General-Purpose AC Servo
J2-Jr Series
SSCNET Compatible
MODEL
MR-J2-03B5
SERVO AMPLIFIER
INSTRUCTION MANUAL
B
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read
through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents
carefully and can us e th e equ i pment correctl y. D o no t us e t he s er vo amplifier an d servo motor un ti l you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,
WARNING
CAUTION
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
In this Instructi on Manual, ins tructions at a lo wer level t han the abo ve, instruc tions for other func tions, an d so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
.
.
A - 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the serv o a mpl i fie r and se rvo mot o r to grou nd .
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged , stressed, loaded, or pinched. Othe rwi se, you may get an ele ctric shoc k.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo
motor. Their temperatures may be high and you may get burnt or a parts may dameged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A - 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Environment
Ambient
temperature
Ambient
humidity
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
(Note)
Vibration
Note. Except the servo motor with reduction gear.
Operation
Storage
Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
Storage 90%RH or less (non-condensing)
[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing)
[
] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
[
] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
[m/s2] 5.9 or less HC-AQ Series X Y : 19.6
2
] 19.4 or less HC-AQ Series X Y : 64
[ft/s
Servo amplifier Servo motor
Conditions
A - 3
CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safet y m easur es , e .g. provide cover s, to prevent ac ci de nt al ac c ess to the rotating p ar ts of the s ervo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter between the servo motor and servo
amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
(3) Test run adjustment
CAUTION
Before operat ion, check the par ameter setti ngs. Im proper sett ings m ay cause som e mac hines to p erform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
A - 4
(4) Usage
CAUTION
Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resettin g an alarm , make sure th at the run s igna l is of f to pr event an acc ident. A sudde n rest art is
made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y
electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reas ons as servic e life and mec hanical struc ture (e.g. wher e a ballscre w and the servo motor
are coupled via a tim ing belt), the electrom agnetic brak e may not hold the s ervo motor s haft. To ensure
safety, instal l a stop pe r on t he mach in e side .
(5) Corrective actions
CAUTION
When it is ass umed that a hazardous c ondition m ay take place a t the occur d ue to a po wer failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prev en ti on .
Configure th e electromagnet ic brake circu it so that it is activated n ot only by t he servo amplifier s ignals
but also by a forced stop (EM1).
Circuit must be opened
during forced stop (EM1).
Servo amplifier
CNP2
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restor ed after an inst antaneous power failu re, keep away from the machine because th e
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
EM1
Servo motor
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is
recommended to replace the electrolytic capacitor every 10 years when used in general environment.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safet y guards. W hen the equipm ent is operate d, the covers and safet y guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
This product is not designed or manufactured to be used in equipment or systems in situations that can
affect or enda nge r hu man li fe .
When considering this product for operation in special applications such as machinery or systems used in
passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating
applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised
to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the
product is likely to cause a serious accident.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-R OM du e to pa ra met er se t ting ch an ge s
A - 6
COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE mar king). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines
(IB(NA)67310).
This servo has been confirmed to be compliant with the EMC Directives in the compliance method
given in the EMC Installation Guidelines.
(2) Low voltage di re ctiv e
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment orga nization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
The standard models of the servo amplifier and servo motor comply with the EN standard.
In addition to the precautions for compliance with the EN standard provided in this manual, strictly
follow the items given below. Where there is no specific explanation of EN standard compliance, the
specifications are the same as those of the standard models.
(1) Configuration
Control box
Reinforced
insulation type
24VDC
power
supply
Circuit
protector
Servo
amplifier
(2) 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).
Servo
motor
SM
A - 7
(3) Power supply
Use a 24VDC power supply which has been insulation-reinforced in I/O.
(4) Grounding
To prevent an electric shock, always connect the protective earth terminal (E) to the servo amplifier
and always connect it to the earth (E) of the control box.
(5) Auxiliary equipment and options
(a) The circuit protector used should be the EN or IEC standard-compliant products of the models
described in Section 11.2.2.
(b) The sizes of the cable s described in Section 11.2. 1 meet the following req uirements. To meet t he
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(6) Performing EMC tests
When EMC tests are ru n on a machine/device in to which the servo amplifier has been installed, i t
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specificati ons.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
A - 8
CONFORMANCE WITH UL/C-UL STANDAR D
The standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standardcompliant models are the same as those of th e standard models.
When using 24VDC power supply, options and auxiliary equipment, use those which conform to the
UL/C-UL Standard.
<<About the manual s>>
This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u use
the General-Purpose AC servo MR-J2-03B5 for the first time. Always purchase them and use the MRJ2-03B5 safely.
Also read the manual of the servo system controller.
For the flange size of the machine side where the servo motor is installed, refer to "CONFORMANCE
WITH UL/C-UL STANDARD" in the Servo Motor Instruction Manual.
Relevant manuals
Manual name Manual No.
MELSERVO-J2-Jr Series To Use the AC Servo Safely
(Packed with the servo amplifier)
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310
IB(NA)67426
A - 9
MEMO
A - 10
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Servo amplifier standard specifications................................................................................................1- 2
1.3 Function list.............................................................................................................................................1- 2
1.4 Model code definition ..............................................................................................................................1- 3
1.5 Combination with servo motor...............................................................................................................1- 3
1.6 Parts identification.................................................................................................................................. 1- 4
1.7 Servo system with auxiliary equipment................................................................................................ 1- 5
2. INSTALLATION 2- 1 to 2- 6
2.1 Environmental conditions.......................................................................................................................2- 1
2.2 Installation direction and clearances ....................................................................................................2- 2
2.3 Keep out foreign materials .....................................................................................................................2- 3
2.4 Cable stress..............................................................................................................................................2- 4
2.5 Using the DIN rail for installation ........................................................................................................2- 5
3. SIGNALS AND WIRING 3- 1 to 3-18
3.1 Connection example of control signal system.......................................................................................3- 2
3.2 I/O signals................................................................................................................................................. 3- 4
3.2.1 Connectors and signal arrangements.............................................................................................3- 4
3.2.2 Signal explanations ..........................................................................................................................3- 5
3.3 Alarm occurrence timing chart ..............................................................................................................3- 6
3.4 Interfaces.................................................................................................................................................. 3- 7
3.4.1 Common line .....................................................................................................................................3- 7
3.4.2 Detailed description of the interfaces.............................................................................................3- 8
3.5 Input power supply circuit......................................................................................................................3- 9
3.5.1 Connection example..........................................................................................................................3- 9
3.5.2 Explanation of signals.....................................................................................................................3-10
3.5.3 Power-on sequence...........................................................................................................................3-10
3.6 Servo motor with electromagnetic brake .............................................................................................3-12
3.7 Grounding................................................................................................................................................3-15
3.8 Instructions for the 3M connector.........................................................................................................3-17
3.9 Control axis selection.............................................................................................................................3-18
4. OPERATION AND DISPLAY 4- 1 to 4- 8
4.1 When switching power on for the first time..........................................................................................4- 1
4.2 Start up.....................................................................................................................................................4- 2
4.3 Servo amplifier display ...........................................................................................................................4- 4
4.4 Test operation mode................................................................................................................................4- 6
1
5. PARAMETERS 5- 1 to 5- 8
5.1 Parameter write inhibit.......................................................................................................................... 5- 1
5.2 Lists...........................................................................................................................................................5- 1
6. ADJUSTMENT 6- 1 to 6-10
6.1 What is gain adjustment?.......................................................................................................................6- 1
6.1.1 Difference between servo amplifier and other drives ...................................................................6- 1
6.1.2 Basics of the servo system ...............................................................................................................6- 2
6.2 Gain adjustment......................................................................................................................................6- 3
6.2.1 Parameters required for gain adjustment...................................................................................... 6- 3
6.2.2 Block diagram ...................................................................................................................................6- 3
6.2.3 What is auto tuning? ........................................................................................................................6- 4
6.3 Gain adjustment by auto tuning............................................................................................................6- 5
6.3.1 Adjustment method..........................................................................................................................6- 5
6.3.2 Valid conditions.................................................................................................................................6- 5
6.4 Manual gain adjustment.........................................................................................................................6- 6
6.4.1 When machine rigidity is low ..........................................................................................................6- 6
6.4.2 When the machine vibrates due to machine resonance frequency.............................................. 6- 7
6.4.3 Load inertia moment is 20 or more times ......................................................................................6- 8
6.4.4 When shortening the settling time .................................................................................................6- 9
6.4.5 When the same gain is used for two or more axes .......................................................................6-10
6.5 Slight vibration suppression control.....................................................................................................6-10
7. INSPECTION 7- 1 to 7- 2
8. TROUBLESHOOTING 8- 1 to 8- 8
8.1 Alarms and warning list......................................................................................................................... 8- 1
8.2 Remedies for alarms................................................................................................................................8- 2
8.3 Remedies for warnings............................................................................................................................8- 7
9. OUTLINE DIMENSION DRAWINGS 9- 1 to 9- 6
9.1 Servo amplifiers.......................................................................................................................................9- 1
9.2 Connectors................................................................................................................................................9- 2
10. CHARACTERISTICS 10- 1 to 10- 4
10.1 Overload protection characteristics...................................................................................................10- 1
10.2 Dynamic brake characteristics...........................................................................................................10- 2
10.3 Motor cable flexing life........................................................................................................................10- 3
2
11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-20
11.1 Options..................................................................................................................................................11- 1
11.1.1 Cables and connectors..................................................................................................................11- 1
11.1.2 Servo configurations software ....................................................................................................11-12
11.2 Auxiliary equipment ..........................................................................................................................11-13
11.2.1 Recommended wires....................................................................................................................11-13
11.2.2 Circuit protector...........................................................................................................................11-15
11.2.3 Relays............................................................................................................................................11-15
11.2.4 Noise reduction techniques.........................................................................................................11-15
11.2.5 Snubber unit.................................................................................................................................11-19
3
MEMO
4
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, small
capacity servo system compatible with the MELSERVO-J2 series 24VD C power supply. It c an be used in
a wide range of fields from semiconductor equipment to small robots, etc.
The input signals of the servo amplifier control system are compatible with those of the MR-J 2 As the standard models comply with the EN Standard
satisfactorily in various countries.
The MR-J2-03B5 servo amplifier can be easily installed to a control box with a DIN rail.
The power supply/electromagnetic brake and encoder of the servo motor can be wired easily with a single
cable.
The compatible servo motors have achieved the smallest 28mm-bore flange size in this class and are
further equipped with encoders of 8192 pulses/rev (incremental) resolution.
UL/C-UL Standard, they can be used
B.
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Servo amplifier standard specifications
Servo amplifier
Item
Circuit
power
supply
(Note)
Control circuit power supply
System Sine-wave PWM control, curr ent control system
Dynamic brake Built-in
Protective functions
Speed frequency response 250Hz or more
Structure Open (IP00)
Weight
Note: To comply with the low voltage directive, use a reinforced insulation stabilizing power supply.
Voltage 21.6 to 30VDC (instantaneous permissible voltage 34V)
Power supply
capacity
Ambient
temperature
Ambient
humidity
Environment
Vibration
HC-AQ0135D Continuous 0.8A, max. 2.4A
HC-AQ0235D Continuous 1.6A, max. 4.8A
HC-AQ0335D Continuous 2.4A, max. 7.2A
(Note)
Operation
Storage
Operation
Storage
Ambient
Altitude Max. 1000m (3280ft) above sea level
[m/s2] 5.9 or less
2
[ft/s
] 19.4 or less
24VDC
brake)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder fault protection, undervoltage,
instantaneous p ow er failure prot ect i on, overspeed p r otection, excess iv e error protection
[ ]0 to 55 (non-freezing)
[
] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
[
] 4 to 149 (non-freezing)
[kg] 0.2
[lb] 0.44
10% 200mA (400mA when using the servo motor equipped with electromagnetic
90%RH or less ( non - condensing)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
MR-J2-03B5
Indoors (no dir ect su nl i gh t )
1.3 Function list
The following table lists the functions of this servo. For details of the functi ons, refer to the reference field.
Function Description Reference
Slight vibration suppression
control
Real-time auto tuning
Torque limit Servo motor torque can be limited to any value.
External forced stop signal
automatic ON
Test operati on mode
Servo configurati on sof t wa re
Suppresses vibration of
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies.
Forced stop (EM1) can be automatically switched on internally to invalidate it. Parameter No.23
Servo motor can be run from the operation section of the servo amplifier
without the start signal entered.
Using a personal computer, parameter setting, test operation, status display,
etc. can be performed.
1 pulse produced at a servo motor stop. Section 6.5
Section 6.2
Section 6.3
Parameter No.9
Parameter No.10
Parameter No.11
Section 4.4
Section 11.1.2
1 - 2
1. FUNCTIONS AND CONFIGURATION
1.4 Model code definition (1) Rating plate
(2) Model
MITSUBISHI
MODEL
MR-J2-03B5
POWER :
INPUT :
OUTPUT:
SERIAL :
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
30W
DC24V
A5
T3 AAAAG52
MR-J2 - 03 5
Series name
Rated output 30[W]
AC SERVO
PASSED
B
24VDC power supply specification
SSCNET Compatible
Model
Capacity
Applicable power supply
Rated output current
Serial number
Rating plate
1.5 Combination with servo motor
The HC-AQ series servo motors can be used. The same combinations apply to the servo motors provided
with electromagnetic brakes and reduction gears.
Servo amplifier Servo motor
HC-AQ0135D
HC-AQ0235DMR-J2-03B5
HC-AQ0335D
1 - 3
1. FUNCTIONS AND CONFIGURATION
1.6 Parts identification
Name/Application
Reference
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
8
9
7
B
5
C
4
D
3
F
1
0
Axis select switch (CS1)
CS1
Used to set the axis number
8
9
7
B
5
4
3
of the servo amplifier.
C
D
F
1
0
Section 4.3
Section 3.9
Bus cable connector (CN1A)
Used to connect the servo system controller or
Section 3.2
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier or
termination connector (MR-A-TM).
Name plate
Servo motor connector (CNP2)
Connector for connection of the servo motor.
Power input connector (CNP1)
Used to connect the input power supply/control circuit
power supply/digital input signals.
Communication connector (CNP3)
Used for connection with a personal computer
(RS-232C).
Earth (E) terminal ( )
To conform to the EN Standard, fit the supplied earth
terminal for grounding.
Section 3.2
Section 1.4
Section 3.2
Section 9.1
Section 11.1.1
Section 3.2
Section 9.1
Section 3.2
Section 9.1
Section 11.1.1
Section 11.1.2
Section 3.7
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.7 Servo system with auxiliar y equipm ent To prevent an electric shock, fit the supplied earth terminal (E) to the servo
WARNING
Power supply
24VDC
Circuit
protector
amplifier (refer to (2), Section 3.7) and always connect it t o the earth (E) of the
control box.
Servo amplifier
MITSUBISHI
OPEN
CN1A CN1B
MELSERVO
Servo system
controller
or
preceding axis
servo amplifier
Servo
configuration
software
(MRZJW3SETUP81E)
Main ci rcuit power supp l y
Relay
Control circuit power supply
Personal
computer
To CNP1
To CNP3
CNP1 CNP2
CNP3
Earth (E) terminal
To CN1A
To CN1B
To CNP2
Motor cable
Power leads
Subsequent axis
servo amplifier
Encoder
cable
Servo motor
1 - 5
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 6
2. INSTALLATION
2. INSTALLATION
CAUTION
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range.
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
2.1 Environmental con dit ions
Environment Conditions
Ambient
temperature
Ambient
humidity
Ambience
Altitude Max. 1000m (3280 ft) above sea level
Vibration
Operation
Storage
Operation
Storage
[ ]0 to 55 (non-freezing)
[
] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
] 4 to 149 (non-freezing)
[
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
[m/s2] 5.9 or less
2
] 19.4 or less
[ft/s
2 - 1
2. INSTALLATION
2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt ma y
CAUTION
(1) Installation of one servo amplifier
10mm
(0.4 in.)
or more
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
Control box Control box
40mm
(1.6 in.)
or more
Servo amplifier
MITSUBISHI
MELSERVO
OPEN
CN1A CN1B
CNP1 CNP2
10mm
(0.4 in.)
or more
Wiring clearance
70mm
(2.8 in.)
Top
CNP3
40mm
(1.6 in.)
or more
Bottom
2 - 2
2. INSTALLATION
(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
10mm
(0.4 in.)
or more
100mm
(4.0 in.)
or more
MITSUBISHI
OPEN
CN1A CN1B
CNP1 CNP2
CNP3
MELSERVO
40mm
(1.6 in.)
or more
1mm
(0.04 in.)
or more
MITSUBISHI
OPEN
CN1A CN1B
CNP1 CNP2
CNP3
MELSERVO
10mm
(0.4 in.)
or more
(3) Others
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.3 Keep out foreign materials
(1) When installin g the unit in a control box, prevent drill ch ips and wire fragmen ts 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 insta lling the co ntrol box in a place whe re there are much toxic g as, dirt and dust, conduct an
air purge (force clean air into the contro l box from outside to m ake the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.
2 - 3
2. INSTALLATION
2.4 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) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional motor cable or the power supply and brake wiring
cables. Use the optional motor cable within the flexing life flexi ng life range. Use the power supply and
brake wiring cables within the flexing li fe of the cabl es.
(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) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 10.3 for the flexing life.
2 - 4
2. INSTALLATION
2.5 Using the DIN rail for installation
(1) Fitting into the DIN rail
Put the upper catch on the DIN rail and push the unit until it clicks.
(2) Removal from DIN rail
1) Pull down the hook.
2) Pull it toward you.
3) Lift and remove the unit.
1)
Wall
DIN rail
Wall
Upper
catch
DIN rail
2) 3)
Wall
Upper
catch
DIN rail
Wall
DIN rail
Wall
DIN rail
Hook
2 - 5
2. INSTALLATION
MEMO
2 - 6
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, make sure that the voltage is safe in the tester more than 10
minutes after power-off. Otherwise, you may get an electric shock.
WARNING
CAUTION
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter with the
power line of th e se rv o moto r .
Do not modify the equipment.
POINT
CN1A and CN1B have the same shape. Wrong connection of the connectors
will lead to a failure. Connect them correctly.
3 - 1
3. SIGNALS AND WIRING
3.1 Connection example of control signal system
POINT
Refer to Section 3.5 for the connection of the power supply system.
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.
Servo system
controller
(Note 10)
Servo configuration
software
(Note 5, 9) Bus cable
Cable clamp
(Option)
24VDC power
supply
(Note 2, 4) Forced stop
Personal computer
(Option)
Circuit
protector
RA
15m(49.2ft)
or less
CNP1
P24M
P24G
P24L
CNP1
Servo amplifier
MR-J2-03B5
1
2
3
4EM1
CNP2
CNP3
(Note 3)
CN1A
(Note 3)
CN1B
CS1
Setting: 0
(Note 11)
Servo
motor
30m(98.4ft)
or less
(Note 1)
(Note 5, 9 )
Bus cable
(Option)
(Note 8)
MR-A-TM
3 - 2
MR-J2-03B5
(2 axis)
CN1A
CN1B
Setting: 1
MR-J2-03B5
(3 axis)
CN1A
CN1B
Setting: 2
MR-J2-03B5
(n axis)
CN1A
CN1B
Setting: n 1
(Note 6)
CS1
(Note 6)
CS1
(Note 6)
CS1
(Note 7)
n 1 to 8
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo am plifier and always connect it to the earth (E) of
the control box. (Refer to Section 3.7.)
2. If the controller does not have an emergency stop function, always install a forced stop switc h (Normall y closed).
3. CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault.
4. When starting operation, always connect the forced stop (EM1) and P24G. (Normally closed contacts ) By setting “0001” i n
parameter No.23, the forced stop (EM1) signal can be made invalid.
5. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to
use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.
6. The wiring of the second and subsequent axes is omitted.
7. Up to eight axes (n
same bus.
8. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier locat ed at the terminati on.
9. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer
to the following table and choose the bus cable.
1 to 8) may be connected. The MR-J2S-
MR-J2S- B MR-J2-03B5
QD75M
Q172CPU(N) Q172J2BCBL M
Motion
controller
Q173CPU(N) Q173J2B CBL M
A motion MR-J2HBUS
MR-J2S- B MR-J2-03B5 MR-J2HBUS M
B
MR-J2-03B5 servo amplifier may be connected on the
MR-J2HBUS
M
M-A
10. Use MRZJW3-SETUP81E.
11. When using the servo motor provided with electromagnetic brake, refer to Section 3.6.
3 - 3
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