Mitsubishi Electronics J2-SUPER, MR-J2S- CL User Manual
General-Purpose AC Servo
J2-Super Series
Program Compatible
MODEL
MR-J2S- CL
SERVO AMPLIFIER
INSTRUCTION MANUAL
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 Instructi on Manual, ins tructions at a lo wer level t han the abo ve, instruc tions for other func tions, an d 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 servo 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.
When you keep or use it, please fulfill the following environmental conditions.
Environment
Ambient
temperature
Ambient
humidity
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
(Note)
Vibration
Note. Except the servo motor with reduction gear.
Operation
Storage
Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
Storage 90%RH or less (non-condensing)
[ ]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
] 19.4 or less
[ft/s
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
HC-SFS301
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
HC-SFS301
152
352
353
152
352
353
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 forced stop (EMG) and other protective circuits may not operate.
Servo
amplifier
(24VDC)
Control
output
signal
COM
RA
Servo
amplifier
(24VDC)
Control
output
signal
COM
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 circuit to ensure that operatio n can be sto pped and power switc hed
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resett ing an alarm , m ake sure that th e run s ignal is off to pre vent an accid ent. A su dden restar t is
made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise fi lter , etc. to minimize th e inf lue nce of elec trom ag netic int erf erenc e, wh ich m a y b e c ause 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 reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are
coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stoppe r on the machin e si de.
(5) Corrective actions
CAUTION
When it is assum ed that a hazardous condi tion may take p lace at the occ ur due to a p ower 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 the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but
also by an exte rnal fo r ced st op (EMG ).
Contacts must be open when
servo-on (SON) is off, when a trouble (ALM)
is present and when an electromagnetic
brake interlock (MBR).
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
forced stop (EMG).
EMGRA
24VDC
When power is restor ed after an insta ntaneous power fail ure, keep a way from the m achine beca use the
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) General instruction
To illustrate de tails, the equipment in the diagrams of this Sp ec if ications and I ns tr uc t io n Ma nual may hav e
been drawn withou t covers and safety guards. W hen the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
This product is not designed or manufactured to be used in equipment or systems in situations that can
affect or enda nge r hu man li fe .
When considering this product for operation in special applications such as machinery or systems used in
passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating
applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised
to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the
product is likely to cause a serious accident.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-R OM du e to pa ra met er se t ting ch an ge s
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to program changes
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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).
(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 series :MR-J2S-10CL to MR-J2S-700CL
MR-J2S-10CL1 to MR-J2S40CL1
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(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 connect two ground cables to the same protective earth (PE) terminal. Always connect 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) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.
(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 14.2.2.
(b) The sizes of the cable s described in Section 14.2. 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.
(8) Performing EMC tests
When EMC tests are ru n on a machine/device in to which the servo amplifier has been installed, i t
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 - 8
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 series :MR-J2S-10CL to MR-J2S-700CL
MR-J2S-10CL1 to MR-J2S-40CL1
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
Install a fan of 100 CFM (2.8m
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.
3
/min) air f low 4 [in] (10.16 [ cm]) above the servo amplifier or p rovide
Servo amplifier Discharge time [min]
MR-J2S-10CL(1) 20CL(1) 1
MR-J2S-40CL(1) 60CL 2
MR-J2S-70CL to 350CL 3
MR-J2S-500CL 700CL 5
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
<<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 MR-J2S-CL for the first time. Always purchase them and use the MR-J2S-CL safely.
Relevant manuals
Manual name Manual No.
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310
A - 9
MEMO
A - 10
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-24
1.1 Introduction.............................................................................................................................................. 1- 1
1.1.1 Function block diagram....................................................................................................................1- 2
1.1.2 System configuration........................................................................................................................1- 3
1.1.3 I/O devices .........................................................................................................................................1- 8
1.2 Servo amplifier standard specifications................................................................................................1- 9
1.3 Function list............................................................................................................................................1-11
1.4 Model code definition .............................................................................................................................1-12
1.5 Combination with servo motor..............................................................................................................1-13
1.6 Structure..................................................................................................................................................1-14
1.6.1 Part names .......................................................................................................................................1-14
1.6.2 Removal and reinstallation of the front cover ..............................................................................1-18
1.7 Servo system with auxiliary equipment...............................................................................................1-20
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 3-36
3.1 Standard connection example ................................................................................................................3- 2
3.2 Internal connection diagram of servo amplifier ...................................................................................3- 4
3.3 I/O signals................................................................................................................................................. 3- 5
3.3.1 Connectors and signal arrangements.............................................................................................3- 5
3.3.2 Signal (devices) explanations ..........................................................................................................3- 6
3.4 Detailed description of signals (devices)...............................................................................................3-13
3.4.1 Forward rotation start
3.4.2 Movement complete.........................................................................................................................3-14
3.4.3 Override............................................................................................................................................3-15
3.4.4 Torque limit......................................................................................................................................3-16
3.5 Alarm occurrence timing chart .............................................................................................................3-18
3.6 Interfaces.................................................................................................................................................3-19
3.6.1 Common line ....................................................................................................................................3-19
3.6.2 Detailed description of the interfaces............................................................................................3-20
3.7 Input power supply circuit.....................................................................................................................3-23
3.7.1 Connection example.........................................................................................................................3-23
3.7.2 Terminals..........................................................................................................................................3-25
3.7.3 Power-on sequence...........................................................................................................................3-26
3.8 Connection of servo amplifier and servo motor...................................................................................3-27
3.8.1 Connection instructions ..................................................................................................................3-27
3.8.2 Connection diagram.........................................................................................................................3-27
3.8.3 I/O terminals....................................................................................................................................3-29
Reverse rotation start Temporary stop/Restart................................ 3-13
1
3.9 Servo motor with electromagnetic brake .............................................................................................3-31
3.10 Grounding .............................................................................................................................................3-34
3.11 Servo amplifier terminal block (TE2) wiring method.......................................................................3-35
3.12 Instructions for the 3M connector.......................................................................................................3-36
4. OPERATION 4- 1 to 4-50
4.1 When switching power on for the first time..........................................................................................4- 1
4.1.1 Pre-operation checks ........................................................................................................................4- 1
4.1.2 Startup...............................................................................................................................................4- 2
4.2 Program operation mode.........................................................................................................................4- 5
4.2.1 What is program operation mode?..................................................................................................4- 5
4.2.2 Programming language....................................................................................................................4- 6
4.2.3 Basic setting of signals and parameters........................................................................................4-25
4.2.4 Program operation timing chart ....................................................................................................4-26
4.3 Manual operation mode.........................................................................................................................4-27
4.3.1 Jog operation....................................................................................................................................4-27
4.3.2 Manual pulse generator operation.................................................................................................4-29
4.4 Manual home position return mode .....................................................................................................4-31
4.4.1 Outline of home position return.....................................................................................................4-31
4.4.2 Dog type home position return.......................................................................................................4-33
4.4.3 Count type home position return ...................................................................................................4-35
4.4.4 Data setting type home position return ........................................................................................4-36
4.4.5 Stopper type home position return ................................................................................................4-37
4.4.6 Home position ignorance (servo-on position defined as home position).....................................4-38
4.4.7 Dog type rear end reference home position return.......................................................................4-39
4.4.8 Count type front end reference home position return..................................................................4-40
4.4.9 Dog cradle type home position return ...........................................................................................4-41
4.4.10 Home position return automatic return function.......................................................................4-42
4.5 Absolute position detection system.......................................................................................................4-43
4.6 Serial communication operation ...........................................................................................................4-46
4.6.1 Positioning operation in accordance with programs....................................................................4-46
4.6.2 Multidrop system.............................................................................................................................4-46
4.6.3 Group designation............................................................................................................................4-47
4.7 Incremental value command system....................................................................................................4-49
5. PARAMETERS 5- 1 to 5-26
5.1 Parameter list..........................................................................................................................................5- 1
5.1.1 Parameter write inhibit ...................................................................................................................5- 1
5.1.2 List .....................................................................................................................................................5- 2
5.2 Detailed explanation..............................................................................................................................5-21
5.2.1 Electronic gear .................................................................................................................................5-21
5.2.2 Changing the status display screen...............................................................................................5-22
5.2.3 S-pattern acceleration/deceleration...............................................................................................5-23
5.2.4 Analog output...................................................................................................................................5-23
5.2.5 Changing the stop pattern using a limit switch...........................................................................5-25
2
5.2.6 Alarm history clear..........................................................................................................................5-25
5.2.7 Software limit...................................................................................................................................5-25
6. SERVO CONFIGURATION SOFTWARE 6- 1 to 6-24
6.1 Specifications ...........................................................................................................................................6- 1
6.2 System configuration...............................................................................................................................6- 1
6.3 Station setting..........................................................................................................................................6- 3
6.4 Parameters...............................................................................................................................................6- 4
6.5 Simple Program.......................................................................................................................................6- 6
6.5.1 Program data.....................................................................................................................................6- 6
6.5.2 Indirect addressing...........................................................................................................................6- 9
6.6 Device assignment method....................................................................................................................6-11
6.7 Test operation......................................................................................................................................... 6-15
6.7.1 Jog operation....................................................................................................................................6-15
6.7.2 Positioning operation.......................................................................................................................6-17
6.7.3 Motor-less operation........................................................................................................................6-19
6.7.4 Output signal (DO) forced output ..................................................................................................6-20
6.7.5 Program test operation ...................................................................................................................6-21
6.8 Alarm history ..........................................................................................................................................6-23
7. DISPLAY AND OPERATION 7- 1 to 7-20
7.1 Display flowchart..................................................................................................................................... 7- 1
7.2 Status display ..........................................................................................................................................7- 2
7.2.1 Display transition.............................................................................................................................7- 2
7.2.2 Display examples.............................................................................................................................. 7- 3
7.2.3 Status display list.............................................................................................................................7- 4
7.3 Diagnosis mode........................................................................................................................................7- 5
7.3.1 Display transition.............................................................................................................................7- 5
7.3.2 Diagnosis mode list...........................................................................................................................7- 6
7.4 Alarm mode..............................................................................................................................................7- 8
7.4.1 Display transition.............................................................................................................................7- 8
7.4.2 Alarm mode list.................................................................................................................................7- 9
7.5 Parameter mode .....................................................................................................................................7-11
7.5.1 Parameter mode transition.............................................................................................................7-11
7.5.2 Operation example...........................................................................................................................7-12
7.6 External I/O signal display....................................................................................................................7-14
7.7 Output signal (DO) forced output .........................................................................................................7-15
7.8 Test operation mode...............................................................................................................................7-16
7.8.1 Mode change.....................................................................................................................................7-16
7.8.2 Jog operation....................................................................................................................................7-17
7.8.3 Positioning operation.......................................................................................................................7-18
7.8.4 Motor-less operation........................................................................................................................7-19
3
8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12
8.1 Different adjustment methods ...............................................................................................................8- 1
8.1.1 Adjustment on a single servo amplifier..........................................................................................8- 1
8.1.2 Adjustment using servo configuration software............................................................................8- 2
8.2 Auto tuning ..............................................................................................................................................8- 3
8.2.1 Auto tuning mode .............................................................................................................................8- 3
8.2.2 Auto tuning mode operation............................................................................................................8- 4
8.2.3 Adjustment procedure by auto tuning............................................................................................8- 5
8.2.4 Response level setting in auto tuning mode...................................................................................8- 6
8.3 Manual mode 1 (simple manual adjustment).......................................................................................8- 7
8.3.1 Operation of manual mode 1 ...........................................................................................................8- 7
8.3.2 Adjustment by manual mode 1 .......................................................................................................8- 7
8.4 Interpolation mode .................................................................................................................................8-10
8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super.......................... 8-11
8.5.1 Response level setting.....................................................................................................................8-11
8.5.2 Auto tuning selection....................................................................................................................... 8-11
9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-10
9.1 Function block diagram ..........................................................................................................................9- 1
9.2 Machine resonance suppression filter ...................................................................................................9- 1
9.3 Adaptive vibration suppression control.................................................................................................9- 3
9.4 Low-pass filter .........................................................................................................................................9- 4
9.5 Gain changing function...........................................................................................................................9- 5
9.5.1 Applications....................................................................................................................................... 9- 5
9.5.2 Function block diagram....................................................................................................................9- 5
9.5.3 Parameters........................................................................................................................................9- 6
9.5.4 Gain changing operation..................................................................................................................9- 8
10. INSPECTION 10- 1 to 10- 2
11. TROUBLESHOOTING 11- 1 to 11-10
11.1 Trouble at start-up ..............................................................................................................................11- 1
11.1.1 Position control mode...................................................................................................................11- 1
11.2 When alarm or warning has occurred...............................................................................................11- 2
11.2.1 Alarms and warning list ..............................................................................................................11- 2
11.2.2 Remedies for alarms.....................................................................................................................11- 3
11.2.3 Remedies for warnings.................................................................................................................11- 9
12. OUTLINE DIMENSION DRAWINGS 12- 1 to 12- 8
12.1 Servo amplifiers...................................................................................................................................12- 1
12.2 Connectors............................................................................................................................................12- 6
4
13. CHARACTERISTICS 13- 1 to 13- 8
13.1 Overload protection characteristics...................................................................................................13- 1
13.2 Power supply equipment capacity and generated loss ....................................................................13- 2
13.3 Dynamic brake characteristics...........................................................................................................13- 4
13.4 Encoder cable flexing life....................................................................................................................13- 6
13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit ..............................................13- 7
14. OPTIONS AND AUXILIARY EQUIPMENT 14- 1 to 14-44
14.1 Options..................................................................................................................................................14- 1
14.1.1 Regenerative brake options.........................................................................................................14- 1
14.1.2 Brake unit......................................................................................................................................14- 9
14.1.3 Power return converter...............................................................................................................14-11
14.1.4 Cables and connectors.................................................................................................................14-14
14.1.5 Junction terminal block (MR-TB20)..........................................................................................14-22
14.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................14-24
14.1.7 External digital display (MR-DP60)..........................................................................................14-26
14.1.8 Manual pulse generator (MR-HDP01) ......................................................................................14-28
14.1.9 Battery (MR-BAT, A6BAT).........................................................................................................14-29
14.2 Auxiliary equipment ..........................................................................................................................14-30
14.2.1 Recommended wires....................................................................................................................14-30
14.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................14-32
14.2.3 Power factor improving reactors................................................................................................14-32
14.2.4 Relays............................................................................................................................................14-33
14.2.5 Surge absorbers ...........................................................................................................................14-33
14.2.6 Noise reduction techniques.........................................................................................................14-33
14.2.7 Leakage current breaker.............................................................................................................14-39
14.2.8 EMC filter.....................................................................................................................................14-41
14.2.9 Setting potentiometers for analog inputs..................................................................................14-43
15. COMMUNICATION FUNCTIONS 15- 1 to 15-36
15.1 Configuration.......................................................................................................................................15- 1
15.1.1 RS-422 configuration....................................................................................................................15- 1
15.1.2 RS-232C configuration.................................................................................................................15- 2
15.2 Communication specifications............................................................................................................15- 3
15.2.1 Communication overview.............................................................................................................15- 3
15.2.2 Parameter setting.........................................................................................................................15- 4
15.3 Protocol.................................................................................................................................................15- 5
15.4 Character codes ...................................................................................................................................15- 7
15.5 Error codes ...........................................................................................................................................15- 8
15.6 Checksum.............................................................................................................................................15- 8
15.7 Time-out operation..............................................................................................................................15- 9
15.8 Retry operation....................................................................................................................................15- 9
15.9 Initialization........................................................................................................................................15-10
15.10 Communication procedure example ...............................................................................................15-10
5
15.11 Command and data No. list.............................................................................................................15-11
15.11.1 Read commands.........................................................................................................................15-11
15.11.2 Write commands........................................................................................................................15-14
15.12 Detailed explanations of commands...............................................................................................15-16
15.12.1 Data processing..........................................................................................................................15-16
15.12.2 Status display ............................................................................................................................15-18
15.12.3 Parameter...................................................................................................................................15-19
15.12.4 External I/O signal statuses.....................................................................................................15-21
15.12.5 Device ON/OFF..........................................................................................................................15-23
15.12.6 Disable/enable of I/O devices (DIO) .........................................................................................15-24
15.12.7 Input devices ON/OFF (test operation)...................................................................................15-25
15.12.8 Test operation mode..................................................................................................................15-26
15.12.9 Output signal pin ON/OFF output signal (DO) forced output..............................................15-29
15.12.10 Alarm history...........................................................................................................................15-30
15.12.11 Current alarm..........................................................................................................................15-31
15.12.12 Current position latch data ....................................................................................................15-32
15.12.13 General-purpose register ........................................................................................................15-33
15.12.14 Servo amplifier group designation.........................................................................................15-35
15.12.15 Software version......................................................................................................................15-36
Appendix App- 1 to App- 2
App 1. Status indication block diagram .................................................................................................App- 1
App 2. Junction terminal block (MR-TB20) terminal block labels...................................................... App- 2
6
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is in troduced
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
7
MEMO
8
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The MR-J2S-CL prog ram-compatible AC servo amplifie r is based on the MR-J2S-C P AC servo amplifier
with built-in positioning functions and incorporates program-driven, single-axis positioning functions.
These functions perform positioning operation by creating the position data (target positions), servo motor
speeds, acceleration and deceleration time constants, etc. as a program and executing the program. The
servo amplifie r is the mos t appropriate to config ure a simple positioning system o r to sim plify a system,
for example.
Up to 16 programs can be created. The program capacity is 120 steps as a total of all programs.
All servo motors are equipped with an absolute position encoder as standard. An absolute position
detection system can be configured by merely adding a battery to the servo amplifier. Once the home
position has been set, home position return is not required at power on, alarm occurrence, etc.
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.1.1 Function block diagram
The function block diagram of this servo is shown below.
Regenerative brake option
(Note3)
(Note2)
Power
supply
3-phase
200 to
230VAC,
or
1-phase
100 to
120VAC
NFB
MC
Servo amplifier
DS
1
L
2
L
3
L
RA
(MR-J2S-200CP or more)
11
L
21
L
Control
power
supply
PDC
Regenerative
brake
transistor
CHARGE
lamp
Fan
(Note1)
Current
detector
Dynamic
brake
Servo motor
U
U
V
V
SM
W
W
E1
Electromagnetic
E2
brake
Current
control
Speed
control
Model adaptive control
Position
control
Position
command
creation
Regenerative
brake
A/D
CN1A CN1B
Base
amplifier
I/F
Voltage
detection
SPN (1000)
STA (200)
STB (300)
MOV (500)
SPN (1000)
MOVA (1000)
MOVA (0)
STOP
RS-232C
RS-422
Program
CN3
Overcurrent
protection
D/A
Current
detection
CN2
Encoder
MR-BAT
CON1
Optional battery
(for absolute position
detection system)
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-10CL (1).
1,L2
2. For 1-phase 230VAC, connect the power supply to L
3
L
is not provided for a 1-phase 100 to120VAC power supply.
and leave L3 open.
3. For MR-J2S-350CL or less.
1 - 2
Analog monitor
(2 channels)
1. FUNCTIONS AND CONFIGURATION
1.1.2 System configuration
This section describes operations using this servo.
You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector
pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to
Sections 1.1.3 and 3.3 .3.) The Servo configur ation Software (refe r to Chapter 6) and pe rsonal computer
are required to change or assign devices.
(1) Operation using external input signals
(a) Description
The following configuration example assumes that external input signals are used to control all
signals (devices).
The I/O signals are as fact or y-set.
(b) Configuration
The following configuration uses external I/O signals. The personal computer is used with Servo
configuration Software to set creation of a program, change and monitor the parameters.
External I/O
signals
Servo amplifier
Personal
computer
Servo configuration
Software
Power supply
CN1A CN1B
CN2 CN3
Servo motor
RS–232C
1 - 3
1. FUNCTIONS AND CONFIGURATION
(2) Operation using external input signals and communication
(a) Description
Communication can be used to Selection of the program, change parameter values, and confirm
monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2)
through the external I/O. Use this system when position data/speed setting or the host personal
computer or the like is used to change the parameter values, for example.
(b) Configuration
1) One servo amplifier is connected with the personal computer by RS-232C.
External I/O
signals
Servo amplifier
Personal
computer
Servo configuration
Software
Power supply
CN1A CN1B
CN2 CN3
Servo motor
RS–232C
1 - 4
1. FUNCTIONS AND CONFIGURATION
2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Use parameter No. 16 to change the communication system.
External I/O
signals
Servo amplifier (axis 1)
Personal
computer
Servo configuration
Software
Power supply
External I/O
signals
Power supply
CN1A CN1B
CN2 CN3
Servo amplifier (axis 2)
CN1A CN1B
CN2 CN3
Servo motor
RS–232C
RS–422
RS–232C/RS-422 converter
(to be prepared by the customer)
RS–422
To the next axis
Servo motor
1 - 5
1. FUNCTIONS AND CONFIGURATION
(3) Operation using communication
(a) Description
Analog input, forced s top (EMG) and other signals are controlled by exte rnal I/O signals and the
other devices controlled through communication. Also, you can set each program, selection of the
program, and change or set parameter values, for example. Up to 32 axes may be controlled.
(b) Configuration
1) One servo amplifier is connected with the personal computer by RS-232C.
External I/O
signals
Servo amplifier
Personal
computer
Servo configuration
Software
Power supply
CN1A CN1B
CN2 CN3
Servo motor
RS–232C
1 - 6
1. FUNCTIONS AND CONFIGURATION
2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Use parameter No. 16 to change the communication system.
External I/ O
signals
Servo amplifier (axis 1)
Personal
computer
Servo configuration
Software
Power supply
External I/ O
signals
Power supply
CN1A CN1B
CN2 CN3
Servo amplifier (axis 2)
CN1A CN1B
CN2 CN3
Servo motor
RS–232C
RS–422
RS–232C/RS-422 converter
(to be prepared by the customer)
RS–422
To the next axis
Servo motor
1 - 7
1. FUNCTIONS AND CONFIGURATION
1.1.3 I/O devices
This servo amplifier allows devices to be al located to the pins of connector CN1A/CN1B as desired. The
following devices can be allocated. For device details, refer to Section 3.3.2.
Input device Symbol
Servo-on SON CN1A-19 Trouble ALM CN1B-18
Reset RES CN1B-15 Ready RD CN1B-19
Forward rotation stroke end LSP CN1B-16 Movement complete PED CN1B-6
Reverse rotation stroke end LSN CN1B-17 Zeroing completion ZP CN1A-18
Forward rotation start ST1 CN1B-7 Program output 1 OUT1 CN1B-4
Reverse rotation start ST2 Program output 2 OUT2
Proximity dog DOG CN1A-8 Program output 3 OUT3
Program No. selection 1 DI0 CN1B-5 Electromagnetic brake interlock MBR
Program No. selectio n 2 DI1 CN1B-14 Po sition range POT
Program No. select ion 3 DI2 Warning WNG
Program No. selection 4 DI3 Battery warning BWNG
Forced stop EMG Limiting torque TLC
Automatic/manual selection MD0 Temporary stop PUS
Override selection OVR SYNC synchronous output SOUT
External torque limit selection TL
Interna l torque l imit selection T L2
Proportion control PC
Temporary stop/restart STP
Manual pulse generator
multiplication 1
Manual pulse generator
multiplication 2
Gain switch CDP
Current position latch input LPS
Program input 1 PI1 CN1B-8
Program input 2 PI2 CN1B-9
Program input 3 PI3
TP0
TP1
Factory-
allocated pin
Output device Symbol
Factory-
allocated pin
1 - 8
1. FUNCTIONS AND CONFIGURATION
1.2 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 Section13.2
System Sine-wave PWM control, curr ent control system
Dynamic brake Built-in
Protective functions
Operational
specifications
Position
command input
Programming
Command system
Program operati on mode
Manual
operation
mode
Manual
home
Operation mode
position
return
mode
Speed command
input
System
Jog
Manual pulse
generator
Dog type
Count type
Data setting type
Stopper type
10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1
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 ove rh eat protection, en cod er error protecti on, regenerative
brake error prot ect i on, undervoltag e, i ns t a nt a n e ou s power failure p rot ect ion, overspeed
protection, exces s i v e error protecti on
Programming language (Programming with Servo-configuration software).
Programming capacity: 120 steps
Setting by programming language.
Movement setting range at 1 point:
Servo motor speed , a c celeration/dec eleration time const a nt a n d S - p attern
acceleration/deceleration time con st a n t b y p rogramming lang uage.
S-pattern acceleration/decel era ti on tim e consta nt ca n set by parameter No.14 or b y
programming.
Signed absolut e v a l ue command (sig ned incremental va l u e command syste m can be
specified), signed incremental value command system
Setting by programming language
Jog operation is performed in accordance with th e p a ra meter-set speed command b y
contact input or through RS-422 (232C) communication.
Manual feed is made by manual pulse generator.
Command pulse multiplication:
Home position return is made starting with Z-phase pulse after passage of proximity dog.
Home position address may be set. Home position shift distance may be set. Home position
return direction may be selected .
Automatic at-dog home position return, Automatic stroke return function
Home position return is made by counting encoder pulses after contact with proximity dog.
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return, Automatic stroke return function
Home position return is made without dog.
Home position ma y be set at any position by ma nu a l op eration, etc. H o me position address
may be set.
Home position return is ma d e by p ressing machine part against strok e e nd .
Home position address may be set. Home position return direction may be set.
3-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC
1[ m] to 999.999[mm]
1, 10 or 100 is selected using parameter.
1-phase 100 to
120VAC 50/60Hz
1-phase
85 to 127VAC
1 - 9
1. FUNCTIONS AND CONFIGURATION
Servo amplifier
MR-J2S-
Item
Home position
ignorance
10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1
Position where s ervo-on (SON) i s s w i t ched on is defined as home positi on.
Home position address may be set.
(Servo-on position as
home position)
Home position return is made with respect to the rear end of a proximity dog.
Manual
home
position
return
mode
Operation mode
Dog type rear end
reference
Count type front end
reference
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return, Automatic stroke return function
Home position return is made with respect to the front end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return, Automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the first
Z-phase pulse.
Dog cradle type
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return, Automatic stroke return function
Absolute position detection, backlash function
Other functions
Overtravel prevention using external limit switch
Software stroke limit, override using external analog signal
Structure Self-cooled, open (I P00) Force-cooling, open (IP00 )
[ ]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
Ambient
temperature
Ambient
humidity
Ambient
Environment
Operation
Storage
Operation
Storage
Altitude Max. 1000m (3280ft) above sea level
Vibration
Weight
5.9 [m/s2] or less
19.4 [ft/s
2
] or less
[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
Self-cooled,
open (IP00)
1 - 10
1. FUNCTIONS AND CONFIGURATION
1.3 Function list
The following table lists the functions of this servo. For details of the functi ons, refer to the reference field.
Function Description Reference
Operation is performed in accordance with the contents of any
Positioning by program operation
Manual home position return
Multidrop communicati o n
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 Vibration of 1 pulse at servo motor stop is suppressed. Parameter No. 20
Electronic gear
Auto tuning
S-pattern acceleration/deceleration time
constant
Regenerative brake option
Brake unit
Return conv erter
program selected from among pre-created 16 programs.
Use the external input signal or communication function to choose
the program.
Dog type, count type, data setting type, stopper type, home
position ignorance, dog type rear end refere n ce, count type front
end reference, dog cradle type
Up to 32 axes of MR-J2S-CL are controllable simultaneously by
RS-422 communication.
High-resolution encoder of 131072 pulses/rev is used as a servo
motor encoder.
By merely setting the home position once, home position return
need not be done at each 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 software-installed
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.
The electronic gear is used to make adjustment so that the servo
amplifier setting matches the machine moving distance. Also,
changing the electronic gear value allows the machine to be moved
at any multiplication ratio to the moving distance using the servo
amplifier.
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.
Acceleration/deceleration can be made smoothly.
Used when the bui l t-in regenera ti ve brake resis t o r of th e servo
amplifier does not have sufficient regenerative capability for the
regene rative power generat ed.
Used when the r egenerative brake option ca nnot provid e enough
regenerative power.
Can be used with the MR-J2S-500CL
Used when the regenerative brake option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500CL
MR-J2S-700CL.
MR-J2S-700CL.
Section 4.2
Section 4.4
Section 4.6.3
Chapter 15
Section 4.5
Section 9.5
Section 9.3
Section 9.4
Section 5.2.1
Chapter 8
Section 4.2.1 (2) 2)
Section 5.2.3
Section 14.1.1
Section 14.1.2
Section 14.1.3
1 - 11
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