3. SIGNALS AND WIRING. Mitsubishi Electric MR-J2S-22KB, MR-J2S-40B1, MR-J2S-350B, MR-J2S-200B, Melservo-J2-SUPER series, MR-J2S-100B, MR-J2S-500B, MR-J2S-10B, MR-J2S-11KB, MR-J2S-70B

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 15 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.

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop(EM1) and other protective circuits.

Servo

Amplifier

COM

(24VDC)

Servo amplifier

COM

(DC24V)

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


3.1 Connection example of control signal system

POINT

Refer to Section 3.5 for the connection of the power supply system and to

Section 3.6 for connection with the servo motor.

3.1.1 MR-J2S-700B or less

(Note 9)

Servo configuration software

(Note 4)

Personal computer

Servo system controller

(Note 10, 14)

Bus cable (Option)

15m(49.2ft) or less

Servo amplifier

CN3

(Note 5, 8)

CN3

13 MBR

5

10

COM

VDD

20 EM1

3 SG

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

4 MO1

1 LG

10m(32.81ft) or less

RA1

(Note 2,6)

Magnetic brake interlock

When using the forced stop (EM1) or magnetic brake interlock (MBR), make sure to connect it.

(Note 3,4,7)

Forced stop

A

10k

14 MO2

11 LG

(Note 5)

CN1A

Plate SD

A

10k

2m(6.56ft) or less

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Encoder Z-phase pulse


Control common

Analog monitor output

Max. 1mA

Reading in both directions

(Note15)

Cable clamp

(Option)

(Note 5) SW1

CN1B

Setting:0 (Note 1)

(Note 10, 14)

Bus cable

(Option)

MR-J2S-B

CN1A

(2 axis)

(Note 11)

SW1

CN1B

Setting 1

MR-J2S-B

CN1A

(3 axis)

(Note 11)

SW1

CN1B

Setting 2

(Note 13)

MR-A-TM

MR-J2S-B

CN1A

(n axis)

(Note 11)

SW1

CN1B

Setting: n 1

(Note 12) n 1 to 8

3 - 2


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (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 (EM1) and other protective circuits.

3. If the controller does not have a forced stop function, always install a forced stop switch (Normally closed).

4. When a personal computer is connected for use of the test operation mode, always use the maintenance junction card (MR-J2CN3TM) to enable the use of the forced stop (EM1). (Refer to section 12.1.6)

5. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

6. The sum of currents that flow in the external relays should be 80mA max.

7. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting “0001” in parameter No.23, the forced stop (EM1) can be made invalid.

8. When connecting the personal computer together with analog monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM). (Refer to Section 12.1.3.)

9. Use MRZJW3-SETUP151E.

10. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

11. The wiring of the second and subsequent axes is omitted.

12. Up to eight axes (n 1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the same bus.

13. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier located at the termination.

14. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer to the following table and choose the bus cable.

QD75M

Motion controller

Q172CPU(N)

Q173CPU(N)

A motion

MR-J2S- B MR-J2-03B5

Maintenance junction card

MR-J2S- B

MR-J2HBUS M

Q172J2BCBL M(-B)

Q173J2B CBL M

MR-J2HBUS M-A

MR-J2HBUS M

MR-J2-03B5

15. When the A1SD75M (AD75M) is used as the controller, encoder pulses may not be output depending on the software version of the controller. For details, refer to the A1SD75M (AD75M)

Manual.

3 - 3


3.1.2 MR-J2S-11KB or more

(Note 7)

MR Configurator

(Servo configuration software)

Servo system controller

(Note 8, 12)

Bus cable (Option)

Cable clamp

(Option)

Personal computer

(Note 8, 12)

Bus cable

(Option)

15m(49.2ft) or less

Servo amplifier

(Note 4)

CN3

6

16

7

LA

LAR

LB

17 LBR





8 LZ

18 LZR



1 LG

Plate SD

10m(32.81ft) or less

CN3

CON2

2 EM1

(Note 3, 6)

Forced stop

1

4

SG

DB

(Note 2, 5)

Dynamic brake

RA1 interlock

(Note 4)

CN1A

3 MBR RA2

Magnetic brake interlock

18 COM

15 VDD

CN4

1 interlock (DB), make sure to connect it.

2m(6.56ft) or less

MO1

When using the forced stop (EM1), magnetic brake interlock (MBR) or dynamic brake

10k Analog monitor

Max. 1mA

2 MO2

A

A

10k

Reading in

4 LG both directions

(Note

13)

(Note 4)

SW1

CN1B

Setting : 0

(Note 1)

MR-J2S-B

(Note 9)

SW1

CN1B

Setting : 1

MR-J2S-B

(Note 9)

SW1

CN1B

Setting : 2

(Note 11)

MR-A-TM

MR-J2S-B

(Note 9)

SW1

CN1B

Setting: n-1

(Note 10) n= 1 to 8

3 - 4


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the base unit to the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the interface unit will be faulty and will not output signals, disabling the forced stop and other protective circuits.

3. If the controller does not have a forced stop (EM1) function, always install a forced stop switch

(Normally closed).

4. CN1A, CN1B, and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

5. The sum of currents that flow in the external relays should be 80mA max.

6. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting “0001” in DRU parameter No.23 of the drive unit, the forced stop (EM1) can be made invalid.

7. Use MRZJW3-SETUP151E.

8. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

9. The wiring of the second and subsequent axes is omitted.

10. Up to eight axes (n 1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the same bus.

11. Always insert the termination connector (MR-A-TM) into CN1B of the interface unit located at the termination.

12. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer to the following table and choose the bus cable.


QD75M

Motion controller

Q172CPU(N)

Q173CPU(N)

A motion


Maintenance junction card

MR-J2HBUS M

Q172J2BCBL M(-B)

Q173J2B CBL M

MR-J2HBUS M-A

MR-J2HBUS M

13. When the A1SD75M (AD75M) is used as the controller, encoder pulses may not be output depending on the software version of the controller. For details, refer to the A1SD75M (AD75M)

Manual.

3 - 5


3.2 I/O signals

3.2.1 Connectors and signal arrangements

POINT

The pin configurations of the connectors are as viewed from the cable connector wiring section.

(1) MR-J2S-700B or less

CN1A

2

RD

4

1

LG

3

12

RD*

14

11

LG

13

TD

6

5

LG

TD*

16

15

LG

8

10

7

EMG

18

17

EMG*

9

BT

20

19

MITSUBISHI

MELSERVO-J2

CN1B

2

RD

4

1

LG

3

12

RD*

14

11

LG

13

TD

6

5

LG

TD*

16

15

LG

8

10

7

EMG

17

18

EMG*

9

BT

20

19

CN2

2

LG

4

1

LG

3

12

LG

14

11

LG

13

5 15

6 16

MD

8

10

7

MR

9

BAT

MDR

17

18

MRR

P5

19

20

P5

P5

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CN3

1 11

2

RXD

4

MO1

6

LG

3

SG

5

COM

12

TXD

13

14

MBR

MO2

15

16

LG

LA LAR

7 17

8 18

LB LBR

LZ LZR

9 19

10 20

VDD EM1

3 - 6


(2) MR-J2S-11KB or more

CN1A

Same as the one of the

MR-J2S-700B or less.

CN1B

Same as the one of the

MR-J2S-700B or less.

CN2

2

LG

4

1

LG

3

12

LG

14

11

LG

13

5 15

6 16

MD

8

10

7

MR

9

BAT

MDR

18

17

MRR

P5

19

20

P5

P5

CHARGE

CN4

1 MO1

2 MO2

4 LG

CN3

2

RXD

4

1

LG

3

12

TXD

14

11

LG

13

6

LA

8

LZ

10

5 15

16

7

LB

9

LAR

18

17

LBR

LZR

19

20

MITSUBISHI

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CON2

1 14

2

SG

15

EM1

4

3

MBR

DB

5

VDD

17

6 19

16

18

COM

7 20

8 21

9 22

10 23

11 24

12 25

13 26

3 - 7


3.2.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2.

(1) Connector applications

Connector

CN1A

CN1B

CN2

CN3

(Note)

(Note)

CN4

Name

Connector for bus cable from preceding axis.

Connector for bus cable to next axis

Encoder connector

Communication connector

(I/O signal connector)

Analog monitor output connector

CON2 IO signal connector

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

Function/Application

Used for connection with the controller or preceding-axis servo amplifier.

Used for connection with the next-axis servo amplifier or for connection of the termination connector.

Used for connection with the servo motor encoder.

Used for connection with the personal computer.

Serves as an I/O signal connector when the personal computer is not used.

Used to output analog monitor 1 (M01) and analog monitor

2 (M02).

Used to input a forced stop and output the dynamic brake interlock(DB), the electromagnetic brake interlock

(2) I/O signals

(a) Input signal

Forced stop

(b) Output signals

Electromagnetic brake interlock

Dynamic brake interlock

Signal


(Differential line driver)





Analog monitor 1

Analog monitor 2

Symbol

MBR

DB

LA

LAR

LB

LBR

LZ

LZR

MO1

MO2

CN3

8

CN3

18

CN3

4

CN3

14

CN3

6

CN3

16

CN3

7

CN3

17

Connector Pin

No.

7kw or less

CN3

13

11kw or more

CON2

3

CON2

4

CN3

6

CN3

16

CN3

7

CN3

17

CN3

8

CN3

18

CN4

1

CN4

2


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

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

When the dynamic brake is operated, DB turns off.

Outputs pulses per servo motor revolution set in parameter

No.38 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of /2.

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

Used to output the data set in parameter No.22 to across

MO1-LG in terms of voltage. Resolution 10 bits

Used to output the data set in parameter No.22 to across

MO2-LG in terms of voltage. Resolution 10 bits

I/O Division

DO-1

DO-1

DO-2

DO-2

Analog output

Analog output

(c) Power supply

Internal power output for interface

Power input for digital interface

Common for digital interface

Control common

Shield

Signal

Signal

Symbol

EM1

Connector Pin

No.

7kw or less

11kw or more

CN3

20

CON2

2


Turn EM1 off (open EM1 common) to bring the motor to a forced stop state, in which the base circuit is shut off and the dynamic brake is operated.

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

I/O Division

DI-1

Symbol

VDD

COM

SG

LG

SD

Connector Pin

No.


7kw 11kw or less or more

CN3

10

CON2

15

Driver power output terminal for digital interface.

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

Permissible current: 80mA

CN3

5

CN3

3

CN3

1

11

CON2

18

CON2

1

CN4

4

Driver power input terminal for digital interface.

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

Connect with VDD.

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

Separated from LG.

Common terminal to MO1 and MO2.

Plate Plate Connect the external conductor of the shield cable.

3 - 8


3.3 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

(Note)

Main circuit

Control circuit power ON

OFF

Base circuit

ON

OFF

Dynamic brake

Valid

Invalid

Servo-on command

(from controller)

ON

OFF

Brake operation

Power off

Brake operation

Power on

Alarm NO YES NO

1s

Reset command

(from controller)

ON

OFF

50ms or more

Alarm occurs.

Remove cause of trouble.

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

YES

60ms or more

NO

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32), overload 1 (50) or overload 2 (51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (30) alarm after its occurrence, the external regenerative brake resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

Undervoltage (10) occurs when the input power is in either of the following statuses.

A power failure of the control circuit power supply continues for 60ms or longer and the control circuit is not completely off.

The bus voltage dropped to 200VDC or less for the MR-J2S B, or to 158VDC or less for the MR-J2S

B1.

3 - 9


3.4 Interfaces

3.4.1 Common line

The following diagram shows the power supply and its common line.

To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310).

Servo amplifier

24VDC

VDD

COM MBR

RA

DI-1

EM1

SG

<Isolated>

Servo motor

M

LA .etc

LAR

.etc

LG

SD

MO1

MO2

LG

TXD

RXD

Differential line driver output

35mA max.

Analog monitor output

RS-232C

CN2

Servo motor encoder

MR

MRR

LG

SD

Ground

3 - 10


3.4.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in

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

R: Approx. 4.7

COM

For a transistor

Approx. 5mA

EM1

TR

V

CES

1.0V

I

CEO

100 A

Switch

SG

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing 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 - 11


(b) Lamp load

Servo amplifier

24VDC

VDD

COM

MBR

SG

R

(3) Encoder pulse output DO-2

(Differential line driver system)

1) Interface

Max. output current: 35mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

Servo amplifier

LA

(LB, LZ)

150

LAR

(LBR, LZR)

LG

SD

LAR

(LBR, LZR)

SD

100

High-speed photocoupler

2) Output pulse

Servo motor CCW rotation

LA

LAR

LB

T

LBR

/2

LZ

LZR

400 s or more

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

3 - 12


(4) Analog output

Output voltage : 10V

Max. output current :1mA

Resolution :10bit

Servo amplifier

MO1

(MO2)

LG

10k

Reading in one or both directions

1mA meter

A

SD

3 - 13


3.5 Power line circuit

CAUTION

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.

Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

POINT

For the power line circuit of the MR-J2S-11KB to MR-J2S-22KB, refer to

Section 3.12 where the power line circuit is shown together with the servo motor connection diagram.

3.5.1 Connection example

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply

(Note 2)

Alarm

RA1

Controller forced stop

RA2

Forced stop OFF

ON

MC

MC

SK

NFB MC

Power supply

3-phase

200 to 230VAC

(Note 1)

L

11

L

21

P

P

1

L

1

L

2

L

3

Servo amplifier

Forced stop

VDD

COM

EM1

SG

Note 1. Always connect P-P

1

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

Section 12.2.4.

2. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

3 - 14


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

(Note 1)

Alarm

RA1


RA2

Forced stop OFF

ON

MC

Power supply

1-phase 100 to

120VAC or

1-phase 230VAC

NFB MC

L

1

Servo amplifier

L

2

L

3

(Note 2)

L

11

L

21

MC

SK

Forced stop

VDD

COM

EM1

SG

Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

2. Not provided for 1-phase 100 to 120VAC.

3 - 15


3.5.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 10.1.

Symbol

Connection Target

(Application)

Description

L

1

, L

2

, L

3

Main circuit power supply

Supply L

1

, L

2

and L

3

with the following power:

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

1

/L

2

and leave L

3

open.

Power supply

Servo amplifier MR-J2S-10B to

3-phase 200 to 230VAC,

50/60Hz

1-phase 230VAC,

50/60Hz


50/60Hz

L

70B

1

L

2

L

1

L

2

MR-J2S-100B

L

3 to 22K

MR-J2S-10B1 to 40B1

L

1

L

2

U, V, W

L

11

P

1

, L

21

Servo motor output

Power factor improving DC reactor

Control circuit power supply

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

When not using the power factor improving DC reactor, connect P-P

1

. (Factorywired.)

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

P

1

-P

2

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

1

.

Refer to Section 11.2.4.

Supply the following power to L

11

, L

21

.

Servo amplifier

Power supply


50/60Hz


50/60Hz

MR-J2S-10B to 700B

L

11

L

21

MR-J2S-10B1 to 40B1

L

11

L

21

P, C, D

N

Regenerative brake option

Return converter

Brake unit

1) MR-J2S-350B or less

When using servo amplifier built-in regenerative brake resistor, connect between P-D terminals. (Wired by default)

When using regenerative brake option, disconnect between P-D terminals and connect regenerative brake option to P terminal and C terminal.

2) MR-J2S-500B 700B

MR-J2S-500B and 700B do not have D terminal.

When using servo amplifier built-in regenerative brake resistor, connect P terminal and C terminal. (Wired by default)

When using regenerative brake option, disconnect P terminal and C terminal and connect regenerative brake option to P terminal and C terminal.

Refer to Section 12.1.1.

When using return converter/brake unit, connect to P terminal and N terminal.

Do not connect to servo amplifier MR-J2S-350B or less.

For details, refer to Section 12.1.2 to 12.1.3.

Protective earth (PE)

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

3 - 16


3.5.3 Power-on sequence

(1) Power-on procedure

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

Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L 11 , L 21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) in this section.)

(2) Timing chart

SON accepted

(3s)

Main circuit

Control circuit

Base circuit

Servo-on command

(from controller) power

ON

OFF

ON

OFF

ON

OFF

60ms 10ms 60ms

(3) Forced stop

CAUTION

Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately.

If the controller does not have a forced stop function, make up a circuit that switches off main circuit power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6).

During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the servo amplifier may be shortened.

Servo amplifier

Forced stop

VDD

COM

EM1

SG

3 - 17


3.6 Connection of servo amplifier and servo motor

3.6.1 Connection instructions

WARNING

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

CAUTION

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly.

Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.

POINT

Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact.

The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier

Servo motor

PE terminal

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

3.6.2 Connection diagram

POINT

For the connection diagram of the MR-J2S-11KB to MR-J2S-22KB, refer to Section 3.12 where the connection diagram is shown together with the power line circuit.

The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For encoder cable connection, refer to Section 12.1.4. For the signal layouts of the connectors, refer to Section

3.6.3.

For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.

3 - 18


Servo motor

HC-KFS053 (B) to 73 (B)

HC-MFS053 (B) to 73 (B)

HC-UFS13 (B) to 73 (B)

HC-SFS121 (B) to 301 (B)

HC-SFS202 (B) to 702 (B)

HC-SFS203 (B) 353 (B)

HC-UFS202 (B) to 502 (B)

HC-RFS353 (B) 503 (B)

HC-SFS81 (B)

HC-SFS52 (B) to 152 (B)

HC-SFS53 (B) to 153 (B)

HC-RFS103 (B) to 203 (B)

HC-UFS72 (B) 152 (B)

Connection diagram

Servo amplifier

U

V

W

Servo motor

U (Red)

V (White)

W (Black)

(Green)

(Note 1) 24VDC

B1

EM1

B2

To be shut off when servo-off or alarm occurrence

Motor

(Note 2)

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.

Servo amplifier Servo motor

U

V

W

U

V

W

Motor

(Note 1) 24VDC

B1

B2

EM1


(Note 2)


CN2



Servo amplifier Servo motor

U

V

W

Encoder cable

U

V

W

Encoder

Motor

(Note 1) 24VDC

B1

B2

EM1


(Note 2)


CN2

Encoder cable

Encoder



3 - 19


3.6.3 I/O terminals

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

Power supply connector

5557-04R-210

1 3

2 4

View b a

Encoder cable 0.3m (0.98ft.)

With connector 1-172169-9

(Tyco Electronics) b

Pin

1

2

3

4

Signal

U

V

W

(Earth)

Power supply lead

4-AWG19 0.3m (0.98ft.)

Power supply connector (molex)

Without electromagnetic brake

5557-04R-210 (receptacle)

5556PBTL (Female terminal)

With electromagnetic brake

5557-06R-210 (receptacle)

5556PBTL (Female terminal)


5557-06R-210

1 4

2 5

3 6

View b

Encoder connector signal arrangement

Pin

1

2

5

6

3

4

1

MR

4

MD

7

P5

2 3

MRR BAT

5

MDR

6

8

LG

9

SHD

View a

Signal

U

V

W

(Earth)

(Note) B1

(Note) B2

Note:For the motor with

electromagnetic brake,

supply electromagnetic

brake power (24VDC).

There is no polarity.

3 - 20


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

Encoder connector b

Brake connector c


Servo motor side connectors

Servo motor

For power supply For encoder

HC-SFS81(B)

HC-SFS52(B) to 152(B)



HC-SFS202(B) to 502 (B)

HC-SFS203(B) 353(B)

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

HC-SFS702(B)

HC-RFS103(B) to 203 (B)

CE05-2A32-

17PD-B

CE05-2A22-

23PD-B

HC-RFS353(B) 503(B)

CE05-2A24-

10PD-B

HC-UFS72(B) 152(B)

HC-UFS202(B) to 502(B)

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

MS3102A20-

29P

Electromagnetic brake connector

The connector for power is shared.

MS3102A10SL-

4P

The connector for power is shared.

MS3102A10SL-

4P

Power supply connector signal arrangement

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

Key

F

G

H

E

D

View c

A

B

C

Signal

U

V

W

(Earth)

Key

Pin

D

E

F

G

H

A

B

C

(Note)

B1

(Note)

B2

E

F

D

G

View c






A

C

B


MS3102A20-29P

Key

K

J

L

M

H

T

N

A

P

B

C

D

E

S R

G

F

View a

Pin

D

E

A

B

C

Signal

MD

MDR

MR

MRR

G

H

J

BAT

LG

Pin

P

R

S

T

K

L

M

N

Signal

SD

LG

P5

Signal

U

V

W

(Earth)

(Note)

B1

(Note)

B2

Key

Pin

C

D

A

B

E

F

G

D

C






A

B

Pin

A

B

C

D

Signal

U

V

W

(Earth)

Electromagnetic brake connector signal arrangement

MS3102A10SL-4P

Key

Pin

A

B

Signal

(Note)

B1

(Note)

B2

A

View b

B






3 - 21


3.7 Servo motor with electromagnetic brake

CAUTION

Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1).

Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR).

Servo motor

RA EM1

Circuit must be opened during forced stop (EM1).

24VDC


The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before performing the operation, be sure to confirm that the elecromagnetic brake operates properly.

POINT

Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Note the following when the servo motor equipped with electromagnetic brake is used:

1) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake.

2) The brake will operate when the power (24VDC) switches off.

3) Switch off the servo-on command after the servo motor has stopped.

(1) Connection diagram

Servo amplifier

VDD

COM

MBR RA

24VDC

RA

Forced stop

B1

Servo motor

B2

(2) Setting

In parameter No.21 (electromagnetic brake sequence output), set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (3) in this section.

3 - 22


(3) Timing charts

(a) Servo-on command (from controller) ON/OFF

Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.

Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.

Coasting

Servo motor speed

0 r/min

Tb (60ms)

ON

Base circuit

OFF

Electromagnetic brake interlock (MBR)

Invalid(ON)

Valid(OFF)

(80ms)

Electromagnetic brake operation delay time

Servo-on command

(from controller)

ON

OFF

(b) Forced stop command (from controller) or forced stop (EM1) ON/OFF

Servo motor speed

Dynamic brake

Dynamic brake



Electromagnetic brake release

(180ms)

Base circuit


ON

OFF

Invalid (ON)

(10ms)

Valid (OFF)


(180ms)

Forced stop command

(from controller) or

Forced stop (EM1)

Invalid (ON)

Valid (OFF)

3 - 23


(c) Alarm occurrence

Servo motor speed

Dynamic brake

Dynamic brake



(10ms)

Base circuit

ON

OFF


Invalid(ON)

Valid(OFF)


Trouble

No

Yes

(d) Both main and control circuit power supplies off

Servo motor speed (Note)

15 to 60ms

(10ms)

Dynamic brake

Dynamic brake



Base circuit

ON

OFF

Electromagnetic brake interlock(MBR)

Invalid(ON)

Valid(OFF)

No(ON)

Alarm

Main circuit power

Control circuit

Yes(OFF)

ON

OFF


(Note 2)

Note. Changes with the operating status.

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

Servo motor speed

(10ms)

(Note 1)

15ms or more

Dynamic brake

Dynamic brake



Base circuit

ON

OFF

Electromagnetic brake interlock

(MBR)

Invalid(ON)

Valid(OFF)

Alarm

No(ON)

Yes(OFF)


(Note 2)

ON

Main circuit power supply OFF

Note 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (A.E9) occurs and the trouble (ALM) does not turn off.

3 - 24


3.8 Grounding

WARNING

Ground the servo amplifier and servo motor securely.

To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground 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

NFB

MC Servo amplifier

L

1

CN2

(Note 1)

Power supply

3-phase

200 to 230VAC,

1-phase

230VAC or

1-phase

100 to 120VAC

L

2

L

3

L

11

L

21

Encoder

U

V

W

U

V

W

M

CN1A

(Note 2)

Protective earth(PE)

Outer box

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

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

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

1

L

2

and leave L

3

open.

There is no L

3

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 - 25


3.9 Servo amplifier terminal block (TE2) wiring method

POINT

Refer to Table 12.1 2) and (4) in Section 12.2.1 for the wire sizes used for wiring.

3.9.1 For servo amplifier produced earlier later than January, 2006

(1) Termination of the cables

(a) Solid wire

After the sheath has been stripped, the cable can be used as it is.

Sheath

Core

Approx. 10mm

(b) Twisted wire

1) When the cable is inserted directly

Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault.

2) When the twisted wires are put together using a bar terminal

Use the bar terminal shown below.

Cable Size

[mm

2

] AWG

1.25/1.5

2/2.5

16

14

AI1.5-10BK

AI2.5-10BU

Bar Terminal Type

For 1 cable For 2 cables

AI-TWIN2 1.5-10BK

Crimping Tool Maker

CRIMPFOX ZA 3 Phoenix Contact

Cut the cable running out of bar terminal to less than 0.5 mm

Less than 0.5mm

When using a bar terminal for 2 cables, insert the cables in the direction where the insulation sleeve does not interfere with next pole, and pressure then.

Pressure

Pressure

3 - 26


(2) Connection

(a) When the cable is inserted directly

Insert the cable to the end pressing the button with a small flat-blade screwdriver or the like.

Button

Small flat blade screwdriver or the like

Twisted wire

When removing the short-circuit bar from across P-D, press the buttons of P and D alternately pulling the short-circuit bar. For the installation, insert the bar straight to the end.

(b) When the twisted wires are put together using a bar terminal

Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.

Bar terminal for one wire or solid wire

Bar terminal for two wires

When two cables are inserted into one opening, a bar terminal for 2 cables is required.

3 - 27


3.9.2 For the servo amplifier produced earlier than December, 2005

(1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.

Approx. 10mm

(0.39inch)

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault.

Alternatively, a bar terminal may be used to put the wires together.

Cable Size

[mm

2

] AWG

1.25/1.5

2/2.5

16

14

AI1.5-10BK

AI2.5-10BU

Bar Terminal Type

For 1 cable For 2 cables

AI-TWIN2 1.5-10BK

Crimping Tool Maker

CRIMPFOX ZA 3 or

CRIMPFOX UD 6

Phoenix Contact

(2) Connection

Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.3 to 0.4N m(2.7 to 3.5 lb in)) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose.

When using a cable of 1.5mm

2 or less, two cables may be inserted into one opening.

Flat-blade screwdriver

Tip thickness 0.4 to 0.6mm

Overall width 2.5 to 3.5mm

To loosen.

To tighten.

Cable

Opening

Control circuit terminal block

Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit, please consult us.

Product

Torque screwdriver

Bit for torque screwdriver

Model

N6L TDK

B-30, flat-blade, H3.5 X 73L

Maker/Representative

Nakamura Seisakusho

Shiro Sangyo

3 - 28


3.10 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

Screw

Core

External conductor

Sheath

Pull back the external conductor to cover the sheath

Cable

Ground plate

Screw

3 - 29


3.11 Control axis selection

POINT

The control axis number set to SW1 should be the same as the one set to the servo system controller.

Use the axis select switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence.

Set the switch to "F" when executing the test operation mode using MR Configurator (servo configuration software).

Axis select switch (SW1)

5

6

7

8 9

A

B

D

3

2

1 0

F

E

A

B

8

9

C

6

7

4

5

D

E

F

No.

2

3

0

1

Description

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Test operation mode or when machine analyzer is used

(Refer to Section 6.1.2)

3 - 30


3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB

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.

Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

POINT

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

3.12.1 Connection example

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal turned off as soon as an alarm occurs, a servo forced stop is made valid, a controller forced stop, or a servo motor thermal relay alarm is made valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

Servo motor thermal relay

RA3

(Note)

Alarm

RA1


RA2

Forced stop OFF ON

MC

MC

SK

3-phase

200 to

230VAC

NFB

Forced stop

MC

Servo amplifier

L

1

L

2

L

3

L

11

L

21

P

P

1

U

V

W

(Note 2)

Dynamic break Servo motor

HA-LFS series

U

V

W

M

CN2

MR-JHSCBL M cable

Encoder

BU

BV

BW

Fan

(Note3)

VDD

COM

EM1

SG

24VDC power supply

OHS1

RA3

OHS2 Servo motor thermal relay

Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

2. When using the external dynamic break, refer to section 12. 1. 4.

3. There is no BW when the HA-LFS11K2 is used.

4. Always connect P-P

1

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

Section 12.2.4.

3 - 31


3.12.2 Servo amplifier terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 10.1.

Symbol

L

1

, L

2

, L

3

U, V, W

L

11

, L

21

P, C

N

P

1

, P

Connection Target

(Application)

Description

Main circuit power supply Supply L

1

, L

2

and L

3

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

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

Control circuit power supply Supply L

11

and L

21

with single-phase 200 to 230VAC power.

Regenerative brake option

Return converter

Brake unit

The servo amplifier built-in regenerative brake resistor is not connected at the time of shipment.

When using the regenerative brake option, wire it across P-C.

Refer to Section 12.1.1 for details.

When using the return converter or brake unit, connect it across P-N.

Refer to Sections 12.1.2 and 12.1.3 for details.

Protective earth (PE)

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

Power factor improving DC reactors

P

1

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

DC reactor, remove the short bar across P

1

-P. Refer to Section 12.2.4 for details.

3 - 32


3.12.3 Servo motor terminals

Terminal box Encoder connector

MS3102A20-29P

Terminal box inside (HA-LFS11K2)


MS3102A20-29P

Key

K

J

L

M

T

S

N

A

P

B

C

D

R E

H

G

F

F

G

H

Pin Signal

A MD

B

C

D

E

MDR

MR

MRR

BAT

LG

J

R

S

T

N

P

Pin Signal

K

L

M

SHD

LG

P5

Thermal sensor terminal block (OHS1, OHS2)

M4 screw

Motor power supply terminal block

(U, V, W) M6 screw

Cooling fan terminal block

(BU, BV) M4 screw

Earth terminal

M6 screw

Encoder connector

MS3102A20-29P BG72707B

Terminal block signal arrangement

OHS1OHS2

U V W

BU BV

Power supply connection screw size

Servo motor

HA-LFS11K2


M6

3 - 33


Terminal box inside (HA-LFS15K2 HA-LFS-22K2)

Cooling fan terminal block (BU, BV, BW)

M4 screw

Thermal sensor terminal block (OHS1, OHS2)

M4 screw

Moter power supply terminal block

(U, V, W) M8 screw

Earth terminal M6 screw

Terminal block signal arrangement

BU BV BW OHS1OHS2

Encoder connector

MS3102A20-29P

U V W


Power supply connection screw size Servo motor

HA-LFS15K2

HA-LFS22K2

M8

Signal Name

Power supply

Cooling fan

Abbreviation Description

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

Supply power which satisfies the following specifications.

HA-LFS11K2

Item

Voltage/frequency

Description single-phase 200 to 220VAC, 50Hz single-phase 200 to 230VAC, 60Hz

42(50Hz)/54(60Hz)

0.12(50Hz)/0.25(60Hz)

(Note)

BU BV BW

Power consumption [W]

Rated voltage [V]

HA-LFS15K2/22K2

Item

Voltage/frequency

Power consumption [W]

Rated voltage [V]

Description

Three-phase 200 to 220VAC, 50Hz

Three-phase 200 to 230VAC, 60Hz

32(50Hz)/40(60Hz)

0.30(50Hz)/0.25(60Hz)

Motor thermal relay OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.

Earth terminal

For grounding, connect to the earth of the control box via the earth terminal of the servo amplifier.

Note. There is no BW when the HA-LFS11K2 is used.

3 - 34

3. SIGNALS AND WIRING. Mitsubishi Electric MR-J2S-22KB, MR-J2S-40B1, MR-J2S-350B, MR-J2S-200B, Melservo-J2-SUPER series, MR-J2S-100B, MR-J2S-500B, MR-J2S-10B, MR-J2S-11KB, MR-J2S-70B

3. SIGNALS AND WIRING

Related manuals

Table of contents

3. SIGNALS AND WIRING. Mitsubishi Electric MR-J2S-22KB, MR-J2S-40B1, MR-J2S-350B, MR-J2S-200B, Melservo-J2-SUPER series, MR-J2S-100B, MR-J2S-500B, MR-J2S-10B, MR-J2S-11KB, MR-J2S-70B

3. SIGNALS AND WIRING

Related manuals

Telex

MR-J2S-

Mitsubishi Electric

MR-560B

Mitsubishi Electric

MR-J2S-60CL

Mitsubishi

MR-J3-T

Mitsubishi

Melservo-J3 Series MR-J3-B

Mitsubishi Electric

MR-J2S-_B-PY096/S096(5.7kW)

Mitsubishi Electric

AC Servos

Table of contents