angle. If the indication
skips or returns midway, the
encoder is faulty.
9- 5
Change the servo motor.
9. TROUBLESHOOTING
Display
51
Name
Overload 2
Definition
Cause
Machine collision or 1. Machine struck something.
the like caused max.
output current to
2. Wrong connection of servo motor.
flow successively for
Servo amplifier's output terminals
several seconds.
U, V, W do not match servo
Servo motor locked:
motor's input terminals U, V, W.
1s or more 3. Servo system is instable and
hunting.
4. Encoder faulty.
Action
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Repeat acceleration/deceleration to
execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated slowly with the servo off,
the cumulative feedback pulses
should vary in proportion to the
rotary angle. If the indication
skips or returns midway, the
encoder is faulty.
52
Error excessive Droop pulse value of
the deviation
counter exceeded
the parameter
No.31 setting value
(initial value:
8 revolutions).
1. Acceleration/deceleration time
constant is too small.
Increase the acceleration/deceleration
time constant.
2. Torque limit value is too small.
Increase the torque limit value.
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
1. Review the power supply capacity.
2. Use servo motor which provides larger
output.
4. Position control gain 1 (parameter Increase set value and adjust to ensure
No.13) value is small.
proper operation.
5. Servo motor shaft was rotated by
external force.
1. When torque is limited, increase the
limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
7. Encoder faulty
Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
8E
88
Serial
Serial
1. Communication cable fault
communication communication
(Open cable or short circuit)
error occurred
error
2. Communication device (e.g.
between servo
amplifier and
personal computer) faulty
communication
device (e.g. personal
computer).
Repair or change the cable.
Watchdog
Change servo amplifier.
CPU, parts faulty
Fault of parts in servo amplifier
Checking method
Alarm (88) occurs if power is
switched on after CN1A, CN1B
and CN3 connectors are
disconnected.
9- 6
Change the communication device (e.g.
personal computer).
9. TROUBLESHOOTING
9.3 Remedies for warnings
If E6, E7, E9 or 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 optional servo configuration software to refer to the
cause of warning.
Display
Name
Definition
Cause
Action
92
Open battery
cable warning
Absolute position
1. Battery cable is open.
Repair cable or changed.
detection system battery 2. Battery voltage dropped to 2.8V or less. Change battery.
voltage is low.
96
Home position
setting warning
Home position return
could not be made in the
precise position.
1. Droop pulses remaining are greater
than the in-position range setting.
Remove the cause of droop pulse
occurrence
2. Home position return was executed
during operation command
Reduce creep speed.
3. Creep speed high.
9F
Battery voltage fell to 3.2V or less.
Battery warning Voltage of battery for
absolute position
detection system reduced.
E0
Excessive
regenerative
warning
There is a possibility that
regenerative power may
exceed permissible
regenerative power of
built-in regenerative
brake resistor or
regenerative brake
option.
E1
Overload
warning
There is a possibility that Load increased to 85% or more of overload Refer to 50, 51.
alarm 1 or 2 occurrence level.
overload alarm 1 or 2
may occur.
Cause, checking method
Refer to 50, 51.
E3
Absolute position Absolute position encoder 1. Noise entered the encoder.
counter warning pulses faulty.
E4
Parameter
warning
E6
Servo forced stop EM1-SG are open.
warning
External forced stop was made valid.
(EM1-SG opened.)
Ensure safety and deactivate
forced stop.
E7
Controller
emergency stop
warning
Emergency stop signal was entered into
the servo system controller.
Ensure safety and deactivate
emergency stop.
E9
Main circuit off
warning
Servo was switched on
with main circuit power
off.
EE
SSCNET error
warning
The servo system
controller connected is
not SSCNET-compatible.
Regenerative power increased to 85% or
1. Reduce frequency of
more of permissible regenerative power of
positioning.
built-in regenerative brake resistor or
2. Change regenerative brake
regenerative brake option.
option for the one with larger
capacity.
Checking method
Call the status display and check
3. Reduce load.
regenerative load ratio.
2. Encoder faulty.
Parameter outside
setting range
Change the battery.
Take noise suppression
measures.
Change servo motor.
Parameter value set from servo system Set it correctly.
controller is outside setting range
Switch on main circuit power.
9- 7
9. TROUBLESHOOTING
MEMO
9- 8
10. OUTLINE DIMENSION DRAWINGS
10. OUTLINE DIMENSION DRAWINGS
10.1 Servo amplifiers
(1) MR-J2S-10B to MR-J2S-60B
MR-J2S-10B1 to MR-J2S-40B1
[Unit: mm]
6 ( 0.24) mounting hole
70 (2.76)
20
B
6
(0.24)
([Unit: in])
135 (5.32)
Terminal layout
(Terminal cover open)
(0.79)
A
MITSUBISHI
MITSUBISHI
OPEN
168 (6.61)
156 (6.14)
OPEN
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
TE1
L1
L2
C
N
1
B
C
N
2
E
N
C
C
N
3
L3
(Note)
6 (0.24)
7 (0.28)
Rating plate
C
N
1
A
U
V
W
TE2
PE terminal
6
(0.24)
4(0.16)
Variable dimensions
Servo amplifier
MR-J2S-10B(1)
MR-J2S-20B(1)
MR-J2S-40B(1)
MR-J2S-60B
A
B
Weight
[kg]([lb])
50 (1.97)
6 (0.24)
0.7 (1.54)
70 (2.76)
22 (0.87)
1.1 (2.43)
Note: This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models.
TE1
For 3-phase 200 to 230VAC and 1-phase 230VAC
For 1-phase 100 to 120VAC
L1
L2
L3
L1
U
V
W
U
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
L2
V
W
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
PE terminals
TE2
Front
D
C
P
L21
L11
Tightening torque: 0.5 to 0.6 [N m] (70.8 to 85.0 [oz in])
FRONT MSTB2,5/5-ST-5,08
(Phoenix Contact)
10 - 1
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
10. OUTLINE DIMENSION DRAWINGS
(2) MR-J2S-70B MR-J2S-100B
[Unit: mm]
70(2.76)
([Unit: in])
190(7.48)
22
(0.87)
20
6
(0.24)
70(2.76)
Terminal layout
(Terminal cover open)
(0.79)
6 ( 0.24)
mounting hole
MITSUBISHI
MITSUBISHI
OPEN
7 (0.28)
6(0.24)
168(6.61)
156(6.14)
OPEN
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
L1
L2
L3
U
V
W
6(0.24)
22
42
(0.87) (1.65)
Rating plate
PE terminal
TE2
TE1
6(0.24)
6(0.24)
Weight
[kg]([lb])
Servo amplifier
MR-J2S-70B
1.7
(3.75)
MR-J2S-100B
TE1
L1
L2
L3
U
V
W
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
TE2
Front
FRONT MSTB2,5/6-ST-5,08
D
(Phoenix Contact)
C
P
L21
L11
N
Tightening torque: 0.5 to 0.6 [N m] (70.8 to 85.0 [oz in])
PE terminals
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
10 - 2
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
10. OUTLINE DIMENSION DRAWINGS
(3) MR-J2S-200B MR-J2S-350B
[Unit: mm]
([Unit: in])
6
(0.24)
6 ( 0.24)
mounting hole
70(2.76)
90(3.54)
78(3.07)
6
(0.24)
195(7.68)
Terminal layout
MITSUBISHI
168(6.61)
156(6.14)
MITSUBISHI
TE2
12-M4
screw
TE1
PE terminal
Fan air orientation
Weight
[kg]([lb])
Servo amplifier
MR-J2S-200B
2.0
(4.41)
MR-J2S-350B
PE terminals
TE1
L1
L2
L3
U
V
W
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
TE2
L11
L21
D
P
C
N
Terminal screw: M4
Tightening torque: 1.24 [N m] (175.6 [oz in])
10 - 3
3-M4 screw
10. OUTLINE DIMENSION DRAWINGS
(4) MR-J2S-500B
[Unit: mm]
([Unit: in])
OPEN
(0.79)
(0.24) 130(5.12) (0.24)
70
6
6 (2.76)
118(4.65)
20
7.5
(0.5)
2- 6( 0.24)
mounting hole
200(7.87)
(0.19) 5
Terminal layout
MITSUBISHI
MITSUBISHI
235(9.25)
250(9.84)
OPEN
C
N
1
B
C
N
1
A
C
N
1
B
C
N
2
C
N
3
C
N
2
C
N
3
TE2
N.P.
N.P.
Fan
7.5
(0.5)
OPEN
TE1
C
N
1
A
Fan
6(0.24)
Fan air orientation
Servo amplifier
Weight
[kg]([lb])
MR-J2S-500B
4.9(10.8)
TE1
PE terminals
L1
L2
Built-in regenerative brake resistor
lead terminal fixing screw
Terminal screw : M4
Tightening torque : 1.2 [N m](169.9[oz in])
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](169.9[oz in])
TE2
L11
L21
Terminal screw : M3.5
Tightening torque : 1.0 [N m](141.6[oz in])
10 - 4
10. OUTLINE DIMENSION DRAWINGS
(5) MR-J2S-700B
70
10 (2.76)
180(7.09)
160(6.23)
7.5
(0.5)
(0.39)
10
20
(0.39)
200(7.87)
138(5.43)
62
(0.79)
2- 6( 0.24)
mounting hole
(2.44)
[Unit: mm]
([Unit: in])
6(0.24)
Terminal layout
MITSUBISHI
MITSUBISHI
OPEN
OPEN
C
N
1
A
C
N
1
B
C
N
1
A
C
N
1
B
C
N
2
C
N
3
C
N
2
C
N
3
350(13.8)
335(13.2)
TE2
OPEN
TE1
Fan
7.5
(0.5)
6 (0.24)
Fan air orientation
Servo amplifier
Weight
[kg]([lb])
MR-J2S-700B
7.2(15.9)
TE1
PE terminals
L1
L2
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](169.9[oz in])
Built-in regenerative brake resistor
lead terminal fixing screw
Terminal screw : M4
Tightening torque : 1.2 [N m](169.9[oz in])
TE2
L11 Terminal screw : M3.5
Tightening torque : 1.0 [N m](141.6[oz in])
L21
10 - 5
10. OUTLINE DIMENSION DRAWINGS
10.2 Connectors
(1) Servo amplifier side
<3M>
(a) Soldered type
Model
Connector
Shell kit
[Unit: mm]
([Unit: in])
: 10120-3000VE
: 10320-52F0-008
10.0(0.39)
12.0(0.47)
14.0
(0.55)
22.0 (0.87)
39.0 (1.54)
23.8 (0.94)
Logo, etc. are indicated here.
33.3 (1.31)
12.7(0.50)
(b) Threaded type
33.3
(1.31)
12.7
(0.50)
10.0
14.0
(0.55)
12.0
(0.47)
27.4 (1.08)
5.7
(0.22)
39.0 (1.54)
23.8
(0.94)
22.0
(0.87)
[Unit: mm]
([Unit: in])
(0.39)
Model
Connector
: 10120-3000VE
Shell kit
: 10320-52A0-008
Note. This is not available as option
and should be user-prepared.
(c) Insulation displacement type
[Unit: mm]
([Unit: in])
: 10120-6000EL
: 10320-3210-000
6.7
( 0.26)
20.9 (0.82)
11.5(0.45)
Model
Connector
Shell kit
Logo, etc. are indicated here.
42.0 (1.65)
33.0 (1.30)
2- 0.5 (0.02)
29.7 (1.17)
10 - 6
10. OUTLINE DIMENSION DRAWINGS
(2) Bus cable connector
<Honda Tsushin Industry>
PCR-LS20LA1
PCR-LS20LA1W
10.4
(0.409)
13.0 (0.512)
20.6
(0.811)
14.2 (0.559)
38.5 (1.516)
HONDA
38.5 (1.516)
HONDA
1 12.2 1
(0.039) (0.48) (0.039)
23.0 (0.906)
RS
RS
27.4 (1.079)
32.0 (0.906)
1
1.9 (0.039) 12.2
27.4 (1.079)
32.0 (0.906)
(0.075)
1
(0.039)
(0.48)
Model
Number of Pins
20
[Unit: mm]
(Unit: in)
Connector
Case
PCR-S20FS (soldering type)
PCR-LS20LA1
PCR-S20F (insulation displacement type)
PCR-LS20LA1W
Crimping terminal: FHAT-002A
Note: PCR-S20F and PCR-LS20LA1W are not options and are to be supplied by the customer.
(3) Communication cable connector
<Japan Aviation Electronics Industry>
[Unit: mm]
([Unit: in])
B
A
Fitting fixing screw G
E (max. diameter of
cable used)
F
C
D
Type
DE-C1-J6-S6
A
1
B
1
C
0.25
D
1
34.5(1.36)
19(0.75)
24.99(0.98)
33(1.30)
10 - 7
E
6(0.24)
F
Reference
G
18(0.71)
#4-40
10. OUTLINE DIMENSION DRAWINGS
MEMO
10 - 8
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. The operation characteristics of the electronic thermal relay are shown Fig 11.1 to 11.3.
Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay
protection curve shown below. Overload 2 alarm (51) occurs if the maximum current flew continuously for
several seconds due to machine collision, etc. Use the equipment on the left-hand 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.
(1) MR-J2S-10B to MR-J2S-100B
HC-KFS series
HC-MFS series
HC-SFS series
HC-UFS series
1000
During rotation
Operation time[s]
100
During servo lock
10
1
0.1
0
50
100
150
200
250
300
Load ratio [%]
Fig 11.1 Electronic thermal relay protection characteristics 1
(2) MR-J2S-200B to MR-J2S-350B
1000
During rotation
100
Operation time [s]
HC-SFS series
HC-RFS series
HC-UFS series
During servo lock
10
1
0.1
0
50
100
150
200
250
300
Load ratio [%]
Fig 11.2 Electronic thermal relay protection characteristics 2
11 - 1
11. CHARACTERISTICS
(3) MR-J2S-500B MR-J2S-700B
HC-SFS series
HC-RFS series
HC-UFS series
10000
Operation time[s]
1000
During servo lock
During rotation
100
10
1
0
50
100
150
200
250
Load ratio [%]
Fig 11.3 Electronic thermal relay protection characteristics 3
11 - 2
300
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 zero torque 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
MR-J2S-500B
MR-J2S-700B
Servo motor
(Note 1)
Power supply
capacity[kVA]
(Note 2)
Servo amplifier-generated heat[W]
Area required for heat dissipation
At rated torque
With servo off
[m2]
[ft2]
HC-KFS053 13
0.3
25
15
0.5
5.4
HC-MFS053
0.3
25
15
0.5
5.4
HC-UFS13
0.3
25
15
0.5
5.4
HC-KFS23
0.5
25
15
0.5
5.4
HC-MFS23
0.5
25
15
0.5
5.4
HC-UFS23
0.5
25
15
0.5
5.4
HC-KFS43
0.9
35
15
0.7
7.5
HC-MFS43
0.9
35
15
0.7
7.5
13
HC-UFS43
0.9
35
15
0.7
7.5
HC-SFS52
1.0
40
15
0.8
8.6
HC-SFS53
1.0
40
15
0.8
8.6
MR-KFS73
1.3
50
15
1.0
10.8
HC-MFS73
1.3
50
15
1.0
10.8
HC-UFS72 73
1.3
50
15
1.0
10.8
HC-SFS81
1.5
50
15
1.0
10.8
1.7
50
15
1.0
10.8
HC-SFS121
2.1
90
20
1.8
19.4
HC-SFS201
3.5
90
20
1.8
19.4
HC-SFS102
103
HC-SFS152
153
2.5
90
20
1.8
19.4
HC-SFS202
203
3.5
90
20
1.8
19.4
HC-RFS103
1.8
90
20
1.8
19.4
HC-RFS153
2.5
90
20
1.8
19.4
HC-UFS152
2.5
90
20
1.8
19.4
HC-SFS301
4.8
120
20
2.7
29.1
29.1
HC-SFS352
5.5
130
20
2.7
HC-RFS203
353
3.5
90
20
1.8
19.4
HC-UFS202
3.5
90
20
1.8
19.4
HC-SFS502
7.5
195
25
3.9
42.0
HC-RFS353
5.5
135
25
2.7
29.1
HC-RFS503
7.5
195
25
3.9
42.0
HC-UFS352
5.5
195
25
3.9
42.0
HC-UFS502
7.5
195
25
3.9
42.0
HC-SFS702
10.0
300
25
6.0
64.6
Note:1. Note that the power supply capacity will vary according to the power supply impedance.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by
the regenerative brake option, use Equation 12.1 in 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
............................................................................................................................................. (11.1)
K T
where, A
: Heat dissipation area [m2]
P
: Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]
A
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 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. 11.4 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
Fig. 11.5 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 Fig. 11.6)
Forced stop(EM1)
ON
OFF
Time constant
V0
Machine speed
te
Time
Fig. 11.5 Dynamic brake operation diagram
Lmax
Lmax
Vo
JM
JL
te
JL
....................................................................................................................... (11.2)
JM
: Maximum coasting distance .................................................................................................[mm][in]
: Machine rapid feedrate ......................................................................................... [mm/min][in/min]
: Servo motor inertial moment................................................................................. [kg cm2][oz in2]
: Load inertia moment converted into equivalent value on servo motor shaft..... [kg cm2][oz in2]
: Brake time constant (Fig. 11.6) ...................................................................................................... [s]
: Delay time of control section (Fig. 11.5)......................................................................................... [s]
(There is internal relay delay time of about 30ms.)
V0
60
te
1
11 - 5
Time constant
[ms]
16
14
12
10
8
6
4
2
0
0
Time constant [s]
11. CHARACTERISTICS
23
43
13
500 1000 1500 2000 2500 3000
Speed [r/min]
0.02
0.018
0.016
0.014
0.012
0.01
0.008
0.006
0.004
0.002
0
0
23
73
053
43
13
500 1000 1500 2000 2500 3000
Speed [r/min]
a. HC-KFS series
b. HC-MFS series
0.04
0.045
121
0.03
Time constant [s]
Time constant [s]
0.035
201
0.025
0.02
301
0.015
0.01
81
0.005
0
0
50
500
Speed [r/min]
1000
0.04
0.035
Time constant [s]
53
0.06
353
103
0.02
0
0
50
52
502
0.015
0.01
0.005
0
0
102
152
500
1000 1500
Speed [r/min]
153
500 1000 1500 2000 2500 3000
Speed [r/min]
0.018
0.016
0.014
0.012
0.01
0.008
0.006
103
2000
503
153
0.004
0.002
0
0
353
500
e. HC-SFS3000r/min series
203
1000 1500 2000 2500 3000
Speed [r/min]
f. HC-RFS series
0.07
73
0.06
0.1
0.09
0.08
0.07
0.06
0.05
0.04
0.03
0.02
0.01
0
Time constant [s]
0.05
Time constant [s]
Time constant [s]
203
0.04
202
d. HC-SFS2000r/min series
0.12
0.08
352
0.025
0.02
c. HC-SFS1000r/min series
0.1
702
0.03
72
502
352
0.04
0.03
43
0.02
23
13
152
0.01
202
0
0
500
1000 1500
Speed [r/min]
2000
0
50 500 10001500200025003000
Speed [r/min]
g. HC-UFS 2000r/min series
h. HC-UFS3000r/min series
Fig. 11.6 Dynamic brake time constant
11 - 6
11. CHARACTERISTICS
Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the
load inertia moment may exceed the value, contact Mitsubishi.
Servo amplifier
Load inertia moment ratio [times]
MR-J2S-10B to MR-J2S-200B
MR-J2S-10B1 to MR-J2S-40B1
30
MR-J2S-350B
16
MR-J2S-500B
15
MR-J2S-700B
11.4 Encoder cable flexing life
The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 108
5 107
a
1 107
a : Long flexing-life encoder cable
MR-JCCBL M-H
MR-JHSCBL M-H
MR-ENCBL M-H
5 106
1 106
b : Standard encoder cable
MR-JCCBL M-L
MR-JHSCBL M-L
Flexing life [times]
5 105
1 105
5 104
1 104
b
5 103
1 103
4
7
10
20
40
70 100
Flexing radius [mm]
11 - 7
200
11. CHARACTERISTICS
MEMO
11 - 8
12. OPTIONS AND AUXILIARY EQUIPMENT
12. OPTIONS AND AUXILIARY EQUIPMENT
WARNING
Before connecting any option or auxiliary equipment, make sure that the charge
lamp is off more than 10 minutes after power-off, then confirm the voltage with a
tester or the like. Otherwise, you may get an electric shock.
CAUTION
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
12.1 Options
12.1.1 Regenerative brake options
CAUTION
The specified combinations of regenerative brake options and servo amplifiers
may only be used. Otherwise, a fire may occur.
(1) Combination and regenerative power
(Note) Regenerative power[W]
Servo amplifier
Built-in regenerative MR-RB032
brake resistor
[40 ]
MR-J2S-10B(1)
MR-RB12
[40 ]
MR-RB32
[40 ]
MR-RB30
[13 ]
MR-RB50
[13 ]
MR-RB31
[6.7 ]
MR-RB51
[6.7 ]
300
500
30
MR-J2S-20B(1)
10
30
100
MR-J2S-40B(1)
10
30
100
MR-J2S-60B
10
30
100
MR-J2S-70B
20
30
100
300
MR-J2S-100B
20
30
100
300
MR-J2S-200B
100
300
500
MR-J2S-350B
100
300
500
MR-J2S-500B
130
300
500
MR-J2S-700B
170
Note: This value is the regenerative power of the resistor and is not the rated power.
(2) Selection of the regenerative brake option
(a) Simple selection method
In horizontal motion applications, select the regenerative brake 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 1)
ratedspeed
running speed
where m
2
[times/min]
load inertia moment/servo motor inertia moment
From the permissible duty, find whether the regenerative brake option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative brake option out of the combinations in (1) in this section.
12 - 1
12. OPTIONS AND AUXILIARY EQUIPMENT
Unbalance torque
Servo motor speed
(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 brake option:
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Friction
torque
TF
Up
t1
Tpsa1
( )
TU
Time
Down
t2
Tpsd1
t3
Tpsa2
t4
Tpsd2
1)
Generated torque
M
tf(1 cycle)
No
(Driving)
2)
4)
8)
5)
6)
3)
(Regenerative)
7)
( )
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [N m]
1)
T1
2)
T2
3)
T3
4), 8)
T4
5)
T5
6)
T6
7)
T7
(JL JM) No
9.55 104
TU TF
(JL JM) No
9.55 104
TU
(JL JM) No
4
9.55 10
TU TF
(JL JM) No
9.55 104
Sum total of regenerative energies
1
Tpsa1
TF
TU
Energy [J]
E1
E2
1
Tpsd1
1
Tpsa2
Tpsd2
TU
0.1047 No T2 t1
0.1047
No T3 Tpsd1
2
E3
TF
E4 0 (No regeneration)
0.1047
E5
No T5 Tpsa2
2
E6
1
No T1 Tpsa1
TF
TU
TU
0.1047
2
TF
E7
0.1047 No T6 t3
0.1047
No T7 Tpsd2
2
Sum total of negative energies in 1) to 8)
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(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
Inverse efficiency[%]
55
70
85
85
80
80
85
85
90
90
Capacitor charging[J]
9
9
11
11
18
18
40
40
45
70
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 generated torque, allow for
about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
12 - 2
12. OPTIONS AND AUXILIARY EQUIPMENT
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 brake option.
ER [J]
Es Ec
Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative brake option.
PR [W] ER/tf ............................................................................................(12.1)
(3) Parameter setting
Set parameter No.2 according to the option to be used.
Parameter No.2
Selection of regenerative
00: Not used.
01: FR-RC FR-RB
05: MR-RB32
08: MR-RB30
09: MR-RB50
0B: MR-RB31
0C: MR-RB51
10: MR-RB032
11: MR-RB12
12 - 3
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Connection of the regenerative brake option
The regenerative brake 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 brake 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 brake option across P-C.
Servo amplifier
Always remove the lead from across P-D.
Regenerative brake option
D
P
P
C
C
G3
(Note) G4
G3 G4: Thermal protector terminals.
Abnormal heating will disconnect G3-G4.
5m (16.4 ft) max.
Note: Make up a sequence which will switch off the magnetic contactor
(MC) when abnormal heating occurs.
(b) MR-J2S-500B MR-J2S-700B
Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor
and fit the regenerative brake option across P-C.
Servo amplifier
P
C
Always remove wiring (across P-C) of servo
amplifier built-in regenerative brake resistor.
Regenerative brake option
P
C
(Note 2)
5m(16.4ft) or less
G3
G4
G3 G4: Thermal protector terminals.
Abnormal heating will disconnect G3-G4.
Fan (Note 1)
Note 1. When using the MR-RB51, forcibly cool it with a cooling fan (1.0m3/min,
2. Make up a sequence which will switch off the magnetic contactor (MC)
when abnormal heating occurs.
12 - 4
92 or so).
12. OPTIONS AND AUXILIARY EQUIPMENT
When using the regenerative brake resistor option, remove the servo amplifier's built-in
regenerative brake resistor terminals (across P-C), fit them back to back, and secure them to the
frame with the accessory screw as shown below.
Mounting method
Accessory screw
For MR-J2S-500B
For MR-J2S-700B
Accessory screw
Accessory screw
For the MR-RB51 install the cooling fan as shown.
[Unit : mm(in)]
Fan installation screw hole dimensions
2-M3 screw hole
Top
(for fan installation)
Depth 10 or less
(Screw hole already
machined)
82.5
Terminal block
133
(5.24)
Thermal relay
(3.25)
Fan
Bottom
82.5
40 (1.58)
(3.25)
Vertical
installation
Horizontal installation
Installation surface
12 - 5
Recommended fan:
Toyo Denki's TL396A or equivalent
12. OPTIONS AND AUXILIARY EQUIPMENT
(5) Outline drawing
(a) MR-RB032 MR-RB12
[Unit: mm (in)]
LA
12 (0.47)
6 (0.23)
6 (0.24) mounting hole
LB
144 (5.67)
5 (0.20)
6 (0.23)
12 (0.47)
G3
G4
P
C
6 (0.23)
TE1
168 (6.61)
156 (6.14)
MR-RB
1.6 (0.06)
20
(0.79)
LD
LC
Regenerative Regenerative Resistance
brake option
power[W]
[ ]
MR-RB032
30
40
MR-RB12
100
40
(b) MR-RB32 MR-RB30 MR-RB31
Variable dimensions
LA
LB
LC
LD
30
15
119
99
(1.18) (0.59) (4.69) (3.9)
40
15
169 149
(1.57) (0.59) (6.69) (5.87)
1.1 2.4
[Unit: mm (in)]
Terminal
block 10
17
(0.39)
(0.67)
7(0.28)
90
(3.54)
100(3.94)
Weight
Regenerative Regenerative Resistance
brake option power [W]
[ ]
[kg]
[lb]
MR-RB32
300
40
2.9
6.4
MR-RB30
300
13
2.9
6.4
MR-RB31
300
6.7
2.9
6.4
12 - 6
325(12.80)
Terminal
block
350(13.78)
7 14 slot
125(4.92)
150(5.91)
79
(7.05)
318(12.52)
0.5 1.1
(c) MR-RB50 MR-RB51
[Unit: mm (in)]
3.2(0.13)
Weight
[kg] [lb]
2.3(0.09)
200(7.87)
17(0.67)
12
(0.47)
7(0.28)
116(4.57)
128(5.04)
Regenerative Regenerative Resistance Weight
brake option
power [W]
[ ]
[kg] [lb]
MR-RB50
500
13
5.6 12.3
MR-RB51
500
6.7
5.6 12.3
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.2 Brake unit
POINT
The brake unit and resistor unit of other than 200V class are not
applicable to the servo amplifier.
The brake unit and resistor unit of the same capacity must be combined.
The units of different capacities may result in damage.
The brake unit and resistor unit must be installed on a vertical surface in
the vertical direction. If they are installed in the horizontal direction or on
a horizontal surface, a heat dissipation effect reduces.
The temperature of the resistor unit casing rises to higher than 100 . Do
not cause cables and combustibles to make contact with the casing.
The brake unit is the integration of the regenerative control and resistor and is connected to the bus
(across P-N) of the servo amplifier. As compared to the MR-RB regenerative brake option, the brake unit
can return larger power. Hence, use the this brake unit when the MR-RB cannot provide sufficient
regenerative brake capability.
(1) Selection
Permissible Continuous
Max. Instantaneous
Power [kw]
Current [kw]
FR-BR-15K
0.99
16.5
MR-J2S-500B
FR-BR-30K
1.99
33.4
MR-J2S-700B
Brake unit
Resistor unit
FR-BU-15K
FR-BU-30K
Applicable Servo Amplifier
(2) Connection example
Servo amplifier
No-fuse breaker
NFB
Power
supply
3-phase
200 to
230VAC
MC
Servo motor
L1
U
L2
V
L3
W
SM
L11
L21
(Note 2)
P
C
N
P/
N/
PR
PR
P
(Note 1)
(Note 1)
TH1
HA
HB
HC
Alarm
output
THS
FR-BU brake unit
TH2
FR-BR resistor unit
Note 1. Make up the external sequence to switch the power off when an alarm occurs or when the thermal relay is actuated.
2. Always remove the wiring (across P-C) of the servo amplifier built-in resistor.
12 - 7
12. OPTIONS AND AUXILIARY EQUIPMENT
The cables between the servo amplifier and brake unit and between the resistor unit and brake unit
should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the
cables must not be longer than 10m(32.808ft).
The cable size should be equal to or larger than the recommended size. See the brake unit instruction
manual. You cannot connect one set of brake unit to two servo amplifiers or two sets of brake units to
one servo amplifier.
Servo amplifier
Servo amplifier
Brake unit
P
N
P
N
5m (16.404ft)
or less
Brake unit
Resistor unit
P
PR
P
PR
P
N
5m (16.404ft)
or less
Twist.
P
N
10m (32.808ft)
or less
P
PR
Resistor unit
Twist.
P
PR
10m (32.808ft)
or less
(3) Outside dimensions
(a) Brake unit (FR-BU)
[Unit : mm(in)]
D
F
K
(Note)
E
AA EE
A
BA
B
Operation
display
Control circuit
terminals
Main circuit
terminals
E
C
F
K
Note: Ventilation ports are provided in both side faces and top face. The bottom face is open.
Brake Unit
A
AA
B
BA
C
D
E
EE
K
F
Approx.
Weight [kg(Ib)]
FR-BU-15K
100
(3.937)
60
(2.362)
240
(9.446)
225
(10.039)
128
(5.039)
6
(0.236)
18.5
(0.728)
6
(0.236)
48.5
(1.909)
7.5
(0.295)
2.4
(5.291)
FR-BU-30K
160
(6.299)
90
(3.543)
240
(9.446)
225
(10.039)
128
(5.039)
6
(0.236)
33.5
(1.319)
6
(0.236)
78.5
(3.091)
7.5
(0.295)
3.2
(7.055)
12 - 8
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Resistor unit (FR-BR)
EE
(E)
204
Eye bolt (8.031)
33 (1.299)
C 5
(0.197)
AA 5 (0.197)
FR-BR-55K
Two eye bolts are provided
(as shown below).
40 (1.575)
EE
(E)
(Note)
(F)
Control circuit
terminals
Main circuit
terminals
BB 3 (0.118)
B 5 (0.197)
BA 1 (0.039)
K
2- D
(F)
[Unit : mm(in)]
A 5 (0.197)
Note: Ventilation ports are provided in both side faces and top face. The bottom face is open.
Resistor
Unit
Model
A
AA
FR-BR15K
170
(6.693)
100
(3.937)
FR-BR340
30K
(11.389)
270
(10.63)
C
D
E
EE
K
F
Approx.
Weight
[kg(Ib)]
450
432
410
(17.717) (17.008) (16.142)
220
(8.661)
6
(0.236)
35
(1.378)
6
(0.236)
1.6
(0.063)
20
(0.787)
15
(66.139)
600
582
560
(23.622) (22.913) (22.047)
220
(8.661)
10
(0.394)
35
(1.378)
10
(0.394)
2
(0.079)
20
(0.787)
30
(33.069)
B
BA
BB
12.1.3 Power return converter
(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 and MR-J2S-700B.
converter
Nominal
Regenerative
Continuous energization time [sec]
Power return
Servo Amplifier
Power (kW)
FR-RC15
15
MR-J2S-500B
FR-RC30
30
MR-J2S-700B
12 - 9
500
300
200
100
50
30
20
0
50
75 100
150
Nominal regenerative power (%)
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
L11
L21
NFB
Power factor improving reactor
MC
FR-BAL
L1
Power supply
3-phase
200V or 230VAC
L2
L3
VDD
COM
ALM
RA2
EM1
SG
SG
Always remove
wiring across P-C.
N
N/
P
C
P/
5m(16.4ft) or less
RDY
Ready
A
SE
RDY
output
R/L1
S/L2
B
B
C
C
Alarm
output
T/L3
R
RX
S
SX
Phase detection
terminals
T
TX
Power return converter
FR-RC
FR-RC
B C
Operation ready
RA2
EM1
OFF
ON
MC
MC
SK
12 - 10
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outside dimensions of the power return converters
[Unit : mm(in)]
Mounting foot (removable)
Mounting foot
movable
E
2- D hole
Rating plate
Display
panel
window
BA
B
Front cover
Cooling fan
K
F
EE
D
AA
C
A
Heat generation area outside mounting dimension
Power return
converter
A
AA
B
BA
C
D
E
EE
K
F
Approx.
Weight [kg(Ib)]
FR-RC-15K
270
200
450
432
195
(10.630) (7.874) (17.717) (17.008) (7.677)
10
(0.394)
10
(0.394)
8
(0.315)
3.2
(0.126)
87
(3.425)
19
(41.888)
FR-RC-30K
340
270
600
582
195
(13.386) (10.630) (23.622) (22.913) (7.677)
10
(0.394)
10
(0.394)
8
(0.315)
3.2
(0.126)
90
(3.543)
31
(68.343)
(4) Mounting hole machining dimensions
When the power return 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)
[Unit : mm(in)]
(2- D hole)
Model
b
(BA)
(Mounting hole)
a
12 - 11
A
B
D
AA
BA
FR-RC-15K
260
412
10
200
432
(10.236) (16.220) (0.394) (7.874) (17.009)
FR-RC-30K
330
562
10
270
582
(12.992) (22.126) (0.394) (10.630) (22.913)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.4 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.
Motion controller
or
A1SD75M(AD75M)
Servo amplifier
(Note)
Bus cable
Servo amplifier
(Note)
Bus cable
CN1A CN1B
CN1A CN1B
13)
Termination connector
CN2
CN3
CN2
CN3
Personal
computer
15)
(Note)
Connector set
14)
(Note)
To U,V,W
20) 21)
1)
HC-KFS
HC-MFS
HC-UFS 3000r/min
2)
6)
HC-SFS
HC-RFS
HC-UFS 2000r/min
16) 17) 18) 19)
3) 4) 5)
7) 8)
Note: 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-
B
MR-J2-03B5
A1SD75M(AD75M)
9) Bus cable :MR-J2HBUS
M-A
11) Connector set:MR-J2CN1-A
Motion controller
9) Bus cable :MR-J2HBUS
M-A
11) Connector set:MR-J2CN1-A
10) Bus cable :MR-J2HBUS
M
MR-J2SMR-J2-
B
B
MR-J2-03B5
Maintenance junction card
12 - 12
12) Connector set:MR-J2CN1
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing: 1-172161-9
Connector pin: 170359-1
(AMP or equivalent)
Application
Standard
flexing life
IP20
1)
Standard encoder MR-JCCBL M-L
cable
Refer to (2) in this
section.
2)
Long flexing life
encoder cable
3)
Standard encoder MR-JHSCBL M-L Connector: 10120-3000VE
cable
Refer to (2) in this Shell kit: 10320-52F0-008
(3M or equivalent)
section.
4)
Long flexing life
encoder cable
MR-JHSCBL M-H
Refer to (2) in this
section.
5)
IP65-compliant
encoder cable
MR-ENCBL M-H
Refer to (2) in this
section.
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
6)
Encoder
connector set
MR-J2CNM
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing: 1-172161-9
Pin: 170359-1
Cable clamp: MTI-0002
(AMP or equivalent)
IP20
7)
Encoder
connector set
MR-J2CNS
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Plug: MS3106B20-29S
Cable clamp: MS3057-12A
(Japan Aviation Electronics)
IP20
8)
Encoder
connector set
MR-ENCNS
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
9)
Bus cable
MR-J2HBUS M-A Connector: PCR-S20FS
Refer to (4) in this Case: PCR-LS20LA1
section.
(Honda Tsushin)
10) Bus cable
MR-JCCBL M-H
Refer to (2) in this
section.
MR-J2HBUS M
Refer to (4) in this
section.
Long flexing
life
IP20
Plug: MS3106B20-29S
Cable clamp: MS3057-12A
(Japan Aviation Electronics)
Standard
flexing life
IP20
Long flexing
life
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
12 - 13
Plug: MS3106A20-29S (D190)
Cable clamp: CE3057-12A-3 (D265)
Back shell: CE02-20BS-S
(DDK)
Long flexing
life
IP65
IP67
Not oilresistant.
Plug: MS3106A20-29S (D190)
IP65
Cable clamp: CE3057-12A-3 (D265) IP67
Back shell: CE02-20BS-S
(DDK)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Application
Connector: 10120-3000EL
Shell kit: 10320-52F0-008
(3M or equivalent)
11) Connector set
MR-J2CN1-A
Refer to (4) in this
section
Connector: PCR-S20FS
Shell kit: PCR-LS20LA1
(Honda Tsushin)
12) Control signal
connector set
MR-J2CN1
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
13) Termination
connector
MR-A-TM
14) Maintenance
junction card
MR-J2CN3TM
15) Communication
cable
MR-CPCATCBL3M Connector: 10120-6000EL
Refer to (3) in this Shell kit: 10320-3210-000
section.
(3M or equivalent)
16) Power supply
connector set
MR-PWCNS1
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A22-23SD-B-BSS
Cable clamp:CE3057-12A-2 (D265)
(DDK)
17) Power supply
connector set
MR-PWCNS2
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A24-10SD-B-BSS
Cable clamp: CE3057-16A-2 (D265)
(DDK)
18) Power supply
connector set
MR-PWCNS3
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A32-17SD-B-BSS
Cable clamp: CE3057-20A-1 (D265)
(DDK)
19) Brake connector
set
MR-BKCN
Refer to the Servo
Motor Instruction
Manual.
Plug: MS3106A10SL-4S (D190) (DDK)
Cable connector: YS010-5-8 (Daiwa Dengyo)
EN
Standardcompliant
IP65 IP67
20) Power supply
connector set
MR-PWCNK1
Plug: 5559-04P-210
Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(molex)
IP20
21) Power supply
connector set
MR-PWCNK2
Plug: 5559-06P-210
Terminal: 5558PBT3L (For AWG16)(8 pcs.)
(molex)
For motor
with brake
IP20
Qty: 2 each
Refer to Section 12.1.5.
12 - 14
Connector: DE-9SF-N
Case: DE-C1-J6-S6
(Japan Aviation Electronics)
For
connection
with PC-ATcompatible
personal
computer
EN
Standardcompliant
IP65 IP67
12. OPTIONS AND AUXILIARY EQUIPMENT
(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.
Generally use the encoder cable available as our options. If the required length is not found in the
options, fabricate the cable on the customer side.
(a) MR-JCCBL M-L MR-JCCBL M-H
These encoder cables are used with the HC-KFS HC-MFS HC-UFS3000r/min series servo
motors.
1) Model explanation
Model: MR-JCCBL MSymbol
Specifications
L
Standard flexing life
H
Long flexing life
Symbol (Note) Cable length [m(ft)]
2
5
10
20
30
40
50
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(131.2)
and 50m(164.0ft) sizes.
2) Connection diagram
The signal assignment of the encoder connector is as viewed from the pin side. For the pin
assignment on the servo amplifier side, refer to Section 3.2.1.
Encoder cable
supplied to servo motor
Servo amplifier
Encoder connector
Encoder cable
(option or fabricated)
Servo motor
Encoder connector
1-172169-9 (AMP)
1
CN2
Encoder
MR
4
50m(164.0ft) max.
MD
7
P5
30cm
(0.98ft)
12 - 15
2
3
MRR BAT
5
6
MDR
8
9
LG SHD
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JCCBL2M-L
MR-JCCBL5M-L
MR-JCCBL2M-H
MR-JCCBL5M-H
Servo amplifier side
Encoder side
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BT
LG
7
17
6
16
9
1
SD
Plate
MR-JCCBL10M-L
to
MR-JCCBL30M-L
Servo amplifier side
7
8
1
2
4
5
3
9
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BT
LG
7
17
6
16
9
1
SD
Plate
MR-JCCBL10M-H
to
MR-JCCBL50M-H
Encoder side
Servo amplifier side
7
8
1
2
4
5
3
9
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BT
LG
7
17
6
16
9
1
SD
Plate
Encoder side
7
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.
For use of AWG24
Servo amplifier side
(3M)
Encoder side
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR 7
MRR 17
For use of AWG22
Servo amplifier side
(3M)
Encoder side
7
P5
LG
P5
LG
P5
LG
8
1
2
19
11
20
12
18
2
MR 7
MRR 17
7
8
1
2
BT
LG
9
1
3
BT
LG
9
1
3
SD
Plate
9
SD
Plate
9
12 - 16
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H
These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors.
1) Model explanation
Model: MR-JHSCBL MSymbol
Specifications
L
Standard flexing life
H
Long flexing life
Symbol
Cable length [m(ft)]
2
5
10
20
30
40
50
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(131.2)
and 50m(164.0ft) sizes.
Model: MR-ENCBL M-H
Long flexing life
Symbol
2
5
10
20
30
40
50
Cable length [m(ft)]
2 (6.56)
5 (16.4)
10 (32.8)
20 (65.6)
30 (98.4)
40 (131.2)
50 (164.0)
2) Connection diagram
For the pin assignment on the servo amplifier side, refer to Section 3.2.1.
Servo amplifier
Encoder connector
Encoder cable
(Optional or fabricated)
CN2
Encoder connector
Servo motor
L
Encoder
50m(164.0ft) max.
12 - 17
AB
M
K T
J
N
C
P D
S R E
H
F
G
Pin Signal
A
MD
B MDR
C
MR
D MRR
E
F
BAT
LG
G
H
J
Pin Signal
K
L
M
N SHD
P
R
LG
P5
S
T
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JHSCBL2M-L
MR-JHSCBL5M-L
MR-JHSCBL2M-H
MR-JHSCBL5M-H
MR-ENCBL2M-H
MR-ENCBL5M-H
Servo amplifier side
Encoder side
P5
LG
P5
LG
MR
MRR
P5
LG
BAT
LG
SD
19
11
20
12
7
17
18
2
9
1
Plate
S
MR-JHSCBL10M-L
to
MR-JHSCBL30M-L
Servo amplifier side
19
11
20
12
18
2
Encoder side
S
MR-JHSCBL10M-H
to
MR-JHSCBL50M-H
MR-ENCBL10M-H
to
MR-ENCBL50M-H
Servo amplifier side
Encoder side
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
S
R
C
D
P5
LG
P5
LG
P5
LG
F
G
MR 7
MRR 17
R
C
D
MR 7
MRR 17
R
C
D
BAT 9
LG 1
F
G
BAT 9
LG 1
F
G
N
SD
N
N
(Note) Use of AWG24
(Less than 10m(32.8ft))
Note: AWG28 can be used for 5m(16.4ft) or less. SD
Plate
Use of AWG22
(10m(32.8ft) to 50m(164.0ft))
Plate
Use of AWG24
(10m(32.8ft) to 50m(164.0ft))
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 - 18
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Communication cable
POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.
(a) Model definition
Model : MR-CPCATCBL3M
Cable length 3[m](10[ft])
(b) Connection diagram
MR-CPCATCBL3M
Personal computer side
TXD
3
RXD
2
GND
RTS
CTS
5
7
8
DSR
DTR
6
4
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 - 19
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Bus cable
When fabricating the bus cable, do not make incorrect connection. Doing so can
cause misoperation or explosion.
CAUTION
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) Model definition
Model:MR-J2HBUS
M-A
Symbol
05
5
Model:MR-J2HBUS
Cable Length [m(ft)]
0.5 (1.64)
5 (16.4)
M
Symbol
05
1
5
Cable Length [m(ft)]
0.5 (1.64)
1 (3.28)
5 (16.4)
(b) Connection diagram
MR-J2HBUS M-A
PCR-S20FS(Connector)
PCR-LS20LA1(Case)
MR-J2HBUS M
10120-6000EL(Connector)
10320-3210-000(Shell kit)
LG
1
1
LG
11
RD
2
RD*
TD
10120-6000EL(Connector)
10320-3210-000(Shell kit)
10120-6000EL(Connector)
10320-3210-000(Shell kit)
LG
1
1
11
LG
11
11
2
RD
2
2
12
12
RD*
12
12
4
4
3
3
TD*
14
14
13
13
LG
5
5
TD
4
4
LG
15
15
TD*
14
14
EMG
6
7
LG
5
5
EMG* 16
17
LG
15
15
SD
20
Plate
EMG
6
6
16
16
7
EMG* 17
BAT
SD
12 - 20
7
17
8
8
18
18
9
9
19
19
10
10
20
20
Plate
Plate
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.5 Maintenance junction card (MR-J2CN3TM)
(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
CN3
Communication cable
Maintenance junction card (MR-J2CN3TM)
Bus cable
MR-J2HBUS M
CN3B
CN3A
CN3C
A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6
VDD
COM EM1DI MBR
EMGO
SG PE
LG
LG
MO1 MO2
Forced stop
Analog monitor output 2
RA1
Electromagnetic brake interlock
Analog monitor output 1
(2) Connection diagram
TE1
B5
CN3A
CN3B
CN3C
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Shell
Shell
B6
A5
1
A6
3
4
5
A1
A2
10
A3
13
14
15
A4
B4
19
20
B3
Shell
B1
B2
LG
LG
MO1
MO2
VDD
COM
EM1
DI
MBR
EMGO
SG
PE
(3) Outline drawing
[Unit: mm]
([Unit: in])
CN3A
CN3B
CN3C
A1
A6
B1
75(2.95)
MR-J2CN3TM
2- 5.3(0.21)(mounting hole)
B6
TE1
3(0.12)
88(3.47)
41.5(1.63)
100(3.94)
Weight: 110g(0.24Ib)
12 - 21
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.6 Battery (MR-BAT, A6BAT)
Use the battery to build an absolute position detection system.
12 - 22
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.7 Servo configurations software
The servo configuration software (MRZJW3-SETUP121E) 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
Description
Communication signal
Baudrate [bps]
Conforms to RS-232C.
57600, 38400, 19200, 9600
Batch display, high-speed display, graph display
Minimum resolution changes with the processing speed of the personal computer.
Monitor
Alarm
Alarm display, alarm history, data display at alarm occurrence
Diagnostic
External I/O signal display, no-rotation reason display, cumulative power-on time display,
software number display, motor information display, tuning data display, ABS data display,
automatic VC offset display, shaft name setting.
Parameters
Data setting, list display, change list display, detailed information display, turning
Jog operation, positioning operation, motor-less operation, output signal forced output, program
operation in simple language.
Test operation
Advanced function
File operation
Machine analyzer, gain search, machine simulation.
Data read, save, print
Others
Automatic operation, help display
(2) System configuration
(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor:
Model
Description
Personal
computer
IBM PC-AT compatible on which Windows 95 or 98 (English) runs
(Pentium133MHz or higher recommended).Memory: 16MB or more, hard disk free space: 20MB or more,
serial port used.
OS
Windows 95/98 (English)
Display
800
Keyboard
600 or more, 256-color or more display which can be used with Windows 95/98 (English).
Which can be connected to the personal computer.
Mouse
Which can be used with Windows 95/98(English). Note that a serial mouse is not used.
Printer
Which can be used with Windows 95/98(English).
Communication
cable
MR-CPCATCBL3M
When this cannot be used, refer to (3) Section 12.1.4 and fabricate.
Note 1: Windows is a trade mark of Microsoft Corporation.
2: On some personal computers, this software may not run properly.
(b) Configuration diagram
Servo amplifier
Personal computer
Communication cable
CN3
To RS-232C
connector
12 - 23
CN2
Servo motor
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2 Auxiliary equipment
Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL 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.
3) Motor power supply lead
1) Main circuit power supply lead
Servo motor
Servo amplifier
Power supply
L1
U
U
L2
V
V
L3
W
W Motor
L11
6) Brake unit lead or
Return converter
L21
5) Electromagnetic
brake lead
2) Control power supply lead
Brake unit or
Return converter
ElectroB1 magnetic
B2 brake
N
Regenerative brake option
C
Encoder
P
Encoder cable (refer to Section 12.1.4)
4) Regenerative brake option 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.
Table 12.1 Recommended wires
Servo amplifier
MR-J2S-10B(1)
MR-J2S-20B(1)
MR-J2S-40B(1)
MR-J2S-60B
MR-J2S-70B
MR-J2S-100B
MR-J2S-200B
MR-J2S-350B
MR-J2S-500B
MR-J2S-700B
(Note 1) Wires [mm2]
1) L1
L2
L3
2) L11
L21
1.25 (AWG16)
5.5 (AWG10) : b
8 (AWG8) : c
V
W
4) P
C
5) B1 B2
1.25 (AWG16) : a
2 (AWG14) : a
3.5 (AWG12) : b
3) U
2 (AWG14) : a
3.5 (AWG12) : b
(Note 2)
5.5 (AWG10) : b
5.5 (AWG10) : b
8 (AWG8) : c
2 (AWG14) : a
3.5(AW12) : c
Note: 1. For the crimping terminals and applicable tools, see the table 12.2.
2. 3.5mm2 for use of the HC-RFS203 servo motor.
12 - 24
1.25 (AWG16)
12. OPTIONS AND AUXILIARY EQUIPMENT
Use wires 6) of the following sizes with the brake unit (FR-BU) and power return converter (FR-RC).
Model
Wires[mm2]
FR-BU-15K
FR-BU-30K
FR-BU-55K
FR-RC-15K
3.5(AWG12)
5.5(AWG10)
14(AWG6)
14(AWG6)
Table 12.2 Recommended crimping terminals
Symbol
Servo amplifier side crimping terminals
Crimping terminal
Applicable tool
Maker name
a
b
32959
32968
c
FVD8-5
47387
59239
Body YF-1 E-4
Head YNE-38
Die DH-111 DH-121
AMP
Japan Solderless
Terminal
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent:
Table 12.3 Wires for option cables
Type
Length
[m(ft)]
Model
MR-JCCBL
MR-JCCBL
Encoder cable
M-L
M-H
MR-JHSCBL
MR-JHSCBL
MR-ENCBL
M-L
M-H
M-H
Communication
MR-CPCATCBL3M
cable
MR-J2HBUS
M
MR-J2HBUS
M-A
Bus cable
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)
Core size Number
[mm2]
of Cores
0.08
0.3
0.2
0.2
0.08
0.3
0.2
0.2
0.2
0.2
3 (9.84)
0.08
0.5 to 5
(1.64 to 16.4)
0.5 to 5
(1.64 to 16.4)
0.08
12
(6 pairs)
12
(6 pairs)
12
(6 pairs)
14
(7 pairs)
8
(4 pairs)
12
(6 pairs)
8
(4 pairs)
12
(6 pairs)
8
(4 pairs)
12
(6 pairs)
6
(3 pairs)
20
(10 pairs)
Characteristics of one core
Structure
Conductor
[Wires/mm] resistance[ /mm]
Insulation coating
ODd[mm] (Note 1)
(Note 3)
Finishing
OD [mm]
7/0.127
222
0.38
5.6
12/0.18
62
1.2
8.2
40/0.08
105
0.88
7.2
40/0.08
105
0.88
8.0
7/0.127
222
0.38
4.7
12/0.18
62
1.2
8.2
40/0.08
105
0.88
6.5
40/0.08
105
0.88
7.2
40/0.08
105
0.88
6.5
40/0.08
105
0.88
7.2
7/0.127
222
0.38
4.6
7/0.127
222
0.38
6.1
Note 1: d is as shown below:
d
Conductor Insulation sheath
2: Purchased from Toa Electric Industry
3: Standard OD. Max. OD is about 10% greater.
12 - 25
Wire model
UL20276 AWG#28
6pair (BLAC)
UL20276 AWG#22
6pair (BLAC)
(Note 2)
A14B2343 6P
(Note 2)
A14B0238 7P
UL20276 AWG#28
4pair (BLAC)
UL20276 AWG#22
6pair (BLAC)
(Note 2)
A14B2339 4P
(Note 2)
A14B2343 6P
(Note 2)
A14B2339 4P
(Note 2)
A14B2343 6P
UL20276 AWG#28
3pair (BLAC)
UL20276 AWG#28
10pair (CREAM)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.2 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Servo amplifier
No-fuse breaker
MR-J2S-10B(1)
NF30 type 5A
MR-J2S-20B
NF30 type 5A
MR-J2S-40B 20B1 NF30 type 10A
MR-J2S-60B 40B1 NF30 type 15A
MR-J2S-70B
NF30 type 15A
MR-J2S-100B
NF30 type 15A
MR-J2S-200B
NF30 type 20A
MR-J2S-350B
NF30 type 30A
MR-J2S-500B
NF50 type 50A
MR-J2S-700B
NF100 type 75A
Class
Fuse
Current [A]
K5
K5
K5
K5
K5
K5
K5
K5
K5
K5
10
10
15
20
20
25
40
70
125
150
Voltage [V]
Magnetic contactor
S-N10
AC250
S-N18
S-N20
S-N35
S-N50
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]
FR-BAL
NFB
H 5
3-phase
200 to 230VAC
W
NFB
Installation screw
C
MC
1-phase
230VAC
D 5
Servo amplifier
R
X
S
Y
T
Z
FR-BAL
D1 5
RX S Y T Z
MC
L1
L2
L3
Servo amplifier
R
X
S
Y
T
Z
L1
L2
L3
W1
FR-BAL
NFB
1-phase
100 to120VAC
Servo amplifier
Model
R
X
S
Y
T
Z
Dimensions [mm (in) ]
W
W1
H
D
D1
Servo amplifier
MC
C
L1
L2
Mounting Terminal
screw size screw size
Weight
[kg (lb)]
MR-J2S-10B(1)/20B
FR-BAL-0.4K
135 (5.31) 120 (4.72) 115 (4.53)
59 (2.32)
45 (1.77)
7.5 (0.29)
M4
M3.5
2.0 (4.4)
MR-J2S-40B/20B1
FR-BAL-0.75K
135 (5.31) 120 (4.72) 115 (4.53)
69 (2.72)
57 (2.24)
7.5 (0.29)
M4
M3.5
2.8 (6.17)
MR-J2S-60B/70B/40B1 FR-BAL-1.5K
160 (6.30) 145 (5.71) 140 (5.51)
71 (2.79)
55 (2.17)
7.5 (0.29)
M4
M3.5
3.7 (8.16)
MR-J2S-100B
FR-BAL-2.2K
160 (6.30) 145 (5.71) 140 (5.51)
91 (3.58)
75 (2.95)
7.5 (0.29)
M4
M3.5
5.6 (12.35)
MR-J2S-100B
FR-BAL-3.7K
220 (8.66) 200 (7.87) 192 (7.56)
90 (3.54)
70 (2.76)
10 (0.39)
M5
M4
8.5 (18.74)
MR-J2S-200B
FR-BAL-5.5K
220 (8.66) 200 (7.87) 192 (7.56)
96 (3.78)
75 (2.95)
10 (0.39)
M5
M4
9.5 (20.94)
MR-J2S-350B
FR-BAL-7.5K
220 (8.66) 200 (7.87) 194 (7.64)
120 (4.72) 100 (3.94)
10 (0.39)
M5
M5
14.5 (32.0)
MR-J2S-500B
FR-BAL-11K
280 (11.02) 255 (10.04) 220 (8.66)
135 (5.31) 100 (3.94) 12.5 (0.49)
M6
M6
19 (41.9)
MR-J2S-700B
FR-BAL-15K
295 (11.61) 270 (10.62) 275 (10.83) 133 (5.24) 110 (4.33) 12.5 (0.49)
M6
M6
27 (59.5)
12 - 26
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.4 Relays
The following relays should be used with the interfaces:
Interface
Selection example
Relay used especially for switching on-off analog input To prevent defective contacts , use a relay for small signal
command and input command (interface DI-1) signals (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
12.2.5 Surge absorbers
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating
Static
Maximum
capacity
Varistor voltage
limit voltage
(reference
rating (range) V1mA
Permissible circuit
Surge
Energy
Rated
voltage
immunity
immunity
power
[A]
[J]
[W]
[A]
[V]
[pF]
5
0.4
25
360
300
AC[Vma]
DC[V]
140
180
Note: 1 time
8
(Note)
500/time
value)
[V]
220
(198 to 242)
20 s
(Example) ERZV10D221 (Matsushita Electric Industry)
TNR-10V221K (Nippon Chemi-con)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)
4.7 1.0 (0.19 0.04)
Vinyl tube
30.0 (1.18)
or more
0.8 (0.03)
3.0 (0.12)
or less
16.5
(0.65)
13.5 (0.53)
Crimping terminal
for M4 screw
12.2.6 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).
12 - 27
12. OPTIONS AND AUXILIARY EQUIPMENT
(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.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced
by servo amplifier
Noises transmitted
in the air
Noise radiated directly
from servo amplifier
Route 1)
Noise radiated from the
power supply cable
Route 2)
Noise radiated from
servo motor cable
Route 3)
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
Noise transmitted through
power supply cable
Route 7)
Noise sneaking from
grounding cable due to
leakage current
Route 8)
5)
7)
7)
1)
Instrument
7)
2)
Receiver
Sensor
power
supply
Servo
amplifier
2)
3)
8)
6)
Sensor
4)
3)
Servo motor
12 - 28
SM
12. OPTIONS AND AUXILIARY EQUIPMENT
Noise transmission route
Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a control box together with the
servo amplifier or run near the servo amplifier, such devices may malfunction due to noises
transmitted through the air. The following techniques are required.
(1) Provide maximum clearance between easily affected devices and the servo amplifier.
(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
(3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
(4) Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
(5) Use shielded wires for signal and power cables or put cables in separate metal conduits.
4) 5) 6)
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
(1) Provide maximum clearance between easily affected devices and the servo amplifier.
(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
(3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
(4) Use shielded wires for signal and power cables or put the cables in separate metal conduits.
7)
When the power supply of peripheral devices is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the
power supply cable and the devices may malfunction. The following techniques are required.
(1) Insert the radio noise filter (FR-BIF) on the power cables (input cables) of the servo amplifier.
(2) Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
8)
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
(2) Noise reduction products
(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of Tokin are available as data line
filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.
10 to 100MHZ
100 to 500MHZ
80
150
39 1(1.54 0.04)
34 1
(1.34 0.04)
Loop for fixing the
cable band
TDK
Product name
Lot number
Outline drawing (ZCAT3035-1330)
12 - 29
13 1
30 1 (0.51 0.04)
(1.18 0.04)
[Unit: mm]([Unit: in.])
Impedance[ ]
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near the servo amplifier is shown below. Use this product or equivalent.
MS
Relay
Surge suppressor
Surge suppressor
Surge suppressor
This distance should be short
(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200VAC rating)
Outline drawing [Unit: mm] ([Unit: in.])
Rated
voltage
AC[V]
C [ F]
R[ ]
Test voltage AC[V]
200
0.5
50
(1W)
Across
T-C 1000(1 to 5s)
Vinyl sheath
Blue vinyl cord
Red vinyl cord
10(0.39)or less
10 3
(0.39
0.12)
18 1.5
(0.71 0.06)
6(0.24)
10(0.39)or less
4(0.16)
10 3
(0.39
48 1.5
200(7.87) 0.15)
(1.89 0.06) or more
15 1(0.59 0.04)
200(7.87)
or more
Note that a diode should be installed to a DC relay, DC valve or
the like.
Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like
Maximum current: Not less than twice the drive current of
the relay or the like
31(1.22)
RA
Diode
(c) Cable clamp fitting (AERSBAN -SET)
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath
to expose the external conductor, and press that part against the earth plate with the cable clamp.
If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
Cable
Strip the cable sheath of
the clamped area.
Earth plate
40(1.57)
Cable clamp
(A,B)
cutter
cable
External conductor
Clamp section diagram
12 - 30
12. OPTIONS AND AUXILIARY EQUIPMENT
Outline drawing
[Unit: mm]
([Unit: in.])
Earth plate
Clamp section diagram
2- 5(0.20) hole
installation hole
A
B
C
AERSBAN-DSET
100
(3.94)
86
(3.39)
30
(1.18)
AERSBAN-ESET
70
(2.76)
56
(2.20)
Accessory fittings
Clamp fitting
L
clamp A: 2pcs.
A
70
(2.76)
clamp B: 1pc.
B
45
(1.77)
12 - 31
(0.940)
0.3
0
24
Note: Screw hole for grounding. Connect it to the earth plate of the control box.
Type
10(0.39)
A
35(1.38)
11(0.43)
(0.24)
C
22(0.87)
6
(Note)M4 screw
L or less
35 (1.38)
24
0
0.2
7 (0.28)
(0.940)
B 0.3(0.01)
3 (0.12)
6 (0.24)
30(1.18)
17.5(0.69)
12. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BLF, FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current)
especially within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm] ([Unit: in.])
Wind the 3-phase wires by the equal number of times in the
same direction, and connect the filter to the power supply side
and output side of the servo amplifier.
The effect of the filter on the power supply side is higher as the
number of winds is larger. The number of turns is generally four.
If the wires are too thick to be wound, use two or more filters
and make the total number of turns as mentioned above.
On the output side, the number of turns must be four or less.
Do not wind the grounding wire together with the 3-phase wires.
The filter effect will decrease. Use a separate wire for grounding.
Example 1
NFB
Servo amplifier
L1
L2
L3
160 (6.30)
180 (7.09)
110 (4.33)
95 (3.74)
22 (0.87)
Servo amplifier
L1
L2
Line noise
L3
filter
Two filters are used
(Total number of turns: 4)
2- 5 (0.20)
65 (2.56)
3 (0.12)
33 (1.3)
65 (2.56)
Power
supply
7 (0.28)
35 (1.38)
130 (5.12)
85 (3.35)
FR-BSF01(for MR-J2S-200B or less)
Line noise
filter
(Number of turns: 4)
Example 2 NFB
7 (0.28)
31.5 (1.24)
2.3
(0.09) 80 (3.15)
Power
supply
FR-BLF(MR-J2S-350B or more)
(e) Radio noise filter (FR-BIF)...for the input side only
This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
Connection diagram
Outline drawing (Unit: mm) ([Unit: in.])
L2
Green
29 (1.14)
42 (1.65)
L3
Red White Blue
Radio noise
filter FR-BIF
58 (2.28)
5 (0.20)
hole
29 (1.14)
44 (1.73)
12 - 32
4 (0.16)
Power
supply
Leakage current: 4mA
About 300(11.81)
Make the connection cables as short as possible.
Grounding is always required.
Servo amplifier
NFB
L1
7 (0.28)
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.7 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] ..........(12.2)
K: Constant considering the harmonic contents
Cable
Leakage current breaker
NV
Noise
filter
Ig1 Ign
Ig1:
Ig2:
Ign:
Iga:
Igm:
Iga
Leakage current
Ig2
SM
Igm
Models provided with
harmonic and surge
reduction techniques
NV-SF
NV-CF
1
General models
NV-CA
NV-CS
NV-SS
3
Leakage current on the electric channel from the leakage current breaker to the input terminals
of the servo amplifier (Found from Fig. 12.1.)
Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 12.1.)
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the servo amplifier (Found from Table 12.6.)
Leakage current of the servo motor (Found from Table 12.5.)
Table 12.5 Servo motor's
leakage current
example (Igm)
120
[mA]
Cable
Servo
amplifier
K
Mitsubishi
products
Type
100
80
Servo motor
output [kW]
60
0.05 to 0.5
0.1
40
0.6 to 1.0
0.1
20
1.2 to 2.2
0.2
3 to 3.5
0.3
5
0.5
7
0.7
0
2 3.5
8 1422 38 80 150
5.5
30 60 100
Cable size[mm2]
Leakage
current [mA]
Table 12.6 Servo amplifier's
leakage current
example (Iga)
Servo amplifier
capacity [kW]
Leakage current
[mA]
0.1 to 0.6
0.1
0.7 to 3.5
0.15
5 to 7
2
Table 12.7 Leakage circuit breaker selection example
Fig. 12.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit
Rated sensitivity
Servo amplifier
current of leakage
circuit breaker [mA]
12 - 33
MR-J2S-10B to MR-J2S-350B
MR-J2S-10B1 to MR-J2S-40B1
15
MR-J2S-500B
30
MR-J2S-700B
50
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection example
Indicated below is an example of selecting a leakage current breaker under the following conditions:
2mm2 5m
2mm2 5m
NV
Servo
amplifier
MR-J2S-60B
Ig1
Iga
SM
Ig2
Servo motor
HC-MFS73
Igm
Use a leakage current breaker generally available.
Find the terms of Equation (12.2) 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 (12.2):
Ig
10 {0.1 0 0.1 3 (0.1 0.1)}
8.0 [mA]
According to the result of calculation, use a leakage current breaker having the rated sensitivity
current (Ig) of 8.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NVCA/CS/SS series.
12 - 34
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.8 EMC filter
For compliance with the EMC directive of the EN standard, it is recommended to use the following filter:
(1) Combination with the servo amplifier
Recommended filter
Servo amplifier
MR-J2S-10B to MR-J2S-100B
MR-J2S-10B1 to MR-J2S-40B1
MR-J2S-200B
MR-J2S-350B
Weight [kg]
Model
Leakage current [mA]
SF1252
38
0.75
SF1253
57
1.37
MR-J2S-500B
(Note) HF3040A-TM
1.5
5.5
MR-J2S-700B
(Note) HF3050A-TM
1.5
6.7
Note: Soshin Electric
(2) Connection example
EMC filter
(Note 1) Power supply
3-phase
200 to 230V AC,
1-phase
230VAC or
1-phase
100 to120VAC
NFB
LINE
Servo amplifier
LOAD
L1
L1
L1
L2
L2
L2
L3
L3
L3
(Note 2)
L11
L21
Note: 1. For 1-phase 230VAC power supply, connect the power supply
to L1,L2 and leave L3 open.There is no L3 for 1-phase 100 to 120VAC
power supply.
2. Connect when the power supply has earth.
(3) Outline drawing
[Unit: mm(in)]
SF1252
SF1253
6.0(0.236)
L1
L2
L3
8.5
(0.335)
LOAD
(output side)
LINE
LINE
(input side)
156.0(6.142)
140.0(5.512)
168.0(6.614)
LOAD
L1'
L2'
L3'
LABEL
156.0(6.142)
140.0(5.512)
LINE
LINE
(input side)
LABEL
168.0(6.614)
L1
L2
L3
6.0(0.236)
209.5(8.248)
LOAD
149.5(5.886)
L1'
L2'
L3'
16.0(0.63)
LOAD
(output side)
8.5
(0.335)
42.0
(1.654)
12 - 35
23.0(0.906)
49.0
(1.929)
12. OPTIONS AND AUXILIARY EQUIPMENT
HF3040-TM HF-3050A-TM
K
L
G
F
E
D
L
M
C
J
C
H
B
A
Model
Dimensions [mm(in)]
A
B
C
D
E
F
G
H
J
HF3040A-TM
260
(10.23)
210
(8.27)
85
(3.35)
155
(6.10)
140
(5.51)
125
(4.92)
44
(1.73)
140
(5.51)
70
(2.76)
HF3050A-TM
290
(11.42)
240
(9.45)
100
(3.94)
190
(7.48)
175
(6.89)
160
(6.30)
44
(1.73)
170
(5.51)
100
(3.94)
12 - 36
K
R3.25,
length 8
L
M
M5
M4
M6
M4
13. ABSOLUTE POSITION DETECTION SYSTEM
13. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If an absolute position erase alarm (25) has occurred, always perform home
position setting again. Not doing so can cause runaway.
13.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the servo system controller power is on or off.
Therefore, once home position return is made at the time of machine installation, home position return is
not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
Servo amplifier
Position data
Current
position
Home position data
LS0
CYC0
Battery MR-BAT
Detecting
the number
of revolutions
Detecting the
position within
one revolution
Position control
speed control
Servo system controller
Servo motor
1 pulse/rev accumulative revolution counter
Super capacitor
Within one-revolution counter
13 - 1
High speed serial
communication
13. ABSOLUTE POSITION DETECTION SYSTEM
13.2 Specifications
(1) Specification list
Item
Description
System
Electronic battery backup system
1 piece of lithium battery ( primary battery, nominal
Battery
3.6V)
Type: MR-BAT or A6BAT
Maximum revolution range
Home position
(Note 1) Maximum speed at power failure
500r/min
(Note 2) Battery backup time
Approx. 10,000 hours (battery life with power off)
(Note 3) Data holding time during battery
replacement
Battery storage period
32767 rev.
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
Servo motor
Battery (MR-BAT)
(3) Parameter setting
Set "0001" in parameter No.1 to make the absolute position detection system valid.
0 0 0 1
Absolute position detection selection
0: Used in incremental system.
1: Used in absolute position
detection system.
13 - 2
13. ABSOLUTE POSITION DETECTION SYSTEM
13.3 Battery installation procedure
WARNING
Before starting battery installation procedure, make sure that the charge lamp is off
more than 10 minutes after power-off. Then, confirm that the voltage is safe in the
tester or the like. Otherwise, you may get an electric shock.
POINT
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions:
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
1) Open the operation window. (When the model used is the MR-J2S-200B MR-J2S-350B, also remove
the front cover.)
2) Install the battery in the battery holder.
3) Install the battery connector into CON1 until it clicks.
Battery connector
Battery connector
Operation window
CON1
CON1
Battery
Battery holder
Battery
Battery holder
For MR-J2S-200B or less
For MR-J2S-200B MR-J2S-350B
Battery connector
CON1
Battery holder
Battery
For MR-J2S-500B MR-J2S-700B
13 - 3
13. ABSOLUTE POSITION DETECTION SYSTEM
13.4 Confirmation of absolute position detection data
You can confirm the absolute position data with servo configuration software (MRZJW3-SETUP121E).
Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below:
(2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window
appears.
(3) Press the "Close" button to close the absolute encoder data display window.
13 - 4
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 return converter
Section 1.7: Overall reexamination
Section 3.5.2: Addition of return converter and brake unit
Section 3.7: Reexamination of Section 3.7 and later
Section 5.2 (2): Addition of regenerative brake option to parameter No. 2
Section 6.1.2: Addition of POINT
Changing of alarm 24 name
Section 9.2: Changes made to alarm 20 cause and action fields
Addition of alarm 33 causes 1, 2
Section 10.2 (2): Addition
Section 12.1.1 (3): Overall reexamination
Section 12.1.1 (4): Addition
Section 12.1.1 (5): Addition of MR-RB31 and MR-RB51 regenerative brake
options
Section 12.1.2: Addition
Section 12.1.3: Addition
Section 12.1.4: Addition of power supply connector set
Section 12.2.1 (1): Changing of wiring diagram
Addition of brake unit and power return converter wire size
list
Section 12.2.8 (3): Addition of outline drawing