MR-J2-Super
SERVOMOTORS & AMPLIFIERS
Simplified Operation
with Advanced Capabilities
Higher Performance
Latest Technology Produces Incredible
Dynamics and Servo Performance
■ Higher-Performance CPU for Improved Response
■
The application of a higher performance CPU has enhanced response
significantly. Speed loop frequency response raised to 550Hz or more
(2 times faster than previous models). The MR-J2-Super series units are
the best for use in high speed motion control applications.
■ Higher-Resolution Encoder, 131072p/rev (17bit) for Higher Resolution
■
■
The use of a higher resolution encoder ensures higher performance
and smoothness at low speeds. Motor sizes are the same as previous
products and wiring is compatible.
Just like the standard MR-J2 motors, the “absolute encoder” is now
the standard.
■ New HC-KFS Series Miniaturized, Low-Inertia Motor for More Applications
■
The HC-KFS series miniaturized motor is the same size as the HC-MFS
series, yet the motor inertia moment is 3-5 times larger. This makes them
suitable for machinery with load/motor inertia moment ratios too high for the
HC-MFS, as well as machinery with low rigidity (belt-driven, etc.).
Enhanced Tuning Technology for Easier Use
■ Auto-Tuning Performance Improved
■
■ Adaptive Vibration Suppression Control Function
Even when acceleration/deceleration torque is
low or friction on a vertical axis is large, the
load/motor inertia ratio moment is adjusted to
the optimum value automatically.
Comparison of Estimated and Actual Servo Load
Inertia Moment
■
Typically, servo system performance is restricted
by machine resonance. The adaptive vibration
suppression control function breaks this barrier to
give stability at all operating speeds.
Motor speed
Machine resonance suppression filter is set
automatically as the sensor searches for the
resonating point, stopping when the servo
system becomes stable.
Servo resonance
Example: HC-MFS13, ball screw, load inertia moment ratio 5.6 times,
vertical axis unbalance load of 20%, friction torque of approx. 15%,
acceleration/deceleration torque 1.4% of rated value.
HC-MF13 Previous Auto-tuning
Load/motor inertia ratio
Estimated value
Actual load inertia moment ratio
30
Time
ON
Start of adaptive vibration suppression control function
20
■ Machine Resonance Suppression Filter
■
10
0
0
Start
5
10
15
Time (s)
HC-MFS13 Advanced Real-time Auto-tuning
Two suppression filter points can be set to match
machine resonating points. This filter can be
combined with the adaptive vibration suppression
control function as well, however, only one point can
be set for the machine resonance suppression filter
at a time.
Estimated value
Actual load inertia moment ratio
(Machine with resonance characteristics)
Resonating
points
Gain
Anti-resonating
point
➔
Load/motor inertia ratio
30
20
Frequency
10
(Machine with resonance suppression filters)
0
0
Start
5
10
15
Time (s)
Gain
Frequency
1
Higher Functionality
Machine Analysis with
Optimum Adjustment
New MCOMM Functions Aid Design
and Construction of Optimized Machine
■ Machine Analysis Function
◆
◆
Simply connect the servomotor to the machine and the resonant
frequency of the mechanical system can be analyzed.
Analysis is completed in as little as 30 sec.
■ Machine Simulation Function
◆
◆
The results of the machine analyzer are read into a simulation model,
and the response of the mechanical system can be predicted.
Simulated waveforms of speed, torque and droop pulse etc., while
changing the command pattern, servomotor capacity and gains,
can be observed.
■ Gain Search Function
◆
◆
Software then changes gains automatically and searches out the
values that ensure the shortest possible settling time with minimum
overshoot and vibration.
Ability is best shown when high-performance is required.
Worldwide Standards & Environmental Safety
■ EN Standards
◆
Servomotor and amplifier both conform to low-voltage directives (LVD). An EMC filter is available for
meeting EMC directives.
■ UL/cUL Standards
◆
In accordance with UL and CSA standards, products qualified as meeting cUL standards are considered
to meet CSA standards. Both the servomotor and amplifier meet these standards.
■ IP65 Application
◆
The HC-SFS, HC-RFS, HC-UFS 2000r/min and HC-UFS 3000 r/min series servomotors conform to IP65 standard.
(The HC-SFS, HC-RFS and HC-UFS 2000 r / min series can conform to IP67 standard as an option.)
The HC-KFS and HC-MFS series of servomotors conform to IP55 standard as an option.
■ Compatibility
The MR-J2S servo-amplifiers are compatible for connection to existing MR-J2 motors, however, performance of
the MR-J2S series will not be improved. Please note that the new model motors (HC- S series) can not
be connected to the MR-J2 series servo-amplifier.
Comparing MR-J2S with MR-J2
MR-J2S
MR-J2S-
External Dimensions / Mounting Method
Same as MR-J2-
Rated Output Capacity
Hardware
◆
External Wiring
7 Segment Display Panel/
Number of Operation Buttons
Communication Interface
Pulse Train Input
MR-J2S
Encoder Resolution
External Dimensions / Mounting Method
Power-Supply Connector
Rated Output Capacity
Brake / Reduction Gear Attached
Protective Function
A
MR-J2A
A
—
0.05~7kW
0.05~3.5kW
Compatible with MR-J2- A (including encoder wiring),
RS-422 communication function added
—
5 digit / 4Pb
4 digit / 4Pb
Possible to select RS-232C or RS-422
RS-232C only
500 kpps (in differential mode)
400 kpps (in differential mode)
HC-
S
ABS 17bit (131072 p / rev)
Compatible
HC-KFS / HC-MFS / HC-UFS 3000r /min
power-supply connector (made by MOLEX)
5557-04R-210 (receptacle in case without brake),
5557-06R-210 (receptacle in case with brake),
5556PBT3L (female terminal)
0.05~7kW
HCABS 13bit (8192 p / rev), 14bit (16384 p / rev)
—
Existing models: HC-KF / HC-MF / HC-UF 3000r / min
insulated tip, round-crimp
terminal is attached
0.05~3.5kW
Same as existing models
—
HC-KFS / HC-MFS: IP55 (IP65)
HC-KF / HC-MF: IP44 (IP65)
2
Easy Size Selection and Setup
■ Servo Sizing Software: MSIZE
MSIZE with its many functions and tools quickly
and easily calculates the properly sized servomotors
and amps from Mitsubishi’s large range of products.
A user-friendly design facilitates selection of the
optimum servo-amp, servomotor (including brake
and reduction gear), and optional regeneration
units when machine information is entered in
machine-specific screens.
Simply select the application type, enter the data, and
click the calculate button. Printable results showing
all input and calculated information is available with
another click. Tools are selectable for determining
items such as inertia, friction, and efficiency.
MSIZE Functions
Item
Description
Horizontal ball screws, vertical ball screws, rack and pinions, roll feeds,
rotating tables, dollies, elevators, conveyors, and other (direct inertia input) devices.
Types of Structural
Machine Elements
Selected servo-amp name, selected servomotor name, selected regeneration unit name,
load inertia moment, load inertia moment ratio, peak torque ratio, effective torque, effective
torque ratio, regenerative power, and regenerative power ratio.
Parameters
Output of
Results
Prints the input parameters, calculation process, and selected results.
Printing
Gives the input parameters a file name and saves them to a floppy disk.
Data Storage
Inertia Moment Calculation Function
Five types: concentric cylinder, off-axis square shaft, linear motion, hanging, and reduction gear.
Converts data units between SI, MKS mass, and inch/pound units.
Data Units
Note: MSIZE software requires a PC with Windows® 3.1 or Windows® 95, at least 8 MB of available RAM and 4 MB of available hard-disk space.
Applications
Inserters, Mounters,
Bonders
3
Conveyor Machinery
In-Circuit Testers
Winders and
Tension Lines
X-Y Robots
Small Robots
■ Setup Software: MCOMM
MCOMM makes it easy to monitor, display, diagnose, graph,
read and write parameters, and test operations by using a
personal computer with an MR-J2S Super.
MCOMM Functions
Main-Menu
Functions
Batch display, fast display, and graph display
Monitors
Alarm display, alarm history, display of data that
generated alarm
Alarms
Diagnosis
DI/DO display, display of reason motor is not running,
display of cumulative time power is on,
software number display, motor information display,
tuning data display, ABS data display, and axis name setting
Parameter setting, list displays, display of change lists,
display of detailed information, tuning
Parameters
Test Operations
JOG operation, positioning operation, operation without motor,
forced DO output, program operation using simple language
Machine analyzer, gain search, machine simulation
Advanced Function
Data reading, storage, and printing
File Operation
Automatic operation and help display
Other
MCOMM Requirements
Computer
DOS/V(PC/AT compatible) running
Windows 95 or 98 (Pentium 133MHz processor
or higher is recommended), 6MB or more
of available RAM required, 20MB
or more of available hard-space required,
serial port connection
Windows 95/98
Operating System
Monitor
800x600 resolution or better, 256 color or
16-scale monochrome
Personal computer compatible
Keyboard
Mouse
Compatible with Windows 95/98, should
not be serial mouse
Printer
Compatible with Windows 95/98
◆
Monitor
◆
Diagnose
◆
Set Parameters
◆
Test
◆
Graph
◆
Store
◆
Help
MR-CPCATCBL3M
Communication Cable
Windows is a registered trademark of the Microsoft Corporation.
Robots
■ MCOMM Functions
Roll Feeders
Small X-Y Table
Wrapping Machinery
Press Transfer
Transfer Line
4
Servomotors
HC-KF/KFS
HC-UF/UFS
LOW INERTIA, SMALL CAPACITY
Applications:
❏ Inserters, mounters, bonders
❏ Circuit board drillers
❏ In-circuit testers, label printers
❏ Knitting and embroidery machines
❏ Ultra-small robots and robot tips
FLAT SMALL CAPACITY, MEDIUM CAPACITY
Applications:
❏ Robots
❏ Conveyor machines
❏ Food processing machines
❏ Winders and tension devices
HC-MF/MFS
ULTRA-LOW INERTIA,
SMALL CAPACITY
Applications:
❏ Inserters, mounters, bonders
❏ Circuit board drillers
❏ In-circuit testers, label printers
❏ Knitting and embroidery machines
❏ Ultra-small robots and robot tips
HC-SF/SFS
MEDIUM INERTIA, MEDIUM CAPACITY
Applications:
❏ Conveyor machines
❏ Turrets
❏ Specialized machines
❏ X-Y tables
❏ Robots
❏ Test devices
❏ Loaders and unloaders
❏ Winders and tension devices
HC-RF/RFS
LOW INERTIA, MEDIUM CAPACITY
Applications:
❏ Roll feeders
❏ Loaders and unloaders
❏ High-frequency conveyor machines
Servomotor Details
Servomotor Series
HC-AQ
(All motor series shown for informative purposes)
Rated Rotation
Speed (r/min)
Maximum Rotation Speed
(r/min)
3000
5000:10, 20W
4500:30W
3000
4500
[HC-MFS]
HC-MF
3000
4500
HA-FF
3000
4000
[HC-UFS]
HC-UF
1000
1500:0.85W
1200:1.2 to 3kW
2000
3000:0.5 to 1.5kW
2500:2, 3.5kW
2000:5, 7kW
3000
3000
3000
4500
2000
3000:0.75 to 2kW
2500:3.5 5kW
3000
4500
HA-LH K
230 VAC
2000
2000
HA-LF K
460 VAC
2000
2000
Note: Absolute encoder is standard on motor unless otherwise noted.
HC-UF -S1 which supports IP65 including connectors is available.
5
Servo-Amp Model
MR-J2-
5
30W
MR-C
400W
[MR-J2S]
MR-H N
MR-J2
[MR-J2S]
MR-H N
MR-J2
50W
750W
[HC-KFS]
HC-KF
[HC-RFS]
HC-RF
10W
30W
HC-PQ
[HC-SFS]
HC-SF
Rated Output Capacity
100W 1kW 10kW
50W
400W
50W
600W
0.85kW
Encoder Resolution
(p/rev) (Note)
Protection
Structure
8192
Incremental
IP55
4000
Incremental
[131072]
8192
[131072]
8192
IP44
[IP55 (IP65)]
Global Standards
EN
UL/cUL
Standard
Standard
Optional
Optional
[Standard] [Standard]
Optional Optional
IP44
[Standard] [Standard]
[IP55 (IP65)] Optional Optional
MR-H N
MR-J2
8192
IP44
(IP65)
Optional
Optional
[MR-J2S]
MR-H N
MR-J2
[131072]
16384
IP65
(IP67)
Standard
Standard
[MR-J2S]
MR-H N
MR-J2
[131072]
16384
IP65
(IP67)
Standard
Standard
[MR-J2S]
MR-H N
MR-J2
[131072]
16384
Standard
Standard
3.0kW
0.5kW
7.0kW
0.5kW
3.5kW
1.0kW
5.0kW
0.75kW
5.0kW
100W
IP65
IP65
Excluding Connectors
(Note)
750W
11kW
22kW
30kW
55kW
MR-H N
16384
Incremental
IP44
Optional
Pending
MR-H N4
16384
IP44
Pending
Pending
Standard Wiring Diagram
Position Control Operation
● Connection to AD75 (position servo, incremental)
Customer to provide an MC-off
sequence at alarm occurance
or emergency stop.
NFB
Power-supply
3-phase 200-230VAC
or
(Note 14)
1- phase 230VAC
HC-KFS, HC-MFS,
HC-UFS 3000r/min
series motor
Servo-amp
MR-J2S- A
MC
L1
L2
L3
TE1
U
U
V
V
2
W
W
1-phase 100V Specifications
L1
1-phase
100VAC
TE1
L11
Optional
regeneration
unit
L2
L11
L21
Positioning unit
AD75P/A1SD75P
When connecting the optional regeneration unit ,
always disconnect between P and D. Connecting
the optional unit when P and D are connected
could damage the servo-amp.
Name
PULSE F+
PULSE F–
PULSE R+
PULSE R–
CLEAR
CLEAR COM
READY
COM
INPS
Pin No.
3
21
4
22
5
23
7
26
8
PG0 (+5V)
PG0 COM
PLS COM
PLS COM
24
25
19
20
(Note 9)
19
P5
D
11
LG
20
P5
12
LG
CN1A
OPC
PP
PG
NP
NG
CR
SG
RD
COM
INP
11
3
13
2
12
8
10
19
9
18
LZ
LZR
5
15
LA
LAR
LB
LBR
LG
OP
P15R
SD
6
16
7
17
1
14
4
PLATE
In differential mode:
10 meters (32.81 ft)
In open collector mode:
2 meters (6.56 ft)
CN1B
(Note 3) Emergency stop
Servo on
Reset
Proportional control
Torque limit
(Note 4) Forward stroke end
Reverse stroke end
Do not connect when using
an external power-supply.
EMG
SON
RES
PC
TL
LSP
LSN
SG
SG
15
5
14
8
9
16
17
10
20
VDD
COM
ALM
ZSP
TLC
3
13
18
19
6
(Note 6) Malfunction
Zero speed detection
Torque limit in effect
RA1
RA2
RA3
P15R
TLA
LG
SD
11
12
1
PLATE
P5
7
P5
7
P5
2
LG
8
LG
8
LG
7
MR
1
MR
1
MR
MRR
2 MRR
2 MRR
4
17
MD
4
16
6
MDR
5 MDR
5 MDR
9
BAT
3 BAT
3 BAT
1
LG
9
9
MD
SD
6 CNT
PLATE SD
Electromagnetic
brake
5
6
Disconnect 24 Volts
during servo off or
an alarm.
18
(Note 7)
MD
SD
6 CNT
Bold line should be connected
only to make an absolute system.
12
11
TXD
LG
2
RXD
1
LG
RS-232C
(Note 12)
RD
GND
SD
GND
(Note 10)
15 meters (49.21 ft) max.
RS-422
Personal
computer
running
Microsoft
Windows
HC-SFS, HC-RFS,
HC-UFS 2000r/min
series motor
U
A
V B
W C
D
U
V
W
B1
DC24V
(Note 12)
EMG
9
SDP
RDP
19
SDN
5
RDP
RDN
SDP
19 P5
15
RDN
20 P5
1
LG
SDN
GND
11
LG
GND
10
TRE
Upper limit setting
2 meters (6.56 ft) max.
B2
EMG
(Note 11)
CN2
10 meters (32.81 ft) max.
Analog torque limit
+10 V/maximum torque
DC24V
Type 3 ground or above
CN3
10 meters (32.81 ft) max.
(Notes 1 and 2)
B1
L21
P
TE2
C
Encoder
MC
Servo-amp
MR-J2S- A1
(Note 13)
30 meters (98.43 ft) max.
Monitor output
Maximum: +1mA total
Double oscillation (+10 V output)
4
MO1
3
LG
14
MO2
13
LG
PLATE
SD
A
A
Monitor output 1
10kΩ
Monitor output 2
10kΩ
SM
G
B2 H
Disconnect 24 Volts
during servo off or
an alarm.
(Note 7)
Electromagnetic
brake
CN2 (Note 11)
11 LG
12 LG
18 P5
2 LG
S
R
7 MR
C
17 MRR
D
6 MD
A
16 MDR
B
9 BAT
F
G
1 LG
PLATE SD
Encoder
NFB
SM
3
4
Customer to provide an MC-off sequence at alarm
occurance or emergency stop.
Powersupply
1
N
M
Bold line should be connected
2 meters (6.56 ft) max.
only to make an absolute system.
Notes:
1. Do not reverse the diode's direction. Connecting 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 80 mA. If it exceeds 80 mA, supply interface power from an external source.
3. EMG (emergency stop) contact must be closed for normal operation.
4. LSP and LSN contacts must be closed for normal operation. If they are not closed, command will not be accepted.
5. Signals with the same name are connected inside.
6. Malfunction signal (ALM) is turned on during normal operation when no alarms have been triggered.
7. When using a motor with electromagnetic brake there is no need for concern regarding the polarity when connecting the power-supply.
HC-SFS121-301,202-702, 203, 353, HC-UFS202-502 have a separate connector.
8. Connect shield wires securely to the plate inside the connector (ground plate).
9. Connect between LG and pulse output COM to increase noise resistance.
10. Always use a shielded multicore cable up to a maximum of 15 meters (49.21 ft) in a low noise environment. However, if the RS-232C communication is set up with a baud rate of more than 38400bps
keep length to 3m (9.84ft).
11. For further details, please refer to “MR-J2S- A Servo Amplifier Instruction Manual”.
12. RS-232C and RS-422 are mutually-exclusive features.
13. In the final axis, connect between TRE and RDN.
14. A 1-phase 230VAC power-supply can be used with servo-amps rated at MR-J2S-70A or less. Please connect the power-supply using only terminals L1 and L2. Do not connect anything to L3.
6
MR-J2-Super
SERVOMOTORS & AMPLIFIERS
Corporate Headquarters:
Mitsubishi Electric Automation, Inc.
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phn: (847) 478-2100
Fax: (847) 478-2253
www.meau.com
Mitsubishi Electric Automation, Inc.
4299 14th Avenue
Markham, Ontario L3R 0J2
Phn: (905) 475-7728
Fax: (905) 475-7935
L-VH-02029 Printed in USA
Effective February, 2001
Specifications and products offered
subject to change without notice.