Page 1 MITSUBISHI ELECTRIC MELSERVO Servo amplifier and motors Instruction Manual MR-J2S-B/B4 Art.-No.: 168353 INDUSTRIAL AUTOMATION 07 06 2006 MITSUBISHI ELECTRIC Version A...
Page 3 Instruction Manual Servo amplifier MR-J2S-B/B4 Art.-N0.: 168353 Version Changes / Additions / Corrections 06/2006 —...
Page 5 Current information and answers to frequently asked questions are also available through the Internet (www.mitsubishi-automation.com). MITSUBISHI ELECTRIC EUROPE B.V. reserves the right to make changes both to this manual and to the specifications and design of the hardware at any time without prior notice.
Page 7 MELSERVO-Series equipment is only designed for use in the areas described in this manual. Be sure to comply with all the characteristics stated in this manual. Only additional or supplementary devices recommended by MITSUBISHI ELECTRIC EUROPE may be used. Any other use or application of the products is deemed to be improper.
Page 8 Special instructions for working with this manual In this manual special warnings that are important for the proper and safe use of the products are clearly identified as follows: DANGER: Personnel health and injury warnings. Failure to observe the precautions described here can result in serious health and injury hazards.
Page 9 “CE” mark on machines or accessories in which the servo amplifier is used. To ensure conformity with the requirements of the EMC directive, MITSUBISHI ELECTRIC has produced the manual “EMC INSTALLATION GUIDELINES” (article number: 103944) in which the installation of the servo amplifier, the construction of a control cabinet and other installation tasks are described.
Page 10 Special safety instructions The following notes on sources of danger should be interpreted as general guidelines for servo drives in association with other devices. These precautions must always be observed in the design, installation and operation of all control systems. DANGER: Observe all safety and accident prevention regulations applicable to your specific application.
Page 11 Special safety instructions for the devices CAUTION: During the installation of servo systems beware of the heat that builds up during operation. Make sure that there is adequate clearance between the individual modules and enough ventilation to allow the heat to be dissipated. Never install servo amplifiers or servo motors or the optional brake unit close to easily flammable materials.
Page 12 Configuration Control power supply Reinforced Servo No-fuse Magnetic contactor insulating motor breaker transformer Power Servo supply amplifier S00500C Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc.
Page 13 Wiring The cables are connected via insulated tubular cable sockets to the terminal strip of the servo amplifier. Crimping terminal Insulating tube Cable S00502C Use only the connectors designed for it to attach the servo motor to the servo amplifier. The connectors can be ordered as accessories.
Page 14 VIII...
Page 15: Table Of Contents
Contents Contents Introduction Features and configuration ..........1-1 Function block diagram .
Page 16 Contents Operation Points to check prior to starting operation ....... . . 4-1 Procedures before Operation.
Page 17 Contents Maintenance and Inspection Inspection............8-1 Life .
Page 18 Contents...
Page 19: Introduction
Features and configuration Introduction Introduction Features and configuration Apart from possessing the functions of the servo amplifiers MR-J2-Series, the servo amplifiers MR-J2-Super have additional features and functions. The servo amplifiers MR-J2S-B and MR-J2S-B4 are designed for operation with a Mitsubishi- Motion-Controller via a serial bus (SSCNET).
Page 20: Function Block Diagram
Introduction Function block diagram Function block diagram 1.2.1 Servo amplifiers 200V Regenerative brake option Power supply 3-phase, 200-230VAC; 1-phase, 230VAC Servo amplifier Servo motor I > I > Main circuit I > MR-J2S-200B or more L1 1 Control 24VDC circuit L2 1 power supply...
Page 21: Servo Amplifiers 400V
Function block diagram Introduction 1.2.2 Servo amplifiers 400V MR-J2S-200B4 or less Regenerative brake option Power supply Servo motor Servo amplifier 3-phase, 380–480VAC I > I > Main circuit I > 24 V • L Control Power 24V DC circuit supply −...
Page 22 Introduction Function block diagram MR-J2S-350B4 to 700B4 Regenerative brake option Power supply Servo motor Servoverstärker 3-phase, 380–480VAC I > I > Main circuit I > 24 V • L Power Control 24VDC circuit supply − 0 V • L 24VDC power supply Electro-...
Page 23: Model Overview
Model overview Introduction Model overview 1.3.1 Servo amplifiers 200V MITS UBIS HI MELSER VO MR-J2 S-10A MITS UBIS HI MELSER VO MR-J2S -10A MR-J2S-100B or less MR-J2S-200B/350B MITSU BISHI MELSERVO MR-J2S-5 00A OPEN MITSUBISH I MELSERVO MR-J2S-500A OPEN OPEN MR-J2S-700B MR-J2S-500B MR-J2- B Compatible servo motors...
Page 24: Servo Amplifiers 400V
Introduction Model overview 1.3.2 Servo amplifiers 400V MR-J2S-200B4 or less MR-J2S-350B4 and MR-J2S-500B4 MR-J2S- B4 Series Code Power supply 380–480VAC Compatible servo motors Code HC-SFS 1024 1524/2024 3524 MR-J2S-700B4 5024 7024 S001196C, S001060E, S001061E Fig. 1-5: Model designation of servo amplifiers 400V 1.3.3 Rating plate MITSUBISHI...
Page 25: Servo Motors
Model overview Introduction 1.3.4 Servo motors HC-KFS series HC-MFS series HC-SFS series HC-RFS series S000849C Fig. 1-7: Servo motors Servo motors 200V HC - MFS Electromagnetic Code brake — — Motor series HC-MFS Code Rated speed [r/min] HC-KFS 2000 HC-SFS 3000 HC-RFS Rated speed...
Page 26 Introduction Model overview Servo motors 400V HC - SFS Motor series Electro- HC-SFS Code magnetic brake — — Code Power supply 400 V Rated speed Code [r/min] 2000 Rated Rated Code Code output [W] output [W] 3500 1000 5000 1500 7000 2000 Fig.
Page 27 Model overview Introduction MITSUBISHI AC SERVO MOTOR HC-MFS23 Model Serial number SERIAL DATE Production date MITSUBISHI ELECTRIC CORPORATIO N S00805C Fig. 1-10: Rating plate MELSERVO J2-Super 1 - 9...
Page 28: Removal And Reinstallation Of The
Introduction Removal and reinstallation of the front cover Removal and reinstallation of the front cover For models MR-J2S-200B or larger the front cover must be removed before the battery holder and terminal strips for connecting the power supply of the motor TE1) and control voltage (TE2) are accessible.
Page 29 Removal and reinstallation of the front cover Introduction Removal the front cover for MR-J2S-500B, MR-J2S-350B4 and MR-J2S-500B4 Hold down the removing knob. Pull the front cover toward you. Abb. 1-13: Removal the front cover S000909C Reinstallation the front cover for MR-J2S-500B, MR-J2S-350B4 and MR-J2S-500B4 Insert the front cover hooks into the front cover sockets of the servo amplifier.
Page 30 Introduction Removal and reinstallation of the front cover Removal the front cover for MR-J2S-700B and MR-J2S-700B4 Press the lock on the side of the front cover inwards. Put a finger in the recess in the middle of the front cover and pull it off to the front. Abb.
Page 31: Operating Elements
Operating elements Introduction Operating elements 1.5.1 Servo amplifier 200V Servo amplifier MR-J2S-350B or less MR-J2S-100B or less MR-J2S-200B and MR-J2S-350B S000970C Fig. 1-17: Servo amplifier MR-J2S-350B or less Name Description Reference Battery holder Contains the battery (optional) for absolute Chap. 6 position data backup.
Page 32 Introduction Operating elements MR-J2S-100B or less MR-J2S-200B and MR-J2S-350B S000512C Fig. 1-18: Servo amplifier MR-J2S-350B or less Name Description Reference Bus cable connector (CN1A) Used to connect the servo system controller or Section 3.1.3 preceding axis servo amplifier. Bus cable connector (CN1B) Used to connect the subsequent axis servo Section 3.1.3 amplifier or termination connector (MR-A-TM)
Page 33 Operating elements Introduction Servo amplifier MR-J2S-500B and MR-J2S-700B S000971C Fig. 1-19: Servo amplifier MR-J2S-500B and MR-J2S-700B Name Description Reference Battery holder Contains the battery (optional) for absolute Chap. 6 position data backup. Battery connector (CON1) Used to connect the battery. Section 6.1.4 Display The two-digit, seven-segment LED shows the...
Page 34 Introduction Operating elements S000916C Fig. 1-20: Servo amplifier MR-J2S-500B and MR-J2S-700B Name Description Reference Bus cable connector (CN1A) Used to connect the servo system controller or Section 3.1.3 preceding axis servo amplifier. Bus cable connector (CN1B) Used to connect the subsequent axis servo Section 3.1.3 amplifier or termination connector (MR-A-TM) Communication connector...
Page 35: Servo Amplifier 400V
Operating elements Introduction 1.5.2 Servo amplifier 400V Servo amplifier MR-J2S-60B4 to MR-J2S-200B4 CHARGE LED1 LED2 S001238C Fig. 1-21: Servo amplifier MR-J2S-60B4 to MR-J2S-200B4 Name Description Reference Battery holder Contains the battery (optional) for absolute Chap. 6 position data backup. Battery connector (CON1) Used to connect the battery.
Page 36 Introduction Operating elements S001198C Fig. 1-22: Servo amplifier MR-J2S-60B4 to MR-J2S-200B4 Name Description Reference Main circuit connector (CNP1) Used to connect the input power supply Section 3.1.3 Bus cable connector (CN1A) Used to connect the servo system controller Section 3.1.3 or preceding axis servo amplifier.
Page 37 Operating elements Introduction Servo amplifier MR-J2S-350B4 to MR-J2S-700B4 S000971C Fig. 1-23: Servo amplifier MR-J2S-350B4 to MR-J2S-700B4 Name Description Reference Battery holder Contains the battery (optional) for absolute Chap. 6 position data backup. Battery connector (CON1) Used to connect the battery. Section 6.1.4 Display The five-digit, seven-segment LED shows the...
Page 38 Introduction Operating elements MR-J2S-350B4 and MR-J2S-500B4 MR-J2S-700B4 S000916C Fig. 1-24: Servo amplifier MR-J2S-350B4 to MR-J2S-700B4 Name Description Reference Bus cable connector (CN1A) Used to connect the servo system controller Section 3.1.3 or preceding axis servo amplifier. Bus cable connector (CN1B) Used to connect the subsequent axis servo Section 3.1.3 amplifier or termination connector...
Page 39: Servo Motor
Operating elements Introduction 1.5.3 Servo motor S000882C Fig. 1-25: Servo motor Name Description Reference Encoder connector Cable for connection of encoders Section 7.1.3 Power supply connector, brake Power supply cable (U, V, W), Earth cable, Section 3.2 Brake (for motor with electromagnetic brake) Servo motor shaft Shaft of servo motor Section 2.1.2...
Page 40: Functions
Introduction Functions Functions Function Description Reference High-resolution encoder Motor encoder has a resolution of 131072 pulses/rev. — Absolute position detection Merely setting a home position once makes home Chap. 6 system position return unnecessary at every power-on. Adaptive vibration suppression Servo amplifier detects mechanical resonance and Section 5.1.2 control...
Page 41: System Configuration
System configuration Introduction System configuration CAUTION: 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. 1.7.1 Servo amplifiers 200V System configuration for MR-J2S-100B or less Serco system controller Power supply...
Page 42 Introduction System configuration System configuration for MR-J2S-200B and MR-J2S-350B Serco system controller Power supply preceding axis servo amplifier Servo amplifier No-fuse circuit breaker Subsequent axis servo amplifier termination connector Magnetic contactor Personal computer (optional) Protective Regenerative brake earth terminal option Encoder cable Servo motor power supply...
Page 43 System configuration Introduction System configuration for MR-J2S-500B Power supply Serco system No-fuse circuit controller breaker preceding axis servo amplifier CN1A Subsequent Magnetic axis servo contactor amplifier CN1B termination connector P, C L1, L2, L3 Regenerative brake option Protective earth terminal Personal computer (optional) L21, L11 Encoder cable...
Page 44 Introduction System configuration System configuration for MR-J2S-700B Power supply Serco system controller No-fuse circuit preceding breaker axis servo amplifier CN1A Subsequent axis servo amplifier CN1B termination Magnetic connector contactor L21, L11 Personal computer (optional) P, C Protective earth terminal L1, L2, L3 Encoder cable Regenerative brake option...
Page 45: Servo Amplifier 400V
System configuration Introduction 1.7.2 Servo amplifier 400V System configuration for MR-J2S-200B4 or less Power supply Serco system controller No-fuse circuit breaker preceding axis servo amplifier Subsequent CN1A axis servo CN1B amplifier Servo amplifier termination connector Magnetic contactor L1, L2, L3 Personal computer Regenerative brake option...
Page 46 Introduction System configuration System configuration for MR-J2S-350B4 and MR-J2S-500B4 Power supply Serco system controller preceding axis servo No-fuse circuit amplifier breaker Subsequent CN1A axis servo CN1B amplifier termination connector Servo amplifier Magnetic contactor L1, L2, L3 Personal computer Regenerative brake option P, C Power supply...
Page 47 System configuration Introduction System configuration for MR-J2S-700B4 Power supply Serco system controller preceding axis servo amplifier Subsequent CN1A axis servo CN1B No-fuse circuit amplifier breaker termination connector Servo amplifier Magnetic contactor Personal computer Power supply 24VDC Circuit protector P, C L1, L2, L3 Protective earth terminal Regenerative...
Page 48 Introduction System configuration 1 - 30...
Page 49: Installation
General environmental conditions Installation Installation General environmental conditions 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. Data Environmental conditions Servo amplifier Servo motor Ambient temperature during operation 0 to +55°C (non-freezing)
Page 50: Installation Of Servo Amplifiers
Installation General environmental conditions 2.1.1 Installation of servo amplifiers CAUTION: When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a fan installed on the ceiling.
Page 51 General environmental conditions Installation Installation of two or more servo amplifiers and other equipment Leave a large clearance between the top of the servo amplifier and the internal surface of the control box. Due to the power loss of the units it must be ensured that the internal temperature of the control cabinet does not exceed the ambient temperature of +55 °C allowed for the servo amplifier.
Page 52: Installation Of Servo Motors
Installation General environmental conditions 2.1.2 Installation of servo motors Safety instructions CAUTION: Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury.
Page 53 General environmental conditions Installation For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration. When using a pulley, a chain wheel or synchronising pulley select a diameter that will not exceed the permissible radial load (see table below).
Page 54 Installation General environmental conditions Vibration Servo motor Vibration HC-KFS X, Y: 49m/s (5g) HC-MFS (refer fig. 2-6) HC-SFS52 to 152 X, Y: 24.5m/s (2.5g) HC-SFS524 to 1524 (refer fig. 2-6) HC-RFS HC-SFS202, 352 X: 24.5m/s (2.5g) HC-SFS2024, 3524 Y: 49m/s (5g) (refer fig.
Page 55 General environmental conditions Installation Protection from oil and water When the gear box is mounted horizontally, the oil level in the gear box should always be lower than the oil seal lip on the servo motor shaft. If it is higher than the oil seal lip, oil will enter the servo motor, leading to a fault.
Page 56 Installation General environmental conditions When installing the servo motor horizontally, face the power cable and encoder cable downward. When installing the servo motor vertically, lay the cables with an adequate cable trap to avoid mechanical load on the cable and motor. Cable trap S000526C Fig.
Page 57 General environmental conditions Installation Gear Lubricating oil Servo motor S000528C Fig. 2-11: Installation of the motor with the shaft at the top In general the installation of the servo motor can be in any desired location or position. When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault.
Page 58 Installation General environmental conditions 2 - 10...
Page 59: Connection
Connection of servo amplifier Connection Connection Connection of servo amplifier CAUTION: Only the voltage stated may be connected to the relevant terminals. An incorrect voltage can lead to damage to the servo amplifier. 3.1.1 No-fuse circuit breakers, fuses, magnetic contactors and cables The terminal strips for mains and motor connections become visible after opening the flap on the front cover (MR-J2S-100B or less) or after removing the front cover (MR-J2S-200B or larger and MR-J2S-350B4 or larger).
Page 60: Control Circuit And Main Circuit Terminal Block
Connection Connection of servo amplifier 3.1.2 Control circuit and main circuit terminal block Connectors Servo amplifier Main circuit/control circuit/ Protective earth PE brake restistor/brake unit T E 1 T E 2 Front of device MR-J2S-10B MR-J2S-60B Back of device S001222C S000539C T E 1 T E 2...
Page 61 Connection of servo amplifier Connection Connectors Servo amplifier Main circuit/control circuit/ Protective earth PE brake restistor/brake unit CNP1 CNP2 CNP3 CHARGE OPEN CNP1 24 V/L11 MR-J2S-60B4 0 V/L21 CNP2 MR-J2S-200B4 CNP3 S001204C S001227C S001208C Mounting screw for interna brake resistor cable in the event it is not used 24 V/L11 0 V/L21...
Page 62 Connection Connection of servo amplifier Main circuit terminal overview for MR-J2S-60B to MR-J2S-700B Terminal Signal Description L1, L2, L3 Main circuit power supply The rated voltage range is 3-phase 200 to 230V AC, 50/60 Hz. Up to 750 W a 1-phase power supply is possible. L11, L21 Control circuit power The rated voltage range is 1-phase 200 to 230V AC, 50/60 Hz.
Page 63: Signal Lines
Connection of servo amplifier Connection 3.1.3 Signal lines The servo amplifier has four signal connectors. You will find the pin configuration of the connectors on the next page. CN1A CN1B EMG* EMG* The connector frames are connected with the PE (earth) terminal inside the servo amplifier.
Page 64 Connection Connection of servo amplifier Interface explanations Connector Name Description Used for connection with the controller or Connector for bus cable from preceding axis. CN1A preceding-axis servo amplifier. Used for connection with the next-axis servo Connector for bus cable to next axis amplifier or for connection of the termination CN1B connector.
Page 65: Interfaces
Connection of servo amplifier Connection 3.1.4 Interfaces The connection of external periphery to the interface described in section 3.1.3 is covered in the following. Digital input interface DI-1 Give a signal with a relay or open collector transistor. Servo amplifier 24V D C VD D 4.7 kΩ...
Page 66 Connection Connection of servo amplifier Digital output interface DO-1 Via this interface a control lamp, a relay or an photocoupler may be addressed, for example. Provide a diode (D) for an inductive load, or an inrush current suppressing resistor (R) for a lamp load.
Page 67 Connection of servo amplifier Connection Emulated encoder output Differential output max. output current: 35mA Servo amplifier Servo amplifier AM26LS32 or equivalent 1,2k Ω (LB, LZ) (LB, LZ) 150 Ω & (LBR, LZR) (LBR, LZR) High-speed photocoupler S000553C Fig. 3-5: Example π...
Page 68: Servo Motor
Connection Servo motor Servo motor 3.2.1 Connection of servo motors CAUTION: Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth terminal (PE) of the servo amplifier marked with , with the protective earth of the control box. Connect the cables to the servo amplifier and servo motor with the right terminals and the correct phases (U, V, W) .
Page 69: Motor Connector
Servo motor Connection 3.2.2 Motor connector Servo motor series HC-KFS (B)/HC-MFS (B) Power supply connector Encoder connector Red: Phase U White: Phase V Black: Phase W Green/yellow: Protective earth Brake connector S000883C Fig. 3-9: Servo motor series HC-KFS (B) and HC-MFS (B) Without With electromagnetic...
Page 70 Connection Servo motor Servo motor series HC-SFS/HC-RFS Power supply connectors Brake connector Encoder connector S000562C Fig. 3-11: Servo motor series HC-SFS/HC-RFS Connectors Servo motor Power supply Encoder Electromagnetic brake HC-SFS52 In the power supply HC-SFS102 MR-PWCNS1 connector HC-SFS152 HC-SFS202 HC-SFS352 MR-PWCNS2 MR-BKCN HC-SFS502...
Page 71 Servo motor Connection Power supply Encoder Power supply Power supply Electro- connector connector connector MR-J2CNS (Set) megnetic MR-PWCNS1 MR-PWCNS2 MR-PWCNS3 brake Signal Signal MR-BKCN Signal Signal Signal — Signal — — Protective Protective Protective — — earth earth earth — —...
Page 72: Internal Circuit And Common
Connection Internal circuit and common Internal circuit and common Servo amplifier 24 V DC Digital input interface LA, etc. Differential LAR, output etc. 35mA max. Analog output RS232C Input encoder S000976C Fig. 3-13: Internal circuit and common 3 - 14...
Page 73: Grounding
Grounding Connection Grounding DANGER: Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth terminal (PE) of the servo amplifier marked with , with the protective earth of the control box. Control box Power supply 200-230V...
Page 74: Power Supply
Connection Power supply Power supply DANGER: When the servo amplifier has become faulty, switch power off on the amplifier power side. Power-on procedure Always wire the power supply using the magnetic contactor with the main circuit power supply L1, L2 and L3 or L1 and L2 for 1-phase connection. 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.
Page 75: Connection Example
Power supply Connection 3.5.1 Connection example Connection for servo amplifier 200V Connection examples for 1-phase and 3-phase power supplies are illustrated in the following diagrams: Emergency stop Power supply Controller 230V emergency stop 50Hz Servo amplifier Emergency stop S000977C Fig. 3-15: 1-phase connection of servo amplifier Emergency stop Controller Power...
Page 76 Connection Power supply Connection for servo amplifier 400V Emergency stop OFF Power Servo amplifier supply Transformer 400V 50Hz Circuit protector Power 2 4 V/L1 1 supply 0 V/L 2 1 24VDC E M 1 Emergency stop V D D C O M S001239C Fig.
Page 77 Power supply Connection Timing chart "Servo ON" command accepted (3s) Main circuit and control circuit Base circuit 60m s 10m s 60m s Servo ON command (from controller) S000979C Fig. 3-19: Timing chart for switching on the power supply Emergency stop For safety’s sake an EMERGENCY OFF switch must always be installed between the terminals EM1 and SG.
Page 78: Alarm Occurence Timing Chart
Connection Alarm occurence timing chart Alarm occurence timing chart CAUTION: 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. Main circuit and Power OFF Power ON control circuit...
Page 79: Servo Motor With Electromagnetic Brake
Servo motor with electromagnetic brake Connection Servo motor with electromagnetic brake CAUTION: Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a emergency stop. Servo motor Emergency stop signal Contacts must be open when servo ON, when an alarm occurence and when an electromagnetic brake interlock...
Page 80 Connection Servo motor with electromagnetic brake Setting procedure The setting for the electromacnetic brake is as follows: In Parameter 21 set the time delay (T ) from electromagnetic brake operation to base circuit shut-off, shown in fig. 3-23. Use parameter 30 to set the rotation speed at which the electromagnetic brake is to be activated when there is an alarm or an EMERGENCY OFF.
Page 81 Servo motor with electromagnetic brake Connection Dynamic brake Servo motor speed Dynamic brake, electromagnetic brake Electromagnetic brake Base circuit Electromagnetic Invalid (ON) Electromagnetic brake brake (MBR) operation delay time Valid (OFF) Invalid (ON) Alarm Valid (OFF) S000803E Fig. 3-25: Alarm occurence Dynamic brake Dynamic brake, electromagnetic brake Servo motor speed...
Page 82: Examples Of Standard Wiring Diagrams
Connection Examples of standard wiring diagrams Examples of standard wiring diagrams In the following illustrations there is presented a wiring diagram for a 200V and a 400V servo amplifier. NOTE Please take all notes given in this chapter into account. Servo amplifier 200V Make up a sequence which switches off the MC at alarm...
Page 83 Examples of standard wiring diagrams Connection Servo amplifier 400V Make up a sequence which switches off the MC at alarm occurence or emergency stop. Servo motors MR-J2S- B4 HC-SFS T E 1 I > Power supply I > I > 24 V D C Optional brake C N 2...
Page 84 Connection Examples of standard wiring diagrams DANGER: Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth terminal (PE) of the servo amplifier marked with , with the protective earth of the control box. CAUTION: Do not reverse the diode’s direction.
Page 85: Station Number Setting
Station number setting Connection Station number setting Use the coding switch (CS1) to set the station number for the servo amplifier. If the same numbers are set to different servo amplifier in a single communication system, the system will not operate properly. Set the switch to "F" when executing the test operation mode using the setup-software.
Page 86 Connection Station number setting 3 - 28...
Page 87: Operation
Points to check prior to starting operation Operation Operation Points to check prior to starting operation Wiring Before starting operation, check the following: A correct power supply is connected to the power input terminals (3-phase: L1, L2, L3, 1-phase: L11, L21) of the servo amplifier. 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.
Page 88 Operation Points to check prior to starting operation 24VDC or higher voltages are not applied to the pins of connector CN3. SD and SG of connector CN3 are not shorted. Servo amplifier S000583C Fig. 4-3: Short-circuit of SD and SG The connection cable are not under a mechanical load (tension or excessive bend etc.).
Page 89: Procedures Before Operation
Procedures before Operation Operation Procedures before Operation DANGER: Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. There is the risk of getting an electric shock from live parts. During power-on or operation, do not open the front cover.
Page 90 Operation Procedures before Operation Servo on Switch the servo-on in the following procedure: Switch on main circuit and control circuit power supply. 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.
Page 91: Display And Operation
Display and Operation Operation Display and Operation 4.3.1 Display sequence 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 station number, and diagnose a fault at occurrence of an alarm. Servo amplifier power ON Waiting for servo system controller...
Page 92: Indication List
Operation Display and Operation 4.3.2 Indication list Display Status Description The servo amplifier was switched on when power to the Initializing servo system controller is off. Power to the servo system controller was switched off during power-on of the servo amplifier. The station number set to the servo system controller does not match the station number set with the coding switch (CS1) of the servo amplifier.
Page 93: Test Operation Mode
Test operation mode Operation 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. By using a personal computer and the setup-software, you can execute jog operation, positioning operation, motor-less operation and forced output without connecting the motion controller.
Page 94 Operation Test operation mode Positioning operation Positioning operation can be performed without using the servo system controller. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the setup-software.
Page 95 Test operation mode Operation Motor-less operation Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the servo amplifier connected to the servo system controller.
Page 96: Test Operation Procedure
Operation Test operation mode 4.4.1 Test operation procedure JOG operation, positioning operation, program operation, forced output Switch power off. Set the coding switch CS1 to „F“. When CS1 is set to the station 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.
Page 97: Parameter
Parameter Operation Parameter 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 setup-software invalid and the servo system controller values valid. NOTES In the maker setting parameters, do not set any values other than the initial values.
Page 98: Parameter Overview
Operation Parameter 4.5.2 Parameter overview Customer Function No. Symbol Name Initial value Unit setting Amplifier setting 0000 — Regenerative brake resistor 0000 — — 0080 — — Reserved — — — Basic Feedback pulse number — parameters Rotation direction selection —...
Page 99 Parameter Operation Customer Function No. Symbol Name Initial value Unit setting 27 MO1 Analog output 1 offset 28 MO2 Analog output 2 offset 29 — Reserved 0001 — 30 ZSP Zero speed r/min 31 ERZ Error excessive alarm level 0.1 × r 32 OP5 Function selection 5 0000...
Page 100: Parameter Description
Operation Parameter 4.5.3 Parameter description: Number Symbol Initial value Unit Setting range 0000 Refer description Amplifier setting Used to select the absolute position detection. Positioning 0: Standard (incremental) 1: Absolute position detection system 0000 Refer description Regenerative brake resistor Servo amplifier 200V Servo amplifier 400V Regenerative selection brake option Regenerative selection brake option...
Page 101 Parameter Operation Number Symbol Initial value Unit Setting range Refer description 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 this setting.
Page 102 Operation Parameter Number Symbol Initial value Unit Setting range 0005 Refer description Response auto tuning Used to select the response of auto tuning. Machine resonance Value Response characteristic frequency 15Hz 20Hz 25Hz 30Hz 35Hz 45Hz 55Hz Middle 70Hz 85Hz 105Hz 130Hz 160Hz 200Hz...
Page 103 Parameter Operation Number Symbol Initial value Unit Setting range rad/s 20–5000 Speed control gain1 If auto tuning 1 or 2 (parameter 8) or interpolation mode is selected, then this parameter will optimise itself automatically. If auto tuning or interpolation mode is de-selected, then this parameter should not be changed. Higher setting increases the response level but is liable to generate vibrations.
Page 104 Operation Parameter Number Symbol Initial value Unit Setting range 0–100 Feed forward gain Pre-regulation to minimise the control deviation for position control. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
Page 105 Parameter Operation Number Symbol Initial value Unit Setting range 0000 Refer description Function selection 2: Used to select slight vibration suppression control and motor-less operation Used to suppress vibration at a stop. Made this function valid when auto tuning selection is set to "0002" in parameter No.
Page 106 Operation Parameter Number Symbol Initial value Unit Setting range −999–999 Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 (MO1) output. −999–999 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 (MO2) output. 0001 Reserved Do not change this parameter.
Page 107 Parameter Operation Number Symbol Initial value Unit Setting range Pulse 0–50000 PI-/PID control switch-over position droop Setting the switching threshold of the contouring error (in pulses) for the switch-over from PI to PID control. Set "0001" in parameter No. 32 to make this function valid. Reserved Do not change this parameter.
Page 108 Operation Parameter Number Symbol Initial value Unit Setting range 0000 Refer description Parameter entry prohibition Depending on the setting, various parameter ranges may be blocked for reading or writing (refer topage 4-11). Operation from Setting Function Operation from controller setup-software Read 0000 Parameter No.
Page 109: Gain
Gain Operation Gain 4.6.1 Gain adjustment 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 movement processes of the machine during operation, then carry out the following steps in the order that they are specified: Auto tuning mode 2 Manual setting of the gain factor 1...
Page 110 Operation Gain For the gain setting please follow the instructions which are given below: Usage Start Used when you want to match the position gain (PG1) between 2 or more axes. Interpolation mode for 2 or more axes Interpolation mode Operation Allows adjustment by merely Auto tuning mode 1...
Page 111: Gain Adjustment Using Setup-Software
Gain Operation 4.6.2 Gain adjustment using setup-software The following table shows the functions and adjustment when using the setup-software: Function Description Adjustment Machine analyzer The characteristic of the whole You can grasp the machine resonance mechanical system can be registered frequency and determine the notch frequency of from the personal computer.
Page 112: Auto Tuning
Operation Gain 4.6.3 Auto tuning The servo amplifier is equipped with a real-time auto tuning function that constantly optimises the gain factors of the control loops depending on the machine characteristics (inertia of mass ratio). This allows time-consuming settings during start-up to be avoided. Auto tuning 1 The servo amplifier is factory-set to the auto tuning mode 1.
Page 113 Gain Operation Auto tuning mode operation The block diagram of real-time auto tuning is shown below: Load inertia moment Automatic setting Encoder Control gain Current Servo PG1, VG1, PG2, Command control motor VG2, VIC Current feedback Set 0 or 1 to turn on Real-time auto tuning Position/speed feedback...
Page 114 Operation Gain Adjustment procedure by auto tuning Auto tuning is the standard selection. In most cases you just need to connect the motor and start up without making any time-consuming settings. Simply turn on the response level of auto tuning in order to carry out the setting procedure. Auto tuning Acceleration/deceleration repeated Mass inertia ratio...
Page 115 Gain Operation 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 positioning time for a command decreases, but a too high response level will generate vibration.
Page 116: Manual Gain Setting
Operation Gain 4.6.4 Manual gain setting If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 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.
Page 117 Gain Operation Speed control The following table gives an overview of the parameters used for rotation speed control for the manual setting of the gain factor. Parameter Symbol Name Ratio of load inertia moment to servo motor inertia moment Speed control gain 2 Speed intergral compensation Tab.
Page 118 Operation Gain Position control The following table gives an overview of the parameters used for position control for the manual setting of the gain factor. Parameter Symbol Name Ratio of load inertia moment to servo motor inertia moment Position control gain 1 Speed control gain 2 Speed intergral compensation Tab.
Page 119: Interpolation
Gain Operation 4.6.5 Interpolation 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.
Page 120: Differences In Auto Tuning Between Mr-J2 And Mr-J2S
Operation Gain 4.6.6 Differences in auto tuning between MR-J2 and MR-J2S Response level In comparison to the servo amplifiers of the MR-J2-Series the area for setting response levels has been extended for servo amplifiers of the MR-J2-Super-Series. Response level S000988C Fig.
Page 121 Gain Operation Auto tuning selection The MR-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has the addition of the manual mode 1 which permits manual adjustment with three parameters. Auto tuning selection S000989C Fig.
Page 122 Operation Gain 4 - 36...
Page 123: Special Adjustment Functions
Filter functions Special adjustment functions Special adjustment functions Use the functions given in this chapter, if you are not satisfied with the machine status after making adjustment in the methods in section 4.6. Filter functions The servo amplifier MR-J2-Super have different filter functions: Machine resonance suppression filter Low-pass filter If a mechanical system has a natural resonance point, increasing the servo system response...
Page 124: Machine Resonance Suppression Filter
Special adjustment functions Filter functions 5.1.1 Machine resonance suppression filter The machine resonance suppression filter is a notch filter. You can set the resonance frequency and notch frequency. Mechanical system Resonance point response level Frequency Filter curve Frequency Notch frequency S000876C Fig.
Page 125 Filter functions Special adjustment functions Parameter Machine resonance suppression filter (pr. 18) Set the notch frequency and attenuation of the machine resonance suppression filter (parameter No.18). Frequency [Hz] Fre- Fre- Fre- Fre- Setting Setting Setting Setting quency quency quency quency —...
Page 126: Adaptive Vibration Suppression Control
Special adjustment functions Filter functions 5.1.2 Adaptive vibration suppression control 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, attenuation) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
Page 127 Filter functions Special adjustment functions Parameters Set the operation of adaptive vibration suppression control at the third digit of parameter 25. Adaptive vibration suppression control 0: invalid 1: valid The resonance frequency is constantly determined and the filter set accordingly. 2: held Filter characteristics generated so far is held.
Page 128: Low-Pass Filter
Special adjustment functions Filter functions 5.1.3 Low-pass filter When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command.
Page 129: Absolute Position Detection System
General description Absolute position detection system Absolute position detection system General description CAUTION: If an absolute position erase alarm (25) has occurred, always perform home position setting again. Not doing so can cause runaway. 6.1.1 Specifications Item Description System Electronic battery backup system Battery Lithium battery A6BAT or MR-BAT Reference position ±32767 rev.
Page 130: System Configuration
Absolute position detection system General description 6.1.2 System configuration Controller Servo amplifier Battery Servo motor S000994 Fig. 6-1: System configuration 6.1.3 Communication overview Block diagram 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.
Page 131: Battery Installation Procedure
General description Absolute position detection system 6.1.4 Battery installation procedure CAUTION: The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions: Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
Page 132: Parameter Setting
Absolute position detection system General description 6.1.5 Parameter setting Set "0001" in parameter No.1 to make the absolute position detection system valid. Absolute position detection 0: incremental system 1: absolute system S000996C Fig. 6-5: Parameter No. 1 6 - 4...
Page 133: Absolute Position Detection Data
General description Absolute position detection system 6.1.6 Absolute position detection data You can display the absolute position data with the setup software. For this function please follow the instruction which are given below: Clicking "Diagnostics" in the menu. Abb. 6-6: Open the menu "Diagnostics"...
Page 134 Absolute position detection system General description 6 - 6...
Page 135: Accessories
Accessories Accessories DANGER: 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.
Page 136: Optional Accessories
Accessories Optional accessories Optional accessories 7.1.1 Regenerative brake option CAUTION: Only use the combinations of regenerative brake options and servo amplifiers, which are listed in the following table. Otherwise, a fire may occur. Allowable combinations of regenerative brake resistors/servo amplifiers 200V. Regenerative power [W] Servo Built-in...
Page 137 Optional accessories Accessories Selection of the regenerative brake option 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 tab.
Page 138 Accessories Optional accessories Regenerative energy calculation Use the following method (refer tab. 7-3) when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option. tf (1 cycle) Time generative Time ( ) −...
Page 139 Optional accessories Accessories Power dissipation of servo motor and servo amplifier in regenerative mode Efficiency [%] Servo amplifier Capacitor charging [J] regenerative mode MR-J2S-10B MR-J2S-20B MR-J2S-40B MR-J2S-60B MR-J2S-70B MR-J2S-100B MR-J2S-200B MR-J2S-350B MR-J2S-500B MR-J2S-700B MR-J2S-60B4 MR-J2S-100B4 MR-J2S-200B4 MR-J2S-350B4 MR-J2S-500B4 MR-J2S-700B4 Tab. 7-4: Power dissipation of servo motor and servo amplifier Efficiency regenerative mode (η): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed.
Page 140: Regenerative Brake Option
Accessories Optional accessories Installation of regenerative brake option When using the regenerative brake resistor remove the built-in brake resistor and fit the regenerative brake option across P-C. Set parameter No. 2 according to the option to be used. Servo amplifier 200V Servo amplifier 400V Regenerative selection Regenerative selection brake option...
Page 141 Optional accessories Accessories For installation of an external brake resistor to the servo amplifiers MR-J2S-500B and MR-J2S- 700B and MR-J2S-350B4 to MR-J2S-700B4 always remove the built-in regenerative brake resistor. To do this loosen the cables attached to terminals P and C. Then fasten the cables to the housing of the servo amplifier using the accessory screw (refer fig.
Page 142: Cables
Accessories Optional accessories 7.1.2 Cables Use the following cables for connection of the servo motor and servo amplifier: Servo amplifier Termination connector CN1A CN1B CN1A CN1B PC (optional) Motor HC-SFS/HC-RFS Motor HC-KFS/ HC-MFS Instructions for connecting the PC can be found in the manual for the Motion Controller.
Page 143: Confection Diagram Of Encoder Cables
Optional accessories Accessories 7.1.3 Confection diagram of encoder cables CAUTION: If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. Encoder cable for HC-KFS and HC-MFS series motor MR-JCCBL2M-L MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL5M-L MR-JCCBL20M-L MR-JCCBL20M-H MR-JCCBL30M-L MR-JCCBL30M-H MR-JCCBL2M-H...
Page 144: Bus Cable
Accessories Optional accessories 7.1.4 Bus cable CAUTION: When fabricating the bus cable, do not make incorrect connection. Doing so can cause misoperation or explosion. MR-J2BUS M-A MR-J2BUS M R D * TD * Plate E M G E M G * B A T Plate Plate...
Page 145: Special Accessories
Special accessories Accessories Special accessories 7.2.1 Transformer Input: 3 × 400V Output: 3 × 230V Power Terminal Power Transformer Input current Output current capacity cross section dissipation 2.02A 3.26A 2.5mm² 103W MT 1.3-60 1.3kVA 2.69A 4.27A 2.5mm² 167W 2.61A 4.27A 2.5mm²...
Page 146 Accessories Special accessories 7 - 12...
Page 147: Maintenance And Inspection
Inspection Maintenance and Inspection Maintenance and Inspection Inspection It is recommended to make the following checks periodically: Check for loose terminal block screws. Retighten any loose screws. Check the servo motor bearings, brake section, etc. for unusual noise. Check the cables and the like for scratches and cracks. At regular intervals check that the various components all function properly.
Page 148 Maintenance and Inspection Life 8 - 2...
Page 149: Troubleshooting
Alarms and Warnings Troubleshooting Troubleshooting Alarms and Warnings 9.1.1 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 9.1.2 or section 9.1.3 and take the appropriate action.
Page 150 Troubleshooting Alarms and Warnings Alarm deactivation Display Meaning Power RESET CPU reset command Open battery cable warning Removing the cause of occurrence deactivates the alarm automatically. Home position setting warning Battery warning Excessive regenerative warning Overload warning Absolute position counter warning Parameter warning Servo forced stop warning Controller emergency stop...
Page 151: Alarms
Alarms and Warnings Troubleshooting 9.1.2 Alarms DANGER: 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.
Page 152 Troubleshooting Alarms and Warnings Display Error Definition Cause Action Undervoltage Power supply 1. Power supply voltage is low. Check the power voltage dropped to supply 2. There was an instantaneous control 160V (servo circuit power failure of 60ms or longer. amplifier 200V) and 280V (servo 3.
Page 153 Alarms and Warnings Troubleshooting Display Error Definition Cause Action Absolute position Absolute position 1. Battery voltage low Change battery erase data in error Always make home 2. Battery cable or battery is faulty. position setting again Power was switched 3. Capacitor of the absolute position After leaving the on for the first time in encoder is not charged.
Page 154 Troubleshooting Alarms and Warnings Display Error Definition Cause Action Overcurrent Current that flew is 1. Short occurred in servo amplifier Correct the wiring higher than the output phases U, V and W. permissible current 2. Transistor of the servo amplifier Change the servo of the servo faulty.
Page 155 Alarms and Warnings Troubleshooting Display Error Definition Cause Action Parameter error Parameter setting is 1. Servo amplifier fault caused the Change the servo wrong. parameter setting to be rewritten. amplifier 2. There is a parameter whose value Change the was set to outside the setting range by parameter value to the controller within the setting...
Page 156 Troubleshooting Alarms and Warnings Display Error Definition Cause Action Overload 2 Max. output current 1. Mechanical overload 1. Ensure that flow successively for mechanical several seconds. components run Servo motor locked: smoothly 1s or more 2. Install limit switches 2. Wrong connection of servo motor. Connect correctly Servo amplifiers output terminals U, V, W do not match servo motors input...
Page 157 Alarms and Warnings Troubleshooting Display Error Definition Cause Action Serial Serial 1. Communication cable fault Repair or change communication communication error (Open cable or short circuit). the cable error occurred between 2. Personal computer faulty Change the servo amplifier and personal computer personal computer.
Page 158: Warnings
Troubleshooting Alarms and Warnings 9.1.3 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.
Page 159: Specifications
Characteristics Specifications Specifications 10.1 Characteristics 10.1.1 Load diagram An electronic thermal relay is built into the servo amplifier to protect the servo motor and servo amplifier from overloads. The working diagrams for load monitoring are presented in the following figures. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve.
Page 160 Specifications Characteristics HC-SFS 100 00 HC-RFS 100 0 Rotation Servo lock Load ratio [%] S000953C Fig. 10-3: Load diagrams MR-J2S-500B, MR-J2S-700B, MR-J2S-500B4 and MR-J2S-700B4 10 - 2...
Page 161: Heat Loss Of Servo Amplifier
Characteristics Specifications 10.1.2 Heat loss of servo amplifier Amount of heat generated by the servo amplifier The following table provides an overview over the power dissipation under rated load: Power dissipation Servo amplifier Servo motor At rated torque [W] At servo off [W] MR-J2S-10B HC-KFS053 HC-KFS13...
Page 162: Specifications Of Electromagnetic Brake
Specifications Characteristics 10.1.3 Specifications of electromagnetic brake CAUTION: The electromagnetic brake is designed to hold a load. Do not use it for braking a rotating motor. The characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated in the following table: Servo motor HC-MFS Series HC-SFS Series...
Page 163 Characteristics Specifications Electromagnetic brake power supply 24VDC of the internal power output for interface (VDD) cannot be used. Prepare the following power supply for use with the electromagnetic brake only. Examples for the connection of the brake are shown in the following diagrams: 28V AC Electromagnetic brake...
Page 164: 4Dynamic Braking
Specifications Characteristics 10.1.4 Dynamic braking If an alarm, an EMERGENCY OFF or a loss of power occurs, then the servo motor is switched directly to an integrated dynamic braking unit in the amplifier and is braked. In Fig. 10-5 the delay curve is presented .
Page 165 Characteristics Specifications 0.0 20 0.0 18 0.0 16 0.0 14 0.0 12 0.0 10 0.0 08 0.0 06 0 5 3 0.0 04 0.0 02 100 0 150 0 200 0 250 0 300 0 Speed [r/min] S000958C Fig. 10-6: Dynamic brake time constant HC-MFS 1000 1500 2000 2500 3000...
Page 166 Specifications Characteristics 0.0 45 0.0 40 0.0 35 7 0 2 /7 02 4 0.0 30 3 5 2 /3 52 4 2 0 2 /2 02 4 0.0 25 5 2 /5 2 4 0.0 20 0.0 15 5 0 2 /5 02 4 1 5 2 /1 52 4 0.0 10 1 0 2 /1 02 4...
Page 167: Standard Specifications
Standard specifications Specifications 10.2 Standard specifications 10.2.1 Servo amplifier Servo amplifier MR-J2S- 100B 200B 350B 500B 700B 60B4 100B4 200B4 350B4 500B4 700B4 Main Voltage/ 3~, 200–230VAC, 50/60Hz 3~, 200–230VAC, 50/60Hz 3~, 380–480VAC, 50Hz/60Hz circuit frequency 1~, 230VAC, 50/60Hz power Permissible supply 3~, 170–253VAC...
Page 168: Servo Motor
Specifications Standard specifications 10.2.2 Servo motor Servo motor HC-MFS Series HC-KFS Series Applicable servo amplifier MR-J2S- Rated output [kW] 0.05 0.75 0.05 0.75 Rated torque [Nm] 0.16 0.32 0.64 0.16 0.32 0.64 Rated speed [r/min] 3000 3000 Maximum speed [r/min] 4500 4500 Instantaneous permissible speed...
Page 169 Standard specifications Specifications Servo motor HC-SFS Series HC-RFS Series 153 203 Applicable servo amplifier 60B 100B 200B 200B 350B 500B 700B 200B 200B 350B 500B 500B MR-J2S- Rated output [kW] Rated torque [Nm] 2.39 4.78 7.16 9.55 16.7 23.9 33.4 3.18 4.78 6.37 11.1 15.9 Rated speed [r/min]...
Page 170 Specifications Standard specifications Servo motor HC-SFS Series (400V type) 1024 1524 2024 3524 5024 7024 Applicable servo amplifier 60B4 100B4 200B4 200B4 350B4 500B4 700B4 MR-J2S- Rated output [kW] Rated torque [Nm] 2.39 4.78 7.16 9.55 16.7 23.9 33.4 Rated speed [r/min] 2000 Maximum speed [r/min] 3000...
Page 171: 3Torque Characteristics
Standard specifications Specifications 10.2.3 Torque characteristics NOTE If a load is applied to the stopped servo motor, then the delivered torque should not exceed 70% of the rated torque. Servo motors 200V HC-MFS053 (B) HC-MFS13 (B) HC-MFS23 (B) Peak running range Peak running range Peak running range Continuous running range...
Page 172 Specifications Standard specifications HC-SFS52 (B) HC-SFS102 (B) HC-SFS152 (B) Peak running range Peak running range Peak running range Continuous running range Continuous running range Continuous running range Speed [r/min] Speed [r/min] Speed [r/min] HC-SFS202 (B) HC-SFS352 (B) HC-SFS502 (B) HC-SFS702 (B) Peak running range Peak running range Peak running...
Page 173 Standard specifications Specifications Servo motors 400V HC-SFS524 (B) HC-SFS1024 (B) HC-SFS1524 (B) Peak running range Peak running range Peak running range Continuous running range Continuous running range Continuous running range Speed [r/min] Speed [r/min] Speed [r/min] HC-SFS2024 (B) HC-SFS3524 (B) HC-SFS5024 (B) HC-SFS7024 (B) Peak running range...
Page 174 Specifications Standard specifications 10 - 16...
Page 175: Emc Directives
Requirements EMC Directives EMC Directives 11.1 Requirements With regard to its electromagnetic compatibility, the servo amplifier MELSERVO J2-Super complies with the requirements of the European Union. In order to comply with these requirements it is necessary to equip the servo amplifier with a radio interference suppression filter as well as installing cabling that conforms to EMC standards.
Page 176 EMC Directives Requirements 11 - 2...
Page 177: Dimensions
Servo amplifiers 200V Dimensions Dimensions 12.1 Servo amplifiers 200V MR-J2S-10B and MR-J2S-20B ø6 OPEN OPEN Unit: mm S000938C Fig. 12-1: Outline drawing Model Weight [kg] MR-J2S-10B MR-J2S-20B Tab. 12-1: Dimensioning P L21 L11 S000665C Fig. 12-2: Terminals MELSERVO J2-Super 12 - 1...
Page 178 Dimensions Servo amplifiers 200V MR-J2S-40B and MR-J2S-60B ø6 OPEN OPEN Unit: mm S000939C Fig. 12-3: Outline drawing Model Weight [kg] MR-J2S-40B MR-J2S-60B Tab. 12-2: Dimensioning P L21 L11 S000665C Fig. 12-4: Terminals 12 - 2...
Page 179 Servo amplifiers 200V Dimensions MR-J2S-70B and MR-J2S-100B ø6 OPEN OPEN Unit: mm S000940C Fig. 12-5: Outline drawing Model Weight [kg] MR-J2S-70B MR-J2S-100B Tab. 12-3: Dimensioning P L21 L11 N S000667C Fig. 12-6: Terminals MELSERVO J2-Super 12 - 3...
Page 180 Dimensions Servo amplifiers 200V MR-J2S-200B and MR-J2S-350B OPEN OPEN 3–M4 Unit: mm S000941C Fig. 12-7: Outline drawing Model Weight [kg] MR-J2S-200B MR-J2S-350B Tab. 12-4: Dimensioning L2 L3 L21 D S000669C Fig. 12-8: Terminals 12 - 4...
Page 181 Servo amplifiers 200V Dimensions MR-J2S-500B (70) 2 x ø 6 OP E N O P E N O P E N T E1 T E1 Unit: mm S000942C Fig. 12-9: Outline drawing Model Weight [kg] MR-J2S-500B Tab. 12-5: Dimensioning S000951C Fig.
Page 182 Dimensions Servo amplifiers 200V MR-J2S-700B (70) 2 x ø 6 T E2 T E1 Unit: mm S00943C Fig. 12-11: Outline drawing Model Weight [kg] MR-J2S-700B Tab. 12-6: Dimensioning S000952C Fig. 12-12: Terminals 12 - 6...
Page 183: Servo Amplifiers 400V
Servo amplifiers 400V Dimensions 12.2 Servo amplifiers 400V MR-J2S-60B4 to MR-J2S-200B4 ø 6 CH AR G E O P E N 24 V L1 1 L2 1 Unit: mm S001217C Fig. 12-13: Outline drawing Model Weight [kg] MR-J2S-60B4 MR-J2S-100B4 MR-J2S-200B4 Tab.
Page 184 Dimensions Servo amplifiers 400V MR-J2S-350B4 and MR-J2S-500B4 (70) 2 x ø 6 OP E N O P E N O P E N T E1 T E1 Unit: mm S000942C Fig. 12-15: Outline drawing Model Weight [kg] MR-J2S-350B4 MR-J2S-500B4 Tab. 12-8: Dimensioning 24V •...
Page 185 Servo amplifiers 400V Dimensions MR-J2S-700B4 (70) 2 x ø 6 T E2 T E1 Unit: mm S000943C Fig. 12-17: Outline drawing Model Weight [kg] MR-J2S-700B4 Tab. 12-9: Dimensioning T E1 T E 2 2 4V • L 0 V • L S001248C Fig.
Page 186: Servo Motors
Dimensions Servo motors 12.3 Servo motors 12.3.1 HC-MFS and HC-KFS series HC-MFS053 (B) and HC-MFS13 (B), HC-KFS053 (B) and HC-KFS13 (B) 40.5 21.5 2 x ø 4.5 25.2 65.5 Power supply lead 0.3m Encoder red: Phase U cable 0.3m white: Phase V black: Phase W green/yellow: Earth Unit: mm...
Page 187 Servo motors Dimensions HC-MFS23 (B) and HC-MFS43 (B), HC-KFS23 (B) and HC-KFS43 (B) 4 x ø 5.8 10.6 9 .9 25.2 Power supply lead 0.3m red: Phase U Encoder white: Phase V cable 0.3m black: Phase W green/yellow: Earth Unit: mm S000945C Fig.
Page 188 Dimensions Servo motors HC-MFS73 (B), HC-KFS73 (B) 142 (177.5 ) 4 x ø 6.6 86.7 25.2 Power supply lead 0.3 m red: Phase U white: Phase V 19.5 Encoder- black: Phase W cable 0.3 m green/yellow: Earth Unit: mm S000946C Fig.
Page 189: 2Hc-Sfs-Serie
Servo motors Dimensions 12.3.2 HC-SFS-Serie HC-SFS52 (B) to HC-SFS152 (B), HC-SFS524 (B) to HC-SFS1524 (B) Power supply connector pin assignment 19.5 Encoder connector Unit: mm Power supply connector S000947C Fig. 12-22: Outline drawing Model Rated output [kW] L [mm] KL [mm] Weight [kg] HC-SFS52 (B) 120 (153)
Page 190 Dimensions Servo motors HC-SFS202 (B) to HC-SFS702 (B), HC-SFS2024 (B) to HC-SFS7024 (B) Brake connector pin assignment 39.5 Power supply connector pin assignment 19.5 Encoder connector Power supply connector Brake connector Unit: mm S000948C Fig. 12-23: Outline drawing Model Rated output [kW] L [mm] KL [mm] KA [mm]...
Page 191: Hc-Rfs Series
Servo motors Dimensions 12.3.3 HC-RFS series HC-RFS103 (B), HC-RFS153 (B) and HC-RFS203 (B) 39.5 4 x ø 9 19.5 Encoder Power supply connector connector Unit: mm Power supply connector pin S000949C Fig. 12-24: Outline drawing Model Rated output [kW] L [mm] KL [mm] Weight [kg] HC-RFS103 (B)
Page 192 Dimensions Servo motors HC-RFS353 (B) and HC-RFS503 (B) 39.5 4 x ø 9 Power supply connector pin assignment 19.5 Encoder connector Power supply connector Unit: mm S000950C Fig. 12-25: Outline drawing Model Rated output [kW] L [mm] KL [mm] Weight [kg] HC-RFS353 (B) 217 (254) 12 (15)
Page 193: Regenerative Brake Resistor Option
Regenerative brake resistor option Dimensions 12.4 Regenerative brake resistor option RFH75 to RFH400 and MR-PWR-T-150 to MR-PWR-T-600 Unit: mm S000954C Fig. 12-26: Outline drawing Type Regenerative power [W] Resistor [Ω] L [mm] I [mm] Weight [kg] MR-RFH75-40 0.16 MR-RFH220-40 0.42 MR-RFH400-13 0.73 MR-RFH400-6,7...
Page 194: Transformer
Dimensions Transformer 12.5 Transformer Output voltage 230V Input voltage 400V Unit: mm S000693C Abb. 12-27: Outline drawing Input Terminal Power Output Trans- Power cur- cross- dissipa- Weight current former [kVA] rent section tion [mm] [mm] [mm] [mm] [mm] [mm] [mm²] [kg] [mm²] 2.02...
Page 195 Index Index Cable ....... . 3-1 Absolute position detection system Coding switch Absolute position detection data .
Page 196 Index No-fuse circuit breaker ....3-1 MR-J2S-200B4 and less ... . . 1-18 MR-J2S-350B and less .
Page 197 Index Servo motor System configuration Components ..... . . 1-21 for MR-J2S-100B and less ... . 1-23 Connection .
Page 198 Index...
Page 200 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany FACTORY AUTOMATION Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-486112 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com All trademarks acknowledged /// © Mitsubishi Electric Europe B.V. /// Specifications subject to change without notice /// Art.-No.: 168353 /// 06.2006...

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Melservo mrj2s-b4

Mitsubishi Electric MELSERVO MRJ2S-B Instruction Manual

1 Introduction

2 Installation

3 Connection

4 Operation

5 Special Adjustment Functions

6 Absolute Position Detection System

7 Accessories

8 Maintenance and Inspection

9 Troubleshooting

10 Specifications

11 EMC Directives

12 Dimensions

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