Mitsubishi melservo-j2 series User manual

General-Purpose AC Servo
J2
SSC-NET Compatible
MR-J2- B
Specifications and Installation Guide
C
Series

1
Thank you for choosing this Mitsubishi AC servo. This Specifications and Installation Guide gives handling
information and precautions for using the servo amplifier and servo motor. Incorrect handling may cause an
unexpected fault. Before using the servo amplifier and servo motor, please read this Specifications and
Installation Guide carefully to use the equipment to its optimum.
Please forward this Specifications and Installation Guide to the end user.
Safety Instructions
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have
read through this Specifications and Installation Guide 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 Specifications and Installation Guide, 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 .
After reading this Specifications and Installation Guide, always keep it accessible to the operator.
In this Specifications and Installation Guide, instructions at a lower level than the above, instructions for other
functions, and so on are classified into "NOTICE", "INFORMATION" and "MEMORANDUM".
NOTICE Indicates that incorrect handling may cause the servo amplifier to be faulty and may not
lead to physical damage.
INFOR-
MATION Indicates that parameter setting change, etc. will provide another function or there are
other usages.
MEMO-
RANDUM Indicates information needed for use of this equipment

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SAFETY INSTRUCTIONS
1. To prevent electric shock, note the following:
WARNING
Before 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.
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.
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 Installation guide 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.
During power-on or for some time after power-off, do not touch or close a parts(cable etc.) to the
servo amplifier heat sink, regenerative brake resistor, servo motor, etc.
Their temperatures may be high and you may get burnt or parts may damaged.

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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 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 load-bearing place in accordance with the Installation guide.
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.
Use the servo amplifier and servo motor under the following environmental conditions:
Conditions
Environment Servo Amplifier Servo Motor
[] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Ambient
temperature [] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
Ambient humidity 90%RH or less (non-condensing) 80%RH or less (non-condensing)
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Storage
temperature []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
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/s2] 5.9 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
Vibration
[ft/s2] 19.4 or less
HC-SF301 X: 38
Y: 96

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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.
For safety of personnel, always cover rotating and moving parts.
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.
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 emergency stop and other protective circuits may not operate.
COM
(24VDC)
Servo
Amplifier
RA
Control
output
signal
RA
Servo
Amplifier
COM
(24VDC)
Control
output
signal
(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.

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(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.
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 emergency stop signal.
EM1RA1
24VDC
Contacts must be open when
servo is off or when an
alarm (trouble) is present.
Electroma
g
netic brake
Servo motor
Circuit must be
opened during
emergency stop.
When any alarm has occurred, eliminate its cause, ensure safety, then reset 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).

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(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) Disposal CAUTION
Dispose of the product as general industrial waste.
(8) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Installation Guide 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 Installation Guide.

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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).
This servo has been approved by TUV, third-party evaluation organization, which confirmed that it
can comply with the EMC Directive in the methods given in the "EMC Installation Guidelines".
(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
(1) Servo amplifiers and servo motors used
Use the following models of servo amplifiers and servo motors:
Servo amplifier series: MR-J2-10B to MR-J2-350B
Servo motor series : HC-FF C-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 IEC664. 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
1) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in
IEC664.
For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should
be used in the power input section.
2) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
1) 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.
2) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
PE terminals PE terminals
3) 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
1) 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
2) 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
(7) Auxiliary equipment and options
1) The no-fuse breaker and magnetic contactor used should be the EN or IEC Standard-compliant
products of the models described in Section 6-2-1.
2) The sizes of the cables described in Section 6-2-1 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
3) When the EMC filter is used, the radio noise filter (FR-BIF) described in (5), Section 6-2-6 is not
required.
(8) Servo motor
For outline dimension drawings not shown, contact Mitsubishi.

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(9) 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(IB(NA)67310)".