Mitsubishi Electronics MR-J2S- A User Manual
General-Purpose AC Servo
J2-Super Series
General-Purpose Interface
MODEL
MR-J2S- A
SERVO AMPLIFIER
INSTRUCTION MANUAL
J
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
.
.
A - 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc.since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
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4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their masses.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
When you keep or use it, please fulfill the following environmental conditions.
Environment
In
Ambient
temperature
Ambient
humidity
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
(Note)
Vibration
Note. Except the servo motor with reduction gear.
operation
In storage
In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
In storage 90%RH or less (non-condensing)
[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing)
] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
[
] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
[m/s2] 5.9 or less
2
] 19.4 or less
[ft/s
Servo amplifier Servo motor
Conditions
HC-KFS Series
HC-MFS Series
HC-UFS13 to 73
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
HC-SFS121 201
HC-SFS202
HC-SFS203
HC-UFS202 to 502
HC-SFS301
HC-SFS502 to 702
HA-LFS11K2 to 22K2
HC-KFS Series
HC-MFS Series
HC-UFS 13 to 73
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72
HC-SFS121 201
HC-SFS202
HC-SFS203
HC-UFS202 to 502
HC-SFS301
HC-SFS502 to 702
HA-LFS11K2 to 22K2
HC-SFS81
HC-SFS81
352
353
152
352
353
X
Y : 49
X
Y : 24.5
X : 24.5
Y : 49
X : 24.5
Y : 29.4
X : 11.7
Y : 29.4
X
Y : 161
Y : 80
X
X : 80
Y : 161
X : 80
Y : 96
X : 38
Y : 96
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CAUTION
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
Servo amplifier
U
V
W
Servo motor
U
V
W
Servo motorServo amplifier
U
M
V
W
U
V
M
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the emergency stop (EMG) and other protective circuits may not
operate.
Servo amplifier
COM
(24VDC)
Control
output
signal
RA
Servo amplifier
COM
(24VDC)
Control
output
signal
RA
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
A - 4
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals
but also by an external emergency stop (EMG).
Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).
Servo motor
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
Circuit must be
opened during
emergency stop (EMG).
EMGRA
24VDC
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
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COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10A to MR-J2S-22KA
MR-J2S-10A1 to MR-J2S-40A1
Servo motor :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Control box
Reinforced
(Note)
Reinforced
insulating
transformer
No-fuse
breaker
NFB
Magnetic
contactor
MC M
insulating type
24VDC
power
supply
Servo
amplifier
Servo
motor
Note. The insulating transformer is not required for the 11kW or more servo amplifier.
A - 7
(3) 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).
(4) Power supply
(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set
forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC
or EN standard should be used in the power input section.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in IE60664-1, a reinforced insulating transformer is not required in the power
input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked
servo amplifier to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
) of the
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.
A - 8
(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 13.2.2.
(b) The sizes of the cables described in section 13.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
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CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10A to MR-J2S-22KA
MR-J2S-10A1 to MR-J2S-40A1
Servo motor :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
3
Install a cooling fan of 100CFM (2.8m
provide cooling of at least equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.
/min) air flow 4 in (10.16 cm) above the servo amplifier or
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.
Servo amplifier
MR-J2S-10A(1) 20A(1) 1
MR-J2S-40A(1) 60A 2
MR-J2S-70A to 350A 3
MR-J2S-500A 700A 5
MR-J2S-11KA 4
MR-J2S-15KA 6
MR-J2S-22KA 8
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
Discharge time
[min]
A - 10
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MRJ2S-A safely.
Relevant manuals
Manual name Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310
A - 11
MEMO
A - 12
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-24
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram ..........................................................................................................................1- 2
1.3 Servo amplifier standard specifications ................................................................................................ 1- 5
1.4 Function list ............................................................................................................................................. 1- 6
1.5 Model code definition .............................................................................................................................. 1- 7
1.6 Combination with servo motor ............................................................................................................... 1- 9
1.7 Structure.................................................................................................................................................. 1-10
1.7.1 Parts identification .......................................................................................................................... 1-10
1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-15
1.8 Servo system with auxiliary equipment............................................................................................... 1-19
2. INSTALLATION 2- 1 to 2- 4
2.1 Environmental conditions....................................................................................................................... 2- 1
2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials .....................................................................................................................2- 3
2.4 Cable stress .............................................................................................................................................. 2- 4
3. SIGNALS AND WIRING 3- 1 to 3- 70
3.1 Standard connection example ................................................................................................................ 3- 2
3.1.1 Position control mode .......................................................................................................................3- 2
3.1.2 Speed control mode ........................................................................................................................... 3- 6
3.1.3 Torque control mode......................................................................................................................... 3- 8
3.2 Internal connection diagram of servo amplifier ..................................................................................3-10
3.3 I/O signals................................................................................................................................................ 3-11
3.3.1 Connectors and signal arrangements ............................................................................................3-11
3.3.2 Signal explanations ......................................................................................................................... 3-15
3.4 Detailed description of the signals........................................................................................................ 3-24
3.4.1 Position control mode ......................................................................................................................3-24
3.4.2 Speed control mode ..........................................................................................................................3-29
3.4.3 Torque control mode........................................................................................................................ 3-31
3.4.4 Position/speed control change mode ..............................................................................................3-34
3.4.5 Speed/torque control change mode................................................................................................. 3-36
3.4.6 Torque/position control change mode ............................................................................................3-38
3.5 Alarm occurrence timing chart ............................................................................................................. 3-39
3.6 Interfaces ................................................................................................................................................. 3-40
3.6.1 Common line .................................................................................................................................... 3-40
3.6.2 Detailed description of the interfaces ............................................................................................ 3-41
3.7 Input power supply circuit..................................................................................................................... 3-47
3.7.1 Connection example......................................................................................................................... 3-47
3.7.2 Terminals.......................................................................................................................................... 3-49
3.7.3 Power-on sequence........................................................................................................................... 3-50
3.8 Connection of servo amplifier and servo motor ................................................................................... 3-52
3.8.1 Connection instructions ..................................................................................................................3-52
3.8.2 Connection diagram......................................................................................................................... 3-53
1
3.8.3 I/O terminals .................................................................................................................................... 3-54
3.9 Servo motor with electromagnetic brake ............................................................................................. 3-56
3.10 Grounding ............................................................................................................................................. 3-60
3.11 Servo amplifier terminal block (TE2) wiring method....................................................................... 3-61
3.11.1 For the servo amplifier produced later than Jan. 2006 .............................................................3-61
3.11.2 For the servo amplifier produced earlier than Dec. 2005 .......................................................... 3-63
3.12 Instructions for the 3M connector....................................................................................................... 3-64
3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA ............................................................... 3-64
3.13.1 Connection example ...................................................................................................................... 3-65
3.13.2 Servo amplifier terminals ............................................................................................................. 3-66
3.13.3 Servo motor terminals................................................................................................................... 3-67
4. OPERATION 4- 1 to 4- 6
4.1 When switching power on for the first time.......................................................................................... 4- 1
4.2 Startup...................................................................................................................................................... 4- 2
4.2.1 Selection of control mode.................................................................................................................. 4- 2
4.2.2 Position control mode .......................................................................................................................4- 2
4.2.3 Speed control mode ........................................................................................................................... 4- 4
4.2.4 Torque control mode......................................................................................................................... 4- 5
4.3 Multidrop communication ......................................................................................................................4- 6
5. PARAMETERS 5- 1 to 5- 34
5.1 Parameter list .......................................................................................................................................... 5- 1
5.1.1 Parameter write inhibit ................................................................................................................... 5- 1
5.1.2 Lists.................................................................................................................................................... 5- 2
5.2 Detailed description ............................................................................................................................... 5-26
5.2.1 Electronic gear .................................................................................................................................5-26
5.2.2 Analog monitor................................................................................................................................. 5-30
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern.............................. 5-33
5.2.4 Alarm history clear.......................................................................................................................... 5-33
5.2.5 Position smoothing .......................................................................................................................... 5-34
6. DISPLAY AND OPERATION 6- 1 to 6-16
6.1 Display flowchart..................................................................................................................................... 6- 1
6.2 Status display .......................................................................................................................................... 6- 2
6.2.1 Display examples .............................................................................................................................. 6- 2
6.2.2 Status display list ............................................................................................................................. 6- 3
6.2.3 Changing the status display screen................................................................................................ 6- 4
6.3 Diagnostic mode....................................................................................................................................... 6- 5
6.4 Alarm mode .............................................................................................................................................. 6- 7
6.5 Parameter mode ...................................................................................................................................... 6- 8
6.6 External I/O signal display..................................................................................................................... 6- 9
6.7 Output signal (DO) forced output .........................................................................................................6-12
6.8 Test operation mode ............................................................................................................................... 6-13
6.8.1 Mode change..................................................................................................................................... 6-13
6.8.2 Jog operation .................................................................................................................................... 6-14
6.8.3 Positioning operation....................................................................................................................... 6-15
2
6.8.4 Motor-less operation ........................................................................................................................ 6-16
7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12
7.1 Different adjustment methods ............................................................................................................... 7- 1
7.1.1 Adjustment on a single servo amplifier.......................................................................................... 7- 1
7.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 7- 2
7.2 Auto tuning .............................................................................................................................................. 7- 3
7.2.1 Auto tuning mode .............................................................................................................................7- 3
7.2.2 Auto tuning mode operation ............................................................................................................ 7- 4
7.2.3 Adjustment procedure by auto tuning............................................................................................ 7- 5
7.2.4 Response level setting in auto tuning mode................................................................................... 7- 6
7.3 Manual mode 1 (simple manual adjustment) ....................................................................................... 7- 7
7.3.1 Operation of manual mode 1 ........................................................................................................... 7- 7
7.3.2 Adjustment by manual mode 1 ....................................................................................................... 7- 7
7.4 Interpolation mode .................................................................................................................................. 7- 9
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super ..........................7-11
7.5.1 Response level setting ..................................................................................................................... 7-11
7.5.2 Auto tuning selection....................................................................................................................... 7-11
8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10
8.1 Function block diagram ..........................................................................................................................8- 1
8.2 Machine resonance suppression filter ...................................................................................................8- 1
8.3 Adaptive vibration suppression control................................................................................................. 8- 3
8.4 Low-pass filter ......................................................................................................................................... 8- 4
8.5 Gain changing function........................................................................................................................... 8- 5
8.5.1 Applications ....................................................................................................................................... 8- 5
8.5.2 Function block diagram.................................................................................................................... 8- 5
8.5.3 Parameters ........................................................................................................................................ 8- 6
8.5.4 Gain changing operation .................................................................................................................. 8- 8
9. INSPECTION 9- 1 to 9- 2
10. TROUBLESHOOTING 10- 1 to 10-14
10.1 Trouble at start-up ..............................................................................................................................10- 1
10.1.1 Position control mode ................................................................................................................... 10- 1
10.1.2 Speed control mode....................................................................................................................... 10- 4
10.1.3 Torque control mode ..................................................................................................................... 10- 5
10.2 When alarm or warning has occurred............................................................................................... 10- 6
10.2.1 Alarms and warning list ..............................................................................................................10- 6
10.2.2 Remedies for alarms..................................................................................................................... 10- 7
10.2.3 Remedies for warnings................................................................................................................ 10-13
11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11-10
11.1 Servo amplifiers...................................................................................................................................11- 1
11.2 Connectors............................................................................................................................................ 11- 8
3
12. CHARACTERISTICS 12- 1 to 12- 8
12.1 Overload protection characteristics................................................................................................... 12- 1
12.2 Power supply equipment capacity and generated loss ....................................................................12- 2
12.3 Dynamic brake characteristics........................................................................................................... 12- 5
12.3.1 Dynamic brake operation............................................................................................................. 12- 5
12.3.2 The dynamic brake at the load inertia moment ........................................................................12- 7
12.4 Encoder cable flexing life ....................................................................................................................12- 7
12.5 Inrush currents at power-on of main circuit and control circuit .................................................... 12- 8
13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-64
13.1 Options.................................................................................................................................................. 13- 1
13.1.1 Regenerative options .................................................................................................................... 13- 1
13.1.2 FR-BU2 brake unit...................................................................................................................... 13-10
13.1.3 Power regeneration converter ....................................................................................................13-17
13.1.4 External dynamic brake.............................................................................................................. 13-20
13.1.5 Cables and connectors ................................................................................................................. 13-23
13.1.6 Junction terminal block (MR-TB20) .......................................................................................... 13-31
13.1.7 Maintenance junction card (MR-J2CN3TM) ............................................................................13-33
13.1.8 Battery (MR-BAT, A6BAT).........................................................................................................13-34
13.1.9 MR Configurator (Servo configurations software) ...................................................................13-35
13.1.10 Power regeneration common converter................................................................................... 13-37
13.1.11 Heat sink outside mounting attachment (MR-JACN) ........................................................... 13-41
13.2 Auxiliary equipment .......................................................................................................................... 13-44
13.2.1 Recommended wires.................................................................................................................... 13-44
13.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 13-47
13.2.3 Power factor improving reactors ................................................................................................ 13-47
13.2.4 Power factor improving DC reactors.......................................................................................... 13-48
13.2.5 Relays............................................................................................................................................ 13-49
13.2.6 Surge absorbers ...........................................................................................................................13-49
13.2.7 Noise reduction techniques.........................................................................................................13-49
13.2.8 Leakage current breaker............................................................................................................. 13-57
13.2.9 EMC filter.....................................................................................................................................13-59
13.2.10 Setting potentiometers for analog inputs................................................................................ 13-63
14. COMMUNICATION FUNCTIONS 14- 1 to 14- 28
14.1 Configuration ....................................................................................................................................... 14- 1
14.1.1 RS-422 configuration.................................................................................................................... 14- 1
14.1.2 RS-232C configuration ................................................................................................................. 14- 2
14.2 Communication specifications............................................................................................................ 14- 3
14.2.1 Communication overview............................................................................................................. 14- 3
14.2.2 Parameter setting......................................................................................................................... 14- 4
14.3 Protocol ................................................................................................................................................. 14- 5
14.4 Character codes ................................................................................................................................... 14- 7
14.5 Error codes ...........................................................................................................................................14- 8
14.6 Checksum .............................................................................................................................................14- 8
14.7 Time-out operation ..............................................................................................................................14- 9
4
14.8 Retry operation .................................................................................................................................... 14- 9
14.9 Initialization........................................................................................................................................14-10
14.10 Communication procedure example ...............................................................................................14-10
14.11 Command and data No. list............................................................................................................. 14-11
14.11.1 Read commands......................................................................................................................... 14-11
14.11.2 Write commands ........................................................................................................................ 14-12
14.12 Detailed explanations of commands............................................................................................... 14-14
14.12.1 Data processing.......................................................................................................................... 14-14
14.12.2 Status display ............................................................................................................................ 14-16
14.12.3 Parameter................................................................................................................................... 14-17
14.12.4 External I/O pin statuses (DIO diagnosis) .............................................................................. 14-19
14.12.5 Disable/enable of external I/O signals (DIO) ..........................................................................14-20
14.12.6 Input devices ON/OFF (test operation) ...................................................................................14-21
14.12.7 Test operation mode ..................................................................................................................14-22
14.12.8 Output signal pin ON/OFF output signal (DO) forced output ..............................................14-24
14.12.9 Alarm history .............................................................................................................................14-25
14.12.10 Current alarm.......................................................................................................................... 14-26
14.12.11 Other commands...................................................................................................................... 14-27
15. ABSOLUTE POSITION DETECTION SYSTEM 15- 1 to 15- 68
15.1 Outline .................................................................................................................................................. 15- 1
15.1.1 Features ......................................................................................................................................... 15- 1
15.1.2 Restrictions.................................................................................................................................... 15- 1
15.2 Specifications ....................................................................................................................................... 15- 2
15.3 Battery installation procedure ........................................................................................................... 15- 3
15.4 Standard connection diagram ............................................................................................................15- 4
15.5 Signal explanation............................................................................................................................... 15- 5
15.6 Startup procedure................................................................................................................................15- 6
15.7 Absolute position data transfer protocol ...........................................................................................15- 7
15.7.1 Data transfer procedure............................................................................................................... 15- 7
15.7.2 Transfer method ...........................................................................................................................15- 8
15.7.3 Home position setting.................................................................................................................. 15-19
15.7.4 Use of servo motor with electromagnetic brake ....................................................................... 15-21
15.7.5 How to process the absolute position data at detection of stroke end.................................... 15-22
15.8 Examples of use ..................................................................................................................................15-23
15.8.1 MELSEC-A1S (A1SD71)............................................................................................................. 15-23
15.8.2 MELSEC FX
-32MT (FX
(2N)
-1PG) ..........................................................................................15-37
(2N)
15.8.3 MELSEC A1SD75........................................................................................................................ 15-49
15.9 Confirmation of absolute position detection data............................................................................ 15-64
15.10 Absolute position data transfer errors ........................................................................................... 15-65
15.10.1 Corrective actions ......................................................................................................................15-65
15.10.2 Error resetting conditions......................................................................................................... 15-67
APPENDIX App- 1 to App- 4
App 1. Signal arrangement recording sheets......................................................................................... App- 1
App 2. Status display block diagram ...................................................................................................... App- 2
App 3. Combination of servo amplifier and servo motor ...................................................................... App- 3
App 4. Change of connector sets to the RoHS compatible products .................................................... App- 4
5
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included
in the Servo Amplifier Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULATION METHODS FOR DESIGNING
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2
series and has further higher performance and higher functions.
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control.
Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of
machine tools and general industrial machines but also line control and tension control.
As this new series has the RS-232C or RS-422 serial communication function, a MR Configurator (servo
configuration software)-installed personal computer or the like can be used to perform parameter setting,
test operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
(1) Position control mode
An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 131072 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so
a smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in
the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque
limit value can be changed to any value with an external analog input or the parameter.
(2) Speed control mode
An external analog speed command (0 to
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external
analog speed command.
(3) Torque control mode
An external analog torque command (0 to
motor.
To prevent unexpected operation under no load, the speed limit function (external or internal setting)
is also available for application to tension control, etc.
10VDC) or parameter-driven internal speed command
8VDC) is used to control the torque output by the servo
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J2S-350A or less
Regenerative option
(Note 2)
Power
supply
NFB MC
L
1
L
2
L3
L
11
L
21
Diode
stack
Pulse
input
Relay
(Note 3)Cooling fan
Control
circuit
power
supply
Model position
control
P
CHARGE
lamp
Base
amplifier
DC
(Note 1)
Regenerative
TR
Voltage
detection
Model speed
control
Current
detector
Overcurrent
protection
encoder
Virtual
motor
Virtual
Dynamic
brake
Current
detection
U
V
W
CN2
B1
B2
Servo motorServo amplifier
U
V
W
Electromagnetic
brake
Encoder
M
Model
position
Actual position
control
Model
speed
Actual speed
control
RS-232C
A/D
RS-422 D/A
I/F
CN1A CN1B
CN3
D I/O control
Analog
(2 channels)
Servo on
Start
Failure, etc.
Note:1. The built-in regenerative resistor is not provided for the MR-J2S-10A(1).
2. For 1-phase 230VAC, connect the power supply to L
L
3 is not provided for a 1-phase 100 to120VAC power supply. Refer to section 1.3 for the power supply specification.
1, L2 and leave L3 open.
3. Servo amplifiers MR-J2S-200A have a cooling fan.
1 - 2
Model
torque
Current
control
Analog monitor
(2 channels)
Controller
RS-422/RS-232C
MR-BAT
CON1
Optional battery
(for absolute position
detection system)
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-500A MR-J2S-700A
Regenerative option
(Note)
Power
supply
NFB MC
L
1
L
2
L3
L
11
L
21
Diode
stack
Pulse
input
Relay
Model position
Control
circuit
power
supply
control
P
CHARGE
lamp
Cooling fan
amplifier
C
Regenerative
TR
Base
Model speed
control
N
Voltage
detection
Current
detector
Overcurrent
protection
encoder
Virtual
motor
Virtual
Dynamic
brake
Current
detection
U
V
W
CN2
B1
B2
Servo motorServo amplifier
U
V
W
Electromagnetic
brake
Encoder
M
Model
position
Actual position
control
A/D
I/F
CN1A CN1B
D I/O control
Analog
(2 channels)
Servo on
Start
Failure, etc.
Note. Refer to section 1.3 for the power supply specification.
Model
speed
Actual speed
control
RS-232C
RS-422 D/A
CN3
Model
torque
Current
control
Analog monitor
(2 channels)
Controller
RS-422/RS-232C
MR-BAT
CON1
Optional battery
(for absolute position
detection system)
1 - 3
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-11KA or more
Regenerative option
C
P
CHARGE
lamp
(Note)
Power
supply
NFB MC
L
1
L
2
L3
Diode
stack
P1
Thyristor
N
Regenerative
TR
Current
detector
Servo motorServo amplifier
U
V
W
U
V
M
W
Cooling fan
Dynamic
brake
B1
L
11
L
21
Control
circuit
power
supply
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
CN2
B2
Electromagnetic
brake
Encoder
Pulse
input
Model position
control
Model speed
control
Virtual
encoder
Virtual
motor
Model
position
Actual position
control
Model
speed
Actual speed
control
Model
torque
Current
control
A/D
I/F
CN1A CN1B
D I/O control
Analog
(2 channels)
Servo on
Start
Failure, etc.
Note. Refer to section 1.3 for the power supply specification.
RS-232C
RS-422 D/A
1 - 4
CN3
Analog monitor
(2 channels)
Controller
RS-422/RS-232C
MR-BAT
CON1
Optional battery
(for absolute position
detection system)
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Servo Amplifier
MR-J2S-
Item
Voltage/frequency
Permissible voltage fluctuation
Power supply
Permissible frequency fluctuation Within 5%
Power supply capacity Refer to section12.2
Inrush current Refer to section 12.5
Control system Sine-wave PWM control, current control system
Dynamic brake Built-in External option Built-in
Protective functions
Max. input pulse frequency 500kpps (for differential receiver), 200kpps (for open collector)
10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1
3-phase 200 to 230VAC,
50/60Hz or 1-phase
230VAC, 50/60Hz
3-phase 200 to 230VAC:
170 to 253VAC
1-phase 230VAC: 207 to
253VAC
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
error protection, undervoltage, instantaneous power failure protection, overspeed
protection, excessive error protection
3-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC
1-phase 100 to
120VAC
50/60Hz
1-phase
85 to 127VAC
Command pulse multiplying factor Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500
In-position range setting 0 to 10000 pulse (command pulse unit)
Error excessive (Note) 2.5 revolutions
Position control mode
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed command input 0 to 10VDC / Rated speed
0.01% or less (load fluctuation 0 to 100%)
Speed fluctuation ratio
Speed control mode
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Torque
control
mode
Structure Self-cooled, open (IP00) Force-cooling, open (IP00)
Mass
Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B0 or later is
Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k )
Speed limit Set by parameter setting or external analog input (0 to
Ambient
temperature
Ambient
humidity
Ambient
Environment
Altitude Max. 1000m (3280ft) above sea level
Vibration
used. When the software version is earlier than B0, the error excessive detection level of that servo amplifier is
In operation
In storage
In operation
In storage
[ ]0 to 55 (non-freezing)
[
] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
[
] 4 to 149 (non-freezing)
[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 15 16 16 20 0.7 0.7 1.1
[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 33.1 35.3 35.3 44.1 1.5 1.5 2.4
0.2% or less (ambient temperature 25 10 (59 to 95 )),
Free from corrosive gas, flammable gas, oil mist, dust and dirt
0% (power fluctuation
when using analog speed command
90%RH or less (non-condensing)
Indoors (no direct sunlight)
5.9 [m/s2] or less
19.4 [ft/s
2
] or less
10%)
10VDC/Rated speed)
Self-cooled,
open(IP00)
10 revolutions.
1 - 5
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description
Position control mode This servo is used as position control servo. P
Speed control mode This servo is used as speed control servo. S
Torque control mode This servo is used as torque control servo. T
Position/speed control change
mode
Speed/torque control change
mode
Torque/position control
change mode
High-resolution encoder
Absolute position detection
system
Gain changing function
Adaptive vibration
suppression control
Low-pass filter
Machine analyzer function
Machine simulation
Gain search function
Slight vibration suppression
control
Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No. 3, 4
Auto tuning
Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7
S-pattern acceleration/
deceleration time constant
Regenerative option
Brake unit
Using external input signal, control can be switched
between position control and speed control.
Using external input signal, control can be switched
between speed control and torque control.
Using external input signal, control can be switched
between torque control and position control.
High-resolution encoder of 131072 pulses/rev is used as a
servo motor encoder.
Merely setting a home position once makes home position
return unnecessary at every power-on.
You can switch between gains during rotation and gains
during stop or use an external signal to change gains
during operation.
Servo amplifier detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical
vibration.
Suppresses high-frequency resonance which occurs as servo
system response is increased.
Analyzes the frequency characteristic of the mechanical
system by simply connecting a MR Configurator (servo
configuration software ) installed personal computer and
servo amplifier.
Can simulate machine motions on a personal computer
screen on the basis of the machine analyzer results.
Personal computer changes gains automatically and
searches for overshoot-free gains in a short time.
Suppresses vibration of 1 pulse produced at a servo motor
stop.
Automatically adjusts the gain to optimum value if load
applied to the servo motor shaft varies. Higher in
performance than MR-J2 series servo amplifier.
Speed can be increased and decreased smoothly. S, T Parameter No. 13
Used when the built-in regenerative resistor of the servo
amplifier does not have sufficient regenerative capability
for the regenerative power generated.
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500A to MR-J2S-22KA.
(Note)
Control mode
Section 3.1.1
Section 3.4.1
Section 4.2.2
Section 3.1.2
Section 3.4.2
Section 4.2.3
Section 3.1.3
Section 3.4.3
Section 4.2.4
P/S Section 3.4.4
S/T Section 3.4.5
T/P Section 3.4.6
P, S, T
PChapter 15
P, S Section 8.5
P, S, T Section 8.3
P, S, T Section 8.4
P
P
P
P Section 7.5
P, S Chapter 7
P, S, T Section 13.1.1
P, S, T Section 13.1.2
Reference
1 - 6
1. FUNCTIONS AND CONFIGURATION
Function Description
(Note)
Control mode
Reference
Used when the regenerative option cannot provide enough
Return converter
regenerative power.
P, S, T Section 13.1.3
Can be used with the MR-J2S-500A to MR-J2S-22KA.
Alarm history clear Alarm history is cleared. P, S, T Parameter No. 16
Restart after instantaneous
power failure
Command pulse selection
Input signal selection
Torque limit Servo motor torque can be limited to any value. P, S
If the input power supply voltage had reduced to cause an
alarm but has returned to normal, the servo motor can be
restarted by merely switching on the start signal.
Command pulse train form can be selected from among four
different types.
Forward rotation start, reverse rotation start, servo-on
(SON) and other input signals can be assigned to any pins.
S Parameter No. 20
P Parameter No. 21
P, S, T
Parameters
No. 43 to 48
Section 3.4.1 (5)
Parameter No. 28
Section 3.4.3 (3)
Speed limit Servo motor speed can be limited to any value. T
Parameter No. 8
to 10,72 to 75
Status display
External I/O signal display
Output signal (DO)
forced output
Servo status is shown on the 5-digit, 7-segment LED
display
ON/OFF statuses of external I/O signals are shown on the
display.
Output signal can be forced on/off independently of the
servo status.
Use this function for output signal wiring check, etc.
P, S, T Section 6.2
P, S, T Section 6.6
P, S, T Section 6.7
Voltage is automatically offset to stop the servo motor if it
Automatic VC offset
does not come to a stop at the analog speed command (VC)
S, T Section 6.3
or analog speed limit (VLA) of 0V.
Test operation mode
JOG operation
DO forced output.
positioning operation motor-less operation
P, S, T Section 6.8
Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No. 17
MR Configurator
(Servo configuration software)
Alarm code output
Using a personal computer, parameter setting, test
operation, status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number
is output in 3-bit code.
P, S, T Section 13.1.9
P, S, T Section 10.2.1
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
1.5 Model code definition
(1) Rating plate
MITSUBISHI
MODEL
POWER
MR-J2S-60A
POWER :
INPUT :
OUTPUT :
SERIAL :
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
600W
3.2A 3PH 1PH200-230V 50Hz
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
170V 0-360Hz 3.6A
A5
TC3 AAAAG52
AC SERVO
AC SERVO
PASSED
Model
Capacity
Applicable power supply
Rated output current
Serial number
1 - 7
1. FUNCTIONS AND CONFIGURATION
(2) Model
With no regenerative resistor
Series
Symbol Description
Indicates a servo
amplifier of 11k to 22kW
that does not use a
-PX
regenerative resistor as
standard accessory.
MR–J2S–100A or less
MR–J2S–200A 350A
Power supply
Symbol Power supply
3-phase 200 to 230VAC
None
(Note 1)1-phase 230VAC
(Note 2)
Note 1. 1-phase 230V is supported
by 750W or less.
2. 1-phase 100V to 120V is
supported by 400W or less.
Symbol
1-phase 100 to 120VAC
1
General-purpose interface
Rated output
Rated
output [kW]
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22
Rating plate
MR-J2S-500A
Rating plate Rating plate
MR-J2S-11KA 15KA
MR-J2S-22KA
Rating plate
MR-J2S-700A
1 - 8
Rating plateRating plate
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier
MR-J2S-10A(1) 053 13 053 13 13
MR-J2S-20A(1) 23 23 23
MR-J2S-40A(1) 43 43 43
MR-J2S-60A 52 53
MR-J2S-70A (Note 1) 73 73 72 73
MR-J2S-100A 81 102 103
MR-J2S-200A 121 201 152 202 153 203 103 153 152
MR-J2S-350A 301 352 353 (Note 1) 203 (Note 1) 202
MR-J2S-500A
MR-J2S-700A
HC-KFS
HC-MFS
(Note 1)
1000r/min
HC-SFS HC-UFS
2000r/min
(Note 1)
502
(Note 1)
702
(Note 1)
3000r/min
HC-RFS
(Note 1)
353
503
2000r/min 3000r/min
(Note 1)
352 502
Servo motors
HA-LFSServo amplifier
1000r/min 1500r/min 2000r/min
MR-J2S-60A 52
MR-J2S-100A 102
MR-J2S-200A 152
MR-J2S-350A 202
MR-J2S-500A (Note 1)502 302
MR-J2S-700A (Note 2)601 (Note 2)701M (Note 1)702
MR-J2S-11KA 801 12K1 11K1M 11K2
MR-J2S-15KA 15K1 15K1M 15K2
MR-J2S-22KA 20K1 25K1 22K1M 22K2
Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to appendix 3.
2. Consult us since the servo amplifier to be used with any of these servo motors is optional.
(Note 1)
HC-LFS
1 - 9
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-J2S-100A or less
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
MODE UP DOWN
Fixed part(2places)
(For MR-J2S-70A 100A 3 places)
SET
Name/Application
Battery holder
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
UP
MODE
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Rating plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Protective earth (PE) terminal ( )
Ground terminal.
DOWN
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Reference
Section 15.3
Section 15.3
Chpater 6
Chapter 6
Section 3.3
Section 3.3
Section 3.3
Section 13.1.5
Chapter 14
Section 1.5
Section 3.3
Section 13.1.5
Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 13.1.1
Section 3.10
Section 11.1
1 - 10
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Cooling fan
Fixed part
(4 places)
MODE UP DOWN
Name/Application
Battery holder
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
Operation section
SET
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE UP
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Rating plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Protective earth (PE) terminal ( )
Ground terminal.
DOWN SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Reference
Section 15.3
Section 15.3
Chpater 6
Chapter 6
Section 3.3
Section 3.3
Section 3.3
Section 13.1.5
Chapter 14
Section 1.5
Section 3.3
Section 13.1.5
Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 3.1.1
Section 3.10
Section 11.1
1 - 11
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