Mitsubishi MR-J2-10A, MR-J2-70A, MR-J2-100A, MR-J2-20A, MR-J2-40A Specifications

General-Purpose AC Servo

J2

General-Purpose Interface
MR-J2- A
Specifications and Installation Guide

Series

D

– 1 –

Thank you for choosing this Mitsubishi AC servo. This Installation guide gives handling information
and precautions for using the servo amplifier and servo motor. Incorrect handling may cause an
unexpected fault. Before using the servo amplifier and servo motor, please read this Installation
guide carefully to use the equipment to its optimum.
Please forward this Installation guide to the end user.

Safety Instructions

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until
you have read through this Installation guide and appended documents carefully and can use
the equipment correctly. Do not use the servo amplifier and servo motor until you have a full
knowledge of the equipment, safety information and instructions.
In this Installation guide, the safety instruction levels are classified into "WARNING" and "CAU­TION".

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

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

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

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

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

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

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

WARNING

CAUTION

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

Indicates that incorrect handling may cause the servo amplifier to be faulty and may
not lead to physical damage.

Indicates that parameter setting change, etc. will provide another function or there
are other usages.

Indicates information needed for use of this equipment.

NOTICE

INFOR­MATION

MEMO­RANDUM

– 2 –

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

Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the

work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed.

Otherwise, you may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed loaded,, or pinched. Otherwise, you may get

an electric shock.

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

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

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

SAFETY INSTRCUTIONS

1. To prevent electric shock, note the following:

WARNING

2. To prevent fire, note the following:

CAUTION

3. To prevent injury, note the following:

Only the voltage specified in the Installation 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-on or for some time after power-off, do not touch the servo amplifier fins,

regenerative brake resistor, servo motor, etc. Their temperatures may be high and you
may get burnt.

CAUTION

– 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

Transport the products correctly acordng 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 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.

CAUTION

– 4 –

Use the servo amplifier and servo motor under the following environmental conditions:

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may
come off during operation.

The servo motor with reduction gear must be installed in the specified direction to prevent
oil leakage.

For safety of personnel, always cover rotating and moving parts.
Never hit the servo motor or shaft, especially when coupling the servo motor to the ma-

chine. 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.

CAUTION

Servo Amplifier

Environmen

Conditions

Servo Motor

Ambient
temperature

Ambient humidity

Storage humidity
Ambience
Altitude

Vibration

Storage
temperature

0 to +55 (non-freezing)
32 to 131
(non-freezing)
90%RH or less
(non-condensing)

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

5.9 (0.6G) or less

19.4 or less

[

°

C]

[

°

F]

[

°

C]

[°F]

[m/s

2

]

[ft/s

2

]

0 to +40 (non-freezing)
32 to 104
(non-freezing)
80%RH or less
(non-condensing)

-15 to +70
(non-freezing)
5 to 158 (non-freezing)

MC-MF series
HA-FF series
HU-UF13 to 43
HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-RF series
HC-UF72 • 152
HC-SF121 • 201
HC-SF202 • 352
HC-SF203 • 353
HC-UF202
HC-SF301
MC-MF series
HA-FF series
HU-UF13 to 43
HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-RF series
HC-UF72 • 152
HC-SF121 • 201
HC-SF202 • 352
HC-SF203 • 353
HC-UF202
HC-SF301

X • Y: 19.6(2G)

X: 9.8(1G)
Y: 24.5(2.5G)

X: 19.6(2G)
Y: 49(5G)

X: 11.7(1.2G) Y: 29.4(3G)

X • Y: 64

X: 32
Y: 80

X: 64 Y: 161

X: 38 Y: 96

– 5 –

(2) Wiring

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) be-

tween 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. Other-

wise, 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.

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.

CAUTION

(3) Test run adjustment

RA

SG

V+

ALM

PF

Servo
amplifier

(4) Usage

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

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

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

Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which

may be caused by electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and

should not be used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the

servo motor are coupled via a timing belt), the electromagnetic brake may not hold the
motor shaft. To ensure safety, install a stopper on the machine side

CAUTION

– 6 –

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

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

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

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

CAUTION

(5) Corrective actions

RA1

EMG

24VDC

Electromagnetic brake

Servo motor

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

Circuit must be
opened during
emergency stop.

(6) Maintenance, inspection and parts replacement

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

CAUTION

(7) Disposal

Dispose of the product as general industrial waste.

CAUTION

(8) General instruction

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

– 7 –

1. WHAT ARE EC DIRECTIVES?

The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective
in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective
in January, 1997) of the EC Directives require that products to be sold should meet their funda­mental safety requirements and carry the CE marks (CE marking). CE marking applies to ma­chines and equipment into which servo amplifiers have been installed.
The servo amplifiers do not function independently but are designed for use with machines and
equipment. Therefore, the CE marking does not apply to the servo amplifiers but applies to the
machines and equipment into which the servo amplifiers are installed.
This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE
marking on machines and equipment into which the servo amplifiers will be installed. To ensure
ease of compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION
GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and
other procedures. Please contact your sales representative.

2. PRECAUTIONS FOR COMPLIANCE

Use the standard model of servo amplifier and the EN Standard-compliant model of servo motor. In
addition to the instructions provided in this Installation Guide, also follow the instructions below.If
the model is not specifically described to comply with the EN Standard in this Installation Guide, it
has the same specifications as those of the standard models:

(1) Structure

(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).

(3) 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 IEC or EN
Standard 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.

COMPLIANCE WITH EC DIRECTIVES

Servo
motor

Control box

Reinforced

insulating

transformer

No-fuse
breaker

Magnetic
contactor

Reinforced

insulating type

24VDC

power

supply

Servo

amplifier

SMMCNFB

– 8 –

(4) 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.

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.

(5) 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.

2) Use a fixed terminal block to connect the power supply lead of the HC-MF/HA-FF series
servo motor to the servo amplifier. Do not connect cables directly.

(6) 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.

• Ambient temperature: 40 (104) [°C(°F)]

• 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.

(7) Servo motor

For outline dimension drawings not shown, contact Mitsubishi.

(8) Performing EMC tests

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

PE terminalsPE terminals

Terminal block

Crimping terminal

Insulating tube

Cable

– 9 –

Use the servo amplifiers and servo motors which comply with the UL/C-UL Standard.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Stand­ard-compliant models are the same as those of the standard models.
When using the options and auxiliary equipment, use those which confrom to the UL/C-UL Standard.

INSTRUCTIONS FOR COMPLIANCE WITH THE UL/C-UL STANDARD

To comply with the UL/C-UL Standard, strictly observe the following:

CONFORMANCE WITH UL/C-UL STANDARD

(1) 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.

(2) Short-circuit rating

Having been subjected to UL's short-circuit test with an AC circuit whose peak current is limited
to 5000A max., this servo amplifier complies with this circuit.

(3) Flange

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

(4) Capacitor discharge time

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

Flange Size

[mm]

150 x 150 x 6

250 x 250 x 6
250 x 250 x 12
300 x 300 x 12
300 x 300 x 20

HC-MF

053 • 13

23
43
73

Servo Motor

HA-FF

053 • 13

23 • 33
43 • 63

HC-SF

52~152

202 • 352

HC-RF

103~203

Servo Amplifier

MR-J2-10A(1)•20A(1)
MR-J2-40A(1)•60A
MR-J2-70A~350A

Discharge Time [min]

1
2
3

i

CONTENTS

CHAPTER 1 INTRODUCTION ................................................................................................. 1-1~1-17

1-1 Inspection at Delivery.............................................................................................................1-2

1-1-1 Packing list.................................................................................................................1-2

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

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

1-4-1 MR-J2-100A or less ............................................................................................... 1-15

1-4-2 MR-J2-200A or more ............................................................................................. 1-17

CHAPTER 2 OPERATION ........................................................................................................ 2-1~2-54

2-1 Standard Connection Examples........................................................................................... 2-2

2-1-1 Position control mode.............................................................................................. 2-2

2-1-2 Speed control mode................................................................................................. 2-6

2-1-3 Torque control mode ................................................................................................ 2-8

2-2 Operation ................................................................................................................................ 2-10

2-2-1 Pre-operation checks ............................................................................................. 2-10

2-2-2 Start-up.................................................................................................................... 2-11

2-3 Display and Operation......................................................................................................... 2-18

2-3-1 Display flowchart.................................................................................................... 2-18

2-3-2 Status display ......................................................................................................... 2-19

2-3-3 Diagnostic mode ..................................................................................................... 2-20

2-3-4 Alarm mode............................................................................................................. 2-27

2-3-5 Parameter mode..................................................................................................... 2-28

2-4 Adjustments........................................................................................................................... 2-50

2-4-1 Auto tuning.............................................................................................................. 2-50

2-4-2 Manual gain adjustment ........................................................................................ 2-50

2-4-3 Slight vibration suppression control .................................................................... 2-54

CHAPTER 3 WIRING ................................................................................................................. 3-1~3-62

3-1 Servo Amplifier ........................................................................................................................3-3

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

3-1-2 Signal connectors..................................................................................................... 3-6

3-1-3 Detailed information on I/O signals ..................................................................... 3-18

3-1-4 Interfaces ................................................................................................................ 3-32

3-2 Connection of Servo Amplifier and Servo Motor .............................................................3-36

3-2-1 Connection instructions......................................................................................... 3-36

3-2-2 Connection diagram............................................................................................... 3-37

3-2-3 I/O terminals ........................................................................................................... 3-38

3-2-4 Connectors used for Servo Motor wiring ............................................................3-41

3-3 Common Line........................................................................................................................ 3-55

3-4 Grounding ...............................................................................................................................3-56

3-5 Power Supply Circuit ........................................................................................................... 3-57

3-6 Alarm Occurrence Timing Chart ......................................................................................... 3-59

3-7 Servo Motor with Electromagnetic Brake.......................................................................... 3-60

CHAPTER 4 INSTALLATION ......................................................................................................4-1~4-9

4-1 Servo Amplifier ...........................................................................................................................4-2

4-2 Servo Motor.................................................................................................................................4-5

ii

CHAPTER 5 ABSOLUTE POSITION DETECTION SYSTEM................................................ 5-1~5-6

CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT ...................................................... 6-1~6-27

6-1 Dedicated Options ...................................................................................................................6-2

6-1-1 Regenerative brake options .................................................................................... 6-2

6-1-2 Cable connectors ..................................................................................................... 6-7

6-1-3 Junction terminal block.......................................................................................... 6-14

6-1-4 Maintenance junction card.................................................................................... 6-15

6-1-5 Set-up software ...................................................................................................... 6-16

6-2 Auxiliary Equipment ............................................................................................................. 6-17

6-2-1 Cables...................................................................................................................... 6-17

6-2-2 No-fuse breakers, fuses, magnetic contactors ..................................................6-17

6-2-3 Power factor improving reactors.......................................................................... 6-18

6-2-4 Relays...................................................................................................................... 6-18

6-2-5 Surge absorbers..................................................................................................... 6-19

6-2-6 Noise reduction techniques .................................................................................. 6-20

6-2-7 Leakage current breaker....................................................................................... 6-25

6-2-8 Battery (MR-BAT, A6BAT) .................................................................................... 6-26

6-2-9 Setting potentiometers for analog inputs ............................................................ 6-27

CHAPTER 7 INSPECTION ..........................................................................................................7-1~7-3

CHAPTER 8 TROUBLESHOOTING........................................................................................ 8-1~8-13

8-1 Troubleshooting at Start-Up ................................................................................................. 8-2

8-1-1 Position control mode.............................................................................................. 8-2

8-1-2 Speed control mode................................................................................................. 8-4

8-1-3 Torque control mode ................................................................................................ 8-5

8-2 Alarms and Warnings..............................................................................................................8-6

8-2-1 Alarm and warning list............................................................................................. 8-6

8-2-2 Alarms.........................................................................................................................8-7

8-2-3 Warnings ................................................................................................................. 8-13

CHAPTER 9 CHARACTERISTICS .......................................................................................... 9-1~9-12

9-1 Overload Protection Characteristics .................................................................................... 9-2

9-2 Losses Generated in the Servo Amplifier........................................................................... 9-4

9-3 Electromagnetic Brake Characteristics............................................................................... 9-6

9-4 Dynamic Brake Characteristics.......................................................................................... 9-10

9-5 Vibration Rank ...................................................................................................................... 9-12

CHAPTER 10 SPECIFICATIONS........................................................................................... 10-1~10-79

10-1 Standard Specifications ...................................................................................................... 10-2

10-2 Torque Characteristics ........................................................................................................ 10-6

10-3 Servo Motors with Reduction Gears................................................................................ 10-10

10-4 Servo Motors with Special Shafts.................................................................................... 10-14

10-5 Outline Dimension Drawings ............................................................................................10-16

10-5-1 Servo amplifiers ................................................................................................... 10-16

10-5-2 Servo motors......................................................................................................... 10-19

10-5-3 Servo motors (in inches)..................................................................................... 10-46

10-5-4 Cable side plugs ................................................................................................... 10-73

iii

CHAPTER 11 SELECTION..................................................................................................... 11-1~11-13

11-1 Specification Symbol List.................................................................................................... 11-2

11-2 Position Resolution and Electronic Gear Setting ............................................................ 11-3

11-3 Speed and Command Pulse Frequency ............................................................................ 11-4

11-4 Stopping Characteristics..................................................................................................... 11-5

11-5 Capacity Selection ............................................................................................................... 11-6

11-6 Load Torque Equations ....................................................................................................... 11-8

11-7 Load Inertia Moment Equations ......................................................................................... 11-9

11-8 Precautions for Zeroing..................................................................................................... 11-10

11-9 Selection Example.............................................................................................................. 11-11

1– 1

CHAPTER 2
CHAPTER 3
CHAPTER 4
CHAPTER 5
CHAPTER 6
CHAPTER 7
CHAPTER 8
CHAPTER 9
CHAPTER 10
CHAPTER 11

INTRODUCTION
OPERATION
WIRING
INSTALLATION
ABSOLUTE POSITION DETECTION SYSTEM
OPTIONS AND AUXILIARY EQUIPMENT
INSPECTION
TROUBLESHOOTING
CHARACTERISTICS
SPECIFICATIONS
SELECTION

This chapter provides basic information needed to use this servo.

1-1 Inspection at Delivery
1-1-1 Packing list
1-1-2 Model definition
1-1-3 Combination with Servo Motor
1-2 Parts Identification and Applications
1-2-1 Servo amplifier
1-2-2 Servo motor
1-3 Function List
1-4 Basic Configuration
1-4-1 MR-J2-100A or less
1-4-2 MR-J2-200A or more

CHAPTER 1

CHAPTER 1
INTRODUCTION

1. INTRODUCTION

1– 2

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) Servo amplifier

Item

Servo amplifier

(Note)Control circuit connector

Qty

1
1

1

2) Servo motor

Item

Servo motor

Qty

1

1

Safety Instructions
for Use of AC Servo

Specifications and

installation guide

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

1-1-2 Model definition

1-1-1 Packing list

(1) Servo amplifier

1) Name plate

2) Model

Model
Capacity
Applicable power suppl
Rated output current
Current status + serial number

MITSUBISHI

AC SERVO

MADE IN JAPAN

MITSUBISHI ELECTRIC CORPORATION

MODEL

NB

MR-J2-60A

Series

MR-J2- A

General-purpose AC servo

Rated output

Symbol

None

(Note 1) 1

Power Supply

Three-phase 200V

(Note 2) Single-phase 230V

Single-phase 100V

Symbol

10
20
40
60

Rated

output [W]

100
200
400
600

Symbol

70
100
200
350

Rated

output [W]

750
1000
2000
3500

Note: 1. Not supplied to the servo amplifier

of MR-J2-60A or more.

Note: 2. Not supplied to the servo amplifier

of MR-J2-100A or more.

POWER : 600W
INPUT : 3.2A 3PH+1PH200 – 230V 50Hz
3PH+1PH200 – 230V 60Hz

5.5A 1PH 230V 50/60Hz
OUTPUT: 170V 0 – 360Hz 3.6A
SERIAL : TC3XXAAAAG52

MR-J2-100A or less

MR-J2-200A•350A

1. INTRODUCTION

1

1– 3

(2) Servo Motors

1) Name plate

AC SERVO MOTOR

HC-MF13

SERIAL
DATE

MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN

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

or

Model

Serial number

Input power
Rated output
Rated speed

Model
Serial number
Date of manufacture

2) Model

a. HC-MF series (ultra low inertia, small capacity)

Appearance

Series name

HC-MF 3

6) Rated output

5) Rated speed
3000 [r/min]

4) Electromagnetic brake

3) Reduction gear

2) Shaft type

1) Compliance with Standard

Symbol

None

-UE

Specifications

Standard model (Japan)

EN • UL/C-UL Standard

Note: With key

Symbol

05

1
2
4
7

Rated Output [W]

50
100
200
400
750

Symbol

None

B

Electromagnetic Brake

Without

With

Symbol

None

G1
G2

Reduction Gear

Without

For general

industrial machine

For precision application

Symbol

None

K
D

Shaft Shape

Standard

(Straight shaft)

(Note) With keyway

D-cut shaft

HC-MF
053 to 73

23 to 73

53 • 13

1. INTRODUCTION

1– 4

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

Appearance

Series name

HA-FF 3

7) Rated output

5) Input power supply form

6) Rated speed
3000 [r/min]

4) Electromagnetic brake

3) Reduction gear

2) Shaft type

1) Compliance with Standard

Symbol

None

-UE

Specifications

Standard model (Japan)

EN • UL/C-UL Standard

Symbol

05

1
2

Rated Output [W]

50
100
200

Symbol

3
4
6

Rated Output [W]

300
400
600

Symbol

None

B

Electromagnetic Brake

Without

With

Symbol

None

G1
G2

Reduction Gear

Without

For general

industrial machine

For precision application

Symbol

None

C

Standard model

Lead

EN • UL/C-UL Standard-

compliant model

Cannon connector

Symbol

None

D

Shaft Shape

(Note) Standard

D-cut shaft

HA-FF

053 to 73

053 • 13

Note: The Standard shafts of the HA-FF23 to

63 are with keys and those of the other
models are straight shafts.

1. INTRODUCTION

1

1– 5

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

Appearance

Series name

HC-SF

5) Rated output

4) Rated speed

3) Electromagnetic brake

2) Reduction gear

1) Shaft type
Symbol

None

K

Shaft shape

Standard

(Straight shaft)

With keyway

Note: Without key

Symbol

5

8
10
12
15
20
30
35

Rated Output [W]

500

850
1000
1200
1500
2000
3000
3500

1000 [r/min] 2000 [r/min] 3000 [r/min]

Symbol

1
2
3

Speed [r/min]

1000
2000
3000

Symbol

None

B

Electromagnetic Brake

Without

With

Symbol

None

G1

G1H

G2

(Note) Reduction Gear

Without

For general

industrial machine

(flange type)

For general

industrial machine

(leg type)

For precision application

Note: Not provided for 1000r/min and

3000r/min series.

1. INTRODUCTION

1– 6

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

Appearance

Series name

HC-RF 3

5) Rated output

3) Electromagnetic brake

2) Reduction gear

1) Shaft type
Symbol

None

K

Shaft Shape

Standard

(Straight shaft)

With keyway

Note: Without key

Symbol

10
15
20

Rated Output [W]

1000
1500
2000

Symbol

None

B

Electromagnetic Brake

Without

With

Symbol

None

G2

Reduction Gear

Without

For precision application

4) Rated speed
3000 [r/min]

e. HC-UF series (pancake type small capacity)

Appearance

Series name

HC-UF 3

4) Rated output

2) Electromagnetic brake

1) Shaft type
Symbol

None

K
D

Shaft Shape

Standard

(Straight shaft)

With keyway

D-cut shaft

HU-UF

13 to 43

72 to 202

13

Note: Without key

Symbol

1
2
4

7
15
20

Rated Output [W]

100
200
400

750
1500
2000

Symbol

2
3

Speed [r/min]

2000
3000

Symbol

None

B

Electromagnetic Brake

Without

With

3) Rated speed

1. INTRODUCTION

1

1– 7

1-1-3 Combination with Servo Motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations
apply to the models with electromagnetic brakes, the models with reduction gears, the EN Standard­compliant models and UL/C-UL Standard-compliant models.

Servo Amplifier

MR–J2–10A (1)
MR–J2–20A (1)
MR–J2–40A (1)
MR–J2–60A
MR–J2–70A
MR–J2–100A
MR–J2–200A
MR–J2–350A

053 • 13

23
43

73

053 • 13

23

33 • 43

63

81

121 • 201

301

52

102

152 • 202

352

53

103

153 • 203

353

103 • 153

203

72

152
202

13
23
43

73

Servo Motors

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

HC-MF HA-FF HC-RF

HC-SF (Note 2) HC-UF (Note 1)

Note 1. The HC-UF73 may not be connected depending on the production timing of the servo amplifier. Please contact us.

2. The HC-SF203 and 353 will be released soon.

1. INTRODUCTION

1– 8

1-2-1 Servo amplifier
(1) MR-J2-200A or less

1-2 Parts Identification and Applications

1. INTRODUCTION

1

1– 9

Used to set parameter
data.

Used to change the
display or data in each
mode.

Used to change the
mode.

Refer To

Chapter 5(5)

Section 6-2-8

Chapter 5(5)

Section 2-3

Section 2-3

Section 1-1

Section 3-1-2
Section 6-1-5

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.

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE

UP

DOWN

SET

I/O signal connector (CN1A)
Used to connect digital I/O signals.

I/O signal connector (CN1B)
Used to connect digital I/O signals.

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 servo
motor.

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

Protective earth (PE) terminal ( )
Ground terminal.

1. INTRODUCTION

1– 10

(2) MR-J2-200A or more

Installation notch (4 places)
Cooling fan

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

MODE

UP

DOWN

SET

1. INTRODUCTION

1

1– 11

Used to set parameter
data.

Used to change the
display or data in each
mode.

Used to change the
mode.

Refer To

Chapter 5(5)

Section 6-2-8

Chapter 5(5)

Section 2-3

Section 2-3

Section 1-1

Section 3-1-2
Section 6-1-5

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.

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE

UP

DOWN

SET

I/O signal connector (CN1A)
Used to connect digital I/O signals.

I/O signal connector (CN1B)
Used to connect digital I/O signals.

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

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

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

Protective earth (PE) terminal ( )
Ground terminal.

1. INTRODUCTION

1– 12

Removal of the front cover

q

w

Front cover

Reinstallation of the front cover

w

q

Front cover hook
(2 places)

Front cover socket (2 places)

1) Hold down the removing knob.

2) Pull the front cover toward you.

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. INTRODUCTION

1

1– 13

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)
Power supply connector for HC-SF/HC-RF

Servo motor shaft

1. INTRODUCTION

1– 14

1-3 Function List

Function

Position control mode

Speed control mode

Torque control mode

Description

(Note)

Control Mode

P

S

T

Refer To

Section 2-1-1
Section 2-2-2 (2)
Section 3-1-3 (1)

Section 2-1-2
Section 2-2-2 (3)
Section 3-1-3 (2)

Section 2-1-3
Section 2-2-2 (4)
Section 3-1-3 (3)

Section 3-1-3 (4)

Parameters No. 3, 4
Section 2-4-1

Parameter No. 2

P

P

S

P, S, T

P, S

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

MR-J2-A is used as position control servo.

MR-J2-A is used as speed control servo.

MR-J2-A is used as torque control servo.

Electronic gear

Input pulses can be multiplied by 1/50 to 50.

Speed can be increased smoothly in response to input
pulse.

Real-time auto tuning

Smoothing

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

Analog monitor output

Speed can be increased and decreased smoothly.

S-pattern acceleration/
deceleration time constant

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

Position/speed control
change mode

P/S

Using external input signal, control can be switched bet­ween position control and speed control.

Section 3-1-3 (5)

Speed/torque control
change mode

S/T

Using external input signal, control can be switched bet­ween speed control and torque control.

Section 3-1-3 (6)

Torque/position control
change mode

T/P

Using external input signal, control can be switched bet­ween torque control and position control.

Chapter 5

Absolute position detection
system

P

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

Section 2-4-3

Parameter No. 7

Parameter No. 17

P, S, T

Alarm history is cleared.

Alarm history clear

Parameter No. 16

P

Command pulse train form can be selected from among
four different types.

Command pulse selection

Parameter No. 21

P, S, T

Forward rotation start, reverse rotation start, servo on and
other input signals can be assigned to any pins.

Input signal selection

Parameters No. 43 to
48

P, S

Servo motor-generated torque can be limited to any value.

Torque limit

Section 3-1-3 (1) q
Parameter No. 28

P, S, T

Servo motor can be run from the operation section of the
servo amplifier without the start signal entered.

Test operation mode

Section 2-3-3 (3)

P, S, T

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

Servo configuration software

Section 6-1-5

P, S, T

If an alarm has occurred, the corresponding alarm number
is output in 3-bit code.

Alarm code output

Section 8-2-1

P, S, T

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

Regenerative brake option

Section 6-1-1

Section 3-1-3 (3) e
Parameter No. 8~10

TServo motor speed can be limited to any value.Speed limit

Section 2-3-2

P, S, T

Servo status is shown on the 4-digit, 7-segment LED
display.

Status display

Section 2-3-3 (1)

P, S, T

ON/OFF statuses of external I/O signals are shown on the
display.

External I/O display

Section 2-3-3 (2)

P, S, T

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

Output signal forced output

Section 2-3-3

S, T

Voltage is automatically offset to stop the servo motor
if it does not come to a stop at the analog speed command
(VC) or analog speed limit (VLA) of 0V.

Automatic VC offset

S

If the input power supply voltage had reduced to cause
an alarm but has returned to normal, the servo motor can
be restarted by merely switching on the start signal.

Restart after instantaneous
power failure

Parameter No. 20

Parameter No. 13

Slight vibration suppression
control

P

Suppresses vibration of ±1 pulse produced at a servo
motor stop.

1. INTRODUCTION

1

1– 15

1-4 Basic Configuration

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.

WARNING

1-4-1 MR-J2-100A or less

(1) Three-phase 200V or single-phase 230V power supply models

(Note 2)

Power supply

3-phase 200V

or

1-phase 230V

No-fuse breaker
(NFB) or fuse

Magnetic
contactor
(MC)

To CN2

To CN3

To CN1B

To CN1A

L1
L2
L3

L

21

L

11

Protective earth (PE) terminal

(Note 1)
Encoder cable

(Note 1)
Power leads

Servo motor

Junction terminal block

UV

W

Set-up
software

Servo amplifier
MR-J2- A

Regenerative brake option

D

P

C

U
V

W

CHARGE

MR-J2-60A

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 6-1-5
Section 6-1-1
Section 6-2-1

Positioning unit

Control circuit terminal block

Personal
computer

Note: 1. The HA-FF C-UE, HC-SF series have Cannon connectors.

(Refer to Section 3-2-2.)

Note: 2. A single-phase 230V power supply may be used with the servo amplifier of MR-J2-70A or

less. Connect the power supply to L1 and L2 terminals and leave L3 open. Note that this
power supply cannot be used for a combination with the HC-SF52 and 53 servo motor.

1. INTRODUCTION

1– 16

(2) Single-phase 100V power supply model

Note: The HA-FF C-UE series have Cannon connectors.

(Refer to Section 3-2-2.)

1-phase 100V

power supply

No-fuse breaker
(NFB) or fuse

Magnetic
contactor
(MC)

To CN2

To CN3

To CN1B

To CN1A

L1

L2

L

21

L

11

Protective earth (PE) terminal

(Note)
Encoder cable

(Note)
Power leads

Servo motor

Junction terminal block

UV

W

Set-up
software

Servo amplifier
MR-J2- A1

Regenerative brake option

D

P

C

U
V
W

CHARGE

MR-J2-60A

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 6-1-5
Section 6-1-1
Section 6-2-1

Positioning unit

Control circuit terminal block

Personal
computer

1. INTRODUCTION

1

1– 17

1-4-2 MR-J2-200A or more

3-phase 200V

power supply

No-fuse breaker
(NFB) or fuse

Magnetic
contactor
(MC)

To CN2

To CN3

To CN1B

To CN1A

Junction terminal block

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 6-1-5
Section 6-1-1
Section 6-2-1

Positioning unit

Personal
computer

L1
L2
L3

L11
L21

U

V

W

PC

Servo amplifier