Mitsubishi Electric MELSERVO-J2 Series User manual

General-Purpose AC Servo
J2 Series
SH (NA) 3179-F (0606) MEE Printed in Japan Specifications subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MR-J2- C
SERVO AMPLIFIER
INSTRUCTION MANUAL
Built-In Positioning Function
MR-J2- C Servo Amplifier Instruction Manual
1CW923
MODEL
CODE
MODEL
F
F
J2 Series
MR-J2-C INSTRUCTION
HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310
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Safety Instructions
(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.
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1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. since they may be hot
while power is on or for some time after power-off. Their temperatures may be high and you may get burnt
or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
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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
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the controller. The controller may drop.
Install the servo amplifier in a weight-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment Servo Amplifier Servo Motor
[] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Operation [] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Ambient
temperature Storage []4 to 149 (non-freezing) 5 to 158 (non-freezing)
Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
Ambient
humidity Storage 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
MC-MF series
HA-FF series
HU-UF13 to 73 XY: 19.6
HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-RF series
HC-UF72 152 X: 9.8
Y: 24.5
HC-SF121 201
HC-SF202 352
HC-SF203 353
HC-UF202
X: 19.6
Y: 49
[m/s
2
] 5.9 {0.6G} or less
HC-SF301 X: 11.7
Y: 29.4
MC-MF series
HA-FF series
HU-UF13 to 73 XY: 64
HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-RF series
HC-UF72 152 X: 32
Y: 80
HC-SF121 201
HC-SF202 352
HC-SF203 353
HC-UF202
X: 64
Y: 161
(Note)
Vibration
[ft/s
2
] 19.4 or less
HC-SF301 X: 38
Y: 96
Note. Except the servo motor with reduction gear.
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CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
U
Servo Motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo Amplifier Servo MotorServo Amplifier
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction.
Otherwise, the forced stop (EMG) and other protective circuits may not operate.
COM
(24VDC)
Servo
Amplifier
RA
Control
output
signal
RA
Servo
Amplifier
COM
(24VDC)
Control
output
signal
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(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be instable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before 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.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For 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
When 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.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals
but also by an external forced stop (EMG).
EMGRA
24VDC
Contacts must be open when
servo-on (SON) is off, when a trouble (ALM)
is present and when an electromagnetic
brake interlock (MBR).
Electromagnetic brake
Servo motor
Circuit must be
opened during
forced stop (EMG).
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CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When 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
With 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.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and 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 Specifications
and Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes
Execution of forced stop, shut off of main circuit power
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
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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.
(1) EMC Directive
The EMC Directive applies to a machine/equipment which incorporates the servo, not to the servo
alone. Hence, the EMC filter must be used to make this machine/equipment which incorporates the
servo comply with the EMC Directive. For specific methods to comply with the EMC Directive, refer to
the "EMC Installation Guidelines" (IB(NA)67310).
(2) Low Voltage Directive
The Low Voltage Directive applies also to the servo alone. Therefore, our servo is designed to comply
with the Low Voltage Directive.
This servo has been approved by TUV, third-party evaluation organization, which confirmed that it
complies with the Low Voltage Directive.
(3) Machinery Directive
Since the servo amplifiers are not machines, they need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
Use the standard model of servo amplifier and the EN Standard-compliant model of HC-MF/HA-FF or the
standard model of HC-SF/HC-RF/HC-UF. 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) Servo amplifiers and servo motors used
Use the following models of servo amplifiers and servo motors:
Servo amplifier series: MR-J2-10C to MR-J2-350C
Servo motor series : HA-FF -UE
HC-MF (-UE)
HC-SF
HC-RF
HC-UF
(2) Structure
Reinforced
insulating
transformer
NFB MC SM
No-fuse
breaker
Magnetic
contactor
Reinforced
insulating type
24VDC
power
supply
Servo
amplifier
Servo
motor
Control box
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
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(4) Power supply
(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in
IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN
Standard should be used in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
servo amplifier to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal as shown at right
below. Always connect the cables to the terminals one-to-one.
PE terminals PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) When the servo motor has a power supply lead, use a fixed terminal block to connect it with the
servo amplifier. Do not connect cables directly.
Terminal block
(c) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
-compliant power connector sets are available from us as options.
(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC Standard-compliant
products of the models described in Section 14.2.2.
(b) The sizes of the cables described in Section 14.2.2 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction. The radio noise filter (FR-BIF) is not needed.
(8) 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 way of dealing with the EMC Directive on servo amplifiers, refer to the "EMC INSTALLATION
GUIDELINES(IB(NA)67310)".
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CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the following models of servo amplifiers and servo motors:
Servo amplifier series: MR-J2-10C to MR-J2-350C
Servo motor series : HA-FF C -UE
HC-MF (-UE)
HC-SF
HC-RF
HC-UF
(2) Installation
Install a fan of 100CFM (2.8m
3
/min) air flow 4in (10.16cm) above the servo amplifier or provide cooling
of at least equivalent capability.
(3) Short circuit rating
Having been subjected to UL tests in the alternating-current circuit whose peak current is limited to
5000A or less, this servo amplifier conforms to this circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.
Servo Amplifier Discharge Time [min]
MR-J2-10C 20C 1
MR-J2-40C 60C 2
MR-J2-70C to 350C 3
(5) Options and auxiliary equipment
Use products which conform to the UL/C-UL Standard.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
About the Manuals
This Servo Amplifier Instruction Manual and the MELSERVO Servo Motor Instruction Manual are
required if you use the MELSERVO-J2-C for the first time. Always purchase them and use the
MELSERVO-J2-C safely.
Relevant Manual
Manual Name Manual No.
MELSERVO-J2-C Installation Guide IB(NA)67367
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC INSTALLATION GUIDELINES IB(NA)67310
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