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1. web Encoder I connector low 4 9 27 4 j_j __ 58 8 Note 3 Oar 6 fe kt ORTO S STAN i Hats ao Fy UAE tae fi A SA a O LO ESA AO 6 TER Note 3 SERE a connector KL e Brake connector Note 3 PEA O S Encoder connector 21 5 Power supply 58 8 Note 3 Note 3 2 64 5 mounting 0140 hole f Use hexagonal cap 4 head bolts x O li N KO t 7 ji z X O se LL Ce 13 9 6 4 gt lt gt 27 5 k Power supply Brake connector Note 3 connector HF KN053 B HF KN13 B Unit mm Power supply connector pin assignment Pin No Signal name Earth Signal name Earth Pin No o O O gt p ab op Brake connector pin assignment Note 3 B2 n Variable dimensions L 72 87 123 9 Peripheral Equipment 0 HF KN23 B HF KN43 B 4 5 8 mounting hole Use hexagonal cap head bolts L160 gt 47 1 Note 3 Encoder connector Notes 1 Use a friction coupling to fasten a load Sonoma Power supply connector 47 1 Brake connector Note 3 lt When the cables are led out in opposite direction of motor shaft gt
2. Encoder connector Note 3 57 8 Note 3 Power supply connector Brake connector Note 3 2 Dimensions inside are for the models with electromagnetic brake 3 Only for the models with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 4 For dimensions where there is no tolerance listed use general tolerance HF KN23 B HF KN43 B Power supply connector pin assignment Pin No Signal name Brake connector pin assignment Note 3 Pin No Signal name Variable dimensions 88 2 110 2 138 8 38 Servo amplifiers Servo Support Software Dimensions Cautions MELSERVO J N HF KP Series Geared Servo Motor Dimensions With reducer for general industrial machines Unit mm HF KPLJ B G1 The following is a schematic diagram The actual shapes or the mounting screws may differ from the following Refer to the table below and Servo Motor INSTRUCTION MANUAL Vol 2 for details Rotation direction For reverse rotation command Ee For forward rotation command UT LR 4 M LG gs LE PLC Encoder connector Power supply connector pin See 1 Brake connector pin assignment Note 3 Pin No Signal name Foes as oe N Power supply AA 2 gays lt N connecto
3. a Powerful support for the global businesses Positioning operation with easiness mecsernvo cllV Built in positioning function note 1 E Positioning without a controller A simple positioning system can be configured without a controller since the positioning function point table and program methods is built into the servo amplifier saving cost and space E Point table method Setting position data target position servo motor speed and acceleration and deceleration time constants in the point table is as easy as setting parameters Up to seven points are available for positioning Positioning operation is performed after selecting the point table number with an external interface signal increracntaivalace Point table setting example can be used in setting position data Point table Servo motor CEASE MOI Bisel CMe Auxiliar Position data time time Dwell time Ey No speed constant constant function 1 Operation example 2000 ete 0 8 i 7 N 1600 oO a n Point table Noo Point table 9 No 2 Position 9 1000 2000 address Start signal Program method Note 2 Simple positioning program can be created using dedicated commands A program is executed with a start signal after selecting the program number with an external interface signal Program method enables more complex positioning operation than point table method Up t
4. E With fanless body Without a cooling fan easy maintenance is available The maintenance performance is improved by eliminating a cooling fan from the servo amplifier There is no need to worry about the life of the cooling fan Example When error excessive alarm occurs Resto aise Operation Operation LEIE Operation stops Recorded Recorded time information Operation is ma resumed after immediate EM1 investigation of RD the cause It is revealed that torque limit had been valid before the alarm occurred Along with easiness MELSERVO W A NN has a variety of advanced functions Reduced Setting Space Makes Your Manufacturing Floor More Comfortable E High performance with small body Even high accuracy positioning can be done easily The servo motor is equipped with high resolution encoder 131072p rev enabling both high accuracy positioning and speed stability in low speed The servo amplifier supports 1Mpps command pulse frequency realizing high accuracy positioning MELSERVO JN can be used for various applications Command pulse frequency 1Mpps More cost effective by using MELSEC L or FX series Controller Default setting 10 000p rev MR C series servo amplifier can be replaced easily by the MR JN since both of these servo amplifiers have the same mounting dimensions 40 mm lt 4 MR JN dimensions In the case of 100W or 200W Comparison
5. A O Features 1 User defined operation patterns can be set The operation pattern fesse mara j pem can be selected from the position control mode operation or speed Augan Par control mode operation The selected operation pattern can be also farang stare Aaaa AAE Wh Garten displayed in the graph Such mo 2 The feedrate or motor speed and torque can be displayed in the a graph during the selection process For details of the specifications refer to p 36 of this catalog Tii eg eo eee Kabuka het apie vie These are reference screens They may differ from the actual screens Migi HFEREI POD VA Select the type of the machine Click the Amplifier button and select MR JN Click the Motor button and select the motor Click the Operation pattern button to create the operation pattern Input the specifications of the machine Click the Calculate capacity button The selected servo amplifier servo motor model will be displayed Amplifier Mah Asgermion nenii Saa rp eita manna Cag a pri aliia Laod hama 13 ppe Salinas Panzi Targuie B70 Mha 1h 4 Riti Torque O01 in io Regen Fer 00 A Note Capacity selection software MRZJW3 MOTSZ111E is available for free download Contact your local sales office for more details Servo Support Software Easy setup support MR Configurator MRZJW3 SETUP221E Setup software The MR Con
6. gt da 0b op 8 1 Peripheral Equipment Refer to HF KP Series Geared Servo Motor Dimensions in this catalog Servo Support Software TE ooND 7 is 5 o O HF KP053 B Note 2 3 4 HF KP13 B Note 2 3 4 HF KP23 B Note 2 3 4 84 294 2 1 Peak running range Continuous running range W Continuous running range w Continuous running range li 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 Speed r min Speed r min Speed r min HF KP43 B Note 2 4 630 4 5 Peak running range WOOD ol O h O h IN N o on o gt Ke N O ho Torque N m Torque 0z in Torque N m Torque ozin Torque N m Torque 0z in Notes 1 For the servo motor without reducer 2 ummm For 1 phase 230VAC Torque oz in Torque Nm N oO NJ For 1 phase 200VAC Continuous running range The line is drawn only where differs from the other two lines 1000 2000 3000 4000 4500 Speed r min 26 MELSERVO J N Geared Servo Motor Specifications With reducer for general industrial machines G1 Combination list Note 1 ae HF KP series Note 2 a S S976 25 288 25 288 Notes 1 The O mark in the table shows the manufacturing range The servo motor can be mounted in any direction 2 The values in are the actual reduction ratio Specifications 45 to 75 Permissible
7. E Complied with Restriction of Hazardous Substances Directive ROHS MELSERVO JN is human and environmental friendly AC servo compliant with RoHS directive Additionally our optional cables and connectors comply with Measures for Administration of the Pollution Control of Electronic Information Products Chinese RoHS About RoHS Directive RoHS Directive requires member nations to guarantee that new electrical and electronic equipment sold in the market after July 1 2006 do not contain lead cadmium mercury hexavalent chromium polybrominated biphenyl PBB and polybrominated diphenyl ether PBDE flame retardants lt G gt mark indicating RoHS Directive compliance is printed on the package Adaptive filter I High frequency machine resonance can be suppressed automatically by the one touch tuning Furthermore by using the vibration tough drive function the filter is readjusted automatically when a machine resonance is detected even after the tuning Vibration of the driving shaft JJ One touch tuning ON each machine is easy Vibration of the driving shaft Adaptive filter I ON Fine tuning for E Setup software MR Configurator MR Configurator enables high speed sampling and long time waveform measurement It makes start up and adjustments of the servo system easier A personal computer can be connected to the servo amplifier via USB Easy set up and adjustment by high speed transmission
8. When unbalanced torque is generated such as in a vertical lift machine it is recommended that the unbalanced torque of the machine be kept under 70 of the motor s rated torque Design the operation pattern in the command section so that positioning can be completed taking the stop setting time ts into account Speed Command pattern Actual servo N wa motor operation N Command time ts lt Positioning time The load inertia moment should be below the recommended load inertia moment ratio of the servo motor being used If it is too large desired performance may not be attainable 42 Servo amplifiers Servo motors Peripheral Eguipment Servo Support Software o z D D m Cautions MELSERVO J N o Warranty 1 43 Warranty period and coverage We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit is repaired or replaced Term The term
9. gt 0 op Dimensions Servo Support Peripheral Cautions Servo amplifiers Equipment Software MELSERVO J N Standard Wiring Diagram Torgue Control Operation Note 1 0 Connection example Servo amplifier Servo motor MR JN DA 1 HF KN KP series are NFB MC CNP1 CNP1 Main circuit ide oo 8 U power supply X _ ry L1 UQ 1 phase QOL2 I VO V 200 to 230VAC er P wA Ww or Optional regeneration unit E i a 1 phase Note 2 EOR i D Note 4 100 to 120VAC B Built in O regenerative 777 7 Note 4 5 eee CNP2 j a 24VDC for E IS TOE B1 protector electromagnetic Note 9 24VDC power supply i Q 24V brake gt PA Be 2 for control circuit OOV Note 5 Note 5 9 E Contacts must be Contacts must be open Note 3 open by an external when the servo on SON emergency stop switch or the electromagnetic CN2 brake interlock MBR Note 10 Forced stop signal turns off Servo on 1 Reset 2 LG Speed limit 1 Le Note 6 Forward rotation selection 3 MR Reverse rotation selection 4 MRR 10m maximum PLATE SD Note 11 Malfunction Electromagnetic brake interlock Ready Note 5 8 9 24VDC power supply p for interface Encoder Z phase pulse lt 4 differential line driver Encoder A phase pulse differential line driver Encoder B phase pulse lt a differential line d
10. 4 Exclusion of responsibility for compensation against loss of opportunity secondary loss etc Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice Application and use of the Product 1 For the use of our General Purpose AC Servo its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General Purpose AC Servo and a backup or fail safe function should operate on an external system to General Purpose AC Servo when any failure or malfunction occurs 2 Our General Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power co
11. p60 01 DIDIS 33 MELSERVO J N Peripheral Equipment Electrical wires circuit breakers magnetic contactors example of selection The following are examples of wire sizes when 600V polyvinyl chloride insulated wires IV wires with a length of 30m are used Smaller size of wires may be applied by using 600V grade heat resistant polyvinyl chloride insulated wires HIV wires Refer to MR JN DA INSTRUCTION MANUAL when using HIV wires S m E WA al de Electrical wire size mm ervo amplifier ircuit breaker contactor Note 4 L1 L2 Note 1 24V OV U V W P C Note 1 B1 B2 MR JN 10A 30A frame 5A 1 25 1 25 30A frame 10A 2 1 25 2 MR JN 10A1 S N10 AWG16 AWG16 AWG14 AWG16 AWG14 MR JN 40A ee AA Note 2 Note 3 MR JN 20A1 rame Notes 1 Connect a reactor or an optional regeneration unit using the 5m or shorter length electrical wire 2 Use a fluoric resin wire 0 75mm AWG19 when connecting to motor power supply connector Refer to MR JN OA INSTRUCTION MANUAL for details on wiring cables 3 Use a fluoric resin wire 0 5mm AWG20 when connecting to the motor electromagnetic brake connector Refer to MR JN OA INSTRUCTION MANUAL for details on wiring cables 4 Be sure to use a magnetic contactor MC with an operation delay time of 80ms or less The operation delay time is the time interval between current being appl
12. 36310 3200 008 shell kit 3M or 54599 1019 connector set Molex lt For 10m or longer cable gt CM10 SP10S M D6 straight plug CM10 22SC C2 D8 100 socket contact Junction connector DDK lt For 10m or shorter cable gt CM10 SP10S M D6 straight plug CM10 22SC C1 D8 100 socket contact Use this in combination of Mor Amplifier connector 36210 0100PL receptacle 3M 36310 3200 008 shell kit 3M ese Junction connector DDK CM10 SP10S M D6 straight plug CM10 22SC S1 D8 100 socket contact lt Applicable cable example gt Wire size 0 5mm AWG20 or smaller Completed cable outer diameter 6 0 to 9 0mm or 54599 1019 connector set Molex Use these in combination of or D TO O O D S Junction connector set MR ECNM IP20 Motor side encoder cable MR J3JSCBLO3M A1 L IP65 Lead out in direction of Cable length Note 3 motor shaft 0 3m Note 1 Motor side encoder cable MR J3JSCBLO3M A2 L IP65 Lead out in opposite Cable length direction of motor shaft 0 3m Note 1 Note 3 MR J3ENSCBL O M H O cable length 2 5 10 20 30 IP67 Amplifier side 40 50m Note 1 4 encoder cable MR J3ENSCBL O M L O cable length 2 5 IP67 10 20 30m Note 1 Junction connector set MR J3SCNS IP67 Notes 1 H and L indicate a bending life H indicates a long bending life and L indicates a standard bending life 2 The IP rating indicated is for the connector
13. 40 Servo amplifiers 79 2 Oo pur e gt 0 op Peripheral Eguipment Software Servo Support Dimensions o 5 ao O MELSERVO J N HF KP Series Geared Servo Motor Dimensions With shaft output type reducer for precision application flange mounting Gremi HF KPO B G7 The following is a schematic diagram The actual shapes or the mounting screws may differ from the following Refer to the table below and Servo Motor INSTRUCTION MANUAL Vol 2 for details Rotation direction For reverse rotation command oN For forward rotation command 4 OM m Encoder connector Power supply connector pin assignment mey Pin No Signal name Brake connerlor pin Aene Note 3 E NEE A T J ae Yi At Power supply connector Z G Reduction Moment of inertia Moment Moment of inertia inertia ratio J xt0 kgeme J oz int L f La 0 126 0 689 0 128 0 70 0 113 0 618 YAA 0 115 0 629 5 HF KP053 B G7 4704 0 103 0 563 130 4 Note 6 0 105 0 574 171 5 0 097 0 53 ss 0 099 0 541 0 097 0 53 145 0 099 0 541 0 162 0 886 0 164 0 897 ia 0 149 0 815 146 4 0 151 0 826 187 5 HF KP13 B G7 0 139 Note 6 va 0 141 0 771 0 151 0 826 uss 0 153 0887 1489
14. Bangkok 10230 Thailand Tel 66 2906 3238 Fax 66 2906 3239 Mitsubishi Electric Asia Pte Ltd ASEAN Factory Automation Centre 307 Alexandra Road 05 01 02 Mitsubishi Electric Building Singapore Tel 65 6470 2460 Fax 65 6476 7439 Empowering Industries Hong Kong FA Center Brazil FA Center Mitsubishi Electric India Pvt Ltd India Factory Automation Centre 2nd Floor DLF Building No 9B DLF Cyber City Phase Ill Gurgaon 122002 Haryana India Tel 91 124 4630300 Fax 91 124 4630399 India FA Center Mitsubishi Electric Automation Inc 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A Tel 1 847 478 2100 Fax 1 847 478 2253 North American FA Center MELCO TEC Representacao Comercial e Assessoria Tecnica Ltda Av Paulista 1439 Cerqueira Cesar Sao Paulo Brazil CEP 01311 200 Tel 55 11 3146 2200 Fax 55 11 3146 2217 Brazil FA Center Mitsubishi Electric Europe B V Polish Branch ul Krakowska 50 32 083 Balice Poland European Tel 48 12 630 4700 Fax 48 12 630 4701 FA Center Mitsubishi Electric Europe B V German Branch Gothaer Strasse 8 D 40880 Ratingen Germany Seep Tel 49 2102 486 0 Fax 49 2102 486 1120 FA Center Mitsubishi Electric Europe B V o s Czech office Avenir Business Park Radicka 714 113a 158 00 Prahad Czech Republic Tel 420 251 551 470 Fax 420 251 551 471 Czech Republic FA Center Mitsubishi Electric Europe B V UK Branch Travellers Lane Hat
15. IP65 as standard excluding the shaft through portion E Textile machines For string unwinding traversing etc Compact machine can be achieved by the small size servo amplifier and servo motor High acceleration deceleration and high speed conveyance are enabled by the servo system HF KN series is rated IP65 as standard excluding the shaft through portion E Semiconductor liquid crystal solar battery producing equipment For peripheral axes of board panel conveyance etc Easy maintenance with the separated power supply for main and control circuits The tough drive function improves machine operating rate Compact machine can be achieved by the small size servo amplifier and servo motor Application examples E Conveyors For conveyance between processes of each work etc High acceleration deceleration and high speed conveyance are enabled by the servo system Constant speed feed is available with a highly stable speed Optimal gain can be set by the auto tuning function when using various works gt E Loaders unloaders feeders and sliders Work positioning and conveyance for automated warehouse press machines etc The high speed and accurate i R positioning improves productivity Compact machine can be achieved by the small size servo amplifier and servo motor E Robots For picking up and transferring processing work Shorter tact time is achieved
16. SP by suppressing vibrations Optimal gain can be set a by the auto tuning function when using various works Compact machine can be achieved by the small size servo amplifier and servo motor E Replacement of stepping motors DC motors air actuator or inverters By introducing the servo system the driving section of the legacy products can be faster and more accurate Replacement of the air actuator enables more accurate driving section Step out occurred with the stepping motor is no longer an issue Replacement of the inverter improves speed and accuracy Stepping motor oy emma an MELSERVO JINV 7 a Servo Support Software Easy introduction support Enter the machine specifications and the operation pattern into machine specific windows of the capacity selection software then execute the software Refer to the procedure of the capacity selection software screen shown below Capacity selection software MRZJW3 MOTSZ111E WATIA L You don t need complex calculations anymore by using the capacity selection software MRZJW3 MOTSZ111E Machine specific windows which apply to each machine are prepared The most suitable servo amplifier servo motor including the one with electromagnetic brake or with reducer and optional regeneration unit can be selected automatically just by entering the constants and the operation pattern of the machine
17. SREE 18 PASE Control common lt Control common Encoder Z phase pulse open collector Personal computer ia MR Configurator Setup software MRZJW3 SETUP221E Note 11 LSD 2m maximum 10m maximum CN3 USB cable MR J3USBCBL3M 7 c 5 ao O Notes 1 Disconnect the wires for the built in regenerative resistor P and C and remove the resistor from the servo amplifier when connecting the optional regeneration unit externally 2 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 3 Connect the ground wire to the cabinet protective earth PE terminal via the servo amplifier protective earth PE terminal for grounding 4 Do not connect the OV of 24VDC power supply to the servo amplifier protective earth PE terminal 5 The signals shown are applicable when using a two wire type encoder cable Refer to MR JN LIA INSTRUCTION MANUAL for four wire type 6 Do not reverse the diode s direction Connecting it backwards may cause the servo amplifier to malfunction such that the signals are not output and the forced stop and other safety circuits are inoperable 7 Use the power supply 24VDC 10 required current capacity 0 2A 0 2A is the value when all of the input output points are used Note that the current capacity can be stepped down according to the number of input output points in use Refer to MR JN O A INSTRUCTION M
18. and remove the resistor from the servo amplifier when connecting the optional regeneration unit externally 2 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 3 Connect the ground wire to the cabinet protective earth PE terminal via the servo amplifier protective earth PE terminal for grounding 4 Do not connect the OV of 24VDC power supply to the servo amplifier protective earth PE terminal 5 The signals shown are applicable when using a two wire type encoder cable Refer to MR JN LIA INSTRUCTION MANUAL for four wire type 6 Do not reverse the diode s direction Connecting it backwards may cause the servo amplifier to malfunction such that the signals are not output and the forced stop and other safety circuits are inoperable 7 Use the power supply 24VDC 10 required current capacity 0 2A 0 2A is the value when all of the input output points are used Note that the current capacity can be stepped down according to the number of input output points in use Refer to MR JN O A INSTRUCTION MANUAL for details 8 Use the enhanced insulation power supply for the external power supply 24VDC Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake 9 Always turn on the forced stop EM1 signal normally closed contact before starting the operation If not the
19. control mode Command pulse multiple Positioning complete width setting Excess error 3 rotations Torque limit Set by parameters Speed control range Internal speed command 1 5000 Speed command input Set by parameters 0 01 maximum load fluctuation 0 to 100 0 power fluctuation 10 Internal speed control mode Speed fluctuation rate Torque limit Set by parameters Internal torque control mode Torque command input Set by parameters Speed limit Set by parameters Positioning mode Note 8 Point table method Program method Structure Natural cooling open IP rating IP20 Ambient temperature Note 7 0 to 55 C 32 to 131 F non freezing storage 20 to 65 C 4 to 149 F non freezing Ambient humidity 90 RH maximum non condensing storage 90 RH maximum non condensing Environ atmosphere ment Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust 1000m or less above sea level Elevation Vibration 5 9m s or less at 10 to 55Hz directions of X Y and Z axes TE Notes 1 Rated output and speed of a servo motor are applicable when the servo amplifier combined with the servo motor is operated within the specified power supply voltage and frequency Torque drops when the power supply voltage is below the specified value For torque characteristics when combined with a servo motor refer to Servo Motor Torque Characteri
20. degree of the input output line 35 MELSERVO J N Servo Support Software Capacity selection software MRZJW3 MOTSZ111E note 1 2 D Specifications Item Description Horizontal ball screws vertical ball screws rack and pinions roll feeds rotating tables carts elevators conveyors and other direct lt Types of machine component i 2 inertia input devices D tems Selected servo amplifier selected servo motor selected optional regeneration unit model load inertia moment load to motor inertia Output of moment ratio peak torque peak torque ratio effective torque effective torque ratio regenerative power regenerative power ratio results Prints input specifications operation pattern calculation process graph of selection process feedrate or motor speed and torque and selection results 2 TE ae 2 Data storage Entered specifications operation patterns and selection are saved with a file name O Inertia moment calculation function Cylinder core alignment column variable speed linear movement suspension conical truncated cone z Notes 1 MRZJW3 MOTSZ111E with software version C3 or above is compatible with MELSERVO JN series However C4 or above will be compatible with MR JN OA1 ma MR Configurator Setup software MRZJW3 SETUP221E note 1 MELSOFT Specifications Main menu Description Monitors Batch display input output I F display high speed display graph display Alar
21. load to motor inertia moment ratio Note 2 For 50W or 100W Maximum of 5 times the servo motor s inertia moment when converting into the servo motor shaft For 200W or 400W Maximum of 7 times the servo motor s inertia moment Permissible speed 4500r min at reducer input shaft Notes 1 The reducer efficiency varies depending on the reduction ratio It also changes depending on the conditions of use such as output torque speed temperature The values in the table represent typical values at the rated torque and speed and at the normal temperature They are not guaranteed values 2 Contact your local sales office if the load to motor inertia moment ratio exceeds the value in the table 0 With flange output type reducer for precision application flange mounting G5 With shaft output type reducer for precision application flange mounting G7 Combination list Note 1 HF KP series 1 11 1 21 1 33 1 45 Notes 1 The O mark in the table shows the manufacturing range The servo motor can be mounted in any direction Specifications 58 to 87 Note 2 Permissible load to motor inertia moment ratio Note 3 For 50W or 100W Maximum of 10 times the servo motor s inertia moment when converting into the servo motor shaft For 200W or 400W Maximum of 14 times the servo motor s inertia moment Permissible speed 4500r min Note 4 at reducer input shaft Notes 1 The reducer efficiency varies depending on the reduction ratio It also c
22. oe 4 45 0 149 0 815 190 0 151 0 826 0 447 2 44 0 517 283 4406 1 11 0 443 2 42 180 1 0 513 2 80 HF KP23 B G7 1 21 Se a Note 6 B 0 810 4 43 m 0 693 3 79 147 6 0 763 417 187 1 0 691 3 78 ue 0 761 4 16 0 627 3 43 1625 0 707 3 87 202 1 00 5 47 YA 1 08 5 90 4695 0 920 5 03 209 HF KP43 B G 1 21 1 00 5 47 0 976 5 34 1 33 1 06 5 80 0 967 5 29 ee 1 05 5 74 Notes 1 Use a friction coupling to fasten a load 2 Dimensions inside are for the models with electromagnetic brake 3 Only for the models with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 4 The moments of inertia in the table are the values that are converted into motor shaft for the motor with reducer and with electromagnetic brake 5 For dimensions where there is no tolerance listed use general tolerance The actual dimensions may be 1mm to 3mm larger than the dimensions listed since the outer frame of the reducer is made by casting Design a machine in order to make allowances 6 Lead out the power supply cable in opposite direction of the motor shaft for the following servo motors All gear ratios for HF KP053 B G7 and HF KP13 B G7 e Gear ratios of 1 21 1 33 and 1 45 for HF KP23 B G7 41 MELSERVO J N To ensure safe use To use the products given in this catalog properly always read the Installation Guide and MR JN OA INSTRUCTION MANUAL be
23. of MR J3 installation area Reduced 23 130 mm E The servo amplifier can be installed closely with each other The MR JN servo amplifiers can be installed closely with each other The operation environment differs wnen mounted closely For details refer to Servo Amplifier Specifications and Cautions concerning use in this catalog Mounting space is dramatically reduced E Equipped with built in regenerative resistor MITSUBISHI 200W or larger servo amplifier has a built in regenerative resistor This space saving servo amplifier contributes to smaller system configurations regenerative resistor E Compact high performance servo motor HF KN series Capacity 50W to 400W By mounting the high resolution sae a incremental encoder Changeable 131072p rev both 4 mounting high accuracy positioning and direction for speed stability in low speed HF KN KP are enabled series Servo motors with electromagnetic brake are also available Cables can be led out either in direction or in opposite direction of the motor shaft according to the selected cables The HF KN series servo motor is rated IP65 as standard excluding the shaft through portion In direction of gt Rie motor shaft ya In opposite direction of motor shaft Resists both water and dust E Geared servo motors HF KP series are also available Capacity 50W to 400W HF KP ser
24. pisa inpultorm ana Encoder Output pulse ENR vise von logic postive logic i E E 4000 puteire 4 io 65535 Puke tan meut iter ForiMepa olusu ZI Sradha ding rufa a aai sating POTA ENRI Rioistion drech selecton POL Auto iuniag mode LATU SPY eras holo tahitahi redii Ario urng mod Burs woRaga 3 Noma Input Output I F Display window 2444 em Oroz pulere 5TH pia Curent posiion Cumulative amani pulses Cormmenand pulpe fequency Ragenerains inad rada Commend postion E Auto ining madet COW dr danny fed pis ku dit al airs incremented a Regeneraive opion 525000 REG Regeneraixe option Ra gan aria option is ndi used Tough drer tection selection ADD Flecirenic gaar seating F BR THH CDA Ovetloid imazh thrive waki NO oi Coren npin ple vmma tough cree mabig Electronic gaar numerator Fi oe inst gw fle tough are rwa Elecironic gaar denominoiar Peripheral Eguipment Auto tuning mapongo Fi Eadie load rate Pishi eed kali MSIBA ne OWS iae kala casa pasion Deudle dick fem in depay Selndad deacnpiicn 2 ibea rat 2 Cumaatva encor pi 5HE LAL S Da eee WAO LR n g The basic setting parameters can be easily set in a setts on a 99 selection format Settings in the list format are also a possible The Input Output I F Display window and Amplifier Data Display window can be displayed simultaneously so the DI DO JOG
25. s protection against ingress of dust and water when coupled to a servo amplifier servo motor If the IP rating of the servo amplifier servo motor differs from that of these connectors overall IP rating depends on the lowest of all 3 The encoder cable is rated IP65 while the junction connector is rated IP67 4 FA PRODUCT DIVISION by email oss ip melsc jp For the ultra long bending life cables and or for unlisted lengths available in the ultra long bending life cables contact Mitsubishi Electric System amp Service Co Ltd 30 7 Lu Oo 2 2 gt poa ab op Servo Support Peripheral Eguipment Dimensions Cautions Servo amplifiers Software MELSERVO J N 0 Cables and connectors IP rating 2 For servo motor power supply 9 DW xX 4 pa do 2 D s O O O D D O O E gt D Y LL For CNP1 and CNP2 For CN3 For CN1 10m or shorter Direct connection type Exceeding 10m Relay type 10m or shorter Direct connection type Exceeding 10m Relay type Power supply cable Lead out in direction of motor shaft Power supply cable Lead out in opposite direction of motor shaft Power supply cable Lead out in direction of motor shaft Power supply cable Lead out in opposite direction of motor shaft Brake cable Lead out in direction of motor shaft Brake cab
26. this command together with the MOV command j yN te 5 MOVI paa intel MOVI setting aie 9 x10 Moves according to the value set as an incremental value Incremental value 999999 oS oe 5 Moves continuously according to the value set as an incremental value HOSTS pea eel a MOVIA geting to 999999 Be sure to use this command together with the MOVI command SYNC _ Waiting for external SYNC setting Stops the next step until the program input 1 PM is turned ON after the Note 3 Signal to switch ON 9 synchronous output SOUT command is output E een ca OUTON setting SENE Turns ON the program output 1 OUT1 ane External signal oie OFF the program output 1 OUT1 which was turned ON by the TRIP a in TRIP setting 999999 sty Note 5 When the motor passes through the current position set the next step is Note 3 specification to 999999 x10 um executed When the motor moves for the moving distance set by the TRIPI command after the MOVI and or MOVIA commands is performed the next step is executed Be sure to write this command after the MOVI and or MOVIA commands ITP Interrupt ITP setting 0 STM Note 5 When the interrupt signal is ON the motor moves for the distance set by this command Note 3 4 positioning to 999999 x10 pm and it stops Use this command after the SYNC command in combination When the value of the pulse counter exceeds the count value set in the COUNT command the next ste
27. to 999999 Incremental value command method 1 1000 2000 200 200 o 1 Sets the movement amount STM is the ratio for the data 2 2000 1600 100 100 0 0 Servo motor 0 sate Sets the command speed for the servo motor used speed to permissible for positioning if 3000 3000 100 100 0 2 If the point table No 1 s auxiliary function is 1 or 3 continuous positioning operation is carried out based on the point table as shown in the Auxiliary function 1 or 3 below If the point table No 1 s auxiliary function is O or 2 a start signal must be issued as shown in Auxiliary function 0 or 2 below 0 to 20000 0 to 20000 0 to 20000 Acceleration time constant ms Sets the acceleration time constant Note 2 Deceleration time constant ms Sets the deceleration time constant Note 2 Runs the next point table after the set dwell time e Absolute value command method 0 Positions and stops waits for start signal 1 Continues operation for the next point table without stopping e Incremental value command method 2 Positions and stops waits for start signal 3 Continues operation for the next point table without stopping Dwell time ms Auxiliary function Auxiliary function 1 or 3 Auxiliary function 0 or 2 Speed Speed Point table Point table Point table Point table 2 Incremental value command method Moves from the current value according to the set pos
28. to prevent electric shocks and to stabilize the potential in the control circuit To ground the servo motor and servo amplifier at one point connect the grounding terminals of each unit and ground from the servo amplifier side Faults such as position mismatch may occur if the grounding is insufficient Wiring When a commercial power supply is applied to the servo amplifier s output terminals U V W the servo amplifier will be damaged Before switching the power on perform thorough wiring and sequence checks to ensure that there are no wiring errors etc When a commercial power supply is applied to the servo motor s input terminals U V W the servo motor will be burned Connect the servo motor to the servo amplifiers output terminals U V W Match the phase of the servo motor s input terminals U V W to the servo amplifiers output terminals U V W when connecting If they do not match the servo motor cannot be controlled Validate the stroke end signals LSP LSN in position control or speed control mode The servo motor will not start if the signals are invalid Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake Factory settings All available combinations of servo motor and servo amplifier are predetermined Confirm the models of the servo motor and the servo amplifie
29. using 2 If the length exceeds 10m relay a cable using MR PWS2CBL03 M A1 L A2 L cable This cable does not have a long bending life so always fix the cable before using Refer to MR JN LIA INSTRUCTION MANUAL for details on manufacturing the relay cable 3 If the length exceeds 10m relay a cable using MR BKS2CBL03M A1 L A2 L cable This cable does not have a long bending life so always fix the cable before using Refer to MR JN LIA INSTRUCTION MANUAL for details on manufacturing the relay cable 4 Cables for leading two different directions may be used for one 29 servo motor Cables and connectors IP rating MR J3ENCBLOJM A1 H O cable length IP65 2 5 10m Note 1 4 MR J3ENCBLOJM A1 L IP65 IP65 IP65 O cable length IP20 2 5 10m Note 1 MR J3ENCBL O M A2 H O cable length IP20 IP20 IP20 Encoder cable Lead out in direction of motor shaft 10m or shorter Direct connection type Encoder cable Lead out in opposite direction of motor shaft 2 5 10m Note 1 4 MR J3ENCBL O M A2 L Ll cable length 2 5 10m Note 1 MR J3JCBLO3M A1 L Cable length 0 3m Note 1 Motor side encoder cable Lead out in direction of motor shaft MR J3JCBLO3M A2 L Cable length 0 3m Note 1 MR EKCBL O M H Ll cable length 20 30 40 50m Note 1 4 MR EKCBL O M L H cable length 20 30m Note 1 Motor side encoder cable Lead out in opposite direction of motor shaft Amplifie
30. 0 RH maximum non condensing Environment Note 7 Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Elevation 1000m or less above sea level Vibration Note 5 8 X 49m s Y 49m s Mass Standard kg Ib With electromagnetic brake Notes 1 The power supply capacity varies depending on the power supply s impedance 2 The regenerative braking frequency shows the permissible frequency when the motor without a load and an optional regeneration unit decelerates from the rated speed to a stop When a load is connected however the value will be the table value m 1 where m load inertia moment motor inertia moment When the operating speed exceeds the rated speed the regenerative braking frequency is inversely proportional to the square of operating speed rated speed If the operating speed changes frequently or when the regeneration is constant as with vertical feeds find the regenerative heating value W in operation Provisions must be made to keep this heating value below the tolerable regenerative power W Optimal regenerative resistor varies for each system Select the most suitable regenerative resistor by using the capacity selection software Refer to the section Options Optional regeneration unit in this catalog for details on the tolerable regenerative power W 3 When the motor decelerates to a stop from the rated speed the regenerative frequency will not be limited if the effe
31. 0 3mm JN4FT04SJ1 R plug FE Crimping tool CT160 3 TMHS5B is required Motor power supply 3 ca 400 Wire example Fluoric resin wire connector ST TMH S C1B 100 A534G Manufacturer Japan Aviation Electronics Vinyl jacket cable RMFES A CL3X socket contact Industry Ltd AWG19 4 cores DYDEN CORPORATION or an equivalent product Options Peripheral Eguipment Motor brake connector IP rating Item Note 2 Description Applicable cable example Wire size 0 5mm AWG20 Completed cable outer diameter 4 5 0 3mm Rants JN4FT02SJ1 R plug C E Crimping tool CT160 3 TMH5B is required connector ST TMH S C1B 100 A534G Manufacturer Japan Aviation Electronics walle EE RMFES A CL3X socket contact Industry Ltd ANCO cores DYDEN CORPORATION or an equivalent product Servo Support Software Notes 1 3M also manufactures a connector compatible with the servo amplifier s CN2 connector Model 36210 0100PL receptacle 36310 3200 008 shell kit Tp 2 The IP rating indicated is for the connector s protection against ingress of dust and water when coupled to a servo amplifier servo motor If the IP rating of the servo amplifier servo motor differs from that of these connectors overall IP rating depends on the lowest of all D Cc m ZA Q 32 MELSERVO J INV 0 Optional regeneration unit oes Tolerable Tolerable regenerative power of Cautions when conne
32. ANUAL for details 8 Use the enhanced insulation power supply for the external power supply 24VDC Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake 9 Always turn on the forced stop EM1 signal normally closed contact before starting the operation If not the operation will not start 10 The malfunction ALM signal normally closed contact is conducted to DOCOM in normal alarm free condition 11 Connect the shield wire securely to the plate inside the connector ground plate 12 This is for sink wiring Source wiring is also possible Refer to MR JN OA INSTRUCTION MANUAL for details 13 Manual pulse generator can be used by setting a parameter Refer to MR JN OA INSTRUCTION MANUAL for details 24 MELSERVO J N E I HF KN Series Servo Motor Specifications Servo motor series HF KN series Low inertia small capacity Power Supply capacity VA Note os o oo T o o running duty Fated torque Note 8 Nomoz oTe 227 ossa oaeo moa E Raeder o o S o S a o Moment of Re Standard a Speed position detector Incremental 17 bit encoder resolution 131072 p rev Attachments Insulation class Structure Totally enclosed non ventilated IP rating IP65 Note 5 Ambient temperature 0 to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing Ambient humid
33. Also the Gray display function is provided for easy reading of printed data Data can be saved either in CSV or JPEG format Note The screens on this page are for reference They may differ from the actual screens 10 MELSERVO J N Model Designation MR JN 10 A Mitsubishi general purpose AC servo amplifier MELSERVO JN series List of compatible servo motors 1 phase 200VAC 1 phase 100VAC Note 1 Notes 1 MR JN 10A1 and 20A1 are available 6 953 13 053 13 A General purpose interface HF KN series servo motors HF KN 053 B _HF KN Low inertia small capacity None None Installed Note Refer to Electromagnetic Brake Specifications in this catalog for detailed specifications With key Note 1 D cut Note 1 Notes 1 Refer to Special Shaft End Specifications in this catalog for the available models and detailed specifications Note HF KN series does not have a geared servo motor The geared servo motor is available in HF KP series The servo motors above are under application for EN UL and CSA standards Contact your local sales office for more details HF KP series geared servo motors HF KP 0513 For general industrial machines Flange output type for precision application flange mounting Shaft output type for precision application flange mounting Note Refer to Geared Servo Moto
34. Changes for the Better MITSUBISHI ELECTRIC SERVO AMPLIFIERS amp MOTORS MITSUBISHI eS oo By One touch Servo JaV e ae MELSERUO LI Be acie W mi for a greener tomorrow cos Easy Operation and High Performance with Small Body One touch Servo MELSERVO The one touch servo MELSERVO JN produced to offer you a high performance operation control with much simpler process It brings the optimal operations to your factory line with the easiest operations like never before such as one touch tuning MITSUBISHI i GH 0H Maximum input pulse frequency 1Mpps WA JN 10A SERIAL mi uya F ees ra of Let s use One touch funing 17 bit incremental encoder 131072p rev Products shown in actual size Servo amplifier Servo motor MR JN 10A HF KNO53 Servo amplifier Supported Command Power supply Compatible servo interface Position Positioning voltage motor capacity kW 100VAC 3 Pulse train eo eo 2 Control circuit 24VDC 1 Analog interface is not equipped Internal setting only 2 Positioning can be performed either with point table method or with program method 3 MR JN 10A1 and 20A1 are available 4 The capacity is 0 05kW to 0 2kW for 1 phase 100VAC Ee Rated output capacity Electromagnetic brake Servo motor series Maximum speed kW B for general for precision IP rating r min industrial m
35. DP01 12 MELSERVO J N Servo Amplifier Specifications Servo amplifier model MR JN 10A MR JN 20A MR JN 40A MR JN 10A1 MR JN 20A1 Rated voltage 3 phase 170VAC Output Voltage frequency Note 1 2 1 phase 200VAC to 230VAC 50 60Hz 1 phase 100VAC to 120VAC 50 60Hz Main power Permissible voltage fluctuation 1 phase 170VAC to 253VAC 1 phase 85VAC to 132VAC Supply Permissible freguency fluctuation 5 maximum Voltage 24VDC Control circuit Rated current A 0 5 power Permissible voltage fluctuation 10 maximum SUPPYy Power consumption W 10 Interface power supply 24VDC 10 required current capacity 0 2A Note 5 Tolerable regenerative power of built in 10 10 10 regenerative resistor W Note 3 4 Control system Sine wave PWM control current control system Built in Note 6 Overcurrent shutdown regeneration overvoltage shutdown overload shutdown electronic thermal servo Safety features motor overheat protection encoder fault protection regeneration fault protection undervoltage sudden power outage protection overspeed protection excess error protection Dynamic brake Maximum input pulse frequency 1Mpps when using differential receiver 200kpps when using open collector Encoder resolution 131072 p rev Electronic gear A B multiple A 1 to 65535 B 1 to 65535 1 50 lt A B lt 500 0 to 65535 pulses command pulse unit Positioning feedback pulse Position
36. F KN KP series Main circuit NFB MC CNP1 ae WA CNP1 U power supply x 5 LOLI U 2 1 phase dL2 vd V 37 9 200 to 230VAC a Lp O or f e W 4 Optional regeneration unit 1 phase ae ite Gry Note 3 S 100 to 120VAC Note 1 6 as B Ga A z regenerative MA Note 3 4 09 ist Circuit CNP2 Maii ADC E B ____ Electro protector electromagnetic RA Ji Bo magnetic Note 8 24VDC power supply x 24V WANA Sa PI Or for control circuit La OV Note 4 Note 4 8 Note 2 Contacts must be Contacts must be open open by an external when the servo on SON Va CN 1 Note 1 2 emergency stop switch or the electromagnetic CN2 brake interlock MBR Note 9 Forced stop EM1 ba signal turns off Servo on SON 4 Heme 1 P5 Automatic manual selection MDO ss gt LG Forward rotation selection ST1 6 Note 5 P 3 Reverse rotation selection 7 H 3 MR Program No selection1 Do 5h 4 MPR MRR u a Note 13 Program Me Secon 23 s Tae SD S z Note 13 Proximity dog DA 25 s Ss 10m maximum J 2 Note 6 Lu Note 10 Malfunction a ALM 9 m Electromagnetic brake interlock 12 mre Ready 11 WZ 1E oye eo Positioning complete 10 AZ ao E 2 ya Note 4 7 8 24VDC power supply p 1 Z D for interface 13 Encoder Z phase pulse T 19 za differential line driver j 20 Encoder A phase pulse 15 differential line driver 4 16 Encoder B phase pulse e 4 17 differential line driver
37. Note 2 Contacts must be Contacts must be open open by an external when the servo on SON CN1 emergency stop switch or the electromagnetic brake interlock MBR Note 9 Forced stop EM1 8 ya signal turns off Servo on SON 4 go Reset RES 3 EP L Note 10 Forward rotation stroke end LSP pa a wa Note 5 MR 9 Reverse rotation stroke end LSN a MRR z 4 MRR aa 10m maximum fa KA PLATE SD Note 11 Malfunction mt ALM 9 m uy 8 rs R In position A INP 10 ral F Kx ae i 10m maximum Note 4 7 8 24VDC power supply for interface CN1 Name __ Pin No io CLEAR COM 0014 OCO ET A CLEAR O3 gt RDY COM 5 READY am g e EUe 0015 r D PULSE F Personal computer lt PULSE R m DOn PULSE R 0018 7 CN3 PGO COM i 7 pi i G H USB cable MR Configurator Control common MR J3USBCBL3M Setup software MRZJW3 SETUP221E q Encoder A phase pulse differential line driver wi bnl differential line driver Control common Control common a Encoder Z phase pulse L open collector wee Note 12 2m maximum 10m maximum Encoder B phase pulse i Q op E NI ieee ui ee e U S ww NIN o Y la DINIOD O 3 Q Nh a PNO PO PO MN NM iNIO A AJO O A JOIN 0 Go 5 mi KK Notes 1 Disconnect the wires for the built in regenerative resistor P and C
38. STRUCTION MANUAL for details 9 Use the enhanced insulation power supply for the external power supply 24VDC Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake 10 Always turn on the forced stop EM1 signal normally closed contact before starting the operation If not the operation will not start 11 The malfunction ALM signal normally closed contact is conducted to DOCOM in normal alarm free condition 12 Connect the shield wire securely to the plate inside the connector ground plate 13 This is for sink wiring Source wiring is also possible Refer to MR JN OA INSTRUCTION MANUAL for details 17 MELSERVO J N Positioning function Point table method Note 1 Set position and speed data in the point table beforehand Positioning operation is performed after selecting the point table number with an external interface signal Point table The following two types of point tables are available 1 Absolute value command method Moves to the address absolute value based on the home position Example of setting point table data Setting range Point a Servo Acceler Deceler N Position Sen T Dwell Auxiliary e Absolute value command method table daa motor ation time ation time TE he SA WA 999999 Sets the address STM is the ratio for the data No speed constant constant a
39. Servo amplifier with software version BO or above is required for the positioning function 2 S pattern acceleration deceleration time constant is set by the servo amplifier s parameter 18 Peripheral Servo motors Servo amplifiers Software Equipment Servo Support Dimensions o Oo 5 an O MELSERVO J NV Positioning Function Point Table Method Command and Operation Mode Command method Operation mode Point table No input Automatic operation mode Manual operation mode Home position return mode Command interface DIO Note 1 Operating specification Positions according to the specification of the point table No 7 points Input positioning STM in poi poi i x command Set in point table One point feed length setting range 1um to 999999 x10 um Note 2 System Signed absolute value command system increment value command system Point table number input Each positioning operation based on position and speed commands Inches upon input based on speed commands set by a parameter Point table Manual pulse Manual feed by manual pulse generator Command pulse multiplication x 1 x10 or x100 is selectable by the parameter Returns to home position upon Z phase pulse count after passing through proximity dog Dog type Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog bac
40. TALLATION GUIDE L NA 03052ENG Pursuing RELIABLE from the Product Design Phase E Reliable operation with tough drive function Overload tough drive function By using the overload tough drive function machine operation is adjusted automatically to prevent an alarm occurrence when load changes in the machine are detected and thereby reduces time losses caused by machine stops Patent pending Operation for load change cunts OFF Load gt increased Overload alarm Operation stops YA SU e at Pai ES Normal p m operation Overload warning occurs Vibration tough drive function Load Instantaneous power failure tough drive function When an instantaneous power failure is detected power charged on the main circuit capacitor is supplied to keep the system running Low voltage alarm may occur depending on the load conditions Operation for Instantaneous power failure tough drive function voltage change Low voltage alarm a N 4 Operation stops Instantaneous power gt failure tough drive Ae ON Normal gt operation Voltage amp Operation Instantaneous power continues failure occurs This function readjusts the machine resonance suppression filter automatically and prevents resonance when a machine resonance frequency is changed due to aging distortion Resets the machine resonance suppression filter that is closer to the resonance
41. Table Method Operation will continue even when a temporal change Point Table Method P 18 n in load power supply or resonance frequency occurs Command and Operation Mode P 19 E Built in Regenerative Standard Wiring Diagram P 20 J R tor E Positioning Function Program Method esi 5 o ji Command List P 21 A cee wining and a Space caving nsiataon are Program Erampes P 99 e realized by integrating the regenerative resistor to the LO 200W or larger servo amplifier as standard equipment SAMIA a PRRONI ode ii SE as compared to the external option AA Ang agra a 5 E Servo Motor Specifications and Torque un Separated power supply for Characteristics main and control circuits HF KN Series Servo Motor P 25 The main circuit power supply can be turned off HF KP Series Geared Servo Motor P 26 Fae separately to enhance your safety during maintenance Servo Motor Special Specifications Re Geared Servo Motor Specifications P 27 oO un Advan ced VI b ra ti on Electromagnetic Brake Specifications P 27 i Suppr ession Con tr ol Special Shaft End Specifications P 28 The auto tuning function enables the optimal E Optional Cables and Connectors P 29 2 operations E Ordering Information for Customers Connectors P 32 z Built in positioning m opisne Ea fu n et i on piona PAURETA Unit P 33 Built in positioning function enables easy UAEM T NAOC iis positioning operation without a controller WA Wa KA P 33 2 E Peripheral Equipment ie Electric
42. a servo amplifier servo motor If the IP rating of the servo amplifier servo motor differs from that of these connectors overall IP rating depends on the lowest of all 3 For the ultra long bending life cables and or for unlisted lengths available in the ultra long bending life cables contact Mitsubishi Electric System amp Service Co Ltd FA PRODUCT DIVISION by email oss ip melsc jp 31 MELSERVO J N Ordering Information for Customers To order the following products contact the relevant manufacturers directly When manufacturing a cable with the following connectors refer to the relevant manufacturers instruction manuals for wiring and assembling procedures ae Encoder connectors IP rating Stem Note 2 Description Applicable cable example Servo motor encoder Manufacturer Tyco Electronics Wire size 0 14mm AWG26 to 0 3mm AWG22 1674320 1 IP65 CE Corporation Completed cable outer diameter 7 1 0 3mm Crimping tool 1596970 1 for ground clip and 1596847 1 for receptacle contact aa a re Wire PT ei wire Servo amplifier CN2 ig eae f A T 0 Manufacturer Molex Vinyl jacket cable ETFE SVP 70 0 08 Servo amplifiers Servo motors AWG 22 3P KB 16824 54599 1016 connector set black BANDO DENSEN Co LTD or an equivalent product Motor power supply connector IP rating Item Note 2 Description Applicable cable example Wire size 0 75mm AWG19 Completed cable outer diameter 6 2
43. achine G1 application G5 G7 Control mode Main circuit 1 phase 200VAC MR JN DA 1 0 05 to 0 4 4 HF KN series 3000 4500 0 05 0 1 0 2 0 4 IP65 5 Rated speed Reducer for general Reducer for Servo motor series Maximum speed kW industrial machine precision application B r min G1 G5 G7 Rated output capacity Electromagnetic brake IP rating HF KP i z TA SENOS 3000 4500 0 05 0 1 0 2 0 4 1 5 1 12 1 20 7 1 5 1 11 ma 1 33 1 45 5 The shaft through portion is excluded 6 This speed is applicable when using the servo motor in combination with MR JN series servo amplifier 7 This reduction ratio is nominal value For actual reduction ratio refer to Geared Servo Motor Specifications in this catalog INDEX Features ae Application Examples P 8 Servo Support Software Capacity Selection Software P 9 MR Configurator Setup software P 10 5 ine ae E Model Designation B Servo Amplifiers P 11 z Servo Motors Pelt Z One to uch E Connections with Peripheral Equipment P 12 it z Servo Amplifier Specifications P 13 tun IA g i E Standard dies pama 5 Servo tuning is completed just by pressing Posion Conti Joeri pga the AUTO button on the front of the servo amplifier s a Pa Speed Control Operation P 16 D Tough drive o i Torque Control Operation P 17 ie function gt E Positioning Function Point
44. al Wires Circuit Breakers Magnetic Contactors P 34 k Radio Noise Filter P 34 Line Noise Filter P 34 Data Line Filter P 34 Surge Killer P 34 EMC Filter P 35 Power Factor Improvement AC Reactor P35 Servo Support Software Specifications and Operating Conditions P 36 Servo Amplifier Dimensions Poor Servo Motor Dimensions HF KN Series Servo Motor P 38 HF KP Series Geared Servo Motor P 39 Cautions P 42 Warranty P 43 Global FA Centers P 46 All steps from installation to wiring setup and operation are easy MELSER vo N Pursuing of EASY for both Operation and Support Optimal adjustment is E Fuss free es a achieved in approx 2 minutes Quick tuning with with just one touch _ one touch Operation is unstable One touch tuning Exactly matched High speed positioning Various adjustments for bringing out the full performance of the servo such as estimation of load to motor inertia moment ratio gain adjustment or machine resonance suppression can be executed automatically with one touch operation Patent pending E 1 phase 100VAC and The timing of operation is slow Command Actual Speed E Easy power supply wiring 200VAC for main circuit without a screwdriver All wiring can be completed without a driver 1 phase 100VAC power supply Besides 1 phase 200VAC servo amplifier 1 phase 100VAC servo amplifier is available ea Ce Easy wiring j
45. cting the optional regeneration unit regenerative power of i i i 1 The optional regeneration unit causes a temperature rise of 100 C or more relative to amplifier is optional regeneration unit W VERAS S built in regenerative the ambient temperature Fully examine heat dissipation installation position wires model resistor W MR RB032 40 Q J MR RB12 40 Q used etc before installing the unit Use flame resistant wires or apply flame retardant OO AA AA AA Sa 2 Always use twisted wires maximum length of 5m to connect the optional MR JN 20A 1 regeneration unit with the servo amplifier 3 Always use twisted wires for a thermal sensor and make sure that the sensor does not fail to work properly due to inducted noise Note The power values in this table are resistor generated powers not rated powers External dimensions Unit mm Connections MR RBO32 MR RB12 P6 mounting hole lt Terminal arrangement gt TE Servo amplifier G3 G4 Note 3 se P Built in C regenerative KC resistor G3 Optional regeneration unit Applicable wire size O 0 2mm AWG24 to 2 5mm AWG12 Note 1 Note 2 i jose fe dimensions Mass la 5m maximum lt 0 apes freen toto a ma aBos2 30 119 80 re oson fis marere 40 feof 2 Tre Mounting screw size M5 Notes 1 Create a sequence circuit that turn
46. ctive torque is within the rated torque range When the motor decelerates to a stop from the maximum speed the regenerative frequency will not be limited if the effective torque is within the rated torque range and if the load to motor inertia moment is 8 times or less for HF KP053 B GO or 4 time or less for HF KP13 B GO The shaft through portion is excluded The vibration direction is shown in the diagram to the right The value indicates the maximum value of the component normally the bracket in the opposite direction x lt gt of the motor shaft Fretting of the bearing occurs easily when the motor stops so maintain vibration to approximately one half of the allowable value The values are applicable when combining with MR JN servo amplifier series In the environment where the servo motor is exposed to oil mist oil and or water a standard specification servo motor may not be usable Contact your local sales office for more details The values are applicable for the servo motor without reducer The values are applicable at the reducer input shaft 10 When combined with MR JN servo amplifier series the detector performance is equivalent to an incremental 17 bit encoder 11 When unbalanced torque is generated such as in a vertical lift machine it is recommended that the unbalanced torque of the machine be kept under 70 of the motor s rated torque HF KP Series Geared Servo Motor Torque Characteristics Note 1 pi 2
47. e 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 Speed r min Speed r min Speed r min HF KN43 B Note 1 3 Notes 1 For 1 phase 230VAC X O Torque N m Torque oz in Oo 3 For 1 phase 200VAC Continuous running range The line is drawn only where B differs from the other two lines 1000 2000 3000 4000 4500 Speed r min 25 HF KP Series Geared Servo Motor Specifications Power supply capacity kVA Note os aa Coninucus Rated output W Servo amplifiers running duty Rated torque N m lozrin Note 8 11 1 3 184 Maximum torque N m oz in Note 8 1 9 269 3 8 538 Rated speed r min Note 9 Maximum speed r min Note 9 Permissible speed r min Refer to Geared Servo Motor Specifications in this catalog Power rate at continuous rated torque kW s Note 8 11 5 38 6 Rated current A o O Maximum current A Regenerative braking frequency times min Note 2 6 Note 3 Moment of inertia Standard J X10 kg m Refer to HF KP Series Geared Servo Motor Dimensions in this catalog J oz in With electromagnetic brake Permissible load to motor inertia moment ratio Refer to Geared Servo Motor Specifications in this catalog Speed postio detector Ambient temperature 0 to 40 C 32 to 104 F non freezing storage 15 to 70 C 5 to 158 F non freezing Ambient humidity 80 RH maximum non condensing storage 9
48. egenerative frequency will not be limited if the effective torque is within the rated torque range and if the load to motor inertia moment is 8 times or less for HF KN053 B or 4 time or less for HF KN13 B 4 Contact your local sales office if the load to motor inertia moment ratio exceeds the value in the table 5 The shaft through portion is excluded 6 The vibration direction is shown in the diagram to the right The value indicates the maximum value of the component normally the bracket in the opposite direction of the motor shaft Fretting of the bearing occurs easily when the motor stops so maintain vibration to approximately one half of the allowable value x 7 In the environment where the servo motor is exposed to oil mist oil and or water a standard specification servo motor may not be usable Contact your local sales office for more details 8 When unbalanced torque is generated such as in a vertical lift machine it is recommended that the unbalanced torque of the machine be kept under 70 of the motor s rated torque HF KN Series Servo Motor Torque Characteristics HF KN053 B Note 1 2 3 HF KN13 B Note 1 2 3 HF KN23 B Note 1 2 3 294 2 a au E N Peak running range N Peak running range N C fi ERE W ol O h IN on o 2 N N oe Torque oz in Torque N m Torque oz in Torque N m Torque oz in Torque N m Continuous running range Continuous running rang
49. enerative resistor P and C and remove the resistor from the servo amplifier when connecting the optional regeneration unit externally 2 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 3 Connect the ground wire to the cabinet protective earth PE terminal via the servo amplifier protective earth PE terminal for grounding 4 Do not connect the OV of 24VDC power supply to the servo amplifier protective earth PE terminal 5 The signals shown are applicable when using a two wire type encoder cable Refer to MR JN O A INSTRUCTION MANUAL for four wire type 6 Do not reverse the diode s direction Connecting it backwards may cause the servo amplifier to malfunction such that the signals are not output and the forced stop and other safety circuits are inoperable 7 Use the power supply 24VDC 10 required current capacity 0 2A 0 2A is the value when all of the input output points are used Note that the current capacity can be stepped down according to the number of input output points in use Refer to MR JN LIA INSTRUCTION MANUAL for details 8 Use the enhanced insulation power supply for the external power supply 24VDC Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake 9 Always turn on the forced stop EM1 signal normally closed contact before startin
50. ethod Note 8 Create position data servo motor speed acceleration and deceleration time constants and so on as programs beforehand Positioning operation is performed by selecting the created Program No with an external interface signal Program method enables more complex positioning operation than point table method MR Configurator Setup software is required to create a program Note 7 Command list Note 6 Settin WA 0 to SPN Note 1 Sets the command speed of the servo motor for positioning The setting Servo motor speed SPN setting permissible r min speed STA Note 2 Acceleration time constant STA setting 0 to 20000 Sets the acceleration time constant STB Note 2 STB Note 2 2 Deceleration time constant STB setting 0 to 20000 Sets the deceleration time constant ss Sets the deceleration time constant ss deceleration time constant Acceleration and STC Note 2 deceleration time STC setting 0 to 20000 Sets the acceleration and deceleration time constants constants S pattern acceleration l STD Note 2 and deceleration STD setting 0 to 100 ms Sets the S pattern acceleration and deceleration time constants time constants Note 5 inne petals MOV setting mera lt 10 im Moves according to the value set as an absolute value O Absolute value Note 5 i 999999 STM Moves continuously according to the value set as an absolute value MOVA a ao MONA Sting to 999999 Be sure to use
51. fe and reliability Keep space as open as possible toward the top plate so that heat does not build up Take special care especially when installing several amplifiers in a row Be sure to use the servo motor within the specified ambient temperature Torque may drop due to temperature increase of the servo motor The servo motor without reducer can be mounted in any direction Note that the mounting direction of some geared motor is predetermined When mounting vertically shaft up take measures on the machine side to ensure that oil from the gear box does not get into the servo motor Do not touch the servo motor during or after operation until it has had sufficient time to cool The motor can be very hot and severe burns may result from touching the motor The optional regeneration unit becomes hot the 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 electrical wires do not come into contact with the unit Carefully consider the cable clamping method and make sure that bending stress and stress of the cable s own weight are not applied on the cable connection section 100mm or more for several units 40mm or more 40mm or more 01f using in an application where the servo motor moves select the cable bending radius according to the required bending life and wire type Grounding Securely ground
52. field Hertfordshire AL10 8XB UK Tel 44 1707 27 6100 Fax 44 1707 27 8695 UK FA Center Mitsubishi Electric Europe B V Russian Branch St Petersburg office Sverdlovskaya emb bld Sch BC Benua office 720 195027 St Petersburg Russia Tel 7 812 633 3497 Fax 7 812 633 3499 Russian FA Center Mitsubishi Electric Corporation Nagoya Works is a factory certified for 15014001 standards for environmental management systems and ISO9001 standards for quality assurance managememt systems WA MELSOFT WW ENVIRONMENTAL MANAGEMENT EC97J1113 46 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 afa MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN New publication effective January 201 1 L NA O3053ENG B 1101 Printed in Japan Specifications subject to change without notice
53. figurator makes it easy to perform tuning monitor display diagnostics reading and writing parameters and test operations with a personal computer This software realizes a stable machine system optimum control and short setup time Servo amplifiers Features 1 This software allows easy set up and tuning of the servo system with a personal computer n 2 Multiple monitor functions Graphic display functions are provided to display the servo motor status with the input signal triggers ax z such as the command pulse droop pulse and speed MELSOFT S 3 Test operations with a personal computer E7 F Test operation of the servo motors can be performed with a personal computer using multiple test wy mode menus For details of the specifications refer to p 36 of this catalog Parameter setting window Monitor function 9 Parameter Setting E Amplifier Data Display window Parameiertiock Basic sating Basie sefing dist GainFifar danmon peti vO sath PosGonngseting Cosina iia Sai STH Forward inverse iatan iongan brii TLP TLA Cont oct T Eo oton ore eat Ja e 00 Aware rotten fongue ima We Ste 200 Wangor Ma 110 Mon ar He 12h Cumulative tencdsack Bula Banu poder spaad 1529 imin fi2031S37 pubisa Load inertia mormon ratio 00 fimes Gnt iud adui Euan opsratinn valid mgiba range HF Command pulse input torm PLSS 100 puise gho 65535 Command gulan Command
54. fore starting to use them Cautions concerning use Transportation and installation of servo motor Protect the servo motor or encoder from impact during handling When installing a pulley or a coupling to the shaft do not hammer on the shaft end Impact may damage the encoder use the screw hole on the shaft end LN Use a pulley extractor when removing the pulley When installing the pulley or the coupling to the servo motor which has a key way on the shaft Do not apply a load exceeding the tolerable load onto the servo motor shaft The shaft may break Installation Avoid installation in an environment in which oil mist dust etc are in the air When using in such an environment enclose the servo amplifier in a sealed cabinet Protect the servo motor by furnishing a cover for it or taking similar measures Mount the servo amplifier vertically on a wall Do not block intake and exhaust areas of the servo amplifier Doing so may cause the servo amplifier to malfunction When installing several servo amplifiers in a row in a sealed cabinet leave 10mm or more open between each servo ge wee 10mm amplifier Servo amplifier can nner be installed closely In this case keep the ambient temperature within 0 C to 45 C 82 F to 113 F or use them with 75 or less of the effective load rate When using one servo amplifier always leave 40mm or more open in the upward and downward directions To ensure the li
55. frequency Vibration tough drive function Position command i suppression filter 1 1 Tough drive function is activated by setting a parameter E Safe maintenance due to separated power supply for main and control circuits Because each of the main circuit power supply 1 phase 200VAC or 1 phase 100VAC and the control circuit power supply 24VDC has the respective connectors the main circuit power supply can be turned off separately It makes the maintenance such as parameter setting or checking of machine status safer when a trouble occurs STOP E Drive recorder function for quick response to troubleshooting Turning off only the main circuit enhances the maintenance zx performance Main circuit OFF Control circuit aa MR JN This function automatically records data before and after the alarm occurrence The recorded data is available in graph even after the power is off This enables identifying the cause of a trouble and finding its early solution This function selects data automatically to be recorded corresponding to alarms Information on the causes of alarm is extracted and monitored easily The data right before the alarm occurrence is available in graph MR Configurator is required to display data in the drive recorder in graph Machine resonance Machine resonance Machine resonance suppression filter 2 suppression filter 3 Vibration detected
56. g range 1um to 999999 x10 pum Note 2 System Signed absolute value command system incremental value command system Automatic operation Program method Depends on the setting of the program language mode Manual JOG Inches upon input based on speed commands set by a parameter operation mode Command method Manual feed by manual pulse generator Command pulse multiplication x 1 x10 or x100 is selectable by the parameter Manual pulse generator Returns to home position upon Z phase pulse count after passing through proximity dog Dog type Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Returns to home position upon Z phase pulse count after touching proximity dog Count type Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Returns to home position without dog Sets any position as home position using manual operation etc Data set type Bed Home position address settable Stoor Er OE Returns to home position upon hitting end of stroke Home PREVE Direction for return to home position selectable Home position address settable position return Ignore home mode Servo on position Uses position where the servo on SON
57. g the operation If not the operation will not start 10 Always turn on the forward and reverse rotation stroke end LSP LSN signals normally closed contact before starting the operation If not the commands will not be accepted 11 The malfunction ALM signal normally closed contact is conducted to DOCOM in normal alarm free condition 12 Connect the shield wire securely to the plate inside the connector ground plate 13 This is applicable when the setting of the programmable controller is for the first axis For the second or third axis the number changes 14 It is recommended that the connection be 2m or shorter because an open collector system is used 15 Signal names are different for FX3U 16MT ES COM1 will be COMO and COM2 will be COM4 14 MELSERVO J N Standard Wiring Diagram Position Control Operation 0 Connection example to QD75D Electromagnetic brake interlock Servo amplifier Servo motor MR JN DA 1 HF KN KP series Main circuit NFB MC CNP1 o ponp CNP1 Pee SI ee DLI UO Uj phase 200 to 230VAC 7 oe V we m perean C ai Optional regeneration unit il 1 phase i tlhe 100 to 120VAC Oore Wa a ou Built in regenerative Circuit CNP2 resistor 24VDC for ee eee eee Bif4 ____ Electro protector f electromagnetic i magnetic Note 8 24VDC power supply V 0 24V brake E TT E for control circuit QOV Note 4 Note 4 8
58. hanges depending on the conditions of use such as output torque speed temperature The values in the table represent typical values at the rated torque and speed and at the normal temperature They are not guaranteed values 2 The reducer efficiency of HF KP053 is 22 to 41 3 Contact your local sales office if the load to motor inertia moment ratio exceeds the value in the table 4 The value is applicable when combining with MR JN servo amplifier series Electromagnetic Brake Specifications Note 1 Servo motor model HF KNO53B HF KN13B HF KN23B HF KN43B HF KP053BGO HF KP13BG HF KP23BGU HF KP43BGU Spring action safety brake Spring action safety brake Rated voltage 24VDC_ 0 24VDC 0 Permissible braking sekk Brake life Note2 Work per breaking 56 56 22 2 _ 56 56 2 Notes 1 The electromagnetic brake is for holding It cannot be used for deceleration applications 2 The brake gap cannot be adjusted The brake life shows time until the readjustment is needed 27 Special Shaft End Specifications Motors with the following specifications are also available op 2 HF KN series S D cut shaft note 1 50W 100W s S 21 5 D H O Poul is Z Unit mm D Servo motor Capacity Variable dimensions model W al wlio M4 screw 200 gue Depth 15mm Unit mm T Se fab 56 55 HF KP series au The standard shaft f
59. i FA eee 9 Taiwan FA Center Guangzhou FA Center India FA Center 9 Thailand FA Center O ASEAN FA Center Mitsubishi Electric Automation CHINA Ltd 4 F Zhi Fu Plaza No 80 Xin Chang Road Shanghai 200003 China Tel 86 21 2322 3030 Fax 86 21 2322 3000 Mitsubishi Electric Automation CHINA Ltd Beijing Office Unit904 905 9F Office Tower Henderson Centre 18 Jianguomennei Avenue Dongcheng District Beijing China Tel 86 10 6518 8830 Fax 86 10 6518 3907 Mitsubishi Electric Automation CHINA Ltd Tianjin Office B 2 801 802 Youyi Building 50 Youyi Road Hexi District Tianjin China Tel 86 22 2813 1015 Fax 86 22 2813 1017 Mitsubishi Electric Automation CHINA Ltd Guangzhou Office Rm 1609 North Tower The Hub Center No 1068 Xin Gang East Road Haizhu District Guangzhou China Tel 86 20 8923 6730 Fax 86 20 8923 6715 Mitsubishi Electric Automation HONGKONG Ltd 10th Floor Manulife Tower 169 Electric Road North Point Hong Kong Tel 852 2887 8870 Fax 852 2887 7984 Setsuyo Enterprise Co Ltd 6F No 105 Wu kung 3rd RD Wu Ku Hsiang Taipei Hsien 248 Taiwan R O C Tel 886 2 2299 2499 Fax 886 2 2299 2509 Mitsubishi Electric Automation Korea Co Ltd Service B1F 2F 1480 6 Gayang Dong Gangseo Gu Seoul 157 200 Korea Tel 82 2 3660 9630 Fax 82 2 3663 0475 Mitsubishi Electric Automation Thailand Co Ltd Bang Chan Industrial Estate No 111 Soi Serithai 54 T Kannayao A Kannayao
60. ied to the coil until closure of contacts 0 Radio noise filter FR BIF This filter effectively controls noise emitted from the power supply side of the servo amplifier and is especially effective for radio frequency bands 10MHz or lower The FR BIF is designed for the input only Servo amplifiers Servo motors Options External dimensions Unit mm Connections This filter is not connectable to output side of the servo amplifier Wiring should be as short as possible Grounding is always required Be sure to insulate the unused wire Peripheral Equipment Terminal Servo block amplifier Approx 300 Power OL supply O L2 Oo Software Servo Support Line noise filter FR BSF01 This filter is effective in suppressing radio noise emitted from the power supply side or output side of the servo amplifier and also in suppressing high frequency leakage current zero phase current especially within 0 5MHz to 5MHz band External dimensions Unit mm Connections Use the line noise filter for wires of the main power supply L1 L2 of the servo amplifier and of the motor power supply U V W Pass each of the wires through the line noise filter equal times in a same direction For the main power supply the effect of the filter rises as the number of passes increases but generally four passes would be appropriate For the motor power supply passes must be four
61. ies with reducer are available G1 for general industrial machines G5 flange output type reducer for precision applications G7 shaft output type reducer for precision applications These servo motors are flange mounting type Servo motors with electromagnetic brake are also available The HF KP series with reducer is rated IP44 as standard excluding the shaft through portion Wide motor selection including geared servo motors Geared servo motor HF KP series Equipped with MR J3 level High Functionality E Extended adjustment functions by the auto tuning Advanced vibration suppression control The residual vibration with low frequency up to 100HZ is suppressed automatically An optimal filter is set automatically by the auto tuning function Vibration is easily suppressed E Various control modes Speed torque control operation The speed control mode and the torque the position control and control mode are supported The speed the torgue control and the torque commands are set internally by parameters Switchable between Torque limit The torque generated by the servo motor can be controlled by setting parameters Conformity with Global Standards E Complied with EN UL and CSA standards MELSERVO JN conforms to the global standards 1 This product is not a subject of China Compulsory Certification CCC 2 HF KN servo motor series will be compatible with EN UL and CSA standards
62. ing from the stop of the servo motor to the rated speed 3 The setting value is the time elapsing from the rated speed to the stop of the servo motor Example 2 When repeating the steps between FOR setting value and NEXT commands for the number of times set Program Description SPN 3000 STC 20 MOV 1000 TIM 100 FOR 3 MOVI 100 TIM 100 NEXT STOP Dwell 100 ms Dwell 100 ms Program stop Step repeat command end Servo motor speed 3000 r min Acceleration and deceleration time constants 20 ms STM Absolute value move command 1000 x10 um Step repeat command start 3 times Incremental value move command 100 x10 um Deceleration time constant 20ms Acceleration time constant 20ms Speed 3000r min Speed Position address 0 10001 1100 1200 1300 oe Steps and are repeated for the number of times specified by step Dwell 100ms 22 v D Qa z O gt da D op Servo motors Options Peripheral Eguipment Servo Support Software o c D D m Cautions MELSERVO J N Positioning function Program method Command and Operation Mode Command interface DIO Note 1 Operating Program language programmed by MR Configurator Setup software specification Program capacity 120 steps 8 programs Program Input positioning Set by the program language command One point feed length settin
63. ition data Setting range Description Point Servo Acceler Deceler mi Sets th t t STM is the ratio for th table Foal Jel motor ation time lation time ROU Mey ets the movement amount is the ratio for the 0 to 999999 data No data speed constant constant time function 0 Sets the command speed for the servo motor used 1 1000 2000 200 200 0 1 to permissible for positioning 2 1000 1600 100 100 0 0 Acceleration time constant 0 to 20000 Sets the acceleration time constant Note 2 Deceleration time constant 0 to 20000 Sets the deceleration time constant Note 2 iu 500 3000 100 100 0 0 If the point table No 1 s auxiliary function is 1 continuous positioning operation is carried out based on the point table as shown in the Auxiliary function 1 below If the point table No 1 s auxiliary function is 0 a start signal must be issued as shown in Auxiliary function 0 below Point table i No 2 i 2000 O to 20000 Runs the next point table after the set dwell time 0 Positions and stops waits for start signal 1 Continues operation for the next point table without stopping Auxiliary function Oand 1 Auxiliary function 1 Auxiliary function 0 Speed Speed Point table i No 1 Point table No 1 Point table No 2 1000 Position address 0 1000 2000 Position address 0 Start signal Start signal Notes 1
64. ity 80 RH maximum non condensing storage 90 RH maximum non condensing Environment T Note 7 Mass kg lb With electromagnetic brake 0 6 1 3 1 8 4 0 Notes 1 The power supply capacity varies depending on the power supply s impedance 2 The regenerative braking frequency shows the permissible frequency when the motor without a load and an optional regeneration unit decelerates from the rated speed to a stop When a load is connected however the value will be the table value m 1 where m load inertia moment motor inertia moment When the operating speed exceeds the rated speed the regenerative braking frequency is inversely proportional to the square of operating speed rated speed If the operating speed changes frequently or when the regeneration is constant as with vertical feeds find the regenerative heating value W in operation Provisions must be made to keep this heating value below the tolerable regenerative power W Optimal regenerative resistor varies for each system Select the most suitable regenerative resistor by using the capacity selection software Refer to the section Options Optional regeneration unit in this catalog for details on the tolerable regenerative power W 3 When the motor decelerates to a stop from the rated speed the regenerative frequency will not be limited if the effective torque is within the rated torque range When the motor decelerates to a stop from the maximum speed the r
65. just by pressing this button Display panel Displays monitoring data parameter and alarm Setting section Parameter settings and monitoring etc are executed with push buttons Motor power supply cable option Encoder cable option Servo motor The picture is of HF KN13 Notes 1 Refer to MR JN OA INSTRUCTION MANUAL for the actual connections al Servo amplifiers USB communication CN3 option Monitoring batch parameter entry and saving graph display and test operation can be performed with MR Configurator setup software when connecting to user s personal computer Optional USB cable MR J3USBCBLS3M is necessary Servo motors Control circuit power supply 24VDC Circuit protector Junction terminal block Co o dle ay All signals can be wired via this terminal block Controllers MR JN can be connected to a Mitsubishi controller or any pulse train output controller FXsu programmable controller QD70P O QD70D0O FXsuc programmable controller QD75P O QD75D0 0 FXse programmable controller LD75PO LD75D0O i J Control signal for operation panel Connected to a programmable controller s I O port or a machine s operation panel Manual pulse generator Option Pulses can be manually generated either by point table method or by program method during the Manual pulse operation generator MR H
66. k to home position and automatic stroke retreat function Returns to home position upon Z phase pulse count after touching proximity dog Count type Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Data set type Returns to home position without dog Sets any position as home position using manual operation etc Home position address settable Sioa eatin Returns to home position upon hitting end of stroke PREDE Direction for return to home position selectable Home position address settable Ignore home Servo on position Uses position where the servo on SON signal turns ON as home position Home position address settable as home position generator Returns to home position with respect to the rear end of a proximity dog Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Dog type rear end reference Returns to home position with respect to the front end of a proximity dog Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Count type front end reference Returns to home position upon the fi
67. le E i Encoder cable QD75D p Operation nerator H LD75P cabinet 22 E i e LD75D Ya ie a m Servo amplifier MR Configurator Setup software E MRZJW3 SETUP221E lt 4 For leading the cables out in an opposite direction of the motor shaft Note 4 To CN2 Motor power supply cable Motor electromagnetic brake cable gt Encoder cable I ee ene Servo motor For encoder cable length over 10m Servo motor For leading the cables out in a direction of the motor shaft Note 4 For leading the cables out in an opposite direction of the motor shaft Note 4 A To CNP1 Motor power supply cable 3 Wire size 0 75mm AWG19 f PG Manufacture a relay cable Note 2 Motor electromagnetic brake cable Wire size 0 5mm AWG20 Encoder cable ai D SEs Y Servo motor Motor power supply cable Manufacture a relay mr N 2 Note 2 Wire size 0 75mm Motor electromagnetic brake cable AWG19 Noo css 7x BA Manufacture a relay cable Note 3 Wire size 0 5mm Encoder cable AWG20 imp SL Note 1 Encoder cable Servo motor Notes 1 This cable does not have a long bending life so always fix the cable before
68. le Lead out in opposite direction of motor shaft Brake cable Lead out in direction of motor shaft Brake cable Lead out in opposite direction of motor shaft Servo amplifier power supply connector set CN1 connector set Junction terminal block cable Junction terminal block Personal computer communication cable USB cable MR PWS1CBLUIM A1 H O cable length IP65 2 5 10m Note 1 3 MR PWS1CBLUOIM A1 L L cable length IP65 2 5 10m Note 1 MR PWS1CBLUIM A2 H Ll cable length IP65 2 5 10m Note 1 3 MR PWS1CBLUIM A2 L Ll cable length IP65 2 5 10m Note 1 MR PWS2CBL03M A1 L Cable length 0 3m IP55 Note 1 MR PWS2CBL03M A2 L Cable length 0 3m IP55 Note 1 MR BKS1CBLOM A1 H Ll cable length IP65 2 5 10m Note 1 3 MR BKS1CBLOM A1 L Ll cable length IP65 2 5 10m Note 1 IP65 IP65 IP55 IP55 MR BKS1CBLUIM A2 H Ll cable length 2 5 10m Note 1 3 MR BKS1CBLUIM A2 L Ll cable length 2 5 10m Note 1 MR BKS2CBL03M A1 L Cable length 0 3m Note 1 MR BKS2CBL03M A2 L Cable length 0 3m Note 1 Standard accessory Insertion type MR J2CMP2 MR TBNATBLUOIM O cable length 0 5 1m MR TB26A MR J3USBCBL3M Cable length 3m Motor power supply connector Japan Aviation Electronics Industry JN4FT04SJ1 R plug ST TMH S C1B 100 A534G socket contact Lead out This cable is not shielded Motor power supply connector Japan Aviati
69. mpanies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation Z W u MEMO SIOIJI GWUe OAIBS SJOJOW OAI9S suoi do yusudinby jesOUCIIad woddns ones BIEMIOS SUOISUSWIG suolney Ad MELSERVO J N Global FA Centers UK FA Center German FA Center Shanghai FA Center Beijing FA Center Tianjin FA Center Guangzhou FA Center Hong Kong FA Center Taiwan FA Center Korean FA Center Thailand FA Center ASEAN FA Center J Russian FA Center European FA Center Czech Republic FA Center Korean FA Center Beijing FA Center Tianjin FA Center North American FA Center On itsubishi Electric Corp Shangha
70. ms Alarm display alarm history display of data that generated alarm Diagnostics Reason for rotation failure display system information display tuning data display axis name setting Parameters Parameter setting tuning display of change list display of detailed information JOG operation positioning operation motor less operation forced digital output program operation using simple language 1 step feed Positioning data Note 2 Point table program Test operations Peripheral Eguipment Project Project creation reading or saving various data reading saving or printing Others Help display Notes 1 MRZJW3 SETUP221E with software version C3 or above is compatible with MELSERVO JN series 2 Positioning data is available with software version C4 or above Servo amplifier with software version BO or above is required for the positioning function Compatible personal computer When using the capacity selection software or the MR Configurator setup software use an IBM PC AT compatible model running with the following operation conditions Servo Support Software 0 Operating conditions C i Capacity selection software MR Configurator Setup software OmMpENEMS MRZJW3 MOTSZ111E Note 4 MR JW3 SETUP221E Windows 98 Windows Me Windows 2000 Professional Windows XP Professional Windows XP Home Edition Windows Vista Home Basic Windows Vista Home Premium OS Windows Vista Business Windows Vista Ultima
71. n SON Note 1 3 or the electromagnetic Note 10 Forced stop i CN2 sine ee er Servo on 1 Reset 2 LG Speed selection 1 Note 6 Forward rotation start 3 MR Reverse rotation start 4 MRR PLATE SD Note 11 Malfunction yA Electromagnetic brake interlock Z Ready mre Speed reached We 10m maximum Note 5 8 9 24VDC power supply DICOM for interface DOCOM Encoder Z phase pulse G LZ differential line driver Li Encoder A phase pulse LA 15 differential line driver lt lt i_ Ae 16 Encoder B phase pulse lt 4 m LB 17 differential line driver Control common aay Sa es Control common SA Encoder Z phase pulse J Z Personal computer open collector Not 12 SD Ee ote Sai maximum oe AF JO Om ane AUTEN USB cable LEY C MR J3USBCBL3M Setup software MRZJW3 SETUP221E 1 MR JN LIA supports only operations by internal speed command 2 Disconnect the wires for the built in regenerative resistor P and C and remove the resistor from the servo amplifier when connecting the optional regeneration unit externally 3 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 4 Connect the ground wire to the cabinet protective earth PE terminal via the servo amplifier protective earth PE terminal for grounding 5 Do not con
72. nect the OV of 24VDC power supply to the servo amplifier protective earth PE terminal 6 The signals shown are applicable when using a two wire type encoder cable Refer to MR JN OA INSTRUCTION MANUAL for four wire type 7 Do not reverse the diode s direction Connecting it backwards may cause the servo amplifier to malfunction such that the signals are not output and the forced stop and other safety circuits are inoperable 8 Use the power supply 24VDC 10 required current capacity 0 2A 0 2A is the value when all of the input output points are used Note that the current capacity can be stepped down according to the number of input output points in use Refer to MR JN DA INSTRUCTION MANUAL for details 9 Use the enhanced insulation power supply for the external power supply 24VDC Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake 10 Always turn on the forced stop EM1 signal normally closed contact before starting the operation If not the operation will not start 11 The malfunction ALM signal normally closed contact is conducted to DOCOM in normal alarm free condition 12 Connect the shield wire securely to the plate inside the connector ground plate 13 This is for sink wiring Source wiring is also possible Refer to MR JN HA INSTRUCTION MANUAL for details 16 op San ie pur e
73. o eight programs can be stored in the memory and are repeated the number of times specified by A Operation example Deceleration time constant 20ms Acceleration time constant 20ms Program example Speed Program No 1 SPN 3000 STC 20 MOV 1000 TIM 100 a FOR 3 Position address 0 1000 1100 1200 1300 MOVI 100 TIM 100 NEXT STOP Notes 1 Servo amplifier with software version BO or above is required for the positioning function 2 MR Configurator is required to create a program MR Configurator with software version C4 or above is compatible with creating a program Dwell 100ms Start signal Program No No 1 Easy to use in various situations MELSERVO JN a compact servo amplifier which enables both high accuracy positioning and speed stability in low speed satisfies control needs in various applications E X Y tables For X Y positioning system for machine tools inspection machines etc The high performance servo system enables high speed positioning 17 bit encoder enables high accuracy positioning Shorter tact time is achieved by suppressing vibrations E Food processing machines For food processing positioning of liquid filling nozzle unwinding of wrapping material etc The high performance servo system enables shorter tact time The tough drive function improves machine operating rate HF KN series is rated
74. of the servo amplifier Model Applicable servo amplifier HF3010A UN MR JN 10A 1 MR JN 20A 1 MR JN 40A HF3010A UN Note 1 2 IN OUT Input side 3 M4 Output side EMC filter Servo amplifier Power supply NFB 1 phase x 200t0230VAC 1 or 1 phase KA 100 to 120VAC Leakage Mass current mA kg Ib HF3010A UN 3 6 6 Notes 1 Manufactured by SOSHIN ELECTRIC CO LTD 2 A surge protector is separately required to use this EMC filter Refer to EMC Installation Guidelines Power factor improvement AC reactor FR HAL This reactor enables users to boost the servo amplifier s power factor and reduce its power supply capacity Model Applicable servo amplifier MR JN 10A 1 FR HAL 0 75K MR JN 20A MR JN 40A External dimensions Unit mm Connections Terminal a arrangement RIKISIYITIZ 4 d mounting hole Varnish is removed from the front right mounting hole Note 1 F Servo amplifier NFB Power supply K ar 1 phase 200 to 230VAC X 3 uo or 1 phase 100 to 120VAC D Terminal Mass Notes 1 Use the front right mounting hole for grounding 2 Maximum dimensions The dimension varies depending on the bending
75. of warranty for Product is twelve 12 months after your purchase or delivery of the Product to a place designated by you or eighteen 18 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Limitations 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases i a failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem ii a failure caused by any alteration etc to the Product made on your side without our approval iii a failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or struc
76. oftware may not run correctly depending on a personal computer being used 3 These software are not compatible with 64 bit operating system 4 MRZJW3 MOTSZ111E will be compatible with Windows 7 soon o e D D m Cautions Personal computer Note 1 2 3 36 MELSERVO J N MR JN OA Servo Amplifier Dimensions Unit mm MR JN 10A MR JN 20A MR JN 10A1 MR JN 20A1 Built in regenerative resistor lead wires is mounted only in MR JN 20A 1 2 96 mounting hole S ee gt lt Terminal arrangement gt S hk SF Ie ge T m JOURCOUOUODSOL Li CNP1 7 L2 AUTO v6 o L wel cnp2 CNDA We s 8 a E U v CN3 w y of OV 6 515 A F 9 lt Mounting screw size gt Oo Ke OU MR JN 40A 2 96 mounting hole k 50 gt Ibe 80 185 lt Terminal arrangement gt Ty ppe JU CNP1 lt c Q v R AA tel 2 5 Wa a CNP2 lt Mounting screw size gt M5 37 38 8 Note 3 36 ECN
77. oint table No selection1 Po MRR U Note 13 Point table No selection2 DI AT Note 13 Proximity dog DOG LE eo 5 on ALM MBR RD MEND Note 10 Malfunction Electromagnetic brake interlock Ready Positioning complete OPC DICOM DOCOM Software for interface Servo Support Encoder Z phase pulse lt 7 WA differential line driver lt t 11 LZR Encoder A phase pulse m LA differential line driver LAR T Encoder B phase pulse lt i H LB differential line driver T LBR Control common Lt ew E ab R a 3 iG Personal eA meUr Encoder Z phase pulse ae rR open collector We wa q CN3 o _ Note 11 11 LEY wa om Setup software MRZJW3 SETUP221E AKUM maximum USB cable 10m maximum MR J3USBCBL3M Cautions Disconnect the wires for the built in regenerative resistor P and C and remove the resistor from the servo amplifier when connecting the optional regeneration unit externally This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity Connect the ground wire to the cabinet protective earth PE terminal via the servo amplifier protective earth PE terminal for grounding Do not connect the OV of 24VDC power supply to the servo amplifier protective earth PE terminal The signals shown are applicable when using a two wire ty
78. on Electronics Industry JN4FT04SJ2 R plug ST TMH S C1B 100 A534G socket contact C E Lead out This cable is not shielded Motor brake connector Japan Aviation Electronics Industry JN4FT02SJ1 R plug ST TMH S C1B 100 A534G socket contact mE K Lead out This cable is not shielded Motor brake connector Japan Aviation Electronics Industry JN4FTO2SJ2 R plug ST TMH S C1B 100 A534G socket contact CE Lead out This cable is not shielded CNP2 connector CNP1 connector FKC 2 5 9 ST 5 08 connector PHOENIX or an equivalent product FKCT 2 5 2 ST 5 08 connector PHOENIX or an equivalent product lt Applicable cable example gt Wire size 0 2mm AWG24 to 2 5mm AWG12 Completed cable outer diameter up to 64mm Amplifier connector 3M or an equivalent product 10126 3000PE connector 10326 52F0 008 shell kit Junction terminal block connector Amplifier connector 3M or an equivalent product 10126 6000EL connector 3M or an equivalent product 10126 6000EL connector 10326 3210 000 shell kit 10326 3210 000 shell kit Amplifier connector mini B connector 5 pins E i Personal computer connector A connector i T Notes 1 H and L indicate a bending life H indicates a long bending life and L indicates a standard bending life 2 The IP rating indicated is for the connector s protection against ingress of dust and water when coupled to
79. oo o 455 115h7 120 1 45 0 964 5 27 221 1 04 5 69 Notes 1 Dimensions inside are for the models with electromagnetic brake 45 85h7 WP Rotation direction For reverse rotation command For forward rotation command a N P screw depth R 4 M oLF Brake connector pin assignment Note 2 PERE Pin Fin No orang name name za jae Power supply connector pin ene Variable dimensions 59 24H7 40 1487 21t a _ 0 4 0 5 0 4 0 5 frame of the reducer is made by casting Design a machine in order to make allowances Sz All gear ratios for HF KP053 B G5 and HF KP13 B G5 e Gear ratios of 1 21 1 33 and 1 45 for HF KP23 B G5 Lead out the power supply cable in opposite direction of the motor shaft for the following servo motors Power supply connector E A 47 1 47 1 57 8 Only for the models with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity The moments of inertia in the table are the values that are converted into motor shaft for the motor with reducer and with electromagnetic brake For dimensions where there is no tolerance listed use general tolerance The actual dimensions may be 1mm to 3mm larger than the dimensions listed since the outer Mass FAEN Ey EA EJ 4 ES NI Ea 23 51 29 4 0 8 9 4 6 11 6 1 14 6 7 15
80. operation can be pertonmed at any wet apaed ON OFF status and operation status can be This i weed to check the dive status when the machine ia turned DH checked in real time Graph window af Graph Dimensions Penning maai pah ie an ai amy mova de wit pai This i utad bo check ihe machine when La tured ON of bo adusi the paion of maich meing dog ayris The apga smuke Pa BAA al he AOA wihi the bero amplifier Fran if the servomolo and iha sheeda ace pyl wired The winng to Be host cinler or sequence can be checked even ff there na Machine complete imotucing aana of here i any danger at the mate s wende whens Aa running 7 C oi 5 ao O irre ahead Wizi pote can be fore jumad ON aad OFF by pin This 5 usad fo check the wiring to the heal conirofer A mpi program WAZUA ene Te operaban of penning progruras More complicated opersfices can be programmed Operaiion can be aeeciled by apaciiying the mel pom lable of propram Me Weed forthe check af the sisttup of mechiee of others the opersion peck of pai iepr pram etc aa Ciee x E I x The test operation that matches the mina 4D else application can be selected from the a azi ne multiple test mode menus Powerful graph functions with 3 analog channels and 4 digital channels support tuning User friendly functions such as Over write and Graph history and a diverse waveform selection powerfully support user s work
81. operation will not start 10 Always turn on the forward and reverse rotation stroke end LSP LSN signals normally closed contact before starting the operation If not the commands will not be accepted 11 The malfunction ALM signal normally closed contact is conducted to DOCOM in normal alarm free condition 12 Connect the shield wire securely to the plate inside the connector ground plate 13 This connection is not necessary for QD75D positioning module Note that the connection between LG and control common terminal is recommended for some positioning modules to improve noise immunity 14 This is for sink wiring Source wiring is also possible Refer to MR JN OA INSTRUCTION MANUAL for details x 15 Standard Wiring Diagram Speed Control Operation Note 1 0 Connection example Servo amplifier Servo motor Notes MR JN OA 1 HF KN KP series Main circuit NFB MC CNP1 CNP1 gellar Lag lt OL UGE 7 1 phase L2 20010 230VAC 77 z ke VO Wy ya Optional regeneration unit ay wa 1 phase meee C O 100 to 120VAC Note2 0 On Lo tg ad Note 4 Ulit IN regenerative gt Note 4 5 ci CNP2 ea a J ee 24VDC for SS re spec re eget a SE Bi protector electromagnetic Note 9 24VDC power supply i O 24V ae T RA J B2 for control circuit LO OV Note 5 Note 5 9 Contacts must be open by an external emergency stop switch Contacts must be open when the servo o
82. or HF KP U1 G1 with reducer for general industrial machines is straight The shaft with key is available as a special specification Contact your local sales office for more details e The standard shaft for HF KP O G7 with shaft output type reducer for precision application flange mounting is straight ao However the shaft with key HF KP O G7K is also available Refer to the followings for the shaft end shape D g o o 20 Keyway shaft with key note 1 2 3 8 Variable dimensions Dimensions M4 screw Depth 8mm HF KP13G7K M6 screw Cautions M4 screw Depth 8mm HF KP23G7K M6 screw HF KP43G7K M10 screw Depth 20mm Unit mm Notes 1 The servo motor with the keyway shaft or the D cut shaft cannot be used in frequent start stop applications 2 A key single point key is supplied 3 The dimensions not mentioned in the drawings are the same as those of the straight shaft of HF KPLIG7 Refer to HF KP Series Geared Servo Motor Dimensions HF KPO B G7 in this catalog 28 MELSERVO J N Cables and connectors FX3u Zo oF xa onne passes i FX3a QD70P e QD70D QD75P Z S Oooooooo0o00000 Manual pulse Manufacture a cable For encoder cable length 10m or shorter For leading the cables out in a direction of the motor shaft Note A To CNP1 Motor power supply cable q O Motor electromagnetic brake cab
83. p is executed Setting COUNT 0 clears the pulse counter to zero FOR Step repeat FOR setting 0 i Stan sean meee FOR setting value and NEXT commands NEXT command NEXT 1 to 10000 i l n If zero is set the steps are repeated unlimitedly TM Dwell O TIM B 1 to 20000 oms Waits for the next step until the set time passes O ZRT Home position retum ZRT Executes a manual home position return Program count Sets the number of program execution by writing TIMES setting value command MMES INES ishia i to 10000 on the beginning of the program If zero is set the program is repeated unlimitedly Stops the program being executed Be sure to write this command Notes 1 The SPN command is valid when the MOV MOVA MOVI or MOVIA command is executed 2 The STA STB STC and STD commands are valid when the MOV or MOVI command is executed 3 The SYNC OUTON OUTOF TRIP TRIPI ITP and COUNT commands are valid even while an instruction is output 4 If the remaining distance equals to the setting value or less the servo motor is not running or the servo motor is decelerating the ITP command is skipped and control goes to the next step 5 STM is the ratio for the data It can be changed by parameter 6 For the content of each command refer to MR JN OA INSTRUCTION MANUAL 7 MRZJW3 SETUP221E with software version C4 or above is compatible with creating a program 8 Servo amplifier
84. pe encoder cable Refer to MR JN O A INSTRUCTION MANUAL for four wire type Do not reverse the diode s direction Connecting it backwards may cause the servo amplifier to malfunction such that the signals are not output and the forced stop and other safety circuits are inoperable Use the power supply 24VDC 10 required current capacity 0 2A 0 2A is the value when all of the input output points are used Note that the current capacity can be stepped down according to the number of input output points in use Refer to MR JN O A INSTRUCTION MANUAL for details Use the enhanced insulation power supply for the external power supply 24VDC Do not use the 24VDC interface and control circuit power supplies for the electromagnetic brake Provide a power supply designed exclusively for the electromagnetic brake 9 Always turn on the forced stop EM1 signal normally closed contact before starting the operation If not the operation will not start 10 The malfunction ALM signal normally closed contact is conducted to DOCOM in normal alarm free condition 11 Connect the shield wire securely to the plate inside the connector ground plate 12 This is for sink wiring Source wiring is also possible Refer to MR JN OA INSTRUCTION MANUAL for details 13 Manual pulse generator can be used by setting a parameter Refer to MR JN DA INSTRUCTION MANUAL for details 2 3 4 5 6 T 8 20 MELSERVO J N Positioning function Program m
85. r LP Note 3 Brake connector Note 3 Reduction ratio ariable dimensions lt actual reduction ratio gt J x 104kg m kea 1 5 0 089 0 487 110 9 lt 9 44 gt 0 091 0 498 152 1 12 ae Gel 128 9 1 20 0 093 0 508 170 lt 25 484 gt 0 095 0 519 1 5 0 125 0 683 126 9 lt 9 44 gt 0 127 0 694 168 1 12 0 147 0 804 HF KP13 B G1 lt 49 576 gt 0 149 oiled 144 9 1 20 0 129 0 705 186 lt 25 484 gt 0 131 ets 1 5 0 400 2 19 130 1 lt 19 96 gt 0 470 2 57 169 6 1 12 0 450 2 46 HF KP23 B G1 lt 25 288 gt 0 520 2 84 1 4 20 0 420 ag 1896 lt 253 5000 gt 0 490 2 68 1 5 0 570 3 12 152 lt 19 96 gt 0 650 3 55 191 5 1 12 0 620 3 39 172 HF KP43 B G1 lt 25 288 gt 0 700 3 83 211 5 1 20 0 930 5 08 175 5 lt 253 5000 gt 1 01 5 52 215 Notes 1 Use a friction coupling to fasten a load 2 Dimensions inside are for the models with electromagnetic brake 3 Only for the models with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 4 The moments of inertia in the table are the values that are converted into motor shaft for the motor with reducer and with electromagnetic brake 5 For dimensions where there is no tolerance listed use general tolerance The actual dimensions may be 1mm to 3mm larger than the dimensions listed since the outer frame of the reducer is made by casting Design a machine in orde
86. r Specifications in this catalog for the available model and detailed specifications HF KP Low inertia small capacity None Standard straight shaft With key Note 1 B Installed Note Refer to Electromagnetic Notes 1 Refer to Special Shaft End Brake Specifications in Specifications in this catalog for this catalog for the the available models and detailed available models and specifications detailed specifications 11 n n Aa MELSERVO 4 Connections with Peripheral Equipment Note 1 Peripheral equipment is connected to MR JN DA as described below Connectors options and other necessary equipment are available so that users can set up MR JN LDA easily and begin using it right away Power supply 1 phase 200VAC to 230VAC or 1 phase 100VAC to 120VAC Circuit Charge lamp breaker aa Illuminates when the main NFB so be circuit power supply is charged Used to protect the power supply line Magnetic Servo amplifier MR JN LIA 1 contactor MC Used to turn off the servo m amplifier s power ID when an alarm 17 has been i triggered Hp C unm Power factor u improvement a m reactor iw m FR HAL Optional regeneration unit option Install this unit in situations involving frequent regeneration and large load inertia moments One touch tuning button Servo tuning is executed
87. r side encoder cable E Je e t E WA E Encoder connector Tyco Electronics 1674320 1 CE 18 Amplifier connector 36210 0100PL receptacle 3M 36310 3200 008 shell kit 3M or 54599 1019 connector set Molex Encoder connector Tyco Electronics 1674320 1 LE Junction connector Tyco Electronics 1473226 1 with ring contact 1 172169 9 housing 316454 1 cable clamp CTS Use this in combination of or Junction connector Tyco Electronics 1 172161 9 housing 170359 1 connector pin MTI 0002 cable clamp TOA ELECTRIC INDUSTRIAL EE 0 Use this in combination of or Amplifier connector 36210 0100PL receptacle 3M 36310 3200 008 shell kit 3M or 54599 1019 connector set Molex Junction connector Tyco Electronics 1 172161 9 housing 170359 1 connector pin MTI 0002 cable clamp TOA ELECTRIC INDUSTRIAL Lo lt Applicable cable example gt Wire size 0 3mm AWG22 Completed cable outer diameter 8 2mm Crimping tool 91529 1 is required Amplifier connector 36210 0100PL receptacle 3M 36310 3200 008 shell kit 3M or 54599 1019 connector set Molex Use these in combination of or Encoder connector Tyco Electronics 1674320 1 LE Junction connector DDK CM10 CR10P M cable receptacle Use this in combination of or Cim _ YD Amplifier connector 36210 0100PL receptacle 3M
88. r to be used before installation Select a control mode with parameter PAO1 Position control mode is selected as default Change the parameter setting when using the other control modes When using the optional regeneration unit change parameter No PAQ2 The optional regeneration unit is disabled as default so the parameter must be changed to increase the regeneration performance Operation When a magnetic contactor MC is installed on the servo amplifier s primary side do not perform frequent starts and stops with the MC Doing so may cause the servo amplifier to fail When an error occurs the servo amplifiers safety features activate halting output and the dynamic brake instantly stops the servo motor The dynamic brake is a function for emergency stop Do not use it for stopping the servo motor in normal operations As a rough guide the dynamic brake can be used approximately 1000 times when a machine that has load to motor inertia moment ratio equals to or lower than the recommended ratio stops from the rated speed every 10 minutes When using the servo motor with an electromagnetic brake do not apply the electromagnetic brake when the servo is on Doing so may cause the servo amplifier overload or shorten the electromagnetic brake life Apply the electromagnetic brake when the servo is off Cautions concerning model selection Select a servo motor with a rated torque above the continuous effective load torque
89. r to make allowances 6 Lead out the power supply cable in opposite direction of the motor shaft for the following servo motors All gear ratios for HF KP053 B G1 and HF KP13 B G1 39 With flange output type reducer for precision application flange mounting HF KPO B G5 Unit mm The following is a schematic diagram The actual shapes or the mounting screws may differ from the following Refer to the table below and Servo Motor INSTRUCTION MANUAL Vol 2 for details L LG p LM LK LH T Pomeren is Brake connector Note 2 Encoder connector Reduction Moment of inertia ratio J xt0 kg m J oz in L La LB Lc 0 120 0 656 0 122 0 667 0 112 0 612 1 11 0 114 0 623 130 4 171 5 HF KP053 B G5 ua 0 103 0 563 Note 5 0 105 0 574 0 097 0 53 1 33 0 099 0 541 0 097 0 53 70 30 1 45 0 099 0 541 0 156 0 853 0 158 0 864 me 0 148 0 809 146 4 0 150 0 82 187 5 HF KP13 B G5 WA 0 139 a oun or 1 33 0 152 0 831 148 9 456 45 ia 0 149 0 815 190 5 0 151 0 826 0 511 2 79 140 6 4 14 0 443 242 180 1 70 W 0 513 2 80 HF KP23 B G5 1a 0 738 4 03 Note 5 0 808 4 42 0 692 3 78 147 6 1 33 0 762 4 17 187 1 0 691 3 78 1 45 0 761 2 ig E e E IAA 5 ae ie 1 08 S 90 169 5 0 918 5 02 209 HF KP43 B G 1 21 0 998 5 46 0 970 5 3 1 74 lt
90. river Control common Control common Encoder Z phase pulse open collector Personal computer 2m maximum CN3 IS 10m maximum oo E7 a USB cable pa Vi N MR Configurator MR J3USBCBL3M Setup software MRZJW3 SETUP221E Notes 1 MR JN OA supports only operations by internal torque command 2 Disconnect the wires for the built in regenerative resistor P and C and remove the resistor from the servo amplifier when connecting the optional regeneration unit externally 3 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 4 Connect the ground wire to the cabinet protective earth PE terminal via the servo amplifier protective earth PE terminal for grounding 5 Do not connect the OV of 24VDC power supply to the servo amplifier protective earth PE terminal 6 The signals shown are applicable when using a two wire type encoder cable Refer to MR JN O A INSTRUCTION MANUAL for four wire type 7 Do not reverse the diode s direction Connecting it backwards may cause the servo amplifier to malfunction such that the signals are not output and the forced stop and other safety circuits are inoperable 8 Use the power supply 24VDC 10 required current capacity 0 2A 0 2A is the value when all of the input output points are used Note that the current capacity can be stepped down according to the number of input output points in use Refer to MR JN O A IN
91. rst Z phase pulse with respect to the front end of a proximity dog Dog cradle type Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Notes 1 The command interface will be compatible with pulse train command by using manual pulse generator MR HDP01 2 STM is the ratio for the data It can be changed by parameter 19 MELSERVO J N Connection example Note 4 7 8 24VDC power supply Notes Servo motor HF KN KP series Servo amplifier MR JN OA 1 Servo amplifiers Main circuit NFB MC CNP1 power supply ao PA 2 2 1 phase lt 2 200 to 230VAC 77 a A m or Optional regeneration unit i 1 phase Note 1 ee z 100 to 120VAC 7 Built in D regenerative Note 3 4 op ae resistor WAWA CNP2 24VDC for WAA AAA WAA electromagnetic RA Jt Bo magnetic Note 8 24VDC power supply e brake e aaa ve IAPS DE brake for control circuit Note 4 8 Note 2 Contacts must be Contacts must be open open by an external when the servo on SON CN 1 emergency stop switch or the electromagnetic brake interlock MBR Note 9 Forced stop EM1 CN2 signal turns off Servo on SON Automatic manual selection MDO a Forward rotation selection _ 11 MR 3 Reverse rotation selection T ST2 2 P
92. s off the magnetic contactor MC when abnormal overheating occurs 2 The G3 and G4 terminals are thermal sensor G3 G4 opens when the optional regeneration unit overheats abnormally 3 Disconnect the wires for the built in regenerative resistor P and C and remove the resistor from the servo amplifier when using the optional regeneration unit Junction terminal block MR TB26A All signals can be connected via this junction terminal block External dimensions Note 1 Unit mm Specifications KA Kaa 0 08mm AWG28 to Applicable 1 5mm AWG14 wire Solid wire 0 32mm to 1 2mm terminal side Insulated outer gaAmmorsmalisr diameter Operating tool 210 619 Wago or equivalent 210 119SB Wago or equivalent Srp ena am II Stranded wire Notes 1 The length in apply when the junction terminal box is mounted on a 35mm wide DIN rail Manual Pulse Generator MR HDP01 For point table method and program method Dimensions Mounting unit mm 3 6 Packing t2 0 3 M4 stud L10 P C D 72 equally divided Panel cutting 448 equally divided MANUAL SERIALNO TYPE o_o J 2VOV A B
93. signal turns ON as home position Home position address settable as home position Operation mode Returns to home position with respect to the rear end of a proximity dog Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Dog type rear end reference Returns to home position with respect to the front end of a proximity dog Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Count type front end reference Returns to home position upon the first Z phase pulse with respect to the front end of a proximity dog Dog cradle type Direction for return to home position selectable Home position shift amount and home position address settable Automatic retreat on dog back to home position and automatic stroke retreat function Notes 1 The command interface will be compatible with pulse train command by using manual pulse generator MR HDP01 2 STM is the ratio for the data It can be changed by parameter 23 MELSERVO J N 5 o Connection example z Q O Z Servo amplifier Servo motor ie MR JN OA 1 H
94. stics in this catalog Optimal regenerative resistor varies for each system Select the most suitable regenerative resistor by using the capacity selection software Refer to Options Optional regeneration unit in this catalog for the tolerable regenerative power W 0 2A is the value when all of the input output points are used The current capacity can be stepped down according to the number of input output points in use Refer to MR JN OA INSTRUCTION MANUAL for details When using the built in dynamic brake refer to MR JN OA INSTRUCTION MANUAL for the permissible load to motor inertia moment ratio The servo amplifier can be installed closely In this case keep the ambient temperature within O to 45 C 32 to 113 F or use the servo amplifier at 75 or less of the effective load rate 8 Servo amplifier with software version BO or above is required for the positioning function oR WP NO MELSERVO J N Standard Wiring Diagram Position Control Operation 0 Connection example to FX3u p z 7 Q ia coo oa Servo motor z JN DOA 1 HF KN KP series 5 Main circuit NFB MC CNP1 CNP1 gt power supply x LO LA i UO D 1 phase OL2 VO yi 37 200 to 230VAC p wre 4 or aa WO 4 1 phase Optional regeneration unit ijc Ory o Note 1 o 2 100 to 120VAC SS n OO regenerative 7 Note 3 4 Circuit CNP2 resi
95. stor hee ZIVDC for S Electro 2 protector electromagnetic e aan Oo U Note 8 24VDC power supply pi gt me Tas i D for control circuit OV Note 4 Note 2 E oon Contacts must be Contacts must be open open by an external when the servo on SON emergency stop switch or the electromagnetic brake interlock MBR Note 9 Forced stop eo CN2 me eer Servo on 4g 1 Reset 3g LG _ 2 LG D Note 10 Forward rotation stroke end osc 7 MR 3 Reverse rotation stroke end ao MA z 4 MRR MRR 10m maximum aia PLATE SD Note 6 Note 11 Malfunction 9 m Electromagnetic brake interlock Note 4 7 8 24VDC power supply H for interface Peripheral Equipment Programmable controller FX3u OOMT ES Programmable L controller power supply N OV 24V S S a X00L XOOU XOOO Software Servo Support Personal computer Y000 Note 13 i ee ia LEY 2 COMO ai USB cable S PC yana MR J3USBCBL3M MR Configurator ii i Setup software ii i MRZJW3 SETUP221E coma Aar 7 Y004 Note 13 F i 1 1 i Encoder A phase pulse Ti I differential line driver lt lt L I Encoder B phase pulse differential line driver Encoder Z phase pulse lt 4 I L differential line driver lt l Cautions 10m maximum Notes 1 Disconnect the wires for the built in reg
96. te Windows Vista Enterprise Windows 7 Starter Windows 7 Home Premium Windows 7 Professional Windows 7 Ultimate Windows 7 Enterprise Pentium 133MHz or more Windows 98 Windows 2000 Professional Pentium 150MHz or more Windows Me Pentium 300MHz or more Windows XP Professional Windows XP Home Edition Proceccon 1GHz 32 bit x86 Windows Vista Home Basic Windows Vista Home Premium Windows Vista Business Windows Vista Ultimate Windows Vista Enterprise Windows 7 Starter Windows 7 Home Premium Windows 7 Professional Windows 7 Ultimate Windows 7 Enterprise 24MB or more Windows 98 32MB or more Windows Me Windows 2000 Professional 128MB or more Windows XP Professional Windows XP Home Edition WAA 512MB or more Windows Vista Home Basic y 1GBormore Windows Vista Home Premium Windows Vista Business Windows Vista Ultimate Windows Vista Enterprise Windows 7 Starter Windows 7 Home Premium Windows 7 Professional Windows 7 Ultimate Windows 7 Enterprise Free hard disk space 4OMB or more 130MB or more Communication interface AAA Use USB port Internet Explorer 4 0 or above 16 bit high color 16 bit high color Mouse Compatible with above personal computers o Notes 1 Pentium is a registered trademark of Intel Corporation Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries 2 This s
97. times or less Do not pass the grounding earth wire through the filter or the effect of the filter will drop Wind the wires to pass through the filter as the required number of passes as shown below If the wires are too thick to wind use two or more filters to have the required number of passes Place the line noise filters as close to the servo amplifier as possible for their best performance o D D m Cautions 11 25 0 5 NFB MC Servo amplifier x Power supply ee Line noise filter Data line filter 0 Surge killer Noise can be prevented by attaching a data line filter to Attach surge killers to AC relays and AC valves around the the pulse output cable of the pulse train output controller servo amplifier Attach diodes to DC relays and DC valves or the motor encoder cable Example Example Surge killer CR 50500 manufactured by Okaya Electric Data line filter ESD SR 250 manufactured by NEC TOKIN Corporation Industries Co Ltd or ZCAT3035 1330 manufactured by TDK Corporation Diode A diode with breakdown voltage 4 or more times greater than the relay s drive voltage and with current capacity 2 or more times greater than the relay s drive current 34 MELSERVO J N Peripheral Equipment EMC filter The following filter is recommended as a filter compliant with the EMC directive for the power supply
98. ture considered to be indispensable according to a common sense in the industry iv a failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced v any replacement of consumable parts battery fan smoothing capacitor etc vi a failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters vii a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA Center for details
99. ust by MR JN 10A al inserting Tension strength complying with DIN is ensured 100VAC servo amplifier is available in 200W or smaller 1 phase 200VAC E Easy setting of electronic gear Calculation of command pulse frequency and travel distance of the ball screw is simple since the number of command pulses per revolution of motor is set to 10000 by default Additionally rotation angle is controlled easily just by setting one parameter Setting Examples In the case of the number of command pulses per revolution is set In the case of the number of command pulses per revolution is set to 36000 to 10000 default 4 4 10mm lead ball screw moves 1um per pulse 10mm per 10000 pulses The servo motor rotates 0 01 degrees per pulse 1 degree per 100 pulses This is when not using a reducer Rotates 0 01 degrees per 1 command pulse E Support your installation totally Freeware for capacity calculation Capacity selection software MRZJW3 MOTSZ111E enables optimal selections of servo motor and servo amplifier for your system This software is available for free download Contact your local sales office for more details Quick installation guide We provide QUICK INSTALLATION GUIDE coming soon which explains the processes from selection of the product to installation and adjustment This guide helps you to complete the Screen of start up operation easily capacity selection software QUICK INS
100. with software version BO or above is required for the positioning function value must not exceed the permissible speed of the servo motor used TR Incremental value _999999 Note 3 passage point TRIPI setting to 999999 specification COUNT External COUNT setting 999999 Note 3 pulse count to 999999 21 Positioning Function Program Examples Example 1 When executing two types of operations which have the same servo motor speed the same acceleration and deceleration time constants and the different move commands Program Description SPN 3000 STA 200 STB 300 MOV 1000 TIM 100 MOV 2500 STOP Dwell 100 ms Program stop Servo motor speed 3000 r min Acceleration time constant Deceleration time constant Absolute value move command 1000 x10 um 200 ms 300 ms Absolute value move command 2500 x10 Mum Acceleration time Deceleration time constant Note 2 constant Note 3 200ms 300ms Acceleration time Deceleration time constant Note 2 constant Note 3 200ms 300ms Speed 3000r min Speed 3000r min 1000 2500 m P 4 Absolute value 6 Absolute value move command p move command 1000 x10 um pions 2500 x10 um Speed Position address 0 Notes 1 The values set as steps 1 2 and Dare valid as long as they are not set again 2 The setting value is the time elaps

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