Mitsubishi Electric MELSERVO-JN Series User manual

SH(NA)030086ENG-D(1906)MEE Printed in Japan Specifications are subject to change without notice.
MODEL
MODEL
CODE
General-Purpose AC Servo
MODEL (Servo Amplifier)
MR-JN-□A
General-Purpose Interface Servo Amplifier
JN Series
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
JN Series MR-JN-□A Instruction Manual
D
D
MODEL (Servo Motor)
HF-KN□
HF-KP□G1/G5/G7
HG-KR□G1/G5/G7
INSTRUCTION MANUAL

A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
Be sure to read through this Instruction Manual, Installation guide and appended documents carefully before
using the equipment. For your protection, do not install, operate, inspect or perform maintenance procedures
until you have a full knowledge of the equipment and the 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 Instruction Manual, always keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring, be sure to turn off the power, wait for 15 minutes or longer, and then make sure that the
charge lamp is off to prevent an electric shock. In addition, always confirm if the charge lamp is off or not
from the front of the servo amplifier.
Ground the servo amplifier and the servo motor securely.
Only qualified personnel should attempt wiring and inspection.
Wire the servo amplifier and the servo motor after installation is complete to prevent an electric shock.
Do not operate the switches with wet hands as it may cause an electric shock.
Do not damage, stress excessively, place heavy objects or pinch the cable to prevent an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of
the servo amplifier with the protective earth (PE) of the control box.
When using an earth-leakage current breaker (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, the servo motor and the regenerative option on incombustible material. Installing
them directly or close to combustibles may cause a fire.
Be sure to connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2) of the servo amplifier, in order to configure a circuit that shuts off the power supply by the magnetic
contactor. If a magnetic contactor is not connected, a continuous flow of a large current may cause a fire
when the servo amplifier malfunctions.
When using a regenerative resistor, configure a circuit that shuts off the power if abnormality is found.
Otherwise, the regenerative resistor may overheat, causing a fire due to a regenerative transistor fault.
When using a regenerative option, remove the built-in regenerative resistor and its wiring from the servo
amplifier.
Provide an adequate protection to prevent conductive matters such as screws or metal pieces or
combustible matters such as oil from entering the servo amplifier and the servo motor.
Always connect a molded-case circuit breaker to the power supply of the servo amplifier.
3. To prevent injury, note the following
CAUTION
Do not apply voltage other than specified in this Instruction Manual to each terminal as it may cause burst,
damage, etc.
Connect the wires to correct terminals to prevent burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, the regenerative option, the servo motor can be very hot during power-on
and for some time after power-off, and it may result burns or damages to parts (cables, etc.) Take
measures, e.g. provide covers, to prevent accidental contact of hands and parts with them.
Never touch the rotating parts of the servo motor during operation as it may cause injury.

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
Carry the products in a suitable way according to their weights.
Do not stack the product packages exceeding the maximum number specified on the package.
Do not hold the lead of the built-in regenerative resistor, the cables, or the connectors when carrying the
servo amplifier. Otherwise, it may drop.
Do not hold the cable, the shaft or the encoder when carrying the servo motor.
Install the equipment on a weight-bearing place in accordance with this Instruction Manual.
Do not get on or place heavy objects on the equipment.
Install the equipment in the specified direction. Improper installation causes oil leakage, leading to a fire
and malfunction.
Leave specified clearances between the servo amplifier and inner wall of the control box or other
equipment.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.
Do not install or operate a servo amplifier and a servo motor which are damaged or have any part missing.
Do not drop or shock the servo amplifier or the servo motor as they are precision equipment.
When storing the equipment, please fulfill the following environmental conditions.
Item Environmental
Servo amplifier Servo motor
Ambient
temperature
Operation [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Storage [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Ambient
humidity
Operation 5%RH to 90%RH (non-condensing) 10%RH to 80%RH (non-condensing)
Storage 10%RH to 90%RH (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft)
Vibration resistance 5.9 m/s2, 10 to 55Hz
(directions of X, Y, and Z axes)
HF-KN Series
XY: 49m/s2
HF-KP Series (Note)
HG-KR series (Note)
Note. For the standard servo motor (without reduction gear.)
Couple the servo motor to a machine securely. Insecure coupling may cause the servo motor to come off.
Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking
the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and
reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by
using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high
gain, the vibration may cause the early damage of the servo motor.
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 a machine as it may
damage the encoder.
Do not apply load exceeding the permissible load as it may break the shaft.
When the equipment has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful with the edged parts such as the corners of the servo
amplifier.

A - 4
CAUTION
The servo amplifier must be installed in the metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for
disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
(2) Wiring
CAUTION
Before unplugging CNP1 connector from the servo amplifier, disconnect the lead of the built-in
regenerative resistor from CNP1 connector first.
Wire the equipment correctly and securely. Improper wiring may cause unexpected operation.
Do not install a power capacitor, a surge killer or a radio noise filter (optional FR-BIF) between the servo
motor and the servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and the servo motor. Not
doing so may cause unexpected operation.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not
install a magnetic contactor, etc. between the servo amplifier and the servo motor.
U
Servo motor
M
V
W
U
V
W
U
Servo motor
MV
W
U
V
W
Servo amplifier Servo amplifier
Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.
Install a surge absorbing diode on the DC relay designed for control output signal in the specified
direction. Improper installation of the surge absorbing diode may cause the servo amplifier to malfunction
such that the signals are not output, and emergency stop and other safety circuits are inoperable.
DOCOM
Control output
signal
DICOM
24VDC
Servo amplifier
RA
Sink output
interface
DOCOM
Control output
signal
DICOM
24VDC
Servo amplifier
RA
Source output
interface
Configure a circuit to turn off EM1 when the main circuit power supply is turned off to prevent an
unexpected restart of the servo amplifier.
(3) Test run adjustment
CAUTION
Check and adjust the parameter setting before operation. Improper settings may cause some machines
to perform unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.

A - 5
(4) Usage
CAUTION
Configure an external emergency stop circuit in order to stop the operation immediately and shut off the
power.
Do not disassemble or repair the equipment.
If an alarm is reset while the operation signal is input to the servo amplifier, the equipment starts
suddenly. Be sure that the operation signal is off before resetting the alarm to prevent an accident.
Do not modify the equipment.
Electromagnetic interference from the servo amplifier may affect the surrounding electronic equipment.
Minimize the influence of the electromagnetic interference by using a noise filter, etc.
Toxic gases may be generated by burning or disassembling the servo amplifier. Do not burn or
disassemble the 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 ball screw 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
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
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 an electromagnetic brake or provide an external brake mechanism
for the purpose of prevention.
Configure the electromagnetic brake operation circuit which interlocks with an external emergency stop
switch.
SON RA
Servo motor
Electromagnetic brake
B
Shut off the servo motor when the Servo-on
(SON), the Malfunction (ALM), or the
Electromagnetic brake interlock (MBR)
are turned OFF.
24VDC
Circuit must be opened with the
emergency stop switch.
When an alarm occurs, remove its cause. Then, ensure safety and reset the alarm before restarting
operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 6
(6) Storing of servo motor
CAUTION
Note the following points when storing the servo motor for an extended period of time (guideline: three or
more months).
Be sure to store the servo motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, reexamine the storage method.
Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period. If the servo motor is to be stored for
longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft,
etc.
Before using the servo motor that has been stored for an extended period of time, hand-turn the servo
motor output shaft to confirm that nothing is wrong with the servo motor. (For the servo motor with an
electromagnetic brake, turn ON the power supply of the electromagnetic brake, first. Then, release the
electromagnetic brake before hand-turn.)
When the equipment has been stored for an extended period of time, contact your local sales office.
(7) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
(8) General instruction
To 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
About processing of waste
When you discard converter unit, servo amplifier, servo motor, 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 Electric.
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 converter unit, servo amplifier (drive unit)
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
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes
Write to the EEP-ROM due to program changes
Write to the EEP-ROM due to data records with drive recorder
Precautions for Choosing the Products
Mitsubishi Electric will not be held liable for damage caused by factors found not to be the cause of
Mitsubishi Electric; machine damage or lost profits caused by faults in the Mitsubishi Electric products;
damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi
Electric; damages to products other than Mitsubishi Electric products; and to other duties.
COMPLIANCE WITH EC DIRECTIVES
Refer to appendix 7 for the compliance with EC directives.
CONFORMANCE WITH UL/CSA STANDARD
Refer to appendix 8 for the conformance with UL/CSA standard.

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<<About the manuals>>
Relevant manuals
Manual name Manual No.
MELSERVO-JN Series Instructions and Cautions for Safe Use of AC Servos
(Enclosed in servo amplifier.) IB(NA)0300157
QUICK INSTALLATION GUIDE L(NA)03052ENG
MELSERVO Servo Motor Instruction Manual Vol.2 SH(NA)030041ENG
MELSERVO Servo Motor Instruction Manual Vol.3 SH(NA)030113ENG
EMC Installation Guidelines IB(NA)67310
<<About the wires used for wiring>>
Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40
(104 ).
<<U.S. customary units>>
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

- 1 -
Introduction
Introduction
The Mitsubishi Electric MELSERVO-JN series general-purpose AC servo is based on the MELSERVO-J3
series, and retains its high performance, with some limitations in functions. For details of functions,
performance and specifications of the MELSERVO-JN series, refer to chapters 1 to 13 and appendices of this
Instruction Manual. This section describes the how-to (startup, actual operation, and others) for users who use
the MELSERVO-JN series AC servo for the first time.
CAUTION
The lead of the built-in regenerative resistor is connected between P and C
terminals on the servo amplifier power supply connectors (CNP1) of the MR-JN-
20A(1)/40A. When taking the servo amplifier out from the shipping box, do not hold
the lead of the built-in regenerative resistor.
Unpack the product and check the rating plate to see if the servo motor and servo amplifier are as you ordered.
(1) Servo amplifier
Packaged product Quantity
Servo amplifier 1
Servo amplifier power supply connectors for CNP1 and CNP 2 1 each
MELSERVO-JN series
Instructions and Cautions for Safe Use of AC Servos 1
(2) Servo motor
Packaged product Quantity
Servo motor 1
Instructions and Cautions for Safe Use of AC Servos (Motor) 1