mel servo gb

5/25/2018 Mel Servo Gb

1/56

Servo Amplifiers

&Motors

MELSERVO

MR-J2-

SUPER

Technical Catalogue

MITSUBISHI ELECTRIC

2003


2/562 MITSUBISHI ELECTRICMELSERVO MR-J2S

The Servo Intelligence: MR-J2S

In addition to the features of theMELSERVO Super series the newMR-J2S-CL servo amplifiers from Mitsubishi Electric also haveanintegrated positioning function for one axis, plusadditional pro-gramming options.

These server amplifiers are available in versions with output ratingsfrom100Wto7kW.

NewProducts

05/2003

Further Publications within the Factory Automation Range

Technical

Catalogues

Technical Catalogues InvertersProduct catalogues for the frequency inverters FR-A 540 (L-G),FR-E 500, FR-F 500 and FR-S 500 EC, control panels, and accessories

Technical Catalogue Motion Controller

Product catalogues for motion controllers of the MELSEC A and theMELSEC System Q series, motion control software and accessories

Technical Catalogues PLC

Product catalogues for programmable logic controllers andaccessories for the MELSEC series

Technical Catalogue Networks

Product catalogue for Master and Slave modules as well asaccessories for the use of programmable logic controllers inopen networks and MELSEC networks

Technical Catalogue HMI

Product catalogue for operator terminals, process visualisation andprogramming software as well as accessories

Additional Services

You will find current information on updates, alterations, new items, and technical support on MITSUBISHI ELECTRIC's web pages(www.mitsubishi-automation.com).

The products section of the MITSUBISHI home site includes various documentations of the whole product range by MITSUBISHI ELECTRICas well as the current version of this catalogue on hand. All manuals and catalogues can be downloaded. The content is updated daily and todate is provided in German and English.

About this product catalogue

Due to the constantly growing product range, technical alteration, andnew or changed characteristical features, this catalogue is updatedfrequently.

Texts, figuresand diagrams shown in this product catalogue are intended exclusively for explanation and assistance in planning and ordering theservo motors and amplifiersof the MELSERVO series and the associatedaccessories. Only the manuals supplied with the units are relevant for installa-

tion, commissioning and handling of the units and the accessories. The information given in these documentations must be readbeforeinstallationand commissioning of the units or software.

Shouldquestions arise with regard to the planning of modules described in this product catalogue, do not hesitate to contact the german branchof the MITSUBISHI ELECTRIC EUROPE B.V. in Ratingen or one of its distributors (see cover page).

MITSUBISHI ELECTRIC EUROPE B.V. 06/2003 (5th edition)


3/563MITSUBISHI ELECTRIC MELSERVO MR-J2S

SERVOAMPLIFIERSMELSERVOMR-J2SANDSERVOMOTORS

SYSTEMDESCRIPTION

Introduction to the MELSERVO MR-J2S series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Description of the servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Software and handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Servo motor and servo amplifier model designations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

SERVOMOTORS

Description of the servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Servo motor specifications and matching amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Specifications and torque characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Braked motor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

SERVOAMPLIFIERS

Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Controls and connections, operation and menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

MR-J2S-CL programming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Programming instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Basic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Protective functions and safety features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Sample connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Connecting peripheral equipment to the servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

OPTIONS ANDPERIPHERAL EQUIPMENT

Cables and connectors for amplifiers type MR-J2S-A and MR-J2S-CL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Cables and connectors for amplifiers type MR-J2S-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Battery, terminal blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Noise filters, transformers, brake units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Positioning units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

DIMENSIONS

Servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Servo amplifiers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Noise filters, brake resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Transformers, junction terminal block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

APPENDIX

Order form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

CONTENTS

BASICS



Overview of all Features

Compliant and SafeSatisfiesglobal industrial standards

The MR-J2S can be used with the confi-dence of knowing it satisfies global indus-trial standards, including EN and UL.

Enhancedability towithstandenvironmental hazards

HC-SFS andHC-RFS series are ratedIP65 asstandard equipment.

Separatewiring for thecontrolpower supply

The control power supply of the servoamplifier is wired separately, facilitating toturn OFF themaincircuitonly, when analarm is triggered.

Compact and flexible

More compact servomotors

Mitsubishis servo motors keep gettingsmaller:

the ultra-compact HC-MFS and HC-KFSseries

the very low-inertia HC-RFS series

the medium-inertia HC-SFS series .

Awide variety ofmotors includingmodelswith brakes

A broad line-up of servo motors includingmodels with brakes is available. Users canchoose themotor series that best suits themachinebeing used.

Fully EquippedAbsolute encoder as standard

The MR-J2S can be easily switched toabsoluteencoding, which requires noreturn to home, by merely adding a bat-tery to the servo amplifier and withoutchanging the servo motor.

Personal computer interface isstandard equipment

The MR-J2S comes with an RS232C/RS422serial communications connector as stan-dard equipment, enabling users to con-nect a personal computerto theMR-J2S toperformsetup and to enter parameters.

Dynamic brake function

With an integrated dynamic brake, theservo motor can be stopped immediatelyin a power failure or when an alarmhasbeen triggered.

Integrated regenerative resistor

Regenerative resistor is integrated, elimi-nating the need for an external regenera-tion unitduringnormal operation.

Control signalassignment feature

(type A and CL)Control signals necessary for operationcan be freely assigned to connector pinswithin a predeterminedrange,enablingmore flexibleoperation.

Special FeaturesModel adaptive control

Becausethe MR-J2S operates in quickresponse to commands, it offers highlyresponsiveand stable operation, un-affected by machinesystems.

Servo-lock anti-microvibration func-tion

Microvibrations in the servo-lock state aresuppressed, providing the construction ofstable systems.

Automaticservomotor recognition

Once theencoder cable hasbeencon-nected, the servo amplifier can determine,as soon as itspower is turned ON,whichservo motor is connected.

Encoder serial communications

The encoder uses serial communications,so there are fewer signal wires to connect.

Real-timeauto-tuning

The servomakes automaticgainadjust-mentsevenwhen theload s inertia changes

R

RC

DIN ISO 9001 /EN 29001

Zertifikat: 09 100 4371

A B

Torque

Positionig

Speed

SYSTEM DESCRIPTION

BASICS


5/56MITSUBISHI ELECTRIC MELSERVO MR-J2S 5

ThenewMELSERVOgeneration:

The new MR-J2S servo drive systems fromMitsubishi Electric combineextremelydynamic response with ultra-fast position-ing. In addition the servo amplifiers arealsovery simple to operate, and theiradvanced make it possible to achievemaximum performance very quickly, evenfor users without special experience in cal-ibrating drive applications. The signifi-cantly improved auto-tuning functioncompletely eliminatesthe need for thetime-consuming trial-and-error approach.In combination with the setup softwarepackagethe MR-J2S series also supportsFFT drive train resonance analysis, withwhich you can fine-tune yoursystem foreven faster positioning performance.

The design of the MR-J2S-CLwith inte-grated positioningcontrolreflects thesameuncompromisingcommitmenttouser-friendliness. Thisnewseries featuresanumber of additionalinternal functions,includinga simpleand yetpowerfulpro-gramminglanguage.

MITSUBISHI

Satisfiesoverseas industrialstandards

The entire product range can be used inconfidence knowing they are in confor-mity withoverseas industrial standards.

An EMC filter (optional) is available formeeting EN-standard EMC directives.EffectiveEMC is only ensured if thesuit-ablefilter is selected for the particular sys-temand installed in accordance with theMitsubishi EMC recommendations.

The MELSERVO MR-J2S units meetlow-voltage directives (LVD), UL and cUL.

IP65 is standard equipment(HC-SFS,HC-RFS series)

The HC-SFS and HC-RFS series of servomotors come with IP65 as standard equip-ment, enhancing their ability to withstandany environment.

The HC-KFS and HC-MFS series of servo-motors meet IP55 standard.

Enhanced Safety and Protection Against Environmental Hazards

Servo Amplifiers and Servo Motors MELSERVO MR-J2S

DIN ISO 9001 /EN 29001

Zertifikat: 09 100 4371

RR

C

SYSTEM DESCRIPTION

BASICS



Overview of the Three Servo Amplifier Series

MR-J2S-A

The MR-J2S-A seriesis ideal forservo

applications usingconventional control sys-tems. Theservoamplifiershave twoanalogreference inputsand digital inputsfor pulsetraincontrolsignals. Usingthe digital pulsetrainmethodeliminates the problemsinher-entin analogcontrol,such as offsetshiftscaused by temperature fluctuations anddrifting when thesystem is at rest.

The MR-J2S-Aseriescanbeusedastorque,speedor position controllers.

Highlights

2 analog reference inputs

1 digital pulse train input 7 preset speeds

Supports three different types of pulsetrain signals: Encoder signals; pulse anddirection; pulse train for right and leftrotation

MR-J2S-B

The MR-J2S-B series supportsconnection

to Mitsubishimotion control andposition-ingcontrol systems. Thedrivesystemsareconnectedto thesecontrollers via SSCNET, ahigh-speedmotioncontrol networkwithacycle periodof just 0.8ms. Setting upthisplug-and-play network couldntbe easier;youjusthave toselectthe axis address andconnect the preconfiguredbus cable, whichalsomakeswiring errors impossible.

Highlights

Plug-and-play SSC network

Brake can be controlled directly by the

amplifier Emulated encoder outputs for connec-

tion of conventional slave drive systems

Amplifier replacement is fast and simplebecause parameters and settings areadministered by the connected control-ler

Automatic position identification onpower-up thanks to absolute positionencoding as standard equipment(backup battery optional)

MR-J2S-CL

The MR-J2S-CL seriesis a compact and

inexpensiveservo solutionwithintegratedpositioningcontrolfunctionality. Its efficientprogramming languagemakesit easytoprogramfunctionslikeincremental andabsolute positioning, loopsand programtriggering by input signalor onthebasisofposition values. Youcan storeup to16 pro-grams witha maximum of120 steps intheunit.Programscan activatedwiththedigitalinputsor through theserial port.

Highlights

16 programs with a total of up to

120 steps Analog input for override signal

Analog input for torque limiting

Emulated encoder outputs for connec-tion of conventional slave drive systems

Handwheel connection

Interrupt halt facility

MELSERVO J2S Servo Amplifiers

Features

The MR- J2S servo amplifiers can be usedfor global applications for superboperation in the toughest environments.

Adaptive vibration supression controlfunction

Separate wiring of the control powersupply

High responsiveness

Real-time auto-tuning

Torque control function

Servo-lock anti-vibration function

RS232C/RS422 personal computer inter-face

Automatic motor recognition

Satisfies global industrial standards

High-performance CPU

The application of a high-performanceCPUhas enhanced response significantly.

The speed loop frequency was raised to550Hz or more (more than 2 times fasterthanprevious models). Thusthe MR-J2Sseries are the best units for useinhigh-speed positioning applications.

Integrated Positioning Functions

In addition to allthe other features of theMR-J2S series the new MR-J2S-CL servoamplifiers alsohave an integrated posi-tioningfunction for one axisand addi-tional programming options.

MITSUBISHI

SYSTEM DESCRIPTION

BASICS



Real-timeauto-tuning andhighresponsiveness

With the advanced real-time auto-tuning,

the unitis automatically adjusted to theoptimal settingwithout any need for thegain adjustment unique to servo motors.

The sensitivity of the real-time auto-tuning can be changedin accordance withmachine rigidity, enablingthe MR-J2-Superto accommodate an even wider range ofmachinery (response settingselection).

Model adaptivecontrol provides therealisationof a highly responsive andstable system.

Even when acceleration/decelerationtorque is short or friction on the verticalaxis is large, the load inertia moment is

adjusted to the optimum value automati-cally.

Separatewiring for thecontrol powersupply

Wiring of thecontrol power supply is sepa-rated fromthat forthe main circuit powersupply. When an alarm is triggered, themain circuit power supply can be turnedoff and thecontrol power supplylefton,making it possibleto confirmthe alarmmessageand operatethe unitwith confi-dence.

Adaptivevibration suppressioncontrol function

All servo systems performancearerestricted by machineresonance. Thisadaptivevibration suppression controlfunction breaks thisbarrier to give furtherstability at higher response.

Machine resonance suppressionfilter

Two points can be set to match themachineresonatingpoint. This filter canbe combined with the adaptivevibrationsuppressioncontrol functionas well,

however, only thepoint can be set forthemachineresonance suppressionfilter atthattime.

Control Functions with Enhanced Tuning Technology

30

20

10

0

0 5 10 15

15

30

20

10

0

0 5 10

SYSTEM DESCRIPTION

BASICS

(Machine resonance characteristics)

Gain

Gain

(Machine resonance suppression filter characteristics)

Frequency

Frequency

Anti-resonatingpoint

Resonatingpoint

Start of adaptive vibration suppression control function

Servo resonance

ONTime

Motorspeed

Machine resonance suppression filter is setautomatically as the sensor searches for theresonating point.

Loadinertiamomentratio


Start

Start

Time (s)

Time (s)

Estimated value

Actual load inertia moment ratio

Estimated value

Actual load inertia moment ratio

HC-MFS13 advanced real-time auto-tuning(unbalanced load, highfriction)

HC-MF13previous auto-tuning (unbalanced load, highfriction)



User-friendly Operation

Personal computer interface

The MR-J2S comes with RS232C/RS422serial communications as a standardfeature, enabling users to connect apersonal computer to the MR-J2S.

Using a personal computer makes it possi-ble to run the optional setup softwarewhich enablesthe user to set up theservoin an easy and comfortable way.

Automaticmotor recognition feature

Incorporating motor identification infor-mation intothe encoder means that theservo amplifier can automatically recog-nise the drivemotor. When the servoamplifier detects a mismatch, an alarm istriggered, eliminating the possibility of an

error and the need for settingparameters.

Programming theMR-J2S-CL

Positioningis performedby execution of aprogram with all the necessary data, suchas targetposition, motor speed and accel-eration and braking times. The unitcanstore up to 16 positioning programs with atotal of up to 120steps.

MITSUBISHI

Graphical displaywindow

Machine simulator

window

Serial communication

Feedback pulseMotor capacityPositioning data(ABS data)Magnetic pole detectionAlarm information

The comfortable setup software forWINDOWS based personal computersallows a perfect tuning of theMR-J2S andthe connected servo motors. This softwaremakes it easy to do monitor, diagnosis,reading and writingof parameters, andtest operations fromthe setup viaapersonal computer.

Machine analysis function

The resonancefrequency of the mechanicalsystem can be analyzed by a simplecon-nection of the servomotor. The analysis iscompleted within 30 seconds.

Machine simulation function

The results of the machine analyzer areread into a simulation model, andtheresponse of the mechanical system canbe predicted.

You can look on the simulated waveformsof speed, torque anddroop pulseetc.while changing the command pattern,servomotor capacity and gains, withoutrunningthe machine.

Gain search function

The software changes gains automaticallyand searches out the value that ensuresthe shortest possible settling time with aminimumovershoot and vibration.

Ability is bestshown, when high-leveladjustment is required.

Setup Software for Optimum Adjustment Together with Mechanical System

SYSTEM DESCRIPTION

BASICS

Programeditor



SYSTEM DESCRIPTION

BASICS

Servo Motors Model Designation

Servo Amplifiers Model Designation

MR-J2S-10A und 20A MR-J2S-40A100A

MR-J2S - A

Series

MR-J2SCode

Compatible servo motors

HC-MFS HC-KFS HC-SFS HC-RFS

10 053 / 13 053 / 13

20 23 23

40 43 43

60 52

70 73 73

100 102 200 152 / 202 103 / 153

350 352 203

500 502 353 / 503

700 702

Code Type

A Standardgeneral-purpose AC servo

B SSCNET

CL Servowithintegratedpositioning

HC-MFS series HC-KFS series HC-RFS seriesHC-SFS series

MITSUBISHI

MITSUBISHI

MR-J2S-200A700A

MITSUBISHI

Series

HC-MFS

HC-KFS

HC-SFS

HC-RFS

Code Ratedspeed [rpm]

2 2000

3 3000

Code Electromagneticbrake

B

Code Rated output

[W] Code

Rated output[W]

Code Rated output

[W]

05 50 5 500 20 2000

1 100 7 750 30 3000

2 200 10 1000 50 5000

4 400 15 1500 70 7000

HC-KFS



SERVO MOTORS

Servo Motor Features and Typical Applications

Model designation Features Application example

KLow inertia

Larger motor inertia momentmakesthis unit well suited formachines with fluctuatingloadinertia moment or machineswith lowrigidity such as con-veyors.

Conveyors

Food preparation machinery

Printers

Small loaders and unloaders

Small robots and componentassembly devices

Small X-Y tables

Small press feeders

MUltra lowinertia

Small motor inertiamomentmakesthis unit well suited forhigh-dynamic positioningoperationswith extra smallcycle times.

Inserters, mounters, bonders

Printed board hole openers

In-circuit testers

Label printers

Knitting and embroiderymachinery

Ultra-small robots and robottips

S

Medium inertia

Stable control is performed fromlow to high speeds,enablingthis unit to handlea wide rangeof applications (e.g. direct con-

nection to ball screw compo-nents).

Conveyor machinery

Specialised machinery

Robots

Loaders and unloaders

Winders and tension devices

Turrets X-Y tables

Test devices

RLow inertia

A compactsized low-inertiamoment model with mediumcapacity. Well suited for high-frequency operation.

Roll feeders

Loaders and unloaders

High-frequency conveyormachinery

Absolutehigh-resolutionencoder asstandard equipment

Inclusion of an absolutehigh-resolutionencoder (131072 p/rev) as standard equip-ment eliminates the need for a homingsequence, approximate DOG and othersensors, helpingto reduce time andenhance reliability. With these motorshigh performanceand safety at low speedis ensured.

With Mitsubishis original absolute mode,an absolute system can be configuredusing conventional I/O even with pulse-train output control.

Design achievement

Through a molding process that usesnewly developed high thermal conduc-tivity resins, the HC-MFS and HC-KFS seriesof servo motors achieves enhanced motorcoolingperformance and an ultra-com-pact design.

This makes it well suited to ultra-low-inertia, high-frequency applications.

Minaturized, low-inertiamotor

The new HC-KFS series miniaturized motoris the same size as the HC-MFS series, yetthe motor inertia moment is 3 to 5 timeslarger compared to the HC-MFS series,markingit suitablefor machinery with hig-her load inertiamoment ratios as well asmachinery with lower rigidity.BA

SICS

Small robots

Inserters, mounters, bonders

Winders and tension devices

Wrapping machinery



SERVO MOTORS

BASICS

Motor

series

Ratedspeed[r/min]

Ratedoutput

capacity[kW]

Servomotormodel

Servo motor type Matching MR-J2S Amplifiers

With electromagnetic

brake(B) andabsolute encoder

Protectivestructure 10 20 40 60 70 100 200 350 500 700

HC-KFS

K 30000.05 HC-KFS053

IP55

0.1 HC-KFS13

0.2 HC-KFS23

0.4 HC-KFS43

0.75 HC-KFS73

HC-MFS

M 3000

0.05 HC-MFS053

IP55

0.1 HC-MFS13

0.2 HC-MFS23

0.4 HC-MFS43

0.75 HC-MFS73

HC-SFS

S 2000

0.5 HC-SFS52

IP65

1.0 HC-SFS102

1.5 HC-SFS152

2.0 HC-SFS202

3.5 HC-SFS352

5.0 HC-SFS502

7.0 HC-SFS702

HC-RFS

R

3000

1.0 HC-RFS103

IP65

1.5 HC-RFS153

2.0 HC-RFS203

3.5 HC-RFS353

5.0 HC-RFS503

MITSUBISHI

Servo Motor Specifications and Matching Amplifiers

The possible combinations of servo ampli-fiers andservo motors arelisted in thetable below.

Forfurther details on the servo amplifiers

please refer to page17. The detailed speci-fications of allservo motors are listed onpages 12 to 16.



SERVO MOTORS

BASICS

HC-KFS (B) Series Servo Motor Specifications

Servomotor model HC-KFS053(B) HC-KFS13(B) HC-KFS23(B) HC-KFS43(B) HC-KFS73(B)

Servo amplifier model MR-J2S-10A/B MR-J2S-10A/B MR-J2S-20A/B MR-J2S-40A/B MR-J2S-70A/B

Powerfacility capacity[kVA] 0.3 0.3 0.5 0.9 1.3

Continuouscharacteristics

Rated output [W] 50 100 200 400 750Ratedt orque [Nm] 0.16 0.32 0.64 1.3 2.4

Maximum torque [Nm] 0.48 0.95 1.9 3.8 7.2

Rated rotation speed [rpm] 3000 3000 3000 3000 3000

Maximum rotation speed [rpm] 4500 4500 4500 4500 4500

Permissibleinstantaneousrotationspeed 5175 5175 5175 5175 5175

Rated current [A] 0.83 0.71 1.1 2.3 5.8

Maximum current [A] 2.5 2.2 3.4 6.9 18.6

Regenerationbrakingfrequency [1/min]

Withoutadditonal resistor 220 190

MR-RFH75(150W) 2200 940

Moment of inertia J [10-4 kg m2] 0.053 0.084 0.42 0.67 1.51

Recommended load/ motor inertia ratio Less than15timesthe servomotor sinertiamoment

Speed/posi tiondetector Resolutionperencoder/servomotorrotation:131072p/rev. (17bits)

Structure Totally enclosed, non-ventilated (protection rating: IP55)

Environment

Ambienttemperature Operation: 0 40C (nofreezing).Storage: -15 70C (nofreezing)

Ambienthumidity Operation: 80% RHmax.(no condensation).Storage:90 % RHmax.(no condensation)

Atmosphere Indoors(nodirectsunlight); nocorrosivegas, noinflammablegas, nooilmist,nodust

Elevation/vibration 1000m orlessabovesealevel; X:49 m/s2 ,Y:49m/s2

Weight [kg] Standard motor 0.4 0.53 0.99 1.45 3.0

Order information Art.no. 134872 134845 126013 134873 135968

If usedin locationsuch as actual siteof machinerywhere oilor water maycontactthe product,specialspecifications apply, contactMitsubishi Electric. Thepower facilitycapacityvaries dependingon thepower supplysimpedance.

Theregenerativebrake frequencyshownis thepermissiblefrequencyfor decelerating a stand-alone motorfrom ratedrpm to a stop. Whenunder load,however, thevalue becomes thetable valuedividedby(m+1) where m is theload inertia moment divided by themotor inertia moment.When therated rpmis exceeded,the regenerative brakefrequency is inverselyproportionalto thesquare of (Operatingspeed/rated speed). Whenthe operatingrpm varies withthe freqency or whenregeneration is constant( as withvertical feeds), findthe regeneration heatgenerated (W) while operatingand do notexceed thepermissible value.

There are no limits on regeneration frequencyas longas theeffective torque is within therated torque range. However,the load/motor of inertiaratio mustbe 15times or less. Theshaft-through portion andconnector for cableterminal areexcluded. Thevibration directionis shown in theright sidediagram.The numeric valueindicates themaximumvalue of thecomponent (commonlythe bracker on theantiloadside).

Frettingof thebearingoccurs easily whenthe motorstops,so please maintainvibration to approximatelyone-halfthe allowablevalue. Forservo motors withelectromagneticbrake please refer to page17.

HC-KFS Series Servo Motor Torque Characteristics

1.0

0.5

0.75

0.25

01000 2000 3000 4000 4500

HC-KFS13 (B)0.6

0.4

0.2

01000 2000 3000 4000 4500

HC-KFS053 (B)

4.0

2.0

3.0

1.0

01000 2000 3000 4000 4500

HC-KFS43 (B)

2.0

8.0

1.0

4.0

1.5

6.0

0.5

2.0

0

0

1000

1000

2000

2000

3000

3000

4000

4000

4500

4500

HC-KFS23 (B)

HC-KFS73 (B)

Torque[Nm]

Torque[Nm]

Torque[Nm]

Torque[Nm]

Peakrunning range

Peakrunning range

Peakrunning rangePeakrunning range

Continuousrunning rangeContinuousrunning rangeContinuousrunning range

Continuousrunning range

Rotation speed [r/min]Rotation speed [r/min]Rotation speed [r/min]

Rotation speed [r/min]

YX


Torque[Nm] Peakrunning range




SERVO MOTORS

BASICS

HC-MFS (B) Series Servo Motor Specifications

HC-MFS Series Servo Motor Torque Characteristics

Servomotor model HC-MFS053(B) HC-MFS13 (B) HC-MFS23(B) HC-MFS43 (B) HC-MFS73(B)



Continuouscharacteristics

Rated output [W] 50 100 200 400 750Ratedt orque [Nm] 0.16 0.32 0.64 1.3 2.4




Permissible instantaneousrotationspeed[rpm] 5175 5175 5175 5175 5175

Rated current [A] 0.85 0.85 1.5 2.8 5.1

Maximum current [A] 2.6 2.6 5.0 9.0 18


Withoutadditonal resistor 1010 400

WithMR-RFH75(150 W) 2400

Moment of inertia J [10-4 kg m2] 0.019 0.03 0.088 0.143 0.6

Recommended load/ motor inertia ratio Lessthan 30timestheservomotor sinertia moment

Speed/posi tiondetector Resolutionperencoder/servomotorrotation:131072p/rev(17bit s)

Structure Totally enclosed, non-ventilated (protection rating: IP55)

Environment




Elevation/vibration 1000m orlessabovesealevel; X:49 m/s2 ,Y:49m/s2

Weight [kg] Standard motor 0.4 0.53 0.99 1.45 3.0


If usedin locationsuch as actual siteof machinerywhere oilor water maycontactthe product,specialspecifications apply, contactMitsubishi Electric. Thepower facilitycapacityvaries dependingon thepower supplysimpedance. Theregenerative brakefrequencyshown isthe permissiblefrequencyfordeceleratinga stand-alone motorfrom ratedrpm toa stop.Whenunderload,however,thevaluebecomesthe tablevaluedivided by(m+1)

wherem isthe loadinertiamomentdivided bythe motorinertiamoment. When therated rpmis exceeded,theregenerativebrakefrequency isinversely proportionalto thesquareof (operatingspeed/ratedspeed).When theoperating rpmvaries with thefreqency orwhenregenerationis constant( aswithverticalfeeds),findthe regenerationheatgenerated (W)whileoperating anddo notexceed thepermissiblevalue.

There are no limits on regeneration frequencyas longas theeffective torque is within therated torque range. However,the load/motor of inertiaratio mustbe 30times or less. Theshaft-through portion andconnector for cableterminal areexcluded. Thevibration directionis shown in theright sidediagram.The numeric valueindicates themaximumvalue of thecomponent.


1.0

0.5

0.75

0.25

01000 2000 3000 4000 4500

HC-MFS13 (B)0.6

0.4

0.2

01000 2000 3000 4000 4500

HC-MFS053 (B)

4.0

2.0

3.0

1.0

01000 2000 3000 4000 4500

HC-MFS43 (B)8.0

4.0

6.0

2.0

01000 2000 3000 4000 4500

HC-MFS73 (B)

2.0

1.0

1.5

0.5

01000 2000 3000 4000 4500

HC-MFS23 (B)

Torque[Nm]

Torqu

e[Nm]

Torque[Nm]

Torque[Nm]

Torqu

e[Nm]

Peakrunning range

Max.DrehmomentPeakrunning range

Peakrunning rangePeakrunning range



Continuousrunning rangeContinuousrunning range







YX


14/56



SERVO MOTORS

BASICS

HC-RFS Series Servo Motor Specifications (Low Inertia)

Servo motor model HC-RFS103 (B) HC-RFS153 (B) HC-RFS203(B) HC-RFS353 (B) HC-RFS503(B)



Continuouscharacteristics Rated output [kW] 1 1.5 2 3.5 5.0Ratedt orque [Nm] 3.18 4.78 6.37 11.1 15.9




Permissibleinstantaneousrotationspeed 5175 5175 5175 5175 5175

Rated current [A] 6.1 8.8 14 23 28

Maximum current [A] 18.4 23.4 37 58 70


Withoutadditonalresistor 1090 860 710 174 125

With MR-RFH400 (600 W) 5450 4300 3550 669 479

Moment of inertia J [10-4 kg m2] 1.5 1.9 2.3 8.6 12

Recommended load/ motor inertia ratio Lessthan5timestheservomotor sinertiamoment

Speed/posi tiondetector Resolutionperencoder/servomotorrotation:131072p/rev(17bit s)

Structure Totally enclosed, non-ventilated (protection degree: IP65)

Environment




Elevation/vibration 1000m orlessabovesealevel; X:24.5m/s2 ,Y:24.5m/s2

Weight [kg] Standard motor 3.9 5.0 6.2 12 17


Thepower facilitycapacityvaries dependingon thepower supplysimpedance. Theregenerative brakefrequencyshown isthe permissiblefrequencyfordeceleratinga stand-alone motorfrom ratedrpm toa stop.Whenunderload,however,thevaluebecomesthe tablevaluedivided by(m+1)

wherem isthe loadinertiamomentdivided bythe motorinertiamoment. When therated rpmis exceeded,theregenerativebrakefrequency isinversely proportionalto thesquareof (Operatingspeed/ratedspeed).

When theoperating rpmvaries with thefreqency orwhenregenerationis constant( aswithverticalfeeds),findthe regenerationheatgenerated (W)whileoperating anddo notexceed thepermissiblevalue. Thevibration directionis shown in theright sidedagram.The numeric valueindicates themaximumvalue of thecomponent (commonlythe bracker on theantiload side).


HC-RFS Series Servo Motor Torque Characteristics

9

6

3

01000 2000 3000 4000 4500

HC-RFS103 (B)

30

20

10

01000 2000 3000 4000 4500

HC-RFS353 (B)

15

10

5

01000 2000 3000 4000 4500

HC-RFS153 (B)

45

30

15

01000 2000 3000 4000 4500

HC-RFS503 (B)

18

12

6

01000 2000 3000 4000 4500

HC-RFS203 (B)

Torque[Nm]

Torque[Nm]

Torque[Nm]

Peakrunning range Peak runningrangePeakrunning range

Continuousrunning range Continuousrunning rangeContinuousrunning range

Rotation speed [r/min] Rotation speed [r/min]Rotation speed [r/min]

Peakrunning range

Continuous running range Continuous running range

Peakrunning range

Torque[Nm]

T

orque[Nm]

Rotation speed [r/min] Rotation speed [r/min]

YX



SERVO MOTORS

BASICS

Braked Motor Specifications

MotormodelHC-MFS HC-KFS HC-SFS HC-RFS

053B 13B 23B 43B 73B 053B 13B 23B 43B 73B 52B 102B 152B 202B 352B 502B 702B 103B 153B 203B 353B 503B

Type Spring-loadedsafety brake Spring-loadeds afety brake Spring-loadeds afety brake Spring-loadeds afety brake

Rated voltage 24VDC 24 V DC 24 V DC 24 V DC

Static frictiontorque [Nm]

0.32 0.32 1.3 1.3 2.4 0.32 0.32 1.3 1.3 2.4 8.3 8.3 8.3 43.1 43.1 43.1 43.1 6.8 6.8 6.8 16.7 16.76

Rated currentat20C[A]

0.26 0.26 0.33 0.33 0.42 0.26 0.26 0.33 0.33 0.42 0.8 0.8 0.8 1.4 1.4 1.4 1.4 0.8 0.8 0.8 0.96 0.96

Coil resistanceat20C[]

91 91 73 73 57 91 91 73 73 57 29 29 29 16.8 16.8 16.8 16.8 30 30 30 25 25

Power consumptionat20C[W]

6.3 6.3 7.9 7.9 10 6.3 6.3 7.9 7.9 10 19 19 19 34 34 34 34 19 19 19 23 23

Moment of inertia J[10-4 kg m2]

0.022 0.032 0 .136 0 .191 0 .725 0 .056 0 .087 0 .47 0.72 1.635 8 .6 15.7 22 52.5 92 111 170 1.85 2.25 2.65 11,8 15,5

Permissiblebraking

volume

perrevolution[Nm] 5.6 5.6 22 22 64 5.6 5.6 22 22 64 400 400 400 4500 4500 4500 4500 400 400 400 400 400

perhour[Nm] 56 56 220 220 640 56 56 220 220 640 4000 4000 4000 45000 45000 45000 45000 4000 4000 4000 4000 4000

Brakelife [h]

20000 20000 20000 20000

(Brake volume per brakeaction [Nm])

4 4 15 15 32 4 4 15 15 32 200 200 200 1000 1000 1000 1000 200 200 200 200 200

Weight [kg]

0.75 0.89 1.6 2.1 4.0 0.75 0.86 1.6 2.1 4.0 7 9 11 18 25 29 38 6 7 8.3 15 21

Orderinformation

Art.no. 134878 134879 134880 14881 134882 134844 134874 134875 134876 135967 134870 134871 134861 134862 134863 135966 135965 134859 134858 134860 138702 138703

Total massof motorwithelectromagnetic brake Total moment of inertiaof motor withelectromagneticbrake

Brakegap cannot be adjusted.

Forapplications requiring the motor shaftto be hold in a specificposition (e.g. verti-cal liftapplications), all offered motors areavailable with an electromagnetic brake.

The wide variety of servo motors allowsthe user to choose a motor that suits bestthe according task.



SERVO AMPLIFIERS

BASICS

Specifications of the MR-J2S-A Servo Amplifiers

MR-J2S-A are general purposeservo amplifieres withanalog input and pulse train interface as a standard.

The servo amplifiers are ideal for use in combination withother Mitsubishi positioning controllers, positioning mod-

ules and other controllers with pulse train outputs forexample the positioning controllers and modules of theMELSEC FX family, andalsothe QD70 and QD75D posi-tioningmodules of the MELSEC System Q family.

The table below provides an overview of all MR-J2S-Aservo amps with pulse train inputs.

MITSUBISHI

Servo amplifier modelMR-J2-S-A 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A

Powersupply

Voltage /frequency 3-phase200 230V AC,50/60Hz;1-phase230V AC,50/60Hz 3-phase200 230V AC,50/60Hz

Permissible voltagefluctuation 3-phase 200 230V AC: 170 253V AC,1-phase 230V AC: 207 253 VAC 3-phase 170 253V AC

Permissible frequencyfluctuation 5 %

Control system Sinusoidal P WM c ontrol / c urrent control s ystem

Dynamic brake Built-in

Speed f requency r esponse 550 Hz o r more

Protective functions

Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown(electronicthermal), servomotor overheatprotection,

encoder faultprotection,regenerationfaultprotection, undervoltage/ sudden poweroutageprotection,overspeed protection, excess errorprotection.

Positioncontrolmode

Maximuminput pulsefrequency 500kpps (when using differentialreceiver),200 kpps(whenusing opencollector)

Positioningfeedback pulse Resolution per encoder / servomotorrotation(131072pulses/revolution)

Commandpulse multiple ElectronicgearA/B multiple;A: 1 65535or 131072, B:1 65535,1/50< A/B < 500

Positioningcomplete widthsetting 0 10V DC(commandpulse unit)

Excess error 10 rotations

Torque limit input Setby parameters orexternal analoginput (0 10V DC/ maximum torque)

Speedcontrolmode

Speedcontrolrange Analog speed command1:2000, internalspeed command1:5000

Analog speedcommand input 0 10VDC/ratedspeed

Speedfluctuationrate0.01% max. (loadfluctuation0 100 %)0 % (power fluctuation10%)

0.2% max.(ambient temperature 25C 10C ), when using externalanalog speed command

Torque limit Setby parameters orexternal analoginput (0 10V DC/ maximum torque)

Torquecontrolspecifications

Torque commandinput 0 8 V DC/ maximum torque(inputimpedance 10to 12k)

Speedlimit Setby parameters orexternal analoginput (0 10V DC,ratedspeed)

Structure Self-cooling, open (IP00) Fan-cooling, open(IP00)

Environment

Ambient temperature Operation: 0 55C (nofreezing),storage: -20 65C (nofreezing)

Ambient humidity Operation: 90% RH max.(no condensation),storage: 90% RH max.(no condensation)

Atmosphere Inside control panel; no corrossivegas, no flammablegas, no oilmist, no dust

Elevation 1000 m orlessabovesealevel

Oscillation 5.9m/s2 (0.6G) max.

Weight [kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2

Order information Art.no. 134807 134808 134806 134828 134829 134831 134827 134832 135969 135854

Rated output capacity andrated rotationspeed of theservo motorused in combination withthe servoamplifier are as indicatedwhen using thepower voltage andfrequency listed. Output and speed cannot beguaranteed whenthe powersupplyvoltageis lessthan specified.



SERVO AMPLIFIERS

BASICS

Specifications of the MR-J2S-B Servo Amplifiers

The MR-J2S-B servo amplifiers are designed for use withthe Mitsubishi motion controllers of the MELSEC System Qand MELSEC A series.

You canalso connect theservo amplifiers to the QD75M

positioning module via the SSCNET network. Both themotion controllerCPU and the modules are integrated flexi-bly in thesystem.

Motion controllers can be networked with the servo amplifi-ers using Mitsubishis high-speedSSCNET network, which isa pioneering innovation for modern motion control applica-tions. The datatransfer ratein this network is 5.6Mbit/s.Connectingthe amplifiers to SSCNET guarantees reliableoperation and eliminatesthe need for complex wiring.

The table below provides an overview of all the MR-J2S-Bservo amplifiers with SSCNET ports.

MITSUBISHI

SERVOSYSTEM CONTROLLERNETWORK

Servoamplifier modelMR-J2S-B 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B

Powersupply

Voltage /frequency 3-phase200 230V AC,50/60Hz;1-phase230V AC,50/60Hz 3-phase200 230V AC,50/60Hz

Permissiblevoltagefluctuation 3-phase 200 230V AC: 170 253 VAC,1-phase230VAC:207 253V AC 3-phase 170 253V AC

Permissiblefrequencyfluctuation 5 %

Control system Sinusoidal P WM control / c urrent control system


Speed f requency r esponse 550 Hz o r more

Protective functions Overcurrent shutdown, regenerationovervoltage shutdown, overload shutdown(electronicthermal), servomotor overheatprotection,

encoder faultprotection,regenerationfault protection, undervoltage / sudden poweroutageprotection,overspeed protection, excess errorprotection.

Structure Self-cooling, open (IP00) Fan-cooling, open(IP00)

Environment

Ambienttemperature Operation: 0 55C (nofreezing),storage: -20 65C (nofreezing)

Ambienthumidity Operation: 90 % RH max.(no condensation),storage: 90% RH max.(no condensation)

Atmosphere Inside control panel; no corrossive gas,no flammablegas, no oil mist, no dust

Elevation 1000 m orlessabovesealevel

Oscillation 5.9m/s2 (0.6G) max.

Weight [kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2

Order information Art .no. 134833 134834 134835 134836 134837 134838 134839 134840 135971 135970

Rated output capacity andrated rotationspeed of theservo motorused in combination withthe servoamplifier are as indicatedwhen using thepower voltage andfrequency listed. Output and speed cannot beguaranteed whenthe powersupplyvoltageis lessthan specified.



SERVO AMPLIFIERS

BASICS

Specifications of the MR-J2S-CL Servo Amplifiers

Servo amplifier modelMR-J2-CL 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL

Powersupply

Voltage/frequency 3-phase200 230V AC,50/ 60Hz;1-phase230V AC,50/ 60Hz 3-phase200 230V AC,50/60Hz

Perm. voltage fluctuation 3-phase 200 230V AC:170 253V AC, 1-phase 230 VAC:207 253V AC 3-phase 170 253V AC

Perm. frequency fluctuation 5 %

System Sine-wave PWM control, current control system


Protective functions Overcurrent shut-off,regenerativeovervoltageshut-off, overloadshut-off(electronicthermalrelay),servo motor overheatprotection,encoder errorprotection,

regenerative brake errorprotection,undervoltage,instantaneouspower failure protection, overspeedprotection,excessive errorprotection

Programming/commandsystem

Programming Programming language(Programmingwith Servo-configurationsoftware).Programmingcapacity: 120steps

Positioningcommand input Settingby programming language.Movement settingrange at 1 point: 1[m] to 999.999 [mm]

Speedcommand input Servomotor speed, acceleration/deceleration timeconstant andS-pattern acceleration/decelerationtime constantby programming language.S-patternacceleration/decelerationtime constantcan setby parameterNo.14or by programming.

System Signed absolutevalue command (signed incremental valuecommandsystemcan be specified), signed incremental valuecommandsystem

Program operationmode Settingby programming language

Manualoperationmode

JOG JOG operationis performedin accordancewith theparameter-set speed command by contactinput or through RS-422/232Ccommunication.

Manual pulsegenerator Manual feedis madeby manual pulsegenerator.Commandpulse multiplication: x1,x10 or x100 selectedusing parameter

Manualhomepositionreturnmode

DOGtypeHomepositionreturnis madestarting withZ-phase pulseafterpassageof proximitydog. Homepositionaddressmay be set.Homepositionshiftdistance maybe set.Homepositionreturndirection maybe selected.Automatic at-dog homeposition return,Automatic stroke return function.

Count typeHomepositionreturnis madeby counting encoder pulses after contact withproximitydog.Homepositionaddressmay be set.Home positionshiftvalue maybe set.Home positionreturndirection maybe set.Automatic at-dog homeposition return,Automatic stroke return function.

Datasetting type Home positionreturn ismadewithoutdog.Homeposition maybe setatany positionby manualoperation,etc.Homeposition address maybe set.

Stopper type Homepositionreturnis madeby pressingmachinepart against stroke end.Homepositionaddressmay be set.Home positionreturndirectionmay be set.

Homeposition ignorance Position where servo-on(SON) is switchedon is defined as homeposition. Homeposition addressmay be set.

Dogtype rearend reference Home positionreturn ismadewithrespectto the rear endof a proximitydog.Homeposition address maybe set. Home positionshift valuemay beset.Homeposition return directionmay be set.Automatic at-dog homeposition return,Automatic stroke return function

Count typefront endreference Home positionreturn ismadewithrespectto the frontend ofa proximitydog.Homeposition address maybe set. Home positionshift valuemay beset.Homeposition return directionmay be set.Automatic at-dog homeposition return,Automatic stroke return function

Dogcradle type Home positionreturn ismadewithrespectto the frontend ofa proximitydogby the firstZ-phasepulse.Homepositionaddressmaybe set. Home positionshiftvaluemay be set.Home positionreturn directionmay be set.Automaticat-dog homeposition return, Automatic stroke return function

Positioningcontrolfunctions Absolutepositiondetection,backlash function,overtravelpreventionusing externallimitswitch, softwarestrokelimit,overrideusing externalanalog signal

Cooling/protection Self-cooled, open (IP00) Force-cooling, open (IP00)

Environment Conforms to MR-J2S-A/B

Weight [kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2

Order information art. no. 146271 146270 146269 146268 146267 146272 146273 146274 147103 147114

Ratedoutputcapacityand ratedrotation speed of theservo motor usedin combination withthe servo amplifierare as indicatedwhen usingthe powervoltageand frequencylisted.Outputand speed cannot beguaranteed whenthe powersupplyvoltageis lessthan specified.

The new MR-J2S-CL servo amplifiersare a further develop-ment of MR-J2S-A. In additionto thefeatures of theMELSERVO Super Series these new amplifiersalsohave anintegrated positioning controller for one axisand additional

programmingfunctions.The MR-J2S-CLservo amplifieris theideal solution forcomplete and inexpensivepositioningsolutions. Up to16 positioning programs can be stored in the amplifier.Programs are selected and started via the digital inputs,or in a networked system with support for up to 32 axes.

The table below provides an overview of all the MR-J2S-CLlineof servo amplifiersand their special features comparedto the MR-J2S-A.

MITSUBISHI



BASICS

SERVO AMPLIFIERS

Operating Elements

M OD E U P D OW N S E T

012

34

5678

9AB

C

DE

F

Modebutton:

Used to switchbetweendifferent functions

Up/downbuttons:

Used to changedisplaycontentandre-enter parameter data

Set button:

Used to setparameters forauto-tuningand for switching to the test screen

Display:

5-digit, 7-segmentdisplaypanel. Displaysoperating status,parameters,etc.

Display:

2-digit, 7-segmentdisplaypanel. Displaysoperating status,parameters,etc.

Encodingswitch:

Switch for settingthe servo amplifiers axisnumber assignment.

Batteriehalterung/Batterieanschluss:

Using to connect thebattery for absoluteposition data backup.

User-friendlyOperation

The display and setting sections are easytooperate. Andwith theadvanced fea-tures it encorporates, theMR-J2S is easy tostart up.

The illustrations below show examples oftwodifferent servo amplifiermodels.Thelayout of thecontrolsmay be slightly dif-ferentonothermodels.

I/O signal connector (CN1A):

Used to connect digital I/Osignals

I/O signal connector (CN1B):

Used to connect digital I/Osignals

Encoderconnector (CN2):

Used to connect the servomotor/encoder

Communicationconnector (CN3):

Used toconnect a personal computeror asanalogmonitor output

Chargelamp:

Lit to indicatethatthemain circuit ischarged.While this lamp is lit, donotreconnect the cables.

Nameplate

Maincircuit terminal block (TE1):

Used to connect the input power supplyandservomotor

Controlcircuit terminal block (TE2):

Used to connect thecontrol circuitpowersupply and regenerativebrake option.

Protectiveearth terminal (PE):

Ground terminal

MR-J2S-B

MR-J2S-A/-CL

MR-J2S-A MR-J2S-B MR-J2S-CL



BASICS

SERVO AMPLIFIERS

Operation / Menu Guide to the Display MR-J2S

Button

Mode

Statusdisplay

MR-J2S-A MR-J2S-CL

Diagnosis Alarm Basic parameters Expansion

parameter 2Expansion

parameter 1

Torque commandvoltage,torquelimit voltage[mV]

Cumulative feedbackpulses [pulse]

Motorspeed[r/min.]

Droppulses[pulse]

Cumulative commandpulses [pulse]

Command pulsefrequency [kkps]

Speedcommandvoltage,speedlimit voltage[mV]

Regenerative loadratio[%]

Effectiveloadratio[%]

Peakloadratio[%]

Instantaneoustorque[%]

Withinone-revolutionposition, low[pulse]

Withinone-revolutionposition, high[100 pulses]

ABScounter[revolutions]

Loadinertia momentratio[Anzahl]

Busvoltage [V]

Motorspeed

Current position

Commandposition

Remaining distance

Programnumber

Stepnumber

Feedbackpulses

Drooppulses

Override

Analogtorque limitvoltage

Regenerative loadratio

Effectiveload ratio

Peakloadratio

Instantaneoustorque

Withinone-revolutionposition, lowdigits

ABS counter


Bus voltage

Sequence

ExternalI/O signaldisplay

Outputsignalforcedoutput

TestmodeJogfeed

Testmodepositioningoperation

Testmodemotor-lessoperation

Testmode machineanalyzeroperation

Softwareversionhigherdigits

Softwareversionlowerdigits

AutomaticVCoffset

MotorseriesID

Motortype

Encodertype

Currentalarm

Lastalarm

Secondalarmin past

Thirdalarmin past

Fourthalarmin past

Sixthalarmin past

Fifthalarminpast

Parametererrornumber

Selectioncontrolmode/selectionregenerativeoption

Functionselection1

Statusdisplay selection

Writeprotection

Functionselection2

Functionselection3

Parameterinputinput signal7

Parameterinputoutputsingals

Push

button

Push

button

Parameter50

Functionselection6

Parameter83

Parameter84

UP

Down

Withinone-revolutionposition, highdigits

Pressing the MODEbutton causes the dis-play modeto changeonestep ata timeinthe sequence illustrated below.

Note: Press the SET buttonto displaycurrent data in status displaymode.



22/56

Exampleprogram 1

Workpiece feedoperation sequencewithintermediateprocessing step

This program performs two positioningsequences withthe samerpm speeds,acceleration and deceleration times,but withdifferent target positions.

22 MITSUBISHI ELECTRICMELSERVO MR-J2S

SERVO AMPLIFIERS

BASICS

Programming MR-J2S-CL

Exampleprogram 2

Vibrationrecorder sequencewithtestoperationsduringconstantspeedoperation andstopphase

The program executes two movementprofiles. In the first profilethe vibrationbehaviour is measured at constantspeed,in the second it is measured during thestop phase. The measurement system isswitched on andoff on thebasis of itsposition in both profiles.

ON

OFF


Motor speed(1000 rpm)

300 10STM m

Forwardrotation

Program Description

SPN (1000) Speed(motor s peed) 1000 [r/min]

STA(200) Accelerationt imeconstant 200[ms]

STB(300) Decelerationt imeconstant 300[ms]

MOV(1000) Absolutemovecommand 1000 [ 10STM m]

TIM (10) Dwell time 100[ms]


STOP Program end

Program Description




MOV(1000) Absolutemovecommand 500 [10STM m]

TRIP (250) Absolute t rippoint 250 [10STM m]

OUTON(2) Programoutput2 (OUT2)is turnedON

TRIP (400) Absolute t rippoint 400 [10STM m]

OUTOF(2) Programoutput2 (OUT2)is turnedOFF

TIM (10) Dwell c ommand time 100[ms]

MOVI(500) Incrementalmovecommand 500 [ 10STM m]

TRIPI(300) Incrementaltrippoint 300 [ 10STM m]

OUTON(2) Programoutput2 (OUT2)is turnedON

STOP Program end

Acceleration timeconstant (200 ms)

Deceleration timeconstant (300 ms)

Deceleration timeconstant (300 ms)

Acceleration timeconstant (200 ms)

Speed (motor

speed (1000 r/min) Speed (motorspeed (1000 rpm)

Absolute movecommand(2000 10STM m)

Absolute movecommand(1000 10STM m)

Dwellcommand time(100 ms)

Servo motorspeed

0

Forward

rotation

Program output 2(OUT2)

250 10STM m 400 10STM m

100 ms

Test sensor

ON

Servo motorspeed

0



SERVO AMPLIFIERS


Program Description






MOVA(600) Absolutecontinuousmovecommand 600 [ 10STM m]

SYNC(1) Stepissuspended untilprograminput(PI1)turnON

ITP(200) Interruptposi tioningcommand 200 [ 10STM m]

STOP Program end

ON

P1

OFF


Waiting for PI1 to be turned ONby SYNC(1)

P1 + (200 10STM m)

Forwardrotation

BASICS

Exampleprogram 3

Workpiece transport intoamachiningcell

The workpiece is first transported to thework cell entrance at high speed, thenslowed down to creep speedfor the entrysequence. After the workpiece passesthrough a photoelectric barrier it is trans-ported for a programmed distanceandthen the feed sequence is stopped.

Program input 1(PI1)

Program Description


STA(D1) Accelerationt imeconstant D1= 200 [ms]

STB(D2) Decelerationt imeconstant D2= 300 [ms]

MOVI (R1) Absolute m ove command R1= 1000 [10STM m]

TIM(10) Stepissuspendeduntilprograminput(PI1)turnON 100[ms]

MOVI(R2) Interruptpositioningcommand R2= 2000 [10STM m]

STOP Program end


Dwell time (100 ms)

Forwardrotation

Exampleprogram 4

Processinga pallet ofworkpieceswithcontinuallychangingpositions

A pallet of keyboards with a variety oflaser lettering requirements is centredbeneath the laser device. The varyingtarget positions of the differentkeyboardson thepallet are stored in data register Dand then processed accordingly.

R1 = 1000 10STM m) R2 = 2000 10STM m)

D1 = 200 ms D2 = 300 ms D1 = 200 ms D2 = 300 ms

Servo motorspeed

0

Servo motorspeed

0



SERVO AMPLIFIERS

BASICS

MR-J2S-CL Programming Instructions

The simple and yet powerful program-ming languageof theMR-J2S-CL servoamplifiermakes it very easy to configurepositioning applications. Using the

extended instruction setyoucanquickly

programmovement andpositioningsequencesby entering thetargetposition,motorspeed,accelerationanddecelera-tion timesandso on. Support forexternal

interrupts, relays,counters and loopspro-

videsmaximum flexibilityfor thedevelop-ment ofpowerful programs.

Command Name Setting Setting range Unit Description

SPN Speed (motor speed) SPN() 0 max. speed r/min. Useto setthecommandspeed givento the motorfor positioning.Thesetvalueshouldnotbe more thanthe maximum speedof the motor.

STD S-pattern acceleration/decelerationtime constant STD() 0100 msS-patternacceleration/deceleration timeconstant.Set thiscommand wheninserting an S-pattern timeconstant forthe acceleration/deceleration timeconstantof theprogram.

STC Acceleration/decelerationtime constant STC() 0 20000 msUseto setboth theaccelerationtime constantand deceleration timeconstant.Thesetvalue isthe time from when the used servomotoris ata stop untilitreaches the ratedspeed, orthe time from whenthe servomotoris running attherated speeduntilit stops.

STA Accelerationt imeconstant STA() 0 20000 msUseto settheaccelerationtime.Thesetvalueis thetime from whentheusedservomotoris ata stop untilit reaches the ratedspeed. Itcan notbe changedduring command output.

STB Decelerationt imeconstant STB() 0 20000 msUseto setthedecelerationtimeconstant.Theset valueis thetime from whentheservomotoris running attheratedspeed untilit stops. Itcan notbe changedduring command output.

MOV Absolute move c ommand MOV() -999999 999999 10STMm The set value isregarded asanabsolute value for movement.

MOVA Absolutecontinuousmove command MOVA() -999999 999999 10STMm Theset valueis regarded as an absolutevalue forcontinuous movement.Always usethis commandwith theMOV() command.

MOVI Incrementalmovecommand MOVI() -999999 999999 10STMm The set value isregarded asanincrementalvalueformovement.

MOVIA Incremental continuous movecom-mand MOVIA() -999999 999999 10STMm Theset valueis regarded as an incremental valuefor movement.Always usethis commandwith theMOVI() command.

SYNC Waiting externalsignal to switch on SYNC() 1 3 Stopsthe next step untilany ofPrograminput1 (PI) toPrograminput3 (PI3)turns ON afterthe output of SYNCsynchronousoutput(SOUT).

OUTON External s ignal O N output OUTON() 1 3 TurnsON anyof Program output1 OUT toProgramoutput 3 (OUT3).By set-ting the ONtimewithparameterNo. 74to No.76, the signalcanalsobe turnedOFFin the presettime.

OUTOF Ex ternalsignalOFFoutput OUTOF() 1 3 TurnsOFFany ofProgramoutput 1 OUT toProgramoutput 3 (OUT3) thathasbeenturnedONbytheOUTON() command.

TRIP Absolute trip point TRIP() -999999 999999 10STMm Whenthe trippointisreached, the nextstepwill beexecuted.

TRIPI Incremental trip p oint TRIPI() -999999 999999 10STMm

Executesthe nextstep whenthe moving distanceset to theTRIPI() commandis traveledfrom whenMOVI() andMOVIA() startedduring themovementexecutedby theMOVI()andMOVIA() commands. Thecommandshouldbeprogrammed after MOVI() and MOVIA() command,otherwise programerroroccurs.

ITP Interruptpositioning command ITP() -999999 999999 10STMmMakes a stopusing theinterrupt signal whenthe preset moving distanceisreached.Use thiscommandin combination withthe SYNC() command,anddescribeit after SYNC().An errorwilloccurif thiscommandis describedafteranyother command.

COUNT External p ulse c ounter COUNT() -999999 999999 Pulse Executesthe nextstep whenthe pulse counter valuebecomesgreaterthan thecountvaluesetto theCOUNT() command.

FOR

NEXT

Step repeat command FOR() NEXT 0,110000 Repeats thesteps located betweenthe FOR() command andNEXT command

bythe presetnumberof times.

LPOS Position latch LPOS Latches thecurrentpositionon theleadingedge of input device current latch(LPS). Thelatchedcurrentpositiondata canbe readby thecommunicationcommand.There are someerror values betweenthe latched dataand theactualexactposition,due to thesamplingtime andmotor speed.

TIM Dwell command time TIM() 12000 x10ms Holdsthe nextstep until thepresettime elapses.

ZRT Zeroing ZRT Executesa manual homepositionreturn.

TIMES Program r epeat command TIMES() 0,110000 Cycles Placethe TIMES() command atthebeginning ofthe program andsetthenumber of program executiontimes.

STOP Programend Programstopsignalmustbeatendoftheprogram(required).




SERVO AMPLIFIERS

BASICS

Subtotal 76 different parameters forMR-J2S-A/B and 90 different parametersfor MR-J2S-CL can be set.

The basic parameters are listed below. Forparameters marked withan asterisk *, turnthe power OFFafter settingand turn the

power back ON to complete thesetting.

Parameter Servo amplifierDescription Default setting Setting range

Symbol Name MR-J2S-A/B MR-J2S-CL

STY* Control mode/regeneration selection Selectionofthecontrolmodeandtheregenerat ionoption . 0000 0000 0605h

FTY * Feeding functionselection Usedto setthe feedlengthmultiplication factor andmanualpulsegenerator multiplicationfactor. 0000

OP1* Functionselection1 Used to select servo-type options. 0002 0000 1013h

ATU Auto-Tuning Used to select the auto-tuning function. 0105 0001 040Fh

CMX* Electronicgear (commandpulse magnificationnumerator) Used to set the multiplier for t he c ommand p ulse i nput. 1 1 65535

CDV* Electronicgear (commandpulse magnification

denominator)

Used to set the divisor for the command pulse input. 1 1 65535

INP In-positionrangeoutput Used tosetthe rangefor the standingpulse,whichsendsin-positionoutput. 100 [pulse] 0 10000

PED Movementcomplete outputrange Used tosetthe drooppulserange whenthemovementcom-pleteoutputrange (PED) is output. 100[m] 0 10000

PG1 Posi tion loopgain1 Used to set the model position loop gain. 35 [rad/s] 4 2000

PST Position acceleration / deceleration timeconstant(smoothing) Used tosetthe time constantwhen usinga delayed filterfor

thepositioncommand. 3 [ms] 0 20000

ZTY* Homeposit ionreturntype Usedto setthe homeposition return system,home positionreturn directionand proximitydog input polarity. 0010

ZRF Homeposit ionreturnspeed Usedtosettheservomotorspeedforhomeposit ionreturn. 500[rpm] 0 permissiblespeed

CRF Creep speed Usedtosetthecreepspeedafterproximitydogdetect ion. 10[rpm] 0 permissiblespeed

ZST Homeposit ionshiftdistance Usedto setthe shift distancestarting at theZ-phasepulsedetectionposition inside theencoder. 0 [m] 065535

SC1 Internalspeedcommand1 Usedtosetthefirstspeedoftheinternalspeedcommand 100[rpm] 0 permissiblespeed

SC2 Internalspeedcommand2 Usedtosetthesecondspeedoftheinternalspeedcommand 500[rpm] 0 permissiblespeed

SC3 Internalspeedcommand3 Usedtosetthethirdspeedoftheinternalspeedcommand 1000[rpm] 0 permissiblespeed

JOG Jog speed mode Used to set the jog speed command. 100 [rpm] 0 permissible speed

STA Speed accelerationtime constant Usedto setthe acceleration timefrom stopuntilthe attain-mentof rated rotationspeed forthe speed command 0 [ms] 0 20000

STB Speed decelerationtime constant Usedto setthe decelerationtime fromrotation speeduntilstopfor thespeed command 0 [ms] 0 20000

STC* S-patternacceleration/decelerationtime constant Used tosetthe time forthecircularportionof S acceleration/deceleration 0 [ms] 0 1000

TQC Torquecommandtime constant Used tosetthe time constantwhen usinga delayed filterforthetorque command 0 [ms] 0 20000

SNO * Stationnumbersetting Station number for the serial communication 0 0 31

BPS* Communicationsbaud rateselection / alarmhistoryclear Usedtoset theRS232Cbaudrateandtoclearthealarmhis tory 0000 0000 1113h

MOD Analogmonitoroutput Usedtomakethesettings re latedtoanalogmonitoroutput 0100 0000 0B0Bh

DMD * Statusdisplayselection Used to make the settings related to s tatus display 0000 0000 001Fh

BLK * Parameter entry prohibition Usedtoselecttheparameterreferencerangeandentryrange 0000 0000100Eh

Basic Parameters




BASICS

SERVO AMPLIFIERS

Protective Functions/ Safety Features/ Alarms and Warnings

The J2 servo amplifier possesses the safetyfeatures described below. In order to pro-tect the unit when a safety circuit is acti-vated, the output is suspended by cutting

OFF the power to the transistor base.

When this happens, the dynamic brake isactivated and stops the motor. An alarmnumberis displayed on the servo amplifieror personal computer. After eliminating

the cause, close the reset terminal (RES) orturn OFF the control power and reset.


LED display Meaning Description

Alarms

AL.10 Undervoltage Isact ivated,ifthevoltageofthepowersupplyfallsbelowacertainlevelor ifasuddenpoweroutageofmorethan15msoccurs.

AL .12 Memoryerror1 Isactivated, i fanerror isdetectedintheRAMmemoryoftheprintedboard.

AL.13 Clock error Is activated, if a n error i s detected i n the p rinted b oard.

AL.15 Memoryerror2 Isactivated, i fanerror isdetectedintheEEPROMmemoryoftheprintedboard.

AL.16 Encodererror1 Isact ivated,ifa differenttypeof encoderis detectedandcommunicationwiththeencordercannotbeperformedaccurately.

AL .17 Boarderror2 Isactivated, i fanerror isdetectedina boardcomponentof theservoampli fier.

AL .19 Memoryerror3 Isactivated, i fanerror isdetectedintheROMmemoryoftheprintedboard.

AL.1A Motorcombinationerror Isact ivated,ifa wrongcombinationofservoamplif ierandmotorexists,

AL.20 Encoder e rror 2 Is a ctivated, i f an e rror i s detected i n the e ncoder o r encoder cable.AL.24 Motor outputground fault Isactivated,if a groundfaultoccuredattheservomotoroutputsoftheservoamplifier.

AL .25 Absoluteposi tionerase Is activated, if theabsoluteposition datais errornousor if thepower wasswitched on forthe first timein theabsoluteposition detectionsystem.

AL.30 Regenerativealarm Is activated, if thepermissibleregenerativepower of thebuilt-inregenerativebrakeresistoror regenerative brakeoptionis exceeded or iftheregenerativetransistoris faulty or cooling fanhas stopped (MR-J2S-200A, MR-J2S-300A).

AL.31 Overspeed Isactivated, i f themotorrotationspeedisdetectedtohaveexceededthepermissiblerotationspeed.

AL.32 Overcurrent Is activated, if a n excess c urrent is detected.

AL.33 Overvoltage Is a ctivated, i f an e xcess converter v oltage i s detected.

AL.35 Commandpulseerror Isactivated, i fanexcess f requencycommandpulse is input.

AL.37 Parameter error Isactivated,ifparametersaredetectedtobeoutsidethesettingrangethroughaparametercheckperformedwhenthepoweristurnedON.

AL.45 Maincircuitdeviceoverheat Isact ivated,if amaincircuitdeviceisoverheated.

AL.46 Servomotoroverheat Isact ivatedby thethermalprotectorinsidetheencoderduetomotoroverheating.AL.50 Overload1 Is a ctivated, i f an overload i s detected i n the m otor o r servoa mplifier.

AL.51 Overload2 Is a ctivated, i f an overload i s detected i n the m otor o r servoa mplifier.

AL.52 Excess error Is activated,if thedifference betweenthe input pulseand return pulseis detectedto haveexceeded80 k pulses whenoperating in positioncontrol mode.

AL.8A Serialcommunicationtime-out Isactivated,if the RS232C orRS422 communication isstoppedforlonger thanthe time setby parameter.

AL.8E Serialcommunications error Isactivated,if anerroroccursin the serialcommunicationbetweentheservo amplifierandthe communication device.

88888 Systemerror(watchdog) Isact ivated,ifa systemerrorisdetected.

Warnings

A.92 Batterydisconnection error Isactivated, ifthe battery wireconnectedtotheencoderbecomesdisconnected orifthebatteryvoltagefalls.

A.96 Origin set error Is activated, if the origin is not set.

A.9F Battery warning Is a ctivated, if the b attery voltage f alls.

A.E0 Excessregeneration warning Isactivated,if the loadof the regenerationresistor reaches85 %of the alarmlevel.

A.E1 Over loadwarning Isactivated, i f theunit reaches85% oftheoverloadalarmlevel.

A.E3 ABSdatacounterwarning Isact ivated,ifthereisanerrorinthebackupdataoftheabsolutedatacounter.

A.E5 ABStime-outwarning Isact ivated,ifthereisa t ime-outerrorduring theforwardingofabsolutedata.

A.E6 Servoemergencystop Isact ivated,ifanexternalemergencystop signalhasbeenlifted.

A.E9 MaincircuitOFFwarning Isact ivated,ifthemaincircuitvoltage(P-N)isbelow215V whentheservoONsignal(SON) isturnedON.

A.EA ABSservoONwarning Isact ivated,iftheservoONsignaldoesnotgoON within1secondaftertheABSforwardingmode(D13)is turnedON.



BASICS

SERVO AMPLIFIERS

Test Operation Mode

The operationof theservoamplifierandservo motor canbe checked beforewiringthesignalwires.

Test operationmode1:Operationwithoutcommands

The motor can be operated even withoutspeed/position commands, start signals,or other external signals. This enablesusers to test the servo alone, priorto thefabrication of a control panel, andto con-firm the operation of the machine.

Test operationmode2:Operation withoutamotor

The servo amplifiers can be checked with-out connectingthemto a motor. This is

convenient when you want to confirmacommand or peripheral sequence beforeoperating the actual machine. You canmonitor the simulated rotation speed andcommandstatus of the motor on the dis-play screen of the amplifieras youwouldduring normal operation.

Output signalforcedoutput

Forcingoutput signals ON or OFF, such asalarmand readysignals, makes it easy toperform external wiring and sequence

checks.




BASICS

SERVO AMPLIFIERS

OPC

EMG

VDD

PP

SON

COM

PG

RES

ALM

ZSP

TLC

P15R

TLA

LG

SD

NP

PC 4

NG

TL 3

CR

LSP 14

SG

LSN 13

RD

SG Geh.

COM

OPC

LZ

LZR

SD

11

15

3

15

15

16

16

17

17

18

18

1413

11

12

9

10

6

7

3

1

2

4

5

A19

B19

A20

B20

PULSE F+

PULSE F

QD75

D

QD75

P

PULSE F-

PULSE COM

PULSE R+

PULSE R

PULSE R-

PULSE COM

CLEARCLEAR COM

READY

RDY COM

PD05

PG0 COM

COM

COM

DOG

FLS

RLS

STOP

CHG

PULSER A+

PULSER A-

PULSER B+

PULSER B-

3

5

13

13

14

18

19

6

11

12

1

Geh.

2

8 MO1

12

9 LG

8

16 MO2

10

17 LG

19

10 SD

9

OPC

5

15

Geh.

CN1A

CN2

CN3

CN1B

CN310k

10k

17

7

16

6

15

5

1

144

Geh.

LBR

LB

LAR

LA

LZR

LZ

LG

OPP15R

SD

CN1A

CN1B

RA1

RA2

RA3

P

D

C

L21 PE

L11 PE

L3 WL3

L2 VL2

L1

TE1

TE2

UL1 I>

I>

I>

M

Encoder

ServomotorMR-J2S- A

A

A

24V DC

EMGB2

B1

10 m

10 m

2 m

2 m

15 m

5V

A

B

0V

+5V

5G

/

/

PC

MR-J2S-A Position Control Mode/ Connection to QD75P/QD75D (position servo, incremental)


/

/

/

/

/

/

Make up a sequence whichswitches off the MC at alarm

occurence or emergency stop.

Monitor outputMax + 1mA meter

reading in both directions

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Encoder Z-phase pulse (open collector)

External emergency stop /

Servo onReset

Proportion controlTorque limit

Forward rotation stroke endReverse rotation stroke end

Analog torque limit10 V/max. current

Servo motor

Trouble

Zero speed

Limiting torque

Optionalbrake resistor

To be shut off when servo-on

signal switches off or alarm signal

is given.

Encodercable (option)

Communicationcable (option)

To prevent an electricshock, always connect theprotective earth (PE)terminal of theservo amplifierto theprotective earth of thecontrolbox.Do notreversethe diode's direction.Connectingit backwardscould causethe ampto malfunction so thatsignals arenot output and emergencystop andother safety circuitsare inoperable. Theemergency stopswitchmust be installed.When usinga regenerativebrake resistorin combinationwithan amplifierin the powerrangeof 350 A orless, alwaysremovetheleadfromacross theterminalsD andP. Whenusingan externalbrakeunitor a

regenerativebrakeresistorin combination with amplifiersin thepower rangeof 500A orhigher, disconnectthecableconnectionsto theinternal brakeresistor. Forfurtherdetails pleasereferto theMR-J2Smanual. CN1A,CN1B, CN2andCN3havethe same shape.Wrong connection ofthe connectors will lead toa fault.Make sure thatthe sumof current flowing toexternal relaysdoesnotexceed 80mA.If itexceeds80 mA, supplyinterfacepower from anexternalsource.Whenstarting operation, always switch on theexternal emergencystop signal (EMG) andforward/reverse rotationstrokeend signal (LSN/LSP)(normallyclosedcontacts).

Thepins withthe samesignalname are connectedin theservo amplifier. Thetrouble(ALM)signalis onwhenthereis noalarm,i.e.in thenormalstate. When thesignalis switchedoff (atoccurence ofan alarm),theoutputof thecontrollershouldbe stoppedby thesequence program. Onlyfor motors withelectomagnetic brake. This lengthappliesto the command pulsetraininputin the differentiallinedriversystem. The lenghtis 2 m orlessin theopencollectorsystem.

Powersupply

3 ~ 200230 V AC1~ 230 V AC



SERVO AMPLIFIERS

BASICS

MR-J2S-A Position Control Mode/ Connection to AD75P (position servo, absolute)

+ 24

24GFG

0

1

2

3

4

5

6

7

COM

8

9

A

B

C

D

E

F

COM

600mA

A1S62PN

A1SHCPU

A1SX80

A1SY80

A1SD75-P

0

1

2

3

4

5

6

7

COM1

8

9

AB

COM2

11 D OG

12 FLS

13 RLS

14 STOP

15 CHG

16 START

35 C OM

COM

COM

COM

36

+ +

7 RDY

8

26

INPS

5 CLEAR23

+

24

25

21

3

22

4

19

20

+

PGO

PULSE-F

PULSE-R

PLSCOM

PLSCOM

13

1020

COM

3VDD

4ABSbit0

ABSbit1

ABSbusy

19

6

18ALM

3VDD

15EMG

3VDD

16LSP

17LSN

SGSG

MR-J2S-ACN1B

CN1A

5SON

8ABSM

9ABSR

14RES

9COM

19RD

18INP

14RES

8CR

10SG

20SG

5LZ

15LZR

13PG

3PP

12NG

2NP

1LG

Geh.SD

Electromagneticbrake output

Near point signal


ABS data bit 0

ABS data bit 1/zero speed

Readying to send data/limiting torque

Trouble

Alarm reset

Emergency stop

Servo ON

Home position return

Operation mode I

Operation mode II

Position start

Position stop

JOG+JOG

Upper limit

Lower limit

Servo ON

ABS tranfer mode

ABS request

Alarm reset

Servo alarm

ABS communication error

ABS checksum error

Ready

Positioning complete

Fordog typehomepositionreturn. Donot connect whenhomeposition returnis ofthe data set type. Startingup whenthe servomotor is abovethe zerosignalcauses theA1SD75(AD75)deviation clearsignalto be output. Therefore, do notwire theMR-J2-Superclear signal to theA1SD75 (AD75) side,but to the

sequenceroutputunit. Theelectromagnetic brake output should be controlledvia a relayconnected to theprogrammablecontroller output.

Usethe differential linedriver system for pulse input. Do notuse thethe opencollector system. To reinforcenoise suppression,connectLG andpulse output COM.



BASICS

SERVO AMPLIFIERS

MR-J2S-A Speed Control Mode

COM

EMG

VDD

SP1

SON

COM

SG

RES

ALM

ZSP

TLC

P15R

VC

LG

TLA

SD

RD

SA

SG

SP2 4

ST1 3

ST2 14

LSP

LSN

13

Geh.

9

15

3

8

5

13

10

14

18

19

6

11

2

1

12

Geh.

19

18

20

7 MO1

8 LG

9 MO2

16

17

LG

SD

CN1A

CN2

CN3

CN1B

CN310k

10k

17

7

16

6

15

5

1

14

4

Geh.

LBR

LB

LAR

LA

LZR

LZ

LG

OP

P15R

SD

CN1A

CN1B

RA1

P

D

C

L21 PE

L11 PE

L3 WL3

L2 VL2

L1TE1

TE2

UL1 I>

I>

I>

SG

SG

10

20

M

Encoder

MR-J2S- A

A

A

RA2

RA3

RA2

RA3

RA5

RA4

24V DC

EMGB2

B1

2 m

RS232: 15 m

RS422: 30 m

10 m

2 m

To be shut off when servo-onsignal switches off or alarm signalis given.

PC

Servo motor

Optionalbrake resistor

Powersupply

3 ~ 200230 V AC1~ 230 V AC


/

/

/

/

/

/

//

Make up a sequence whichswitches off the MC at alarm

occurence or emergency stop.

External emergency stop /

Servo onReset

Speed selection 2Forward rotation startReverse rotation start

Forward rotation stroke end

Reverse rotation stroke end

Trouble

Zero speed

Limiting torque

Analog torque limit

10 V/max. current

Analog speed command10 V/max. current

Speed selection 1

Ready

Speed reached

Monitor outputMax. +1 mA meterreading in both directions

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control commonEncoder Z-phase pulse (open collector)

Encoder

cable (option)

Communicationcable (option)

To prevent an electricshock, always connect theprotective earth (PE)terminal of theservo amplifierto theprotective earth of thecontrolbox.Do notreversethe diode's direction.Connectingit backwardscould causethe ampto malfunction so thatsignals arenot output and emergencystop andother safety circuitsare inoperable. Theemergency stopswitchmust be installed.When usinga regenerativebrake resistorin combinationwithan amplifierin the powerrangeof 350 A orless, alwaysremovetheleadfromacross theterminalsD andP. Whenusingan externalbrakeunitor a

regenerativebrakeresistorin combination with amplifiersin thepower rangeof 500A orhigher, disconnectthecableconnectionsto theinternal brakeresistor. Forfurtherdetails pleasereferto theMR-J2Smanual. CN1A,CN1B, CN2andCN3havethe same shape.Wrong connection ofthe connectors will lead toa fault.Make sure thatthe sumof current flowing toexternal relaysdoesnotexceed 80mA.If itexceeds80 mA, supplyinterfacepower from anexternalsource.Whenstarting operation, always switch on theexternal emergencystop signal (EMG) andforward/reverse rotationstrokeend signal (LSN/LSP)(normallyclosedcontacts). Thepins withthe samesignalname are connectedin theservo amplifier. Thetrouble(ALM) signalis onwhenthereis noalarm,i.e.in thenormalstate. When thesignalis switchedoff (atoccurenceof analarm), theoutputof thecontroller shouldbe stoppedby thesequenceprogram. Onlyfor motors withelectomagnetic brake. TLAcanbe used bysettinganyof parameters No.43 to48 tomakeTL available.



SERVO AMPLIFIERS

BASICS

MR-J2S-A Torque Control Mode

COM

EMG

VDD

SP1

SON

COM

SG

RES

ALM

ZSP

VLC

P15R

TC

LG

VLA

SD

RD

SA

SG

SP2 4

RS1 3

RS2 14

13SGGeh.SG

9

15

3

8

5

13

10

14

18

19

6

11

12

1

2

Geh.

19

18

20

7 MO1

9 LG

8 MO2

LG10SD20

mel servo gb

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