Furuno MR-J2S-A User Manual
MELSERVO
Servo Amplifiers and Motors
Instruction Manual
Art. no.: 138918
2001 02 15
Version C
MR-J2S-쏔A
INDUSTRIAL AUTOMATION
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.
.
.
A - 1
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).
A - 5
(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.
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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).
A - 7
(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
A - 8
(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).
A - 9
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
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
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
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
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
4
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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