Mitsubishi Electronics MR-J2S- B User Manual

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General-Purpose AC Servo

J2-Super Series

SSCNET Compatible

MODEL

MR-J2S- B

SERVO AMPLIFIER INSTRUCTION MANUAL

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual 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 Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols:

resulting in death or severe injury.

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

damage.

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

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

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, always keep it accessible to the operator.

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1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not.

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.

During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire.

Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

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

3. To prevent injury, note the follow

CAUTION

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

Connect the terminals correctly to prevent a burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The servo amplifier and servo motor must be installed in the specified direction. Leave specified clearances between the servo amplifier and control enclosure walls or other equipment. Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor. Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads. When you keep or use it, please fulfill the following environmental conditions.

Environment

In Ambient temperature

Ambient humidity

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

(Note) Vibration

Note. Except the servo motor with reduction gear.

operation

In storage

In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

In storage 90%RH or less (non-condensing)

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

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

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

] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

[m/s2] 5.9 or less

] 19.4 or less

[ft/s

Servo amplifier Servo motor

Conditions

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152 HC-SFS121 201 HC-SFS202 HC-SFS203

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 HC-SFS121 201 HC-SFS202 HC-SFS203

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

HC-SFS81

352 353

152

352 353

Y : 49

Y : 24.5

X : 24.5 Y : 49

X : 24.5 Y : 29.4 X : 11.7 Y : 29.4

Y : 161

Y : 80

X : 80 Y : 161

X : 80 Y : 96 X : 38 Y : 96

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CAUTION

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

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

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.

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

When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier

Servo motor

Servo motorServo amplifier

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

The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.

Servo

amplifier

(24VDC)

Control

output

signal

COM

Servo

amplifier

(24VDC)

Control

output

signal

COM

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

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(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION

Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately.

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

Before resetting an alarm, make sure that the run signal of the servo amplifier 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.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a 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 ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is 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 electromagnetic 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 interface unit signals but also by a forced stop (EM1).

Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR).

Servo motor

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate 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).

Circuit must be opened during forced stop (EM1).

EM1RA

24VDC

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(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier 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.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual 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 Instruction Manual.

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused 0y faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

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COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,

1997) of the EC 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.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive. This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10B to MR-J2S-22KB

MR-J2S-10B1 to MR-J2S-40B1

Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS

(2) Configuration

Control box

Reinforced

(Note) Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

insulating type

24VDC power supply

Servo amplifier

Servo motor

Note. The insulating transformer is not required for the 11kW or more servo amplifier.

(3) Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

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(4) Power supply

(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set

forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in IEC60664-1, a reinforced insulating transformer is not required in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been

insulation-reinforced in I/O.

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked

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

) of the

(b) Do not connect two ground cables to the same protective earth (PE) terminal (

) Always connect

the cables to the terminals one-to-one.

PE terminals

terminals of the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring

(a) The cables to be connected to the terminal block of the servo amplifier must have crimping

terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard

compliant power connector sets are available from us as options.

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in section 12.2.2.

(b) The sizes of the cables described in section 12.2.1 meet the following requirements. To meet the

other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient temperature: 40 (104) [ ( )] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray

(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(IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10B to MR-J2S-22KB

MR-J2S-10B1 to MR-J2S-40B1

Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS

(2) Installation

Install a cooling fan of 100CFM (2.8m provide cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to the above circuit.

/min) air flow 4 in (10.16 cm) above the servo amplifier or

(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.

Servo amplifier

MR-J2S-10B(1) 20B(1) 1

MR-J2S-40B(1) 60B 2 MR-J2S-70B to 350B 3 MR-J2S-500B 700B 5

MR-J2S-11KB 4 MR-J2S-15KB 6 MR-J2S-22KB 8

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.

Discharge time

[min]

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<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MRJ2S-B safely. Also read the manual of the servo system controller.

Relevant manuals

Manual name Manual No.

MELSERVO-J2-Super Series To Use the AC Servo Safely (Packed with the servo amplifier) MELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310

IB(NA)0300010

A - 10

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-22

1.1 Introduction.............................................................................................................................................. 1- 1

1.2 Function block diagram ..........................................................................................................................1- 2

1.3 Servo amplifier standard specifications ................................................................................................ 1- 5

1.4 Function list ............................................................................................................................................. 1- 6

1.5 Model code definition .............................................................................................................................. 1- 7

1.6 Combination with servo motor ............................................................................................................... 1- 8

1.7 Structure................................................................................................................................................... 1- 9

1.7.1 Parts identification ........................................................................................................................... 1- 9

1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-14

1.8 Servo system with auxiliary equipment............................................................................................... 1-17

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions....................................................................................................................... 2- 1

2.2 Installation direction and clearances .................................................................................................... 2- 2

2.3 Keep out foreign materials ..................................................................................................................... 2- 3

2.4 Cable stress .............................................................................................................................................. 2- 4

3. SIGNALS AND WIRING 3- 1 to 3-38

3.1 Connection example of control signal system ....................................................................................... 3- 2

3.1.1 MR-J2S-700B or less ........................................................................................................................ 3- 2

3.1.2 MR-J2S-11KB or more ..................................................................................................................... 3- 4

3.2 I/O signals................................................................................................................................................. 3- 6

3.2.1 Connectors and signal arrangements .............................................................................................3- 6

3.2.2 Signal explanations ..........................................................................................................................3- 8

3.3 Alarm occurrence timing chart .............................................................................................................. 3- 9

3.4 Interfaces ................................................................................................................................................. 3-10

3.4.1 Common line .................................................................................................................................... 3-10

3.4.2 Detailed description of the interfaces ............................................................................................ 3-11

3.5 Power line circuit.................................................................................................................................... 3-14

3.5.1 Connection example......................................................................................................................... 3-14

3.5.2 Terminals.......................................................................................................................................... 3-16

3.5.3 Power-on sequence........................................................................................................................... 3-17

3.6 Connection of servo amplifier and servo motor ...................................................................................3-18

3.6.1 Connection instructions ..................................................................................................................3-18

3.6.2 Connection diagram......................................................................................................................... 3-18

3.6.3 I/O terminals .................................................................................................................................... 3-20

3.7 Servo motor with electromagnetic brake ............................................................................................. 3-22

3.8 Grounding................................................................................................................................................ 3-26

3.9 Servo amplifier terminal block (TE2) wiring method .........................................................................3-27

3.9.1 For servo amplifier produced later than January, 2006.............................................................. 3-27

3.9.2 For servo amplifier produced earlier than December, 2005 ........................................................3-29

3.10 Instructions for the 3M connector....................................................................................................... 3-30

3.11 Control axis selection ...........................................................................................................................3-31

3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB ............................................................... 3-32

3.12.1 Connection example ...................................................................................................................... 3-33

3.12.2 Servo amplifier terminals ............................................................................................................. 3-34

3.12.3 Servo motor terminals................................................................................................................... 3-35

4. OPERATION AND DISPLAY 4- 1 to 4- 8

4.1 When switching power on for the first time.......................................................................................... 4- 1

4.2 Start up..................................................................................................................................................... 4- 2

4.3 Servo amplifier display ...........................................................................................................................4- 4

4.4 Test operation mode ................................................................................................................................ 4- 6

5. PARAMETERS 5- 1 to 5-20

5.1 Parameter write inhibit .......................................................................................................................... 5- 1

5.2 Lists........................................................................................................................................................... 5- 1

5.3 Analog monitor ....................................................................................................................................... 5-14

5.4 Replacement of MR-J2-

5.4.1 Main modifications made to the parameters ................................................................................5-17

5.4.2 Explanation of the modified parameters....................................................................................... 5-18

6. GENERAL GAIN ADJUSTMENT 6- 1 to 6-12

B by MR-J2S- B .......................................................................................5-17

6.1 Different adjustment methods ...............................................................................................................6- 1

6.1.1 Adjustment on a single servo amplifier.......................................................................................... 6- 1

6.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 6- 3

6.2 Auto tuning .............................................................................................................................................. 6- 4

6.2.1 Auto tuning mode .............................................................................................................................6- 4

6.2.2 Auto tuning mode operation ............................................................................................................ 6- 5

6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 6

6.2.4 Response level setting in auto tuning mode................................................................................... 6- 7

6.3 Manual mode 1 (simple manual adjustment) .......................................................................................6- 8

6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 8

6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 8

6.4 Interpolation mode .................................................................................................................................6-11

6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 6-12

6.5.1 Response level setting ..................................................................................................................... 6-12

6.5.2 Auto tuning selection....................................................................................................................... 6-12

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-10

7.1 Function block diagram ..........................................................................................................................7- 1

7.2 Machine resonance suppression filter ...................................................................................................7- 1

7.3 Adaptive vibration suppression control................................................................................................. 7- 3

7.4 Low-pass filter ......................................................................................................................................... 7- 4

7.5 Gain changing function........................................................................................................................... 7- 5

7.5.1 Applications .......................................................................................................................................7- 5

7.5.2 Function block diagram.................................................................................................................... 7- 5

7.5.3 Parameters ........................................................................................................................................ 7- 6

7.5.4 Gain changing operation .................................................................................................................. 7- 8

8. INSPECTION 8- 1 to 8- 2

9. TROUBLESHOOTING 9- 1 to 9- 8

9.1 Alarms and warning list ......................................................................................................................... 9- 1

9.2 Remedies for alarms................................................................................................................................ 9- 2

9.3 Remedies for warnings............................................................................................................................ 9- 8

10. OUTLINE DIMENSION DRAWINGS 10- 1 to 10-10

10.1 Servo amplifiers................................................................................................................................... 10- 1

10.2 Connectors............................................................................................................................................ 10- 8

11. CHARACTERISTICS 11- 1 to 11- 8

11.1 Overload protection characteristics ...................................................................................................11- 1

11.2 Power supply equipment capacity and generated loss .................................................................... 11- 2

11.3 Dynamic brake characteristics........................................................................................................... 11- 5

11.3.1 Dynamic brake operation............................................................................................................. 11- 5

11.3.2 The dynamic brake at the load inertia moment ........................................................................11- 7

11.4 Encoder cable flexing life ....................................................................................................................11- 7

11.5 Inrush currents at power-on of main circuit and control circuit .................................................... 11- 8

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12-64

12.1 Options.................................................................................................................................................. 12- 1

12.1.1 Regenerative options .................................................................................................................... 12- 1

12.1.2 FR-BU2 brake unit...................................................................................................................... 12-10

12.1.3 Power regeneration converter .................................................................................................... 12-17

12.1.4 External dynamic brake.............................................................................................................. 12-20

12.1.5 Cables and connectors .................................................................................................................12-23

12.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................ 12-36

12.1.7 Battery (MR-BAT, A6BAT)......................................................................................................... 12-37

12.1.8 MR Configurator (servo configurations software) ....................................................................12-37

12.1.9 Power regeneration common converter .....................................................................................12-39

12.1.10 Heat sink outside mounting attachment (MR-JACN)........................................................... 12-43

12.2 Auxiliary equipment .......................................................................................................................... 12-46

12.2.1 Recommended wires.................................................................................................................... 12-46

12.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 12-49

12.2.3 Power factor improving reactors ................................................................................................ 12-49

12.2.4 Power factor improving DC reactors.......................................................................................... 12-50

12.2.5 Relays............................................................................................................................................ 12-51

12.2.6 Surge absorbers ...........................................................................................................................12-51

12.2.7 Noise reduction techniques......................................................................................................... 12-52

12.2.8 Leakage current breaker............................................................................................................. 12-59

12.2.9 EMC filter..................................................................................................................................... 12-61

13. ABSOLUTE POSITION DETECTION SYSTEM 13- 1 to 13- 4

13.1 Features................................................................................................................................................ 13- 1

13.2 Specifications ....................................................................................................................................... 13- 2

13.3 Battery installation procedure ........................................................................................................... 13- 3

13.4 Confirmation of absolute position detection data............................................................................. 13- 4

APPENDIX App- 2

App 1. Combination of servo amplifier and servo motor ...................................................................... App- 1

App 2. Change of connector sets to the RoHS compatible products .................................................... App- 2

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULATION METHODS FOR DESIGNING

MEMO

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions. It is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo amplifier reads position data directly to perform operation. Data from a command unit controls the speed and rotation direction of the servo motor and executes precision positioning. A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. The torque limit value can be changed to any value with an external analog input or the parameter. As this new series has the RS-232C serial communication function, a MR Configurator (servo configuration software)-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2 series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J2S-350B or less

Regenerative option

(Note 2) Power supply

NFB MC

Servo amplifier

Diode stack

L21

Position command input

Relay

CHARGE lamp

(Note 3) Cooling fan

Control circuit power supply

Model position

control

Regenerative TR

Base

amplifier

Model speed

(Note 1)

control

Voltage

detection

Current detector

Overcurrent

protection

encoder

Virtual

motor

Dynamic

detection

Virtual

brake

Current

CN2

Servo motor

Encoder

Electromagnetic brake

Model position

Actual position

control

Model speed

Actual speed

control

I/F Control

CN1A CN1B

Controller

Servo amplifier

termination

connector

Note 1. The built-in regenerative resistor is not provided for the MR-J2S-10B (1).

2. For 1-phase 230V, connect the power supply to L

3 is not provided for a 1-phase 100 to120V power supply. Refer to section 1.3 for the power supply specification.

1, L2 and leave L3 open.

3. Servo amplifiers MR-J2S-200B have a cooling fan.

1 - 2

Model torque

Current control

RS-232C

CN3

D/A

Analog monitor (2 channels)

Personal computer

MR-BAT

CON1

Optional battery (for absolute position detection system)

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-500B, MR-J2S-700B

Regenerative option

(Note) Power supply

NFB MC

Servo amplifier

Diode stack

L21

Position command input

Relay

CHARGE lamp

Control circuit power supply

Model position

control

Regenerative TR

Cooling fan

Base

amplifier

Model speed

CP N

control

Voltage

detection

Current detector

Overcurrent

Protection

encoder

Virtual

motor

Dynamic

Virtual

brake

Current

detection

CN2

Servo motor

Encoder

Electromagnetic brake

Model position

Actual position

control

I/F Control

CN1A CN1B

Controller

Servo amplifier

Note. Refer to section 1.3 for the power supply specification.

Model speed

Actual speed

control

Servo amplifier

termination

connector

Model torque

Current control

MR-BAT

CON1

RS-232C

D/A

CN3

Optional battery (for absolute position detection system)

Analog monitor

(2 channels)

Personal computer

1 - 3

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-11KB or more

Regenerative option

(Note) Power supply

NFB MC

Servo amplifier

Diode

Thyristor

stack

Position command input

Control circuit power supply

Model position

control

CHARGE lamp

Cooling fan

Base

amplifier

Model speed

NP1

Regenrative TR

Voltage

detection

control

Overcurrent

protection

Virtual

motor

Current detector

Current

detection

Virtual

encoder

CN2

Servo motor

Electro-

magnetic brake

Encoder

Model position

Actual position

Actual speed

control

I/F Control

CN1A CN1B

Controller

Servo amplifier

termination

connector

Note. Refer to section 1.3 for the power supply specification.

Model speed

control

Model torque

Current control

RS-232C

CN3 CN4

D/A

MR-BAT

CON1

Optional battery (for absolute position detection system)

Analog monitor (2 channels)

Personal computer

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo amplifier

MR-J2S-

Item

Voltage/frequency

Permissible voltage fluctuation

Power supply

Permissible frequency fluctuation Power supply capacity Refer to section 11.2

Inrush current Refer to section 11.5 Control system Sine-wave PWM control, current control system Dynamic brake Built-in

Protective functions

Structure Self-cooled, open (IP00)

In Ambient temperature

Ambient humidity

Ambient

Environment

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

Vibration

Mass

operation

In storage

In operation

In storage

10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1

3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC:170 to 253VAC 1-phase 230VAC: 207 to 253VAC

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder fault protection, regenerative fault protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

[ ]0 to 55 (non-freezing) [

] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [

] 4 to 149 (non-freezing)

90%RH or less (non-condensing)

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

5.9 [m/s2] or less

19.4 [ft/s

[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 16 16 20 0.7 0.7 1.1

[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 15.9 35.3 35.3 44.1 1.5 1.5 2.4

] or less

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

3-phase 170 to 253VAC

Within

Force-cooling, open

(IP00)

External

1-phase 100 to 120VAC 50/60Hz

1-phase 85 to 127VAC

Self-cooled,

open(IP00)

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description Reference

High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Absolute position detection system Adaptive vibration suppression control

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Slight vibration suppression control

Auto tuning

Regenerative option

Brake unit

Return converter

Torque limit Servo motor torque can be limited to any value.

Forced stop signal automatic ON Output signal (DO) forced output Test operation mode JOG operation positioning operation motor-less operation DO forced output Section 4.4 Analog monitor output Servo status is output in terms of voltage in real time. Parameter No. 22 MR Configurator (Servo configuration software)

Merely setting a home position once makes home position return unnecessary at every power-on. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator (servo configuration software)-installed personal computer and servo amplifier. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. The MR Configurator (servo configuration software) is required. Personal computer changes gains automatically and searches for overshootfree gains in a short time. The MR Configurator (servo configuration software) is required.

Suppresses vibration of

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MELSERVO-J2 series servo amplifier. Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative option cannot provide enough regenerative power. Can be used with the MR-J2S-500B to MR-J2S-22KB. Used when the regenerative option cannot provide enough regenerative power. Can be used with the MR-J2S-500B to MR-J2S-22KB.

Forced stop (EM1) can be automatically switched on internally to invalidate it. Parameter No.23

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

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

1 pulse produced at a servo motor stop. Parameter No.24

Chapter 13

Section 7.3

Section 7.4

Chapter 6

Section 12.1.1

Section 12.1.2

Section 12.1.3

Parameters No.10, 11

Section 4.4 (1) (e)

Section 12.1.8

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Rating plate

(2) Model

MR–J2S–

Series

MITSUBISHI

MODEL

POWER

MR-J2S-60B

POWER : INPUT :

OUTPUT : SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

600W

3.2A 3PH 1PH200-230V 50Hz 3PH 1PH200-230V 60Hz

5.5A 1PH 230V 50/60Hz

170V 0-360Hz 3.6A A5 TC3 AAAAG52

AC SERVO

PASSED

Model

Capacity

Applicable power supply

Rated output current

Serial number

MR–J2S–100B or less

MR–J2S–200B 350B

With no regenerative resistor

Symbol

Description

Indicates a servo amplifier of 11k to 22kW that does

–PX

not use a regenerative resistor as standard accessory.

Power Supply

Symbol

3-phase 200 to 230V

None

(Note 2)

(Note1)

1-phase 100V to 120V

Power supply

1-phase 230V

MR-J2S-500B

Rating plate

MR-J2S-700B

Note 1. 1-phase 200V to 230V is supported by 400W or less.

2. 1-phase 100V to 120V is supported by 750W or less.

SSCNET compatible

Rated output

Symbol

Rated output [kW]

500

Rated output [kW]

3.5350 5 7700

11 15 22

Rating plate

MR-J2S-11KB 15KB

Rating plate

MR-J2S-22KB

Symbol

0.110

0.220

0.440

0.660

0.7570 1100

11k 15k

22k

2200

Rating plateRating plate

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.6 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 and the models with reduction gears.

Servo motors

Servo amplifier

MR-J2S-10B(1) 053 13 053 13 13 MR-J2S-20B(1) 23 23 23 MR-J2S-40B(1) 43 43 43

MR-J2S-60B 52 53

MR-J2S-70B (Note 1) 73 73 72 73 MR-J2S-100B 81 102 103 MR-J2S-200B 121 201 152 202 153 203 103 153 152 MR-J2S-350B 301 352 353 (Note 1) 203 (Note 1)202

MR-J2S-500B

MR-J2S-700B

HC-KFS

HC-MFS

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

HC-SFS HC-UFS

(Note 1)

502

(Note 1)

702

HC-RFS

(Note 1)

353

503

2000r/min 3000r/min

(Note 1)

352 502

Servo motors

Servo amplifier

1000r/min 1500r/min 2000r/min

MR-J2S-60B 52 MR-J2S-100B 102 MR-J2S-200B 152 MR-J2S-350B 202

MR-J2S-500B

MR-J2S-700B (Note 2)601 (Note 2)701M

MR-J2S-11KB

MR-J2S-15KB (Note 1)15K1

MR-J2S-22KB

Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to appendix.

2. Consult us since the servo amplifier to be used with any of these servo motors is optional.

(Note 1)

801

(Note 1)

20K1

12K1

25K1

HA-LFS

(Note 1)

11K1M

(Note 1)

15K1M

(Note 1)

22K1M

(Note 1)

502

(Note 1)

702

(Note 1)

11K2

(Note 1)

15K2

(Note 1)

22K2

(Note 1)

HC-LFS

302

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification

(1) MR-J2S-100B or less

Name/Application

Battery holder Contains the battery for absolute position data backup.

Reference

Section 13.3

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

Section 13.3

backup.

Display The two-digit, seven-segment LED shows the servo

Chapter 4

status and alarm number.

Axis select switch (SW1)

SW1

servo amplifier.

Used to set the axis number of the

Section 3.11

Bus cable connector (CN1A) Used to connect the servo system controller or

Section 3.2

preceding axis servo amplifier.

Bus cable connector (CN1B) Used to connect the subsequent axis servo amplifier

Section 3.2

or termination connector (MR-A-TM).

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Section 3.2

Section 12.1.5

Rating 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) Used to connect 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 option.

Protective earth (PE) terminal ( ) Ground terminal.

1 - 9

Section 1.5

Section 3.2

Section 12.1.5

Section 3.5.2

Section 10.1

Section 3.5.2

Section 10.1

Section 12.1.1

Section 3.8

Section 10.1

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200B MR-J2S-350B

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

Name/Application

Battery holder Contains the battery for absolute position data backup.

Reference

Section 13.3

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

Section 13.3

backup.

Display The two-digit, seven-segment LED shows the servo

status and alarm number.

Axis select switch (SW1)

Chapter 4

SW1

the servo amplifier.

Used to set the axis number of

Section 3.11

Bus cable connector (CN1A) Used to connect the servo system controller or

Section 3.2

preceding axis servo amplifier.

Bus cable connector (CN1B) Used to connect the subsequent axis servo amplifier

Section 3.2

or termination connector (MR-A-TM).

Cooling fan

Fixed part (4 places)

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Rating 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) Used to connect 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 option.

Protective earth (PE) terminal ( ) Ground terminal.

1 - 10

Section 3.2

Section 12.1.5

Section 1.5

Section 3.2

Section 12.1.5

Section 3.5.2

Section 10.1

Section 3.5.2

Section 10.1

Section 12.1.1

Section 3.8

Section 10.1

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500B

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

Fixed part (4 places)

Name/Application

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

Battery holder Contains the battery for absolute position data backup.

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

Axis select switch (SW1)

SW1

Used to set the axis number of the

servo amplifier.

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

Reference

Section 13.3

Chapter 4

Section 3.11

Section 3.2

Cooling fan

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

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Encoder connector (CN2) Used to connect the servo motor encoder.

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

Control circuit terminal block (TE2) Used to connect the control circuit power supply.

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

Rating plate

Protective earth (PE) terminal ( ) Ground terminal.

Section 3.2

Section 12.1.5

Section 3.2

Section 12.1.5

Section 3.5.2

Section 10.1

Section 12.1.1

Section 3.5.2

Section 10.1

Section 1.5

Section 3.8

Section 10.1

1 - 11

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700B

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

Name/Application

Reference

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

Section 13.3

backup. Battery holder

Contains the battery for absolute position data backup.

Section 13.3

Display

status and alarm number.

The two-digit, seven-segment LED shows the servo

Chapter 4

Axis select switch (SW1)

SW1

Used to set the axis number of the

servo amplifier.

Section 3.11

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

Section 3.2

Cooling fan

Fixed part (4 places)

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

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

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

Control circuit terminal block (TE2) Used to connect the control circuit power supply.

Encoder connector (CN2) Used to connect the servo motor encoder.

Rating plate

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

Protective earth (PE) terminal ( ) Ground terminal.

Section 3.2

Section 12.1.5

Section 3.5.2

Section 10.1

Section 12.1.1

Section 3.2

Section 12.1.5

Section 1.5

Section 3.5.2

Section 10.1

Section 3.8

Section 10.1

1 - 12

1. FUNCTIONS AND CONFIGURATION

(5) MR-J2S-11KB or more

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

Cooling fan

Name/Application

Axis select switch (SW1)

SW1

Used to set the axis number of

the servo amplifier.

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

Battery holder Contains the battery for absolute position data backup.

Battery connector (CON1) Used to connect the battery for absolute position data backup. Monitor output terminal (CN4) Used to output monitor values on two channels in the form of analog signals.

Communication connector (CN3) Used to connect a personal computer (RS-232C) .

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

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

Reference

Section 3.11

Chapter 4

Section 13.3

Section 3.2

Section 12.1.5

Section 3.2

Section 12.1.5

Section 3.2

Fixed part (4 places)

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

Control circuit terminal block (TE2) Used to connect the control circuit power supply.

Encoder connector (CN2) Used to connect the servo motor encoder.

I/O signal connector (CON2) Used to connect digital I/O signals.

Rating plate

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

Protective earth (PE) terminal ( ) Ground terminal.

1 - 13

Section 3.5.2

Section 10.1

Section 12.1.1

Section 3.2

Section 12.1.5

Section 3.2

Section 12.1.5

Section 1.5

Section 3.5.2 Section 10.1

Section 3.8

Section 10.1

1. FUNCTIONS AND CONFIGURATION

1.7.2 Removal and reinstallation of the front cover

Before removing or installing the front cover, turn off the power and wait for 15

minutes or more until the charge lamp turns off. Then, confirm that the voltage

CAUTION

(1) For MR-J2S-350B or less

Removal of the front cover

between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.

Reinstallation of the front cover

Front cove

1) Hold down the removing knob.

2) Pull the front cover toward you.

(2) For MR-J2S-500B

Removal of the front cover

Front cover hook

(2 places)

Front cover socket (2 places)

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

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

Reinstallation of the front cover

Front cover hook (2 places)

Front cover

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 - 14

1. FUNCTIONS AND CONFIGURATION

(3) For MR-J2S-700B

Removal of the front cove

Reinstallation of the front cove

Front cover hook (2 places)

1) A)

1) Push the removing knob A) or B), and put you finger into the front hole of the front cover.

2) Pull the front cover toward you.

(4) For MR-J2S-11KB or more

Removal of the front cover

Front cover socket (2 places)

1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier.

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

Mounting screws (2 places)

1) Remove the front cover mounting screws (2 places)

and remove the front cover.

3) Remove the front cover by drawing it in the direction of arrow.

2) Remove the front cover mounting screws (2 places).

1 - 15

1. FUNCTIONS AND CONFIGURATION

Reinstallation of the front cove

Mounting screws (2 places)

1) Insert the front cover in the direction of arrow.

Mounting screws (2 places)

3) Fit the front cover and fix it with the mounting screws (2 places).

2) Fix it with the mounting screws (2 places).

1 - 16

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliary equipment

WARNING

(1) MR-J2S-100B or less

(a) For 3-phase 200V to 230V or 1-phase 230V

To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth (PE) of the control box.

(Note 2) Power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator (Servo configuration software)

Servo amplifier

CHARGE

To CN2

Reference

Section 12.2.2

Section 12.1.8

To CN1A

To CN1B

To CN3

Options and auxiliary equipment

Regenerative option

Cables

Power factor improving reactor Section 12.2.3

Servo system

controller

preceding axis

servo amplifier

CN1B

Subsequent axis

servo amplifier

CN1A

Termination

connector

Personal computer

MR Configurator (Servo configuration software MRZJW3-SETUP151E)

Reference

Section 12.1.1

Section 12.2.1

L1 L

Control circuit terminal block

L21

L11

Regenerative option

Note 1. The HC-SFS, HC-RFS series have cannon connectors.

2. A 1-phase 230V power supply may be used with the servo amplifier of MR-J2S-70B or less. For 1-phase 230V, connect the

power supply to L

1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification.

(Note 1) Encoder cable

(Note 1) Power supply lead

Servo motor

1 - 17

1. FUNCTIONS AND CONFIGURATION

(b) For 1-phase 100V to 120V

(Note 2) Power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator (Servo configuration software)

Servo amplifier

To CN2

L1 L

CHARGE

Reference

Section 12.2.2

Section 12.1.8

To CN1A

To CN1B

To CN3

Options and auxiliary equipment

Regenerative option

Reference

Section 12.1.1

Cables Section 12.2.1

Power factor improving reactor Section 12.2.3

Servo system

controller

or preceding axis servo amplifier

CN1B

Subsequent axis

servo amplifier

CN1A

Termination

connector

Personal computer

MR Configurator (Servo configuration software MRZJW3-SETUP151E)

Control circuit terminal block

Regenerative option

Note 1. The HC-SFS, HC-RFS series have cannon connectors.

2. Refer to section 1.3 for the power supply specification.

(Note 1) Encoder cable

(Note 1) Power supply lead

Servo motor

1 - 18

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200B MR-J2S-350B

(Note) Power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FA-BAL)

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator (Servo configuration software)

Servo amplifier

To CN2

L11

Reference

Section 12.2.2

Section 12.1.8

Options and auxiliary equipment

Regenerative option

Reference

Section 12.1.1

Cables Section 12.2.1

Power factor improving reactor Section 12.2.3

Servo system

controller

or Preceding axis servo amplifier

CN1B

To CN1A

Subsequent axis

servo amplifier

CN1A

To CN1B

Termination

connector

MR Configurator

To CN3

Personal computer

(Servo configuration software MRZJW3SETUP151E)

L1 L

Note. Refer to section 1.3 for the power supply specification.

UVWPC

Regenerative option

1 - 19

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500B

(Note 2) Power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FA-BAL)

(Note 1)

Regenerative option

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator (Servo configuration software)

Reference

Section 12.2.2

Section 12.1.8

Options and auxiliary equipment

Regenerative option

Reference

Section 12.1.1

Cables Section 12.2.1

Power factor improving reactor Section 12.2.3

Servo system

controller

Preceding axis

Servo amplifier

To CN1A

To CN1B

servo amplifier

CN1B

Subsequent axis

servo amplifier

CN1A

Termination

connector

MR Configurator (Servo configuration

U V

To CN3

Personal computer

software MRZJW3SETUP151E)

To CN2

L21

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.

2. Refer to section 1.3 for the power supply specification.

1 - 20

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700B

(Note 2) Power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power

acto improving reacto (FA-BAL)

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator

(Servo configuration software)

Servo amplifier

L21

Reference

Section 12.2.2

Section 12.1.8

To CN1A

To CN1B

To CN3

To CN2

U V

Options and auxiliary equipment Reference

Regenerative option

Section 12.1.1

Cables Section 12.2.1

Power factor improving reactor Section 12.2.3

Servo system

controller

or Preceding axis servo amplifier

CN1B

Subsequent axis

servo amplifier

CN1A

Termination

connector

MR Configurator (Servo

configuration Personal computer

software

MRZJW3-

SETUP151E)

(Note 1) Regenerative option

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.

2. Refer to section 1.3 for the power supply specification.

1 - 21

1. FUNCTIONS AND CONFIGURATION

(5) MR-J2S-11KB or more

Options and auxiliary equipment

(Note 3) Power supply

No-fuse breaker(NFB) or fuse

No-fuse breaker

Magnetic contactor

MR Configurator (Servo configuration software)

Reference

Section 12.2.2

Section 12.1.8

Options and auxiliary equipment Reference

Regenerative option

Cables

Section 12.1.1

Section 12.2.1

Power factor improving reactor Section 12.2.3

Power factor improving DC reactor

Section 12.2.4

MR Configurator

Personal computer

(Servo configuration software MRZJW3-SETUP151E)

Magnetic contactor (MC)

(Note 2) Power factor improving reactor (FR-BAL)

L21

To CN3

Analog monitor

To CN4

MITSUBIS HI

Servo system

controller or Preceding axis servo amplifier

To CN1A

CN1B

Subsequent axis

servo amplifier

CN1A or

L3 L2 L1

To CN1B

Forced stop etc.

Terminal

connector

To CON2

To CN2

Regenerative option

(Note 2)

Power factor improving

DC reactor (FR-BEL)

(Note 1)

Note 1. There is no BW when the HA-LFS 11K2 is used.

2. Use either the FR-BAL or FR-BEL power factor improving reactor.

3. Refer to section 1.3 for the power supply specification.

1 - 22

Servo motor HA-LFS series

2. INSTALLATION

CAUTION

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

Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction Manual.

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

Use the equipment within the specified environmental condition range. (For the environmental conditions, refer to section 1.3.)

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

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

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

Do not install or operate a faulty servo amplifier.

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

When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier.

2.1 Environmental conditions

Environment Conditions

In Ambient temperature

Ambient humidity

Ambience

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

Vibration

operation

In storage

In operation

In storage

[ ]0 to 55 (non-freezing)

] 32 to 131 (non-freezing)

[ [ ] 20 to 65 (non-freezing)

] 4 to 149 (non-freezing)

[

90%RH or less (non-condensing)

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

[m/s2] 5.9 [m/s2] or less

] 19.4 [ft/s2] or less

[ft/s

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances

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

CAUTION

(1) Installation of one servo amplifier

10mm (0.4 in.) or more

Leave specified clearances between the servo amplifier and control box inside walls or other equipment.

Control box Control box

40mm (1.6 in.) or more Servo amplifier

10mm (0.4 in.) or more

Wiring clearance 70mm

(2.8 in.)

Top

40mm (1.6 in.) or more

Bottom

2 - 2

2. INSTALLATION

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

Control box

100mm (4.0 in.) or more

Servo amplifier

10mm (0.4 in.) or more

30mm (1.2 in.) or more

40mm (1.6 in.) or more

30mm (1.2 in.) or more

(3) Others

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

2.3 Keep out foreign materials

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

servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control

box or a cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an

air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2 - 3

2. INSTALLATION

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight

stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)

supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner

or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as

large as possible. Refer to section 11.4 for the flexing life.

2 - 4

3. SIGNALS AND WIRING

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

Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off

WARNING

or not.

Ground the servo amplifier and the servo motor securely.

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

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

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

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

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop(EM1) and other protective circuits.

CAUTION

Servo

amplifier

(24VDC)

Control

output

signal

COM

Servo

amplifier

COM

(DC24V)

Control output signal

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

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

When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

Do not modify the equipment.

During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.

POINT

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

3 - 1

3. SIGNALS AND WIRING

3.1 Connection example of control signal system

POINT

Refer to section 3.5 for the connection of the power supply system and to section 3.6 for connection with the servo motor.

3.1.1 MR-J2S-700B or less

(Note 9) MR Configurator (Servo configuration software)

Servo system controller

(Note 10, 14) Bus cable (Option)

Cable clamp (Option)

(Note 4) Personal computer

15m(49.2ft) or less

Servo amplifier

(Note 5, 8)

CN3

13 MBR

5COM

10 VDD

20 EM1

3SG 6LA

CN3

(Note 5)

CN1A

(Note 5)

CN1B

16 LAR

7LB

17 LBR

8LZ

18 LZR

4MO1

1LG 14 MO2 11 LG

Plate

SW1

Setting: 0

10m(32.81ft) or less

2m(6.56ft) or less

(Note 1)

(Note 2,6)

RA1

When using the forced stop (EM1) or magnetic brake interlock (MBR), make sure to connect it.

10k

Magnetic brake interlock

(Note 3,4,7) Forced stop

Encoder A-phase pulse (differential line driver)

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

Control common Analog monitor output Max. 1mA Reading in both directions

(Note15)

(Note 10, 14) Bus cable (Option)

(Note 13) MR-A-TM

MR-J2S-B

CN1A

CN1B

Setting: 1

MR-J2S-B

CN1A

CN1B

Setting: 2

MR-J2S-B

CN1A

CN1B

Setting: n

(2 axis)

SW1

(3 axis)

SW1

(n axis)

SW1

(Note 11)

(Note 12)

1 to 8

3 - 2

3. SIGNALS AND WIRING

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

earth (PE) of the control box.

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 forced stop (EM1) and other protective circuits.

3. If the controller does not have a forced stop function, always install a forced stop switch (Normally closed).

4. When a personal computer is connected for use of the test operation mode, always use the maintenance junction card (MR-

J2CN3TM) to enable the use of the forced stop (EM1). (Refer to section 12.1.6)

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.

7. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting “0001” in parameter

No.23, the forced stop (EM1) can be made invalid.

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

J2CN3TM). (Refer to section 12.1.3.)

9. Use MRZJW3-SETUP151E.

10. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to

use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

11. The wiring of the second and subsequent axes is omitted.

12. Up to eight axes (n

same bus.

13. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier located at the termination.

14. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer

to the following table and choose the bus cable.

1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the

MR-J2S-

QD75M MR-J2HBUS M

Motion controller

MR-J2S- B MR-J2-03B5 Maintenance junction card

15. When the A1SD75M (AD75M) is used as the controller, encoder pulses may not be output depending on the software version

of the controller. For details, refer to the A1SD75M (AD75M) Manual.

Q172CPU(N) Q172J2BCBL M(-B)

Q173CPU(N) Q173J2B CBL M

A motion MR-J2HBUS

B MR-J2-03B5

M-A

MR-J2HBUS

3 - 3

3. SIGNALS AND WIRING

3.1.2 MR-J2S-11KB or more

(Note 7) MR Configurator

(Servo configuration software)

Servo system controller

Personal computer

(Note 8, 12) Bus cable (Option)

Cable clamp (Option)

15m(49.2ft) or less

Servo amplifier

(Note 4)

CN3

178LBR

18 LZR

Plate

CN3

CON2

3 MBR

18 COM

15 VDD

CN4

(Note 4)

CN1A

(Note 4)

CN1B

SW1

Setting : 0

LAR

10m(32.81ft) or less

EM1

2m(6.56ft) or less

MO1

MO2

(Note 1)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

(Note 3, 6)

Forced stop

(Note 2, 5)

RA1

RA2

When using the forced stop (EM1), magnetic brake interlock (MBR) or dynamic brake interlock (DB), make sure to connect it.

10k

Analog monitor Max. 1mA

10k

Reading in both directions

Dynamic brake interlock

Magnetic brake interlock

(Note

13)

(Note 8, 12) Bus cable (Option)

(Note 11)

MR-A-TM

MR-J2S-B

(2 axis)

CN1A

CN1B

Setting : 1

MR-J2S-B

(3 axis)

CN1A

CN1B

Setting : 2

MR-J2S-B

(n axis)

CN1A

CN1B

Setting: n-1

(Note 9)

SW1

(Note 9)

SW1

(Note 9)

SW1

(Note 10)

n= 1 to 8

3 - 4

3. SIGNALS AND WIRING

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

(PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the interface unit will be faulty and will not output signals,

disabling the forced stop and other protective circuits.

3. If the controller does not have a forced stop (EM1) function, always install a forced stop switch (Normally closed).

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

5. The sum of currents that flow in the external relays should be 80mA max.

6. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting “0001” in DRU parameter

No.23 of the drive unit, the forced stop (EM1) can be made invalid.

7. Use MRZJW3-SETUP151E.

8. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to

use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

9. The wiring of the second and subsequent axes is omitted.

10. Up to eight axes (n

same bus.

11. Always insert the termination connector (MR-A-TM) into CN1B of the interface unit located at the termination.

12. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer

to the following table and choose the bus cable.

1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the

MR-J2S-

QD75M MR-J2HBUS M

Motion controller

MR-J2S- B MR-J2-03B5 Maintenance junction card

13. When the A1SD75M (AD75M) is used as the controller, encoder pulses may not be output depending on the software version

of the controller. For details, refer to the A1SD75M (AD75M) Manual.

Q172CPU(N) Q172J2BCBL M(-B)

Q173CPU(N) Q173J2B CBL M

A motion MR-J2HBUS

B MR-J2-03B5

M-A

MR-J2HBUS

3 - 5

3. SIGNALS AND WIRING

3.2 I/O signals

3.2.1 Connectors and signal arrangements

POINT

The pin configurations of the connectors are as viewed from the cable connector wiring section.

(1) MR-J2S-700B or less

CN1

CN1B

MDR

EMG*

MRR

MITSUBISHI MELSERVO-J2

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

LG LG

RD RD*

TD TD*

LG LG

EMG

CN2 CN3

BAT

LG LG

RD RD*

TD TD*

LG LG

EMG

RXD

MO1

VDD

COM

TXD

MO2

LAR

LZRLZ

EM1

EMG*

MBR

LBR

3 - 6

3. SIGNALS AND WIRING

(2) MR-J2S-11KB or more

CN3

CN1A Same as the one of the MR-J2S-700B or less.

CN1B Same as the one of the MR-J2S-700B or less.

CN2

BAT

MDR

MRR

CN4

MITSUBISHI

CHARGE

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

MO1

MO2

RXD

EM1

CON2

MBR

TXD

LAR

LZR

VDD

LBR

COM

3 - 7

3. SIGNALS AND WIRING

3.2.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to section 3.4.2.

(1) Connector applications

Connector Name Function/Application

CN1A Connector for bus cable from preceding axis.

CN1B Connector for bus cable to next axis

CN2 Encoder connector Used for connection with the servo motor encoder.

CN3

(Note) CN4 Analog monitor output connector

(Note) CON2 IO signal connector

Note. These connectors are exclusive to the MR-J2S-11KB or more.

Communication connector (I/O signal connector)

(2) I/O signals

(a) Input signal

Connector Pin

Signal Symbol

Forced stop EM1

No.

7kW

or less

11kW

or more

CN320CON2

Turn EM1 off (open EM1 common) to brin forced stop state, in which the base circuit is shut off and the dynamic brake is operated.

Turn EM1 on (short EM1 common) in the forced stop state to reset that state.

Used for connection with the controller or preceding-axis servo amplifier. Used for connection with the next-axis servo amplifier or for connection of the termination connector.

Used for connection with the personal computer. Serves as an I/O signal connector when the personal computer is not used. Used to output analog monitor 1 (MO1) and analog monitor 2 (MO2). Used to input a forced stop and output the dynamic brake interlock(DB), the electromagnetic brake interlock

Function/Application I/O Division

the motor to a

DI-1

(b) Output signals

Connector Pin

Signal Symbol

Electromagnetic brake interlock Dynamic brake interlock

Encoder A-phase pulse (Differential line driver)

Encoder B-phase pulse (Differential line driver)

Encoder Z-phase pulse (Differential line driver)

Analog monitor 1 MO1

Analog monitor 2 MO2

MBR

LAR

LBR

LZR

No.

7kW

or less

11kW

or more

CN313CON2

CN3

CN34CN41Used to output the data set in parameter No.22 to across

CN314CN42Used to output the data set in parameter No.22 to across

In the servo-off or alarm status, MBR turns off.

CON24When usin

When the dynamic brake is operated, DB turns off.

CN3

Outputs pulses per servo motor revolution set in parameter

No.38 in the differential line driver s

CN3

of the servo motor, the encoder B-phase pulse lags the

encoder A-phase pulse by a phase angle of

CN3

The zero-phase si

differential line driver system.

CN3

MO1-LG in terms of voltage. Resolution 10 bits

MO2-LG in terms of voltage. Resolution 10 bits

this signal, set 1 in the parameter No. 2.

Function/Application I/O Division

stem. In CCW rotation

/2.

nal of the encoder is output in the

Connector Pin

Signal Symbol

Internal power output for interface

Power input for digital interface

Common for digital interface

Control common LG

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

VDD

COM

No.

7kW

or less

11kW

or more

CN310CON2

CN35CON2

CN33CON21Common terminal to VDD and COM. Pins are connected internally.

CN3

Driver power output terminal for digital interface. Used to output

Permissible current: 80mA Driver power input terminal for digital interface. Used to input 24VDC (200mA or more) for input interface.

Connect with VDD.

Separated from LG. Common terminal to MO1 and MO2.

CN4

24V 10% to across VDD-COM. Connect with COM.

Function/Application

DO-1

DO-2

Analog

output

Analog

output

3 - 8

3. SIGNALS AND WIRING

3.3 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting

CAUTION

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

(Note)

Main circuit Control circuit

Base circuit

Dynamic brake

Servo-on command (from controller)

Alarm

Reset command (from controller)

Note. Switch off the main circuit power as soon as an alarm occurs.

power

operation.

As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.

OFF

Valid

Invalid

OFF

Alarm occurs.

Brake operation

YES

50ms or more 60ms or more

Remove cause of trouble.

Power off

Brake operation

YES

Power on

(1) Overcurrent, overload 1 or overload 2

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

(2) Regenerative alarm

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

(3) Instantaneous power failure

Undervoltage (10) occurs when the input power is in either of the following statuses.

A power failure of the control circuit power supply continues for 60ms or longer and the control

circuit is not completely off.

The bus voltage dropped to 200VDC or less for the MR-J2S B, or to 158VDC or less for the MR-J2S

B1.

3 - 9

3. SIGNALS AND WIRING

3.4 Interfaces

3.4.1 Common line

The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310).

Servo amplifier

24VDC

VDD

DI-1

COM

EM1

MBR

Servo motor

Ground

LA .etc

LAR .etc

LG SD

MO1 MO2

TXD

RXD

MRR

Analog monitor output

RS-232C

Servo motor encoder

CN2

Differential lin driver output

35mA max.

3 - 10

3. SIGNALS AND WIRING

3.4.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in section 3.2.2. Refer to this section and connect the interfaces with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Servo amplifier

24VDC

R: Approx. 4.7

For a transisto

Approx. 5mA

1.0V

CES

CEO 100 A

VDD

COM

EM1

Switch

(2) Digital output interface DO-1

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

(a) Inductive load

Servo amplifier

24VDC

VDD

COM

MBR

Load

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

3 - 11

3. SIGNALS AND WIRING

(b) Lamp load

Servo amplifier

24VDC

(3) Encoder pulse output DO-2

(Differential line driver system)

1) Interface Max. output current: 35mA

Servo amplifier Servo amplifier

LA (LB, LZ)

Am26LS32 or equivalent High-speed photocouple

VDD

COM

MBR

LA (LB, LZ)

100

LAR (LBR, LZR)

2) Pulse output

150

Servo motor CCW rotation

LAR

LBR

LZR

LAR (LBR, LZR)

Time cycle (T) is determined by the settings of parameter No.33 and 38.

400 s or more

3 - 12

3. SIGNALS AND WIRING

(4) Analog output

Output voltage : Max. output current :1mA Resolution :10bit

Servo amplifier

10V

MO1

(MO2)

10k

Reading in one or both directions 1mA meter

3 - 13

3. SIGNALS AND WIRING

3.5 Power line circuit

Always connect a magnetic contactor (MC) between the main circuit power supply and L

1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut

down the power supply on the side of the servo amplifier’s power supply. If a

CAUTION

3.5.1 Connection example

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Switch power off at detection of an alarm. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

POINT

For the power line circuit of the MR-J2S-11KB to MR-J2S-22KB, refer to section 3.12 where the power line circuit is shown together with the servo motor connection diagram.

(1) For 3-phase 200 to 230V power supply

(Note 2)

NFB MC

Power supply 3-phase 200 to 230V

Alarm

RA1

Forced stop

Controller

forced stop

RA2

Forced

stop

(Note 1)

OFF

Servo amplifier

VDD

COM

EM1

Note 1. Make sure to connect P1-P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.2.4.

2. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the

controller side.

3 - 14

3. SIGNALS AND WIRING

(2) For 1-phase 100 to 120V or 1-phase 230V power supply

(Note 1)

Alarm

RA1

Controller

forced stop

RA2

Forced

stop

OFF

Power supply 1-phase 100 to 120V or 1-phase 230V

NFB MC

Servo amplifier

(Note 2)

VDD

COM

Forced stop

EM1

Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the

controller side.

2. Not provided for 1-phase 100 to 120V.

3 - 15

3. SIGNALS AND WIRING

3.5.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 10.1.

Symbol

Connection Target

(Application)

L1, L2, L3Main circuit power supply

U, V, W Servo motor output

Power factor improving DC

reactor

L11, L21Control circuit power supply

Supply L1, L2 and L3 with the following power. For 1-phase 230V, connect the power supply to L

Servo amplifier

Power supply

3-phase 200 to 230VAC, 50/60Hz 1-phase 230VAC, 50/60Hz 1-phase 100 to 120VAC, 50/60Hz

Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. When not using the power factor improving DC reactor, connect P (Factory-wired.) When using the power factor improving DC reactor, disconnect the wiring across P

-P and connect the power factor improving DC reactor across P1-P.

Refer to section 11.2.4. Supply the following power to L11, L21.

Servo amplifier

Power supply

1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to 120VAC, 50/60Hz

Description

and leave L3 open.

1/L2

MR-J2S-10B to

70B

1 L2

1 L2 L3

MR-J2S-100B

to 22K

MR-J2S-10B1

to 40B1

1 L2

and P.

MR-J2S-10B to 700B MR-J2S-10B1 to 40B1

11 L21

P, C, D Regenerative option

Return converter

Brake unit

Protective earth (PE)

1) MR-J2S-350B or less When using servo amplifier built-in regenerative resistor, connect between P and D terminals. (Wired by default) When using regenerative option, disconnect between P-D terminals and connect regenerative option to P terminal and C terminal.

2) MR-J2S-500B and 700B MR-J2S-500B and 700B do not have D terminal. When using servo amplifier built-in regenerative resistor, connect P terminal and C terminal. (Wired by default) When using regenerative option, disconnect P terminal and C terminal and connect regenerative option to P terminal and C terminal. Refer to section 12.1.1.

3) MR-J2S-11KB to 22KB

MR-J2S-11KB to 22KB do not have D terminal. When not using the power supply return converter and the brake unit, make sure to connect the regenerative option to P terminal and C terminal.

Refer to section 12.1.1.

When using return converter/brake unit, connect to P terminal and N terminal. Do not connect to servo amplifier MR-J2S-200B or less. For details, refer to section 12.1.2 to 12.1.3.

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

3 - 16

3. SIGNALS AND WIRING

3.5.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.5.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

1, L2, L3, 1-phase 230V: L1, L2, 1-phase: L1 L2).

2) Switch on the control circuit power supply L

11, L21 simultaneously with the main circuit power

supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) in this section.)

(2) Timing chart

SON accepted

(3s)

Main circuit Control circuit

Base circuit

Servo-on command (from controller)

power

OFF

10ms 60ms60ms

(3) Forced stop

Install an forced stop circuit externally to ensure that operation can be stopped and

CAUTION

power shut off immediately.

If the controller does not have a forced stop function, make up a circuit that switches off main circuit power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6). During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the servo amplifier may be shortened.

Servo amplifier

VDD

COM

Forced stop

EM1

3 - 17

3. SIGNALS AND WIRING

3.6 Connection of servo amplifier and servo motor

3.6.1 Connection instructions

WARNING

shock.

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

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

CAUTION

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

POINT

Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact.

The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal (

) of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier

PE terminal

Servo motor

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.

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

3.6.2 Connection diagram

During power-on, do not open or close the motor power line. Otherwise, a

CAUTION

malfunction or faulty may occur.

POINT

For the connection diagram of the MR-J2S-11KB to MR-J2S-22KB, refer to section 3.12 where the connection diagram is shown together with the power line circuit.

The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to section 12.2.1. For encoder cable connection, refer to section 12.1.4. For the signal layouts of the connectors, refer to section

3.6.3. For the servo motor connector, refer to chapter 3 of the Servo Motor Instruction Manual.

3 - 18

3. SIGNALS AND WIRING

Servo motor Connection diagram

HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B)

Servo amplifier

U V

CN2

U (Red)

V (White)

W (Black)

(Green)

(Note 1)

24VDC

EM1

To be shut off when servo-off or alarm occurrence

Servo motor

Motor

(Note 2)

Electromagnetic brake

HC-SFS121 (B) to 301 (B) HC-SFS202 (B) to 702 (B) HC-SFS203 (B)

353 (B) HC-UFS202 (B) to 502 (B) HC-RFS353 (B)

503 (B)

Encoder cable

Encoder

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

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

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

Servo amplifier

U V

(Note 1)

24VDC

EM1

To be shut off when servo-off

Servo motor

U V

Motor

B1 B2

Electromagnetic brake

(Note 2)

or alarm occurrence

CN2

Encoder cable

Encoder

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

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

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

Servo amplifier

U V

Servo motor

U V

Motor

HC-SFS81 (B) HC-SFS52 (B) to 152 (B) HC-SFS53 (B) to 153 (B) HC-RFS103 (B) to 203 (B) HC-UFS72 (B)

152 (B)

EM1

24VDC

B1 B2

Electromagnetic brake

(Note 2)

(Note 1)

To be shut off when servo-off or alarm occurrence

CN2

Encoder cable

Encoder

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

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

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

3 - 19

3. SIGNALS AND WIRING

3.6.3 I/O terminals

(1) HC-KFS

Power supply connector 5557-04R-210

HC-MFS HC-UFS3000r/min series

Power supply lead 4-AWG19 0.3m (0.98ft.)

Encoder cable 0.3m (0.98ft.) With connector 1-172169-9 (Tyco Electronics)

View b

Signal

1 2 3 4

U V

(Earth)

Power supply connector (Molex) Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL (Female terminal) With electromagnetic brake 5557-06R-210 (receptacle) 5556PBTL (Female terminal)

Power supply connector 5557-06R-210

View b

Encoder connector signal arrangement

123

MRR BAT

456

MDR

789

LG SHD

View a

Signal

2 3 4 5 6

(Earth)

(Note) (Note)

U V

B1 B2

Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.

3 - 20

3. SIGNALS AND WIRING

(2) HC-SFS HC-RFS HC-UFS2000 r/min series

Encoder c onnector

Brake conn ector

Power supply co nnector

Servo motor

HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502 (B) HC-SFS203(B)

HC-SFS702(B)

HC-RFS103(B) to 203 (B)

HC-RFS353(B) 503(B)

HC-UFS72(B) 152(B)

HC-UFS202(B) to 502(B)

353(B)

Servo motor side connectors

For power supply For encoder

CE05-2A2223PD-B

CE05-2A2410PD-B

CE05-2A3217PD-B CE05-2A2223PD-B CE05-2A2410PD-B CE05-2A2223PD-B CE05-2A2410PD-B

MS3102A2029P

Electromagnetic

brake connector

The connector for power is shared.

MS3102A10SL4P

The connector for power is shared.

MS3102A10SL4P

Power supply connector signal arrangement

CE05-2A22-23PD-B

Key

View c

A B C D E F G H

Signal

(Earth)

(Note) (Note)

CE05-2A24-10PD-B

U V

B1 B2

Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.

Encoder connector signal arrangement

MS3102A20-29P

Key

Signal

MDR

MRR E

BAT

F G

T P

View a

Key Key

View c

Signal

A B

E F

U V

(Earth)

(Note)

Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.

Electromagnetic brake connector signal arrangemen

MS3102A10SL-4P

Key

Signal

K L

M N

SD P R

LG S

View b

CE05-2A32-17PD-B

A B

Signal (Note) (Note)

B C D

B1 B2

Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.

Signal

U V

(Earth)

3 - 21

3. SIGNALS AND WIRING

3.7 Servo motor with electromagnetic brake

Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1).

Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR).

Servo motor

CAUTION

Electromagnetic brake

Circuit must be opened during forced stop (EM1).

EM1RA

24VDC

The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before performing the operation, be sure to confirm that the electromagnetic brake operates properly.

POINT

Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Note the following when the servo motor equipped with electromagnetic brake is used.

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

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

3) Switch off the servo-on command after the servo motor has stopped.

(1) Connection diagram

Servo amplifier

VDD

COM

MBR

24VDC

Forced

stop

Servo motor

(2) Setting

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

3 - 22

3. SIGNALS AND WIRING

(3) Timing charts

(a) Servo-on command (from controller) ON/OFF

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

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

Servo-on command (from controller)

Driving instruction (from controller)

Electromagnetic brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of

external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual.

3. After the electromagnetic brake is released, give the operation command from the controller.

0 r/min

OFF

(Note 1) ON

OFF

0 r/min

Release

Activate

(60ms)

(80ms)

(Note 3)

Release delay time and external relay (Note 2)

Coasting

Electromagnetic brake operation delay time

(b) Forced stop command (from controller) or forced stop (EM1) ON/OFF

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

Forced stop command (from controller) or Forced stop (EM1)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

Forward rotation

0r/min

OFF

(Note)

OFF

Invalid

(ON)

Valid (OFF)

(10ms)

Electromagnetic brake

Electromagnetic brake release

Electromagnetic brake operation delay time

3 - 23

(180ms)

3. SIGNALS AND WIRING

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

Trouble (ALM)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

(d) Both main and control circuit power supplies off

Servo motor speed

Forward rotation

0r/min

OFF

(Note)

OFF

(ON)

Yes (OFF)

Forward rotation

0r/min

(10ms)

(Note 1) 15 to 60ms

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

Dynamic brake

(10ms)(10ms)

Dynamic brake Electromagnetic brake

Electromagnetic brake

(Note 2)

Yes (OFF)

OFF

(ON)

OFF

Base circuit

Electromagnetic brake interlock (MBR)

Trouble (ALM)

Main circuit

power

Control circuit

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

Electromagnetic brake operation delay time (Note 2)

3 - 24

3. SIGNALS AND WIRING

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

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time (Note 2)

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

Trouble (ALM)

Forward rotation

(Note 3)

Yes (OFF)

(10ms)(10ms)

(Note 1) 15ms or more

0r/min

OFF

(ON)

Main circuit power supply

Note 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (E9) occurs and

the trouble (ALM) does not turn off.

3. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

OFF

3 - 25

3. SIGNALS AND WIRING

3.8 Grounding

Ground the servo amplifier and servo motor securely.

WARNING

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

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

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

(

Control box

(Note 1) Power supply

NFB

Servo amplifier

Line filter

(Note 2)

CN1A

Programmable

controller

CN2

Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel.

Servo motor

Encoder

Outer

Protective earth (PE)

Note 1. For 1-phase 230V, connect the power supply to L1 L2 and leave L3 open.

There is no L

2. To reduce the influence of external noise, we recommend you to ground the bus cable near the controller using a cable

clamping fixture or to connect three or four data line filters in series.

3 for 1-phase 100 to 120V power supply. Refer to section 1.3 for the power supply specification.

box

3 - 26

3. SIGNALS AND WIRING

3.9 Servo amplifier terminal block (TE2) wiring method

POINT

Refer to table 12.1 2) and (4) of section 12.2.1 for the wire sizes used for wiring.

3.9.1 For servo amplifier produced later than January, 2006

(1) Termination of the cables

(a) Solid wire

After the sheath has been stripped, the cable can be used as it is.

Sheath

Approx. 10mm

(b) Twisted wire

1) When the cable is inserted directly Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault.

Core

2) When the twisted wires are put together using a bar terminal Use the bar terminal shown below.

Cable Size Bar Terminal Type

[mm2] AWG For 1 cable For 2 cables

1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK 2/2.5 14 AI2.5-10BU

Crimping Tool Manufacturer

CRIMPFOX ZA 3 Phoenix Contact

Cut the cable running out of bar terminal to less than 0.5 mm

Less than 0.5mm

When using a bar terminal for 2 cables, insert the cables in the direction where the insulation sleeve does not interfere with next pole, and pressure then.

Pressure

3 - 27

3. SIGNALS AND WIRING

(2) Connection

(a) When the cable is inserted directly

Insert the cable to the end pressing the button with a small flat-blade screwdriver or the like.

Button

Small flat blade screwdriver or the like

Twisted wire

When removing the short-circuit bar from across P-D, press the buttons of P and D alternately pulling the short-circuit bar. For the installation, insert the bar straight to the end.

(b) When the twisted wires are put together using a bar terminal

Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.

Bar terminal for one wire or solid wire

Bar terminal for two wires

When two cables are inserted into one opening, a bar terminal for 2 cables is required.

3 - 28

3. SIGNALS AND WIRING

3.9.2 For servo amplifier produced earlier than December, 2005

(1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.

Approx. 10mm (0.39inch)

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to

avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.

Cable Size Bar Terminal Type

[mm2] AWG For 1 cable For 2 cables

1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK 2/2.5 14 AI2.5-10BU

Crimping Tool

CRIMPFOX ZA 3 or CRIMPFOX UD 6

Manufacturer

Phoenix Contact

(2) Connection

Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.3 to 0.4N

m(2.7 to 3.5 lb in)) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. When using a cable of 1.5mm

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

Flat-blade screwdriver

Tip thickness 0.4 to 0.6mm

Overall width 2.5 to 3.5mm

To loosen.

To tighten.

Cable

Opening

Control circuit terminal block

Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit, please consult us.

Product Model Manufacturer/Representative

Torque screwdriver N6L TDK Nakamura Seisakusho Bit for torque screwdriver B-30, flat-blade, H3.5 X 73L Shiro Sangyo

3 - 29

3. SIGNALS AND WIRING

3.10 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

Ground plate

External conductor

SheathCore

Pull back the external conductor to cover the sheath

Screw

Cable

Screw

3 - 30

3. SIGNALS AND WIRING

3.11 Control axis selection

POINT

The control axis number set to SW1 should be the same as the one set to the servo system controller.

Use the axis select switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence. Set the switch to "F" when executing the test operation mode using MR Configurator (servo configuration software).

Axis select switch (SW1)

No. Description

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

9 Not used A Not used B Not used C Not used D Not used E Not used F Test operation mode or

when machine analyzer is used (Refer to section 6.1.2)

3 - 31

3. SIGNALS AND WIRING

3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB

CAUTION

cause a fire when the servo amplifier malfunctions.

Switch power off at detection of an alarm. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.

POINT

The power-on sequence is the same as in section 3.5.3.

3 - 32

3. SIGNALS AND WIRING

3.12.1 Connection example

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal turned off as soon as an alarm occurs, a servo forced stop is made valid, a controller forced stop, or a servo motor thermal relay alarm is made valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

3-phase 200 to 230V

Servo motor

thermal relay

RA3

NFB MC

Forced stop

(Note 1)

Alarm

RA1

(Note 4)

Controller

forced stop

RA2

Servo amplifier

L11

L21

VDD

COM

EM1

Forced

stop

CN2

OFF

(Note 2)

Dynamic

break

MR-JHSCBL M

cable

24VDC

power supply

Servo motor

HA-LFS series

Encoder

Cooling fan

RA3

OHS2OHS1

(Note 3)

Servo motor thermal relay

Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the

controller side.

2. When using the external dynamic break, refer to section 12.1.4.

3. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different

from that of the servo amplifier. Therefore, separate power supply is required.

4. Always connect P

1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.2.4.

3 - 33

3. SIGNALS AND WIRING

3.12.2 Servo amplifier terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 10.1.

Symbol

L1, L2, L3Main circuit power supply Supply L1, L2 and L3 with three-phase 200 to 230VAC, 50/60Hz power.

U, V, W Servo motor output Connect to the servo motor power supply terminals (U, V, W).

L11, L21Control circuit power supply Supply L11 and L21 with single-phase 200 to 230VAC power.

P, C Regenerative option

Connection Target

(Application)

Return converter

Brake unit

The servo amplifier built-in regenerative resistor is not connected at the time of shipment. When using the regenerative option, wire it across P-C. Refer to section 12.1.1 for details. When using the return converter or brake unit, connect it across P-N. Refer to sections 12.1.2 and 12.1.3 for details.

Description

P1, P

Protective earth (PE)

Power factor improving DC

reactors

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

-P are connected before shipment. When connecting a power factor improving

DC reactor, remove the short bar across P

-P. Refer to section 12.2.4 for details.

3 - 34

3. SIGNALS AND WIRING

3.12.3 Servo motor terminals

Terminal box

Encoder connector MS3102A20-29P

Terminal box inside (HA-LFS601 701M 11K2)

Motor power supply terminal block (U V W) M6 screw

Encoder connector signal arrangement MS3102A20-29P

Thermal sensor terminal block (OHS1 OHS2) M4

Cooling fan terminal block (BU BV) M4 screw

Key

M B

S R

Pin Signal Pin Signal

AMD K BMDR L

CMR M

DMRR N SHD

F BAT R LG

GLG S P5

Earth terminal M6 screw

Encoder connector MS3102A20-29P

Terminal block signal arrangemen

OHS2

OHS1

UVW

BU BV

3 - 35

3. SIGNALS AND WIRING

Terminal box inside (HA-LFS801 12K1 11K1M 15K1M 15K2 22K2)

Cooling fan terminal block (BU BV BW) M4 screw

Motor power supply terminal block (U V W) M8 screw

Earth terminal M6 screw

Thermal sensor terminal block (OHS1 OHS2) M4 screw

Terminal box inside (HA-LFS15K1 20K1 22K1M 25K1)

Encoder connector MS3102A20-29P

Encoder connector MS3102A20-29

Terminal block signal arrangemen

BU BV

UVW

OHS1OHS2BW

Motor power supply terminal block (U V W) M8 screw

Earth terminal M6 screw

Cooling fan terminal block (BU BV BW) M4 screw

Earth terminal M6 screw

Thermal sensor terminal block (OHS1 OHS2) M4 screw

Terminal block signal arrangement

UVW

BW OHS1OHS2

3 - 36

3. SIGNALS AND WIRING

Signal Name Abbreviation Description

Power supply U V W Connect to the motor output terminals (U, V, W) of the servo amplifier.

Supply power which satisfies the following specifications.

Servo motor

HA-LFS601, 701M,

11K2

Cooling fan

Motor thermal relay OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.

Earth terminal

Note. There is no BW when the HA-LFS11K2 is used.

(Note)

BV BW

HA-LFS801 12K1,

11K1M, 15K1M,

15K2, 22K2

HA-LFS-15K1, 20K1,

22K1M

HA-LFS25K1 120(50Hz)

For grounding, connect to the earth of the control box via the earth terminal of the servo amplifier.

Voltage

division

200V

class

Voltage/frequency

1-phase 200 to 220VAC

50Hz

1-phase 200 to 230VAC

60Hz

3-phase 200 to 230VAC

50Hz/60Hz

Power

consum ption

[W]

42(50Hz)

54(60Hz)

62(50Hz)

76(60Hz)

65(50Hz)

85(60Hz)

175(60Hz)

Rated

current

[A]

0.21(50Hz)

0.25(60Hz)

0.18(50Hz)

0.17(60Hz)

0.20(50Hz)

0.22(60Hz)

0.65(50Hz)

0.80(60Hz)

3 - 37

3. SIGNALS AND WIRING

MEMO

3 - 38

4. OPERATION AND DISPLA

4. OPERATION AND DISPLAY

4.1 When switching power on for the first time

Before starting operation, check the following.

(1) Wiring

(a) A correct power supply is connected to the power input terminals (L

amplifier.

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

power input terminals (U, V, W) of the servo motor.

power input terminals (L

(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.

(e) Note the following when using the regenerative option, brake unit or power regeneration converter.

1) For the MR-J2S-350B or less, the lead has been removed from across D-P of the control circuit terminal block, and twisted cables are used for its wiring.

1, L2, L3) of the servo motor.

1, L2, L3, L11, L21) of the servo

2) For the MR-J2S-500B amplifier built-in regenerative resistor, and twisted cables are used for its wiring.

(f) 24VDC or higher voltages are not applied to the pins of connector CN3.

(g) SD and SG of connector CN3 are not shorted.

(h) The wiring cables are free from excessive force.

(i) CN1A should be connected with the bus cable connected to the servo system controller or preceding

axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector (MR-A-TM.)

(2) Axis number

The axis number setting of SW1 should be the same as that of the servo system controller. (Refer to section 3.11.)

(3) Parameters

On the servo system controller screen or using the MR Configurator (servo configuration software), make sure that correct values have been set in the parameters.

(4) Environment

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

MR-J2S-700B, the lead has been removed from across P-C of the servo

(5) Machine

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

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

4 - 1

4. OPERATION AND DISPLAY

4.2 Start up

Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals

WARNING

CAUTION

and charging area exposed and you may get an electric shock.

During power-on or operation, do not open the front cover. You may get an electric

shock.

Before starting operation, check the parameters. Some machines may perform

unexpected operation.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc.since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

(1) Power on

When the main and control circuit power supplies are switched on, "b1" (for the first axis) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capacitor in the encoder. The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the parameter definitions.

Parameter No. Name Setting Description

7 Rotation direction setting 0

8 Auto tuning 1Used. 9 Servo response 5 Slow response (initial value) is selected.

Increase in positioning address rotates the motor in the CCW direction.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

4 - 2

4. OPERATION AND DISPLAY

(3) Servo-on

Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power supply.

2) The controller transmits the servo-on command.

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to section 3.7.

Operation/command Stopping condition

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

Servo system controller

Servo amplifier

Forced stop command

Alarm occurrence

Forced stop (EM1) OFF

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller forced stop warning (E7) occurs. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6) occurs.

4 - 3

4. OPERATION AND DISPLAY

4.3 Servo amplifier display

On the servo amplifier display (two-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.

(1) Display sequence

Servo amplifier power ON

Waiting for servo system controller power to switch ON

Servo system controller power ON

Initial data communication with servo system controller

During forced stop and forced stop

When alarm occurs, alarm code appears.

Servo system controller power OFF

(Note)

Ready ON

(Note)

Servo ON

(Note)

Ordinary operation

Ready OFF/servo OFF

Forced stop and forced stop reset

Ready ON/servo OFF

Ready ON/servo ON

Servo system controller power ON

Note. The right-hand segments of b1, c1 and d1 indicate the axis number. (Axis 1 in this example)

4 - 4

4. OPERATION AND DISPLAY

(2) Indication list

Indication Status Description

AA Initializing

Ab Initializing

AC Initializing

Ad Initializing The initial parameters from the servo system controller were received.

AE Initialize completion Initial data communication with the servo system controller was completed.

(Note 1) b# Ready OFF The ready off signal from the servo system controller was received. (Note 1) d# Servo ON The ready off signal from the servo system controller was received. (Note 1) C# Servo OFF The ready off signal from the servo system controller was received. (Note 2) ** Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to section 9.1.)

88 CPU error Initial data communication with the servo system controller was completed.

(Note 3) b0.

(Note 1) b#.

d#. c#.

Note 1. # denotes any of numerals 0 to 8 and what it means is listed below.

(Note 3)

Test operation mode

Power to the servo system controller was switched off during power-on of the servo amplifier.

The servo amplifier was switched on when power to the servo system controller is off. The axis No. set to the servo system controller does not match the axis No. set with the axis setting switch (SW1) of the servo amplifier. A servo amplifier fault occurred or an error took place in communication with the servo system controller. In this case, the indication changes. "Ab"

"AC" "Ad" "Ab"

The servo system controller is faulty. Communication started between the servo system controller and servo amplifier.

JOG operation, positioning operation, programmed operation, DO forced output.

Motor-less operation

# Description

0 Set to the test operation mode. 1 First axis 2 Second axis 3Third axis 4Fourth axis 5 Fifth axis 6 Sixth axis 7 Seventh axis 8 Eighth axis

2. ** indicates the warning/alarm No.

3. Requires the MR Configurator (servo configuration software).

4 - 5

4. OPERATION AND DISPLAY

4.4 Test operation mode

The test operation mode is designed for servo operation confirmation and not for

CAUTION

By using a personal computer and the MR Configurator (servo configuration software MRZJW3SETUP121E), you can execute jog operation, positioning operation, motor-less operation and DO forced output without connecting the motion controller. When executing the test operation at start up, confirm that the servo motor operates normally at the slowest speed.

(1) Test operation mode

(a) Jog operation

Jog operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the jog operation screen of the MR Configurator (servo configuration software).

1) Operation pattern

machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop.

Item Initial value Setting range

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

2) Operation method

Operation Screen control

Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Stop Click the "Stop" button.

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the MR Configurator (servo configuration software).

1) Operation pattern

Item Initial value Setting range

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

2) Operation method

Operation Screen control

Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Pause Click the "Pause" button.

4 - 6

4. OPERATION AND DISPLAY

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the MR Configurator (servo configuration software). For full information, refer to the MR Configurator (Servo Configuration Software) Installation Guide.

Operation Screen Control

Start Click the "Start" button.

Stop Click the "Reset" button.

(d) Motorless operation

POINT

Motor-less operation may be used with the MR Configurator (servo configuration software). Usually, however, use motor-less operation which is available by making the servo system controller parameter setting.

Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the servo system controller. Exercise control on the motor-less operation screen of the MR Configurator (servo configuration software).

1) Load conditions

Load Item Condition

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

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

Encoder error 1 (16) Encoder error 2 (20) Absolute position erasure (25) Battery cable breakage warning (92) Battery warning (9F)

(e) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of the MR Configurator (servo configuration software).

4 - 7

4. OPERATION AND DISPLAY

(2) Configuration

Configuration should be as in section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm.

(3) Operation procedure

(a) Jog operation, positioning operation, program operation, DO forced output.

1) Switch power off.

2) Set SW1 to “F”. When SW1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.

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

Decimal point flickers.

4) Perform operation with the personal computer.

(b) Motor-less operation

1) Switch off the servo amplifier.

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

Decimal point flickers.

4 - 8

5. PARAMETERS

CAUTION

Never adjust or change the parameter values extremely as it will make operation

instable.

POINT

When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the MR Configurator (servo configuration software) invalid and the servo system controller values valid. In the manufacturer setting parameters, do not set any values other than the initial values. Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller. For details, refer to the servo system controller user's manual.

5.1 Parameter write inhibit

POINT

When setting the parameter values from the servo system controller, the parameter No. 40 setting need not be changed.

In this servo amplifier, the parameters are classified into the basic parameters (No. 1 to 11), adjustment parameters (No. 12 to 26) and expansion parameters (No. 27 to 40) according to their safety aspects and frequencies of use. The values of the basic parameters may be set/changed by the customer, but those of the adjustment and expansion parameters cannot. When in-depth adjustment such as gain adjustment is required, change the parameter No. 40 value to make all parameters accessible. Parameter No. 40 is made valid by switching power off, then on after setting its value. The following table indicates the parameters which are enabled for reference and write by parameter No. 40 setting.

Setting Operation Operation from controller

0000(initial value)

000A

000C

000E

000F

100E

Reference

Write

Reference

Write

Reference Parameter No. 1 to 40

Write

Reference

Write

Reference

Write

Reference Parameter No. 1 to 40

Write

Parameter No. 1 to 75 Parameter No. 1 to 11 40

Parameter No. 1 to 75 Parameter No. 40

Parameter No. 1 to 75

Parameter No. 1 to 75 Parameter No. 1 to 40

Parameter No. 1 to 75 Parameter No. 1 to 75

Parameter No. 1 to 75

Operation from MR Configurator

(servo configuration software)

Parameter No. 1 to 11

Parameter No. 40

5.2 Lists

POINT

For any parameter whose symbol is preceded by*, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. The parameter is set when communication between the servo system controller and servo amplifier is established (b* is displayed). After that, power the servo amplifier off once and then on again.

5 - 1

5. PARAMETERS

(1) Item list

Classifi-

cation

No. Symbol Name

(Note 1)

Initial

Value

Unit

1 *AMS Amplifier setting 0000 2 *REG Regenerative resistor 0000 3 0080 4 000 5

For manufacturer setting by servo system controller Automatically set from the servo system controller

1 6 *FBP Feedback pulse number 0 7 *POL Rotation direction selection 0 8 ATU Auto tuning

Basic parameters

9 RSP Servo response

0001

7kW or

less: 0005

11kW or

more: 0002

10 TLP Forward rotation torque limit (Note 2) 300 % 11 TLN Reverse rotation torque limit (Note 2) 300 % 12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio) 7.0 times

7kW or

13 PG1 Position control gain 1

14 VG1 Speed control gain 1

15 PG2 Position control gain 2

16 VG2 Speed control gain 2

17 VIC Speed integral compensation

Adjustment parameters

18 NCH Machine resonance suppression filter 1 (Notch filter) 0000

less: 35 11kW or more: 19

7kW or less: 177 11kW or more: 96

7kW or

less: 35 11kW or more: 19

7kW or less: 817 11kW or

455

7kW or

less:48 11kW or more:91

rad/s

19 FFC Feed forward gain 0 % 20 INP In-position range 100 pulse 21 MBR Electromagnetic brake sequence output 0 ms 22 MOD Analog monitor output 0001 23 *OP1 Optional function 1 0000 24 *OP2 Optional function 2 0000 25 LPF Low-pass filter/adaptive vibration suppression control 0000 26 For manufacturer setting 0 27 MO1 Analog monitor 1 offset 0 mV 28 MO2 Analog monitor 2 offset 0 mV 29 For manufacturer setting 0001 30 ZSP Zero speed 50 r/min

31 ERZ Error excessive alarm level 80

(Note 3)

0.025rev 32 OP5 Optional function 5 0000 33 *OP6 Optional function 6 0000 34 VPI PI-PID control switch-over position droop 0 pulse 35 For manufacturer setting 0 36 VDC Speed differential compensation 980

Expansion parameters

37 For manufacturer setting 0010 38 *ENR Encoder pulses output 4000 pulse/rev 39 For manufacturer setting 0 40 *BLK Parameter write inhibit (Note 2) 0000

Note 1. Factory settings of the servo amplifier. Connecting it with the servo system controller and switching power on changes them to

the settings of the servo system controller.

2. Setting and changing cannot be made from the peripheral software of the motion controller.

3. The setting unit of 0.025rev applies for the servo amplifier of software version B1 or later. For the amplifier of software version older than B1, the setting unit of 0.1rev is applied.

Customer

setting

5 - 2

5. PARAMETERS

Classifi-

cation

Note. Depends on parameter No. 49 setting.

No. Symbol Name

41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 49 *CDP Gain changing selection 50 CDS Gain changing condition 10 (Note) 51 CDT Gain changing time constant 1 ms 52 GD2B Ratio of load inertia moment to servo motor inertia moment 2 7.0 time 53 PG2B Position control gain 2 changing ratio 100 % 54 VG2B Speed control gain 2 changing ratio 100 % 55 VICB Speed integral compensation changing ratio 100 % 56 0000 57 0000 58 0000 59 60 *OPC Optional function C 0000 61 NH2 Machine resonance suppression filter 2 0000

Expansion parameter 2

62 0000 63 400 64 100 65 1 66 1 67 0 68 0 69 0 70 0 71 0 72 0 73 0 74 0 75

For manufacturer setting

Initial

Value

0000

Unit

Customer

setting

5 - 3

5. PARAMETERS

(2) Details list

Classifi-

cation

No. Symbol Name and Function

1 *AMS Amplifier setting

Used to select the absolute position detection.

0 00

Absolute position detection selection 0: Invalid (Used in incremental system.) 1: Valid (Used in absolute position detection system.)

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

2*REG 0000 Refer to

Regenerative resistor Used to select the regenerative option used.

Regenerative selection option 00: Regenerative option is not used with 7kW or

less servo amplifier (The built-in regenerative resistor is used. However, the MR-J2S-10B does not have a built-in regenerative resistor

and therefore cannot use it.) Supplied regenerative resistors or regenerative option is used with 11k to 22kW amplifier 01: FR-RC, FR-BU2, FR-CV 05: MR-RB32 08: MR-RB30 09: MR-RB50 (Cooling fan is required) 0B: MR-RB31 0C: MR-RB51 (Cooling fan is required) 0E: When regenerative resistors or regenerative

option supplied to 11k to 22kW are cooled by

cooling fans to increase capability 10: MR-RB032 11: MR-RB12

Basic parameters

The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2 , GRZG400-1 and GRZG400-0.8 , respectively. When using any of these regenerative options, make the same parameter setting as when using the GRZG400-2 , GRZG400-1 or GRZG400-0.8 (supplied regenerative resistors or regenerative option is used with 11k to 22kW servo amplifier).

name and function column.

Select the external dynamic brake. 0: Invalid 1: Valid Select "1" when using the external dynamic brake with the MR-J2S-11KB to 22KB.

POINT

Wrong setting may cause the regenerative option

to burn.

If the regenerative option selected is not for use

with the servo amplifier, parameter error (37) occurs.

3 0080 4 0000 5

For manufacturer setting by servo system controller Automatically set from the servo system controller

5 - 4

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

6*FBP 0 Refer to

7 *POL Rotation direction selection

Feedback pulse number Set the number of pulses per revolution in the controller side command unit. Information on the motor such as the feedback pulse value, present position, droop pulses and within-one-revolution position are derived from the values converted into the number of pulses set here.

Setting Number of feedback pulses

0 16384 1 8192 6 32768 7 131072

255 Depending on the number of motor resolution pulses.

POINT

If the number of pulses set exceeds the actual motor resolution, the motor resolution is set automatically.

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

address.

1: Reverse rotation (CW) with the increase of the positioning

address.

Initial

Value

0 Refer to

Unit

Setting

Range

name and function column.

Basic parameters

8 ATU Auto tuning

CCW

Used to select the gain adjustment mode of auto tuning.

000

Gain adjustment mode selection (For details, refer to section 6.1.1.)

Set

value

Gain adjustment

mode

0 Interpolation mode Fixes position control

Auto tuning mode 1 Ordinary auto tuning.1

34Auto tuning mode 2

Manual mode1 Simple manual

2 Manual mode 2 Manual adjustment of

Description

gain 1 (parameter No. 13).

Fixes the load inertia moment ratio set in parameter No. 12. Response level setting can be changed.

adjustment.

all gains.

0001 Refer to

name and function column.

5 - 5

5. PARAMETERS

Classifi-

cation

Basic parameters

No. Symbol Name and Function

9 RSP Servo response

Used to select the response of auto tuning.

0 00

Response level selection

Set

Response

value

1 2 3 4 5 6 7 8 9 A B C

E F300Hz

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value.

level

Low

response

Middle

response

High

response

Machine resonance frequency guideline

15Hz 20Hz 25Hz 30Hz 35Hz 45Hz 55Hz 70Hz

85Hz 105Hz 130Hz 160Hz 200Hz 240Hz

Initial

Value

7kW or

less

:0005

11kW or

:0002

Unit

Setting

Range

Refer to name and function column.

10 TLP Forward rotation torque limit

Assume that the rated torque is 100[%]. Used to limit the torque in the forward rotation driving mode and reverse rotation regenerative mode. In other than the test operation mode on the MR Configurator (servo configuration software), the torque limit value on the servo system controller side is made valid.

11 TLN Reverse rotation torque limit

Assume that the rated torque is 100[%]. Used to limit the torque in the forward rotation driving mode and forward rotation regenerative mode. In other than the test operation mode on the MR Configurator (servo configuration software), the torque limit value on the servo system controller side is made valid.

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

Used to set the ratio of the load inertia (inertia moment) to the inertia moment of the servo motor shaft. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1)

13 PG1 Position control gain 1

Used to set the gain of position loop 1. Increase the gain to improve track ability performance in response to the position command.

Adjustment parameters

When auto turning mode 1,2 is selected, the result of auto turning is automatically used.

300 % 0

7.0 times 0.0

7kW or

less:35

11kW or

more:19

rad/s 4

500

300.0

2000

5 - 6

5. PARAMETERS

Classifi-

cation

Adjustment parameters

No. Symbol Name and Function

14 VG1 Speed control gain 1

Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used.

15 PG2 Position control gain 2

Used to set the gain of the position loop. Set this parameter to increase position response to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1

2, manual mode and interpolation mode

is selected, the result of auto tuning is automatically used.

16 VG2 Speed control gain 2

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

17 VIC Speed integral compensation

Used to set the constant of integral compensation. When auto tuning mode 1

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

18 NCH Machine resonance suppression filter 1 (Notch filter)

Used to select the machine resonance suppression filter. (Refer to section 7.2.)

Initial

Value

7kW or

Unit

rad/s 20

Setting

Range

less:177

11kW or

more:96

7kW or

rad/s 1

less:35

11kW or

more:19

7kW or

rad/s 20

less:817

11kW or

more:455

7kW or

ms 1

less:48

11kW or

more:91

0000 Refer to

name and function column.

5000

1000

20000

1000

19 FFC

Notch frequency selection

Setting

00 01 02 03 04 05 06 07

Frequency

Invalid

4500 2250 1500 1125 900 750

642.9

Setting

08 09 0A 0B 0C 0D 0E 0F

Frequency

562.5 500 450

409.1 375

346.2

321.4 300

Setting

10 11 12 13 14 15 16 17

Frequency

281.3

264.7 250

236.8 225

214.3

204.5

195.7

Setting

18 19 1A 1B 1C 1D 1E 1F

Frequency

187.5 180

173.1

166.7

160.1

155.2 150

145.2

Notch depth selection

Setting Depth Gain

Deep

1 2

Shallow

40dB 14dB

8dB 4dB

Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed.

0%0

100

5 - 7

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

20 INP In-position range

Used to set the droop pulse range in which the in-position (INP) will be output to the controller. Make setting in the feedback pulse unit (parameter No. 6). For example, when you want to set ball screw is direct coupled, the lead is 10mm, and the feedback pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as indicated by the following expression.

10 10 10 10

21 MBR Electromagnetic brake sequence output

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

22 MOD Analog monitor output

Used to select the signal provided to the analog monitor (MO1) (Refer to section 5.3.)

8192 8.192 8

analog monitor (MO2).

10 m in the conditions that the

Initial

Value

100 pulse 0

0ms0

0001 Refer to

Unit

Setting

Range

50000

1000

name and function column.

Adjustment parameters

Note. 8V is outputted at the maximum torque.

23 *OP1 Optional function 1

Used to make the servo forced stop function invalid.

Setting

Analog monitor1 (MO1)

0 Servo motor speed ( 8V/max. speed)

1 Torque ( 8V/max. torque) (Note)

2 Servo motor speed ( 8V/max. speed)

3 Torque ( 8V/max. torque)

4 Current command ( 8V/max. current command)

5 Speed command ( 8/max. speed)

6 Droop pulses ( 10V/128 pulses)

7 Droop pulses ( 10V/2048 pulses)

8 Droop pulses ( 10V/8192 pulses)

9 Droop pulses ( 10V/32768 pulses)

A Droop pulses ( 10V/131072 pulses)

B Bus voltage ( 8V/400V)

Analog monitor2 (MO2)

(Note)

000

Servo forced stop selection 0: Valid (Use the forced stop (EM1).) 1: Invalid (Do not use the forced stop (EM1).) Automatically switched on internally

0000 Refer to

name and function column.

5 - 8

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

24 *OP2 Optional function 2

Used to select slight vibration suppression control and motor-less operation

Slight vibration suppression control selection Made valid when auto tuning selection is set to "0002" in parameter No.8. Used to suppress vibration at a stop. 0: Invalid 1: Valid

Motor-less operation selection 0: Invalid 1: Makes motor-less operation valid. When motor-less operation is made valid, signal output or status display can be provided as if the servo motor is running actually in response to the servo system controller command, without the servo motor being connected. Motor-less operation is performed as in the motor-less operation using the MR Configurator (servo configuration software). (Refer to (d), (1) of section 4.4.)

25 LPF Low-pass filter/adaptive vibration suppression control

Used to select the low-pass filter and adaptive vibration suppression control. (Refer to chapter 7.)

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid When you choose "valid", the filter of the handwidth represented by the following expression is set

Adjustment parameters

automatically.

For 1kW or less

VG2 setting 10

2 (1 GD2 setting 0.1)

For 2kW or more

VG2 setting 5

2 (1 GD2 setting 0.1)

Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine vibration. 2: Held The characteristics of the filter generated so far are held, and detection of machine resonance is stopped.

Adaptive vibration suppression control sensitivity selection Used to select the sensitivity of machine resonance detection. 0: Normal 1: Large sensitivity

[Hz]

]

26 For manufacturer setting

Do not change this value by any means.

5 - 9

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

27 MO1 Analog monitor 1 offset

Used to set the offset voltage of the analog monitor1 (MO1) output.

28 MO2 Analog monitor 2 offset

Used to set the offset voltage of the analog monitor2 (MO2) output.

29 For manufacturer setting

Do not change this value by any means.

30 ZSP Zero speed

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

31 ERZ Error excessive alarm level

Used to set the output range of the error excessive alarm.

Note: The setting unit of 0.025rev applies for the servo amplifier of

software version B1 or later. For the amplifier of software version

older than B1, the setting unit of 0.1rev is applied.

32 OP5 Optional function 5

Used to select PI-PID control switch-over.

0 00

PI-PID control switch over selection 0: PI control is always valid.

1: Droop-based switching is valid in position control mode (refer to parameter No. 34).

2: PID control is always valid.

Initial

Value

0mV999

0001

50 r/min 0

80 (Note)

0000 Refer to

Unit

0.025rev

Setting

Range

999

10000

1000

name and function column.

33 *OP6 Option function 6

Used to select the serial communication baud rate, serial communication response delay time setting and encoder pulse output setting.

Expansion parameters

34 VPI PI-PID control switch-over position droop

35 For manufacturer setting

36 VDC Speed differential compensation

37 For manufacturer setting

Serial communication baud rate selection 0: 9600[bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps]

Serial communication response delay time 0: Invalid 1: Valid, replay sent in 800 s or more

Encoder pulse output setting selection (refer to parameter No.38) 0: Pulse output designation 1: Division ratio setting

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

Do not change this value by any means.

Used to set the differential compensation.

Do not change this value by any means.

0000 Refer to

name and function column.

0pulse0

50000

980 0

1000

0010

5 - 10

5. PARAMETERS

Classifi-

cation

Expansion parameters

No. Symbol Name and Function

38 *ENR Encoder pulses output

Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase and B-phase pulses. You can use parameter No. 33 to choose the pulse output setting or output division ratio setting. The number of A-phase and B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.3Mpps (after multiplication by

4). Use this parameter within this range. For pulse output designation Set "0

" (initial value) in parameter No. 33. Set the number of pulses per servo motor revolution. Pulse output At the setting of 5600, for example, the actually output A-phase and B-phase pulses are as indicated below.

A-phase and B-phase pulses output

For output division ratio setting Set "1 The number of pulses per servo motor revolution is divided by the set value.

Pulse output

At the setting of 8, for example, the actually output A-phase and B-phase pulses are as indicated below.

A-phase and B-phase pulses output 4096[pulse]

39 For manufacturer setting

Do not change this value by any means.

40 *BLK 0000 Refer to

Parameter write inhibit

Setting Operation Operation from

(initial

value)

000C

100E

set value [pulses/rev]

5600

1400[pulse]

" in parameter No. 33.

Resolution per servo motor revolution

Set value

13107241

Operation from

controller

Reference0000

Write

Reference000A

Write

Reference Parameter No. 1

Write

Reference000E

Write

Reference000F

Write

Reference Parameter No. 1

Write

Parameter No. 1 to 75

MR Configurator

(servo configuration)

Parameter No. 1 to 11

Parameter No. 40

to 40 Parameter No. 1 to 11

40 Parameter No. 1 to 40 Parameter No. 1 to 75

to 40 Parameter No. 40

[pulses/rev]

Initial

Value

4000 pulse/rev 1

Unit

Setting

Range

65535

name and function column.

5 - 11

Mitsubishi Electronics MR-J2S- B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

About processing of waste

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.4 Function list

1.5 Model code definition

1.6 Combination with servo motor

1.7 Structure

1.7.1 Parts identification

1.7.2 Removal and reinstallation of the front cover

1.8 Servo system with auxiliary equipment

2. INSTALLATION

2.1 Environmental conditions

2.2 Installation direction and clearances

2.3 Keep out foreign materials

2.4 Cable stress

3. SIGNALS AND WIRING

3.1 Connection example of control signal system

3.1.1 MR-J2S-700B or less

3.1.2 MR-J2S-11KB or more

3.2 I/O signals

3.2.1 Connectors and signal arrangements

3.2.2 Signal explanations

3.3 Alarm occurrence timing chart

3.4 Interfaces

3.4.1 Common line

3.4.2 Detailed description of the interfaces

3.5 Power line circuit

3.5.1 Connection example

3.5.2 Terminals

3.5.3 Power-on sequence

3.6 Connection of servo amplifier and servo motor

3.6.1 Connection instructions

3.6.2 Connection diagram

3.6.3 I/O terminals

3.7 Servo motor with electromagnetic brake

3.8 Grounding

3.9 Servo amplifier terminal block (TE2) wiring method

3.9.1 For servo amplifier produced later than January, 2006

3.9.2 For servo amplifier produced earlier than December, 2005

3.10 Instructions for the 3M connector

3.11 Control axis selection

3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB

3.12.1 Connection example

3.12.2 Servo amplifier terminals

3.12.3 Servo motor terminals

4. OPERATION AND DISPLAY

4.1 When switching power on for the first time

4.2 Start up

4.3 Servo amplifier display

4.4 Test operation mode

5. PARAMETERS

5.1 Parameter write inhibit

5.2 Lists