Mitsubishi Electronics MR-J2S- B manual

J2-Super Series MR-J2S- B Servo Amplifier Instruction Manual SH (NA) 030007-G (0711) 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 G General-Purpose AC Servo MODEL MR-J2S- B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J2-Supe[...]

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 plif ier an d serv o motor 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 ull[...]

A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wiri ng or insp ectio n, tur n of f the p ower an d wait f or 15 m in utes or m ore until the ch arg e lam p turns off . Then, c onfir m that t he vol tage bet ween P and N is safe with a volt age test er and oth ers. Oth erwis e, an electric shoc k m a y occur. I n ad dition [...]

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 insec ure 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 safet y meas ures, e.g. pro vide c overs , t o pre vent ac cide ntal ac[...]

A - 5 (3) Te st run adjust ment CAUTION Befor e oper atio n, c heck the p aram eter s etti ngs. Im prop er se ttin gs m ay ca use s om e m achin es t o p erf orm unexpec te d oper atio n. The par am eter se ttin gs m ust n ot be chang ed ex cess ive ly. O perat ion will b e ins atia ble. (4) Usa ge CAUTION Prov ide a f orc ed st op cir cuit to e ns[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION W it h ag e, the el ectroly tic capacit or of the servo am pli fier will de teriorate . To prevent a secondary acci dent 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 ale[...]

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 distributi on of safety-guaranteed products. In the EU countries, the machinery dire ctive (effective in Jan uary, 199 5), EMC dir ective (e ffecti ve in J anuary, 1996) and l ow volta[...]

A - 8 (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set forth in IEC6 0664-1. For this pu rpose, a reinforce d insulating transformer conforming to t he 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 RD (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 the man uals>> This Instruc tion M anual and the ME LSERVO Se rvo Moto r Ins truction Manua l are required 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 Manual [...]

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 ............................................................... 3-32 3.12.1 Co nnection ex ample ...................................................................................................... ................ 3-33 3.12.2 Se rvo amplif ier termin als ..........................[...]

3 8. IN SPECT ION 8- 1 to 8- 2 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 13.2 Specif icatio ns ............................................................................................................ ........................... 13- 2 13.3 Batte ry inst alla tion procedure ............................................................................................ ............... 13- 3 13.4 Co nfirmat ion of abso l[...]

5 Opti onal S ervo Mo tor Instruct ion Manu al CO NTENTS The rough table of conten ts of the opt ional ME LSERVO Servo Mo tor Ins truction Ma nual is in troduce d 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 [...]

6 MEM O[...]

1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURATION 1.1 Introduc tion The Mitsubish i MELSERVO-J 2-Super series genera l-purpose AC servo is based on the MELS ERVO-J2 series and has further higher performance and higher fun ctions. It is connected with a servo system con troller or si milar device vi a a seria l bus (SSCNE T) and [...]

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 Ser vo motor D C P NFB MC L 1 L 2 L 3 L 11 L 21 B2 Actual position control Actual speed control CN2 CON1 MR-BAT U V W U V W M B1 (Note 1) CN1A CN1B D/A CN3 Servo amplifier Regene rative TR CHA[...]

1 - 3 1. FUNCTIONS A ND CONFIGU RATION (2) MR -J2S- 500B, MR-J2S -700B RS-232C Servo m otor NFB MC L 1 L 2 L 3 L 11 L 21 B2 Actual position control Actual speed control CN2 CON1 MR-BAT U V W U V W M B1 CN1A CN1B D/A CN3 Servo amplifier Regene rative TR CHARGE lamp Current detec tor Dynamic brake Electro- magnetic brake Encode r Control circui t pow[...]

1 - 4 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-11KB or more CN2 CON1 CN1A CN1B RS-232C D/A L 1 L 2 L 3 L 11 L 21 NFB MC MR-BAT PC U V W U V W M B1 B2 N P1 CN3 CN4 Servo amplifier Current detector CHAR- GE lamp Rege- nrat ive TR Ser vo motor Electr o- magnetic bra ke Encode r Position command input Model position con trol Model speed control Virt[...]

1 - 5 1. FUNCTIONS A ND CONFIGU RATION 1.3 Serv o am plifier s tandard s pecif icati ons Servo am plifi er 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 230V AC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230V AC, 50/60Hz 1-phase 100 to 120VAC 50/60Hz Perm[...]

1 - 6 1. FUNCTIONS A ND CONFIGU RATION 1.4 Func tion list The followi ng table lists the functions of this servo. For deta ils of the functions, refer to the reference field. 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 Mer[...]

1 - 7 1. FUNCTIONS A ND CONFIGU RATION 1.5 Mode l code d efinit ion (1) Rating plate POWER MITSUB ISHI AC SERVO MADE IN JAPAN MODEL MR-J2S-6 0B MITSUBISHI ELE CTRIC CORPORATION 600W 3.2A 3P H 1PH 200-230 V 50Hz 170V 0- 360Hz 3. 6A POWER : INPUT : OUTPUT : SERIAL : AC SER VO 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 wing ta ble list s combin ation s of servo amplif iers and se rvo mo tors. The same combina tio ns apply 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 motors HC-SFS HC-UFS Servo a mplifier HC-KFS HC-MFS 1000r/m [...]

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 Section 13.3 Chapter 4 Name/Application Battery holder Contains the battery for absolute position data backup. Batte ry conne ctor (C ON1) Used to connect the battery for absolute position da ta backup. Display The two-digit, seven-se[...]

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 Section 13.3 Chapter 4 Name/Application Battery holder Contains the battery for absolute position data backup. Batte ry co nnector (CON1 ) Used to con[...]

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 Section 13.3 Name/Application Bat ter y hol der Contains the battery for abso lute position data backup. Bat[...]

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/Application Battery c onnector (CON1) Used to connect the battery for absolute position data bac kup . [...]

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. Fixed par t (4 pl ace s) Coolin g fan Section 3.8 Section 10.1 Reference Chapter 4 Section 3.11 Section 3.2 Section 3.2 Section 12.1. 5 Section 1.5 Section 3.2 Sectio[...]

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 Befor e rem oving or insta lling the f ront co ver, t urn off the po wer and wai t f or 15 minutes or m ore u nti l the char ge lam p tur ns of f. T hen, c onf irm that the v oltage betwe en P and N is saf e with a volta ge t ester and others .[...]

1 - 15 1. FUNCTIONS A ND CONFIGU RATION (3) For MR-J2S-700B Front cover socket (2 p l ac es) A) 1) Removal of the front cove r Reinstallation of the front cove r 1) Ins ert the two fron t cover hoo ks at th e bottom int o the sockets o f the servo amplifier. 2) Press the front co ver against the serv o amplifier until the re moving knob clicks. 1) [...]

1 - 16 1. FUNCTIONS A ND CONFIGU RATION 1) Insert the front cover in the direct ion of arrow. Reinstallation of th e front cove r Mounting screws (2 places) 2) Fix it with the mountin g screws (2 places). Mounting screws (2 pla ces) 3) Fit the front cover and fix it with the mounting 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 e lectric shoc k, a lwa ys con nect t he pr otec tive e art h (PE) term in al ( ) of th e ser vo am plif ier to the p rotec tive ear th (P E) of the c ontr ol b ox. (1) MR-J2S-100B or less (a) F or 3-phas e 200V t o 230V or 1-ph ase 230V No-f[...]

1 - 18 1. FUNCTIONS A ND CONFIGU RATION (b) F or 1-p hase 100V to 120V L 1 L 2 L 21 L 11 UV W D P C No-fuse breaker (NFB) or fuse Magnetic contactor (MC) To CN2 To CN3 To CN1B To CN1A Serv o motor Personal computer MR Configurator (Se rvo co nfi gu ratio n software MRZJW3-SETUP151E) Servo amplifier CHARGE Control circuit terminal block Options and [...]

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 UV W PC No-fuse breaker (NFB) or fuse Mag netic contactor (MC) To CN3 To CN1B To CN1A Servo amplifier Options and auxiliary equipment No-fuse br eaker Magnetic co ntactor MR Configur ator (Servo conf iguration sof tware) Regenerative option Reference Section[...]

1 - 20 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B To CN1A Options and auxiliary equipment No-fuse br eaker Magnetic co ntactor MR Configur ator (Servo conf iguration softwa re) Regenerative option Reference Section 12 .2.2 Section 12 .2.2 Section 12.1.8 Section 12.1.1 Options and auxiliary equipm ent Reference Cables Sect ion 12.2.1 Power fac[...]

1 - 21 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B W V Options and auxiliary equipment No-fuse br eaker Magnetic cont actor MR Configurator (Servo c onfigurat ion software) Regenerative option Reference Section 12 .2.2 Section 12 .2.2 Section 12 .1.8 Section 12.1.1 Options and auxiliary e quipment Reference Cables Sect ion 12.2.1 Power factor [...]

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 C N1A To CN3 MITS UB ISH I U V W BW C P To CON2 BV BU Options and auxi liary equipment No-fuse breaker Magn etic c ontac tor MR Co nfigu rato r (Servo configuration so ftware) Regene rati ve o ption Reference Section 12. 2.2 Section 12. 2.2 Secti[...]

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 the equ ipm ent on incom bus tible m ateria l. Insta lling them direc tl y or c lose t o com bustib les will l ead to a fire . Instal l the equ ipm ent in a loa d-be ar ing pl ace in acc orda nce with t his Instr uct [...]

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 wis e, a f ault ma y 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 Contr[...]

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 cooling fan to prevent the int ernal temperature of the control box from exceeding the environm ental con ditio ns. Control box 30m m (1.2 in.) or m[...]

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 wiri ng, t urn of f th e power and wait f or 15 m inutes or m ore unti l th e char ge lamp tur ns off . T hen, conf irm that t he v oltage bet ween P and N is safe with a volt age tes ter a [...]

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 connecti on of the power suppl y system and to section 3.6 for connectio n wi th the se rvo moto r. 3.1.1 MR-J 2S-700 B or les s Servo ampli fier (Note 5) CN1A CN1B (Note 5) SW1 CN1A CN1B CN1A CN1B CN1A CN1B MR-J2 S-B (2 axis) SW1 Se[...]

3 - 3 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, al ways connect the protecti ve earth (PE) terminal ( ) of the servo amplifier t o the prot ective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connect ed reversely, the servo amplifier will be faulty and will not ou tput signals, disabling [...]

3 - 4 3. SIGNALS AND WI RING 3.1.2 MR-J 2S-11 KB or m ore (Note 3, 6) CN3 CN1A CN1B 10k 10k SW1 Setti ng : 0 SW1 Setti ng : 2 SW1 Setting : 1 MR-J2S-B (2 axi s) CN1A CN1B MR-J2S-B (3 axis) CN1A CN1B SW1 Setting: n -1 MR-J2S-B (n axis) CN1A CN1B n= 1 to 8 (N ote 9) (Note 10) (N ote 9) (N ote 9) (Not e 11) MR-A-TM (Note 4) (Note 4) Magnet ic brake in[...]

3 - 5 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, al ways connect the protecti ve earth (PE) terminal ( ) of the base unit to the protective earth (P E) of th e co nt rol bo x. 2. Connect the diode in the correct direction. If it i s connec ted reversely, the interface unit will be faulty and will not out put signals, disabling t h[...]

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 Signal explana tions For the I/O in terface s (symbol s in I/O colu mn in the tab le), refe r to sec tion 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 connec tion wi th the cont rolle r or prece ding-ax is servo amplifier.[...]

3 - 9 3. SIGNALS AND WI RING 3.3 Alarm occ urrenc e timing c hart CAUTION W hen an alarm has occurr ed , rem ove its caus e, m ak e sure t hat t he o perat ion sign al is not be ing in put, ensure safety , and reset the alarm be fore rest arting operat ion. As soon as an alarm occurs , m ake the Ser vo of f st atus an d i nterr upt t he m ain circu[...]

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 lines (IB(NA)67310). EM1 SG MR MRR SD M DI-1 COM VDD LG SD CN2 LG RS-232C LG RA Servo amplifier 24VDC MBR <Isolated> LA .e tc LAR .etc MO1 [...]

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 int erfaces (refer to I/O Division in the table) indicated in sec tion 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 MBR SG Servo amplifier (3) En coder pu lse outp ut DO-2 (Diff erenti al line dr iver sy stem) 1) Inte rface Max. output current: 35mA LA (LB, LZ) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (LBR, LZR) SD Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocouple r 150 100 2) Pu[...]

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 directions 1mA meter 10k[...]

3 - 14 3. SIGNALS AND WI RING 3.5 Power line circ uit CAUTION Alwa ys connect a magnet ic cont act or (MC) bet ween th e m ain circ uit power s up ply and L 1 , L 2 , and L 3 of t he servo am plif ier, and c onfi gure t he wiring to b e ab le to shut down th e po wer su ppl y on th e sid e of the ser vo am pl ifier’s po wer s uppl y. If a magnet [...]

3 - 15 3. SIGNALS AND WI RING (2) For 1-p hase 100 t o 120V or 1- ph ase 23 0V po wer sup pl 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 forced stop RA2 Forced stop Servo amplifier Forced stop (Note 2) Power supply 1-phase 100 to 120V or 1-phase 230V Note 1. Configure up the power supply circ uit whic[...]

3 - 16 3. SIGNALS AND W IRING 3.5.2 T erminals The positi ons and signal arrangements of the terminal blocks change wit h the cap acity of the servo amplifier. Refer to section 10.1. Symbol Connecti on Target (Applic ation) Descr ipti on Supply L 1 , L 2 and L 3 with the following p ower. For 1-phase 230V, connect the power supply to L 1 /L 2 and l[...]

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 ctio n 3. 5.1 u sing the mag ne tic con tac tor w ith the main circu it power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-phas e 230V : L 1 , L 2 , 1-phase: L 1 L 2 ). Configure up a n external seq uence to swit[...]

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 ser vo am plifi er and ser vo m otor. O th erwi[...]

3 - 19 3. SIGNALS AND WI RING Servo mo tor 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 m otor Electromagnetic brake 24V DC EM1 (Note 2) To be shut off when servo-off or alarm occurrence Encoder cable CN2 Motor Encoder U V W B1 B2 U (Red) V (White) W (Bl ack) (Green) Note 1[...]

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 supply connector (Mole x) Without electr omagnetic brak e 5557-04R -210 (recept acle) 5556PBT L (Female termina l) With ele ctromagnet ic brake 5557-06R -210 (recept acle) 5556PBT L (Female termina l) Encoder cable 0.3m (0.98ft .) Power sup[...]

3 - 21 3. SIGNALS AND WI RING (2) HC-SFS HC-RF S HC-UFS200 0 r/min s eries Ser vo moto r sid e con nect ors Servo motor For power supply For e ncod er Electro magnetic brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnec tor for power is shared. HC-SFS121(B) to 301(B ) HC-SFS202(B) to 502 (B ) HC-S[...]

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 rface uni t signals bu t also by a fo rced stop (EM1). EM1 RA 24VDC Contacts must be open when servo-off, when an alarm occurrence and when an electromagn etic b[...]

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 Electromagnetic brake Dynamic brake Electromagnetic brake Dynamic brake (ON) Forward rotation Electromagnetic brake interlock (MBR) Servo motor s peed Base ci rcuit Trouble (ALM) ON OFF ON OFF (Note) 0r/min No Yes (OFF) Electro magnetic b rake operatio n delay time (10ms) Note. ON: Electromagnet ic[...]

3 - 25 3. SIGNALS AND WI RING (e) Only main circuit power supply off (c ontrol circui t power supply remain s on) (10ms) (10ms) Electromagnetic brake Dynamic brake Electromagnetic brake Dynamic b rake Electromagnetic brake operation delay time (Note 2) (ON) Forward rotati on Electromagnetic brake interlock (MBR) Servo motor speed Base circ uit Trou[...]

3 - 26 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 el y. To pre vent an elec tric shoc k, a lwa ys connec t t he pr otectiv e e arth ( PE) term inal ( ) of th e ser vo am plif ier with t he pr otect ive eart h ( PE) of the c ontr ol box. The servo amplifier switches t he power transistor o[...]

3 - 27 3. SIGNALS AND WI RING 3.9 Serv o amplif ier term inal block (T E2) wiring method POINT Refer to table 12.1 2) and ( 4) of sectio n 12.2.1 f or the w ire size s used fo r wiring. 3.9.1 For s ervo am plif ier pro duced lat er th an Januar y, 2006 (1) T erm inatio n of t he ca bles (a) Solid wire After the sheath has been stripped, the cable c[...]

3 - 28 3. SIGNALS AND WI RING (2) Connection (a) When the cable is i nserted directly Insert the cable to the end pressing the button with a small f lat-blade screwdriver or the l ike. Button Small flat bla de screwdriver or the like Twisted wire When removing the short-circuit bar from across P-D, press the buttons of P and D alt ernately pulling [...]

3 - 29 3. SIGNALS AND WI RING 3.9.2 For s ervo am plif ier pro duced earl ier than Decem ber, 200 5 (1) T erm inatio n of t he ca bles Solid wire: After the sheat h has been stripped, the cable can be used as it is. Approx. 10mm (0.39inch) Twiste d wire : U se the ca ble afte r str ippin g the sh eath and twi stin g the co re. At this tim e, ta ke [...]

3 - 30 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 secti on and fix it to the connector shell. External conductor S heath Exte rnal co ndu ctor Pull back the externa l conductor to[...]

3 - 31 3. SIGNALS AND WI RING 3.11 Control ax is select ion POINT The control axis number set to SW1 shoul d be the same as t he one set to the servo sys tem 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 si ngle communication system, the system w[...]

3 - 32 3. SIGNALS AND WI RING 3.12 Power line c ircuit of the MR- J2S-11 KB to MR- J2S-22 KB CAUTION Alwa ys con nect a m agnetic c ont actor ( MC) betwe en the m ai n circ uit po wer su ppl y and L1, L2, and L3 of the s ervo am plifier , and c onf igure the wiri ng to b e ab le to shut d own t he po wer s uppl y on t he si de of t he s ervo am pli[...]

3 - 33 3. SIGNALS AND W IRING 3.12.1 Connec tion exam ple Wire the power supp ly/m ain cir cui t as sho wn below so that pow er i s shu t of f and the serv o-on si gnal turned off a s soon as an alarm occu rs, 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) mu[...]

3 - 34 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 amplifier. Refer to section 10.1. Symbol Connect ion Target (Applic ation) Descr ipti on L 1 , L 2 , L 3 Main circ uit power s upply S upply L 1 , L 2 and L 3 with thr ee-phase 200 to [...]

3 - 35 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 F BAT R LG GL G S P 5 HT Encoder co nnector MS3102A20-29P Termin al box 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 ( HA-LFS6 01 701M 11K2) Earth terminal M6[...]

3 - 36 3. SIGNALS AND WI RING Term inal box i nside ( HA-LFS8 01 12K1 11 K1M 15K1 M 15K2 22K 2) Motor power supply terminal block (U V W) M8 screw Earth terminal M6 screw Encoder connector MS3102A20-29 Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4 screw UV W BU BV OHS 1 OHS2 BW Terminal block signal arr[...]

3 - 37 3. SIGNALS AND WI RING Signal Name A bbreviation Descripti on Powe r supply U V W Conn ect to the m otor output t erminals (U, V, W) of the servo amplifier. Supply power whic h satisfies the following sp ecifications. Serv o motor Voltage divisi on Voltage/frequenc y Pow er co ns um pt io n [W ] Rated current [A] HA-LFS601, 701M, 11K2 200V c[...]

3 - 38 3. SIGNALS AND WI RING MEMO[...]

4 - 1 4. OPERATION AND DISPLA Y 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 following. (1) W iring (a) A correct power supply is connect ed to th e po wer inpu t ter min als ( L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo amplifie r. (b) The servo motor power sup ply terminal s ([...]

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 r em oved. High-vo lta ge term ina ls 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 ci rcuit/c on trol circuit 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 per[...]

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 system controller at power-on, check the ax is number , an d diag nose a fau lt at occurre nce of an alarm. (1) Display sequence Servo amplifier power ON Waiting for se[...]

4 - 5 4. OPERATION AND DISPLAY (2) Indi cation list Indication S tatus Description AA Initializing Power to th e serv o syst em contr oller w as swit ched of f durin g power- on of th e servo amplifier. Ab Initializing The s ervo a mplif ier wa s swit ched o n whe n power t o the servo s ystem controll er is off. The axis No. s et to the s ervo sys[...]

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 operatio n fault occurre d, use the forced stop (EM1) to make a[...]

4 - 7 4. OPERATION AND DISPLAY (c) Program operation Positioni ng 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 operat ion may be used independently of whether the servo is on or off and whether the servo system controller is conn[...]

4 - 8 4. OPERATION AND DISPLAY (2) C onfi gurat ion Config uratio n shou ld be as in se ction 3.1. A lway s ins tall a force d sto p sw itch to en able a sto p at occurrence of an alar m. (3) Op erati on proc ed ure (a) Jog operation, positi oning operation, program operation, DO forced output. 1) Switch power off. 2) Se t SW1 to “F”. When SW1 [...]

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 amplif ier is connect ed with the servo system 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 va[...]

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 Amplifier se tting 0000 2 *REG Reg enerative resistor 0000 3 0080 4 000 5 For manu factu rer s etti ng by se rvo s ystem con troll er Automatically set from the servo system contr oller 1 6 *FBP Feedb ack p ulse n umb er 0 7 * [...]

5 - 3 5. PARAMETERS Classi fi- cation No. Sym bo l Name Initial Value Unit Custom er setting 41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 For manufact urer setting 0 49 *CDP Gain changing selection 0000 50 CDS Gain changing c ondition 10 (Note) 51 CDT Gain changing ti me constant 1 ms 52 GD2B Ratio of load inertia moment to servo motor inertia m[...]

5 - 4 5. PARAMETERS (2) Details li st Classi fi- cation No. Sy mbol Nam e and Function Initial Value Unit Settin g Range 1 *AMS Amplifier setting Use d to select the abso lute positi on detectio n. Absolute position detection se lection 0: Inval id (Used in increme ntal system .) 1: Valid (Used in absolu te position dete ction system .) 0 0 0 0000 [...]

5 - 5 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range Feedba ck pulse nu mber Set t he numb er of p ulses p er revolution i n the controll er side command unit. Informati on on t he motor such as the feedb ack pul se value, pres ent posit ion, d roop pul ses and wit hin-one-revol ution p osition are d [...]

5 - 6 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 9 RSP Servo response Used to sele ct the respo nse of auto t uning. Response level selection If the machine hunts or generates large gear sound, decrease t he set value. To improve performance, e.g. shorten the settling time, increase t he set value[...]

5 - 7 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 14 VG1 Speed co ntrol gain 1 Normally this parameter setting need not be changed. Higher s etting increases the response level but is liable to gener ate vibration and/or noise. When auto tuning mode 1,2 and int erpolation mode is selected, the resu[...]

5 - 8 5. PARAMETERS Classi fi- cation No. Symbol Name 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 - 9 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 24 *OP2 Opt ional f uncti on 2 Used to s elect sli ght vibrat ion s uppres sion cont rol and m otor-les s operat ion 00 Slight vibration suppression contr ol selection Made valid when a uto tuning selection is set to "0002" in p arameter N[...]

5 - 10 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 27 MO1 Analog monit or 1 o ffset 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 monit or 2 o ffset Used to s et the offs et volt age of th e anal og m onit or2 (MO2 ) o utput. 0m V 999 to [...]

5 - 11 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 38 *ENR Encod er pul ses outp ut 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 lue 4 ti me s gre ate r tha n th e A- pha se a nd B-ph as e pu lse s. You can us e parameter No. 33 to choos e the[...]

5 - 12 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 For manufact urer setting Do not cha nge this value by any means. 0 49 *CDP Gain changing s election Select the gain changing condition. (Refer to se ction 7.5) Gain ch anging sel ection Under any of [...]

5 - 13 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 60 *OPC Optiona l fun ction C Use d to select the encoder pulse ou tput dire ction . CW CCW Encoder pulse output phase changing Changes the phases of A, B -phase encoder pulses output . A-phase B-phase Ser vo motor rotatio n dire ctio n Set v alue [...]

5 - 14 5. PARAMETERS Classi fi- cation No. Symbol Name and Function Initial Value Unit Settin g Range 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 Expan sion param eter 2 75 For manufact urer setting Do not cha nge this value by any means. 0 5.3 Analog m onitor The servo s tatus can be output to two channels in terms of v[...]

5 - 15 5. PARAMETERS (2) Setting descri ption 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 parameter No. 2 2 (Analog moni tor output) value. Refer to ( 3) in th is sect ion f or th e mea sure men t po[...]

5 - 16 5. PARAMETERS (3) Ana log m on itor b lock diag ram PWM M Current control Speed control Current command Position control Droop pulse Differ - ent ia l Speed command Bu s voltag e Speed command Command pulse Current feedback Position feedback Servo motor speed Current encoder Servo Moto r Encoder Torque Differ - ent ia l[...]

5 - 17 5. PARAMETERS 5.4 Replac em ent of MR-J 2- B b y MR-J 2S- B When u si ng the M R-J2S- B on the servo system controller peripheral software i ncompatible with the MR-J2 S- B, you ca nnot use s ome pa rame ter fu ncti ons. Read this secti on ca refu lly an d set appro priat e value s in the par ameter s. 5.4.1 Main m odif ications made to t he[...]

5 - 18 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 p arame ter was new ly add ed to th e MR-J 2S- B. If the peripheral software of the servo system controller is no t comp atib le wi th the MR-J 2S- B, this parameter setting cannot be changed. When the servo motor used is the[...]

5 - 19 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 -J2 S- B . If the peripheral software of the servo system controller is not compatible w ith the MR-J2S- B, the p arame ter set ting s are a s indicated below. The notch depth is 40d B. 000 0 1 2 3 4 5[...]

5 - 20 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. Normall y not us ed for other purp oses . Allows adjustment by merely changing the re spo nse leve l set ting . Fi rs t use th is m ode to m ake adjustment. Used when the c ondit ions [...]

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 using the machine ana lyzer, set the servo amplifier's a xis number for "F". ( Refe r to sec tion 3.11 .) This se ctio n give s the f unct ion s and adj ustm en t tha t may be p erf orme d by usi ng the se rvo amp[...]

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 tic (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 adjustment of t[...]

6 - 5 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto t uning m ode o peration The block dia gram of real-time auto tuning is shown below. 5 1 Ser vo motor Comman d Automa tic se tting Control gains PG1,VG1 PG2, VG2, VIC Current control Current feedback Load inertia momen t Encoder Position/speed feedback Real-time auto tuning secti on 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 setti ng value as required completes the adjustment. The adjus[...]

6 - 7 6. GENERAL GAIN ADJUSTMENT 6.2.4 Respo nse lev el setti ng in auto tunin g m ode Set the response (param eter No. 9) of the whole servo system. As the response level setti ng is increased, the trac k abili ty and set tling time for a comm and decre ases, but a too high re spon se le vel w ill ge nera te vibration. Hence, make s etting until d[...]

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 m anual 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 ( V[...]

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 gain 1 improve s trac k ability to a p osi tion co mmand but a too high v alue wil l make 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 con trol g ain 1 and sp eed contro l ga in 1 wh ich d eter mine co mma[...]

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 fro m the M ELSERVO-J2 series. The follow i ng table li sts comparison of the re sponse le[...]

7 - 1 7. SPECIA L ADJUSTMENT FUNCTIONS 7. SPECIAL A DJUSTMENT FUNCT IONS POINT The functions given in this chapter need not be used generally. Use them if you ar e not sa tisf ied w ith the m ach ine statu s af ter m aking adj ustme nt in the me tho ds in c hap ter 6. If a mech anica l sys tem ha s a n atur al reson anc e po int, incre a sing th e [...]

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 ibration suppressi on control (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 characte[...]

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 ram e te r No . 25 Adaptive v ibration su ppression con trol selection 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in re sponse to re sonance, suppr[...]

7 - 5 7. SPECIAL ADJUSTMENT FUNCT IONS 7.5 Gain c hang ing func tion This function can ch ange the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operat ion. 7.5.1 Ap plicat ions This function is used when. (1) Yo u want to in crease th e gains durin g servo lock but de[...]

7 - 6 7. SPECIAL ADJUSTMENT FUNCT IONS 7.5.3 Par am eters When using the gain changing function, always set " 2 " in parameter No.8 (auto tuning) to choose the manual mode 2 of t he gain adjust ment modes. The gain changing function cannot be used in the auto tuning mode. Para meter No. Abbrevi ation Nam e Unit Description 13 PG 1 Po si t[...]

7 - 7 7. SPECIAL ADJUSTMENT FUNCT IONS (1) Para meters No. 12 to 1 7 These parameters are the same as in ordinary manua l adj us tment. G ain changin g allo ws th e va lues of ratio of load inertia moment to servo motor inertia moment, positi on control gain 2, speed control gain 2 and spee d inte gral compen satio n to be ch ange d. (2) R atio of [...]

7 - 8 7. SPECIAL ADJUSTMENT FUNCT IONS 7.5.4 Gai n changi ng operat ion This op erat ion w ill be de scribed by way of set ting ex ample s. (1) W hen you cho ose c hangi ng b y exter nal input (a) Setting Parameter No. Abbreviati on Name Setting Unit 13 PG1 Po sition control gain 1 100 rad/s 14 VG1 Spee d control gain 1 1000 rad/s 12 GD2 Ratio of l[...]

7 - 9 7. SPECIAL ADJUSTMENT FUNCT IONS (2) W hen you cho ose chan ging b y droop puls es (a) Setting Parameter No. Abbrevi ation Name Setting Unit 13 PG1 P osition control gain 1 10 0 rad/ s 14 VG1 Speed c ontr ol gai n 1 1000 rad/s 12 GD2 Ratio of l oad inert ia mom ent to servo motor inertia moment 40 0.1 time s 15 PG2 P osition control gain 2 12[...]

7 - 10 7. SPECIAL ADJUSTMENT FUNCT IONS MEMO[...]

8 - 1 8. INSPECTION 8. INSPECTION W ARNING Befor e star ting m aint enanc e an d/or i nspec tion, tur n off th e po wer an d wa it for 15 minutes or m ore u nti l the charge lam p tur ns of f. T hen, conf ir m that the volta ge betwe en P a nd N is saf e with a v olta ge t ester and ot hers. Oth erwis e, an elec tric shock ma y occur. In a ddit ion[...]

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

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarm s and warning lis t 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 a nd take the appropriate acti on. 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 Cau se Action 1. Faulty parts in th e servo amplifier Checking meth od Alarm (15) oc curs if power is swi tched on after disc onne ction of all cables but the con trol circu it p ower su pply c ables . 15 Memory er ror 2 EEP-R OM fault 2. Th e numb er of writ e ti mes t o EEP- ROM exceeded 100,000. C[...]

9 - 4 9. TROUBLESHOOTING Display Name Definition Cause Ac tion 1. Mismatch between used regen erative op tion a nd par am ete r No. 2 s ett in g Set correctly . 2. B uil t-i n rege ne rat ive res ist or or regen erative op tion i s not conne cted. Con nec t corr ectl y. 3. High-duty operation or continuous regen erative op erati on caus ed the perm[...]

9 - 5 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Rege nerat ive opt ion is not used. Use the reg enerat ive op tion. 2. Though the reg enerative option is used, the para meter No. 2 setting is " 00 (not used )". Make correct s etting. 3. Lead of built-in regenerative resist or or regenera tiv e option is open or dis conne [...]

9 - 6 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Ambient temper ature of servo moto r is ov er 40 (104 ) . Review environment so that ambient temperature is 0 to 40 (32 to 104 ) . 2. S ervo m otor is overl oaded . 1. Red uce l oad. 2. Re view operati on p attern . 3. Use ser vo motor that provides larger outpu t. 46 Servo mo tor ove[...]

9 - 7 9. TROUBLESHOOTING Display Name Definition Cause Ac tion 1. Ac celerat ion /decel erati on tim e constant is too s mall. Incr ease th e acc elerat ion/d ecele ratio n 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 oltage dr op.[...]

9 - 8 9. TROUBLESHOOTING 9.3 Rem edies f or warn ings POINT When a ny of t he following ala rms has occurred, do not res ume operation by swit ching power of the servo amp lifier OFF/ON repeate dly. The se rvo amplifier and servo motor may become faulty. If the power of the servo amplifier is switche d OFF/ON d uring the alarm s, allow more than 3 [...]

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 -40B1 E N C () [Unit : mm] 6 ( 0.24 ) mounting hole A7 0 ( 2 . 7 6 ) 135 (5.32) TE2 4(0.16) B 1 6 8 ( 6 . 6 1 ) 7 ( 0 . 2 8 ) 1 5 6 ( 6 . 1 4 ) 6 ( 0 . 2 4 ) 6 (0.24) C N 1 A OPEN L1 L2 L3 UV W MITS UBI[...]

10 - 2 10. OUTLINE DIMENSION DRAW INGS (2) MR-J2S-70B MR- J2S- 100B C N 1 A OPEN MITSU BISH I C N 1 B C N 2 E N C C N 3 7 ( 0 . 2 8 ) C N 1 A OPEN L1 L2 L3 UV W MITSU BIS HI C N 1 B C N 2 E N C C N 3 [Unit : mm] ([Unit: in] ) 70(2.76) 70(2.76) 190(7.48) 22 TE1 TE2 6(0.24) 2 0 ( 0 . 7 9 ) Ter min al la yo ut (Terminal co ver open) 6 ( 0. 24) mountin[...]

10 - 3 10. OUTLINE DIMENSION DRAW INGS (3) MR-J2S-200B MR- J2S-3 50B MITSUB ISHI MITSUB ISHI 70(2.76) 195(7.68) 90(3.54) 78(3.07) 6 1 6 8 ( 6 . 6 1 ) 1 5 6 ( 6 . 1 4 ) 6 2- 6 ( 0.24) mounting hole Terminal layout TE1 [Un it: mm] ([Unit: in]) TE2 PE terminal (0.24) ( 0 . 2 4 ) Cooling fan wi nd direction Servo a mplifier Mass [kg]( [lb]) MR-J2S-200B[...]

10 - 4 10. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500B 2- 6 ( 0. 24) mounting hole [Uni t: m m] ([Unit: 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 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. MITSUBISH[...]

10 - 5 10. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700B 2- 6( 0 .24) mounting hole 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 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) Termi nal la yout [Uni t: mm] ([Unit: in]) 20 (0.79) 350(13.8) 335(13.2) 7.5 (0.5) 6 (0.24) MITSUB IS[...]

10 - 6 10. OUTLINE DIMENSION DRAW INGS (6) MR-J2S-11KB 15 KB 2- 12( 0.47) mounting hole 3.9(0.15) 75 (2.95) 12(0.47) C N 3 C N 1 A C N 1 B CN4 MITSUB ISHI 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 (0.47) [Unit: mm] ([Unit: in]) 260(10.24) Cooling fan Cooling fan wind direction Servo a mplifier M[...]

10 - 7 10. OUTLINE DIMENSION DRAW INGS (7) MR-J2S-22KB 3.9(0.15) Coolig fan wind direction 75 (2.95) [Uni t: m m] ([Unit: in]) C N 3 C N 1 A C N 1 B CN4 MITSUBIS 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 (0.4 7) 260(0.24) Cooling fan Servo a mplifier Ma ss[...]

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, et c. are indicated here. 10.0 (0.39) [Uni t: m m] ([Un it: in]) Model Connector : 10120-3000PE 10126-3000PE Shell kit : 10320-52F0-008 1 0326-52F0-008 Variable dim ens[...]

10 - 9 10. OUTLINE DIMENSION DRAW INGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 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] ([Unit: in] ) ( 0.26) (2) Bus cab le con nec tor (a) Ho nda Tsu shin In dustry PCR ty pe 23.0(0.91) [...]

10 - 10 10. OUTLINE DIMENSION DRAW INGS (b) Ho nda Tsu shin In dustry HDR type Model HDR Num b er of P ins Connec tor Connector case (Note) Crimping terminal 14 HDR-E14MG1 HDR-E14LP A5 26 HDR-E26MG1 HDR-E26LP A5 Wire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C Note. Not availabl e from us and to be supplied by the custo[...]

11 - 1 11. CHARACTERISTI CS 11. CHARA CTERISTICS 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 o verload s. Ove rload 1 alarm ( 50) occu rs if overload operation performed is above the el ectronic thermal relay protecti on curve shown i[...]

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 indica tes se rvo a mplif iers' pow er sup ply c apaci ties and lo sses gene rated u nder r ated load . For thermal design of an enclosure, use the values in Table 11.1 in considerati[...]

11 - 3 11. CHARA CTERIST ICS (Note 2) Servo amplifier-generat ed heat[W] Area required for heat dissipat ion Servo amplifier S ervo 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-UFS[...]

11 - 4 11. CHARA CTERIST ICS (2) H eat d issipa tion area f or e nclos ed ser vo am pl ifier The enclosed control box (hereafter call ed the control box) which will contain the servo amplifier should be de signed to en sure th at its te mpe ratur e ri se is wit hin 10 at the ambient temperat ure of 40 . (With a 5 (41 ) safety margin, t he system sh[...]

11 - 5 11. CHARA CTERIST ICS 11.3 D ynamic br ake c haracteris tics 11.3.1 D ynamic brak e operation (1) C alc ulatio n of coast ing dis tance Fig. 11.3 shows t he pattern in which the servo motor comes to a stop when the dynamic brake is operated. Us e Equation 1 1.2 to cal culate an approximate coas ting dista nce to a stop. The dynamic brake tim[...]

11 - 6 11. CHARA CTERIST ICS Time constant [ms] 0 Spee d [r/mi n] 40 35 30 25 20 15 10 5 0 50 500 1000 121 201 301 81 Time c onstan t [m s] Speed [r/min] 0 352 202 702 102 152 45 40 35 30 25 20 15 10 5 0 500 1000 1500 2000 502 52 HC-SFS100 0r/m in series HC-SFS2000r/m in ser ies 0 Speed [r/min] Time constant [ms] 120 100 80 60 40 20 0 50 500 1000 1[...]

11 - 7 11. CHARA CTERIST ICS 11.3.2 T he d ynamic brak e at the load inertia m oment Use the dynamic brake under the load in ertia moment ratio indicated in the following table. If the load inerti a mome nt i s higher than thi s value , the bu ilt-in d yn amic brake m ay bu rn. If there is a p oss ibil ity that the l oad inertia moment may exceed t[...]

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 vol tage (253VAC) is applied at the power supply capacity of 2500k VA and the wiring length of 10m. Inru sh Cur rent s (A 0-p ) Se[...]

12 - 1 12. OPTIONS AND AU XILIARY EQUIPMENT 12. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Befor e conn ect ing an y opti on or p erip hera l equ ipm ent, turn off the p ower and wait for 15 m in utes or mor e un til th e ch arge lam p turns off . The n, conf irm that th e volt age be twe en P a nd N is s afe with a vo ltag e tes ter a nd ot hers .[...]

12 - 2 12. OPTIONS AND AU XILIARY EQU IPMENT (2) Sel ecti on of the re genera tive op tion (a) Simple se lectio n meth od In horizon tal mo tion applica tions, sele ct the regenerative option as describ ed below. When the servo motor is run wi thout load in the regenerative mode from the running speed to a stop, the permiss ible duty is as indicate[...]

12 - 3 12. OPTIONS AND AU XILIARY EQU IPMENT b. Losses of s ervo motor and serv o amplif ier in regenerative mode The following tabl e lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo ampli fier I nverse effici ency[%] Capacitor charging[J] MR-J2S-10B 55 9 MR-J2S-10B1 55 4 MR-J2S-20B 70 9 [...]

12 - 4 12. OPTIONS AND AU XILIARY EQU IPMENT (4) C onnect ion of th e reg enerat ive opt ion POINT When the M R-RB50 MR-RB5 1 is used, a cool ing fan is requi red to cool it. The cooling fa n should be prepared b y the customer. The regenerati ve option will generate heat of about 100 . Fu lly e xamine hea t dissip atio n, instal lation position, u[...]

12 - 5 12. OPTIONS AND AU XILIARY EQU IPMENT (b) MR-J2S-500B MR-J 2S-700B Always remove the w iring (acro ss P-C) of the serv o ampl ifier built-in rege ne rative resistor and fit the regenerative option across P-C. The G3 a nd G4 terminals act as a therm al sensor . G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier[...]

12 - 6 12. OPTIONS AND AU XILIARY 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 Cooling fan i nstallation screw hole dimensions 2-M3 screw hole (for cooling fan installation) Depth 10 or less (Screw hole already machined) Cooling fan Term inal block Thermal relay Insta llation su rface Horizont[...]

12 - 7 12. OPTIONS AND AU XILIARY EQU IPMENT (d) MR-J2S-11KB-PX to MR-J2S-22KB-PX (when using the regenerative option) The MR-J2 S-11KB- PX to MR- J2S-2 2KB- PX se rvo amplifie rs ar e no t su pplie d wi th rege ner ative resist ors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67 regenerative option. The MR-RB6 5, 66 and[...]

12 - 8 12. OPTIONS AND AU XILIARY EQU IPMENT (5) Outlin e drawing (a) MR-RB032 MR-R B12 LA 5 (0.20) LB TE1 6 (0.24) 6 ( 0 . 2 4 ) 1 5 6 ( 6 . 1 4 ) 1 6 8 ( 6 . 6 1 ) 1 4 4 ( 5 . 6 7 ) 1 2 ( 0 . 4 7 ) 6 ( 0 . 2 4 ) 1 2 ( 0 . 4 7 ) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Uni t: mm (in) ] 6 (0.24) mounting hole MR- RB TE1 Terminal block G4 G3 C P Termin[...]

12 - 9 12. OPTIONS AND AU XILIARY EQU IPMENT (c) MR-RB50 MR- RB51 [Unit: mm (in)] Terminal block G4 G3 C P Terminal sc rew: M4 Tightening torque: 1.2 [N m] (10.6 [Ib in]) Mounting screw Screw : M6 Tightening torque: 5. 4 [N m] (47.79 [Ib in]) Regenerative option Mass [kg ] (Ib) MR-RB50 MR-RB51 5.6 (12.3) 2.3 (0.09) 49 (1.93) 82.5 (3.25) 200 (7.87) [...]

12 - 10 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.2 FR- BU2 brak e 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. Combin ation o f diffe rent vo ltage class units and servo a mplifier cannot be used. Install a brake uni t and a resistor un it on a flat surface vertic ally. When[...]

12 - 11 12. OPTIONS AND AU XILIARY EQU IPMENT (2) Brake unit para m eter set ting Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can be change d o r not is li sted below. Para meter No. Name Change possibl e/ impossi ble Remarks 0 Brake mod e switch over Impossible Do not cha nge the p aram eter. 1 Monito[...]

12 - 12 12. OPTIONS AND AU XILIARY EQU IPMENT Note 1. For power supply specific ations, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resist or, which is connected to t he P and C terminals. For the servo amplifi er of 11k to 22k W , do not connect a supplied regenerative resisto[...]

12 - 13 12. OPTIONS AND AU XILIARY EQU IPMENT (c) Precautions for wiring The cabl es between t he servo ampli fier and the b rake unit, and between the resist or unit and the brake unit should be as s hort as possib le. Always twist t he cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cabl e should[...]

12 - 14 12. OPTIONS AND AU XILIARY EQU IPMENT (e) Crimp ing termin als fo r P and N termin als o f se rvo am plifie r POINT Always use recommended cri mping terminals or equivalent si nce some crimping termin als canno t be in stalle d depe nding o n the size . Servo amplifie r B rake unit Number of connect ed units Crimpi ng terminal (Manufacturer[...]

12 - 15 12. OPTIONS AND AU XILIARY EQU IPMENT FR-BU2-30K 129.5 5 59 18.5 Rating plate 52 2- 5 hole (Screw size: M4) 5 108 6 6 96 FR-BU2-55K 18.5 Rating plate 52 72 5 142.5 5 6 158 6 170 2- 5 hole (Screw size: M4)[...]

12 - 16 12. OPTIONS AND AU XILIARY EQU IPMENT (b) FR-BR resistor unit [Unit: mm] 2 C Control circuit terminal Main circuit terminal W1 1 Approx. 35 Approx. 35 204 Hanging bolt C C W 5 For FR-BR-55K, a hanging bolt is placed on two locations (Indicated below). (Note) (Note) Note. Ventil ation ports are provided on both sides and the top. The bottom [...]

12 - 17 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.3 Po wer regen erat ion conv erter When using the power regeneration converter, set " 01" i n para met er No. 2. (1) Selecti on The converters can continuou sly return 75% of th e nominal regenerative power. They are applied to the ser vo amplifi ers of the MR- J2S-500B to MR-J2S-2 2KB. P[...]

12 - 18 12. OPTIONS AND AU XILIARY EQU IPMENT (2) C onnect ion exam ple NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 EM1 SG Power regeneration converter FR-RC SK ON MC B C RDY SE Alarm output RDY output A B C 5m(16.4ft) or less Operation ready MC OFF EM1 RA2 FR-RC Ready COM VDD R/L 1 S/L 2 T/L 3 B C RX R SX S TX T NP C P 1 N/ P/ (Note 5) Power supp[...]

12 - 19 12. OPTIONS AND AU XILIARY EQU IPMENT (3) Outs ide dim ensio ns of the pow er rege ner ation c on verters [Unit : mm(in )] AA A C F K EE BA B E D 2- D h ole Rating plate Front co ver Display panel window Mounting foot (removab le ) Mounting foot movable Cooling fan Heat generation area outside mounting dimension Pow er regeneration converte[...]

12 - 20 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.4 Ext erna l dynam ic brak e POINT Configure up a seq uence which s witches off the cont act of the b rake unit after (or as soon as) it has tu rned off the servo on signa l at a power fai lure or failure. For the br aking time taken when t he dynamic brak e is operated, refer t o section 13.3. The[...]

12 - 21 12. OPTIONS AND AU XILIARY EQU IPMENT (2) C onnect ion exam ple MC NFB MC L 11 L 21 U V W U V W E M 13 U 14 V W Dynamic brake a b Servo amplifier Servo motor SK MC ON OFF (Note 1) Operation-ready RA1 RA1 EM1 EM1 CON2 2 1 Plat e EM1 SG SD DB CON2 15 18 VDD COM L 3 L 2 L 1 (Note 4) Power supply 4 P 1 P (Note 3) (Note 2) Note 1. Configure up t[...]

12 - 22 12. OPTIONS AND AU XILIARY 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 Scr ew : M 3.5 Screw : M4 B A 5 (0. 2) E 13 14 E (GND) ab [Un it: mm] ([Uni t: in]) Tightening torque: 1.2 [N m ](10.6 [lb in]) Ti g htenin g torque: 0.8 [N m ] ( 7 [lb in] ) Dynamic brak e A B C D E F G Ma ss[...]

12 - 23 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.5 Cabl es and c onnector s (1) Cable make-up The followi ng cables are 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) To[...]

12 - 24 12. OPTIONS AND AU XILIARY EQU IPMENT No. Product Model Des cription Applic ation 1) Standard encoder cable MR-JCCBL M-L Refer to (2) in this section. Connector: 10120-3000PE 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) Stan[...]

12 - 25 12. OPTIONS AND AU XILIARY EQU IPMENT No. Product Model Desc ription Application Connec tor: PCR-S20FS Shell ki t: PCR-LS2 0LA1 (Honda Tsushin) Connector: 10120-3000PL Shell kit: 10320-52F 0-008 (3M or eq uivale nt) 11) Connec tor set MR-J2CN1-A Refer to (4) in this section 12) Control signal connecto r set MR-J2CN1 Connector: 10120-3000PE [...]

12 - 26 12. OPTIONS AND AU XILIARY EQU IPMENT No. Product Model Desc ription Application 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 nal: HCN2- 2.5S -D-B (Hiro se Ele[...]

12 - 27 12. OPTIONS AND AU XILIARY 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 flexing l ife of the encod er cable. When the encoder ca ble is us [...]

12 - 28 12. OPTIONS AND AU XILIARY 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-JCCBL2M-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 1 BA[...]

12 - 29 12. OPTIONS AND AU XILIARY 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 Long flexing life H Symbol Specifications L Standard flexing life Symbol (Note ) Cable length [m(ft)] 2 2 (6.56) 5 5 (16.4) 10 10 ( 32. 8) [...]

12 - 30 12. OPTIONS AND AU XILIARY EQU IPMENT MR-JHSCBL2M -L MR-JHSCBL5M -L MR-JHSCBL2M-H MR-JHSCBL5M-H MR-ENC BL2M-H MR-ENC BL5M-H MR-JHSC BL10M-L to MR-JHSC BL30M-L MR-JHSC BL10M-H to MR-JHSC BL50M-H MR-ENCBL10M -H to MR-ENCBL50M -H Servo ampli fier side Encoder side Se rvo ampli fier s ide E ncoder s ide Se rvo ampli fier si de En code r side Us[...]

12 - 31 12. OPTIONS AND AU XILIARY EQU IPMENT (3) Co mmunica tion cable POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of t he RS-232C connector, refer to t his section and fabricate the cable. (a) Model definition Mode l: MR-CP CATCB L3M Cable length 3[m](10[ft]) (b) Connection diagram Half-pit[...]

12 - 32 12. OPTIONS AND AU XILIARY 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 cable g iven in se ction 12.2 .1 and fabr icate it in accordance with the connection diagram shown[...]

12 - 33 12. OPTIONS AND AU XILIARY EQU IPMENT (b) MR-J2HBUS M 1) Model definition Symbol Cable length [m(ft)] 05 0 .5 (1.64) 1 1 (3.28) 5 5 (16.4) Model: MR -J2HBUS M 2) Connection diagram MR-J2HBU S 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 - 34 12. OPTIONS AND AU XILIARY EQU IPMENT (c) Q172J2BCBL M(-B) When using t he battery unit Q170BAT, use the Q172J2B CBL M-B. For the Q170BAT, refer to the Motion Control ler Q Series User's Manual (IB(NA)0300021 ). 1) Model definition Yes -B Symbol Connection of battery unit No No Symbol Cable length [m(ft)] 05 0.5 (1.64) 1 1 ( 3.28) Mode[...]

12 - 35 12. OPTIONS AND AU XILIARY EQU IPMENT 2) Connection diagram HDR-E26MG1(Connector) HDR-E26-LPA5(Connector case ) 10120-6000EL(Connector) 10320-3210-000(Connector case) 14 3 16 2 15 13 26 6 TD1 TD1* LG LG RD1 RD1* LG BT EMG12 EMG 12* 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 RD* LG[...]

12 - 36 12. OPTIONS AND AU XILIARY 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 N3C. Since TE1 cannot be used, keep it open. (1) Usage The maintena nce junction card (MR-J2CN3TM) is de signed for use when a personal computer and analog monit or outpu[...]

12 - 37 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.7 Batter y (MR- BAT, A6 BAT) 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 e[...]

12 - 38 12. OPTIONS AND AU XILIARY EQU IPMENT (2) S ystem conf igur ation (a) Components To use this soft ware, the following components are required in a ddition to the servo amplifier and servo motor. Model (Note 1) Desc ription (Note 2) Personal computer IBM PC-AT compatible where the Englis h version of Wind ows ® 95, Windows ® 98, Wi ndows ?[...]

12 - 39 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.9 Po wer regen erat ion comm on c onverter POINT For details of the power re generati on common converter FR-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 will [...]

12 - 40 12. OPTIONS AND AU XILIARY EQU IPMENT (2) Connection diagram R2/L 12 RA1 EM1 C B R/L 11 S/L 21 T/L 31 R2/L 1 S2/L 22 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 (Note 1) RA1 RA2 24VDC power supply U V W Therm al relay 0HS 2 0HS1 CN2 MC NFB FR-CVL FR -CV MC RA1 RA2 EM1 OFF[...]

12 - 41 12. OPTIONS AND AU XILIARY EQU IPMENT 2) Grounding For grounding, use the wire of th e size equal to or greater than that indicated in the followi ng table, and make it as short a s pos sible. Power regeneration comm on converter Grounding wire si ze [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 (b[...]

12 - 42 12. OPTIONS AND AU XILIARY EQU IPMENT (5) S pecif ica tions Power regeneration comm on converter 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 servo ampli fier capacity [kW] 3.5 5 7 11 15 15 22 Total of c onnecta ble s ervo motor rated current s [A] 33 46[...]

12 - 43 12. OPTIONS AND AU XILIARY EQU IPMENT 12.1.10 H eat sink outside m ounting attachm ent (MR- JACN) Use the heat si nk outside mounting attachment to mount the heat generati on area of the servo amplifier in the outsi de of the control box to dissipate servo ampli fier-generated heat to the outside of the box a nd reduce th e amo unt o f hea [...]

12 - 44 12. OPTIONS AND AU XILIARY EQU IPMENT (3) Fitting method Attachment Fit using the assembling screws. Servo amplifier Attachm ent Servo amplifier Punched hole Control box a. Ass embl ing the heat sink outs ide m ounti ng a ttachm ent b. Inst allat ion to t he co ntro l box (4) O utlin e dim ens io n dra wing (a) MR-JACN15K (MR-J2S-1 1KB, MR-[...]

12 - 45 12. OPTIONS AND AU XILIARY 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) Attachm ent Servo amplifier Attachm ent 4- 12 Mounting hole Servo amplifier Panel Panel (2.283) (0.472) (3.307) (10.2[...]

12 - 46 12. OPTIONS AND AU XILIARY EQU IPMENT 12.2 Auxil iary equipm ent Always u se the dev ices indic ated in th is se ction or e quiva lent. To co mply w ith the EN Stand ard or U L/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recom m ended wires (1) W ire s for power supply wiring The following diag[...]

12 - 47 12. OPTIONS AND AU XILIARY 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 (AWG12[...]

12 - 48 12. OPTIONS AND AU XILIARY EQU IPMENT (2) W i res for cables 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)] Core size [mm 2 ] Number of Core s Struct ure [W i res /mm] Conductor resistance[ /[...]

12 - 49 12. OPTIONS AND AU XILIARY 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 specificat ions given in this section. Fuse Servo amplifier No-fus e breaker Clas s Curren[...]

12 - 50 12. OPTIONS AND AU XILIARY 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 Rat ing pl ate C or less D B or less H F L Mounting foot part FR-BEL P P 1 Servo amplifier (Note2) 5m or less Note 1. Fit the supplied terminal[...]

12 - 51 12. OPTIONS AND AU XILIARY EQU IPMENT 12.2.5 Re lays The followi ng relays should be used with the interfaces. Interface Select ion example Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small si gnal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (in[...]

12 - 52 12. OPTIONS AND AU XILIARY EQU IPMENT 12.2.7 Nois e reduc tion tec hniqu es Noise s are cl assif ied in to e xterna l noise s wh ich en ter t he se rvo amp lifie r to cau se it to malfun ction and those radiated b y the servo amplifier to cause peripheral devices t o malfunction. Since the servo amplifier is an e lectron ic dev ice w hich h[...]

12 - 53 12. OPTIONS AND AU XILIARY EQU IPMENT (c) Techniques for no ises radiated by the servo am plifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classi fied into those radiated from the cables connected to the servo amp lifier and it s main circu its ( input and outpu t circu its), tho se induce d el[...]

12 - 54 12. OPTIONS AND AU XILIARY EQU IPMENT Noise transm ission route Suppression t echniques 1) 2) 3) When measuring instruments, receivers, sensor s, etc. which hand le weak signals and may malfu nction d ue to n oise and /or th eir signa l cables are contained in a control box toge ther with the servo amplifier o r run near the servo amplifier[...]

12 - 55 12. OPTIONS AND AU XILIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnet ic brake or the li ke near the servo amplifier is shown below. Use this product or equivalent. MC Surge suppressor Relay This distance should b e short (within 20cm(0.79 in.)). Surge suppres[...]

12 - 56 12. OPTIONS AND AU XILIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 sc rew 1 1 ( 0 . 4 3 ) 3 ( 0 . 1 2 ) 6 ( 0 . 2 4 ) C A 6 22(0.87) 17.5(0.69) 35(1.38) 3 5 ( 1 . 3 8 ) L or less 10(0. 39) 3 0 ( 1 . 1 8 ) 7 ( 0 . 2 8 ) 2 4 0 0 . 2 (0.24) 2 4 0 . 3 0 ( 0 . 9 4 0 ) ( 0 . 9 4 0 ) [Uni t: mm] ([Un it: in.]) B 0 . 3[...]

12 - 57 12. OPTIONS AND AU XILIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppres sing high-frequency leakage current (zero-phase current) especi ally w ithin 0.5 MHz to 5MH z band . Connection di agram [...]

12 - 58 12. OPTIONS AND AU XILIARY EQU IPMENT (f) Varistors for input power supply (Recommended) Varistors are effect ive to prevent exogenous noise and lightning surge from entering the servo amplifier. When usin g a v aristor, connect it between ea ch phase of the input power supply of the equipme nt. For v aristo rs, the TND20V- 431K and TND2 0V[...]

12 - 59 12. OPTIONS AND AU XILIARY EQU IPMENT 12.2.8 Leak age cur rent br eaker (1) Selecti on method High-frequency chopper current s cont rolled by pulse width modulati on flow in the AC servo circuits. Leakage currents containing harmonic contents are la rge r th an th ose of the mo tor whi ch is ru n w ith a commercial power supp ly. Select a l[...]

12 - 60 12. OPTIONS AND AU XILIARY EQU IPMENT (2) S elect ion exam ple Indicated below is an example of selecting a leakage current breaker under the followi ng conditions. M Servo ampl ifier MR-J2S -60B Servo motor HC-MFS73 Ig1 Ig2 Iga Igm NV 2mm 2 5m 2mm 2 5m Use a leakage curren t breaker de signed for suppres sing harmonics/ surges. Find the te[...]

12 - 61 12. OPTIONS AND AU XILIARY EQU IPMENT 12.2.9 EMC f ilter For compliance with the EMC d irective of the EN stan d ard, it is recommended to use the following filter. Some EMC filters are la rge in leakage current. (1) Co mbinat ion with the serv o ampli fier Recommended f ilter Servo a mplifier Model Leakage c urrent [mA] Mass [kg]( [Ib]) MR[...]

12 - 62 12. OPTIONS AND AU XILIARY EQU IPMENT (3) Outline drawing (a) EMC filter 23.0 (0.9 06) LABEL LINE LOA D 168.0(6 .614) L1' L2' L3' L1 L2 L3 149. 5(5.886) LINE (input s ide) LOAD (output s ide) 140.0(5 .512) 156.0(6 .142) 16.0(0. 63) 42.0 8.5 SF1252 LABEL LINE LOA D 168.0(6 .614) L1' L2' L3' L1 L2 L3 209. 5(8.24 [...]

12 - 63 12. OPTIONS AND AU XILIARY EQU IPMENT HF3080A-T MA HF3100 A-T MA H 2 J 2 G 1 F 2 E 1 D 2 3-L 8-K 3-L M C 1 B 2 A 5 C 1 C 1 Dimension s [mm(in)] Model AB C DEFG H J K L M HF3080A-TMA HF3100A-TMA 405 (15.95) 350 (13.78) 100 (3.94) 220 (8.66) 200 (7.87) 180 (7.09) 56 (2.21) 210 (8.27) 135 (5.32) R4.25 (0.167), length 12(0. 472) M8 M6[...]

12 - 64 12. OPTIONS AND AU XILIARY EQU IPMENT (b) Surge protector RAV -781BY Z-2 4.5 0.5 1 3 2 41 1. 0 28.5 1.0 28 1.0 4 .2 0.2 200 30 0 UL-1015AWG16 5.5 1 11 1 [Unit: mm] Black 1) 2) 3) Black B lack RAV -781B XZ-4 1 3 2 UL-1015AWG16 4 .2 0.2 5.5 1 11 1 28.5 1.0 200 30 0 28 1.0 41 1. 0 4.5 0.5 [Unit: mm] 1) 2) 3) 4)[...]

13 - 1 13. ABSOLUTE POS ITION DETECTION SYSTEM 13. ABSOLU TE POSITION DE TECTION SYSTEM CAUTION If an absol ute pos itio n erase a larm (25) or an abs olut e pos ition co unter war nin g (E3) has occ urred , al wa ys perfor m hom e pos itio n sett ing a gain. Not d oing s o can caus e runaway . 13.1 Featur es For normal operation, as shown below, t[...]

13 - 2 13. ABSOLUTE POSITION D ETECTION SYSTEM 13.2 Specif icati ons (1) Specifi cation list Item D escrip tion System Electronic battery backup system Battery 1 piece of lithium battery ( primary battery, nominal 3.6V) Type: MR-BAT or A6BAT Maxi mum revol utio n range Ho me posi tion 32767 rev. (Note 1) Maximum speed at power failure 500r/min (Not[...]

13 - 3 13. ABSOLUTE POSITION D ETECTION SYSTEM 13.3 Batter y installat ion proced ure W ARNING Befor e inst all ing a b atter y, tur n of f the m ain c ircui t po wer wh ile k eeping the c ontr ol circui t power on . W ait for 1 5 m inutes or m ore unt il t he char ge lam p turns off . Then , confir m that the vol tage b etwee n P a nd N is s afe w[...]

13 - 4 13. ABSOLUTE POSITION D ETECTION SYSTEM 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 cking [...]

App - 1 A PPENDIX App 1. Co mbinatio n of serv o ampli fier and serv o motor The se rvo a mplif ier so ftware ver sions comp atib le wi th the se rvo m oto rs ar e in dic ated in th e p aren these s. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Serv o motor Servo a mplifier (Software versi o[...]

App - 2 A PPENDI X Ap p 2. Change of connector sets to the RoHS com patible products Connector sets (opti ons) in the following table are changed to the RoHS compatib le products after Septem ber, 2006 shipmen t. Please accept that the current products might be mixed with RoHS co mpatible product s based on availa bili ty. Model Current Product RoH[...]

REVISIONS *The manual numb er is given on the bottom left of t he back cover. Print Data *Manual Number Revision Sep., 2000 SH(NA)030007-A First editi on Jan., 2001 SH(NA)030007-B Serv o amplifier: Addition of MR-J2S-500B and MR-J2S-700B Servo motor: Add ition of HC-K FS73, HC-SFS502, H C-SFS702, HC-RFS 353, HC-RFS503, H C-UFS502 and HC-UFS352 Sect[...]

Print Data *Manual Number Revision Oct., 2002 SH(NA)030007-C Sec tion 3.12.2: Addit ion of pow er factor impr oving DC r eactor Section 4. 3 (2): Addit ion of initi alizatio n completi on Section 5. 2 (2): Addition of external dynamic brak e selecti on to parameter No. 2 Renaming of para meter Nos. 3 to 5 Reexaminat ion of param eter No. 19 c onten[...]

Print Data *Manual Number Revision May., 2003 SH (NA)030007-D Section 9.1: Partia l sentenc e change Section 9. 2: Partial POIN T sentence r eexaminat ion Section 9. 2: Reexam ination of al arm 12, 13 d efinitions Reexaminat ion of alar m 15 definiti on Addition of alarm 37 occurre nce factor a nd correcti ve action Addition of During r otation: 2.[...]

Print Data *Manual Number Revision Jan., 2006 SH(NA)030007-F Correction o f “Thermal pr otector” to “Thermal s ensor” Safety Instr uctions: Addit ion of 4.( 2) CAUTION sent ence Safety Instr uctions: Addit ion of 4.( 4) CAUTION sent ence FOR MAXIMUM SAFETY: Sentenc e addition EEP-R OM life: Sentenc e additi on Section 1. 2 (1): Correc tion [...]

Print Data *Manual Number Revision Jan., 2006 SH(NA)030007-F Section 5.2 (1), (2): Addition of par ameter Nos. 4 9 to 55, 60, 6 1 Section 5. 3: Sentence r eexaminat ion Section 5.3 (2): Addition of No te for Torque Section 7.5: Additi on of “Gain cha nging function” Section 9. 1: Addition of N ote 2 Section 9. 2: Addition of C AUTION sent ence [...]

Print Data *Manual Number Revision Nov., 2007 SH(NA)030007-G Section 3. 8: Change of power supply notation Section 3. 12: Addition and c hange of CAUTION sentence Section 3. 12.1: Additi on of Note sent ence Section 5. 1: Addition of it em and c hange of paramet er No. in t able Section 5. 2 (1): Corr ection of err or in writ ing of in itial value [...]

J2-Super Series MR-J2S- B Servo Amplifier Instruction Manual SH (NA) 030007-G (0711) 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 G General-Purpose AC Servo MODEL MR-J2S- B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J2-Supe[...]