General-Purpose AC Servo J2-Super Series SSCNET Compatible MODEL MR-J2S- B SERVO AMPLIFIER INSTRUCTION MANUAL E
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.
(4) Usage CAUTION Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc.
(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards.
COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
(4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in IE644, a reinforced insulating transformer is not required in the power input section.
CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier Servo motor :MR-J2S-10B to MR-J2S-22KB MR-J2S-10B1 to MR-J2S-40B1 :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS (2) Installation Install a fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of at least equivalent capability.
<> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MRJ2S-B safely. Also read the manual of the servo system controller. Relevant manuals Manual name Manual No.
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-22 1.1 Introduction.............................................................................................................................................. 1- 1 1.2 Function block diagram .......................................................................................................................... 1- 2 1.3 Servo amplifier standard specifications .............................................................................................
3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB ............................................................... 3-29 3.12.1 Connection example ...................................................................................................................... 3-29 3.12.2 Servo amplifier terminals ............................................................................................................. 3-30 3.12.3 Servo motor terminals...........................................................
9. TROUBLESHOOTING 9- 1 to 9- 8 9.1 Alarms and warning list ......................................................................................................................... 9- 1 9.2 Remedies for alarms................................................................................................................................ 9- 2 9.3 Remedies for warnings............................................................................................................................ 9- 8 10.
Appendix App- 1 to App- 2 App. Combination of servo amplifier and servo motor .........................................................................
Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1. INTRODUCTION 2. INSTALLATION 3. CONNECTORS USED FOR SERVO MOTOR WIRING 4. INSPECTION 5. SPECIFICATIONS 6. CHARACTERISTICS 7. OUTLINE DIMENSION DRAWINGS 8.
MEMO 6
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions. It is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo amplifier reads position data directly to perform operation.
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below.
1.
1.
1. FUNCTIONS AND CONFIGURATION 1.
1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Absolute position detection system Merely setting a home position once makes home position return unnecessary Chapter 13 at every power-on.
1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Rating plate MITSUBISHI MODEL AC SERVO AC SERVO Model MR-J2S-60B Capacity POWER : 600W POWER INPUT : 3.2A 3PH 1PH200-230V 50Hz 3PH 1PH200-230V 60Hz 5.5A 1PH 230V 50/60Hz OUTPUT : 170V 0-360Hz 3.
1. FUNCTIONS AND CONFIGURATION 1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears.
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100B or less Name/Application Reference Battery holder Section13.3 Contains the battery for absolute position data backup. Battery connector (CON1) Used to connect the battery for absolute position data backup. Display The two-digit, seven-segment LED shows the servo status and alarm number. Section13.3 Chapter4 Axis select switch (CS1) CS1 EF B CD 345 789 Used to set the axis number of the servo amplifier.
1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200B MR-J2S-350B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Reference Battery holder Contains the battery for absolute position data backup. Section13.3 Battery connector (CON1) Used to connect the battery for absolute position data backup. Section13.3 Display The two-digit, seven-segment LED shows the servo status and alarm number.
1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. 89 Section13.3 Battery holder Contains the battery for absolute position data backup. Section13.3 Chapter4 EF 23 BCD 45 Reference Display The two-digit, seven-segment LED shows the servo status and alarm number. A 67 Name/Application Battery connector (CON1) Used to connect the battery for absolute position data backup.
1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data backup. Section13.3 Battery holder Contains the battery for absolute position data backup. Chapter4 BCD 4 23 5 789 A 6 Display The two-digit, seven-segment LED shows the servo status and alarm number. Section13.
1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KB or more POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Reference Axis select switch (CS1) 0 12 Used to set the axis number of the servo amplifier. Section3.11 67 EF 345 B CD CS1 8 9A Display The two-digit, seven-segment LED shows the servo status and alarm number. Chapter4 Battery holder Contains the battery for absolute position data backup. Section13.
1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover To avoid the risk of an electric shock, do not open the front cover while power is on. CAUTION (1) For MR-J2S-350B or less Reinstallation of the front cover Removal of the front cover 1) Front cover hook (2 places) 2) 2) Front cover 1) Front cover socket (2 places) 1) Hold down the removing knob. 2) Pull the front cover toward you. 1) Insert the front cover hooks into the front cover sockets of the servo amplifier.
1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700B Reinstallation of the front cover Removal of the front cover Front cover hook (2 places) A) B) 2) 2) 1) A) 1) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you finger into the front hole of the front cover. 2) Pull the front cover toward you. 1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier. 2) Press the front cover against the servo amplifier until the removing knob clicks.
1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting screws (2 places). 1) Insert the front cover in the direction of arrow. Mounting screws (2 places) 3) Fit the front cover and fix it with the mounting screws (2 places).
1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100B or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) 3-phase 200V to 230VAC power supply or 1-phase 230VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment Section 12.2.
1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment No-fuse breaker Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator Section 12.1.8 (Servo configuration software) Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200B MR-J2S-350B 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Options and auxiliary equipment Options and auxiliary equipment Reference No-fuse breaker Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator (Servo configuration software) Section 12.1.8 Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500B 3-phase 200V to 230VAC power supply Options and auxiliary equipment No-fuse breaker (NFB) or fuse Reference Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator (Servo configuration software) Section 12.1.8 (Note) C P Regenerative brake option To CN1A To CN1B U V W Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700B Options and auxiliary equipment 3-phase 200V to 230VAC power supply Reference Options and auxiliary equipment Reference No-fuse breaker Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator (Servo configuration software) Section 12.1.8 Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KB or more Options and auxiliary equipment 3-phase 200V to 230VAC power supply Reference Options and auxiliary equipment Reference No-fuse breaker Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 MR Configurator (Servo configuration software) Section 12.1.8 Power factor improving reactor Section 12.2.3 Power factor improving DC reactor No-fuse breaker(NFB) or fuse Section 12.2.
2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
2. INSTALLATION 2.2 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm (1.6 in.) or more Servo amplifier Wiring clearance 70mm (2.8 in.) Top 10mm (0.4 in.) or more 10mm (0.4 in.) or more Bottom 40mm (1.6 in.
2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions. Control box 100mm (4.0 in.) or more 10mm (0.4 in.) or more Servo amplifier 30mm (1.2 in.) or more 30mm (1.2 in.) or more 40mm (1.6 in.
2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range.
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.
3. SIGNALS AND WIRING 3.1 Connection example of control signal system POINT Refer to Section 3.5 for the connection of the power supply system and to Section 3.6 for connection with the servo motor. 3.1.
3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits. 3.
3. SIGNALS AND WIRING 3.1.2 MR-J2S-11KB or more Servo amplifier (Note 4) CN3 6 (Note 7) Personal computer MR Configurator (Servo configuration software) 15m(49.2ft) or less CN3 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR Plate SD Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (Note (differential line driver) 13) Encoder Z-phase pulse (differential line driver) 2m(6.56ft) or less CN4 1 MO1 A 2 MO2 A 4 LG 10k Analog monitor Max.
3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the base unit to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the interface unit will be faulty and will not output signals, disabling the forced stop and other protective circuits. 3.
3. SIGNALS AND WIRING 3.2 I/O signals 3.2.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section.
3. SIGNALS AND WIRING (2) MR-J2S-11KB or more CN3 1 CN4 2 1 MO1 2 MO2 RXD LG 3 4 11 12 TXD 6 LA 8 LZ 13 14 5 4 LG LG 15 16 7 LB 9 10 LAR 18 LZR 17 LBR 19 20 MITSUBISHI CN1A Same as the one of the MR-J2S-700B or less. CN1B Same as the one of the MR-J2S-700B or less.
3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2. (1) Connector applications Connector Name CN1A Connector for bus cable from preceding axis.
3. SIGNALS AND WIRING 3.3 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
3. SIGNALS AND WIRING 3.4 Interfaces 3.4.1 Common line The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310). Servo amplifier 24VDC VDD COM MBR RA EM1 DI-1 SG LA .etc Differential line driver output 35mA max. LAR .
3. SIGNALS AND WIRING 3.4.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.2.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Servo amplifier 24VDC VDD COM R: Approx. 4.7 For a transistor EM1 Approx. 5mA Switch SG TR V CES 1.
3. SIGNALS AND WIRING (b) Lamp load Servo amplifier 24VDC VDD COM R MBR SG (3) Encoder pulse output DO-2 (Differential line driver system) 1) Interface Max. output current: 35mA Servo amplifier Servo amplifier LA (LB, LZ) LA (LB, LZ) Am26LS32 or equivalent 100 High-speed photocoupler 150 LAR (LBR, LZR) LAR (LBR, LZR) LG SD SD 2) Output pulse Servo motor CCW rotation LA LAR T LB LBR /2 LZ signal varies 3/8T on its leading edge.
3. SIGNALS AND WIRING (4) Analog output Output voltage : 10V Max.
3. SIGNALS AND WIRING 3.5 Power line circuit CAUTION When the servo amplifier has become faulty, switch power off on the amplifier power side. Continuous flow of a large current may cause a fire. Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire. POINT For the power line circuit of the MR-J2S-11KB to MR-J2S-22KB, refer to Section 3.
3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply (Note 1) Controller Alarm emergency stop Forced stop RA1 RA2 OFF ON MC MC SK Power supply 1-phase 100 to 120VAC or 1-phase 230VAC NFB MC L1 Servo amplifier L2 L3 (Note 2) L11 L21 VDD COM Forced stop EM1 SG Note: 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 2. Not provided for 1-phase 100 to 120VAC.
3. SIGNALS AND WIRING 3.5.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 10.1. Symbol Connection Target (Application) Description Supply L1, L2 and L3 with the following power: For 1-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.
3. SIGNALS AND WIRING 3.5.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.5.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L1, L2, L3, 1-phase 230V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply.
3. SIGNALS AND WIRING 3.6 Connection of servo amplifier and servo motor 3.6.1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent an electric shock. CAUTION Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.
3. SIGNALS AND WIRING Servo motor Connection diagram Servo motor Servo amplifier U (Red) U V W V (White) Motor W (Black) (Green) (Note 1) 24VDC B1 HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) B2 EM1 To be shut off when servo-off or alarm occurrence (Note 2) Electromagnetic brake CN2 Encoder Encoder cable Note:1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box. 2.
3. SIGNALS AND WIRING 3.6.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) a Encoder cable 0.3m (0.98ft.
3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor For power supply For encoder HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502 (B) HC-SFS203(B) 353(B) HC-RFS103(B) to 203 (B) a Encoder connector HC-RFS353(B) b Brake connector c HC-UFS72(B) Power supply connector 503(B) 152(B) HC-UFS202(B) to 502(B) brake connector The connector CE05-2A22- for power is 23PD-B shared.
3. SIGNALS AND WIRING 3.7 Servo motor with electromagnetic brake Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1). Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR). Circuit must be opened during forced stop (EM1).
3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
3.
3. SIGNALS AND WIRING 3.8 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. WARNING The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
3. SIGNALS AND WIRING 3.9 Servo amplifier terminal block (TE2) wiring method (1) Termination of the cables 2 Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm ) Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. (Cable size: 0.2 to 2.
3. SIGNALS AND WIRING 3.10 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Core Sheath External conductor Pull back the external conductor to cover the sheath Sheath Strip the sheath.
3. SIGNALS AND WIRING 3.11 Control axis selection POINT The control axis number set to CS1 should be the same as the one set to the servo system controller. Use the axis select switch (CS1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence.
3. SIGNALS AND WIRING 3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB When the servo amplifier has become faulty, switch power off on the amplifier power side. Continuous flow of a large current may cause a fire. Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire. CAUTION POINT The power-on sequence is the same as in Section 3.5.3. 3.12.
3. SIGNALS AND WIRING 3.12.2 Servo amplifier terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 10.1. Symbol Connection Target (Application) L1, L2, L3 Main circuit power supply U, V, W Servo motor output L11, L21 Supply L1, L2 and L3 with three-phase 200 to 230VAC, 50/60Hz power. Connect to the servo motor power supply terminals (U, V, W).
3. SIGNALS AND WIRING 3.12.
3.
4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
4. OPERATION AND DISPLAY 4.2 Start up WARNING Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g.
4. OPERATION AND DISPLAY (3) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control circuit power supply. 2) The controller transmits the servo-on command. When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (4) Home position return Always perform home position return before starting positioning operation.
4. OPERATION AND DISPLAY 4.3 Servo amplifier display On the servo amplifier display (two-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
4. OPERATION AND DISPLAY (2) Indication list Indication Status Description Initializing The servo amplifier was switched on when power to the servo system controller is off. Ab Initializing Power to the servo system controller was switched off during power-on of the servo amplifier. The axis No. set to the servo system controller does not match the axis No. set with the axis setting switch (CS1) of the servo amplifier.
4. OPERATION AND DISPLAY 4.4 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop.
4. OPERATION AND DISPLAY (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the MR Configurator (servo configuration software).
4. OPERATION AND DISPLAY (2) Configuration Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm. (3) Operation procedure (a) Jog operation, positioning operation, program operation, DO forced output. 1) Switch power off. 2) Set CS1 to “F”. When CS1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.
5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the MR Configurator (servo configuration software) invalid and the servo system controller values valid.
5. PARAMETERS (1) Item list Expansion parameters Adjustment parameters Basic parameters ClassifiNo.
5. PARAMETERS (2) Details list ClassifiNo. cation 1 Symbol *AMS Name and Function Amplifier setting Used to select the absolute position detection. Initial Value Unit Setting Range 0000 Refer to name and function column. 0000 Refer to name and function column. 0 0 0 Absolute position detection selection 0: Invalid (Used in incremental system.) 1: Valid (Used in absolute position detection system.) 2 *REG Regenerative brake resistor Used to select the regenerative brake option used.
5. PARAMETERS ClassifiNo. cation 6 Initial Value Symbol Name and Function *FBP Feedback pulse number Set the number of pulses per revolution in the controller side command unit. Information on the motor such as the feedback pulse value, present position, droop pulses and within-one-revolution position are derived from the values converted into the number of pulses set here. Setting Number of feedback pulses 0 1 6 7 255 16384 8192 32768 131072 Depending on the number of motor resolution pulses.
5. PARAMETERS ClassifiNo. cation 9 Symbol RSP Name and Function Servo response Used to select the response of auto tuning. 0 0 0 Response level selection Set value Machine resonance frequency guideline Unit Setting Range Refer to name and function column.
5. PARAMETERS Adjustment parameters ClassifiNo. cation Symbol Initial Value Name and Function Unit Setting Range 14 VG1 7kW or Speed loop gain 1 Normally this parameter setting need not be changed. Higher setting less:177 increases the response level but is liable to generate vibration and/or 11kW or noise. When auto tuning mode 1,2 and interpolation mode is selected, the more:96 result of auto tuning is automatically used.
5. PARAMETERS ClassifiNo. cation 20 Symbol Name and Function INP In-position range Used to set the droop pulse range in which the in-position (INP) will be output to the controller. Make setting in the feedback pulse unit (parameter No. 6). For example, when you want to set 10 m in the conditions that the ballscrew is direct coupled, the lead is 10mm, and the feedback pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as indicated by the following expression: 10 10 6 10 10 3 8192 8.
5. PARAMETERS ClassifiNo. cation 24 Symbol Name and Function *OP2 Optional function 2 Used to select slight vibration suppression control and motor-less operation 0 Initial Value Unit Setting Range 0000 Refer to name and function column. 0000 Refer to name and function column. 0 Slight vibration suppression control selection Made valid when auto tuning selection is set to "0002" in parameter No.8. Used to suppress vibration at a stop.
5. PARAMETERS ClassifiNo. cation Symbol Name and Function Initial Value Unit 27 MO1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor1 (MO1) output. 0 mV 999 to 999 28 MO2 Analog monitor 2 offset Used to set the offset voltage of the analog monitor2 (MO2) output. 0 mV 999 to 999 29 For manufacturer setting Don't change this value by any means. 0001 30 ZSP Zero speed Used to set the output range of the zero speed signal (ZSP).
5. PARAMETERS ClassifiNo. cation Symbol Name and Function 38 *ENR Encoder output pulses Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase and B-phase pulses. You can use parameter No.33 to choose the output pulse setting or output division ratio setting. The number of A-phase and B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.
5. PARAMETERS 5.3 Analog monitor The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo. (1) Setting Change the following digits of parameter No.22: Parameter No. 22 0 0 Analog monitor 2(MO2) output selection (Signal output to across MO2-LG) Analog monitor 1(MO1) output selection (Signal output to across MO1-LG) Parameters No.
5. PARAMETERS (2) Setting description The servo amplifier is factory-set to output the servo motor speed to analog monitor (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.22 (Analog monitor output) value: Refer to (3) in this section for the measurement point. Setting 0 Output item Servo motor speed Description Setting 6 CCW direction 8[V] Output item Droop pulses ( 10V/128pulse) Description 10[V] CCW direction 128[pulse] Max.
Command pulse Differential Speed command Droop pulse Position control Speed command 5 - 13 Servo motor speed Differential Speed control Current command Torque Current control Encoder M Servo Motor Position feedback Current feedback PWM Current encoder Bus voltage 5.
5. PARAMETERS 5.4 Replacement of MR-J2- B by MR-J2S- B When using the MR-J2S- B on the servo system controller peripheral software incompatible with the MR-J2S- B, you cannot use some parameter functions. Read this section carefully and set appropriate values in the parameters. 5.4.1 Main modifications made to the parameters The following table lists the parameters whose settings have been modified from the MR-J2- B or added to the MR-J2S- B.
5. PARAMETERS 5.4.2 Explanation of the modified parameters (1) Feedback pulse number (parameter No. 6) This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. When the servo motor used is the HC-KFS or HC-MFS, the feedback pulse number is 8192 pulses/rev, and when it is the HC-SFS, HC-RFS or HC-UFS, the feedback pulse number is 16384 pulses/rev. (2) Auto tuning (parameter No.
5. PARAMETERS (4) Machine resonance suppression filter 1 (parameter No. 18) The settings of this parameter were changed for the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, the parameter settings are as indicated below. The notch depth is 40dB. 0 0 0 Notch frequency selection Set value Frequency 0 1 2 3 4 5 6 7 Invalid 4500 2250 1500 1125 900 750 642.
5. PARAMETERS (9) Optional function 6 (parameter No. 33) This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. Hence, the serial communication baudrate is “9600 [bps]”, the serial communication response ready time is “invalid”, and the encoder output pulse setting selection is "output pulse setting". For details, refer to Section 5.2.
5.
6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order. (1) Gain adjustment mode explanation Gain adjustment mode Parameter No.
6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Yes Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No Operation OK? Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example.
6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjustment using MR Configurator (servo configuration software) POINT When using the machine analyzer, set the servo amplifier's axis number for "F". (Refer to Section 3.11.) This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator (servo configuration software) which operates on a personal computer.
6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1.
6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Encoder Control gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Current feedback Set 0 or 1 to turn on. Load inertia moment ratio Switch estimation section Gain table Parameter No.9 Parameter No.8 1 5 Real-time auto tuning section Position/speed feedback Speed feedback Parameter No.
6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied.
6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (parameter No.9) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 16) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate.
6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 13) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 1 and speed control gain 1 which determine command trackability are set manually and the other gain adjusting parameters are set automatically.
6. GENERAL GAIN ADJUSTMENT 6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 6.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting. Parameter No.
7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 6. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No. 18). Parameter No. 18 Notch frequency selection Setting Frequency Setting Frequency Setting Frequency Setting Frequency 00 Invalid 08 562.5 10 281.3 18 01 4500 09 500 11 264.7 19 180 02 2250 0A 450 12 250 1A 173.1 03 1500 0B 409.1 13 236.8 1B 166.7 04 1125 0C 375 14 225 1C 160.1 05 900 0D 346.2 15 214.3 1D 155.
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Adaptive vibration suppression control (1) Function Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.25). Parameter No. 25 Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration. 2: Held Filter characteristics generated so far is held, and detection of machine resonance is stopped.
8. INSPECTION 8. INSPECTION WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
8.
9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarms and warning 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 take the appropriate action. in the After its cause has been removed, the alarm can be deactivated in any of the methods marked alarm deactivation column.
9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase alarm (25) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.
9. TROUBLESHOOTING Display 15 Name Definition Memory error 2 EEP-ROM fault Cause Action 1. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. 16 17 19 1A 20 24 25 Encoder error 1 Communication 1. Encoder connector (CN2) error occurred disconnected. between encoder 2.
9. TROUBLESHOOTING Display Name 30 Regenerative alarm Definition Cause Permissible 1. Mismatch between used regenerative power regenerative brake option and of the built-in parameter No. 2 setting regenerative brake 2. Built-in regenerative brake resistor or resistor or regenerative brake regenerative brake option is not connected. option is exceeded. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded.
9. TROUBLESHOOTING Display 33 Name Overvoltage Definition Converter bus voltage exceeded 400VDC. Cause Action 1. Regenerative brake option is not used. Use the regenerative brake option. 2. Though the regenerative brake option is used, the parameter No. 2 setting is " 00 (not used)". Make correct setting. 3. Lead of built-in regenerative brake 1. Change lead. 2. Connect correctly. resistor or regenerative brake option is open or disconnected. 4. Regenerative transistor faulty.
9. TROUBLESHOOTING Display 46 50 Name Servo motor overheat Overload 1 Definition Servo motor temperature rise actuated the thermal protector. Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Ambient temperature of servo motor is over 40 . Review environment so that ambient temperature is 0 to 40 . 2. Servo motor is overloaded. 1. Reduce load. 2. Review operation pattern. 3. Use servo motor that provides larger output. 3.
9. TROUBLESHOOTING Display 52 Name Definition (Note) The deviation Error excessive between the model position and the actual servo motor position exceeds the parameter No.31 setting value (initial value: 2 revolutions). Cause Action 1. Acceleration/deceleration time constant is too small. Increase the acceleration/deceleration time constant. 2. Torque limit value is too small. Increase the torque limit value. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop.
9. TROUBLESHOOTING 9.3 Remedies for warnings If E6, E7, E9 or EE occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section. Use the optional MR Configurator (servo configuration software) to refer to the cause of warning. Display Name Definition Cause Action 92 Open battery cable warning Absolute position 1.
10. OUTLINE DIMENSION DRAWINGS 10. OUTLINE DIMENSION DRAWINGS 10.1 Servo amplifiers (1) MR-J2S-10B to MR-J2S-60B MR-J2S-10B1 to MR-J2S-40B1 [Unit: mm] 6 ( 0.24) mounting hole 70 (2.76) 20 B 6 (0.24) ([Unit: in]) 135 (5.32) Terminal layout (Terminal cover open) (0.79) A MITSUBISHI MITSUBISHI OPEN C N 1 A C N 1 B C N 2 E N C C N 3 Name plate TE1 C N 1 A C N 1 B C N 2 C N 3 ( 168 (6.61) 156 (6.14) OPEN ) E N C L1 6 (0.24) 7 (0.28) L2 L3 (Note) U V W TE2 6 (0.
10. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70B MR-J2S-100B [Unit: mm] 70(2.76) 70(2.76) 20 6 (0.24) 22 (0.87) ([Unit: in]) 190(7.48) Terminal layout (Terminal cover open) (0.79) 6 ( 0.24) mounting hole MITSUBISHI MITSUBISHI OPEN 7 (0.28) 6(0.24) 168(6.61) 156(6.14) OPEN C N 1 A C N 1 B C N 2 E N C C N 3 L1 L2 L3 U V W Name plate PE terminal 6(0.24) 22 42 (0.87) (1.65) TE2 TE1 6(0.24) 6(0.24) Mass [kg]([lb]) Servo amplifier MR-J2S-70B 1.7 (3.
10. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200B MR-J2S-350B [Unit: mm] ([Unit: in]) 6 (0.24) 6 ( 0.24) mounting hole 70(2.76) 90(3.54) 78(3.07) 6 (0.24) 195(7.68) Terminal layout MITSUBISHI 168(6.61) 156(6.14) MITSUBISHI TE2 TE1 PE terminal Fan air orientation Mass [kg]([lb]) Servo amplifier MR-J2S-200B 2.0 (4.41) MR-J2S-350B Terminal signal layout PE terminals TE1 L1 L2 L3 U V W Terminal screw: M4 Tightening torque: 1.2 [N m] (10 [lb in]) Terminal screw: M4 Tightening torque: 1.
10. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500B [Unit: mm] ([Unit: in]) OPEN (0.79) (0.24) 130(5.12) (0.24) 70 6 6 (2.76) 118(4.65) 20 7.5 (0.5) 2- 6( 0.24) mounting hole 200(7.87) (0.19) 5 Terminal layout MITSUBISHI MITSUBISHI 235(9.25) 250(9.84) OPEN C N 1 B C N 1 A C N 1 B C N 2 C N 3 C N 2 C N 3 TE2 N.P. N.P. Fan 7.5 (0.5) OPEN TE1 C N 1 A Fan 6(0.24) Fan air orientation Servo amplifier Mass [kg]([lb]) MR-J2S-500B 4.9(10.
10. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700B 70 10 (2.76) 180(7.09) 160(6.23) (0.39) 200(7.87) 138(5.43) 62 20 7.5 (0.5) (0.39) 10 (0.79) 2- 6( 0.24) mounting hole (2.44) [Unit: mm] ([Unit: in]) 6(0.24) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN C N 1 A C N 1 B C N 1 A C N 1 B C N 2 C N 3 C N 2 C N 3 350(13.8) 335(13.2) TE2 OPEN TE1 Fan 7.5 (0.5) 6 (0.24) Fan air orientation Servo amplifier Mass [kg]([lb]) MR-J2S-700B 7.2(15.
10. OUTLINE DIMENSION DRAWINGS (6) MR-J2S-11KB 15KB 12(0.47) [Unit: mm] ([Unit: in]) 2- 12( 0.47) mounting hole Fan air orientation 75 (2.95) Fan MITSUBISHI C N 3 C N 1 A C N 1 B 400(15.75) 376(14.8) CN4 TE2 CN2 CON2 CHARGE Mass [kg]([lb]) MR-J2S-11KB 15(33.1) MR-J2S-15KB 16(35.3) 260(10.24) 12(0.47) 3.9(0.15) Servo amplifier (0.47) 12(0.47) 236(9.29) 260(10.24) (0.
10. OUTLINE DIMENSION DRAWINGS (7) MR-J2S-22KB 12(0.47) [Unit: mm] ([Unit: in]) Fan air orientation 2- 12( 0.47) mounting hole 75 (2.95) Fan MITSUBISHI C N 3 C N 1 A C N 1 B 400(15.75) 376(14.8) CN4 TE2 CON2 CN2 CHARGE 12(0.47) 326(12.84) 350(13.78) 12(0.47) 3.9(0.15) 260(0.24) (0.47)12 12 (0.47) TE1 Servo amplifier Mass [kg]([lb]) MR-J2S-22KB 20(44.1) Terminal signal layout TE1 PE terminal L1 L2 L3 U V W P1 P C N Terminal screw : M8 Tightening torque : 6.
10. OUTLINE DIMENSION DRAWINGS 10.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type Model Connector Shell kit : 10120-3000VE 10126-3000VE : 10320-52F0-008 10326-52F0-008 12.0(0.47) 10.0 (0.39) [Unit: mm] ([Unit: in]) 14.0 (0.55) Logo, etc. are indicated here. 39.0(1.54) 23.8(0.94) A B 12.7 (0.50) Connector Shell kit 10120-3000VE 10126-3000VE Variable dimensions A B 10320-52F0-008 22.0(0.87) 33.3(1.31) 10326-52F0-008 25.8(1.02) 37.2(1.
10. OUTLINE DIMENSION DRAWINGS (c) Insulation displacement type Model Connector Shell kit : 10120-6000EL : 10320-3210-000 [Unit: mm] ([Unit: in]) 11.5 (0.45) 6.7 ( 0.26) 2- 0.5 (0.02) Logo, etc. are indicated here. 42.0(1.65) 33.0(1.30) 20.9(0.82) 29.7 (1.17) (2) Bus cable connector (a) Honda Tsushin Industry PCR type [Unit: mm] ([Unit: in]) PCR-LS20LA1 PCR-LS20LA1W 13.0 10.4(0.41) 14.2(0.56) 23.0(0.91) (0.04)1 12.2 1(0.04) (0.48) 20.6 (0.81) (0.51) HONDA HONDA 27.4(1.08) 32.0(0.
10. OUTLINE DIMENSION DRAWINGS (b) Honda Tsushin Industry HDR type Model HDR Number of Pins Connector Connector case 14 HDR-E14MG1 HDR-E14LPA5 26 HDR-E26MG1 HDR-E26LPA5 (Note) Crimping terminal Wire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C Note: Not available from us and to be supplied by the customer. Model Connector : HDR-E14MG1 Connector case : HDR-E14LPA5 Model Connector : HDR-E26MG1 Connector case : HDR-E26LPA5 [Unit: mm] ([Unit: in]) 21.8 (0.86) 6 7 (0.
11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11.1, Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
11. CHARACTERISTICS Servo amplifier MR-J2S-500B MR-J2S-700B MR-J2S-11KB MR-J2S-15KB MR-J2S-22KB Servo motor (Note 1) Power supply capacity[kVA] (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation At rated torque With servo off [m2] [ft2] 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-UFS502 7.5 195 25 3.9 42.0 HC-LFS302 4.5 120 25 2.4 25.8 HA-LFS502 7.
11. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1: P .........................................................
11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.7. Please contact us for the servo motor not indicated.) Forced stop(EM1) ON OFF Time constant V0 Machine speed Time te Fig. 11.
0.04 0.02 0.018 0.016 0.014 0.012 0.01 0.008 0.006 0.004 0.002 0 0 0.035 Time constant [s] Time constant [s] 11. CHARACTERISTICS 23 73 053 0.02 0.01 13 500 1000 1500 2000 2500 3000 Speed [r/min] 0 81 0 50 500 Speed [r/min] 1000 c. HC-SFS1000r/min series 0.045 0.12 0.04 0.035 Time constant [s] Time constant [s] 301 0.015 b. HC-MFS series 702 0.03 352 0.025 0.02 202 52 502 0.015 0.01 0.005 0 0 102 152 500 1000 1500 Speed [r/min] 0.1 0.
11. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J2S-10B to MR-J2S-200B MR-J2S-10B1 to MR-J2S-40B1 30 MR-J2S-350B 16 MR-J2S-500B 15 MR-J2S-700B (Note)MR-J2S-11KB to MR-J2S-22KB (Note) 30 Note.
11. CHARACTERISTICS 11.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 10m. Servo Amplifier Inrush Currents (A0-p) Main circuit power supply (L1, L2, L3) MR-J2S-10B 20B 30A (Attenuated to approx. 5A in 10ms) MR-J2S-40B 60B 30A (Attenuated to approx.
12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 12.1 Options 12.1.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative brake option (a) Simple selection method In horizontal motion applications, select the regenerative brake option as described below: When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in Section 5.1 of the separately available Servo Motor Instruction Manual.
12. OPTIONS AND AUXILIARY EQUIPMENT b. Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
12. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option The regenerative brake option will cause a temperature rise of 100 degrees relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative brake option body. Always use twisted cables of max. 5m(16.4ft) length for connection with the servo amplifier.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500B MR-J2S-700B Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal protector. G3-G4 are opened when the regenerative brake option overheats abnormally. Servo amplifier P C Always remove wiring (across P-C) of servo amplifier built-in regenerative brake resistor. Regenerative brake option P C (Note 2) G3 G4 5m(16.
12. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Fan installation screw hole dimensions 2-M3 screw hole Top (for fan installation) Depth 10 or less (Screw hole already machined) 82.5 Terminal block 133 (5.24) Thermal relay (3.25) Fan Bottom 82.5 40 (1.58) (3.
12. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J2S-11KB-PX to MR-J2S-22KB-PX (when using the regenerative brake option) The MR-J2S-11KB-PX to MR-J2S-22KB-PX servo amplifiers are not supplied with regenerative brake resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67 regenerative brake option. The MR-RB65, 66 and 67 are regenerative brake options that have encased the GRZG400-2Ω, GRZG400-1Ω and GRZG400-0.8Ω, respectively.
12. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] LA 12 (0.47) 6 (0.23) 6 (0.24) mounting hole LB 144 (5.67) TE1 Terminal block 5 (0.20) G3 G4 P C 6 (0.23) 12 (0.47) G3 G4 P C 6 (0.23) TE1 168 (6.61) 156 (6.14) MR-RB Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.2 [N m](28.32 [lb in]) 1.6 (0.06) 20 (0.79) LD LC Variable dimensions LA LB LC LD 30 15 119 99 MR-RB032 (1.
12. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 Mounting screw Screw : M6 Wind blows in the arrow direction. 162.5(6.39) 82.5 (3.25) 133 (5.24) P C Terminal screw: M4 G3 Tightening torque: 1.2 [N m](10 [lb in]) G4 G4 G3 C P 14 slot 350 (13.78) 7 12.5 (0.49) 82.5 49 (1.93) (3.25) [Unit: mm (in)] Terminal block 162.5 (6.39) Fan mounting screw (2-M3 screw) On opposite side Tightening torque: 5.4 [N m](47.79 [lb in]) Regenerative brake option Mass [kg] (lb) MR-RB50 2.3 (0.09) 12.5 (0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage. The brake unit and resistor unit must be installed on a vertical surface in the vertical direction. If they are installed in the horizontal direction or on a horizontal surface, a heat dissipation effect reduces.
12. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size. See the brake unit instruction manual. You cannot connect one set of brake unit to two servo amplifiers or two sets of brake units to one servo amplifier.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) EE (E) 204 Eye bolt (8.031) 33 (1.299) C 5 (0.197) AA 5 (0.197) FR-BR-55K Two eye bolts are provided (as shown below). 40 (1.575) EE (E) (Note) (F) Control circuit terminals Main circuit terminals BB 3 (0.118) B 5 (0.197) BA 1 (0.039) K 2- D (F) [Unit : mm(in)] A 5 (0.197) Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Unit Model A AA C D E EE K F Approx.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 L21 NFB Power factor improving reactor MC FR-BAL L1 Power supply 3-phase 200V or 230VAC L2 L3 VDD COM EM1 SG N N/ P C P/ For 7kW or less, always remove wiring across P-C. 5m(16.4ft) or less RDY Ready A SE RDY output R/L1 S/L2 B B C C Alarm output T/L3 RX R SX S (Note) Phase detection terminals TX T Power regeneration converter FR-RC FR-RC B C Operation ready RA2 EM1 OFF ON MC MC SK Note.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan K F EE D AA C A Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D E EE K F Approx. Mass [kg(Ib)] FR-RC-15K 270 200 450 432 195 (10.630) (7.874) (17.717) (17.008) (7.677) 10 (0.394) 10 (0.394) 8 (0.315) 3.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 External dynamic brake (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built " in the parameter in the 11kW or more servo amplifier, purchase it separately if required. Set " 1 No. 2.
12. OPTIONS AND AUXILIARY EQUIPMENT Coasting Servo motor rotation Coasting Dynamic brake Dynamic brake Present Alarm Absent ON Base OFF ON RA1 OFF Dynamic brake Invalid Valid Forced stop (EM1) Short Open a. Timing chart at alarm occurrence b.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing [Unit: mm] ([Unit: in]) D (0.2)5 100(3.94) A E B E 5 (0.2) G D C 2.3(0.09) F Terminal block E a (GND) U b 13 14 V W Screw : M4 Tightening torque: 1.2 [N m](10 [lb in]) Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in]) Dynamic brake A B C D E F G Mass [kg]([Ib]) Connection wire [mm2] DBU-11K 200 (7.87) 190 (7.48) 140 (5.51) 20 (0.79) 5 (0.2) 170 (6.69) 163.5 (6.44) 2 (4.41) 5.5 DBU-15K, 22K 250 (9.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.5 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. The broken line areas in the diagram are not options.
12. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Connector: 10120-3000VE Shell kit: 10320-52F0-008 (3M or equivalent) Housing: 1-172161-9 Connector pin: 170359-1 (AMP or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry) Application Standard flexing life IP20 1) Standard encoder MR-JCCBL M-L cable Refer to (2) in this section.
12. OPTIONS AND AUXILIARY EQUIPMENT No.
12. OPTIONS AND AUXILIARY EQUIPMENT No. Product 24) Bus cable Model Q172J2BCBL M (-B) Refer to (4) in this section Description Connector: HDR-E14MG1 Shell kit: HDR-E14LPA5 (Honda Tsushin) Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent) (Note) Socket: HCN2-2.5S-2 Terminal: HCN2-2.5S-D-B (Hirose Electric) Note. When using the battery unit Q170BAT, use the Q172J2BCBL M-B.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable CAUTION If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 11.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
12.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL MSymbol Specifications L Standard flexing life H Long flexing life Symbol Cable length [m(ft)] 2 5 10 20 30 40 50 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) 40 (131.2) 50 (164.0) Note: MR-JHSCBL M-L has no 40(131.2) and 50m(164.0ft) sizes.
12.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable.
12. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable CAUTION When fabricating the bus cable, do not make incorrect connection. Doing so can cause misoperation or explosion. When fabricating this cable, use the recommended cable given in Section 12.2.1 and fabricate it in accordance with the connection diagram shown in this section. The overall distance of the bus cable on the same bus is 30m(98.4ft). (a) MR-J2HBUS M-A 1) Model definition Model:MR-J2HBUS M-A Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2HBUS M 1) Model definition Model:MR-J2HBUS M Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
12. OPTIONS AND AUXILIARY EQUIPMENT (c) Q172J2BCBL M(-B) When using the battery unit Q170BAT, use the Q172J2BCBL M-B. For the Q170BAT, refer to the Motion Controller Q Series User's Manual (IB(NA)0300021). 1) Model definition Model:Q172J2BCBL MSymbol Connection of Battery Unit No -B No Yes Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
12.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.6 Maintenance junction card (MR-J2CN3TM) POINT The MR-J2S-11KB or more allows only the relaying of signals using CN3A/CN3C. Since TE1 cannot be used, keep it open. (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.7 Battery (MR-BAT, A6BAT) POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.8 MR Configurator (servo configurations software) The MR Configurator (servo configuration software) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Baudrate [bps] Conforms to RS-232C.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.9 Power regeneration common converter POINT For details of the power regeneration common converter FR-CV, refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV. Connect the DC power supply between the FR-CV and servo amplifier with correct polarity.
12.
12. OPTIONS AND AUXILIARY EQUIPMENT 2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible. Grounding wire size [mm2] Power regeneration common converter FR-CV-7.5K TO FR-CV-15K FR-CV-22K • FR-CV-30K FR-CV-37K • FR-CV-55K 14 22 38 (b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N.
12. OPTIONS AND AUXILIARY EQUIPMENT (5) Specifications Power regeneration common converter FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.10 Heat sink outside mounting attachment (MR-JACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Fit using the assembiling screws. Servo amplifier Servo amplifier Punched hole Attachment Control box a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing (a) MR-JACN15K (MR-J2S-11KB, MR-J2S-15KB) 145 (5.709) 194 (7.638) Panel 400 (15.748) Attachment Servo amplifier Servo amplifier 236 (9.291) 280 (11.024) 260 (10.236) 35 (1.378) 84 (3.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JACN22K (MR-J2S-22KB) 145(5.709) 194(7.638) Attachment 400(15.748) 58 Panel Servo amplifer Servo amplifer 326(12.835) 370(14.567) 35(1.378) 84 (3.307) Attachment 12 (0.472) 580(22.835) 510(20.079) (2.283) 68(2.677) 4- 12 Mounting hole 350(13.78) Panel 3.2(0.126) 155(6.102) 105 (4.134) 260 (10.236) 12 - 40 11.5 (0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL (CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
12. OPTIONS AND AUXILIARY EQUIPMENT Table 12.1 Recommended wires Servo amplifier MR-J2S-10B(1) MR-J2S-20B(1) MR-J2S-40B(1) MR-J2S-60B MR-J2S-70B MR-J2S-100B MR-J2S-200B (Note 1) Wires [mm2] 1) L1 L2 L3 2) L11 L21 3) U V W P1 8 (AWG8) : c 14 (AWG6) :d 2 (AWG14) : a 3.5 (AWG12) : b (Note 2) 5.5 (AWG10) : b 5.5 (AWG10) : b 8 (AWG8) : c 22 (AWG4) :e MR-J2S-15KB 22 (AWG4) :e 30 (AWG2) :f MR-J2S-22KB 50 (AWG1/0) :g 60 (AWG2/0) :g MR-J2S-350B MR-J2S-500B MR-J2S-700B MR-J2S-11KB 5.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.3 Wires for option cables Type Length [m(ft)] Model MR-JCCBL MR-JCCBL Encoder cable MR-JHSCBL MR-JHSCBL MR-ENCBL M-L M-H M-L M-H M-H 2 to 10 (6.56 to 32.8) 20 30 (65.6 98.4) 2 5 (6.56 16.4) 10 to 50 (32.8 to 164) 2 5 (6.56 16.4) 10 to 30 (32.8 to 98.4) 2 5 (6.56 16.4) 10 to 50 (32.8 to 164) 2 5 (6.56 16.4) 10 to 50 (32.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.4 Power factor improving DC reactors The input power factor is improved to be about 95%. (Note 1) Terminal cover Screw size G D C or less Name plate 2-F L Notch H B or less L E A or less F Mounting foot part 5m or less Servo amplifier FR-BEL P (Note2) P1 Note1. Fit the supplied terminal cover after wiring. 2. When using the DC reactor, remove the short-circuit bar across P-P1.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.5 Relays The following relays should be used with the interfaces: Interface Selection example 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 (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less (Ex.) Omron : type MY 12.2.6 Surge absorbers A surge absorber is required for the electromagnetic brake.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables.
12. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. MC Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short (within 20cm(0.79 in.)). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Outline drawing [Unit: mm] ([Unit: in.
12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole installation hole A B C AERSBAN-DSET 100 (3.94) 86 (3.39) 30 (1.18) AERSBAN-ESET 70 (2.76) 56 (2.20) Accessory fittings Clamp fitting L clamp A: 2pcs. A 70 (2.76) clamp B: 1pc. B 45 (1.77) 12 - 50 (0.940) 0.3 0 24 Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type 10(0.39) A 35(1.38) 11(0.43) (0.24) C 22(0.
12. OPTIONS AND AUXILIARY EQUIPMENT (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 suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] ([Unit: in.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.8 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 2mm2 5m 2mm2 5m NV Servo amplifier MR-J2S-60B Ig1 Iga M Servo motor HC-MFS73 Ig2 Igm Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (12.2) from the diagram: Ig1 20 5 1000 0.1 [mA] Ig2 20 5 1000 0.1 [mA] Ign 0 (not used) Iga 0.1 [mA] Igm 0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.9 EMC filter For compliance with the EMC directive of the EN standard, it is recommended to use the following filter. Some EMC filters are large in leakage current.: (1) Combination with the servo amplifier Recommended filter Servo amplifier MR-J2S-10B to MR-J2S-100B MR-J2S-10B1 to MR-J2S-40B1 MR-J2S-200B MR-J2S-350B Model Leakage current [mA] Mass [kg]([Ib]) SF1252 38 0.75(1.65) SF1253 57 1.37(3.02) MR-J2S-500B (Note) HF3040A-TM 1.5 5.5(12.
12. OPTIONS AND AUXILIARY EQUIPMENT HF3040A-TM HF3050A-TM HF3060A-TMA 6-K 3-L G F E D 1 2 1 2 3-L C 1 M J 2 C 1 H 2 B 2 A 5 Model Dimensions [mm(in)] A B C D E F G H J 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) HF3050A-TM 290 (11.42) 240 (9.45) 100 (3.94) 190 (7.48) 175 (6.89) 160 (6.29) 44 (1.73) 170 (6.69) HF3060A-TMA 290 (11.42) 240 (9.45) 100 (3.94) 190 (7.48) 175 (6.89) 160 (6.29) 44 (1.73) 230 (9.
12.
13. ABSOLUTE POSITION DETECTION SYSTEM 13. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase alarm (25) has occurred, always perform home position setting again. Not doing so can cause runaway. 13.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.2 Specifications (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal Battery 3.6V) Type: MR-BAT or A6BAT Maximum revolution range Home position (Note 1) Maximum speed at power failure 500r/min (Note 2) Battery backup time Approx. 10,000 hours (battery life with power off) (Note 3) Data holding time during battery replacement Battery storage period 32767 rev.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.3 Battery installation procedure WARNING Before starting battery installation procedure, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. POINT The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions: Ground human body and work bench.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.4 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Click "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Clicking "Diagnostics" in the menu opens the sub-menu as shown below: (2) By clicking "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.
Appendix App. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
Appendix MEMO App - 2
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Sep., 2000 SH(NA)030007-A First edition Jan., 2001 SH(NA)030007-B Servo amplifier: Addition of MR-J2S-500B and MR-J2S-700B Servo motor: Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353, HC-RFS503, HC-UFS502 and HC-UFS352 Section 1.4: Addition of brake unit and regeneration converter Section 1.7: Overall reexamination Section 3.5.2: Addition of return converter and brake unit Section 3.
Print Data Oct., 2002 *Manual Number SH(NA)030007-C Revision Section 3.6.3: Addition of Note Section 3.9: Reexamination of contents Section 3.12: Addition Section 3.12.2: Addition of power factor improving DC reactor Section 4.3 (2): Addition of initialization completion Section 5.2 (2): Addition of external dynamic brake selection to parameter No. 2 Renaming of parameter Nos. 3 to 5 Reexamination of parameter No. 19 contents Section 9.1: Addition of Note to alarm 30 Section 9.
Print Data *Manual Number May., 2003 SH(NA)030007-D Revision COMPLIANCE WITH EC DIRECTIVES 2 (6): Addition of (6) CONFORMANCE WITH UL/C-UL STANDARD: Addition of (2) Air volume (2.8m3/min) Section 1.3: Inrush current addition Section 3.1.1: Reexamination of table in Note Section 3.1.2: Reexamination of table in Note Section 3.6.3: Addition of power supply connector signal arrangement CE05-2A32-17PD-B Section 3.12.3: Change of terminal box inside of HA-LFS11K2 Section 5.
Print Data *Manual Number Jan., 2004 SH(NA)030007-E Revision Section 5.2 (2): Partial addition of parameter No. 2 Note addition of parameter No. 31 Section 5.4.2: (10) deletion Section 9.2: Display 32 item addition, Partial reexamination/Note addition of display 52 Section 10.1: Overall reexamination Section 11.2: Table change Section 11.3: Partial text addition Section 12.1.1 (3): Partial text deletion Section 12.1.1 (4): Partial text change Section 12.1.1 (5): Overall reexamination Section 12.1.
MODEL MODEL CODE MR-J2S-B GIJUTU SIRYOU 1CW502 HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030007-E (0401) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
