SERVO AMPLIFIERS & MOTORS MELSERVO J2 SIMPLIFIED OPERATION WITH ADVANCED CAPABILITIES

Transcription

1 SERVO MPLIFIERS & MOTORS MELSERVO J2 SIMPLIFIED OPERTIO WITH DVED PBILITIES

2 ew Vision of the Future The long-awaited MELSERVO-J2: Embodying an ever more exacting pursuit of higher performance and ease of use The culmination of Mitsubishi servo technology is realized in the new J2 general-purpose servo. In addition to being a global product that satisfies E, UL, and other global industrial standards, the J2's wide range of applications elevates the servo playing field to a new plane. The J2 is suited for use in high-power-rate, ultra-low-inertia, high-frequency applications and comes with an absolute encoder as standard equipment. It is IP65 compatible and fully equipped with the latest advanced features, including Mitsubishi's unique servo lock anti-microvibration function, real-time auto-tuning, and automatic motor recognition. With its enhanced features and ease of use, the J2 was well worth waiting for Pointing the way toward a new vision of the future. Due for UL, cul certification. 1

3 ontents Main Features 3 n rray of Handy Functions 5 Servomotor Features and mplifier Models 7 pplications and Motor Models 8 Model onfigurations 9 Specifications and haracteristics 11 Motor Dimensions 17 Special Specifications 25 Peripheral Equipment 27 Operation 28 Setup and Testing 29 Setup and Parameters 31 Servo-amp Specifications 32 Signal Terminal Descriptions 33 mplifier Dimensions 35 Standard Wiring Diagram 36 Interfaces 4 Safety Features 41 Peripheral Equipment 43 Setting and Two-Segment Display 44 Specifications and Display Messages 45 Standard Wiring Diagram and Terminal Descriptions 46 Safety Features 47 Peripheral Equipment 49 Features 5 Servo-amp Specifications 51 Standard Wiring Diagram 52 Options 53 Options and Peripheral Equipment 55 ommand Unit 57 ommand Unit 58 Using Personal omputers 59 autions oncerning Use 61 Example of Selection 62 2

4 EVIROMET Main Features Enhanced safety and ability to withstand environmental hazards Satisfies overseas industrial standards The units in this series can be used in confidence knowing they are in conformity with overseas industrial standards. n EM filter (optional) is available for meeting E-standard EM directives. The servo-amps meet low-voltage directives (LVD) in their standard configuration, as do the H-SF and H- RF servomotors. H-MF and H-FF servomotors that conform to the LVD are also available. UL, cul standards: Under the UL-S agreement, products certified under cul standards are considered equivalent to products certified under S standards. The servo-amps meet these standards in their standard configuration, and servomotors that do so are also available. TUV Rheinland D UDIT ERTIFITIO JP ORGIZTIO FOR TIOL REDITTIO OF ERTIFITIO BODIES R R IP65 is standard equipment (H-SF, H-RF and H-UF series) The H-SF, H-RF and H-UF series of servomotors come with IP65 as standard equipment, enhancing their ability to withstand any environment. Loaded with flexible functions bsolute encoder is standard equipment Inclusion of an absolute encoder as standard equipment eliminates the need for a homing sequence, approximate DOG and other sensors, helping to reduce time and enhance reliability. In addition, users can switch easily from incremental to absolute positioning. With Mitsubishi's original absolute mode, an absolute system can be configured using conventional I/O even with pulsetrain output control. Once the amp s power has been turned on, servo amplifier causes absolute data to be sent to the motion controller at Servo O. D75P, ISD75P FX-2GM FX-I GM ontroller I/O Position command pulse train I/O (BS data) mp MR-J2 U.V.W Data M BS encoder chievement of an ultra-compact design Through a molding process that uses newly developed high thermal conductivity resins, the H-MF series of servomotors achieves enhanced motor cooling performance and an ultracompact design. This makes it well suited to ultra-low-inertia, high-frequency applications. 3

5 Main Features Handy control functions Separate wiring for the control power supply Wiring of the control power supply is separate from that for the main circuit power supply. When an alarm is triggered, the main circuit power supply can be turned off and the control power supply left on, making it possible to confirm the alarm message and operate the unit with confidence. This also makes it easier to handle E-standard mechanical directives. Torque control function The J2 comes equipped with a torque control function. In addition, users can switch between control modes: position/speed and speed/torque. Real-time auto-tuning and high responsiveness With real-time auto-tuning, the unit is automatically adjusted to the optimal setting without any need for the gain adjustment unique to servomotors. The sensitivity of the real-time auto-tuning can be changed in accordance with machine rigidity, enabling the J2 to accommodate an even wider range of machinery. (Response setting selection) Model adaptive control makes possible the realization of a highly responsive and stable system. Speed frequency response characteristics Stop-state anti-vibration function Microvibrations in the servo-lock state are suppressed through a unique method developed by Mitsubishi, making possible the construction of stable systems. Gain (db) Frequency 25 (Hz) User-friendly features Personal computer interface is standard equipment The J2 comes with RS-232 serial communications as a standard feature, enabling users to connect a personal computer to the J2. Using the setup software provided, users can display a variety of monitoring data, perform batch entry and saving of parameters, use graph functions, and perform test operation. Model: MRZJW3-SETUP51E and above. Graph display window Parameter view window utomatic motor recognition feature Incorporating motor identification information into the encoder means that the servo-amp can automatically recognize the drive motor. When the servo-amp detects a mismatch, an alarm is triggered, eliminating the possibility of error and the need for setting parameters. Serial communications Feedback pulse Motor capacity Positioning data (BS data) Magnetic pole detection larm information 4

6 n rray of Handy Functions Satisfies global industrial standards The J2 can be used with the confidence of knowing it satisfies global industrial standards, including E and UL. TUV E STDRD Model adaptive control Because the J2 operates in quick response to commands, it offers highly responsive and stable operation, unaffected by machine systems. I respond quickly no matter how fast the command ommand Worldwide bsolute encoder is standard equipment The J2 can be easily switched to absolute encoding, which requires no return to home, by merely adding a battery to the servo-amp and without changing the servomotor. Servo-lock anti-microvibration function Microvibrations in the servo-lock state are suppressed, making possible the construction of stable systems. Microvibrations are suppressed even in servo-lock I come with an BS encoder as standard equipment, so there's no worry about power failures and no need for return to origin or sensors Steady! More compact servomotors Mitsubishi's servomotors keep getting smaller: The ultra-compact H-MF series, the low inertia H-RF series, the medium inertia H-SF series and flat type H-UF series. Personal computer interface is standard equipment The J2 comes with an RS-232 serial communications connector as standard equipment, enabling users to connect a personal computer to the J2 to perform setup and to enter parameters. Special setup software is available. The MF,SF, FF, and RF are new motors that are more compact than the old motors but have the same installation dimensions Entry and saving of parameters, test operation, and graph display can all be performed by personal computer Enhanced ability to withstand environmental hazards H-SF, H-RF and H-UF series are rated IP65 as standard equipment. utomatic servomotor recognition Once the encoder cable has been connected, the servo-amp can determine, as soon as its power is turned on, which servomotor is connected. Water and dust don't bother me I know right away which motor is connected 5

7 n rray of Handy Functions Encoder serial communications The encoder uses serial communications, so there are fewer signal wires to connect. I'm simpler and easier because I use serial communications and fewer wires Built-in regenerative resistor Regenerative resistor is built in, eliminating the need for an external regeneration unit during normal operation. Switch between torque control mode and other control modes Switching between torque, speed, and position control modes is possible for the first time. Real-time auto-tuning The servo makes automatic gain adjustments even when the load's inertia changes. Smooth operation Separate wiring for the control power supply The servo-amp's control power supply is wired separately, making it possible to turn off the main circuit only, when an alarm is triggered. This also makes it easier to handle E-standard mechanical directives. Torque Speed Position I'm OK in any control mode. nd I can switch ontrol signal assignment feature (, type) ontrol signals necessary for operation can be freely assigned to connector pins within a predetermined range, enabling more flexible operation. On/off switches and signal assignments can be changed inside me without any wiring switch Main power supply I'm safe because when an alarm occurs you can turn off the power circuit only. ontrol power supply Built-in dynamic brake With a built-in dynamic brake, the servomotor can be stopped immediately in a power failure or when an alarm has been triggered. Power failures are no problem. My dynamic brake absorbs energy and stops the servomotor wide variety of motors, including models with brakes broad lineup of servomotors including with brakes. Users can choose the motor series that best suits the machine being used. 3 r/min models, 2 r/min models, 1 r/min models, models with brakes. ommand pulse train types ( type) The J2 can handle three command types: encoder signals, pulse and direction, and W/W pulse train. SS-ET compatible (B type) The controller is connected to each servo-amp through a highspeed serial bus, enabling users to issue commands to, and confirm the status of, the servo-amps with the motion controller. nd fewer wires reduce the chances of a wiring error. oming Soon! Encoder Forward With direction Pulse train Three types are all OK Easy wiring and easy setup with high-speed SS-ET Reverse 6

8 Servomotor Features and mplifier Models Motor series Rated speed (maximum) (r/min) Rated output capacity (kw) Servo motor model With electromagnetic brake (B) Servomotor type With absolute encoder Protective structure 1 1B 1 2 2B 2 4 4B 4 mp pairing MR-J2 6 6B 6 7 7B 7 1 1B 1 2 2B B 35 H-MF series M 3 (45).5 H-MF53 IP44.1 H-MF13 IP44.2 H-MF23 IP44.4 H-MF43 IP44.75 H-MF73 IP44 H-FF series F 3 (4).5 H-FF53 IP44.1 H-FF13 IP44.2 H-FF23 IP44.3 H-FF33 IP44.4 H-FF43 IP44.6 H-FF63 IP44 H-SF series S 1 15:.85kW 12: 1.2~3kW ( ) 2 3:.5~1.5kW ( 25: 2~3.5kW) 4-type.85, 1.2, 2., 3. 5-type.5, 1., 1.5, 2., 3.5 H-SF 81/121/21/31 H-SF 52/12/152/ 22/352 IP65 (IP67) IP65 (IP67) 3 (3) 5-type.5, 1., 1.5, 2., 3.5 H-SF 53/13/153/ 23/353 IP65 (IP67) H-RF series R 3 (45) 1. H-RF13 IP H-RF153 IP65 2. H-RF23 IP65 H-UF series U 2 (3) 3-type.75, 1.5, 2. H-UF 72/152/22 IP65 3 (45) 4-type.1,.2,.4,.75 H-UF 13/23/43/73 IP65 except connector (note 1) ote: Models within the production range and servo-amp compatible models. 7

9 pplications and Motor Models Feature pplication examples Ultra-low inertia, low capacity Interchangeable with existing model (H-ME). M Ultra-low inertia design makes this unit well suited for high-frequency positioning applications. Higher resolution positioning feedback pulse (8192 P/rev). Enhanced power rate Power rate is 1.2 times that of existing models. Inserters, mounters, bonders Printed board hole openers In-circuit testers Label printers Knitting and embroidery machinery Ultra-small robots and robot tips Inserters, mounters, bonders In-circuit testers Low inertia, low capacity Interchangeable with existing model (H-FE). FHigher resolution positioning feedback pulse (8192 P/rev). Stable control can be performed from low to high speeds, enabling this unit to handle a wide range of applications. LD and conveyors Food preparation machinery Printers Small loaders and unloaders Small robots and component assembly devices Small X-Y tables Small press feeders Small robots Small X-Y table devices Medium inertia, medium capacity Interchangeable with existing model (H-SE). Higher Sresolution positioning feedback pulse (16384 P/rev). Stable control can be performed from low to high speeds, enabling this unit to handle a wide range of applications. Enhanced power rate Power rate is 1.5 times that of existing models. IP65 Designed to withstand environmental hazards. onveyor machinery Specialized machinery Robots Loaders and unloaders Winders and tension devices Turrets X-Y tables Test devices onveyor machinery Winders and tension devices Low inertia, medium capacity Low inertia design makes this unit well suited to Rhigh-frequency positioning applications. Higher resolution positioning feedback pulse (16384 P/rev). High power rate Power rate is approximately 3 times that of H-LH. IP65 Designed to withstand environmental hazards. Roll feeders Loaders and unloaders High-frequency conveyor machinery Roll feeders Wrapping machinery Flat low capacity, medium capacity Enable stable control from low speeds to high, Umaking them suitable for a wide range of applications. Flat design produces slimmer machine profiles. Resolution is higher for the positioning feedback pulse (low capacity: 8192 P/rev; Medium capacity: P/rev). Robots onveyor machines Food processing machines Winder and tension devices IP65 Environmentally sensitive design. robot Micro robot 8

10 Model onfigurations Servo-amp MR-J2-1 1 Mitsubishi servo-amp series name : Standard B: SS-ET : With built-in positioning function Symbol one 1 Power supply 3-phase 2V or single-phase 1V Single-phase 1V ompatible motor output capacity (kw) Symbol H-MF 53, H-FF 53, , r/min , H-SF 2 r/min , r/min , H-RF 13, H-UF 2 r/min 3 r/min Servomotor H-MF 5 3 B - Mitsubishi servomotors H-MF series H-FF series H-SF series H-RF series H-UF series Symbol one B Electromagnetic brake Installed Symbol one K D xial end Standard* 1 Key way* 3 D-cut* 2 (H-MF and -UF3 r/min series) (H-SF, -RF, and -UF2 r/min series) Symbol Rated output Symbol Input supply format Symbol Input supply format capacity (kw) one Lead one anon connector 5 1 to 7 1 to 35.1 to to (H-FF series) Input supply format (H-MF, H-FF series) Symbol H-FF H-FF-UE one Lead Symbol Symbol Rated (r/min) anon connector one 3 3 ote: Make a specific enquiry regarding UE whether specially developed products meet standards. otes: 1. key way is standard on the H-FF23 through H-FF63. ll others have a straight shaft as standard. 2. The D-cut works only with the H-MF and H-FF models of 1W or less. 3. H-MFMK and H-UFMK (3 r/min) have key. on-japanese standard compatibility Standard product. Japanese compatibility Meet E and UL/cULstandard ote: The standard specifications of the H-SF, H-RF, and H-UF model series meet E and UL/cUL standards. 9

11 SERVO MOTORS H/H -MF/FF/SF/RF/UF Servomotors High torque in Super-ompact Dimensions Satisfies global industrial standards IP65 is standard equipment (SF, RF and UF motors) bsolute encoder is standard equipment Ultra-compact design 1

12 Specifications and haracteristics H-MF series servomotor specifications Servomotor series H-MF series (low capacity, ultra-low inertia) Models Servomotor model H- MF53 (B) MF13 (B) MF23 (B) MF43 (B) MF73 (B) Specifications Servo-amp model MR-J2-1/1/B/ MR-J2-2/1/B/ MR-J2-4/1/B/ MR-J2-7/B/ Power facility capacity (kv) (note 1) ontinuous characteristics Rated output (W) Rated torque (.m [oz.in]).16 (22.7).32 (45.3).64 (9.6) 1.3 (184.1) 2.4 (339.8) Maximum torque (.m [oz.in]).48 (68.).95 (134.5) 1.9 (269.) 3.8 (538.1) 7.2 (119.5) Rated rotation speed (r/min) 3 Maximum rotation speed (r/min) 45 Permissible instantaneous rotation speed (r/min) 5175 Power rate (kw/s) Rated current () Maximum current () Regeneration With no options (note 3) (note 3) (note 3) 11 4 braking frequency (times/min) MR-RB32 (3W) 3 6 (note 2) MR-RB12 (1W) (note 3) 24 Moment of inertia (figures inside parentheses J ( 1-4 kg.m 2 ).19 (.22).3 (.32).88 (.136).143 (.191).6 (.725) indicate units with B) J (oz.in 2 ).14 (.12).164 (.175).481 (.744).782 (1.5) 3.28 (3.97) Recommended load/motor inertia ratio 3 times the servomotor's moment of inertia max. (note 4) Speed/position detector Resolution per encoder/servomotor rotation: 8192 P/rev (an handle up to P/rev with special specifications. The amp is made to order.) ttachments Encoder Structure Totally Enclosed non ventilated (protection degree: IP44) (note 6) mbient temperature to 4 (32 to 14 F) (non freezing), storage: 15 to 7 (5 to 158 F) (non freezing) Environment mbient humidity 8% RH max. (non condensing), storage: 9% RH max. (non condensing) tmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust Elevation/vibration (note 5) 1 meters or less above sea level; X: 19.6 m/s 2 (2 G), Y: 19.6 m/s 2 (2 G) Weight kg (lb).4 (.9).53 (1.2).99 (2.2) 1.45 (3.2) 3. (6.7) Servomotor otes: 1. The power facility capacity varies depending on the power supply's impedance. 2. The figures for regeneration braking frequency indicate the permissible frequency when the motor alone decelerates to a stop from the rated rotation speed. When load is applied, regeneration braking frequency is 1/(m+1) of the figure in the table (m = load's moment of inertia/motor's moment of inertia). When the rated rotation speed is exceeded, braking frequency is in inverse proportion to the square of operating speed divided by rated speed. When the operating rotation speed is frequently changing, or when a continuous regeneration condition exists, such as during vertical feed, assess the regeneration heat (W) generated during operation and make sure that it does not exceed the permissible range. 3. There are no limits on regeneration frequency as long as the effective torque is within the rated torque range. However, the load/motor of inertia ratio must be 3 or less. 4. ontact Mitsubishi if the load/motor of inertia ratio exceeds the figure in the table. 5. The vibration direction is shown in this diagram. 6. Excluding the shaft-through section and connectors. X Y H-MF series servomotor torque characteristics Torque ( m) Torque ( m) H-MF53 (B) Peak operating range ontinuous operating range H-MF43 (B) Peak operating range Torque ( m) Torque ( m) H-MF13 (B) Peak operating range ontinuous operating range H-MF73 (B) Peak operating range Torque ( m) H-MF23 (B) Peak operating range ontinuous operating range ontinuous operating range ontinuous operating range Remarks: Broken lines shows peak operating range paired with 1V, single-phased amplifier.

13 Specifications and haracteristics H-FF series servomotor specifications Specifications Servomotor Servomotor series H-FF series (low capacity, low inertia) Models Servomotor model H- FF53 (B) FF13 (B) FF23 (B) FF33 (B) FF43 (B) FF63 (B) Servo-amp model MR-J2-1/1/B/ MR-J2-2/1/B/ MR-J2-4/1/B/ MR-J2-6/B/ Power facility capacity (kv) (note 1) ontinuous characteristics Rated output (W) Rated torque (.m [oz.in]).16 (22.7).32 (45.3).64 (9.6).95 (134.5) 1.3 (184.1) 1.9 (269.) Maximum torque (.m [oz.in]).48 (68.).95 (134.5) 1.9 (269.) 2.9 (41.6) 3.8 (538.1) 5.7 (87.1) Rated rotation speed (r/min) 3 Maximum rotation speed (r/min) 4 Permissible instantaneous rotation speed (r/min) 46 Power rate (kw/s) Rated current () Maximum current () Regeneration With no options (note 3) (note 3) (note 3) braking frequency (times/min) MR-RB32 (3W) (note 2) MR-RB12 (1W) Moment of inertia (figures inside parentheses J ( 1-4 kg.m 2 ).63 (.8).95 (.113).35 (.483).5 (.633).98 (1.325) 1.2 (1.55) indicate units with B) J (oz.in 2 ).344 (.438).52 (.618) (2.641) 2.74 (3.461) 5.36 (7.24) 6.56 (8.47) Recommended load/motor of inertia ratio 1 times the servomotor's moment of inertia max. (note 3) Speed/position detector Resolution per encoder/servomotor rotation: 8192 P/rev (an handle up to P/rev with special specifications. The amp is made to order.) ttachments Encoder, V-ring Structure Totally Enclosed non ventilated (protection degree: IP44) mbient temperature to 4 (32 to 14 F) (non freezing), storage: 15 to 7 (5 to 158 F) (non freezing) Environment mbient humidity 8% RH max. (non condensing), storage: 9% RH max. (non condensing) tmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust Elevation/vibration (note 4) 1 meters or less above sea level; X: 19.6 m/s 2 (2 G), Y: 19.6 m/s 2 (2 G) Weight kg (lb) 1.3 (2.9) 1.5 (3.3) 2.3 (5.1) 2.6 (5.8) 4.2 (9.3) 4.8 (1.7) otes: 1. The power facility capacity varies depending on the power supply's impedance. 2. The figures for regeneration braking frequency indicate the permissible frequency when the motor alone decelerates to a stop from the rated rotation speed. When load is applied, regeneration braking frequency is 1/(m+1) of the figure in the table (m = load's moment of inertia/motor's moment of inertia). When the rated rotation speed is exceeded, braking frequency is in inverse proportion to the square of operating speed divided by rated speed. When the operating rotation speed is frequently changing, or when a continuous regeneration condition exists, such as during vertical feed, assess the regeneration heat (W) generated during operation and make sure that it does not exceed the permissible range. 3. ontact Mitsubishi if the load/motor of inertia ratio exceeds the figure in the table. 4. The vibration direction is shown in this diagram. X Y H-FF series servomotor torque characteristics Torque ( m) Torque ( m) H-FF53 (B) Peak operating range ontinuous operating range H-FF43 (B) Peak operating range Torque ( m) Torque ( m) H-FF13 (B) Peak operating range H-FF63 (B) ontinuous operating range ontinuous operating range ontinuous operating range Peak operating range Torque ( m) 2. Peak operating range H-FF23 (B) Torque (oz-in) Torque ( m) 3 2 H-FF33 (B) Peak operating range ontinuous operating range ontinuous operating range Remarks: Broken lines shows peak operating range paired with 1V, single-phased amplifier. 12

14 Specifications and haracteristics H-SF series servomotor specifications Servomotor series Type Servomotor model H- Specifications Servo-amp model MR- Power facility capacity (kv) (note 1) ontinuous Rated output (kw) characteristics Rated torque ( m [oz in]) Mximum torque ( m [oz in]) Rated rotation speed (r/min) Maximum rotation speed (r/min) Permissible instantaneous rotation speed (r/min) Power rate (kw/s) Rated current () Maximum current () Servomotor Regeneration braking frequency (items/min) (note 2) With no options MR-RB32 (3W) MR-RB12 (1W) MR-RB32 (3W) MR-RB3 (3W) MR-RB5 (5W) Moment of inertia (figures inside parentheses J ( 1-4 kg m 2 ) indicate units with B) J (oz in 2 ) Recommended load/motor of inertia ratio Speed/position encoder ttachments Structure mbient temperature mbient humidity tmosphere Environment Elevation Vibration (note 4) Weight kg (lb) H-SF1 r/min series (medium inertia, medium capacity) SF81 (B) SF121 (B) SF21 (B) SF31 (B) J2-1/B/ J2-2/B/ J2-35/B/ (1149.8) 24.4 (3455.) (22.) 19. (12.) X: 9.8m/s 2 (1G) Y: 24.5m/s 2 (2.5G) 9 (19.8) (1628.4) 34.4 (4871.) (274.5) 57.3 (8113.5) (52.5) 82. (92) 11 (111) 6.6 (8.6) 232 (287) 448 (53) 552 (67) 36.1 (47.) 15 times the servomotor s moment of inertia max. (note 3) Encoder, oil seal Totally Enclosed non ventilated (protection degree: IP65) (note 5) to 4 (32 to 14 F) (non freezing), storage: -15 to 7 (5 to 158 F) (non freezing) 8% RH max. (non condensing), storage: 9% RH max. (non condensing) Indoors (no direct sunlight); no corrosive gas, flammable gas, oil mist, or dust X: 19.6m/s 2 (2G) Y: 49m/s 2 (5G) 12 (26.5) 19 (41.9) (449.4) 85.9 ( ) Encoder, Resolution per servomotor revolution: P/rev 1 meters or less above sea level X: 11.7m/s 2 (1.2G) Y: 29.4m/s 2 (3G) 23 (5.7) H-SF2 r/min series SF52 (B) SF12 (B) J2-6/B/ J2-1/B/ (338.4) 7.16 (113.8) 5 (11.) (676.8) 14.4 (239.) (15.7) 74.9 (85.8) X: 9.8m/s 2 (1G) Y: 24.5m/s 2 7 (15.4) otes: 1. The power supply capacity varies with the power supply impedance. 2. The regenerative brake frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the load inertial moment divided by the motor inertial moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating rpm varies with the frequency or when regeneration is constant (as with vertical feeds), find the regenera-tion heat generated (W) while operating and do not exceed the permissible value. H-SF series servomotor torque characteristics 3 2 Torque ( m) 3 H-SF81 (B) 2 Peak operating range Torque ( m) H-SF121 (B) Peak operating range 6 4 Torque ( m) 6 4 H-SF21 (B) Peak operating range Torque ( m) H-SF31 (B) Peak operating range 1 1 ontinuous operating range ontinuous operating range ontinuous operating range ontinuous operating range Torque ( m) 9 6 H-SF52 (B) Peak operating range 15 1 Torque ( m) 15 1 H-SF12 (B) Peak operating Torque ( m) 24 Peak operating range 16 H-SF152 (B) ontinuous operating range ontinuous operating range ontinuous operating range

15 Specifications and haracteristics (medium inertia, medium capacity) SF152 (B) SF22 (B) SF352 (B) J2-2/B/ J2-35/B/ (113.8) 9.55 (1352.3) 16.7 (2364.7) 21.6 (358.5) 28.5 (435.5) 5.1 (794.) (22) 42.5 (52.5) 82 (92) 19 (12) 232 (287) 448 (53) 36.1 (47.) 74.9 (85.8) 19 (12) 15 times the servomotor s moment of inertia max. (note 3) (an handle P/rev with special specifications. The amp is made to order.) (note 6) (2.5G) 9 (19.8) Encoder, oil seal Totally Enclosed non ventilated (protection degree: IP65) (note 5) to 4 (32 to 14 F) (non freezing), storage: -15 to 7 (5 to 158 F) (non freezing) 8% RH max. (non condensing), storage: 9% RH max. (non condensing) Indoors (no direct sunlight); no corrosive gas, flammable gas, oil mist, or dust 1 meters or less above sea level H-SF3 r/min series (medium inertia, medium capacity) SF13 (B) SF153 (B) SF23 (B) J2-1/B/ J2-2/B/ X: 19.6m/s 2 (2G) Y: 49m/s 2 (5G) X: 9.8m/s 2 (1G) Y: 24.5m/s 2 (2.5G) X: 19.6m/s 2 (2G) Y: 49m/s 2 (5G) 12 (26.5) 19 (41.9) 3. ontact Mitsubishi if you must exceed the stated load inertial moment ratio. 4. The directions of vibration are as follows. SF53 (B) J2-6/B/ (225.1) 4.77 (675.4) (8.6) 5 (11.) (45.3) 9.55 (1352.3) (15.7) 7 (15.4) (676.8) 14.3 (224.8) (22) 9 (19.8) (91.9) 19.1 (274.5) (52.5) 232 (287) 12 (26.5) SF353 (B) J2-35/B/ (1571.6) 33.4 (4729.3) (92) 448 (53) 19 (41.9) X Y 5. annot be used with model MR-J2-. ontact Mitsubishi for details. 3 2 Torque ( m) 3 2 H-SF22 (B) Peak operating range 6 4 Torque ( m) 6 4 H-SF352 (B) Peak operating range 1 1 ontinuous operating range 2 2 ontinuous operating range 6 4 Torque ( m) H-SF53 (B) Peak operating range Torque ( m) H-SF13 (B) Peak operating range Torque ( m) 15 H-SF153 (B) Peak operating range Torque ( m) 21 H-SF23 (B) Peak operating range Torque ( m) 39 H-SF353 (B) Peak operating range ontinuous operating range 4 4 ontinuous operating range 5 5 ontinuous operating range 7 7 ontinuous operating range ontinuous operating range

16 Specifications and haracteristics H-RF series servomotor specifications Specifications Servomotor Servomotor series H-RF series (low inertia) Models Servomotor model H- RF13 (B) RF153 (B) RF23 (B) Servo-amp model MR-J2-2/B/ MR-J2-35/B Power facility capacity (kv) (note 1) ontinuous characteristics Rated output (kw) Rated torque (.m [oz.in]) 3.18 (45.3) 4.78 (676.8) 6.37 (92.) Maximum torque (.m [oz.in]) 7.95 (1125.7) 11.9 (1685.) 15.9 (2251.4) Rated rotation speed (r/min) 3 Maximum rotation speed (r/min) 45 Permissible instantaneous rotation speed (r/min) 5175 Power rate (kw/s) Rated current () Maximum current () Regeneration braking frequency (times/min) (note 2) Moment of inertia (figures inside parentheses indicate units with B) With no options MR-RB3 (3W) MR-RB5 (5W) J ( 1-4 kg.m 2 ) 1.5 (1.85) 1.9 (2.25) 2.3 (2.65) J (oz.in 2 ) 8.2 (1.1) 1.4 (12.3) 12.6 (14.5) Recommended load/moment of inertia ratio 5 times the servomotor s moment of inertia max. (note 3) Speed/position encoder Resolution per encoder/servomotor rotation: P/rev (an handle up to P/rev with special specifications. The amp is made to order.) ttachments Encoder, oil seal Structure Totally Enclosed non ventilated (protection degree: IP65) mbient temperature to 4 (32 to 14 F) (non freezing), storage: 15 to 7 (5 to 158 F) (non freezing) Environment mbient humidity 8% RH max. (non condensing), storage: 9% RH max. (non condensing) tmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust Elevation/vibration (note 4) 1 meters or less above sea level; X: 9.8 m/s 2 (1 G), Y: 24.5 m/s 2 (2.5 G) Weight kg (lb) 3.9 (8.7) 5. (11.1) 6.2 (13.8) otes: 1. The power facility capacity varies depending on the power supply's impedance. 2. The figures for regeneration braking frequency indicate the permissible frequency when the motor alone decelerates to a stop from the rated rotation speed. Below 2, there are no limits on regeneration as long as the effective torque is within the rated torque range. When load is applied, regeneration braking frequency is 1/(m+1) of the figure in the table (m = load's moment of inertia/motor's moment of inertia). When the rated rotation speed is exceeded, the permissible number of times is in inverse proportion to the square of operating speed divided by rated speed. When the operating rotation speed is frequently changing, or when a continuous regeneration condition exists, such as during up/down feed, the regeneration heat generated during operation must be assessed and measures taken to make sure that it does not exceed the permissible range. 3. ontact Mitsubishi if the load/motor of inertia ratio exceeds the figure in the table. 4. The vibration direction is shown in this diagram. X Y H-RF series servomotor torque characteristics 9 6 Torque ( m) 9 6 H-RF13 (B) Peak operating range 15 1 Torque ( m) 15 1 H-RF153 (B) Peak operating range Torque ( m) H-RF23 (B) Peak operating range ontinuous operating range ontinuous operating range ontinuous operating range

17 Specifications and haracteristics H-UF series servomotor specifications Servomotor series Type Servomotor model H- Specifications Servo-amp model MR- Power facility capacity (kv) (note 1) ontinuous Rated output (kw) characteristics Rated torque ( m [oz in]) Mximum torque ( m [oz in]) Rated rotation speed (r/min) Maximum rotation speed (r/min) Permissible instantaneous rotation speed (r/min) Power rate (kw/s) Rated current () Maximum current () Servomotor Regeneration braking frequency (items/min) (note 2) Moment of inertia (figures inside parentheses indicate units with B) With no options MR-RB32 (3W) MR-RB12 (1W) MR-RB32 (3W) MR-RB3 (3W) MR-RB5 (5W) J ( 1-4 kg m 2 ) J (oz in 2 ) Recommended load/motor of inertia ratio Speed/position encoder ttachments Structure Environment Weight kg (lb) mbient temperature mbient humidity tmosphere Elevation Vibration (note 4) H-UF2r/min series (flat model, medium capacity) UF72 (B) UF152 (B) UF22 (B) J2-7/B/ J2-2/B/ J2-35/B/ (56.9) 1.7 (1515.1) (12.4) 56.8 (67.8) (113.8) 21.6 (358.5) (24.1) 12.8 (131.7) 29 (255.7).361 (.44) (1.762) (2.445) 15 times the servomotor s moment of inertia max. (note 3) Encoder, Resolution per servomotor revolution: P/rev (an handle P/rev with special specifications. The amp is made to order.) (note 7) Encoder, oil seal Totally Enclosed non ventilated (protection degree: IP65) (note 5) to 4 (32 to 14 F) (non freezing), storage: -15 to 7 (5 to 158 F) (non freezing) X: 9.8m/s 2 (1G) Y: 24.5m/s 2 (2.5G) 8. (17.6) 11. (24.3) (1352.3) 28.5 (435.5) (46.8) H-UF3r/min series (flat model, low capacity) UF13 (B) UF23 (B) UF43 (B) UF73 (B) J2-1/1/B/ J2-2/1/B/ J2-4/1/B/ J2-7/B/ (note 8) (45.3).95 (134.5) (note 6).66 (.74).2.64 (9.6) 1.9 (269.) (184.1) 3.8 (538.1) (note 6) (.323).365 (.447) Encoder, Resolution per servomotor revolution: 8192 P/rev (an handle P/rev with special specifications. The amp is made to order.) (note 7) 8% RH max. (non condensing), storage: 9% RH max. (non condensing) Indoors (no direct sunlight); no corrosive gas, flammable gas, oil mist, or dust 1 meters or less above sea level X: 19.6m/s 2 (2G) X, Y: 19.6m/s Y: 49m/s 2 (5G) 2 (2G) 16. (35.3).8 (1.8) 1.5 (3.3) 1.7 (3.7) (339.8) 7.2 (119.5) (6.1) 32.2 (33.3) 5. (11.) otes: 1. The power supply capacity varies with the power supply impedance. 2. The regenerative brake frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the load inertial moment divided by the motor inertial moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating rpm varies with the frequency or when regeneration is constant (as with vertical feeds), find the regenera-tion heat generated (W) whle operating and do not exceed the permissible value. 3. ontact Mitsubishi if you must exceed the stated load inertial moment ratio. 4. The directions of vibration are as follows. X Y 5. Regeneration frequency is not restricted if the effective torque is within the rated torque range. 6. annot be used with model MR-J2-. ontact Mitsubishi for details. 7. The MR-J2- series currently covers the H-UF73 with model MR-J H-UF series servomotor torque characteristics 12 8 Torque ( m) 12 8 H-UF72 (B) Peak operating range Torque ( m) H-UF152 (B) Peak operating range Torque ( m) H-UF22 (B) Peak operating range ontinuous operating range ontinuous operating range ontinuous operating range Torque ( m) 1. Peak operating range.75.5 H-UF13 (B) Torque ( m) H-UF23 (B) Peak operating range Torque ( m) H-UF43 (B) 4 Peak operating range Torque ( m) H-UF73 (B) Peak operating range ontinuous operating range 5.5 ontinuous operating range 1 1 ontinuous operating range 2 2. ontinuous operating range

18 Motor Dimensions H-MF53 (B), H-MF13 (B) Unit: mm (inch) L 25 (.98) 4 (1.57) 5 (.2) 2.5 (.1) 2-φ4.5 (.18) (1.1) φ8h6 ( ) φ3h7 (1.181 ) -.1 φ46 (1.81) 25.2 (.99) Power supply lead Brake lead (note 4) inch (WG inch round crimped terminal with tip insulation) Blue: B1, B2 Encoder cable 11.8 inch With connector (made by MP) 4-WG inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green/Yellow: ground Model H-MF53 (B) H-MF13 (B) Variable dimensions L 81.5 (3.21) <19.5 (4.3)> 96.5 (3.8) <124.5 (4.9)> H-MF23 (B), H-MF43 (B) L 3 (1.18) 6 (2.36) 38 (1.5) 7 (.28) 3 (.12) φ14h6 (.5512 ) -.4 φ5h7 ( ) 4-φ5.8 (.23) 45 φ7 (2.76) 25.2 (.99) Power supply lead Brake lead (note 4) inch (WG inch round crimped terminal with tip insulation) Blue: B1, B2 Encoder cable 11.8 inch With connector (made by MP) 4-WG inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green/Yellow: ground Model H-MF23 (B) H-MF43 (B) Variable dimensions L 99.5 (3.92) <131.5 (5.18)> (4.9) <156.5 (6.16)> 17 otes: 1. When mounting the servomotor horizontally we recommend encoder connector to be mounted downward. 2. Use a friction coupling to fasten the load. 3. Dimensions inside < > are for models with electromagnetic brakes. 4. Only for models with electromagnetic brakes.

19 Motor Dimensions H-MF73 (B) Unit: mm (inch) 142 (5.99) 4 (1.57) 8 (3.1) 48 (1.89) <177.5 (6.99)> 8 (.32) 3 (.12) φ19h6 (.415 ) -.5 φ7h7 ( ) φ6.6 (.26) 45 φ9 (3.54) 25.2 (.99) Power supply lead Brake lead (note 4) inch (WG inch round crimped terminal with tip insulation) Blue: B1, B2 4-WG inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green/Yellow: ground Encoder cable 11.8 inch With connector (made by MP) otes: 1. When mounting the servomotor horizontally we recommend encoder connector to be mounted downward. 2. Use a friction coupling to fasten the load. 3. Dimensions inside < > are for models with electromagnetic brakes. 4. Only for models with electromagnetic brakes. 18

20 Motor Dimensions H-FF53 (B), H-FF13 (B) Unit: mm (inch) Ground terminal φ47 (φ1.85) Encoder cable.3m (11.8 inch) With connector (made by MP) L 3 (1.18) 39 (1.54) 6 (.24) 2.5 (.1) Ground terminal, M3 screw (opposite) φ8h6 (.315 ) -.4 V-ring φ5h7 ( ) -.12 φ68 (2.68) 54 (2.13) Brake lead (note 4) 4-φ4.5 (.18) VTF inch (WG inch round crimped terminal with tip insulation) Blue: B1, B2 Power supply lead VTF inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Model Green: ground H-FF53 (B) H-FF13 (B) 45 φ6 (2.36) 39 (1.54) Variable dimensions L 16 (4.17) <141 (5.55)> 123 (4.84) <158 (6.22)> H-FF23 (B), H-FF33 (B) 39 (1.54) L 3 (1.18) 8 (.32) 3 (.12) 25 (.98) 76 (3.) 45 Ground terminal, M3 screw φ47 (1.85) 16 (.63) 4 (.16) V-ring φ7h7 (2.76) φ9 (3.54) φ1 (3.94) 5 (1.97) Encoder cable.3m (11.8 inch) With connector (made by MP) Power supply lead VTF inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green: ground Model H-FF23 (B) H-FF33 (B) Brake lead (note 4) VTF inch (GW inchround crimped terminal with tip insulation) Blue: B1, B2 Variable dimensions L 131 (5.16) <168 (6.61)> 148 (5.83) <186 (7.32)> 4-φ5.5 (.22) 4 (.16) 4 (.16) φ11h6 2.5 (.1) Section - M4 (.3) Screw depth 15 (.59) otes: 1. When mounting the servomotor horizontally we recommend encoder connector to be mounted downward. 2. Use a friction coupling to fasten the load. 3. Dimensions inside < > are for models with electromagnetic brakes. 4. Only for models with electromagnetic brakes. 19

21 Motor Dimensions H-FF43 (B), H-FF63 (B) Unit: mm (inch) Ground terminal, M3 screw ø47 (1.85) 39 (1.54) 39 (1.54) L 4 (1.58) 1 (.39) 3 (.12) 35 (1.38) 25 (.98) 5 (.2) V-ring ø95h7 ( ) φ135 (5.315) 1 (3.94) 45 φ115 (4.528) 62 (21.44) Encoder cable.3m (11.8 inch) (1.6 ft) With connector (made by MP) Power supply lead VTF inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Model H-FF43 (B) H-FF63 (B) Brake lead (note 4) VTF inch (GW inchround crimped terminal with tip insulation) Blue: B1, B2 Variable dimensions L 155 (6.1) <192 (7.56)> 17 (6.69) <27 (8.15)> 4-φ9 (.35) 5 (.2) 5 (.2) 3 (.12) M5 (.4) Screw depth 2 (.79) φ16h6 (.63 ) -.4 ross section - otes: 1. When mounting the servomotor horizontally we recommend encoder connector to be mounted downward. 2. Use a friction coupling to fasten the load. 3. Dimensions inside < > are for models with electromagnetic brakes. 4. Only for models with electromagnetic brakes. 2

22 Motor Dimensions H-SF81(B) H-SF52 (B)~H-SF152 (B) H-SF53 (B)~H-SF153 (B) L 55 (2.17) 12 (.47) 3 (.12) 5 (1.97) 13 (5.12) 45 4-ø9 (.35) mounting holes Use heaxagonal cap head bolts Unit: mm (inch) 81.5 (3.21) S3457B ø24h6 ø11h7 ø145 ø (4.37) Motor flange Brake direction U (note 3) G F V Ground E H D B W Power supply connector pin assign (E P) 19.5 (.77) Encoder connector MS P KL Power supply connector E P 1 r/min H-SF81 (B) 41 (1.61) Model Variable dimensions 2 r/min 3 r/min L KL H-SF52 (B) H-SF53 (B) 12 (4.72) <153 (6.3)> 51.5 (2.3) H-SF12 (B) H-SF13 (B) 145 (5.71) <178 (7.1)> 76.5 (3.1) H-SF152 (B) H-SF153 (B) 17 (6.69) <23 (7.99)> 11.5 (4.) H-SF121 (B)~H-SF31 (B) H-SF22 (B)~H-SF352 (B) H-SF23 (B)~H-SF353 (B) (note 3) (note 3) L 79 (3.11) 39.5 (1.56) 18 (.71) 3 (.12) 75 (2.95) 19.5 (note 3) 69 (2.72) Encoder connector MS P Brake connector MS3121SL-4P KL Power supply connector E P (5kw) E P (7kw) Oil seal S468B ø ø ø13.5 (.53) mounting holes Use heaxagonal cap head bolts ø KB K 45 ø2 Motor flange direction U F V G E B D Ground W Power supply connector pin assign (E P) Motor flange direction B Brake Brake connector pin assign MS3121SL-4P (note 3) 1 r/min H-SF121 (B) H-SF21 (B) H-SF31 (B) Model Variable dimensions 2 r/min 3 r/min L KL K H-SF22(B) H-SF23 (B) 145 (5.71) <193 (7.6)> 68.5 (2.7) 142 (5.6) H-SF352 (B) H-SF353 (B) 187 (7.36) <235 (9.25)> 11.5 (4.35) 142 (5.6) 28 (8.19) <256 (1.8)> (5.18) 142 (5.6) KB 46 (1.81) 46 (1.81) 46 (1.81) otes: 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. 4. The inertial moment value in the table is the motor axis conversion value (motor+decelerator). 21

23 Motor Dimensions H-RF13 (B), H-RF153 (B), H-RF23 (B) Unit: mm (inch) L 45 (1.77) 1 (3.94) 39.5 (1.56) 1 (.39) 3 (.12) 4 (1.57) 45 4-ø9 (.35) mounting holes Use heaxagonal cap head bolts ø24h (3.21) 19.5 (.77) Encoder connector MS P E P KL Power supply connector Oil seal S3457B Brake (note 3) F ø95h7 Motor flange direction G E H B D Ground U V W Power supply connector pin assign E P ø (1.61) ø (3.78) Model H-RF13 (B) H-RF153 (B) H-RF23 (B) Variable dimensions L KL 147 (5.79) 71 (2.8) <185 (7.28)> 172 (6.77) 96 (3.78) <21 (8.27)> 197 (7.76) 121 (4.76) <235 (9.25)> otes: 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. 22

24 Motor Dimensions H-UF72 (B), H-UF152 (B) (note 2) (note 2) (note 2) 81.5 (3.21) L 55 (2.17) 39.5 (1.56) 13 (.51) 3 (.12) 19.5 (.77) 5 (1.97) øsh6 Oil seal S3457B ø M6 screw 4 ø (6.93) 45 ø2 ø (5.67) Brake Motor flange direction F G U V E H B D W Ground Power supply connector pin assign E P Unit: mm (inch) Encoder connector MS P KL Power supply connector E P 44 (1.73) 4-ø13.5 (.53) mounting holes Use heaxagonal cap head bolts Model H-UF72 (B) H-UF152 (B) Variable dimensions L KL S 11.5 (4.35) <144 (5.67)> 38 (1.5) 22 (.87) 12 (4.72) <153.5 (6.4)> 47.5 (1.87) 28 (1.1) H-UF22(B) 139 (5.47) (note 2) (note 2) (note 2) 81.5 (3.21) 19.5 (.77) L 65 (2.56) 16 (.63) 4 (.16) 6 (2.36) KL ø Oil seal S468B ø M8 screw (6.46) ø25 22 (8.66) (note 2) 42 Encoder connector 47 (1.65) MS P Power supply connector (1.85) E P 45 ø235 ø27 Ground Motor flange direction U F V G E D B B W Power supply connector pin assign E P Motor flange direction Brake (note 2) Brake connector pin assign MS3121SL-4P (note 2) 4-ø13.5 (.53) mounting holes Use heaxagonal cap head bolts (note 2) Brake connector MS3121SL-4P Model H-UF22 (B) Variable dimensions L KL 118 (.4) 42.5 (1.67) <161 (6.34)> otes: 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. 23

25 Motor Dimensions H-UF13 (B) Unit: mm (inch) 7 (2.76) <1 (3.94)> 25 (.98) 5 (.2) 3 (.12) 3 (.12) 4-ø5.8 (.23) 45 6 (2.36) R5 4 (1.57) 26.9 (1.4) ø8h6 ø4 (1.57) ø5h7 Oil seal S127B ø7 Encoder cable.3m (11.8 inch) With connector (madeby MP) Brake cable (note 3) VTF m (11.8 inch) (round crimped terminal with tip insulation) Power supply lead 4-WG inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green/Yellow: ground H-UF23 (B), H-UF43(B) L 3 (1.18) 8 (.31) 3 (.12) 3.5 (.14) 4-ø6.6 (.26) 45 8 (3.15) R7 ø9 ø14h6 ø56 ø7h7 5 (1.97) 26.9 (1.6) Oil seal S1537B H-UF73 (B) Encoder cable.3m (11.8 inch) With connector (madeby MP) Brake cable (note 3) VTF m (11.8 inch) (round crimped terminal with tip insulation) Power supply lead 4-WG inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green/Yellow: ground Model H-UF23 (B) H-UF43 (B) Variable dimensions L 75 (2.95) <19 (4.29)> 9 (3.54) <124 (4.88)> 85 (3.35) <111 (4.37)> 4 (1.57) 1 (.39) 3.5 (.14) 2.5 (.1) 32.5 (1.28) 123 (4.84) 45 4-ø9 (.35) ø8 ø11h7 ø19h6 ø (2.83) Oil seal S2357 ø (3.) 26.9 (1.6) Encoder cable.3m (11.8 inch) With connector (madeby MP) Brake cable (note 3) VTF m (11.8 inch) (round crimped terminal with tip insulation) 55.5 (2.19) 76 (2.99) 7 (2.76) <96 (3.78)> Power supply lead 4-WG inch (WG inch round crimped terminal with tip insulation) Red: U phase White: V phase Black: W phase Green/Yellow: ground 2 (.79) otes: 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. 24

26 Special Specifications Electromagnetic brake specifications Motor model Type Rated voltage Static friction torque ( m) Rated current () at 2 oil resistance (Ω) at 2 Power consumption (W) at 2 Permissible ( m)/time braking volume ( m)/hour Brake life (note 1) (Brake volume per braking action) 53B (4 m) H-MF 13B 23B 43B Spring-action safety brake D24V -1 % (4 m) 2 (15 m) 2 (15 m) 73B (32 m) 53B (4 m) H-FF 13B 23B 33B 43B Spring-action safety brake D24V -1% (4 m) 3 (18 m) 3 (18 m) 3 (47 m) 63B (47 m) H-SF1 r/min 81B 121B 21B 31B Spring-action safety brake D24V -1% (2 m) 2 (2 m) 2 (2 m) 2 (2 m) Motor model H-SF2 r/min H-SF3 r/min H-RF H-UF2 r/min H-UF3 r/min 52B 12B 152B 22B 352B 53B 13B 153B 23B 353B 13B 153B 23B 72B 152B 22B 13B 23B 43B 73B Type Spring-action safety brake Spring-action safety brake Spring-action safety brake Spring-action safety brake Spring-action safety brake Rated voltage D24V -1 % D24V -1 % D24V -1% D24V -1% D24V -1 % Static friction torque ( m) Rated current () at 2 oil resistance (Ω) at 2 Power consumption (W) at Permissible braking volume ( m)/time ( m)/hour Brake life (note 1) (Brake volume per braking action) (2 m) (2 m) (2 m) (1 m) (1 m) (2 m) (2 m) (2 m) (1 m) (1 m) (2 m) (2 m) (2 m) (2 m) (2 m) (1 m) (4 m) (15 m) (15 m) (32 m) otes: 1. The brake gap cannot be adjusted, so the brake life is the time until readjustment by braking needed. 2. The electromagnetic brake is for holding. It cannot be used for braking applications. Special shaft end specifications We can manufacture shaft ends to order meeting the following specifications. H-MF, UF3r/min series With key (2, 4, 75W) Motor series H-MF H-UF (note 1) apacity (kw) T 2, 4 5 (.2) 75 6 (.24) 2, 4 5 (.2) 75 6 (.24) S 14h6 19h6 14h6 19h6 D-cut (5, 1W) Variable dimension table Motor series H-MF H-UF apacity (kw) 5, 1 1 R 3 (1.18) 4 (1.57) 3 (1.18) 4 (1.57) Variable dimensions R Q 25 (.98) 2.5 (.81) 25 (.98) 17.5 (.69) Q 27 (1.6) 37 (1.46) 23.5 (.93) 32.5 (1.28) Variable dimension table Variable dimensions W QK QL U 5 (.2) 6 (.24) 5 (.2) 6 (.24) 2 (.79) 25 (.98) 2 (.79) 25 (.98) 3 (.12) 5 (.2) 3 (.12) 5 (.2) 3 (.12) 3.5 (.14) 3 (.12) 3.5 (.14) R QK Y M4 (.28) screws Depth: 15mm (.59 inch) M5 (.35) screws Depth: 2mm (.79 inch) M4 (.28) screws Depth: 15mm (.59 inch) M5 (.35) screws Depth: 2mm (.79 inch) 1 R Q QK QL W Y øs Section - T U H-FF series D-cut (5, 1W) R 27 (1.6) Q H-UF23, 43 H-UF73 3 (1.18) 25.5 (1.) R 3.5 (.14) 2.5 (.1) Q Unit: mm (inch) Unit: mm (inch) (note 1) ø8h6 (.31) 1 ø8h6 (.31) Unit: mm (inch) H-SF, RF, UF2r/min series Key way Motor series H-SF (note 3) H-RF H-UF (note 2) apacity (kw).5~1.5 2~3.5 1, 1.5, Variable dimension table S 24h h6 22h6 28h6 35h6 R 55 (2.17) 79 (3.11) 45 (1.77) 55 (2.17) 55 (2.17) 65 (2.56) Q 5 (1.97) 75 (2.95) 4 (1.57) 5 (1.97) 5 (1.97) 6 (2.36) Variable dimensions W QK QL 8 (.31) 36 (1.42) 5 (.2) (.39) 55 (2.17) 5 (.2) (.31) 25 (.98) 5 (.2) (.24) 42 (1.65) 3 (.12) (.31) 45 (1.77) 5 (.2) (.39) 55 (2.17) 5 (.2) -.3 U (.16) (.2) (.16) (.14) (.16) (.2) r 4 (.16) 5 (.2) 4 (.16) 3 (.12) 4 (.16) 5 (.2) Y M8 (.56) screws Depth: 2mm (.79 inch) R Q QK QL r W U Y Section - Unit: mm (inch) øs 25 otes: 1. annot be used in applications that involve high frequency. We make no guarantees regarding shaft damage caused by rattling of keys, so use a friction coupling, [illegible] ring, or the like. 2. Keys are not installed. Keys are installed by the purchaser. 3. The H-SF121 is the same as the lower row (2-3.5kW).

27 SERVO MPLIFIERS MELSERVO J2- Global pplications for Superb Operation in the Toughest Environments Satisfies global industrial standards Separate wiring of the control power supply Real-time auto-tuning, and high responsiveness Torque control function Servo lock anti-vibration function Personal computer interface as standard utomatic motor recognition 26

28 Peripheral Equipment onnections with peripheral equipment Peripheral equipment is connected to the MR-J2- as described below. onnectors, options, and other necessary equipment are available to allow users to easily setup the J2- and begin using it right away! Power supply: 3-phase 2V o-fuse circuit breaker (FB) Used to protect the power supply line. Magnetic contactor (M) Used to turn off the servoamp's power when an alarm has been triggered. Battery compartment (option) battery (MR-BT) is installed in the holder when using as an absolute system. ot required when using as an incremental system. Display panel Displays monitoring data, parameters, and alarms. Setting section Parameter settings are performed with push buttons, and monitoring data are displayed. MR-J2 Servo-amp MR-J2- ontrol signal connector 1 1B Upper controller The J2 can be connected to a Mitsubishi motion controller or any pulse train output controller. FX-2GM FX-IPG Junction terminal block (option) ll signals can be connected at this junction terminal block without a connection to 1 or 1B. D75 P1 - P3 ontrol signal (for operation panel; option) onnects to the PL's I/O port or the machine's operation panel. ISD75 P1 - P3 R S T 3 RS-232 communications (3; option) onnects the unit to user's personal computer, enabling user to perform monitoring, batch parameter entry and saving, graph display, and test operation. Dedicated cables and setup software are available also. 2 Power factor improvement reactor (FR-BL) X Y Z L1 L2 L3 Type 3 ground or above harge lamp Goes on when the main circuit power supply is on. Do not plug/unplug power lines when this light is on. D U V W L2I LII Regeneration unit (option) Install this unit as necessary in situations involving frequent regeneration and large load completion moments. Disconnect P and D when using this optional unit. P H-MF servomotor and encoder 27

29 Operation Easier to operate than ever before The display and setting sections are easy to operate. nd with the advanced features it incorporates, the J2 is easy to start up. UP/DOW: Used to change display content and re-enter parameter data Optional battery holder Optional battery connector } When using in an absolute system, install the optional battery. MODE: Used to switch between display modes SET: 4-digit, 7-segement display panel Displays operating status, parameters, etc. Used to set parameters, for auto-tuning, and for switching to the test screen Explanation of 7-segment display device Pressing the MODE button causes the display mode to change one step at a time in the sequence illustrated below. Power supply Status display (note) DOW button UP button Feedback pulse Motor rotation Standing ommand pulse ommand pulse Speed command voltage Torque limit voltage or accumulation speed pulse accumulation frequency or speed limit voltage torque command voltage r E P n F U Load/inertia Position within Peak load Effective load Regeneration ratio BS counter one rotation factor factor load factor d L S y b J L Diagnostic External signal DO forced Test operation Test operation Test operation Software Sequence display output (JOG) (positioning) (without motor) version L r - o F d o o n T S T I T S T 2 T S T 3 - MODE button Software V offset version H H I = larm Most recent Second most Third most Fourth most Fifth most Sixth most Seventh most alarm recent alarm recent alarm recent alarm recent alarm recent alarm recent alarm - - I Parameter error number E - - Basic parameter ontrol mode/regeneration option selection P Function Electronic gear Electronic gear In-position Position control selection 1 uto-tuning : umerator : Denominator range gain 1 P I P 2 P 3 P 4 P 5 P 6 Speed deceleration Speed accelera- Internal speed Internal speed Internal speed Position acceleration/decel- S time constant time tion time command 3 command 2 command 1 eration time (smoothing) P I 3 P I 2 P I I P I P 9 P 8 P 7 Torque command ommunications baud rate nalog monitor Status display Parameter entry time Spare selection/alarm history clear output selection prohibition P I 4 P I 5 P I 6 P I 7 P I 8 P I 9 ote: Press the SET button to display actual data in status display mode 28

30 Setup and Testing complete lineup of features to make setup easy User-friendly, from the way you turn on the power to how connection checks and parameter settings are performed. Turning the power on and displaying the present status pproximately five seconds after you turn the power on, the status display mode screen appears. You can display the desired operating parameter by pressing the UP or DOW button. 5-digit parameter settings Example: ommand pulse magnification numerator setting Display parameter 3 by following the instructions for a 4-digit parameter setting. Turn the power on Initial state : Position control mode selection display r: Speed control mode selection display u: Torque control mode selection display The parameter setting for the last 4 digits is displayed. Press the SET button. Press the SET button. Press the MODE button. Pressing the UP or DOW button will cause the next parameter number selection screen to appear. Setting parameters Basic parameters are set as illustrated below. The parameter setting flashes, indicating that the setting can be changed. Set the last four digits. Press the UP or DOW button to change the value. 4-digit parameter settings Example: The auto-tuning setting Turn the power on MODE UP DOW SET Press the MODE button three times to display the parameter mode screen. Press the UP button twice to display parameter 2. Press the SET button. The parameter setting flashes. The parameter setting stops flashing. Set the first of the five digits. The parameter setting for the first of the 5 digits is displayed. The parameter setting flashes, indicating that the setting can be changed. Press the SET button. Parameter setting for the last 4 digits is complete. ote: The mode cannot be changed by pressing the MODE button at this point. To change modes, press the UP or DOW button, and after reaching the parameter display screen, press the MODE button. Press the SET button. Press the UP or DOW button to change the value. Press the SET button. The parameter setting is displayed. Press the SET button. Pressing the UP or DOW button will cause the next parameter number selection screen to appear. The parameter setting flashes. The parameter setting stops flashing. Parameter setting for the first digit is complete. ote: The mode cannot be changed by pressing the MODE button at this point. To change modes, press the UP or DOW button, and after reaching the parameter display screen, press the MODE button. The parameter setting flashes, indicating that the setting can be changed. hange the setting by pressing the UP or DOW button. External signal display External input/output signals' on/off status is displayed in segments. The upper portion of each segment's vertical line indicates the input signal, while the lower portion indicates the output signal. The parameter setting flashes. Press the SET button. IB pin 9 IB pin 3 IB pin 7 I pin 3 IB pin 14 IB pin 5 IB pin 17 IB pin 15 IB pin The parameter setting stops flashing. Parameter setting is complete. ote: The mode cannot be changed by pressing the MODE button at this point. To change modes, press the UP or DOW button, and after reaching the parameter display screen, press the MODE button. OP IP TL LM D1 or ZSP or S VL ote: OP: Used for position adjustment of encoder's Z-phase pulse origin DOGU end RD

31 Setup and Testing Test operation mode The operation of the servo-amp and servomotor can be checked before wiring the signal wires. Test operation mode 1: Operation without commands The motor can be operated even without speed/position commands, start signals, or other external signals. This enables users to test the servo alone, prior to the fabrication of a control panel, and to confirm the machine's operation. (1) JOG operation The motor will run as long as the UP or DOW button is being pressed. Turn the power on Test operation mode 2: Operation without a motor The servo amplifiers can be checked without connecting them to a motor. This is convenient when you want to confirm a command or peripheral sequence before operating the actual machine. You can monitor the motor's simulated rotation speed and command status on the amp's display screen just as you would during normal operation. Turn the power on Press the MODE button once to display the diagnostic mode screen. Press the MODE button once to display the diagnostic mode screen. Press the UP button three times to display the test operation (JOG) screen. Press the UP button five times to display the test operation (no motor) screen. Press the SET button for 2 seconds. fter turning the servo off, press the SET button for 2 seconds. On the test operation screen, the buttons have the following functions. MODE: Used to change the test operation status display UP: screen. While this button is being pressed, the motor rotates 2 r/min in the forward (W) direction. DOW: While this button is being pressed, the motor rotates 2 r/min in the forward (W) direction. Press the SET button for 2 seconds. On the test operation screen, the buttons have the following functions. MODE: Used to change the test operation status display screen. UP/DOW: Invalid. To exit test operation mode, turn the power off and on again. Exit test operation mode. (2) Positioning operation The motor moves just the number of pulses set and is positioned. This is an easy way to check the amount of machine movement. Positioning operation can only be performed with the setup software. The servo-amp screen when the unit has been set to positioning operation mode with the setup software. The servo-amp screen when the unit has been taken out of positioning operation mode with the setup software. 3

32 Setup and Parameters Output signal forced output Forcing output signals on or off, such as alarm and ready signals, makes it easy to perform external wiring and sequence checks. Turn the power on Press the MODE button once to display the diagnostic mode screen. Press the UP button twice to display the DO forced output screen. On the DO forced output screen, the buttons have the following functions. MODE: Used to select the forced output signal. RD PF ZSP OP LM D1 TL UP: Turns the selected signal on. DOW: Turns the selected signal off. Press the SET button for 2 seconds. Press the SET button for 2 seconds. Exit forced output mode. Basic parameters The basic parameters are listed below. For parameters marked with an asterisk, turn the power off after setting and turn the power back on to complete the setting. Parameter number ame bbreviation Description Factory setting Setting range * ontrol mode/regeneration selection STY Used to select the control mode and regeneration option ~ 65h *1 Function selection 1 OP1 Used to select servo-type options ~ 112h 2 uto-tuning TU Used to select the auto-tuning function 12 1 ~ 215h 3 Electronic gear (command pulse magnification numerator) MX Used to set the multiplier for the command pulse input 1 1 ~ Electronic gear (command pulse magnification denominator) DV Used to set the divisor for the command pulse input 1 1 ~ In-position range IP Used to set the range for the standing pulse, which sends in-position output 1 (pulse) ~ 1 6 Position control gain 1 PG1 Used to set the model position loop gain 36 (rad/s) 4 ~ Position acceleration/deceleration time constant (smoothing) Internal speed command 1 Internal speed command 2 PST S1 S2 Used to set the time constant when using a delayed filter for the position command Used to set the first speed of the internal speed command Used to set the second speed of the internal speed command 3 (msec) 1 (r/min) 5 (r/min) ~ 2 ~ permissible rotation speed ~ permissible rotation speed 1 Internal speed command 3 S3 Used to set the third speed of the internal speed command 1 (r/min) ~ permissible rotation speed Speed acceleration time constant Speed deceleration time constant S-time onstant Torque command time constant ST STB ST TQ Used to set the acceleration time from stop until the attainment of rated rotation speed for the speed command Used to set the deceleration time from the rated rotation speed until stop for the speed command Used to set the time for the circular portion of S acceleration/deceleration Used to set the time constant when using a delayed filter for the torque command (msec) (msec) (msec) (msec) ~ 2 ~ 2 ~ 1 ~ 2 15 Spare *16 ommunications baud rate selection/alarm history clear BPS Used to set the RS-232 baud rate and to clear the alarm history ~ 11h 17 nalog monitor output MOD Used to make the settings related to analog monitor output 1 ~ h *18 Status display selection DMD Used to make the settings related to status display ~ 1h *19 Parameter entry prohibition BLK Used to select the parameter reference range and entry range ~ h 31

33 Servo-amp Specifications Servo-amp model MR-J Voltage/frequency (note) 3-phase 2 to 23V 5/6Hz 1-phase 1 to 12V 5/6Hz Power supply Permissible voltage fluctuation 3-phase 17 to 253V 5/6Hz 1-phase 85 to 127V 5/6Hz Permissible frequency fluctuation ± 5% max. ontrol system Speed frequency response Safety features Torque limit input Maximum input pulse frequency Sinusoidal PWM control/current control system 25Hz or more Excess current shutdown, regeneration excess voltage shutdown, excess load shutdown (electronic thermal), servomotor overheat protection, encoder error protection, regeneration error protection, insufficient voltage/sudden power outage protection, excess speed protection, excess error protection to ±1V D/maximum torque 4 kpps (when using differential receiver), 2 kpps (when using open collector) Servo-amp Position control specifications Positioning feedback pulse ommand pulse multiple Positioning complete width setting Excess error Speed control range Resolution per servomotor rotation (see "Speed/position encoder" in the servomotor specifications) Electronic gear /B multiple;, B: /5</B<5 to ±1 pulses ± 8k pulses External speed 1:1, internal speed 1:5 Speed control specifications Speed command input Speed fluctuation rate to ± 1V D/maximum speed.3% max. (load fluctuation to 1%) ±.2% max. (power fluctuation ± 1%) ±.2% max. (ambient temperature 25 ±1 (77 F ± 5 F)), when using external analog speed Torque control specifications Torque command input to ± 8V D/maximum torque Structure Self-cooling, open (IP) mbient temperature to 55 (32 to 131 F) (non freezing), storage: 2 to 65 ( 4 to 149 F) (non freezing) mbient humidity 9% RH max. (non condensing), storage: 9% RH max. (non condensing) Environment tmosphere Inside control panel; no corrosive gas, flammable gas, oil mist, or dust Elevation 1 meters or less above sea level Oscillation 5.9 m/s 2 (.6G) max. Weight kg (lb).7 (1.5).7 (1.5) 1.1 (2.4) 1.1 (2.4) 1.7 (3.7) 1.7 (3.7) 2. (4.4) 2. (4.4).7 (1.5).7 (1.5) 1.1 (2.4) ote: Rated output capacity and rated rotation speed of the servomotor used in combination with the servo-amp are as indicated when using the power voltage and frequency listed. Output and speed cannot be guaranteed when the power supply s voltage is less than specified. 32

34 Signal Terminal Descriptions Terminal block Signal lternating circuit power supply Motor output Regeneration brake resistor Ground bbreviation L1, L2, L3 L11, L21 U, V, W P,, D PE Terminal TE1 TE2 TE1 TE2 hassis Description of function/application onnect to a 3-phase 2-23V 5/6Hz commercial power supply. There are no phase sequence limitations. onnect to a single-phase 2-23 V 5/6 Hz commercial power supply. Supply power from the same source as that for L1, L2, and L3. Turn on before or simultaneously with L1, L2, and L3. Turn off simultaneously with or after L1, L2, and L3. onnect to the U, V, and W terminals of the motor's power supply. The motor will not rotate properly if an error is made in the phase sequence. When using the optional regeneration unit, remove the wires connecting P and D, and connect the optional regeneration unit between P and. Ground with the motor at one point. onnected to the chassis. onnector 1 (Factory settings) Same for position, speed, and torque control modes Signal Digital interface power input Digital interface common bbreviation onnector number Vin 9 Description of function/application Driver's power input terminal for digital interface. Vin are all connected inside. Supply 24 V D power to this terminal when using an external power supply. SG 1,2 24 V common, insulated from LG 15 V D power output P15R 4 15 V power supply. Maximum permissible current is 3 m. ontrol common LG 1 ontrol signal common terminal Encoder - L 6 phase pulse LR 16 Encoder B- phase pulse Encoder 2- phase pulse LB 7 LBR 17 LZ 5 LZR 15 OP 14 Ready RD 19 Shield SD Plate Encoder's -/B-phase pulse signal output terminal. Differential line driver output. Output pulse can be changed through the parameter setting. Encoder's Z-phase pulse signal output terminal. One pulse is output for each motor rotation. Minimum pulse width is 4 µs. Set speed to 1 r/min or less when using this pulse. LZ/LZR is differential line driver output; OP is open collector output. Ready signal output terminal. RD and SG are connected after the servo is turned on when there are no malfunctions and the unit is operable. onnect one end of the shield wire. I/O category Power supply ommon Power output DO-2 DO-1 Position control mode Open collector power input Forward pulse train Reverse pulse train lear Positioning complete OP 11 Open collector power input terminal. onnect this terminal to VDD when inputting pulse train in open collector mode. Supply 24 V D power to this terminal when using an external power supply. PP 3 Forward pulse train signal input terminal. ompatible with both open collector and differential modes. onnect PP and SG when using PG 13 open collector mode. DI-2 P 2 Reverse pulse train signal input terminal. ompatible with both open collector and differential modes. onnect P and SG when using G 12 open collector mode. DI-2 lear signal input terminal. Short circuiting R and SG will cause the number of drop pulses (position error) to be cleared at startup. R 8 Level clear can be chosen through the parameter settings. With the BS method, when the number of drop pulses (position error) is DI-1 cleared, origin data is simultaneously set in nonvolatile memory. IP 18 Positioning-complete signal output terminal. onnection between IP and SG is made when the standing pulse is smaller than the parameter-set in-position range. ot output when the base is turned off. Power input DO-1 Speed control mode Speed selection 1 Speed attained SP1 8 Speed selection 1 signal input terminal. Runs at parameter-set speed. DI-1 S 18 Speed attained signal output terminal. When the motor rotation speed exceeds the command speed range of ±2 r/min, the connection between S and SG is made. ot output when the base or start signal is turned off. DO-1 Torque control mode Speed selection 1 SP1 8 Speed limit selection 1 signal input terminal. Runs within the limitations of the parameter-set speed when SPI and SG are short circuited. DI-1 33 onnector 3 (Factory settings) Same for position, speed, and torque control modes Signal bbreviation onnector number Description of function/application MO1 4 Monitor output Monitor output signal terminal. nalog output of the parameter-set data. MO2 14 Monitor common LG 3.13 ontrol common is used for monitor common. Shield SD Plate onnect one end of shield wire. I/O category nalog output nalog common

35 Signal Terminal Descriptions onnector 1B (Factory settings) Same for position (BS method), speed, and torque control modes Signal Digital interface power input Internal power supply output for interface Digital interface common 15 V D power output ontrol common External emergency stop Malfunction output Shield bbreviation Vin SG P15R LG ZSP (BS bit1) onnector number 13 VDD 3 EMG 1, Servo on SO 5 Reset Zero speed detection (BS data bit 1) RES SD 14 LM Plate Description of function/application Driver's power output terminal for digital interface. Supply power for the digital input/output signal (DI-I, DO-I) from external power supply: VDD or 24 V D power. Driver's power output terminal for digital interface. Outputs +24 V ±1% between 24 V commons. onnect to Vin when not using an external power supply. Do not allow the sum of current for the command unit and input/output relay drive to exceed 8 m. 24V common, insulated from LG 15V power supply. Maximum permissible current is 3 m. ontrol signal common terminal Emergency stop signal input terminal. Disconnecting EMG and SG puts the unit in emergency stop state; power to the base is cut off and the dynamic brake is activated. Short circuiting EMG and SG in the emergency stop state causes the unit to automatically exit the emergency stop state. Preparation for operation signal input terminal. Short circuiting SO and SG places the unit in an operable state. Disconnecting these terminals causes power to the base to be cut off and the servomotor to enter a free running condition. This can be set to automatic on with the parameter settings. larm reset signal input terminal. Short circuiting RES and SG causes the malfunction to be reset. While the alarm is being reset, power to the base is cut off. Malfunctions related to regeneration errors and overloading cannot be reset with the alarm reset signal immediately after their occurrence. Malfunction signal output terminal. When the power is turned off the protective circuit is activated, and when power to the base is cut off, the LM-SG connection cannot be made. If everything is normal when the power is turned on, the connection is made. onfigure a sequence for cutting off the input M when a malfunction occurs. Zero speed signal output terminal. When the motor rotation speed is less than the speed set in the zero speed parameter setting, the connection between ZSP and SG is made. (BS data bit 1 signal output terminal. The upper bit of the two-bit data is forwarded to the command unit from the servo-amp.) onnect to one end of the shield wire. I/O category Power supply ommon Power supply nalog common DI-1 DI-1 DI-1 DO-1 DO-1 Same for position (BS method) and speed control modes nalog limit Torque limit in effect (forwarding data being prepared) TL 12 TL (BS busy) 6 nalog torque limit signal input terminal. Input an external analog torque limit. (-±1 V/maximum torque) Torque limit in effect signal output terminal. When the set torque limit is reached, the connection between TL and SG is made. ot output when the base is turned off. (Forwarding data being prepared signal output terminal. Indicates that forwarding data is being prepared.) nalog input DO-1 Forward stroke end Reverse stroke end LSP 16 LS 17 Forward/reverse stroke end signal input terminal. Disconnecting LSP and SG makes the unit inoperable in a W direction, but operable in a W direction. To operate in a W direction, connect between LSP and SG with a limit switch. Disconnecting LS and SG makes the unit inoperable in a W direction, but operable in a W direction. To operate in a W direction, circuit between LS and SG with a limit switch. This can be set to go on automatically with the parameter settings. DI-1 Position control mode (BS method) Proportional control (BS forwarding mode) P(BSM) External torque limit (BS data TL(BSR) request) Proportional control (BS data bit BS bit ) 8 Proportional control signal input terminal. onnect between P and SG when you want to suppress microvibrations when the servo lock is on. (BS forwarding mode signal input terminal. onnecting BSM and SG puts the unit in BS forwarding mode.) DI-1 9 External torque limit signal input terminal. onnecting TL and SG limits the torque to the TL level. (BS data request signal input terminal. onnecting BSR and SG generates a request for BS data.) DI-1 4 BS data bit signal output terminal. The lower bit of the two-bit data forwarded to the command unit from the servo-amp. DO-1 Speed control mode Speed selection 2 SP2 7 Speed selection 2 signal input terminal. Runs at parameter-set speed. DI-1 Forward start ST1 8 Forward start signal input terminal. onnecting ST1 and SG causes the motor to rotate in a W direction. DI-1 Forward start nalog speed command ST2 V 9 2 Reverse start signal input terminal. onnecting ST2 and SG causes the motor to rotate in a W direction. Simultaneously connecting or disconnecting ST1 and ST2 causes the motor to decelerate and stop, the position control to fall below zero speed, and the servo to enter a locked state. nalog speed command signal input terminal. Input an external analog speed command. (-±1 V/maximum rotation speed) DI-1 nalog input Torque control mode Speed selection 2 SP2 7 Speed selection 2 signal input terminal. onnecting SP2 and SG limits operation to the parameter-set speed. DI-1 Reverse selection ST1 8 Reverse power torque generation signal input terminal. Select the direction of the torque to be generated. onnecting ST1 and SG causes torque to be generated in reverse power/forward regeneration direction. DI-1 Forward selection ST2 9 Forward power torque generation signal input terminal. Select the direction of the torque to be generated. onnecting ST2 and SG causes torque to be generated in forward power/reverse regeneration direction. DI-1 nalog speed limit VL 2 nalog speed command signal input terminal. Input an external analog speed limit. nalog input Speed limit in effect VL 6 Speed limit signal output terminal. When the set torque limit is reached, the connection between VL and SG is made. ot output when the base is turned off. DO-1 nalog torque command T 12 nalog torque command signal input terminal. Input an external analog torque command. (-±8 V/maximum torque) nalog input 34

36 mplifier Dimensions MR-J2-11, 21, 1/B/, 2/B/ φ 6 (.24) mounting hole 6 (.24) 5 (1.97) 7 (2.76) 135 (5.31) 6 (.24) OPE MITSUBISHI Display setting section cover 2(.78) Space required for heat radiation (4 mm(1.57) min.) Terminal wiring diagram (with terminal cover open) OPE MITSUBISHI Unit: mm (inch) 1 1B 1 1B 168 (6.61) 7 (.28) 6 (.24) 156 (6.14) 2 E ( ) L1 L2 L3 U V W 3 Terminal cover Space required for heat radiation (4mm (1.58) min.) ame plate Terminal block codes L1 L2 L3 odes U V W D P L21 L11 2 E ( ) 3 M4 x.7 (.3) screw Three ground (PE) terminals MR-J2-41, 4/B/, 6/B/ 7 (2.76) 7 (2.78) 135 (5.31) φ 6 (.24) mounting hole 22 (.87) 6 (.24) OPE MITSUBISHI Display setting section cover 2 (.79) Space required for heat radiation (4 mm (1.57) min.) Terminal wiring diagram (with terminal cover open) OPE MITSUBISHI 1 1B 1 1B 7 (.28) 168 (6.61) 6 (.24) 156 (6.14) 2 E ( ) L1 L2 L3 U V W 3 Terminal cover Space required for heat radiation (4 mm (1.57) min.) ame plate Terminal block codes L1 L2 L3 U V W odes D P L21 L11 2 E ( ) 3 M4 x.7 (.3) screw Three ground (PE) terminals MR-J2-7/B/, 1/B/ 7 (2.76) φ 6 (.24) mounting hole 22 (.87) MITSUBISHI OPE 6 (.24) 7 (2.76) 19 (7.48) Display setting section cover 2 (.79) Space required for heat radiation (4 mm (1.57) min.) Terminal wiring diagram (with terminal cover open) OPE MITSUBISHI 1 1B 1 1B 7 (.28) 168 (6.61) 6 (.24) 156 (6.14) 2 E ( ) L1 L2 L3 U V W 3 22 (.87) 42 (1.65) 6 (.24) Terminal cover Space required for heat radiation (4 mm (1.57) min.) ame plate odes Terminal block codes L1 L2 L3 D P L21 L11 U V W 2 E ( ) 3 M4 x.7 (.3) screw Three ground (PE) terminals (M4x.7 (.3)) MR-J2-2/B/, 35/B/ φ 6 (.24) mounting hole 6 (.24) 9 (3.54) 6 (.24) 78 (3.7) MITSUBISHI OPE 7 (2.76) 195 (7.68) Space required for heat radiation (4 mm (1.57) min.) Display setting section cover 2(.78) Terminal wiring diagram (with terminal cover open) MITSUBISHI OPE 1 1B 1 1B 168 (6.61) 6 (.24) 156 (6.14) 2 E ( ) 3 ame plate F Terminal block codes L11 L21 D P L1 L2 L3 U V W 2 E ( ) 3 M4 x.7 (.3) screw 35 Space required for heat radiation (4 mm (1.57) min.) Three ground (PE) terminals (M4x.7 (.3))

37 Standard Wiring Diagram Position control operation onnection to D75PM/1SD75PM (position servo, incremental) Positioning unit D75P/1SD75P Power supply: 3-phase 2V ame Pin o. PULSE F+ 3 PULSE F- 21 PULSE R+ 4 PULSE R- 22 LER 5 LER OM 23 REDY 7 OM 26 IPS 8 PG (+5V) 24 PG OM 25 (ote 3) External emergency stop Servo on Proportional control Reset Torque limit (ote 4)Forward stroke end Reverse stroke end Do not connect when using an external power supply. onfigure a sequence for switching off the M when an alarm has been triggered or after an emergency stop. FB M Optional regeneration unit When connecting the optional regeneration unit, always disconnect between P and D. onnecting the optional unit when P and D are connected could damage the servo-amp. (ote 6) Malfunction Zero speed detection Torque limit in effect In differential mode: 1 meters (32.81 ft) In open collector mode: 2 meters (6.56 ft) L1 L2 L3 L11 L21 P TE2 D 1 OP 11 PP 3 PG 13 P 2 G 12 R 8 OM 9 RD 19 OM 9 IP 18 LZ 5 LZR 15 L 6 LR 16 LB 7 LBR 17 LG 1 OP 14 P15R 4 SD PLTE 1B EMG 15 SO 5 RES 14 P 8 TL 9 LSP 16 LS 17 SG 1 SG 2 1 meters (32.81 ft) max. VDD 3 (otes 1 and 2) OM 13 R1 LM 18 R2 ZSP 19 R3 TL 6 1 meters (32.81 ft) max. Upper limit setting nalog torque limit ±1 V/maximum torque (in this wiring diagram, +1 V/maximum torque) 2 meters (6.56 ft) max. P15R 11 TL 12 LG 1 SD PLTE Servo-amp MR-J2- TE1 U V W PE PE 2 19 P5 11 LG 2 P5 12 LG 18 P5 12 TXD RD 2 RXD SD 1 LG GD 11 LG GD 5 LG RS 15 LG S 5 meters DR (16.41 ft) max. ER Monitor output Maximum: +1m total Double oscillation (+1 V output) 4 MO1 3 LG 14 MO2 13 LG PLTE 2 LG 7 MR 17 MRR 6 MD 16 MDR 9 BT 1 LG PLTE SD 3 SD Type 3 ground or above onnect the blue wire when the cable is 1 to 3 meters (32.81 to ft) long. RS meters (6.56 ft) max. Personal computer running Microsoft Windows 1kΩ 1kΩ 7 P5 7 P5 8 LG 8 LG 1 MR 1 MR 2 MRR 2 MRR 4 MD 4 MD 5 MDR 5 MDR 3 BT 3 BT 9 SHD 9 SHD 6 OT 6 OT U V W PE PE D24V EMG 2 19 P5 11 LG 2 P5 12 LG 18 P5 2 LG 7 MR 17 MRR 6 MD 16 MDR 9 BT 1 LG PLTE SD U V W E Disconnect 24 Volts during servo off or an alarm. B1 B2 U V B W E D Type 3 ground or above B1 G D24V EMG B2 H Disconnect 24 Volts during servo off or an alarm. S R D B F G M H-MF, H-FF series motor SM Electromagnetic brake Encoder Encoder onnect the blue wire when the cable is 1 to 3 meters (32.81 to ft) long. otes: 1. Do not reverse the diode's direction. onnecting it backwards could cause the amp to malfunction so that signals are not output and emergency stop and other safety circuits are inoperable. 2. Make sure that the sum of current flowing to external relays does not exceed 8 m. If it exceeds 8 m, supply interface power from an external source. 3. lways connect an EMG external emergency stop. (b contact) The unit cannot be operated unless one is connected. 4. Provide normally closed inputs for LSP, LS. 5. Signals with the same name are connected inside. 6. Malfunction (LM) signals are turned on during normal operation when no alarms have been triggered. 7. When using a motor with electromagnetic brake. Polarity of power supply connected to electromagnetic brake's lead (compressed terminals' sleeve is blue) is unimportant. 8. onnect shield wire securely to plate inside the connector (ground plate). 9. onnect between LG and pulse output OM to strengthen noise. 1. lways use a shielded multicore cable; up to a maximum of 15 meters is possible in a good noise environment. (ote 7) H-SF, RF series motor SM (ote 7) Electromagnetic brake 36

38 Standard Wiring Diagram onnection to D75PM/1SD75PM (position servo, absolute) Power supply 1SP62 6m IPUT 1/ G FG ll-purpose sequencer Servo-amp 1B VDD OM SG SG SPU 1SX OM 8 9 B D E F OM larm reset Emergency stop Servo on Return to origin Operation mode I Operation mode II Position start Position stop JOG+ JOG- BS data bit BS data bit 1/zero speed detection Transmission data being prepared/torque restrictions in effect Breakdown Upper limit Lower limit BS bit BS bit 1 SG SG LSP LS EMG SY4 1SD75-P OM1 OM2 DOG PLS RLS STOP HG STRT OM OM RDY IPS OM LER OM PGO PULSE-F PULSE-R PLS OM PLS OM B (ote 2) ear point signal (see note 1) (ote 5) Servo on BS transmission mode BS request larm reset Servo alarm BS line error BS check sum error Electromagnetic brake output (see note 3) (ote 2) Preparations complete Positioning complete ttach an optional battery (MR-BT) when using as an absolute system. SO BSM BSR RES OM 9 RD 19 IP 18 R SG SG LZ LZR PG PP G P LG SD O PLTE (ote 4) otes: 1. For [DOGU]-style return to origin. Do not connect for data set return to origin. 2. Starting up when the servomotor is above the zero signal causes the ISD75 (D75) deviation clear signal to be output. Therefore, do not wire the MR-J2- clear signal to the ISD75 (D75) side but to the sequencer output unit. 3. ontrol the electromagnetic brake output through a relay to the programmable controller's output. 4. Use a differential line driver method of pulse input. n open collector method can be used also, but a differential line driver method, which is not greatly affected by external noise, is recommended. 5. onnect the LG and pulse output OM to boost noise. 6. With models D75M and ISD75M, an absolute system can be constructed with reduced wiring by combining these models with MR-J2-B. 7. Refer to the previous page for the connections with the power supply, servomotor, and computer. 8. Refer to the MELSERVO-J2- bsolute Positioning System User's Manual for details about absolute systems. 37

39 Standard Wiring Diagram Speed control operation onfigure a sequence for switching off the M when an alarm has been triggered or after an emergency stop. FB M Power supply: 3-phase 2V (otes 1 and 2) R1 R2 R3 L1 L2 L3 1B EMG 15 SO 5 RES 14 SP2 7 ST1 8 ST2 9 LSP 16 LS 17 SG 1 SG 2 VDD 3 OM 13 LM 18 ZSP 19 TL 6 P15R 11 TL 12 LG 1 V 2 SD PLTE Servo-amp MR-J2- TE1 L11 L21 P TE2 Optional regeneration unit When connecting the optional regeneration unit, always disconnect between P and D. D onnecting the optional unit when P and D are connected could damage the servo-amp. 1 OM 9 OP 11 PP 3 PG 13 P 2 Speed selection 1 G 12 SP1 8 SG 1 Ready RD 19 R1 Preparations complete S 18 R2 SG 2 1 meters (32.81 ft max.) Encoder Z-phase pulse (differential line driver) LZ 5 LZR 15 Encoder -phase pulse (differential line driver) L 6 LR 16 Encoder B-phase pulse (differential line driver) LB 7 LBR 17 control common LG 1 Encoder Z-phase pulse (open collector) OP 14 P15R 4 SD PLTE 2 meters (6.56 ft max.) (ote 3) External emergency stop Servo on Reset Speed selection 2 Reverse Forward (ote 4) Forward stroke end Reverse stroke end Do not connect when using an external power supply. (ote 6) Malfunction Zero speed detection Speed limit in effect 1 meters (32.81 ft ) max. 1 meters (32.81 ft max.) Upper limit setting nalog torque limit ±1 V/maximum torque (in this wiring diagram, +1 V/maximum torque) Upper limit setting nalog speed command ±1 V/maximum rotation speed (in this wiring diagram, +1 V/maximum rotation speed) 2 meters (6.56 ft max.) U V W PE PE 2 2 P5 12 LG 2 P5 12 LG 18 P5 12 TXD RD 2 RXD SD 1 LG GD 11 LG GD 5 LG RS 15 LG S 5 meters DR (16.41 ft max.) ER (ote 8) 4 MO1 3 LG 14 MO2 13 LG PLTE 2 LG 7 MR 17 MRR 6 MD 16 MDR 9 BT 1 LG PLTE SD 3 SD Type 3 ground or above onnect the blue wire when the cable is1 to 3 meters (32.81 to ft) long. RS meters (6.56 ft max.) Personal computer running Microsoft Windows 1kΩ Monitor output Maximum: +1m total Double oscillation (+1 V output) 1kΩ 7 P5 7 P5 8 LG 8 LG 1 MR 1 MR 2 MRR 2 MRR 4 MD 4 MD 5 MDR 5 MDR 3 BT 3 BT 9 SHD 9 SHD 6 OT 6 OT U V W PE PE D24V EMG U V W E Disconnect 24 Volts during servo off or an alarm. B1 B2 U V B W E D H-MF, H-FF series motor SM (ote 7) Electromagnetic brake Encoder H-SF, RF series motor SM Type 3 ground or above B1 G D24V EMG B2 H Disconnect 24 Volts during servo off or an alarm. (ote 7) Electromagnetic 2 brake 2 P5 12 LG 2 P5 12 LG 18 P5 S 2 LG R 7 MR 17 MRR D 6 MD 16 MDR B 9 BT F 1 LG G PLTE SD M Encoder onnect the blue wire when the cable is 1 to 3 meters (32.81 to ft) long. otes: 1. Do not reverse the diode's direction. onnecting it backwards could cause the amp to malfunction so that signals are not output and emergency stop and other protection circuits are inoperable. 2. Make sure that the sum of current flowing to external relays does not exceed 8 m. If it exceeds 8 m, supply interface power from an external source. 3. lways connect an EMG external emergency stop. (b contact) The unit cannot be operated unless one is connected. 4. Provide normally closed inputs for LSP, LS. 5. Signals with the same name are connected inside. 6. Malfunction (LM) signals are turned on during normal operation when no alarms have been triggered. 7. When using a motor with electromagnetic brake. Polarity of power supply connected to electromagnetic brake's lead (compressed terminals' sleeve is blue) is unimportant. 8. onnect shield wire securely to plate inside the connector (ground plate). 9. lways use a shielded multicore cable; up to a maximum of 15 meters is possible in a good noise environment. 38

40 Standard Wiring Diagram Torque control operation Power supply: 3-phase 2 V onfigure a sequence for switching off the M when an alarm has been triggered or after an emergency stop. FB When connecting the optional regeneration unit, always disconnect between P and D. onnecting the optional unit when P and D are connected could damage the servo-amp. Speed selection 1 Preparations complete Encoder Z-phase pulse (differential line driver) Encoder -phase pulse (differential line driver) Encoder B-phase pulse (differential line driver) ontrol common Encoder Z-phase pulse (open collector) (ote 3) External emergency stop Servo on Reset Speed selection 2 Forward start Reverse start Do not connect when using an external power supply. M L1 L2 L3 1B EMG 15 SO 5 RES 14 SP2 7 ST1 8 ST2 9 SG 1 SG 2 1 meters (32.81 ft) max. VDD 3 (otes 1 and 2) OM 13 LM 18 R1 ZSP 19 R2 TL 6 R3 1 meters (32.81 ft) max. Upper limit setting (ote 5) Malfunction Zero speed detection Torque limit in effect nalog torque command ±8 V/maximum torque (in this wiring diagram, +8 V/maximum torque) nalog speed command ±1 V/maximum rotation speed (in this wiring diagram, +1 V/maximum rotation Optional regeneration unit P15R 11 T 12 LG 1 VL 2 SD PLTE Servo-amp MR-J2- TE1 L11 L21 P TE2 D 1 OM 9 OP 11 PP 3 PG 13 P 2 G 12 SP1 8 SG 1 RD 19 R1 SG 2 1 meters (32.81 ft) max. LZ 5 LZR 15 L 6 LR 16 LB 7 LBR 17 LG 1 OP 14 P15R 4 SD PLTE 2 meters (6.56 ft) max. Upper limit setting 2 meters (6.56 ft) max. U V W PE PE 2 2 P5 12 LG 2 P5 12 LG 18 P5 12 TXD RD 2 RXD SD 1 LG GD 11 LG GD 5 LG RS 15 LG S 5 meters DR (16.41 ft) max. ER (ote 8) 4 MO1 3 LG 14 MO2 13 LG PLTE 2 LG 7 MR 17 MRR 6 MD 16 MDR 9 BT 1 LG PLTE SD 3 SD Type 3 ground or above onnect the blue wire when the cable is 1 to 3 meters (32.81 to ft) long. RS meters (6.56 ft) max. Personal computer running Microsoft Windows Monitor output Maximum: +1m total Double oscillation (+1 V output) 1kΩ 1kΩ D24V 7 P5 7 P5 8 LG 8 LG 1 MR 1 MR 2 MRR 2 MRR 4 MD 4 MD 5 MDR 5 MDR 3 BT 3 BT 9 SHD 9 SHD EMG 6 OT 6 OT U V W E B1 B2 Disconnect 24 Volts during servo off or an alarm. H-MF, H-FF series motor SM Electromagnetic brake (ote 6) Encoder H-SF series motor U U V V B W W SM PE E D PE Type 3 ground or above B1 D24VEMG G B2 H Disconnect 24 Volts during servo off or an alarm. 2 2 P5 12 LG (ote 6) Electromagnetic 2 P5 brake 12 LG 18 P5 2 LG 7 MR 17 MRR 6 MD 16 MDR 9 BT 1 LG PLTE SD S R D B F G M Encoder onnect the blue wire when the cable is 1 to 3 meters (32.81 to ft) long. otes: 1. Do not reverse the diode's direction. onnecting it backwards could cause the amp to malfunction so that signals are not output and emergency stop and other protection circuits are inoperable. 2. Make sure that the sum of current flowing to external relays does not exceed 8 m. If it exceeds 8 m, supply interface power from an external source. 3. lways connect an EMG external emergency stop. (b contact) The unit cannot be operated unless one is connected. 4. Signals with the same name are connected inside. 5. Malfunction (LM) signals are turned on during normal operation when no alarms have been triggered. 6. When using a motor with electromagnetic brake. Polarity of power supply connected to electromagnetic brake's lead (compressed terminals' sleeve is blue) is unimportant. 7. onnect shield wire securely to plate inside the connector (ground plate). 8. lways use a shielded multicore cable; up to a maximum of 15 meters is possible in a good noise environment. 39

41 Interfaces Digital input interface DI-1 Supply signal with a miniature relay or an open collector transistor (TR). 5m TR VES =1.V < IEO < =1 µ VES Servo-amp VDD D24V Vin Vin SO, etc. 4.7kΩ SG Digital output interface DO-1 an drive a lamp, relay, or photocoupler. D24V Servo-amp VDD Vin LM, etc. SG Relay D24V Resister Servo-amp VDD Vin LM, etc. Photo ote: For an induction load install a surge suppressor (D) ; for a lamp load install an incoming current suppression resistor (R). SG R Lamp Pulse train input interface DI-2 Differential mode Open collector mode M26LS31 or equivalent Servo-amp PP,P PG, G SG 1Ω 2 m VES TR VES =1.V < IEO < =1 µ Servo-amp VDD OP PP,P SG 1.2kΩ D24V Encoder pulse train input interface DO-2 Differential mode Open collector mode Servo-amp M26LS31 or equivalent L(LB),(LZ) L M26LS32 or equivalent Output electric current Max.35m Servo-amp LR(LBR),(LZR) LG SD LR LG OP LG SD nalog input interface nalog output interface Speed command (V), torque limit command (TL) Servo-amp D15V P15R 2kΩ Upper limit 1 kω V, etc. LG SD Input impedance approx.1kω Servo-amp Output: ±1 V Full scale Max.1m MO1 (MO2) LG SD 1kΩ Double oscillation: 1 m total 4

42 Safety Features The J2 servo-amp possesses the safety features described below. To protect the unit, when a safety circuit is activated output is suspended by cutting off power to the transistor base. When this happens, the dynamic brake is activated and stops the motor. n alarm number is displayed on the servo-amp or personal computer. fter eliminating the cause, close the reset terminal (RES) or turn off the control power and reset. larm LED display Safety feature name Description.1 Insufficient voltage Is activated when the power supply's voltage falls below a certain level or when a sudden power outage of more than 15 milliseconds occurs..11 Board error 1 Is activated when an error is detected in the printed board..12 Memory error 1 Is activated when an error is detected in the printed board's memory..13 lock error Is activated when an error is detected in the printed board..15 Memory error 2 Is activated when an error is detected in the printed board's memory..16 Encoder error 1 Is activated when a different type of encoder is detected and communication with encoder cannot be performed normally..17 Board error 2 Is activated when an error is detected in a servo-amp board component..18 Board error 3 Is activated when an error is detected in the printed board..2 Encoder error 2 Is activated when an error is detected in the encoder or encoder cable..24 Motor output ground fault ctivates when servo-amp servomotor output produces a ground fault. larm BS data loss Regeneration error Excess speed Is activated when the battery's voltage falls and absolute data is lost. Is activated when an error is detected in the regeneration circuit or when there is an excess load on the regeneration brake resistor due to excess regeneration frequency. Is activated when the motor rotation speed is detected to have exceeded the permissible rotation speed..32 Excess current Is activated when excess current is detected..33 Excess voltage Is activated when excess converter voltage is detected..35 ommand pulse error Is activated when an excess frequency command pulse is input..37 Parameter error Is activated when parameters are detected to be outside the setting range through a parameter check performed when the power is turned on..46 Motor overheat Is activated when activation, due to motor overheating, of the thermal protector inside the encoder is detected..5 Overload 1 Is activated when an overload is detected in the motor or servo-amp..51 Overload 2 Is activated when an overload is detected in the motor or servo-amp..52.8e Excess error RS-232 communications error Is activated when the difference between the input pulse and return pulse is detected to have exceeded 8k pulses when operating in position control mode. Is activated when an error occurs in RS-232 communications..92 Battery disconnection error Is activated when the battery wire connected to the encoder becomes disconnected or when the battery's voltage falls..96 Origin set error Is activated when the origin is not set following the input of a R (clear) signal in an absolute system..9f Battery warning Is activated when the battery's voltage falls..e Excess regeneration warning Is activated when the regeneration resistor's load reaches 85% of the alarm level. Warning.E1.E3 Overload warning BS data counter warning Is activated when the unit reaches 85% of the overload alarm level. Is activated when there is an error in the absolute data counter's backup data..e5 BS time-out warning Is activated when there is a time-out error during the forwarding of absolute data..e6 Servo emergency stop Is activated when an external emergency stop signal has been lifted..e9 Main circuit off warning Is activated when the main circuit's voltage (P-) is below 215 V when the servo on (SO) signal is turned on..e BS servo on warning Is activated when the servo on signal does not go on within 1 second after BS forwarding mode (D13) is turned on System error (watchdog) Is activated when a system error is detected. 41 otes: 1. The state under which regeneration error (alarm 3) and overload 1 and 2 (alarms 5 and 51) were activated is maintained inside the servo-amp after the safety circuit is activated. Memory contents are cleared when the control voltage is turned off, but maintained by turning the RES terminal on. 2. Resetting the unit repeatedly by turning the control power supply off and on after alarms 3, 5, and 51 have been triggered can damage the components through overheating. Resume operation after definitely eliminating the cause of the alarm. 3. When an alarm has been triggered, the details can be output in 3-bit data. This depends on the setting of parameter 5.

43 SERVO MPLIFIERS MELSERVO J2-B For use with the High Speed SS-et Bus. Single Touch onnection with SS-et (High Speed Bus onnection) results in reduced wiring. Monitoring of status, interpolation, synchronous control etc. is simply performed with the SS-et ontroller. 42

44 Peripheral Equipment Peripheral equipment is connected to the MR-J2-B unit as described below. onnectors, cables, options, and other necessary equipment are available so that users can set up the MR-J2-B easily and begin using it right away. Through its SS-ET-compatible one-touch connections, the MELSERVO-J2-B series reduces the number of wires and the chances of wiring errors. ommand unit The SS-ET command unit is shown at left. hoose the unit that fits the size of your system. 171S 273UH Battery compartment battery (MR-BT) is installed in the holder when using as an absolute system. Max. 4-axis control Max. 32-axis control Display panel Displays servo-amp status and alarm numbers. onnector xis setting section Used to perform axis selection. Terminating connector 1B onnector B onnector Motor Motor Motor Motor SS-ET connection (right) 1B onnects to the next servo-amp I connector or a terminating connector. P SS-ET connection (left) 1 onnects to the SS-ET-compatible command unit or previous servo-amp IB. Regeneration unit (option) Install this unit in situations involving frequent regeneration and large load inertias. Disconnect P and D when using this optional unit. harge lamp Goes on when the main circuit power supply is on. Do not plug/unplug power lines when this lamp is on. RS-232 communications unit 3 onnects the unit to user's personal computer, enabling user to monitor conditions, display graphs, and perform test operation. Setup software and dedicated cables are available also. 43

45 Setting and Two-Segment Display Simple operation by setting the axis number with the axis selection switch Simply connect the SS-ET cable in one simple motion o troublesome wiring or setting. The SS-ET-compatible command unit takes care of all the parameter settings, etc. Optional battery ttach the optional battery when using Optional battery } as an absolute system. connecter 2-digit 7-segment display Displays the servo-amp's status and alarms. xis selection switch Set the axis number that corresponds to the controller's axis setting. Switch power on Servo on command from command unit ommand unit power on The command unit's power is switched on Ready on, servo on Waiting for command from command unit (displayed for a brief instant) ormal operation Ready off, servo off Ready on command from command unit Ready on, servo off otes: 1. o b1, 1, d1 of the right-hand segment displays the number (in this example, the first axis). 2. larms are displayed in two-digit figures. umbers in the 9s and figures that start with an "E" are warnings. 44

46 Specifications and Display Messages Servo-amp specifications Servo-amp Power supply Servo-amp model MR-J2- ontrol system Dynamic brake Voltage/frequency (note) Permissible voltage range Permissible frequency fluctuation Speed frequency response Safety features mbient temperature mbient humidity 1B 2B 4B 6B 7B 1B 2B 35B 3-phase 2 to 23V 5/6 Hz 3-phase 17 to 253V ±5% max. Sinusoidal PWM control/current control system Built-in 25Hz min. Excess current shutdown, regeneration excess voltage shutdown, excess load shutdown (electronic thermal), servomotor overheat protection, encoder error protection, regeneration error encoder, insufficient voltage/ sudden power outage protection, excess speed protection, large error protection to 55 (32 to 131 F) (non freezing), storage: 2 to 65 ( 4 to 149 F) (non freezing) 9% RH max. (non condensing), storage: 9% RH max. (non condensing) Environment tmosphere Elevation Inside control panel; no corrosive gas, flammable gas, oil mist, or dust 1 meters or less above sea level Weight Vibration kg (lb) 5.9 m/s 2 (.6G) max..7 (1.5).7 (1.5) 1.1 (2.4) 1.1 (2.4) 1.7 (3.7) 1.7 (3.7) 2. (4.4) 2. (4.4) ote: Rated output capacity and rated rotation speed of the servomotor used in combination with the servo-amp are as indicated when using the power voltage and frequency listed. Output and speed cannot be guaranteed when the power supply's voltage drops. Explanation of display messages The servo's status is displayed on the seven segments on the front of the servo-amp. larm numbers are displayed here also when an alarm has been triggered. Display Description Initializing, waiting for motion controller power to switch on (when motion controller power has been switched off) Initializing, waiting for motion controller power to switch on (when motion controller power is off because the amp's power has been switched on) Initializing, between motion controller and amp begins communicating Initializing, initial parameter reception complete Initialization completed Ready off Initialization completed, Servo off, controller side servo off. Issuing command. Servo on Warning larm PU error Decimal point flashes. Test operation mode ote: #: xis number (1 to 8: xis numbers, : test operation) mp dimensions Same as MR-J2-: Refer to diagram for series. 45

47 Standard Wiring Diagram and Terminal Descriptions Serial bus version (available soon) onfigure a sequence for cutting off the M when an alarm has been triggered or after an emergency stop. FB M Power supply 3-phase 2 V When connecting the optional regeneration unit, always disconnect between P and D. onnecting the optional unit when P and D are connected could damage the servo-amp. Optional regeneration unit Servo-amp MR-J2- B L1 TE1 U L2 V L3 W PE PE L11 L21 2 P TE2 2 P5 12 LG D 1 P5 Type 3 ground or above D24V EMG U V W E B1 B2 Disconnect 24 Volts during servo off or an alarm. H-MF, H-FF series motor SM (ote 4) Electromagnetic brake otes: 1. Keep the total length of the MR-J2HBUS M- and MR-J2HBUS M cables under 3 meters. Use of a cable clamp or data line filter (3-4 connected in a series) near the connector pull to enhance noise resistance is recommended. 2. Motor-side wiring after the second axis has been omitted. 3. Up to 8 axes (n = -7) can be connected. n MR-H-B series servo can be connected to the same bus (however it requires a different cable). 4. When using a motor with an electromagnetic brake, the polarity of the power supply connected to the electromagnetic brake's lead (with a blue crimped-terminal sleeve) does not matter. 5. onnect the shield wire firmly to the plate inside the connector (the grand plate). 6. onnect MR-BT when using as an absolute encoder. 7. Do not reverse the diode's direction. onnecting it backwards could cause the amp to malfunction so that signals are not output. 8. Independent emergency stop on each shaft's servo-amp. Use as necessary. When not using the emergency stop, short circuit between EMG and SG inside the connector. Perform overall system emergency stop on the controller side. ttach the optional battery (MR-BT) when using as an absolute system. onnect the MR-J2HBUS M- cable from the command unit to the 1 connector. (ote 1) MR-J2HBUS M- cable ommand,, unit,, able clamp MR-J2HBUS M cable MR-J2HBUS M cable On the servo-bus terminal, always insert the terminating connector (MR--TM) into 1B. 1 1B 1 1B 1 1B 3 LG 18 P5 7 P5 7 P5 2 LG 8 LG 8 LG 7 MR 1 MR 1 MR 17 MRR 2 MRR 2 MRR 6 MD 4 MD 4 MD Encoder 16 MDR 5 MDR 5 MDR 9 BT 3 BT 3 BT (ote 6) 1 LG 9 SHD 9 SHD PLTE SD 6 OT 6 OT onnect the blue wire when the H-SF, RF series motor cable is 1-3 meters long. U 3 RS-232 U 12 TxD RD V V B 2 RxD SD W SM 1 LG GD W V 11 LG GD PE E D 5 VDD Do not connect RS S Personal when using an PE Type 3 ground or above external power computer DR 5 OM supply. running ER Microsoft B1 Windows G Load D24V EMG 13 MBR (ote 7) H B2 ut off by turning the servo-on Load signal off or by an alarm signal. (ote 4) 2 15 DB 2 P5 Electromagnetic brake 2 EMG 12 LG 3 SG EMG (ote 8) Monitor output 1 P5 5 meters Maximum: +1m total 3 LG (16.41 ft) max. Double oscillation 18 P5 S +1 V output) 4 MO1 2 LG R 7 MR 1 LG 17 MRR D 14 MO2 6 MD (ote 6) Encoder 16 MDR B 11 LG 9 BT F PLTE SD 1 LG G S1 PLTE SD M 2 meters (6.56 ft) max. Servo-amp MR-J2 B (second shaft) S1 1 Servo-amp MR-J2 B (nth shaft) S1 (ote 3) n-1 (ote 2) (ote 2) onnect the blue wire when the cable is 1-3 meters (32.81 to ft) long. Explanation of terminals Terminal block Signal bbreviation Terminal block Description of function/application lternating power supply Motor output Regeneration brake resistor Ground L1, L2, L3 TE1 L11, L21 TE2 U, V, W TE1 P,, D TE2 PE chassis onnect to a 3-phase 2 to 23V 5/6Hz commercial power supply. There are no phase sequence limitations. onnect to a single-phase 2 to 23V 5/6Hz commercial power supply. Supply power from the same source as that for L1, L2, and L3. Turn on before or simultaneously with L1, L2, and L3. Turn off simultaneously with or after L1, L2, and L3. onnect to the U, V, and W terminals of the motor's power supply. The motor will not rotate properly if an error is made in the phase sequence. When using the optional regeneration unit, remove the wires connecting P and D, and connect the optional regeneration unit between P and. Ground with the motor at one point. onnected to the chassis. onnectors Serial bus version (available soon) onnector Signal Description of function/application 1 Bus cable previous axis connection onnector for bus cable previous axis connection. onnect to controller or previous axis servo-amp. 1B Bus cable onnector for bus cable succeeding axis connection. onnect to succeeding axis servo-amp, terminating succeeding axis connection connector, or absolute position maintenance battery unit. 2 3 Encoder signal Serial interface onnect to motor encoder. onnect to personal computer. 46

48 Safety Features The servo-amp possesses the following safety features for complete protection of itself and the servomotor. To protect the unit, when a safety circuit is activated output is suspended by cutting off power to the transistor base. When this happens, the dynamic brake is activated and stops the motor. n alarm number is displayed on the motion controller or servo-amp's LED display. fter eliminating the cause, turn off the control power and reset. When a warning (92 and below) has been triggered operation will not stop. But if the condition is not resolved, an alarm will be triggered. Identify and eliminate the cause immediately. larm code larm LED display 1 Safety feature name Insufficient voltage Memory error 1 lock error Memory error 2 Encoder error 1 Board error 2 Description Is activated when the power supply's voltage falls below a certain level or when a sudden power outage of more than 15 milliseconds occurs. 11 Board error 1 Is activated when an error is detected in the printed board Board error 3 Is activated when an error is detected in the printed board's memory. Is activated when an error is detected in the printed board. Is activated when an error is detected in the printed board's memory. Is activated when an error is detected in the printed board's memory.is activated when a different type of encoder is detected and communication with encoder cannot be performed normally. Is activated when an error is detected in a servo-amp board component. Encoder error 2 Is activated when an error is detected in the encoder or encoder cable. Output side ground fault ctivates when the servo-amp output phases U, V. BS data loss Regeneration error Excess speed Excess current Excess voltage R error ommand pulse error Is activated when an error is detected in the printed board. Is activated when the battery's voltage falls and absolute data is lost. Is activated when an error is detected in the regeneration circuit or when there is an excess load on the regeneration brake resistor due to excess regeneration frequency. Is activated when the motor rotation speed is detected to have exceeded the permissible rotation speed. Is activated when excess current is detected. Is activated when excess converter voltage is detected. Is activated when a communications error is detected in the bus cable (MR-J2BUSMM). Is activated when an excess frequency command pulse is input. 36 Transfer error Is activated when an error is detected in the motion network cable or the printed board. 37 Parameter error Is activated when parameters are detected to be outside the setting range through a parameter check performed when the power is turned on. 46 Motor overheat Is activated when activation, due to motor overheating, of the thermal protector inside the encoder is detected. 5 Overload 1 Is activated when an overload is detected in the motor or servo-amp. 51 Overload 2 Is activated when an overload is detected in the motor or servo-amp Excess error Watchdog Is activated when the difference between the input pulse and return pulse is detected to have exceeded 8 k pulses when operating in position control mode. Is activated when the PU fails. 92 Battery disconnection error Is activated when the battery wire connected to the encoder becomes disconnected (the BS data is not lost). 96 Origin set error Is activated when the origin is not set following the input of a R (clear) signal in an absolute system. E Over regeneration warning Regenerative resistor load has reached 85% of the alarm level. Warning E1 E3 E4 Overload warning BS data counter warning Parameter warning Overload has reached 85% of the alarm level. Error in the absolute encoder pulse. Is activated when the unit reaches 85% of the overload alarm level. E6 Servo emergency stop External emergency stop signal is released. E7 Battery warning Is activated when the battery's voltage falls. E9 Main circuit off warning ctivates when the main circuit voltage (P-) is under 215V with the SERVO O (SO) signal at O. otes: 1. The state under which regeneration error (alarm 3) and overload 1 and 2 (alarms 5 and 51) were activated is maintained inside the controller after the safety circuit is activated. Memory contents are cleared when the control voltage is turned off, but maintained by turning the RES terminal on. 2. Resetting the unit repeatedly by turning the control power supply off and on after alarms 3, 5, and 51 have been triggered can damage the components through overheating. Resume operation after definitely eliminating the cause of the alarm. 47

49 SERVO MPLIFIERS MELSERVO J2- Built-in Single xis mplifier Positioning and speed data can be easily set by parameters so a positioning program is not required. Multidrop operation up to 32 axes is possible with the RS485 (422) interface. 48

50 Peripheral Equipment onnections with peripheral equipment Peripheral equipment is connected to the MR-J2- as described below. onnectors, options, and other necessary equipment are available to allow users to easily setup the J2- and begin using it right away! Power supply: 3-phase 2V o-fuse circuit breaker (FB) Used to protect the power supply line. Battery compartment (option) battery (MR-BT) is installed in the holder when using as an absolute system. ot required when using as an incremental system. Display panel Displays monitoring data, parameters, and alarms. Setting section Parameter settings are performed with push buttons, and monitoring data are displayed. MR-J2 Servo-amp MR-J2- ontrol signal connector ontrol signal Relay terminal board (MR-TB2) Magnetic contactor (M) Used to turn off the servoamp's power when an alarm has been triggered. 1 1B Manual pulse generator (MR-HDP1) External digital display (MR-DP6) R S T 3 RS-232 communications (3; option) onnects the unit to user's personal computer, enabling user to perform monitoring, batch parameter entry and saving, graph display, and test operation. Dedicated cables and setup software are available also. 2 Power factor improvement reactor (FR-BL) X Y Z L1 L2 L3 Type 3 ground or above harge lamp Goes on when the main circuit power supply is on. Do not plug/unplug power lines when this light is on. D U V W L2I 49 LII Regeneration unit (option) Install this unit as necessary in situations involving frequent regeneration and large load completion moments. Disconnect P and D when using this optional unit. ote: When using a single-phase 23V power supply, connect the supply to terminals L1 and L2; level L3 open. P H-MF servomotor and encoder

51 Features With built-in positioning function Features Settings such as positioning data (target positions), motor RPM, and acceleration/deceleration times can be set in a point table with the feel of parameters. You can position using DI/O for simple, programless positioning. llows multi-drop operation (up to 32 axes) using RS-485 serial communications. Highly responsive. The servo motor starts running a maximum of 3 ms after the start signal is input. System configuration Operate by external signal input This configuration diagram illustrates a setup that uses external input and output signals. The personal computer requires software for setting, changing, and monitor display of parameters and point tables. External I/O signals Servo-amp MR-J2-1 1B Personal computer Setup software Operate by serial communications onnect multiple servo amps (up to 32) to a personal computer through an RS-485 connection. External I/O signals Servo-amp (first axis) MR-J2-1 1B RS-232 Personal computer Setup software RS485 Power supply: 3-phase 2-23V or single-phase 23V 2 3 RS-232 Power supply: 3-phase 2-23V or single-phase 23V 2 3 Servomotor RS-232/RS-485 converter (not provided) Servomotor ommunications specifications The RS-485 (RS-232) specifications are as follows. Baud rate: 48, 96, or 192 asynchronous. Transfer code: 1 start bit, 8 data bits, 1 parity bit, 1 stop bit. Transfer protocol: haracter system, half-duplex communication. External I/O signals Servo-amp (second axis) MR-J2-1 1B RS485 Start bit Data bits Parity bit Stop bit Power supply: 3-phase 2-23V or single-phase 23V 2 3 To next axis Servomotor 1 frame Point table Item Setting range Unit Description Target position ~ STM µm Moves the set value. STM is the ratio to the data. Motor (r/min) to permissible r/min Sets the command rpm for the servomotor used for positioning. cceleration time constant ~2 msec Sets the acceleration time constant. Deceleration time constant ~2 msec Sets the deceleration time constant. Dwell time ~2 msec Runs the next point table after the set dwell time. uxiliary function ~1 : Positions and stops (waits for start signal). 1: ontinues operation for the next positioning block without stopping. Sample data settings uxiliary function 1 Point o. 1 2 : Target position 1 2 : Motor (r/min) 2 16 : cceleration time constant 2 5 : Deceleration time constant 2 6 : Dwell time : uxiliary functions 1 : Speed Start signal uxiliary function Positioning block 1 Positioning block ote: Set the auxiliary function for point o.1 to 1 to get auxiliary function 1 as shown in the figure below. Set the auxiliary function for point o.1 to to get auxiliary function as shown in the figure below, which requires a start signal. 11 Speed Start signal Positioning block 1 Positioning block 2 5

52 Servo-amp Specifications Servo-amp Servo-amp model MR-J phase 2-23V at 5/6Hz or Voltage/requency 3-phase 2-23V at 5/6Hz single-phase 23V at 5/6Hz (note 3) Power supply ontrol method Dynamic brake Protection functions Permissible voltage fluctuation Permissible frequency fluctuation Speed frequency response ommand method Operating mode Other functions Structure Environment Input point table number Input position data utomatic operation mode Manual operation mode Manual homing mode mbient temperature mbient humidity tmosphere Maximum altitude Maximum vibration Operating specification Input positioning command Input speed command System Operating specification Input positioning command Input speed command System Point table utomatic continuous operation JOG Manual pulse generator Dog system (find rear end) ount system (find front end) Data set system Impact system Ignore origin (SO position origin) 3-phase 2-23V: at 5/6Hz Single-phase 23V: at 5/6Hz ±5% max. 3-phase V at 5/6Hz Sine wave PWM control and current control methods Built-in (note 2) Overcurrent breaking, regenerative overvoltage breaking, overload breaking (electronic thermal), servo motor overheating protection, sensor malfunction protection, regenerative malfunction protection, insufficient voltage, power outage protection, overspeed protection, protection against exceeding tolerances. 25Hz min. Positions according to the specification of the point table o. (15 points. Three points set when shipped.) Set in point table. Feed for 1 point settable between ±1µm and ± mm. Set in point table. cceleration/deceleration time set in point table. S-curve acceleration/deceleration constant set by parameter 14. Signed absolute value commands, increment value commands. Positioning by RS-485 (RS-232) communications data. Positioning by RS-485 (RS-232) communications. Feed for 1 point settable between ±1µm and ± mm. Positioning by RS-485 (RS-232) communications. cceleration/deceleration time also set by RS-485 (RS-232) communications. S-curve acceleration/deceleration constant set by parameter 14. Signed absolute value commands, increment value commands. Point table number input and position data input system. Each positioning operation based on position and speed commands. Speed changing operation (2 speeds to 15 speeds), automatic continuous positioning operation (2 to 15 points) Inches upon contact input or RS-485 (RS-232) communications based on speed commands set by parameter. Manual feed by manual pulse generator. ommand pulse ratio: Use parameter to select 1, 1, or 1. Returns to origin upon Z phase pulse after passing through near-point dog. Settable origin address, settable origin shift, and selectable direction for return to origin. utomatic retreat on dog back to origin and automatic stroke retreat function. Returns to origin upon sensor pulse count after touching near-point dog. Settable origin address, settable origin shift, and selectable direction for return to origin. utomatic retreat on dog back to origin and automatic stroke retreat function. Returns to origin without dog. Set any position as the origin using manual operation or the like. Settable origin address. Returns to origin upon hitting end of stroke. Settable origin address. Selectable direction for return to origin. Uses position where SO signal becomes O as origin. Settable origin address. bsolute position detection and backlash compensation. Overtravel prevented by external limit switch. Software stroke limit and override via external analog. Open (IP) to 55 (non freezing). Storage 2 to 65 (non freezing) 9% RH max. (non condensing). Storage 9% RH max. (non condensing) o corrosive gases, combustible gases, oil mist, or dust within control panel. 1 meters or less above sea level. 5.9 m/s 2 [.6G] max. Weight kg (lb).7 (1.5).7 (1.5) 1.1 (2.4) 1.1 (2.4) 1.7 (3.7) 1.7 (3.7) 2. (4.4) 2. (4.4) otes: 1. The rated output capacity and rated RPM of the servomotor when assembled is for the stated supply voltage and frequency. o guarantees are made for lowered supply voltages. 2. Models without dynamic brakes (MR-J2-MMD) can also be handled using special specifications. 3. The torque characteristics when combined with a servomotor are for single phase 23V. 51

53 Standard Wiring Diagram Sample connections for MR-J2- Power supply: 3-phase 2-23V or single-phase 23V (ote 1) onfigure a sequence for cutting off the M when an alarm has been triggered or after an emergency stop. M Servo-amp MR-J2- L1 L2 L3 TE1 U V W U V W (ote 8) Servomotor SM Optional regeneration unit When connecting the optional regeneration unit, always disconnect between P and D. onnecting the optional unit when P and D are connected could damage the servo-amp. L11 L21 TE2 D P (ote 1) Forced stop (ote 3) Break by turning the servo-on signal OFF or generating an alarm. B1 B2 Electromagnetic brake Return to origin complete ear-point dog 1 meters (32.81 ft max.) R1 (ote 4) 1 OM 9 ZP 18 DOG 8 SG 1 SG 2 (ote 4) 2 Encoder cable (optional equipment or made to order) Encoder (ote 4) 3 ommunication cable (optional equipment or made to order) Personal computer running Microsoft Windows Servo on End of forward stroke (ote 6) End of reverse stroke (ote 6) Select auto or manual Point table o. select 1 Point table o. select 2 Start forward Start reverse Do not connect if using an external power supply Phase match Positioning complete Failure (ote 7) Preparations complete Override (ote 11) 1 meters (32.81 ft ) max. (ote 4) 1B SO 15 LSP 16 LS 17 MD 7 DI 5 DI1 14 ST1 8 ST2 9 SG 1 SG 2 (otes 2 and 5) R2 R3 R4 R5 Upper limit setting VDD 3 OM 13 PO 4 IP 6 LM 18 RD 19 P15R 11 V 2 LG 1 (ote 4) 3 4 MO1 3 LG 14 MO2 13 LG PLTE SD Monitor output 1 1kΩ Monitor output 2 1kΩ External torque limiter (ote 12) (ote 1) 2 meters (6.56 ft max.) TL 12 SD PLTE otes: 1. lways connect the servo-amp protection ground (PE) (for preventing shocks) to the control board's protection ground (PE). 2. Make sure you have the correct diode orientation. onnecting it backwards will damage the servo-amp, prevent output of signals, and prevent protection circuits such as forced stops from operating. 3. lways install a forced stop switch. 4. 1, 1B, 2 and 3 are all the same shape. onnecting them wrong can cause damage. See the MELSERVO-J2- Servo-mp Technical Documents ollection for details. 5. Keep the sum total of current flowing through the external relays to 8 m or less. To exceed 8 m you must supply an external power supply for the interface. 6. During operation, be sure to short the forward and reverse stroke ends (LS and LSP) to SG. 7. Make LM conductive to OM during normal operation with no alarm. 8. onnection methods differ in different servomotor series. See the MELSERVO-J2- Servo-mp Technical Documents ollection for details. 9. onnect signals of the same name within the servo-amp. 1. When using a single-phase 23 V power supply, connect the supply to terminals L1 and L2; leave L3 open. 11. If using an override (V), make it so an override selection (OVR) device can be used. 12. If using a torque limiter (TL), make it so an external torque limit selector (TL) device and an internal torque limit selector (TL2) device can be used 52

54 Options Options ables and connectors (MR-J2- series) able and connector options are shown in the diagram below. Positioning unit 5 1 1B Operation panel TE2 1 2 Servomotor able supplied with motor.3 meter ables and connectors 3 4 ote: H-SF motors do not come with cables. See the motor diagram. Item Model Description 1 Encoder cable for use with H-MF, UF3r/min and H-FF series motors MR-JBL M-H (note 1, 3) MR-JBL M-L (note 1,3) mp-side connector (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) Junction connector (made by MP) (black connector housing) Encoder Select one for use with Encoder cable for use with H-SF series motors and H-RF, UF2r/min Encoder connector set for use with H-MF and H-FF series motors, H-UF3r/min MR-JHSBL M-H (note 3) MR-JHSBL M-L (note 3) MR-J2M mp-side connector (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) mp-side connector (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) Junction connector (made by Japan viation Electronics Industry) MS (cable clamp) MS316B2-29S (straight plug) Encoder Junction connector (made by MP) (black connector housing) (connector pin) (note 2) 4 Encoder connector set for use with H-SF series motors and H-RF, H-UF2r/min MR-J2S mp-side connector (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) Junction connector (made by Japan viation Electronics Industry) MS (cable clamp) MS316B2-29S (straight plug) Select one for use with connector Junction terminal block cable MR-J2I MR-J2TBL M (note 3) Junction terminal block-side connector HIF3B-2D-2.54R (connector) mp-side connector (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) mp-side connector (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) For use with P98 communications cable DOS/V communications cable MR-P98BL3M MR-PTBL3M onnector for optional RS-232 unit (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) onnector for optional RS-232 unit (made by 3M, or an equivalent product) 112-3VE (connector) F-8 (shell kit) onnector to P98 series personal computer GM-25LM (made by Honda Tsushin) onnector to DOS/V personal computer GM-9LM (made by Honda Tsushin) 9 Junction terminal block MR-TB2 53 otes: 1. -H and -L indicate bending life. -H products have a long bending life. 2. MP (white) can also be used for the connector housing. 3. Enter 5 or 1 in box for cable length in meters.

55 Options Options ables and connectors (for the H-SF, RF and UF series) ll of these connectors satisfy IP65 and E standards. 1 1B List of cables and connectors (for the H-SF, RF and UF series) ll of these connectors satisfy IP65 and E standards. 1 2 Item Model Details Servomotor pairing onnector set for power source MR-PWS1 (straight model) MR-PWS2 (straight model) Plug (made by DDK) E SD-B-BSS Plug (made by DDK) E SD-B-BSS able clamp (straight, made by DDK) E (D265) able clamp (straight, made by DDK) E (D265) H-SF52, 12, 152 H-RF13, 153, 23 H-SF22, onnector set for electromagnetic brake MR-BK (straight model) Plug (made by DDK) MS3161SL-4S (D19) able connector (straight, made by [Daiwa Dengyo]) YOS1-5-8 H-SF22, Encoder cable (note) MR-EBMM-H M=cable length: 2, 5, 1, 2, 3m Plug (made by DDK) MS S (D19) able clamp (made by DDK) E (D265) Backshell (made by DDK) E2-2BS-S onnect for amp (3M or similar product) 112-3VF (connector) F-8 (shell kit) H-SF, RF and UF series Plug (made by DDK) MS3161SL-4S (D19) Backshell (made by DDK) E2-2BS-S 5 Encoder cable (note) MR-ES onnect for amp (3M or similar product) 112-3VF (connector) F-8 (shell kit) Straight cable clamp (made by DDK) E (D265) H-SF, RF and UF series ote: The encoder cable is not oil-resistant. Ordering information for customers Servomotor power connectors The motors are not provided with power connectors. Please order options from us, or choose from among the following recommended products. To order the following recommended products, customers should contact the relevant manufacturer directly. Straight connector Right-angle connector 2 able 2 able 1 Plug clamp able 1 Plug clamp able Motor model H-SF52, 12, 152 H-RF13, 153, 23 H-SF22, 352 pplication Satisfy IP65, E standards ormal environment Satisfy IP65, E standards ormal environment Plug (made by DDK) 2 able clamp (made by DDK) 1 Type Model able diameter Model Straight connector E SD-B-BSS 9.5~13 E (D265) 12.5~16 E (D265) Right-angle connector E SD-B-BSS 9.5~13 E (D265) 12.5~16 E (D265) Straight connector MS316B22-23S 15.9 MS Right-angle connector MS318B22-23S (Inner diameter of bushing) MS Straight connector E SD-B-BS 13~15.5 E (D265) 15~19.1 E (D265) Right-angle connector E SD-B-BS 13~15.5 E (D265) 15~19.1 E (D265) Straight connector MS316B24-1S 15.9 & 19.1 MS Right-angle connector MS318B24-1S (Inner diameter of bushing) MS Encoder connectors The motors are not provided with encoder connectors. Please order options from us, or choose from among the following recommended products. To order the following recommended products, customers should contact the relevant manufacturer directly. Straight connector 3 able 1 Plug clamp able Right-angle connector 3 able 2 Plug clamp able Motor model H-SF series H-RF series pplication Satisfy IP65, E standards 1 Plug (made by DDK) MS S (D19) 2 Backshell (made by DDK) Type Model Straight connector E2-2BS-S Right-angled connector E-2B-S 3 able clamp (made by DDK) able diameter Model E Backshell 1 Plug Straight connector Right-angle connector 2 able 2 able 1 Plug clamp able 1 Plug clamp able Motor model H-SF series H-RF series pplication ormal environment 1 Plug (made by DDK) 2 able clamp (made by DDK) Type Model able diameter Model Straight connector MS316B2-29S 15.9 (Inner diameter of bushing) MS Right-angled connector MS318B2-29S Electromagnetic brake connectors The motors are not provided with electromagnetic brake connectors. Please order options from us, or choose from among the following recommended products. To order the following recommended products, customers should contact the relevant manufacturer directly. Straight connector 2 able 1 Plug clamp able 1 Plug Right-angle connector 2 able connector able Motor model H-SF22, 352 pplication Satisfy IP65, E standards 1 Plug (made by DDK) Model MS3161SL-4S (D19) Type Straight connecto Right-angled connector 2 able clamp (made by DDK) able diameter Model 4~8 S-8RL-MS1F 8~12 S-12RL-MS1F 5~8.3 YSO1-5~8 4~8-8RL-MS1F 8~12-12RL-MS1F 5~8.3 YLO1-5~8 Manufacturer ippon Flex Daiwa Dengyo ippon Flex Daiwa Dengyo Straight connector 2 able 1 Plug clamp able (made by (made Motor model pplication 1 Plug Type DDK) Model 2 able clamp able diameter by DDK) Model H-SF22,352 ormal environment Straight connector MS3161SL-4S 5.6 (Inner diameter of bushing) MS

56 Options and Peripheral Equipment Battery (MR-BT) The servomotor's absolute value can be maintained by installing a battery in the servo-amp. There is no need to install the battery when using the servomotor in incremental mode. ote: 6BT can be used also. Power factor enhancing reactor (FR-BL) This reactor enables users to boost the servo-amp's power factor and reduce its power capacity. It can also be used, when it is connected directly under the power transformer (5 kv or above, wire length of 1 meters or less), to suppress current surges that occur when the power is turned on. Junction terminal block (MR-TB2) ll signals can be wired to this junction terminal block without a connection to 1. External dimensions External dimensions Unit: mm (inch) E R X S Y T D Z B Mounting hole (F mounting screws) 6 (2.36) 5 (1.97) 4.5 (.18) 5 (.2) 2-ø4.5 (.18) (.69) Terminal block Spec number Product number 4 (.16) (.2) (.32) (.7) (.2) 17 (4.21) 117 (4.61) 126 (4.96) <onnection> Power supply: 1-phase 2~23V FB M FR-BL R X S Y T Z Servo-amp MR-J2-M/B/ L1 L2 L3 4.5 (1.54) 11 (.43) 7 (.28) ompatible wire: 2 mm 2 max. (compressed terminal width: 8.1 mm max.) Terminal block screw size :M3.5 Power supply: 1-phase 1~15V FB M FR-BL R X S Y T Z Servo-amp MR-J2-M1 L1 L2 L3 Dimensions Model B D E FR-BL-.4K 135 (5.31) 64 (2.51) 12 (4.72) 12 (4.72) 45 (1.77) FR-BL-.75K 135 (5.31) 74 (2.91) 12 (4.72) 12 (4.72) 57 (2.24) FR-BL-1.5K FR-BL-2.2K FR-BL-3.7K FR-BL-7.5K 16 (6.3) 76 (2.99) 145 (5.71) 145 (5.71) 55 (2.17) 16 (6.3) 96 (3.78) 145 (5.71) 145 (5.71) 75 (2.95) 22 (8.66) 95 (3.74) 2 (7.87) 2 (7.87) 7 (2.76) 22 (8.66) 125 (4.92) 25 (8.7) 2 (7.87) 1 (3.94) F M4 M4 M4 M4 M5 M5 Unit: mm (inch) Weight (kg (lb)) 2 (4.4) 2 (4.4) 4 (8.8) 6 (13.2) 8.5 (18.7) 14.5 (32.) 55

57 Options and Peripheral Equipment Optional regeneration unit 79 (3.11) Unit: mm (inch) 4 (1.57) 2 (.79) MR-RB12 G3 G4 P 6 (.24) 6 (.24) 156 (6.14) TE1 φ 6 mounting hole 168 (6.61) 6 (.24) Terminals for wiring TE1 G3 G4 P 12 (.47) 144 (5.67) 12 (.47) 4.2 (.17) 19 (.75) Weight Type 3.2 (.13) 1.6 (.6) MR-RB MR-RB12 Weight (kg) 15 (5.9) Weight (lb) 6 (.24) 3 (1.18) 15 (.59) MR-RB12 TE1 G3 G4 P 6(.236) 156 (6.14) 6 (.24) TE1 168 (6.61) Terminals for wiring Selection of peripheral equipment G3 G4 P φ 6 mounting hole 12 (.47) 12 (.47) 144 (5.67) 4.2 (.17) 19 (.75) Weight Type MR-RB32 MR-RB (.13) 1.6 (.6) Weight (kg) Electric wires, no-fuse circuit breakers, magnetic contactors 1 (3.94) Weight (lb) 7 (.28) 3.2 (.13) 1 (.39) 9 (3.54) 318 (12.52) 17 (.67) 1 (3.94) 2.3 (.9) 7 (.28) 2 (7.87) MR-RB32, MR-RB3 7x14 long hole 1 (.39) 17 (.67) 35 (13.78) 325 (12.8) MR-RB5 15 (5.91) 125 (4.92) 12 (.47) 11.6 (.46) 128 (5.4) Weight (kg) Weight (lb) MR-RB MR-RB Optional regeneration unit Internal Servo-amp regeneration MR-RB32 MR-RB12 MR-RB32 MR-RB3 MR-RB5 Resistance resistance value MR-J2-1/I/B MR-J2-2/I/B MR-J2-4/B MR-J2-6/B MR-J2-7/B MR-J2-1/B MR-J2-2/B MR-J2-35/B one 1W 1W 1W 2W 2W 1W 1W 3W 3W 3W 3W 3W 3W 1W 1W 1W 1W 1W 3W 3W 3W 3W 5W 5W otes: 1. When using the regeneration resistance option, be sure to disconnect the servo-amp's built-in regeneration resis (short-circuit wiring between Pand D) 2. Permissible watts in table differ from rated watts for regeneration resistance. Type Type Weight (kg) Weight (lb) MR-RB Servo-amp o-fuse circuit breaker Magnetic contactor otes: 1. ssuming use of a 6V polyvinyl chloride insulated wire, with wires in table having a length of 3 meters. 2. When connecting to servomotor H-RF23 use a 3.5mm 2 electric wire. Electric wire size (mm 2 ) L1, L2, L3 U, V, W L11, L21 P,, D Power factor enhancing reactor MR-J2-1/1/B/ 5 F-3 S FR-BL-.4K MR-J2-2/B/ 5 F-3 S FR-BL-.4K MR-J2-4/B/21/ 1 F-3 S FR-BL-.75K MR-J2-6/B/41/ 15 F-3 S FR-BL-1.5K MR-J2-7/B/ 15 F-3 S FR-BL-1.5K MR-J2-1/B/ 15 F-3 S FR-BL-2.2K MR-J2-2/B/ 2 F-3 S FR-BL-3.7K MR-J2-35/B/ 3 F-3 S (3.5 ote 2 ) FR-BL-7.5K Surge suppressor ttach surge suppressors to the servo-amp and signal cable's relays, valves, and power supply brake. ttach diodes to the D relays and D valves. Sample configuration Surge suppressor: (rated 2V, made by Matsuo Denki) Diode: diode with resisting pressure 4 or more times greater than the relay's drive voltage/current, and 2 or more times greater than the current. Data line filter ttaching a data line filter to the pulse output cable or motor encoder cable of the pulse train command unit (D75, etc.) is effective in preventing noise penetration. Sample configuration Data line filter: ESD-SR-25 (made by Tokin), ZT (made by TDK) Line noise filter FR-BSF1 Effective in suppressing radio noise emitted from the servoamp's power supply side or output side and high-frequency current leakage (zero-phase current). Especially effective in the.5 MHz to 5 MHz band. The greater the number of coils, the more effective this filter is (.89) External dimensions 11 (4.33) 95 (3.74) 65 (2.56) φ 33(1.299) 2-φ 5 (.2) 4.5 (.18) 65 (2.56) Unit: mm (inch) Power supply FB Line noise filter onnections The servo-amp's input-side cable is wound three or more times in the same direction jointly for each phase. When winding the output-side cable, do not wind more than three times. When the cable is too thick to wind three times, use two or more filters in a row and reduce the number of winds proportionately. Servo-amp L1 L2 L3 56

58 POWER REDY-x REDFY-y ETER-x ETER-y BTTY-v PU-E STOP DOG PRO FP RP LR ER SG OM1 OM2 OM3 E G I K X X2 L B D F H J L X1 X3 POWER REDY PU-E ETER-x ETER-x MITSUBISHI 5V+ 5V- V M O OM6 Y Y2 Y4 PO Y 5V+ 5V- 2 MO OM5 MO OM5 OM7 Y1 Y3 Y5 X X1 X3 X4 X5 X6 X7 X8 V V1 V2 V3 V4 V5 V6 V7 B D E F G H x B D E F G H y POWER I J K L M MEU x I J K L M SUB y E I X B F J X1 G K X2 D H L X3 M Y1 T4 O Y2 T5 Y3 T6 P Y4 RS-422 X2 X1 X2 X3 MODE X1 X3 X1 X2 X3 X1 X2 1SD75P3 MODE RS-422 X3 ommand Unit The following positioning controllers are available for the MR-J2- series servo-amps. hoose the unit that best fits your operating objectives and system size. ame Specification/application overview External dimensions MELSE-, MELSE- Qn series compatible D75P 1SD75P ll of the units have been made more compact: 1 slot for 1 to 3 axes. nd they are compatible with the and Qn series PL's. high-precision, highly functional positioning unit that uses a 32-bit RIS chip. D75P positioning unit 4.2 (.17) 111 (4.37) ISO75P3 2 (.8) Model D75P1 D75P2 D75P3 Item 1SD75P1 1SD75P2 1SD75P3 Print board 25 (9.84) umber of control axes 1 2 simultaneous 3 simultaneous 2 independent 3 independent D75P 1SD75P Interpolation functions one 2-axes linear interpolation 2-axes linear interpolation 2-axes circular interpolation 2-axes circular interpolation ontrol mode PTP control, locus control, speed control, speed position control ommand mode Incremental, absolute Maximum number of output pulses ± Maximum pulse frequency Differential output: 4 kpps, open collector: 2 kpps Positioning pattern 6 patterns/shaft (1 patterns from ladder) Input/output duty points 32 cceleration/deceleration patterns 4, automatic trapezoid, S-acceleration/deceleration 4.2 (.17) 18 (4.25) Print board 3 (.12) 37.5 (1.48) 1SD75P positioning unit 1SD75P3 13 (5.12) 6.5 (.26) 93.6 (3.67) 2.3 (.9) 34.5 (1.36) Unit: mm (inch) MELSE-F series-compatible 2-axis positioning units FX-2GM E-2GM FX-2GM Users can choose either the FX-2GM alone or coupled with an FX PL. This units offer a broad range of uses, from interpolation operation to high-frequency feed operation. Model Item umber of control axes Interpolation functions ompatible PL ommand mode bsolute position encoder Maximum number of output pulses Maximum pulse frequency Program memory FX-2GM / E-2GM (language-equipped model) 2 simultaneous, 2 independent Linear interpolation, circular interpolation Stand-alone use Incremental, absolute an be used with MR-H model servo with BS function ±2,147,483,648 Open collector: 2 kpps, during interpolation operation: 1 kpps Built-in 7.8 k step RM FX-2GM/E-2GM 2-axis positioning unit MITSUBISHI MELSERV FX-2GM M35 Screw 1 (3.94) 11 (4.33) 125 (4.92) 14 (5.51) 4-φ5.5 (.22) mounting holes 95 (3.74) 35mm (1.38) width DI rail mounting groove 1 (.39) Unit: mm (inch) E-2GM MELSE-F series-compatible 1-axis positioning units FX-1PG FX-1GM FX-1PG 1-axis pulse output block The FX-1PG can be expanded for up to 8 axis, is available as FX-sequencer special-unit blocks. The units can be used for simple positioning applications. Model Item FX-1PG / FX-1GM umber of control axes 1 ompatible sequencer Stand-alone use, FX2/FX2 FX2/FX2 series ommand mode Incremental, absolute Maximum number of output pulses ±2,147,483,648 Maximum pulse frequency Open collector: 1 kpps Program memory ommunication with PL FX-1PG 1-axis pulse output block 2-φ5.5 FX-1PG 35(1.38) 45(1.77) 125 (4.92) 14 (5.51) 95(3.74) 35mm (1.38) width DI rail mounting groove 1 (.39) FX-1GM 1-axis positionning units M3.5 terminal Screw 4-φ5.5 (.22) mounting holes MELSERV FX-1GM 125 (4.92) 14 (5.51) 35mm (1.38) width DI rail mounting groove FX-1GM pulse output block unit 15 (5.9) 1 (.39) 16 (6.3) 95 (3.74) Unit: mm (inch) 57

59 RS-422 X2 X1 X2 X3 MODE X1 X3 X1 X2 X3 X1 X2 1SD75P3 MODE RS-422 X3 ommand Unit The following servo-system controllers (SS) are available for the MR-J2-B series servo-amps. hoose the unit that best fits your operating objectives and system size. ame Specification/application overview External dimensions 171SH/172SH Motion controller 273UH Motion controller ombination of a servo-controller with the MELSE- high-performance all-purpose PL allows motion and sequence control with one single controller. This previously required two separate controllers. Four software packages are available for different applications. onveyor and assembly software (SV13) utomated unit software (SV22, MP) Machine tool peripheral software (SV43) Dedicated robot software (SV51) Model Item 171SH 172SH 273UH umber of control axis Interpolation functions Linear interpolation (max. 4-axes) / ircular interpolation (2-axes) PTP control, speed control, synchronous control, ontrol mode fixed distance feed speed & position control, P control, speed switch control cceleration/deceleration pattern utomatic trapezoid, S-acceleration / deceleration Maximum inputs & outputs Servo-amp External External (max. 22kW) Internal (max. 6W) Basic base Basic base 2 (7.87) 22 (8.66) 46 (18.11) 48 (18.9) 11 (4.33) 4-mounting screws 13 (5.12) 4.1 (.16) (M5 25) 93.6 (3.69) 16.4 (.65) 11 (4.33) 4-φ6 (.24) mounting holes (M5 mounting screws) 2 (7.87) 25 (8.66) 16 (6.3) 3 (1.18) 16 (4.17) (5.71) (.35) Unit: mm (inch) D75M 1SD75M ll of the units have been made more compact: 1 slot for 1 to 3 axes. nd they are compatible with the and Qn series PL's. high-precision, highly functional positioning unit that uses a 32-bit RIS chip. D75M positioning unit 4.2 (.17) 111 (4.37) ISO75P3 2 (.8) Model D75M1 D75M2 D75M3 Item 1SD75M1 1SD75M2 1SD75M3 Print board 25 (9.84) umber of control axes 1 2 simultaneous 3 simultaneous 2 independent 3 independent D75M 1SD75M Interpolation functions one 2-axes linear interpolation 2-axes linear interpolation 2-axes circular interpolation 2-axes circular interpolation ontrol mode PTP control, locus control, speed control, speed position control ommand mode Incremental, absolute Maximum number of output pulses ± Positioning pattern 6 patterns/shaft (1 patterns from ladder) Input/output duty points 32 cceleration/deceleration patterns 4, automatic trapezoid, S-acceleration/deceleration 4.2 (.17) 18 (4.25) Print board 3 (.12) 37.5 (1.48) 1SD75M positioning unit 1SD75P3 13 (5.12) 6.5 (.26) 93.6 (3.67) 2.3 (.9) 34.5 (1.36) Unit: mm (inch) 58

60 Using Personal omputers apacity selection software MRZJW3-MOTSZMM user-friendly design facilitates selection of the optimum servo-amp, servomotor (including brake and decelerator), and optional regenerative devices when you enter constants into machine-specific screens. Features (1) Windows 3.1 and Windows 95 (note 1) ompatible Works on computers running Windows 3.1 or Windows 95. Requires at least 4 MB of memory and 1 MB of hard disk space. (2) Provides numerous structural options. Handles ball screws, rack and pinions, roll feeds, rotating tables, dollies, elevators, conveyors, and other (direct inertial input) devices. (3) Easy to convert units. It s easy to calculate and convert in SI, MKS mass, and inch/pound units. Specifications Parameter Types of structural machine elements Parameters Output of results Printing Data storage Inertial moment calculation function Description ine types: Horizontal ball screws, vertical ball screws, rack and pinions, roll feeds, rotating tables, dollies, elevators, conveyors, and other (direct inertial input) devices. Selected servo-amp name, selected servomotor name, selected regenerative resistor name, load inertial moment, load inertial moment ratio, peak torque ratio, effective torque, effective torque ratio, regenerative power, and regenerative power ratio. Prints the input parameters, calculation process, and selected results. Gives the input parameters a file name and saves them to a floppy. Five types: centrifugal cylinder, off-axis square shaft, linear motion, hanging, and decelerator. otes: 1. Windows is a registered trademark of the Microsoft orporation. 2. This software may not run correctly on all personal computers. 3. The MRZJW3-MOTSZ41 capacity selection software does not work for MR-J2-. It will after the next upgrade. Version 41 will work with H-MF, H-FF, H-SF, UF 2 r/min, and H-RF series motors. 59

61 Using Personal omputers Setup Software MRZJW3-SETUPMM This software makes it easy to do monitor display, diagnosis, reading and writing of parameters, and test operations from the setup using a personal computer. Features (1) Windows 3.1 and Windows 95 (note 1) ompatible Works on computers running Windows 3.1 or Windows 95. an be setup using a personal computer instead of the parameter unit. Requires at least 4 MB of memory and 1 MB of hard disk space. Uses a serial port. (2) Provides numerous monitor functions. Provides graph display function that enables display of servomotor status upon input signal triggers such as command pulses, accumulated pulses, and r/min. (3) Run Tests from a Personal omputer llows servo motors to be tested easily from a personal computer. Specifications (Items in parentheses do not work with the MR-J2) Specifications (Items in parentheses do not work with the MR-J2) Parameter Monitors Description Batch display, fast display, and graph display. larms larm display, alarm history, display of data that generated alarm, and (pre-alarm graph display). Diagnosis DI/DO display, display of reason motor is not running, (display of recovery time), display of cumulative time power is on, switch number display, tuning data display, BS data display, and automatic V offset display. (note 2) Parameters Data setting, list displays, display of change lists, display of detailed information, (feed system selection), and device setting. (note 3) Test operations JOG operation, positioning operation, operation without motor, forced DO output, program operation using simple language, and (one-step feed (note 3) ). Point data (note 3) (Position/speed block data batch display, data setting, teaching), and point table. (note 3) File operation Data reading, storage, and printing. Other utomatic operation and help display. otes: 1. Windows is a registered trademark of the Microsoft orporation. 2. utomatic V offset display works only with the MR-J2- series. 3. MR-J2- compatible. 4. This software may not run correctly on some Ps. 6

62 autions oncerning Use To ensure safe use To ensure the safe and proper use of the product, we ask that you read the instruction manual prior to its use. These products are not designed or manufactured for use in machinery and systems where people s safety is at stake. When considering the product for use in such special applications as equipment or systems employed in passenger transportation, medicine, aerospace, nuclear power generation, or underwater relays, please contact our sales representative. This product has been manufactured to the most rigorous quality standards. However, we ask that you employ safety devices when using the product in equipment in which any failure on its part can be expected to cause a serious accident or loss. autions concerning use Transport and installation of motor Protect the motor from impact during handling. When installing pulleys and couplings, do not hammer on the shaft. Impact can damage the encoder. Use a pulley extractor when taking off the pulley. Installation void installation in an environment in which oil mist, dust, etc. are in the air. When using in such an environment, enclose the servo-amp in an airtight panel. Protect the motor by furnishing a cover for it or taking similar measures. Mount the amp vertically on a wall. When installing multiple amps inside an airtight panel, leave at least 1 millimeters between amps. Leave at least 4 millimeters of space above and below the amp. When installing multiple amps, leave 1 millimeters of space or install a fan to ensure that heat is not trapped inside the panel. 1 (.39) 4 (1.57) 4 (1.57) Unit: mm (inch) While installing a single motor, the motor can be installed horizontally or vertically. When installing vertical (upside the shaft) take measures on the machine side to ensure that oil from the gear box does not get into the motor. The optional regeneration unit becomes hot (temperature rise of 1 or more) with frequent use. Do not install within flammable objects or objects subject to thermal deformation. Take care to ensure that electric wires do not come into contact with the main unit. Wiring power supply to the amp s output terminal (U, V, W) will damage the amp. Before switching the power on, perform thorough wiring and sequence checks to ensure that there are no wiring errors, etc. onnecting wall out-let onto the motor's input terminal (U, V, W) will burn out the motor. onnect the motor to the amp s output terminal (U, V, W). Match the phase of the motor input terminal (U, V, W) to the output terminal (U, V, W) before connecting. If they are not the same, motor control cannot be performed. In position control mode, connect the stroke end signal (LSP, LS) to the common terminal (SG). If it is not connected, the motor will not rotate. Factory settings ll possible motor and amp combinations are predetermined. onfirm the model of the motor and amp to be used before installation. Position, speed, and torque control modes are selected with parameter. The factory setting is position control mode. For speed operation, change this setting. When using the optional regeneration unit, change parameter. The factory setting is for no optional regeneration unit. Therefore, if this parameter is not changed, the unit's capacity will not be increased. Operation When a magnetic contactor (M) is installed on the amp s primary side, do not perform frequent starts and stops with the M. Doing so could cause the amp to fail. When an error occurs, the amp's safety features are activated, halting output, and the dynamic brake instantly stops the motor. If free run is required, contact Mitsubishi about solutions involving servo-amps where the dynamic brake is not activated. When using a motor with an electromagnetic brake, do not apply the brake when the servo is on. Doing so could cause an amp overload or shorten brake life. pply the brake when the servo is off. autions concerning model selection Select a motor with a rated torque above the continuous effective load torque. Design the operation pattern so that positioning can be completed, taking into account the setting time (ts). Speed ommand time Positioning time ommand pattern Use the unit with the load s inertia set below the recommended load/inertia ratio of the motor being used. If it is too large, desired performance may not be attainable. ts Motor rotation Time 61

63 Example of Selection Example of selection Servomotor Servo-amp Gear ratio 5:8 V Speed of moving parts during fast forward: V=3mm/min DB = Ball screw diameter: 2 mm (.78 inch) Feed per pulse: R=.5mm (.2 inch) LB = Ball screw length: 5 mm (19.69 inch) Feed per rotation: R=4mm (15.75 inch) DG1 = Gear diameter (motor axis): 25 mm (.98 inch) Positioning time: t =.9 sec or less DG2 = Gear diameter (load axis): 4 mm (1.57 inch) umber of feeds: 4/min LG = Gear tooth thickness: 1 mm (.39 inch) (Operating period: t 1 = 1.5 sec) Gear ratio: n=8/5 Weight of moving parts: W=6kg (132 lb) Drive system efficiency: η=.8 Friction coefficient: µ=.2 Ball screw lead: PB=16mm (.63 inch) Pulse train FX-1GM (1) Select control parameters a. Set electronic gear (pulse multiplication denominator and numerator) The following relationship is established between the multiplication setting and the amount of movement Dl per input pulse. 3 (r/min) R= Ball screw lead MX 8192 (Gear ratio) DV Substituting the machine specifications given above into this equation: MX DV MX OK if the ratio is between 1/5 and 5. DV b. Input pulse string frequency f during fast forward OK if f is 2 kpps or less (2) Motor speed = /5 =.5 = 16 V PB n = 3 r/min (3) cceleration/deceleration time constant * ts is the stop recovery time. Estimated here at.5 sec for fast response. (4) Operating pattern ( ) V 3 f= = = 1 pps 6 R 6.5 R Tpsa = Tpsd = t ts =.5 sec. V /6 Gear (load axis) π ρ L 1 JL4 = D 4 32 ( =.8 kg cm 2 n ) 2 Total load inertial moment (motor axis equivalent) JL = JL1 + JL2 + JL3 + JL4 = 1.9 kg cm 2 (7) Provisional motor selection Selection conditions. H-MF23 (2 W) provisionally selected from: 1) Load torque < Rated motor torque 2) Load inertial moment < 3 motor inertial moment (8) cceleration and deceleration torque Required motor torque during acceleration TMa = (JL + JM) Tpsa + TL = 1.48 m Required motor torque during deceleration TMd = (JL + JM) Tpsa + TL = 1.2 m 1.48 ( m) The required motor torque during acceleration and deceleration shall be at or below maximum motor torque. (9) ontinuous effective load torque Trms = * t c = t t s 2 Tpsa T 2 2 Ma Tpsa + T L t c T 2 Md Tpsd =.37 m t f For conventional unit system 2 GD L = 4 J = 7.6 kgf cm 2 For conventional unit system 2 2 (GDL + GD M ) TMa = + TL = 15.1 kgf cm 375 Tpsa 3.7 kgf cm The continuous effective load torque shall be at or below maximum torque. (1) Torque pattern 2 2 (GD L + GD M ) TMd = 375 Tpsd + TL = 1.3 kgf cm For conventional unit system Tpsa Tpsd to.9 t s t f 1.5 (sec) Torque Time (sec) (5) Load torque (motor axis equivalent) mount of movement per motor rotation S = PB TL = 1 n µ W g S π η = 1mm (.39 inch) =.23 m S JL1 = W = 1.52 kg cm 2 2 π π ρ L 1 JL2 = D 2 =.24 kg cm 2 32 n TL = (6) Load inertial moment (motor axis equivalent) Moving parts Ball screw ( ) 2 ( ) 2 ρ = kg cm 2 (Iron) Gear (motor axis) π ρ L JL3 = D 3 =.3 kg cm 2 32 For conventional unit system µw S 2 π η = 2.4 kgf cm (11) Selection results From the above, servomotor HF-MF23 is selected. Servo-amp MR-J2-2 a. Parameter settings ommand pulse multiplication numerator (MX) 512 ommand pulse multiplication denominator (DV) 125 b. During fast forward Motor r/min: = 3 r/min Input pulse string frequency f = 1 kpps c. cceleration/deceleration time constant Tpsa = Tpsd =.5 sec 62

64 Safety Warning To ensure proper use of the products listed in this catalog, please be sure to read the instruction manual prior to use. L Printed in Japan (ROD) ew publication, effective Mar.1999 Specifications subject to change without notice.