Mitsubishi Electronics MR-J3- B, MR-J3-B - page 31

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

The following table lists combinations of s ervo amplifiers and servo motors. The same combinations appl y to

the models with an electromagnetic brake and th e models with a reduction gear.

Servo motors

HF-SP

Servo amplifier HF-MP HF-KP 1000r/min 2000r/min HC-RP HC-UP HC-LP

MR-J3-10B (1) 053 13 053 13

MR-J3-20B (1) 23 23

MR-J3-40B (1) 43 43

MR-J3-60B 51 52 52

MR-J3-70B 73 73 72

MR-J3-100B 81 102 102

MR-J3-200B 121 201 152 202 103 153 152 152

MR-J3-350B 301 352 203 202 202

MR-J3-500B 421 502 353 503 352 502 302

MR-J3-700B 702

MR-J3-11KB

MR-J3-15KB

MR-J3-22KB

Servo motors

HA-LP

Servo amplifier

1000r/min 1500r/min 2000r/min

MR-J3-500B 502

MR-J3-700B 601 701M 702

MR-J3-11KB 801 12K 1 11K1M 11K2

MR-J3-15KB 15K1 15K1M 15K2

MR-J3-22KB 20K1 25K1 22K1M 22K2

Servo motors

HA-LP

Servo amplifier HF-SP 1000r/min 1500r/min 2000r/min

MR-J3-60B4 524

MR-J3-100B4 1024

MR-J3-200B4 1524 202 4

MR-J3-350B4 3524

MR-J3-500B4 5024

MR-J3-700B4 7024 6014 701M4

MR-J3-11KB4 8014 12K14 11K1M4 11K24

MR-J3-15KB4 15K14 15K1M4 15K24

MR-J3-22KB4 20K14 22K1M4 22K24

Contents

Main MR-J3- B J3 D Safety Instructions 1. To prevent electric shock, note the following WARNING 2. To prevent fire, note the following CAUTION 3. To prevent injury, note the follow CAUTION 4. Additional instructions (1) Transportation and installation (2) Wiring (3) Test run adjustment (4) Usage (5) Corrective actions (6) Maintenance, inspection and parts replacement (7) General instruction About processing of waste Precautions for Choosing the Products COMPLIANCE WITH EC DIRECTIVES Page Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Page Page Page Page 1. FUNCTIONS AND CONFIGURATION 1 - 2 1 - 3 (2) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Note. Refer to section 1.3 for the power supply specification. 1 - 4 (3) MR-J3-11KB(4) to 22KB(4) Note. Refer to section 1.3 for the power supply specification. 1 - 5 1.3 Servo amplifier standard specifications (1) 200V class, 100V class 1 - 6 (2) 400V class 1 - 7 MR-J3-10B 1 - 9 (2) Model MR J3 B Page 1 - 11 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100B or less 1 - 12 (2) MR-J3-60B4 MR-J3-100B4 1 - 13 (3) MR-J3-200B(4) 1 - 14 (4) MR-J3-350B 1 - 15 1 - 16 1 - 17 Page Page Page 1 - 21 1 - 22 (b) For 1-phase 100V to 120VAC Regenerative option 1 - 23 (2) MR-J3-60B4 MR-J3-100B4 1 - 24 (3) MR-J3-200B(4) 1 - 25 (4) MR-J3-350B 1 - 26 (5) MR-J3-350B4 MR-J3-500B(4) 1 - 27 (6) MR-J3-700B(4) 1 - 28 (7) MR-J3-11KB(4) to MR-J3-22KB(4) 2. INSTALLATION Page Page Page Page Page 3. SIGNALS AND WIRING Page 3 - 3 (2) For 1-phase 200V to 230VAC power suppl y to MR-J3-10B to MR-J3-70B 3 - 4 (3) For MR-J3-10B1 to MR-J3-40B1 3 - 5 (4) MR-J3-60B4 to MR-J3-200B4 3 - 6 (5) MR-J3-500B MR-J3-700B 3 - 7 (6) MR-J3-350B4 to MR-J3-700B4 3 - 8 (7) MR-J3-11KB to MR-J3-22KB 3 - 9 (8) MR-J3-11KB4 to MR-J3-22KB4 3 - 10 3.2 I/O signal connection example Page 3 - 12 3. SIGNALS AND WIRING CAUTION Page Page Page Page Page Page Page Page Page 3 - 23 Page 3 - 25 (b) Output device 3 - 26 (c) Output signals (d) Power supply Page 3 - 28 3.7 Interfaces 3.7.1 Internal connection diagram Page Page Page Page Page Page 3. SIGNALS AND WIRING CAUTION CAUTION WARNING 3 - 36 Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Page 3 - 38 2) When the power supply connector and the electr omagnetic brake connector are shared. 3 - 39 3 - 40 3 - 41 2) 400V class Page Page Page 3 - 45 Page Page 3 - 48 (3) Alarm occurrence Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 3 - 49 (5) Only main circuit power supply off (contro l circuit power supply remains on) Page Page Page 4. STARTUP 4. STARTUP WARNING CAUTION Page Page Page 4 - 5 4 - 6 (2) Indication list Page Page Page Page 5. PARAMETERS 5. PARAMETERS CAUTION Page Page Page Page Page Page Page Page Page 5 - 11 5.2.2 Detail list 5 - 12 5 - 13 5 - 14 5 - 15 00 0 5 - 16 5 - 17 Page 5 - 19 5.3.2 List of details 5 - 20 5 - 21 Page 5 - 23 Page Page 5 - 26 5.4.2 List of details 00 0 Page 6. GENERAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usage Page Page Page Page Page Page Page Page 60 Rotation speed (r/min) Model loop gain setting Droop pulse value (pulse) 262144(pulse) Page 7. SPECIAL ADJUSTMENT FUNCTIONS Page 7 - 3 (3) Adaptive tuning mode procedure Page Page Page 7 - 7 (3) Vibration suppression control tuning mode procedure Page Page Page 7 - 11 7 - 12 Page Page Page Page 8. TROUBLESHOOTING Page 8 - 3 8 - 4 8 - 5 8 - 6 8 - 7 8. TROUBLESHOOTING CAUTION 8 - 9 Page 9 - 1 9. OUTLINE DRAWINGS 6 9.1 Servo amplifier (1) MR-J3-10B MR-J3-20B MR-J3-10B1 MR-J3-20B1 [Unit: mm] 9 - 2 (2) MR-J3-40B MR-J3-60B MR-J3-40B1 Approx. 40 9 - 3 (3) MR-J3-70B MR-J3-100B 42 0.3 9 - 4 (4) MR-J3-60B4 MR-J3-100B4 [Unit: mm] Page 9 - 6 (6) MR-J3-350B Mounting hole process drawing Approx. 6 Approx. 6 9 - 7 (7) MR-J3-350B4 MR-J3-500B(4) 118 0.5 4-M5 screw 9 - 8 (8) MR-J3-700B(4) 4-M5 screw 9 - 9 (9) MR-J3-11KB(4) to 22KB(4) Page Page Page 10. CHARACTERISTICS Page Page 10 - 4 Page Page 10 - 7 11K2 0500 1000 1500 2000 10 - 8 8014 15K14 0 Page Page 11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT WARNING CAUTION 11 - 2 11.1.1 Combinations of cable/connector sets Note. Connectors for 3.5kW or less. For 5kW or more, terminal blocks. 11 - 3 11 - 4 11 - 5 11 - 6 11 - 7 11 - 8 (a) Connection of servo amplifier and servo m otor Page 11 - 10 (a) Connection of servo amplifier and servo m otor 11 - 11 (b) Internal wiring diagram 9 Page 11 - 13 (a) Connection of servo amplifier and servo m otor View seen from wiring 11 - 14 (a) Connection of servo amplifier and servo m otor 11 - 15 (b) Internal wiring diagram Parts/Tool Description Connector set MR- J3SCNS (Option) Page 11 - 17 (1) Connection of servo amplifier and servo m otor Page Page Page 11 - 21 11.2 Regenerative options CAUTION 11 - 22 Formulas for calculating torque and energy in operation Page Page Page Page Page Page Page Page 11 - 31 (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 (c) MR-RB50 MR-RB51 MR-RB54-4 MR-RB5G-4 11 - 32 (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 Page Page Page 11 - 36 Page 11 - 38 11 - 39 (2) Combination with MT-BR5-(H) resistor unit Page Page Page Page 11 - 44 (2) FR-BR- (H) resistor unit (3) MT-BR5- (H) resistor unit Page 11 - 46 (2) Connection example Page Page Page 11 - 50 (3) Connection diagram (a) 200V class MC 11 - 51 (b) 400V class MC Page 11 - 53 2) 400V class Page 11 - 55 (6) Specifications Page 11 - 57 (2) Connection example 11 - 58 c. Timing chart when both of the main and contro l circuit power are OFF Page Page 11 - 61 Servo amplifie r Page 11 - 63 (b) Connection with servo amplifier 1) For use of USB Page Page Page Page 11 - 68 Use wires 8) of the following sizes with the power r egeneration converter (FR-RC-(H)). 11 - 69 Page 11 - 71 Note 1. d is as shown below. d Conductor Insulation sheath Page 11 - 73 L Screw size G 11 - 74 11 - 75 11.15 Relays (recommended) The following relays should be used with the interfaces. Page 11 - 77 Page Page Page 11 - 81 Connection diagram Outline drawing [Unit: mm] FR-BSF01 (for wire size 3.5mm2 (AWG12) or less)) FR-BLF(for wire size 5.5mm2 (AWG10) or more)) Page Page Page Page Page Page Page Page Page 12. ABSOLUTE POSITION DETECTION SYSTEM Page Page Page Page Page Page 13 - 2 13.1.1 Function block diagram The function block diagram of this servo is shown below. 13 - 3 Servo motor NFB Page 13 - 5 13.1.3 Standard specifications (1) Converter unit 13 - 6 (2) Drive unit (a) 200V class 13 - 7 (b) 400V class MITSUBISHI MODEL MR-J3-CR55K AC SERVO (2) Model (a) Converter unit Page 13 - 10 13 - 11 13 - 12 Page Page Page Page Page Page 13 - 19 13.1.8 Servo system with auxiliary equipment Page Page Page Page Page Page Page 13 - 27 13 - 28 (b) 400V class (MR-J3-DU30KB4 to MR-J3-DU55KB4) 13 - 29 13 - 30 (b) 400V class (MR-J3-DU30KB4 to MR-J3-DU55KB4) 13 - 31 (2) Drive unit Page Page Page Page Page Page 13 - 38 13 - 39 Page Page Page Page Page Page Page 13 - 47 13.3.8 Servo motor side details Encoder connector signal arrangement CM10-R10P 13 - 48 Page Page Page Page Page Page 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) CAUTION 13 - 56 13.5.2 List of details Page 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) CAUTION 13 - 59 13 - 60 Page Page Page 13 - 64 [Unit: mm] Mass: 25[kg] (55.2[lb]) 13 - 65 13.7.2 Drive unit (1) MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU45KB4 MR-J3-DU55KB4 [Unit: mm] 13 - 66 (2) MR-J3-DU30KB4 MR-J3-DU37KB4 [Unit: mm] Page Page Page 13 - 70 HA-LP1000r/min series HA-LP1500r/min series Page Page 13 - 73 13 - 74 (2) MR-J3CDL05M(0.5m) Protection coordination ca ble Table 13.2 Recommended wire 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) CAUTION Page Page 13 - 78 (5) Outline dimension drawings [Unit:mm] Page 13 - 80 13 - 81 (3) Outline dimension drawing [Unit:mm] Page 13 - 83 13 - 84 13.9.6 Power factor improving DC reactor The input power factor is improved to about 95%. Page Page Page Page Page Page Page 13 - 92 Page 13 - 94 Page 13 - 96 Page Page Page Page Page Page App. - 1 A PPENDIX App. 1 Parameter list App. - 2 App. 1.2 Converter unit App. 2 Signal layout recording paper App. 3 Twin type connector : Outline drawing for 721-2105/026-000(WAGO) App. 4 Change of connector sets to the RoHS compatible products App. - 5 App. 5 MR-J3-200B-RT servo amplifier App. - 6 Page App. - 8 App. 5.4 OUTLINE DRAWINGS (Chapter 9 OUTLINE DRAWINGS) Approx. 6 Approx. 6 78 0.3 App. 6 Selection example of servo motor power cable REVISIONS Page Page Page Page Page Page Page Page MR-J3- B J3 D