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melservo j2 - ServoStar.ru

1. when an alarm has been triggered or after an emergency stop S Servo amp HC MF m MR J2 A series motor NFB MC Zw ADRESSE NC qM p pem TE TO ower SU c Pply 5 V 3 phase 200V AC o WC PE EE dL gt C L21 CN2 Type 3 ground or above decem E Optional regeneration unit ju a 20 1 P5 4b o Oe i EQUI eM MEME CH oe EMG Disconnect 24 Volts When connecting the optional l during servo off or regeneration unit always dis D 1 EE E an alarm connect between P and D NS Connecting the optional unit E AN when P and D are connected 20 P5 EE could damage the servo amp CN1A 12 LG E COM 9 AE OPC 11 18 PS EE 7 P59 7 P5 BP 8 Lu PG 13 2 LG i i 8 LGI 8 LG NP 2 1 ot NG 12 7 MR
2. L L _ 30 1 18 _ L154 2 13 L9 1 54 6 0 24 2 5 0 10 x Ground terminal M3 screw a opposite A Ground terminal T E C 2 8 e P puc E el Dem 8 o oS re e 1 V ring 5 T Brake lead note 4 4 94 5 0 18 o VCTF 2 0 5 19 685 inch AWG 16 0 157inch round crimped terminal with tip insulation Blue B1 B2 Power supply lead VCTF 3 1 25 19 685 inch Encoder cable 0 3m 11 8 inch AWG16 0 157inch round With 172169 9 connector crimped terminal made by AMP with tip insulation Red U phase White V phase Black W phase Model Senseo SEU ERE Green ground 106 4 17 HA FFO053 B 2123 2 PAs 123 4 84 APSE GI 158 6 22 gt HA FF23 B HA FF33 B L 30 1 18 8 0 32 3 0 12 76 3 00 39 1 54 25 0 98 i ax Oyen i C 16 0 63 Ground terminal A 2 a 4
3. E ge br TE loso Optional regeneration unit MO Disconnect 2 Vous When connecting the optional n C l during servo off or an regeneration unit always dis alarm connect between P and D D Connecting the optional unit Oi esc a z when P and D are connected could damage the servo amp CN1A COM 9 OPC 11 PRSTE ZIRS PP 3 PG 13 8 LG 8 LG NP 2 NG 12 1 MRI 1 MR Speed selection 1 L 55o SP1 8 SG 10 2 MRR 2 MRR Preparations complete Bt caseus zr uu RD 19 E OG 20 4 MD 4 MD 10 meters 32 81 ft max Encoder Z phase pulse GE mdr mimi Dd 3 differential line driver enc rt LZ 5 9 MDRI 5 MDR Encoder A phase pulse x LAR ES differential line driver Cr LA 6 3 BT 3 BT mm LAR 16 Encoder B phase pulse differential line driver t LB Hu 9 SHD 9 SHD ea eph LBR 17 Control common S LG 1 6 CONT 6 CONT Encoder Z phase pulse OP 14 Connect the blue wire when the cable is open collector 4 i lt 7 P15R 4 10 to 30 meters 32 81 to 98 43 ft long MCSF SD PLATE series motor 2 meters 6 56 ft max Personal computer sO U D Microsoft Windows V vO B CN1B N Note 3 Extern
4. Control mode regeneration Function Electronic gear Electronic gear In position Position control mA option selection selection 1 Auto tuning Numerator Denominator range gain 1 P 0 0 P O P 0 2 P 01 3 P 014 P 0 5 P 0 6 l Speed decelera Speed accelera Internal speed Internal speed Internal speed Position acceleration decel S time constant tion time tion time command 3 command 2 command 1 eration time smoothing P 3 P l 2 P P mae P 0 9 P 0 8 P Di Torque com Communications baud rate Analog monitor Status display Parameter entry mand time Spare selection alarm history clear output selection prohibition P l 4 P ES P 116 P NIE E 1 8 P I9 Note Press the SET button to display actual data in status display mode 28 29 Setup and Testing A complete lineup of features to make setup easy User friendly from the way you turn on the power to how connection checks and parameter settings are performed Turning the power on and displaying the present status Approximately five seconds after you turn the power on the sta tus display mode screen appears You can display the desired operating parameter by pressing the UP or DOWN button Turn the power on y Initial state lt C Position control mode selec tion display amr r Speed control mode selection display u Torque control mode selection display Setting parameters Basic parameters are se
5. MES RS 232C S a 2 2 vO m P DET MR J2HBUSL M A cable wo M c le unit LERAI ta be PEC ED Cable clamp oe Personal pe Type 3 ground or above computer running ER Microsoft E Windows po ES Ei A l I DC24V EMG x S H Pis CJ p mue Cut off by turning the servo on ignal off or b l ignal CN Sgisfortyanaem sone MEME LII external power supply 0 oad oad 20 P5 i Electromag EMG Note 8 12 LG i l l netic brake Monitor output 10 P5 id tal 5 meters Maximum 1mA total 3 LG f 1 if 16 41 ft max Double oscillation 18 Ps 4 St 4 10 V output 2lLG i R 7 MR L3 mm C 17 MRR 7 i A 6MD i LA Encoder Note 6 T6MDR 14 B 1 t E 9 BAT 3 illa h T i G INHSD N MR J2HBUS A Dele aad i M 2 meters 6 56 ft max Connect the blue wire when the cable is 10 30 meters 32 81 to 98 43 ft long MR J2HBUS d On the servo bus terminal always insert the terminating connector MR A TM into CN1B Note 2 Note 2 Explanation of terminals Terminal block Signal Abbreviation Terminal block Li L2 L3 Description of function application Connect to a 3
6. Servo amp Specifications Servo amp model MR J2 101A 20A1 40A1 10A 100A 200A 350A 20A 40A 60A 70A Servo amp Power supply Voltage frequency note Permissible voltage fluctuation 3 phase 200 to 230V AC 50 60Hz 1 phase 100 to 120V AC 50 60Hz 3 phase 170 to 253V AC 50 60Hz 1 phase 85 to 127V AC 50 60Hz Permissible frequency fluctuation 5 max Control system Speed frequency response Safety features Sinusoidal PWM control current control system 250Hz or more Excess current shutdown regeneration excess voltage shutdown excess load shutdown electronic thermal servomotor overheat protection encoder error protection regeneration error protection insufficient voltage sudden power outage protection excess speed protection excess error protection Torque limit input O to 10V DC maximum torque Maximum input pulse frequency 400 kpps when using differential receiver 200 kpps when using open collector POSION Positioning feedback pulse Resolution per servomotor rotation see Speed position encoder in the servomotor specifications bp Command pulse multiple Electronic gear A B multiple A B 1 32767 1 50 A B 50 SEES Positioning complete width setting O to 10000 pulses Excess error 80k pulses Speed control range External soeed 1 1000 internal soeed 1 5000 spese Speed command input Oto 10V DC maximum
7. Variable dimensions Model L 81 5 3 21 HC MF053 B 1095 4 30 gt 96 5 3 80 Ets ve en 124 5 4 90 gt HC MF23 B HC MF43 B 2 L 30 1 O T 60 2 36 n 7 0 28 43 0 12 E 4 95 8 0 23 8 o9 N LO es ej L i g SY E 7 7 5 ES P 1 Q z C9 2 S p Sy ex ed 2 if a Lj 4 25 2 0 99 Lj XD xN Power supply lead 4 AWG19 11 8 inch AWG Brake lead note 4 16 0 157 inch round crimped terminal with tip insulation 2 0 32 11 8 inch AWG 16 0 157 inch round crimped terminal with tip insulation Blue B1 B2 Red U phase White V phase Black W phase Green Yellow ground Encoder cable 11 8 inch With 172169 9 connector made by AMP Model Variable ed a 99 5 3 92 HC MF23 B lt 131 5 5 18 gt 124 5 4 90 HC MF43 B 156 5 6 16 gt Notes 1 When mounting the servomotor horizontally we recommend encoder connector to be mounted downward 2 Use a friction coupling to fasten the load 3 Dimensions inside lt gt are for models with electromagnetic brakes 4 Only for models wi
8. T p d Fj Hra LL inum Pu meo m a nae Features ii h oa i Works on computers running Windows 3 1 or Windows m cn Led Line 95 Can be setup using a personal computer instead of the M Ex parameter unit Requires at least 4 MB of memory and queo m i JS 1 MB of hard disk space Uses a serial port iam d L na ru mi iy o 4 2 Provides numerous monitor functions Provides graph 7 1 display function that enables display of servomotor status upon input signal triggers such as command pulses accu mulated pulses and r min 3 Run Tests from a Personal Computer Allows servo motors to be tested easily from a personal computer Specifications Items in parentheses do not work with the MR J2 Specifications Items in parentheses do not work with the MR J2 Parameter Description Monitors Batch display fast display and graph display Alarms Alarm display alarm history display of data that generated alarm and pre alarm graph display BIEN DI DO display display of reason motor is not running display of recovery time display of cumulative time power is on g switch number display tuning data display ABS data display and automatic VC offset display nete 2 Parameters Data setting list displays display of change lists display of detailed information feed system selection and device setting note 9 JOG operation positioning operation operation without motor forced DO
9. HC SF RF and UF series Plug made by DDk Backshell made by DDK MS3106A10SL 4S D190 CE02 20BS S E Straight cable clamp Encoder cable made by DDK HC SF RF and UF seri note MR ENCNS CE3057 12A 3 D265 an Series Connect for amp 3M or similar product O 10120 3000VF connector 10320 52F0 008 shell kit O Note The encoder cable is not oil resistant Ordering information for customers Servomotor power connectors The motors are not provided with power connectors Please order options from us or choose from among the following recom mended products To order the following recommended products customers should contact the relevant manufacturer directly Straight connector Right angle connector raig ig g OTA REAT Plug made by DDK Cable clamp made by DDK Cable Cable Type Model Cable diameter Model Plug clamp Cable Plug clamp Cable 9 5 13 CE3057 12A 2 D265 igh E05 6A22 23SD B B Satisfy IP65 Straight connector CE05 6 3S SS 125 16 CE3057 12A1 HC SF52 102 152 EN standards 9 5 13 CE3057 12A 2 HC RF103 153 203 Right angle connector CE05 6A22 23SD B BSS 125 16 CE3057 12Ad Straight connector MS3106B22 23S 15 9 MS 3057 12A Right angle connector MS3108B22 23S Inner diameter of bushing MS 3057 12A 13 15 5 CE3057 16A 2 D265 Satisfy IP65 15 19 1 CE3057 16A 1 D265 EN standards 13 15 5 CE3057 16A 2 D265 HC SF202 352 Right an
10. Overload 2 Is activated when an overload is detected in the motor or servo amp Is activated when the difference between the input pulse and return pulse is detected to have exceeded 80k pulses when operating in position control mode Watchdog Is activated when the CPU fails Excess error Battery disconnection error Is activated when the battery wire connected to the encoder becomes disconnected the ABS data is not lost 96 Origin set error Is activated when the origin is not set following the input of a CR clear signal in an absolute system Over regeneration warning Regenerative resistor load has reached 85 of the alarm level Overload warning Overload has reached 85 of the alarm level ABS data counter warning Error in the absolute encoder pulse Parameter warning Is activated when the unit reaches 85 of the overload alarm level Servo emergency stop External emergency stop signal is released Battery warning Is activated when the battery s voltage falls Main circuit off warning Activates when the main circuit voltage P N is under 215V with the SERVO ON SON signal at ON Notes 1 The state under which regeneration error alarm 30 and overload 1 and 2 alarms 50 and 51 were activated is maintained inside the controller after the safety circuit is activated Memory contents are cleared when the control voltage is turned off but maintained by turning the RES terminal on 2 Resetti
11. HC MF HA FF HC SF1000 r min Motor model 13B 23B 43B 73B 138 23B 33B 43B 81B 1218 201B 301B Type Spring action safety brake Spring action safety brake Spring action safety brake Rated voltage DC24V 9 96 DC24V 95 DC24V 595 Static friction torque N m 0 32 1 3 1 3 Rated current A at 20 C 0 26 0 33 0 33 Coil resistance Q at 20 C 91 73 73 Power consumption W at 20 C 6 3 7 9 7 9 Permissible N m time 5 6 22 22 braking volume N m hour 56 220 Brake life note 1 20000 20000 Brake volume per braking action AN m 15N m MO el HC SF2000 r min HC SF3000 r min HC RF HC UF2000 r min HC UF3000 r min 52B 102B 152B 202B 352B 53B 103B 153B 203B 353B 103B 153B 203B 72B 152B 202B 13B 23B 43B 73B Type Spring action safety brake Spring action safety brake Spring action safety brake Spring action safety brake Spring action safety brake Rated voltage DC24V 4 96 DC24V 96 DC24V 96 DC24V 9 96 DC24V 496 Static friction torque N m 8 3 8 3 8 3 43 1 43 1 8 3 8 3 8 3 43 1 43 1 6 8 6 8 6 8 8 3 8 3 43 1 0 32 1 8 des 2 4 Rated current A at 20 C 0 8 0 8 0 8 1 4 1 4 0 8 0 8 0 8 1 4 1 4 0 8 0 8 0 8 0 8 0 8 1 4 0 26 0 33 0 33 0 42 Coil resistance Q at 20 C 29 29 29 16 8 16 8 29 29 29 16 8 16 8 30 30 30 29 29 16 8 91 73 73 57 Power consumption W at 20 C 19 19 19 34 34 19 19 19 34 34 19 19 19 19 19 34 6 3 7 9 7 9 10 Permissible N m time 400 400 400 4500 4500 400 4
12. LSP 16 d E 2 Reverse stroke end 69 SN I 12 XD i H RD em e SG 10 2 RXD SD DESAIN Z SG 20 1 LG GND gt O LOO O82 m gt jl LG i GND Disconnect 24 Volts dur 10 meters 32 81 ft max 5 LG lg a RS ing servo off or an alarm Do not connect when using gt VDD 3 15 LG CS Ti an external power supply Notes 1 and 2 COM 13 BE meters e Note 6 eM ILIO e gt RAT e ALM 18 16 41 ft max H ER Zero speed detection e e RA e ZSP 19 lees Monitor output Torque limit in effect e 6 Tee 6 EE ed i 10 V output l 10 meters 32 81 ft max Upper limit setting AA AN Anal aco O Dn rn t vo T ii Ng E nalog torque limit j bf v EG V maximum torque in T m m L 12 Wc 10k this wiring diagram d LG 1 14 MO2 d i i A 10 V maximum SD PLATE dms i t i orque P EZ em Es m m 2 meters 6 56 ft max PLATE SD s la eles SL 2 meters 6 56 ft max Connect the blue wire when the cable is 10 to 30 meters 32 81 to 98 43 ft long Notes 1 Do not reverse the diode s direction Connecting it backwards could cause the amp to malfunction so that signals are not output and emergency stop and other safety circuits are inoperable Make sure that the sum of current flowing to external relays does not exceed 80 mA If it exceeds 80 mA supply interface power from an external source Always connect an EMG external emergency stop b contact The unit cannot be operated unle
13. 0 24 0 98 0 20 0 14 Depth 20mm 0 79 inch 5 30 235 5 20 3 3 M4 0 028 screws s 200 400 520 146 4 18 0 93 0 20 0 79 0 12 0 12 Depth 15mm 0 59 inch 36D a Ta co ees e 25 5 35 M5 0 035 screws E e ban 0 24 1 57 1 28 0 24 0 98 0 20 0 14 Depth 20mm 0 79 inch NETS nan note D cut 50 1 00W R HA FF series Variable dimension table WEIN 30 1 18 Unit mm inch Motor ere TUS QK D cut 50 100W zd dauu ua HC MF 50 100 25 0 98 20 5 0 81 a EE HC UF 100 25 0 98 17 5 0 69 ERES note 1 _ 98h6 Been 0 31 g8h6 0 31 Unit mm inch HC SF RF UF2000r min series R s 3 Unit h Key way Variable dimension table oai Q 8 0 31 2o35 36 1 42 5 0 20 4 0 16 05 10 0 39 2o36 55 2 17 5 0 20 5 0 20 92 B1031 os 28 098 510 20 40 16 37 4 16 ME 0096 screws ES 50 1 97 6 0 24 D 42 1 65 3 0 12 3 5 0 14 02 0 79 ae 50 1 97 8 0 31 boa 45 1 77 5 0 20 4 0 16 9 55 2 17 j 0 39 8 030 2 17 c1 c1 oo 0 20 5 0 20 note 2 Notes 1 Cannot be used in applications that involve high frequency We make no guarantees regarding shaft damage caused by rattling of keys so use a friction coupling illegible ring or the like 2 Keys are not installed Keys are installed by the purchaser 25 3
14. 1 MR 1 MR Speed selection 1 Ts O SP1 8 SG 10 17 MRR m 2 MRR 2 MRR Ready e e P o e RD 19 Preparations complete eo S SA 18 6 MD 4 MD 4 MD SG 20 l TE 10 meters 32 81 ft max 16 MDR 5 MDR 5 MDR Encoder Z phase pulse differential line driver a LZ 5 i em mum LZ 15 9 BAT i og S BT 3 BT Encoder A phase pulse differential line driver 1 LA 6 tee LAR 16 1 LG 9 SHD 9 SHD j ial li E ms LB re Encoder B phase pulse differential line driver i l a i a T ae 17 mae SD i 6 coNT 6 CONT SC UD ES LS Ee 1 Connect the blue wire Encoder Z phase pulse open collector lt OP 14 when the cable is10 to 30 HC SF RF meters 32 81 to 98 43 ft series motor p some SEC o mi oe U 2 meters 6 56 ft max Personal computer n c Microsof Windows vO V pU UE KN Note 3 External emergency stop lt lt a EMG 15 WO Servoon 4 SON 5 PE E Reset MY LLL RES 14 LIF Speed selection 2 gem Sp2 7 PE Q R A alk dis hx Ro ME ST1 8 CN3 RS 232C Type 3 ground or above Note FCO e 2 Seay Sa B B1 Forward stroke end 9 LSP 16 12 TXD RD gt EE Reverse stroke end e LSN 17 2 RXD SD DC24V 2 Md SG 10 1 L GND 5 SG 20 11 LG GND Disconnect 24 Volts dur a 5I Le 1g A a RS ing servo off or an alarm CN2 aan a ie Do not connect when using an external piesa ft pmax VDD 3 15 LG CS 20 P5 H 1 power
15. p Model Configurations J Iena eS Ee EE 40 OOE e E DS Specifications and Characteristics 11 Safety Pe Alike Seay cs eee cea 41 Options and Peripheral Equipment 55 Motor Dimensions se mmm 17 Periplaeral Equipment 2 43 Command Unit 775I 37 Pecali pecilications T ZS Setting and Two Segment Display 44 Command Maipo eT 58 Peripheral Equipment 5 27 Specifications and Display Messages 45 Using Personal Computers 59 Operon oea a aa 29 Standard Wiring Diagram and Terminal Cautions Concerne Use S 61 SewWwp dnd MESO cn asa Eo Ibcce uoa m MM 46 Exampler lescleCiOm ec 62 Main Features Enhanced safety and ability to withstand environmental hazards Bl Satisfies overseas industrial standards eThe units in this series can be used in confidence knowing they are in conformity with overseas industrial standards eAn EMC filter optional is available for meeting EN standard EMC directives The servo amps meet low voltage directives LVD in their standard configuration as do the HC SF and HC RF servomotors HC MF and HA FF servomotors that conform to the LVD are also available eUL cUL standards Under the UL CSA agreement products certified under cUL standards are considered equivalent to products certified under CSA standards The servo amps meet these standards in their standard config uration and servomotors that do so are also available E IP65 is standard equipme
16. 1 1000 Standard product 2 2000 None Japanese 3 3000 compatibility Meet EN and Note Make a specific enquiry regarding UE UL cULstandard whether specially developed products meet standards Note The standard specifications of the HC SF HC RF and HC UF model series meet EN and UL cUL standards SERV MOTORS DM ME FF SF RF UF Servomotors High torque in Super Compact Dimensions eSatisfies global industrial standards IP65 is standard equipment SF RF and UF motors Absolute encoder is standard equipment eUltra compact design Specifications and Characteristics HC MF series servomotor specifications Servomotor series HC MF series low A ultra low inertia Servomotor model HC MFO53 MF13 MF23 MF43 MF73 Specifications Servo amp model MR J2 10A A1 B C MR J2 US MR J2 UIDI MR J2 uum ILU ILLNM MN CAMS SNL NUNC ONE a CREME NN Maximum torque Nim oz n memmen 86 86 80 90 1 Trad esee 1 E 2 E88 88 A oV duum I m ures m preme ise pec mectecton Resolution per encoder servomotor rotation 8192 5 P Can handle up to 32768 P rev with special specifications The amp is made to order Totally Enclosed non ventilated protection degree IP44 note 6 Ambient temperature O to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing Envirenment Ambient humidity 80 RH max non condensing storage 90 RH max no
17. 4 axes els F 3 Hh Circular interpolation 2 axes Ru 8 PTP control speed control synchronous control SHE Control mode fixed distance feed speed amp position control E Sg CP control speed switch control P A ME E Automatic trapezoid S acceleration deceleration d B i PAUSE L 460 18 11 n 30 ho6 4 17 9 Maximum inputs amp outputs 512 1024 2048 B 480 18 90 ETE URS ual e Servo am External SUSI Aime Ae P Internal max 600W Unit mm inch AD75M All of the units have been made more compact 1 slot for 1 to 3 axes And they ll D75M positioning unit A1SD75M are compatible with the A and QnA series PLC s 42 047 111 4 37 A high precision highly functional positioning unit that uses a 32 bit RISC ini chip AD75M1 AD75M2 AD75M3 PEE A1SD75M1 A1SD75M2 A1SD75M3 Niners OD 1 2 simultaneous 3 simultaneous MIT oet sees 2 independent 3 independent m m MA DE 2 axes linear interpolation 2 axes linear interpolation is Ne Jis 2 axes circular interpolation 2 axes circular interpolation eee i i E A15D75M positioning unit Control mode PTP control locus control speed control speed position control Command mode Incremental absolute F3 Maximum number of output pulses 2147483648 A Positioning pattern 600 patterns shaft 100 patterns from ladder 5 npulloutput duy ponis ume AD75M A1S8D75M Acceleration deceleration patterns 4 automatic trapezoid S acceleration deceleration A Sr 6 5 Oa l
18. CN3 option Connects the unit to user s personal comput er enabling user to perform monitoring batch parameter entry and saving graph dis play and test operation Dedicated cables and setup software are available also Hm KMS D C AA KS Power factor X improvement reactor E FR BAL ore a Type 3 ground or above Goes on when the main circuit power supply E is on Do not plug unplug power lines when this light is on U V W ic Regeneration unit option C Install this unit as necessary in situa tions involving frequent regeneration and large load completion moments P Disconnect P and D when using this optional unit p HC MF servomotor and encoder Note When using a single phase AC230V power supply connect the supply to terminals L1 and L2 level L3 open 49 Features With built in positioning function Features eSettings such as positioning data target positions motor RPM and acceleration deceleration times can be set in a point table with the feel of parameters e You can position using DI O for simple programless positioning eAllows multi drop operation up to 32 axes using RS 485 serial communications eHighly responsive The servo motor starts running a maximum of 3 ms after the start signal is input System configuration Operate by external signal input Operate by serial communications This
19. complete meter set in position range Not output when the base is turned off Speed control mode Sbedsdedoni SP 8 Speed selection 1 signal input terminal Runs at parameter set speed DI 1 Speed SA 18 Speed attained signal output terminal When the motor rotation speed exceeds the command speed range of 20 r min the connection DO 4 attained between SA and SG is made Not output when the base or start signal is turned off Torque control mode Speed selection 1 Speed limit selection 1 signal input terminal Runs within the limitations of the parameter set speed when SPI and SG are short circuited Connector CN3 Factory settings Same for position speed and torque control modes ination Connector e eS I O Signal Abbreviation UD DG Description of function application category MO1 4 Analog Monitor output Monitor output signal terminal Analog output of the parameter set data MO2 14 output Monitor common LG STe Control common is used for monitor common Analog common Shield SD Plate Connect one end of shield wire 33 Signal Terminal Descriptions Connector CN1B Factory settings Same for position ABS method speed and torque control modes Abbreviation edd Description of function application I O category REL Driver s power output terminal for digital interface Supply power for the digital input output signal DI l DO I from external power sup power input
20. storage 15 to 70 C 5 to 158 F non freezing 80 RH max non condensing storage 90 RH max non condensing Ambient temperature Ambient humidity Environment Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust 1000 meters or less above sea level X 19 6 m s 2 G Y 19 6 m s 2 G 1 5 3 3 2 3 5 1 2 6 5 8 4 2 9 3 Elevation vibration note 4 Weight kg Ib Notes 1 The power facility capacity varies depending on the power supply s impedance 2 The figures for regeneration braking frequency indicate the permissible frequency when the motor alone decelerates to a stop from the rated rotation speed When load is applied regener ation braking frequency is 1 m 1 of the figure in the table m load s moment of inertia motor s moment of inertia When the rated rotation speed is exceeded braking frequency is in inverse proportion to the square of operating speed divided by rated speed When the operating rotation speed is frequently changing or when a continuous regeneration condition exists such as during vertical feed assess the regeneration heat W generated during operation and make sure that it does not exceed the permissible range 3 Contact Mitsubishi if the load motor of inertia ratio exceeds the figure in the table 4 The vibration direction is shown in this diagram YY i r Y HA FF series servomotor torque chara
21. 0 16 M3 screw T A m co 2 E A ES EI N l M A ES s RS V ring 5 E T P pem a EJ SU oo Encoder cable 0 3m O 11 8 inch With Powa oiee Mad Brake lead note 4 172169 9 connector z DR i made by AMP VCTF 3 1 25 19 685 inch AWG16 0 157inch round crimped terminal with tip insulation VCTF 2 0 5 19 685 inch AGW 16 0 157inchround crimped terminal with tip insulation Red U phase White V Blue B1 B2 phase Black W phase Green ground 2e 4 0 16 ES Or ole lt xo Model Variable dimensions A T L M4 0 03 Screw depth 15 0 59 131 5 16 HA FF23 B lt 168 6 61 o11h6 Section A A 148 5 83 HA FF33 B lt 186 7 32 gt Notes 1 When mounting the servomotor horizontally we recommend encoder connector to be mounted downward 2 Use a friction coupling to fasten the load 3 Dimensions inside lt gt are for models with electromagnetic brakes 4 Only for models with electromagnetic brakes 19 Motor Dimensions HA FF43 B HA FF63 B Unit mm inch L B 40 1
22. 0 67 12 0 47 11 6 0 46 MR RBSO 5 6 123 C Terminals for wiring 2 Weight C Terminals for wiring j Weight 128 5 04 ae TEI Ge Weight Weight wi e Type Weight Weight MR RB50 GA YRS kg Ib G4 ye kg Ib P MR RB12 0 5 13 P MR RBO32 1 22 Internal Optional regeneration unit T ical Servo amp regeneration RESINS MR RB12 MR RB032 resistance MR RBOS32 MR RB012 MR RB32 MR RB30 MR RB50 Value z MR J2 10A AI B None 30W E z z 40 MR J2 20A AI B 10W 30W 100W 40 MR J2 40A B 10W 30W 100W 40 MR J2 60A B 10W 30W 100W 40 MR J2 70A B 20W 30W 100W 300W 40 MR J2 100A B 20W 30W 100W 300W 40 MR J2 200A B 100W 300W 500W 13 MR J2 350A B 100W 300W 500W 18 Notes 1 When using the regeneration resistance option be sure to disconnect the servo amp s built in regeneration resis e e e short circuit wiring between Pand D Selection of peripheral equipment 2 Permissible watts in table differ from rated watts for regeneration resistance Electric wires no fuse circuit breakers magnetic contactors ip No fuse circuit Magnetic Electric wire size mm Power factor p breaker contactor LL tis UVW ees pe enhancing reactor MR J2 10A A1 B C 5A NF 30 2 FR BAL 0 AK MR J2 20A B C 5A NF 30 2 FR BAL 0 4K MR J2 40A B 20A1 C 10A NF 30 2 FR BAL 0 75K MR J2 60A B 40A1 C 15A NF 30 2 FR BAL 1 5K MR J2 70A B C 15A NF 30 2 FR BAL 1 5K MR J2 100A B C 15A NF 30 2 FR BAL 2 2
23. 200 kpps during interpolation operation 100 kpps s Program memory Built in 7 8 k step RAM E 20GM MELSEC F series com patible 1 axis position The FX 1PG can be expanded for up to 8 axis is available as FX sequencer special unit blocks The units can be used for simple positioning applica B FX 1PG 1 axis pulse output block tions 2 055 ing units 35mm 1 38 FX 1PG DIN rai deed mounting FX 1 GM 2 o groove Model ag FX 1PG FX 1GM ver Item Number of control axes k ES FX 1PG 1 axis pulse output block p FX 1GM pulse output block unit 57 1 Compatible sequencer Stand alone use FX2 FX2C FX2 FX2C series Command mode Incremental absolute Maximum number of output pulses 2 147 483 648 Maximum pulse frequency Open collector 100 kpps Program memory Communication with PLC 35 1 38 45 1 77 ll FX 1GM 1 axis positionning units M3 5 terminal Screw 4 05 5 0 22 mounting holes 35mm 1 38 width MELSERVO FX 1GM POWER 125 4 92 140 5 51 150 5 90 a 10 0 39 160 6 30 95 3 74 Unit mm inch Command Unit The following servo system controllers SSC are available for the MR J2 B series servo amps Choose the unit that best fits your oper ating objective
24. 58 10 0 39 __ nemo 2 ines WI 100 3 94 39 1 54 35 1 38 ees 25 0 98 _5 0 20 450 Ground terminal i M3 screw e A 1 A E a L oc 1 ees x ah eo a i 3E e p TA S NN zi V ring meo qe Hf 9 Pe 7 A Brake lead note 4 orf e NL le VCTF 2 0 5 19 685 inch AGW 4 99 0 35 e 1 6 ft With 172169 1 con O nector made by AMP 16 0 157inchround crimped terminal e ead with tip insulation ui Blue B1 B2 VCTF 3 1 25 19 685 inch AWG16 0 157inch round T crimped terminal with tip 5 0 20 5 insulation S SH Red U phase White V jee 00 phase Black W phase et i To ay i M5 0 04 Screw Model Variable dimensions depth 20 0 79 L E 0 16h6 0 63 155 6 10 Uu HA FF43 B 2 lt 192 7 56 gt Cross section A A 170 6 69 HA FF63 B 207 8 15 Notes 1 When mounting the servomotor horizontally we recommend encoder connector to be mounted downward 2 Use a friction coupling to fasten the load 3 Dimensions inside are for models with electromagnetic brakes 4 Only for models with electromagnetic brakes 20 Motor Dimensions e HC SF81 B Unit mm inch HC SF52 B HC SF152 B HC SF53 B HC SF153 B 4 99 0 35 mounting holes L 55 2 17 130 5 12 Use heaxagonal cap head bolts 12 0 47 3 0 12 50 1 97 Motor flange Brake direction U 30457B Po
25. 93 6 3 67 l E 2 8 0 09 34 5 1 36 Unit mm Cinch 58 Using Personal Computers ll Capacity selection software MRZJW3 MOTSZ A user friendly design facilitates selection of the optimum xara ed dgiupu en servo amp servomotor including brake and decelerator and ibsaussd pam 3 e ia optional regenerative devices when you enter constants into machine specific screens Bera cd twin WT des mm m 1 IB i T EN EThim am drr LI mod Tais nmang g rsum PE Ao ds pom MON da er peje IE ia ee rar arma Hi n Features Sepp hp amen M sra 1 Windows 3 1 and Windows 95 note D Compatible Regia an maki aim kh Pura Works on computers running Windows 3 1 or Windows PRETEREA hit aco 95 Requires at least 4 MB of memory and 1 MB of hard disk space Herm ee BOGE negra lage ae Ae pe 2 Provides numerous structural options Handles ball Ld Re ad screws rack and pinions roll feeds rotating tables dol tur m lies elevators conveyors and other direct inertial input Tex devices 3 Easy to convert units It s easy to calculate and convert in MET Thea mirae mabra MEM SI MKS mass and inch pound units 1 cries Meee ee Peed mee dd t bays me wee Lee E Specifications Parameter Description Nine types Horizontal ball screws vertical ball screws rack and pinions roll feeds rotating tables dollies Tp ox SITE Set meten SIAN eme elevators conveyors and other d
26. ALM DO1 ap ASR En VLC Note OP Used for position adjustment of encoder s Z phase pulse origin DOGU end Test operation mode Setup and Testing The operation of the servo amp and servomotor can be checked before wiring the signal wires e Test operation mode 1 Operation without commands The motor can be operated even without speed position com mands start signals or other external signals This enables users to test the servo alone prior to the fabrication of a control panel and to confirm the machine s operation 1 JOG operation The motor will run as long as the UP or DOWN button is being pressed Turn the power on Press the MODE button once to display the diagnostic mode screen Press the UP button three times to display the test operation JOG screen Press the SET button for 2 seconds On the test operation screen the buttons have the following functions MODE Used to change the test operation status display screen UP While this button is being pressed the motor rotates 200 r min in the forward CCW direction DOWN While this button is being pressed the motor rotates 200 r min in the forward CW direction Press the SET button for 2 seconds Exit test operation mode 2 Positioning operation The motor moves just the number of pulses set and is positioned This is an easy way to check the amount of machine movement Positioning operation can only be performed
27. Gear load axis a Set electronic gear pulse multiplication denominator and numerator Tepe eve 7 The following relationship is established between the multiplication setting and TE 32 a gt Ss go HE amouM hoRtnovethonp ress pups Total load inertial moment motor axis equivalent For conventional unit system g Ballscrewlead CMX JL Jit Jt2 Jis Jua 1 9 kg cm GD 4x J 7 6 kgf cm 8192 x Gear ratio CDV 7 Provisional motor selection Substituting the machine specifications given above into this equation Selection conditions HC MF23 200 W provisionally selected from 1 Load torque lt Rated motor torque CMX 8192 x 8 5 512 0 Iri Meno Oe ee 2 Load inertial moment lt 30 x motor inertial moment aM 4G 125 CE 8 Acceleration and deceleration torque OK if the ratio is between 1 50 and 50 Required motor torque during acceleration For conventional unit system CDV 2 2 Jc Jv x No B GDE GD x No b Input pulse string frequency fo during fast forward Dn 9 55 x 10 x Tpsa LS Veoh Uik 37500 x Tpsa TL 15 1 kgf cm Vo 30000 Required motor torque during deceleration i 100000 pps GD GDyy x No 60x A1 60 x 0 005 JL 4 J N 55 x x Tus JL Jm x No ee Sm Tma 37500 x Toss TL 10 3 kgf cm z 4 OK if fy is 200 kpps or less 9 55 x 10 x Tpsa The required motor torque during acceleration and deceleration Motor speed shal
28. Gila cE codes kE 4 z NO f eeii peene S zm L1 L2 L3 U VW CGOKOOKRO DC e Qnnnann eese PHA 00000000000 i Uum Ateodoo N Three ground PE terminals M4x0 7 0 03 Space required for heat radiation 35 40 mm 1 57 min Standard Wiring Diagram Position control operation Connection to AD75P A1SD75P position servo incremental Configure a sequence for switching off the MC when an alarm has been triggered or Servo amp HC MF HA FF after an emergency stop MB J2 WE NFB EE N J Power supply tp el UG e Log O 3 phase 200V AC d L2 VO Wa m LE EE L3 WO O ss PE lt oo EB C I
29. Rotation speed r min Rotation speed r min 14 Specifications and Characteristics HC RF series servomotor specifications Servomotor series HC HF series low inertia F Power facility capacity kVA note 1 l 3 5 Continuous char Rated output kW 2 0 acteristics Rated torque N m oz in 4 78 676 8 6 37 902 0 Maximum torque N m oz in 11 9 1685 0 15 9 2251 4 ete pee OJIN M C1 C1 Rated rotation speed r min 3000 Maximum rotation speed r min 4500 Permissible instantaneous rotation speed r min 5175 Power rate kW s We 5 Regeneration brak BDmegwmm pene s O eea O ase 5 times the servomotor s moment of inertia max note 3 Speed position encoder Hesolution per encoder servomotor rotation 16384 P rev Can handle up to 131072 P rev with special specifications The amp is made to order Attachments Encoder oil seal Structure Totally Enclosed non ventilated protection degree IP65 Ambient temperature O to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing l Ambient humidity 80 RH max non condensing storage 90 RH max non condensing SUUS Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Elevation vibration note 4 1000 meters or less above sea level X 9 8 m s 1 G Y 24 5 m s 2 5 G Weight kg Ib 3 9 8 7 5 0 11 1 6 2 13 8 Notes 1 The power facilit
30. a 1207512 e E E E 30 3 A 50 4 5 60 6 Continuous operating range Continuous operating range Continuous operating range O 0 0 0 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 Rotation speed r min Rotation speed r min Rotation speed r min 15 Specifications and Characteristics HC UF series servomotor specifications Servomotor series HC UF2000 r min series flat model medium capacity HC UF3000r min series flat model low capacity Servomotor model HC UF72 B UET52 B UF202 B UF13 B UF23 B UF43 B UES characteristics Rated torque zm ozin 3 58 506 9 7 16 1013 8 9 55 1352 3 0 32 45 3 0 64 90 6 2 4 339 8 4500 Permissible instantaneous rotation speed r min 3450 5175 Power rate kW s 12 3 23 2 23 9 15 5 19 2 ATT 9 66 ee Maximum current A With no options Tow 6 ms 6 410 Regeneration MR RBO32 30 W 1230 braking MR RB12 100 W 4100 m m frequency items min MR RB32 300W p note 2 MR RB30 300 W MR RB50 500 W Moment of inertia fig J vello s x m EA 22 1 m 1 902 NUS 8 0 066 0 074 I 0 241 0 823 99 9065912 7 5 90 6 10 ures inside EE indicate units with B 56 8 67 8 120 8 131 7 209 255 7 0 361 0 404 1 315 1 762 1 994 2 445 32 2 33 3 Recommended load motor inertia ratio 15 times the servomotor s moment of inertia max note 3 Encoder Resolution per servomotor revolution 16384 P re
31. connectors x id Y Ui HC MF series servomotor torque characteristics HC MF053 B HC MF13 B HC MF23 B 84 0 6 MA mL 10 280 2 0 HE NE ile N gt N Peak operating range s N Z Peak operating 2 Si Peak 20 4135158 9 56 D eak operating range 5 105 118 D 210 2 5 range oO e o 5 o ST 6 o 5 m W4 us 140 4 1 0 28 02 Continuous operating range es 025 j SC 70 0 5 l Continuous operating range Continuous operating range 1000 2000 3000 40004500 0 0 0 0 siot See ER CT 1000 2000 3000 40004500 1000 2000 3000 40004500 Rotation speed r min Rotation speed r min HC MF43 B HC MF73 B 59g 1120 8 0 iS a N Z N D Z Peak operating range 15420 4 9 3 Peak operati 1840 Eso dui E 7 range N B z Oo o E 0 2 560 4 40 N s 140 7 1 EST 280 20 gt S e EE Continuous operating range Remarks Broken lines shows peak operating range 0 0 0 0 paired with 100V single phased amplifier 1000 2000 3000 40004500 1000 2000 3000 40004500 Rotation speed r min Rotation speed r min 11 Specifications and Characteristics HA FF series servomotor specifications Servomotor series HA FF series x capacity low inertia Servomotor model HA FF0
32. digits is complete Note The mode cannot be changed by pressing the MODE button at this point To change modes press the UP or DOWN button and after reaching Set the first of the five the parameter display screen press the MODE digits button om x bonus Press the SET button The parameter setting for the first of the 5 digits is Eo e The parameter setting flashes indicating that the setting can be changed E 7 The parameter setting flashes The parameter setting stops flashing the last 4 digits is ELH Set the last four digits The parameter setting the setting can be l changed The parameter setting flashes The parameter setting displayed flashes indicating that stops flashing Press the UP or DOWN button to change the value Press the SET button Parameter setting for the first digit is complete Note The mode cannot be changed by pressing the MODE button at this point To change modes press the UP or DOWN button and after reaching the parameter display screen press the MODE button External signal display External input output signals on off status is displayed in seg ments The upper portion of each segment s vertical line indi cates the input signal while the lower portion indicates the out put signal CNIB CNIB CNIA CNIB CNIB CNIB CNIB pin 3 pin 7 pin 3 pin 14 pin 5 pin 17 pin 15 Pm B X X 7 CNIB Dp pin 16 pin 9 Bloc RD INP TLC
33. errors etc eConnecting wall out let onto the motor s input terminal U V W will burn out the motor Connect the motor to the amp s output terminal U V W eMatch the phase of the motor input terminal U V W to the output terminal U V W before connecting If they are not the same motor control cannot be performed eIn position control mode connect the stroke end signal LSP LSN to the common terminal SG If it is not connected the motor will not rotate Factory settings e All possible motor and amp combinations are predetermined Confirm the model of the motor and amp to be used before installation ePosition speed and torque control modes are selected with parameter 0 The factory setting is position control mode For speed operation change this setting eWhen using the optional regeneration unit change parameter 0 The factory setting is for no optional regeneration unit Therefore if this parameter is not changed the unit s capacity will not be increased Operation eWhen a magnetic contactor MC is installed on the amp s pri mary side do not perform frequent starts and stops with the MC Doing so could cause the amp to fail eWhen an error occurs the amp s safety features are activated halting output and the dynamic brake instantly stops the motor If free run is required contact Mitsubishi about solu tions involving servo amps where the dynamic brake is not activated eWhen using a motor with a
34. for heat radiation J 40mm 1 58 min ii MN 00000 e MR J2 40A1 40A B C 60A B C KONEC 2 nu Soo gt Terminal wiring diagram 6 0 24 mounting hole LESS eA Space required for heat with terminal cover open A S 4 radiation 40 mm 1 57 min Es umi Display setting MITSUBISHI eS section cover EE X lt o HHHHH OREN zi NI N ge ele j S i oooddg Name plate d 88 i j N Terminal block A o ME ORTU BA SRL dBB codes Terminal f LLB JOC i cover Vw zl i 200 A CA d Codes XN XNX S Three ground PE EN _ IN olc Plam Seance Space required for heat radiation l 40 mm 1 57 min IE I 000 m e MR J2 70A B C 100A B C 70 2 76 70 2 76 T 190 7 48 D 22 0 87 er Terminal wiring diagram o 6 0 24 mounting hole 4 2 Space required for heat l l Cael 4 radiation 40 mm 1 57 min gelu evade cover epen M VO MITSUBISHI Display setting e MITSUBISHI N section cover 2 OR
35. n F U Load inertia Position within Peak load Effective load Regeneration ratio lt ABS counter one rotation lt factor lt factor lt load factor E dic LIS Cly b J L External signal DO forced Test operation Test operation Test operation Software mA Sequence display output JOG positioning without motor version L Diagnostic ri Jo F dio o n TIS TII TISITI2 TIST 3 JAJO Software VC offset lt version H I MODE H O 0 0OJ0 button Parameter error number E Em Most recent Second most Third most Fourth most Fifth most Sixth most Seventh most gt alarm recent alarm recent alarm recent alarm recent alarm recent alarm recent alarm Al ele Al sS s AOAR JERE A 4 Al S 2 2 Al6 gt
36. or less above sea level TES 2 5G X 19 6m s 2G Y 49m s 5G X 9 8m s 1G Y 24 5m s 2 5G X 19 6m s 2G Y 49m s 5G 3 Contact Mitsubishi if you must exceed the stated load inertial moment ratio 4 The directions of vibration are as follows HC SF202 B HC SF352 B _ 3004 30 _ 6004 60 x E Peak operating z Z 2 d dios 2 Do Peak operating e 200 e 20 e 400 e 40 range e E e 1004 10 M 200 20 Continuous operating range Continuous operating range 9 1000 2000 2500 B 1000 2000 2500 Rotation speed r min Rotation speed r min HC SF53 B HC SF103 B H sr 153 5 HC SF203 B HEe Sro5e B 60 6 120 12 150 15 210 21 90 99 z a E a E Peak operating range in Peak operating range z E 2 Peak operating range 2 S e Peak operating range oO A o oO o o o o o a 4013 4 Peak operating range 2 8045 8 p 1004 8 10 p 140 4 14 p 260 4 g 26 e E e E e E E e 20 2 40 4 50 5 70 n 130 1d Continuous operating range Continuous operating range Continuous operating range Continuous operating range Continuous operating range 9 9 1000 2000 300 Q 1000 2000 300 gt 1000 2000 3000 R 1000 2000 300 o 1000 2000 3000 Rotation speed r min Rotation speed r min Rotation speed r min
37. phase Green Yellow ground 30 1 18 180 3 15 Encoder cable 0 3m 11 8 inch VCTF2 0 3 0 3m 11 8 inch With 172169 9 round crimped connector terminal with madeby AMP tip insulation HC UF73 B 85 3 35 lt 1 gt I 72 2 83 Y Encoder cable Brake cable note 3 VOTE 2 0 3 0 3m 11 8 inch round crimped terminal with tip insulation Notes 1 Use a friction coupling to fasten the load 2 Dimensions inside lt gt are for models with electromagnetic brakes 3 Only for models with electromagnetic brakes 10 0 39 S15307B Power supply lead 4 AWG19 11 8 inch AWG 16 0 157 inch round crimped Model CAL A terminal with tip insulation L Red U phase T 75 2 95 White V phase HC UF23 B Black W phase 109 4 29 Green Yellow ground 90 3 54 ARUM B 124 4 88 11 4 37 gt 40 1 57 1123 4 84 35 0 14 2 5 0 10 4 99 0 35 76 3 00 Power supply lead S nei 55 5 2 19 4 AWG19 11 8 inch AWG With 172169 9 76 2 99 eid uu Sree connector 70 2 76 PoU prase insulation a 96 3 78 gt White V phase Black W phase Green Yellow ground 24 Special Specifications Electromagnetic brake specifications
38. phase 200 to 230V 50 60Hz commercial power supply There are no phase sequence limitations Alternating power supply L11 L21 Motor output Regeneration brake resistor P C D TE2 Connect to a single phase 200 to 230V 50 60Hz commercial power supply Supply power from the same source as that for L1 L2 and L3 Turn on before or simultaneously with L1 L2 and L3 Turn off simultaneously with or after L1 L2 and L3 Connect to the U V and W terminals of the motor s power supply The motor will not rotate properly if an error is made in the phase sequence When using the optional regeneration unit remove the wires connecting P and D and connect the optional regeneration unit between P and C Ground PE chassis Ground with the motor at one point Connected to the chassis Connectors Serial bus version available soon Connector Signal Bus cable CN1A previous axis connection Description of function application Connector for bus cable previous axis connection Connect to controller or previous axis servo amp CN1B Bus cable Connector for bus cable succeeding axis connection Connect to succeeding axis servo amp terminating succeeding axis connection connector or absolute position maintenance battery unit CN2 Encoder signal Connect to motor encoder CN3 Serial interface Connect to personal computer 46 Safety Features The servo amp possesses the following safety
39. pulse train input interface DO 2 e Differential mode eOpen collector mode Servo amp AM26LS32 or AM26LS31 or equivalent equivalent Output electric current Max 35mA LA LB LZ LA Servo amp LARILBR Analog input interface Analog output interface Speed command VC torque limit command TLA Servo amp Servo amp Output 10 V Full scale Max 1mA Double oscillation 1 mA total Input impedance approx 10kQ 40 Safety Features The J2 servo amp possesses the safety features described below To protect the unit when a safety circuit is activated output is sus pended by cutting off power to the transistor base When this happens the dynamic brake is activated and stops the motor An alarm number is displayed on the servo amp or personal computer After eliminating the cause close the reset terminal RES or turn off the control power and reset Alarm LED Safety feature name Description display Is activated when the power supply s voltage falls below a certain level or when a sudden power outage of more AU Insufficient voltage than 15 milliseconds occurs Board error 1 Is activated when an error is detected in the printed board Memory error 1 Is activated when an error is detected in the printed board s memory Clock error Is activated when an error is detected in the printed board Memory error 2 Is activated when an error is detected in the printed board s memory e ERO T Is a
40. 00 400 4500 4500 400 400 400 400 400 4500 5 6 22 22 64 braking volume N m hour 4000 4000 4000 45000 45000 4000 4000 4000 45000 45000 4000 4000 4000 4000 4000 45000 56 220 220 640 Brake life note 1 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 Brake volume per braking action 200N m 200N m 200N m 1000N m 1000N m 200N m 200N m 200N m 1000N m 1000N m 200N m 200N m 200N m 200N m 200N m 1000N m 4N m 15N m 15N m 32N m Notes 1 The brake gap cannot be adjusted so the brake life is the time until readjustment by braking needed 2 The electromagnetic brake is for holding It cannot be used for braking applications Special shaft end specifications We can manufacture shaft ends to order meeting the following specifications HC MF UF3000r min series With key 200 400 750W Variable dimension table Sy ane aaa series kW T S R Q W aK QL U Y 5 30 27 5 20 3 3 M4 0 028 screws E 200 400 529 14h6 18 4 06 0 20 0 79 0 12 0 12 Depth 15mm 0 59 inch 2 750 19h6 40 37 6 25 5 3 5 M5 0 035 screws t o 1 j z 0 24 1 57 1 46
41. 20 L ower INPUT supply AC 100 200 A1SCPU A1SX40 ABS data bit 0 O EEG ABSbto 4 e ata bit 1 zero speed detection e 1 EE SEE z ABS bit 1 19 l 2 Transmission data being prepared torque restrictions in effect SG 6 Break mx ia S Alarm reset d SG Ie ae 4 Emergency sto TE so 5 Heera i EMG 15 mke ervo on E 6 eae origin Upper limit e Dl AN 7 7 Oo T DEC LLLLLLOO A IC AAAIAIZLLARZRAA ALLALC AR LO 16 W d r COM F peo LSN 17 Me _ c Operation mode I SM Lower limit i 9 Operation mode Il SED Position start a A Oo o Position stop e B OG JOG e b JOG Oo e D e E DIN F COM NC NC A1SY40 VEX Servo on t gt m ABS transmission mode SC 2 allay ABS request AE MENEE E EAS ABSR 9 I 3 arm reset RES 14 Wi 4 T Electromagnetic s 5 D gt brake output 6 see note 3 TA T ti o 1 MDUEIS T D i COM1 Attach an optional battery A N P Note 2 MR BAT when using as RE zs e a 8 amp W Eno an absolute system a Pa 9 ABS line error i ES A ANY ABS check sum error CON1 M mu B 4 31 come EA D Bu Near point signal aes ee qu E POM A1SD75 P see note 1 P Ww Doa 11 RES 12 een RLS i eru suele e md CHG 15 gt HW START 16 9 COM 35 COM 36 CN1A COM 9 __ P t let bw ROY 17 e a RD 19 g
42. 24 E Peak E E 8 E 8 Z operatin 8 Z pound o 0 o 2 60g 6 gratmg 3 1004 g 10 3 1604 g E JE B e CMS 30 3 50 5 80 Continuous operating range Continuous operating range Continuous operating range 1000 2000 3000 9 1000 2000 3000 9 9 1000 2000 3000 Rotation speed r min Rotation speed r min Rotation speed r min 13 Specifications and Characteristics medium inertia medium T HC SF3000 series mt cu medium Iul SF162 B SF103 B SF353 B XE G00ARBIC JESUM Je 350AIBIC wo HG EE NEM s s is F o P o o C2 on es w o o o ee 3 8 D ooo T a T o o T oe ENERO CENE oaa a 27 33 858 96 J i59 58 EXE HESSEN NENNUNSS IESUS INE NEUES NENNEN ES ELA SS SESS SEE EE 45 2 win ie Tg a a eee ee ee ee ee eee ee eee eee ES Em UU Rm el 50 180 95 20 J 70 2 4 EN NENNEN NENNEN G NNNM ioe _ _425 628 _ _ 2 62 _ _eee6 _ _i87057 _1_29 _ _ 281625 _ _s2 2 _ times the a moment 3 enm max note 3 Can handle 131072 P rev with special specifications The amp is made to order note 6 Encoder oil seal Totally Enclosed non ventilated protection degree IP65 note 5 O to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing 80 RH max non condensing storage 90 RH max non condensing Indoors no direct sunlight no corrosive gas flammable gas oil mist or dust 1000 meters
43. 5 MITSUBISHI SERVO AMPLIFIERS amp MOTORS MELSERVO J2 A New Vision of the Future The long awaited MELSERVO J2 Embodying an ever more exacting pursuit of higher performance and ease of use The culmination of Mitsubishi servo technology is realized in the new J2 general purpose AC servo In addition to being a global product that satisfies EN UL and other global industrial standards the J2 s wide range of applications elevates the AC servo playing field to a new plane The J2 is suited for use in high power rate ultra low inertia high frequency applications and comes with an absolute encoder as standard equipment It is IP65 compatible and fully equipped with the latest advanced features including Mitsubishi s unique servo lock anti microvibration function real time auto tuning and automatic motor recognition With its enhanced features and ease of use the J2 was well worth waiting for Pointing the way toward a new vision of the future Due for UL cUL certification Contents NIC pes os eee 3 Scuunsandebaramelets x x Sil Seen Nees ee 47 An Array of Handy Functions 5 Servo amp Specifications 32 Penpherdl EgqUIPMIEN ag 49 Servomotor Features and Signal Terminal DescApioOns 33 Peame ce aa MM 50 xnplitier Models T a e a 7 Amplifier Dimensions 25 Servo amp Specifications D Applications and Motor Models 8 Standard Warme Diagram 245 22 36 Standard Wiring Diagram
44. 53 B FF13 B FF23 FF33 FF43 FF63 Models Specifications Servo amp model MR J2 10A A1 B C MR J2 MR J2 40A A1 B C MR J2 IT Power facility capacity kVA note s 0 9 1 1 Continuous char acteristics Rated output W Rated torque N m oz in Maximum torque N m oz in Rated rotation speed r min 3000 Maximum rotation speed r min 4000 Permissible instantaneous rotation speed r min 4600 Power rate kW s Rated current A Maximum current A Regeneration braking frequen cy times min note 2 O 4 o o gt i95 Moment of inertia fig ures inside parentheses indicate units with B With no options MR RB032 30W MR RB12 100W J x10 4 kg m J oz in 0 32 45 3 0 64 90 6 0 95 134 5 1 9 269 0 0 16 22 7 0 48 68 0 0 063 0 08 0 95 134 5 9 410 6 184 1 3 8 538 1 0 50 0 633 0 344 0 438 0 520 0 618 1 915 2 641 2 74 3 461 0 98 1 325 5 36 7 24 269 0 5 7 807 1 1 20 1 55 6 56 8 47 Recommended load motor of inertia ratio 10 times the servomotor s moment of inertia max note 3 Resolution per encoder servomotor rotation 8192 P rev Speediposition detector Can handle up to 32768 P rev with special specifications The amp is made to order Attachments Encoder V ring Structure Totally Enclosed non ventilated protection degree IP44 O to 40 C 32 to 104 F non freezing
45. Control system Sinusoidal PWM control current control system Dynamic brake Built in Speed frequency response 250Hz min Excess current shutdown regeneration excess voltage shutdown excess load shutdown electronic thermal Safety features servomotor overheat protection encoder error protection regeneration error encoder insufficient voltage sudden power outage protection excess speed protection large error protection Servo amp Ambient temperature O to 55 C 32 to 131 F non freezing storage 20 to 65 C 4 to 149 F non freezing Ambient humidity 90 RH max non condensing storage 90 RH max non condensing Environment Atmosphere Inside control panel no corrosive gas flammable gas oil mist or dust Elevation 1000 meters or less above sea level Vibration 5 9 m s2 0 6G max Weight kg Ib Owais 0 7 1 5 1 3 225 eee LOD eD 2 0 4 4 2 0 4 4 Note Rated output capacity and rated rotation speed of the servomotor used in combination with the servo amp are as indicated when using the power voltage and frequency listed Output and speed cannot be guaranteed when the power supply s voltage drops Explanation of display messages The servo s status is displayed on the seven segments on the front of the servo amp Alarm numbers are displayed here also when an alarm has been triggered Display Description Initializing waiting for motion controller power to sw
46. E CN2 _ Type 3 ground or above eer Optional i 2 eZ 19 P5 f dd Lee i C e i EMG pisconnect 24 Volts When connecting the optional l during servo off or regeneration unit always dis 20 o D TREG an alarm connect between P and D E l i Connecting the optional unit 20 P5 when P and D are connected could damage the servo amp 12 1G CN1A 0 Name Pin No MENSES ZOOM OPC 11 18 PS IND N 7 B5 m PULSE F oi al PP 3 2 PULSE F 21 i PG 13 Ae 8 LGI 8 LG PULSE R 4 17 NP 2 5 PULSE R 22 _ We 12 7 MR 1 MR 1 MR E CLEAR 5m CR 8 CLEAR COM 23 T COM 9 17 MRR 2 MRR 2 MRR READY a4 i HD 19 m COM 20 ms COM 9 6 MD 4 MD 4 MD amp INPS 3 i INP 18 S i S 16 MDR 5 MDR 5 MDR 9 PGO 45V 24 E LZ 9 I 1 ia a PGO COM 25 LZR 15 9 BAT i 3 BTR 3 BT i LA 6 LAR 16 IMEG i e 9 SHD 9 SHD l LB i LBR Ig PLATE SD Lecce cer s 6 CONT 6 CONT LG 1 Connect the blue wire when the cable is i EE iM OP 14 10 to 30 meters 32 81 to 98 43 ft long and o 15H 4 In differential SD PLATE mod eTo e uiris rd U U i open S Microsoft Windows V mode 2 meters V OS CN1B Wi Note 3 External emergency stop just oce EMG 15 Servo on O SON 5 RE Proportional control B o RES 14 Reset e PC 8 PE Torque limit amp TL 9 CN3 posooom Type 3 ground or above Note 4 Forward stroke end 6
47. EN H H OREN c IA ESI cE MU f NE EIN gg ege ise o r 1 i Honan Name plate i ss E Jale 29 ZmHN Zum ER A Ea 5 Terminal block A ica 8 MEX 0 7 0 08 serow z DB MDC NEN NES QUU EBE S UVW cover UUUUU Uiviw S gte OTT Cd f Codes T o 22 087 42 165 6 024 __ Je Pheer v Three ground PE f terminals M4x0 7 0 03 Space required for n O o Oo O O UUUU 1 heat radiation 40 mm 1 57 min I MR J2 200A B C 350A B C u 90 3 54 2 70 276 1 195 7 68 a 6 0 24 78 8 07 Eee x S red or esti erminal wiring diagram 6 0 24 mounting hole MT Speer esis es n RU ci iS MITSUBISHI Display setting EN MITSUBISHI arf gt seston RT 9 g o GREN OPEN cE ce ER DII NEIN d Mesa x f S 5 5 ff Name plate E fale e fal Terminal block E E 8 M4 x 0 7 0 03 screw
48. H 8888 System error watchdog Is activated when a system error is detected Notes 1 The state under which regeneration error alarm A30 and overload 1 and 2 alarms A50 and A51 were activated is maintained inside the servo amp after the safety circuit is activated Memory contents are cleared when the control voltage is turned off but maintained by turning the RES terminal on 2 Resetting the unit repeatedly by turning the control power supply off and on after alarms A30 A50 and A51 have been triggered can damage the components through overheating Resume operation after definitely eliminating the cause of the alarm 3 When an alarm has been triggered the details can be output in 3 bit data This depends on the setting of parameter 50 41 SERV AMPLIFIERS MELSERVO JB For use with the High Speed SSC Net Bus Single Touch Connection with SSC Net High Speed Bus Connection results in reduced wiring Monitoring of status interpolation synchronous control etc is simply performed with the SSC Net Controller MITSUBISHI DELETE MA Je LS 40B i r l CHARGE LF L3 42 Peripheral Equipment Peripheral equipment is connected to the MR J2 B unit as described below Connectors cables options and other necessary equipment are available so that users can set up the MR J2 B easily and begin using it right away Through its SSC NET compatible one touch connections th
49. K MR J2 200A B C 20A NF 30 i 3 5 2 FR BAL 3 7K MR J2 350A B C 30A NF 30 5 5 0 5M 2 2 FR BAL 7 5K Notes 1 Assuming use of a 600V polyvinyl chloride insulated wire with wires in table having a length of 30 meters 2 When connecting to servomotor HC RF203 use a 3 5mm electric wire Surge suppressor Line noise filter FR BSF01 Attach surge suppressors to the servo amp and signal cable s AC Effective in suppressing radio noise emitted from the servo relays AC valves and AC power supply brake Attach diodes to amp s power supply side or output side and high frequency cur the DC relays and DC valves rent leakage zero phase current Especially effective in the 0 5 MHz to 5 MHz band The greater the number of coils the more Sample configuration effective this filter is Surge suppressor 972A 2003 504 11 rated 200V made by Matsuo Denki Rs External dimensions Connections Diode A diode with resisting pressure 4 or more times greater than the relay s drive voltage current and 2 or more times as Jis sane cnin nevi ssicle leo e MONT SEES three or more times in the same direction jointly greater than the current Em E157 for each phase When winding the output side e P9 A cable do not wind more than three times gt eti When the cable is too thick to wind three times Data line filter 65 2 56 use two or more filters in a row and reduce the Attaching a data line filter to the pulse output cabl
50. SUPPIY Note 6 COM 13 5 meters DR 12 LG E MERIT CUR ALM 18 a 16 41 ft max ER Baise Zero speed RA2 e ZSP 19 detect raw Note 8 12 LG elec ion e RA3 e TLC 6 Speed limit in effect aq Monitor output 18 P5 nma og 10 meters 32 81 ft max Upper limit setting 4 MO1 l i A Maximum 1mA total 2 LG T l T l Me PPS VE VU ILLI OR Vn ee d I Double oscillation Analog torque limit 10 V maximum T 4 I 10 V output 7 MR j torque in this wiring diagram 10 V maxi l P15R 11 3 LG DT 17 MRR mum torque TLA 12 HS 3 10k 6 IMD I e Upper limit setting i LG 1 i 16 MDR mE cr Ie LG i L 9 BAT Analog speed command 10 V maximum H VC 2 E ou X0 1 LG i EE rotation speed in this wiring diagram SD PLATE PLATE SD 10 V maximum rotation speed p x eee PLATE SD Y7 rx LER eth eo Ce l 2 meters 6 56 ft max 2 meters 6 56 ft T OU Connect the blue wire when the cable is 10 to 30 meters 32 81 to 98 43 ft long Notes 1 Do not reverse the diode s direction Connecting it backwards could cause the amp to malfunction so that signals are not output and emergency stop and other protection circuits are inoperable 2 Make sure that the sum of current flowing to external relays does not exceed 80 mA If it exceeds 80 mA supply interface power from an external source 3 Always connect an EMG external emergency stop b contact The unit cannot be operated unless one is
51. SYSIEMES D AUTOMATISME CONSTITUANTS ELECTROTECHNIQUES MESURE ET CONTROLE SECURITE MACHINE 8 Avenue de la Malle ZI Les Coides 51370 SAINT BRICE COURCELLES T l 03 26 04 20 21 Fax 03 26 04 28 20 Email info audin fr Web http www audin fr A Safety Warning To ensure proper use of the products listed in this catalog please be sure to read the instruction manual prior to use a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG 2 2 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN New publication effective Mar 1999 L 174 9 C4082 A NA9903 Printed in Japan ROD Specifications subject to change without notice
52. Setting and Two Segment Display Simple operation by setting the axis number with the axis selection switch simply connect the SSC NET cable in one simple motion No troublesome wiring or setting The SSC NET compatible command unit takes care of all the parameter settings etc battery when using n Optional battery Attach the optional Optional battery as an absolute sys Lem connecter tem Axis selection switch Set the axis number that cor responds to the controller s axis setting 2 digit 7 segment display Displays the servo amp s status and alarms Switch power on Command unit power on The command unit s power is switched on Servo on command from command unit FES Ready on servo on Normal operation Waiting for command from command unit displayed for a brief instant Ready off servo off AES EFE Bw Ready on command from command unit Ab Ready on servo off Notes 1 No OD CDAD of the right hand segment displays the number in this example the first axis 2 Alarms are displayed in two digit figures Numbers in the 90s and figures that start with an E are warnings 44 Specifications and Display Messages Servo amp specifications Voltage frequency note 3 phase 200 to 230V AC 50 60 Hz Power permissible voltage range 3 phase 170 to 253V AC supply Permissible frequency fluctuation 5 max
53. The HC SF121 is the same as the lower row 2 3 5kW SERV AMPLIFIERS MELSERVO J A Global Applications for Superb Operation in the Toughest Environments Satisfies global industrial standards eSeparate wiring of the control power supply e Real time auto tuning and high responsiveness e Torque control function eServo lock anti vibration function Oe Personal computer interface as standard Automatic motor recognition MITSUBISHI N E z E ET LATTE MB 2 4DA 26 Peripheral Equipment Connections with peripheral equipment Peripheral equipment is connected to the MR J2 A as described below Connectors options and other necessary equipment are available to allow users to easily setup the J2 A and begin using it right away The J2 can be connected to a Mitsubishi motion con troller or any pulse train out put controller Used to protect the power supply line Battery compartment option Power supply 3 phase 200V A battery MR BAT is installed in the holder when using as an absolute system Not required when using as an incremental system di ie 5 Displays monitoring data parameters 4 d M4 and alarms li Parameter settings are performed with push buttons and monitoring data are displayed MR J2 Servo amp FX 20GM FX IPG AD75 AISD75 PI PSRP RS Control signal connector Junction terminal block option All signals ca
54. The encoder uses serial communications so there are fewer sig nal wires to connect I m simpler and easier because use serial communica tions and fewer Real time auto tuning The servo makes automatic gain adjustments even when the load s inertia changes Smooth operation Separate wiring for the control power supply The servo amp s control power supply is wired separately mak ing it possible to turn off the main circuit only when an alarm is triggered This also makes it easier to handle EN standard mechanical directives Main power supply I m safe because when an alarm occurs you can turn off the power circuit only Control power supply Built in dynamic brake With a built in dynamic brake the servomotor can be stopped immediately in a power failure or when an alarm has been trig gered Power failures are no problem My dynamic brake absorbs energy and stops the servomotor A wide variety of motors including models with brakes A broad lineup of servomotors including with brakes Users can choose the motor series that best suits the machine being used 3000 r min models 2000 r min models 1000 r min models models with brakes Built in regenerative resistor Regenerative resistor is built in eliminating the need for an external regeneration unit during normal operation Switch between torque control mode and other control modes Switching between t
55. agnetic brakes CE05 2A24 10P note 2 Brake connector MS3102A10SL 4P Power supply connector 1176 6 93 Unit mm inch Motor flange direction Power supply connector pin assign CE05 2A22 23P 4 913 5 0 53 mounting holes Use heaxagonal cap head bolts Variable dimensions Model L HC UF72 B HC UF152 B 110 5 4 35 lt 144 5 67 38 1 50 22 0 87 120 4 72 eeu Wns ees SES LES UST 1220 8 66 Motor flange direction Power supply connector pin assign CE05 2A24 10P Motor flange direction amp 3 Brake note 2 Brake connector pin assign MS3102A10SL 4P note 2 4 913 5 0 53 mounting holes Use heaxagonal cap head bolts Variable dimensions Model 118 0 04 HC UF202 B 42 5 1 67 161 6 34 e HC UF13 B 70 2 76 Motor Dimensions Unit mm inch 25 0 98 160 2 36 100 3 94 5 0 20 3 0 12 Encoder cable 0 3m 11 8 inch With 172169 9 connector madeby AMP 11 8 inch terminal with tip insulation e HC UF23 B HC UF43 B E Brake cable note 3 VCTF 2 0 3 0 3m round crimped Oil seal S10207B Power supply lead 4 AWG19 11 8 inch AWG 16 0 157 inch round crimped terminal with tip insulation Red U phase White V phase Black W
56. ake encoder structure B HC MF series HC MFO53 O HC MF13 C C 3000 4500 HC MF23 HC MF43 C oO HC MF73 C C HA FF series HA FFOS3 HA FF13 e C HA FF23 e C 3000 4000 HA FF33 e C HA FF43 e e HA FF63 O O 1000 HC SF P 81 121 201 301 O Q 2000 HC SF ee 0 5 1 M 52 102 152 2500 2 3 5kW 202 352 HC SF ae 53 103 153 5800 203 353 HC RF103 a ES k DERRER 2 0 HC RF203 QO IP65 HC UF series 2000 3 type HC UF 3000 0 75 1 5 2 0 72 152 202 O IP6s O 3000 0 je 4 HC UF o tics m O 9 O 4500 Caza S AIE connector Note Models within the production range and servo amp compatible models Applications and Motor Models Feature Application examples e Ultra low inertia low capacity Interchangeable with existing model HA ME i design makes this unit well suited cy positioning applications positioning feedback pulse er rate Power rate is 1 2 times that of existing models e Low inertia low capacity Interchangeable with existing model HA FE ution positioning feedback pulse P rev ol can be performed from low to high e Medium inertia medium capacity Interchangeable with existing model HA SE Hi ution positioning feedback pulse can be performed from low to high ing this unit to handle a wide range s eEnhanced power rate Power rate is 1 5 times that of existing models IP65 Designed to withstand environmental hazards eLo
57. al emergency stop 9 EMG 15 fam WO C mean ooN e Speed selection 2 Ss SP2 7 PE Forward start Urs 5 xm ST1 8 RS 232C EE Type 3 ground or above Reverse start mu c ST2 9 DE E ard DN a l e SG 10 RD G Bc 20 f SD DC24v EMG Z i 10 meters 32 81 ft max i GND s O O82 H Do not connect when using VDD 3 GND Disconnect 24 Volts dur an external power supply Notes 1 and 2 P tee ing servo off or an alarm COM 13 one a J RS CN2 em EN a i ff Note 5 Malfunction ALM 18 eo 20 P5 Zero speed detection ZSP 19 5 meters DR 12 LG Torque limit in effect TC 6 a 16 41 ft max ER 30 P5 ic ce 10 meters 32 81 ft me Upper limit setting Note 8 12 LG Analog torque com a P mand 8 V maximum j r e P15R 11 a 28 18 P5 l S torque in this wiring bag TC 12 ffi A Monitor output 2LG i R DR Hete d cor pa ve C mum torque Ieri limit setting m N Te 10 V output 17 MRR D Analog speed com i AO AN 6 MD A mand 10 V maximum H VLA 2 Pilea 16 MDR B rotation speed in this SD PLATE ia BAT F wiring diagram 10 MY 2 10kQ V maximum rotation E Lor TEC l mm C 2 meters 6 56 ft max PLATESD MS N la ru M 2 meters 6 56 ft x ane Connect the blue wire when the cable is 10 to 30 meters 32 81 to 98 43 ft long Notes 1 Do not reverse the diode s direction Connecting it backwards could cause the amp to malfunction so that signals are not output and emergency stop an
58. arity of the power supply connected to the electromagnetic brake s lead with a blue crimped terminal sleeve does not matter 5 Connect the shield wire firmly to the plate inside the connector the grand plate 6 Connect MR BAT when using as an absolute encoder 7 Do not reverse the diode s direction Connecting it backwards could cause the amp to malfunction so that signals are not output 8 Independent emergency stop on each shaft s servo amp Use as necessary When not using the emergency stop short circuit between AEMG and SG inside the connector Perform overall system emergency stop on the controller side Configure a sequence for cutting off the MC when an alarm has been triggered or after an emergency stop HC MF HA FF series motor NFB MC ales r Power supply QO 3 phase 200 VAC Type 3 ground or above p Electromagnetic brake pee SSS SSS Ss DC24V a APS ODO O MEME Note 4 EMG Disconnect 24 Volts during servo off or an alarm Optional regeneration unit Attach the optional battery MR BAT when using as an absolute system Encoder 6 CONT SSS aerate Connect the MR J2HBUSL I M A cable from the command unit to the CN1A connector Note 1 Connect the blue wire when the cable is 10 30 meters long HC SF RF series motor
59. configuration diagram illustrates a setup that uses external input Connect multiple servo amps up to 32 to a personal computer and output signals The personal computer requires software for setting through an RS 485 connection changing and monitor display of parameters and point tables Personal computer Setup software S External I O signals Personal computer Setup software E Servo amp first axis MR J2 L1C External I O signals Servo amp MR J2 L1C Power supply 3 phase AC 200 230V RS 232C RS 485 Power supply or single phase converter 3 phase AC 230V not provided AC 200 230V or single phase AC 230V RS485 External z wipe I O signals Communications specifications eThe RS 485 RS 232C specifications are as follows eBaud rate 4800 9600 or 19200 asynchronous eTransfer code 1 start bit 8 data bits 1 parity bit 1 stop bit e ransfer protocol Character system half duplex communication en Power supply Parity bit 3 phase Start bit Stop bit Piet AS AY To next axis 4 Data bits o TUU UOU 1 1 1 1 1 1 1 L 1 L 1 i gt I j 1 frame Point table Deceleration time constant 0 20000 Sets the deceleration time constant Dwell time 0 20000 Runs the next point table after the set dwell time aoe 0 1 O Positions and stops waits fo
60. connected 4 Provide normally closed inputs for LSP LSN 5 Signals with the same name are connected inside 6 Malfunction ALM signals are turned on during normal operation when no alarms have been triggered 7 When using a motor with electromagnetic brake Polarity of power supply connected to electromagnetic brake s lead compressed terminals sleeve is blue is unimportant 8 Connect shield wire securely to plate inside the connector ground plate 9 Always use a shielded multicore cable up to a maximum of 15 meters is possible in a good noise environment 38 Standard Wiring Diagram Torque control operation Configure a sequence for switching off the MC when an alarm has been triggered or after an emergency stop Servo amp HC MF HA FF p MR J2 L A series motor ve vc MEM U O oro nn je ower supply ZS 3 phase 200 VAC ZK E y 59 Qu O O ME W O PE O p RE WEE d O L24 Type 3 ground or above n j
61. constant as with vertical feeds find the regenera tion heat generated W whle operating and do not exceed the permissible value 3 Contact Mitsubishi if you must exceed the stated load inertial moment ratio 4 The directions of vibration are as follows e E X lem Xena M Uff 5 Regeneration frequency is not restricted if the effective torque is within the rated torque range 6 Cannot be used with model MR J2 C Contact Mitsubishi for details 7 The MR J2 A series currently covers the HC UF73 with model MR J2 70A A030 HC UF series servomotor torque characteristics HC UF72 B HC UF152 B HC UF202 B N20 4 ums 2 2404 24 2404 24 E E S 8 lt Peak operating Z Peak operating e Peak operating o g range o E range range 9 804 5 8 S 160 8 16 1603 8 16 e iS ie 40 4 80 8 80 8 Continuous operating range Continuous operating range Continuous operating range 0 0 0 0 0 1000 2000 3000 1000 2000 3000 1000 2000 3000 Rotation speed r min Rotation speed r min Rotation speed r min HC UF 13 B HC UF23 B HC UF43 B HC UF73 B c 10 E 1 0 e 20 eee a 40 eu c cu 8 A Peak operating range 8 A Peak operating range I lt Peak operating range S e 27 5 0 75 9 154 15 QUSE ESO 9 60 9 6 0 Peak operating S o S S9 o ES o 2 range o on o
62. cteristics HA FF053 B HA FF13 B HA FF23 B HA FF33 B pe Aa e 14021 0 28072 2420 m CEN t t mmmEN J X 7 S Z Peak operating range N A Peak operatin N gt E Peak 3 05 9075 iine 210 9 15 anoe i SS Peakoperating x eak operating range o o o 3 56904 O ia e e B s Z 2801 3 2L 54 z e 2 e 2 2 S 70 05 140 1 0 x SN 299 02 140 1 ie Continuous operating range 70 gt 05 Continuous operating range Continuous operating range Continuous operating range 0 0 0 0 1000 2000 3000 4000 1000 2000 3000 4000 1000 2000 3000 4000 1000 2000 3000 4000 Rotation speed r min Rotation speed r min Rotation speed r min Rotation speed r min HA FF43 B HA FF63 B _ 560 8405 t t z 2 Peak operating S Z Peak operating range o 420 o 3 ME M v E e e p 25604 8 4 o o N o o Eag i 2 X 5 2 280 2 1404 nw Continuous operating range Continuous operating range Remarks Broken lines shows peak operating range 0 0 0 paired with 100V single phased amplifier 1000 2000 3000 4000 1000 2000 3000 4000 Rotation speed r min Rotation speed r min 12 Specifications and Characteristics HC SF series servomotor specifications HC SF1000 r min series medium inertia medium capacity HC SF2000
63. ctivated when a different type of encoder is detected and communication with encoder cannot be performed normally Board error 2 Is activated when an error is detected in a servo amp board component Board error 3 Is activated when an error is detected in the printed board A 20 Encoder error 2 Is activated when an error is detected in the encoder or encoder cable Motor output ground fault Activates when servo amp servomotor output produces a ground fault ABS data loss Is activated when the battery s voltage falls and absolute data is lost x Regeneration error IS activated when an error is detected in the regeneration circuit or when there is an excess load on the regenera tion brake resistor due to excess regeneration frequency Excess speed Is activated when the motor rotation speed is detected to have exceeded the permissible rotation speed Excess current Is activated when excess current is detected Excess voltage Is activated when excess converter voltage is detected Command pulse error Is activated when an excess frequency command pulse is input p Is activated when parameters are detected to be outside the setting range through a parameter check performed ele meter enu when the power is turned on A 46 Motor overheat Is activated when activation due to motor overheating of the thermal protector inside the encoder is detected Overload 1 Is activated when an overload is detected in the motor or
64. ctor made by 3M or an equival ent product 10120 3000VE connector 10320 52F0 008 shell kit Select one for use with CN2 Amp side connector made by 3M or an equival ent product 10120 3000VE connector 10320 52F0 008 shell kit ent product 10120 3000VE connector 10320 52F0 008 shell kit Junction terminal block side connector HIF3BA 20D 2 54R connector Junction terminal block cable Select one for use with CN1 Connector for optional RS 232C unit made by 3M or an equivalent product 10120 3000VE connector 10320 52F0 008 shell kit Junction connector made by AMP 1 172161 9 black connector housing 170363 1 connector pin note 2 ite Junction connector made by Japan Aviation Electronics Industry MS 3057 12A cable clamp MS3106B20 298 straight plug E Amp side connector made by 3M or an equival Amp side connector made by 3M or an equival ent product 10120 3000VE connector 10320 52F0 008 shell kit Connector to PC98 series personal computer GM 25LM made by Honda Tsushin PC98 communica tions cable MR CPC98CBL3M Connector for optional RS 232C unit made by 3M or an equivalent product 10120 3000VE connector 10320 52F0 008 shell kit For use with CN3 DOS V communi cations cable Connector to DOS V personal computer GM 9LM made by Honda Tsushin MR CPCATCBL3M Junct
65. d for setting parameters E Real time auto tuning and high responsiveness eWith real time auto tuning the unit is automatically adjusted to the optimal setting without any need for the gain adjustment unique to servomotors The sensitivity of the real time auto tuning can be changed in accordance with machine rigidity enabling the J2 to accom modate an even wider range of machinery Response setting selection eModel adaptive control makes possible the realization of a highly responsive and stable system Speed frequency response characteristics Frequency Serial communications Feedback pulse Motor capacity Positioning data ABS data Magnetic pole detection Alarm information An Array of Handy Functions Satisfies global industrial standards The J2 can be used with the confidence of knowing it satisfies global industrial standards including EN and UL Absolute encoder is standard equipment The J2 can be easily switched to absolute encoding which requires no return to home by merely adding a battery to the servo amp and without changing the servomotor come with an ABS encoder as stan dard equipment so there s no worry about power failures and no need for return to origin or sensors More compact servomotors Mitsubishi s servomotors keep getting smaller The ultra com pact HC MF series the low inertia HC RF series the medium inertia HC SF series and flat ty
66. d other protection circuits are inoperable 2 Make sure that the sum of current flowing to external relays does not exceed 80 mA If it exceeds 80 mA supply interface power from an external source 3 Always connect an EMG external emergency stop b contact The unit cannot be operated unless one is connected 4 Signals with the same name are connected inside 5 Malfunction ALM signals are turned on during normal operation when no alarms have been triggered 6 When using a motor with electromagnetic brake Polarity of power supply connected to electromagnetic brake s lead compressed terminals sleeve is blue is unimportant 7 Connect shield wire securely to plate inside the connector ground plate 8 Always use a shielded multicore cable up to a maximum of 15 meters is possible in a good noise environment 39 Interfaces Digital input interface DI 1 Digital output interface DO 1 Supply signal with a miniature relay or an open collector transistor TR Can drive a lamp relay or photocoupler Servo amp Servo amp Servo amp DC24V DC24V Hesister EIU ALM etc Cd Voces Vces 1 0V Iceo 100 uA Note For an induction load install a surge suppressor DC for a lamp load install an incoming current suppression resistor R Pulse train input interface DI 2 e Differential mode eOpen collector mode Servo amp Servo amp 20 mA T Vces VcesS 1 0V IceoS 100 uA Encoder
67. e MELSERVO J2 B series reduces the number of wires and the chances of wiring errors The SSC NET command unit is shown at left Command unit Choose the unit that fits the size of your system A171S A273UH Battery compartment A battery MR BAT is installed in the holder when using as an absolute system Max 4 axis control Max 32 axis control Displays servo amp status and alarm numbers Connector q al Lou PIN Vil zx Used to perform axis selection Terminating connector Connects to the next servo amp CNIA connector or a terminating connector Connects to the SSC NET compatible command unit or previous servo amp CNIB Regeneration unit option Install this unit in situations involving fre i A Une quent regeneration and large load iner Goes on when the main circuit power tias Disconnect P and D when using this supply is on Do not plug unplug power optional unit lines when this lamp is on RS 232C communications unit CN3 Connects the unit to user s personal computer enabling user to monitor conditions display graphs and perform test operation Setup software and dedicated cables are available also 43
68. e and an internal torque limit selector TL2 device can be used 52 275 Options Options Cables and connectors MR J2 A series Cable and connector options are shown in the diagram below Positioning unit Operation panel ra ae Servomotor Cable supplied with motor 0 3 meter 05 Note HC SF motors do not come with cables Cables and connectors Description Amp side connector made by 3M or an equivalent product 10120 3000VE connector 10320 52F0 008 shell kit MR JCCBLLIM H_ Encoder cable for note 1 3 use with HC MF UF3000r min and HA FF series MR JCCBLLIM LLE motors note 1 3 Amp side connector made by 3M or an equivalent product 10120 3000VE connector 10320 52F0 008 shell kit MR JHSCBLLIM HLE Encoder cable for note 3 use with HC SF series motors and HC HRF See the motor diagram Junction connector made by AMP 1 172161 9 black connector housing Encoder Junction connector made by Japan Aviation Electronics Industry MS 3057 12A cable clamp a MS3106B20 29S straight plug Encoder MR JHSCBLLIM LEI Encoder connec tor set for use with HC MF and HA FF MR J2CNM series motors HC UF3000r min Encoder connector set for use with HC SF series MR J2CNS motors and HC RF HC UF2000r min CN1 connector MR J2CNI MR J2TBLLIM note 3 Amp side conne
69. e oe S 0 5 10 1 0 20 2 40 4 0 2 5 0 25 Continuous operating a 54 0 5 Continuous operating range IE 10 1 Continuous operating range 20 2 0 Continuous operating rang 0 0 0 0 0 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 1000 2000 3000 4000 4500 1000 2000 3000 40004500 Rotation speed r min Rotation speed r min Rotation speed r min Rotation speed r min 16 Motor Dimensions Unit mm inch e HC MF053 B HC MF13 B 25 0 98 40 1 57 5 0 20 2 5 0 10 2 4 5 0 18 ee 0 8h6 0 3150 0 004 0 930h7 1 181 co m B 28 1 10 e N 4 252 0 99 Power supply lead od 4 4 AWG19 11 8 inch AWG aa Brake lead note 4 16 0 157 inch round crimped 2 0 3 11 8 inch AWG terminal with tip insulation 16 0 157 inch round crimped Red U phase terminal with tip insulation White V phase Blue B1 B2 Black W phase Green Yellow ground q 3 Encoder cable 11 8 inch With 172169 9 connector made by AMP
70. e or motor number of winds proportionately encoder cable of the pulse train command unit AD75 etc is NFB Servo amp effective in preventing noise penetration o o i ower Supply LS L2 Sample configuration ES Data line filter ESD SR 25 made by Tokin ZCAT3035 1330 Rt Hye sese EE made by TDK 56 Command Unit The following positioning controllers are available for the MR J2 A series servo amps Choose the unit that best fits your operating objectives and system size Name Specification application overview External dimensions All of the units have been made more compact 1 slot for 1 to 3 axes And they are compatible with the A and QnA series PLC s A high precision highly functional positioning unit that uses a 32 bit RISC chip AD75P1 Item A1SD75P1 Number of control axes 1 MELSEC A MELSEC QnA series compatible AD75P A1SD75P ll AD75P positioning unit 4 2 0 17 111 4 37 Print board AD75P2 A1SD75P2 AD75P3 A1SD75P3 3 simultaneous 3 independent 2 simultaneous 2 independent 2 axes linear interpolation 2 axes circular interpolation 2 axes linear interpolation neei eons 2 axes circular interpolation Control mode Command mode Maximum number of output pulses PTP control locus control soeed control soeed position control Incremental absolute 2147483648 Maximum pulse frequency Diffe
71. erminal One pulse is output for each motor rotation Minimum pulse width is 400 us Set speed phase pulse to 100 r min or less when using this pulse LZ LZR is differential line driver output OP is open collector output Eee Ready signal output terminal RD and SG are connected after the servo is turned on when there are no malfunctions and the unit is y operable Shield Connect one end of the shield wire Open collector Open collector power input terminal Connect this terminal to VDD when inputting pulse train in open collector mode Supply 24 V DC power input power to this terminal when using an external power supply Forward Forward pulse train signal input terminal Compatible with both open collector and differential modes Connect PP and SG when using pulse train open collector mode Reverse Reverse pulse train signal input terminal Compatible with both open collector and differential modes Connect NP and SG when using pulse train open collector mode Clear signal input terminal Short circuiting CR and SG will cause the number of drop pulses position error to be cleared at startup Level clear can be chosen through the parameter settings With the ABS method when the number of drop pulses position error is cleared origin data is simultaneously set in nonvolatile memory Positioning Positioning complete signal output terminal Connection between INP and SG is made when the standing pulse is smaller than the para
72. erride Note 11 VC 2 EG 1 External torque limiter TLA 12 Note 12 SD PLATE eo Note 10 i Notes 2 meters 6 56 ft max 1 Always connect the servo amp protection ground PE for preventing shocks to the control board s protection ground PE 2 Make sure you have the correct diode orientation Connecting it backwards will damage the servo amp prevent output of signals and prevent protection circuits such as forced stops from operating 3 Always install a forced stop switch 4 CN1A CN1B CN2 and CNS are all the same shape Connecting them wrong can cause damage See the MELSERVO J2 C Servo Amp Technical Documents Collection for details 5 Keep the sum total of current flowing through the external relays to 80 mA or less To exceed 80 mA you must supply an external power supply for the interface 6 During operation be sure to short the forward and reverse stroke ends LSN and LSP to SG 7 Make ALM conductive to COM during normal operation with no alarm 8 Connection methods differ in different servomotor series See the MELSERVO J2 C Servo Amp Technical Documents Collection for details 9 Connect signals of the same name within the servo amp 10 When using a single phase AC 230 V power supply connect the supply to terminals L1 and L2 leave L3 open 11 If using an override VC make it so an override selection OVR device can be used 12 If using a torque limiter TLA make it so an external torque limit selector TL devic
73. etween P and D Connecting the optional unit when P and D are connected could damage the servo amp 10 meters 32 81 ft max Return to origin complete COM 9 g A 18 O Scie 8 Near point dog e SG 10 SOT SG 20 Encoder cable optional equipment or made to order Personal computer running Communication cable A Microsoft Windows optional equipment or made to order cec u 10 meters 32 81 ft max at Servo on a co SON 15 End of forward stroke Note 6 oo LSP 16 End of reverse stroke Note 6 D D LSN 17 Select auto or manual o09 oS MDO T Point table No select 1 Se DIO 5 cim Point table No select 2 0 6 DI1 14 4 MO1 i Monitor output 1 Start forward C O ST1 8 eme i i i i Start reverse 3 ST2 9 bursa Oko e EG 10 14 MO L H SG 20 l Monitor output 2 Do not connect if using ee igre ems a ye an external power supply Lo m Notes 2 and 5 SED ips COM ls Phase match e ua e CPO 4 Positioning complete e e s w e INP 6 Failure Note 7 e gt Ww e ALM 18 Preparations complete e us e RD 19 P15R 1l Ov
74. features for complete protection of itself and the servomotor To protect the unit when a safety circuit is activated output is suspended by cutting off power to the transistor base When this happens the dynamic brake is activated and stops the motor An alarm number is displayed on the motion controller or servo amp s LED display After eliminating the cause turn off the control power and reset When a warning 92 and below has been triggered operation will not stop But if the condition is not resolved an alarm will be trig gered Identify and eliminate the cause immediately Alarm LED Safety feature name Description display 10 Insufficient voltage Is activated when the power supply s voltage falls below a certain level or when a sudden power outage of more than 15 milliseconds occurs Board error 1 Is activated when an error is detected in the printed board Memory error 1 Is activated when an error is detected in the printed board s memory 13 Clock error Is activated when an error is detected in the printed board Memory error 2 Is activated when an error is detected in the printed board s memory Is activated when an error is detected in the printed board s memory Is activated when a different type of encoder En r error 1 icati j Socer aire is detected and communication with encoder cannot be performed normally Board error 2 Is activated when an error is detected in a servo amp board component Board error 3 Is ac
75. gle connector CE05 8A24 10SD B BAS 15 194 CE3057 16A 1 D265 Straight connector MS3106B24 10S 15 9 amp 19 1 MS 3057 16A Right angle connector MS3108B24 10S Inner diameter of bushing MS 3057 16A D265 D265 D265 D265 D265 D265 D265 Normal environment Straight connector CE05 8A24 10SD B BAS Normal environment Encoder connectors The motors are not provided with encoder connectors Please order options from us or choose from among the following recom mended products To order the following recommended products customers should contact the relevant manufacturer directly Straight connector Right angle connector g g g Motor model Application D Plug made by DDK Backshell made by DDK Cable clamp made by DDK Cable Cable Cable diameter Plug clamp Cable Plug clamp Cable HC SF series Satisfy IP Straight t CE02 20BS S y IP65 raight connector P a S San OOF d E QT y ms HC RF series EN standards Mieres O Right angled connector CE 20BA S ope EUR ToS Backshell Pua Straight connector Right angle connector eme UT CD Plug made by DDK Cable clamp made by DDK Cable Cable Cable diameter Plug clamp Cable Plug clamp Cable s HC SF series Straight connector MS3106B20 298 15 9 m EE i d iE 2 saai Right angled connector MS3108B20 29S Inner diameter of bushing MS3057 12A 9 Electr
76. gs do not hammer on the shaft Impact can damage the encoder Use a pulley extractor when taking off the pulley 4 R Installation eAvoid installation in an environment in which oil mist dust etc are in the air When using in such an environment enclose the servo amp in an airtight panel Protect the motor by fur nishing a cover for it or taking similar measures eMount the amp vertically on a wall eWhen installing multiple amps inside an airtight panel leave at least 10 millimeters between amps Leave at least 40 millime ters of space above and below the amp When installing mul tiple amps leave 100 millimeters of space or install a fan to ensure that heat is not trapped inside the panel 40 cent LES 40 1 57 10 0 39 Unit mm inch eWhile installing a single motor the motor can be installed horizontally or vertically When installing vertical Cupside the shaft take measures on the machine side to ensure that oil from the gear box does not get into the motor eThe optional regeneration unit becomes hot temperature rise of 100 C or more with frequent use Do not install within flammable objects or objects subject to thermal deformation Take care to ensure that electric wires do not come into con tact with the main unit eA power supply to the amp s output terminal U V W will damage the amp Before switching the power on perform thorough wiring and sequence checks to ensure that there are nO wiring
77. h electromagnetic brakes 4 The inertial moment value in the table is the motor axis conversion value motor decelerator 21 Motor Dimensions HC RF103 B HC RF153 B HC RF203 B Unit mm inch L 45 1 77 1100 3 94 39 5 1 56 1 56 4 99 0 35 mounting holes Use heaxagonal cap head bolts Motor flange direction Brake 19 5 0 77 Power supply connector Encoder connector MS3102A20 29P CE05 2A22 23P Ground Power supply connector Variable dimensions pin assign Model L KL CE05 2A22 23P 147 5 79 HC RF108 B 485 759 71 2 80 172 6 77 lt 210 8 27 gt 96 3 78 197 7 76 HC RF203 B 535 9 25 gt 121 4 76 HC RF153 B Notes 1 Use a friction coupling to fasten the load 2 Dimensions inside lt gt are for models with electromagnetic brakes 3 Only for models with electromagnetic brakes 22 23 Motor Dimensions e HC UF72 B HC UF152 B 55 2 17 MS3102A20 29P G114 3 25 30457B Power supply connector CE05 2A22 23P e HC UF202 B L 65 2 56 16 0 63 4 0 16 Sm 60 2 36 0 010 0 g35 139 5 47 Encoder connector MS3102A20 29P Notes 1 Use a friction coupling to fasten the load 2 Dimensions inside are for models with electromagnetic brakes 3 Only for models with electrom
78. ion terminal n E B Notes 1 H and L indicate bending life H products have a long bending life 2 AMP 172161 white can also be used for the connector housing 3 LJEnter 5 or 10 in box for cable length in meters Options Options Cables and connectors for List of cables and connectors for the HC SF RF and UF series the HC SF RF and UF series All of these connectors satisfy IP65 and EN standards All of these connectors satisfy IP65 and EN standards en Details Servomotor pairing Plug made by DDK Cable clamp straight made by DDK MR PWCNS1 CE05 6A22 23SD B BSS CE3057 12A 2 D265 HC SF52 102 152 straight model EET jim HC RF103 153 203 CNTRWKCRITE Connector set Hey PONET SOWCE Plug made by DDK Cable clamp straight made by DDK j CE05 6A22 23SD B BSS CE3057 12A 2 D265 L MIRHPWCNEZ O HC SF202 352 CN2 CN3 straight model El Plug made by DDK Cable connector straight made by Daiwa Dengyo Connector set for MR BKCN MS3106A10SL 4S D190 YOS10 5 8 o aon mede Eil las HC SF202 352 Plug made by DDK Backshell made by DDK MS3106A20 298 D190 CE02 20BS S Connect for amp Encoder cable MAREN CSE Tal Un 3M or similar product cable length note en 10120 3000VF connector 2 10 20 Wm O 10320 52F0 008 shell kit Cable clamp made by DDK CE3057 12A 3 D265
79. ir occurrence Malina here Malfunction signal output terminal When the power is turned off the protective circuit is activated and when power to the base is cut off output the ALM SG connection cannot be made If everything is normal when the power is turned on the connection is made Configure a DO 1 sequence for cutting off the input MC when a malfunction occurs Zero speed ZSP Zero speed signal output terminal When the motor rotation speed is less than the speed set in the zero speed parameter setting the connection between ZSP and SG is made ABS data bit 1 signal output terminal The upper bit of the two bit data is forwarded to the DO 1 detection ABS data bit 1 ABS bit1 command unit from the servo amp Shield SD Plate Connect to one end of the shield wire Same for position ABS method and speed control modes Analog limit Torque limit in effect forward ing data being prepared Forward stroke end TLC ABS busy Reverse stroke end Analog torque limit signal input terminal Input an external analog torque limit 0 10 V maximum torque Torque limit in effect signal output terminal When the set torque limit is reached the connection between TLC and SG is made Not output when the base is turned off Forwarding data being prepared signal output terminal Indicates that forwarding data is being prepared Forward reverse stroke end signal input terminal Disconnecting LSP and SG makes
80. irect inertial input devices Selected servo amp name selected servomotor name selected regenerative resistor name Parameters load inertial moment load inertial moment ratio peak torque ratio effective torque effective torque ratio Output of results regenerative power and regenerative power ratio Printing Prints the input parameters calculation process and selected results Data storage Gives the input parameters a file name and saves them to a floppy Inertial moment calculation function Five types centrifugal cylinder off axis square shaft linear motion hanging and decelerator Notes 1 Windows is a registered trademark of the Microsoft Corporation 2 This software may not run correctly on all personal computers 3 The MRZJW3 MOTSZA1 capacity selection software does not work for MR J2 C It will after the next upgrade Version 41 will work with HC MF HA FF HC SF UF 2000 r min and HC RF series motors 59 Using Personal Computers ll Setup Software ne Senet nem act Ai MRZJW3 SETUP lire Lee beer fee Due Freee Tee fele z This software makes it easy to do monitor display diagnosis u Dm reading and writing of parameters and test operations from merrem E ers de B ra the setup using a personal computer ren Ea BE lid owe eee ea Drame mamans iae fni alal sj praam s mlt amr rpcia mitem pena in wdinin changar EE user e ae it Reha UG fe ooo zzi
81. itch on when motion controller power has been switched off Initializing waiting for motion controller power to switch on when motion controller power is off because the amp s power has been switched on Initializing between motion controller and amp begins communicating Initializing initial parameter reception complete Initialization completed Ready off Initialization completed Servo off controller side servo off Issuing command Servo on Warning Alarm NI VIN Decimal point flashes Test operation mode Note Axis number 1 to 8 Axis numbers O test operation Amp dimensions Same as MR J2 A Refer to diagram for A series 45 Standard Wiring Diagram and Terminal Descriptions Serial bus version available soon When connecting the optional regeneration unit always disconnect between P and D Connecting the optional unit when P and D are connected could damage the servo amp Notes 1 Keep the total length of the MR J2HBUS M A and MR J2HBUS LIM cables under 30 meters Use of a cable clamp or data line filter 3 4 connected in a series near the connector pull to enhance noise resistance is recommended 2 Motor side wiring after the second axis has been omitted 3 Up to 8 axes n 0 7 can be connected An MR H B series servo can be connected to the same bus however it requires a different cable 4 When using a motor with an electromagnetic brake the pol
82. l be at or below maximum motor torque No E n 3000 r min Pa 2 9 Continuous effective load torque 3 Acceleration Deceleration time constant Tux Tpsa TEx tex T2max Tped SOP sensan Mente BONUS IS a Trms 0 37N m 2 ti 3 7 kgf cm Tpsa Tpsd tp ts 0 05 sec Vo 60 te t ts 2 x Tpsa ts is the stop recovery time Estimated here at 0 05 sec for fast response The continuous effective load torque shall be at or below maximum torque 4 Operating pattern 10 Torque pattern 3000 r min Time sec 5 Load torque motor axis equivalent Amount of movement per motor rotation 11 Selection results From the above servomotor HF MF23 is selected 1 Servo amp MR J2 20A AS Ps x Ent 10mm 0 39 inch For conventional unit system a Parameter settings TL P a AS a TL DE 2 4 kgf cm Command pulse multiplication numerator CMX 512 PARCO ia Command pulse multiplication denominator CDV 125 6 Load inertial moment motor axis equivalent b During fast forward Moving parts Motor r min No 3000 r min 2 Input pulse string frequency f 100 kpps AS 5 DUREE Jii 2W pou kg cm c Acceleration deceleration time constant Tpsa Tpsd 0 05 sec Ball screw e e L 1 2 Ve ae pe gt 0 24 kg cm p 7 8 10 kg cm Iron Gear motor axis TepeLl 2 HE D 0 03 kg cm 62 COMPOSANTS D AUTOMATISME
83. lServo amp MR J2 10 A 1 Symbol Power supply Mitsubishi A Standard 3 phase AC 200V or servo amp B SSC NET dh One single phase AC 100V series name C With built in positioning function 1 Single phase AC 100V Compatible motor output capacity kW HC UF Symbol HC MF Sox 1000 r min i 7 2000 r min 3000 r min 10 053 13 053 13 13 20 23 23 zZ 23 40 43 33 43 de 60 z 63 70 73 72 ie 100 ze ae 152 350 202 E E Servomotor ee HC Mitsubishi AC servomotors HC MF series HA FF series HC SF series HC RF series HC UF series T D Electromagnetic Symbol Axialend Sere None Standard K Key way Installed m aa N HC MF and UF3000 r min series HC SF RF and UF2000 r min series rr way is standard on the HA FF23 through HA FF63 Rated output Input supply format All others have a straight shaft as standard symbol capacity kW 2 The D cut works only with the HC MF and HA FF models Canon connector of 100W or less 05 0 05 3 HC MFL K and HC UFL K 3000 r min have key 1to7 0 1 to 0 75 10 to 35 1 0 to 3 5 Input supply format HC MF HA FF series HA FF HA FF UE Non Japanese ee eee E Symbol Rated r min compatibility C Canon connector
84. n be connected at this junction terminal block without a connection to CN1A or CN1B Used to turn off the servo amp s power when an alarm has been triggered Control signal for operation panel option Connects to the PLC s I O port or the machine s operation panel RS 232C communications CN3 option Connects the unit to user s personal comput er enabling user to perform monitoring batch parameter entry and saving graph dis play and test operation Dedicated cables and setup software are available also Power factor X Y Z improvement reactor FR BAL m rA E dien ACharge lamp i Type 3 ground or above uw Goes on when the main circuit power supply Ed es is on Do not plug unplug power lines when this light is on illa COO LII Regeneration unit option Install this unit as necessary in situa tions involving frequent regeneration and large load completion moments Disconnect P and D when using this optional unit HC MF servomotor and encoder 2 Operation Easier to operate than ever before The display and setting sections are easy to operate And with the advanced features it incorporates the J2 is easy to start up When using in an absolute system install the optional batte
85. n condensing Servomotor Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Elevation vibration note 5 1000 meters or less above sea level X 19 6 m s 2 G Y 19 6 m s 2 G Weight kg Ib 0 4 0 9 0 53 1 2 0 99 2 2 1 45 3 2 3 0 6 7 Notes 1 The power facility capacity varies depending on the power supply s impedance 2 The figures for regeneration braking frequency indicate the permissible frequency when the motor alone decelerates to a stop from the rated rotation speed When load is applied regenera tion braking frequency is 1 m 1 of the figure in the table m load s moment of inertia motor s moment of inertia When the rated rotation speed is exceeded braking frequency is in inverse proportion to the square of operating speed divided by rated speed When the operating rotation speed is frequently changing or when a continuous regeneration condition exists such as during vertical feed assess the regeneration heat W generated during operation and make sure that it does not exceed the permissible range 3 There are no limits on regeneration frequency as long as the effective torque is within the rated torque range However the load motor of inertia ratio must be 30 or less 4 Contact Mitsubishi if the load motor of inertia ratio exceeds the figure in the table 5 The vibration direction is shown in this diagram IE 6 Excluding the shaft through section and
86. n electromagnetic brake do not apply the brake when the servo is on Doing so could cause an amp overload or shorten brake life Apply the brake when the servo is off Cautions concerning model selection eSelect a motor with a rated torque above the continuous effec tive load torque eDesign the operation pattern so that positioning can be com pleted taking into account the setting time ts Speed Command pattern s 22 Motor rotation x hd Command time ts Time Positioning time eUse the unit with the load s inertia set below the recommend ed load inertia ratio of the motor being used If it is too large desired performance may not be attainable Example of Selection Example of selection VO Speed of moving parts during fast forward Vo 30000mm min Ds Ball screw diameter 20 mm 0 78 inch Feed per pulse A 0 005mm 0 0002 inch Ls Ball screw length 500 mm 19 69 inch Feed per rotation 400mm 15 75 inch Dc Gear diameter motor axis 25 mm 0 98 inch Positioning time to 0 9 sec or less Dc Gear diameter load axis 40 mm 1 57 inch Number of feeds 40 min Le Gear tooth thickness 10 mm 0 39 inch Servomotor Operating period t1 1 5 sec Gear ratio n 8 5 Gear ratio 5 8 Weight of moving parts W 60kg 132 Ib Drive system efficiency 120 8 Friction coefficient u 0 2 Servo amp Ball screw lead Ps 16mm 0 63 inch Pulse train FX 1GM 1 Select control parameters
87. ng the unit repeatedly by turning the control power supply off and on after alarms 30 50 and 51 have been triggered can damage the components through overheating Resume operation after definitely eliminating the cause of the alarm 47 SERV AMPLIFIERS MELSERVG 24 Built in Single Axis Amplifier Positioning and speed data can be easily set by parameters so a positioning program is not required Multidrop operation up to 32 axes is possible with the RS485 422 interface 48 Peripheral Equipment Connections with peripheral equipment Peripheral equipment is connected to the MR J2 C as described below Connectors options and other necessary equipment are available to allow users to easily setup the J2 C and begin using it right away Battery compartment option A battery MR BAT is installed in the holder when using as an absolute system Not required when using as an incremental system Displays monitoring data parameters and alarms Parameter settings are performed with push buttons and monitoring data are displayed MR J2 Servo amp MR J2 C Power supply 3 phase 200V Used to protect the power supply line Relay terminal board MR TB20 Control signal connector Manual pulse generator MR HDP01 Used to turn off the servo amp s power when an alarm has been triggered External digital display MR DP60 RS 232C communications
88. nnecting ST2 and SG causes the motor to rotate in a CW direction Simultaneously connecting or Forward start ST2 9 disconnecting ST1 and ST2 causes the motor to decelerate and stop the position control to fall below zero speed and the servo to DI 1 enter a locked state aua ced Analog speed command signal input terminal Input an external analog speed command 0 10 V maximum rotation speed Analog input Speed selection 2 SP2 7 Speed selection 2 signal input terminal Connecting SP2 and SG limits operation to the parameter set speed DI 1 Reverse 8 Reverse power torque generation signal input terminal Select the direction of the torque to be generated Connecting ST1 and SG DI 1 selection STI causes torque to be generated in reverse power forward regeneration direction E Forward Forward power torque generation signal input terminal Select the direction of the torque to be generated Connecting ST2 and SG caus DI 1 selection es torque to be generated in forward power reverse regeneration direction es Anal d d signal input terminal Input an external anal d limit pace speed limit nalog speed command signal input terminal Input an external analog speed limit input Speed limit Speed limit signal output terminal When the set torque limit is reached the connection between VLC and SG is made Not output when DO 1 in effect the base is turned off Qd Analog torque command signal input terminal Input an external analog torque command 0 8 V maximum torque
89. nt HC SF HC RF and HC UF series eThe HC SF HC RF and HC UF series of servomotors come with IP65 as standard equipment enhancing their ability to with stand any environment Loaded with flexible functions E Absolute encoder is standard equipment einclusion of an absolute encoder as standard equipment elim inates the need for a homing sequence approximate DOG and other sensors helping to reduce time and enhance reliability In addition users can switch easily from incremental to absolute positioning eWith Mitsubishi s original absolute mode an absolute system can be configured using conventional I O even with pulse train output control E Achievement of an ultra compact design e hrough a molding process that uses newly developed high thermal conductivity resins the HC MF series of servomotors achieves enhanced motor cooling performance and an ultra compact design This makes it well suited to ultra low inertia high frequency applications A EN 29001 ISO 9001 BS 5750 BODIES EN 29001 ISO 9001 BS 5750 dura APPROVED BY BVQI APPROVED BY BVQI TUV Rheinland Once the amp s power has been turned on servo amplifier causes absolute data to be sent to the motion controller at Servo ON AD75P AISD75P FX 20GM FX I GM Amp Position command pulse train Controller I O I O ABS data ABS encoder Main Features Handy control functions lil Separate wiring for the control po
90. o 65 C non freezing Ambient humidity 9096 RH max non condensing Storage 9096 RH max non condensing Environment Atmosphere No corrosive gases combustible gases oil mist or dust within control panel Maximum altitude 1000 meters or less above sea level Maximum vibration 5 9 m s 0 6G max Weight kg Ib 0 7 1 5 0 7 1 5 1 1 24 1 1 2 4 1 7 3 7 1 7 3 7 2 0 4 4 2 0 4 4 Notes 1 The rated output capacity and rated RPM of the servomotor when assembled is for the stated supply voltage and frequency No guarantees are made for lowered supply voltages 2 Models without dynamic brakes MR J2 D can also be handled using special specifications 3 The torque characteristics when combined with a servomotor are for single phase AC 230V 51 Standard Wiring Diagram Sample connections for MR J2 C Configure a sequence for cutting off the MC when an alarm has been triggered or after an emergency stop Note 8 EM Servomotor MC TWO Power supply Q e O l O 3 phase AC 200 230V l V or single phase Q e O AC 230V Note 10 X NB hl W 4n CoMO r 1 43 T a O i Note 1 B1 peo l ER E nae Me Reet RR les u l B2 pe bas a e Optional regeneration unit E Forced stop Note 3 When connecting the optional E eal a Break by turning the servo on signal OFF regeneration unit always disconnect he or generating an alarm b
91. om rated rpm to a stop When under load however the value becomes the table value divided by m 1 where m is the load inertial moment divided by the motor inertial moment When the rated rpm is exceeded the regenerative brake frequency is inversely proportional to the square of Operating speed rated speed When the operating rpm varies with the frequency or when regeneration is constant as with vertical feeds find the regenera tion heat generated W while operating and do not exceed the permissible value HC SF series servomotor torque characteristics HC SF81 B HC SF121 B HC SF201 B HC SF301 B BA _ 30 00 46 _ 6005 60 _ 1000 100 S l2 Sone S 7504 9 200 3 o9 Peak operating o g 90 Peak operating 2 9 26 Peak operating 9 9 5 Beakoperating e a range o B range o 2 range e range o e o o o 2 e F 2004 20 E eee cin 100 10 ES ERE s 200 20 100 10 N 250 25 Continuous operating range Continuous operating range Continuous operating range Continuous operating range 500 1000 1500 500 1000 1200 500 1000 1200 500 1000 1200 Rotation speed r min Rotation speed r min Rotation speed r min Rotation speed r min HC SF52 B HC SF102 B HC SF152 B n 90 9 m 150 15 h 240
92. omagnetic brake connectors The motors are not provided with electromagnetic brake connectors Please order options from us or choose from among the following recommended products To order the following recommended products customers should contact the relevant manufac turer directly Straight connector Right angle connector T m Plug made by DDK Cable clamp made by DDK Cable Ses Ae coe Model Cable diameter Model Manufacturer Plug clamp Cable ACS 08RL MS10F Ni Fl Straight connecto ACS 12RL MS10F aS HC SF202 352 See ee MS3106A10SL 4S D190 WOSE DaiwaDengye ACA 08RL MS10F CUN Right angled connector ACA 12RL MS10F Retos YLO10 5 8 Daiwa Dengyo Straight connector Ea CD Plug made by DDK Cable clamp made by DDK Cable pcd dies Cable diameter Plug clamp Cable 58 M Ne HC SF202 352 Normal environment Straight connector MS3106A10SL 4S Inner diameter of bushing MS3057 4A O 54 95 Options and Peripheral Equipment Battery MR BAT The servomotor s absolute value can be maintained by installing a battery in the servo amp There is no need to install the battery when using the servomo tor in incremental mode Note AGBAT can be used also Power factor enhancing reactor FR BAL This reactor enables users to boost the servo amp s power fac tor and reduce its power capacity It can also be used when it is connected directly under the power transformer 500 kVA or above wi
93. on acceleration deceleration Used to set the time constant when using a delayed filter m time constant smoothing for the position command 3 msec O 20000 8 Internal speed command 1 Used to set the first speed of the internal speed command 100 r min p lel 9 Internal speed command 2 Used to set the second speed of the internal speed command 500 r min pc 10 Internal speed command 3 Used to set the third speed of the internal speed command 1000 r min O permissible P P rotation speed act Used to set the acceleration time from stop until the attainment of 11 Speed acceleration time constant rale cia etse Tibi MIS a Sc CIN AE O msec O 20000 ET Used to set the deceleration time from the rated rotation speed 12 Speed deceleration time constant until stop for the speed command O 20000 aj Used to set the time for the circular portion of S 13 Sime CEST acceleration deceleration O 1000 Used to set the time constant when using a delayed filter for the 14 Torque command time constant torque command O 20000 15 Spare C icati baud rat 16 a dee Used to set the RS 232C baud rate and to clear the alarm history 0000 001 1h 17 Analog monitor output Used to make the settings related to analog monitor output 0000 OAOAh 18 Status display selection Used to make the settings related to status display 0000 001Ch 19 Parameter entry prohibition Used to select the parameter reference range and entry range 0000 OO00Ch
94. onal regeneration unit F 3 11 D d Q d a B 40 1 57 30 1 18 Q Weight Weight 6 mounting hole o 6 mounting hole 20 0 79 15 0 59 L Type p 7 y kg Ib a yw Nd ES 3 2 0 13 JUIZ 0 MR RB32 2 9 7 0 um t c A l S E a Par 10 0 39 90 3 54 MR RB30 2 9 7 0 94 qa l et di T s N S OE 4 X b 318 12 52 117 0 67 100 3 MR RB12 fo IMR RB12 dS MR RB32 MR RB30 3o Gg 356 G E o 4 2 0 17 a RO 42 0 17 e i i D lt NN T 7x14 long hole 4 T TE1 _ SP 2 o g h oO Cw o a o S E o E p eS 3 p a E ex scd e 3 8 e E N 10 0 39 N 6 0 24 en b Go 3 2 0 13 1 6 0 06 N 3 2 0 13 1 6 0 06 6 0 24 i peur rcrum P LES g a SS 19 0 75 1 1 erd l 50 5 90 19 0 75 100 3 94 2 m Weight Weight 2 3 0 09 7 0 28 kg Ib 200 7 87 17
95. orque speed and position control modes is possible for the first time Torque f a eire I m OK in any control mode FA 2 Andlcan switch Control signal assignment feature A C type Control signals necessary for operation can be freely assigned to connector pins within a predetermined range enabling more flexible operation On off switches and signal assignments can be changed inside me without any wiring switch Command pulse train types A type The J2 can handle three command types encoder signals pulse and direction and CW CCW pulse train Forward R gt Encoder orwara everse mE Ez RB ETT MES With 2 LM a anon Pulse train INNA Three types are all OK A WEE SSC NET compatible B type The controller is connected to each servo amp through a high speed serial bus enabling users to issue commands to and con firm the status of the servo amps with the motion controller And fewer wires reduce the chances of a wiring error Easy wiring and easy setup with high speed SSC NET Servomotor Features and Amplifier Models Rated speed Rated output Servo motor Servomotor type With Amp pairing MR J2 note 1 Motor series maximum ag electro With Protec r min capacity MOGE magnet absolute tive kW ic br
96. output Teen opere one program operation using simple language and one step feed note 3 Point data note 3 Position speed block data batch display data setting teaching and point table ote 3 File operation Data reading storage and printing Other Automatic operation and help display Notes 1 Windows is a registered trademark of the Microsoft Corporation 2 Automatic VC offset display works only with the MR J2 A series 3 MR J2 C compatible 4 This software may not run correctly on some PCs 60 61 Cautions Concerning Use To ensure safe use eTo ensure the safe and proper use of the product we ask that you read the instruction manual prior to its use eThese products are not designed or manufactured for use in machinery and systems where people s safety is at stake e When considering the product for use in such special applica tions as equipment or systems employed in passenger trans portation medicine aerospace nuclear power generation or underwater relays please contact our sales representative eThis product has been manufactured to the most rigorous qual ity standards However we ask that you employ safety devices when using the product in equipment in which any failure on its part can be expected to cause a serious accident or loss Cautions concerning use Transport and installation of motor eProtect the motor from impact during handling When installing pulleys and couplin
97. pe HC UF series The MF SF FF and RF are new motors that are more compact than the old 4 motors but have the same installation dimensions r Enhanced ability to withstand environmental hazards HC SF HC RF and HC UF series are rated IP65 as standard equipment Water and dust don t bother me Model adaptive control Because the J2 operates in quick response to commands it offers highly responsive and stable operation unaffected by machine systems respond quickly no matter how fast the command Servo lock anti microvibration function Microvibrations in the servo lock state are suppressed making possible the construction of stable systems Microvibrations are suppressed even in servo lock Personal computer interface is standard equipment The J2 comes with an RS 232C serial communications connector as standard equipment enabling users to connect a personal computer to the J2 to perform setup and to enter parameters Special setup software is available Entry and saving of parameters test operation and graph display can all be performed by per sonal computer Automatic servomotor recognition Once the encoder cable has been connected the servo amp can determine as soon as its power is turned on which servomotor is connected P e Oy know right away which motor is connected An Array of Handy Functions Encoder serial communications
98. ply VDD or 24 V DC power EON suppl da power Driver s power output terminal for digital interface Outputs 24 V 10 between 24 V commons Connect to Vin when not using an FEN NAME external power supply Do not allow the sum of current for the command unit and input output relay drive to exceed 80 mA 24V common insulated from LG Common Digital interface common 15 V DC power output Control common External 15V power supply Maximum permissible current is 30 mA Control signal common terminal Emergency stop signal input terminal Disconnecting EMG and SG puts the unit in emergency stop state power to the base is cut off Power supply Analog common emergency and the dynamic brake is activated Short circuiting EMG and SG in the emergency stop state causes the unit to automatically exit the DI 1 stop emergency stop state Preparation for operation signal input terminal Short circuiting SON and SG places the unit in an operable state Disconnecting these Servo on terminals causes power to the base to be cut off and the servomotor to enter a free running condition This can be set to automatic on DI 1 with the parameter settings Alarm reset signal input terminal Short circuiting RES and SG causes the malfunction to be reset While the alarm is being reset power Reset to the base is cut off Malfunctions related to regeneration errors and overloading cannot be reset with the alarm reset signal immediate DI 1 ly after the
99. pu 34 Amplifier Dimensions MR J2 10A1 20A1 10A B C 20A B C Unit mm inch 50 1 97 o 70 276 eo 135 5 31 o 6 0 24 mounting hole 0 24 Terminal wiring diagram i Space required for heat i A 20 0 78 M y radiation 40 mm 1 57 min Rt terminal cover open it MITSUBISHI Display setting umeuan Q Section cover ANNAN S z OPEN HHHHH OPEN v LL Ly Ly v C C N N N N se Allee Neal 3 S P ndun Name plate 1 ss JE Veli R 3 li i F 3 M4 x 0 7 0 03 screw Cu Terminal block C LL TUI coves TF 3 Terminal S TUI IIl i L1 L2 L3 F a cover UU UU i A E S UVW UJIVIIW RICI Ri or SOK q Codes PE S E Three ground PE _ yy c Pian sande Space required
100. r min series UN ae ee ee O M zi 5 930 E characteristics Rated torque N m oz in 8 12 1149 8 11 5 1628 4 19 2704 5 28 6 4049 4 2 39 338 4 4 78 676 8 Mximum torque N m oz in 24 4 3455 0 34 4 4871 0 Sro BTI 85 O12163 2 Z 16 1013 8 14 4 2039 0 Power rate KWIS JE Ce 51 75 96 350 32 8 200 810 T Regeneration MemBosegow 220 BENE GENE RN braking MmnBI2 W 70 EN NENNEN e MN EYE CETT NN RR NN RR RR RR RR NN RR NN Qu E 709 39 3 C CNN 21 NN RR NN cS RN ures inside parentheses indicate unis with B Encoder Resolution per servomotor revolution 16384 P rev Totally Enclosed non ventilated protection degree IP65 note 5 O to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing 8096 RH max non condensing storage 9096 RH max non condensing Atmosphere Indoors no direct sunlight no corrosive gas flammable gas oil mist or dust Environment Elevation 1000 meters or less above sea level Servomotor 2 2 2 Vibration note 4 V 2A Smi 256 iaoe 68 eaim 66 X SEMSE 8 Y 245m Weight kg Ib 9 19 8 12 26 5 19 41 9 23 50 7 5 11 0 Notes 1 The power supply capacity varies with the power supply impedance 2 The regenerative brake frequency shown is the permissible frequency for decelerating a stand alone motor fr
101. r start signal y 1 Continues operation for the next positioning block without stopping Sample data settings Auxiliary function 1 l Target Motor Acceleration Deceleration Auxiliary position r min time constant Diah WATE functions Speed Positioning Positioning f block 1 block 2 15 Note Set the auxiliary function for point No 1 to 1 to get auxiliary function 1 as shown in the figure below 999999 3000 100 110 0 O m Positioning Positioning mes VAIN Set the auxiliary function for point No 1 to O to get auxiliary function O as shown in the figure below which requires a start signal eism eignet 50 Speed Servo amp Specifications Servo amp model MR J2 10C 20C 40C 60C 70C 100C 200C 350C 3 phase AC 200 230V at 50 60Hz or Voltage requency single phase AC 230V at 50 60Hz note 3 3 phase AC 200 230V at 50 60Hz Power Permissible voltage 3 phase AC 200 230V AC 170 253 at 50 60Hz supply fluctuation Single phase AC 230V AC 207 253 at 50 60Hz epe AO LUCES eir SINC Permissible frequency T fluctuation Control method Sine wave PWM control and current control methods Dynamic brake Built in note 2 Overcurrent breaking regenerative overvoltage breaking overload breaking electronic thermal servo motor overheating protection sensor malfunction protection Protection functions ae p regenerative malfunction protection in
102. re length of 10 meters or less to suppress current surges that occur when the power is turned on External dimensions psi Mounting hele F mounting screws Terminal block Spec number Product number lt Connection gt Servo amp FR BAL MR J2 _ A B C ix Power supply 1 phase 200 230V AC Servo amp MC FR BAL MR J2 _ A1 Power supply e o 1 phase 100 150V AC O FR BAL 0 4K FR BAL 0 75K FR BAL 1 5K FR BAL 2 2K 160 6 30 96 3 78 6 13 2 8 5 18 7 14 5 32 0 FR BAL 3 7K 220 8 66 95 3 74 FR BAL 7 5K_ 220 8 66 9 Junction terminal block MR TB20 All signals can be wired to this junction terminal block without a connection to CN1 External dimensions Unit mm inch 2 94 5 0 18 5 0 20 17 5 0 69 60 2 36 4 0 16 52 iB 5 0 32 0 07 0 20 107 4 21 117 4 61 126 4 96 j aHa es essa 40 5 1 54 Y y 7 0 28 4 Compatible wire 2 mm max compressed terminal width 8 1 mm max Terminal block screw size M3 5 Options and Peripheral Equipment Unit mm inch 9 Opti
103. rential output 400 kpps open collector 200 kpps Positioning pattern 600 patterns shaft 100 patterns from ladder Input output duty points 32 Acceleration deceleration patterns 4 automatic trapezoid S acceleration deceleration 130 5 12 Print board AD75P AISD75P 93 6 3 67 2 3 0 09 34 5 1 36 Unit mm inch Users can choose either the FX 20GM alone or coupled with an FX PLC This units offer a broad range of uses from interpolation operation to high fre ll FX 20GM E 20GM 2 axis positioning unit MELSEC F series com patible 2 axis position ing units quency feed operation gt eg FX 2 OGM MITSUBISHI width i a E 20GM Lm ae mounting Model FX 20GM E 20GM zx E pe Item language equipped model m ills m Number of control axes 2 simultaneous 2 independent 8 Interpolation functions Linear interpolation circular interpolation pa Compatible PLC Stand alone use is a Command mode Incremental absolute PE 45 5 0 22 FX 20GM Absolute position encoder Can be used with MR H model servo with ABS function Brus MEI Maximum number of output pulses C 2 147 483 648 1 BEN Maximum pulse frequency Open collector
104. ry Optional battery holder UP DOWN Used to change display content and re enter parameter data Optional battery connector SET 4 digit 7 segement display panel MODE l i Displays operating status parameters etc Used to switch between display modes Used to set parameters for auto tuning and for switching to the test screen Explanation of 7 segment display device Pressing the MODE button causes the display mode to change one step at a time in the sequence illustrated below Power supply DOWN button UP button note Feedback pulse Motor rotation Standing Command pulse Command pulse Speed command voltage Torque limit voltage or Status mA accumulation speed pulse accumulation frequency or speed limit voltage torque command voltage display C r E P
105. s and system size Name Specification application overview External dimensions A171SH A172SH Combination of a servo controller with the MELSEC A high perfor Motion controller mance all purpose PLC allows motion and sequence control with one m M single controller This previously required two separate controllers M5x25 5 Four software packages are available for different applications 8 o HiS l Conveyor and assembly software SV13 gs Automated unit software SV22 CAMP es Machine tool peripheral software SV43 l i Dedicated robot software SV51 ENT i ee L 220 8 66 A E 110 4 33 m ad A171SH A172SH A273UH s A273UH Basic base 4 6 0 24 mounting holes Number of control axis M5 mounting screws Motion controller Interpolation functions Linear interpolation max
106. s upon contact input or RS 485 RS 232C communications based Manual on speed commands set by parameter operation mode Manual pulse Manual feed by manual pulse generator Command pulse ratio generator Use parameter to select x1 x10 or x100 Returns to origin upon Z phase pulse after passing through near point dog Ope eirg eg ENIM Settable origin address settable origin shift and selectable direction for return to origin mode find rear end us Automatic retreat on dog back to origin and automatic stroke retreat function E Returns to origin upon sensor pulse count after touching near point dog find d end Settable origin address settable origin shift and selectable direction for return to origin Automatic retreat on dog back to origin and automatic stroke retreat function PA Returns to origin without dog homing mode M T de we is Dele Gel SENET Set any position as the origin using manual operation or the like Settable origin address Returns to origin upon hitting end of stroke Settable origin address Impact system een aa Selectable direction for return to origin Ignore origin SON position Uses position where SON signal becomes ON as origin Settable origin address origin Absolute position detection and backlash compensation Other functions Overtravel prevented by external limit switch Software stroke limit and override via external analog Structure Open IPOO Ambient temperature O to 55 C non freezing Storage 20 t
107. servo amp Overload 2 Is activated when an overload is detected in the motor or servo amp Is activated when the difference between the input pulse and return pulse is detected to have exceeded 80k Excess error dd 2 pulses when operating in position control mode RS 232C communications error Is activated when an error occurs in RS 232C communications Battery disconnection error re when the battery wire connected to the encoder becomes disconnected or when the battery s voltage A 96 Origin set error Is activated when the origin is not set following the input of a CR clear signal in an absolute system Battery warning Is activated when the battery s voltage falls Excess regeneration warning ls activated when the regeneration resistor s load reaches 85 of the alarm level O Overload warning Is activated when the unit reaches 85 of the overload alarm level ABS data counter warning Is activated when there is an error in the absolute data counter s backup data ABS time out warning Is activated when there is a time out error during the forwarding of absolute data Servo emergency stop Is activated when an external emergency stop signal has been lifted Main circuit off warning Is activated when the main circuit s voltage P N is below 215 V when the servo on SON signal is turned on ABS servo on warning Is activated when the servo on signal does not go on within 1 second after ABS forwarding mode D13 is turned on E
108. speed control T 0 03 max load fluctuation O to 100 Speed fluctuation rate 0 02 max power fluctuation 10 0 02 max ambient temperature 25 C 10 C 77 F 50 F when using external analog speed Torque con trol specifi Torque command input Oto 8V DC maximum torque cations Structure Self cooling open IPOO Ambient temperature O to 55 C 32 to 131 F non freezing storage 20 to 65 C 4 to 149 F non freezing Ambient humidity 9096 RH max non condensing storage 90 RH max non condensing Environ P e Atmosphere Inside control panel no corrosive gas flammable gas oil mist or dust Elevation 1000 meters or less above sea level Oscillation 5 9 m s 0 6G max Weight kg Ib C 1559 O5 6155 A a IPEA 1n eeu ALI Cen BIO E GL Che Gala 22 Note Rated output capacity and rated rotation speed of the servomotor used in combination with the servo amp are as indicated when using the power voltage and frequency listed Output and speed cannot be guaranteed when the power supply s voltage is less than specified 2 Signal Terminal Descriptions Terminal block Signal Abbreviation Terminal Description of function application Alternating Li L2 LS qs Connect to a 3 phase 200 230V 50 60Hz commercial power supply There are no phase sequence limitations circuit L11 121 TE2 Connect to a single phase 200 230 V 50 60 Hz commercial power supply Supply power from
109. ss one is connected Provide normally closed inputs for LSP LSN Signals with the same name are connected inside Malfunction ALM signals are turned on during normal operation when no alarms have been triggered When using a motor with electromagnetic brake Polarity of power supply connected to electromagnetic brake s lead compressed terminals sleeve is blue is unimportant Connect shield wire securely to plate inside the connector ground plate Connect between LG and pulse output COM to strengthen noise Always use a shielded multicore cable up to a maximum of 15 meters is possible in a good noise environment OOOND ABW PD EE 36 Standard Wiring Diagram Connection to AD75P A1SD75P position servo absolute CN1B Servo amp VDD 3 A1SP62 All purpose sequencer son a t COM 15 BEBO m SG 10 e i P FG SG
110. sufficient voltage power outage protection overspeed protection protection against exceeding tolerances Speed frequency response 250Hz min Operating Positions according to the specification of the point table No specification 15 points Three points set when shipped Input point M Ee tomy Set in point table Feed for 1 point settable between 1um and 999 999 mm command table number Input speed Set in point table Acceleration deceleration time set in point table command S curve acceleration deceleration constant set by parameter 14 Signed absolute value commands increment value commands Command method Aeree Positioning by RS 485 RS 232C communications data specification Input positioning Positioning by RS 485 RS 232C communications Input position command Feed for 1 point settable between 1 um and 999 999 mm gale nat Positioning by RS 485 RS 232C communications ce Acceleration deceleration time also set by RS 485 RS 232C communications command S curve acceleration deceleration constant set by parameter 14 System Signed absolute value commands increment value commands 2 Point table number input and position data input system Point table Each m a o iti d d A T Automatic ach positioning operation based on position and speed commands e operation j D P d Automatic Speed changing operation 2 speeds to 15 speeds 95 moce continuous ee automatic continuous positioning operation 2 to 15 points operation JOG Inche
111. t m NPS 8 NP 10 G OE pete tee CLEAR 5 eee Ler e We COM 2 SG 10 E 9 PECES SG 20 24 LZ 5 m3 co n us ER 21 PG 1 MEE EN PULSEF 3 p 3 Y po 22 NG 12 EPEEN USER NE Y po PLS COM 19 LG ES PLS COM 20 L Note 5 I SD PLATE Note 4 Notes 1 For DOGU style return to origin Do not connect for data set return to origin 2 Starting up when the servomotor is above the zero signal causes the AISD75 AD75 deviation clear signal to be output Therefore do not wire the MR J2 A clear signal to the AISD75 AD75 side but to the sequencer output unit 3 Control the electromagnetic brake output through a relay to the programmable controller s output 4 Use a differential line driver method of pulse input An open collector method can be used also but a differential line driver method which is not greatly affected by external noise is recommended 5 Connect the LG and pulse output COM to boost noise 6 With models AD75M and AISD75M an absolute system can be constructed with reduced wiring by combining these models with MR J2 B 7 Refer to the previous page for the connections with the power supply servomotor and computer 8 Refer to the MELSERVO J2 A Absolute Positioning System User s Manual for details about absolute systems D Standard Wiring Diagram Speed control operation Configure a sequence for switching off the MC
112. t as illustrated below e 4 digit parameter settings Example The auto tuning setting Turn the power on MODE UP DOWN SET Press the MODE button three times to display the parameter mode screen Press the UP button twice to display parameter 2 Press the SET button Press the SET button Pressing the UP or DOWN button will HETH mmm cause the next parameter number selection screen to appear The parameter setting is displayed cle Change the setting by pressing HIH Tee the UP or DOWN button The parameter setting flashes indicating that the setting can be changed 000 The parameter setting flashes The parameter setting stops flashing Press the SET button Parameter setting is complete Note The mode cannot be changed by pressing the MODE button at this point To change modes press the UP or DOWN button and after reaching the parameter display screen press the MODE button e 5 digit parameter settings Example Command pulse magnification numerator setting L Display parameter 3 by following the instructions for a 4 digit parameter setting Press the SET button Press the SET button Press the MODE button Pressing the UP or DOWN button will cause the next parameter number selection screen to appear The parameter setting for Press the UP or DOWN button to change the value Press the SET button Parameter setting for the last 4
113. th electromagnetic brakes 17 Motor Dimensions Unit mm inch e HC MF73 B 142 5 99 40 1 57 180 3 1 at Laii 177 5 6 99 gt e 0 02 M 4 6 6 0 260 o e S 4 s o E E TA s x yY eV o9 D g g E Sy E t 5 a ms ae e T Vn EF gt a 4 25 2 0 99 Ny Power supply lead va 4 AWG19 11 8 inch AWG Brake lead note 4 16 0 157 inch round crimped y 2 0 32 11 8 inch AWG terminal with tip insulation 16 0 157 inch round crimped Hed U phase terminal with tip insulation White V phase Blue B1 B2 Black W phase Green Yellow ground Encoder cable 11 8 inch With 172169 9 connector made by AMP Notes 1 When mounting the servomotor horizontally we recommend encoder connector to be mounted downward 2 Use a friction coupling to fasten the load 3 Dimensions inside are for models with electromagnetic brakes 4 Only for models with electromagnetic brakes 18 Motor Dimensions Unit mm inch HA FF053 B HA FF13 B
114. the same source as that for L1 L2 and L3 Turn on power supply before or simultaneously with L1 L2 and L3 Turn off simultaneously with or after L1 L2 and L3 Motor output U V W TE1 Connect to the U V and W terminals of the motor s power supply The motor will not rotate properly if an error is made in the phase sequence Regeneration rave resistor Be wb EZ When using the optional regeneration unit remove the wires connecting P and D and connect the optional regeneration unit between P and C Ground PE Chassis Ground with the motor at one point Connected to the chassis Connector CN1A Factory settings Same for position speed and torque control modes Signal Abbreviation o Description of function application I O category R Driver s power input terminal for digital interface Vin are all connected inside Supply 24 V DC power to this terminal when using an Power power input external power supply supply Digital interface common SG 10 20 24 V common insulated from LG Common 15 V DC power output P15R 4 15 V power supply Maximum permissible current is 30 mA Power output Control common LG 1 Control signal common terminal Encoder A LA 6 phase pulse LAR 16 Encoder s A B phase pulse signal output terminal Differential line driver output Output pulse can be changed through the parameter setting Encoder B LB 7 DO 2 phase pulse LBR 17 LZ S Encoder 2 LZR 15 Encoder s Z phase pulse signal output t
115. the unit inoperable in a CCW direction but opera ble in a CW direction To operate in a CCW direction connect between LSP and SG with a limit switch Disconnecting LSN and SG makes the unit inoperable in a CW direction but operable in a CCW direction To operate in a CW direction circuit between LSN and SG with a limit switch This can be set to go on automatically with the parameter settings Analog input Proportional Proportional control signal input terminal Connect between PC and SG when you want to suppress microvibrations when the servo lock PC ABSM NW 5 Ha ee 3 is on ABS forwarding mode signal input terminal Connecting ABSM and SG puts the unit in ABS forwarding mode Eus mie dius TL ABSR 9 External torque limit signal input terminal Connecting TL and SG limits the torque to the TLA level ABS data request signal input termi DI 4 request nal Connecting ABSR and SG generates a request for ABS data Proportional con trol ABS data bit ABS bitO 4 ABS data bitO signal output terminal The lower bit of the two bit data forwarded to the command unit from the servo amp DO 1 0 Speed control mode Speed selection 2 SP2 d Speed selection 2 signal input terminal Runs at parameter set speed DI 1 Forward start ST1 8 Forward start signal input terminal Connecting ST1 and SG causes the motor to rotate in a CCW direction DI 1 Reverse start signal input terminal Co
116. tivated when an error is detected in the printed board Encoder error 2 Is activated when an error is detected in the encoder or encoder cable Output side ground fault Activates when the servo amp output phases U V ABS data loss Is activated when the battery s voltage falls and absolute data is lost Is activated when an error is detected in the regeneration circuit or when there is an excess load on the regenera Regeneration error tion brake resistor due to excess regeneration frequency Excess speed Is activated when the motor rotation speed is detected to have exceeded the permissible rotation speed Alarm code Excess current Is activated when excess current is detected Excess voltage Is activated when excess converter voltage is detected 34 CRC error Is activated when a communications error is detected in the bus cable MR J2BUSI M Command pulse error Is activated when an excess frequency command pulse is input Transfer error Is activated when an error is detected in the motion network cable or the printed board Is activated when parameters are detected to be outside the setting range through a parameter check performed when the power is turned on 46 Motor overheat Is activated when activation due to motor overheating of the thermal protector inside the encoder is detected Overload 1 Is activated when an overload is detected in the motor or servo amp Parameter error
117. v Encoder Resolution per servomotor revolution 8192 P rev Speed position encoder Can handle 131072 P rev with special specifications Can handle 32768 P rev with special specifications The amp is made to order note 7 The amp is made to order note 7 Attachments Encoder oil seal Totally Enclosed non ventilated protection degree IP65 note 5 Ambient temperature O to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing Ambient humidity 80 RH max non condensing storage 90 RH max non condensing Envi Atmosphere Indoors no direct sunlight no corrosive gas flammable gas oil mist or dust nvironment 1000 meters or less above sea level 7 X 9 8m s 1G X 19 6m s 2G 2 Vibration note 4 Y 24 5m s 2 5 Y 49m s 5G X Y 19 6m s 2G Weight kg Ib 8 0 17 6 uso 249 16 0 5 8 rs Servomotor Notes 1 The power supply capacity varies with the power supply impedance 2 The regenerative brake frequency shown is the permissible frequency for decelerating a stand alone motor from rated rom to a stop When under load however the value becomes the table value divided by m 1 where m is the load inertial moment divided by the motor inertial moment When the rated rpm is exceeded the regenerative brake frequency is inversely proportional to the square of Operating speed rated speed When the operating rom varies with the frequency or when regeneration is
118. w inertia medium capacity Low inertia design makes this unit well suited to y positioning applications tion positioning feedback pulse rate approximately 3 times that of HA LH eIP65 Designed to withstand environmental hazards eFlat low capacity medium capacity Enable stable control from low speeds to high suitable for a wide range of Flat design produces slimmer iles higher for the positioning feedback pacity 8192 P rev Medium capacity e IP65 Environmentally sensitive design eInserters mounters bonders e Printed board hole openers e n circuit testers e Label printers e Knitting and embroidery machinery e Ultra small robots and robot tips e LCD and conveyors e Food preparation machinery e Printers e Small loaders and unloaders e Small robots and component assembly devices e Small X Y tables e Small press feeders e Conveyor machinery e Specialized machinery e Robots e Loaders and unloaders e Vinders and tension devices e Turrets eX Y tables e Test devices e Roll feeders eLoaders and unloaders e High frequency conveyor machinery e Robots eConveyor machines e Food processing machines e Winder and tension devices Inserters mounters bonders Conveyor machinery Roll feeders AC robot In circuit testers Small X Y table devices Winders and tension devices Wrapping machinery Micro robot Model Configurations l
119. wer supply eWiring of the control power supply is separate from that for the main circuit power supply When an alarm is triggered the main circuit power supply can be turned off and the control power supply left on making it possible to confirm the alarm message and operate the unit with confidence This also makes it easier to handle EN standard mechanical directives E Torque control function eThe J2 comes equipped with a torque control function In addi tion users can switch between control modes position speed and speed torque E Stop state anti vibration function eMicrovibrations in the servo lock state are suppressed through a unique method developed by Mitsubishi making possible the construction of stable systems User friendly features ll Personal computer interface is standard equipment e he J2 comes with RS 232C serial communications as a stan dard feature enabling users to connect a personal computer to the J2 eUsing the setup software provided users can display a variety of monitoring data perform batch entry and saving of para meters use graph functions and perform test operation Model MRZJW3 SETUPS5IE and above ll Automatic motor recognition feature eIncorporating motor identification information into the encoder means that the servo amp can automatically recog nize the drive motor When the servo amp detects a mismatch an alarm is triggered eliminating the possibility of error and the nee
120. wer supply connector pin assign CE05 2A22 23P Encoder connector MS3102A20 29P KL Power supply connector CE05 2A22 23P Variable dimensions 3000 r min L KL HC SF53 B 129 cee 51 5 2 03 HC SF108 B Des mae 76 5 3 01 HC SF81 B HC SF152 B HC SF153 B 2 2 Eod 101 5 4 00 e HC SF121 B HC SF301 B HC SF202 B HC SF352 B HC SF203 B HC SF353 B 4 213 5 0 53 mounting holes Use heaxagonal cap head bolts L 79 3 11 note 3 39 5 1 56 18 0 71 3 0 12 75 2 95 Motor flange Motor flange Oil seal direction direction S40608B U 30 010 0 935 Power supply connector E pin assign Brake connector E CE05 2A24 10P PiN SS SIE MS3102A10SL 4P B note 3 Encoder connector MS3102A20 29P Brake connector Power supply connector MS3102A10SL 4P CE05 2A24 10P 5kw CE05 2A32 17P 7kw Model Variable dimensions 1000 r min 2000 r min 3000 r min L KL KA KB 145 5 71 HC SF121 B HC SF202 B HC SF203 B 193 760 gt 68 5 2 70 142 5 60 46 1 81 187 7 36 HC SF201 B HC SF352 B HC SF353 B ar 9 25 110 8 4 35 142 5 60 46 1 81 208 8 19 HC SF301 B 256 10 08 gt E E 1 81 Notes 1 Use a friction coupling to fasten the load 2 Dimensions inside lt gt are for models with electromagnetic brakes 3 Only for models wit
121. wing functions MODE Used to select the forced output signal AD PE 7sP c OP ALM DO01 TLC UP Turns the selected signal on DOWN Turns the selected signal off Press the SET button for Press the MODE button once to display the diagnostic mode screen Press the UP button twice to display the DO forced output screen 31 doan ka Press the SET button for 2 seconds 2 seconds doon Exit forced output mode Basic parameters The basic parameters are listed below For parameters marked with an asterisk turn the power off after setting and turn the power back on to complete the setting E Name Abbreviation Description Factory setting Setting range Control mode regeneration selection oly Used to select the control mode and regeneration option 0000 0000 0605h 1 Function selection 1 OP1 Used to select servo type options 0000 0000 1012h 2 Auto tuning ATU Used to select the auto tuning function 0102 0001 0215h 3 a Md puise CMX Used to set the multiplier for the command pulse input 1 1 32767 Electronic gear command pulse i Mi 4 magnification denominator CDV Used to set the divisor for the command pulse input 1 1 32767 5 In position range INP Used to set the range for the standing pulse 100 pulse 0 10000 which sends in position output 6 Position control gain 1 Used to set the model position loop gain 36 rad s 4 1000 Positi
122. with the setup soft ware The servo amp screen when the unit has been set to positioning operation mode with the setup software The servo amp screen when the unit has been taken out of positioning operation mode with the setup software e Test operation mode 2 Operation without a motor The servo amplifiers can be checked without connecting them to a motor This is convenient when you want to confirm a com mand or peripheral sequence before operating the actual machine You can monitor the motor s simulated rotation speed and command status on the amp s display screen just as you would during normal operation Turn the power on gt zm E EE TEMO om Press the MODE button once to display the diagnostic mode screen Press the UP button five times to display the test operation no motor screen After turning the servo off press the SET button for 2 seconds On the test operation screen the buttons have the following functions MODE Used to change the test operation status display screen UP DOWN Invalid To exit test PT mode turn the power of and on again 30 Setup and Parameters Output signal forced output Forcing output signals on or off such as alarm and ready signals makes it easy to perform external wiring and sequence checks Turn the power on WEN 7 EM On the DO forced output screen the buttons have the EN 77 D follo
123. y capacity varies depending on the power supply s impedance 2 The figures for regeneration braking frequency indicate the permissible frequency when the motor alone decelerates to a stop from the rated rotation speed Below 200 there are no limits on regeneration as long as the effective torque is within the rated torque range When load is applied regeneration braking frequency is 1 m 1 of the figure in the table m load s moment of inertia motor s moment of inertia When the rated rotation speed is exceeded the permissible number of times is in inverse proportion to the square of operating speed divided by rated speed When the operating rotation speed is frequently changing or when a continuous regeneration condition exists such as during up down feed the regeneration heat generated during operation must be assessed and measures taken to make sure that it does not exceed the permissible range 3 Contact Mitsubishi if the load motor of inertia ratio exceeds the figure in the table 4 The vibration direction is shown in this diagram E Z dL ke Y TL HC RF series servomotor torque characteristics HC RF103 B HC RF153 B HC RF203 B 90 9 10 Ja to 180 18 e E f 3 S z S e Z Peak operating Peak operati 3 amp 40 Peak operatin o 3 range z 60 gt ES g 100 48 10 nee P g

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