Mitsubishi Electronics MR-J2S- A User Manual

General-Purpose AC Servo

J2-Super Series

General-Purpose Interface

MR-J2S-A

Servo Amplifier

Instruction Manual

B

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

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

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

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols:

: Indicates what must not be done. For example, "No Fire" is indicated by . : Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this installation guide, always keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the servo amplifier and servo motor to ground.

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

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles. Otherwise a fire may cause.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large current may cause a fire.

When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

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

During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.

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

Conditions

Servo amplifier

Servo motor

Ambient

[

]

0 to 55 (non-freezing)

0 to 40 (non-freezing)

temperature

[

]

32 to 131 (non-freezing)

32 to 104 (non-freezing)

Ambient humidity

90%RH or less (non-condensing)

80%RH or less (non-condensing)

Storage

[

]

20 to 65 (non-freezing)

15 to 70 (non-freezing)

temperature

[

]

4 to 149 (non-freezing)

5 to 158 (non-freezing)

Storage humidity

90%RH or less (non-condensing)

Ambience

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

Altitude

Max. 1000m (3280 ft) above sea level

HC-KFS Series

HC-MFS Series

X

Y : 49

HC-UFS13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

X

Y : 24.5

[m/s2]

5.9 or less

HC-RFS Series

HC-UFS 72

152

HC-SFS121

201

HC-SFS202

352

X : 24.5

HC-SFS203

353

Y : 49

HC-UFS202

HC-SFS301

X : 24.5

Y : 29.4

Vibration

HC-KFS Series

HC-MFS Series

X

Y : 161

HC-UFS 13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

X

Y : 80

[ft/s2]

19.4 or less

HC-RFS Series

HC-UFS 72

152

HC-SFS121

201

HC-SFS202

352

X : 80

HC-SFS203

353

Y : 161

HC-UFS202

HC-SFS301

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 absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

	Servo		Servo
	Amplifier		Amplifier
	COM		COM
	(24VDC)		(24VDC)
	Control		Control
	output	RA	output	RA
	signal		signal

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

A - 4

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal.

Contacts must be open when
servo-on signal is off, when an	Circuit must be
alarm (trouble) is present and when	opened during
an electromagnetic brake signal.	emergency stop signal.

Servo motor

RA EMG

24VDC

Electromagnetic brake

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

When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

A - 5

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative.

(7) Disposal

CAUTION

Dispose of the product as general industrial waste.

(8) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 6

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed.

(1)EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310).

This servo is certified by TUV, third-party assessment organization, to comply with the EMC directive in the conforming methods of the EMC Installation Guidelines.

(2)Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive.

This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3)Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1)Servo amplifiers and servo motors used

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

Servo amplifier series	:MR-J2S-10A(1) to MR-J2S-350A(1)
Servo motor series	:HC-KFS
	HC-MFS
	HC-SFS
	HC-RFS
	HC-UFS

(2) Configuration

Control box

Reinforced

insulating type

Reinforced

24VDC

power

insulating

No-fuse

Magnetic

supply

transformer

Servo

breaker

contactor

motor

Servo

NFB

MC

amplifier

SM

(3)Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

A - 7

(4)Power supply

(a)Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section.

(b)When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.

(5)Grounding

(a)To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the servo amplifier to the protective earth (PE) of the control box.

(b)Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the cables to the terminals one-to-one.

PE terminals

PE terminals

(c)If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of the servo amplifier must be connected to the corresponding earth terminals.

(6)Wiring

(a)The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b)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 13.2.2.

(b)The sizes of the cables described in Section 13.2.1 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient temperature: 40 (104) [ ()] Sheath: PVC (polyvinyl chloride)

Installed on wall surface or open table tray

(c)Use the EMC filter for noise reduction. The radio noise filter (FR-BIF) is not required.

(8)Performing EMC tests

When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications.

For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines(IB(NA)67310).

A - 9

CONFORMANCE WITH UL/C-UL STANDARD

(1)Servo amplifiers and servo motors used

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

Servo amplifier series	:MR-J2S-10A(1) to MR-J2S-350A(1)
Servo motor series	:HC-KFS
	HC-MFS
	HC-SFS
	HC-RFS
	HC-UFS

(2)Installation

Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.

(3)Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to the above circuit.

(4)Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 10 minutes after power-off.

	Servo amplifier	Discharge time
		[min]
	MR-J2S-10A(1) 20A(1)	1
	MR-J2S-40A(1) 60A	2
	MR-J2S-70A to 350A	3

(5)Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR- J2S-A safely.

Relevant manuals

Manual name	Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely	IB(NA)0300010
MELSERVO Servo Motor Instruction Manual	SH(NA)3181 (Ver-D or later)
EMC Installation Guidelines	IB(NA)67310

A - 10

	CONTENTS
1. FUNCTIONS AND CONFIGURATION		1- 1 to 1-12
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	Parts identification..................................................................................................................................	1- 7
1.8	Servo system with auxiliary equipment...............................................................................................	1-10
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- 58
3.1	Standard connection example ................................................................................................................	3- 2
3.1.1 Position control mode .......................................................................................................................		3- 2
3.1.2 Speed control mode...........................................................................................................................		3- 6
3.1.3 Torque control mode.........................................................................................................................		3- 8
3.2	Internal connection diagram of servo amplifier ..................................................................................	3-10
3.3	I/O signals................................................................................................................................................	3-11
3.3.1 Connectors and signal arrangements............................................................................................		3-11
3.3.2 Signal explanations .........................................................................................................................		3-14
3.4	Detailed description of the signals........................................................................................................	3-23
3.4.1 Position control mode ......................................................................................................................		3-23
3.4.2 Speed control mode..........................................................................................................................		3-28
3.4.3 Torque control mode........................................................................................................................		3-30
3.4.4 Position/speed control change mode ..............................................................................................		3-33
3.4.5 Speed/torque control change mode.................................................................................................		3-35
3.4.6 Torque/position control change mode ............................................................................................		3-37
3.5	Alarm occurrence timing chart .............................................................................................................	3-38
3.6	Interfaces.................................................................................................................................................	3-39
3.6.1 Common line ....................................................................................................................................		3-39
3.6.2 Detailed description of the interfaces ............................................................................................		3-40
3.7	Input power supply circuit.....................................................................................................................	3-45
3.7.1 Connection example.........................................................................................................................		3-45
3.7.2 Terminals..........................................................................................................................................		3-46
3.7.3 Power-on sequence...........................................................................................................................		3-47
3.8	Connection of servo amplifier and servo motor ...................................................................................	3-48
3.8.1 Connection instructions ..................................................................................................................		3-48
3.8.2 Connection diagram.........................................................................................................................		3-48
3.8.3 I/O terminals ....................................................................................................................................		3-50

1

3.9	Servo motor with electromagnetic brake .............................................................................................	3-52
3.10 Grounding .............................................................................................................................................		3-55
3.11 Servo amplifier terminal block (TE2) wiring method.......................................................................		3-56
3.12 Instructions for the 3M connector.......................................................................................................		3-57
4. OPERATION		4- 1 to 4- 6
4.1 When switching power on for the first time..........................................................................................		4- 1
4.2	Startup......................................................................................................................................................	4- 2
4.2.1 Selection of control mode..................................................................................................................		4- 2
4.2.2 Position control mode .......................................................................................................................		4- 2
4.2.3 Speed control mode...........................................................................................................................		4- 4
4.2.4 Torque control mode.........................................................................................................................		4- 5
4.3	Multidrop communication ......................................................................................................................	4- 6
5. PARAMETERS		5- 1 to 5- 32
5.1	Parameter list ..........................................................................................................................................	5- 1
5.1.1 Parameter write inhibit ...................................................................................................................		5- 1
5.1.2 Lists....................................................................................................................................................		5- 2
5.2	Detailed description ...............................................................................................................................	5-25
5.2.1 Electronic gear .................................................................................................................................		5-25
5.2.2 Analog output...................................................................................................................................		5-29
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern..............................		5-30
5.2.4 Alarm history clear..........................................................................................................................		5-30
5.2.5 Position smoothing ..........................................................................................................................		5-31
6. DISPLAY AND OPERATION		6- 1 to 6-16
6.1	Display flowchart.....................................................................................................................................	6- 1
6.2	Status display ..........................................................................................................................................	6- 2
6.2.1 Display examples..............................................................................................................................		6- 2
6.2.2 Status display list .............................................................................................................................		6- 3
6.2.3 Changing the status display screen................................................................................................		6- 4
6.3	Diagnostic mode.......................................................................................................................................	6- 5
6.4 Alarm mode..............................................................................................................................................		6- 7
6.5 Parameter mode ......................................................................................................................................		6- 8
6.6	External I/O signal display.....................................................................................................................	6- 9
6.7	Output signal forced output (DO forced output) .................................................................................	6-12
6.8	Test operation mode ...............................................................................................................................	6-13
6.8.1 Mode change.....................................................................................................................................		6-13
6.8.2 Jog operation ....................................................................................................................................		6-14
6.8.3 Positioning operation.......................................................................................................................		6-15
6.8.4 Motor-less operation........................................................................................................................		6-16
7. GENERAL GAIN ADJUSTMENT		7- 1 to 7-12
7.1	Different adjustment methods ...............................................................................................................	7- 1
7.1.1 Adjustment on a single servo amplifier..........................................................................................		7- 1

2

7.1.2 Adjustment using servo configuration software............................................................................	7- 2
7.2 Auto tuning ..............................................................................................................................................	7- 3
7.2.1 Auto tuning mode .............................................................................................................................	7- 3
7.2.2 Auto tuning mode operation ............................................................................................................	7- 4
7.2.3 Adjustment procedure by auto tuning............................................................................................	7- 5
7.2.4 Response level setting in auto tuning mode...................................................................................	7- 6
7.3 Manual mode 1 (simple manual adjustment).......................................................................................	7- 7
7.3.1 Operation of manual mode 1 ...........................................................................................................	7- 7
7.3.2 Adjustment by manual mode 1 .......................................................................................................	7- 7
7.4 Interpolation mode .................................................................................................................................	7-10
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super ..........................	7-11
7.5.1 Response level setting .....................................................................................................................	7-11
7.5.2 Auto tuning selection.......................................................................................................................	7-11
8. SPECIAL ADJUSTMENT FUNCTIONS	8- 1 to 8-10
8.1 Machine resonance suppression filter and adaptive vibration suppression control.........................	8- 1
8.1.1 Function block diagram....................................................................................................................	8- 1
8.1.2 Machine resonance suppression filter ............................................................................................	8- 1
8.1.3 Adaptive vibration suppression control..........................................................................................	8- 3
8.2 Low-pass filter .........................................................................................................................................	8- 4
8.3 Gain changing function...........................................................................................................................	8- 5
8.3.1 Applications.......................................................................................................................................	8- 5
8.3.2 Function block diagram....................................................................................................................	8- 5
8.3.3 Parameters ........................................................................................................................................	8- 6
8.3.4 Gain changing operation..................................................................................................................	8- 8
9. INSPECTION	9- 1 to 9- 2
10. TROUBLESHOOTING	10- 1 to 10-12
10.1 Trouble at start-up ..............................................................................................................................	10- 1
10.1.1 Position control mode ...................................................................................................................	10- 1
10.1.2 Speed control mode.......................................................................................................................	10- 4
10.1.3 Torque control mode.....................................................................................................................	10- 5
10.2 When alarm or warning has occurred ...............................................................................................	10- 6
10.2.1 Alarms and warning list ..............................................................................................................	10- 6
10.2.2 Remedies for alarms.....................................................................................................................	10- 7
10.2.3 Remedies for warnings................................................................................................................	10-12
11. OUTLINE DIMENSION DRAWINGS	11- 1 to 11- 6
11.1 Servo amplifiers...................................................................................................................................	11- 1
11.2 Connectors............................................................................................................................................	11- 4
12. CHARACTERISTICS	12- 1 to 12- 6
12.1 Overload protection characteristics...................................................................................................	12- 1
12.2 Power supply equipment capacity and generated loss ....................................................................	12- 2

3

12.3	Dynamic brake characteristics...........................................................................................................	12- 4
12.4	Encoder cable flexing life ....................................................................................................................	12- 6
13. OPTIONS AND AUXILIARY EQUIPMENT		13- 1 to 13-30
13.1	Options..................................................................................................................................................	13- 1
13.1.1 Regenerative brake options .........................................................................................................		13- 1
13.1.2 Cables and connectors..................................................................................................................		13- 5
13.1.3 Junction terminal block (MR-TB20) ..........................................................................................		13-13
13.1.4 Maintenance junction card (MR-J2CN3TM) ............................................................................		13-15
13.1.5 Battery (MR-BAT, A6BAT).........................................................................................................		13-16
13.1.6 Servo configurations software ....................................................................................................		13-17
13.2	Auxiliary equipment ..........................................................................................................................	13-19
13.2.1 Recommended wires....................................................................................................................		13-19
13.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................		13-21
13.2.3 Power factor improving reactors ................................................................................................		13-21
13.2.4 Relays............................................................................................................................................		13-22
13.2.5 Surge absorbers ...........................................................................................................................		13-22
13.2.6 Noise reduction techniques.........................................................................................................		13-22
13.2.7 Leakage current breaker.............................................................................................................		13-28
13.2.8 EMC filter.....................................................................................................................................		13-30
14. COMMUNICATION FUNCTIONS		14- 1 to 1428
14.1	Configuration .......................................................................................................................................	14- 1
14.1.1 RS-422 configuration....................................................................................................................		14- 1
14.1.2 RS-232C configuration .................................................................................................................		14- 2
14.2	Communication specifications............................................................................................................	14- 3
14.2.1 Communication overview.............................................................................................................		14- 3
14.2.2 Parameter setting.........................................................................................................................		14- 4
14.3	Protocol .................................................................................................................................................	14- 5
14.4	Character codes ...................................................................................................................................	14- 7
14.5	Error codes ...........................................................................................................................................	14- 8
14.6 Checksum .............................................................................................................................................		14- 8
14.7	Time-out operation ..............................................................................................................................	14- 9
14.8	Retry operation ....................................................................................................................................	14- 9
14.9	Initialization........................................................................................................................................	14-10
14.10 Communication procedure example ...............................................................................................		14-10
14.11 Command and data No. list.............................................................................................................		14-11
14.11.1 Read commands.........................................................................................................................		14-11
14.11.2 Write commands........................................................................................................................		14-12
14.12 Detailed explanations of commands...............................................................................................		14-14
14.12.1 Data processing..........................................................................................................................		14-14
14.12.2 Status display ............................................................................................................................		14-16
14.12.3 Parameter...................................................................................................................................		14-17
14.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................		14-19
14.12.5 Disable/enable of external I/O signals (DIO) ..........................................................................		14-20
14.12.6 External input signal ON/OFF (test operation) .....................................................................		14-21
14.12.7 Test operation mode ..................................................................................................................		14-22

4

14.12.8 Output signal pin ON/OFF (DO forced output)......................................................................		14-24
14.12.9 Alarm history .............................................................................................................................		14-25
14.12.10 Current alarm..........................................................................................................................		14-26
14.12.11 Other commands......................................................................................................................		14-27
15. ABSOLUTE POSITION DETECTION SYSTEM		15- 1 to 1566
15.1 Outline..................................................................................................................................................		15- 1
15.1.1 Features.........................................................................................................................................		15- 1
15.1.2 Restrictions....................................................................................................................................		15- 1
15.2	Specifications .......................................................................................................................................	15- 2
15.3	Battery installation procedure ...........................................................................................................	15- 3
15.4	Standard connection diagram ............................................................................................................	15- 4
15.5	Signal explanation...............................................................................................................................	15- 5
15.6	Startup procedure................................................................................................................................	15- 6
15.7	Absolute position data transfer protocol ...........................................................................................	15- 7
15.7.1 Data transfer procedure...............................................................................................................		15- 7
15.7.2 Transfer method ...........................................................................................................................		15- 8
15.7.3 Home position setting..................................................................................................................		15-17
15.7.4 Use of servo motor with electromagnetic brake .......................................................................		15-19
15.7.5 How to process the absolute position data at detection of stroke end....................................		15-20
15.8	Examples of use ..................................................................................................................................	15-21
15.8.1 MELSEC-A1S (A1SD71).............................................................................................................		15-21
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)........................................................................................		15-35
15.8.3 MELSEC A1SD75(AD75) ...........................................................................................................		15-48
15.9	Confirmation of absolute position detection data............................................................................	15-63
15.10 Absolute position data transfer errors ...........................................................................................		15-64
15.10.1 Corrective actions ......................................................................................................................		15-64
15.10.2 Error resetting conditions.........................................................................................................		15-66
Appendix		App- 1 to App- 4
App 1. Signal arrangement recording sheets.........................................................................................		App- 1
App 2. Analog monitor block diagram ....................................................................................................		App- 2
App 3. Status display block diagram ......................................................................................................		App- 3

5

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual.

1.INTRODUCTION

2.INSTALLATION

3.CONNECTORS USED FOR SERVO MOTOR WIRING

4.INSPECTION

5.SPECIFICATIONS

6.CHARACTERISTICS

7.OUTLINE DIMENSION DRAWINGS

8.CALCULATION METHODS FOR DESIGNING

6

1.FUNCTIONS AND CONFIGURATION

1.FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions.

It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

As this new series has the RS-232C or RS-422 serial communication function, a servo configuration software-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc.

With real-time auto tuning, you can automatically adjust the servo gains according to the machine.

The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2 series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

(1)Position control mode

An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 131072 pulses/rev resolution.

The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command.

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. This torque limit value can be changed to any value with an external analog input or the parameter.

(2)Speed control mode

An external analog speed command (0 to 10VDC) or parameter-driven internal speed command (max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.

There are also the acceleration/deceleration time constant setting in response to speed command, the servo lock function at a stop time, and automatic offset adjustment function in response to external analog speed command.

(3)Torque control mode

An external analog torque command (0 to 8VDC) or parameter-driven internal torque command is used to control the torque output by the servo motor.

To protect misoperation under no load, the speed limit function (external or internal setting) is also available for application to tension control, etc.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative brake option

(Note2)

Power NFB MC supply 3-phase 200 to 230VAC, 1-phase

230VACor 1-phase 100to120VAC

Servo amplifier	P	C	D				Servo motor
DS	RA		(Note1)
					U		U
L1
L2	Regenerative			Current	V		V
	brake							SM
	transistor			detector
					W		W
L3	CHARGE
		lamp
		Fan			Dynamic
					brake
(MR-J2S-200A or more)
						E1		Electro-
L11
	Control
								magnetic
						E2
	power
L21								brake
	supply

Regenerative
brake	Base amplifier Voltage	Overcurrent	Current
	detection	protection	detection

CN2

Encoder

	Pulse			Virtual
				encoder
	input	Model position	Model speed
		control	control
				Virtual
				motor
		Model	Model	Model torque
		position	speed
		Actual position	Actual speed	Current
		control	control	control

MR-BAT			CON1
Optional battery

(for absolute position)

			RS-232C
	A/D					RS-422			D/A
		I/F
	CN1A CN1B						CN3
										Analog monitor
										(2 channels)
	D I/O control									Controller
Analog		Servo on								RS-422/RS-232C
(2 channels)		Start
		Failure, etc.
						To other servo
						amplifier

Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10A(1).

2.For 1-phase 230VAC, connect the power supply to L1,L2 and leave L3 open. L3 is not provided for a 1-phase 100 to120VAC power supply.

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier MR-J2S-

10A

20A

40A

60A

70A

100A

200A

350A

10A1

20A1

40A1

Item

supply

Voltage/frequency

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

3-phase 200 to

1-phase 100 to

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

3-phase 170 to

1-phase

1-phase 230VAC, 50/60Hz

230VAC, 50/60Hz

120VAC 50/60Hz

Power

Permissible voltage fluctuation

1-phase 230VAC: 207 to 253VAC

253VAC

85 to 127VAC

Permissible frequency fluctuation

Within

5%

Power supply capacity

Refer to Section12.2

System

Sine-wave PWM control, current control system

Dynamic brake

Built-in

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic

Protective functions

thermal relay), servo motor overheat protection, encoder error protection, regenerative

brake error protection, undervoltage, instantaneous power failure protection, overspeed

protection, excessive error protection

Speed frequency response

550Hz or more

mode

Max. input pulse frequency

500kpps (for differential receiver), 200kpps (for open collector)

Command pulse multiplying factor

Electronic gear A:1 to 65535

131072 B:1 to 65535, 1/50 A/B

500

control

In-position range setting

0 to

10000 pulse (command pulse unit)

Position

Error excessive

10 revolutions

Torque limit

Set by parameter setting or external analog input (0 to

10VDC/maximum torque)

mode

Speed control range

Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed command input

0 to

10VDC / Rated speed

control

Speed fluctuation ratio

0% or less (power fluctuation 10%)

Speed

0.01% or less (load fluctuation 0 to 100%)

0.2% max.(ambient temperature 25

10

) for external speed setting only

Torque limit

Set by parameter setting or external analog input (0 to

10VDC/maximum torque)

Torque

Analog torque command input

0 to

8VDC / Maximum torque (input impedance 10 to 12k

)

control

Speed limit

Set by parameter setting or external analog input (0 to

10VDC/Rated speed)

mode

Structure

Self-cooled, open (IP00)

Force-cooling,

Self-cooled, open(IP00)

open (IP00)

Ambient temperature

0 to 55 [ ] (non-freezing)

32 to

131 [

] (non-freezing)

Ambient humidity

90%RH or less (non-condensing)

Environment

Ambient

20 to 65 [

] (non-freezing)

Storage temperature

4 to

149 [

] (non-freezing)

Storage humidity

90%RH or less (non-condensing)

Indoors (no direct sunlight)

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

Altitude

Max. 1000m (3280ft) above sea level

Vibration

5.9 [m/s2] or less

19.4 [ft/s2] or less

Weight

[kg]

0.7

0.7

1.1

1.1

1.7

1.7

2.0

2.0

0.7

0.7

1.1

[lb]

1.5

1.5

2.4

2.4

3.75

3.75

4.4

4.4

1.5

1.5

2.4

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections.

	Function			Description					(Note)	Refer to
									Control mode
										Section 3.1.1
	Position control mode	This servo is used as position control servo.							P	Section 3.4.1
										Section 4.2.2
										Section 3.1.2
	Speed control mode	This servo is used as speed control servo.							S	Section 3.4.2
										Section 4.2.3
										Section 3.1.3
	Torque control mode	This servo is used as torque control servo.							T	Section 3.4.3
										Section 4.2.4
	Position/speed control change	Using external input signal, control can be switched							P/S	Section 3.4.4
	mode	between position control and speed control.
	Speed/torque control change	Using external input signal, control can be switched							S/T	Section 3.4.5
	mode	between speed control and torque control.
	Torque/position control	Using external input signal, control can be switched							T/P	Section 3.4.6
	change mode	between torque control and position control.
	High-resolution encoder	High-resolution encoder of 131072 pulses/rev is used as a							P, S, T
		servo motor encoder.
	Absolute position detection	Merely setting a home position once makes home position							P	Chapter 15
	system	return unnecessary at every power-on.
		You can switch between gains during rotation and gains
	Gain changing function	during stop or use an external signal to change gains							P, S	Section 8.3
		during operation.
	Adaptive vibration	Servo amplifier detects mechanical resonance and sets filter
		characteristics	automatically			to	suppress mechanical		P, S, T	Section 8.1
	suppression control
		vibration.
	Low-pass filter	Suppresses high-frequency resonance which occurs as servo							P, S, T	Section 8.2
		system response is increased.
		Analyzes the frequency characteristic of the mechanical
	Machine analyzer function	system by simply connecting a servo configuration software-							P
		installed personal computer and servo amplifier.
	Machine simulation	Can simulate	machine	motions on			a	personal computer	P
		screen on the basis of the machine analyzer results.
	Gain search function	Personal computer changes				gains		automatically and	P
		searches for overshoot-free gains in a short time.
	Slight vibration suppression	Suppresses vibration of			1 pulse produced at a servo motor				P	Section 7.5
	control	stop.
	Electronic gear	Input pulses can be multiplied by 1/50 to 50.							P	Parameters No. 3, 4
		Automatically adjusts the gain to optimum value if load
	Auto tuning	applied to the servo motor shaft varies. Higher in							P, S	Chapter 7
		performance than MR-J2-A servo amplifier.
	Position smoothing	Speed can be increased smoothly in response to input pulse.							P	Parameter No. 7
	S-pattern acceleration/	Speed can be increased and decreased smoothly.							S, T	Parameter No. 13
	deceleration time constant
		Used when the built-in regenerative brake resistor of the
	Regenerative brake option	servo amplifier does not have sufficient regenerative							P, S, T	Section 13.1.1
		capability for the regenerative power generated.

1 - 4

1. FUNCTIONS AND CONFIGURATION

	Function	Description	(Note)	Refer to
			Control mode
	Alarm history clear	Alarm history is cleared.	P, S, T	Parameter No. 16
	Restart after instantaneous	If the input power supply voltage had reduced to cause an
		alarm but has returned to normal, the servo motor can be	S	Parameter No. 20
	power failure	restarted by merely switching on the start signal.
	Command pulse selection	Command pulse train form can be selected from among four	P	Parameter No. 21
		different types.
	Input signal selection	Forward rotation start, reverse rotation start, servo-on and	P, S, T	Parameters
		other input signals can be assigned to any pins.		No. 43 to 48
	Torque limit	Servo motor-generated torque can be limited to any value.	P, S	Section 3.4.1 (5)
				Parameter No. 28
				Section 3.4.3 (3)
	Speed limit	Servo motor speed can be limited to any value.	T	Parameter No. 8
				to 10,72 to 75
	Status display	Servo status is shown on the 5-digit, 7-segment LED	P, S, T	Section 6.2
		display
	External I/O display	ON/OFF statuses of external I/O signals are shown on the	P, S, T	Section 6.6
		display.
		Output signal can be forced on/off independently of the
	Output signal forced output	servo status.	P, S, T	Section 6.7
		Use this function for output signal wiring check, etc.
		Voltage is automatically offset to stop the servo motor if it
	Automatic VC offset	does not come to a stop at the analog speed command (VC)	S, T	Section 6.3
		or analog speed limit (VLA) of 0V.
	Test operation mode	Servo motor can be run from the operation section of the	P, S, T	Section 6.8
		servo amplifier without the start signal entered.
	Analog monitor output	Servo status is output in terms of voltage in real time.	P, S, T	Parameter No. 17
	Servo configuration software	Using a personal computer, parameter setting, test	P, S, T	Section 13.1.6
		operation, status display, etc. can be performed.
	Alarm code output	If an alarm has occurred, the corresponding alarm number	P, S, T	Section 10.2.1
		is output in 3-bit code.
	Note:P: Position control mode, S: Speed control mode, T: Torque control mode

P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

1.5 Model code definition

(1) Rating plate

MITSUBISHI

AC SERVO

Model

AC SERVO

MODEL

MR-J2S-60A

Capacity

POWER : 600W

POWERINPUT

: 3.2A 3PH 1PH200-230V 50Hz

Applicable power supply

3PH 1PH200-230V 60Hz

5.5A 1PH 230V 50/60Hz

OUTPUT : 170V 0-360Hz 3.6A

Rated output current

SERIAL

: TC3XXAAAAG52

						Serial number
					PASSED
	MITSUBISHI ELECTRIC CORPORATION
	MADE IN JAPAN

1 - 5

1. FUNCTIONS AND CONFIGURATION

(2) Model

MR–J2S– A

MR–J2S–100A or less

Series

Power Supply

Symbol

Power supply

None

3-phase 200 to230V

(Note2) 1-phase 230V

(Note1)

1-phase 100V to 120V

Rating plate

1

Note:1. Not supplied to the servo amplifier of MR-J2S-60A or more. 2. Not supplied to the servo amplifier of MR-J2S-100A or more.

General-purpose interface

Rated output
	Symbol		Rated		Symbol		Rated
			output [W]				output [W]
	10		100		70		700
	20		200		100		1000
	40		400		200		2000
60			600		350		3500

MR–J2S–200A350A

Rating plate

1.6 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier	HC-KFS		HC-MFS		HC-SFS		HC-UFS
					2000r/min	3000r/min	HC-RFS	3000r/min
				1000r/min			2000r/min
MR-J2S-10A(1)	053	13	053	13				13
MR-J2S-20A(1)	23		23					23
MR-J2S-40A(1)	43		43					43
MR-J2S-60A					52	53
MR-J2S-70A			73				72	73

MR-J2S-100A	81	102	103
MR-J2S-200A	121 201	152 202	153 203	103 153	152
MR-J2S-350A	301	352	353	203	202

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification

(1) MR-J2S-100A or less

Name/Application

Refer to

Battery holder

Section15.3

Contains the battery for absolute position data backup.

Battery connector (CON1)

Section15.3

Used to connect the battery for absolute position data

backup.

Display

Chapter6

The 5-digit, seven-segment LED shows the servo

status and alarm number.

Operation section

Used to perform status display, diagnostic, alarm and

parameter setting operations.

MODE

UP DOWN

SET

Chapter6

Used to set data.

Used to change the

display or data in each

mode.

Used to change the

mode.

I/O signal connector (CN1A)

Section3.3

Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section3.3

Used to connect digital I/O signals.

Communication connector (CN3)

Chapter14

Used to connect a command device (RS-422/RS-232C)

Section13.1.2

and output analog monitor data.

Name plate

Section1.5

Charge lamp

Lit to indicate that the main circuit is charged. While

this lamp is lit, do not reconnect the cables.

Encoder connector (CN2)

Section3.3

Connector for connection of the servo motor encoder.

Section13.1.2

Main circuit terminal block (TE1)

Section3.7

Used to connect the input power supply and servo

motor.

Control circuit terminal block (TE2)

Section3.7

Used to connect the control circuit power supply and

Section13.1.1

regenerative brake option.

Protective earth (PE) terminal (

)

Section3.10

Ground terminal.

1 - 7

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200A or more

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page.

Cooling fan

Installation notch (4 places)

		Name/Application							Refer to
	Battery holder							Section15.3
	Contains the battery for absolute position data backup.
	Battery connector (CON1)							Section15.3
	Used to connect the battery for absolute position data
	backup.
	Display								Chapter6
	The 5-digit, seven-segment LED shows the servo
	status and alarm number.
	Operation section
	Used to perform status display, diagnostic, alarm and
	parameter setting operations.
	MODE	UP DOWN	SET
			Used to set data.						Chapter6
			Used to change the
			display or data in each
			mode.
			Used to change the
			mode.
	I/O signal connector (CN1A)								Section3.3
	Used to connect digital I/O signals.
	I/O signal connector (CN1B)								Section3.3
	Used to connect digital I/O signals.
	Communication connector (CN3)							Chapter14
	Used to connect a command device (RS-422/RS232C)
								Section13.1.2
	and output analog monitor data.
	Name plate								Section1.5
	Charge lamp
	Lit to indicate that the main circuit is charged. While
	this lamp is lit, do not reconnect the cables.
	Encoder connector (CN2)								Section3.3
	Connector for connection of the servo motor encoder.							Section13.1.2
	Main circuit terminal block (TE1)								Section3.7
	Used to connect the input power supply and servo
	motor.
	Control circuit terminal block (TE2)								Section3.7
	Used to connect the control circuit power supply and
								Section13.1.1
	regenerative brake option.
	Protective earth (PE) terminal (						)	Section3.10
	Ground terminal.

1 - 8

1. FUNCTIONS AND CONFIGURATION

Removal of the front cover 1)

2)

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)

2)

1)

Front cover socket (2 places)

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

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

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliary equipment

To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control

box.

(1) MR-J2S-100A or less

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

(Note2)
3-phase 200V		Options and auxiliary equipment			Refer to	Options and auxiliary equipment		Refer to
to 230VAC power
supply or		No-fuse breaker			Section 13.2.2	Regenerative brake option		Section 13.1.1
1-phase 230VAC		Magnetic contactor			Section 13.2.2	Cables		Section 13.2.1
power supply
		Servo configuration software			Section 13.1.6
No-fuse breaker
(NFB) or fuse
		Servo amplifier
						Command device
					To CN1A
Magnetic							Junction terminal block
contactor
(MC)					To CN1B
			CHARGE		To CN3
						Personal	Servo configuration
						computer	software
	To CN2						MRZJW3-SETUP121E
	L1
	L2	U	V	W
	L3
				Protective earth(PE) terminal
						(Note1)
						Encoder cable

(Note1)

Power supply lead

Control circuit terminal block

D

L21

L11

Regenerative brake	P
							Servo motor
option
	C

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

2.A 1-phase 230V power supply may be used with the servo amplifier of MR-J2S-70A or less. Connect the power supply to L1 and L2 terminals and leave L3 open.

1 - 10

1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
1-phase 100V
to 120VAC		Options and auxiliary equipment			Refer to	Options and auxiliary equipment		Refer to
power supply		No-fuse breaker			Section 13.2.2	Regenerative brake option		Section 13.1.1
		Magnetic contactor			Section 13.2.2	Cables		Section 13.2.1
		Servo configuration software			Section 13.1.6
No-fuse breaker
(NFB) or fuse
		Servo amplifier
						Command device
					To CN1A
Magnetic						Junction terminal block
contactor
(MC)					To CN1B
			CHARGE		To CN3
						Personal	Servo configuration
						computer	software
	To CN2						MRZJW3-SETUP121E
	L1
	L2	U	V	W
				Protective earth(PE) terminal
						(Note)
						Encoder cable
						(Note)
						Power supply lead

Control circuit terminal block

D

L21

L11

Regenerative brake	P
							Servo motor
option
	C

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

1 - 11

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200A or more
3-phase 200V	Options and auxiliary equipment	Refer to	Options and auxiliary equipment	Refer to
to 230VAC	No-fuse breaker	Section 13.2.2 Regenerative brake option		Section 13.1.1
power supply	Magnetic contactor	Section 13.2.2	Cables	Section 13.2.1
	Servo configuration software	Section 13.1.6

	No-fuse
	breaker
	(NFB) or	Servo amplifier
	fuse

					Command device
					To CN1A	Junction terminal
Magnetic
						block
contactor
(MC)
					To CN1B
To CN2					To CN3	Servo
						configuration
					Personal	software
L11					computer	MRZJW3-
L21						SETUP121E
L1	U	V	W	P	C
L2
L3				Regenerative brake option

1 - 12

2.INSTALLATION

2.INSTALLATION

Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction Manual.

Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.

Provide an adequate protection to prevent screws, metallic detritus and other CAUTION conductive matter or oil and other combustible matter from entering the servo

amplifier.

Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.

Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment.

Do not install or operate a faulty servo amplifier.

When the product has been stored for an extended period of time, consult Mitsubishi.

2.1 Environmental conditions

	Environment						Conditions
	Ambient temperature	0 to			55 [ ] (non-freezing)
		32 to			131 [		] (non-freezing)
	Ambient humidity	90%RH or less (non-condensing)
	Storage temperature			20 to		65 [	] (non-freezing)
				4 to		149 [	] (non-freezing)
	Storage humidity	90%RH or less (non-condensing)
	Ambient	Indoors (no direct sunlight)
		Free from corrosive gas, flammable gas, oil mist, dust and dirt
	Altitude	Max. 1000m (3280 ft) above sea level
	Vibration	5.9 [m/s2] or less
		19.4 [ft/s2] or less

2 - 1