General-Purpose AC Servo
J2
SSC-NET Compatible
MR-J2- B
Specifications and Installation Guide
C
Series
1
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
2
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.
3
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
X
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
X
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
2
] 19.4 or less
HC-SF301
X: 38
Y: 96
4
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
RA
Control
output
signal
RA
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.
5
(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).
6
(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.
7
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
MC
SM
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).
8
(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
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.
9
(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)".
10
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.
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
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
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
1
Specifications and
installation guide
1
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
1 - 2
1. INTRODUCTION
2) Model
MR-J2-100B or less
Rated Output [W]Symbol
20
40
100
200
400
10
Series name
MR-J2-200B 350B
General-purpose AC Servo
Rated output
60 600
Rated Output [W]Symbol
100
200
700
1000
2000
70
350 3500
Name plate
Name plate
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
or
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
G1
Symbol
1
2
50
100
200
05
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
G2
Symbol
B
None
4
400
7 750
1 - 4
1. INTRODUCTION
b HA-FF series (low inertia, small capacity)
Symbol
Rated Output [W]
-UE
Symbol
2) Shaft type
D
Symbol
G1
Symbol
1
2
50
100
200
05
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
G2
Symbol
B
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
3
5) Input power supply form
Standard model
Lead
Symbol
C
None
EN UL/C-UL Standard-
compliant model
Cannon connector
1 - 5
1. INTRODUCTION
c HC-SF series (middle inertia, middle capacity)
Rated Output [W]
Symbol
G1
Symbol
8
10
500
850
1000
5
Series name
2) Reduction gear
None Without
3) Electromagnetic brake
Electromagnetic Brake
Without
With
4) Rated speed
5) Rated output
Appearance
Symbol
B
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)
K
For general
industrial machine
(flange type)
For general
industrial machine
(leg type)
G1H
For precision applicationG2
Symbol
2
3
1000
2000
3000
1
2000 [r/min]
3000 [r/min]
15
20
1200
1500
2000
12
30
35
3000
3500
50
5000
70 7000
1 - 6
1. INTRODUCTION
d HC-RF series (low inertia, middle capacity)
Rated Output [W]
Symbol
Symbol
20
1000
15 1500
2000
10
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
K
None
Shaft Shape
Note: Without key
Standard
(Straight shaft)
With keyway
G2
Symbol
B
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
1
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
13 to 43
72 to 202
Symbol
B
None
Speed [r/min]Symbol
3
2000
3000
2
20
750
2000
7
1500
15
3500
35
500050
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
contact us.
1 - 8
1. INTRODUCTION
1 - 2 Parts identification and applications
1 - 2 - 1 Servo amplifier
(1) MR-J2-200B or less
8
7
6
5
4
3
2
1
0
F
E
D
C
B
A
9
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 3-1-2
Section 3-1-2
Section 3-1-1
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.
8
7
6
5
4
3
2
1
0
F
E
D
C
B
A
9
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).
1 - 10
1. INTRODUCTION
(2) MR-J2-200B or more
8
7
6
5
4
3
2
1
0
F
E
D
C
B
A
9
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
1 - 11
1. INTRODUCTION
8
7
6
5
4
3
2
1
0
F
E
D
C
B
A
9
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 3-1-2
Section 3-1-2
Section 3-1-1
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).
1 - 12
1. INTRODUCTION
Removal of the front cover
1)
2)
Front cover
1) Hold down the removing knob.
2) Pull the front cover toward you.
Reinstallation of the front cover
2)
1)
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.
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
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
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
UV
W
Set-up
software
Servo amplifier
MR-J2- B
Regenerative brake option
D
P
C
U
V
W
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
or
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.
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
UV
W
PC
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
f
actor
improving
reactors
(FR-BAL)
2 - 1
2. OPERATION
2 - 1 Standard connection example
CAUTION
Always follow the instructions in Chapter 3.
MC
NFB
Servo amplifier
MR-J2- B
(Axis 1)
TE1
U
V
W
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
B2
B1
DC24V
SM
2m max.
MO1
EM1
SG
20
3
4
LG1
MO2
11 LG
13
5
10
SD
MBR
COM
VDD
Plate
10k
A
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
or
1-phase 230VAC
Servo system
controller
CS1
14
To be shut off when servo-on
signal or electromagnetic brake
signal switches off.
Encoder
10k
A
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.
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