MR-J2 Servo

SERVOMOTORS &
AMPLIFIERS

Simplified Operation
with Advanced Capabilities
 A New Vision of the Future
The long-awaited MR-J2: Embodying an ever more exacting
pursuit of higher performance and ease of use.
The culmination of Mitsubishi servo technology is realized in the MR-J2 general-purpose AC servo.
In addition to being a global product that satisfies EN, UL and other global industrial standards, the
MR-J2’s wide range of applications elevates the AC servo playing field to a new plane. The MR-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
MR-J2 was well worth waiting for – Pointing the way toward a new vision of the future.

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Enhanced Safety and Ability to Withstand Environmental Hazards
■ Satisfies Global Industrial Standards ■ Built-In Regenerative Resistor
• The MR-J2 can be used with the confidence • Regenerative resistor is built-in, eliminating the
of knowing it satisfies global industrial need for an external regeneration unit during normal
standards. operation.
• An EMC filter is available for handling EN- ■ Control Signal Assignment Feature (A-Series)
standard EMC commands. This servo amp • Control signals necessary for operation can be freely
handles EN-standard LVD commands in its assigned to connector pins within a predetermined
standard configuration. LVD-compatible range, enabling more flexible operation.
servomotors are also available.
■ Command Pulse-Train Types (A-Series)
• UL, cUL, EC, TUV
• The MR-J2 can handle three command types:
■ IP65 is Standard Equipment encoder signals, pulse and direction, and CW / CCW
• The HC-SF and HC-RF series of servomotors pulse-train.
are rated IP65 as standard equipment, ■ SSC-NET Compatible (B-Series)
enhancing their ability to withstand almost
any environment. • The controller is connected to each servo amp
through a high-speed serial bus, enabling users to
• Standard models are EN-standard compatible. issue commands to and confirm the status of, the
■ Built-In Dynamic Brake servo amps with the motion controller. Fewer
• With a built-in dynamic brake, the servomotor wires reduce the chances of a wiring error.
can be stopped immediately in a power outage
or when an alarm has been triggered.

Loaded with Flexible Functions

■ Absolute Encoder is Standard Equipment TUV Rheinland

• Inclusion of an absolute encoder as standard

equipment eliminates the need for a homing
sequence, approximate DOG switch and other
sensors, helping to reduce time and enhance
reliability. In addition, users can switch easily
from incremental to absolute positioning. HC-SF Motor
• With Mitsubishi’s original absolute mode,
an absolute system can be configured Once the amp’s power has been turned on, the servo amplifier causes
using conventional I/O even with pulse-train absolute data to be sent to the motion controller at Servo ON.
output control.
AD75P, AISD75P
■ Achievement of an Ultra-Compact Design FX-20GM
FX-I GM Amp

• Through a molding process that uses newly Position Command U.V.W

M
Controller I/O

Pulse-Train
developed high thermal conductivity resins, MR-J2
the HC-MF series of servomotors achieves I/O Data
enhanced motor cooling, performance and an (ABS Data) ABS Encoder

ultra-compact design.
This makes it well suited to ultra-low-inertia,
high-frequency applications.
■ A Wide Variety of Motors, Including Models
with Brakes
• A broad lineup of servomotors including models
with brakes. Users can choose the motor
series that best suits the machine being used. HC-MF Motors
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 Handy Control Functions ■ Real-Time Auto-Tuning and High
Responsiveness
■ Separate Wiring for the Control Power
Supply • With real-time auto-tuning, the unit is
automatically adjusted to the optimal setting
• Wiring of the control power supply is separate
without any need for the gain adjustment –
from that for the main circuit power supply.
unique to servomotors.
When an alarm is triggered, the main circuit
power supply can be turned off and the control The sensitivity of the real-time auto-tuning
power supply left on, making it possible to can be changed in accordance with machine
confirm the alarm message and operate the rigidity, enabling the MR-J2 to accommodate
unit with confidence. This also makes it easier an even wider range of machinery. (Response
to handle EN-standard mechanical commands. setting selection)
• Model adaptive control makes possible
■ Torque Control Function the realization of a highly responsive and
stable system.
• The MR-J2 comes equipped with a torque
control function. In addition, users can switch ■ Encoder Serial Communications
between control modes: position / speed and • The encoder uses serial communications,
speed / torque. so there are fewer signal wires to connect.

■ Stop-State Anti-Vibration Function Speed Frequency Response Characteristics

• Microvibrations in the servo-lock state are

suppressed through a unique method
Gain

developed by Mitsubishi, making possible (dB)

the construction of stable systems.
Frequency 250 (Hz)

User-Friendly Features
■ Personal Computer Interface is Standard
Equipment
• The MR-J2 comes with RS-232C serial
communications as a standard feature,
enabling users to connect a personal
computer to the MR-J2.
• Using the setup software, users can display a
variety of monitoring data, perform batch entry
and saving of parameters, use graph functions,
and perform test operation.
Model: MCOMM

■ Automatic Motor Recognition Feature Serial Communications

• Incorporating motor identification information Feedback Pulse
Motor Capacity
into the encoder means that the servo amp Positioning Data (ABS Data)
can automatically recognize the drive motor. Magnetic Pole Detection
Alarm Information
When the servo amp detects a mismatch, an
alarm is triggered, eliminating the possibility of
error and the need for setting parameters.

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Applications and Motor Models

Feature Application Examples

• Ultra-Low-Inertia, Low-Capacity • Inserters, Mounters,
Interchangeable with existing model (HA-ME). Bonders
Ultra-low-inertia design makes this unit well • Printed Board Hole Openers

HC-MF
suited for high-frequency positioning applica- • In-Circuit Testers
tions. Higher resolution positioning feedback
• Label Printers
pulse (8,192P / rev).
• Knitting and Embroidery
• Enhanced Power Rate
Power rate is 1.2 times that of existing models. Machinery
• IP44 (Standard) • Ultra-Small Robots and
• 50-750 Watt, 3,000 RPM Robot Tips Inserters, Mounters, Bonders In-Circuit Testers

• Low-Inertia, Low-Capacity • LCD and Conveyors

Interchangeable with existing model (HA-FE). • Food Preparation Machinery
Higher resolution positioning feedback pulse

HA-FF
• Printers
(8,192P / rev). • Small Loaders and Unloaders
Stable control can be performed from low to
• Small Robots and Component
high-speeds, enabling this unit to handle a wide
range of applications.
Assembly Devices
• IP44 (Standard), IP65 Optional • Small X-Y Tables
• 50-600 Watt, 3,000 RPM • Small Press Feeders Small Robots Small X-Y Table Devices
• Medium-Inertia, Medium-Capacity • Conveyor Machinery
Interchangeable with existing model (HA-SE). • Specialized Machinery
Higher resolution positioning feedback pulse • Robots
(16,384P / rev). • Loaders and Unloaders
Stable control can be performed from low to

HC-SF
• Winders and Tension Devices
high-speeds, enabling this unit to handle a wide
range of applications.
• Turrets
• Enhanced Power Rate • X-Y Tables
Power rate is 1.5 times that of existing models. • Test Devices
• IP65 (Standard), designed to withstand Conveyor Machinery Winders and Tension Devices
environmental hazards.
• IP67 Optional
• 50-3,500 Watt, 1,000, 2,000 or 3,000 RPM

• Low-Inertia, Medium-Capacity • Roll Feeders

Low-inertia design makes this unit well suited to • Loaders and Unloaders
high-frequency positioning applications. • High-Frequency Conveyor
Higher resolution positioning feedback pulse

HC-RF
Machinery
(16,384P / rev).
• High Power Rate
Power rate is approximately 3 times that of
Roll Feeders Wrapping Machinery
HA-LH.
• IP65 (Standard), designed to withstand
environmental hazards.
• IP67 Optional
• 1,000-2,000 Watt, 3,000 RPM

HC-MF HA-FF HC-SF HC-RF

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 Easier to Operate Than Ever Before
The display and setting sections are easy to operate. And with the advanced features it incorporates, the MR-J2 is easy to start up.

}
Optional battery holder When using in an
Up / Down: absolute system,
Used to change display content Optional battery install the optional
and re-enter parameter data. connector battery.

Set:
4-digit, 7-segment display panel.
Mode: Displays operating status, parameters, etc.
Used to switch between Used to set parameters, for auto-tuning, and for
display modes. switching to the test screen.

On-Unit Operation*
*Unit can be operated remotely with MCOMM software on customer’s PC.

Pressing the MODE button causes the display mode to change

one step at a time in the sequence illustrated below.

Power Supply

DOWN Button UP Button

Feedback pulse Motor rotation Standing Command pulse Command pulse Speed command voltage Torque limit voltage or
accumulation speed pulse accumulation frequency or speed limit voltage torque command voltage
Status
Display C r E P n F U

Load/inertia Position within Peak load Effective load Regeneration

ratio ABS counter one rotation factor factor load factor
d C L S C y b J L

External signal DO forced Test operation Test operation Test operation Software
Sequence display output (JOG) (positioning) (without motor) version L
Diagnostic r - o F d o o n T S T I T S T 2 T S T 3 - A 0

Software
VC offset version H
MODE H I 0 = 0 0 0
Button

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
Alarm A - - A I - - A 2 - - A 3 - - A 4 - - A 5 - - A 6 - -

Parameter error
number
E - -

Control mode/regeneration Function Electronic gear Electronic gear In-position Position control
option selection selection 1 Auto-tuning : Numerator : Denominator range gain 1
Basic
P 0 0 P 0 I P 0 2 P 0 3 P 0 4 P 0 5 P 0 6
Parameter

Speed deceler- Speed acceler- Internal speed Internal speed Internal speed Position acceleration/de-
S time constant ation time ation time command 3 command 2 command 1 celeration time (smoothing)
P I 3 P I 2 P I I P I 0 P 0 9 P 0 8 P 0 7

Torque com- Communications baud rate Analog monitor Status display Parameter entry
mand 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

Note: Press the SET button to display actual data in status display mode.

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Standard Wiring Diagram (J2-A) – Position Control Operation

• Connection to AD75 (Position Servo, Incremental)

Configure a sequence for switching off the
MC when an alarm has been triggered or Servo amp HC-MF, HA-FF
after an emergency stop.
Series Motor
MR-J2- A
NFB MC
U
L1 TE1 U
Power Supply V
3-Phase 200 VAC L2 V
W SM
L3 W
E
PE
PE B1
L11
Electro-
L21 Type 3 Ground or Above
magnetic
CN2 DC24 V
Brake
TE2 B2
Optional P
Regeneration 20 P5 EMG
Unit C Disconnect 24 Volts
(Note 7)
When connecting the optional during servo off or
regeneration unit , always D 12 LG an alarm.
disconnect between P and D.
Connecting the optional unit 10 P5
when P and D are connected
could damage the servo amp.
3 LG
CN1A
18 P5 7 P5 7 P5
AD75P/A1SD75P

Name Pin No. OPC 11

PULSE F+ 3 PP 3
PULSE F- 21 PG 13 2 LG 8 LG 8 LG
PULSE R+ 4 NP 2
PULSE R- 22 NG 12 7 MR 1 MR 1 MR
CLEAR 5 CR 8

Encoder
CLEAR COM 23 COM 9 17 MRR 2 MRR 2 MRR
Positioning Unit

READY 7 RD 19
COM 26 COM 9 6 MD 4 MD 4 MD
INPS 8 INP 18
16 MDR 5 MDR 5 MDR
PG0 (+5V) 24 LZ 5
PG0 COM 25 LZR 15 9 BAT 3 BT 3 BT
LA 6
For absolute system, 9 SHD 9 SHD
LAR 16 1 LG
connect to PLC output.
LB 7
LBR 17 PLATE SD 6 CONT 6 CONT
LG 1 Connect the blue wire when the cable is
OP 14 HC-SF Series
10 to 30 meters (32.81 to 98.43 ft) long.
Motor
P15R 4
In Differential SD PLATE Personal Computer U
Mode: 10 Meters
Running U A
(32.81 ft)
In Open Collector Microsoft Windows V
Mode: 2 Meters V B
(6.56 ft) CN1B W SM
(Note 3) External Emergency Stop EMG 15 W C
Servo On SON 5 PE E D
Proportional Control RES 14
Reset PC 8 PE
Torque Limit TL 9
CN3 RS-232C Type 3 Ground or Above
(Note 4) Forward Stroke End LSP 16 B1
Reverse Stroke End LSN 17 12 TXD RD G
2 RXD SD DC24V EMG
SG 10
B2 H
SG 20 1 LG GND
11 LG GND Disconnect 24 Volts dur-
ing servo off or an alarm. (Note 7)
10 Meters (32.81 ft) Max. 5 LG RS Electromagnetic
Do not connect when using VDD 3 CN2
(Notes 1 and 2) 15 LG CS Brake
an external power supply. COM 13 20 P5
5 Meters DR
(Note 6) Malfunction RA1 ALM 18 12 LG
(16.41 ft) Max. ER
Zero Speed Detection RA2 ZSP 19 Monitor output 10 P5
Torque Limit in Effect Maximum: +1mA total 3 LG
RA3 TLC 6 Double oscillation
(+10 V output) 18 P5 S
10 Meters (32.81 ft) Max. Upper Limit Setting A 2 LG R
4 MO1
7 MR C
Encoder

Analog torque limit

P15R 11
TLA 12 3 LG 17 MRR D
±10 V/maximum torque 10kΩ
(in this wiring diagram, LG 1 14 MO2 A 6 MD A
+10 V/maximum SD PLATE 16 MDR B
torque) 13 LG 9 BAT F
10kΩ 1 LG G
2 Meters (6.56 ft) Max. PLATE SD
PLATE SD N
M
2 Meters (6.56 ft) Max.

Connect the blue wire when the cable is 10 to 30

meters (32.81 to 98.43 ft) long.

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. Always connect an EMG external emergency stop (b contact). The unit cannot be operated unless one is connected.
4. Provide normally closed inputs for LSP, LSN.
5. Signals with the same name are connected inside.
6. Malfunction (ALM) 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. Connect shield wire securely to plate inside the connector (ground plate).

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MR-J2 Servo
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-02011 Printed in USA

Effective February, 2000
Specifications and products offered
subject to change without notice.