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MR-J2S-A
User Manual
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Furuno MR-J2S-A User Manual

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Page 1
MELSERVO
Servo Amplifiers and Motors
Instruction Manual
Art. no.: 138918 2001 02 15 Version C
MR-J2S-쏔A
INDUSTRIAL AUTOMATION
Page 2

Safety Instructions

(Always read these instructions before using the equipment.)
Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents carefully and can us e th e equ i pment correctly. D o no t us e t he s er vo amplifier and servo motor un ti l you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,
WARNING CAUTION
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols:
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.
: Indicates what must not be done. For example, "No Fire" is indicated by : Indicates what must be done . F o r exa mple , grou nd ing is in di cat ed by
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.
.
.
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1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the serv o a mpl i fie r and se rvo mot o r to grou nd . Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged , stressed, loaded, or pinched. Othe rwi se, you may get an ele ctric shoc k.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.
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4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the motor by the cables, shaft or encoder.
Do not hold the front cover to transport the controller. The controller may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Use the servo amplifier and servo motor under the following environmental conditions:
Environment
Ambient temperature
Ambient humidity 90%RH or less (non-condensing) 80%RH or less (non-condensing) Storage temperature Storage humidity 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level
Vibration
[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing) [
] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing) [
] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
[m/s2]5.9 or less
2
[ft/s
] 19.4 or less
Servo amplifier Servo motor
Conditions
HC-KFS Series
HC-MFS Series
HC-UFS13 to 73
HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153
HC-RFS Series
HC-UFS 72
HC-SFS121 201 HC-SFS202 HC-SFS203
HC-UFS202 to 502
HC-SFS301
HC-SFS502
HC-KFS Series
HC-MFS Series
HC-UFS 13 to 73
HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153
HC-RFS Series
HC-UFS 72
HC-SFS121 201 HC-SFS202 HC-SFS203
HC-UFS202 to 502
HC-SFS301
HC-SFS502
152
352 353
702
152
352 353
702
X
Y : 49
Y : 24.5
X
X : 24.5 Y : 49
X : 24.5 Y : 29.4
X
Y : 161
Y : 80
X
X : 80 Y : 161
X : 80 Y : 96
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CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbi ng diode in stal le d on th e D C out pu t si gnal r el ay must be wi red in th e spe ci fie d di re ctio n .
Otherwise, the emergency stop and other protective circuits may not operate.
Servo Amplifier
(24VDC)
Control
output
signal
COM
RA
Servo Amplifier
COM
(24VDC)
Control
output
signal
RA
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
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(4) Usage
CAUTION
Provide an exter nal emergenc y stop c ircuit to ensure that oper ation c an be sto pped an d power s witched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work. Before resettin g an alarm , make sure th at the run s igna l is of f to pr event an acc ident. A s udde n rest art is
made if an alarm is reset with the run signal on.
Do not modify the equipment. Use a noise filter, etc. to minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y
electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reas ons as servic e life and m echanical struc ture (e.g. wher e a ballscrew and the s ervo motor are coupled via a tim ing belt), the electrom agnetic brak e may not ho ld the m otor shaf t. To ensur e safe ty, install a stoppe r on the machin e si de.
(5) Corrective actions
CAUTION
When it is ass umed that a hazardous c ondition m ay take place a t the occur d ue to a po wer failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prev en ti on .
Configure th e electromagnet ic brake circu it so that it is activated not only by t he servo am plifier s ignals but also by an external emergency stop signal.
Contacts must be open when servo-on signal is off, when an alarm (trouble) is present and when an electromagnetic brake signal.
Servo motor
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.
Circuit must be opened during emergency stop signal.
EMGRA
24VDC
When power is restor ed after an inst antaneous power failu re, keep away from the machine because th e machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
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(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative.
(7) Disposal
CAUTION
Dispose of the product as general industrial waste.
(8) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.
Page 8

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRE C TIVES ?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE mar king). CE marking applies to machines and equipment into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
This servo is certified by TUV, third-party assessment organization, to comply with the EMC di rective
in the conforming methods of the EMC Installation Guidelines.
(2) Low voltage di re ctiv e
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment orga nization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE (1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10A to MR-J2S-700A
MR-J2S-10A1 to MR-J2S-40A1
Servo motor :HC-KFS
HC-MFS HC-SFS HC-RFS HC-UFS
(2) Configuration
Control box
Reinforced insulating type
Reinforced insulating transformer
No-fuse breaker
NFB
Magnetic contactor
MC
24VDC power supply
Servo amplifier
Servo motor
SM
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
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(4) Power supply
(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in
IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked
servo amplifier to the protective earth (PE) of the control box.
(b) Do not co nnect two g round c ables to the same pro tective e arth (PE) terminal. Always c onnect the
cables to the terminals one-to-one.
) of the
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be c onne ct ed t o t h e c orr es pondi n g eart h te rmi nal s.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) When the servo motor has a power supply lead , use a fixed terminal block to connect it with the
servo amplifier. Do not connect cables directly.
Terminal block
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(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in Section 13.2.2.
(b) The sizes of the cable s described in Section 13.2. 1 meet the following req uirements. To meet t he
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient tempera t ur e: 40 (104 ) [ ( )] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction. The radio noise filter (FR-B IF) is not required.
(8) Performing EMC tests
When EMC tests are ru n on a machine/device in to which the servo amplifie r has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specificati ons.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
Page 11

CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10A to MR-J2S-700A
MR-J2S-10A1 to MR-J2S-40A1
Servo motor :HC-KFS
HC-MFS HC-SFS HC-RFS HC-UFS
(2) Installation
Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least
equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.
(4) Capacitor discharge time
The capacitor disc har ge tim e is a s listed belo w. To ensu re safety , do no t touch th e ch arg ing sec tion for
10 minutes after power-off.
Servo amplifier
MR-J2S-10A(1) 20A(1) 1
MR-J2S-40A(1) 60A 2 MR-J2S-70A to 350A 3 MR-J2S-500A 700A 5
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.

<<About the manual s>>

This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u use the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR­J2S-A safely.

Relevant manuals

MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010 MELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310
Discharge time
[min]
Manual name Manual No.
A - 10
Page 12

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-18
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram ..........................................................................................................................1- 2
1.3 Servo amplifier standard specifications................................................................................................1- 3
1.4 Function list.............................................................................................................. ...............................1- 4
1.5 Model code definition ..............................................................................................................................1- 5
1.6 Combination with servo motor............................................................................................... ................1- 6
1.7 Structure...................................................................................................................................................1- 7
1.7.1 Parts identification...........................................................................................................................1- 7
1.7.2 Removal and reinstallation of the front cover ..............................................................................1-11
1.8 Servo system with auxiliary equipment...............................................................................................1-13
2. INSTALLATION 2- 1 to 2- 4
2.1 Environmental conditions.......................................................................................................................2- 1
2.2 Installation direction and clearances ....................................................................................................2- 2
2.3 Keep out foreign materials .....................................................................................................................2- 3
2.4 Cable stress..............................................................................................................................................2- 4
3. SIGNALS AND WIRING 3- 1 to 3- 58
3.1 Standard connection example ................................................................................................................3- 2
3.1.1 Position control mode .......................................................................................................................3- 2
3.1.2 Speed control mode...........................................................................................................................3- 6
3.1.3 Torque control mode.........................................................................................................................3- 8
3.2 Internal connection diagram of servo amplifier ..................................................................................3-10
3.3 I/O signals................................................................................................................................................3-11
3.3.1 Connectors and signal arrangements............................................................................................3-11
3.3.2 Signal explanations .........................................................................................................................3-14
3.4 Detailed description of the signals........................................................................................................3-23
3.4.1 Position control mode ......................................................................................................................3-23
3.4.2 Speed control mode..........................................................................................................................3-28
3.4.3 Torque control mode........................................................................................................................3-30
3.4.4 Position/speed control change mode ..............................................................................................3-33
3.4.5 Speed/torque control change mode.................................................................................................3-35
3.4.6 Torque/position control change mode ............................................................................................3-37
3.5 Alarm occurrence timing chart .............................................................................................................3-38
3.6 Interfaces.................................................................................................................................................3-39
3.6.1 Common line ....................................................................................................................................3-39
3.6.2 Detailed description of the interfaces............................................................................................3-40
3.7 Input power supply circuit.....................................................................................................................3-45
3.7.1 Connection example.........................................................................................................................3-45
3.7.2 Terminals..........................................................................................................................................3-47
3.7.3 Power-on sequence...........................................................................................................................3-48
3.8 Connection of servo amplifier and servo motor...................................................................................3-49
3.8.1 Connection instructions ..................................................................................................................3-49
1
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3.8.2 Connection diagram.........................................................................................................................3-49
3.8.3 I/O terminals....................................................................................................................................3-51
3.9 Servo motor with electromagnetic brake .............................................................................................3-53
3.10 Grounding .............................................................................................................................................3-56
3.11 Servo amplifier terminal block (TE2) wiring method.......................................................................3-57
3.12 Instructions for the 3M connector.......................................................................................................3-58
4. OPERATION 4- 1 to 4- 6
4.1 When switching power on for the first time..........................................................................................4- 1
4.2 Startup......................................................................................................................................................4- 2
4.2.1 Selection of control mode..................................................................................................................4- 2
4.2.2 Position control mode .......................................................................................................................4- 2
4.2.3 Speed control mode...........................................................................................................................4- 4
4.2.4 Torque control mode.........................................................................................................................4- 5
4.3 Multidrop communication ......................................................................................................................4- 6
5. PARAMETERS 5- 1 to 5- 34
5.1 Parameter list..........................................................................................................................................5- 1
5.1.1 Parameter write inhibit ...................................................................................................................5- 1
5.1.2 Lists....................................................................................................................................................5- 2
5.2 Detailed description ............................................................................................................................... 5 25
5.2.1 Electronic gear .................................................................................................................................5-25
5.2.2 Analog output...................................................................................................................................5-29
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern..............................5-32
5.2.4 Alarm history clear..........................................................................................................................5-32
5.2.5 Position smoothing ..........................................................................................................................5-33
6. DISPLAY AND OPERATION 6- 1 to 6-16
6.1 Display flowchart..................................................................................................................................... 6- 1
6.2 Status display ..........................................................................................................................................6- 2
6.2.1 Display examples.............................................................................................................................. 6- 2
6.2.2 Status display list.............................................................................................................................6- 3
6.2.3 Changing the status display screen................................................................................................6- 4
6.3 Diagnostic mode.......................................................................................................................................6- 5
6.4 Alarm mode..............................................................................................................................................6- 7
6.5 Parameter mode ......................................................................................................................................6- 8
6.6 External I/O signal display.....................................................................................................................6- 9
6.7 Output signal (DO) forced output .........................................................................................................6-12
6.8 Test operation mode...............................................................................................................................6-13
6.8.1 Mode change.....................................................................................................................................6-13
6.8.2 Jog operation....................................................................................................................................6-14
6.8.3 Positioning operation.......................................................................................................................6-15
6.8.4 Motor-less operation........................................................................................................................6-16
2
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7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12
7.1 Different adjustment methods ...............................................................................................................7- 1
7.1.1 Adjustment on a single servo amplifier..........................................................................................7- 1
7.1.2 Adjustment using servo configuration software............................................................................7- 2
7.2 Auto tuning ..............................................................................................................................................7- 3
7.2.1 Auto tuning mode .............................................................................................................................7- 3
7.2.2 Auto tuning mode operation............................................................................................................7- 4
7.2.3 Adjustment procedure by auto tuning............................................................................................7- 5
7.2.4 Response level setting in auto tuning mode...................................................................................7- 6
7.3 Manual mode 1 (simple manual adjustment).......................................................................................7- 7
7.3.1 Operation of manual mode 1 ...........................................................................................................7- 7
7.3.2 Adjustment by manual mode 1 .......................................................................................................7- 7
7.4 Interpolation mode .................................................................................................................................7-10
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super..........................7-11
7.5.1 Response level setting.....................................................................................................................7-11
7.5.2 Auto tuning selection....................................................................................................................... 7-11
8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10
8.1 Function block diagram ..........................................................................................................................8- 1
8.2 Machine resonance suppression filter ...................................................................................................8- 1
8.3 Adaptive vibration suppression control.................................................................................................8- 3
8.4 Low-pass filter .........................................................................................................................................8- 4
8.5 Gain changing function...........................................................................................................................8- 5
8.5.1 Applications....................................................................................................................................... 8- 5
8.5.2 Function block diagram....................................................................................................................8- 5
8.5.3 Parameters........................................................................................................................................8- 6
8.5.4 Gain changing operation..................................................................................................................8- 8
9. INSPECTION 9- 1 to 9- 2
10. TROUBLESHOOTING 10- 1 to 10-12
10.1 Trouble at start-up ..............................................................................................................................10- 1
10.1.1 Position control mode...................................................................................................................10- 1
10.1.2 Speed control mode.......................................................................................................................10- 4
10.1.3 Torque control mode.....................................................................................................................10- 5
10.2 When alarm or warning has occurred...............................................................................................10- 6
10.2.1 Alarms and warning list ..............................................................................................................10- 6
10.2.2 Remedies for alarms.....................................................................................................................10- 7
10.2.3 Remedies for warnings................................................................................................................10-12
11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11- 8
11.1 Servo amplifiers...................................................................................................................................11- 1
11.2 Connectors............................................................................................................................................11- 6
3
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12. CHARACTERISTICS 12- 1 to 12- 8
12.1 Overload protection characteristics...................................................................................................12- 1
12.2 Power supply equipment capacity and generated loss ....................................................................12- 3
12.3 Dynamic brake characteristics...........................................................................................................12- 5
12.4 Encoder cable flexing life....................................................................................................................12- 7
13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-38
13.1 Options..................................................................................................................................................13- 1
13.1.1 Regenerative brake options.........................................................................................................13- 1
13.1.2 Brake unit......................................................................................................................................13- 7
13.1.3 Power return converter................................................................................................................13- 9
13.1.4 Cables and connectors.................................................................................................................13-12
13.1.5 Junction terminal block (MR-TB20)..........................................................................................13-20
13.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................13-22
13.1.7 Battery (MR-BAT, A6BAT).........................................................................................................13-23
13.1.8 Servo configurations software....................................................................................................13-24
13.2 Auxiliary equipment ..........................................................................................................................13-26
13.2.1 Recommended wires....................................................................................................................13-26
13.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................13-28
13.2.3 Power factor improving reactors................................................................................................13-28
13.2.4 Relays............................................................................................................................................13-29
13.2.5 Surge absorbers ...........................................................................................................................13-29
13.2.6 Noise reduction techniques.........................................................................................................13-29
13.2.7 Leakage current breaker.............................................................................................................13-35
13.2.8 EMC filter.....................................................................................................................................13-37
14. COMMUNICATION FUNCTIONS 14- 1 to 14- 28
14.1 Configuration.......................................................................................................................................14- 1
14.1.1 RS-422 configuration....................................................................................................................14- 1
14.1.2 RS-232C configuration.................................................................................................................14- 2
14.2 Communication specifications............................................................................................................14- 3
14.2.1 Communication overview.............................................................................................................14- 3
14.2.2 Parameter setting.........................................................................................................................14- 4
14.3 Protocol.................................................................................................................................................14- 5
14.4 Character codes ...................................................................................................................................14- 7
14.5 Error codes ...........................................................................................................................................14- 8
14.6 Checksum.............................................................................................................................................14- 8
14.7 Time-out operation..............................................................................................................................14- 9
14.8 Retry operation....................................................................................................................................14- 9
14.9 Initialization........................................................................................................................................14-10
14.10 Communication procedure example ...............................................................................................14-10
14.11 Command and data No. list.............................................................................................................14-11
14.11.1 Read commands.........................................................................................................................14-11
14.11.2 Write commands........................................................................................................................14-12
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14.12 Detailed explanations of commands...............................................................................................14-14
14.12.1 Data processing..........................................................................................................................14-14
14.12.2 Status display ............................................................................................................................14-16
14.12.3 Parameter...................................................................................................................................14-17
14.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................14-19
14.12.5 Disable/enable of external I/O signals (DIO)..........................................................................14-20
14.12.6 External input signal ON/OFF (test operation).....................................................................14-21
14.12.7 Test operation mode..................................................................................................................14-22
14.12.8 Output signal pin ON/OFF output signal (DO) forced output..............................................14-24
14.12.9 Alarm history.............................................................................................................................14-25
14.12.10 Current alarm..........................................................................................................................14-26
14.12.11 Other commands......................................................................................................................14-27
15. ABSOLUTE POSITION DETECTION SYSTEM 15- 1 to 15- 66
15.1 Outline..................................................................................................................................................15- 1
15.1.1 Features.........................................................................................................................................15- 1
15.1.2 Restrictions....................................................................................................................................15- 1
15.2 Specifications.......................................................................................................................................15- 2
15.3 Battery installation procedure...........................................................................................................15- 3
15.4 Standard connection diagram ............................................................................................................15- 4
15.5 Signal explanation...............................................................................................................................15- 5
15.6 Startup procedure................................................................................................................................15- 6
15.7 Absolute position data transfer protocol ...........................................................................................15- 7
15.7.1 Data transfer procedure...............................................................................................................15- 7
15.7.2 Transfer method ...........................................................................................................................15- 8
15.7.3 Home position setting..................................................................................................................15-17
15.7.4 Use of servo motor with electromagnetic brake .......................................................................15-19
15.7.5 How to process the absolute position data at detection of stroke end....................................15-20
15.8 Examples of use..................................................................................................................................15-21
15.8.1 MELSEC-A1S (A1SD71).............................................................................................................15-21
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG).....................................................................................15-35
15.8.3 MELSEC A1SD75(AD75) ...........................................................................................................15-47
15.9 Confirmation of absolute position detection data............................................................................15-62
15.10 Absolute position data transfer errors ...........................................................................................15-63
15.10.1 Corrective actions......................................................................................................................15-63
15.10.2 Error resetting conditions.........................................................................................................15-65
Appendix App- 1 to App- 2
App 1. Signal arrangement recording sheets.........................................................................................App- 1
App 2. Status display block diagram ......................................................................................................App- 2
5
Page 17

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Mo tor Instruc tion Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULA TI ON ME TH O DS F OR DES I G NI N G
6
Page 18

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is ba sed on the MELSERVO-J2 series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. As this new series has the RS-232C or RS-422 serial communication function, a servo configuration software-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2 series. Simply adding a battery to the servo amplifier makes up an abso lute position dete ction system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.
(1) Position control mode
An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 131072 puls es/rev resol ution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so
a smoother start/stop can be made in response to a sudden position command.
A torque lim it is imposed on th e se rv o amp l if ier by the clamp circuit to p ro te c t the powe r transisto r in
the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque
limit value can be changed to any value with an external analog input or the parameter.
(2) Speed control mode
An external analog speed command (0 to
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external
analog speed command.
(3) Torque control mode
An external an alog torque command (0 to
used to control the torque output by the servo motor.
To protect misoperation under no load, the speed limit function (external or internal setting) is also
available for application to tension control, etc.
10VDC) or parameter-driven internal speed command
8VDC) or parameter-driven internal torque comman d is
1 - 1
Page 19
1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.
Regenerative brake option
(Note 3)
(Note2)
Power
NFB supply 3-phase 200 to 230VAC, 1-phase 230VACor 1-phase 100to120VAC
Servo amplifier
MC
1
L
2
L L
3
(MR-J2S-200A or more)
L
11
21
L
Regenerative brake
RADS
Control
power supply
P
Regenerative brake transistor
CHARGE
lamp
Fan
Base amplifier
D
C
(Note1)
Voltage
detection
Current
detector
Overcurrent
protection
Dynamic
brake
Current
detection
U V W
CN2
Servo motor
U V W
E1 E2
Encoder
SM
Electro­magnetic brake
Pulse
input
Model position
control
Model speed
control
Virtual
encoder
Virtual
motor
Model position
Actual position
control
Model speed
Actual speed
control
Model torque
Current
control
RS-232C
A/D
RS-422
D/A
I/F
CN1A CN1B
CN3
Analog monitor (2 channels)
Controller
RS-422/RS-232C
Analog (2 channels)
D I/O control Servo on Start Failure, etc.
To other servo amplifier
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10A(1).
2. For 1-phase 230VAC, connect the power supply to L L
is not provided for a 1-phase 100 to120VAC power supply.
3
and leave L3 open.
1,L2
3. For MR-J2S-350 or less.
MR-BAT
CON1
Optional battery (for absolute position)
1 - 2
Page 20
1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier
MR-J2S-
Item
Voltage/frequency
Permissible voltage fluctuation
Power supply
Permissible frequency fluctuation Within 5%
Power supply capacity Refer to Section12.2 System Sine-wave PWM control, curr ent control system Dynamic brake Built-in
Protective functions
Max. input pulse frequency 500kpps (for differential receiver), 200kpps (for open collector)
Command pulse multiplying factor Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500
10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 10A1 20A1 40A1
3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC: 170 to 253VAC 1-phase 230VAC: 207 to 253VAC
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, exces s i v e error protecti on
3-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC
1-phase 100 to 120VAC 50/60Hz
1-phase 85 to 127VAC
In-position range setting 0 to 10000 pulse (command pulse unit)
Error excessive 10 revolutions
Position control mode
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed co mma n d i nput 0 to 10VDC / Rated speed
0.01% or less (load fluctuation 0 to 100%)
Speed fluctuation ratio
0.2% max.(ambient temperature 25 10 ) for external speed setting only
Speed control m ode
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Torque
control mode
Structure Self-cooled, open (I P00) Force-cooling, open (IP00 )
Weight
Analog torque command in p ut 0 to 8VDC / Maximum torque (input impedance 10 to 12k ) Speed limit Set by parameter setting or external analog input (0 to
Ambient
temperature
Ambient
humidity
Ambient
Environment
Altitude Max. 1000m (3280ft) above sea level
Vibration
Operation
Storage Operation
Storage
[ ]0 to 55 (non-freezing) [
] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [
] 4 to 149 (non-freezing)
90%RH or less ( non - condensing) Indoors (no dir ect su nl i gh t )
Free from corrosive gas, flammable gas, oil mist, dust and dirt
5.9 [m/s2] or less
19.4 [ft/s
[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1
[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 15.87 1.5 1.5 2.4
2
] or less
0% or less (power fluctuation
10%)
10VDC/Rated speed)
Self-cooled,
open(IP00)
1 - 3
Page 21
1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections.
Function Description
Position control mode This servo is used as position control servo. P
Speed control mode This servo is used as speed control servo. S
Torque control mode This servo is used as torque control servo. T
Position/speed control cha nge mode Speed/torque control change mode Torque/position control change mode
High-resolut ion encoder Absolute position detection
system
Gain changing function
Adaptive vibration suppression control
Low-pass filter
Machine analyzer function
Machine simulation
Gain search function Slight vibration suppression
control Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No. 3, 4
Auto tuning
Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7 S-pattern acceleration/ deceleration time constant
Regenerative brake option
Brake unit
Using external input signal, control can be switched between pos i tion control and speed control. Using external input signal, control can be switched between speed control and torque control. Using external input signal, control can be switched between to rque control a nd position control. High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Merely setting a home position once makes home position return unnecessary at every power-on. You can switch between gains during rotation and gains during stop or use an external signal to change gains during operation. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration software­installed personal computer and servo amplifier. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. Personal computer changes gains automatically and searches for overshoot-free gains in a short time. Suppresses vibration of 1 pulse produced at a servo motor stop.
Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MR-J2 series servo amplifier.
Speed can be increased and decreased smoothly. S, T Parameter No. 13 Used when the built-in regenerative brake resistor of the
servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative brake option cannot provide enough regenerative power. Can be used with the MR-J2S-500A
MR-J2S-700A.
(Note)
Control mode
Section 3.1.1 Section 3.4.1 Section 4.2.2 Section 3.1.2 Section 3.4.2 Section 4.2.3 Section 3.1.3 Section 3.4.3 Section 4.2.4
P/S Section 3.4.4
S/T Section 3.4.5
T/P Section 3.4.6
P, S, T
PChapter 15
P, S Section 8.5
P, S, T Section 8.3
P, S, T Section 8.4
P
P
P
P Section 7.5
P, S Chapter 7
P, S, T Section 13.1.1
P, S, T Section 13.1.2
Refer to
1 - 4
Page 22
1. FUNCTIONS AND CONFIGURATION
Function Description
(Note)
Control mode
Refer to
Used when the regenerative brake option cannot provide
Return conv erter
enough regenerative power. Can be used with the MR-J2S-500A
MR-J2S-700A.
P, S, T Section 13.1.3
Alarm history cl ea r Alarm history is cl eared. P, S, T Parameter No. 16 Restart after instantaneous
power failure
Command pulse selection
Input signal selection
Torque limit Servo motor-generated torque can be limited to any value. P, S
If the input power supply vol tage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal. Command pulse train form can be selected from among four different types. Forward rotation start, reverse rotation start, servo-on and other input signals can be assigned to any pins.
S Parameter No. 20
P Parameter No. 21
P, S, T
Parameters No. 43 to 48 Section 3.4.1 (5) Parameter No. 28 Section 3.4.3 (3)
Speed limit Servo motor speed can be limited to any value. T
Parameter No. 8 to 10,72 to 75
Status display
External I/O signal display
Output signal (DO) forced output
Servo status is shown on the 5-digit, 7-segment LED display ON/OFF statuses of external I/O signals are shown on the display. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc.
P, S, T Section 6.2
P, S, T Section 6.6
P, S, T Section 6.7
Voltage is automatically offset to stop the servo motor if it
Automatic VC offset
does not come to a stop at the analog speed command (VC)
S, T Section 6.3
or analog speed limit (VLA) of 0V.
Test operati on mode
Servo motor can be run from the operation section of the servo amplifier without the start signal entered.
P, S, T Section 6.8 Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No. 17 Servo configurati on sof tw a re
Alarm code output
Using a personal computer, parameter setting, test operation, status display, etc. can be performed. If an alarm has occurred, the corresponding alarm number is output in 3-bit code.
P, S, T Section 13.1.8
P, S, T Section 10.2.1
Note:P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode , S/T: Speed/torque contr ol change mode, T/P: To rq ue/position control change mode

1.5 Model code definition (1) Rating plate

MITSUBISHI
MODEL
POWER
MR-J2S-60A
POWER : INPUT :
OUTPUT : SERIAL :
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
600W
3.2A 3PH 1PH200-230V 50Hz 3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
170V 0-360Hz 3.6A TC3XXAAAAG52
AC SERVO
AC SERVO
PASSED
Model Capacity
Applicable power supply
Rated output current Serial number
1 - 5
Page 23
1. FUNCTIONS AND CONFIGURATION
(2) Model
MR–J2S–
A
MR–J2S–100A or less
MR–J2S–200A 350A
Series
Symbol
None
(Note1)
Note:1. Not supplied to the servo amplifier of MR-J2S-60A or more.
2. Not supplied to the servo amplifier of MR-J2S-100A or more.
Rated output
Symbol
Power Supply
Power supply
3-phase 200 to 230VAC (Note2) 1-phase 230VAC
1-phase 100V to 120VAC
1
General-purpose interface
Rated output [W]
10010 20020 40040 60060 70070

1.6 Combination with servo motor

Symbol
Rated output [W]
1000100 2000200 3500350 5000500 7000700
Rating plate
MR-J2S-500A
Rating plate Rating plate
MR-J2S-700A
Rating plate
The following table lists combina tion s of servo amplifie rs and se rvo mo tors. The same combina tions ap ply to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier
MR-J2S-10A(1) 053 13 053 13 13 MR-J2S-20A(1) 23 23 23 MR-J2S-40A(1) 43 43 43
MR-J2S-60A 52 53
MR-J2S-70A (Note) 73 73 72 73 MR-J2S-100A 81 102 103 MR-J2S-200A 121 201 152 202 153 203 103 153 152 MR-J2S-350A 301 352 353 203 202 MR-J2S-500A 502 353 503 352 502 MR-J2S-700A 702
Note: The HC-K FS 7 3 ma y n ot be connected depending on the production time of the serv o amp l ifier. Pleas e co n su l t u s .
HC-KFS
HC-MFS
1000r/min 2000r/min 3000r/min
HC-SFS HC-UFS
HC-RFS
2000r/min 3000r/min
1 - 6
Page 24
1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100A or less

Name/Application
Battery h older Contains the battery for absolute position data backup.
Battery connector (CON1) Used to connect the battery for absolute position data backup.
Display The 5-digit, seven-segment LED shows the servo status and alarm number.
Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.
DOWN
MODE
I/O signal connector (CN1A) Used t o connect dig ital I/O signals.
UP
SET
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
Refer to
Section15.3
Section15.3
Chapter6
Chapter6
Section3.3
I/O signal connector (CN1B) Used t o connect dig ital I/O signals.
Communication connector (CN3) Used to connect a command device (RS-422/RS-232C) and output analog monitor data.
Name plate
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.
Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.
Control circuit terminal block (TE2) Used to connect the control circuit power supply and regenerative brake option.
Protective earth (PE) terminal ( ) Ground terminal.
Section3.3
Chapter14
Section13.1.2
Section1.5
Section3.3
Section13.1.4
Section3.7
Section11.1
Section3.7
Section11.1
Section13.1.1
Section3.10 Section11.1
1 - 7
Page 25
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
Name/Application
Battery hol der Contains the battery for absolute position data backup.
Battery connector (CON1) Used to connect the battery for absolute position data backup.
Display The 5-digit, seven-segment LED shows the servo status and alarm number.
Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.
UP
MODE
I/O signal conn ector (CN1A) Used to connect digital I/O signals.
DOWN
SET
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
Refer to
Section15.3
Section15.3
Chapter6
Chapter6
Section3.3
Cooling fan
Installation notch (4 places)
I/O signal conn ector (CN1B) Used to connect digital I/O signals.
Communication connector (CN3) Used to connect a command device (RS-422/RS232C) and output analog monitor data.
Name plate
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Encoder conne cto r ( C N 2) Connector for connection o f the servo motor encoder.
Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.
Control circuit ter m i na l b lock (TE2) Used to connect the control circuit power supp l y a nd regenerative brake option.
Protective earth (PE) terminal ( ) Ground terminal.
Section3.3
Section3.3
Section13.1.2
Chapter14
Section1.5
Section3.3
Section13.1.4
Section3.7
Section11.1
Section3.7
Section11.1
Section13.1.1
Section3.10 Section11.1
1 - 8
Page 26
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
MODE UP DOWN
SET
Name/Application Refer to
Battery connector (CON1) Used to connect the battery for absolute position data backup. Battery holder Contains the battery for absolute position data backup.
Display The 5-digit, seven-segment LED shows the servo status and alar m number .
Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.
MODE UP DOWN SET
Section15.3
Section15.3
Chapter6
Installation notch (4 places)
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
I/O signal connector (C N 1A) Used to connect digital I/O signals.
I/O signal connector (C N 1B) Used to connect digital I/O signals.
Communication connector (CN3) Used to connect a command device (RS-422/RS232C) and output analog monitor data.
Encoder con n e ctor (CN2) Connector for connection of the servo motor encoder.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Control circ ui t t e rm i nal block (TE2) Used to connect the control circuit power supply and regenerative brake option.
Chapter6
Section3.3
Section3.3
Section3.3
Section13.1.2
Chapter14 Section3.3
Section13.1.4
Section3.7
Section11.1.1
Cooling fan
Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.
Name plate Section1.5 Protective earth (PE) terminal ( )
Ground terminal.
Section3.7
Section11.1
Section13.1.1
Section3.10 Section11.1
1 - 9
Page 27
1. FUNCTIONS AND CONFIGURATION
(4 p
)
(4) MR-J2S-700A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to next page.
MODE UP DOWN
Name/Application
Battery connector (CON1) Used to connect the battery for absolute position data backup.
Battery holder Contains the battery for absolute positi on data back up .
Display The 5-digit, seven-segment LED shows the servo status and alarm number.
Operation section
SET
Used to perform status display, diagnostic, alarm and parameter sett ing op e ra ti o ns.
MODE UP DOWN SET
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
I/O signal connector (CN1A) Used to connect digital I/O signals.
Refer to
Section15.3
Section15.3
Chapter6
Chapter6
Section3.3
Cooling fan
Installation notch
laces
I/O signal connector (CN1B) Used to connect digital I/O signals.
Communication connector (CN3) Used to connect a command device (RS-422/RS232C) and output analog monitor data.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Control circuit term inal block (TE2) Used to connect the co ntr o l ci rcu i t po wer supply.
Encoder connector (C N2 ) Connector for connection of the servo motor encoder.
Name plate Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative brake option and serv o motor.
Protective earth (PE) termi nal ( ) Ground terminal.
Section3.3
Section3.3
Section13.1.4
Chapter14
Section3.7
Section11.1.1
Section3.3
Section13.1.4
Section1.5
Section3.7
Section11.1
Section13.1.1
Section3.10 Section11.1
1 - 10
Page 28
1. FUNCTIONS AND CONFIGURATION

1.7.2 Removal and reinstallation of the front cover

CAUTION
To avoid the risk of an electric s hock, do not ope n the front cov er while power is
on.
(1) For MR-J2S-200A or more
Removal of the front cover
1)
2)
Front cover
1) Hold down the removing knob.
2) Pull the front cover toward you.
Reinstallation of the front cover
Front cover hook
(2 places)
2)
1)
Front cover socket (2 places)
1) Insert the front cover hooks into the front cover sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the removing knob clicks.
(2) For MR-J2S-500A
Removal of the front cover
2)
Front cove r
1) Hold down the removing knob.
2) Pull the front cover toward you.
Reinstallation of the front cover
1)
Front cover hook (2 places)
2)
1)
Front cove r socket (2 places)
1) Insert the front cover hooks into the front cover sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the removing knob clicks.
1 - 11
Page 29
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J2S-700A
Removal of the front cover
Reinstallation of the front cover
Front cover hook (2 places)
B)
2)
1)
A)
1) Push the removing knob A) or B), and put you finger into the front hole of the front cover.
2) Pull the front cover toward you.
A)
2)
1)
Front cover socket (2 places)
1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the removing knob clicks.
1 - 12
Page 30
1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

WARNING
(1) MR-J2S-100A or less
(a) For 3-phas e 200V t o 230V A C or 1 -p hase 23 0V A C
(Note2) 3-phase 200V to 230VAC power supply or 1-phase 230VAC power supply
No-fuse breaker (NFB) or fuse
(terminal m ar ked
) of the servo amplifier to the prot ecti ve earth (P E) of the contr ol
box.
Options and auxiliary equipment
No-fuse breaker Magnetic contactor Servo configuration so ft ware
Servo amplifier
Refer to
Section 13.2.2 Section 13.2.2
Section 13.1.8
To CN1A
Options and auxiliary equipment
Regenerative brake option Cables Section 13.2.1
Power factor improving reactor
Command device
Refer to
Section 13.1.1
Section 13.2.3
Magnetic contactor (MC)
Power factor improving reactor (FR-BAL)
Control circuit terminal block
L
21
To CN2
L
1
L
2
L
3
U
CHARGE
VW
D
To CN1B
To CN3
Protective earth(PE) terminal
Junction terminal block
Personal computer
(Note1) Encoder cable
(Note1) Power supply lead
Servo configuration software MRZJW3-SETUP121E
L
11
Regenerative brake option
Note: 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less. Connect the power supply to L
and L2 terminals and leave L3 open.
1
P
Servo motor
C
1 - 13
Page 31
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phas e 10 0V t o 120V A C
1-phase 100V to 120VAC power supply
No-fus e breaker (NFB) or fuse
Options and auxiliary equipment
No-fuse breaker Magnetic contactor Servo configuration software
Servo amplifier
Refer to
Section 13.2.2 Section 13.2.2 Section 13.1.8
To CN1A
Options and auxiliary equipment
Regenerative brake option
Refer to
Section 13.1.1
Cables Section 13.2.1 Power factor improving reactor Section 13.2.3
Command device
Magnetic contactor (MC)
Power factor improving reactor (FR-BAL)
Control circuit terminal block
L
21
To CN2
L1
2
L
CHARGE
UVW
D
To CN1B
To CN3
Protective earth(PE) terminal
Junction terminal block
Personal computer
(Note) Encoder cable
(Note) Power supply lead
Servo configuration software MRZJW3-SETUP121E
L
11
Regenerative brake option
P
C
Note: The HC-SFS, HC-RFS series have cannon connectors.
Servo motor
1 - 14
Page 32
1. FUNCTIONS AND CONFIGURATION
3
t
(2) MR-J2S-200A MR-J2S-350A or more
-phase 200V
o 230VAC
power supply
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
Power factor improving reactor (FR-BAL)
Options and auxiliary equipment
No-fuse breaker Magnetic contactor Servo configuration software
Servo amplifier
To CN2
L
11
L
21
Refer to
Section 13.2.2 Section 13.2.2 Section 13.1.8
Options and auxiliary equipment
Regenerative brake option
Refer to
Section 13.1.1
Cables Section 13.2.1
Power factor improving reactor Section 13.2.3
Command device
To CN1A
Junction terminal block
To CN1B
Servo
To CN3
Personal computer
configuration software MRZJW3­SETUP121E
L
1
L
2
L
3
UV
PC
W
Regenerative brake option
1 - 15
Page 33
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
3-phase 200V to 230VAC power supply
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
Options and auxiliary equipment
No-fuse breaker Magnetic contactor Servo configura tion software
Refer to
Section 13.2.2 Section 13.2.2 Section 13.1.8
Options and auxiliary equipment
Regenerative brake option
Refer to
Section 13.1.1
Cables Section 13.2.1 Power factor improving reactor Section 13.2.3
Power factor improving reactor (FA-BAL)
C Regenerative brake option
L
11
21
L
Servo amplifier
Command device
To CN1A
1
L L
2
L
3
To CN1B
Junction terminal block
Servo configuration
P
U V
To CN3
Personal computer
W
software MRZJW3­SETUP121E
To CN2
1 - 16
Page 34
1. FUNCTIONS AND CONFIGURATION
f
(4) MR-J2S-700A
3-phase 200V to 230VAC power supply
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
Power
actor improving reactor (FA-BAL)
Options and auxiliary equipment
No-fuse breaker Magnetic contactor Servo configuration software
Servo amplifier
L
11
21
L
L
3
L
2 1
L
Refer to
Section 13.2.2 Section 13.2.2 Section 13.1.8
To CN1A
To CN1B
To CN3
To CN2
U V W
Options and auxiliary equipment Refer to
Regenerative brake option
Section 13.1.1
Cables Section 13.2.1 Power factor improving reactor Section 13.2.3
Command device
Junction terminal block
Servo configuration
Personal computer
software MRZJW3­SETUP121E
C
P
Regene rative br ake option
1 - 17
Page 35
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 18
Page 36

2. INSTALLATION

2. INSTALLATION
CAUTION
Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier.
Do not block the inta ke /e xhau st po rts o f th e se rv o ampl ifier. Otherwis e, a fa ul t may occur.
Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult Mitsubishi.

2.1 Environmental con dit ions

Environment Conditions
Ambient temperature
Ambient humidity
Ambience Altitude Max. 1000m (3280 ft) above sea level Vibration
Operation
Storage
Operation Storage
[ ]0 to 55 (non-freezing) [
] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
] 4 to 149 (non-freezing)
[
90%RH or less (non-condensing)
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
[m/s2] 5.9 [m/s2] or less
2
] 19.4 [ft/s2] or less
[ft/s
2 - 1
Page 37
2. INSTALLATION

2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt ma y

CAUTION
(1) Installation of one servo amplifier
10mm (0.4 in.) or more
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
Control box Control box
40mm (1.6 in.) or more Servo amplifier
10mm (0.4 in.) or more
Wiring clearance 70mm
(2.8 in.)
Top
40mm (1.6 in.) or more
Bottom
2 - 2
Page 38
2. INSTALLATION
(2) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Control box
100mm (4.0 in.) or more
Servo amplifier
10mm (0.4 in.) or more
30mm (1.2 in.) or more
40mm (1.6 in.) or more
30mm (1.2 in.) or more
(3) Others
When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2.3 Keep out foreign materials

(1) When installin g the unit in a control box, prevent drill ch ips and wire fragmen ts from entering the
servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a fan installed on the ceiling.
(3) When installing the control box in a place where there are toxic gas, dirt and dust, provide positive
pressure in the control box by forcing in cle an air to p revent such materials from entering the control box.
2 - 3
Page 39
2. INSTALLATION

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight
stress are not applied to the cable connection.
(2) In any application where the servo motor moves, the cables should be free from excessive stress. For
use in any application where the servo motor moves run the cables so that their flexing portions fall within the optional encoder cable range. Fix the encoder cable and power cable of the servo motor.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 12.4 for the flexing life.
2 - 4
Page 40

3. SIGNALS AND WIRING

3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 10 minutes, and
after the charge lamp has gone off, make sure that the voltage is safe in the tester or like. Otherwise, you may get an electric shock.
WARNING
CAUTION
Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the emergency stop and other protective circuits.
Servo Amplifier
COM
(24VDC)
Control
output
signal
RA
Servo amplifier
COM
(DC24V)
Control output signal
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative brake resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
Do not modify the equipment.
POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a failure. Connect them correctly.
3 - 1
Page 41
3. SIGNALS AND WIRING

3.1 Standard connection example

POINT
Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor.

3.1.1 Position control mode

(1) FX-10GM
Positioning module
FX-10GM
SVRDY
1 2
COM2
12
COM2
SVEND
11 14
COM4
13
PG0
7,17
24
8,18
VC
5
FPO
6
FP
9,19
COM5
16
RP
15
RP0
3
CLR
4
COM3
START
STO
ZRN
FWD
RVS
DOG
LSF LSR
COM1
9,19
(Note 3, 6) Emergency stop
Servo-on Reset Proportion control
Torque limit selection
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog torque limit
10V/max. torque
(Note 11) Servo configuration software
Personal computer
(Note 10) 2m(6.5ft) max.
1 2 3 4 5 6 7 8
10m(32ft) max.
2m(6.5ft) max.
(Note 8) Communication cable
Servo amplifier
(Note 4, 9) (Note 4)
CN1A CN1B
RD
19
COM
9
INP
18
P15R
4
OP
14
LG
1
OPC
11
9
COM
3
PP
10
SG
2
NP CR
8
SG
20
SD
Plate
CN1B
15
EMG
5
SON
14
RES
8
PC
9
TL
16
LSP
17
LSN
SG
10
P15R
11 12
TLA
LG
1
Plate
SD
(Note 4, 9) CN3
(Note 13)
(Note 4, 9)
CN1A
Plate
(Note 4, 9)(Note 4, 9)
Plate
VDD
3
13 COM
18
ALM
19 ZSP
6TLC
6
LA
16
LAR
7
LB
17
LBR
515LZ
LZR
SD
CN3
4
MO1
3
LG
14
MO2
13
LG SD
(Note 1)
(Note 12)
(Note 2, 5)
RA1
RA2
RA3
A
A
2m (6.5ft) max.
(Note 7)
Trouble Zero speed Limiting torque
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
(Note 8)
10k
Monitor output Max. 1mA
10k
Reading in both directions
3 - 2
Page 42
3. SIGNALS AND WIRING
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal
marked ) of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external. (Refer to Section 3.6.2)
6. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the controller should be stopped by the sequence program.
8. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1.4)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the opencollector system. It is 10m
(32ft) or less in the differential line driver system.
11. Use MRZJW3-SETUP 121E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them
when supplying external power. Refer to Section 3.6.2.
13. Connect to CN1A-10 when using the junction terminal block (MR-TB20).
3 - 3
Page 43
3. SIGNALS AND WIRING
(2) AD75P (A1SD75P )
Positioning module
AD75P
(A1SD75P )
Ready
COM INPS
PGO(24V)
PGO(5V)
PGO COM
CLEAR
CLEAR COM
PULSE F PULSE F PULSE R PULSE R
PULSE F
PULSE COM
PULSE R
PULSE COM
DOG
STOP
CHG
START
COM COM236
(Note 3, 6) Emergency stop
Servo-on Reset Proportion control
Torque limit selection
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Analog torque limit
10V/max. torque
(Note 11) Servo configuration software
7
26
8
6 24 25
5 23 21
3 22
4
1
19 20
11 12
FLS RLS
13 14 15 16 35
Upper limit setting
Personal computer
(Note 10) 10m(32ft) max.
(Note 13)
DC24V
2m(6.5ft) max.
(Note 8) Communication cable
RD
COM
INP
LZ
LZR
CR SG PG PP NG NP LG SD
EMG SON
RES
PC
TL LSP LSN
SG
P15R
TLA
LG
SD
Servo amplifier
(Note 4,9) CN1A
19
9
18
5
15
8 10 13
3 12
2
1
Plate
(Note 4,9)
(Note 4,9)
CN1B
15
5
14
8
9 16 17 10
(Note 4,9)
11 12
1
Plate
(Note 4,9)
CN3
(Note 4) CN1B
3 13 COM
18 19 ZSP
6TLC
CN1A
6
16
7
17
1
14
4
Plate
CN3
4 3
14 13
Plate
VDD
ALM
LA
LAR
LB
LBR
LG OP
P15R
SD
MO1
LG
MO2
LG SD
(Note 12)
(Note 2,5)
RA1
RA2
RA3
A
A
2m(6.5ft) max.
(Note 7)
Trouble Zero speed
Limiting torque
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common Encoder Z-phase pulse
(open collector)
(Note 8)
10k
Monitor output Max. 1mA
10k
Reading in both directions
3 - 4
(Note 1)
Page 44
3. SIGNALS AND WIRING
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal
marked ) of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.(Refer to Section 3.6.2)
6. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the controller should be stopped by the sequence program.
8. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1.4)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pul se train input in the diff erential line driver system .
It is 2m (6.5ft) or less in the opencollector system.
11. Use MRZJW3-SETUP 121E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect
them when supplying external power. Refer to Section 3.6.2.
13. Connect LG and pulse output COM to increase noise immunity.
3 - 5
Page 45
3. SIGNALS AND WIRING

3.1.2 Speed control mode

Speed selection 1
(Note 3, 6) Emergency stop
Servo-on Reset
Speed selection 2 Forward rotation start Reverse rotation start
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog speed command
(Note 13)
(Note 11) Servo configuration software
10V/rated speed
Upper limit setting
(Note 10) Analog torque limit
10V/max. torque
Personal computer
10m(32ft) max.
2m(6.5ft) max.
(Note 8) Communication cable
Servo amplifier
(Note 4,9)
CN1A
SP1
8
10
SG
(Note 4,9) (Note 4,9) CN1B
EMG
15
SON
5
RES
14
7SP2
ST1
8
ST2
9
LSP
16
LSN
17
SG
10
P15R
11
2
VC LG
1
12TLA
Plate
SD
(Note 4,9) CN3
(Note 4)
CN1B
13 18
19 ZSP
CN1A
9COM 18 SA 19
5 15
6 16
7 17
1 14
4
Plate
(Note 4,9)
CN3
4
3 14 13
Plate
3 VDD
COM
ALM
6TLC
RD LZ
LZR LA LAR LB LBR LG OP P15R SD
MO1 LG MO2 LG SD
(Note 12)
(Note 2,5)
RA1
RA2
RA3
RA5
RA4
A
A
2m(6.5ft) max.
(Note 7)
Trouble Zero speed Limiting torque
Speed reached Ready
Encoder Z-phase pulse (differential line driver)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common Encoder Z-phase pulse (open collector)
(Note 8)
10k
Monitor output Max. 1mA Reading in
10k
both directions
3 - 6
(Note 1)
Page 46
3. SIGNALS AND WIRING
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal
marked ) of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.(Refer to Section 3.6.2)
6. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition.
8. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1.4)
9. The pins with the same signal name are connected in the servo amplifier.
10. By setting parameters No.43 to 48 to make TL avail able , TL A can be used.
11. Use MRZJW3-SETUP 121E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect
them when supplying external power. Refer to Section 3.6.2.
13. Use an external power supply when inputting a negative voltage.
3 - 7
Page 47
3. SIGNALS AND WIRING
s

3.1.3 Torque control mode

Speed selection 1
(Note 3) Emergency stop
Servo-on Reset
Speed selection 2 Forward rotation start Reverse rotation start
Upper limit setting
Analog torque command
(Note 11)
8V/max. torque
Upper limit setting
Analog speed limit
0 to 10V/rated speed
10m(32ft) max.
Servo amplifier
(Note 4,8) CN1A
SP1
8
10
SG
(Note 4,8) (Note 4,8)
CN1B
EMG
15
SON
5
RES
14
7SP2
RS1
9
RS2
8
SG
10
P15R
11 12
TC LG
1 2VLA
Plate
SD
(Note 4)
CN1B
3 VDD 13 18 19 ZSP
6VLC
CN1A
9COM
19 RD
5
15
6
16
7
17
1
14
4
Plate
COM
ALM
LZ LZR LA LAR LB LBR LG OP P15R
SD
(Note 10)
(Note 2,5)
RA1
RA2
RA3
RA4
Encoder Z-phase pulse (differential line driver)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common Encoder Z-phase pulse (open collector)
(Note 6)
Trouble Zero speed
Limiting torque
Ready
(Note 9) Servo configuration
oftware
Personal computer
2m(6.5ft) max.
(Note 7) Communication cable
(Note 4,8)
CN3
(Note 4,8)
CN3
4 3
14 13
Plate
MO1 LG MO2 LG SD
2m(6.5ft) max.
(Note 1)
A
A
10k
10k
(Note 7) Monitor output Max. 1mA Reading in both directions
3 - 8
Page 48
3. SIGNALS AND WIRING
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal
marked ) servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabli ng the emergency stop and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. CN1A, CN1B, CN 2 and CN3 h ave the same s hape. W rong con nection of the con nector s wi ll le ad to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external. (Refer to Section 3.6.2)
6. Trouble (ALM) is connected with COM in normal alarm-free condition.
7. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR- J2CN3TM). (Refer to Section 13.1.4)
8. The pins with the same signal name are connected in the servo amplifier.
9. Use MRZJW3-SETUP 121E.
10. When using the internal power supply (VDD), always connect VDD-COM. Do not co nnect them
when supplying external power. Refer to Section 3.6.2.
11. Use an external power supply when inputting a negative voltage.
3 - 9
Page 49
3. SIGNALS AND WIRING

3.2 Internal connection diagram of servo amplifier

The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode.
Servo amplifier
VDD
COM
(Note)
PS
COM COM COM 9
CR SP1 SP1 SG SG SG810,20
(Note)
PST
SON SON SON
PC ST1 RS2
TL ST2 RS1 RES EMG
LSP LSN
SG
(Note)
PST
OPC
PG PP NG NP SD
(Note)
PST
TLA TC 12
P15R
P15R
LG
LG
SD
SD
T CN1A
SP2 SP257
RES RES EMG EMG
LSP LSN
SG SG
SD SD
VC VLA 2
TLA
TLA
P15R
P15R
LG
LG
SD
SD
CN1B
3
13
CN1B
8
9 14 15 16 17
10,20
CN1A
11 13
Approx. 100k
3 12
Approx. 100k Approx. 1.2k
2
Case
CN1B
11
1
Case
CN1A
4P15R
DC24V
DC 15V
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 1.2k
(Note)
CN1A
INP SA18
RD RD RD19
(Note)
CN1B
TLC TLC VLC6
ALM ALM ALM18
ZSP ZSP ZSP19
DO14
CN1A
6
LA
16
LAR
7
LB
17
LBR
5
LZ
15
LZR
14
OP
1LG
CN3
4MO1
142MO2
TXD
12 RXD
9SDP
19 SDN
5 RDP 15 RDN PE
PST
PST
DO1 DO1
Note. P: Position control mode, S: Speed control mode, T: Torque contr ol mode
3 - 10
Page 50
3. SIGNALS AND WIRING

3.3 I/O signals

3.3.1 Connectors and signal arrangements POINT

The connector pin-outs shown above are viewed from the cable connector wiring section side. Refer to the next page for CN1A and CN1B signal assignment.
(1) Signal arrangement
CN1A CN1B
1
2
3
4
5
6
7
8
9
10
CN2 CN3
1
2
LG
LG
3
4
5
6
MD
7
8
MR
9
10
BAT
12
14
16
18
20
12
LG
14
16
MDR
18 P5 20 P5
11
13
15
17
19
11
LG
13
15
17
MRR
19
P5
MITSUBISHI MELSERVO-J2
The connector frames are connected with the PE (earth) terminal inside the servo amplifier.
2
4
6
8
10
2
RXD
4
MO1
6
8
10
TRE
1
3
5
7
9
1
LG
3
LG
5
RDP
7
9
SDP
12
14
16
18
20
12
TXD
14
MO2
16
18
20 P5
11
13
15
17
19
11
LG
13
LG
15
RDN
17
19
SDN
3 - 11
Page 51
3. SIGNALS AND WIRING
(2) CN1A and CN1B si gn al assig n men t
The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.
(Note2)
Connector Pin No.
CN1A
(Note 4)
CN1B
(Note1)
I/O
P P/S S S/T T T/P
1 LGLGLGLGLGLG 2 I NP NP/ 3 I PP PP/ 4 P15R P15R/P15R P15R P15R P15R P15R 5 O LZ LZ LZ LZ LZ LZ 6 O LA LA LA LA LA LA 7 O LB LB LB LB LB LB 8 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR No.43 to 48
9 COM COM COM COM COM COM 10 SG SG SG SG SG SG 11 OPC OPC/ /OPC 12 I NG NG/ /NG 13 I PG PG/ /PG 14O OPOPOPOPOPOP 15 O LZR LZR LZR LZR LZR LZR 16 O LAR LAR LAR LAR LAR LAR 17 O LBR LBR LBR LBR LBR LBR 18 O INP INP/SA SA SA/ /INP No.49 19O RDRDRDRDRDRDNo.49 20 SG SG SG SG SG SG
1 LGLGLGLGLGLG
2I /VC VC VC/VLA VLA VLA/
3 VDD VDD VDD VDD VDD VDD
4 O DO1 DO1 DO1 DO1 DO1 DO1
5 I SON SON SON SON SON SON No.43 to 48
6 O TLC TLC TLC TLC/VLC VLC VLC/TLC No.49
7 I LOP SP2 LOP SP2 LOP No.43 to 48
8 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC N o.43 to 48
9 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL No.43 to 48 10 SG SG SG SG SG SG 11 P15R P15R P15R P15R P15R P15R
12 I TLA
(Note3)
TLA/TLA 13 COM COM COM COM COM COM 14 I RES RES RES RES RES RES No.43 to 48 15 I EMG EMG EMG EMG EMG EMG 16 I LSP LSP LSP LSP/ /LSP 17 I LSN LSN LSN LSN/ /LSN 18 O ALM ALM ALM ALM ALM ALM No.49 19 O ZSP ZSP ZSP ZSP ZSP ZSP No.1, 49 20 SG SG SG SG SG SG
I/O Signals in control modes
(Note3)
TLA
(Note3)
TLA/TC
/NP
/PP
TC TC/TLA
Related parameter
For note, refer to the next page.
3 - 12
Page 52
3. SIGNALS AND WIRING
Note: 1. I : Input signal, O: Output signal
2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
3. By setting parameters No. 43 to 48 to make TL available, TLA can be used.
4. The signal of CN1A-18 is always output.
(3) Symbols and sig na l na mes
Symbol Signal name Symbol Signal name
SON Servo-on VLC Limiting speed LSP Forward rotation stroke end RD Ready LSN Reverse rotation stroke end ZSP Zero speed CR Clear INP In position SP1 Speed selection 1 SA Speed reached SP2 Speed selection 2 ALM Trouble PC Proportion control WNG Warning ST1 Forward rotation start BWNG Battery warning ST2 Reverse rotation start OP Encoder Z-phase pulse (open collector) TL Torque limit selection MBR Electromagnetic brake interlock RES Reset LZ EMG Forced stop LZR LOP Control change LA VC Analog speed command LAR VLA Analog speed limit LB TLA Analog torque limit LBR TC Anal og torque command VDD I/F internal power supply RS1 Forward rotation selection COM Digital I/F power supply input RS2 Reverse rotation selection OPC Open collector power input PP SG Digital I/F common NP P15R 15VDC power supply PG LG Control common NG TLC Limiting torque
Forward/reverse rotation pulse train
SD Shield
Encoder Z-phase pulse (differential line driver)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
3 - 13
Page 53
3. SIGNALS AND WIRING

3.3.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status. : Denotes th a t th e signal may be u se d by se t ting the corre spo n d in g pa r ameter among parameters 43 to
49. The pin No.s in the connector pin No. column are those in the initial status.
(1) Input si gn al s
Connec-
Signal Symbol
Servo-on SON CN1B5Connect SON-SG to switch on the base ci rcuit and make the servo
Reset RES CN1B14Disconnect RES-SG for more than 50ms to reset the alarm.
Forward rotation stroke end
Reverse rotation stroke end
LSP CN1B
LSN CN1B
tor pin
No.
16
17
Functions/Applications
amplifier ready to operate (servo-on). Disconnect SON-SG to shut off the base circuit and coast the servo motor (servo off) . Set "
1" in parameter No. 41 to switch this signa l on (keep te rminals connected) automatically in th e servo amplifier.
Some alarms cannot be deactivated by the reset signal. Refer to Section 10.2. Shorting RES-SG in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " parameter No. 51. To start operation, short LSP-SG and/or LSN-SG. Open them to bring the motor to a sudden stop and make it servo-locked. Set "
1" in parameter No. 22 to make a slow stop. (Refer to Section 5.2.3.)
(Note) Input signals Operation
LSP LSN
11 01 10 00
Note. 0: LSP/LSN-SG off (open)
1: SP/LSN-SG on (short) Set parameter No. 41 as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier:
Parameter No.41 Automatic ON
1 LSP 1 LSN
CCW
directionCWdirection
1 " is set in
I/O
division
DI-1
DI-1
DI-1
Control
mode
PST
3 - 14
Page 54
3. SIGNALS AND WIRING
Signal Symbol
Outside torque limit selection
Internal torque limit selection Forward rotation start
Reverse rotation start
Forward rotation selection
Reverse rotation selection
Connec-
tor pin
No.
TL CN1B9Torque limit selection disconnecting TL-SG makes internal torque
limit 1 (parameter No. 28) valid and connecting them makes analog torque limit (TLA) valid. For details, refer to (5), Section 3.4.1.
TL1 When using this signal, make it usable by making the setting of
parameter No. 43 to 48. For details, refer to (5), Section 3.4.1.
ST1 CN1B
ST2 CN1B
RS1 CN1B
RS2 CN1B
Used to start the servo motor in any of the following directions:
8
9
9
8
(Note) Input signals
ST2 ST1
0 0 Stop (servo lock) 01 CCW 10 CW 1 1 Stop (servo lock)
Note. 0: ST1/ST2-SG off (open)
1: ST1/ST2-SG on (short) If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter No. 12 setting and servo-locked. Used to select any of the following servo motor torque generation directions:
(Note) Input signals
RS2 RS1
0 0 Torque is not generated. 01
10 1 1 Torque is not generated.
Note. 0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)
Functions/Applications
Servo motor starting direction
Torque generation direction
Forward rotation in driving mode / reverse rotation in regenerative mode
Reverse rotation in driving mode / forward rotation in regenerative mode
I/O
division
DI-1
DI-1
DI-1
DI-1
Control
mode
PST
3 - 15
Page 55
3. SIGNALS AND WIRING
Signal Symbol
Speed selection 1 SP1 CN1A8<Speed control mode >
Speed selection 2 SP2 CN1B
Speed selection 3 SP3
Connec-
tor pin
No.
7
Used to select the command sp e ed f or op era t ion. When using SP3, make it usable by making the setting of parameter No. 43 to 48.
Setting of
parameter
No. 43 to 48
When speed selection (SP3) is not used (initial status)
When speed selection (SP3) is made valid
Note 0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)
<Torque control mode>
Used to select the limit speed for operation. When using SP3, make it usable by making the setting of parameter No. 43 to 48.
Setting of
parameter
No. 43 to 48
When speed selection (SP3) is not used (initial status)
When speed selection (SP3) is made valid
Note. 0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)
SP3 SP2 SP1
0 0 0 Analog speed command (VC) 001
010 011 100 101 110 111
SP3 SP2 SP1
0 0 0 Analog speed limit (VLA) 001
010 011 100 101 110 111
Functions/Applications
(Note) Input
signals
0 0 Analog speed command (VC) 01
10 11
(Note) Input
signals
0 0 Analog speed l i mi t ( V LA )
01 10 11
Speed command
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No. 10)
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No.10)
Internal speed command 4 (parameter No. 72)
Internal speed command 5 (parameter No. 73)
Internal speed command 6 (parameter No. 74)
Internal speed command 7 (parameter No. 75)
Speed limit
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No. 10)
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No.10)
Internal speed command 4 (parameter No. 72)
Internal speed command 5 (parameter No. 73)
Internal speed command 6 (parameter No. 74)
Internal speed command 7 (parameter No. 75)
I/O
division
DI-1
DI-1
DI-1
Control
mode
PST
3 - 16
Page 56
3. SIGNALS AND WIRING
Connec-
Signal Symbol
Proportion control
Emergency stop EMG CN1B15Disconnect EMG-SG to bring the servo motor to emergency stop
Clear CR CN1A8Connect CR-SG to clear the position control counter droop pulses
Electronic gear selection 1
Electronic gear selection 2
Gain changing CDP When using this signal, make it usable by the setting of
PC CN1B8Connect PC-SG to switch the speed amplifier from the
CM1 W hen using CM1 and CM2, make them usable by the setting of
CM2
tor pin
No.
Functions/Applications
proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control signal (PC) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, switch on the proportion control signal and torque control signal (TL) at the same time to make the torque less than the rated by the analog torque limit.
state, in which the servo is switched off and the dynamic brake is operated. Connect EMG-SG in the emergency stop state to reset that state.
on its leading edge. The pulse width should be 10ms or more. When the parameter No.42 setting is " always cleared while CR-SG are connected.
parameters No. 43 to 48. The combination of CM1-SG and CM2-SG gives you a choice of four dif ferent electroni c gear numerators set in the parameters. CM1 and CM2 cannot be used in the absolute position detection system.
(Note) Input signals
CM2 CM1
00 Parameter No. 3 (CMX) 0 1 Paramete r No. 69 (CM2) 1 0 Paramete r No. 70 (CM3) 1 1 Paramete r No. 71 (CM4)
Note. 0: CM1/CM2-SG off (open)
1: CM1/CM2-SG on (short)
parameter No. 43 to 48. Connect CDP-SG to change the load inertia moment ratio into the parameter No. 61 s etting an d the gain values into the values multiplied by the parameter No. 62 to 64 settings.
1 ", the pulses ar e
Electronic gear denominator
I/O
division
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
Control
mode
PST
3 - 17
Page 57
3. SIGNALS AND WIRING
Connec-
Signal Symbol
Control change LOP CN1B
Analog torque limit
Analog torque command
Analog speed command
Analog speed limit Forward rotation pulse train Reverse rotation pulse train
TLA To use this signal in the speed control mode, set any of
TC
VC Apply 0 to 10VDC across VC-LG. Speed set in parameter No. 25
VLA
PP
NP
PG
NG
tor pin
No.
7
CN1B
12
CN1B
2
CN1A
3
CN1A
2
CN1A
13
CN1A
12
Functions/Applications
<Position/speed control change mode> Used to select the control mode in the position/speed control change mode.
(Note) LOP Control mode
0Position 1 Speed
Note.0: LOP-SG of f (open)
1: LOP-SG on (short) <Speed/torque control change mode> Used to select the control mode in the speed/torque control change mode.
(Note) LOP Control mode
0 Speed 1Torque
Note.0: LOP-SG of f (open)
1: LOP-SG on (short) <Torque/position control mode> Used to select the control mode in the torque/position control change mode.
(Note) LOP Control mode
0Torque 1Position
Note.0: LOP-SG of f (open)
1: LOP-SG on (short)
parameters No. 43 to 48 to make TL available. When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range. Apply 0 to across TLA-LG. Connect the positive terminal of the power supply to TLA. Maximum torque is generated at Section 3.4.1.) Resolution:10bit Used to control torque in the full servo motor output torque range. Apply 0 to at
8V. (Refer to (1) in Section 3.4.3.) The torque generated at parameter No. 26.
is provided at Resolution:14bit or equivalent Apply 0 to 25 is provided at Used to enter a command puls e t ra i n.
In the open collector system (max. input frequency 200kpps): Forward rotation pulse train across PP-SG Reverse rotation pulse train across NP-SG In the differential receiver system (max. input frequency 500kpps): Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP The command pulse train f o rm ca n b e cha nged using parameter No. 21.
8VDC across TC-LG. Maximum torque is generated
8V input can be changed using
10V. (Refer to (1) in Section 3.4.2.)
10VDC across VLA-LG. Speed set in parameter No.
10V (Refer to (3) in Section 3.4.3.).
10V. (Refer to (5) in
10VDC
I/O
division
DI-1
Analog
input
Analog
input
Analog
input
Analog
input
DI-2
Control
mode
PST
Refer to
Functions/
Appli-
cations.
3 - 18
Page 58
3. SIGNALS AND WIRING
(2) Output signals
Connec-
Signal Symbol
Trouble ALM CN1B18ALM-SG are disconnected when power is switched off or the
Ready RD CN1A19RD-SG are connected when the servo is switched on and the ser vo
In position INP INP-SG are connected when the number of droop pulses is in the
Speed reach ed SA
Limiting speed VLC VLC-SG are connected when speed reaches the value set to any of
Limiting torque TLC
Zero speed ZSP CN1B19ZSP-SG are connected when the servo motor speed is zero speed
Electromagnetic brake interlock
Warning WNG To use this signal, assign the connector pin for output using
Battery warning BWNG To use this signal, assign the connector pin for output using
MBR CN1B19Set " 1 " in parameter No. 1 to use this parameter. Note that
tor pin
No.
CN1A
18
CN1B
6
Functions/Applications
protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 after power on.
amplifier is ready to operate.
preset in-position range. The in-position range can be changed using parameter No. 5. When the in-position range is increased, INP-SG may be kept connected during low-speed rotation. SA-SG are connected when the servo motor speed has nearly reached the preset speed. When the preset speed is 50r/min or less, SA-SG are kept connec ted.
the internal speed limits 1 to 7 (parameters No. 8 to 10, 72 to 75) or the analog speed limit (VLA) in the torque control mode. They are disconnected when the servo-on signal (SON) switches off. TLC-SG are connected when the torque generated reaches the value set to the internal torque limit 1 (parameter No. 28) or analog torque limit (TLA). They are disconnected when the servo­on signal (SON) switches off.
(50r/min) or less. Zero speed can be changed using parameter No.
24.
ZSP will be unusable. In the servo-off or alarm status, MBR-SG are disconnected. When an alarm occurs, they are disconnected independently of the base circuit status.
parameter No.49. The old signal before assignment will be unusable. When warning has occurred, WNG-SG are connected. When there is no warning, WNG-SG are disconnected within 1 second after power-on.
parameter No.49. The old signal before assignment will be unusable. BWNG-SG are connected when battery cable breakage warning (AL.92) or battery warning (AL.9F) has occurred. When there is no battery warning, BWNG-SG are disconnected within 1 second after power-on.
I/O
division
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
Control
mode
PST
3 - 19
Page 59
3. SIGNALS AND WIRING
Signal Symbol
Alarm code ACD 0
ACD 1
ACD 2
Connec-
tor pin
No.
CN1A
19
CN1A
18
CN1B
19
Functions/Applications
To use this signal, set " 1" in parameter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output. Alarm codes and alarm names are listed below:
(Note) Alarm code
CN1B
19 Pin
Note.0: Pin-SG off ( op en)
CN1A
CN1A
18 Pin
000
001 010AL.10Undervoltage
011
100
101
110
1: Pin-SG on (short)
19 Pin
Alarm
display
88888 Watchdog AL.12 Memory error 1 AL.13 Clock error AL.15 Memory error 2 AL.17 Board error AL.19 Memory error 3 AL.37 Parameter error
AL.8A AL.8E Serial communication error
AL.30 Regenerative error AL.33 Overvoltage
AL.45 Main circuit device AL.46 Servo motor overheat AL.50 Overload 1 AL.51 Overload 2 AL.24 Main circuit error AL.32 Overcurrent AL.31 Overspeed
AL.35 AL.52 Error excessi ve
AL.16 Encoder error 1 AL.1A Monitor combination error AL.20 Encoder error 2 AL.25 Absolute position erase
Serial communication timeout
Command pulse frequency alarm
Name
I/O
division
DO-1
Control
mode
PST
3 - 20
Page 60
3. SIGNALS AND WIRING
Connec-
Signal Symbol
Encoder Z-phase pulse (Open collector)
Encoder A-phase pulse (Differential line driver) Encoder B-phase pulse (Differential line driver) Encoder Z-phase pulse (Differential line driver) Analog monitor 1 MO1 CN34Used to output the data set in parameter No.17 to across MO1-LG
Analog monitor 2 MO2 CN314Used to output the data set in parameter No.17 to across MO2-LG
OP CN1A14Outputs the zero-point signal of the encode r. One pulse is output
LA
LAR
LB
LBR
LZR
LZ
tor pin
No.
CN1A
6
CN1A
16
CN1A
7
CN1A
17
CN1A
5
CN1A
15
Functions/Applications
per servo motor revo lution. OP and LG are connec ted when the zero-point position is reached. (Negative logic) The minimum pulse width is about 400 return using this pulse, set the creep speed to 100r/min. or less. Outputs pulses per servo motor revolution set in parameter No. 27 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of The relationships between rotation direction and phase difference of the A- and B-phase pulses c an be c hange d usin g par ame ter No .
54.
The same signal as OP is output in the differential line driver system.
in terms of voltage. Resolution 10 bits
in terms of voltage. Resolution 10 bits
/2.
s. For home position
I/O
division
DO-2
DO-2
DO-2
Analog
output
Analog
output
Control
mode
PST
(3) Communication
Signal Symbol
RS-422 I/F SDP
RDN
RS-422 termination
RS-232C I/F RXD
POINT
Refer to Chapter 14 for the communication function.
Connec-
tor pin
No.
CN3
SDN
RDP
TRE CN310Termination resistor connection terminal of RS-422 interface.
TXD
CN3
CN3
CN3
CN3
CN3
RS-485 and RS-232C functions cannot be used together. Choose either one in parameter No. 16.
9
19
5
15
When the servo amplifier is the termination axis, connect this terminal to RDN (CN3-15). RS-485 and RS-232C functions cannot be used together. Choose either one in parameter No. 16.
2
12
Functions/Applications
I/O
division
Control
mode
PST
3 - 21
Page 61
3. SIGNALS AND WIRING
(4) Power supply
Connec-
Signal Symbol
I/F internal power supply
Digital I/F power supply input
Open collector power input Digital I/F common
15VDC power supply
Control common LG CN1A
Shield SD Plate Connect the external conductor of the shield cable.
VDD CN1B3Used to output 24V 10% to across VDD-SG.
COM CN1A
OPC CN1A11When inputting a pulse train in the open collector system, supply
SG CN1A
P15R CN1A
tor pin
No.
9
CN1B
13
10 20
CN1B
10 20
4
CN1B
11
1
CN1B
1
CN3
1 3
5 11 13 15
Functions/Applications
When using this power supply for digital interface, connect it with COM. Permissible current : 80mA Used to input 24VDC for input interface. Connect the positive terminal of the 24VDC external power supply. 24VDC
this terminal with the positive ( Common terminal for input signals such as SON and EMG. Pins are connected internally. Separated from LG.
Outputs 15VDC to across P15R-LG. Available as power for TC, TLA, VC, VLA. Permissible current: 30mA
Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1, MO2 and P15R. Pins are connecte d internally.
10%
) power of 24VDC.
I/O
division
Control
mode
PST
3 - 22
Page 62
3. SIGNALS AND WIRING

3.4 Detailed description of the signals

3.4.1 Position control mode (1) Pulse trai n inpu t

(a) Input pulse waveform selection
Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in parameter No. 21. Arrow A- and B-phase pulse trains are imported after they have been multi pli ed b y 4.
or in the table indicates the timing of importing a pulse train.
Pulse train form
Forward rotation pulse train Reverse rotation pulse train
Pulse train sign
Negative logic
A-phase pulse train B-phase pulse train
Forward rotation pulse train Reverse rotation pulse train
Pulse train sign
Positive logic
A-phase pulse train B-phase pulse train
Forward rotation
command
PP
NP
PP
NP PP
NP
PP
NP
PP NP
PP
NP
Reverse rotation
command
L
H
H
L
Parameter No. 21
(Command pulse train)
0010
0011
0012
0000
0001
0002
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Page 63
3. SIGNALS AND WIRING
(b) Connections and waveforms
1) Open collector system Connect as shown below:
The explanation assumes that the input waveform has b een set to the negati ve logi c and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their relationships with transistor ON/OFF are as follows:
Forward rotation pulse train (transistor)
Reverse rotation pulse train (transistor)
Servo amplifier
VDD
OPC
Approx.
PP
NP
SG
SD
(ON)(OFF)
Forward rotation command Reverse rotation command
(ON)(OFF)
(OFF)
1.2k Approx.
1.2k
(OFF)
(ON) (OFF) (ON) (OFF) (ON)
3 - 24
Page 64
3. SIGNALS AND WIRING
2) Differential line driver system Connect as shown below:
The explanation assumes that the input waveform has b een set to the negati ve logi c and forward and reverse rotation pulse trains (parameter No.21 has been set t o 0010 ). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows. The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.
Servo amplifier
PP
PG
NP
NG
SD
Forward rotation pulse train
PP
PG
Reverse rotation pulse train
NP
NG
Forward rotation command Reverse rotation command
3 - 25
Page 65
3. SIGNALS AND WIRING
(2) In-position (INP)
PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range.
Servo-on (SON)
ON OFF
Alarm
Droop pulses
In position (INP)
Yes No
In-position range
ON OFF
(3) Ready (RD)
Servo-on (SON)
Alarm
Ready (RD)
ON OFF
Yes No
ON OFF
80ms or less 10ms or less 10ms or less
(4) Electronic gear switching
The combination of CM1-SG and CM2-SG gives you a choice of four different electronic gear numerators set in the parameters. As soon as CM1/CM2 is turned ON or OFF, the denominator of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.
(Note) External input signal
CM2 CM1
00Parameter No. 3 (CMX) 0 1 Parameter No. 69 (CM2) 1 0 Parameter No. 70 (CM3) 1 1 Parameter No. 71 (CM4)
Electronic gear denomination
Note.0: CM1/CM2-SG off(open)
1: CM1/CM2-SG on(short)
3 - 26
Page 66
3. SIGNALS AND WIRING
(5) Torque limit
(a) Torque limit and generated torque
By setting param eter No. 28 (intern al torque limit 1), to rque is always limi ted to the maximum value during operation. A relationship between the limit value and servo motor-generated torque is shown below.
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo motor is shown below. Generated torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less th an 0.05V , gener ated to rque may vary as it may not be limite d suffic iently . Therefore, use this function at the voltage of 0.05V or more.
Max. torque
Generated torque
0
0 100
Torque limit value [%]
100
5%
Torque limit value [%]
0
0.05
010 TLA application voltage [V] TLA application voltage vs.
torque limit value
2k
Japan resistor RRS10 or equivalent
2k
Servo amplifier
TL
SG
P15R
TLA
LG SD
(b) Torque limit value selection
Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using the external torque limi t selection (T L) or the tor que limit mad e valid by the analog to rque limit (TLA) as indicated below. When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal torque limit 2 (paramete r No. 76) can be selected. However, if the p arameter No. 28 v alue is less than the limit value selected by TL/TL1, the parameter No. 28 value is made valid.
(Note) External input signals
TL1 TL
0 0 Internal torque limit value 1 (parameter No. 28) 01
10
11
Note.0: TL/TL1 - SG of f ( open)
1: TL/TL1-SG on (short)
Parameter No. 76 Parameter No. 76
Torque limit value made valid
TLA
Parameter No. 28: Parameter No. 28
TLA
Parameter No. 28: TLA Parameter No. 28: Parameter No. 28 Parameter No. 28: Parameter No. 76
TLA
Parameter No. 76: Parameter No. 76
TLA
Parameter No. 76: TLA
(c) Limiting torque (TLC)
TLC-SG are connected when the torque generated by the servo motor reaches the torque set to internal torque limit value 1 or analog torque limit.
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3. SIGNALS AND WIRING

3.4.2 Speed control mode (1) Speed setting

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below: The maximum speed is achieved at
25.
10V. The speed at 10V can be changed u sing pa rameter No.
Speed [r/min]
CW direction
Rated speed [r/min]
CCW direction
10
010
VC applied voltage [V] Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following ta ble indicates the rota tion direction accor ding to forward rotation start ( ST1) and reverse rotation start (ST2) combination:
(Note) External input signals Rotation direction
ST2 ST1
00 0 1 CCW CW CCW
10 CW 11
Note.0: ST1/ST2-SG off (open)
1: ST1/ST2-SG on (short)
Polarity 0V Polarity
Stop
(Servo lock)
Stop
(Servo lock)
Analog speed command (VC)
Stop
(Servo lock)
Stop
(No servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
CCW CW
Stop
(Servo lock)
Internal speed
commands
Stop
(Servo lock)
Stop
(Servo lock)
The forward rotation start signal (ST1) and reverse rotation start signal (ST2) can be assigned to any pins of the connector CN1A, CN1B using parameters No. 43 to 48. Generally, make connection as shown below:
Servo amplifier
2k
Japan resistor RRS10 or equivalent
2k
ST1 ST2
SG
P15R
VC LG SD
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(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
SP2 SP1
0 0 Analog speed command (VC) 0 1 Internal speed command 1 (parameter No. 8) 1 0 Internal speed command 2 (parameter No. 9) 1 1 Internal speed command 3 (parameter No. 10)
Note.0: SP1/SP2-SG off (open)
1: SP1/SP2-SG on (short)
By making speed selection 3 (SP3) usable by setting of parameter No. 43 to 48, you can choose the speed command values of analog speed command (VC) and internal speed commands 1 to 7.
(Note) External input signals
SP3 SP2 SP1
0 0 0 Analog speed command (VC) 0 0 1 Internal speed command 1 (parameter No. 8) 0 1 0 Internal speed command 2 (parameter No. 9) 0 1 1 Internal speed command 3 (parameter No. 10) 1 0 0 Internal speed command 4 (parameter No. 72) 1 0 1 Internal speed command 5 (parameter No. 73) 1 1 0 Internal speed command 6 (parameter No. 74) 1 1 1 Internal speed command 7 (parameter No. 75)
Note.0 : SP1/SP2/SP3-SG off (open)
1 : SP1/SP2/SP3-SG on (short)
Speed command value
Speed command value
The speed may be ch anged during rotation. In this case, the value s set in par ameters No. 11 and 12 are used for acceleration/deceleration. When the speed has been specified under any internal speed command, it does not vary due to the ambient temperature.
(2) Speed reached (SA)
SA-SG are connected when the servo motor speed nearly reaches the speed set to the internal speed command or analog speed command.
Internal speed
Set speed selection
Start (ST1,ST2)
Servo motor speed
Speed reached (SA)
Internal speed
command 1
ON OFF
ON OFF
command 2
(3) Torque limit
As in Section 3.4.1 (5).
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3. SIGNALS AND WIRING

3.4.3 Torque control mode (1) Torque control

(a) To rq u e command a n d g e n er ated to rq u e
A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below. The maximum torque is generated at changed with parameter No. 26.
8V. Note th at the torque gener ated at 8V input can be
Max. torque Generated torque
8
0.05
CW direction
CCW direction
0.05 8
TC applied voltage [V]
Max. torque (Note)
Forward rotation (CCW)
Reverse rotation (CW)
Generated torque limit values will vary about 5% relative to the voltage depending on products. Also the generated torque may vary if the voltage is low (
0.05 to 0.05V) and the actual speed is close to the limit value. In such a case, increase the speed limit value. The following table indicates the torque generation directions determined by the forward rotation selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals Rotation direction
RS2 RS1
0 0 Torque is not generated. Torque is not generated.
CCW (reverse rotation in
01
10
1 1 Torque is not generated.
Note. 0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)
driving mode/forward rotation in regenerative mode) CW (forward rotation in driving mode/reverse rotation in regenerative mode)
Polarity 0V Polarity
Torque control command (TC)
CW (forward rotation in driving mode/reverse rotation in regenerative
Torque is not
generated.
mode) CCW (reverse rotation in driving mode/forward rotation in regenerative mode) Torque is not generated.
Generally, make connection as shown below:
8 to 8V
Servo amplifier
RS1 RS2
SG TC LG SD
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3. SIGNALS AND WIRING
e
(b) Analog torque command offset
Using parameter No. 30, the offset voltage of voltage as shown below.
Max. torque
Generated torque
999 to 999mV can be added to the TC applied
Parameter No.30 offset rang 999 to 999mV
0
TC applied voltage [V]
8( 8)
(2) Torque limit
By setting param eter No . 28 (inte rnal torqu e limi t 1), t orque is alw ays li mite d to the max imum value during operation. A relationship between limit value and servo motor-generated to rque is a s in (5) in section 3.4.1. Note that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No. 8 to 10, 72 to 75 (internal speed limits 1 to
7) or the value set in the applied voltage of the analog speed li mit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is shown below. When the motor speed reaches the speed limit value, torque control may become unstable. Make the set value more than 100r/m greater than the desired speed limit value.
Speed [r/min]
CW direction
Rated speed
CCW direction
10
010
VLA applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the limit direction according to forward rotation selection (RS1) and reverse rotation selection (RS2) combination:
(Note) External input signals Speed limit direction
RS1 RS2
1 0 CCW CW CCW 0 1 CW CCW CW
Note.0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)
Analog speed limit (VLA)
Polarity Polarity
Internal speed
commands
Generally, make connection as shown below:
Servo amplifier
SP1 SP2
SG
2k
Japan resistor RRS10 or equivalent
2k
P15R
VC LG SD
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(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed limit command (VLA), as indicated below.
Setting of parameter
No. 43 to 48
When speed selection (SP3) is not used (initial status)
When speed selection (SP3) is made valid
Note.0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)
(Note) Input signals
SP3 SP2 SP1
0 0 Analog speed comma nd (VLA) 0 1 Internal speed command 1 (parame ter No. 8) 1 0 Internal speed command 2 (parame ter No. 9)
1 1 Internal speed command 3 (paramet er No. 10) 0 0 0 Analog speed command (VLA) 0 0 1 Internal speed command 1 (parameter No. 8) 0 1 0 Internal speed command 2 (parameter No. 9) 0 1 1 Internal speed command 3 (parameter No. 10) 1 0 0 Internal speed command 4 (parameter No. 72) 1 0 1 Internal speed command 5 (parameter No. 73) 1 1 0 Internal speed command 6 (parameter No. 74) 1 1 1 Internal speed command 7 (parameter No. 75)
Speed limit value
When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with the ambient temperature.
(c) Limiting speed (VLC)
VLC-SG are connected when the servo motor speed reaches the limit speed set to any of the internal speed limits 1 to 3 or analog speed limit.
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3.4.4 Position/speed control change mode

Set "0001" in par ameter No. 0 to switch to the position/spe ed control change mode. This fun ction is not available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:
(Note) LOP Servo control mode
0 Position control mode 1 Speed control mode
Note.0: LOP-SG off (open)
1: LOP-SG on (short)
The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing char t is shown below:
Position
contro l m ode
Speed
contro l m ode
Position
contro l m ode
Zero speed
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Note: When ZSP is not on, control cannot be changed if LOP is switched on-off. If ZSP switches on after that, control cannot not be changed.
level
ON
OFF
ON
OFF
(2) Torque limit in position control mode
As in Section 3.4.1 (5).
(Note)
(Note)
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3. SIGNALS AND WIRING
2
(3) Speed setting in spee d co nt rol mod e
(a) Speed command and speed
The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2. Generally, make connection as shown below:
k
Japan resistor RRS10 or equivalent
(b) Speed selection 1 (SP1) and speed command value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and the speed set by the analog speed command (VC) as indicated in the followi ng table:
(Note) External input signals
SP1
0 Analog speed command (VC) 1 Internal speed command 1 (parameter No. 8)
Note.0: SP1-SG off (open)
1: SP1-SG on (short)
2k
Speed command value
Servo amplif ier
SP1 SG P15R VC LG SD
The speed may also be changed during rotation. In this case, it is increased or decreased according to the value set in parameter No. 11 or 12. When the internal speed command 1 is used to command the speed, the speed does not vary with the ambient temperature.
(c) Speed reached (SA)
As in Section 3.4.2 (2).
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3. SIGNALS AND WIRING

3.4.5 Speed/torque control change mode

Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:
(Note) LOP Servo control mode
0 Speed control mode 1 Torque control mode
Note.0: LOP-SG off (open)
1: LOP-SG on (short)
The control mode may be changed at any time. A change timing chart is shown below:
Speed
control mode
Control change (LOP)
Servo motor speed
Analog torque command (TC)
Note: When the start signal (ST1 ST2) is switched off as soon as the mode is changed to speed control, the servo motor comes to a stop according to the deceleration time constant.
ON OFF
10V
0
Torque
control mode
Load torque
Forward rotation in driving mode
Speed
control mode
(Note)
(2) Speed setting in spee d co nt rol mod e
As in Section 3.4.2 (1).
(3) Torque limit in speed control mode
As in Section 3.4.1 (5).
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3. SIGNALS AND WIRING
r
(4) Speed limit i n to rque con t rol mod e
(a) Speed limit value and speed
The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3. Generally, make connection as shown below:
2k
Japan resistor RRS10 or equivalent
(b) Speed selection 1 (SP1) and speed limit value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and the speed set by the analog speed limit (VLA) as indicat ed in the foll owing tabl e:
(Note) External input signals
SP1
0 Analog speed limit (VLA) 1 Internal speed limit 1 (parameter No. 8)
Note.0: SP1-SG off (open)
1: SP1-SG on (short)
Speed command value
2k
Servo amplifie
SP1
SG
P15R
VLA
LG SD
When the internal speed limit 1 is used to command the speed, the speed does not vary with the ambient temperature.
(c) Limiting speed (VLC)
As in (c), (3) in section 3.4.3.
(5) Torque control in torque control mode
As in Section 3.4.3 (1).
(6) Torque limit in torque control mode
As in Section 3.4.3 (2).
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3. SIGNALS AND WIRING

3.4.6 Torque/position control change mode

Set "0005" in parameter No. 0 to switch to the torque/position control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the torque con trol mode and the position control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:
(Note) LOP Servo control mode
0 Torque control mode 1 Position control mode
Note.0: LOP-SG off (open)
1: LOP-SG on (short)
The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to torque control mode, droop pulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below:
Speed
control mode
Torque
control mode
Speed
control mode
Servo m o t o r speed
Analog torque command (TLA)
Zero speed (ZSP)
Control change (LOP)
(2) Speed limit i n to rque con t rol mod e
As in Section 3.4.3 (3).
(3) Torque control in torque control mode
As in Section 3.4.3 (1).
(4) Torque limit in torque control mode
As in Section 3.4.3 (2).
(5) Torque limit in position control mode
As in Section 3.4.1 (5).
Zero speed level
10V
0V ON OFF ON OFF
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3. SIGNALS AND WIRING

3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation

CAUTION
When an alarm occurs in the servo amplifier, t he base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn the reset signal (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.
signal is not being input, ensure safety, and reset the alarm before restarting operation.
Main circuit control circuit power sup p l y
Base circuit
Dynamic brake
Servo-on (SON)
Ready (RD)
Trouble (ALM)
Reset (RES)
ON
OFF
ON
OFF
Valid
Invalid
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1s
Alarm occurs.
Remove cause of trouble.
Brake operation
50ms or more
Power off
Brake operation
60ms or more
Power on
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (AL.30) alarm after its occurrence, the external regenerative brake resistor will gener ate heat, resulting in an accident.
(3) Instantane ou s pow e r fa il ur e
Undervoltage (AL.10) occurs if power is restored after a 60ms or longer power failure of the control power supply or after a drop of the bus voltage to or below 200VDC. If the power failure persists further, the control power switches off. When the power failure is reset in this state, the alarm is reset and the servo motor will start suddenly if the servo-on signal (SON) is on. To prevent hazard, make up a sequence which will switch off the servo-on signal (SON) if an alarm occurs.
(4) In position control mode (incremental)
When an alarm occurs, the home position is lost. When resuming operation after deactivating the alarm, make a home position return.
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3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.
DC24V
ALM .etc
DI-1
(Note)
CN1A CN1B
VDD COM
SON, etc. SG OPC
PG NG
PP NP
CN1A CN1B
RA
DO-1
Analog input ( 10V/max. current)
Servo motor
SM
SG
15VDC 10% 30mA P15R
TLA VC etc.
LG
SD
Isolated
SG
OP LG
LA etc.
LAR etc.
LG SD
MO1 MO2
LG
RDP RDN
SDP SDN
LG
SD
TXD RXD
MR
MRR
LG SD
CN3
Analog monitor output
RS-232C
Servo motor encoder
CN2
Differential line driver output 35mA max.
RS-422
Ground
Note: For the open collection pulse train input. Make the following connection for the different line driver pulse train input.
OPC PG NG
PP NP SG
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3. SIGNALS AND WIRING

3.6.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (7) in this section.
For use of internal power supply For use of external power supply
Servo amplifier
Do not connect VDD-COM.
24VDC 200mA or more
Servo amplifier
VDD
COM
SON, etc.
24VDC
R: Approx. 4.7
(Note) For a transistor
Approx. 5mA
Switch
VDD
COM
SON, etc.
24VDC
R: Approx. 4.7
SGTR
V
1.0V
CES
100 A
I
CEO
Note: This also applies to the use of the external power supply.
Switch
SG
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less) (a) Inductive load
For use of internal power supply For use of external power supply
Servo amplifier
24VDC
VDD
COM
ALM, etc.
SG
Load
If the diode is not connected as shown, the servo amplifier will be damaged.
Servo amplifier
24VDC
ALM, etc.
VDD
COM
SG
Do not connect VDD-COM.
Load
If the diode is not connected as shown, the servo amplifier will be damaged.
24VDC 10%
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3. SIGNALS AND WIRING
R
(b) Lamp load
For use of internal power supply For use of external power supply
Servo amplifier
24VDC
VDD
COM
ALM, etc.
SG
(3) Pulse trai n in put int e rfa ce DI -2
Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system
1) Interface
For use of internal power supply For use of external power supply
Servo amplifier
VDD
OPC
24VDC
Max. input pulse frequency 200kpps
About 1.2k
Servo amplifier
24VDC
ALM, etc.
Do not connect VDD-OPC.
VDD
COM
SG
Do not connect VDD-COM.
R
Servo amplifier
VDD
OPC
24VDC
Max. input pulse frequency 200kpps
24VDC 10%
PP, NP
SG
SD
2) Conditions of the input pulse
0.9
PP
0.1
NP
tc
tc tLH
tHL
About 1.2k
24VDC
PP, NP
SG
SD
tLH tHL 0.2 s tc 2 s tF 3 s
tF
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3. SIGNALS AND WIRING
(b) Differential line driver system
1) Interface
Am26LS31 or equivalent
Servo amplifier
Max. input pulse frequency 500kpps
PP(NP)
2) Conditions of the input pulse
(4) Encoder pul se outp ut D O- 2
(a) Open collector system
Interface
Max. output current : 35mA Servo amplifier
OP LG
PP PG
NP NG
0.9
0.1
tc
tc tLH
PG(NG)
SD
tHL
About 100
tLH tHL 0.1 s tc 1 s tF 3 s
tF
Servo amplifier
OP LG
5 to 24VDC
Photocoupler
SD
SD
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3. SIGNALS AND WIRING
(b) Differential line driver system
1) Interface Max. output current: 35mA
Servo amplifier Servo amplifier
LA (LB, LZ)
LAR (LBR, LZR)
LG
SD
2) Output pulse
Servo motor CCW rotation
LA
Am26LS32 or equivalent High-speed photocoupler
150
LA (LB, LZ)
LAR (LBR, LZR)
SD
100
(5) Analog input
Input impedance 10 to 12k
Upper limit setting 2k
2k
(6) Analog output
Output voltage
10V Max.1mA Max. output current Resolution : 10bit
Servo amplifier
LAR
LB
LBR
LZ
LZR
OP
T
/2
Servo amplifier
P15R VC‚ etc
LG SD
LZ signal varies 3/8T on its leading edge.
400 s or more
15VDC
Approx. 10k
MO1
(MO2)
LG
SD
10k
Reading in one or both directions 1mA meter
A
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3. SIGNALS AND WIRING
(7) Source input interface
When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided.
For use of internal power supply For use of external power supply
Servo amplifier
Servo amplifier
SG
(Note) For a transistor Approx. 5mA
TR
V
1.0V
CES
100 A
I
CEO
Switch
COM
SON, etc.
VDD
R: Approx. 4.7
24VDC
Note: This also applies to t he use of the external power supply.
Switch
24VDC
200mA or more
SG
COM
SON,etc.
R: Approx. 4.7
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3. SIGNALS AND WIRING
2

3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo

amplifier power side. Continuous flow of a large current may cause a fire.
CAUTION

3.7.1 Connection example

Wire the power supp ly and main circui t as shown below so th at the servo-on signal turns off a s soon as alarm occurrence is detected and power is shut off. A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply
Use the trouble signal to switch power off. Otherwise, a regenerative brake
transistor fault or the like may o verheat the r egenerative b rake resist or, causing a fire.
RA
Emergency stop
OFF
ON
MC
MC
SK
3-phase
00 to 230 VAC
NFB MC
Emergency stop
Servo-on
Servo amplifier
L
1
2
L L
3
L
11
L
21
EMG SON
SG
VDD
COM
ALM RA
Trouble
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3. SIGNALS AND WIRING
(2) For 1-phase 100 to 120VAC or 1-phase 100 to 120VAC power supply
RA
Emergency stop
OFF
ON
MC
MC
SK
Power supply 1-phase 100 to 120VAC or 1-phase 230VAC
NFB MC
L L L L L
Emergency stop
Servo-on
EMG SON
SG
Note : Not provided for 1-phase 100 to 120VAC.
Servo amplifier
1
2
(Note)
3
11
21
VDD
COM
ALM RA
Trouble
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3. SIGNALS AND WIRING

3.7.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 11.1.
Symbol Signal Description
Supply L1, L2 and L3 with the following power: For 1-phase 230VAC, connect the power supply to L
L1, L2, L3Main circuit power supply
Servo amplifier
Power supply
3-phase 200 to 230VAC, 50/60Hz 1-phase 230VAC, 50/60Hz
MR-J2S-10A to
70A
L
1L2L3
L
1L2
1-phase 100 to 120VAC, 50/60Hz
U, V, W Servo motor output Connect to the servo motor power supply terminals (U, V, W).
and leave L3 open.
1/L2
MR-J2S-100A
to 700A
MR-J2S-10A1
to 40A1
L
1L2
L11, L21Control circuit power supply
P, C, D Regenerative brake option
N
Return conv erter
Brake unit
Protective eart h (PE)
Servo amplifier
Power supply
1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to 120VAC, 50/60Hz
MR-J2S-10A to 700A MR-J2S-10A1 to 40A1
L
11L21
L
11L21
1) MR-J2S-350A or less Wiring is factory-connected across P-D (servo amplifier built-in regenerative brake resistor). When using the regenerative bra ke option, alw a y s remove the wiri n g from across P-D and connect the regenerative brake option across P-C.
2) MR-J2S-500A or more Wiring is factory-connected across P-C (servo amplifier built-in regenerative brake resistor). When using the regenerative brake option, always remove the wiring from across P-C and connect the regene rative brake option a cross P-C.
Refer to Section 13.1.1 for details. When using the return converter or brak e unit, conn e ct it across P-N. Do not connect it to the servo amplifier of MR-J2S-350A or less. Refer to Sections 13.1.2 and 13.1.3 for details.
Connect this terminal to the protective earth (PE) terminals of the servo motor and contro l box for groundi ng.
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3. SIGNALS AND WIRING

3.7.3 Power-on sequence (1) Power-on procedure

1) Always wire the power supp ly as shown in above Section 3. 7.1 using the magnetic con tactor with the main circuit power supply (three-phase 200V: L up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifie r can accept the se rvo-on signal (SON ) abou t 1 to 2s after the ma in circui t power supply is switched on. Therefore, when SON is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready signal (RD) will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)
4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart
SON accepted
(1 to 2s)
power supply
ON
OFF
1
, L2, L3, single-phase 230V: L1, L2). Configure
11
, L21 simultaneously with the main circuit power
Base circuit
Servo-on (SON)
Reset (RES)
Ready (RD)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
10ms10ms
60ms
20ms 20ms 20ms10ms 10ms
60ms
10ms
(3) Emergency stop
Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at an emergency stop. To ensure safety, always install an external emergency stop switch across EMG-SG. By disconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo emergency stop warning (AL.E6). During ordinary operation, do not use the external emergency stop signal to alternate stop and run. The servo amplifier life may be shortened. Also, if the start signal is on or a pulse train is input during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop, always shut off the run command.
Servo amplifier
VDD
COM
Emergency stop
EMG
SG
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3. SIGNALS AND WIRING

3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

WARNING
Insulate the connections of the power supply terminals to prevent an electric
shock.
Connect the wires to the corr ect phase term inals (U, V, W ) of the servo am plifier
CAUTION
and servo motor. Otherwise, the servo motor will operate improperly.
Do not connect AC power supp ly directly to the servo m otor. Otherwis e, a fault
may occur.
The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.
(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo amplifier
PE terminal
Servo motor
(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.

3.8.2 Connection diagram

The followin g table lists w iring me thods accord ing to the servo motor types. U se the conne ction diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 13.2.1. For encoder cable connection, refer to Section 13.1.4. For the signal layouts of the connectors, refer to Section
3.8.3. For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.
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3. SIGNALS AND WIRING
g
Servo motor Connection diagram
Servo amplifier
U
V
W
(Note 1)
U (Red) V (White) W (Black)
(Green)
Servo motor
Motor
HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B)
HC-SFS121 (B) to 301 (B) HC-SFS202 (B) HC-SFS203 (B)
702 (B)
353 (B) HC-UFS202 (B) to 502 (B) HC-RFS353 (B) to 503 (B)
CN2
24VDC
EMG
To be shut off when servo on signal switches off or by alarm signal
Encoder cable
B1 B2
(Note2)
Electro­ma brake
Encoder
netic
Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake. Servo amplifier
U V
W
EMG
To be shut off when servo on signal switches off or by
CN2
alarm signal
Encoder cable
(Note 1)
24VDC
Servo motor
U V
Motor
W
B1
Electro-
B2
magnetic brake
Encoder
(Note2)
Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake. Servo amplifier
Servo motor
U V W
B1 B2
Motor
(Note2)
Electro­magnetic brake
Encoder
HC-SFS81 (B) HC-SFS52 (B) to 152 (B) HC-SFS53 (B) to 153 (B) HC-RFS103 (B) to 203 (B) HC-UFS72 (B)
152 (B)
CN2
U V
W
(Note 1)
24VDC
EMG
To be shut off when servo on signal switches off or by alarm signal
Encoder cable
Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
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3. SIGNALS AND WIRING

3.8.3 I/O terminals (1) HC-KFS

Power supply connector 5557-04R-210
HC-MFS HC-UFS3000r/min series
Power supply lead 4-AWG19 0.3m
Power supply connector (Molex make)
Encoder cable 0.3m With connector 1-1721 69-9 (AMP make)
Pin
Signal
1
13 24
2 3 4
Earth
U V
W
Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL (Female termina l) With electromagnetic brake 5557-06R-210 (receptacle) 5556PBTL (Female termina l)
Lead wire color
Red White Black
Green/yellow
Power supply connector 5557-06R-210
1
4 25 36
Encoder connector signal arrangement
123
MR
MRR BAT
456
MD
MDR
789
P5
LG SHD
Signal
Pin
1 2 3 4 5 6
Lead wire color
U
V
W
Green/yellowEarth B1 B2
Red White Black
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3. SIGNALS AND WIRING
(2) HC-SFS HC-RFS HC-UFS2000 r/min series
Motor plate (Opposite side)
DOWN
UP
Encoder connector
Brake connec to r Powe r sup pl y conn ector
Servo motor
HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502 (B) HC-SFS203(B)
HC-SFS702(B)
HC-RFS103(B) to 203 (B)
HC-RFS353(B) 503(B)
HC-UFS72(B) 152(B)
HC-UFS202(B) to 502(B)
353(B)
Servo motor side connectors
For power supply For encoder
CE05-2A22­23PD-B
CE05-2A24­17PD-B
CE05-2A32­17PD-B CE05-2A22­23PD-B CE05-2A24­10PD-B CE05-2A22­23PD-B CE05-2A24­10PD-B
MS3102A20­29P
Electromagnetic
brake connector
The connector for power is shared.
MS3102A10SL­4P
The connector for power is shared.
MS3102A10SL­4P
Power supply connector signal arrangement
CE05-2A22-23PD-B
Key
F
E
A
G
H
C
D
Encoder connector signal arrangement
MS3102A20-29P
Key
Signal
Pin
A
M
L
K
J
H
B
A
C
N
TP SR
G
F
D
E
MD
B
MDR
MR
C
MRR
D E
BAT
F
LG
G H
J
Pin
A B C
B
D
(Earth) E F
(Note) B1
G
(Note) B2
H
Note:24VDC,without polarity
Pin
K L
M
N P R S T
Signal
U
V
W
Signal
SD
LG
P5
CE05-2A24-10PD-B
Key
F
E
G
D
C
Pin
A
B
A B C D E F
Signal
U
V
W (Earth) (Note) B1 (Note) B2
G
Note:24VDC,without polarity
Electromagnet ic bra ke co nnector signal arrangem en t
MS3102A10SL-4P
Key
Pin
A B
Signal
(Note)B1 (Note)B2
Note:24VDC without
A
B
polarity
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Page 92
3. SIGNALS AND WIRING

3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only

by the servo amplifier signals but also by an external emergency stop signal.
Contacts must be open when servo-on signal is off or when an alarm (trouble) is present and when an electromagnetic brake signal.
Circuit must be opened during emergency stop signal.
CAUTION
Servo motor
Electromagnetic brake
EMGRA
24VDC
The electrom agnetic brake is provided f or holding p urpose and m ust not be used
for ordinary braking.
POINT
Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.
Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft (vertical lift applications):
1) Set "
1 " in parameter No.1 to make the electromagnetic brake interlock signal (MBR) valid.
Note that this will make the zero speed signal (ZSP) unavailable.
2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brak e.
3) The brake will operate when the power (24VDC) switches off.
4) While the reset signal is on, the base circuit is shut off. When using the servo motor with a vertical shaft, use the electromagnetic brake interlock signal (MBR).
5) Switch off the servo-on signal after the servo motor has stopped.
(1) Connection diagram
Servo amplifier
VDD
COM
MBR
RA
24VDC
RA
Emergency stop
B1
Z
B2
Servo motor
(2) Setting
1) Set "
1 " in parameter No.1 to make the electromagnetic brake interlock signal (MBR) valid.
2) Using parameter No. 33 (electromagnetic brake sequence output), set a time dela y (Tb) at servo-off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) in this section.
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3. SIGNALS AND WIRING
(3) Timing charts
(a) Servo-on signal command (from controller) ON/OFF
Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operati on delay ti me to prevent a drop.
Servo motor speed
0 r/min
Coasting
(60ms)
Base circuit
Electromagnetic brake (M BR)
Servo-on(SON)
ON OFF
Invalid(ON) Valid(OFF)
ON OFF
(80ms)
(b) Emergency stop signal (EMG) ON/OFF
Servo motor speed
(10ms)
Base circuit
Electromagnetic brake interlock (MBR)
Emergency stop (EMG)
ON
OFF Invalid (ON) Valid (OFF) Invalid (ON) Valid (OFF)
Tb
Electromagnetic brake operation delay time
Dynamic brake
Dynamic brake Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(180ms)
(180ms)
Electromagnetic brake operation delay time
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3. SIGNALS AND WIRING
g (
(c) Alarm occurrence
Servo motor speed
Base circuit
Electromagnetic brake interlock (MBR)
ON OFF Invalid(ON) Valid(OFF)
Dynamic brake
Dynamic brake Electromagnetic brake
Electromagnetic brake
(10ms)
Electromagnetic brake operation delay time
Trouble (ALM)
No(ON) Yes(OFF)
(d) Both main and control circuit power supplies off
Dynamic brake
Dynamic brake Electromagnetic brake
Electromagnetic brake
Electromagnetic brake operation delay time (Note 2)
Servo motor speed
Base circuit
Electromagnetic brake interlock(MBR)
Trouble (ALM)
Main circuit
power
Control circuit Note: Changes with the operating status.
ON OFF Invalid(ON) Valid(OFF) No(ON) Yes(OFF) ON OFF
(Note) 15 to 100ms
(10ms)
(10ms or less)
(e) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake Electromagnetic brake
Electromagnetic brake
Servo motor speed
(10ms) (Note 1) 15ms or more
Base circuit
Electromagnetic brake interlo ck
(MBR)
Trouble (ALM)
Main circuit power supply
Note: 1. Changes with the operating status.
2. When the main circuit power supply is off in a motor stop status, the main circuit off warnin
ON OFF Invalid(ON) Valid(OFF) No(ON) Yes(OFF) ON OFF
10ms or less
A.E9) occurs and the ALM signal does not turn off.
3 - 55
Electromagnetic brake operation delay time
(Note 2)
Page 95
3. SIGNALS AND WIRING

3.10 Grounding Ground the servo amplifier and servo motor securely.

WARNING
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
(Note) Power supply 3-phase 200 to 230VAC, 1-phase 230VAC or 1-phase 100 to 120VAC
To prevent an electric shock, always connect the protective earth (PE) terminal of
the servo amplifier with the protective earth (PE) of the control box.
Control box
Servo motor
MC
NFB
Line filter
Servo amplifier
L
1
2
L
3
L
11
L
21
L
CN1A
CN1B
CN2
U V
W
U V
W
Encoder
SM
controller
Programmable
Protec tive earth(PE)
Note: For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply.
Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel.
Outer box
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3. SIGNALS AND WIRING

3.11 Servo amplifier terminal block (TE2) wiring method

(1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cabl e size: 0.2 to
2
2.5mm
Twisted wire: Use the cable afte r str ipp ing th e she ath and twi stin g the core . A t th is time , ta ke ca re to
)
Approx. 10mm
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it m ay cause a con tact fault. (C able size : 0.2 to 2.5mm
2
)Alternatively, a bar
terminal may be used to put the wires together.(Phoenix contact make)
Bar terminal for 1 cable
(Bar terminal ferrule with insulation sleeve)
Cable size Bar terminal type
[mm2] AWG For 1 cable For 2 cables
0.25 24
0.5 20
0.75 18
118
1.5 16
2.5 14
Al0.25-6YE Al0.25-8YE Al0.5-6WH Al0.5-8WH Al0.75-6GY Al0.75-8GY Al1-6RD Al1-8RD Al1.5-6BK Al1.5-8BK Al2.5-8BU Al2.5-8BU-1000
(Twin ferrule with insulation sleeve)
Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2
Bar terminal for 2 cable
0.75-8GY
0.75-10GY 1-8RD 1-10RD
1.5-8BK
1.5-12BK
2.5-10BU
2.5-13BU
Crimping
tool
CRIMPFOX-UD6
3 - 57
Page 97
3. SIGNALS AND WIRING
(2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N opening, make sure that the screw of the terminal is fully loose. When using a cable of 1.5mm
2
or less, two cables may be inserted into one opening.
Flat-blade screwdriver Tip thickness 0.4 to 0.6mm Overall width 2.5 to 3.5mm
m) Before inserting the cable into the
To loosen.
To tighten.
Cable
Opening
Control circuit terminal block

3.12 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor Sheath
Strip the sheath.
External conductor
Pull back the external conductor to cover the sheath
Screw
SheathCore
Ground plate
Cable
Screw
3 - 58
Page 98

4. OPERATION

4. OPERATION

4.1 When switching power on for the first time

Before starting operation, check the following:
(1) Wiring
(a) A correct power supply is connected to the power input ter minals (L
amplifier.
(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L (d) The servo amplifier and servo motor are grounded securely. (e) Note the following when using the regenerative brake option, brake unit or power return converter:
1) For the MR-J2S-350A or less, the lead has been removed from across D-P of the control circuit terminal block, and twisted cables are used for its wiring.
2) For the MR-J2S-500A or more, the lead has been removed from across P-C of the servo amplifier built-in regenerative brake resistor, and twisted cables are used for its wiring.
(f) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during
operation. (g) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B. (h) SD and SG of connectors CN1A and CN1B are not shorted. (i) The wiring cables are free from excessive force.
1
, L2, L3) of the servo motor.
1
, L2, L3, L11, L21) of the servo
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(3) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight. (b) The servo motor and the machine connected with the servo motor can be operated.
4 - 1
Page 99
4. OPERATION

4.2 Startup

WARNING
Do not operate the switches with wet hands. You may get an electric shock.
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
CAUTION
During power- on fo r so me aft e r powe r- off, d o no t touc h or clo s e a par t s (cab le et c. ) to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4.2.1 Selection of control mode

Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by switching power off, then on.

4.2.2 Position control mode (1) Power on

1) Switch off the servo-on (SON) signal.
2) When main circuit power/control circu it power is switched on, the display shows "C (Cumulative feedback pulses)", and in two second later, shows data. In the absolute po si tio n det e c t ion system, firs t po w e r- o n r e sults in the a bsolute positio n lost (AL.25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capacitor in the encoder. The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.
(2) Test operation 1
Using jog operation in the test operation mode, make sure that the servo motor oper ates. (Refer to Section 6.8. 2 . )
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 6.5 for the setting method.
Parameter No. Name Setting Description
0
3 0
Position control mode MR-RB12 regenerative brake option is used.
0 2
Input filter 3.555ms (initial value) Electromagnetic brake interlock signal is not used. Used in incremental positioning system.
1 5
Middle response (initial value) is selected. Auto tuning mode 1 is selected.
0
1 Function selection 1
2 Auto tuning
3 Electronic gear numerator (CMX) 2 Electronic gear numerator 4 Electronic gear denominator (CDV) 1 Electronic gear denominator
Control mode, regenerative brake option selection
After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.
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4. OPERATION
(4) Servo-on
Switch the servo-on in the following procedure:
1) Switch on main circuit/control power supply.
2) Switch on the servo-on signal (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
(5) Command pulse input
Entry of a pu lse train f rom the po sitio ni ng d evic e ro tat e s the serv o moto r. A t f irs t, ru n it a t lo w spe ed and check the rotation direction, etc. If it does not run in the intended direction, check the input signal. On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor. When machine operation check is over, check automatic operation with the program of the positioning device. This servo amplifier has a real-time auto tuning func tion under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)
(6) Home position return
Make home position return as required.
(7) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that the stop pattern of stroke end (LSP/LSN) OFF is as described below. (a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Alarm AL.E6 o cc urs.
(d) Stroke end (LSP/LSN) OFF
The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the opposite direction.
POINT
A sudden stop indicates that a stop is made with the droop pulses erased.
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