Mitsubishi melservo-j2 Installation Manual

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Page 1

General-Purpose AC Servo

SSC-NET Compatible MR-J2- B Specifications and Installation Guide

Series

Page 2

Thank you for choosing th is Mitsubishi AC servo . This Specifications and Installation Guide gives handling information and pr ecautions for using the ser vo amplifier and servo m otor. Incorrect handl ing may cause an unexpected fault. Before using the servo amplifier and servo motor, please read this Specifications and Installation Guide carefully to use the equipment to its optimum. Please forward this Specifications and Installation Guide to the end user.

Safety Instructions

Do not attempt to insta ll, operate, maintain or inspect the servo am plifier and servo m otor until you have read through this Spec ificatio ns and Installat ion Gui de and ap pende d docum ents caref ully a nd can use the equipment correc tly. Do not use the servo am plifier an d servo m otor until you have a full k nowledge of the equipment, safety information and instructions. In this Specifications and Installation Guide, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

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

CAUTION

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

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

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

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

: Indicates what must be done. For example, grounding is indicated by .

After reading this Specifications and Installation Guide, always keep it accessible to the operator.

In this Specifications and Installation Guide, instructions at a lower level than the above, instructions for other functions, and so on are classified into "NOTICE", "INFORMATION" and "MEMORANDUM".

NOTICE

Indicates that incor rect handling ma y cause the servo ampl ifier to be fa ulty and m ay not lead to physical damage.

INFORMATION

Indicates that param eter setting change, etc. will provide ano ther function or there are other usages.

MEMORANDUM

Indicates information needed for use of this equipment

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SAFETY INSTRUCTIONS

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switc h 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 fier 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 wir e th e serv o amplif ier a nd ser vo motor unt il the y have be en install ed. Ot herwis e,

you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables sh ould not be dam ag ed, s tress ed loa ded, or p inch ed. O ther wis e, you m ay g et an elec tric

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 regenerativ e br ake resistor is use d, use an alar m signal to s witc h main power of f . Ot h er wis e, a regenerative brak e tr ans ist or fau lt or th e lik e m a y overh eat t he r ege nerat ive brak e res istor , c aus ing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage s pecified in the Instal lation guide 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-o n or for some time after p ower-off, do not touch or c lose 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 parts may damaged.

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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 Installation guide. 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 operat e the servo amplifier and servo motor whic h 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:

Conditions

Environment

Servo Amplifier Servo Motor

[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)

Ambient 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)

[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)

Storage 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

MC-MF series HA-FF series

HU-UF13 to 73

Y: 19.6

HC-SF81 HC-SF52 to 152 HC-SF53 to 153

HC-RF series HC-UF72

152

X: 9.8 Y: 24.5

HC-SF121 201 HC-SF202

352

HC-SF203

353

HC-UF202

X: 19.6 Y: 49

[m/s2] 5.9 or less

HC-SF301

X: 11.7

Y: 29.4 MC-MF series HA-FF series

HU-UF13 to 73

Y: 64

HC-SF81 HC-SF52 to 152 HC-SF53 to 153

HC-RF series HC-UF72

152

X: 32

Y: 80 HC-SF121 201

HC-SF202

352

HC-SF203

353

HC-UF202

X: 64

Y: 161

Vibration

[ft/s

] 19.4 or less

HC-SF301

X: 38

Y: 96

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CAUTION

Securely attach th e servo motor to the machine. If attach ins ecurely, the ser vo motor m ay 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 m otor or shaft, especially when couplin g the servo motor to the machine. T he encoder may become faulty.

Do not subject the servo motor shaft t o more than the perm issible load. Oth erwise, the shaf t 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 abs orber or radio noise filt er (FR-BIF 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 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.

COM

(24VDC)

Servo Amplifier

Control

output

signal

Servo Amplifier

COM

(24VDC)

Control

output

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 instable.

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(4) Usage

CAUTION

Provide an external em ergency stop circuit to ensure that operation can be stopped and power switched off immediatel y.

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 electrom agnetic brak e o n th e s ervo m otor is des ig ned t o hold t he m otor shaf t and s hould no t be

used for ordinary braking. For such reasons as service life and m echanical 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 assum ed th at a haza rdous c ondi tion m ay tak e p lace a t the occ ur due to a po wer f ailur e 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 the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal.

EM1RA1

24VDC

Contacts must be open when servo is off or when an alarm (trouble) is present.

Electromagnetic brake

Servo motor

Circuit must be opened during emergency stop.

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

When power is restor ed after an instant aneous p ower fail ure, k eep awa y from the m achine becaus e the machine m ay be restarted s uddenly (des ign the machi ne so that it is sec ured against hazard if restarted).

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(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 t o r e p lac e t he e lec tr olytic capaci tor e very 10 years whe n used in ge neral environment. Please consult our sales representative.

(7) Disposal

CAUTION

Dispose of the product as general industrial waste.

(8) General instructi o n

To illustrate details, the equipment in the diagrams of this Specifications and Installation Guide may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be inst alled as specif ied. Operat ion must be performed i n accordanc e with this Specificat ions and Installation Guide.

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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 D irectives require that products to be sold should meet their fundament al 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 to a machine/equipment which incorporates the servo, not to the servo alone. Hence, the EMC filter must be used to make this machine/equipment which incorporates the servo comply with the EMC Directive. For specific methods to comply with the EMC Directive, refer to the "EMC Installation Guidelines" (IB(NA)67310). This servo has been approved by TUV, third-party evaluation organization, which confirmed that it can comply with the EMC Directive in the methods given in the "EMC Installation Guidelines".

(2) Low Voltage Di re ctiv e

The Low Voltage Directive applies also to the servo alone. Therefore, our servo is designed to comply with the Low Voltage Directive. This servo has been approved by TUV, third-party evaluation organization, which confirmed that it complies with the Low Voltage Directive.

(3) Machinery Directive

Since the servo amplifiers are not machines, they need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE (1) Servo amplifiers and servo motors used

Use the following models of servo amplifiers and servo motors: Servo amplifier series: MR-J2-10B to MR-J2-350B Servo mot o r s e ri es : HC-FF

C -UE

HC-MF

-UE HC-SF HC-RF HC-UF

(2) Structure

Reinforced insulating transformer

NFB

No-fuse breaker

Magnetic contactor

Reinforced insulating type

24VDC power supply

Servo amplifier

Servo motor

Control box

(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).

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(4) Power supply

1) 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 IE C or EN Standa rd should be used in the power input section.

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

(5) Grounding

1) 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.

2) 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

3) 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

1) 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

2) When the servo motor has a power supp ly lead, use a fixed terminal block to connect it with the servo amplifier. Do not connect cables directly.

Terminal block

(7) Auxiliary equipment and options

1) The no-fuse breaker and magnetic contactor used should be the EN or IEC Standard-compliant products of the models described in Section 6-2-1.

2) The sizes of the cables described in Section 6-2-1 meet the following requirements. To meet the 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

3) When the EMC filter is used, the radio noise filter (FR-BIF) described in (5), Section 6-2-6 is not required.

(8) Servo motor

For out l ine dime nsion drawings n o t shown, c o ntact Mit s u b ishi.

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(9) 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)".

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CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used

Use the following models of servo amplifiers and servo motors: Servo amplifier series: MR-J2-10B to MR-J2-350B Servo mot o r s e ri es : HC-FF

C -UE

HC-MF

-UE HC-SF HC-RF HC-UF

(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

Having been subjected to UL tests in the alternating-current circuit who se peak current is limited to 5000A or less, this servo amplifier conforms to this circuit.

(4) Flange

Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:

Servo Motor

Flange Size

[mm]

HC-MF

-U E HA-FF C- U E HC-SF HC-RF HC-UF

150 150 6 053 13 053 13 13 250 250 623 2333 23

250 250 12 43 43 63

81 52 to 152 53 to 153

103 to 203 43

300 300 12 73 73

300 300 20

121

201

202

352

203

353 500 550 30 72 152 650 650 35 301 202

(5) Capacitor discharge time

The capacitor disch arg e time is as li sted below . To ensu re saf ety , do no t to uch the ch argin g sec tion f or 10 minutes after power-off.

Servo Amplifier Discharge Time [min]

MR-J2-10B 20B 1 MR-J2-40B 60B 2

MR-J2-70B to 350B 3

(6) Options and auxiliary equipment

Use products which conform to the UL/C-UL Standard.

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CONTENTS

CHAPTER 1 INTRODUCTION...........................................................................................................1-1 to 1-16

1-1 Inspection at delivery......................................................................................................................... 1-1

1-1-1 Packing list............................................................................................................................... 1-1

1-1-2 Model definition.......................................................................................................................1-1

1-1-3 Combination with servo motor............................................................................................ ...1-7

1-2 Parts identification and applications ............................................................................................... 1-8

1-2-1 Servo amplifier......................................................................................................................... 1-8

1-2-2 Servo motor ............................................................................................................................1-13

1-3 Function list......................................................................................................................................1-14

1-4 Basic configuration........................................................................................................................... 1-15

CHAPTER 2 OPERATION .................................................................................................................2-1 to 2-23

2-1 Standard connection example ...........................................................................................................2-1

2-2 Operation............................................................................................................................................. 2-4

2-2-1 Pre-operation checks ............................................................................................................... 2-4

2-2-2 Power on ................................................................................................................................... 2-5

2-2-3 Stop ...........................................................................................................................................2-5

2-3 Display................................................................................................................................................. 2-6

2-4 Parameters.......................................................................................................................................... 2-8

2-5 Test operation mode.........................................................................................................................2-16

2-6 Adjustments......................................................................................................................................2-19

2-6-1 Auto tuning.............................................................................................................................2-19

2-6-2 Manual gain adjustment....................................................................................................... 2-19

2-6-3 Slight vibration suppression control.................................................................................... 2-23

CHAPTER 3 WIRING .........................................................................................................................3-1 to 3-35

3-1 Servo amplifier ...................................................................................................................................3-2

3-1-1 Terminal blocks........................................................................................................................ 3-2

3-1-2 Signal connectors.....................................................................................................................3-5

3-1-3 Interfaces..................................................................................................................................3-7

3-1-4 Control axis selection .............................................................................................................. 3-9

3-2 Connection of servo amplifier and servo motor.............................................................................3-10

3-2-1 Connection instructions ........................................................................................................3-10

3-2-2 Connection diagram...............................................................................................................3-11

3-2-3 I/O terminals.......................................................................................................................... 3-12

3-2-4 Connectors used for servo motor wiring.............................................................................. 3-15

3-3 Common line..................................................................................................................................... 3-28

3-4 Grounding .........................................................................................................................................3-29

3-5 Power supply circuit......................................................................................................................... 3-30

3-6 Alarm occurrence timing chart .......................................................................................................3-32

3-7 Servo motor with electromagnetic brake.......................................................................................3-33

CHAPTER 4 INSTALLATION...............................................................................................................4-1 to 4-9

4-1 Servo amplifier ...................................................................................................................................4-1

4-2 Servo motor......................................................................................................................................... 4-4

CHAPTER 5 ABSOLUTE POSITION DETECTION SYSTEM............................................................5-1 to 5-2

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CHAPTER 6 OPTION AND AUXILIARY EQUIPMENT ....................................................................6-1 to 6-22

6-1 Dedicated options ............................................................................................................................... 6-1

6-1-1 Regenerative brake options.................................................................................................... 6-1

6-1-2 Cable connectors...................................................................................................................... 6-5

6-1-3 Maintenance junction card ................................................................................................... 6-12

6-1-4 Set-up software (will be released soon) ...............................................................................6-13

6-2 Auxiliary equipment ........................................................................................................................6-14

6-2-1 Cables......................................................................................................................................6-14

6-2-2 No-fuse breakers, fuses, magnetic contactors..................................................................... 6-14

6-2-3 Power factor improving reactors..........................................................................................6-14

6-2-4 Relays...................................................................................................................................... 6-15

6-2-5 Surge absorbers .....................................................................................................................6-15

6-2-6 Noise reduction techniques................................................................................................... 6-16

6-2-7 Leakage current breaker....................................................................................................... 6-21

6-2-8 Battery (MR-BAT, A6BAT)...................................................................................................6-22

CHAPTER 7 INSPECTION...................................................................................................................7-1 to 7-2

CHAPTER 8 TROUBLESHOOTING....................................................................................................8-1 to 8-7

8-1 Alarm and warning lists.................................................................................................................... 8-1

8-2 Remedies for alarms........................................................................................................................... 8-2

8-3 Remedies for warnings.......................................................................................................................8-7

CHAPTER 9 CHARACTERISTICS....................................................................................................9-1 to 9-11

9-1 Overload protection characteristics..................................................................................................9-1

9-2 Losses generated in the servo amplifier........................................................................................... 9-3

9-3 Electromagnetic brake characteristics............................................................................................. 9-5

9-4 Dynamic brake characteristics..........................................................................................................9-9

9-5 Vibration rank .................................................................................................................................. 9-11

CHAPTER 10 SPECIFICATIONS ....................................................................................................10-1 to 10-98

10-1 Standard specifications.................................................................................................................... 10-1

10-2 Torque characteristics...................................................................................................................... 10-5

10-3 Servo motors with reduction gears................................................................................................. 10-9

10-4 Servo motors with special shafts ..................................................................................................10-13

10-5 Outline dimension drawings.........................................................................................................10-15

10-5-1 Servo amplifiers.................................................................................................................10-15

10-5-2 Servo motors.......................................................................................................................10-18

10-5-3 Servo motors (in inches).................................................................................................... 10-54

10-5-4 Cable side plugs................................................................................................................. 10-90

CHAPTER 11 SELECTION................................................................................................................11-1 to 11-9

11-1 Specification symbol list ..................................................................................................................11-1

11-2 Stopping characteristics .................................................................................................................. 11-2

11-3 Capacity selection............................................................................................................................. 11-3

11-4 Load torque equations...................................................................................................................... 11-5

11-5 Load inertia moment equations......................................................................................................11-6

11-6 Selection example.............................................................................................................................11-7

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1 - 1

1. INTRODUCTION

1 - 1 Inspection at delivery

After unpacking, check the name plate to make sure that the servo amplifier and servo motor received are as ordered by the customer.

1 - 1 - 1 Packing list

1) Servo amplifier 2) Servo motor

Item Qty Item Qty

Servo amplifier 1 Servo motor 1

(Note) Control circuit connector 1

Safety Instructions

for Use of AC Servo

Specifications and

installation guide

Note: Not supplied to the servo amplifier of MR-J2-200B or more.

1 - 1 - 2 Model definition (1) Servo amplifier

1) Name plate

AC SERVO

Model Capacity

Applicable Rated output current

Serial number

MITSUBISHI

MODEL

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

PASSED

POWER

:600W

INPUT

3PH 1PH 200-230V 60Hz

OUTPUT

:170V 0-360Hz 3.6A

SERIAL

:TC3XXAAAAG52

5.5A 1PH 230V 50/60Hz

MR-J2-60B

:3.2A 3PH 1PH 200-230V 50Hz

Page 15

1 - 2

1. INTRODUCTION

2) Model

MR-J2-100B or less

Rated Output [W]Symbol

20 40

100 200 400

Series name

MR-J2-200B 350B

General-purpose AC Servo

Rated output

60 600

Rated Output [W]Symbol

100 200

700 1000 2000

350 3500

Name plate

Page 16

1 - 3

1. INTRODUCTION

(2) Servo motors

1) Name plate

AC SERVO MOTOR

HC-MF13

SERIAL DATE

MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN

Model Serial number Date of manufacture

AC SERVO MOTOR

HC-RF153

INPUT 3AC 145V 8.2A

MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN

SPEED 3000r/min SER.No. 001 DATE

OUTPUT 1.5Kw IEC34-1 1994

Model Input power Rated output

Rated speed Serial number

2) Model a HC-MF series (ult r a lo w iner tia, sm al l ca pa cit y)

Symbol

Rated Output [W]

-UE

Symbol

2) Shaft type

K D

Symbol

1 2

50 100 200

Series name

Appearance

1) Compliance with Stand ard

Specifications

None

Standard model (Japan) EN UL/C-UL Standard

Shaft Shape

D-cut shaft

Note: With key

3) Reduction gear

Reduction Gear

None

Without

For general

industrial machine

For precision applicatio n

4) Electromagnetic brake

Electromagnetic Brake

Without

With

5) Rated s p eed 3000 [r/min]

6) Rated output

None

Standard

(Straight shaft)

(Note) With keyway

HC-MF

53 13

053 to 73

23 to 73

Symbol

None

400

7 750

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1 - 4

1. INTRODUCTION

b HA-FF series (low inertia, small capacity)

Symbol

Rated Output [W]

-UE

Symbol

2) Shaft type

Symbol

1 2

50 100 200

Series name

1) Compliance with Standard

Specifications

None

Standard model (Japan) EN UL/C-UL Standard

Shaft Shape

D-cut shaft

3) Reduction gear

Reduction Gear

None

Without

For general

industrial machine

For precision application

4) Electromagnetic brake

Electromagnetic Brake

Without

With

6) Rate d speed 3000 [r/min]

7) Rated output

None

HA-FF

053 13

053 to 63

Symbol

None

(Note) Standard

Note: The Standard shafts of the HA-FF23 to 63 are with keys and those of the other models are straight shafts.

Appearance

Rated Output [W]Symbol

4 6

300 400 600

5) Input power supply form

Standard model

Lead

Symbol

None

EN UL/C-UL Standard-

compliant model

Cannon connector

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1 - 5

1. INTRODUCTION

c HC-SF series (middle inertia, middle capacity)

Rated Output [W]

Symbol

500 850

1000

Series name

2) Reduction gear

None Without

3) Electromagnetic brake

Electromagnetic Brake

Without

With

4) Rated speed

5) Rated output

Appearance

Symbol

None

1000 [r/min]

(Note) Reduction Gear

Note: Not provided for 1000r/min and 3000r/min series.

Speed [r/min]

Symbol

1) Shaft type

None

Shaft Shape

With keyway

Note: Without key

Standard

(Straight shaft)

For general

industrial machine

(flange type)

For general

industrial machine

(leg type)

G1H

For precision applicationG2

Symbol

2 3

1000 2000 3000

2000 [r/min]

3000 [r/min]

15 20

1200 1500 2000

30 35

3000 3500

5000

70 7000

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1 - 6

1. INTRODUCTION

d HC-RF series (low inertia, middle capacity)

Rated Output [W]

Symbol

1000

15 1500

2000

Series name

Appearance

2) Reduction gear

Reduction Gear

None Without

For precision application

3) Electromagnetic brake

Electromagnetic Brake

Without

With

4) Rated speed 3000 [r/min]

5) Rated output

Symbol

1) Shaft type

None

Shaft Shape

Note: Without key

Standard

(Straight shaft)

With keyway

Symbol

None

35 3500 50

5000

e HC-UF series (pancake type small capacity)

Series name

Appearance

Rated Output [W]

Symbol

1) Shaft type

K D

Symbol

2 4

100 200 400

None

Shaft Shape

D-cut shaft

Note: HC-UF 23 to 73 are provided with keys.

2) Electromagnetic brake

Electromagnetic Brak e

Without

With

3) Rated speed

4) Rated output

Standard

(Straight shaft)

(Note) With keyway

HC-UF

13 to 43

72 to 202

Symbol

None

Speed [r/min]Symbol

2000 3000

750

2000

1500

3500

500050

Page 20

1 - 7

1. INTRODUCTION

1 - 1 - 3 Combination with servo motor

The following table lists combinatio ns of servo ampl ifier s and se rvo moto rs. The same comb inat ions app ly to the model s with e lectr omagn etic brake s, the m ode ls with red uction ge ars, the EN Stand ard-co mpli ant models and the UL/C-UL Standard-compliant models.

Servo Motors

HC-SF (Note) HC-UF (Note)

Servo Amplifier

HC-MF

HA-FF

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

HC-RF

2000r/min 3000r/min

MR-J2-10B 053 13 053 13 13 MR-J2-20B 23 23 23 MR-J2-40B 43 33 43 43 MR-J2-60B 63 52 53

MR-J2-70B 73 72 73 MR-J2-100B 81 102 103 MR-J2-200B 121 201 152 202 153 203 103 153 152 MR-J2-350B 301 352 353 203 202

Note. The HC-UF73, HC-SF203 and 353 may not be connected depending on the production timing of the servo amplifier. Please

Page 21

1 - 8

1. INTRODUCTION

1 - 2 Parts identification and applications 1 - 2 - 1 Servo amplifier (1) MR-J2-200B or less

Page 22

1 - 9

1. INTRODUCTION

Refer To

Chapter 5(5)

Section 6-2-8

Chapter 5(5)

Section 2-3

Section 3-1-4

Section 1-1

Section 3-1 - 2 Section 6-1-4

Section 3-1-2

Section 3-1-1

Section 3-4

Name/Application

Battery holder Contains the battery for absolute position data backup.

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

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

Communication connector (CN3) Used to connect a personal computer or output analog monitor.

Name plate Charge lamp

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

Encoder connector (CN2) Connector for connection of the servo motor encoder

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

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

Protective earth (PE) terminal ( ) Ground ter minal.

Axis select switch (CS1) CS1

Used to set the axis number of the servo amplifier.

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

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

Page 23

1 - 10

1. INTRODUCTION

(2) MR-J2-200B or more

The servo amplifier is shown without the cover. For removal of the front cover, refer to page 1-12.

Installation not ch (4 pla ces) Cooling fan

Page 24

1 - 11

1. INTRODUCTION

Refer To

Chapter 5(5)

Section 6-2-8

Chapter 5(5)

Section 2-3

Section 3-1-4

Section 1-1

Section 3-1-2 Section 6-1-4

Section 3-1-2

Section 3-1-1

Section 3-4

Name/Application

Battery holder Contains the battery for absolute position data backup.

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

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

Communication connector (CN3) Used to connect a personal computer or output analog monitor.

Name plate Charge lamp

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

Encoder connector (CN2) Connector for connection of the servo motor encod e r

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

Control circuit terminal block (TE2) Used to connect the control circuit power supply and regenerative brake option.Control circuit t er minal

Protective earth (PE) terminal ( ) Ground terminal.

Axis select switch (CS1) CS1

Used to set the axis number of the servo amplifier.

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

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

Page 25

1 - 12

1. INTRODUCTION

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 co ve r 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.

Page 26

1 - 13

1. INTRODUCTION

1 - 2 - 2 Servo motor

Refer To

Section 6-1-2

Section 3-2

Section 10-1

Section 3-2

Section 4-2 (4)

Section 10-4

Name/Application

Encoder cable Encoder connector for HC-SF/HC-RF

Encoder

Power cable Power leads (U, V, W) Earth lead Brake lead (For motor with electromagnetic brake)

Servo motor sh aft

Power supply connector for HC-SF/HC-RF

Page 27

1 - 14

1. INTRODUCTION

1 - 3 Function list

Function Description Refer To

Absolute position detection system

Return to home position is not required at each power on after it has been made once.

Chapter 5

Slight vibration suppression control

Suppresses vibration of

1 pulse produced at a servo

motor stop.

Section 2-6-3

Real-time auto tuning

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft va ries.

Parameter No.8, 9

Analog monitor output

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

Parameter No.22

External emergency stop signal automatic ON

External emergency stop signal (EM1) can be automatically switched on internally to invalidate it.

Parameter No.23

Output signal forced output

Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc.

Section 2-5

Test operation mode

Servo motor can be run from the ope ration sectio n of the servo amplifier without the start signal entered.

Section 2-5

Regenerative brake opti on

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

Section 6-1-1

Set-up software

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

Section 6-1-4

Page 28

1 - 15

1. INTRODUCTION

1 - 4 Basic configuration

WARNING

To prevent an electric shock, always connect the protective earth (PE) terminal (terminal m ar k ed

) of the ser vo amplifier to th e pr ot ec t i ve earth (PE) of th e co ntrol

box.

(1) MR-J2-100B or less

No-fuse breaker (NFB) or fu se

Magnetic contactor (MC)

To CN2

To CN3

To CN1B

To CN1A

L1 L2 L3

L21

L11

Protective earth (PE) terminal

(Note1) Encoder cable

(Note1) Power leads

Servo motor

Set-up software

Servo amplifier

MR-J2- B

Regenerative brake option

U V

CHARGE

MR-J2-60B

Servo system controller or preceding axis serv o amplifier

Control circuit terminal block

Personal computer

Subsequent axis serv o amplifier

3-phase 200

to 230V

power supply

1-phase 230V

power supply

(Note2)

Options and Auxiliary Equipment

No-fuse breaker Magnetic conta ctor Set-up software Regenerative brake option

Cables

Refer To

Section 6-2-2 Section 6-2-2 Section 6-1-3 Section 6-1-1

Section 6-2-1

Power factor improving reactors Section 6-2-3

Power factor improving reactors

(FR-BAL)

Note:1. The HA-FF C-UE and HC-SF series have Canno n connectors.

2. A single-phase 230V power supply may be used with the servo amplifier of MR-J2-70B or less. Connect the power supply to L1 and L2 terminals and leave L3 open.

Page 29

1 - 16

1. INTRODUCTION

(2) MR-J2-200B or more

3-phase 200 to 230V

power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

To CN2

To CN3

To CN1B

To CN1A

Set-up software

Regenerative brake option

Options and Auxiliary Equipment

No-fuse breaker

Magnetic contactor

Set-up software Regenerative brake option Cables

Refer To

Section 6-2-2 Section 6-2-2 Section 6-1-3 Section 6-1-1 Section 6-2-1

Personal computer

L1 L2 L3

L11 L21

Servo amplifier

Servo system controller or preceding axis servo amplifier

Subsequent axis servo amplifier

Power factor imp r oving reactors Section 6-2-3

Power

actor improving reactors

(FR-BAL)

Page 30

2 - 1

2. OPERATION

2 - 1 Standard connection example

CAUTION

Always follow the instructions in Chapter 3.

NFB

Servo amplifier

MR-J2- B

(Axis 1)

TE1

L1 L2 L3

L11 L21 C D P

TE2

(Note 5) Regenerative brake option

Encoder cable

(Option)

Electromagnetic brake

U (Red) V (White) W (Black)

(Green)

Servo motor

CAUTION

CN1A (Note 6)

CN1B (Note 6)

(Note 6)

CN2

(Note 6, 10)

CN3

(Note 9)

(Note 1)

Cable clamp (Option) (Note 11)

EM1

RA1

DC24V

2m max.

MO1

EM1 SG

3 4

LG1 MO2

11 LG

SD MBR COM VDD

Plate

10k

RA1

External emergency stop (Note 3, 8)

(Note 15) Bus cable (Option)

Bus cable (Option) MR-J2HBUS M

Configure up a sequence which switches off the MC at alarm or emergency stop.

Power supply

3-phase 200 to

230VAC

1-phase 230VAC

Servo system

controller

CS1

To be shut off when servo-on signal or electromagnetic brake signal switches off.

Encoder

10k

Monitor output Max. 1mA meter Deflected in both directions

Electromagnetic brake interlock

Do not connect when using external power supply.

Setting: 0

(Note 16)

(Note17)

(Note 2, 7)

CN1A

CN1B

MR-J2-B

(Axis 2)

(Note 12)

Setting: 1

CS1

CN1A

CN1B

MR-J2-B

(Axis 3)

(Note 12)

Setting: 2

CS1

CN1A

CN1B

MR-J2-B

(Axis n)

(Note 12)

Setting: n-1

CS1

(Note 13) n 1 to 8

(Note 14) MR-A-TM

Bus cable (Option) MR-J2HBUS M

For notes, refer to the next page.

Page 31

2 - 2

2. OPERATION

CN3

3 4

1 14 11 Plate 13

EM1

MO1

MO2

LG SD

MBR

COM

VDD

10k

RA1

(Note 4)

When using a personal computer during operation, always use the maintenance junction card.

2m max.

Servo amplifier MR-J2- B

Do not connect when using

external power supply. Communication cable (Option)

15m max.

Personal computer

Windows 3.1 95

Maintenance junction card (Option)

(Note 15)

Motion controller (273UH171S)

Bus cable

Machine controller (Model W)

Bus cable

A1SD75 (AD75)

WARNING

Note:1. To prevent an electric shock, always connect the protective earth (PE)

terminal (terminal marked

) of the servo amplifier to the protective earth

(PE) of the control box.

CAUTION

Note:2. Connect the diode in the correct direction. If it is connected reversely, the

servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

3. Install the emergency stop switch as required.

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

NOTICE

Note:5. When using the regenerative brake option, always remove the lead from

across D-P.

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

7. The sum of current s tha t fl ow in the ex te rnal re lay s sh oul d be 80 mA max. I f i t exceeds 80mA, supply interface power from external.

Page 32

2 - 3

2. OPERATION

MEMO RANDUM

Note:8. When starting operation, always connect the external emergency stop

(EM1) and SG. (Normally closed contacts) By setting 0001 in parameter No. 23, the external emergency stop signal can be made invalid.

9. Applies to the servo motor with electromagnetic brake.

10. The personal computer and monitor outputs 1, 2 cannot be connected

together.

11. Total length of the bus cables used should be within 30m. To improve noise

immunity, it is recommended to use a cable clamp or data line filters (3 or 4 pcs. connected in series) near the connector lead-out.

12. The wiring for the second and subsequent axes is omitted.

13. Up to 8 axes may be connected in the same system.

14. Always fit the termination connector (MR-A-TM) to CN1B of the last servo

amplifier.

15. The bus cables used depend on the servo system controller to be

connected.

16. The connecti on met ho d depe nd s on th e serv o mot o r se ri e s. Re fe r to

Section 3-2-2.

17. A single-pha se 23 0V po wer supp ly may be us ed wi t h th e se rv o ampl i fi e r of

MR-J2-70B or less. Connect the power supply to L1 and L2 terminals and leave L3 open.

Page 33

2 - 4

2. OPERATION

2 - 2 Operation 2 - 2- 1 Pre-operation checks

Before starting operation, check the following:

(1) Wiring

1) A correct power supply is connected to the power input t erm i na ls (L 1, L2 , L3 , L1 1, L 21 ) of the servo amplifier.

2) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

3) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the power input terminals (L1, L2, L3).

4) The servo amplifier and servo motor are grounded securely.

5) When the regenerative brake option is used, the lead has been removed across D-P of the control circuit terminal block. Also, twisted cables are used for its wiring.

6) 24VDC or higher voltages are not applied to the pins of connectors CN3.

7) SD and SG of connectors CN3 are not shorted.

8) The wiring cables are free from excessive force.

9) CN1A should be connected with the bus cable connected to the controller or preceding axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector MR-A-TM.

Motion controller

(A273UH·171S)

A1SD75 (AD75)

Servo amplifier

Bus cable

Model W

CN1A

Bus cable

CN1B

Bus cable

CN1A

CN1B

CN1A

CN1B

CN1A

CN1B

Servo amplifier

MR-A-TM

3-phase 200 to 230V

50/60Hz

Servo amplifier

Servo

motor

1-phase

230V

50/60Hz

Servo amplifier

Servo

motor

Servo amplifier

Servo motor

SD SG

Servo amplifie

(2) Axis number

The axis number setting of CS1 should be the same as that of the servo system controller. (Refer to 3 1 -4)

(3) Parameters

On the servo system controller screen or using the set-up software, make sure that correct values have been set in the parameters.

(4) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

(5) Machine

1) The screws in the servo motor installation part and shaft-to-machine connection are tight.

2) The servo motor and the machine connected with the servo motor can be operated.

Page 34

2 - 5

2. OPERATION

2 - 2 - 2 Power on

By switching on the main circuit/control circuit power, the display as shown on the right is provided and the servo amplifier enters a servo on state. If the servo system controller is not switched on, the servo amplifier cannot go into the servo on state. If an alarm or warning occurs, refer to Chapter 8 and remove its cause.

Display

(

For axis No. 1)

For the absolute position detection system

1) When power is switched on for the first time, the absolute position erasure (25) alarm occurs and the servo cannot be switched on but this is not a fault. Reset the alarm in the following procedure: a. Keep power on for a few minutes in the alarm status. b. Switch power off once, then switch it on again. If the alarm still persists, repeat steps a and b.

2) A position shift or other fault may occur if you switch on the servo amplifier or servo system controller power or reset the CPU while the servo motor is running at 500r/min or higher. During a stop, use brakes or the like to keep the servo motor stopped.

2 - 2 - 3 Stop

When any of the following conditions occurs, the servo amplifier suspends operation and comes to a stop. When the servo motor with electromagnetic brake is used, the motor is braked by the following operation/command. (Refer to Section 3-7):

Operation/Comm and Stopping State

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

Servo system controller

Emergency stop command

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a sudden stop. E7 appears on the servo amplifier display.

Alarm occurrence

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

Servo amplifier

Emergency stop signal OFF (EM1)

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a sudden stop. E6 appears on the servo amplifier display.

MEMO RANDUM

A sudden stop indicates that a stop is made with the droop pulses erased.

Page 35

2 - 6

2. OPERATION

2 - 3 Display

Use the display (2-digit, 7-segment display) to view the communication condition with the servo system controller at power on, confirm numbers, and diagnose a fault at alarm occurrence.

3 AC200/220 ON

Waiting for servo system controller power to switch ON

Servo system controller power ON

When alarm occurs, alarm code appears.

Ready ON

Ready OFF/servo OFF

Ready ON/servo OFF

Servo ON

Ordinary operation

Servo system controller power OFF

Ready ON/servo ON

(Note)

Servo system controller power ON

During emergency stop

Emergency stop reset

Note: The right-hand segments of b-1, c1 and d1 indicate the axis number. (Axis 1 in this example)

Initial data com munication with servo system controller

Page 36

2 - 7

2. OPERATION

Indication list

Indication State Description

Initializing

Servo system controller power is off after the servo amplifier power has been switched on.

Initializing

Servo system controller power was switched off while the servo amplifier power was on. (Note 4)

Initializing Communication between servo system controller and servo amplifier started.

Initializing Initial parameters were received.

Initialized

(Note 1)

Ready off Ready off command was received.

(Note 1)

Servo off Servo off comman d wa s received.

(Note 1)

Servo on Servo on command was recei v ed.

(Note 2)

Warning Warning number which occurred is shown.

(Note 3)

Alarm Alarm number which occurred is shown.

CPU error

Jog operation , pos i t ioning operation, program m ed operation, D O fo rc ed output

(Note 1)

(Note 5) Test operation mode

Motor-less operation

Note:1. # : Axis number (1 to 8: Axis number, 0: Test operation mode)

: Warning number

: Alarm number

4. If Ab remains shown after the servo system controller power is switched on, possible causes are as follows:

1) The axis number set to the servo system controller is not the same as the axis number set with SW1 of the servo amplifier.

2) PWB fault in the servo amplifier or communication fault with the servo system controller. In this case, indications change as follows:

3) Bus cable fault

4) Servo system controller fail u re

5. Requires the set-up software.

Page 37

2 - 8

2. OPERATION

2 - 4 Parameters (1) Parameter list

Change the parameter settings as required when using the regenerative option or when adjusting the gains, for example. Set the parameter values with the servo system controller or the personal computer which uses the set-up software MRZJW3-SETUP41E or later. When the servo system controller is connected, all parameter settings are the values set with the servo system controller and the values set on the servo amplifier side are invalid. When using the set-up softw are to chang e the adjustme nt/extensio n parameter settings, set 000E in parameter No. 40. When changing the parameter settings from the servo sy stem controller, the parameter No. 40 value need not be set. Among the parameters given in this section, some may not be set to some servo system controllers.

Parameter No. 40 S ett i n g

Setting

Reference/Write Using Servo

System Controller

Reference/Write Using Set-Up

Software

0000

(Initial value)

No.1 to 39 No.1 to 11

000A No.1 to 39 No.40

000E No.1 to 39 No.1 to 40

The initial values of the manufacturer setting parameters must not be changed. For the parameters whose codes are marked *, set their values, switch power off once, then switch it on again to make them valid.

Page 38

2 - 9

2. OPERATION

No. Code Name and Function Initial Value Unit

Customer

Setting

1 *AMS Amplifier se tting 0000 2 *REG Regenerative brake resistor 0000 3 For manufacturer setting 0080 4 For manufacturer setting 0 5 For manufacturer setting 1 6 For manufacturer setting 0 7 *POL Motor rotation direction 0 8 ATU Auto tuning 0001 9 RSP Servo response setting 0001

10 TLP Forward rotation torque limit 300 %

Basic parameters

11 TLN Reverse rotation torque limit 300 % 12 GD2

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

70 0.1 times

13 PG1 Position control gain 1 70 rad/s 14 VG1 Spee d control gain 1 1200 rad/ s 15 PG2 Po sition co ntrol gain 2 25 rad/s 16 VG2 Spee d control gain 2 600 rad/ s 17 VIC Speed integral compensation 20 ms 18 NCH Machine resonance suppression filter 0 % 19 FFC Fee d forwar d gain 0 pulse 20 INP In-position range 100 ms 21 MBR Electromagnetic brake sequence output 100 22 MOD Monitor output mode 0001 23 *OP1 Optional function 1 0000 24 *OP2 Optional function 2 0000 25 For manufacturer setting 0000

Adjustment paramete rs

26 For manufacturer setting 0000 27 MO1 Monitor output 1 offset 0 mv 28 MO2 Monitor output 2 offset 0 mv 29 MOA For manufacturer setting 0001 30 ZSP Zero speed 50 r/min 31 ERZ Error excessive alarm level 80 kpulse 32 OP5 Optional function 5 0000 33 OP6 For manufacturer setting 0000 34 VPI PI-PID switch-over position droop 0 pulse 35 TTT For manufacturer setting 0 36 VDC Speed differential compensation 980 37 For manufacturer setting 0 38 For manufacturer setting 0 39 For manufacturer setting 0

Extension parameters

40 *BLK Parameter block 0000

Page 39

2 - 10

2. OPERATION

(2) Detailed explanation of the parameters

To make the * marked parameter valid, set its value and switch power off once, then switch it on again.

Class No. Code Name and Function Initial Value Unit Setting Range

1*AMS

Amplifier setting:

Used to select the absolute posit ion detection system.

000

Positioning system 0: Used in incrementa

system. 1: Used in absolute position detection s

stem.

0000 0000h

0001h

2 *REG

Regenerative brake resistor:

Used to select the regenerative brake option used.

Selection of regenerativ

brake option 00: Not used 05: MR-RB32 08: MR-RB30 09: MR-RB50 10: MR-RB032 11: MR-RB12

0000 0000h

0011h

NOTICE

Wrong setting may cause the regenerative brake option to burn.

MEMO RANDUM

If the regenerative brake option selected is not for use with the servo amplifier, parameter error (37) occurs.

3 For manufacturer setting

Must not be changed.

0080

4 For manufacturer setting

Must not be changed.

5 For manufacturer setting

Must not be changed.

6 For manufacturer setting

Must not be changed.

Basic parameters

7*POL

Motor rotation direction setting:

Used to set the rotation direction of the servo motor. 0: Forward rotation (CCW) with the increase of

positioning addres s

1: Reverse rotation (CW) with the increase of

positioning addres s

CCW

00, 1

Page 40

2 - 11

2. OPERATION

Class No. Code Name and Function Initial Value Unit Setting Range

8ATU

Auto tuning:

Used to select auto tuning.

000

Positioning system 0: Used in incrementa

system. 1: Used in absolute position detection s

stem.

0001 0000h

0002h

9RSP

Servo response setting:

Used to set the response of auto tuning.

Auto tuning response setting Optimum response can be selected according to the rigidity of the machine. As machine rigidity is higher, faster response can be set to im p rove tracking performa n ce in response to a comman d and to red uc e settling time. When changing the setting, look at the vibration and stop settling of the servo motor and machine immediately before they stop and during their stop, and always increase the setting in sequence, beginning with the slower response.

0001 0001h

000Ch

10 TLP

Forward rotatio n torque limit:

Assume that the rated torque is 100[%]. Set this parame ter to limi t the torque generat ed in the forward rotation driving mode/reverse rotation regenerative mode.

300 % 0 to 500

Basic parameters

11 TLN

Reverse rotation torque limit:

Assume that the rated torque is 100[%]. Set this parame ter to limi t the torque generat ed in the reverse rotation driving mode/forward rotation regenerative mode.

300 % 0 to 500

Description

Machine

Type

Setting

Response

Guideline for

corresponding

machine rigidity

GDL

/GDM

guideline for load

inertia

Guideline for Position Settling Time GDL

/GDM2 guideline

within 5 times

50 to 300ms

10 to 70ms

Normal

1 2 3 4 5

Low response

Middle

response

High response

Low rigidity

Medium rigidity

High rigidity

10 to 30ms

70 to 400ms

10 to 100ms

Large

friction

8 9 A B C

Low response

Middle

response

High response

Low rigidity

Medium rigidity

High rigidity

1 to 10 times

10 to 50ms

Page 41

2 - 12

2. OPERATION

Class No. Code Name and Function Initial Value Unit Setting Range

12 GD2 Ratio of load inertia to servo motor inertia (load

inertia):

Used to set the ratio of load inertia to servo motor inertia.

70 0.1 times 0 to 1000

13 PG1 Pos ition con trol gain 1:

Used to set the gain of position loop 1.Increase the gain to improve trackability performance in response to the po sition command.

70 rad/s 4 to 1000

14 VG1 Speed control gain 1:

Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise.

1200 rad/s 20 to 5000

15 PG2 Pos ition con trol gain 2:

Used to set the gain of the position loop. Set this parameter to increase position response to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise.

25 rad/s 1 to 500

16 VG2 Speed control gain 2:

Set this parameter when vibration occurs on machines of low ri g idity or large backl a s h. Higher setting increases the response level but is liable to generate vibration and/or noise.

600 rad/s 20 to 8000

17 VIC Speed integral compensation:

Used to set the constant of integral compensation.

20 ms 1 to 1000

Adjustment paramete rs

18 NCH Machine resonance suppression filter:

Used to set the frequency that matches the resonance frequency of the m ech anical system. (Refer to Section 2.6.2.)

00 to 7

Setting

Machine Resonance

Suppression Fr equency

[Hz] 0 Not used 1 1125 2 563 3 375 4 282 5 225 6 188 7 161

Page 42

2 - 13

2. OPERATION

Class No. Code Name and Function Initial Value Unit Setting Range

Feed forward gain:

By setting 100% for constant-speed operation, droop pulses will not be generated. Note that sudden acceleration/deceleration will increase overs hoot. (As a guideline, acceleration/deceleration time to/from the rated spee d i s 1s or l on ge r w he n the set value is 100.)

0 % 0 to 100

MEMO RANDUM

When setting this parameter, always set auto tuning to “No”(parameter No. 8).

19 FFC

20 INP In-position range:

Used to set the droop pulse range in which the inposition signal will be output to the servo system controller.

100 pulse 0 to 10000

21 MBR Electromagnetic brake sequence output:

Used to set the delay time from when the electromagnetic brake interlock signal (MBR) switches off until the base circuit is shut off.

100 ms 0 to 1000

Adjustment paramete rs

22 MOD Monitor output mode:

Used to set the signal output for analog monitor.

Analog monitor CH2 output selection. The set values and their definitions are as in analog monitor CH1.

Analog m onitor CH1 outp ut selection. 0: Servo motor spe ed ( 8V/max. speed) 1: Torque ( 8V/max. torque) 2: Servo motor spe ed ( 8V/max. speed) 3: Torque ( 8V/max. torque) 4: Current comma nd output ( 8V/max. command current) 5: Command pulse frequency ( 8/400kpps) 6: Droop pulses 1/1 ( 10V/128 pulse) 7: Droop pulses 1/16 ( 10V/2048 pulse) 8: Droop pulses 1/64 ( 10V/8192 pulse) 9: Droop pulses 1/256 ( 10V/32768 pulse) A: Droop pulses 1/1024 ( 10V/131072 pulse)

0001 0000h

0A0A

Page 43

2 - 14

2. OPERATION

Class No. Code Name and Function Initial Value Unit Setting Range

23 *OP1 Optional function 1:

Used to make the external emer ge ncy stop signal (EM1) invalid.

000

External emergency stop signal (EM1) 0: Used 1: Not used (Automatically switched on internall

0000 0000h

0001h

*OP2

Optional function 2:

Used to select slight vibration suppression control and motor-les s op e ra ti on.

Slight vibration suppression contr ol Used to suppress vibration at a stop. 0: Invalid 1: Valid

Selection of motor-less operation 0: Invalid 1: Makes motor-less operation valid.

When motor-less operation is made valid, signal output or status display can be provided as if the servo motor is running actually in response to the servo system controller command, without the servo motor being connect ed. Motor-less operation is performed as in the motor-less operation using the set-up software. (Refer to section 2.5, (1) Motor-less operation.)

0000 0000h

0110h

25 For manufacturer setting

Must not be changed.

0000

26 For manufacturer setting

Must not be changed.

0000

27 MO1 Analog monitor 1 offset:

Used to set the offset value of the monitor 1 output.

0mv

999 to

999

28 MO2 Analog monitor 2 offset:

Used to set the offset value of the monitor 2 output.

0mv

999 to

999

Adjustment paramete rs

29 MOA For manufacturer setting

Must not be changed.

0001

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2 - 15

2. OPERATION

Class No. Code Name and Function Initi al Val ue Unit Setting Range

30 ZSP Zero speed:

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

50 r/min 0 to 10000

31 ERZ Error excessive alarm level:

Used to set the output range of the error excessive alarm (52).

80 kpulse 1 to 1000

32 OP5 Optional function 5:

Used to select PI-PID control switch-over.

000

PI-PID contro l s wi tchover 0: Invalid (PI control invalid) 1: PI control is switche

over to PID control when the droop value reduced to or below the value set in parameter No.34 in the position control mode. 2: Normally PID co ntro

0000 0000h

0002h

33 OP6 For manufacturer setting

Must not be changed.

0000

34 VPI PI-PID control switch-over position droop:

Used to set the position droop value (number of pulses) at which PI control is switched over to PID control. Set 0001 in parameter No. 32 to make this function valid.

0 pulse 0 to 50000

35 For manufacturer setting

Must not be changed.

36 VDC Speed differential compe nsat i on :

Used to set the differential compensation value.

980 0 to 1000

37 For manufacturer setting

Must not be changed.

38 39

For manufacturer setting Must not be changed.

Extension parameters

40 *BLK Parameter blocks:

Used to select the reference and write ranges of the parameters.

Reference and write ranges

0000 0000h

000Eh

Setting Operation from Controller Operation from Set-Up Software

0000 Parameter No. 1 to 39 Parameter No. 1 to 11,40 000A Parameter No. 1 to 39 Parameter No. 40 000E Parameter No. 1 to 39 Parameter No. 1 to 40

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2 - 16

2. OPERATION

2 - 5 Test operation mode

CAUTION

1. The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use it with the servo motor alone.

2. If an operation fault occurred, use the external emergency stop (EM1) to make a stop.

By using a personal computer and the set-up software (MRZJW3-SETUP41E or later), you can execute jog operation, positioning operation, motor-less operation and forced output without connecting the motion controller.

(1) Test operation mode list

Test Operation Mode Description

Jog operation can be performed without using the servo system controller. Use this operation with the external emergency stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the jog operation screen of the set-up software.

1) Operation pattern

Item Initial Value Setting Range

Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 1 to 20000

2) Operation method

Operation Screen Control

Forward rotation start Press [Forward (G)] button. Reverse rotation start Press [Reverse (R)] button. Stop Press [Stop (O)] button.

Jog operation

Positioning operation can be performed without using the servo system control ler. Use this operation with the external emergency stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the set-up software.

1) Operation pattern

Item Initial Value Setting Range

Travel [pulse] 100000 0 to 9999999 Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 1 to 50000

2) Operation method

Operation Screen Control

Forward rotation start Press [Forward (G)] button. Reverse rotation start Press [Reverse (R)] button. Pause Press [Pause (O)] button.

Positioning operation

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2. OPERATION

Test Operation Mode Description

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the external emergency stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programme d operation screen of the set-up software. For full information, refer to the Set-up Software (MRZJW3-SETUP41E or later) Installation Guide. Operation method

Operation Screen Control

Start Press [Start (G)] button.

Stop Press [Reset (O)] button.

Programmed

operation

MEMORANDUM

Motor-less operation may be used with the set-up software. Usually, however, use motor-less operation which is available by making the servo system controller parameter settin g.

Without connecting the servo motor, output signals or status displays can be provided in response to the servo sys tem controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the external emergency stop reset. Use this operation with the servo amplifier connected to the se rvo system controller. Exercise control on the motor-less operation screen of the set-up software.

1) Load conditions

Load Item Condition

Load torque 0 Load inertia moment ratio Same as servo motor inertia moment

Motor-less operation

2) Alarms The following alarms and warning do not occur. However, the other alarms and warnings occur as when the servo motor is connected:

Encoder error 1 (16) Encoder error 2 (20) Absolute position erasure (25) Battery cable breakage warning (92)

DO forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output sign al wiring check, etc. Exercise control on the DO forced output screen of the set-up so ftware.

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2 - 18

2. OPERATION

(2) Configuration

Configuration should be as in Sect ion 2-1 or Section 6-1-3. Alw ays ins tall an ex ternal e mergenc y stop switch to enable a stop at occurrence of an alarm.

(3) Operation procedure

Test Operation Mode Operation Procedure Connection with Servo System Controller

Jog operation

Positioning operation

Programmed

operation

DO forced output

1) Switch power off.

2) Set CS1 to F. When CS1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.

3) Switch servo amplifier power on. When initialization is over, the display shows the following screen:

Decimal point flickers.

4) Perform operation with the personal computer.

Not required

Motor-less operation

1) Switch off the servo ampli f ier.

2) Perform motor-less operation with the personal computer. The display shows the following screen:

Decimal point flickers.

Required

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2 - 19

2. OPERATION

2 - 6 Adjustments 2 - 6 - 1 Auto tuning

In general ma c hin es, gains are au tomatically ad justed by au to tu n in g . A s th e co rr e sp o nd in g parameter i s factory-set to make auto tuning valid, merely running the servo motor will automatically set the optimum gains for the machine without special operation or setting. However, if you are not satisfied with machine motions during operation, change and adjust the response level setting (parameter No. 9) of auto tuning in the following procedure.

Actual Machine Motion Ideal Machine Motion Parameter No. 9 Setting Method

Settling time is long (Note) Shorter settling time Increase the set value of the response level. Overshoot occurs at a stop. Less overshoot

Decrease the set value of the response level. Select "large

friction" in machine selection. Gear noise is generated from the machine.

Smaller gear noise

Decrease the set value of the response level.

Note: Settling time indicates a period of time from when the command pulse value is zeroed to when the servo motor comes to a

stop.

2 - 6 - 2 Manual gain adjustment

In most machines, gains can be adjusted automatically by auto tuning. In the following cases, however, the gains should be adjusted manually.

Manual Gain Adjustment Is Required When Phenomenon Adjustment Procedure

The machine vibrates at a low-range resonance freque ncy.

The servo motor shaft vibrates at a high frequency (10Hz or more) a. When the machine generates large noise and vibrates,

the motion of the servo motor sha f t is invisible.

b. When the response level setting is increased by auto

tuning, vibration increases.

Adjustment 1

Adjustment 2

The servo motor vib r a tes on a machine whose ratio of load inertia moment to servo motor inertia moment is 20 or more times.

The servo motor shaft vibrates at a low frequency (5Hz or less). a. When vibration occurs, the lateral vibration of the

servo motor shaft is visible.

b. The ratio of load inertia moment to servo motor inertia

moment is extremely large.

Adjustment 3

The settling time provided by auto tuning should be further decreased.

Adjustment 4

The position control gain of each axis should be set to the same for interpolation operation with two or more axes.

Adjustment 5

Page 49

2 - 20

2. OPERATION

The following parameters are used for manual gain adjustment.

Parameter No. Name

No. 8 Auto tuning

No. 9 Servo response setting No.12 Ratio of load inertia moment to servo motor inertia moment No.18 Machine resonance suppression filter No.13 Position loop gain 1 No.15 Position loop gain 2 No.14 Speed loop gain 1 No.16 Speed loop gain 2 No.17 Speed integral compensation

Adjustment 1

Step Operation Description

1 Set 0001 in parameter No. 8. 2 Set 0001 in parameter No. 9.

Auto tuning is selected. Response is set to low level.

3 Set 0001 in parameter No. 18. Machine resonance frequency: 1125Hz 4

Switch servo on and perform operation several times.

Auto tuning is performed. Check to see if vibration reduced.

Increase the setting of parameter No. 18 sequentially and execute step 3.

The optimum value is achieved just before vibration begins to increase.

To reduce the settling time, increase the parameter No. 9 value sequentially and execute steps 2 to 4.

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2 - 21

2. OPERATION

Adjustment 2

Step Operation Description

1 Set 0001 in parameter No. 8. 2 Set 0001 in parameter No. 9.

Auto tuning is selected. Response is set to low level.

Set the machine's load inertia moment to servo motor inertia moment in parameter No. 12. (When it is unclear, set an approximate value.)

When this parameter value is set, the following parameter values are set automatically. Each value provides an ideal, hunting-less gain for parameter No. 12 if machine resonance does not occur.

Parameter No. 13 Parameter No. 14 Parameter No. 15 Parameter No. 16 Parameter No. 17

4 Set 0002 in parameter No. 8.

Auto tuning is made invalid to enable manual setting of parameters No. 13 to 17.

In parameter No. 16, set a value about 100 smaller than the value set automatically in step

The optimum value is achieved just before vibration begins to increase.

6 Execute steps 2 to 4 of Adjustment 1.

When machine response does not occur any more, confirm the operating status, and at the same time, gradually increase the setting of parameter No. 16 reduced in step 4.

Set a value which is about 50 to 100 smaller than the set value at which gear noise and/or vibration begins to be generated by machine resonance.

To reduce the settling time, increase the response level of parameter No. 9 sequentially and execute steps 1 to 6.

Adjustment 3

Step Operation Description

1 Set 0001 in parameter No. 8. 2 Set 0001 in parameter No. 9.

Auto tuning is selected. Response is set to low level.

Set the machine's load inertia moment to servo motor inertia moment in parameter No. 12. (When it is unclear, set an approximate value.)

When this parameter value is set, the following parameter values are set automatically. Each value provides an ideal, hunting-less gain for parameter No. 12 if machine resonance does not occur.

Parameter No. 13 Parameter No. 14 Parameter No. 15 Parameter No. 16

Parameter No. 17 4 Switch servo on and perform operation several Auto tuning is performed. 5 If vibration still persists, execute steps 2 and 3.

If vibration occurs due to machine resonance, make adjustment in the procedure of Adjustment 1 or 2.

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2. OPERATION

Adjustment 4

Step Operation Description

1 Set 0001 in parameter No. 8. 2 Set 0001 in parameter No. 9.

Auto tuning is selected. Response is set to low level.

Switch servo on and perform operation several times.

Auto tuning is performed.

Check to see if vibration reduced. Make gain adjustment in either of the following methods 1) and 2).

Temporary adjustment

1) Set the machine's load inertia moment to

servo motor inertia moment in parameter No.

12. (When it is unclear, set an approximate value.)

When this param et er v a lue is se t, the f ol l owin g

parameter values are set automatically. Each

value provides an ideal, hunting-less gain for

parameter No. 12 if machine resonance does not

occur.

Parameter No. 13 Parameter No. 14 Parameter No. 15 Parameter No. 16 Parameter No. 17

2) Switch servo on and perform operation Auto tuning is performed.

5 Set 0002 in parameter No. 8.

Auto tuning is made invalid to enable manual

setting of parameters No. 13 to 17. While confirming the operating status, adjust the following parameters:

The optimum value is achieved just before

vibration begins to increase.

Parameter No. 13 Parameter No. 15

Increase the setting to reduce the settling time.

Note that overshoot is more liable to occur.

Parameter No. 14 Parameter No. 16

Increase the setting to improve servo response.

Note that vibration is more liable to occur.

Parameter No. 17 Decrease the setting to keep the speed constant

to load disturbance and increase holding force

at a stop (servo rigidity). Note that overshoot

Adjustment 5

Step Operation Description

Adjust the gains of all axes in any of Adjustment 1 to 4 procedures. The gains of each axis are adjusted.

The gains of each axis are adjusted.

Set 0001 or 0002 in parameter No. 8. 0001 "interpolation axis control": The values of

parameters No. 12

14 will change in

subsequent operation.

0002 "no": Auto tuning is made invalid to

enable manual setting of parameters No. 13 to 17.

Set the following parameter of each axis to the minimum value of all interpolation-controlled axes:

Parameter No. 13

The gains for operation of all axes are set to

the same value.

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2 - 23

2. OPERATION

2 - 6 - 3 Slight vibration suppression control

The slight vibration suppression control mode is used to reduce servo-specifi c

1 pulse vibratio n at the time of a stop. This mode produces an effect especially when the ratio of load inertia moment to servo motor inert ia momen t is sm all (2 to 5 time s). Note that wh en vib ration is attri butable to loosen ess ( such as gear backlash) or machine resonance, use the machine resonance suppression filter in parameter No.

18. The slight v ibration sup pression con trol mode shou ld be used afte r real-time auto tun ing or manu al gain adjustment.

Usage First, perform real-time auto tun ing or manual gain adjustme nt so that vibration f alls within

2 to 3 pulses. Set

1 i n parameter No. 24 to enter the slight vib ration suppression mode at t he time of a stop.

Slight vibration suppression control executi o n

Parameter No .2 4

Page 53

3 - 1

3. WIRING

WARNING

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

2. Before s ta rting wiring, make sure that th e voltage is safe in the tester mor e tha n 10 minutes after power-off. Otherwise, you may get an electric shock.

3. Ground the servo amplifier and the servo motor securely.

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

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

CAUTION

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

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

3. Ensure that polarity (

, ) is correct. Otherwise, a burst, damage, etc. may

occur.

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

Control output signal

COM

(24VDC)

Servo amplifier

Servo Amplifier

COM

(24VDC)

Control

output

signal

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

6. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF option) with the power line of the servo motor.

7. When using the regenerative brake resistor, switch power off with the alarm signal. Otherwi se , a t ran si st or fau lt o r the like may ov e rhea t th e re gene r ative brake resistor, causing a fire.

8. Do not modify the equipment.

NOTICE

CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a failure. Connect them correctly.

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3 - 2

3. WIRING

3 - 1 Servo amplifier

CAUTION

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

3 - 1 - 1 Terminal blocks (1) Signal arrangement

Terminal block signal s a re as lis t ed bel ow:

Servo Amplifiers

Terminals

MR-J2-10B

MR-J2-60B

MR-J2-70B

MR-J2-100B

MR-J2-200B MR-J2-350B

Terminal positions

)

)2)

Control circuit terminal block (TE2)

Front

Rear

(

Phoenix Contact make

)

Front

Rear

(Phoenix Contact make)

L11 L21 DP CN

Main circuit terminal block (TE1)

L1L2L

UVW

L1L2L

UVW

L1L2L3UVW

Terminal signals

Protective earth(PE) terminals

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3 - 3

3. WIRING

(2) Signals

Symbol Signal Description

Main circuit power input terminals Supply L1, L2 and L3 with the following power: For single-phase 230VAC, connect the power supply L1/L2 and leave L3 open.

Servo amplifier

Power supply

MR-J2-10B to 70B MR-J2-100B to 350B

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

L2 L3

Single-phase 230VAC, 50/60Hz

L1, L2, L3 Main circuit power supply

Note: Cannot be used for combination with the servo motor

HC-SF52.

L11, L21 Control circuit power supply

Control circuit power input terminals Supply L11 and L21 with single-phase 200-230VAC, 50/60Hz power. L11 and L21 should be in phase with L1 and L2, respectively.

P, C, D Regenerative brake option

Regenerative brake option connection terminals C and D are factory-connecte d. When using the regenerative brake option, always remove wiring from across P-D and connect the regenerative brake option across P-C.

U, V, W Servo motor output

Servo motor power output t er min al s Connec t to the servo motor power supply termin als (U, V, W).

N Do not connect.

Protective eart h (PE)

Ground terminal Connec t th i s te r m ina l to th e pro t ec t i ve e ar t h (P E) te rm in a ls o f the servo motor and contr ol b ox for grounding.

(3) How to use the control circuit terminal block (Phoenix Contact make)

1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be

used as it is. (Cable size: 0.2 to 2.5mm

)

Approx. 10mm

Twisted wire: Use the cable after str ippin g the shea th an d tw is ting the core . A t thi s time , take car e

to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. (Cable size: 0.2 to 2.5mm

) Alternatively, a bar term inal may be u sed to pu t th e wire s tog ethe r.( Phoe nix Co ntac t make)

Bar terminal for 1 cable

(Bar terminal ferrule with insulation

Bar terminal for 2 cables

(Twin ferrule with insulation sleeve)

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3 - 4

3. WIRING

Cable Size Bar Terminal Type

[mm2] AWG For 1 cable For 2 cables

Crimping tool

0.25 24

Al0.25-6YE Al0.25-8YE

0.5 20

Al0.5-6WH Al0.5-8WH

0.75 18

Al0.75-6GY Al0.75-8GY

Al-TWIN2

0.75-8GY

Al-TWIN2

0.75-10GY

118

Al1-6RD Al1-8RD

Al-TWIN2

1-8RD

Al-TWIN2

1-10RD

1.5 16

Al1.5-6BK Al1.5-8BK

Al-TWIN2

1.5-8BK

Al-TWIN2

1.5-12BK

2.5 14

Al2.5-8BU Al2.5-8BU-1000

Al-TWIN2

2.5-10BU

Al-TWIN2

2.5-13BU

CRIMPFOX-UD6

2) Connection Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N

m) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. When using a cable of 1.5mm

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

To loosen.

To tighten.

Opening

Control circuit terminal block

Cable

Flat-blade screwdriver Tip thickness 0.4 to 0.6mm Overall width 2.5 to 3.5mm

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3 - 5

3. WIRING

3 - 1 - 2 Signal connectors (1) Signal arrangement

All connectors are half-pitch connectors (Molex 52986-2011 or equivalent). CN1A and CN1B signals change with the control mode. Refer to (2) in this section.

CN2

MITSUBISHI MELSERVO-J2

10 P5

BAT

MDR

MRR

313

CN1A

EMG

CN1B

EMG

RD*

TD*

EMG*

CN3

RXD

MO1

VDD

COM

TXD

MO2

EM1

MBR

The connector frames are connected with the PE terminal inside the servo amplifier.

RD*

TD*

EMG*

MEMORANDUM

The connector pin-outs shown above are viewed from the cable connector wiring section side.

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3 - 6

3. WIRING

(2) Connector applications

Connector Name Function/Application

CN1A Connector for bus cable from preceding axis.

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

CN1B Connector for bus cable to next axis

Used for connection with the next-axis servo amplifier or for connection of th e t er mi na t ion connector (MR-A-TM)

CN2 Encoder connector Used for co nnection with the servo motor encoder.

CN3

Communication connector (I/O signal connector)

Used for connection with the per sonal computer. Serves as an I/O signal connector when the personal computer is not used.

(3) I/O signals

1) Input signal

Signal Code Connector Pin No. Function/Application

I/O Division

(Note)

External emerg ency stop

EM1

CN3

Disconnect EM1-SG to bring the servo motor to an emergency stop state, in which the servo is switched off and the dynamic brake is operated. In the emergency stop state, connect EM1-SG to reset that state.

DI-1

Note: Refer to Section 3.1.3.

2) Output signals

Signal Code Connector Pin No. Function/Application

I/O Division

(Note)

Electromagnetic brake interlock

MBR

CN3

In the servo-off or alarm status, MBR-SG are disconnected. When an alarm occurs, they are disconnected at zero or less speed, independently of the base circuit status.

DO-1

Monitor output 1 MO1

CN3

Data specified for CH1 in parameter No. 22 is output to across MO1-LG in analog form.

Analog output

Monitor output 2 MO2

CN3

Data specified for CH2 in parameter No. 22 is output to across MO2-LG in analog form.

Analog output

Note: Refer to Section 3.1.3.

3) Power supply

Signal Code Connect or Pin No. Function/Applic ation

Internal power output for interface

VDD

CN3

Used to output 24VDC for input interface. Connect with COM to use this power supply. Permissible current: 80mA

Power input for digit al interface

COM

CN3

Used to input 24VDC for input interface. Connect the positive terminal of the 24VDC external power supply. Connect with VDD to use the internal power supply. 24VDC

10% Common for digital interface

CN3

Common terminal to VDD and COM. Pins are connected internally. Separated from LG.

Control common LG

CN3

Common terminal to MO1 and MO2.

Shield SD Plate Connect the external conductor of the shield cable.

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3 - 7

3. WIRING

3 - 1 - 3 Interfaces

The details of the interfaces (refer to I/O Division in t he table) to the signals indicated in Section 3.1.2 are given below. Refer to the following information and connect the interfaces with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

DC24V

EM1

For a transistor

About 5mA

Switch

Servo amplifier

About

4.7k

CES

1.0V

CEO

100 A

COM

VDD

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less)

1) Inductive load

For use of internal power supply For use of external power supply

VDD

24VDC

COM

Servo amplifier

If the diode is not connected as shown, the servo amplifier will be damaged.

Load

MBR

24VDC 10%

COM

Servo amplifier

Load

MBR

If the diode is not connected as shown, the servo amplifier will be damaged.

VDD

24VDC

Do not connect VDD-COM.

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3. WIRING

2) Lamp load

For use of internal power supply For use of external power supply

24VDC

VDD

COM

Servo amplifier

MBR

COM

24VDC 10%

Servo amplifier

MBR

VDD

24VDC

Do not connect VDD-COM.

(3) Analog output

Output

10V Max.1mA

MO1

(MO2)

Servo amplifier

Reading in one or both directions 1mA meter

10k

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3. WIRING

3 - 1 - 4 Control axis selection

Use the axis select switch (CS1) to set the control axis number for the servo. The control axis number set to CS1 should be the same as the one set to the servo system controller. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence. Set this switch to "F" when the set-up software is used to execute the test operation mode.

No. Description

0Axis 1 1Axis 2 2Axis 3 3Axis 4 4Axis 5 5Axis 6 6Axis 7 7Axis 8 8 Not used

9 Not used A Not used B Not used C Not used D Not used E Not used

Axis select sw itch (CS1)

F Test operation mode

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3. WIRING

3 - 2 Connection of servo amplifier and servo motor 3 - 2 - 1 Connection instructions

WARNING

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

CAUTION

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

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

(1) Wind an insulation tape around the connection several times. For the EN Standard-compliant model,

connect via a fixed terminal block.

Wind insulation tape three or four times.

ervo amplifier side

ervo motor side

(2) For grounding, connect the earth cable of the servo motor to

the protective earth (PE) terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect it directly to the protective earth of the control box.

(3) Supply exclusive 24VDC power to the brake lead of the

servo motor with electromagnetic brake. Do not connect it directly to the protective earth of the control box.

(4) Do not share the 24VDC interface power supply between

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

Servo amplifier

Servo motor

PE terminal

Control box

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3 - 11

3. WIRING

3 - 2 - 2 Connection diagram

The followin g table lists w iring me thods accord ing to the servo motor types. U se the conne ction diagr am which conforms to the servo motor used. For cables required for wiring, refer to Section 6-2-1. For the servo motor connection diagram, refer to Section 6-1-2.

Servo Mo tor Connection Diagram

HC-MF053 (B) (-UE) to 73 (B) (-UE) HA-FF053 (B) to 63 (B) HC-UF13 (B) to 73 (B)

U V

Servo amplifier

B1 B2

24VDC

EMG

CN2

(Note 1)

(Note3)

Encoder

Electroma

netic

brake

To be shut off when servo on signal switches off or by alarm signal

Encoder cable

U (Red) V (White)

W (Black)

(Green)

Motor

Servo motor

(Note2)

Note: 1. To prevent an electric shock, always conn e ct t h e p r otect i ve earth (PE) terminal of the

servo amplifier to t he protective earth (PE) of the c on trol box.

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

3. For the HA-FF s eri es, connect the ground cable to the earth terminal of t he servo motor.

HA-FF053 (B)-UE to 63 (B)-UE HC-SF121 (B) to 301 (B) HC-SF202 (B)

352 (B)

HC-SF203 (B)

353 (B)

HC-UF202 (B)

U V

Servo amplifier

B1 B2

24VDC

EMG

CN2

(Note 1)

Encoder

Electromagnetic brake

To be shut off when servo on signal switches off or by alarm signal

Encoder cable

Motor

Servo motor

(Note2)

U V W

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the

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

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

HC-SF81 (B) HC-SF52 (B) to 152 (B) HC-SF53 (B) to 153 (B) HC-RF103 (B) to 203 (B) HC-UF72 (B)

152 (B)

U V

Servo amplifier

B1 B2

24VDC

EMG

CN2

(Note 1)

Encoder

Electroma

netic

brake

To be shut off when servo on signal switches off or by alarm signal

Encoder cable

Motor

Servo motor

(Note2)

U V

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the

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

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

Page 64

3 - 12

3. WIRING

3 - 2 - 3 I/O terminals (1) HC-MF(-EC/-UL) series

Encoder cable 0.3m With connector 172169-9

(AMP make)

Power supply lead

Red : U phase White : V phase Black : W phase Green : Ear t h

4-AWG19 0.3m With end-insulated round crimping terminal 1.25-4

Brake cable VCTE 2-0.3

0.3m With end-insulated round crimping terminal 1.25-4

MRR BAT

456

MDR

789

LG SHD

Encoder connector signal arrangement

(Note)

Note: Green/yellow for HC-MF-EC/-UL.

(2) HA-FF(-UL) series

Encoder cable 0.3m With connector 172169-9 (AMP make)

Brake cable VCTF2-0.5

0.5m With end-insulated round crimping terminal 1.25-4

Power supply cable VCTF3-1.25

0.5m With end-insulated round crimping terminal 1.25-4 Red White Black

Encoder connector signal arrangemen

Earth terminal, M3 screw

: U phase : V phase : W phase

123

MRR BAT

456

MDR

789

LG SHD

(3) HC-UF 3000r/min series

Encoder cable 0.3m

Power supply lead 4-AWG19 0.3m

With connector 172169-9 (AMP make)

(With end-insulated round crimping terminal 1.25-4) Red : U phase White : V phase Black : W phase Green/yellow : Earth

Bottom

Top

Brake cable

VCTF 2-0.5

0.5m (With end-insulated round crimping terminal 1.25-4)

Encoder connector signal arrangement

123

MRR BAT

MDR

789

SHD

Page 65

3 - 13

3. WIRING

(4) HA-FF-EC series

Encoder connector MS3102A20-29P

Power supply connector CE05-2A14S-2PD-B

Brake connector MS3102E10SL-4P

A B C

Signal

U V

(Earth)

Power supply connector signal arrangement CE05-2A14S-2PD-B

Key

Connector

Servo Motor

For power supply For encoder For brake

HA-FF053C(B)-UE

HA-FF63C(B)-UE

CE05-2A14S-2PD-B MS3102A20-29 MS3102E10SL-4P

(Note) B2

(Note) B1

A B

Signal

Encoder connector signal arrangement

MS3102A20-29P

Brake connector signal arrangement

MS3102E10SL-4P

Key

Note: 24VDC without polarity.

A B C D E

F G H

Signal

MRR

BAT

N P R

Signal

SHD

LG P5

MDR

Key

T P

Page 66

3 - 14

3. WIRING

(5) HC-SF HC-RF HC-UF2000 r/min series

Servo Motor Side Connectors

Servo Motor

For power

supply

For encoder

Electromagnetic

Brake Connector

HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B)

CE05-2A22-

23PD-B

The connector for power is

shared. HC-SF121(B) to 301(B) HC-SF202(B)

352(B)

HC-SF203(B)

353(B)

CE05-2A24-

10PD-B

MS3102A20

-29P MS3102A10SL-

HC-RF103(B) to 203 (B)

CE05-2A22-

23PD-B

MS3102A20

-29P

The connector for power is shared.

HC-UF72(B) 152(B)

CE05-2A22-

23PD-B

The connector for power is shared.

Encoder connector

DOWN

Brake connector

Power supply connector

Motor plate (Opposite side)

HC-UF202(B)

CE05-2A24-

10PD-B

MS3102A20

-29P MS3102A10SL-

(Earth)

A B C D E F G

Signal

U V

Power supply connector signal arrangement

CE05-2A22-23PD-B

Key

(Note)B1

Note:24VDC,without polarity

(Note)B2

A B C D E

U V

(Earth)

CE05-2A24-10PD-B

Key

Signal

A B C

F G H

Signal

MRR

BAT

K L M N P R

Signal

SHD

Encoder connector signal arrangement

MS3102A20-29P

Key

T P

MDR

A B

Signal

(Note)B1 (Note)B2

Electromagnetic br a ke co nn ecto r si gn al pin - out s

MS3102E10SL-4P

Note:24VDC without polarity

Key

Page 67

3 - 15

3. WIRING

3 - 2 - 4 Connectors used for servo motor wiring

This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent.

(1) HC-MF(-UE), HA-FF, HC-UF 3000r/min series

Use round crimping terminals (1.25-4) for connection of the power supply and electromagnetic bra ke. For connection of the encoder, use the connector indicated in this section or equivalent. This connector may be used with the EN Standard and UL/C-UL Standard but is not waterproof.

Encoder Cable Connector

Servo Motor

Servo Motor Side Connector (AMP)

Housing

(AMP)

Connector Pin

(AMP)

Cable Clamp

(Toa Denki Kogyo)

HC-MF (B) HC-MF

(B) -UE

HA-FF

(B)

HC-UF13 to 73(B)

1-172169-9 1-172161-9 170363-1 MTI-0002

(2) HA-FF C-UE series

If used with a waterproof connector, the HA-FF

C(B)-UE does not improve in ingress protection

(IP54).

1) Non-waterproof, UL/C-UL Standard-compliant a When using cabtyre cables

For connection of power supply

1) Plug

2) Cable clamp

Cable 1) Plug

2) Cable

clamp

Cable

1) Plug (Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied for

Servo Motor

Type Model

2) Cable clamp

(Daiichi Denshi Kogyo)

Straight MS3106B14S-2S

HA-FF C(B)-UE CE05-2A14S-2PD-B

Angle MS3108B14S-2S

MS3057-6A

Page 68

3 - 16

3. WIRING

For connection of encoder

1) Plug

2) Cable

clamp

Cable

1) Plug

2) Cable

clamp

Cable

1) Plug (Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied for

Servo Motor

Type Model

2) Cable clamp

(Daiichi Denshi Kogyo)

Straight MS3106B20-29S

HA-FF C(B) -UE MS3102A20-29P

Angle MS3108B20-29S

MS3057-12A

For connection of brake

1) Plug

Cable

1) Plug

Cable

2) Connector for cable

2) Cable Connector

Servo Motor

Connector Supplied

for Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Maker Cable OD Model

4 to 8 ACS-08RL-MS10F

Nippon flex

8 to 12 ACS-12RL-MS10F

Straight

Daiwa Dengyo 5 to 8.3 YS010-5 to 8

4 to 8 ACA-08RL-MS10F

Nippon flex

8 to 12 ACA-12RL-MS10F

HA-FF C(B) -UE MS3102A10SL-4P MS3106A10SL-4S(D190)

Angle

Daiwa Dengyo 5 to 8.3 YL010-5 to 8

Page 69

3 - 17

3. WIRING

b When using flexible conduits

For connection of power supply

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Cable Connector Conduit

Servo Motor

Connector Supplied

for Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/4 RCC-102RL-MS14F VF-02 8.3 3/8 RCC-103RL-MS14F VF-03 10.6

Nippon

flex

1/2 RCC-104RL-MS14F VF-04 14.0

10 MSA-10-14 FCV10 10.0

Straight

Daiwa

Dengyo

12 MSA-12-14 FCV12 12.3 1/4 RCC-302RL-MS14F VF-02 8.3 3/8 RCC-303RL-MS14F VF-03 10.6

Nippon

flex

1/2 RCC-304RL-MS14F VF-04 14.0

10 MAA-10-14 FCV10 10.0

HA-FF C(B)-UE CE05-2A14S-2PD-B

MS3106A14S-

2S(D190)

Angle

Daiwa

Dengyo

12 MAA-12-14 FCV12 12.3

For connection of encoder

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Cable Connector Conduit

Servo Motor

Connector Supplied

for Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/2 RCC-104RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-106RL-MS20F VF-06 19.0

16 MSA-16-20 FCV16 15.8

Straight

Daiwa

Dengyo

22 MSA-22-20 FCV22 20.8 1/2 RCC-304RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

HA-FF C(B)-UE MS3102A20-29P

MS3106A20-

29S(D190)

Angle

Daiwa

Dengyo

22 MAA-22-20 FCV22 20.8

Page 70

3 - 18

3. WIRING

For connection of brake

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Cable Connector Conduit

Servo Motor

Connector Supplied for Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Maker Size Model Model ID

Nippon

flex

1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Daiwa

Dengyo

10 MSA-10-10 FCV10 10.0

Nippon

flex

1/4 RCC-302RL-MS10F VF-02 8.3

HA-FF C(B) -UE MS3102A10SL-4P MS3106A10SL-4S(D190)

Angle

Daiwa

Dengyo

10 MAA-10-10 FCV10 10.0

Page 71

3 - 19

3. WIRING

2) EN Standard, UL/C-UL Standard-compliant a When using cabtyre cables

For connection of power supply

1) Plug

Cable

1) Plug

Cable

2) Connector for cable

2) Connector for Cable

Servo Motor

Connector Supplied

for Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Maker Type Cable OD Model

4 to 8 ACS-08RL-MS14F

Straight

8 to 12 ACS-12RL-MS14F

4 to 8 ACA-08RL-MS14F

Nippon

flex

Angle

8 to 12 ACA-12RL-MS14F

5 to 8.3 YSO14-5 to 8

Straight

8.3 to 11.3 YSO14-9 to 11 5 to 8.3 YL O14-5 to 8

HA-FF C(B) -UE CE05-2A14S-2PD-B CE05-6A14S-2SD-B

Daiwa

Dengyo

Angle

8.3 to 11.3 YLO14-9 to 11

For connection of encoder

1) Plug

3) Cable clamp

Cable

2) Back shell

3) Cable clamp

Cable

2) Back shell

1) Plug

2) Back Shell

(Daiichi Denshi Kogyo)

3) Cable Clamp

(Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied for Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Model Cable OD Model

Straight CE02-20BS-S

HA-FF C(B) -UE MS3102A20-29P MS3106A20-29S(D190)

Angle CE-20BA-S

6.8 to 10 CE3057-12A-3

For connection of brake

1) Plug

Cable

1) Plug

Cable

2) Connector for cable

2) Connector for Cable

Servo Motor

Connector Supplied for

Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Maker Cable OD Model

4 to 8 ACS-08RL-MS10F

Nippon flex

8 to 12 ACS-12RL-MS10F

Straight

Daiwa Dengyo 5 to 8.3 YSO-10-5 to 8

4 to 8 ACA-08RL-MS10F

Nippon flex

8 to 12 ACA-12RL-MS10F

HA-FF C(B) -UE MS3102A10SL-4P MS3106A10SL-4S(D190)

Angle

Daiwa Dengyo 5 to 8.3 YLO10-5 to 8

Page 72

3 - 20

3. WIRING

b When using flexible conduits

For connection of power supply

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Cable Connector Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/4 RCC-102RL-MS14F VF-02 8.3 3/8 RCC-103RL-MS14F VF-03 10.6

Nippon

flex

1/2 RCC-104RL-MS14F VF-04 14.0

10 MSA-10-14 FCV10 10.0

Straight

Daiwa

Dengyo

12 MSA-12-14 FCV12 12.3 1/4 RCC-302RL-MS14F VF-02 8.3 3/8 RCC-303RL-MS14F VF-03 10.6

Nippon

flex

1/2 RCC-304RL-MS14F VF-04 14.0

10 MAA-10-14 FCV10 10.0

HA-FF C(B)-UE CE05-2A14S-2PD-B CE05-6A14S-2SD-B

Angle

Daiwa

Dengyo

12 MAA-12-14 FCV12 12.3

For connection of encoder

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Cable Connector Conduit

Servo Motor

Connector Supplied for Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/2 RCC-104RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-106RL-MS20F VF-06 19.0

16 MSA-16-20 FCV16 15.8

Straight

Daiwa

Dengyo

22 MSA-22-20 FCV22 20.8

1/2 RCC-304RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

HA-FF C(B)-UE MS3102A20-29P

MS3106A20-

29S(D190)

Angle

Daiwa

Dengyo

22 MAA-22-20 FCV22 20.8

Page 73

3 - 21

3. WIRING

For connection of brake

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Cable Connector Conduit

Servo Motor

Connector Supplied for Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

Nippon

flex

1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Daiwa

Dengyo

10 MSA-10-10 FCV10 10.0

Nippon

flex

1/4 RCC-302RL-MS10F VF-02 8.3

HA-FF C(B)-UE MS3102A10SL-4P

MS3106A10-SL-

4S(D190)

Angle

Daiwa

Dengyo

10 MAA-10-10 FCV10 10.0

Page 74

3 - 22

3. WIRING

(3) HC-SF, HC-RF, HC-UF2000r/min series

1) Non-waterproof, UL/C-UL Standard-compliant a When using cabtyre cables

For connection of power supply

1) Plug

2) Cable clamp

Cable 1) Plug

2) Cable clamp

Cable

1) Plug (Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied for

Servo Motor

Type Model

2) Cable clamp

(Daiichi Denshi Kogyo)

Straight MS3106B22-23SHC-SF52(B) to 152(B) HC-RF103(B) to 203(B) HC-UF72(B)

152(B)

CE05-2A22-23PD-B

Angle MS3108B22-23S

MS3057-12A

Straight MS3106B24-10S

HC-SF202(B) 352(B) HC-UF202(B)

CE05-2A24-10PD-B

Angle MS3108B24-10S

MS3057-16A

Straight MS3106B32-17S HC-SF702(B) CE05-2A32-17PD-B

Angle MS3108B32-17S

MS3057-20A

For connection of encoder

1) Plug

2) Cable clamp

Cable

1) Plug

2) Cable clamp

Cable

1) Plug (Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied for

Servo Motor

Type Model

2) Cable clamp

(Daiichi Denshi Kogyo)

Straight MS3106B20-29S

HC-SF52(B) to 352(B) HC-RF103(B) to 203(B) HC-UF72(B) to 202(B)

MS3102A20-29P

Angle MS3108B20-29S

MS3057-12A

For connection of brake

1) Plug

Cable

1) Plug

Cable

2) Connector for cable

2) Connector for Cable

Servo Motor

Connector Supplied for

Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Maker Cable OD Model

4 to 8 ACS-08RL-MS10F

Straight

Nippon

flex

8 to 12 ACS-12RL-MS10F

Angle

Daiwa

Dengyo

5 to 8.3 YSO10-5 to 8

4 to 8 ACA-08RL-MS10F

Straight

Nippon

flex

8 to 12 ACA-12RL -MS10F

HC-SF202(B) HC-UF202(B)

MS3102A10SL-4P MS3106A10SL-4S

Angle

Daiwa

Dengyo

5 to 8.3 YLO10-5 to 8

Page 75

3 - 23

3. WIRING

b When using flexible conduits

For connection of power supply

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Connector for conduit Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/2 RCC-104RL-MS22F VF-04 14.0 3/4 RCC-106RL-MS22F VF-06 19.0

Nippon

flex

1 RCC-108RL-MS22F VF-08 24.4 16 MSA-16-22 FCV16 15.8 22 MSA-22-22 FCV22 20.8

Straight

Daiwa

Dengyo

28 MSA-28-22 FCV28 26.4

1/2 RCC-304RL-MS22F VF-04 14.0 3/4 RCC-306RL-MS22F VF-06 19.0

Nippon

flex

1 RCC-308RL-MS22F VF-08 24.4 16 MAA-16-22 FCV16 15.8 22 MAA-22-22 FCV22 20.8

HC-SF52(B) to 152(B) HC-RF103(B) to 203(B) HC-UF72(B )

152(B)

CE05-2A22-

23PD-B

MS3106A22-

23S(D190)

Angle

Daiwa

Dengyo

28 MAA-28-22 FCV28 26.4

1/2 RCC-104RL-MS24F VF-04 14.0 3/4 RCC-106RL-MS24F VF-06 19.0

Nippon

flex

1 RCC-108RL-MS24F VF-08 24.4 16 MSA-16-24 FCV16 15.8 22 MSA-22-24 FCV22 20.8

Straight

Daiwa

Dengyo

28 MSA-28-24 FCV28 26.4

1/2 RCC-304RL-MS24F VF-04 14.0 3/4 RCC-306RL-MS24F VF-06 19.0

Nippon

flex

1 RCC-308RL-MS24F VF-08 24.4 16 MAA-16-24 FCV16 15.8 22 MAA-22-24 FCV22 20.8

HC-SF202(B) 352(B) HC-RF353(B) HC-UF202(B)

CE05-2A24-

10PD-B

MS3106A24-

10S(D190)

Angle

Daiwa

Dengyo

28 MAA-28-24 FCV28 26.4

Page 76

3 - 24

3. WIRING

For connection of encoder

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Connector for conduit Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/2 RCC-104RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-106RL-MS20F VF-06 19.0

16 MSA-16-20 FCV16 15.8

Straight

Daiwa

Dengyo

22 MSA-22-20 FCV22 20.8

1/2 RCC-304RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

HC-SF52(B) to 352(B) HC-RF103(B) to 203(B) HC-UF72(B) to 202(B)

MS3102A20-

29P

MS3106A20-

29S(D190)

Angle

Daiwa

Dengyo

22 MAA-22-20 FCV22 20.8

For connection of brake

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Connector for conduit Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

Nippon

flex

1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Daiwa

Dengyo

10 MSA-10-10 FCV10 10

Nippon

flex

1/4 RCC-302RL-MS10F VF-02 8.3

HC-SF202(B) 352(B) HC-UF202(B)

MS3102A10SL-4PMS3106A10-SL-

4S(D190)

Angle

Daiwa

Dengyo

10 MAA-10-10 FCV10 10

Page 77

3 - 25

3. WIRING

2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant a When using cabtyre cables

For connection of power supply

1) Plug

2) Cable clamp

Cable 1) Plug

2) Cable clamp

Cable

1) Plug (Daiichi Denshi Kogyo)

2) Cable clamp

(Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied

for Servo Motor

Type Model Cable OD Model

Straight CE05-6A22-23SD- B-BSS 9.5 to 13 CE3057-12A-2 (D265)

HC-SF52(B) to 152(B) HC-RF103(B) to 203(B) HC-UF72(B)

152(B)

CE05-2A22-23PD-B

Angle CE05-8A22-23SD-B-BAS 12.5 to 16 CE3057-12A-1(D265)

Straight CE05-6A24-10SD- B-BSS 13 to 15.5 CE3057-16A-2(D265)

HC-SF202(B) to 352(B) HC-UF202(B)

CE05-2A24-10PD-B

Angle CE05-8A24-10SD-B-BAS 15 to 19.1 CE3057-16A-1(D265)

For connection of encoder

1) Plug

3) Cable clamp

Cable 2) Back shell

3) Cable clamp

Cable

2) Back shell

1) Plug

2) Back shell

3) Cable clamp

(Daiichi Denshi Kogyo)

Servo Motor

Connector Supplied for Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Model Cable OD Model

Straight CE02-20BS-SHC-SF52(B) to 352(B) HC-RF103(B) to 203(B) HC-UF72(B) to 202(B)

MS3102A20-29P MS3106A20-29S(D190)

Angle CE-20BA-S

6.8 to 10 CE3057-12A-3(D265)

For connection of brake

1) Plug

Cable

1) Plug

Cable

2) Connector for cable

2) Connector for Cable

Servo Motor

Connector Supplied

for Servo Motor

1) Plug

(Daiichi Denshi Kogyo)

Type Maker Cable OD Model

4 to 8 ACS-08RL-MS10F

Nippon

flex

8 to 12 ACS-12RL-MS10F

Straight

Daiwa

Dengyo

5 to 8.3 YSO-10-5 to 8

Nippon

flex

4 to 8 ACA-08RL-MS10F

8 to 12 ACA-12RL-MS10F

HC-SF202(B) to 352(B) HC-UF202(B)

MS3102A10SL-4P MS3106A10SL-4S(D190)

Angle

Daiwa

Dengyo

5 to 8.3 YLO-10-5 to 8

Page 78

3 - 26

3. WIRING

b When using flexible conduits

For connection of power supply

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Connector for conduit Conduit

Servo Motor

Connector Supplied for Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/2 RCC-104RL-MS22F VF-04 14.0 3/4 RCC-106RL-MS22F VF-06 19.0

Nippon

flex

1 RCC-108RL-MS22F VF-08 24.4 16 MSA-16-22 FCV16 15.8 22 MSA-22-22 FCV22 20.8

Straight

Daiwa

Dengyo

28 MSA-28-22 FCV28 26.4

1/2 RCC-304RL-MS22F VF-04 14.0 3/4 RCC-306RL-MS22F VF-06 19.0

Nippon

flex

1 RCC-308RL-MS22F VF-08 24.4 16 MAA-16-22 FCV16 15.8 22 MAA-22-22 FCV22 20.8

HC-SF52(B) to 152(B) HC-RF103(B) to 203(B) HC-UF72(B)

152(B)

CE05-2A22-

23PD-B

CE05-6A22-

23SD-B

Angle

Daiwa

Dengyo

28 MAA-28-22 FCV28 26.4

1/2 RCC-104RL-MS24F VF-04 14.0 3/4 RCC-106RL-MS24F VF-06 19.0

Nippon

flex

1 RCC-108RL-MS24F VF-08 24.4 16 MSA-16-24 FCV16 15.8 22 MSA-22-24 FCV22 20.8

Straight

Daiwa

Dengyo

28 MSA-28-24 FCV28 26.4

1/2 RCC-304RL-MS24F VF-04 14.0 3/4 RCC-306RL-MS24F VF-06 19.0

Nippon

flex

1 RCC-308RL-MS24F VF-08 24.4 16 MAA-16-24 FCV16 15.8 22 MAA-22-24 FCV22 20.8

HC-SF202(B) to 352(B) HC-RF203(B)

353(B)

HC-UF202(B)

CE05-2A24-

10PD-B

CE05-6A24-

10SD-B

Angle

Daiwa

Dengyo

28 MAA-28-24 FCV28 26.4

Page 79

3 - 27

3. WIRING

For connection of encoder

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Connector for conduit Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

1/2 RCC-104RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-106RL-MS20F VF-06 19.0

16 MSA-16-20 FCV16 15.8

Straight

Daiwa

Dengyo

22 MSA-22-20 FCV22 20.8

1/2 RCC-304RL-MS20F VF-04 14.0

Nippon

flex

3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

HC-SF52(B) to 352(B) HC-RF103(B) to 203(B) HC-UF72(B) to 202(B)

MS3102A20-

29P

MS3106A20-

29S(D190)

Angle

Daiwa

Dengyo

22 MAA-22-20 FCV22 20.8

For connection of brake

1) Plug Conduit

1) Plug

2) Connector for conduit

Conduit

2) Connector for conduit

2) Connector for conduit Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(Daiichi Denshi

Kogyo)

Type Maker Size Model Model ID

Nippon

flex

1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Daiwa

Dengyo

10 MSA-10-10 FCV10 10

Nippon

flex

1/4 RCC-302RL-MS10F VF-02 8.3

HC-SF202(B) 352(B)

HC-UF202(B)

MS3102E10SL

-4P

MS3106A10SL-

4S(D190)

Angle

Daiwa

Dengyo

10 MAA-10-10 FCV10 10

Page 80

3 - 28

3. WIRING

3 - 3 Common line

The power supply and its common line are shown below. To conform to the EMC Di r ective, refer to the EMC INSTALL AT I O N GUI DELINES (IB(NA)67310).

Digital input

VDD

CN3 CN3

24VDC

COM

EM1

MBR

27VDC or less

Analog monitor output

MO1 MO2

MRR MR

Isolated

Servo motor

CN1

CN1A CN1B

CN2

Earth

RD TD EMG

RD* TD* EMG*

Page 81

3 - 29

3. WIRING

3 - 4 Grounding

WARNING

1. Ground the servo amplifier and servo motor securely.

2. To prevent an electric shock, always connect the protective earth (PE) terminal (marked

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

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Di r ective, refer to the EMC INSTALL AT I O N GUI DELINES (IB(NA)67310).

Control box

Servo amplifier

L3 L11 L21

CN1A

NFB

Protective earth (PE)

CN2

U V

Outer box

Servo motor

Always connect it to PE terminal of servo amplifier. Do not connect it directly to protective earth of control box.

Encoder

U V W

-phase

00 to 230VAC

orS

ignal-phase

30VAC

Line fil ter

Servo system

controller

(Note1)

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

and L2 and do not connect it to L3.

2. To reduce the influence of external noise, it is recommended to ground the bus cable using a cable clamping fixture near the controller or to connect three or four data line filters in series.

(Note2)

Page 82

3 - 30

3. WIRING

3 - 5 Power supply circuit

CAUTION

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

2. Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fau lt or the like m ay overheat the regenerative brak e resistor, c ausing a fire.

(1) Power-on sequence

1) Always wire the power supply as shown below using magnetic contactors with the main circuit power supply (L1, L2, L3). Configure up an external sequence to switch off the magne tic contactors as soon as an alarm oc cu rs .

2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the threephase power supply, the base circuit will switch on in about 1 second, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

4) For the structure of the external circuit, refer to Section 2-1.

(2) Connection example

Wire the power sup ply and m ain cir cui ts a s sh own be low. A no -fu se bre ake r (N FB) mu st be u sed w ith the input cables of the power supply. Wire the circuits so that detection of alarm occurrence switches on power and simultaneously turns off the servo on signal.

1) For three-phase 20 0 to 230VAC po wer sup ply

ONOFF

Emergency stop

EM1

VDD

COM

Three-phase 200 to 230AC

Servo amplifier

MR-J2- B

L21

L11

Emergency stop Servo on

MCNFB

Page 83

3 - 31

3. WIRING

2) For single-phase 100V to 120VAC/singl e-p has e 230 VAC power sup ply

ONOFF

Emergency stop

EM1

VDD

COM

Power Single-phase 100 to 120AC or single-phase

30VAC

Servo amplifier

MR-J2- B

L21

L11

L3 (Note)

Emergency stop Servo on

MCNFB

Note: Not provided for single-phase 100V to 120VAC.

(3) Timing chart

3-phase power supply

OFF

Base circuit Servo on command

(from controller)

(1s)

Son accepted

10ms

Power ON Timing Chart

(4) Emergency stop

To ensure safety, alw ays install an external emerg ency stop sw itch across EM1-SG . By disconne cting EM1-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo emergency stop warning (E6). During ordinary operation, do not use the external emergency stop signal to alternate stop and run. Doing so may shorten the l ife of the servo amplifier.

Servo amplifier

EM1

VDD

COM

Page 84

3 - 32

3. WIRING

3 - 6 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being inpu t , ensu re safe ty , an d r e set the alar m be for e re sta rt ing ope rat io n.

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. At this tim e, switch of f the m ain cir cuit po wer sup ply in the ex ternal sequence . To r eset th e alar m, switch the control circuit power supply off, then on. However, the alarm cannot be reset unless its cause of occurrence is removed.

OFF

power sup ply

Base circuit

Dynamic brake Valid

Invalid

Servo on (SON)

Alarm

Absent

Present

Reset command (from controller)

Power off

Power on

Brake operation

Undervoltage alarm

Alarm occurs.

Remove cause of trouble.

50ms or

15ms or more

Brake operation

Precautions for alarm occurrence

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

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

3) Instantaneous power failure Undervoltage (10) occur s if power is restored after a 100ms or longer power f ailure of the control power supply or after a drop of the bus voltage to or below 200VDC. If the power failure persists further, the control power switches off. When the power failure is reset in this state, the alarm is reset and the servo amplifier returns to the initial state.

Page 85

3 - 33

3. WIRING

3 - 7 Servo motor with electromagnetic brake

CAUTION

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

Servo motor

24VDC

RA EM1

Electromagnetic

brake

Shut off by servo-on signal OFF, alarm or electromagnetic brake signal.

Shut off by emergency stop signal (EM1).

2. The electromagnetic brake is designed for holding and should not be used for

ordinary braking.

Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft (vertical lift applications):

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

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

3) Turn off the servo on signal after the servo motor has stopped.

(1) Connection diagram

MBR

Servo amplifier

Servo motor

EM1RA

24VDC

(2) Setting procedure

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

Page 86

3 - 34

3. WIRING

(3) Timing charts

1) Servo on signal command (from controller) ON/OFF Tb (ms) after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.

Servo motor speed

Electromagnetic brake interlock(MBR)

ON OFF

Base circuit

Invalid(ON) Valid(OFF)

ON OFF

Servo on signal (from controller)

Electromagnetic brake operation delay time

Coasting

0 r/min

(80ms)

2) Emergency stop signal (EM1) ON/OFF

Servo motor speed

Electromagnetic brake interlock (MBR)

ON OFF

Base circuit

Invalid (ON) Valid (OFF)

Emergency stop (EM1)

(10ms)

(180ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Invalid (ON) Valid (OFF)

Electromagnetic brake operation delay time

Electromagnetic brake release

Page 87

3 - 35

3. WIRING

3) Alarm occurrence

Servo motor speed

ON OFF

Base circuit

Electromagnetic brake interlock (MBR)

Invalid(ON) Valid(OFF)

Trouble (ALM)

No(ON) Yes(OFF)

Dynamic brake

Electromagnetic brake

Electromagnetic brake operation delay time

Electromagnetic brake

(10ms)

4) Both main and control circuit power supplies off

Servo motor speed

ON OFF

Base circuit

Electromagnetic brake interlock(MBR)

Invalid(ON) Valid(OFF)

Trouble (ALM)

No(ON) Yes(OFF) ON OFF

Main circuit

Dynamic brake

Electromagnetic brake

Control circuit

power

(Note) 15 to 100ms

(10ms)

(10ms or less)

Electromagnetic brake operation delay time

Note: Changes with the operating status.

(Note 2)

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

Servo motor speed

ON OFF

Base circuit

Electromagnetic

brake interlock (MBR)

Invalid(ON) Valid(OFF)

Trouble (ALM)

No(ON) Yes(OFF) ON OFF

Main circuit power supply

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

(Note 1) 15ms or more

Electromagnetic brake operation delay time (Note 2)

10ms or less

ote: 1. Changes with the operating status.

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

(10ms)

Page 88

4 - 1

4. INSTALLATION

CAUTION

1. Stacking in excess of the limited number of products is not allowed.

2. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.

3. Install the equipment in a load-bearing place in accordance with this Installation Guide.

4. Do not get on or put heavy load on the equipment to prevent injury.

5. Use the equipment within the specified environmental condition range.

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

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

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

9. Do not install or operate a faulty servo amplifier or servo motor.

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

Mitsubishi.

4 - 1 Servo amplifier

CAUTION

1. The equipment must be installed in the specified direction. Otherwise, a fault may

occur.

2. Leave specified clearances between the servo amplifier and control box inside

walls or other equipment.

(1) Environmental conditions

Environment Conditions

0 to 55 [ ] (non-freezing)

Ambient temperature

32 to

131 [ ] (non-freezing)

Ambient humidity 90%RH or less (non-condensing)

20 to 65 [ ] (non-freezing)

Storage temperature

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

5.9 [m/s2] or less

Vibration

19.4 [ft/s

] or less

Page 89

4 - 2

4. INSTALLATION

(2) Installation direction and clearances

1) Installation of one servo amplifier

MR-J2

Control box Control box

10mm (0.4 in.) or more

40mm (1.6 in.) or more

Wiring clearance 70mm

(2.8 in.)

Top

Bottom

2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

Control box

0mm

(1.2 in.)

r more

30mm (1.2 in.) or more

MR-J2

10mm (0.4 in.) or more

40mm (1.6 in.) or more

100mm (4.0 in.) or more

Page 90

4 - 3

4. INSTALLATION

3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

(3) Keep out foreign materials

1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier.

2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a fan installed on the ceiling.

3) When installing the control box in a place where there are toxic gas, dirt and dust, provide positive pressure in the control box by forcing in clean air to prevent such materials from entering the control box.

Page 91

4 - 4

4. INSTALLATION

4 - 2 Servo motor

CAUTION

1. Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur.

2. The lifting eyebolt s of the servo mot or may only be used to tra nspor t the servo moto r. They must not be used to transport the servo motor when it is mounted on a machine.

3. The servo moto r wit h redu ction ge a r must be in stall ed i n th e spe cified di re ction. Otherwise, it ca n l ea k oil , l ea ding to a fire o r faul t.

4. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury.

5. When coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. The encoder may become faulty.

6. Cover the shaft of the servo motor to make its rotary part completely inaccessible during operation.

7. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury.

(1) Environmental conditions

Environment Conditions

[ ]0 to 40 (non-freezing)

Ambient temperature

[

] 32 to 104 (non-freezing)

Ambient humidity 80%RH or less (non-condensing)

[ ] 15 to 70 (non-freezing)

Storage temperature

[

] 5 to 158 (non-freezing)

Storage humidity 90%RH or les s (non-condens i ng ) Ambient

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

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

MC-MF series HA-FF series

HU-UF13 to 73

Y: 19.6

HC-SF81 HC-SF52 to 152 HC-SF53 to 153

HC-RF series HC-UF72

152

X: 9.8 Y: 24.5

HC-SF121 201 HC-SF202

352

HC-SF203

353

HC-UF202

X: 19.6 Y: 49

[m/s2]

HC-SF301

X: 11.7

Y: 29.4 MC-MF series HA-FF series

HC-UF13 to 73

Y:64

HC-SF81 HC-SF52 to 152 HC-SF53 to 153

HC-RF series HC-UF72

152

X: 32

Y: 80 HC-SF121 201

HC-SF202

352

HC-SF203

353

HC-UF202

X: 64

Y: 161

Vibration

[ft/s

]

HC-SF301

X: 38

Y: 96

Servo moto

Vibration

Page 92

4 - 5

4. INSTALLATION

Graph of vibration servo amplitude vs. speed

Speed [r/min]

Vibration amplitude (both amplitudes) [m]

200

100

80 60

50 40

500 1000 1500 2000 2500 3000 3500

(2) Transportation

Do not hold the encoder or shaft to carry the servo motor.

(3) Load mounting precautions (Prevention of impact on shaft)

1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end. To fit th e pulley, first insert a d ouble-end stud into the screw hole of th e shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in.

Servo motor

Double-end stud

Nut

Washer

Pulle

2) For the servo mo tor sh aft with a key w ay, u se the scre w ho le in th e shaf t e nd. Fo r t he shaf t w itho u t a keyway, use a friction coupling or the like.

3) When removing the pulley, use a pulley remover to protect the shaft from impact.

4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft.

5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact us.

6) During assembling, the shaft end must not be hammered.

7) The orientation of the encoder on the servo motor cannot be changed.

8) For installat ion of the servo motor , use spri ng washe rs, etc. an d fully tigh ten the bo lts so that they do not become loose due to vibration.

Page 93

4 - 6

4. INSTALLATION

(4) Permissible load for the shaft

1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load.

2) When using a pulley, sprocket or timing belt, selec t a diameter that will f it into the permissible radial load.

3) Do not use a rigid coupling as it m ay apply excessive be nding load to the shaft, leading to sh aft breakage.

L Permissible Radial Load Permissible Thrust Load

Servo Motor

[mm] [in] [N] [lb] [N] [lb]

053 13 25 0.98 88 20 59 13 23 43 30 1.18 245 55 98 22HC-MF 73 40 1.57 392 88 147 33 053 30 1.18 108 24 98 22 13 30 1.18 118 27 98 22 23 33 30 1.18 176 40 147 33

HA-FF

63 40 1.57 323 73 284 64 81 55 2.17 980 220 490 110 121 to 301 79 3.11 2058 463 980 220 52 to 152 55 2.17 980 220 490 110 202 352 79 3.11 2058 463 980 220 53 to 153 55 2.17 980 220 490 110

HC-SF

203

353 79 3.11 2058 463 980 220

HC-RF 103 to 203 45 1.77 686 154 196 44

72 152 55 2.17 637 143 490 110 202 65 2.56 882 198 784 176 13 25 0.98 88 20 59 13 23 43 30 1.18 245 55 98 22

HC-UF

73 40 1.57 392 88 147 33

Note: For the symbols in the table, refer to the following diagram:

Radial load

Thrust load

L: Distance from flange mounting surface to load center

Page 94

4 - 7

4. INSTALLATION

(5) Protection from oil and water

1) The HC-M F/HA-FF Ser ies servo m otor is no t waterpro of (IP44). D o not subje ct the serv o motor to oil and water.

Servo Motor Series Protection

HC-MF HA-FF IP44

HC-SF HC-RF IP65

Oil or water

Servo motor

2) When the gear box is mounted horizon tally, the oil level in the gear box shoul d always be lower than the oil seal lip on the servo motor sh aft. If it is higher th an the oil sea l lip, oil will enter the servo motor, leading to a fault. Al so, provide a bre athing hole in the gear box to ho ld the intern al pressure low. The HC-MF series servo motor is not equipped with a V ring or an oil seal and cannot be used with the gear box as described above. Oil should be shut off on the gear box side. Some HA-FF series servo motors are equipped with an oil seal. Pleas e conta ct Mi tsubishi . The HA-FF series servo motor equipped with an oil sea l is avail abl e. Pleas e conta ct Mits ubis hi.

Servo motor

V ring

Gear

Lip

Height above oil level h

Height above Oil Level h

Servo Motor

[mm] [in]

053 13 8 0.31

23 33 12 0.47HA-FF 43

63 14 0.55

81 20 0.79

121 to 301 25 0.98

52 to 152 20 0.79

202 352 25 0.98

53 to 153 20 0.79

HC-SF

203

353 25 0.98

HC-RF 103 to 203 20 0.79

72 152 20 0.79

202 25 0.98

13 12 0.47

23 43 14 0.55

HC-UF

73 20 0.79

Page 95

4 - 8

4. INSTALLATION

3) When installing the servo motor horizontally, face the power cable and encoder cable downw ard. When installing the servo motor vertically or obli quely, provide a t rap for the cabl e.

Cable trap

4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right)

Cover

<Incorrect> Capillary phenomenon

Oil/water pool

Servo motor

5) When the servo motor is to be installed with the shaft end at top, provide measures to prevent oil from entering the servo motor from the gear box, etc.

Gear

Lubricating oil

Servo motor

(6) Installation orientation

The servo motor may be installed in any orientation. When the servo motor with electromagnetic brake is inst alle d wi th the s haf t end at top , th e br ake plate may gen er ate slidi ng so u nd bu t it is no t a fault. Refer to Section 10.3 for the installation orientation of the servo motor with reduction gear.

Page 96

4 - 9

4. INSTALLATION

(7) Cable stress

1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.

2) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any application where the servo motor itself will move, run the cables so that their flexing portions fall within the flexing life range of the encoder cable. Fix the encoder cable and power cable of the servo motor.

3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.

4) The flexing lives of the cables are shown below. In actuality, provide a li ttle allowance for these values. For installation on a machine where the servo motor will move, the flexing radius should be made as large as possib le .

1 10

5 10

1 10

5 10

1 10

5 10

1 10

5 10

1 10

5 10

1 10

4 7 10 20 40 70 100 200

Flexing radius [mm]

Flexing life [times]

a : Long flexing-life encoder cable

b : Standard encoder cable

Note: This graph gives calculated values which are not guaranteed.

Flexing Lives of Encoder Cables

Page 97

5 - 1

5. ABSOLUTE POSITION DETECTION SYSTEM

(1) Specifications

Item Description

System Electronic battery backup system Battery

1 piece of lithium battery (primary battery, nominal

3.6V)

Type: MR-BAT or A6BAT Encoder resolution Refer to (2) in Section 10-1. Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power

failure

500r/min

(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off) (Note 3) Data holding time during

battery replacement

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

Battery storage period 5 years from date of manufacture

Note: 1. Maximum speed available when the shaft is rotated by external force at the time of power

failure or the like.

2. Time to hold data by a battery with power off.

3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery v oltage low o r the batte ry re mov ed, o r du ring w hich data can be h eld with the encoder cable disconnected. Battery replacement should be finished within this period.

(2) Structure

1) Components

Component Description

Servo amplifier Servo motor

Use standard models.

Battery MR-BAT or A6BAT Encoder cable Use a standard model.

When fabricating, refer to (2), Section 6-1-2. Bus cable Use MR-J2HBUS M-A/MR-J2HBUS M. Servo system controller 273UH/171S/Model W/AD75M

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5 - 2

5. ABSOLUTE POSITION DETECTION SYSTEM

2) Configuration

Servo system controller

Bus cable

Servo amplifier

Servo motor Servo motor

MR-A-TM

Battery

CON1

CN1A CN1B

Battery

CON1

CN1A CN1B

Servo amplifier

(3) Battery installation procedure

NOTICE

The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions:

1. Ground human body and work bench.

2. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

1) Open the operation window. (When the model used is the MR-J2-200B or more, also remove the front cover.)

2) Install the battery in the battery holder.

3) Insert the battery connector into CON1 until it clicks.

Battery connector

Battery

Operation window

CON1

Battery holder

For MR-J2-200B or les s For MR-J2-200B or mor e

CON1

Battery connector

Battery

Battery holder

(4) Parameter setting

Set

1 in parameter No. 1 to make the

absolute position detection system valid.

Parameter No. 1

Positioning system 0: Incremental 1: Absolute position detection system

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6. OPTION AND AUXILIARY EQUIPMENT

WARNING

Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock.

CAUTION

Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.

6 - 1 Dedicated options 6 - 1 - 1 Regenerative brake options

CAUTION

The specified combinations of regenerative brake options and servo amplifiers may only be used. Otherwise, a fire may occur.

(1) Combination and regenerative power

(Note) Regenerative Power[W]

Servo Amplifier

Model

Built-in regenerative

brake resistor

MR-RB032

[40

]

MR-RB12

[40 ]

MR-RB32

[40 ]

MR-RB30

[13 ]

MR-RB50

[13 ]

MR-J2-10B Without 30 MR-J2-20B 10 30 100 MR-J2-40B 10 30 100 MR-J2-60B 10 30 100 MR-J2-70B 20 30 100 300 MR-J2-100B 20 30 100 300 MR-J2-200B 100 300 500 MR-J2-350B 100 300 500

Note: This value is the regenerative power of the resistor and is not the rated power.

(2) Selection of the regenerative brake option

1) Simple selection method In horizontal motion applications, select the regenerative brake opti on as desc ribed below: When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in the standard specifications (Section 10-1). For the servo motor with a load, the permissible duty changes according to the inertia moment of the load and can be calculated by the following formula:

Permissible duty

[times/minute]

ratedspeed

running speed

(m 1)

permissible duty for servo motor with no load (value indication Section 10-1)

From the permissible duty, find whether the regenerative brake opti on is required or not. Permissible duty

number of positioning times n1

Select the regenerative brake option out of the combinations in (1) in this section.

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6. OPTION AND AUXILIARY EQUIPMENT

2) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a. Regenerative energy calculation

Use the following table to calculate the regenerative energy.

Formulas for Calculating Torque and Energy in Operation

Regenerative

Power

Torque applied to servo motor [N

m] Energy [J]

U TF

Psa1

(J J ) No

9.55 10

0.1047 T

Psa1

No T

2 TU TF

No T

0.1047

Psd1

(J J ) No

9.55 10

0.1047

Psd1

4), 8)

E4 0 (No regeneration)

U TF

Psa2

(J J ) No

9.55 10

0.1047

Psa2

No T

6 TU TF

No T

0.1047

U TF

Psd2

(J J ) No

9.55 10

0.1047

Psd2

No T

Sum total of reg en e ra t i ve energies Sum total of negative energ ies in 1) to 8)

Servo motor speed

Generated torque

Time

tf(1 cycle)

Down

( )

1) (Driving)

(Regenerative)

psd2

t2 t3 t4t1

psa2

psd1

psa1

Friction torque

Unbalance torque

b. Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.

Servo Amplifier I nverse Efficiency[%] Capacitor Charging[J]

MR-J2-10B 55 9 MR-J2-20B 70 9 MR-J2-40B 85 11 MR-J2-60B 85 11 MR-J2-70B 80 18 MR-J2-100B 80 18 MR-J2-200B 85 40 MR-J2-350B 85 40

Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo amplifier when

rated (regenerative) torque is generated at rated speed. Since the efficiency varies

with the speed and generated torque, allow for about 10%. Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier. Subtract the capacitor charging from the result of multiply ing the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option.

ER [J]

Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.

PR [W] ER/t

...........................................................................................(6-1)

Mitsubishi melservo-j2 Installation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual