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.
.
.
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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.
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(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
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
MODE UP DOWN
SET
Fixed part
(4 places)
Cooling fan
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains the battery for absolute position data backup.
Display
The 5-digit, seven-segment LED shows the servo status
and 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.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Rating plate
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 3.3
Section 13.1.5
Section 3.7
Section 11.1
Section 13.1.1
Section 3.7
Section 11.1
Section 1.5
Section 3.10
Section 11.1
1 - 12
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Cooling fan
MODE UP DOWN
SET
Fixed part
(4 places)
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains the battery for absolute position data backup.
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
Operation section
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.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Rating plate
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
option and servo motor.
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 3.7
Section 11.1
Section 3.3
Section 13.1.5
Section 1.5
Section 3.7
Section 11.1
Section 13.1.1
Section 3.10
Section 11.1
1 - 13
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KA or more
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application Reference
Battery holder
Contains 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.
Section 15.3
Chapter 6
Cooling fan
MODE UP DOWN
MODE
SET
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Monitor output terminal (CN4)
Used to output monitor values as analog signals
for two channels.
Communication connector (CN3)
Used to connect a command device (RS232C)
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
UP
DOWN SET
Chapter 6
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Section 15.3
Section 3.3
Section 11.1
Section 3.3
Section 13.1.5
Section 3.3
Section 3.3
Section 3.7
Section 11.1
Section 13.1.1
Fixed part
(4 places)
Encoder connector (CN2)
Used to connect the servo motor encoder.
Manufacturer adjusting connector (CON2)
Keep this connector open.
Rating plate
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
option and servo motor.
Protective earth (PE) terminal ( )
Ground terminal.
1 - 14
Section 3.3
Section 13.1.5
Section 1.5
Section 3.7
Section 11.1
Section 13.1.1
Section 3.10
Section 11.1
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
CAUTION
(1) For MR-J2S-350A or less
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.
Front cover
1) Hold down the removing knob.
2) Pull the front cover toward you.
(2) For MR-J2S-500A
Removal of the front cover
1)
2)
Reinstallation of the front cover
Front cover hook
(2 places)
2)
1)
Front cover socket
(2 places)
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
Removal of the front cover
2)
Front cover
1) Hold down the removing knob.
2) Pull the front cover toward you.
Reinstallation of the front cover
1)
Front cover hook
(2 places)
2)
1)
Front cover socket
(2 places)
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 15
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J2S-700A
Removal of the front cover
Reinstallation of the front cover
Front cover
hook
(2 places)
B)
2)
1)
A)
1) Push the removing knob A) or B), and put you finger into the
front hole of the front cover.
2) Pull the front cover toward you.
A)
2)
1)
Front cover socket
(2 places)
1) Insert the two front cover hooks at the bottom into the
sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 16
1. FUNCTIONS AND CONFIGURATION
(4) For MR-J2S-11KA or more
Removal of the front cover
Mounting screws (2 places)
Mounting screws
(2 places)
1) Remove the front cover mounting screws (2 places) and
remove the front cover.
3) Remove the front cover by drawing it in the direction of
arrow.
2) Remove the front cover mounting screws (2 places).
1 - 17
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Mounting screws
(2 places)
1) Insert the front cover in the direction of arrow. 2) Fix it with the mounting screws (2 places).
Reinstallation of the front cover
Mounting screws (2 places)
3) Fit the front cover and fix it with the mounting screws (2
places).
1 - 18
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
WARNING
of the servo amplifier to the protective earth (PE) of the control box.
(1) MR-J2S-100A or less
(a) For 3-phase 200V to 230VAC or 1-phase 230V
To prevent an electric shock, always connect the protective earth (PE) terminal ( )
(Note 2)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Options and auxiliary equipment Reference
No-fuse breaker
Magnetic contactor
MR Configurator
(Servo configuration software)
Servo amplifier
Section 13.2.2
Section 13.2.2
Section 13.1.9
To CN1A
To CN1B
Options and auxiliary equipment Reference
Regenerative option
Cables
Power factor improving reactor
Command device
Junction terminal block
Section 13.1.1
Section 13.2.1
Section 13.2.3
Power
factor
improving
reactor
(FR-BAL)
Control circuit terminal block
L
21
L
11
Regenerative option
To CN2
L
1
L
2
L
3
CHARGE
VW
U
D
P
C
To CN3
Personal
computer
(Note 1)
Encoder cable
(Note 1)
Power supply lead
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less.
For 1-phase 230VAC, connect the power supply to L
1 L2 and leave L3 open.
Refer to section 1.3 for the power supply specification.
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
Servo motor
1 - 19
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
(Note 2)
Power supply
No-fuse breaker
(NFB) or fuse
Options and auxiliary equipment Reference
No-fuse breaker
Magnetic contactor
MR Configurator
(Servo configuration software)
Servo amplifier
Section 13.2.2
Section 13.2.2
Section 13.1.9
To CN1A
Options and auxiliary equipment Reference
Regenerative option
Cables
Power factor improving reactor
Section 13.1.1
Section 13.2.1
Section 13.2.3
Command device
Magnetic
contactor
(MC)
Power
factor
improving
reactor
(FR-BAL)
Control circuit terminal block
L
21
To CN2
L1
L
2
CHARGE
UVW
D
To CN1B
To CN3
Junction terminal block
Personal
computer
(Note 1)
Encoder cable
(Note 1)
Power supply lead
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
L
11
P
Regenerative option
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. Refer to section 1.3 for the power supply specification.
Servo motor
1 - 20
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A or more
(Note)
Power supply
No-fuse
breaker
(NFB) or
fuse
Options and auxiliary equipment Reference
No-fuse breaker
Magnetic contactor
MR Configurator
(Servo configuration software)
Servo amplifier
Section 13.2.2
Section 13.2.2
Section 13.1.9
Options and auxiliary equipment Reference
Regenerative option
Cables
Power factor improving reactor
Section 13.1.1
Section 13.2.1
Section 13.2.3
Command device
Magnetic
contactor
(MC)
Power
factor
improving
reactor
(FR-BAL)
To CN2
L
11
L
21
L
1
L
2
L
3
UV
To CN1A
To CN1B
To CN3
PC
W
Regenerative option
Personal
computer
Junction terminal
block
MR Configurator
(Servo
configuration
software
MRZJW3SETUP151E)
Note. Refer to section 1.3 for the power supply specification.
1 - 21
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
(Note 2)
Power supply
No-fuse
breaker
(NFB) or
fuse
Magnetic
contactor
(MC)
Options and auxiliary equipment Reference
No-fuse breaker
Magnetic contactor
MR Configurator
(Servo configuration software)
Section 13.2.2
Section 13.2.2
Section 13.1.9
Options and auxiliary equipment Reference
Regenerative option
Cables
Power factor improving reactor
Section 13.1.1
Section 13.2.1
Section 13.2.3
Power
factor
improving
reactor
(FA-BAL)
(Note 1)
C
Regenerative option
L
11
L21
Servo amplifier
Command device
To CN1A
L
1
L
2
L
3
To CN1B
Junction terminal
block
MR Configurator
(Servo
configuration
P
U
V
To CN3
Personal
computer
W
software
MRZJW3SETUP151E)
To CN2
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 22
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700A
(Note 2)
Power supply
No-fuse
breaker
(NFB) or
fuse
Magnetic
contactor
(MC)
Power
factor
improving
reactor
(FA-BAL)
Options and auxiliary equipment Reference
Regenerative option
Cables
Power factor improving reactor
Section 13.1.1
Section 13.2.1
Section 13.2.3
Command device
Junction terminal
L21
Options and auxiliary equipment Reference
No-fuse breaker
Magnetic contactor
MR Configurator
(Servo configuration software)
Servo amplifier
L
11
Section 13.2.2
Section 13.2.2
Section 13.1.9
To CN1A
block
To CN1B
MR Configurator
(Servo
configuration
To CN3
Personal
computer
software
MRZJW3SETUP151E)
To CN2
L
3
L
2
1
L
U
V
W
C
P
(Note 1) Regenerative option
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 23
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KA or more
(Note 3)
Power supply
No-fuse
breaker
(NFB) or
fuse
Magnetic
contactor
(MC)
(Note 2)
Power
factor
improving
reactor
(FA-BAL)
Options and auxiliary equipment Reference
No-fuse breaker
Magnetic contactor
MR Configurator
(Servo configuration software)
L
21
L
11
Section 13.2.2
Section 13.2.2
Section 13.1.9
To CN3
MITSUBIS HI
Options and auxiliary equipment Reference
Regenerative option
Cables
Power factor improving reactor
Power factor improving
DC reactor
Section 13.1.1
Section 13.2.1
Section 13.2.3
Section 13.2.4
MR Configurator
(Servo
configuration
Personal
computer
software
MRZJW3-
SETUP151E)
Analog monitor
To CN4
Command device
To CN1A
L
3
L
2
L1
To CN1B
To CN2
C
Regenerative
option
Junction terminal
block
P
(Note 2)
Power factor
improving DC reactor
(FR-BEL)
(Note 1)
BW
BV
BU
UVW
Servo motor
series
Note 1. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
2. Use either the FR-BAL or FR-BEL power factor improving reactor.
3. Refer to section 1.3 for the power supply specification.
1 - 24
2. INSTALLATION
2. INSTALLATION
CAUTION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
2.1 Environmental conditions
Environment Conditions
In
Ambient
temperature
Ambient
humidity
Ambience
Altitude Max. 1000m (3280 ft) above sea level
Vibration
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)
[
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
[m/s2] 5.9 [m/s2] or less
2
] 19.4 [ft/s2] or less
[ft/s
2 - 1
2. INSTALLATION
2.2 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION
(1) Installation of one servo amplifier
10mm
(0.4 in.)
or more
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
Control box Control box
40mm
(1.6 in.)
or more
Servo amplifier
10mm
(0.4 in.)
or more
Wiring clearance
70mm
(2.8 in.)
Top
40mm
(1.6 in.)
or more
Bottom
2 - 2
2. INSTALLATION
(2) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm
(4.0 in.)
or more
Servo
amplifier
10mm
(0.4 in.)
or more
30mm
(1.2 in.)
or more
40mm
(1.6 in.)
or more
30mm
(1.2 in.)
or more
(3) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.3 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the
servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an
air purge (force clean air into the control box from outside to make the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.
2 - 3
2. INSTALLATION
2.4 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional encoder cable or the power supply and brake
wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and
brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 12.4 for the flexing life.
2 - 4
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, 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
WARNING
or not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the emergency stop (EMG) and other protective circuits.
CAUTION
Servo amplifier
COM
(24VDC)
Control output
signal
RA
Servo amplifier
COM
(24VDC)
Control output
signal
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.
3 - 1
3. SIGNALS AND WIRING
3.1 Standard connection example
POINT
Refer to section 3.7.1 for the connection of the power supply system and
refer to section 3.8 for connection with the servo motor.
3.1.1 Position control mode
(1) FX-10GM
Positioning module
FX-10GM
SVRDY
1
2
COM2
12
COM2
SVEND
11
14
COM4
13
PG0
7,17
24
8,18
VC
5
FPO
6
FP
9,19
COM5
16
RP
15
RP0
3
CLR
4
COM3
START
1
ST-
2
3
ZRN
FWD
4
RVS
5
DOG
6
7
LSF
8
LSR
COM1
9,19
(Note 3, 6) Emergency stop
Servo-on
Reset
Proportion control
Torque limit selection
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog torque limit
10V/max. torque
(Note 11)
MR Configurator
(Servo configuration
software)
Personal
computer
(Note 10) 2m(6.5ft) max.
10m(32ft) max.
2m(6.5ft) max.
(Note 8)
Communication cable
Servo amplifier
(Note 4, 9) (Note 4)
CN1A CN1B
RD
19
COM
9
INP
18
P15R
4
OP
14
OPC
11
9
COM
PP
3
SG
10
2
NP
CR
8
SG
20
SD
Plate
CN1B
15
EMG
5
SON
14
RES
8
PC
9
TL
16
LSP
17
LSN
SG
10
P15R
11
12
TLA
LG
1
Plate
SD
(Note 4, 9)
CN3
3
VDD
13 COM
18
ALM
19 ZSP
6TLC
(Note 12)
(Note 2, 5)
RA1
RA2
RA3
Trouble
Zero speed
Limiting torque
10m (32ft) or less
(Note 13)
(Note 4, 9)
CN1A
6
LA
16
LAR
7
LB
17
LBR
LG 1 Control common
515LZ
LZR
SD
Plate
(Note 4, 9,14)(Note 4, 9)
CN3
4
3
14
13
Plate
MO1
LG
MO2
LG
SD
A
A
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
(Note 8)
10k
Analog monitor
Max. 1mA
10k
Reading in both
directions
2m (6.5ft) max.
(Note 1)
(Note 7)
3 - 2
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the opencollector system. It is 10m (32ft) or less in the differential line
driver system.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. Connect to CN1A-10 when using the junction terminal block (MR-TB20).
14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
MO1
1
MO2
2
A
A
10%,
LG
4
2m (6.5ft) or less
3 - 3
3. SIGNALS AND WIRING
r
(2) AD75P (A1SD75P )
Positioning module
AD75P
(A1SD75P )
Ready
COM
INPS
PGO(24V)
PGO(5V)
PGO COM
CLEAR
CLEAR COM
PULSE F
PULSE F
PULSE R
PULSE R
PULSE F
PULSE COM
PULSE R
PULSE COM
STOP
START
COM
COM
(Note 3, 6) Emergency stop
Servo-on
Reset
Proportion control
Torque limit selection
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Analog torque limit
10V/max. torque
(Note 11)
MR Configurato
(Servo configuration
software)
7
26
8
6
24
25
5
23
21
3
22
4
1
19
2
20
DOG
11
12
FLS
RLS
13
14
CHG
15
16
35
36
Upper limit setting
Personal
computer
(Note 10) 10m(32ft) max.
(Note 13)
DC24V
2m(6.5ft) max.
(Note 8)
Communication cable
RD
COM
INP
LZ
LZR
CR
SG
PG
PP
NG
NP
LG
SD
EMG
SON
RES
PC
TL
LSP
LSN
SG
P15R
TLA
LG
SD
Servo amplifier
(Note 4,9)
CN1A
19
9
18
5
15
8
10
13
3
12
2
1
Plate
(Note 4,9)
(Note 4,9)
CN1B
15
5
14
8
9
16
17
10
(Note 4,9,14)
11
12
1
Plate
(Note 4,9)
CN3
(Note 4)
CN1B
3
13 COM
18
19 ZSP
6TLC
CN1A
6
16
7
17
1
14
4
Plate
CN3
4
3
14
13
Plate
VDD
ALM
10m(32ft) or less
10m(32ft) or less
LA
LAR
LB
LBR
LG
OP
P15R
SD
2m(6.5ft) or less
MO1
LG
MO2
LG
SD
2m(6.5ft) max.
(Note 12)
(Note 2,5)
RA1
RA2
RA3
Control common
Control common
Encoder Z-phase pulse
(open collector)
A
10k
A
10k
(Note 7)
Trouble
Zero speed
Limiting torque
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
(Note 8)
Analog monitor
Max. 1mA
Reading in both
directions
(Note 1)
3 - 4
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the differential line driver system.
It is 2m (6.5ft) or less in the opencollector system.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. This connection is not required for the AD75P. Depending on the used positioning module, however, it is recommended to
connect the LG and control common terminals of the servo amplifier to enhance noise immunity.
14. For the 11kW or more servo amplifier, Analog monitor 1 (MO1) and Analog monitor 2 (MO2) are replaced by CN4.
CN4
MO1
1
MO2
2
A
A
10%,
LG
4
2m (6.5ft) or less
3 - 5
3. SIGNALS AND WIRING
r
3.1.2 Speed control mode
Speed selection 1
(Note 3, 6) Emergency stop
Servo-on
Reset
Speed selection 2
Forward rotation start
Reverse rotation start
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog speed command
(Note 13)
(Note 11)
MR Configurator
(Servo configuration
software)
10V/rated speed
Upper limit setting
(Note 10) Analog torque limit
10V/max. torque
Personal
computer
10m(32ft) max.
2m(6.5ft) max.
(Note 8)
Communication cable
Servo amplifie
(Note 4,9)
CN1A
8
SP1
10
SG
(Note 4,9) (Note 4,9)
CN1B
EMG
15
SON
5
RES
14
7SP2
ST1
8
ST2
9
LSP
16
LSN
17
SG
10
P15R
11
2
VC
LG
1
12TLA
Plate
SD
(Note 4,9)
CN3
(Note 4)
CN1B
3 VDD
13
18
19 ZSP
6TLC
CN1A
9COM
18 SA
19
5
15
6
16
7
17
1
14
4
Plate
(Note 4,9,14)
CN3
4
3
14
13
Plate
COM
ALM
RD
LZ
LZR
LA
LAR
LB
LBR
LG
OP
P15R
SD
2m(6.5ft) or less
MO1
LG
MO2
LG
SD
(Note 2,5)
10m(32ft) or less
2m(6.5ft) max.
(Note 12)
RA1
RA2
RA3
RA5
RA4
Control common
Control common
Encoder Z-phase pulse
(open collector)
A
10k
A
10k
(Note 7)
Trouble
Zero speed
Limiting torque
Speed reached
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
(Note 8)
Analog monitor
Max. 1mA
Reading in
both directions
(Note 1)
3 - 6
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition.
8. When connecting the personal computer together with Analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. By setting parameters No.43 to 48 to make TL available, TLA can be used.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. Use an external power supply when inputting a negative voltage.
14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
MO1
1
MO2
2
LG
4
2m (6.5ft) or less
A
A
3 - 7
3. SIGNALS AND WIRING
3.1.3 Torque control mode
Speed selection 1
(Note 3) Emergency stop
Servo-on
Reset
Speed selection 2
Forward rotation start
Reverse rotation start
Upper limit setting
Analog torque command
(Note 11)
(Note 9)
MR Configurator
(Servo configuration
software)
8V/max. torque
Upper limit setting
Analog speed limit
0 to 10V/rated speed
Personal
computer
10m(32ft) max.
2m(6.5ft) max.
(Note 7)
Communication cable
Servo amplifier
(Note 4,8)
CN1A
8
SP1
10
SG
(Note 4,8) (Note 4,8)
CN1B
EMG
15
SON
5
RES
14
7SP2
RS1
9
RS2
8
SG
10
P15R
11
12
TC
LG
1
2VLA
Plate
SD
(Note 4,8)
CN3
(Note 4)
CN1B
3 VDD
13
18
19 ZSP
6VLC
CN1A
9COM
19 RD
5
15
6
16
7
17
1
14
4
Plate
(Note 4,8,12)
CN3
4
3
14
13
Plate
COM
ALM
LZ
LZR
LA
LAR
LB
LBR
LG
OP
P15R
SD
MO1
LG
MO2
LG
SD
(Note 2,5)
10m(32ft) or less
2m(6.5ft) or less
2m(6.5ft) max.
(Note 10)
RA1
RA2
RA3
RA4
Control common
Control common
Encoder Z-phase pulse
(open collector)
A
10k
A
10k
(Note 6)
Trouble
Zero speed
Limiting torque
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
(Note 7)
Analog monitor
Max. 1mA
Reading in both
directions
3 - 8
(Note 1)
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the ( ) servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. Trouble (ALM) turns on in normal alarm-free condition.
7. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
8. The pins with the same signal name are connected in the servo amplifier.
9. Use MRZJW3-SETUP 151E.
10. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
11. Use an external power supply when inputting a negative voltage.
12. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
MO1
1
MO2
2
A
A
LG
4
2m (6.5ft) or less
3 - 9
3. SIGNALS AND WIRING
3.2 Internal connection diagram of servo amplifier
The following is the internal connection diagram where the signal assignment has been made in the
initial status in each control mode.
Servo amplifier
VDD
COM
(Note 1)
PS
COM COM COM 9
CR SP1 SP1
SG SG SG810,20
(Note 1)
PST
SON SON SON
PC ST1 RS2
TL ST2 RS1
RES
EMG
LSP
LSN
SG
(Note 1)
PST
OPC
PG
PP
NG
NP
SD
(Note 1)
PST
TLA TC 12
P15R
P15R
LG
LG
SD
SD
T CN1A
SP2 SP257
RES RES
EMG EMG
LSP
LSN
SG SG
SD SD
VC VLA 2
TLA
TLA
P15R
P15R
LG
LG
SD
SD
CN1B
3
13
CN1B
8
9
14
15
16
17
10,20
CN1A
11
13
Approx. 100k
3
12
Approx. 100k A pprox. 1.2k
2
Case
CN1B
11
1
Case
CN1A
4P15R
24VDC
15VDC
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 1.2k
(Note 1)
CN1A
INP SA18
RD RD RD19
(Note 1)
CN1B
TLC TLC VLC6
ALM ALM ALM18
ZSP ZSP ZSP19
DO14
CN1A
6
16
LAR
7
17
LBR
5
15
LZR
14
OP
1LG
CN3
4MO1
142MO2
RXD
TXD
12
9SDP
19 SDN
5 RDP
15 RDN
PE
PST
PST
DO1 DO1
LA
LB
LZ
(Note 2)
Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode
2. For the 11kW or more servo amplifier, MO1 is replaced by CN4-1 and MO2 by CN4-2.
3 - 10
3. SIGNALS AND WIRING
A
3.3 I/O signals
3.3.1 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
Refer to (2) CN1A and CN1B signal assignment for CN1A and CN1B
signal assignment.
(1) Signal arrangements
(a) MR-J2S-700A or less
CN1
CN1B
12
14
16
18
20
12
LG
14
16
MDR
18
P5
20
P5
11
13
15
17
19
11
LG
13
15
17
MRR
19
P5
MITSUBISHI
MELSERVO-J2
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
1
2
3
4
5
6
7
8
9
10
CN2 CN3
1
2
LG
LG
3
4
5
6
MD
7
8
MR
9
10
BAT
2
4
6
8
10
2
RXD
4
MO1
6
8
10
TRE
1
3
5
7
9
1
LG
3
LG
5
RDP
7
9
SDP
12
14
16
18
20
12
TXD
14
MO2
16
18
20
P5
11
13
15
17
19
11
LG
13
LG
15
RDN
17
19
SDN
3 - 11
3. SIGNALS AND WIRING
(b) MR-J2S-11KA or more
CN3
CN1A
Same as the one of the
MR-J2S-700A or less.
CN1B
Same as the one of the
MR-J2S-700A or less.
CN2
1
2
LG
LG
3
4
12
LG
14
11
LG
13
CHARGE
CN4
MITSUBISHI
1
2
1
MO1
2
MO2
4
LG
RXD
4
LG
3
5
6
7
8
9
10
SDP
TRE
12
TXD
14
16
18
20
P5
11
LG
13
15
RDNRDP
17
19
SDN
CON2
For manufacturer adjustment.
Keep this open.
6
MD
8
10
5
7
MR
9
BAT
16
MDR
18
P5
20
P5
15
17
MRR
19
P5
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
3 - 12
3. SIGNALS AND WIRING
(2) CN1A and CN1B signal assignment
The signal assignment of connector changes with the control mode as indicated below.
For the pins which are given parameter No.s in the related parameter column, their signals can be
changed using those parameters.
Connector Pin No.
CN1A
(Note 4) 4
CN1B
Note 1. I : Input signal, O: Output signal
2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. By setting parameters No. 43 to 48 to make TL available, TLA can be used.
4. CN1B-4 and CN1A-18 output signals are the same. However, this pin may not be used when assigning alarm codes to CN1A-
18.
(Note 1)
I/O
1 LGLGLGLGLGLG
2 I NP NP/
3 I PP PP/
4 P15R P15R/P15R P15R P15R P15R P15R
5 O LZ LZ LZ LZ LZ LZ
6 O LA LA LA LA LA LA
7 O LB LB LB LB LB LB
8 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR No.43 to 48
9 COM COM COM COM COM COM
10 SG SG SG SG SG SG
11 OPC OPC/ /OPC
12 I NG NG/ /NG
13 I PG PG/ /PG
14O OPOPOPOPOPOP
15 O LZR LZR LZR LZR LZR LZR
16 O LAR LAR LAR LAR LAR LAR
17 O LBR LBR LBR LBR LBR LBR
18 O INP INP/SA SA SA/ /INP No.49
19O RDRDRDRDRDRDNo.49
20 SG SG SG SG SG SG
1 LGLGLGLGLGLG
2I /VC VC VC/VLA VLA VLA/
3 VDD VDD VDD VDD VDD VDD
O DO1 DO1 DO1 DO1 DO1 DO1
5 I SON SON SON SON SON SON No.43 to 48
6 O TLC TLC TLC TLC/VLC VLC VLC/TLC No.49
7 I LOP SP2 LOP SP2 LOP No.43 to 48
8 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC No.43 to 48
9 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL No.43 to 48
10 SG SG SG SG SG SG
11 P15R P15R P15R P15R P15R P15R
12 I TLA
13 COM COM COM COM COM COM
14 I RES RES RES RES RES RES No.43 to 48
15 I EMG EMG EMG EMG EMG EMG
16 I LSP LSP LSP LSP/ /LSP
17 I LSN LSN LSN LSN/ /LSN
18 O ALM ALM ALM ALM ALM ALM No.49
19 O ZSP ZSP ZSP ZSP ZSP ZSP No.1, 49
20 SG SG SG SG SG SG
PP/SSS/TTT/P
(Note 2) I/O Signals in control modes
(Note 3)
TLA/TLA
(Note 3)
TLA
(Note 3)
TLA/TC
/NP
/PP
TC TC/TLA
Related
parameter
3 - 13
3. SIGNALS AND WIRING
(3) Symbols and signal names
Symbol Signal name Symbol Signal name
SON Servo-on VLC Limiting speed
LSP Forward rotation stroke end RD Ready
LSN Reverse rotation stroke end ZSP Zero speed
CR Clear INP In position
SP1 Speed selection 1 SA Speed reached
SP2 Speed selection 2 ALM Trouble
PC Proportion control WNG Warning
ST1 Forward rotation start BWNG Battery warning
ST2 Reverse rotation start OP Encoder Z-phase pulse (open collector)
TL Torque limit selection MBR Electromagnetic brake interlock
RES Reset LZ
EMG Emergency stop LZR
LOP Control change LA
VC Analog speed command LAR
VLA Analog speed limit LB
TLA Analog torque limit LBR
TC Analog torque command VDD I/F internal power supply
RS1 Forward rotation selection COM Digital I/F power supply input
RS2 Reverse rotation selection OPC Open collector power input
PP SG Digital I/F common
NP P15R 15VDC power supply
PG LG Control common
NG
TLC Limiting torque
Forward/reverse rotation pulse train
SD Shield
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
3 - 14
3. SIGNALS AND WIRING
3.3.2 Signal explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.6.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status.
: Denotes that the signal may be used by setting the corresponding parameter among parameters 43 to
49.
The pin No.s in the connector pin No. column are those in the initial status.
(1) Input signals
Signal Symbol
Servo-on SON CN1B5Turn SON on to power on the base circuit and make the servo
Reset RES CN1B14Turn RES on for more than 50ms to reset the alarm.
Forward
rotation stroke
end
Reverse rotation
stroke end
Connector
pin No.
LSP CN1B
16
LSN CN1B
17
amplifier ready to operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor
(servo off).
Set "
1" in parameter No. 41 to switch this signal on
(keep terminals connected) automatically in the servo
amplifier.
Some alarms cannot be deactivated by the reset signal. Refer to
section 10.2.
Turning RES on in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when "
No. 51.
To start operation, turn LSP/LSN on. Turn it off to bring the
motor to a sudden stop and make it servo-locked.
Set "
1" in parameter No. 22 to make a slow stop.
(Refer to section 5.2.3.)
(Note) Input signals Operation
LSP LSN
11
01
10
00
Note. 0: off
1: on
Set parameter No. 41 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier.
Functions/Applications
1 " is set in parameter
CCW
directionCWdirection
I/O
division
DI-1
DI-1
DI-1
Control
mode
PST
Parameter No.41 Automatic ON
1 LSP
1 LSN
3 - 15
3. SIGNALS AND WIRING
Signal Symbol
External torque
limit selection
Internal
torque limit
selection
Forward
rotation start
Reverse rotation
start
Forward
rotation
selection
Reverse rotation
selection
Connector
pin No.
TL CN1B9Turn TL off to make Internal torque limit 1 (parameter No. 28)
valid, or turn it on to make Analog torque limit (TLA) valid.
For details, refer to section 3.4.1 (5).
TL1 When using this signal, make it usable by making the setting of
parameter No. 43 to 48.
For details, refer to section 3.4.1 (5).
ST1 CN1B
ST2 CN1B
RS1 CN1B
RS2 CN1B
Used to start the servo motor in any of the following directions.
8
9
9
8
(Note) Input signals
ST2 ST1
0 0 Stop (servo lock)
0 1 CCW
10 CW
1 1 Stop (servo lock)
Note. 0: off
1: on
If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the
parameter No. 12 setting and servo-locked.
Used to select any of the following servo motor torque generation
directions.
(Note) Input signals
RS2 RS1
0 0 Torque is not generated.
01
10
1 1 Torque is not generated.
Note. 0: off
1: on
Functions/Applications
Servo motor starting direction
Torque generation direction
Forward rotation in driving mode /
reverse rotation in regenerative mode
Reverse rotation in driving mode /
forward rotation in regenerative mode
I/O
division
DI-1
DI-1
DI-1
DI-1
Control
mode
PST
3 - 16
3. SIGNALS AND WIRING
Signal Symbol
Speed selection 1 SP1 CN1A8<Speed control mode>
Speed selection 2 SP2 CN1B
Speed selection 3 SP3
Connector
pin No.
7
Used to select the command speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
Setting of
parameter
No. 43 to 48
When speed
selection
(SP3) is not
used
(initial status)
When speed
selection
(SP3) is made
valid
Note. 0: off
1: on
<Torque control mode>
Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
Setting of
parameter
No. 43 to 48
When speed
selection
(SP3) is not
used
(initial status)
When speed
selection
(SP3) is made
valid
Note. 0: off
1: on
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
001
010
011
100
101
110
111
SP3 SP2 SP1
0 0 0 Analog speed limit (VLA)
001
010
011
100
101
110
111
Functions/Applications
(Note) Input
signals
0 0 Analog speed command (VC)
01
10
11
(Note) Input
signals
0 0 Analog speed limit (VLA)
01
10
11
Speed command
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No. 10)
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No.10)
Internal speed command 4
(parameter No. 72)
Internal speed command 5
(parameter No. 73)
Internal speed command 6
(parameter No. 74)
Internal speed command 7
(parameter No. 75)
Speed limit
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No. 10)
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No.10)
Internal speed command 4
(parameter No. 72)
Internal speed command 5
(parameter No. 73)
Internal speed command 6
(parameter No. 74)
Internal speed command 7
(parameter No. 75)
I/O
division
DI-1
DI-1
DI-1
Control
mode
PST
3 - 17
3. SIGNALS AND WIRING
Signal Symbol
Proportion
control
Emergency stop EMG CN1B15Turn EMG off (open EMG-common) to bring the motor to an
Clear CR CN1A8Turn CR on to clear the position control counter droop pulses on
Electronic gear
selection 1
Electronic gear
selection 2
Gain changing CDP When using this signal, make it usable by the setting of
Connector
pin No.
PC CN1B8Connect PC-SG to switch the speed amplifier from the
proportional integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically
after positioning completion (stop), switching on the proportion
control (PC) upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control (PC) and torque control (TL) at the same time
to make the torque less than the rated by the analog torque limit.
emergency stop state, in which the base circuit is shut off and the
dynamic brake is operated.
Turn EMG on (short EMG-common) in the emergency stop state
to reset that state.
its leading edge. The pulse width should be 10ms or more.
When the parameter No. 42 setting is "
always cleared while CR is on.
CM1 When using CM1 and CM2, make them usable by the setting of
parameters No. 43 to 48.
The combination of CM1 and CM2 gives you a choice of four
different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.
CM2
(Note) Input signals
CM2 CM1
00 Parameter No. 3
01 Parameter No. 69
10 Parameter No. 70
11 Parameter No. 71
Note. 0: off
1: on
parameter No. 43 to 48.
Turn CDP on to change the load inertia moment ratio into the
parameter No. 61 setting and the gain values into the values
multiplied by the parameter No. 62 to 64 settings.
Functions/Applications
1 ", the pulses are
Electronic gear molecule
I/O
division
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
Control
mode
PST
3 - 18
3. SIGNALS AND WIRING
Signal Symbol
Control change LOP CN1B
Connector
pin No.
7
Functions/Applications
<Position/speed control change mode>
Used to select the control mode in the position/speed control
change mode.
(Note) LOP Control mode
0Position
1 Speed
Note. 0: off
1: on
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.
(Note) LOP Control mode
0 Speed
1Torque
Note. 0: off
1: on
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.
I/O
division
DI-1 Refer to
Control
mode
PST
Functions/
Appli-
cations.
Analog torque
limit
Analog torque
command
Analog speed
command
Analog speed
limit
Forward
rotation pulse
train
Reverse rotation
pulse train
(Note) LOP Control mode
0Torque
1Position
Note. 0: off
1: on
TLA To use this signal in the speed control mode, set any of
TC
VC Apply 0 to 10VDC across VC-LG. Speed set in parameter No. 25
VLA
PP
NP
PG
NG
CN1B
12
CN1B
2
CN1A
3
CN1A
2
CN1A
13
CN1A
12
parameters No. 43 to 48 to make TL available.
When the analog torque limit (TLA) is valid, torque is limited in
the full servo motor output torque range. Apply 0 to
across TLA-LG. Connect the positive terminal of the power supply
to TLA. Maximum torque is generated at
3.4.1 (5)) Resolution:10bit
Used to control torque in the full servo motor output torque
range.
Apply 0 to
at
The torque at
is provided at
Resolution:14bit or equivalent
Apply 0 to 10VDC across VLA-LG. Speed set in parameter No.
25 is provided at
Used to enter a command pulse train.
In the open collector system (max. input frequency 200kpps).
Forward rotation pulse train across PP-SG
Reverse rotation pulse train across NP-SG
In the differential receiver system (max. input frequency
500kpps).
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using parameter
No. 21.
8VDC across TC-LG. Maximum torque is generated
8V. (Refer to section 3.4.3 (1))
8V input can be changed using parameter No. 26.
10V. (Refer to section 3.4.2 (1))
10V. (Refer to section 3.4.3 (3))
10V. (Refer to section
10VDC
Analog
input
Analog
input
Analog
input
Analog
input
DI-2
3 - 19
3. SIGNALS AND WIRING
(2) Output signals
Signal Symbol
Trouble ALM CN1B18ALM turns off when power is switched off or the protective circuit
Dynamic brake
interlock
Ready RD CN1A19RD turns on when the servo is switched on and the servo
In position INP INP turns on when the number of droop pulses is in the preset in-
Speed reached SA
Limiting speed VLC VLC turns on when speed reaches the value limited using any of
Limiting torque TLC
Zero speed ZSP CN1B19ZSP turns on when the servo motor speed is zero speed (50r/min)
Electromagnetic
brake interlock
Warning WNG To use this signal, assign the connector pin for output using
Battery warning BWNG To use this signal, assign the connector pin for output using
Connector
pin No.
is activated to shut off the base circuit.
Without alarm occurring, ALM turns on within about 1s after
power-on.
DB This signal can be used with the 11kW or more servo amplifier.
When using this signal, set "
When the dynamic brake is operated, DB turns off. (Refer to
section 13.1.4.)
amplifier is ready to operate.
CN1A
18
position range. The in-position range can be changed using
parameter No. 5.
When the in-position range is increased, INP-SG may be kept
connected during low-speed rotation.
SA turns on when the servo motor speed has nearly reached the
preset speed. When the preset speed is 20r/min or less, SA
always turns on. SA does not turn on even when the servo on
(SON) is turned off or the servo motor speed by the external force
reaches the preset speed while both the forward rotation start
(ST1) and the reverse rotation start (ST2) are off.
CN1B
the internal speed limits 1 to 7 (parameter No. 8 to 10, 72 to 75)
6
or the analog speed limit (VLA) in the torque control mode.
VLC turns off when servo on (SON) turns off.
TLC turns on when the torque generated reaches the value set to
the internal torque limit 1 (parameter No. 28) or analog torque
limit (TLA).
or less. Zero speed can be changed using parameter No. 24.
MBR CN1B19Set " 1 " in parameter No. 1 to use this parameter. Note that
ZSP will be unusable.
MBR turns off when the servo is switched off or an alarm occurs.
parameter No.49. The old signal before assignment will be
unusable.
When warning has occurred, WNG turns on.
When there is no warning, WNG turns off within about 1s after
power-on.
parameter No.49. The old signal before assignment will be
unusable.
BWNG turns on when battery cable breakage warning (AL. 92) or
battery warning (AL. 9F) has occurred.
When there is no battery warning, BWNG turns off within about
1s after power-on.
Functions/Applications
1 " in parameter No. 1.
I/O
division
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
Control
mode
PST
3 - 20
3. SIGNALS AND WIRING
Signal Symbol
Alarm code ACD 0
ACD 1
ACD 2
Connector
pin No.
CN1A
19
CN1A
18
CN1B
19
Functions/Applications
To use this signal, set " 1 " in parameter No.49.
This signal is output when an alarm occurs. When there is no
alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below.
(Note) Alarm code
CN1B
CN1A
CN1A
19 Pin
18 Pin
19 Pin
000
001
010AL.10Undervoltage
011
100
101
110
Note. 0: off
1: on
Alarm
display
88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error
AL.19 Memory error 3
AL.37 Parameter error
AL.8A
AL.8E Serial communication error
AL.30 Regenerative error
AL.33 Overvoltage
AL.45 Main circuit device
AL.46 Servo motor overheat
AL.50 Overload 1
AL.51 Overload 2
AL.24 Main circuit error
AL.32 Overcurrent
AL.31 Overspeed
AL.35
AL.52 Error excessive
AL.16 Encoder error 1
AL.1A Monitor combination error
AL.20 Encoder error 2
AL.25 Absolute position erase
Serial communication
timeout
Command pulse frequency
alarm
Name
I/O
division
DO-1
Control
mode
PST
3 - 21
3. SIGNALS AND WIRING
Connector pin No.
Signal Symbol
Encoder Z-phase
pulse
(Open collector)
Encoder A-phase
Pulse
(Differential line
driver)
Encoder B-phase
pulse
(Differential line
driver)
Encoder Z-phase
pulse
(Differential line
driver)
Analog monitor 1 MO1 CN34CN41Used to output the data set in parameter No.17 to across
Analog monitor 2 MO2 CN314CN42Used to output the data set in parameter No.17 to across
LAR
LBR
LZR
7kW or
OP CN1A14CN1A14Outputs the zero-point signal of the encoder. One pulse is
LA
CN1A
CN1A
LB
CN1A
CN1A
LZ
CN1A
CN1A
less
6
16
7
17
5
15
11kW or
more
CN1A
6
CN1A
16
CN1A
7
CN1A
17
CN1A
5
CN1A
15
output per servo motor revolution. OP turns on when the
zero-point position is reached. (Negative logic)
The minimum pulse width is about 400
position return using this pulse, set the creep speed to
100r/min. or less.
Outputs pulses per servo motor revolution set in
parameter No. 27 in the differential line driver system.
In CCW rotation of the servo motor, the encoder B-phase
pulse lags the encoder A-phase pulse by a phase angle of
/2.
The relationships between rotation direction and phase
difference of the A
parameter No. 54.
The same signal as OP is output in the differential line
driver system.
MO1-LG in terms of voltage. Resolution 10 bits
MO2-LG in terms of voltage. Resolution 10 bits
Functions/Applications
s. For home
B-phase pulses can be changed using
I/O
division
DO-2
DO-2
DO-2
Analog
output
Analog
output
Control
mode
PST
(3) Communication
Signal Symbol
RS-422 I/F SDP
RDN
RS-422
termination
RS-232C I/F RXD
POINT
Refer to chapter 14 for the communication function.
Connector
pin No.
CN3
SDN
RDP
TRE CN310Termination resistor connection terminal of RS-422 interface.
TXD
CN3
CN3
CN3
CN3
CN3
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
9
19
5
15
When the servo amplifier is the termination axis, connect this
terminal to RDN (CN3-15).
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
2
12
Functions/Applications
I/O
division
Control
mode
PST
3 - 22
3. SIGNALS AND WIRING
(4) Power supply
Connector pin No.
Signal Symbol
I/F internal
power supply
Digital I/F power
supply input
Open collector
power input
Digital I/F
common
15VDC power
supply
Control common LG CN1A
Shield SD Plate Plate Connect the external conductor of the shield cable.
VDD CN1B3CN1B3Used to output 24V 10% to across VDD-SG.
COM CN1A
OPC CN1A11CN1A11When inputting a pulse train in the open collector
P15R CN1A
7kW or
less
9
CN1B
13
SG CN1A
10
20
CN1B
10
20
4
CN1B
11
1
CN1B
1
CN3
1, 11
3, 13
11kW or
more
CN1A
9
CN1B
13
CN1A
10
20
CN1B
10
20
CN1A
4
CN1B
11
CN1A
1
CN1B
1
CN3
1, 11
3, 13
CN4
4
When using this power supply for digital interface,
connect it with COM.
Permissible current : 80mA
Used to input 24VDC for input interface.
Connect the positive terminal of the 24VDC external
power supply.
24VDC
system, supply this terminal with the positive (
of 24VDC.
Common terminal for input signals such as SON and
EMG. Pins are connected internally.
Separated from LG.
Outputs 15VDC to across P15R-LG. Available as power
for TC, TLA, VC, VLA.
Permissible current: 30mA
Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP
,MO1, MO2 and P15R.
Pins are connected internally.
10%
Functions/Applications I/O division
Control
mode
PST
) power
3 - 23
3. SIGNALS AND WIRING
3.4 Detailed description of the signals
3.4.1 Position control mode
(1) Pulse train input
(a) Input pulse waveform selection
Command pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in parameter No. 21.
Arrow
A
B-phase pulse trains are imported after they have been multiplied by 4.
or in the table indicates the timing of importing a pulse train.
Pulse train form
Forward rotation
pulse train
Reverse rotation
pulse train
Pulse train sign
Negative logic
A-phase pulse train
B-phase pulse train
Forward rotation
pulse train
Reverse rotation
pulse train
Pulse train sign
Positive logic
A-phase pulse train
B-phase pulse train
Forward rotation
command
PP
NP
PP
NP
PP
NP
PP
NP
PP
NP
PP
NP
Reverse rotation
command
L
H
H
L
Parameter No. 21
(Command pulse train)
0010
0011
0012
0000
0001
0002
3 - 24
3. SIGNALS AND WIRING
(b) Connections and waveforms
1) Open collector system
Connect as shown below.
Servo amplifier
VDD
OPC
Approx.
PP
(Note)
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
NP
SG
SD
1.2k
Approx.
1.2k
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the
table refer to (1) (a) in this section are voltage waveforms of PP and NP based on SG. Their
relationships with transistor ON/OFF are as follows.
Forward rotation
pulse train
(transistor)
Reverse rotation
pulse train
(transistor)
Forward rotation command Reverse rotation command
(ON)(OFF)
(OFF)
(ON)(OFF)
(ON) (OFF) (ON) (OFF) (ON)
(OFF)
3 - 25
3. SIGNALS AND WIRING
2) Differential line driver system
Connect as shown below.
Servo amplifier
PP
PG
(Note)
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
NP
NG
SD
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010).
For the differential line driver, the waveforms in the table refer to (1) (a) in this section are as
follows.
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line
driver.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation command Reverse rotation command
3 - 26
3. SIGNALS AND WIRING
(2) In-position (INP)
PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset
in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is
performed with a large value set as the in-position range.
Servo-on (SON)
ON
OFF
Alarm
Droop pulses
In position (INP)
Yes
No
In-position range
ON
OFF
(3) Ready (RD)
Servo-on (SON)
Alarm
Ready (RD)
ON
OFF
Yes
No
ON
OFF
80ms or less 10ms or less 10ms or less
(4) Electronic gear switching
The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if
any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.
(Note) External input signal
CM2 CM1
00 Parameter No. 3
01 Parameter No. 69
10 Parameter No. 70
11 Parameter No. 71
Note. 0: off
1: on
Electronic gear molecule
3 - 27
3. SIGNALS AND WIRING
r
(5) Torque limit
CAUTION
rotate according to position deviation in respect to the command position.
(a) Torque limit and torque
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum
value during operation. A relationship between the limit value and servo motor torque is shown
below.
If the torque limit is canceled during servo lock, the servo motor may suddenly
Max. torque
torque
0
0100
Torque limit value [%]
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit
value of the servo motor is shown below. Torque limit values will vary about 5% relative to the
voltage depending on products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore,
use this function at the voltage of 0.05V or more.
100
5%
Torque limit value [%]
0
010
0.05
TLA application voltage [V]
TLA application voltage vs.
torque limit value
2k
Japan resistor
RRS10 or equivalent
2k
Servo amplifie
TL
SG
P15R
TLA
LG
SD
(b) Torque limit value selection
Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using
the external torque limit selection (TL) or the torque limit made valid by the analog torque limit
(TLA) as indicated below.
When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal
torque limit 2 (parameter No. 76) can be selected. However, if the parameter No. 28 value is less
than the limit value selected by TL/TL1, the parameter No. 28 value is made valid.
(Note) External input signals
TL1 TL
0 0 Internal torque limit value 1 (parameter No. 28)
01
10
11
Note. 0: off
1: on
Parameter No. 76
Parameter No. 76
Torque limit value made valid
TLA
Parameter No. 28: Parameter No. 28
TLA
Parameter No. 28: TLA
Parameter No. 28: Parameter No. 28
Parameter No. 28: Parameter No. 76
TLA
Parameter No. 76: Parameter No. 76
TLA
Parameter No. 76: TLA
(c) Limiting torque (TLC)
TLC turns on when the servo motor torque reaches the torque limited using the internal torque
limit 1
2 or analog torque limit.
3 - 28
3. SIGNALS AND WIRING
r
3.4.2 Speed control mode
(1) Speed setting
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied
voltage of the analog speed command (VC). A relationship between the analog speed command
(VC) applied voltage and the servo motor speed is shown below.
Rated speed is achieved at
parameter No.25.
10V with initial setting. The speed at 10V can be changed using
Speed [r/min]
CW direction
Rated speed [r/min]
CCW direction
10
010
VC applied voltage [V]
Rated speed [r/min]
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the rotation direction according to forward rotation start (ST1) and
reverse rotation start (ST2) combination.
(Note 1) External input signals (Note 2) Rotation direction
ST2 ST1
00
0 1 CCW CW CCW
10 CW
11
Note 1. 0: off
1: on
2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.
Polarity 0V Polarity
Stop
(Servo lock)
Stop
(Servo lock)
Analog speed command (VC)
Stop
(Servo lock)
Stop
(No servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
CCW CW
Stop
(Servo lock)
Internal speed
commands
Stop
(Servo lock)
Stop
(Servo lock)
The forward rotation start (ST1) and reverse rotation start (ST2) can be assigned to any pins of the
connector CN1A, CN1B using parameters No. 43 to 48.
Generally, make connection as shown below.
Servo amplifie
ST1
ST2
SG
2k
Japan resistor
RRS10 or equivalent
2k
P15R
VC
LG
SD
3 - 29
3. SIGNALS AND WIRING
(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection
1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
SP2 SP1
0 0 Analog speed command (VC)
0 1 Internal speed command 1 (parameter No. 8)
1 0 Internal speed command 2 (parameter No. 9)
1 1 Internal speed command 3 (parameter No. 10)
Note. 0: off
1: on
Speed command value
By making speed selection 3 (SP3) usable by setting of parameter No. 43 to 48, you can choose the
speed command values of analog speed command (VC) and internal speed commands 1 to 7.
(Note) External input signals
SP3 SP2 SP1
000Analog speed command (VC)
0 0 1 Internal speed command 1 (parameter No. 8)
0 1 0 Internal speed command 2 (parameter No. 9)
0 1 1 Internal speed command 3 (parameter No. 10)
1 0 0 Internal speed command 4 (parameter No. 72)
1 0 1 Internal speed command 5 (parameter No. 73)
1 1 0 Internal speed command 6 (parameter No. 74)
1 1 1 Internal speed command 7 (parameter No. 75)
Note. 0: off
1: on
Speed command value
The speed may be changed during rotation. In this case, the values set in parameters No. 11 and
12 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.
(2) Speed reached (SA)
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
Set speed selection
Start (ST1,ST2)
Servo motor speed
Speed reached (SA)
Internal speed
command 1
ON
OFF
ON
OFF
command 2
(3) Torque limit
As in section 3.4.1 (5).
3 - 30
3. SIGNALS AND WIRING
(CW)
r
3.4.3 Torque control mode
(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by
the servo motor is shown below.
The maximum torque is generated at
parameter No. 26.
8V. Note that the torque at 8V input can be changed with
Max. torque
Generated torque
8
0.05
CW direction
CCW direction
0.05 8
TC applied voltage [V]
Max. torque
Forward rotation (CCW)
Reverse rotation
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low (
0.05 to 0.05V) and the actual speed is close to the
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals Rotation direction
RS2 RS1
0 0 Torque is not generated. Torque is not generated.
CCW (reverse rotation in
01
10
1 1 Torque is not generated.
Note. 0: off
1: on
driving mode/forward
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
Polarity 0V Polarity
Torque control command (TC)
CW (forward rotation in
driving mode/reverse
rotation in regenerative
Torque is not
generated.
mode)
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
Torque is not generated.
Generally, make connection as shown below.
8 to 8V
Servo amplifie
RS1
RS2
SG
TC
LG
SD
3 - 31
3. SIGNALS AND WIRING
e
r
(b) Analog torque command offset
Using parameter No. 30, the offset voltage of
voltage as shown below.
Max. torque
Generated torque
999 to 999mV can be added to the TC applied
Parameter No.30 offset rang
999 to 999mV
0
TC applied voltage [V]
8( 8)
(2) Torque limit
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value
during operation. A relationship between limit value and servo motor torque is as in section 3.4.1 (5).
Note that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No. 8 to 10, 72 to 75 (internal speed limits 1 to
7) or the value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100r/min greater than the desired speed limit value.
Speed [r/min]
CW direction
Rated speed
CCW direction
10
010
VLA applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the limit direction according to forward rotation selection (RS1) and
reverse rotation selection (RS2) combination.
(Note) External input signals Speed limit direction
RS1 RS2
1 0 CCW CW CCW
0 1 CW CCW CW
Note. 0: off
1: on
Analog speed limit (VLA)
Polarity Polarity
Internal speed
commands
Generally, make connection as shown below.
Servo amplifie
SP1
SP2
SG
2k
Japan resistor
RRS10 or equivalent
2k
P15R
VC
LG
SD
3 - 32
3. SIGNALS AND WIRING
(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection
1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed
limit command (VLA), as indicated below.
Setting of parameter
No. 43 to 48
When speed selection
(SP3) is not used
(initial status)
When speed selection
(SP3) is made valid
Note. 0: off
1: on
(Note) Input signals
SP3 SP2 SP1
0 0 Analog speed limit (VLA)
0 1 Internal speed limit 1 (parameter No. 8)
1 0 Internal speed limit 2 (parameter No. 9)
1 1 Internal speed limit 3 (parameter No. 10)
0 0 0 Analog speed limit (VLA)
0 0 1 Internal speed limit 1 (parameter No. 8)
0 1 0 Internal speed limit 2 (parameter No. 9)
0 1 1 Internal speed limit 3 (parameter No. 10)
1 0 0 Internal speed limit 4 (parameter No. 72)
1 0 1 Internal speed limit 5 (parameter No. 73)
1 1 0 Internal speed limit 6 (parameter No. 74)
1 1 1 Internal speed limit 7 (parameter No. 75)
Speed limit value
When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with
the ambient temperature.
(c) Limiting speed (VLC)
VLC turns on when the servo motor speed reaches the speed limited using any of the internal
speed limits 1 to 7 or the analog speed limit (VLA).
3 - 33
3. SIGNALS AND WIRING
3.4.4 Position/speed control change mode
Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode
from an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP Servo control mode
0 Position control mode
1 Speed control mode
Note. 0: off
1: on
The control mode may be changed in the zero speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses
are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below.
Position
control mode
Speed
control mode
Position
control mode
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.
(2) Torque limit in position control mode
As in section 3.4.1 (5).
Zero speed
level
ON
OFF
ON
OFF
(Note)(Note)
3 - 34
3. SIGNALS AND WIRING
2
(3) Speed setting in speed control mode
(a) Speed command and speed
The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the
speed set in the applied voltage of the analog speed command (VC). A relationship between analog
speed command (VC) applied voltage and servo motor speed and the rotation directions determined
by the forward rotation start (ST1) and reverse rotation start (ST2) are as in section 3.4.2 (1) (a).
Generally, make connection as shown below.
Servo amplifier
SP1
SG
k
Japan resistor
RRS10 or equivalent
2k
(b) Speed selection 1 (SP1) and speed command value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed command (VC) as indicated in the following table.
P15R
VC
LG
SD
(Note) External input signals
SP1
0 Analog speed command (VC)
1 Internal speed command 1 (parameter No. 8)
Note. 0: off
1: on
Speed command value
By making speed selection 2 (SP2) speed selection 3 (SP3) usable by setting of parameter No. 43 to
48, you can choose the speed command values of analog speed command (VC) and internal speed
commands 1 to 7.
(Note) External input signals
SP3 SP2 SP1
000Analog speed command (VC)
0 0 1 Internal speed command 1 (parameter No. 8)
0 1 0 Internal speed command 2 (parameter No. 9)
0 1 1 Internal speed command 3 (parameter No. 10)
1 0 0 Internal speed command 4 (parameter No. 72)
1 0 1 Internal speed command 5 (parameter No. 73)
1 1 0 Internal speed command 6 (parameter No. 74)
1 1 1 Internal speed command 7 (parameter No. 75)
Note. 0: off
1: on
Speed command value
The speed may also be changed during rotation. In this case, it is increased or decreased according
to the value set in parameter No. 11 or 12.
When the internal speed command 1 is used to command the speed, the speed does not vary with
the ambient temperature.
(c) Speed reached (SA)
As in section 3.4.2 (2).
3 - 35
3. SIGNALS AND WIRING
3.4.5 Speed/torque control change mode
Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the speed control mode and the torque control mode from
an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP Servo control mode
0 Speed control mode
1 Torque control mode
Note. 0: off
1: on
The control mode may be changed at any time. A change timing chart is shown below.
Torque
control mode
Speed
control mode
Control change (LOP)
Speed
control mode
ON
OFF
Servo motor speed
Analog torque
command (TC)
Note: When the start (ST1 ST2) is switched off as soon as the mode is changed to speed control,
the servo motor comes to a stop according to the deceleration time constant.
(2) Speed setting in speed control mode
As in section 3.4.2 (1).
(3) Torque limit in speed control mode
As in section 3.4.1 (5).
10V
0
(Note)
Load torque
Forward rotation in driving mode
3 - 36
3. SIGNALS AND WIRING
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(4) Speed limit in torque control mode
(a) Speed limit value and speed
The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value
set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed
limit (VLA) applied voltage and the servo motor speed is as in section 3.4.3 (3) (a).
Generally, make connection as shown below.
Servo amplifie
SP1
SG
2k
Japan resistor
RRS10 or equivalent
2k
(b) Speed selection 1 (SP1) and speed limit value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed limit (VLA) as indicated in the following table.
P15R
VLA
LG
SD
(Note) External input signals
SP1
0 Analog speed limit (VLA)
1 Internal speed limit 1 (parameter No. 8)
Note. 0: off
1: on
Speed command value
When the internal speed limit 1 is used to command the speed, the speed does not vary with the
ambient temperature.
(c) Limiting speed (VLC)
As in section 3.4.3 (3) (c).
(5) Torque control in torque control mode
As in section 3.4.3 (1).
(6) Torque limit in torque control mode
As in section 3.4.3 (2).
3 - 37
3. SIGNALS AND WIRING
3.4.6 Torque/position control change mode
Set "0005" in parameter No. 0 to switch to the torque/position control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the torque control mode and the position control mode
from an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP Servo control mode
0 Torque control mode
1 Position control mode
Note. 0: off
1: on
The control mode may be changed in the zero speed status.
To ensure safety, change control after the servo motor has stopped. When position control mode is
changed to torque control mode, droop pulses are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below.
Speed
control mode
Torque
control mode
Speed
control mode
Servo motor speed
Analog torque
command (TLA)
Zero speed (ZSP)
Control change (LOP)
(2) Speed limit in torque control mode
As in section 3.4.3 (3).
(3) Torque control in torque control mode
As in section 3.4.3 (1).
(4) Torque limit in torque control mode
As in section 3.4.3 (2).
(5) Torque limit in position control mode
As in section 3.4.1 (5).
Zero speed
level
10V
0V
ON
OFF
ON
OFF
3 - 38
3. SIGNALS AND WIRING
3.5 Alarm occurrence timing chart
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
CAUTION
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the
control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn
the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.
(Note)
Main circuit
control circuit
power supply
Base circuit
Dynamic brake
Invalid
Servo-on
(SON)
Ready
(RD)
Trouble
(ALM)
Reset
(RES)
operation.
As soon as an alarm occurs, turn off Servo-on (SON) and power off the main
circuit.
ON
OFF
ON
OFF
Valid
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1s
about
Alarm occurs.
Brake operation
50ms or more
Remove cause of trouble.
Power off
Brake operation
60ms or more
Power on
Note. Shut off the main circuit power as soon as an alarm occurs.
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (AL.32),
overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the
servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the
cause of the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative error
If operation is repeated by switching control circuit power off, then on to reset the regenerative (AL.30)
alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (AL.10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J2S- A, or to 158VDC or less for the MR-
A1.
J2S-
(4) In position control mode (incremental)
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.
3 - 39
3. SIGNALS AND WIRING
3.6 Interfaces
3.6.1 Common line
The following diagram shows the power supply and its common line.
24VDC
ALM .etc
DI-1
(Note)
CN1A
CN1B
VDD
COM
SON, etc.
SG
OPC
PG NG
PP NP
CN1A
CN1B
RA
DO-1
Analog input
( 10V/max. current)
Servo motor
M
SG
15VDC 10%
30mA
P15R
TLA
VC etc.
LG
SD
Isolated
SG
OP
LG
LA etc.
LAR
etc.
LG
SD
MO1
MO2
LG
SDP
SDN
RDP
RDN
LG
SD
TXD
RXD
MR
MRR
LG
SD
CN3
Analog monitor output
RS-232C
Servo motor encoder
CN2
Differential line
driver output
35mA max.
RS-422
Ground
Note. For the open collection pulse train input. Make the following connection for the different line driver pulse
train input.
OPC
PG NG
PP NP
SG
3 - 40
3. SIGNALS AND WIRING
r
r
3.6.2 Detailed description of the interfaces
This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
sections 3.3.2.
Refer to this section and connect the interfaces with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (7) in this section.
For use of internal power supply For use of external power supply
Servo amplifie
Do not connect
VDD-COM.
24VDC
200mA or more
Servo amplifier
VDD
COM
SON, etc.
24VDC
R: Approx. 4.7
(Note)
For a transisto
Approx. 5mA
Switch
VDD
COM
SON, etc.
24VDC
R: Approx. 4.7
SGTR
V
1.0V
CES
I
CEO 100 A
Note. This also applies to the use of the external power supply.
Switch
SG
3 - 41
3. SIGNALS AND WIRING
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.
(a) Inductive load
For use of internal power supply For use of external power supply
Servo amplifier
24VDC
ALM, etc
(b) Lamp load
For use of internal power supply For use of external power supply
Servo amplifier
24VDC
VDD
COM
SG
VDD
Load
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
Servo amplifier
24VDC
Note. If the voltage drop (maximum of 2.6V) interferes with the
relay operation, apply high voltage (up to 26.4V) from
external source.
Servo amplifier
24VDC
VDD
COM
ALM, etc
SG
VDD
Do not connect
VDD-COM.
(Note)
Load
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
Do not connect
VDD-COM.
24VDC
10%
COM
ALM, etc
SG
R
Note. If the voltage drop (maximum of 2.6V) interferes with the
relay operation, apply high voltage (up to 26.4V) from
external source.
COM
ALM, etc
SG
R
(Note)
24VDC
10%
3 - 42
3. SIGNALS AND WIRING
(3) Pulse train input interface DI-2
Provide a pulse train signal in the open collector or differential line driver system.
(a) Open collector system
1) Interface
For use of internal power supply For use of external power supply
Servo amplifier
24VDC
Max. input pulse
frequency 200kpps
About 1.2k
(Note)
Do not connect
VDD-OPC.
2m (78.74in) or less
24VDC
(Note)
VDD
OPC
2m (78.74in) or less
PP, NP
SG
VDD
OPC
PP, NP
Servo amplifier
24VDC
Max. input pulse
frequency 200kpps
About 1.2k
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.
SG
SD
2) Conditions of the input pulse
tHL
PP
NP
0.9
0.1
tc
tc tLH
tF
tLH tHL 0.2 s
tc 2 s
tF 3 s
3 - 43
3. SIGNALS AND WIRING
r
A
(b) Differential line driver system
1) Interface
(Note)
10m (393.70in) or less
Servo amplifier
Max. input pulse
frequency 500kpps
PP(NP)
Approx. 100
PG(NG)
2) Conditions of the input pulse
(4) Encoder pulse output DO-2
(a) Open collector system
Interface
Max. output current : 35m
Servo amplifier
Am26LS31 or equivalent
: 2.5V
V
OH
V
: 0.5V
OL
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance
to a pulse train signal line.
tc
PP PG
NP NG
0.9
0.1
tc tLH
SD
tHL
Servo amplifier
tLH tHL 0.1 s
tc 1 s
tF 3 s
tF
5 to 24VDC
OP
LG
SD
3 - 44
OP
LG
SD
Photocouple
3. SIGNALS AND WIRING
r
(b) Differential line driver system
1) Interface
Max. output current: 35mA
Servo amplifier Servo amplifier
LA
(LB, LZ)
LAR
(LBR, LZR)
LG
SD
2) Output pulse
Servo motor CCW rotation
LA
Am26LS32 or equivalent High-speed photocoupler
150
LA
(LB, LZ)
LAR
(LBR, LZR)
SD
100
LAR
LB
LBR
LZ
LZR
OP
T
/2
(5) Analog input
Input impedance 10 to 12k
Upper limit setting 2k
2k
(6) Analog output
Output voltage
10V
Max.1mA
Max. output current
Resolution : 10bit
Servo amplifie
400 s or more
Servo amplifier
P15R
VC‚ etc
Approx.
LG
10k
SD
The time cycle (T) is determined by
the setting of the parameter No. 27 and 54.
15VDC
MO1
(MO2)
LG
SD
10k
Reading in one or
both directions
1mA meter
A
3 - 45
3. SIGNALS AND WIRING
r
(7) Source input interface
When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.
For use of internal power supply For use of external power supply
Servo amplifie
Servo amplifier
SG
(Note)
For a transistor
Approx. 5mA
Switch
TR
1.0V
V
CES
100 A
I
CEO
Note. This also applies to the use of the external power supply.
COM
SON,
etc.
VDD
R: Approx. 4.7
24VDC
Switch
24VDC
200mA or more
SG
COM
SON,etc.
R: Approx. 4.7
When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.
For 11kW or more, the source input interface cannot be used with the internal power supply. Always
use the external power supply.
MITSUBISHI
CON2 CON2
CON2
JP11
Note. The jumper, which is shown black for the convenience of explanation, is actually white.
JP11 JP11
Jumper
For sink input (factory setting) For source input
(Note) (Note)
Jumper
3 - 46
3. SIGNALS AND WIRING
3.7 Input power supply circuit
Always connect a magnetic contactor (MC) between the main circuit power supply
and L
1, 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
CAUTION
3.7.1 Connection example
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as
alarm occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.
POINT
For the power line circuit of the MR-J2S-11KA to MR-J2S-22KA, refer to
section 3.13 where the power line circuit is shown together with the servo
motor connection diagram.
(1) For 3-phase 200 to 230VAC power supply
RA
NFB MC
3-phase
200 to 230 VAC
Emergency
stop
Servo-on
Emergency
stop
OFF
L
1
L
2
L
3
L11
L21
EMG
SON
SG
ON
MC
Servo amplifier
VDD
COM
ALM RA
MC
SK
Trouble
3 - 47
3. SIGNALS AND WIRING
r
(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply
(Note 1)
Emergency
RA
stop
OFF
ON
MC
MC
SK
Power supply
1-phase 100 to
120VAC o
1-phase 230VAC
NFB MC
Servo amplifier
L
1
L
2
(Note 2)
L
3
L11
L21
Emergency stop
Servo-on
EMG
SON
SG
VDD
COM
ALM RA
Trouble
Note 1. Configure the power supply circuit to shut off the magnetic contactor after detecting an alarm occurrence on the
controller side.
2. Not provided for 1-phase 100 to 120VAC.
3 - 48
3. SIGNALS AND WIRING
3.7.2 Terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 11.1.
Symbol
Connection Target
(Application)
L1, L2, L3 Main circuit power supply
U, V, W Servo motor output
L11, L21 Control circuit power supply
Description
Supply L1, L2 and L3 with the following power.
For 1-phase 230VAC, connect the power supply to L
Servo amplifier
Power supply
3-phase 200 to 230VAC,
50/60Hz
1-phase 230VAC,
50/60Hz
MR-J2S-10A to
70A
L
L
1 L2
1-phase 100 to 120VAC,
50/60Hz
MR-J2S-100A
1 L2 L3
1,
L2 and leave L3 open.
MR-J2S-10A1
to 22kA
to 40A1
L
1 L2
Connect to the servo motor power supply terminals (U, V, W).
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
Supply L11 and L12 with the following power.
Servo amplifier
Power supply
1-phase 200 to 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz
MR-J2S-10A to 700A MR-J2S-10A1 to 40A1
L
11 L21
L
11 L21
P1
Power factor improving DC
reactor
P, C, D Regenerative option
N
Return converter
Brake unit
Protective earth (PE)
When not using the power factor improving DC reactor, connect P
1 and P.
(Factory-wired.)
When using the power factor improving DC reactor, disconnect the wiring across
P
1-P2 and connect the power factor improving DC reactor across P1-P.
The power factor improving DC reactor can be used with MR-J2S-11KA to 22KA.
(Refer to section 13.2.4.)
1) MR-J2S-350A or less
When using servo amplifier built-in regenerative resistor, connect P and D.
(Wired by default)
When using regenerative option, disconnect between P-D terminals and
connect regenerative option to P terminal and C terminal.
2) MR-J2S-500A
MR-J2S-500A
700A
do not have D terminal.
700A
When using servo amplifier built-in regenerative resistor, connect P terminal
and C terminal. (Wired by default)
When using regenerative option, disconnect P terminal and C terminal and
connect regenerative option to P terminal and C terminal.
3) MR-J2S-11KA to 22KA
MR-J2S-11KA to 22KA do not have D terminal.
When not using the power supply return converter and the brake unit, make
sure to connect the regenerative option to P terminal and C terminal.
Refer to section 13.1.1.
When using the return converter or brake unit, connect it across P-N.
Do not connect it to the servo amplifier of MR-J2S-200A or less.
Refer to sections 13.1.2 and 13.1.3 for details.
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
3 - 49
3. SIGNALS AND WIRING
3.7.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L
100V: L
1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as
an alarm occurs.
1, L2, L3, single-phase 230V, single-phase
2) Switch on the control circuit power supply L
11, 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.
3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power
supply is switched on. Therefore, when SON is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on
in further about 20ms, making the servo amplifier ready to operate. (Refer to (2) in this section)
4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.
(2) Timing chart
Servo-on (SON) accepted
Main circuit
Control circuit
Power supply
Base circuit
Servo-on
(SON)
Reset
(RES)
Ready
(RD)
Trouble (ALM)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
No (ON)
Yes (OFF)
(1 to 2s)
10ms
60ms
20ms 10ms 20ms
Power-on timing chart
10ms
10ms20ms
60ms
10ms
3 - 50
3. SIGNALS AND WIRING
(3) Emergency stop
CAUTION
power switched off immediately.
Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop.
When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At
this time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input
during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an
emergency stop, always shut off the run command.
Servo amplifier
VDD
COM
Provide an external forced stop circuit to ensure that operation can be stopped and
Emergency stop
EMG
SG
3 - 51
3. SIGNALS AND WIRING
3.8 Connection of servo amplifier and servo motor
3.8.1 Connection instructions
WARNING
shock.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.
Insulate the connections of the power supply terminals to prevent an electric
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.
POINT
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.
The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.
(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo
amplifier
PE terminal
Servo motor
(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
3 - 52
3. SIGNALS AND WIRING
3.8.2 Connection diagram
CAUTION
malfunction or faulty may occur.
POINT
For the connection diagram of the MR-J2S-11KA to MR-J2S-22KA, refer
to section 3.13 where the connection diagram is shown together with the
power line circuit.
The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to section 13.2.1. For
encoder cable connection, refer to section 13.1.5. For the signal layouts of the connectors, refer to section
3.8.3.
For the servo motor connector, refer to chapter 3 of the Servo Motor Instruction Manual.
Servo motor Connection diagram
During power-on, do not open or close the motor power line. Otherwise, a
Servo motor
Motor
(Green)
(Note 2)
Electromagnetic
brake
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
Servo amplifier
U
V
W
CN2
U (Red)
V (White)
W (Black)
EMG
24VDC
B1
B2
(Note 1)
To be shut off when servo-off
or Trouble (ALM)
HC-SFS121 (B) to 301 (B)
HC-SFS202 (B)
HC-SFS203 (B)
HC-UFS202 (B) to 502 (B)
HC-RFS353 (B) to 503 (B)
702 (B)
353 (B)
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
U
V
W
(Note 1)
To be shut off when servo-off
or Trouble (ALM)
CN2
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
24VDC
B1
B2
EMG
Encoder cable
Encoder
Servo motor
U
V
W
Motor
Electromagnetic
brake
Encoder
(Note 2)
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