Mitsubishi Electric MELSERVO MRJ2S-B, MELSERVO MRJ2S-B4 Instruction Manual

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MITSUBISHI ELECTRIC

MELSERVO

Servo amplifier and motors

Instruction Manual

Art.-No.: 168353 07 06 2006 Ver s i on A

MR-J2S-B/B4

MITSUBISHI ELECTRIC

INDUSTRIAL AUTOMATION

Version Changes / Additions / Corrections

A 06/2006 pdp —

Instruction Manual

Servo amplifier MR-J2S-B/B4

Art.-N0.: 168353

About this Manual

The text, illustrations, diagrams and examples in this manual

are solely for clarification purposes for the installation,

handling and operation of the servo motors and amplifiers of the

MELSERVO J2-Super-Series.

If you have any questions concerning the programming and operation of the equipment

described in this manual, please contact your relevant sales office

or department (refer to back of cover).

Current information and answers to frequently asked questions are also

available through the Internet (www.mitsubishi-automation.com).

MITSUBISHI ELECTRIC EUROPE B.V. reserves the right to make

changes both to this manual and to the specifications and design of the

hardware at any time without prior notice.

Safety Instructions

General safety instructions

For qualified staff only

This manual is intended exclusively for acknowledged and qualified electricians who are totally conversant with the safety standards of electrical drive and automation technology. Project management, installation, setup, maintenance and testing of the equipment must be carried out by an acknowledged and qualified electrician who is totally conversant with the safety standards of electrical drive and automation technology.

Proper use of equipment

MELSERVO-Series equipment is only designed for use in the areas described in this manual. Be sure to comply with all the characteristics stated in this manual. Only additional or supplementary devices recommended by MITSUBISHI ELECTRIC EUROPE may be used.

Any other use or application of the products is deemed to be improper.

Relevant safety regulations

All safety and accident prevention regulations relevant to your specific application must be observed in the system design, installation, setup, maintenance, servicing and testing of these products.

The regulations listed below are particularly important. This list does not claim to be complete; however, you are responsible for knowing and applying the regulations applicable to you.

● VDE/EN Standards

– VDE 0100

(Regulations for electrical installations with rated voltages up to 1,000V)

– VDE 0105

(Operation of electrical installations)

– VDE 0113

(Electrical systems with electronic equipment)

– VDE 0160

(Configuration of electrical systems and electrical equipment)

● Fire prevention regulations

● Accident prevention regulations

– VBG No. 4 (electrical systems and equipment)

● Low-voltage regulation

MELSERVO J2-Super I

Special instructions for working with this manual

In this manual special warnings that are important for the proper and safe use of the products are clearly identified as follows:

DANGER:

Personnel health and injury warnings. Failure to observe the precautions described

NOTE means that incorrect handling may lead to erroneous operation of the servo

here can result in serious health and injury hazards.

CAUTION:

Equipment and property damage warnings. Failure to observe the precautions described here can result in serious damage to the equipment or other property.

amplifier or servo motor. However, there is no risk to the health of the operators or of damage to the equipment or other property.

This note is also used to indicate an other parameter setting, an other function, an other use or it provides information for the employment of additional or supplementary devices.

Compliance with EC Directives

EC directives are intended to allow the liberal sales of goods within the EU. With the establishment of “essential safety regulations” the EC directives ensure that technical barriers to trade between member states of the EU are excluded. In the member states of the EU the machine directive (in force since January 1995), the EMC directive (in force since January 1996) and the low-voltage directive (in force since January 1997) of the EC directives determine the guarantee of the presence of fundamental safety requirements and the display of the “CE” mark.

Conformity with EC directives is indicated by the submission of a Declaration of Conformity as well as the display of the “CE” mark on the product, its packaging or its operating instructions.

The above directives relate only to devices and systems and not to single components, unless the components have a direct function for the end user. As a servo amplifier together with a servo motor have to be installed with a controller and other mechanical parts in order to serve a useful purpose for the end user, servo amplifiers do not possess this function. Consequently they can be described as a complex component for which a conformity declaration or the “CE” mark is not required. This position is also supported by CEMEP, the European association of manufacturers of electronic drive technology and electrical machines.

The servo amplifiers do, however, comply with the relevant low-voltage directive, which is a prerequisite for the “CE” mark on machines or accessories in which the servo amplifier is used. To ensure conformity with the requirements of the EMC directive, MITSUBISHI ELECTRIC has produced the manual “EMC INSTALLATION GUIDELINES” (article number: 103944) in which the installation of the servo amplifier, the construction of a control cabinet and other installation tasks are described. Please contact the relevant sales partner who is responsible for you.

MELSERVO J2-Super III

Special safety instructions

The following notes on sources of danger should be interpreted as general guidelines for servo drives in association with other devices. These precautions must always be observed in the design, installation and operation of all control systems.

DANGER:

Observe all safety and accident prevention regulations applicable to your specific

●

application. Installation, wiring and opening of the assemblies, components and devices may only be performed with all power supplies disconnected.

●

Prior to carrying out any installation work, wiring and opening assemblies, components and devices you must disconnect the power supply to the units and wait for at least 10 minutes. Prior to touching anything measure the residual voltage in condensers, etc. with a voltmeter to ensure that the voltage has been sufficiently reduced.

●

Never touch the servo amplifier or servo motor or the optional brake resistor during or shortly after operation whilst they are still live. The components can get very hot – there is a risk of getting burned.

●

Assemblies, components and devices must always be installed in a shockproof housing fitted with a proper cover and protective equipment.

●

Devices with a permanent connection to the mains power supply must be integrated in the building installations with an all-pole disconnection switch and a suitable fuse.

●

Ground the servo amplifier and servo motor securely.

●

Check power cables and lines connected to the equipment regularly for breaks and insulation damage. If cable damage is found, immediately disconnect the equipment and the cables from the power supply and replace the defective cabling.

●

Before using the equipment for the first time check that the power supply rating matches that of the local mains power.

●

EMERGENCY OFF facilities in accordance with VDE 0113 must remain effective in all operating modes of the servo motor. The EMERGENCY OFF facility reset function must be designed so that it cannot cause an uncontrolled or undefined restart.

●

The EMERGENCY OFF facility must be wired so that the electromagnetic brake is also activated during an EMERGENCY OFF.

●

Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1–3 are not adequate on their own as protection against indirect contact for installations with servo amplifier. Additional and/or other protection facilities are essential for such installations.

Special safety instructions for the devices

CAUTION:

During the installation of servo systems beware of the heat that builds up during

●

operation. Make sure that there is adequate clearance between the individual modules and enough ventilation to allow the heat to be dissipated.

●

Never install servo amplifiers or servo motors or the optional brake unit close to easily flammable materials.

●

When using a servo system always observe strict compliance with electrical characteristics and physical dimensions.

●

In the event of a defect arising in the servo amplifier, servo motor or optional brake resistor immediately switch the power off to the servo drive, as otherwise it may lead to overheating and self-ignition of the devices.

MELSERVO J2-Super V

Configuration

Control power

supply

Reinforced

insulating

transformer

No-fuse breaker

Magnetic contactor

NFB MC

Power supply

Servo

amplifier

Servo motor

S00500C

Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

Grounding

To prevent an electric shock, always connect the protective earth terminals of the servo amplifier to the protective earth of the control box. Do not connect two or more ground cables to the same protective earth terminal.

Earth terminal

S00501C

Wiring

The cables are connected via insulated tubular cable sockets to the terminal strip of the servo amplifier.

Crimping terminal

Insulating tube

Cable

S00502C

Use only the connectors designed for it to attach the servo motor to the servo amplifier. The connectors can be ordered as accessories.

MELSERVO J2-Super VII

VIII

1 Introduction

1.1 Features and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2.1 Servo amplifiers 200V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2.2 Servo amplifiers 400V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3 Model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.3.1 Servo amplifiers 200V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.3.2 Servo amplifiers 400V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.3.3 Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.3.4 Servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4 Removal and reinstallation of the front cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.5 Operating elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.5.1 Servo amplifier 200V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.5.2 Servo amplifier 400V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

1.5.3 Servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

1.6 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22

1.7 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

1.7.1 Servo amplifiers 200V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

1.7.2 Servo amplifier 400V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27

Contents

2 Installation

2.1 General environmental conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1.1 Installation of servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Installation of servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

3 Connection

3.1 Connection of servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1.1 No-fuse circuit breakers, fuses, magnetic contactors and cables . . . . . . . . . . 3-1

3.1.2 Control circuit and main circuit terminal block . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.3 Signal lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.4 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.2 Servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.2.1 Connection of servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.2.2 Motor connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.3 Internal circuit and common. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.4 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

3.5 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3.5.1 Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.6 Alarm occurence timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.7 Servo motor with electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.8 Examples of standard wiring diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.9 Station number setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

MELSERVO J2-Super IX

Contents

4 Operation

4.1 Points to check prior to starting operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2 Procedures before Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2.1 Start up procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.3 Display and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.1 Display sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.2 Indication list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.4 Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4.4.1 Test operation procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.5 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.5.1 Parameter write inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.5.2 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4.5.3 Parameter description:. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.6 Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-23

4.6.1 Gain adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.6.2 Gain adjustment using setup-software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.6.3 Auto tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.6.4 Manual gain setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

4.6.5 Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.6.6 Differences in auto tuning between MR-J2 and MR-J2S. . . . . . . . . . . . . . . . 4-34

5 Special adjustment functions

5.1 Filter functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.1 Machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.2 Adaptive vibration suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.1.3 Low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

6 Absolute position detection system

6.1 General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1.2 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.3 Communication overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.4 Battery installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.1.5 Parameter setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.1.6 Absolute position detection data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

7 Accessories

7.1 Optional accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.1 Regenerative brake option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.2 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

7.1.3 Confection diagram of encoder cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.1.4 Bus cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

7.2 Special accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

7.2.1 Transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

8 Maintenance and Inspection

8.1 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.2 Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

9 Troubleshooting

9.1 Alarms and Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

9.1.1 Alarms and warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

9.1.2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.1.3 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

10 Specifications

10.1 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

10.1.1Load diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

10.1.2Heat loss of servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10.1.3Specifications of electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4

10.1.4Dynamic braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

10.2 Standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9

10.2.1Servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9

10.2.2Servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10

10.2.3Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13

Contents

11 EMC Directives

11.1 Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1

12 Dimensions

12.1 Servo amplifiers 200V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

12.2 Servo amplifiers 400V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7

12.3 Servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-10

12.3.1HC-MFS and HC-KFS series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-10

12.3.2HC-SFS-Serie . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-13

12.3.3HC-RFS series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15

12.4 Regenerative brake resistor option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17

12.5 Transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18

MELSERVO J2-Super XI

Contents

XII

Features and configuration Introduction

1 Introduction

1.1 Features and configuration

Apart from possessing the functions of the servo amplifiers MR-J2-Series, the servo amplifiers MR-J2-Super have additional features and functions.

The servo amplifiers MR-J2S-B and MR-J2S-B4 are designed for operation with a MitsubishiMotion-Controller via a serial bus (SSCNET). For this the servo amplifier reads in the position data directly so that it can then execute the positioning process.

Through the specification of speed and direction of rotation via the command unit, precise positioning is possible. To protect the power transistor against over-current resulting from great accelerations or delays or overload the servo amplifier is equipped with a speed limitation feature. The value for speed limitation can be varied and may be specified via an external analogue input or a parameter.

The RS232C or RS422 interface permits serial communications between the servo amplifier and a PC. Using the Windows-supported setup software, functions such as parameter setting, test runs, status display, amplifier setting, etc. can be carried out. By means of real-time autotuning it is possible to undertake an automatic adjustment of the amplifier settings to the machine.

The MR-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 MR-J2 series.

Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

MELSERVO J2-Super 1 - 1

Introduction Function block diagram

1.2 Function block diagram

1.2.1 Servo amplifiers 200V

Power supply 3-phase, 200-230VAC;

1-phase, 230VAC



Servo amplifier

L1 L2 L3

MR-J2S-200B or more

L11 L21

Posi tion

command

input

brake option

Control

circuit power

supply

Regenerative

brake

Model position

control

Model position

Actual position

control

Regenerative



PCD

Main circuit

Fan

Base

amplifier

Model speed

Actual speed

control

Model speed

control

Voltage

detection

Over-

current

protection

Virtual

motor

Model torque

Current

control

Virtual

encoder

Current

detection

Servo motor

VV WW

24VDC

Electro-

EMG

magnetic brake

CN2

Encoder

MR-BAT

I/F Control

CN1A CN1B

Controller

servo amplifier

Servo amplifier

termination

connector

RS-232C

CN3

D/A

CON1

Optional battery

(for absolute position

detection system)

Analog monitor

(2 channels)

Personal computer

S001002C

Fig. 1-1: Block diagram for Servo amplifier MR-J2-Super



Up to 750 W a 1-phase power supply is possible. For details of connecting the power supply please see section 3.5.



The connection of terminals shown for the optional regenerative braking resistor applies exclusively to servo amplifiers MR-J2S-350B or smaller. For exact descriptions of the wiring of terminals for other performance classes, please see tab. 3-4.

1 - 2

Function block diagram Introduction

1.2.2 Servo amplifiers 400V

MR-J2S-200B4 or less

Regenerative

brake option

Power supply 3-phase, 380–480VAC

Powe r supply 24VDC

−

Servo amplifier

L1 L2 L3

24V • L

0V • L

Posi tion

command

input

Fan

Control

circuit power

supply

Regenerative

brake

Model position

control

Model position

Actual position

control

PCD

Main circuit

Base

amplifier

Model speed

control

Model speed

Actual speed

control

Voltage

detection

Over-

current

protection

Virtual

motor

Model torque

Current control

Virtual

encoder

Current

detection

Servo motor

VV WW

24V DC

Electro-

EMG

magnetic brake

CN2CON1

Encoder

MR-BAT

I/F Control

Optional battery

(for absolute position

detection system)

Analog monitor

(2 channels)

Personal computer

S001250C

CN1A CN1B

Controller

servo amplifier

Servo amplifier

termination

connector

RS-232C

CN3

D/A

Fig. 1-2: Block diagram for Servo amplifier MR-J2-Super

When connecting an optional regeneration brake resistor, always remove the lead from across the terminals P and D.

MELSERVO J2-Super 1 - 3

Introduction Function block diagram

MR-J2S-350B4 to 700B4

Regenerative

brake option

Power supply 3-phase, 380–480VAC

Powe r supply 24VDC

−

Servoverstärker

L1 L2 L3

24V • L

0V • L

Regenerative

Position

command

input

Fan

Control

circuit power supply

brake

Model position

control

Model position

Actual position

control

PCN

Main circuit

Base

amplifier

detection

Model speed

control

Model speed

Actual speed

control

Voltage

Virtual motor

Model torque

Over-

current

protection

Current

control

Virtual

encoder

Current

detection

Servo motor

VV WW

24VDC

Electro-

EMG

magnetic brake

CN2CON1

Encoder

MR-BAT

I/F Control

Optional battery

(for absolute position

detection system)

Analog monitor

(2 channels)

Personal computer

CN1A CN1B

Controller

servo amplifier

Servo amplifier

termination

connector

RS-232C

CN3

D/A

Fig. 1-3: Block diagram for Servo amplifier MR-J2-Super

When connecting an optional regeneration brake resistor, always remove the lead from across the terminals P and C.

1 - 4

Model overview Introduction

MELSERVO

1.3 Model overview

1.3.1 Servo amplifiers 200V

MITSUBISHI

MR-J2S-100B or less

MR-J2S-500B

MR-J2-B

Series

A 0

)

C N

N 3

E N C

(

Code

HC-KFS HC-MFS HC-SFS HC-RFS

10 035/13 053/13 — —

MR-J2S-200B/350B

MR-J2S-700B

Compatible servo motors

I H

B U S

A 0 0

S 2 J

E P O

)

C N

N 3

E N C

(

20 23 23 — — 40 43 43 — — 60 — — 52 —

70 73 73 — — 100 — — 102 — 200 — — 152/202 103/153 350 — — 352 203 500 — — 502 353/503 700 — — 702 —

S000847T, S000955T, S000913T, S000914T

Fig. 1-4: Model designation of servo amplifiers 200V

MELSERVO J2-Super 1 - 5

Introduction Model overview

1.3.2 Servo amplifiers 400V

MR-J2S-200B4 or less MR-J2S-350B4 and MR-J2S-500B4

MR-J2S- B4

MR-J2S-700B4

Fig. 1-5: Model designation of servo amplifiers 400V

1.3.3 Rating plate

MITSUBISHI

MODEL

POWER : INP UT :

OUTPUT: SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MR-J2S-60B

600 W 3,2 A 3PH + 1PH 200 – 230 V 50Hz

3PH + 1PH 200 – 230 V 60Hz 5,5 A 1PH 230 V 50/60 Hz 170 V 0 – 300 Hz 3,6 A TC3XXAAAAG52

Series

AC SERVO

MADE IN JAPAN

Code Power supply

4 380–480VAC

Compatible

Code

servo motors

HC-SFS

60 524 100 1024 200 1524/2024 350 3524 500 5024 700 7024

S001196C, S001060E, S001061E

Model Capacity

Applicable power supply

Rated output current Serial number

1 - 6

S001001C

Fig. 1-6: Rating plate

Model overview Introduction

1.3.4 Servo motors

HC-MFS series

HC-SFS series

Fig. 1-7: Servo motors

Servo motors 200V

HC - MFS  

HC-KFS series

HC-RFS series

S000849C

Code

Motor series

HC-MFS HC-KFS HC-SFS HC-RFS

——

B ✓

Code Rated speed [r/min]

2 2000 3 3000

Code

05 50 10 1000 31 100 15 1500

Rated speed

2 200 20 2000 4 400 35 3500 5 500 50 5000 7 750 70 7000

Fig. 1-8: Model designation of servo motors 200V

Electromagnetic

brake

[r/min]

Code

Rated

output [W]

MELSERVO J2-Super 1 - 7

Introduction Model overview

Servo motors 400V

HC - SFS 4

Motor series

HC-SFS

Code

——

B ✔

Code Power supply

4400 V

Code

22000

Code

5 500 35 3500 10 1000 50 5000 15 1500 70 7000 20 2000

Fig. 1-9: Model designation of servo motors 400V

Electro-

magnetic

brake

Rated speed

[r/min]

Rated

output [W]

Code

Rated

output [W]

NOTE All motors conform to the following standards: EN, UL, cUL

1 - 8

Model overview Introduction

MITSUBISHI AC SERVO MOTOR

Model

Serial number

Production date

Fig. 1-10: Rating plate

HC-MFS23

SERIAL

DATE

MITSUBISHI ELECTRIC CORPORATION

S00805C

MELSERVO J2-Super 1 - 9

Introduction Removal and reinstallation of the front cover

1.4 Removal and reinstallation of the front cover

For models MR-J2S-200B or larger the front cover must be removed before the battery holder and terminal strips for connecting the power supply of the motor TE1) and control voltage (TE2) are accessible.

DANGER:

Prior to removing the front cover the power supply must be switched off and at least

10 minutes must then elapse. This time interval is required for the condensers to discharge to a harmless voltage level after turning off the mains power supply.

Removal the front cover for MR-J2S-200B and MR-J2S-350B

 Hold down the removing knob.  Pull the front cover toward you.

Abb. 1-11:





Reinstallation the front cover for MR-J2S-200B and MR-J2S-350B

 Insert the front cover hooks into the front cover sockets of the servo amplifier.  Press the front cover against the servo amplifier until the removing knob clicks.



Removal the front cover

Abb. 1-12:

Reinstallation the front cover

S000513C

1 - 10



S000514C

Removal and reinstallation of the front cover Introduction

Removal the front cover for MR-J2S-500B, MR-J2S-350B4 and MR-J2S-500B4

 Hold down the removing knob.  Pull the front cover toward you.

Abb. 1-13:

Removal the front cover





S000909C

Reinstallation the front cover for MR-J2S-500B, MR-J2S-350B4 and MR-J2S-500B4

 Insert the front cover hooks into the front cover sockets of the servo amplifier.  Press the front cover against the servo amplifier until the removing knob clicks.

Abb. 1-14:

Reinstallation the front cover





S000910C

MELSERVO J2-Super 1 - 11

Introduction Removal and reinstallation of the front cover

Removal the front cover for MR-J2S-700B and MR-J2S-700B4

Press the lock on the side of the front cover inwards. Put a finger in the recess in the middle of the front cover and pull it off to the front.

Abb. 1-15:

Removal the front cover

Reinstallation the front cover for MR-J2S-700B and MR-J2S-700B4

Insert the front cover hooks into the front cover sockets of the servo amplifier. Press the front cover against the servo amplifier until the removing knob clicks.

Abb. 1-16:

Reinstallation the front cover

S000911C

1 - 12

S000912C

Operating elements Introduction

1.5 Operating elements

1.5.1 Servo amplifier 200V

Servo amplifier MR-J2S-350B or less





MR-J2S-100B or less



MR-J2S-200B and MR-J2S-350B

Fig. 1-17: Servo amplifier MR-J2S-350B or less



No. Name Description Reference



Battery holder Contains the battery (optional) for absolute

Chap. 6

position data backup.



Battery connector (CON1) Used to connect the battery. Section 6.1.4



Display The two-digit, seven-segment LED shows the

Section 4.3

servo status and alarm number.



Station number (CS1) Switch to set the station number of the servo

amplifier.

Section 3.9

Tab. 1-1: Operating elements and their meaning

S000970C

MELSERVO J2-Super 1 - 13

Introduction Operating elements









 







MR-J2S-100B or less

MR-J2S-200B and MR-J2S-350B

Fig. 1-18: Servo amplifier MR-J2S-350B or less

No. Name Description Reference



Bus cable connector (CN1A) Used to connect the servo system controller or



Bus cable connector (CN1B) Used to connect the subsequent axis servo



Communication connector (CN3)



Name plate — Section 1.3.3



Encoder connector (CN2) Used for connection of the servo motor



Charge lamp Lit to indicate that the main circuit is charged.



Main circuit terminal block (TE1)



Control circuit terminal block (TE2)



Protective earth terminal (PE) Module grounding Section 3.4



Fan — —

preceding axis servo amplifier.

amplifier or termination connector (MR-A-TM) Used to connect a personal computer or output

analog monitor data.

encoder.

While this lamp is lit, do not reconnect the cables.

Used to connect the input power supply and servo motor.

Used to connect the control circuit power supply and regenerative brake option.

Section 3.1.3

—

Section 3.1.2



S000512C

1 - 14

Tab. 1-2: Operating elements and their meaning

CAUTION:

Any mixing up of the connectors CN1A, CN1B, CN3 and CN2 can lead to a shortcircuit and damage to the inputs and outputs.

Operating elements Introduction

Servo amplifier MR-J2S-500B and MR-J2S-700B









S000971C

Fig. 1-19: Servo amplifier MR-J2S-500B and MR-J2S-700B

No. Name Description Reference

Battery holder Contains the battery (optional) for absolute

Chap. 6

position data backup. Battery connector (CON1) Used to connect the battery. Section 6.1.4 Display The two-digit, seven-segment LED shows the

Section 4.3

servo status and alarm number. Station number (CS1) Switch to set the station number of the servo

amplifier.

Section 3.9

Tab. 1-3: Operating elements and their meaning

MELSERVO J2-Super 1 - 15

Introduction Operating elements





 

 



 



Fig. 1-20: Servo amplifier MR-J2S-500B and MR-J2S-700B

No. Name Description Reference



Bus cable connector (CN1A) Used to connect the servo system controller or



Bus cable connector (CN1B) Used to connect the subsequent axis servo



Communication connector (CN3)



Name plate — Section 1.3.3



Encoder connector (CN2) Used for connection of the servo motor



Charge lamp Lit to indicate that the main circuit is charged.



Main circuit terminal block (TE1)



Control circuit terminal block (TE2)



Protective earth terminal (PE) Module grounding Section 3.4



Fan — —

preceding axis servo amplifier.

amplifier or termination connector (MR-A-TM)

Used to connect a personal computer or output

analog monitor data.

encoder.

While this lamp is lit, do not reconnect the

cables

Used to connect the input power supply and

servo motor.

Used to connect the control circuit power

supply and regenerative brake option.

Section 3.1.3

—

Section 3.1.2

S000916C

1 - 16

Tab. 1-4: Operating elements and their meaning

CAUTION:

Any mixing up of the connectors CN1A, CN1B, CN3 and CN2 can lead to a shortcircuit and damage to the inputs and outputs.

Operating elements Introduction

1.5.2 Servo amplifier 400V

Servo amplifier MR-J2S-60B4 to MR-J2S-200B4











CHARGE

LED1 LED2

Fig. 1-21: Servo amplifier MR-J2S-60B4 to MR-J2S-200B4

SW1

S001238C

No. Name Description Reference

Battery holder Contains the battery (optional) for absolute

Chap. 6

position data backup. Battery connector (CON1) Used to connect the battery. Section 6.1.4 Display The five-digit, seven-segment LED shows the

Section 4.3

servo status and alarm number. Charge lamp Lit to indicate that the main circuit is charged.

— While this lamp is lit, do not reconnect the cables

Station number (CS1)

Switch to set the station number of the servo amplifier.

Section 3.9

Tab. 1-5: Operating elements and their meaning

MELSERVO J2-Super 1 - 17

Introduction Operating elements



 

















Fig. 1-22: Servo amplifier MR-J2S-60B4 to MR-J2S-200B4

No. Name Description Reference



Main circuit connector (CNP1) Used to connect the input power supply Section 3.1.3



Bus cable connector (CN1A) Used to connect the servo system controller



Bus cable connector (CN1B) Used to connect the subsequent axis servo



Encoder connector (CN2) Used for connection of the servo motor



Communication connector (CN3) Used to connect a personal computer or



Name plate — Section 1.3.3



Regeneration connector Used to connect the regeneration brake



Control circuit terminal block (CN4) Used to connect the control circuit power



Motor power supply connector (CNP3)



Protective earth terminal (PE) Module grounding Section 3.4



Fan — —

or preceding axis servo amplifier.

amplifier or termination connector (MR-A-TM)

encoder.

output analog monitor data.

option.

supply. Used to connect the servo motor Section 3.1.2

Section 3.1.3

—

Section 3.1.2

S001198C

1 - 18

Tab. 1-6: Operating elements and their meaning

CAUTION:

Any mixing up of the connectors CN1A, CN1B, CN2 and CN3 can lead to a shortcircuit and damage to the inputs and outputs.

Operating elements Introduction

Servo amplifier MR-J2S-350B4 to MR-J2S-700B4









S000971C

Fig. 1-23: Servo amplifier MR-J2S-350B4 to MR-J2S-700B4

No. Name Description Reference

Battery holder Contains the battery (optional) for absolute

Chap. 6 position data backup.

Battery connector (CON1) Used to connect the battery. Section 6.1.4 Display The five-digit, seven-segment LED shows the

Section 4.3 servo status and alarm number.

Station number (CS1) Switch to set the station number of the servo

amplifier.

Section 3.9

Tab. 1-7: Operating elements and their meaning

MELSERVO J2-Super 1 - 19

Introduction Operating elements





 

 



 



MR-J2S-350B4 and MR-J2S-500B4

MR-J2S-700B4

Fig. 1-24: Servo amplifier MR-J2S-350B4 to MR-J2S-700B4

No. Name Description Reference



Bus cable connector (CN1A) Used to connect the servo system controller



Bus cable connector (CN1B) Used to connect the subsequent axis servo



Communication connector (CN3) Used to connect a personal computer or



Name plate — Section 1.3.3



Encoder connector (CN2) Used for connection of the servo motor



Charge lamp Lit to indicate that the main circuit is



Control circuit terminal block (TE2) Used to connect the control circuit power



Main circuit terminal block



Protective earth terminal (PE) Module grounding Section 3.4



Fan — —

(TE1)

or preceding axis servo amplifier.

amplifier or termination connector (MR-A-TM)

output analog monitor data.

encoder.

charged. While this lamp is lit, do not reconnect the cables

supply. Used to connect the input power supply,

regenerative brake option and servo motor.

Section 3.1.3

—

Section 3.1.2

S000916C

1 - 20

Tab. 1-8: Operating elements and their meaning

CAUTION:

Any mixing up of the connectors CN1A, CN1B, CN2 and CN3 can lead to a shortcircuit and damage to the inputs and outputs.

Operating elements Introduction

1.5.3 Servo motor







S000882C

Fig. 1-25: Servo motor

No. Name Description Reference

Encoder connector Cable for connection of encoders Section 7.1.3 Power supply connector, brake Power supply cable (U, V, W), Earth cable,

Brake (for motor with electromagnetic brake)

Servo motor shaft Shaft of servo motor Section 2.1.2

Section 3.2

Tab. 1-9: Operating elements and their meaning

MELSERVO J2-Super 1 - 21

Introduction Functions

1.6 Functions

Function Description Reference

High-resolution encoder Motor encoder has a resolution of 131072 pulses/rev. — Absolute position detection

system Adaptive vibration suppression

control

Vibration suppression control Vibrations with an amplitude of ±1 impulse on stopping

Low-pass filter Suppresses high-frequency resonance which occurs

Machine analyzer function By attaching the MR-J2-Super to a PC on which the

Machine simulation Can simulate machine motions on a personal computer

Gain search function Personal computer changes gains automatically and

Real-time auto tuning Automatically adjusts the gain to optimum value if load

Analog monitor output Servo status is output in terms of voltage in real time. Parameter 22 Torque limit Servo motor torque can be limited to any value. Parameter 10, 11 Forced stop The external EMERGENCY OFF signal (EM1) can be

Forced output signal Output signal can be forced on/off independently of the

Test operation mode The servo motor can be operated from the servo

Regenerative brake option Used when the built-in regenerative brake resistor of

Setup software Using a personal computer, parameter setting, test

Merely setting a home position once makes home position return unnecessary at every power-on.

Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

the servo motor are suppressed.

as servo system response is increased.

setup software is installed, the frequency characteristics of the mechanical system can be recorded.

screen on the basis of the machine analyser results.

searches for overshoot-free gains in a short time.

applied to the servo motor shaft varies. This function is more powerful on the MR-J2-Super

than on the MR-J2.

released internally.

servo status. Use this function for output signal wiring check, etc.

amplifier without a start signal.

the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

operation, status display, etc. can be performed.

Chap. 6

Section 5.1.2

Parameter 24

Section 5.1.3

—

Section 4.6.3

Parameter 23

Section 4.4

Section 7.1.1

—

1 - 22

Tab. 1-10: Function description

System configuration Introduction

1.7 System configuration

CAUTION:

To prevent an electric shock, always connect the protective earth (PE) terminal of the

1.7.1 Servo amplifiers 200V

servo amplifier to the protective earth (PE) of the control box.

System configuration for MR-J2S-100B or less

Serco system

controller

Power supply

or preceding axis servo amplifier

No-fuse circuit breaker

Magnetic contactor

Servo amplifier

Subsequent

axis servo

amplifier

termination

connector

Personal computer (optional)

Protective earth terminal

Regenerative brake option

Encoder cable

Servo motor

power supply

Servo motor

S001003C

Fig. 1-26: Overview of the system configuration for MR-J2S-100B or less

NOTE A listing of options and auxillary equipment can be find in Tab. 1-11 on page 1-26.

MELSERVO J2-Super 1 - 23

Introduction System configuration

System configuration for MR-J2S-200B and MR-J2S-350B

Serco system

controller

Power supply

preceding axis

servo

amplifier

Magnetic contactor

No-fuse circuit breaker

Protective earth terminal

Servo amplifier

Subsequent

axis servo

amplifier

termination

connector

Personal computer (optional)

Regenerative brake option

Encoder cable

Servo motor

power supply

Servo motor

Fig. 1-27: Overview of the system configuration for MR-J2S-200B and MR-J2S-350B

NOTE A listing of options and auxillary equipment can be find in Tab. 1-11 on page 1-26.

S001004C

1 - 24

System configuration Introduction

System configuration for MR-J2S-500B

Power supply

L1, L2, L3

Regenerative

brake option

Protective earth terminal

L21, L11

No-fuse circuit breaker

Magnetic contactor

Serco system

controller

or preceding axis servo

amplifier

CN1A

P, C

CN1B

Subsequent

axis servo

amplifier

termination

connector

CN3

Personal computer (optional)

CN2

Servo motor

power supply

Encoder cable

Servo motor

Fig. 1-28: Overview of the system configuration for MR-J2S-500B

NOTE A listing of options and auxillary equipment can be find in Tab. 1-11 on page 1-26.

S001005C

MELSERVO J2-Super 1 - 25

Introduction System configuration

System configuration for MR-J2S-700B

Power supply

Serco system

controller No-fuse circuit breaker

Magnetic contactor

L21, L11

or preceding axis servo

amplifier

CN1A

CN1B

Subsequent

axis servo

amplifier

termination

connector

CN3

P, C

Protective earth terminal

L1, L2, L3

Regenerative

brake option

Servo motor

power supply

Encoder cable

Servo motor

Fig. 1-29: Overview of the system configuration for MR-J2S-700B

Personal computer (optional)

CN2

S001006C

1 - 26

Options and auxiliary equipment Reference

No-fuse circuit breaker Section 3.1.1 Magnetic contactor Section 3.1.1 Regenerative brake option Section 7.1.1 Cables Section 7.1.2 Power factor improving reactor (UE/UA = 400V/230V) Section 7.2.1

Tab. 1-11: Options and auxiliary equipment

System configuration Introduction

1.7.2 Servo amplifier 400V

System configuration for MR-J2S-200B4 or less

Power supply

Serco system

No-fuse circuit breaker

Magnetic contactor

controller

or preceding axis servo

amplifier

CN1A

Servo amplifier

CN1B

CN3

Subsequent

axis servo

amplifier

termination

connector

L1, L2, L3

Regenerative

brake option

P, C

Protective earth terminal

Servo motor

power supply

CN4

Encoder cable

Servo motor

Personal computer

Circuit protector

CN2

Powe r supply 24VDC

S001252C

Fig. 1-30: Overview of the system configuration for MR-J2S-200B4 or less

NOTE A listing of options and auxillary equipment can be find in Tab. 1-12 on page 1-29.

MELSERVO J2-Super 1 - 27

Introduction System configuration

System configuration for MR-J2S-350B4 and MR-J2S-500B4

Power supply

Serco system

controller

preceding

No-fuse circuit breaker

Magnetic contactor

L1, L2, L3

Regenerative

brake option

Servo amplifier

P, C

axis servo

amplifier

CN1A

CN1B

CN3

Subsequent

axis servo

amplifier

termination

connector

Personal computer

Circuit protector

Powe r supply 24VDC

Protective earth terminal

CN2

Servo motor

power supply

Encoder cable

Servo motor

S001253C

Fig. 1-31: Overview of the system configuration for MR-J2S-350B4 and MR-J2S-500B4

NOTE A listing of options and auxillary equipment can be find in Tab. 1-12 on page 1-29.

1 - 28

System configuration Introduction

System configuration for MR-J2S-700B4

Power supply

Magnetic

contactor

No-fuse circuit breaker

Servo amplifier

Serco system

controller

preceding

axis servo

amplifier

CN1A

CN1B

CN3

Subsequent

axis servo

amplifier

termination

connector

Circuit protector

Personal computer

Powe r

supply

24VDC

L1, L2, L3

Protective earth terminal

Regenerative

P, C

brake option

Servo motor

power supply

CN2

Encoder cable

Servo motor

Fig. 1-32: Overview of the system configuration for MR-J2S-700B4

Options and auxiliary equipment Reference

No-fuse circuit breaker Section 3.1.1 Magnetic contacto Section 3.1.1 Regenerative brake option Section 7.1.1 Cables Section 7.1.2

S001254C

Tab. 1-12: Options and auxiliary equipment

MELSERVO J2-Super 1 - 29

Introduction System configuration

1 - 30

General environmental conditions Installation

2 Installation

2.1 General environmental conditions

CAUTION:

The equipment must be installed in the specified direction. Otherwise, a fault may

●

occur.

●

Leave specified clearances between the servo amplifier and control box inside walls or other equipment.

Environmental conditions

Ambient temperature during operation 0 to +55°C (non-freezing) 0 to +40°C (non-freezing) Ambient humidity during operation Max. 90% (no condensation) Max. 80% (no condensation) Ambient temperature in storage −20 to +65°C −15 to +70°C Ambient humidity in storage Max. 90% (no condensation) Max. 90% (no condensation) Ambience Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil

Altitude above sea level Max. 1000m Protective structure IP00 HC-KFS/MFS: IP55,

Vibration Max. 5.9m/s² (0,6 g) Section 2.1.2

Tab. 2-1: Environmental condition overview

Servo amplifier Servo motor

mist, no dust)

Data

HC-SFS/RFS: IP65

MELSERVO J2-Super 2 - 1

Installation General environmental conditions

2.1.1 Installation of servo amplifiers

CAUTION:

When installing the unit in a control box, prevent drill chips and wire fragments

●

from entering the servo amplifier.

●

Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a fan installed on the ceiling.

Installation of one servo amplifier

The servo amplifier must be installed as shown in the following diagram, upright on a vertical and smooth wall.

Control box

Fig. 2-1: Installation direction and clearances

Servo amplifier

Servo amplifiers 200V

Servo amplifiers 400V

Control box

MITSUBISHI

Top

Bottom

OPEN

L1UL2

C N 1 A

C N 2

E N C

()

C N 1 B

C N 3

Minimal installation clearance [mm]

A B C D



10 40

S000520C

120

2 - 2

Tab. 2-2: Minimal installation clearance



The distance A for the servo amplifier MR-J2S-700B4 is 70mm.

General environmental conditions Installation

Installation of two or more servo amplifiers and other equipment

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box. Due to the power loss of the units it must be ensured that the internal temperature of the control cabinet does not exceed the ambient temperature of +55 °C allowed for the servo amplifier. If necessary, the control cabinet will have to be ventilated. In this case, however, the servo amplifier must not be installed in the flow of coolant of some other operating agent. The fan(s) in the forced-cooling housing must be installed taking into account the provision of an optimum supply of cool air.

For details of the heat dissipation of control cabinets and housings please see the manufacturer’s specifications.

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected.

MITSUBISHI

OPEN

A AB

C N 2

E N C

()

L1UL2

VL3W

C N

Fig. 2-2: Installation of two or more servo amplifiers

Servo amplifier

Servo amplifiers 200V

Servo amplifiers 400V

A B C D

30 10 100

Tab. 2-3: Minimal installation clearance

OPEN

()

L1UL2

VL3W

S000521C

Minimal installation clearance [mm]

120

MELSERVO J2-Super 2 - 3

Installation General environmental conditions

2.1.2 Installation of servo motors

Safety instructions

CAUTION:

Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault

●

or injury may occur.

●

Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury.

●

When coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. The encoder may become faulty.

●

Secure the motor shaft and rotating parts against access through appropriate covers.

●

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury.

Instructions for the protection of the servo motor shaft

● When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end (refer fig. 2-3). To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in. Under no circumstances must you use a hammer for installation work on the servo motor shaft.

Servo motor

Nut

Double-end stud

Pulley

Fig. 2-3: Installing a pulley

● For servo motors with the shaft without a keyway, use a friction coupling or the like.

● When removing the pulley, use a pulley remover to protect the shaft or the motor from impact.

● The orientation of the encoder on the servo motor cannot be changed.

Washer

S000522C

2 - 4

General environmental conditions Installation

● For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration.

● When using a pulley, a chain wheel or synchronising pulley select a diameter that will not exceed the permissible radial load (see table below).

● Do not use any inelastic, rigid connections that may lead to excessive bending moments to the shaft and thus cause the shaft to break.

HC-MFS

HC-KFS

HC-SFS

HC-RFS

Servo motor

053/13 25 88 59

23/43 30 245 98

73 40 392 147

053/13 25 88 59 23/43/73 30 245 98 52 to 152

524 to 1524

202 to 702

2024 to 7024

103 to 203 45 686 196

353/503 63 980 392

L [mm] Permissible radial load [N] Permissible thrust load

55 980 490

79 2058 980

Tab. 2-4: Permitted radial load and axial load of servo motor

[N]

Radial load

L: Distance from flange mounting surface to load center

Fig. 2-4: Directions of action of forces on the servo motor

Thrust load

S000523C

MELSERVO J2-Super 2 - 5

Installation General environmental conditions

Vibration

Servo motor Vibration

fig. 2-6

(5g)

)

(2.5g)

(3g)

HC-KFS HC-MFS

HC-SFS52 to 152 HC-SFS524 to 1524 HC-RFS

HC-SFS202, 352 HC-SFS2024, 3524

HC-SFS502, 702 HC-SFS5024, 7024

X, Y: 49m/s (refer fig. 2-6)

X, Y: 24.5m/s2 (2.5g) (refer

X: 24.5m/s Y: 49m/s

(refer fig. 2-6)

X: 24.5m/s Y: 29.4m/s

(refer fig. 2-6)

Fig. 2-5: Vibration resistance of the servo motors

Servo motor

Fig. 2-6: Vibration directions on the servo motor

200

100

60 50 40

S000518C

2 - 6

Vibration amplitude in X and Y direction [mm]

350030002500200015001000500

Speed [r/min]

S000519C

Fig. 2-7: Graphic representation of the vibration amplitudes of the servo motor

General environmental conditions Installation

Protection from oil and water

When the gear box is mounted horizontally, the oil level in the gear box should always be lower than the oil seal lip on the servo motor shaft. If it is higher than the oil seal lip, oil will enter the servo motor, leading to a fault. Make sure there is a ventilation hole in the gear box to prevent any pressure build up in the gear box.

The following table presents an overview of the minimum clearances between the oil level and the servo motor shaft centre:

Servo motor Height above oil level [mm]

52 to 152

HC-SFS

HC-RFS 103 to 503 20

524 to 1524

202 to 702

2024 to 7024

Tab. 2-5: Minimum clearances between the oil level and the servo motor shaft centre

Gear

Servo motor

Height above oil level

Lip

V ring

S000525C

Fig. 2-8: Arrangement

CAUTION:

The servo motors in the HC-MFS- and KC-KFS-Series do not have any oil seal on the shaft. Here the sealing must occur on the gear side.

MELSERVO J2-Super 2 - 7

Installation General environmental conditions

When installing the servo motor horizontally, face the power cable and encoder cable downward. When installing the servo motor vertically, lay the cables with an adequate cable trap to avoid mechanical load on the cable and motor.

Cable trap

S000526C

Fig. 2-9: Installing the servo motor horizontally and vertically showing cable trap

Make sure that the cables leading to the servo motor does not pass through oil or water. Due to the effects of capillarity, oil or water could get into the motor via the cables.

Box

Servo motor

Oil-/water pool

Incorrect! Cable trap

S000527C

Fig. 2-10: Do not lay the cables to the motor in oil or water

When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc.

2 - 8

General environmental conditions Installation

Gear

Lubricating oil

Servo motor

S000528C

Fig. 2-11: Installation of the motor with the shaft at the top

In general the installation of the servo motor can be in any desired location or position. When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault.

Laying the cables

The way of clamping the cable must be fully examined so that flexing stress and the cable's own weight stress are not applied to the cable connection.

In situations where the servo motor moves, the cable must not be under tension. If the cables are laid in a cable duct, there must be a sufficient amount of play in the cable lengths of the motor and encoder cables.

The flexing service life of encoder cables is presented in fig. 2-12. The useful service life of the encoder cable MR-JCCBLmM-L will be at an end after flexing 5000 times with a flexing radius of 60 mm. In practice you should plan to have a certain safety margin. For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible.

1 × 10

Number of flexings

5 × 10

1 × 10 5 × 10



 High-flexible

encoder cable

MR-JCCBLM-H MR-JHSCBLM-H MR-ENCBLM-H

 Standard encoder cable

MR-JCCBLM-L MR-JHSCBLM-L



1 × 10

4 7 10 20 40 70 100 200

Flexing radius [mm]

S000529C

Fig. 2-12: Number of flexings depending on the flexing radius

MELSERVO J2-Super 2 - 9

Installation General environmental conditions

2 - 10

Connection of servo amplifier Connection

3 Connection

3.1 Connection of servo amplifier

CAUTION:

Only the voltage stated may be connected to the relevant terminals. An incorrect

3.1.1 No-fuse circuit breakers, fuses, magnetic contactors and cables

voltage can lead to damage to the servo amplifier.

The terminal strips for mains and motor connections become visible after opening the flap on the front cover (MR-J2S-100B or less) or after removing the front cover (MR-J2S-200B or larger and MR-J2S-350B4 or larger). Mains power is connected via terminals L1, L2 and L3. In the case of 200V models up to 750W a 1-phase connection is possible.

Connect the motor to the output terminals U, V and W. For a description of the terminals for the power connections see Tab. 3-4 and Tab. 3-5 on page

3-4. The following accessories in this section are to be used for the operation of the servo amplifier

and servo motor:

Injection Dimensions [mm²]

Servo amplifier

MR-J2S-10B NF30, 5 A 16 A MR-J2S-20B NF30, 5 A 16 A MR-J2S-40B NF30, 10 A 16 A MR-J2S-60B NF30, 15 A 16 A MR-J2S-70B NF30, 15 A 16 A MR-J2S-100B NF30, 15 A 16 A MR-J2S-200B NF30, 20 A 20 A

Servo amplifier 200V

MR-J2S-350B NF30, 20 A 25 A MR-J2S-500B NF50, 50 A 50 A MR-J2S-700B NF100, 75 A 50 A MR-J2S-60B4 NF30, 5 A 16 A MR-J2S-100B4 NF30, 10 A 16 A MR-J2S-200B4 NF30, 15 A 16 A MR-J2S-350B4 NF30, 20 A 20 A MR-J2S-500B4 NF30, 20 A 25 A

Servo amplifier 400V

MR-J2S-700B4 NF50, 50 A 50 A

No-fuse ciruit breaker

Fuse

Magnetic

contactor

S-N10 S-N10 S-N10 S-N10 S-N10 S-N10 S-N18 S-N20 S-N35 S-N50 S-N10 S-N10 S-N10 S-N18 S-N20 S-N35

L1-L2-L3 L11-L21 U-V-W

1.5 1.5 1.5 1.5

1.5 1.5 2.5 1.5

2.5–4 1.5 4 1.5 4–6 1.5 6 1.5 4–6 1.5 6 1.5

10 1.5 10 1.5

1.5 1.5 1.5 1.5

2.5–4 1.5 4 1.5 4–6 1.5 6 1.5 4–6 1.5 6 1.5

Electro-

magnetic

brake

Tab. 3-1: Required equipment

MELSERVO J2-Super 3 - 1

Connection Connection of servo amplifier

PNUVW

3.1.2 Control circuit and main circuit terminal block

Connectors

Servo amplifier

MR-J2S-10B to MR-J2S-60B

Main circuit/control circuit/

brake restistor/brake unit

Front of

L1UL2VL3

device

Back of

device

Protective earth PE

TE2TE1

S001222C S000539C

TE2TE1

MR-J2S-70B MR-J2S-100B

MR-J2S-200B MR-J2S-350B

Servo amplifier 200V

MR-J2S-500B

MR-J2S-700B

TE1

TE2

S000919C

L1UL2VL3

Front of

device

Back of

device

S001223C S000540C

TE2TE1

TE2

TE1

L1 L2 L3 U V

S000920C S001224C S000541C

L1 L2 L3

TE2

S000921C S001225C S000925C

TE2

TE1

S000922C S001226C S000927C

L1 L2 L3

C P N U V

L11L21 DPC

TE2TE1

L11 L21

TE2TE1

L11 L21

Mounting screw for intern brake resistor cable in the event it is not used

Mounting screw for internal brake resistor cable in the event it is not used

Tab. 3-2: Terminals of servo amplifier 200V

3 - 2

Connection of servo amplifier Connection

PNUVW

Connectors

Servo amplifier

Main circuit/control circuit/

brake restistor/brake unit

Protective earth PE

MR-J2S-60B4 to MR-J2S-200B4

MR-J2S-350B4 to MR-J2S-500B4

Servo amplifier 400V

MR-J2S-700B4

TE1

CNP1

CNP2

CNP3

24V L11

L21

C N 1 B

C N 3

TE2

CNP1 CNP3 CN4CNP2

L1 L2 L3

C P N U V

24 V/L11

0 V/L21

TE2TE1

24 V/L11 0 V/L21

Mounting screw for intern brake resistor cable in the event it is not used

CHARGE

OPEN

C N 1 A

N 2

(

N C

(

S001204C S001227C S001208C

S000921C S001228C S000925C

Mounting screw for internal brake resistor cable in the event it is not used

TE2

TE2TE1

24 V/L11 0 V/L21

TE1

L1 L2 L3

S000922C S001229C S000927C

Tab. 3-3: Terminals of servo amplifier 400V

MELSERVO J2-Super 3 - 3

Connection Connection of servo amplifier

Main circuit terminal overview for MR-J2S-60B to MR-J2S-700B

Termin al Signal Description

L1, L2, L3

L11, L21 Control circuit power

N Brake unit option When using the optional brake unit, connect it across the terminals P and N.

P, C, D Regenerative brake

U, V, W Servo motor output Connect to the servo motor power supply terminals U, V, W. PE Protective earth Connect this terminal to the protective earth (PE) terminals of the servo

Main circuit power supply

supply

option/brake unit

The rated voltage range is 3-phase 200 to 230V AC, 50/60 Hz. Up to 750 W a 1-phase power supply is possible.

The rated voltage range is 1-phase 200 to 230V AC, 50/60 Hz. Here L11 must be equal in phase to L1 and L21 equal in phase to L2.

Before connecting the optional brake unit, you must disconnect the internal brake resistor across the terminals P and C. Do not connect a optional brake unit to the servo amplifier of MR-J2S-350B or less.

MR-J2S-350B or less

The terminals P and D are factory-connected. When connecting an optional regenerative brake, always disconnect the cable connection across P and D. Connect the optional regenerative brake across the terminals P and C. Do not connect a optional brake unit to the servo amplifier of MR-J2S-350B or less.

MR-J2S-500B or more

When connecting an optional regenerative brake or brake unit, always disconnect the cable connection across P and C of the internal brake resistor. Connect the optional regenerative brake across the terminals P and C. When using the optional brake unit, connect it across the terminals P and N.

motor and control box for grounding.

Tab. 3-4: Signal overview (MR-J2S-60B to MR-J2S-700B)

Main circuit terminal overview for MR-J2S-60B4 to MR-J2S-700B4

Termin al Signal Description

L1, L2, L3 24V/L11,

0V/L21

N Brake unit option When using the optional brake unit, connect it across the terminals P and N.

P, C, D Regenerative brake

U, V, W Servo motor output Connect to the servo motor power supply terminals U, V, W. PE Protective earth Connect this terminal to the protective earth (PE) terminals of the servo

Main circuit power supply Control circuit power

supply

option/brake unit

The rated voltage range is 3-phase 380 to 480V AC, 50/60Hz. Connect a 24VDC source here. Make sure that the plus pole of the DC

source is connected to terminal 24V/L11 and the minus pole of the DC source to terminal 0V/L21.

MR-J2S-200B4 or less

MR-J2S-350B4 or more

motor and control box for grounding.

3 - 4

Tab. 3-5: Signal overview (MR-J2S-60B4 to MR-J2S-700B4)

Connection of servo amplifier Connection

3.1.3 Signal lines

The servo amplifier has four signal connectors. You will find the pin configuration of the connectors on the next page.

CN1A

EMG EMG*

LG LG LG

RD*

TD*

LGBTLG

RDLGRD*

CN2

LG LG

MR MRR

BAT

RXD

MO1

8 LZLBLZR 10

VDD

The connector frames are connected with the PE (earth) terminal inside the servo amplifier.

MDLGMDR

CN1B

TD*

EMG EMG*

CN3

TXD

MBRSG

MO2

COM

LAR

LBR

EM1

S000974C

Fig. 3-1: Signal connector

NOTE The display of the pin configuration in fig. 3-1 shows the view from the soldering tag side.

MELSERVO J2-Super 3 - 5

Connection Connection of servo amplifier

Interface explanations

Connector Name Description

CN1A

CN1B

CN2

CN3

Connector for bus cable from preceding axis.

Connector for bus cable to next axis

Encoder connector Used for connection with the servo motor encoder.

Communication connector

Used for connection with the controller or preceding-axis servo amplifier.

Used for connection with the next-axis servo amplifier or for connection of the termination connector.

Used for connection with the personal computer. Serves as an I/O signal connector when the personal computer is not used.

Tab. 3-6: Description of interfaces CN1A, CN1B CN2 and CN3

Input signal

Signal Symbol Pin-No. Description I/O

Turning off EM1 puts the servo motor in a forced

Forced stop

EM1 CN3-20

stop status, in which the servo is switched off and the dynamic brake is operated to stop the servo motor. Turn on EM1 in the forced stop status to reset this status.

DI-1

Tab. 3-7: Input signal

Output signals

Signal Symbol Pin-No. Description I/O

Electromagnetic brake interlock

Encoder A-phase pulse (Differential outputs)

Encoder B-phase pulse (Differential outputs)

Encoder Z-phase pulse (Differential outputs)

Analog monitor 1

Analog monitor 2

MBR CN3-13

LAR

LBR

LZR

MO1 CN3-4

MO2 CN3-14

CN3-6

CN3-16

CN3-7

CN3-17

CN3-8

CN3-18

With switched off signal “Servo ON” MBR-SG is opened.

Outputs pulses per servo motor revolution set in parameter No. 38. In forward rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of π/2.

The zero-phase signal of the encoder is output.

The data set for CH1 in parameter 22 are output as analog via MO1-LG.

The data set for CH2 in parameter 22 are output as analog via MO1-LG.

Analog

output

Analog

output

Tab. 3-8: Output signals

Power supply

Signal Symbol Pin-No. Description

24VDC output

Common for digital inputs

Common for control signals

Shield

VDD CN3-10

SG CN3-3

COM CN3-5

SD Plate

CN3-1

CN3-11

Internal voltage source output voltage at the terminals VDD R SG: +24VDC ± 10 %. Output current: max. 80mA

Common reference point for the digital inputs, voltaically separated from terminal LG

Common for analog outputs MO1 and MO2

Connect the shield of signal cable here.

DO1

DO2

3 - 6

Tab. 3-9: Power supply

Connection of servo amplifier Connection

3.1.4 Interfaces

The connection of external periphery to the interface described in section 3.1.3 is covered in the following.

Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Servo amplifier

approx. 5mA

≤≤ 1V

CES

I 100µA

CEO

Fig. 3-2: External device connection

VDD

COM

EM1

24VDC

4.7k

Ω

S001007C

MELSERVO J2-Super 3 - 7

Connection Connection of servo amplifier

Digital output interface DO-1

Via this interface a control lamp, a relay or an photocoupler may be addressed, for example. Provide a diode (D) for an inductive load, or an inrush current suppressing resistor (R) for a lamp load. (Permissable current: 40mA, inrush current: 100mA).

● Inductive Load

Servo amplifier

24 V DC

VDD

MBR

S001008C

Fig. 3-3: Inductive load connection

CAUTION:

When connecting an inductive load be sure to observe the correct polarity of the recovery diode D. Connecting it backwards could cause the servo amplifier to be damaged.

● Lamp connection

Fig. 3-4: Lamp connection

Servo amplifier

24 V DC

VDD

MBR

S001009C

3 - 8

Connection of servo amplifier Connection

Emulated encoder output

● Differential output max. output current: 35mA

Servo amplifier

(LB, LZ)

LAR

(LBR, LZR)

SD SD

Fig. 3-5: Example

AM26LS32 or equivalent

Ω

150

>400 s

Servo amplifier

(LB, LZ)

LAR

(LBR, LZR)

LZ/LZR signal varies ±3/8T on its leading edge.

1,2k

Ω

High-speed

photocoupler

S000553C

Fig. 3-6: Time response of the output signals

Analog output

Servo amplifier

MO1

(MO2)

Fig. 3-7: Example for an interface

Output ±10V/1mA

Ω

10k

S000554C

S000556C

MELSERVO J2-Super 3 - 9

Connection Servo motor

3.2 Servo motor

3.2.1 Connection of servo motors

CAUTION:

Ground the servo amplifier and servo motor securely.

●

To prevent an electric shock, always connect the protective earth terminal (PE) of the servo amplifier marked with , with the protective earth of the control box.

●

Connect the cables to the servo amplifier and servo motor with the right terminals and the correct phases (U, V, W) . Otherwise the servo motor will not work correctly.

●

Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occure.

 Connect the servo motors via corresponding power supply connector.  For grounding, connect the earth cable of the servo motor to the protective earth (PE)

terminal of the servo amplifier. Simultaneouse connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Refer fig. 3-8.

 When using a servo motor with brake then it must be connected via an external voltage

source of 24VDC.

Control box

Servo amplifier

Servo motor

PE terminal

S000557C

Fig. 3-8: Protective earth connection

3 - 10

Servo motor Connection

3.2.2 Motor connector

Servo motor series HC-KFS (B)/HC-MFS (B)

Encoder connector

Brake connector

Fig. 3-9: Servo motor series HC-KFS (B) and HC-MFS (B)

Without

electromagnetic

brake

Power supply connector

MR-PWCNK1

Pin Signal

1U Red 2VWhite 3WBlack

Protective

earth

Cable

color

Green/

Yellow

Power supply connector

Pin Signal

1U Red 2V White 3W Black

5B1 6B2

With

electromagnetic

brake

562

MR-PWCNK2

Protective

earth



Cable

color

Green/

Yellow

— —

Power supply connector Red: Phase U White: Phase V Black: Phase W Green/yellow: Protective earth

S000883C

MRR

MDR

BAT

SHD

Encoder connector

View on the crimp terminals

S000981C

Fig. 3-10: Connections of power supply, encoder and electromagnetic brake



24VDC no polarity

MELSERVO J2-Super 3 - 11

Connection Servo motor

Servo motor series HC-SFS/HC-RFS

Power supply connectors Brake connector Encoder connector

S000562C

Fig. 3-11: Servo motor series HC-SFS/HC-RFS

Servo motor

HC-SFS52

HC-SFS102

HC-SFS152

HC-SFS202

HC-SFS352

HC-SFS502

HC-SFS702 MR-PWCNS3

HC-RFS103

Servo motor 200V

HC-RFS153

HC-RFS203

HC-RFS353

HC-RFS503

HC-SFS524

HC-SFS1024

HC-SFS1524

HC-SFS2024

HC-SFS3524

HC-SFS5024

Servo motor 400V

HC-SFS7024 MR-PWCNS3

Power supply Encoder Electromagnetic brake

MR-PWCNS1

MR-PWCNS2

MR-PWCNS1

MR-PWCNS2

MR-PWCNS1

MR-PWCNS2

Connectors

In the power supply connector

MR-BKCN

MR-J2CNS (Set)

In the power supply connector

MR-J2CNS (Set)

MR-BKCN

3 - 12

Tab. 3-10: Power supply and encoder interfaces

Servo motor Connection

DK T P

EJ S R

Power supply

connector

MR-PWCNS1

Pin Signal

AU BV

Protective

earth E— F—

GB1 HB2

Power supply

connector

MR-PWCNS2

Pin Signal

AU BV CW

Protective

earth EB1 FB2 G—

Power supply

connector

MR-PWCNS3

Pin Signal

AU BV CW

Protective

earth

Pin Signal Pin Signal

AMDK — BMDRL — CMRM — DMRRN SD E—P— FBATR LG

GLGSP5

H—T— J—

Encoder

MR-J2CNS (Set)

Electro-

megnetic

brake

MR-BKCN

Pin Signal

AB1 BB2

S000898C

Fig. 3-12: Connections of power supply, encoder and electromagnetic brake

24VDC no polarity For the motors HC-SFS52B/102B/152B and motors HC-RFS103B/153B/203B/353B/503B the attachment for the electromagnetic brake is integrated into the power supply connector.

MELSERVO J2-Super 3 - 13

Connection Internal circuit and common

3.3 Internal circuit and common

Servo amplifier

24 V DC

VDD

Digital input

interface

COM

EM1

MBR

LA, etc.

LAR,

etc.

LG SD

MO1 MO2

TXD

RXD

MRR

Differential output 35mA max.

Analog output

RS232C

CN2

Input encoder

3 - 14

S000976C

Fig. 3-13: Internal circuit and common

Grounding Connection

3.4 Grounding

DANGER:

Ground the servo amplifier and servo motor securely.

●

To prevent an electric shock, always connect the protective earth terminal (PE) of the servo amplifier marked with , with the protective earth of the control box.

Power

supply

200-230V

50Hz

Line filter

Control box

Protective earth

Servo amplifier

L3 L11 L21

CN1A

U V

Controller

CN2

Servo motor

Encoder

U V

Connect to PE terminal!

S000983C

Fig. 3-14: Grounding

Ground the bus cable near the controller! That way you reduce the influence of external noise. Another possibility to reduce noise interference is to build in filters.

MELSERVO J2-Super 3 - 15

Connection Power supply

3.5 Power supply

DANGER:

When the servo amplifier has become faulty, switch power off on the amplifier power

side.

Power-on procedure

Always wire the power supply using the magnetic contactor with the main circuit power supply L1, L2 and L3 or L1 and L2 for 1-phase connection.

Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

The servo amplifier can accept the "servo ON" command within 3s the 3-phase power supply is switched on.

3 - 16

Power supply Connection

3.5.1 Connection example

Connection for servo amplifier 200V

Connection examples for 1-phase and 3-phase power supplies are illustrated in the following diagrams:

Power

supply

230V 50Hz

Emergency stop

Controller

emergency stop

Fig. 3-15: 1-phase connection of servo amplifier

Emergency stop

Servo amplifier

L1 L2 L3 L11 L21

VDD

COM

EM1

S000977C

Power

supply

400V 50Hz

Tr an s fo r m e r

UE/UA = 400V/230V

Emergency stop



Emergency stop

Controller

emergency stop

Servo amplifier

L1 L2 L3 L11 L21

VDD

COM

EM1

S000978C

Fig. 3-16: 3-phase connection of servo amplifier

Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

MELSERVO J2-Super 3 - 17

Connection Power supply

Connection for servo amplifier 400V

Emergency stop OFF ON

Power

supply

Tr an s fo r m e r

Servo amplifier

400V 50Hz

L1 L2 L3

Power

supply

24VDC

Emergency stop

Circuit protector

L1 L2 L3

P C D

24 V/L11 0 V/L21

EM1

SG VDD COM

Fig. 3-17: Servo amplifier MR-J2S-60B4 to MR-J2S-200B4

S001239C

Emergency stop OFF ON

Power

supply

400V 50Hz

L1 L2 L3

Tr an s fo r m e r

Servo amplifier

L1 L2 L3

Circuit protector

Power

supply

24VDC

Emergency stop

24 V/L11 0 V/L21

EM1

VDD COM

Fig. 3-18: Servo amplifier MR-J2S-350B4 to MR-J2S-700B4

S001240C

3 - 18

Power supply Connection

Timing chart

"Servo ON" command accepted

(3s)

Main circuit and

control circuit

Base circuit

Servo ON command

(from controller)

OFF

60ms 60ms10ms

S000979C

Fig. 3-19: Timing chart for switching on the power supply

Emergency stop

For safety’s sake an EMERGENCY OFF switch must always be installed between the terminals EM1 and SG. When the contact is interrupted, the servo motor is switched to a resistance brake (dynamic brake) integrated into the unit and brought to a stop as soon as possible. Simultaneously the EMERGENCY OFF message (E6) appears on the display.

During ordinary operation, do not use emergency stop circuit to alternate stop and run.

Servo amplifier

VDD

COM

Emergency stop

Fig. 3-20: Emergency stop circuit

EM1

S000980C

MELSERVO J2-Super 3 - 19

Connection Alarm occurence timing chart

3.6 Alarm occurence timing chart

CAUTION:

When an alarm has occurred, remove its cause, make sure that the operation signal

is not being input, ensure safety, and reset the alarm before restarting operation.

Main circuit and

control circuit

Base circuit

Dynamic brake

Servo ON command

(from controller)

Alarm

Reset command

(from controller)

OFF

Val id

Invalid

OFF

1 s

ALARM

Fig. 3-21: Alarm occurence timing chart

Brake operation

Remove cause of trouble

≥

50 ms

OFF

Power OFF

Brake operation

≥

60 ms

Power ON

OFF

S000975C

3 - 20

Servo motor with electromagnetic brake Connection

3.7 Servo motor with electromagnetic brake

CAUTION:

Configure the electromagnetic brake circuit so that it is activated not only by the

interface unit signals but also by a emergency stop.

EM1 RA

Emergency stop signal

Contacts must be open when servo ON,

when an alarm occurence and when an

electromagnetic brake interlock

Connection diagram

Please observe closely the following instructions for the use of a servo motor with electromagnetic brake.

CAUTION:

The electromagnetic brake is only intended for holding a static load, e.g. from vertical lifting axes. The braking effect and frequent switching of the EMERGENCY OFF function will result in the destruction of the brake after only a few cycles.

 Provide a separate power source of 24VDC for the electromagnetic brake.  The brake will operate when the power switches off.

Servo motor

Electro-

magnetic brake

 Switch off the SON command after the servo motor has stopped.

Servo amplifier

EM1

VDD COM MBR

Fig. 3-22: Connection diagram

24VDC

Servo motor

S000982C

MELSERVO J2-Super 3 - 21

Connection Servo motor with electromagnetic brake

Setting procedure

The setting for the electromacnetic brake is as follows:

In Parameter 21 set the time delay (T

b) from electromagnetic brake operation to base circuit

shut-off, shown in fig. 3-23. Use parameter 30 to set the rotation speed at which the electromagnetic brake is to be

activated when there is an alarm or an EMERGENCY OFF.

Timing charts

Coasting

Servo motor speed

Base circuit

Electromagnetic

brake (MBR)

Servo ON command

(from controller)

0r/min

OFF

Invalid (ON)

Valid (OFF )

OFF

Electromagnetic brake operation delay time

Fig. 3-23: Servo ON command (from controller) ON/OFF

S000801E

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic

brake (MBR)

Emergency stop

command

(from controller)

or external

emergency stop (EM1)

OFF

Invalid (ON)

Valid (OFF)

Invalid (ON)

Valid (OFF)

Dynamic brake, electromagnetic brake Electromagnetic brake

Electromagnetic

brake release

Electromagnetic brake operation delay time

S000802E

Fig. 3-24: Emergency stop command from controller or external emergency stop (EM1)

ON/OFF

3 - 22

Servo motor with electromagnetic brake Connection

Dynamic brake

Servo motor speed

Dynamic brake, electromagnetic brake Electromagnetic brake

Base circuit

Electromagnetic

brake (MBR)

Alarm

Invalid (ON)

Valid (OFF)

Invalid (ON)

Valid (OFF)

Fig. 3-25: Alarm occurence

Servo motor speed

Base circuit

Electromagnetic

brake (MBR)

Alarm

Invalid (ON)

Valid (OFF )

Yes ( OF F)

OFF

No (ON)

10 to 100 ms

Electromagnetic brake operation delay time

S000803E

Dynamic brake Dynamic brake, electromagnetic brake Electromagnetic brake

This time depends on the operation status of servo amplifier.

Electromagnetic brake operation delay time

When the main circuit power supply is off in a motor stop status and the control circuit power supply is on, the main circuit off warning (E9) occurs and the alarm (ALM) does not turn off.

Main circuit power

supply and control

circuit power supply

OFF

Fig. 3-26: Main and control circuit power supplies OFF

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic

brake (MBR)

Alarm

Main circuit power

supply

15 ms or more

OFF

Invalid (ON)

Valid (OFF )

No (ON)

Yes ( OF F)

OFF

Dynamic brake, electromagnetic brake Electromagnetic brake

Electromagnetic brake operation delay time

When the main circuit power supply is off in a motor stop status and the control circuit power supply is on, the main circuit off warning (E9) occurs and the alarm (ALM) does not turn off.

S000804E

This time depends on the operation status of servo amplifier.

S000899E

Fig. 3-27: Main circuit power supply OFF (control circuit power supply remains ON.)

MELSERVO J2-Super 3 - 23

Connection Examples of standard wiring diagrams

3.8 Examples of standard wiring diagrams

In the following illustrations there is presented a wiring diagram for a 200V and a 400V servo amplifier.

NOTE Please take all notes given in this chapter into account.

Servo amplifier 200V

Make up a sequence which switches off the MC at alarm occurence or emergency stop.

Servo motors

HC-KFS, HC-MFS

1 2 3 4

5 6

Servo motors

HC-SFS, HC-RFS

24 V DC



EMG

A B C D

S R C D A B F

S001011C

ENCODER

L1 I

Powe r

supply

Controller

MR-J2HBUS M cable

is connected between



Optional brake

resistor

(connection of a

brake unit to servo

amplifiers with

500A or more is

shown on the left)

MR-J2HBUSM-A cable

is connected to CN1A

A171SH A172SH A173UH

2 amplifiers

Te r mi n a t or

MR-A-TM

MR-J2S- B

TE1

L2L2

L3L3

L11 L21 C



D P



MR-BAT

CON1



CN1A



CN1BCN1ACN1BCN1ACN1B

24 V DC



CN2

TE2

PLATE

MRR

MDR

BAT

LG SD



CN3

TxD

RxD

15m max.

EM1

10m max.

MBR

COM

VDD

MO1

MO2

LAR

LBR

LZR

CS1

2m max.

GND





Monitor output 1

10kΩ Monitor output 2

10kΩ

Encoder A-phase pulse

Encoder B-phase pulse

Encoder Z-phase pulse

99 66



EMG

P5 P5

LG LG

MR MR

MRR MRR

MD MD

MDR MDR

BAT BAT

SD SD

CNT CNT

MRR

MDR

BAT

LG SD

MR-J2S- B

CS1



MR-J2S- B



CS1



3 - 24

Fig. 3-28: Standard wiring diagram for amplifier 200V

Examples of standard wiring diagrams Connection

Servo amplifier 400V

Make up a sequence which switches off the MC at alarm occurence or emergency stop.

Servo motors

HC-SFS

A B C D

G H

S R C D A B

F G N

ENCODER

L1 I

Powe r

supply

Controller

MR-J2HBUS M cable

is connected between



Optional brake

resistor

(connection of a

brake unit to servo

amplifiers with

350B4 or more is

shown on the left)

MR-J2HBUS M-A cable

is connected to CN1A

A171SH A172SH A173UH

2 amplifiers

Te r mi n a t or

MR-A-TM







MR-J2S- B4

TE1

L2L2

L3L3

L11 L21 C

TE2

D P

MR-BAT

CON1



CN1A



CN1BCN1ACN1BCN1ACN1B

MR-J2S- B4

PLATE

12 11

14 11

PLATE

CS1

U V

24 V DC



CN2

MRR

MDR

BAT

LG SD



CN3

TxD

RxD

4 1

EM1

MBR

COM

VDD

MO1

MO2

LAR

LBR

LZR

15m max.

10m max.

2m max.

GND





Monitor output 1 10kΩ Monitor output 2

10kΩ

Encoder A-phase pulse

Encoder B-phase pulse

Encoder Z-phase pulse



EMG





S001255C

Fig. 3-29: Standard wiring diagram for amplifier 400V

MELSERVO J2-Super 3 - 25

Connection Examples of standard wiring diagrams

DANGER:

Ground the servo amplifier and servo motor securely.



To prevent an electric shock, always connect the protective earth terminal (PE) of the servo amplifier marked with , with the protective earth of the control box.

CAUTION:

Do not reverse the diode’s direction. Connecting it backwards could cause the



amplifier to malfunction so that signals are not output, and emergency stop and other safety circuits are inoperable.



If the controller is not equipped with an EMERGENCY OFF function, then an external EMERGENCY OFF switch must be installed.

Notes to fig. 3-28 and fig. 3-29:

The connection of terminals shown for the optional regenerative braking resistor applies exclusively



to servo amplifiers MR-J2S-350B or less and MR-J2S-200B4 or less. For exact descriptions of the wiring of terminals for other performance classes, please see Tab. 3-4 and Tab. 3-5.

 CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to

a fault or may lead to a destruction of the inputs/outputs.

 The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply

interface power from external.

 Prior to starting up operations the external EMERGENCY OFF signal (EM1) must be switched on

(opener). By setting parameter 23 to “0001” the external EMERGENCY OFF switch may be deactivated.

 Total length of the MR-J2HBUSM-A and MR-J2HBUSM cables = max. 30m. Use of a cable clamp or

data line filters (3–4 in a row) near the connector pull to enhance noise resistence is recommended.

 Motor-side wiring after the second axis has been omitted.

 Up to 8 axes (n = 0–7) can be connected. MR-H-B series servo amplifiers can be connected to the

same bus (however, it requires a different cable).

 For termination the connector CN1B of the last servo amplifier must be fitted with the terminating

resistance MR-A-TM.

 Only for motors with electromagnetic brake.

 A 1-phase 230VAC power supply can be used with servo amplifiers rated at MR-J2S-70A or less.

Please connect the power supply using only terminals L1 and L2. Do not connect anything to L3.

3 - 26

Station number setting Connection

3.9 Station number setting

Use the coding switch (CS1) to set the station number for the servo amplifier. If the same numbers are set to different servo amplifier in a single communication system, the system will not operate properly. Set the switch to "F" when executing the test operation mode using the setup-software.

NOTE

The station number set to CS1 should be the same as the one set to the servo system controller.

CS1

Setting Description

0 Station 1

Abb. 3-30:

Station number setting switch

Abb. 3-31:

Station number setting

1 Station 2 2 Station 3 3 Station 4 4 Station 5 5 Station 6 6 Station 7 7 Station 8 8— 9— A—

B— C— D—

E—

Test operation mode or when

machine analyzer is used (refer

section 4.6.2)

S000972C

MELSERVO J2-Super 3 - 27

Connection Station number setting

3 - 28

Points to check prior to starting operation Operation

4 Operation

4.1 Points to check prior to starting operation

Wiring

Before starting operation, check the following:

● A correct power supply is connected to the power input terminals (3-phase: L1, L2, L3,

1-phase: L11, L21) of the servo amplifier.

● The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

Servo amplifier 200V Servo amplifier 400VServo amplifier 200V

MR-J2S- B

MR-J2S- B MR-J2S- B4

L11

L21

L11

L21



24 V DC

L11

−

L21

1-phase connector 3-phase connector3-phase connector

S001257C

Fig. 4-1: Wiring

● The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the power input terminals (L1, L2, L3) of the servo motor.

Servo amplifier

S000582C

Fig. 4-2: Short circuit

● Ground the servo amplifier and servo motor securely.

● When using a regenerative brake option or brake unit:

– always remove the lead across the terminals D and P for the servo amplifier MR-J2S-

350B or less and MR-J2S-200B4 or less.

– disconnect the cable connections to the internal brake resistor between the terminals P

and C for the servo amplifier MR-J2S-500B or more and MR-J2S-350B4 or more.

MELSERVO J2-Super 4 - 1

Operation Points to check prior to starting operation

● 24VDC or higher voltages are not applied to the pins of connector CN3.

● SD and SG of connector CN3 are not shorted.

SD SG

Servo amplifier

S000583C

Fig. 4-3: Short-circuit of SD and SG

● The connection cable are not under a mechanical load (tension or excessive bend etc.).

● CN1A should be connected with the bus cable connected to the servo system controller or

preceding axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector (MR-A-TM.)

Station number

The station number setting of CS1 should be the same as that of the servo system controller. (refer section 3.9).

Parameter

Check the parameter setting on the servo system controller screen or using the setup-software.

Environment

Before starting operation, check the following:

● Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4 - 2

Procedures before Operation Operation

4.2 Procedures before Operation

DANGER:

Do not operate the switches with wet hands. You may get an electric shock.

●

4.2.1 Start up procedure

●

Do not operate the controller with the front cover removed. There is the risk of getting an electric shock from live parts.

●

During power-on or operation, do not open the front cover. You may get an electric shock.

●

Before starting operation, check the parameters. Through the incorrect setting of parameters some machines may execute unexpected movements.

●

Never touch the cooling fins of the servo amplifier, the brake resistor, servo motor or other components while the power supply is still on or shortly after switching it off. They can become very hot and touching them could result in serious burns.

Power on

When the main and control circuit power supplies are switched on, "d1" (for the first axis) appears on the servo amplifier display.

In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capacitor in the encoder.The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again.

Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

Parameter setting

Set the parameters according to the structure and specifications of the machine.

Pr.-No. Name Setting Description

Rotation direction setting

Auto tuning

Servo response

Tab. 4-1: Setting value and control function

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

1

Increase in positioning address rotates the motor in the forward direction

Used Slow response (initial value)

MELSERVO J2-Super 4 - 3

Operation Procedures before Operation

Servo on

Switch the servo-on in the following procedure:

 Switch on main circuit and control circuit power supply.  The controller transmits the "servo ON" command.

When placed in the "servo ON" status, the servo amplifier is ready to operate and the servo motor is locked.

Home position return

Always perform home position return before starting positioning operation.

Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to section 3.7.

Operation Stopping condition

"Servo OFF" command

Servo system controller

Emergency stop command

Alarm occurrence

Servo amplifier

External EMERGENCY OFF switch (EM1) is pressed.

The base circuit is shut off and the servo motor coasts.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller emergency stop warning (E7) occurs.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6) occurs.

Tab. 4-2: Stopping condition

4 - 4

Display and Operation Operation

4.3 Display and Operation

4.3.1 Display sequence

On the servo amplifier display (two-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm.

Servo amplifier power ON

Waiting for servo system controller power to switch ON

Servo system controller power ON

When alarm

occurs, alarm

code appears.

Ready OFF/

Refer

note

Ready ON

Refer

note

Servo ON

Refer

note

Ordinary operation

Servo system controller power OFF

servo OFF

Ready ON/ servo OFF

Ready ON/ servo ON

Initial data communication

During emergency stop and forced stop

Emergency stop and forced stop reset

The segments of b1, c1 and d1

Servo system controller power ON

NOTE:

indicate the station number. (station 1 in this example)

S000984C

Fig. 4-4: Display sequence

MELSERVO J2-Super 4 - 5

Operation Display and Operation

4.3.2 Indication list

Display Status Description

AA Initializing

Ab Initializing

AC Initializing

Ad Initializing

AE Initialize completion





** 88 CPU error —



b0.

b#. d#. c#.

Ready OFF

Servo ON

Servo OFF

Alarm/Warning The alarm No./warning No. that occurred is displayed.

Test operation mode 

The servo amplifier was switched on when power to the servo system controller is off.

 Power to the servo system controller was switched off

during power-on of the servo amplifier. The station number set to the servo system controller

does not match the station number set with the coding switch (CS1) of the servo amplifier.

A servo amplifier fault occurred or an error took place in communication with the servo system controller. In this case, the indication changes: Ab  AC  Ad  Ab.

The servo system controller is faulty.

Communication started between the servo system controller and servo amplifier

The initial parameters from the servo system controller were received.

Initial data communication with the serco system controller was completed.

The ready off signal from the servo system controller was received.

The servo on signal from the servo system controller was received.

The servo off signal from the servo system controller was received

JOG operation, positioning operation, programmed operation, forced output signal

Motor-less operation

Tab. 4-3: Indication list



The character "#" denotes any of numerals 0 to 8 and what it means is listed in Tab. 4-4.



The character "**" indicates the warning/alarm number.



To execute this functions the setup-software is required.

# Description

0 Test operation mode

1 Station 1

2 Station 2

3 Station 3

4 Station 4

5 Station 5

6 Station 6

7 Station 7

8 Station 8

Tab. 4-4:

Meaning of character "#"

4 - 6

Test operation mode Operation

4.4 Test operation mode

CAUTION:

The test operation mode is designed for servo operation confirmation and not for

●

NOTE For full information of this functions, refer to the setup-software manual.

machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone.

●

If an operation fault occurred, use the forced stop (EM1) to make a stop.

By using a personal computer and the setup-software, you can execute jog operation, positioning operation, motor-less operation and forced output without connecting the motion controller.

Use the system setup according to fig. 3-28 and fig. 3-29.

● JOG operation

Jog operation can be performed without using the servo system controller. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the jog operation screen of the setup-software.

Initial value Setting range

Speed [r/min] Acceleration/deceleration time constant [ms]

Tab. 4-5: JOG operation settings

Function Button

Forward rotation start Forward Reverse rotation start Reverse Stop Stop

Tab. 4-6: Operation method

200 0 to 5175

1000 0 to 20000

MELSERVO J2-Super 4 - 7

Operation Test operation mode

● Positioning operation Positioning operation can be performed without using the servo system controller. This

operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the positioning operation screen of the setup-software.

Name Initial value Setting range

Travel [pulse] 131072 0 to 9999999 Speed [r/min] 200 0 to 5175 Acceleration/deceleration time constant [ms] 1000 0 to 20000

Tab. 4-7: Positioning operation settings

Function Button

Forward rotation start Forward Reverse rotation start Reverse Pause Pause

Tab. 4-8: Operation method

● Program operation Program operation can be performed in two or more operation patterns combined, without using

the servo system controller. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the programmed operation screen of the setup-software..

Function Button

Start Start Stop Reset

Tab. 4-9: Operation method

4 - 8

Test operation mode Operation

● Motor-less operation

Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the servo amplifier connected to the servo system controller.

NOTE

Motor-less operation may be used with the setup-software. However, use motor-less operation which is available by making the servo system controller parameter setting.

Exercise control on the motor-less operation screen of the setup-software.

Load Setting

Load torque 0 Load inertia moment ratio Same as servo motor inertia moment

Tab. 4-10: Load settings

The following alarms and warning do not occur for operation without servo motor: – Encoder error 1 (16) – Encoder error 2 (20) – Absolute position erasure (25) – Battery cable breakage warning (92) All other alarms and warnings occur as when the servo motor is connected

● Forced output signal

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc.

Exercise control on the forced output screen of the setup-software.

MELSERVO J2-Super 4 - 9

Operation Test operation mode

4.4.1 Test operation procedure

JOG operation, positioning operation, program operation, forced output

Switch power off. Set the coding switch CS1 to „F“.

When CS1 is set to the station number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.

 Switch servo amplifier power on. When initialization is over, the display shows the following

screen:

Decimal point flickers

 Perform operation with the personal computer.

Motor-less operation

Switch off the servo amplifier. Perform motor-less operation with the personal computer. The display shows the following

screen:

Decimal point flickers

4 - 10

Parameter Operation

4.5 Parameter

When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the setup-software invalid and the servo system controller values valid.

NOTES In the maker setting parameters, do not set any values other than the initial values.

Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller. For details, refer to the servo system controller user's manual.

4.5.1 Parameter write inhibit

The release of access to the parameters is established via parameter 40 (parameter write protection). Parameter No. 40 is made valid by switching power off, then on after setting its value.

The following table provides an overview over the settings of parameter No. 40:

Setting Function Operation from controller Operation from setup-software

0000 (Initial value)

000A

000C

000E

100E

Read Write Read Write Read Write Parameter No. 1 to No. 11 and No. 40 Read Write Read Write Parameter No. 40

Parameter No. 1 to No. 39 Parameter No. 1 to No. 11 and No. 40

Parameter No. 1 to No. 39 Parameter No. 40

Parameter No. 1 to No. 39

Parameter No. 1 to No. 39 Parameter No. 1 to No. 40

Parameter No. 1 to No. 39

Parameter No. 1 to No. 40

Tab. 4-11: Parameter settings

MELSERVO J2-Super 4 - 11

Operation Parameter

4.5.2 Parameter overview

Function No. Symbol Name Initial value Unit

Basic parameters

Adjustment parameters

AMS

REG 3— 4— 000 — 5— 1 —

FPB 7

POL 8 ATU Auto tuning 0001 — 9 RSP Response auto tuning 0005 —

10 TLP 11 TLN

12 GD2

13 PG1 Position control gain 1 35 rad/s 14 VG1 Speed control gain 1 177 rad/s 15 PG2 Position control gain 2 35 rad/s 16 VG2 Speed control gains 2 817 rad/s 17 VIC Speed integral compensation 48 ms 18 NCH Machine resonance suppression filter 0000 — 19 FFC Feed forward gain 0 % 20 INP In-position range 100 Pulse

21 MBR

22 MOD Analog monitor output 0001 — 23

OP1 24

OP2

25 LPF

26 — Reserved 0 —

Amplifier setting 0000 — Regenerative brake resistor 0000 —

0080 —

Reserved

Feedback pulse number 0 — Rotation direction selection 0 —

Forward rotation torque limit Reverse rotation torque limit

Ratio of load inertia moment to servo motor inertia moment

Electromagnetic brake sequence output

Function selection1 0000 — Function selection 2 0000 —

Low-pass filter for adaptive vibration suppression control

300 % 300 %

7.0 Times

0ms

0000 —

Customer setting

Tab. 4-12: Parameter overview (1)

4 - 12

Parameter Operation

Function No. Symbol Name Initial value Unit

27 MO1 Analog output 1 offset 0 mV 28 MO2 Analog output 2 offset 0 mV 29 — Reserved 0001 — 30 ZSP Zero speed 50 r/min 31 ERZ Error excessive alarm level 80 0.1 × r 32 OP5 Function selection 5 0000 —

Expansion parameters

OP6

34 VPI

35 — Reserved 0 — 36 VDC Speed differential compensation 980 — 37 — Reserved 0010 —

ENR

39 — Reserved 0 — 40

BLK

Function selection 6 0000 — PI-/PID control switch-over position

droop

Encoder output pulses 4000 Pulse/r

Parameter entry prohibition 0000 —

0Pulse

Customer setting

Tab. 4-12: Parameter overview (2)

Set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

The values corresponds with the factory settings of the servo amplifier. Connecting it with the servo system controller and switching power on changes them to the settings of the servo system controller.

Setting and changing cannot be made from the peripheral software of the motion controller.

MELSERVO J2-Super 4 - 13

Operation Parameter

4.5.3 Parameter description:

Number Symbol Initial value Unit Setting range

1 AMS 0000 Refer description

Amplifier setting Used to select the absolute position detection.

0 00

Positioning 0: Standard (incremental) 1: Absolute position detection system

2 REG 0000 Refer description

Regenerative brake resistor

Servo amplifier 200V

Regenerative selection brake option 00: No brake resistor 01: FR-RC, FR-BU 05: MR-RFH220-40 08: MR-RFH400-13 09: MR-RFH400-13 0B: MR-RFH400-6.7 0C: MR-RFH400-6.7 10: MR-RFH75-40 11: MR-RFH75-40

CAUTION: Wrong setting may cause the regenerative brake option to burn. NOTE: If the regenerative brake option selected is not for use with the servo amplifier, parameter error (37) occurs.

3 0080

Reserved Do not change this parameter.

4 0000

Reserved Do not change this parameter.

Servo amplifier 400V

Regenerative selection brake option 00: No brake resistor 01: FR-RC-H , FR-BU-H 80: MR-RB3H-4 81: MR-RB5H-4/MR-PWR-T-600-80 82: MR-RB3G-4 83: MR-RB5G-4/MR-PWR-T-600-47 84: MR-RB34-4 85: MR-RB54-4/MR-PWR-T-600-26 86: MR-RB1L-4/MR-PWR-T-150-270 87: MR-RB3M-4/MR-PWR-T-400-120

4 - 14

5 1

Reserved Do not change this parameter.

Tab. 4-13: Parameter list details (1)

Mitsubishi Electric MELSERVO MRJ2S-B, MELSERVO MRJ2S-B4 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 Introduction

1.1 Features and configuration

1.2 Function block diagram

1.2.1 Servo amplifiers 200V

1.2.2 Servo amplifiers 400V

1.3 Model overview

1.3.1 Servo amplifiers 200V

1.3.2 Servo amplifiers 400V

1.3.3 Rating plate

1.3.4 Servo motors

1.4 Removal and reinstallation of the front cover

1.5 Operating elements

1.5.1 Servo amplifier 200V

1.5.2 Servo amplifier 400V

1.5.3 Servo motor

1.6 Functions

1.7 System configuration

1.7.1 Servo amplifiers 200V

1.7.2 Servo amplifier 400V

2 Installation

2.1 General environmental conditions

2.1.1 Installation of servo amplifiers

2.1.2 Installation of servo motors

3 Connection

3.1 Connection of servo amplifier

3.1.1 No-fuse circuit breakers, fuses, magnetic contactors and cables

3.1.2 Control circuit and main circuit terminal block

3.1.3 Signal lines

3.1.4 Interfaces

3.2 Servo motor

3.2.1 Connection of servo motors

3.2.2 Motor connector

3.3 Internal circuit and common

3.4 Grounding

3.5 Power supply

3.5.1 Connection example

3.6 Alarm occurence timing chart

3.7 Servo motor with electromagnetic brake

3.8 Examples of standard wiring diagrams

3.9 Station number setting

4 Operation

4.1 Points to check prior to starting operation

4.2 Procedures before Operation

4.2.1 Start up procedure

4.3 Display and Operation

4.3.1 Display sequence

4.3.2 Indication list

4.4 Test operation mode

4.4.1 Test operation procedure

4.5 Parameter

4.5.1 Parameter write inhibit

4.5.2 Parameter overview

4.5.3 Parameter description: