Mitsubishi Electric Melservo-J2-JR SERIES User manual

General-Purpose AC Servo
J2-JrSeries
J2-Jr Series MR-J2-03A5
HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 3200-B (9910) MEE Printed in Japan Specifications subject to change without notice.
General-Purpose Interface
MR-J2-03A5
Servo Amplifier
Instruction Manual
B
Servo Amplifier Instruction Manual B

A - 1
zSafety Instructions z
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
: Indicates what must not be done. For example, "No Fire" is indicated by .
: Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following:
WARNING
yBefore wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is
safe with voltage tester. Otherwise, you may get an electric shock.
yConnect the servo amplifier and servo motor to ground.
yAny person who is involved in wiring and inspection should be fully competent to do the work.
yDo not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
yOperate the switches with dry hand to prevent an electric shock.
yThe cables should not be damaged, stressed loaded,, or pinched. Otherwise, you may get an electric
shock.
2. To prevent fire, note the following:
CAUTION
yDo not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
yWhen the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
3. To prevent injury, note the follow
CAUTION
yOnly the voltage specified in the Instruction Manual should be applied to each terminal,, Otherwise,, a burst,,
damage,, etc. may occur.
yConnect the terminals correctly to prevent a burst,, damage,, etc.
yEnsure that polarity (+, −) is correct. Otherwise, a burst, damage, etc. may occur.
yDuring power-on or for some time after power-off, do not touch the servo motor. Their temperatures may be
high and you may get burnt.

A - 3
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.
(1) Transportation and installation
CAUTION
yTransport the products correctly according to their weights.
yStacking in excess of the specified number of products is not allowed.
yDo not carry the motor by the cables, shaft or encoder.
yDo not hold the front cover to transport the controller. The controller may drop.
yInstall the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
yDo not climb or stand on servo equipment. Do not put heavy objects on equipment.
yThe controller and servo motor must be installed in the specified direction.
yLeave specified clearances between the servo amplifier and control enclosure walls or other equipment.
yDo not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
yProvide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier.
yDo not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
yUse the servo amplifier and servo motor under the following environmental conditions:
Conditions
Environment Servo Amplifier Servo Motor
[°C] 0 to +55 (non-freezing) 0 to +40 (non-freezing)
Ambient
temperature [°F] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
Ambient humidity 90%RH or less (non-condensing) 80%RH or less (non-condensing)
[°C] −20 to +65 (non-freezing) −15 to +70 (non-freezing)
Storage
temperature [°F] −4 to 149 (non-freezing) 5 to 158 (non-freezing)
Storage humidity 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
[m/s2] 5.9 {0.6G} or less HC-AQ Series X xY : 19.6 {2G}
Vibration [ft/s2] 19.4 or less HC-AQ Series X xY : 64

A - 4
CAUTION
ySecurely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
yThe servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
yFor safety of personnel, always cover rotating and moving parts.
yNever hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
yDo not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
yWhen the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
yWire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
yDo not install a power capacitor, surge absorber or radio noise filter between the servo motor and servo
amplifier.
yConnect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
yDo not connect AC power directly to the servo motor. Otherwise, a fault may occur.
yThe surge absorbing diode installed on the DC output signal relay must be wired in the specified direction.
Otherwise, the emergency stop and other protective circuits may not operate.
COM
(24VDC)
Servo
Amplifier
RA
Control
output
signal
(3) Test run adjustment
CAUTION
yBefore operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
yThe parameter settings must not be changed excessively. Operation will be instable.

A - 5
(4) Usage
CAUTION
yProvide an external emergency stop circuit to ensure that operation can be stopped and power switched off
immediately.
yAny person who is involved in disassembly and repair should be fully competent to do the work.
yBefore resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is
made if an alarm is reset with the run signal on.
yDo not modify the equipment.
yUse a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
yUse the servo amplifier with the specified servo motor.
yThe electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
yFor such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are
coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install
a stopper on the machine side.
(5) Corrective actions
CAUTION
yWhen it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
yWhen any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
yWhen power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Maintenance, inspection and parts replacement
CAUTION
yWith age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is
recommended to replace the electrolytic capacitor every 10 years when used in general environment.

A - 6
(7) Disposal
CAUTION
yDispose of the product as general industrial waste.
(8) General instruction
yTo illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without
covers and safety guards. When the equipment is operated, the covers and safety guards must be installed
as specified. Operation must be performed in accordance with this Instruction Manual.

A - 7
COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in
January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in
January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into
which servo amplifiers have been installed.
The servo amplifiers do not function independently but are designed for use with machines and equipment.
Therefore, the CE marking does not apply to the servo amplifiers but applies to the machines and
equipment into which the servo amplifiers are installed.
This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE
marking on machines and equipment into which the servo amplifiers will be installed. To ensure ease of
compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION
GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other
procedures. Please contact your sales representative.
2. PRECAUTIONS FOR COMPLIANCE
The standard models of the servo amplifier and servo motor comply with the EN Standard. In addition to
the instructions provided in this Instruction Manual, also follow the instructions below. If the model is not
specifically described to comply with the EN Standard in this Instruction Manual, it has the same
specifications as those of the standard models:
(1) Structure
24VDC
power
supply
Circuit
protector
Reinforced
insulation type Servo
amplifier
Servo
motor
SM
Control box
(2) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this purpose,
install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc.
(IP54).
(3) Power supply
Use a 24VDC power supply which has been insulation-reinforced in I/O.
(4) Grounding
To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always
connect it to the earth (E) of the control box.

A - 8
(5) Auxiliary equipment and options
(a) The circuit protector used should be the EN or IEC Standard-compliant product of the model
described in Section 12.2.2.
(b) The sizes of the cables described in Section 12.2.2 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204.
yAmbient temperature: 40 (104) [°C (°F)]
ySheath: PVC (polyvinyl chloride)
yInstalled on wall surface or open table tray
(6) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC Directive guidelines on the servo amplifier, refer to the "EMC INSTALLATION
GUIDELINES".

A - 9
CONFORMANCE WITH UL/C-UL STANDARD
The standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standard-
compliant models are the same as those of the standard models.
When using 24VDC power supply, options and auxiliary equipment, use those which conform to the UL/C-
UL Standard.