Bose MR-J2S- B User Manual

General-Purpose AC Servo

J2-Super

Series

SSCNET Compatible MR-J2S- B Servo Amplifier Instruction Manual

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents carefully and can us e th e equ i pment correctl y. D o no t us e t he s er vo amplifier an d servo motor un ti l 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".

Indicates that incorrect handling may cause hazardous conditions,

WARNING CAUTION

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:

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

: 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 Instructi on Manual, ins tructions at a lo wer level t han the abo ve, instruc tions for other func tions, an d 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 serv o a mpl i fie r and se rvo mot o r to grou nd . 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. Othe rwi se, you may get an ele ctric shoc k.

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 Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

Vibration

Operation

Storage Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

Storage 90%RH or less (non-condensing)

[ ]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)

[m/s2] 5.9 or less

] 19.4 or less

[ft/s

Servo amplifier Servo motor

Conditions

HC-UFS202 to 502

HC-SFS502 to 702

HC-UFS202 to 502

HC-SFS502 to 702

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

HC-SFS121 201 HC-SFS202 HC-SFS203

HC-SFS301

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

HC-SFS121 201 HC-SFS202 HC-SFS203

HC-SFS301

152

352 353

152

352 353

Y : 49

Y : 24.5

X : 24.5 Y : 49

X : 24.5 Y : 29.4

Y : 161

Y : 80

X : 80 Y : 161

X : 80 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 absorb er or radio nois e filter (FR-BI F option) bet ween 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 absorbi ng diode in stal le d on th e DC ou t put si gna l r el ay must be wired in the specifie d dire ctio n .

Otherwise, the forced stop and other protective circuits may not operate.

Servo Amplifier

(24VDC)

Control

output

signal

COM

Servo Amplifier

(24VDC)

Control

output

signal

COM

(3) Test run adjustment

CAUTION

Before operat ion, check the par ameter setti ngs. Im proper sett ings m ay cause som e mac hines to p erform 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 resettin g an alarm , make sure th at the run s igna l is of f to pr event an acc ident. A sudden r est art is

made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y

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 reas ons as servic e life and m echanical struc ture (e.g. wher e a ballscre w and the servo motor

are coupled via a tim ing belt) , the e lectrom agnet ic br ake m ay not ho ld the motor shaft. T o ens ure saf ety, install a stoppe r on the machin e si de.

(5) Corrective actions

CAUTION

When it is ass umed that a hazardous c ondition ma y take place a t the occur d ue to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prev en ti on .

Configure th e electromagnet ic brake circu it so that it is activated n ot only by t he servo amplifier s ignals 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.

Servo motor

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

When power is restor ed after an inst antaneous power failu re, keep away from the machine because th e machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

Circuit must be opened during forced stop signal.

EM1RA

24VDC

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 safet y guards. W hen the equipm ent is operate d, the covers and safet y 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 dire ctive (effecti ve 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 mar king). 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 di rective in the conforming methods of the EMC Installation Guidelines.

(2) Low voltage di re ctiv e

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 orga nization, 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 amplifie r :MR-J2S-10B t o MR-J2 S -700 B

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

Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS

(2) Configuration

Control box

Reinforced insulating type

Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

24VDC power supply

Servo amplifier

Servo motor

(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.

(b) Do not co nnect two g round c ables to the same pro tective e arth (PE) terminal. Always c onnect the

cables to the terminals one-to-one.

) of the

PE terminals

of the servo amplifier must be con ne ct ed t o t h e c orr espo ndi n g eart h te rmin als .

(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 cable s described in Section 12.2. 1 meet the following req uirements. To meet t he

other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient tempera t ur e: 40 (104 ) [ ( )] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray

(8) Performing EMC tests

When EMC tests are ru n on a machine/device in to which the servo amplifier has been installed, i t must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specificati ons. 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 STANDAR D

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifie r :MR-J2S-10B t o MR-J2 S -700 B

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

Servo motor :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 disc har ge tim e is a s listed belo w. To ensu re safety , do no t touch th e ch arg ing sec tion for 10 minutes after power-off.

Servo amplifier

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

MR-J2S-40B(1) 60B 2 MR-J2S-70B to 350B 3 MR-J2S-500B 700B 5

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

<<About the manual s>>

This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u 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

Discharge time

[min]

Manual name Manual No.

MELSERVO-J2-Super Series To Use the AC Servo Safely (Packed with the servo amplifier) MELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310

A - 10

IB(NA)0300010

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

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-

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

B by MR-J2S- B....................................................................................... 5-14

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

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

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is in troduced 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. CALCULA TI ON ME TH O DS F OR DES I G NI N G

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is ba sed on the MELSERVO-J2 series and has further higher performance and higher functions. It is connected with a servo system controller or simila r device via a serial bus (SSCNE T) 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 p arameter 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 accura te control as compared to the MELSERVO-J2 series. Simply adding a battery to the servo amplifier makes up an abso lute position dete ction 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)

(Note 2) Power

NFB MC supply 3-phase 200 to 230VAC, 1-phase 230VAC or 1-phase 100to120VAC

Servo amplifier

(MR-J2S-200B or more)

RADS

Regenerative brake transistor

CHARGE lamp

Fan

Control power supply

(Note 1)

Current detector

Dynamic

brake

Servo motor

E1 E2

U V W

Electromagnetic

U V W

brake

Regenerative brake

Position command input

Model position

control

Actual position

control

Base amplifier

Model speed

control

Model position

speed

Actual speed

control

I/F Control

CN1A CN1B

Voltage

detection

Overcurrent

protection

Virtual motor

Model torqueModel

Current control

RS-232C

detection

Virtual

encoder

CN3

Current

D/A

CN2

Encoder

MR-BAT

CON1

Optional battery (for absolute position)

Controller

Servo amplifier

termination

connector

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 L L

3. For MR-J2S-350B or less.

is not provided for a 1-phase 100to120VAC power supply.

and leave L3 open.

1,L2

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier

MR-J2S-

Item

Voltage/frequency

Permissible voltage fluctuation

Permissible fr eq uency

Power supply

fluctuation

Power supply capacity Refer to Section 11.2 System Sine-wave PWM control, curr ent control system Dynamic brake Built-in

Protective functions

Structure Self-cooled, open (I P00) Force-cooling, open (IP00 )

Ambient

temperature

Ambient

humidity

Ambient

Environment

Altitude Max. 1000m (3280ft) above sea level

Vibration

Weight

Operation

Storage Operation

Storage

10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 10B1 20B1 40B1

3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC:170 to 253VAC 1-phase 230VAC: 207 to 253VAC

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

[ ]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 dir ect su nl i gh t )

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

5.9 [m/s2] or less

19.4 [ft/s

[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

] or less

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

3-phase 170 to 253VAC

Within

1-phase 100 to 120VAC 50/60Hz

1-phase 85 to 127VAC

Self-cooled,

open(IP00)

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 Adaptive vibration suppression control

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function Slight vibration suppression

control

Auto tuning

Regenerative brake option

Brake unit

Return conv erter

Torque limit Servo motor-generated torque can be limited to any value. Forced stop signal automaticONForced stop signal (EM1) can be automatically switched on internally to

Output signal (DO) forced output

Test operati on mode Analog monitor output Servo status is output in terms of voltage in real time. Parameter No. 22 Servo configurati on sof tw a re

Merely setting a home position once makes home position return unnecessary at every power-on. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration software-installed personal computer and servo amplifier. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. Personal computer changes gains automatically and searches for overshootfree gains in a short time.

Suppresses vibration of Automatically adjusts the gain to optimum value if load applied to the servo

motor shaft varies. Higher in performance than MELSERVO-J2 series servo amplifier. Used when the built-in regenerative brake resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative brake option cannot provide enough regenerative power. Can be used with the MR-J2S-500B Used when the regenerative brake option cannot provide enough regenerative power. Can be used with the MR-J2S-500B

invalidate it. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. Servo motor can be run from the operation section of the servo amplifier without the start signal entered.

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

1 pulse produced at a servo motor stop. Parameter No.24

MR-J2S-700B.

Chapter 13

Section 7.3

Section 7.4

Chapter 6

Section 12.1.1

Section 12.1.2

Section 12.1.3

Parameters No.10, 11

Parameter No.23 Section 4.4

(1) (e) Section 4.4

Section 12.1.7

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition (1) Rating plate

(2) Model

MR–J2S–

Series

MITSUBISHI

MODEL

POWER

MR-J2S-60B

POWER : INPUT :

OUTPUT : SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

600W

3.2A 3PH 1PH200-230V 50Hz

5.5A 1PH 230V 50/60Hz 170V 0-360Hz 3.6A TC3XXAAAAG52

Power Supply

Symbol

None

(Note1)

Power supply

3-phase 200 to 230VAC (Note2) 1-phase 230VAC

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

Rated output

Symbol

Rated output [W]

10010 20020 40040 60060 70070

AC SERVO

3PH 1PH200-230V 60Hz

PASSED

Rated

Symbol

output [W]

1000100 2000200 3500350 5000500 7000700

Model Capacity

Applicable power supply

Rated output current Serial number

MR–J2S–100B or less

MR–J2S–200B 350B

Rating plate

MR-J2S-500B

MR-J2S-700B

Rating plate Rating plate

Rating plate

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

The following table lists combina tion s of servo amplifie rs and se rvo mo tors. The same combina tions ap ply to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

MR-J2S-10B(1) 053 13 053 13 13 MR-J2S-20B(1) 23 23 23 MR-J2S-40B(1) 43 43 43

MR-J2S-60B 52 53

MR-J2S-70B (Note) 73 73 72 73 MR-J2S-100B 81 102 103 MR-J2S-200B 121 201 152 202 153 203 103 153 152 MR-J2S-350B 301 352 353 203 202 MR-J2S-500B 502 353 503 352 502 MR-J2S-700B 702

Note: The HC-K FS 7 3 ma y n ot be connected d epending on th e pr oduction time of the servo amplifi er . Please consult u s.

HC-KFS

HC-MFS

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

HC-SFS HC-UFS

HC-RFS

2000r/min 3000r/min

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100B or less

Name/Application

Battery h older Contains the battery for absolute position data backup.

Refer to

Section13.3

Battery connector (CON1) Used to connect the battery for absolute position data

Section13.3

backup. Display

The two-digit, seven-segment LED shows the servo

Chapter4

status and alarm number. Axis select switch (CS1)

CS1

servo amplifier.

Used to set the axis number of the

Section3.11

Bus cable connector (CN1A) Used to connect the servo system controller or

Section3.2

preceding axis servo amplifier. Bus cable connector (CN1B)

Used to connect the subsequent axis servo am plif ier

Section3.2

or termination connector (MR-A-TM). Communication connector (CN3)

Used to connect a perso nal computer (RS-232C) o r output analog monitor data.

Section3.2

Section12.1.4

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 ( C N2 ) Connector for connection of the servo motor encoder.

Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.

Control circuit termi nal block (TE2 ) Used to connect the control circuit power supply and regenerative brake option.

Protective earth (PE) terminal ( ) Ground terminal.

1 - 7

Section1.5

Section3.2

Section12.1.4

Section3.5.2

Section10.1

Section3.5.2

Section10.1

Section12.1.1

Section3.8

Section10.1

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

Battery hol der Contains the battery for absolute position data backup.

Refer to

Section13.3

Battery connector (CON1) Used to connect the battery for absolute position data

Section13.3

backup. Display

The two-digit, seven-segment LED shows the servo

status and alarm number. Axis select switch (CS1)

Chapter4

CS1

the servo amplifier.

Used to set t he axis num b er of

Section3.11

Bus cable connect o r (CN 1 A ) Used to connect the servo system controller or

Section3.2

preceding axis servo amplifier. Bus cable connector (CN1B)

Used to connect the subsequent axis servo amplifier

Section3.2

or termination connector (MR-A-TM).

Cooling fan

Installation notch (4 places)

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Name plate

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Encoder conne cto r ( C N 2) Connector for connection of the servo motor encoder.

Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.

Control circuit ter m i na l b lock (TE2) Used to connect the control circuit power supp ly a nd regenerative brake option.

Protective earth (PE) terminal ( ) Ground terminal.

1 - 8

Section3.2

Section12.1.4

Section1.5

Section3.2

Section12.1.4

Section3.5.2

Section10.1

Section3.5.2

Section10.1

Section12.1.1

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.

Installation notch (4 places)

Name/Application

Battery connector (CON1) Used to connect the battery for absolute position data backup.

Battery h older Contains the battery for absolute position data backup.

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

Axis select switch (CS1) CS1

servo amplifier.

Used to set the axis number of the

Bus cable connector (CN1A) Used to connect the servo system controller or preceding axis servo amplifier.

Refer to

Section13.3

Chapter4

Section3.11

Section3.2

Cooling fan

Bus cable connector (CN1B) Used to connect the subsequent axis servo am plif ier or termination connector (MR-A-TM).

Communication connector (CN3) Used to connect a perso nal computer (RS-232C) o r output analog monitor data.

Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.

Section3.2

Section12.1.4

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 termi nal block (TE2 ) Used to connect the control circuit power supply.

Section3.5.2

Section10.1

Section12.1.1

Main circuit terminal block (TE1) Used to connect the input power supply, regen e rative brake option and servo motor.

Section3.5.2

Section10.1

Name plate Section1.5 Protective earth (PE) terminal ( )

Ground terminal.

Section3.8

Section10.1

1 - 9

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

Section13.3

backup. Battery h older

Contains the battery for absolute position data backup.

Section13.3

Display

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

Chapter4

Axis select switch (CS1) CS1

servo amplifier.

Section3.11

Used to set the axis number of the

Bus cable connector (CN1A) Used to connect the servo system controller or preceding axis servo amplifier.

Section3.2

Cooling fan

Installation notch (4 places)

Bus cable connector (CN1B) Used to c onnect th e subsequ e nt axis servo ampl i fier or termination connector (MR-A-TM).

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Control circuit termi nal block (TE2 ) Used to connect the control circuit power supply.

Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.

Name plate Main circuit terminal block (TE1)

Used to connect the input power supply, reg ene rative brake option and servo motor.

Protective earth (PE) terminal ( ) Ground terminal.

Section3.2

Section12.1.4

Section3.5.2

Section10.1

Section12.1.1

Section3.2

Section12.1.4

Section1.5

Section3.5.2

Section10.1

Section3.8

Section10.1

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.7.2 Removal and reinstallation of the front cover

CAUTION

To avoid the risk of an electric s hock, do not ope n the front co ver while power is

on.

(1) For MR-J2S-200B or more

Removal of the front cover

Front cove r

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover

Front cover hook

(2 places)

Front cove r socket (2 places)

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

(2) For MR-J2S-500B

Removal of the front cover

Front cover

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover

Front cover hook (2 places)

Front cover socket (2 places)

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

1 - 11

1. FUNCTIONS AND CONFIGURATION

(3) For MR-J2S-700B

Removal of the front cover

Reinstallation of the front cover

Front cove r hook (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.

Front cove r socket (2 places)

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 auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

WARNING

(terminal m ar ked box.

(1) MR-J2S-100B or less

(a) For 3-phas e 200V t o 230V A C or 1 -p hase 23 0V A C

(Note2) 3-phase 200V to 230VAC power supply or 1-phase 230VAC power supply

No-fuse breaker (NFB) or fuse

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration so ft ware

Servo amplifier

) of the servo amplifier to the prot ecti ve earth (P E) of the contr ol

Refer to

Section 12.2.2 Section 12.2.2 Section 12.1.7

Options and auxiliary equipment

Regenerative brake option Cables

Power factor improving reactor Section 12.2.3

Servo system

controller

or preceding axis servo amplifier

Refer to

Section 12.1.1 Section 12.2.1

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Control circuit terminal block

To CN2

CHARGE

To CN1A

To CN1B

To CN3

Protective earth(PE) terminal

Subsequent axis

servo amplifier

CN1A

Termination

connector

Personal computer

(Note1) Encoder cable

(Note1) Power supply lead

Servo configuration software MRZJW3-SETUP121E

L21

Regenerative brake option

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 L

and L2 terminals and leave L3 open.

Servo motor

1 - 13

1. FUNCTIONS AND CONFIGURATION

(b) For 1-phas e 10 0V t o 120V A C

1-phase 100VAC power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration so ft ware

Servo amplifier

To CN2

L1 L

CHARGE

Refer to

Section 12.2.2 Section 12.2.2

Section 12.1.7

To CN1A

To CN1B

To CN3

Options and auxiliary equipment

Regenerative brake option

Refer to

Section 12.1.1

Cables Section 12.2.1 Power factor improving reactor Section 12.2.3

Servo system

controller

or preceding axis servo amplifier

Subsequent axis

servo amplifier

CN1A

Termination

connector

Personal computer

Servo configuration software MRZJW3-SETUP121E

Control circuit terminal block

Regenerative brake option

Note: The HC-SFS

Protective earth(PE) terminal

(Note) Encoder cable

(Note) Power supply lead

Servo motor

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

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power facto r improving reactor (FA-BAL)

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration so ft ware

Servo amplifier

To CN2

Refer to

Section 12.2.2 Section 12.2.2 Section 12.1.7

Options and auxiliary equipment Refer to

Regenerative brake option

Section 12.1.1

Cables Section 12.2.1 Power factor improving reactor Section 12.2.3

Servo system

controller

or Preceding axis servo amplifier

To CN1A

Subsequent axis

servo amplifier

CN1A

To CN1B

Termination

connector

Servo

To CN3

Personal computer

configuration software MRZJW3SETUP121E

L1 L L

2 3

Regenerative brake option

1 - 15

+ 142 hidden pages

Bose MR-J2S- B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDAR D

CONTENTS

Optional Servo Motor Instruction Manual CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.4 Function list

1.5 Model code definition (1) Rating plate

1.6 Combination with servo motor

1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100B or less

1.7.2 Removal and reinstallation of the front cover

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal