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

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Page 1

General-Purpose AC Servo

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

Series

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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

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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

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4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.

(1) Transportation and installation

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

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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

[

[°F]

[m/s

]

[ft/s

]

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

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(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

V+

ALM

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

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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.

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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

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(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

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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

Page 11

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

Page 12

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

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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

Page 14

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

Page 15

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

2) Servo motor

Item

Servo motor

Qty

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

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

Page 16

1. INTRODUCTION

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

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

1 2 4 7

Rated Output [W]

50 100 200 400 750

Symbol

None

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

Page 17

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

1 2

Rated Output [W]

50 100 200

Symbol

3 4 6

Rated Output [W]

300 400 600

Symbol

None

Electromagnetic Brake

Without

With

Symbol

None

G1 G2

Reduction Gear

Without

For general

industrial machine

For precision application

Symbol

None

Standard model

Lead

EN • UL/C-UL Standard-

compliant model

Cannon connector

Symbol

None

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.

Page 18

1. INTRODUCTION

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

Shaft shape

Standard

(Straight shaft)

With keyway

Note: Without key

Symbol

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

Electromagnetic Brake

Without

With

Symbol

None

G1H

(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.

Page 19

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

Shaft Shape

Standard

(Straight shaft)

With keyway

Note: Without key

Symbol

10 15 20

Rated Output [W]

1000 1500 2000

Symbol

None

Electromagnetic Brake

Without

With

Symbol

None

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

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

Electromagnetic Brake

Without

With

3) Rated speed

Page 20

1. INTRODUCTION

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

053 • 13

33 • 43

121 • 201

301

102

152 • 202

352

103

153 • 203

353

103 • 153

203

152 202

13 23 43

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.

Page 21

1. INTRODUCTION

1– 8

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

1-2 Parts Identification and Applications

Page 22

1. INTRODUCTION

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 1-1

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

Section 3-1-2

Section 3-1-1

Section 3-4

Name/Application

Battery holder Contains the battery for absolute position data backup.

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

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

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

MODE

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.

Page 23

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

DOWN

SET

Page 24

1. INTRODUCTION

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 1-1

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

Section 3-1-2

Section 3-1-1

Section 3-4

Name/Application

Battery holder Contains the battery for absolute position data backup.

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

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

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

MODE

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.

Page 25

1. INTRODUCTION

1– 12

Removal of the front cover

Front cover

Reinstallation of the front cover

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.

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

Page 26

1. INTRODUCTION

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

Page 27

1. INTRODUCTION

1– 14

1-3 Function List

Function

Position control mode

Speed control mode

Torque control mode

Description

(Note)

Control Mode

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, 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

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

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

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

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

Page 28

1. INTRODUCTION

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

1-phase 230V

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

To CN2

To CN3

To CN1B

To CN1A

L1 L2 L3

Protective earth (PE) terminal

(Note 1) Encoder cable

(Note 1) Power leads

Servo motor

Junction terminal block

Set-up software

Servo amplifier MR-J2- A

Regenerative brake option

U V

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.

Page 29

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

Protective earth (PE) terminal

(Note) Encoder cable

(Note) Power leads

Servo motor

Junction terminal block

Set-up software

Servo amplifier MR-J2- A1

Regenerative brake option

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

Page 30

1. INTRODUCTION

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

Servo amplifier

Page 31

CHAPTER 2

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

CHAPTER 2 OPERATION

2 – 1

This chapter gives basic connection examples and operation procedures.

CHAPTER 1

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

2-1 Standard Connection Examples

2-1-1 Position control mode 2-1-2 Speed control mode 2-1-3 Torque control mode

2-2 Operation

2-2-1 Pre-operation checks 2-2-2 Start-up

2-3 Display and Operation

2-3-1 Display flowchart 2-3-2 Status display 2-3-3 Diagnostic mode 2-3-4 Alarm mode 2-3-5 Parameter mode

2-4 Adjustments

2-4-1 Auto tuning 2-4-2 Manual gain adjustment 2-4-3 Slight vibration suppression control

Page 32

2. OPERATION

2– 2

2-1 Standard Connection Examples

2-1-1 Position control mode

(1) Connection with the FX-1GM

Always follow the instructions in Chapter 3.

CAUTION

NFB

Servo amplifier

MR – J2 – A

TE1

(Red)

(White)

(Black) (Green)

(Note 1)

L1 L2 L3

L11 L21 C D P

TE2

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

CN1A(Note 5, 8)

CN1B(Note 5, 8)

(Note 5, 8, 10)

CN3

(Note 5, 8, 10)

CN3

(Note 5, 8)

CN2

CN1B(Note 5, 8)

OPC

24+

Signal

COM1 SVRDY

SV END COM2

PG0 COM5 CLR FP COM4 RP

COM RD

INP P15R

OP SG CR PP SG NP

19 18

4 14 10

3 20

EMG

SON

RES PC

LSP

LSN

17 20

VDD

MO1

MO2

Plate

COM

ALM

RA1 RA2 RA3

ZSP

TLC

P15R

TLA

Plate

Positioning unit FX-1GM

2m (6.5ft) or less

10m (32ft) or less

Do not connect when external power supply is used.

(Note 2, 6)

(Note 9) Trouble

Zero speed

Limiting torque

Upper limit setting

Analog torque limit

±10V/max. current

2m (6.5ft) or less

15m (49ft) or less

10kΩ 10kΩ

A A

Monitor output Max. +1mA meter Reading in both directions

Communication cable

(Option)

Encoder cable

(Option)

Personal computer

Windows 3.1

Encoder

EMG

24VDC

To be shut off when servo-on signal switches off or alarm signal is given.

Electromagnetic

brake

Servo motor

CAUTION

Power supply

3-phase 200VAC

(Note 13) 1-phase 230VAC

(Note 4) Regenerative brake option

(Note 11)

(Note 3, 7) External emergency stop

Servo on

Reset

Proportion control

Torque limit

(Note 7) Forward rotation stroke end

Reverse rotation stroke end

NFB

Servo amplifier

MR – J2 – A1

TE1

L1 L2

L11 L21

Power supply

Single-phase 100VAC

For single-phase 100V power supply

5LZ

Encoder Z-phase pulse (differential line driver) Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse (open collector)

15 LZR

6LA

16 LAR

7LB

17 LBR

1LG

14 OP

4 P15R

Plate

(Note 5, 8)

CN1A

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

CAUTION

(Note 12)

Page 33

2. OPERATION

2– 3

Note: 7. When starting operation, always connect the external emergency

stop signal (EMG) and forward/reverse rotation stroke end signal

(LSN/LSP) with SG. (Normally closed contacts)

8. The pins with the same signal name are connected in the servo amplifier.

9. The trouble (ALM) signal is on when there is no alarm, i.e. in the normal state. When this signal is switched off (at occurrence of an alarm), the output of the controller should be stopped by the sequence program.

10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).

11. This length applies to the command pulse train input in the opencollector system. It is 10m (32 ft) or less in the differential line driver system.

12. The connection method changes with the servo motor series. Refer to Section 3-2-2.

13. 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 servo motor.

Note: 2. Connect the diode in the correct direction. If it is connected re-

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

3. The emergency stop switch must be installed.

Note: 1. To prevent an electric shock, always connect the protective

earth(PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.

Note: 4. When using the regenerative brake option, always remove the

lead from across D-P.

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

6. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.

WARNING

NOTICE

CAUTION

MEMORANDUM

Page 34

2. OPERATION

2– 4

(2) Connection with the AD75P /A1SD75P

NFB

Servo amplifier

MR – J2 – A

TE1

U V

L1 L2 L3

L11 L21 C D P

TE2

Power supply

3-phase 200VAC

(Note 13) 1-phase 230VAC

Signal

Pin No.

OPC PP

PULSE F+

PULSE F -

PULSE R+

PULSE R -

CLEAR

CLEAR COM

READY

COM

INPS

PG0(+5V)

PG0 COM

10 RD COM

INP

LZR

EMG

15 SON

RES

14 PC

LSP

16 LSN

17 SG

10 SG

Plate

10m (32ft) or less

Positioning unit AD75P/AISD75P

VDD

COM

ALM

ZSP

TLC

P15R

TLA

Plate

10m (32ft) or less

RA1 RA2 RA3

Do not connect when external power supply is used.

(Note 2, 6)

(Note 9) Trouble

Zero speed

Limiting torque

Upper limit setting

Analog torque limit

±10V/max. current

2m (6.5ft) or less

MO1

MO2

Plate

15m (49ft) or less

10kΩ 10kΩ

A A

Monitor output Max. +1mA meter Reading in both directions

Communication cable

(Option)

Encoder cable

(Option)

Personal computer

Windows 3.1

Encoder

EMG

24VDC

To be shut off when servo-on signal switches off or alarm signal is given.

Electromagnetic

brake

(Red)

(White)

(Black) (Green)

Servo motor

(Note 1)

(Note 4) Regenerative brake option

CN1A(Note 5, 8)

CN1B(Note 5, 8)

(Note 5, 8, 10)

CN3

(Note 5, 8, 10)

CN3

(Note 5, 8)

CN2

(Note 11)

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

CAUTION

(Note 3, 7) External emergency stop

Servo on

Reset

Proportion control

Torque limit

(Note 7) Forward rotation stroke end

Reverse rotation stroke end

NFB

Servo amplifier

MR – J2 – A1

TE1

L1 L2

L11 L21

Power supply

Single-phase 100VAC

For single-phase 100V power supply

(Note 12)

5LZ

Encoder Z-phase pulse (differential line driver) Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse (open collector)

15 LZR

6LA

16 LAR

7LB

17 LBR

1LG

14 OP

4 P15R

Plate

(Note 5, 8)

CN1A

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

CAUTION

Page 35

2. OPERATION

2– 5

Note: 7. When starting operation, always connect the external emergency

stop signal (EMG) and forward/reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)

8. The pins with the same signal name are connected in the servo amplifier.

10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).

11. This length applies to the command pulse train input in the differential line driver system. Though the command pulse train input may be in the open collector system, we recommend the differential line driver system which is less affected by external noises. The length is 2m (6.5ft) or less in the open collector system.

12. The connection method changes with the servo motor series. Refer to Section 3-2-2.

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

(PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.

Note: 4. When using the regenerative brake option, always remove the

lead from across D-P.

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

6. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.

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

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

3. The emergency stop switch must be installed.

CAUTION

WARNING

NOTICE

MEMORANDUM

Page 36

2. OPERATION

2– 6

2-1-2 Speed control mode

Servo amplifier

MR – J2 – A

TE1

L11 L21 C TE2 D P

NFB

Power supply

3-phase 200VAC

(Note) 1-phase 230VAC

L2 L3

U V

COM 9 SP1 8

SG RD 19

SA 18 SG 20

10m (32ft) or less

Speed selection 1

Ready

Speed reached

EMG 15 SON 5 RES 14 SP2 7 ST1 8 ST2 9 LSP 16 LSN 17 SG 10 SG 20

10m (32ft) or less

(Note 2, 6)

VDD 3

5LZ

4 MO1

3LG 14 MO2 13 LG

Plate

Encoder Z-phase pulse (differential line driver)

Monitor output Max. +1mA meter Reading in both directions

Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse (open collector)

15 LZR

6LA 16 LAR

7LB 17 LBR

1LG 14 OP

4 P15R

Plate

COM 13 ALM 18

ZSP 19

TLC 6 P15R 11 VC 2

TLA 12

LG 1

SD Plate

2m (6.5ft) or less

(Note 9) Trouble

Zero speed

(Note 7) Limiting torque

Do not connect when external power supply is used.

RA1

RA2

RA3

Servo motor

Electromagnetic

brake

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

(Green)

24VDC

EMG

Encoder cable

(Option)

Communication cable

(Option)

15m (49ft) or less

10kΩ

Personal computer

Windows 3.1

A A

2m (6.5ft) or less

To be shut off when servo-on signal switches off or alarm signal is given.

RA4

RA5

(Note 1)

(Note 4) Regenerative brake option

(Note 5, 8) CN1A

CN1B

(Note 5, 8)

CN1B(Note 5, 8)

(Note 5, 8) CN1A

(Note 5, 8, 10)

CN3

(Note 5, 8, 10)

CN3

(Note 5, 8)

CN2

Upper limit setting

Analog speed command

±10V/max. current

(Note 11) Analog command limit

Encoder

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

CAUTION

(Note 3, 7) External emergency stop

Servo on

Reset

Speed selection 2

Forward rotation start

Reverse rotation start

(Note 7) Forward rotation stroke end

Reverse rotation stroke end

NFB

Servo amplifier MR – J2 – A1

TE1

L1 L2

L11 L21

Power supply

Single-phase 100VAC

For single-phase 100V power supply

(Note 12)

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

CAUTION

Page 37

2. OPERATION

2– 7