Telex MR-J2S- B manual

General-Purpose AC Servo MODEL MR-J2S- B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J2-Super Series E[...]

A - 1 Safety Instructions (Alwa ys read thes e instr uctions before us ing the equipm ent.) Do not attem pt to instal l, opera te, m ainta in or ins pect the s ervo am plifier an d servo m otor unt il you ha ve read throug h th is Ins truct ion Manua l, Ins tall atio n guid e, S ervo m otor Ins truct ion Manu al and app ende d docum ents caref ul l[...]

A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wiri ng or insp ectio n, s witch power off and wait f or m ore th an 10 m inu tes. T hen, c onf irm the vol tage is saf e with vo ltage t ester. Ot herwis e, you m ay get an e lectric shoc k. Conn e ct th e se rvo a mpl i fie r and se rvo moto r to gr ound . Any pers on who is[...]

A - 3 4. Additional instruct ions The fol lowing instruc tions sho uld also be fu lly n oted . Inc orrec t han dling m ay caus e a f ault, inj ury, electr ic shock , etc. (1) Transportation and installation CAUTION Trans port the pr oducts correc tl y accordin g to their weights . Stack ing in exc ess of th e spec if ied num ber of pr oducts is not[...]

A - 4 CAUTION Secur el y att ach th e serv o m otor to the m achi ne. If attac h ins ecure l y, the ser vo m otor m ay com e of f duri ng operat ion. The s ervo m otor with r educti on gear m us t be ins ta lled i n th e spec ified direc ti on to pr even t oi l leak age . Tak e saf et y m eas ures , e .g. pr o vide c o vers , t o pr e vent ac c ide[...]

A - 5 (4) Usa ge CAUTION Prov ide a f orc ed st op cir cuit to e nsure that oper atio n can be s topp ed and po wer s witch ed of f im m ediate ly. Any per son who is invol ved in dis ass em bly and re pair s houl d be f ull y com pete nt to do t he wor k. Befor e resett ing an alarm , m ake s ure th at th e run s igna l of the s ervo am plifi er i[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION W ith age, the ele ctrolyti c capacito r of the servo ampli fier will dete riorate. To p revent a second ary acciden t due t o a fau lt, it is r ecom m ended t o rep lace t he e lectr olytic cap acitor e very 10 years wh en us ed i n gener al environm ent . Pleas e cons ult our s ales [...]

A - 7 COMPLIANCE WITH EC DI RECTIVES 1. W HAT ARE EC DIRECTI VES? The EC directives were issued to standardize the regulations of t he EU countries and ensure smooth distribution of safet y-guaranteed products. In the EU countries, the machinery directive (effective in Jan uary, 199 5), EMC dir ective (e ffecti ve in J a nuary, 1996) and l ow volta[...]

A - 8 (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvol tage cat egory II set forth in IEC6 0664-1. For this purpose, a reinforced insulat ing 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 con[...]

A - 9 CONFORMANCE WIT H UL/C-UL STANDA R D (1) Ser vo am pl ifiers an d servo m otors us ed Use the serv o amplif iers and se rvo motor s which co mply with the stand ard mod el. Servo a mplif ier :MR-J2 S-10B to MR-J 2S-22K B MR-J2S- 10B1 to MR-J2 S-40B 1 Servo motor :HC-K FS HC-M FS HC-S FS HC-RF S HC-UF S HA-L FS HC-L FS (2) Installation Install[...]

A - 10 <<Abou t t he manual s>> This Instruc tion M anua l and the ME LSER VO Serv o Moto r Ins truction M anual are requ ired if you use the General -Purpose AC servo M R-J2S-B for the first time. Always purchase them and use the MR- J2S-B s afely. Also read the manual of the servo system controller. Rele vant manua ls Manual nam e Man[...]

1 CONTENTS 1. FUNCT IONS AN D CONFIGU RATION 1- 1 to 1- 22 1.1 Intro duction ............................................................................................................... ............................... 1- 1 1.2 Fu nction b lock di agram ..............................................................................................[...]

2 3.12 Po wer line circui t of the MR-J2 S-11KB to M R-J2S- 22K B ............................................................... 3-29 3.12.1 Co nnection ex ample ...................................................................................................... ................ 3-29 3.12.2 Se rvo amplif ier termina ls ..........................[...]

3 9. TRO UBLE SHOOT ING 9- 1 to 9- 8 9.1 Alarm s and w arning list .................................................................................................... ..................... 9- 1 9.2 Remedie s for alarm s ........................................................................................................ ........................[...]

4 Appe ndix Ap p- 1 to App- 2 App. Combin ation o f serv o amplifie r and servo mo tor ......................................................................... App - 1[...]

5 Opti onal S ervo Mo tor Instruct ion Manu al CO NTENTS The rough table of contents of the optio nal ME LSERVO Servo Motor In struc tion Manua l is in troduced here for your reference. Note that the contents of the S ervo Motor Instruction Manual are not included in the Serv o Amp lifier Instru ct ion Man ual . 1. INTRODUCT ION 2. IN STALL ATIO N [...]

6 MEM O[...]

1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubish i MELSERVO-J 2-Super series general-pu rpose AC servo is b ased on the ME LSERVO-J2 series and has further higher performance and higher fun ctions. It is connected with a servo system controller or sim ilar device via a serial bus (SSCNET) and th[...]

1 - 2 1. FUNCTIONS A ND CONFIGU RATION 1.2 Func tion bloc k diagr am The function block diagram of this servo is shown below. (1) MR-J2S-350B or less RS-232C RA DS (MR-J2S-200B or more) Fan Servo motor D C P NFB MC L 1 L 2 L 3 L 11 L 21 E2 Actual position control Actual sp eed control CN2 CON1 MR-BAT U V W U V W M E1 (Note 1) CN1A CN1B D/A CN3 (Not[...]

1 - 3 1. FUNCTIONS A ND CONFIGU RATION (2) MR - J2S - 50 0B , MR- J2S - 700B RS-232C RA DS Fan Servo mo t or NFB MC L 1 L 2 L 3 L 11 L 21 E2 Actua l positio n control Actu al speed control CN2 CON1 MR-B AT U V W U V W M E1 CN1A CN1B D/A CN3 Servo amplifi er Rege nerative TR CHARGE lamp Curr ent detec tor Dynamic bra ke Elect ro- magnetic bra ke Enc[...]

1 - 4 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-11KB or more CN2 DS CON1 CN1A CN1 B RS-232C D/A L 1 L 2 L 3 L 11 L 21 NFB MC MR-B AT PC U V W U V W M E1 E2 N P1 CN3 CN4 Power supply 3- ph as e 200 to 230 VAC , 1- ph as e 230 VAC Servo amplifi er Regenerative b rake option Curr ent detec tor CHA R- GE la mp Rege- nrati ve TR Servo mo t or Electro-[...]

1 - 5 1. FUNCTIONS A ND CONFIGU RATION 1.3 Serv o am plifier s tandard s pecif icati ons Servo Amplifier MR-J 2S- Item 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 1 1 K B 1 5 K B 2 2 K B 10B1 20B1 40B1 Volta ge/frequ ency 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/ 60Hz 1-phase 100 to 120VAC 50/60Hz Permiss[...]

1 - 6 1. FUNCTIONS A ND CONFIGU RATION 1.4 Func tion list The followi ng table lists t he functions of t his servo. For details of the functi ons, refer to the reference fiel d. Function Description Ref erence High-resolution encoder High-resolution encoder of 131072 pulses /rev is used as a servo motor encoder. Absolute position d etection system [...]

1 - 7 1. FUNCTIONS A ND CONFIGU RATION 1.5 Mode l code d efinit ion (1) Rating plate POWER MITSUBI SHI AC S ERVO MADE IN JAPA N MODEL MR-J 2S-60B MITSUBISHI ELECTRIC CORPORATION 600W 3.2A 3PH 1PH200- 230V 50 Hz 170V 0 -360Hz 3.6 A POWER : INPUT : OUTPUT : SERIAL : AC SE RVO A5 PASSED Model Capacity Applicable power supply Rated output current Seria[...]

1 - 8 1. FUNCTIONS A ND CONFIGU RATION 1.6 Com bination with ser vo motor The follo w ing ta ble li st s comb ina tion s of servo amp l ifie r s and se rv o mo to rs. T he sa me comb in a t ion s ap ply to the mod els w ith e lectr om agnet ic br ake s and the m ode ls w ith re duct ion g ears . Serv o motor s HC-SFS HC-UFS Servo a mplifier HC-KFS [...]

1 - 9 1. FUNCTIONS A ND CONFIGU RATION 1.7 Structure 1.7.1 Parts ide ntificat ion (1) MR-J2S-100B or less Reference Section13.3 Chapter4 Name/A pplicatio n Battery holder Contains the battery for absolute position data backup. Battery connecto r (CO N1) Used to c onnect the battery for abso lute position data backup. Display The two-di git, seven -[...]

1 - 10 1. FUNCTIONS A ND CONFIGU RATION (2) MR-J2S-200B MR- J2S-3 50B POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. Reference Section13.3 Chapter4 Name/Applicat ion Bat tery holde r Contains the battery for absolut e position data backup. Battery connecto r (CON 1) Used to co[...]

1 - 11 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. 1 C B 9 8 7 5 4 3 0 F D A B C D E F 0 1 2 3 4 5 6 7 8 9 Reference Section13.3 Name/Ap plication Bat te ry h o lde r Contains the battery for absolute position data backup. Ba[...]

1 - 12 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. A B C D E F 0 1 2 3 4 5 6 7 8 9 1 C B 9 8 7 5 4 3 0 F D Reference Name/A pplicatio n Battery connecto r (CO N1) Used to connect the batter y for absolut e positio n data back[...]

1 - 13 1. FUNCTIONS A ND CONFIGU RATION (5) MR-J2S-11KB or more POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to Section 1.7.2. Installa tion not ch (4 pl ace s) Cooling fan Section3.8 Sectio10.1 Reference Chapter4 Section3.11 Section3.2 Section3.2 Section12.1.5 Section1.5 Section3.2 Sectio12.[...]

1 - 14 1. FUNCTIONS A ND CONFIGU RATION 1.7.2 Rem oval an d reinst allatio n of the f ront co ver CAUTION T o avoid the r isk of an electr ic s hock , do not o pen th e fr ont co ver while p ower is on. (1) For MR-J2S-350B or less Front cover hook (2 places) Fro nt co ve r so cke t (2 places) 2) 1) Fro nt co ve r 2) 1) Removal of the f ront cover R[...]

1 - 15 1. FUNCTIONS A ND CONFIGU RATION (3) For MR-J2S-700B Fro nt co ve r so cke t (2 places) A) 1) Removal of the f ront cover Reinstallation of the f ront cover 1) Insert the two front cover hook s at the bott om into the so ckets of the se rvo amp lif ier. 2) Press the f ront cover against the serv o amplifier until the r emoving knob cl icks. [...]

1 - 16 1. FUNCTIONS A ND CONFIGU RATION 1) Insert the front cover in the d irection of arrow. Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting scre ws (2 pl aces). Mounting screws (2 places) 3) Fit the front cove r and fix it with the moun ting screws (2 places).[...]

1 - 17 1. FUNCTIONS A ND CONFIGU RATION 1.8 Servo system with auxiliar y equipm ent W ARNING To pre vent an elec tric shoc k, a lwa ys con nect t he pr otec tive eart h ( PE) t erm inal (term inal m ar k ed ) of the ser vo amplifi er to the prot ecti ve earth (P E) of the co ntrol box. (1) MR-J2S-100B or less (a) F o r 3- phas e 20 0V t o 23 0VA C [...]

1 - 18 1. FUNCTIONS A ND CONFIGU RATION (b) F or 1-p has e 10 0V t o 12 0VA C L 1 L 2 L 21 L 11 UV W D P C 1-phase 100VAC power supply No-fuse breaker (NFB) or fu se Magnetic contactor (MC) To CN2 To CN 3 To CN1B To CN1A Protective eart h(PE) terminal Servo motor Perso nal computer MR Configurator (S ervo con figu ratio n software MRZJW3-SETUP151E)[...]

1 - 19 1. FUNCTIONS A ND CONFIGU RATION (2) MR-J2S-200B MR- J2S-3 50B L 1 L 2 L 3 L 11 L 21 U V W PC 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Mag netic contactor (MC) To CN 3 To CN1B To CN1A Servo amplifi er Regenerative brake option Options and a uxiliary eq uipm ent No-fuse breaker Magnetic contactor MR Configurator (Ser [...]

1 - 20 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B To CN1 A Options and auxi liary equipment No-fuse breaker Magnetic c ontactor MR Configurator (Serv o co nf i gur at ion s o f t war e ) Regenera tive brak e option Reference Section 12 .2.2 Section 12 .2.2 Section 12 .1.8 Section 12 .1.1 Options and auxi liary equipment Reference Cables Secti[...]

1 - 21 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B W V Options and auxi liary equipment No-fuse brea ker Magnetic c ontactor MR Co nfi gur a to r (Servo c onfiguration softwa re) Regenerat i ve brake opt i on Reference Section 12.2. 2 Section 12.2. 2 Section 12.1. 8 Section 12.1. 1 Options and auxil iary equipment Ref erence Cables Sect ion 12[...]

1 - 22 1. FUNCTIONS A ND CONFIGU RATION (5) MR-J2S-11KB or more L 11 L 21 L 2 L 1 L 3 To CN2 To CN1B To CN1A To CN3 MITS UBI SHI U VW BW C P To CON2 BV BU Options and aux iliary equipme nt No-fuse break er Magnetic conta cto r MR Configu rator (Servo config uration software) Regene rati ve bra ke o ption Refe rence Sec tion 12 . 2.2 Sec tion 12 . 2[...]

2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in exc ess of the lim ited n um ber of pr oduc ts is not allo wed. Instal l th e equi pm ent to incom busti bles. Inst alling t hem direc tl y or cl ose to com bustibl es will l ed to a fire. Instal l the equ ipm ent in a load- bea rin g place in accorda nce with this Ins tr uctio n Manual . [...]

2 - 2 2. INSTALLATION 2.2 Instal lation direc tion and clearanc es CAUTION The equ ipm ent must be i nsta lled in th e sp ecif ied d irec tion. Other wise, a f ault m ay occur. Leave s pecif ied cl earanc es bet we en the s erv o am plif ier a nd co ntro l box ins ide walls or other eq uipm ent. (1) I nsta llati on of one s er vo amp lifi er Contro[...]

2 - 3 2. INSTALLATION (2) I nstal lati on of two or m ore ser vo am pl ifiers Leave a large clearance b etween the top of the s ervo amplifier and the internal surface of the control box, and install a fan to prevent the int ernal temperature of the control box from exceeding the environm ental con ditio ns. Control box 30mm (1.2 i n.) or more 30mm[...]

2 - 4 2. INSTALLATION 2.4 Cable s tress (1) T he way of clam ping the cable must be fully examined so that flexing stress and cable' s own weight stress are not appli ed to the cable connection. (2) For use in any applicat ion where the servo motor moves, fix the cables (encoder, power supply, brake) supplied wit h the servo motor, and flex th[...]

3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND W IRING W ARNING Any per son who is invol ved i n wir ing s houl d be f ull y com peten t to d o the wor k. Befor e st arting wiri ng, m ak e sure t hat t he vo ltag e is safe in t he test er m ore t han 10 minutes after po wer-of f. Other wise , you m ay get an electr ic sh ock . Groun d the ser vo am pl[...]

3 - 2 3. SIGNALS AND WI RING 3.1 Conn ection ex ample of contr ol sig nal s ystem POINT Refer to Section 3.5 for the connect ion of t he power supply syst em and to Section 3.6 for connection with the s ervo motor. 3.1.1 MR-J 2S-700 B or les s Servo ampl i fie r (Note 9) MR Confi gurator (Serv o con f igura t ion software) (Note 5) CN1A CN1B (Note [...]

3 - 3 3. SIGNALS AND WI RING Note 1. To preve nt an e lec tric s hock , al ways co nnec t the pr otecti ve eart h ( PE) term ina l (t erm inal m arked ) of the ser vo am pl ifier to th e prot ect ive e arth ( PE) of th e contr ol b ox. 2. Connect the diode in the cor rect direc tion. If it is connecte d revers el y, the ser vo amplif ier wi ll be f[...]

3 - 4 3. SIGNALS AND WI RING 3.1.2 MR-J 2S-11 KB or m ore (Note 3, 6) RA1 CN3 CN1A CN1B 1 A 10k 2 4 MO1 MO2 LG A 10k CN4 2 1 4 EM1 SG MBR CON2 CS1 Setting : 0 CS1 Setting : 2 CS1 Setting : 1 MR-J 2S -B (2 a xis ) CN1A CN1B MR-J2S-B (3 a xis ) CN1A CN1B CS1 Settin g: n-1 MR-J2S-B (n a xis ) CN1A CN1B n= 1 to 8 (Note 9) (Note 10) (Note 9) (Note 9) (N[...]

3 - 5 3. SIGNALS AND WI RING Note 1. To preve nt an e lec tric s hock , al ways co nnec t the pr otecti ve eart h ( PE) term ina l (t erm inal m arked ) of the b ase un it t o the protec ti ve e arth ( PE) of t he con tro l box. 2. Connect t he dio de in t he cor rect direc tion. If it is c onnec ted re vers ely, the int erfac e unit will be f ault[...]

3 - 6 3. SIGNALS AND WI RING 3.2 I/O sign als 3.2.1 Connec tors a nd signal arrangem ents POINT The pin configura tions of the connect ors are as viewed from the cabl e connector wiring section. (1) MR-J2S-700B or less 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 RXD MO1 VDD LG SG COM TXD MO2 EM1 LG MBR 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 [...]

3 - 7 3. SIGNALS AND WI RING (2) MR-J2S-11KB or more 2 RXD 4 6 LA 8 LZ 10 1 LG 3 5 7 LB 9 12 TXD 14 16 LAR 18 LZR 20 11 LG 13 15 17 LBR 19 CN3 CON2 2 EM1 4 6 8 10 1 SG 3 5 7 9 15 VDD 17 19 21 23 14 16 18 20 COM 22 12 MBR 11 13 25 24 26 DB MITSUBISHI CHARGE 2 LG 4 6 MD 8 10 1 LG 3 5 7 MR 9 12 LG 14 16 MDR 18 P5 20 11 LG 13 15 17 MRR 19 P5 P5 BAT CN2[...]

3 - 8 3. SIGNALS AND WI RING 3.2. 2 Si gn al ex plana ti on s For the I/O in terfaces ( symbols in I/O column in the table), refer to Section 3.4.2. (1) C onnect or applic ati ons Connector Nam e Functi on/Application CN1A Connector for bus cable from preceding axis. Use d for connection w ith the con trolle r or prece ding- axis servo amplifier. C[...]

3 - 9 3. SIGNALS AND WI RING 3.3 Alarm occ urrenc e timing c hart CAUTION W hen an al arm has occ urr ed, rem ov e its c aus e, m ake s ure tha t the oper atio n sign al is not be ing in put, ensure safety , and reset the alarm be fore rest arting operat ion. When an a larm occurs in the servo amplifi er, the base circuit is shut off and the servo [...]

3 - 10 3. SIGNALS AND WI RING 3.4 Interf aces 3.4.1 Comm on line The foll owing diagram sh ows the power suppl y and its common li ne. To conform to the EMC directive, refer to the EMC Installat ion Guide li nes (IB(NA)673 10). EM1 SG MR MRR SD M DI-1 COM VDD LG SD CN2 LG RS-232C LG RA Servo amplifi er 24V DC MBR <Isolated> LA . etc LAR .etc [...]

3 - 11 3. SIGNALS AND WI RING 3.4.2 Detai led desc ription of the interf aces This s ection gives the details of the I/O signal interfaces (refer to I/O Divisi on in the table) indicated in Section s 3.2. 2. Refer to this sec tion and conn ect th e inter fac es with the exte rn al equip men t. (1) Digital inpu t interface DI-1 Give a signal with a [...]

3 - 12 3. SIGNALS AND WI RING (b) Lamp load 24VDC VDD COM R Servo amplifier MBR SG (3) En cod e r pul se outp ut DO -2 (Diff erenti al line dr iver sy stem) 1) Inte rface Max. output current: 35mA LA (LB , LZ ) LAR (LB R, L ZR) LG SD LA (LB , LZ ) LAR (LB R, L ZR) SD Servo amplifi er Servo amplifi er Am26LS32 or equiv alent High-speed photoco upler[...]

3 - 13 3. SIGNALS AND WI RING (4) Ana log output Output voltage : 10V Max. output current : 1mA Resolu tion :1 0bit MO1 (MO2) LG SD A Servo amplifier Reading in one or both directi ons 1mA meter 10k[...]

3 - 14 3. SIGNALS AND WI RING 3.5 Power line circ u it CAUTION W hen the servo am plif ier has becom e f ault y, switc h p ower of f on the am plifi er power s ide. Cont inuous flo w of a lar ge cur rent m a y cause a fir e. Switch power off at d etecti on of an al arm . Other wis e, a re gen erati ve br ak e trans istor fault or the lik e may o ve[...]

3 - 15 3. SIGNALS AND WI RING (2) For 1-phas e 100 t o 120V AC or 1-ph ase 230VA C powe r s uppl y EM1 COM OFF ON MC MC SK NFB MC L 1 L 2 L 3 L 11 L 21 VDD SG (Note 1) Alarm RA1 Controller emergency stop RA2 Forced stop Servo amplifier Forced stop Power supply 1-phase 100 to 120VAC or 1-phase 230VAC (Note 2) Note: 1. Conf igure up the po wer supp l[...]

3 - 16 3. SIGNALS AND WI RING 3.5.2 T erminals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifie r. Refe r to Se ction 10. 1. Symbol Connect i on Target (Applic ation) Descr ipti on Supply L 1 , L 2 and L 3 with the f ollowing power: For 1-phase 230VAC, connect the power supply to L 1 /L 2 [...]

3 - 17 3. SIGNALS AND WI RING 3.5.3 Power -on se quence (1) Po wer-o n proc edur e 1) Alw ays wi re the po wer su pply as shown in a bove Se ction 3. 5.1 u sing th e magne tic cont actor wi th the main circuit power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-pha se 230V: L 1 , L 2 ). Configure up an external s equence to switch off the magnetic cont[...]

3 - 18 3. SIGNALS AND WI RING 3.6 Conn ection of servo am plifier an d servo m otor 3.6.1 Connec tion ins tructi ons W ARNING Insula te th e con nectio ns of the p ower supp l y termina ls to pre vent a n el ectric shock . CAUTION Connec t the wires to the corr ect phas e term ina ls (U , V, W ) of the servo am plifier and ser vo m otor. O th erwis[...]

3 - 19 3. SIGNALS AND WI RING Servo m otor Connection diagram HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) Servo amplifier (Note 1) Servo motor Electromagnetic brake 24VDC EM1 (Note 2) To be shut off when s ervo-off or alarm occurrence Encoder ca ble CN2 Motor Encoder U V W B1 B2 U (Red) V (White ) W (Bl ack) (Green) Note:[...]

3 - 20 3. SIGNALS AND WI RING 3.6.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS3 000r/m in s eries 24 13 4 Power suppl y connector ( molex) Without electr omagnetic brake 5557-04R-21 0 (receptac le) 5556PBT L (F ema le termina l) With elec tromagnet ic brake 5557-06R-21 0 (receptac le) 5556PBT L (F ema le termina l) Encoder cable 0.3m (0 .98ft .) Powe[...]

3 - 21 3. SIGNALS AND WI RING (2) HC-SFS HC-RF S HC-UFS200 0 r/min s eries Ser vo m oto r si d e con ne ct ors Servo motor For power supply For enc ode r Electromagnetic brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnec t or for power is shared. HC-SFS121(B) to 301(B ) HC-SFS202(B) to 502 (B ) H[...]

3 - 22 3. SIGNALS AND WI RING 3.7 Serv o motor with elec trom agnetic brak e CAUTION Configur e t he el ectrom agn etic br ak e circ uit s o th at it is ac tiva ted n ot o nly b y the inte r face uni t sig nal s bu t also by a fo rce d st op (EM1 ). EM1 RA 24V DC Contacts must be open when servo-off, when an a larm occurrence and when an electromag[...]

3 - 23 3. SIGNALS AND WI RING (3) T iming c harts (a) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on i s switched off, the servo lock is released and the servo motor coasts. If the electroma gnetic brake is made vali d in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic b rake in [...]

3 - 24 3. SIGNALS AND WI RING (c) Alarm occurrence Servo motor spee d ON OFF Base circui t Electromagnetic brake interlock (MBR) Invalid( ON) Vali d(OFF ) Trouble (ALM) No Yes Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake (10ms) (d) Both main and con trol circuit power supplies of[...]

3 - 25 3. SIGNALS AND WI RING 3.8 Groundi ng W ARNING Groun d the s erv o am plifier a nd ser vo m otor s ecur ely. To pre vent an elec tric shoc k, a lwa ys connec t t he pr otectiv e e arth ( PE) term inal of the ser vo am plif ier with th e pr otect ive earth (PE) of th e co ntrol box. The servo amplifier switches t he power transistor on-off to[...]

3 - 26 3. SIGNALS AND WI RING 3.9 Serv o amplif ier term inal block (T E2) wiring method (1) T erm inatio n of t he ca bles Solid wire: After the s he ath h as be en s tripp ed, t he cab le ca n be used as it is. ( Ca ble s ize: 0 .2 to 2.5m m 2 ) Approx. 10mm (0.39inch) Twiste d wir e: U se the cable after str ipping the shea th and tw istin g the[...]

3 - 27 3. SIGNALS AND WI RING 3.10 Instr uctions for the 3 M connec tor When fabricati ng an encoder c able or the like, securely connect the shielded external conductor of the cable to the ground plat e as shown in this section and fi x it to the connector shell. External conductor Sheath Exte rnal co ndu cto r Pull back the external conductor to [...]

3 - 28 3. SIGNALS AND WI RING 3.11 Control ax is select ion POINT The control a xis number set t o CS1 should be the s a me as the one set to the servo sys tem controller. Use the axis se lect switch (C S1) to se t the control axi s number for the servo. If the same nu mbers are set to different control axes in a si ngle communication system, the s[...]

3 - 29 3. SIGNALS AND WI RING 3.12 Power line c ircuit of the MR- J2S-11 KB to MR- J2S-22 KB CAUTION W hen the servo am plif ier has becom e f ault y, switc h p ower of f on the am plifi er power s ide. Cont inuous flo w of a lar ge cur rent m a y cause a fir e. Switch power off at d etecti on of an al arm . Other wis e, a re gen erati ve br ak e t[...]

3 - 30 3. SIGNALS AND WI RING 3.12.2 Se rvo am plifier term inals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifie r. Refe r to Se ction 10. 1. Symbol Connect i on Target (Applic ation) Descr ipti on L 1 , L 2 , L 3 Main circ uit power s upply Su ppl y L 1 , L 2 and L 3 with thre e-phase 2[...]

3 - 31 3. SIGNALS AND WI RING 3.12.3 Ser vo m otor term inals Pin Signal Pin Signal AM D K BM D R L CM R M DM R R N S H D EP FB A T R L G GL G S P 5 HT Terminal box Encoder connector MS3102A20-29P Key A N G S R T P HF J E K D L M B C Encoder connector signal arrangement MS3102A20-29P J Term inal box i nside (H A-LFS1 1K2) Earth terminal M6 screw En[...]

3 - 32 3. SIGNALS AND WI RING Term inal box i nside ( HA-LFS1 5K2 HA-L FS-22K2) Earth terminal M5 screw BG72706 Thermal p rotector te rminal block (OHS1, OHS2) M4 screw Cooling fan terminal bloc k (BU, BV, BW ) M4 screw Moter power supply terminal bl ock (U, V, W ) M8 screw Encoder connect or MS3102A20-29P UV W BU BV OHS1OHS2 BW Term in al bl ock s[...]

4 - 1 4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 W hen switch ing power on f or the firs t tim e Before starti ng operation, check the followi ng: (1) W iring (a) A correct power supply is connected to the power inpu t termin als ( L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo amplifie r. (b) The servo mot or power supply terminals (U, V,[...]

4 - 2 4. OPERATION AND DISPLAY 4.2 Start up W ARNING Do not oper ate the switch es wit h wet hands . You m ay get an elec tric shock . Do not o per ate the co ntrol ler with the f ront c over rem oved . High- volt age term inals and ch argin g are a ex posed and you m a y get an e lectr ic s hock . During pow er-on or o perat ion, do n ot open the [...]

4 - 3 4. OPERATION AND DISPLAY (3) Servo-on Switch t he servo-on in t he followi ng procedure: 1) Switch on m ain circui t/control circu it power supply. 2) The controller transmits the servo-on command. When pla ced in the s ervo-on status, t he servo amplifier is ready to operate and the servo motor is locked. (4) Home position return Always perf[...]

4 - 4 4. OPERATION AND DISPLAY 4.3 Serv o am plifier d ispla y On the s ervo amplifier display (two-digit, s even-segment dis play), check the status of communication with the servo s ystem controller at power-on, check the axis number, and di agnos e a fa ult at occurrence of an alarm. (1) Display sequence Servo amplifier power O N Waiting for s e[...]

4 - 5 4. OPERATION AND DISPLAY (2) Indi cati on list Indication S tatus Description AA Initializing The s ervo a mplifie r was sw itch ed on w hen pow er to t he serv o system controll er is off. Ab Initializing Power to th e serv o syste m contr oller w as swit ched of f during power- on of the servo amplifier. The axis No. s et to the s ervo syst[...]

4 - 6 4. OPERATION AND DISPLAY 4.4 Tes t operatio n m ode CAUTION The tes t oper at ion m ode is des igne d for s erv o op erati on co nfir m ation an d not f or mac hine opera tio n confir m ation. Do not us e this m ode with the mac hine. A lwa ys use th e ser vo m otor al one. If an ope rat io n fa ul t occu rre d, u s e the fo r ced stop (EM1 )[...]

4 - 7 4. OPERATION AND DISPLAY (c) Program operation Positioni ng operation can be performed in two or more operation p atterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operat ion may be used independently of whether the servo is on or off and whether the servo system controller is con[...]

4 - 8 4. OPERATION AND DISPLAY (2) C onfi gurat ion Configu ration shou ld be a s in Se ction 3.1. A lway s ins tall a force d stop swi tch to e nab le a s top at occurrence of an alar m. (3) Op erati on proc ed ure (a) Jog operation, positi oning operati on, program operation, DO forced output. 1) Switch power off. 2) Set CS 1 to “F”. When CS1[...]

5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adj ust or chan ge the par am eter val ues extr emel y as it wil l mak e operatio n instab le. POINT When the servo amplifier is connected with the servo sy stem controller, the parame ter s ar e se t to the valu es o f the serv o sy ste m co ntr oller . Sw itch ing power off, then on makes t he val[...]

5 - 2 5. PARAMETERS (1) Item list Classi fi- cation No. Sym bo l Name (Note 1) Initial Value Unit Custom er setting 1 *AMS Am plifie r setting 0000 2 *REG Regenerative br ake resistor 0000 3 0080 4 000 5 For m a n ufa c ture r sett ing by serv o sys tem co n troll er Automatically set from the servo system contr oller 1 6 *FB P Feedba ck pul se n u[...]

5 - 3 5. PARAMETERS (2) Details li st Classi fi- cation No. Symb ol Name and Function Initial Value Unit Settin g Range 1 *AMS Amplifier setting Use d to selec t the abs o lute pos it i on de te c tion. Absolute position detect ion selection 0: Invalid (Used in incremental system. ) 1: Valid (Us ed in absol ute position de tection syst em.) 0 0 0 0[...]

5 - 4 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range Feedba ck pul se numb er Set t he numb er of p ulses p er revolution i n the controll er side command unit. Informati on on the mot or s uch a s t he f eed back p u ls e v alu e, p res en t posit ion, d roop pul ses and wit hin-one-revol ution p os[...]

5 - 5 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 9 RSP Servo respon se Us e d to se l e c t th e re spo n se o f au to tu ni ng. Response level selection If the machine hunts or generates la rge gear sound, decrease th e set val ue. To improve performance, e.g. shorten t he settling time, increas[...]

5 - 6 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 14 VG1 Speed l oop gain 1 Normally this parameter setting need not be changed. Higher s etting increases the response level but is liable to ge nerate vibration and/o r noise. When auto tuning mode 1,2 and int erpolation mode is selected, the resul[...]

5 - 7 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 20 INP In-position range Used to set the d roop pulse range in w hich the in-position (I NP) will be output to th e contr oller. Make setti ng in the fe edback pulse unit (parame ter No. 6). For ex ampl e, wh en you want to s et 10 m in the conditi[...]

5 - 8 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 24 *OP2 Option al fu ncti on 2 Used to s elect sli ght vibrat ion s uppres sion cont rol and m otor-les s operat ion Slight vibration suppre ssion control selectio n Made valid when auto tuning selection is set to "0002" in parameter No.8[...]

5 - 9 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 27 MO1 Analog monitor 1 offset Used to s et the offs et volt age of th e anal og m onit or1 (MO1 ) o utput. 0m V 999 to 999 28 MO2 Analog monitor 2 offset Used to s et the offs et volt age of th e anal og m onit or2 (MO2 ) o utput. 0m V 999 to 999 [...]

5 - 10 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 38 *ENR Encod er output puls es Used to s et the enc oder p ulses (A-p hase , B-ph ase) outp ut by the servo amplifier. Se t th e va l ue 4 t im e s g r e ate r tha n the A-p h as e an d B- ph a se p u lse s . You can us e parameter No.33 to choos[...]

5 - 11 5. PARAMETERS 5.3 Analog m onitor The servo s tatus can be output to t wo channels in t erms of voltage. Use this funct ion when using an ammeter to monitor the servo status or synchronizing the torque/speed wit h the other servo. (1) Setting Change the followi ng di gits of parameter No.22: Analog monitor 2(MO2) output s election (Signal ou[...]

5 - 12 5. PARAMETERS (2) Setting descri ptio n The servo amplifier is factory-set to output the servo motor speed to analog monitor (MO1) and the torque to analog monitor (M O2). Th e set ting can be changed as listed below by ch angin g the parame ter No. 22 (A nalo g mon itor ou tput) valu e: Refer to ( 3) in th is sect ion f or th e mea sure men[...]

5 - 13 5. PARAMETERS (3) Ana log m on itor b lock diag ram PWM M Current control Speed control Current comm and Position control Dr oop p ul s e Differ- ent ial Speed comm and Bus voltage Speed comm and Command pul se Current feedback Position feedback Servo motor speed Current enco der Se r v o Mo t o r Encoder Torque Differ- ent ial[...]

5 - 14 5. PARAMETERS 5.4 Replac em ent of MR-J 2- B b y MR-J2S- B When u si ng th e M R-J 2S- B on the servo s ystem controller peripheral software incompatib le with the MR-J2 S- B, you ca nnot use s ome pa rame ter f unct ions . Read th is secti on car efull y and set app ropri ate value s in the par ameter s. 5.4.1 Main m odif ications made to t[...]

5 - 15 5. PARAMETERS 5.4.2 Exp lanation of the m odif ied param eters (1) Fe edback pu lse n um ber (p aram eter No. 6) This par amete r was newl y adde d to th e MR-J 2S- B. If the peri pheral software of the servo system controller is no t comp atib le wi th the MR-J 2S- B, this para meter setting cannot be ch anged. When the servo motor used is [...]

5 - 16 5. PARAMETERS (4) Mac hin e res onanc e suppr ess ion f ilter 1 (par am eter No . 18) The settings of this parameter were ch anged for the MR-J 2S - B . If the peripheral software of the servo system controller is not compatible with the MR-J2 S- B, the parame te r settin gs are as indicated below. The notch depth is 40d B. 0 0 1 2 3 4 5 6 7[...]

5 - 17 5. PARAMETERS (9) Opt ional func tion 6 (par am eter N o. 33) This par amete r was newl y adde d to th e MR-J 2S- B. If the peri pheral software of the servo system controller is no t comp atib le wi th the MR- J2S- B, this parameter setting cannot be changed. Hence, the serial communication baudrate is “960 0 [bps]”, the ser ial communi[...]

5 - 18 5. PARAMETERS MEMO[...]

6 - 1 6. GENERAL GAI N ADJUSTMENT 6. GENERAL GAIN ADJUS TMENT 6.1 Diff erent adjus tm ent methods 6.1.1 Adjus tm ent on a sin gle s ervo am plif ier The gain ad justme nt in this sectio n can be mad e on a single servo amp lifier . For gain adjustme nt, f irst execute a uto tuning mode 1. If you are not satisfi ed with the results, execute auto tun[...]

6 - 2 6. GENERAL GAIN ADJUSTMENT (2) Adj ustm ent s equenc e a nd m ode us age Usage Used when you wa nt t o match the p osition gain (PG1) be tween 2 or mo re axes. No rmally not used for other purp oses . Allows adjustment by merely chan gin g the re spo nse leve l se tt ing . Fi r s t u se t his mo de to m ak e adjustment. Used when the c ondit [...]

6 - 3 6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjus tm ent using M R Conf igurat or (ser vo conf iguration sof tware) POINT When usi ng the machine anal yzer, set the servo am plifier's a xis number for "F". (R efer to Sect ion 3.1 1.) This se ctio n giv es the fun cti on s an d ad ju stmen t tha t may be per form ed by u si ng th e se rvo [...]

6 - 4 6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto t uning m ode The servo amplifier has a real-time auto tuning function which estimates the machine characteris ti c (load inerti a mome nt ra tio) in rea l ti me an d au tom atica lly sets the o ptim um g ain s acc ording to th at valu e. Thi s function permits eas e of gain adjust ment of[...]

6 - 5 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto t uning m ode o peration The block dia gram of real-t ime auto tuning is shown bel ow. 5 1 Servo motor Comma nd Automa tic se ttin g Control gains PG1,VG1 PG2,VG 2,VIC Current control Current feedback Load inertia mome nt Encoder Position/speed feedback Real-time auto tuning section Speed feedback Load in[...]

6 - 6 6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjus tm ent procedur e b y auto tunin g Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atic ally sets the optim um gain s th at match the mac hine . Me rely chan gin g t he re spon se leve l setting value as re quire d comp lete s the adju stmen t. The [...]

6 - 7 6. GENERAL GAIN ADJUSTMENT 6.2.4 Respo nse lev el setti ng in auto tunin g m ode Set t he response (parameter No.9) of the whole servo syst em. As the re sponse level se tting is incre ased, the trackabi lity and settling time for a co mmand decrea ses, but a too high re sponse level wil l generate vibration. Hence, make s etting until desire[...]

6 - 8 6. GENERAL GAIN ADJUSTMENT 6.3 Manual m ode 1 (sim ple m anual a djustm ent) If you a re not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 6.3.1 Oper ation of m anual m ode 1 In this mode, set ting the thre e g ains of po sition cont rol g ain 1 ( PG1) , spe ed con trol g ain 2 ( VG[...]

6 - 9 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed con trol ga in 2 ( parame ter No . 16) This paramet er determines the response level of the speed control loop. Increasin g this value enhances response but a t oo high value will make the mechanical system liable to v ibrate. The actual respons e frequency of the speed loop is as[...]

6 - 10 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Posi tio n contro l gain 1 (p arame ter No . 13) This paramet er determines the response level of the positi on control loop. Increasing position control g ain 1 improv es track ability to a pos ition co mmand bu t a too high v alue w ill m ake overshooti ng liable to occur at the time[...]

6 - 11 6. GENERAL GAIN ADJUSTMENT 6.4 Interpo latio n mode The i nterpolation mode is used to match the position control gains of the axes when performing the interpolati on operation of s ervo motors of two or more a xes for an X-Y table or the like. In this mode, the positio n control gain 1 and sp eed co ntrol ga in 1 wh ich de termin e command [...]

6 - 12 6. GENERAL GAIN ADJUSTMENT 6.5 Dif ferenc es in auto t uning between MELSER VO-J 2 and M ELSER VO-J2- Super 6.5 .1 Respon se leve l settin g To meet higher response demands, the MELSERVO-J 2-Super series has been changed in response level setting range from the MELS ERVO-J2 series . The following table lists compari son of the response level[...]

7 - 1 7. SPECIA L ADJUSTMENT FUNCTI O NS 7. SPECIAL A DJUST MENT FUNCT IONS POINT The functions given in this chapter need not be used genera lly. Use t h em if you are no t satisfie d with the m achine statu s afte r makin g adju stmen t in the me thod s in Chap ter 6. If a mech anica l sys tem ha s a n atur al reson anc e po int, incre a sing th [...]

7 - 2 7. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No. 18). 3 1 2 0 00 01 02 03 04 05 06 07 Invalid 4500 2250 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 1500 1125 900 750 642.9 500 450 409.1 375 346.2 321.4 300 562.5 281.[...]

7 - 3 7. SPECIAL ADJUSTMENT FUNCT IONS 7.3 Adaptive v ibrat ion suppr ess i on co ntrol (1) Function Adaptiv e vibr ation su ppres sion con trol is a fun ction in wh ich the serv o amp lifier dete cts m achine reson ance and se ts the fil ter c har acter ist ics au tom at ically to suppr ess me ch anical sy ste m v ibra tion . Since the filter char[...]

7 - 4 7. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The op eration of adapt ive vi bratio n sup pres sion co ntro l sele ction ( para meter N o.2 5). Pa ra m et er N o. 25 Adaptive v ibration su ppression con trol selection 0: Invalid 1: Valid Machine resona nce frequency is always detected t o generate the f ilter in respon se to resonance, supp[...]

8 - 1 8. INSPECTION 8. INSPECTION W ARNING Befor e st arting m aint enanc e an d/or insp ectio n, m ake s ure th at th e char ge lam p is off more th an 10 m inut es af ter power-of f. T hen, c onf irm that th e vol tage is s afe in the t ester or th e lik e. O ther wise, you ma y get a n el ectric shock . Any pers on who is inv olved in inspec tio[...]

8 - 2 8. INSPECTION MEMO[...]

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarm s and warnin g list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.2 or 9.3 and t ake the appropria te action. After its cause has been removed, th e alarm can be deactivated in any of the methods ma[...]

9 - 2 9. TROUBLESHOOTING 9.2 Rem edies f or alarm s CAUTION W hen an y alarm has oc curre d, e lim inate its c aus e, ens ure s afet y, then r ese t the alarm , and r estar t oper ation . Ot herwis e, i njur y ma y occur. If an absol ute pos it ion er ase alarm (25) occur red, al ways m ake hom e p ositi on settin g ag ain. O ther wise, m isoper at[...]

9 - 3 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Faulty parts in th e servo amplifier Checkin g meth od Alarm (15) occur s if power is swit ch ed on a f te r dis con ne cti o n of all cables but th e control circ uit p ower su ppl y ca bles. 15 Memo ry error 2 EEP-ROM fa ult 2. Th e numb er of writ e ti mes t o EEP- ROM exceeded 100[...]

9 - 4 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Mismatch between used regen erativ e bra ke op tion a nd par am ete r No. 2 s e tti ng Set correctly . 2. B ui l t- i n rege ne ra t ive bra k e resistor or regenerative bra ke opti on is not c onne cted . Con nec t co rrec tly 3. High-duty operation or continuo us regen erative op er[...]

9 - 5 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Regenerative bra ke option is not used. Use the re generative brake option. 2. Though the regenerative brake option is used, t he p aramet er N o. 2 setting is " 00 (n ot us ed)". Make correct s etting. 3. Lead of built-in regenerative brake resistor or regenerativ e brake o[...]

9 - 6 9. TROUBLESHOOTING Display Name Definition C ause A ction 1. Ambient temper ature of ser vo moto r is ov er 40 . Re view environment so that ambient temperature is 0 to 40 . 2. Serv o m otor is ov e rl oa d ed. 1. Redu ce load. 2. Re view operati on p attern . 3. Use ser vo motor that pro vides l arg er outpu t. 46 Se rvo mo tor overh eat Ser[...]

9 - 7 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Ac celerat ion /decel erati on tim e constant is too s mall. Increase the a ccele ratio n/dec elerat ion time constant. 2. Torque limit valu e is too small. Increase the torque limit value. 3. Moto r cannot b e start ed due t o torque shortage caused by power supply v o ltage dro p. 1[...]

9 - 8 9. TROUBLESHOOTING 9.3 Rem edies f or warn ings If E6, E7, E9 or EE occurs, the servo off status is establ ished. If any other warning occurs, operation can be continued but a n alarm may take place or proper operation may no t be performed. Eliminate the cause of the warning according to this section. Use the optional MR Confi gurator (servo[...]

10 - 1 10. OUTLINE DIMENSION DRAWINGS 10. OUTLINE DIMENSION DRA W INGS 10.1 Servo am plif iers (1) MR-J2S-10B to MR-J2S-60B MR- J2S -10B 1 to MR- J2S - 4 0B1 E N C () [Uni t: mm] 6 ( 0.24) m ounting hole A7 0 ( 2 . 7 6 ) 135 (5. 32 ) TE2 4(0.16) B 168 (6. 61 ) 7 (0. 2 8) 156 (6. 14 ) 6 (0. 2 4) 6 (0.24) C N 1 A OPEN L1 L2 L3 UV W MITSUBISHI C N 1 B[...]

10 - 2 10. OUTLINE DIMENSION DRAW INGS (2) MR-J2S-70B MR- J2S- 100B C N 1 A OPEN MIT SUBISH I C N 1 B C N 2 E N C C N 3 7 (0.28) C N 1 A OPEN L1 L2 L3 UV W MIT SUBISH I C N 1 B C N 2 E N C C N 3 [Unit: m m] ([Un it: in] ) 70(2.76) 70(2.76) 190(7.48) 22 TE1 TE2 6(0.24) 20 (0.79) Name plate Terminal layout (Terminal cover open) 6 ( 0.24) mounting hol[...]

10 - 3 10. OUTLINE DIMENSION DRAW INGS (3) MR-J2S-200B MR- J2S-3 50B MITSUBIS HI MITSUBIS HI 70(2.76) 195(7.68) 90(3.54) 78(3.07) 6 168(6.61) 156(6.14) 6 6 ( 0. 24) mounting hole Ter min al la yo ut TE1 [Uni t: mm] ([Uni t: i n ]) TE2 PE te rminal (0.24) (0.24) Fan air orientation Servo a mplifier Mas s [kg]( [lb]) MR-J2S-200B MR-J2S-350B 2.0 (4.41[...]

10 - 4 10. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500B [Unit: m m] ([Un it: in ] ) C N 2 C N 3 C N 1 A C N 1 B OPEN OPEN C N 2 C N 3 C N 1 A C N 1 B OPEN TE1 TE2 2- 6( 0.2 4) mounting hole 130(5.12) 118(4.65) 7.5 (0.5) (0.24) 6 (0.24) 250(9.84) 235(9.25) 7.5 (0.5) 6(0.24) N.P. 70 (2.76) 6 20 (0.79) 200(7.87) (0.19 ) 5 Terminal layout N.P. Fan Fa n [...]

10 - 5 10. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700B C N 1 B C N 1 A C N 3 C N 2 TE2 OPEN C N 1 B C N 1 A C N 3 C N 2 TE1 2- 6( 0. 24) mounting hole 7.5 (0.5) (0.39 ) 10 180(7.09) 160(6.23) (0.39) 10 70 (2.76) 200(7.87) 138(5.43) 62 (2.44) 6(0.24) Terminal layout [Unit: m m] ([Un it: in] ) 20 (0.79) 350(13.8) 335(13.2) 7.5 (0.5) 6 (0.24) Fan air [...]

10 - 6 10. OUTLINE DIMENSION DRAW INGS (6) MR-J2S-11KB 15 KB 3.9(0.15) Fan air orientation Fan 75 (2.95) 12(0.47) C N 3 C N 1 A C N 1 B CN4 MITSU BISH I TE1 CON2 376(14.8) 400(15.75) 12 12(0.47) 12(0.47) (0.47)12 236(9.29) 260(10.24) CHARGE CN2 TE2 2- 12( 0. 47) mounting hole (0.47) [Unit: m m] ([Un it: in ] ) 260(10.24) Servo a mplifier Mass [kg]([...]

10 - 7 10. OUTLINE DIMENSION DRAW INGS (7) MR-J2S-22KB 3.9(0.15) Fan ai r or ie nt ati on Fan 75 (2.95) [Uni t: mm] ([Un it: in ] ) C N 3 C N 1 A C N 1 B CN4 MIT SUBIS HI TE1 CON2 12(0.47) 326(12.84) 376(14.8) 400(15.75) 12 350(13.78) 12(0.47) 12(0.47) (0.47)12 CHARGE CN2 TE2 2- 12( 0 .47) mounting hole (0.47 ) 260(0.24) Servo a mplifier Mass [kg]([...]

10 - 8 10. OUTLINE DIMENSION DRAW INGS 10.2 Connectors (1) Servo amplifie r side <3M > (a) Soldered type 12 .0(0.47 ) B A 23 .8(0.94 ) 39.0(1.54) 12.7 (0.50) 14.0 (0.55) Logo, etc. are in dicated here. 10.0 (0.39) [Unit: m m] ([Un it: in ] ) Model Connector : 10120-3000VE 10126-3000VE Shell kit : 10320-52F0-008 10326-52F0-008 Variable dim ens[...]

10 - 9 10. OUTLINE DIMENSION DRAW INGS (c) Insulation displacement type Model Connector : 10 120-6000EL Shell kit : 10320-32 10-000 33.0(1.30) 42.0(1.65) 29.7 (1.17) 20.9(0.82) 11.5 (0.45) 6.7 Logo, etc. are indicated here. 2- 0.5 (0.02) [Un it: mm] ([Un it: in] ) ( 0.26) (2) Bus cab le con nec tor (a) Ho nd a Tsu shi n Indu st ry PCR ty pe 23.0(0.[...]

10 - 10 10. OUTLINE DIMENSION DRAW INGS (b) Ho nd a Tsu shi n Indu st ry HDR ty pe Model HDR Num b er of P ins Connector Connec tor case (Note) Crimping terminal 14 HDR-E14MG1 HDR-E14LP A5 26 HDR-E26MG1 HDR-E26LPA5 W ire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C Note: No t av ailab le from us and to b e sup plied b y [...]

11 - 1 11. CHARACTERISTI CS 11. CHARA CTE RISTICS 11.1 Overl oad prot ectio n character istic s An electroni c thermal relay is built in th e servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the el ectronic thermal relay protection curve shown in any[...]

11 - 2 11. CHARA CTERIST ICS 11.2 Power suppl y equipm ent c apacit y and gener ated loss (1) Am ount of he at g ener ated b y th e ser vo am plif ier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under r ated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the w[...]

11 - 3 11. CHARA CTERIST ICS (Note 2) Servo amplifier-generat ed heat[W] Area required for heat dissipat ion Servo amplifier Serv o motor (Note 1) Power supply capacity[k VA] At rated t orque W ith servo off [m 2 ] [ft 2 ] HC-SFS502 7.5 195 25 3.9 42.0 HC-RFS353 5.5 135 25 2.7 29.1 HC-RFS503 7.5 195 25 3.9 42.0 HC-UFS352 5. 5 195 25 3. 9 42.0 HC-UF[...]

11 - 4 11. CHARA CTERIST ICS (2) H eat d issipa tion area f or e nclos ed ser vo am pl ifier The encl osed control box (hereafter called the control box) which will contain the servo ampli fier should be design ed to ensu re that it s temper ature ri se is wi thin 10 at t he ambient temperat ure of 40 . (With a 5 (41 ) safety margin, the system sho[...]

11 - 5 11. CHARA CTERIST ICS 11.3 D ynamic br ake c haracter istics Fig. 11 .6 shows t he pattern in which the servo motor comes to a stop when the dynamic brak e is operated. Use Equati on 11.2 to calculate an approximate coast ing distance to a stop. The dynamic brake time constant varies with the servo motor and machine operati on speeds. (Refer[...]

11 - 6 11. CHARA CTERIST ICS 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02 0 500 1000 1500 2000 2500 3000 73 23 43 053 13 Speed [r/min] Time constant [s ] Time c onsta nt [s] 0.005 0.0 1 0.015 0.0 2 0.025 0.0 3 0.035 0.0 4 0 50 500 01 0 0 0 121 201 301 81 Speed [r/min] b. HC-MFS s eries c. HC-SFS 1000r/m in ser ies Time cons tant [ s][...]

11 - 7 11. CHARA CTERIST ICS Use the dynamic brake at the l oad inertia moment indicated in the following table. If the load inertia mome nt is higher than this value, the bui lt-in dy namic b rake m ay burn. I f there is a po ssibili ty that the load inertia moment may exceed the value, contact Mitsubis hi. Servo amplifier Load inertia moment rati[...]

11 - 8 11. CHARA CTERIST ICS 11.5 Inrus h curren ts at p ower-on of m ain circ uit and con trol c ircuit The foll owing table i ndicates the in rush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2 500kVA and the wiring length of 10m. Inrush Currents (A 0-p ) Servo [...]

12 - 1 12. OPTIONS AND AU XILIARY EQUIPMENT 12. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Befor e connec tin g any opti on or aux iliar y equ ipm ent, m ak e sure t hat t he ch arge la mp is off mo re th an 10 minu tes a fter pow er-o ff, then confi rm the volt age wi th a tester or th e lik e. Oth erw ise, you m ay ge t an electr ic sh ock . CAUT[...]

12 - 2 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Se lect ion of th e reg enerat ive brak e op tion (a) Simple se lectio n meth od In horizontal motion appli cations, select the regenerat ive brake option as de scribed below: When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissibl e duty i[...]

12 - 3 12. OPTIONS AND AU X I LIARY EQU IPMENT b. Losses of servo mo tor and servo amplif ier in regenerative mode The foll owing table lis ts the effici encies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifi er Inverse effi ciency[%] Capacitor char ging[J] MR-J2S-10B(1) 55 9 MR-J2S-20B(1) 70 9 MR-J2S-4[...]

12 - 4 12. OPTIONS AND AU X I LIARY EQU IPMENT (4) C onnect ion of the r eg enerat ive br ak e opti on The regenerati ve brake option will cause a temperature rise of 100 degrees relative to the ambient temper ature . Fully ex amine heat di ssipat ion, in stal latio n po sition , u sed c ables, etc . before in stal ling the opti on. For wiring, use[...]

12 - 5 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-J2S-500B MR-J 2S-700B Always remove the w iring (acro ss P-C) of the servo ampl ifier built-in regenera tive br ake re sistor and fit th e regen era tive bra ke op tion acro s s P-C. The G3 and G4 terminals act as a thermal protector. G3-G4 a re opened when the regenerative brake opti on overhea[...]

12 - 6 12. OPTIONS AND AU X I LIARY EQU IPMENT For the MR-R B5 0 MR-R B51 in sta ll the cool ing f an as shown . 82.5 40 (1.58) 82.5 133 Fan installation screw hole dim ensions 2-M3 screw hol e (fo r fa n ins t all a tio n) Depth 10 or l ess (Screw hole already machi ned) Recommended fan: Toyo Denki's TL396A or equivalent Fan Terminal bl ock T[...]

12 - 7 12. OPTIONS AND AU X I LIARY EQU IPMENT (d) MR-J2S-11KB-PX to MR-J2S-22KB-PX (when using the regenerative brake option) The MR-J2 S-11KB- PX to MR -J2S-2 2K B-PX se rvo amplif iers ar e no t suppl ied wi th reg ener ative brake resistors. When using any of these servo amplifiers, al ways use the M R-RB65, 66 or 67 regenerative b rake option.[...]

12 - 8 12. OPTIONS AND AU X I LIARY EQU IPMENT (5) Outlin e drawing (a) MR-RB032 MR-R B12 LA 5 (0. 2 0) LB TE1 6 (0. 2 3) 6 (0. 2 3) 156 ( 6.14 ) 168 (6. 61 ) 144 (5. 67 ) 12 ( 0. 47) 6 (0. 2 3) 12 ( 0. 47) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Uni t: mm ( in)] 6 (0.24) mo unting hole MR-RB TE1 Terminal block G4 G3 C P Termina l screw: M3 Tightenin[...]

12 - 9 12. OPTIONS AND AU X I LIARY EQU IPMENT (c) MR-RB50 MR- RB51 Tightening torque: 5.4 [N m](47.79 [lb in]) Terminal b lock G4 G3 C P Termin al sc rew: M4 Tightening torque: 1.2 [N m](10 [lb in]) [Unit: mm (in)] 49 (1.93) 82.5 (3.25) 200 (7. 87 ) 223 (8. 78 ) 2.3 (0.09) 108 (4.2 5) 120 (4. 73 ) 12 (0.47) 7 (0. 2 8) (30 (1.18)) 8 (0. 3 2) 12. 5 [...]

12 - 10 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.2 Br ake unit POINT The brake un it and re sisto r unit of o ther than 200V class are not applicable to the se rvo amplif ier. The bra ke unit and resist or unit of the s ame capacity must be combined. The units of different capacities may result in damage. The brake u nit and resisto r unit must[...]

12 - 11 12. OPTIONS AND AU X I LIARY EQU IPMENT The cabl es between t he servo amplifi er and brake unit and between the resistor unit and brake unit should be as sho rt as po ssib le. The c ables longer than 5m (16.4 04ft) sho uld be tw iste d. If twis ted, the cables must not be long er th an 10m(32 .808f t). The cable si ze should be equal to or[...]

12 - 12 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Resistor unit (FR-BR) [Unit : m m (in)] 33 (1.299) 204 (8.031) 40 (1.575) K (F) (F) BA 1 (0.039) C 5 (0.197) 2- D AA 5 ( 0.197) EE (E) A 5 (0.197) EE (E) (Note) Control circuit terminals Mai n cir cu i t terminals FR-BR-55K Two eye bolts are provided (as shown below). Eye bo lt BB 3 ( 0.118) B 5 ([...]

12 - 13 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) C onnect ion exam ple Powe r supp ly 3-phase 200V or 230V AC NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 EM1 SG Powe r regene ration converter FR-RC SK ON MC B C NPC RDY SE Alarm output RDY output A B C 5m(16.4ft) or less N/ P/ Operation ready MC OFF EM1 RA2 FR-RC Ready COM VDD Power factor impro[...]

12 - 14 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Outs ide dim ensio ns of the pow er rege ner ation c on verters [Unit : m m(in)] AA A C F K EE BA B E D 2- D hole Rating plate Fron t c ov er Display panel window Mounting foot (removable) Mounting foot movable Cooling fan Heat generation area outside mount in g dimensio n Pow er regeneration conv[...]

12 - 15 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.4 Ext erna l dynam ic brak e (1) Se lect ion of d ynam ic brak e The dynami c brake is designed to bring t he servo motor to a s udden stop when a power failure occurs or the protective circuit is acti vated, and is built in the 7kW or l ess servo a mplifier. Since it is not buil t in the 11kW or[...]

12 - 16 12. OPTIONS AND AU X I LIARY EQU IPMENT Servo moto r rotation Coasting Alarm RA1 ON OFF Forced stop (EM 1) Absent Invalid Valid Short Open a. Timing chart at alarm occurrence b. Timing chart at forced stop (EM1) validity Dynamic brake Base ON OFF Coasting Dynamic brake Dynamic brake Present[...]

12 - 17 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) O utlin e dim ens io n dra wing UV W D 100(3.94) D (0.2)5 C E G F 2.3(0.09) Terminal block Screw : M3.5 Screw : M4 B A 5 (0.2) E 13 14 E (GND) ab [Unit : mm ] ([Unit: i n ]) Tightening torque: 1.2 [N m](10 [lb in]) Tightening torque: 0.8 [N m](7 [lb in]) Dynamic brak e A B C D E F G Ma ss [kg]( [I[...]

12 - 18 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.5 Cabl es and c onnector s (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models. The brok en line ar eas in the diagram are not options. HC-SFS HC-RFS HC-UFS 2000r/min HC-KFS HC-MFS HC-UFS 3000r/min 1) 2) 6) 16) 17) 18) 20) 21) 19) 3) 4) 5) 7) 8) [...]

12 - 19 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation 1) Standard encoder cable MR-JCCBL M-L Refer to (2) in this section. Connector: 10120-3000VE Shell kit: 10320-52F 0-008 (3M or eq uivale nt) Housing: 1-172161-9 Connector pin: 170359-1 (AMP or equival ent) Cable clamp: MTI-0002 (Toa E lect ric In dustr y) Sta[...]

12 - 20 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation Connec tor: PCR-S20FS Shell kit : PCR-LS20 LA1 (Honda Tsushin) Connector: 10120-3000EL Shell kit: 10320-52F 0-008 (3M or eq uivale nt) 11) Connector set MR-J2CN1-A Refer to (4) in this section 12) Control signal connecto r set MR-J2CN 1 Co nnector: 10120-3000[...]

12 - 21 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation Connector: HDR-E14MG1 Shell kit: HDR-E14LP A5 (Honda Tsushin) Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or eq uivale nt) (Note) 24) Bus cable Q172J2BCBL M (-B) Refer to (4) in this section Socket: HCN 2-2.5S-2 Termi na l : HC N2 - 2 .5S- D- B (Hir[...]

12 - 22 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you ha ve f abric ated t he enc od er ca ble, c onn ect it corr ectl y. Other wise, m isop erati on or e xpl osion m a y occur . POINT The encoder cabl e is not oil resistant. Refer to Secti on 11.4 for the fl exing life of t he encoder cabl e. When the encoder ca ble is [...]

12 - 23 12. OPTIONS AND AU X I LIARY EQU IPMENT P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 MR-JC CBL2 M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG [...]

12 - 24 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JHSCBL M-L MR- JHS CBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RFS HC- UFS 2000r /min ser ies se rv o moto rs. 1) Model explanation L H 2 5 10 20 30 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) Symbol Specifications Standard flexing life Long flexing life Symbol Cab[...]

12 - 25 12. OPTIONS AND AU X I LIARY EQU IPMENT MR-JHSC BL2M-L MR-JHSC BL5M-L MR-JHSC BL2M-H MR-JHSC BL5M-H MR-ENCBL2 M-H MR-ENCBL5 M-H MR-JHSC BL10M-L to MR-JHSC BL30M-L MR-JHSC BL10M-H to MR-JHSC BL50M-H MR-ENCBL1 0M-H to MR-ENCBL5 0M-H Servo amplifier side Enco der sid e (Note2) U se of AWG24 (Less than 1 0m(32.8ft)) Servo amplifier side Enco de[...]

12 - 26 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of t h e RS-2 32C connector, refer to thi s section and fabricate the cable. (a) Model definition Model : MR-CPCATC BL3 M Cable le n g th 3 [m] ( 10 [ft] ) (b) Connection [...]

12 - 27 12. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable CAUTION W hen f abricat ing the bus cab le, d o no t mak e incor rec t conn ectio n. Do ing s o can cause m isoperat ion or ex plosi on. When f abrica ting thi s cable , use the re commend ed cab le giv en in Se ction 12 .2.1 and f abrica te it in accordance with the connection diagram s[...]

12 - 28 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-J2HBUS M 1) Model definition Model:MR- J2HBU S M 05 1 0.5 (1.64) 1 (3.28) 5 5 (16.4) Cable Length [m(ft)] Symbol 2) Connection diagram MR-J2 HBUS M 10120-6000EL(Connector) 10320-3210-000(Shell kit) 10120-6000EL(Connector) 10320-3210-000(Shell kit) 1 11 2 12 3 13 4 14 5 15 Plate 6 16 7 17 8 18 9[...]

12 - 29 12. OPTIONS AND AU X I LIARY EQU IPMENT (c) Q172J2BCBL M(-B) When using t he battery unit Q170BAT, use the Q172J2B CBL M-B. For the Q17 0BAT, refer to the Motion Control ler Q Series User's Manual (IB(NA)0 30002 1). 1) Model definition Mode l:Q1 72J2 BCBL M- 05 Cable Length [m(ft)] 5 Symbol 0.5 (1.64) 5 (16.4) 1 (3.28) 1 Connection of [...]

12 - 30 12. OPTIONS AND AU X I LIARY EQU IPMENT 2) Connection diagram HDR-E26MG1(Connector) HDR-E26-LPA5(Connector case) 1012 0-6 000 EL( Con nec tor) 10320-3210-000(Connector case) 14 3 16 2 15 13 26 6 TD1 TD1* LG LG RD1 RD1* LG BT EMG12 EMG12* 1 RD Plate 12 1 11 4 14 5 9 7 17 RD* LG LG TD TD* LG BT EMG EMG* SD 2 19 RD Plate 12 1 11 4 14 5 9 7 17 [...]

12 - 31 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.6 Main tenanc e junct ion card ( MR-J2CN 3TM) POINT The MR-J2 S-11KB or more al lows only th e relaying of si gnals using CN3A/C N3 C. Since TE1 cannot b e used, keep it open. (1) Usage The mai ntenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monit or ou[...]

12 - 32 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.7 Batter y (MR-BAT , A6B AT) POINT The revis ion (Editi on 44) of the Dangero us Goods Rule of t he Internatio nal Air Tr anspor t Asso ciation (IATA) we nt into ef fect on January 1, 2003 and w as enf orced immed iately. In thi s rule, "provision s of the lithiu m an d lithiu m ion b atteri[...]

12 - 33 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.8 MR Conf igurator (s ervo conf igur ations s oft ware) The MR Confi gurator (servo configurati on software) uses the communication function of the servo amplifi er to perform parameter settin g changes, graph display, test operation, et c. on a personal computer. (1) S pecif ica tions Item D esc[...]

12 - 34 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.9 Po wer regen erat ion comm on c onverter POINT For details of the power re generation common converter F R-CV, refer to the FR-CV In stalla tion Gu ide (IB( NA)0600 075). Do no t supp ly p ower to the main c ircuit p ower supp ly termin als ( L1, L 2, L3) of the se rvo ampl ifier . Doing so wil[...]

12 - 35 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Connection diagram RA1 EM1 C B R/L 11 Three-p hase 200 to 23 0VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 N/L P24 SD RDYB RDYA RSO SE A P/L T2/L 3 R/L 11 S/L 21 T/MC1 RES SD L 11 L 21 P N SG COM U V W EM1 (N ote 1 ) RA1 RA2 24VDC power supply U V W Therma l relay 0HS 2 0HS1 CN2 MC NFB [...]

12 - 36 12. OPTIONS AND AU X I LIARY EQU IPMENT 2) Grounding For grounding, use the wire of th e size equal to or greater than that indicated in the following table, and make it as short a s pos sible. Power regeneration comm on convert er Grounding wire size [mm 2 ] FR-CV-7.5K TO FR-CV-15K 14 FR-CV-22K • FR-CV-30K 22 FR-CV-37K • FR-CV-55K 38 ([...]

12 - 37 12. OPTIONS AND AU X I LIARY EQU IPMENT (5) S pecif ica tions Power regeneration comm on convert er FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7. 5 11 15 18. 5 27.5 Maximu m se rvo a mp li fi er capa city [kW] 3.5 5 7 11 15 15 22 Total of c onnecta ble s ervo motor rated current s [...]

12 - 38 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.10 H eat sink outside m ounting attachm ent (MR- JACN) Use the heat si nk outside mounti ng attachment to mount the heat generati on area of the servo amplifier in t he outside of the control box to diss ipate servo amplifier-generat ed heat to the outside of the box and reduce th e amo unt o f h[...]

12 - 39 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Fitting method Attachm ent Fit using the assembiling screws. Servo amplif ier Attachm ent Servo amp lif ier Punched hol e Control box a. Ass embl ing the heat sink outs ide m ounti ng a ttachm ent b. I nst allat ion to t he c ontro l box (4) O utlin e dim ens io n dra wing (a) MR-JACN15K (MR-J2S-1[...]

12 - 40 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JACN22K (M R-J2S-22KB) 68(2.677) 145(5.709) 400(15.748) 35(1.378) 194(7.638) 84 58 12 3.2(0.126) 326(12.835) 155(6.102) 105 11.5 260 370(14.567) 350(13.78) 510(20.079) 580(22.835) Atta chment Servo amplifer Atta chment 4- 12 Mounting hole Servo amplifer Panel Panel (2.283) (0.472) (3.307) (10.2[...]

12 - 41 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2 Auxil iar y equipm ent Alway s use the d evice s indic ate d in th is sec tion or equ iva lent. To comply wi th the EN Stan dard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recom m ended wires (1) W ires for power supply wiring The following di[...]

12 - 42 12. OPTIONS AND AU X I LIARY EQU IPMENT Table 12. 1 Rec omm ended wires (Note 1) Wires [mm 2 ] Servo a mplifier 1) L 1 L 2 L 3 2) L 11 L 21 3) U V W P 1 P 4) P C N 5) B1 B2 6) BU BV BW MR-J2S-10B(1) MR-J2S-20B(1) MR-J2S-40B(1) MR-J2S-60B MR-J2S-70B 1.25 (AWG16) : a MR-J2S-100B 2 (AWG14) : a 2 (AWG14) : a MR-J2S-200B 3.5 (AWG12) : b 3.5 (AWG[...]

12 - 43 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) W ires for cab les When f abrica ting a cable , use the w ire mod els given in the fo llowin g ta ble or e quiv alen t: Table 12. 3 W ires f or option c ables Char acteri stics of one co re Type Mode l Length [m(ft)] Cor e size [mm 2 ] Number of Core s Str uctur e [W i res /mm] Conductor resistanc[...]

12 - 44 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.2 No-f use bre aker s, fus es, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instea d of the no-fuse breaker, use the one having the speci ficati ons given in this s ection. Fuse Servo amplifier No-fuse break er Clas s Cu[...]

12 - 45 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.4 Po wer fac tor im provin g DC reac tors The input power factor is im proved to be about 95 %. Screw size G (Note 1) Terminal cover 2-F L Notch A or less E Name plate C or less D B or less H F L Mounting foot part FR-BEL P P 1 Servo amplifier (Note2) Note1. Fit th e supplied terminal cove r afte[...]

12 - 46 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.5 Re lays The followi ng relays should be used with the int erfaces: Interface Selection exam pl e Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals [...]

12 - 47 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction techni que s for ex terna l noi ses th at cau se the servo ampl ifier to malf unct ion If there a re noise s ources (such as a magnetic contactor, an electromagneti c brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunct[...]

12 - 48 12. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression t echniques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cable s are contained in a control box together with the servo amplifier o r run near the servo amplifier, [...]

12 - 49 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for i nstallation to an AC relay, AC valve, AC electromagnetic brake or the li ke near the servo ampli fi er is shown below. Us e this product or equival ent. MC Surge suppressor Relay This distance should be short (within 20cm(0.79 in.)). Surge su[...]

12 - 50 12. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 screw 11(0.43) 3 (0.12) 6 (0.24) C A 6 22(0.87) 17.5(0.69) 35(1.38) 35 (1.38) L or less 10(0.39) 30(1.18) 7 (0.28) 24 0 0.2 Note: Screw ho le for grounding. C onnect it to the earth plate of th e control box . (0.24) 24 0.3 0 (0.940) (0.940) [[...]

12 - 51 12. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiat ed from the power supply side and output side of the servo amplifier and als o in suppressing high-frequency leakage current (zero-phase current) especi ally w ithin 0.5 MHz to 5MH z band . Connection di agr[...]

12 - 52 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.8 Leak age cur rent br eaker (1) Selecti on method High-frequency chopper currents controlled b y pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor whi ch is run with a commercial power supp ly. Select a leakage [...]

12 - 53 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) S elect ion exam ple Indicated below is an example of selecting a l eakage current break er under the followi ng conditions: M Servo ampl ifier MR-J 2S-60B Servo mot or HC-MFS73 Ig1 Ig 2 Iga Ig m NV 2mm 2 5m 2mm 2 5m Use a leakage curren t breaker de signed for suppres sing harmonics/ surges. Find[...]

12 - 54 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.9 EMC f ilter For compliance with the EMC d irective of the EN standard, it is recommended to use the following filter. Some EMC filters are la rge in leakage current.: (1) Co mbi n at io n wi th the se r vo a mpl i fie r Recommended f ilter Servo a mplifier Model Leak age current [mA] Mass [kg]([...]

12 - 55 12. OPTIONS AND AU X I LIARY EQU IPMENT HF3040A-T M HF305 0A-T M HF3060A-T MA H 2 J 2 G 1 F 2 E 1 D 2 3-L 6-K 3-L M C 1 B 2 A 5 C 1 Dimension s [ mm(in ) ] Model AB C DEFG H J KL M HF3040A-TM 260 (10.24) 210 (8.27) 85 (8.35) 155 (6.10) 140 (5.51) 125 (4.92) 44 (1.73) 140 (5.51) 70 (2.76) M5 M4 HF3050A-TM 290 (11.42) 240 (9.45) 100 (3.94) 19[...]

12 - 56 12. OPTIONS AND AU X I LIARY EQU IPMENT MEMO[...]

13 - 1 13. ABSOLUTE POS ITION DETECTION SYSTEM 13. ABSOLU TE POSITION DE TECTION SYSTEM CAUTION If an abs olut e pos itio n eras e a larm ( 25) has occ urr ed, a lways p erf orm hom e posit ion s ett ing aga in. Not do ing s o can ca use r una way. 13.1 Featur es For normal operation, as shown below, the encoder consists of a detector designed to d[...]

13 - 2 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.2 Specif ic ati ons (1) Specifi cation li st Item Descripti on System Electronic battery backup system Battery 1 pi ece of li th ium battery ( pri mary ba tte ry, nomina l 3.6V) Type: MR-BAT or A6BAT Maxim um revolu tion ran ge Home posi tion 32767 rev. (Note 1) Max imum speed at power fa ilure 50[...]

13 - 3 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.3 Batter y inst al lat ion proc ed ure W ARNING Befor e star ting b atter y ins ta llatio n proce dur e, m ak e sure th at th e charg e lam p is off more t h an 10 mi nu te s aft e r pow e r -o ff. Then , con fi r m th at th e v ol ta ge is sa fe in th e tester or th e lik e. Oth erw ise, you m ay[...]

13 - 4 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.4 Confir m ation of abso lute p osition detec tio n data You can confirm the absolute po sition data with MR Configurator ( servo configuration software). Click "Di agno stic s" and "Abso lute Enc ode r Data" to open th e abso lute posi tion dat a di splay scree n. (1) Cli ckin[...]

App - 1 App endix App. Com bination of servo a mplifier a nd serv o motor The servo amplifier software versions comp atible with the servo motors are indicated in the paren theses. The servo amplifiers whose software versions are no t indicated can be used reg ardless of the versions. Serv o motor Servo amplifier (Software version) Serv o motor Ser[...]

App - 2 Appendix MEMO[...]

REVISIONS *The manual numb er is given on the bottom left of t he back cover. Print Data *M anual Number Rev ision Sep., 2000 SH(NA)030007-A First edition Jan., 2001 SH(NA)030007-B Servo amplifi er: Addition of MR-J 2S-500B and MR-J 2S-700B Servo motor: Add ition of HC-K FS73, HC-SFS502, HC -SFS702, HC-RFS353, HC-RFS503, H C-UFS502 and HC-UFS352 Se[...]

Print Data *M anual Number Rev ision Oct., 2002 SH(NA)030007-C Section 3.6.3: Add ition of N ote Section 3. 9: Reexam ination of cont ents Section 3. 12: Addition Section 3.12.2: Additio n of power fa ctor improvi n g DC reactor Section 4. 3 (2): Addit ion of initi alizatio n completi on Section 5. 2 (2): Addition of external dynamic brak e selecti[...]

Print Data *M anual Number Rev ision May., 2003 SH(NA)030007-D COMPLIANCE WITH EC DIRECTIVES 2 (6): Addition of (6) CONFORMANCE WITH UL/C-UL STANDAR D: Addition of (2) Air volume (2.8m 3 /mi n) Sectio n 1.3: In ru sh curre nt additi on Section 3. 1.1: Reexa mination of table in N ote Section 3. 1.2: Reexa mination of table in N ote Section 3. 6.3: [...]

Print Data *M anual Number Rev ision Jan., 2004 SH(NA)030007-E Section 5.2 (2): Partial addition of parameter No. 2 Note addition of paramete r No. 31 Section 5. 4.2: (10) del etion Section 9. 2: Display 32 item additi on, Partial r eexaminat ion/Note add ition of display 52 Section 1 0.1: Overa ll reexamin ation Sectio n 11.2: Table change Section[...]

HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030007-E (0401) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE 1CW502 MR-J2S-B GIJUTU SIRYOU[...]