Mitsubishi Melservo-J2-Super, MR-J2S-B-PY096, MR-J2S-B-S096 Instruction Manual

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General-Purpose AC Servo

J2-Super Series

J2-Super Series MR-J2S- B-PY096 MR-J2S- B-S096(5.7kW) Instruction Manual

SSCNET Fully Closed Control Compatible

MODEL

MR-J2S- B-PY096 MR-J2S- B-S096(5.7kW)

INSTRUCTION MANUAL

A - 1

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

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical

damage.

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 Instruction Manual, always keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

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. You may get an electric shock.

Do not operate the converter unit and 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 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 converter unit and servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large current may cause a fire.

When a regenerative 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.

During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo amplifier heat sink, regenerative resistor, servo motor, etc. 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.

A - 3

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the controller. The controller may drop. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The controller and servo motor must be installed in the specified direction. Leave specified clearances between the servo amplifier and control enclosure walls or other equipment. Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor. Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads. When you keep or use it, please fulfill the following environmental conditions.

Conditions

Environment

Servo amplifier Servo motor

[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)

Operation

[

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)

Ambient temperature

Storage

[

] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

Ambient humidity

Storage 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

Y : 49

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

152

Y : 24.5

HC-SFS121 201 HC-SFS202

352

HC-SFS203

353

HC-UFS202 to 502

X : 24.5 Y : 49

HC-SFS301

HC-SFS502 to 702

X : 24.5 Y : 29.4

[m/s2] 5.9 or less

HA-LFS11K2 to 22K2

X : 11.7 Y : 29.4

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

Y : 161

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152

Y : 80

HC-SFS121 201 HC-SFS202

352

HC-SFS203

353

HC-UFS202 to 502

X : 80 Y : 161

HC-SFS301

HC-SFS502 to 702

X : 80 Y : 96

(Note) Vibration

[ft/s

] 19.4 or less

HA-LFS11K2 to 22K2

X : 38 Y : 96

Note. Except the servo motor with reduction gear.

A - 4

CAUTION

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.

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 misoperate.

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

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 Motor

Servo Amplifier

(drive unit)

Servo Motor

Servo Amplifier

(drive unit)

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 of the servo amplifier relay must be wired in the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.

COM

(24VDC)

Servo Amplifier

Control

output

signal

Servo Amplifier

COM

(24VDC)

Control

output

signal

A - 5

(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 a forced 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.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a 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 interface unit signals but also by a forced stop (EM1).

EM1RA

24VDC

Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR).

Electromagnetic brake

Servo motor

Circuit must be opened during forced stop (EM1).

A - 6

CAUTION

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).

(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 Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

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

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.

A - 7

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-10B-PY096 to MR-J2S-350B-PY096

MR-J2S-500B-S096 to MR-J2S-700B-S096

MR-J2S-10B1-PY096 to MR-J2S-40B1-PY096

Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS

(2) Configuration

Reinforced insulating transformer

NFB

No-fuse breaker

Magnetic contactor

Reinforced insulating type

24VDC power supply

Servo amplifier

Servo motor

Control box

(Note)

Note. The insulating transformer is not required for the 11kW or more servo amplifier.

(3) Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

A - 8

(4) Power supply

(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set

forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in IE644, 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

) of the

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.

PE terminals

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.

(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 12.2.2.

(b) The sizes of the cables described in Section 12.2.1 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

A - 9

(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).

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-10B-PY096 to MR-J2S-350B-PY096

MR-J2S-500B-S096 to MR-J2S-700B-S096

MR-J2S-10B1-PY096 to MR-J2S-40B1-PY096

Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS

(2) Installation

Install a cooling fan of 100CFM (2.8m

/min) air flow 4 in (10.16 cm) above the servo amplifier or

provide cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes after power-off.

Servo amplifier

Discharge time

[min]

MR-J2S-10B(1) 20B(1) 1

MR-J2S-40B(1) 60B 2 MR-J2S-70B to 350B 3 MR-J2S-500B 700B 5

MR-J2S-11KB 4 MR-J2S-15KB 6 MR-J2S-22KB 8

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

A - 10

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to "CONFORMANCE WITH UL/C-UL STANDARD" in the Servo Motor Instruction Manual.

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6

1.1 Overview................................................................................................................................................... 1- 1

1.2 Control block diagram............................................................................................................................. 1- 2

1.3 Specification list....................................................................................................................................... 1- 3

1.4 Model name .............................................................................................................................................. 1- 3

1.5 System configuration............................................................................................................................... 1- 4

2. LINEAR SCALES 2- 1 to 2-30

2.1 Compatible linear scale list .................................................................................................................... 2- 1

2.1.1 Mitutoyo make linear scales (ABS type) ........................................................................................2- 2

2.1.2 Heidenhain make linear encoder (linear scale) (ABS type) ......................................................... 2- 9

2.1.3 Renishaw make linear encoders (linear scales) (INC type)......................................................... 2-15

2.1.4 Sony precision technology make linear encoders (linear scales) (INC type) .............................2-21

2.2 A

B Z-phase differential input Interface unit specifications.......................................................... 2-27

3. SIGNALS AND WIRING 3- 1 to 3- 6

3.1 Standard connection examples of full closed control servo amplifier control signals....................... 3- 1

3.2 Signal

erminal explanation ................................................................................................................. 3- 5

3.3 About power-on ........................................................................................................................................ 3- 6

4. OPERATION AND FUNCTIONS 4- 1 to 4-22

4.1 Startup...................................................................................................................................................... 4- 1

4.1.1 Startup procedure............................................................................................................................. 4- 1

4.1.2 Selection of full closed function ....................................................................................................... 4- 2

4.1.3 Selection of full closed encoder communication system................................................................ 4- 3

4.1.4 Setting of full closed encoder polarity............................................................................................. 4- 4

4.1.5 Setting of full closed encoder electronic gear ................................................................................. 4- 5

4.1.6 Confirmation of full closed encoder position data .........................................................................4- 6

4.1.7 Setting of dual feedback switching filter ........................................................................................ 4- 7

4.2 Home position return operation .............................................................................................................4- 8

4.2.1 General precautions ......................................................................................................................... 4- 8

4.2.2 Full closed encoder types and home position return methods ..................................................... 4- 8

4.3 Operation from controller ...................................................................................................................... 4-15

4.3.1 Operation from controller ...............................................................................................................4-15

4.3.2 Controller setting............................................................................................................................. 4-15

4.4 Functions .................................................................................................................................................4-17

4.4.1 Full closed control error detection.................................................................................................. 4-17

4.4.2 Auto tuning function ....................................................................................................................... 4-18

4.4.3 Machine analyzer function ............................................................................................................. 4-18

4.4.4 Test operation .................................................................................................................................. 4-18

4.5 Absolute position detection system....................................................................................................... 4-19

4.6 About the MR Configurator ................................................................................................................... 4-20

4.6.1 When current version of MR Configurator

(MRZJW3-SETUP121 to -SETUP151 S/W: E0 version) is used ................................................. 4-20

4.6.2 When full closed compatible MR Configurator

(MRZJW3-SETUP151 S/W: E1 version or later) is used .............................................................4-21

5. PARAMETERS 5- 1 to 5- 8

5.1 Parameter list ...................................................................................................................................... 5- 1

6. TROUBLESHOOTING 6- 1 to 6- 2

6.1 Alarm list.................................................................................................................................................. 6- 1

6.2 Scale error (AL. 2A) details classified by linear scale manufacturer .................................................6- 2

7. OPTIONS AND AUXILIARY EQUIPMENT 7- 1 to 7- 2

7.1 CN2 wiring option cable (MR-J2SCLCBL02M-P-H) ........................................................................... 7- 1

1 - 1

1. FUNCTIONS AND CONFIGURATION

1 FUNCTIONS AND CONFIGURATION

1.1 Overview

This Instruction Manual explains the product that imports a position F/B signal from a full closed encoder, such as a linear scale, to the MR-J2S-B servo amplifier to perform full closed control. For the items not described in this Instruction Manual, refer to the MELSERVO-J2S-B Specifications and Installation Guide and Instruction Manual since they are the same as those of the standard model. For the specifications of the A

B Z differential input I/F unit MR-J2S-CLP01, refer to the MR-J2S-

CLP01 Installation Guide.

[Items changed from those of the standard model]

1) The A

B Z differential input I/F unit MR-J2S-CLP01 or Mitsubishi serial interface compatible

linear scale is used to detect the position F/B signal of a full closed encoder such as a linear scale.

2) In addition to the full closed control that feeds back the position signal of the full closed encoder, dual F/B control that feeds back a signal composed of the full closed encoder's position F/B signal and the motor position F/B signal has been added as an extended function.

3) Function to switch pulse output between the full closed encoder and motor end encoder

4) Addition of restriction on the RS232C communication baud rate (enabled for 9600bps only)

[Functions deleted from the standard model]

1) Speed

torque control

2) Motor-less operation (test operation)

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Control block diagram

A full closed control block diagram is shown below.

Controller

Command pulse train electronic gear

Parameter No. 6

Full closed selection Parameter No. 62 (Note 1, 2)

Dual F/B filter Parameter No. 67 (Note 2)

In-position judgment

INP

Command pulse uni t

CMX

Dual f/b position signal

Position deviation

Encoder pulse unit

FCM

FCD

FCM

Servo motor

Linear scale

OP9

FCT

Closed end pulse unit

ABZ phase pulse output selection Parameter No. 68

Full closed control error detection function selection Parameter No. 62, 63, 64

Full closed electronic gear Parameter No. 65, 66

Droop pulses (MR Configurator display, analog monitor)

Droop pulse unit selection Parameter No. 68

Full closed control block diagram

Note 1. Switching between semi closed control and full closed control can be performed by changing the setting of parameter No. 62.

When semi closed control is selected, control is always performed on the basis of the position data of the motor end encoder

(independently of whether the motor is at a stop or running).

2. When parameter No. 62 "full closed function" is valid, dual F/B control in which the motor F/B signal and full closed encoder F/B

signal are combined by the dual F/B filter in parameter No. 67 is performed.

In this case, full closed control is performed when the motor is at a stop, and semi closed control is performed when the motor

is operating to improve control performance. When 1000 is set as the filter value of parameter No. 67, full closed control is

always performed.

Control Mode Item Description

Feature Position is controlled according to the motor end data.

Advantage

Since this control is insusceptible to machine influence (such as machine resonance), the gains of the servo amplifier can be raised and the settling time shortened.

Semi closed control

Disadvantage

If the motor end is at a stop, the machine end may be vibrating or the machine end accuracy not obtained.

Feature

Position is controlled according to the motor end data and machine end data.

Advantage

Control is performed according to the motor end data during operation, and according to the machine end data at a stop in sequence to raise the gains during operation and shorten the settling time. A stop is made with the machine end accuracy.

Dual F/B control

Disadvantage No specific disadvantage. Feature Position is controlled according to the machine end data.

Advantage

The machine end accuracy is obtained not only at a stop but also during operation.

Full closed control

Disadvantage

Since this control is susceptible to machine influence (such as machine resonance), the gains of the servo amplifier do not rise and the settling time increases.

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.3 Specification list

(1) Servo amplifiers

Servo Amplifier Model

MR-J2S-

10B

-PY096

20B

-PY096

40B

-PY096

60B

-PY096

70B

-PY096

100B

-PY096

200B

-PY096

350B

-PY096

500B

-S096

700B

-S096

10B1

-PY096

20B1

-PY096

40B1

-PY096

Voltage frequency

(Note 1)

Three-phase 200 to 230VAC/50, 60Hz

or single-phase 230VAC/50, 60Hz

(Note 2)

Three-phase 200 to 230VAC/50, 60Hz

(Note 2)

Single-phase 100 to

120VAC/50, 60Hz

Permissible voltage

fluctuation

Three-phase 170 to 253VAC/50, 60Hz

or single-phase 207 to 253VAC/50,

60Hz

Three-phase 170 to 253VAC/50, 60Hz

Single-phase 85 to

127VAC/50, 60Hz

Power supply

Permissible

frequency

fluctuation

Within

Control system Sine-wave PWM control current control system

Protective functions

Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal relay),

servo motor overheat protection, encoder error protection, regeneration error protection,

undervoltage

instantaneous power supply protection, overspeed protection, error excessive protection

Structure Self-cooling, open (IP00) Forced cooling, open (IP00)

Self-cooling,

open (IP00)

Ambient

temperature

0 to 55

(non-freezing), storage: 20 to 65 (non-freezing)

Ambient

humidity

90%RH or less (non-condensing), storage: 90%RH or less (non-condensing)

Ambience Indoors (no direct sunlight), without corrosive gas flammable gas oil mist dust and dirt

Altitude 1000m or less above sea level

Environment

Vibration 5.9m/s

or less

Weight (kg) 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1

Note 1. The rated output capacity and rated speed of a servo motor used with the servo amplifier assumes that the power supply

voltage and frequency are as indicated. They cannot be guaranteed when a power supply voltage drop occurs.

2. The torque characteristic of the servo amplifier used with a servo motor assumes that the voltage is three-phase 200 to 230VAC

or single-phase 230VAC.

1.4 Model name

MR-J2S B1

20 40 60

100

200

350 500 700

053, 13

23 43

73 73

053, 13

52, 53

81, 102, 103

121, 201, 152, 202, 153, 203

301, 352, 353

502 702

353, 503

203 202

352, 502

103, 153

152

72, 73

13 23 43

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

Mitsubishi general-purpose AC servo amplifier series name

Compatible motor list

B: SSCNET compatibility

Symbol

Note. The standard specifications comply with the EN, UL and cUL Standards.

Symbol

Power supply

None

Three-phase 200VAC or single-phase 230VAC (Note 1)

Single-phase 100VAC (Note 2)

Note: 1. Single-phase 230VAC is for only the servo amplifier of MR-J2S-70 or less.

2. For only the servo amplifier of MR-J2S-40 or less.

Symbol

PY096

S096

Full closed control compatible amplifier

MR-J2S-B type

0.05 to 3.5kw

MR-J2S-B type

5.0, 7.0kw

PY096

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.5 System configuration

(1) When A

B Z differential input interface unit (MR-J2S-CLP01) is used

The A

B Z differential input interface unit (MR-J2S-CLP01) converts external ABZ phase pulses into a position feedback signal that can be used for serial communication. Full closed control is enabled by connecting the output of the MR-J2S-CLP01 to the servo amplifier encoder connector.

CAUTION

When the MR-J2S-CLP01 is used, a linear scale without Z phase cannot be connected. Use a linear scale that has the Z phase.

System configuration example 1 (when ABZ pulse train-specified linear scale is used)

SSCNET controller

Servo amplifier

Position command control signal

CN1A

CN1B

CN2

SSCNET

Encoder signal

Linear scale

A, B, Z phase output (ALM output)

ABZ differential input I/F unit

Servo motor

To other axis

General-purpose pulse output linear scale

MR-J2S-CLP01

Note 1. A linear scale without Z phase cannot be connected.

2. No compatibility with an absolute position detection system.

System configuration example 2 (when ABZ phase pulse train-specified rotary encoder is used)

SSCNET controller

Servo amplifier

Position command control signal

CN1A

CN1B

CN2

SSCNET

Encoder signal

Rotary encoder

A, B, Z phase output (ALM output)

ABZ differential input I/F unit

Servo motor

To other axis

General-purpose pulse output encoder

MR-J2S-CLP01

Note 1. A rotary without Z phase cannot be connected.

2. No compatibility with an absolute position detection system.

3. In this example, full closed control cannot be performed if there is no stock (work).

1 - 5

1. FUNCTIONS AND CONFIGURATION

(2) When A B Z differential input interface unit (MR-J2S-CLP01) is not used

System configuration example 3 (when serial communication-specified linear scale is used)

SSCNET controller

Servo amplifier

Position command control signal

CN2

SSCNET

Encoder signal

Linear scale

Serial communication signal cable

Servo motor

To other axis

Serial I/F linear scale

Note 1. When an ABS type linear scale is used, this example is compatible with an absolute position detection system. Note that

the battery (MR-BAT) is not needed.

System configuration example 4 (when serial communication-specified servo motor is used)

SSCNET controller

Servo amplifier

Position command control signal

CN2

SSCNET

Encoder signal

Drive section

Serial communication signal cable

Driving servo motor

To other axis

Serial I/F encoder

Position detection section (detecting servo motor and pulley)

Use the HC-MFS/KFS series servo motor.

(131072p/rev resolution)

No compatibility with absolute position detection.

Note 1. Use the HC-KFS series or HC-MFS series servo motor in the position detection section.

2. No compatibility with an absolute position detection system.

1 - 6

1. FUNCTIONS AND CONFIGURATION

MEMO

2 - 1

2. LINEAR SCALES

2 LINEAR SCALES

Contact the linear scale manufacturer for details of the linear scales such as the specifications, performance and warranties.

2.1 Compatible linear scale list

Scale Type Manufacturer Model Resolution

Rated Speed

(Note 1)

Effective

Measurement

Length (Maximum)

Communication

System

Absolute

Position

System

AT343A 3000mm

Mitutoyo

AT543A

0.05 m2.0m/s 1500mm

2 wire type

ABS type

Heidenhain LC491M 0.05

m 2.0m/s 2040mm 4 wire type

SL710

PL101R

MJ830

0.2

(Note 2)

6.4m/s 3000mm

Sony Precision Technology

SH13 MJ830

0.005

(Note 2)

1.4m/s 1240mm

2 wire type

RGH26P 5.0 m4.0m/s RGH26Q 1.0 m3.2m/s

Mitsubishi serial interface compatibility

INC type

Renishaw

RGH26R 0.5

m1.6m/s

70000mm 2 wire type

A/B/Z phase differential output (MR-CLP01 used) A/B/Z signal required

(Note 3)

INC type

Not specified (Note 3)

Scale dependent

(Note 4)

Scale

dependent

Scale dependent 2 wire type

Note 1. The upper limit value of the linear servo motor speed is the lower value of the maximum speed of the linear servo motor and the

rated speed of the linear scale.

2. Changes depending on the setting of the interpolator (MJ830: Sony Precision Technology make). Set the resolution within the

range of the minimum resolution to 5

3. The phase difference between the A-phase pulse and B-phase pulse must be 500ns or more, and the Z-phase pulse width be

equivalent to one cycle of the A-phase pulse. Also, the Z phase must be synchronized with the A phase/B phase.

4. The permissible resolution range is 0.005 to 5

m. Select the linear scale within this range.

[About handling of the linear scale]

If the linear scale is mounted improperly, for example, an alarm, position shift, etc. may occur. In such cases, also check the mounting of the linear scale.

General check items of the linear scale

(a) Check that the gap between the head and scale is proper. (b) Check the scale head for rolling and yawing (looseness of scale head section). (c) Check the scale surface for contamination and scratches. (d) Check that the vibration and temperature are within the operating range. (e) Check that the speed is within the permissible range without overshooting.

For detailed check items, contact the linear scale manufacturer.

A phase

B phase

Phase difference between A phase and B phase: 500ns or more

Z phase

One cycle of A phase

2 - 2

2. LINEAR SCALES

2.1.1 Mitutoyo make linear scales (ABS type)

Specifications Reference

Contact Mitutoyo for the specifications of these linear scales.

Item Specifications

Model AT343A- AT543ASystem Capacitive, photoelectric, combined type Effective measurement length 100 to 3000mm 100 to 1500mm Resolution 0.05 m

Indication accuracy (20 )

100 to 1500mm: 3

3L/1000 m

1600mm to 3000mm: 5

5L/1000 m

L: Effective measurement length

100 to 1500mm: 3

3L/1000 m

L: Effective measurement length

Supply power voltage 5V 5% Current consumption Max.250mA Max.270mA Rated response speed 2.0m/s Maximum response speed 2.0m/s Operating temperature range 0 to 45 (non-freezing) 0 to 50 (non-freezing) Operating humidity range 20 to 80%RH (non-condensing) Storage temperature range 20 to 70 (non-freezing) Storage humidity range 20 to 80%RH (non-condensing)

Dust tightness water tightness

IP53 or equivalent

(in the indication method given in the instruction manual of the Mitutoyo make linear scale) Vibration resistance 100m/s2 (55 to 2000Hz) 150m/s2 (55 to 2000Hz) Shock resistance 150m/s2 (1/2sin, 11ms) 200m/s2 (1/2sin, 11ms) Sliding force 5N or less Output signal Serial communication compatibility

Output cable

Mitutoyo make option

Part No. 09BAA598A to C:0.2, 2, 3m

Supplied as standard

Head cable 5m

output cable 1m

Connection cable (Mitsubishi option)

Refer to the standard connection example in Chapter 3 and fabricate the cable.

When the MR-J2SCLCBL02M-P-H is used, any of the following Mitsubishi cables can also be used (Note 1). Output cable length 0.2m: MR-JCCBL2, 5,

10M-H

2m: MR-JCCBL2, 5M-H

3m: MR-JCCBL2M-H

Refer to the standard connection example in Chapter 3 and fabricate the cable.

When the MR-J2SCLCBL02M-P-H is used, any of the following Mitsubishi cables can also be used (Note 1). MR-JCCBL2, 5, 10M-H

Note 1. The MR-JCCBL M-L and MR-JCCBL20M-H and more (20m and more) cannot be used.

2. The battery (MR-BAT) is not required to configure an absolute position detection system.

Scale unit structure Reference

Home position

Decreasing direction

Mitutoyo

AT343A

Output cable

Home position

Mitutoyo

AT543A

Output cable Head cable

Increasing direction

Decreasing direction Increasing direction

2 - 3

2. LINEAR SCALES

AT343A and AT543A mounting dimension tables Reference (Dimension unit: mm)

The following tables indicate L0 to L4 and number of mounting blocks or number of fixing holes in the outline drawings shown on the next page.

Mounting

Block Fixing

Pitch

Mounting

Block Fixing

Pitch

Model

Effective

Measurement

Length

Maximum

Moving Length

Full

Length

L3 L4

Number of

Mounting

Blocks

(pcs.)

Model

Effective

Measurement

Length

Maximum

Moving Length

Full

Length

L3 L4

Number of

Mounting

Blocks

(pcs.)

AT343A-

300

300 330 440 220 150

AT343A-

1300

1300 1360 1470 735 325

AT343A-

350

350 380 490 245 175

AT343A-

1400

1400 1460 1570 785 350

AT343A-

400

400 430 540 270 200

AT343A-

1500

1500 1560 1670 835 375

AT343A-

450

450 480 590 295 225

AT343A-

1600

1600 1690 1800 900 400

AT343A-

500

500 540 650 325 250

AT343A-

1700

1700 1790 1900 950 425

AT343A-

600

600 650 760 380 300

AT343A-

1800

1800 1890 2000 1000 450

AT343A-

700

700 760 870 435 350

AT343A-

2000

2000 2100 2210 1105 335

AT343A-

750

750 810 920 460 375

AT343A-

2200

2200 2300 2410 1205 370

AT343A-

800

800 860 970 485 400

AT343A-

2400

2400 2500 2610 1305 400

AT343A-

900

900 960 1070 535 450

AT343A-

2500

2500 2600 2710 1355 315

AT343A-

1000

1000 1060 1170 585 500

AT343A-

2600

2600 2700 2810 1405 325

AT343A-

1100

1100 1160 1270 635 275

AT343A-

2800

2800 2900 3010 1505 350

AT343A-

1200

1200 1260 1370 685 300

AT343A-

3000

3000 3050 3210 1605 375

Model

Effective

Measurement

Length

Maximum

Moving

Length

Mounting

Hole Position

Full

Length

Number of

Fixing

Holes

(n) (pcs.)

Model

Effective

Measurement

Length

Maximum

Moving Length

Mounting

Hole

Position

Full

Length

Number of

Fixing Holes

(n)

(pcs.)

AT543A-

100

100 120 12.5 225 3

AT543A-

700

700 720 12.5 825 9

AT543A-

150

150 170 37.5 275 3

AT543A-

750

750 770 37.5 875 9

AT543A-

200

200 220 12.5 325 4

AT543A-

800

800 820 12.5 925 10

AT543A-

250

250 270 37.5 375 4

AT543A-

900

900 920 12.5 1025 11

AT543A-

300

300 320 12.5 425 5

AT543A-

1000

1000 1020 12.5 1125 12

AT543A-

350

350 370 37.5 475 5

AT543A-

1100

1100 1120 12.5 1225 13

AT543A-

400

400 420 12.5 525 6

AT543A-

1200

1200 1220 12.5 1325 14

AT543A-

450

450 470 37.5 575 6

AT543A-

1300

1300 1320 12.5 1425 15

AT543A-

500

500 520 12.5 625 7

AT543A-

1400

1400 1420 12.5 1525 16

AT543A-

600

600 620 12.5 725 8

AT543A-

1500

1500 1520 12.5 1625 17

2 - 4

2. LINEAR SCALES

AT343A outline drawing Reference (Dimension unit: mm)

Effective measurement length 300mm to 3000mm

This outline drawing is based on the data from Mitutoyo. Contact Mitutoyo for this outline drawing.

Spot facing

depth 5

11.6

32.5

50.5 15

95.5

0.1

2.5

7.5

807

0.2

(42)

12.6

(

0.5

)

Scale body mounting surface

Detection head mounting surface

Air supply port (M5) (Provided at both ends)

Full length L2

Mounting block fixing pitch L3

Mounting block fixing pitch L4 Mounting block fixing pitch L4

Elastical ly fixing area

Mounting block

Completely fixing area

Elastically fixing area

Spot facing depth 6.5

G: Machine guide

Effective measurement length L0 Maximum moving lengt h L1

View X

11 (hexagon)

Detection head mounting surface

Scale body mounting surface

Option (L = any of three different len gths, 0.2m, 2m, 3m)

Signal cable

(Vinyl sheathed)

( 16)

1.5 0.2

66 0.3

60 0.2

The signal cable is optional. (Part No.09BAA598A to C: 0.2m, 2m, 3m)

1.5 0.2

0.2 G

AT543A outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Mitutoyo. Contact Mitutoyo for this outline drawing.

Air supply port (M5 0.8)

0.1

8.5

(1.5)

0.1

(17)

4.5

(40)

(

19.2

)

(19.6)

13.4

0.1

0.03/100

Scale unit mounting surface

(Provided on both sides)

Mounting hole position: L2

(4.8)

Fixing screw: M4 0.8 (L = 18mm or more)

Full length: L3

(4.8)

Mounting hole pitch P 100mm (n 1)

Position where absolute value data is zero

(Nearly at scale center)

2 8 spot facing depth 5(One side only)

2 M6 1

(through)

60 0.2

Fixing screw: M4 0.8L = 20mm or more, or can be fixed with M6 screw from rear side.

Effective measurement length: L0

Maximum moving length: L1

G: Machine guide

Fixing screw: M4 0.8L = 18mm or more, or can be fixed with M6 screw from rear side.

Output cable (Vinyl sheath)

Alarm display LED window

Waterproof connector

2 M6 1

(through)

Scale uni t

Head cable (Vinyl sheath)

Interface unit

Scale unit mounting surface

0.1

1 0.1

(

45.2 0.2

15.5

71 0.2

31 0.2

6.5

2 - 5

2. LINEAR SCALES

Connection cable connection examples (1)

The following cable wiring examples assume that the linear scale is connected directly to CN2 of the servo amplifier.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications

AWG24 AT343A Mitutoyo make output cable 2m AWG24 AT543A Mitutoyo make output cable 1m

[Connection example]

10120-3000PE, 10320-52F0- 008 (3M make or equi valent )

(Note 1)

Mitutoyo make linear scale

Plate

(Note 2)

CN2

Servo motor

Encoder

(Note 3)

Servo ampli fier MR-J2S -

-PY096/S096

50m or less (2 wire type)

5m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side

output cable and connector.

[Linear scale side connector] (Note 4)

Applicable

Housing

172161-9

(Tyco Electronics

or equivalent)

RDAD-15S-LNA

(Hirose Electric

or equivalent)

RQ 1 7

/RQ 2 8

P5 ( 5V) 7 3, 4

LG (0V) 8 1, 2

FG 9 15

2 - 6

2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications

AWG24 AT343A Mitutoyo make output cable 0.2m AWG22 AT543A Mitutoyo make output cable 1m

[Connection example]

The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5 connections must be changed according to the following table.

(Note 1)

Mitutoyo make linear scale

RMRR

Plate

/RQ

(Note 2)

CN2

Servo motor

Encoder

(Note 3)

Servo amplifier MR-J2S -

-PY096/S096

10120-3000PE, 10320-52F0-0 08 (3M make or equivalent )

50m or less (2 wire type)

30m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side

output cable and connector.

Wiring

Length

Number of LG and

P5 Connections

to 5m 2 parallel to 10m 4 parallel to 15m 6 parallel to 20m 8 parallel to 25m 10 parallel to 30m 12 parallel

[Linear scale side connector] (Note 4)

Applicable

Housing

172161-9

(Tyco Electronics

or equivalent)

RDAD-15S-LNA

(Hirose Electric or

equivalent)

RQ 1 7

/RQ 2 8

P5 ( 5V) 7 3, 4

LG (0V) 8 1, 2

FG 9 15

2 - 7

2. LINEAR SCALES

Connection cable connection examples (2)

The following cable wiring examples assume that the linear scale is connected to CN2 of the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications

AWG24 AT343A Mitutoyo make output cable 2m AWG24 AT543A Mitutoyo make output cable 1m

[Connection example]

10120-3000PE, 10320-52F0- 008 (3M or equivalent)

To CN2

Servo motor

Encoder

(Note 1)

Mitutoyo make linear scale

1912P5

Plate

/RQ

(Note 2)

(Note 3)

Servo amplifier MR-J 2S-

-PY096/S096

Linear scale connector

Option cable (MR-J2SCLCBL02M-P-H)

5m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side

output cable and connector.

5. When the MR-J2SCLCBL02M-P-H is used, the Mitsubishi option cable can be used as the linear scale connection cable.

Scale Model

Scale Side Output

Cable Length

Mitsubishi Option Cable

Model

0.2m MR-JCCBL2, 5, 10M-H 2m MR-JCCBL2, 5M-H

AT343A

3m MR-JCCBL2M-H

AT543A 1m MR-JCCBL2, 5, 10M-H

[Linear scale side connector] (Note 4)

Applicable

Housing

172161-9

(Tyco Electronics

or equivalent)

(Note 5)

RDAD-15S-LNA

(Hirose Electric or

equivalent)

RQ 1 7

/RQ 2 8

P5 ( 5V) 7 3, 4

LG (0V) 8 1, 2

FG 9 15

2 - 8

2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications

AWG24 AT343A Mitutoyo make output cable 0.2m AWG22 AT543A Mitutoyo make output cable 1m

[Connection example]

The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5 connections must be changed according to the following table.

10120-3000PE, 10320-52F0-008 (3M or equi valent)

To CN2

Servo mot or

Encoder

(Note 1)

Mitutoyo make linear scale

1912P

5LG7

Plat e

RMRRP5

(Note 2)

(Note 3)

Servo ampli fier MR- J2 S-

-PY096/ S096

Linear scale connect or

Opti on cabl e (MR-J2SCLCBL02M-P-H)

30m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MRJ2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side output cable and connector.

5. When the MR-J2SCLCBL02M-P-H is used, the Mitsubishi option cable can be used as the linear scale connection cable.

Scale Model Scale Side Output Cable Length Mitsubishi Option Cable Model

0.2m MR-JCCBL2, 5, 10M-H 2m MR-JCCBL2, 5M-H

AT343A

3m MR-JCCBL2M-H

AT543A 1m MR-JCCBL2, 5, 10M-H

[Linear scale side connector] (Note 4)

Applicable

Housing

172161-9

(Tyco Electronics

or equivalent)

(Note 5)

RDAD-15S-LNA

(Hirose Electric or

equivalent)

RQ 1 7

/RQ 2 8

P5 ( 5V) 7 3, 4

LG (0V) 8 1, 2

FG 9 15

Wiring

Length

Number of LG

and P5

Connections

to 5m

2 parallel

to 10m

4 parallel

to 15m

6 parallel

to 20m

8 parallel

to 25m

10 parallel

to 30m

12 parallel

2 - 9

2. LINEAR SCALES

2.1.2 Heidenhain make linear encoder (linear scale) (ABS type) Scheduled to be compatible

Specifications Reference Scheduled to be compatible

Contact Heidenhain for the specifications of this linear encoder (linear scale). Heidenhain Sales Section No. 2: TEL. (03) 3234-7781

Item Specifications

Model LC491M System Photoelectric scanning system Effective measurement length 70 to 2040mm Resolution 0.05 m

Accuracy grade (20 )

5 m

3 m (up to effective measurement length 1240) Supply power voltage 5V 5% on the linear encoder side Current consumption Max.300mA Rated response speed 2.0m/s Maximum response speed 2.0m/s Operating temperature range 0 to 50 (non-freezing) (Note 2) Storage temperature range 20 to 70

(non-freezing)

Dust tightness water tightness

IP53 (when mounted according to the manual of the Heidenhain make linear encoder)

IP64 (when filled with compressed air)

Vibration resistance

100m/s

(DINIEC 68-2-6) without mounting spur

150m/s

(DINIEC 68-2-6) with mounting spur Shock resistance 150m/s2 (DINIEC 68-2-6) (11ms) Required feeding force 5N or less Output signal Serial communication compatibility Output cable 337 439 (17 pin coupling), 367 425 0 (20 pins), etc. (Note 1) Connection cable Refer to the standard connection example in Chapter 3 and fabricate the cable.

Note 1. When the MR-J2SCLCBL02M-P-H is used, 367 425 (5m or less) can be connected directly.

2. The linear encoder (linear scale) is extremely sensitive to the operating temperature. When it exceeds 50

, an alarm may

occur. It is recommended to pay special attention to the operating temperature and secure the temperature change margins.

3. The battery (MR-BAT) is not required to configure an absolute position detection system.

Linear encoder (linear scale) unit structure Reference Scheduled to be compatible

Decreasing direction Increasing direction

(With the housing section fixed)

Home position

2 - 10

2. LINEAR SCALES

LC491M outline drawing Reference Scheduled to be compatible (Dimension unit: mm)

This outline drawing is based on the data from Heidenhain. Contact Heidenhain for this outline drawing.

DIN ISO 8015 ISO 2768-m H

Without mounting spur With mounting spur

Machine gu ide Measurement point for adjustment Dimensional tolerance for machine installation Compressed air filling port

Measurement length starting point (pos. 20mm)

Mounting s pur

2 - 11

2. LINEAR SCALES

Connection cable connection examples (1)

The following cable wiring examples assume that the linear encoder (linear scale) is connected directly to CN2 of the servo amplifier.

CAUTION

When the Heidenhain linear encoder (linear scale) is used, the communication system is of 4 wire type. Change the setting of serial encoder cable selection (parameter No. 23) as indicated below. If a wrong value is set, a servo alarm (alarm 70) occurs.

Pr.23

2 (4 wire type setting is made valid.)

(1) Connection example of up to 5m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]

(Note 1)

Heidenhain make linear encoder

(linear scale)

(Linear encoder head section)

RMRR

Pla te

MDR

/RQ

(Note 2)

CN2

Servo mot or

Encoder

(Note 3)

Servo ampli fier MR- J 2S -

-PY096/ S096

5V/sensor

0V/sensor

10120-3000PE, 10320-52F0-008 (3M make or equi valent)

50m or less (2 wire type)

5m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of

the MR-J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear

encoder (linear scale) side output cable and connector.

[Linear scale side connector] (Note 4)

Applicable

Housing

17 Pin Coupling

291697-26 (Female)

(Heidenhain make)

20 Pin Connector

(3M or equivalent)

SD 14 6

/SD 17 16

RQ 8 7

/RQ 9 17

5V 7 20

0V 10 1 5V/sensor 1 19 0V/sensor 4 11

2 - 12

2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]

The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5 connections must be changed according to the following table.

RMRR

Plate

(Note 2)

CN2

Servo motor

Encoder

(Note 3)

Servo amplifier MR-J 2S-

-PY096/S096

(Note 1)

Heidenhain make li near encoder (linear scale)

(Linear encoder head section)

/RQ

5V/sensor

0V/sensor

MD2

MDR2

10120-3000PE, 10320-52F0-008 (3M make or equivalent )

50m or less (2 wire type)

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder

(linear scale) side output cable and connector.

Wiring

Length

Number of LG and

P5 Connections

to 5m 2 parallel to 10m 4 parallel to 15m 6 parallel to 20m 8 parallel to 25m 10 parallel to 30m 12 parallel

[Linear scale side connector] (Note 4)

Applicable

Housing

17 Pin Coupling

291697-26 (Female)

(Heidenhain make)

20 Pin Connector

(3M or equivalent)

SD 14 6

/SD

17 16

RQ 8 7

/RQ 9 17

5V 7 20

0V 10 1 5V/sensor 1 19 0V/sensor 4 11

2 - 13

2. LINEAR SCALES

Connection cable connection examples (2)

The following cable wiring examples assume that the linear encoder (linear scale) is connected to CN2 of the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]

10120-3000PE, 10320-52F0- 52F0-008 (3M or equivalent)

To CN2

Servo motor

Encoder

1912P5

Plate

(Note 2)

(Note 3)

Servo amplifier MR-J2 S-

-PY096/S096

Linear scale connector

Option ca ble (MR-J2SCLCBL02M-P-H)

(Note 1)

Heidenhain make linear encoder

(linear scale)

(Linear encoder head section)

5V/sensor

0V/sensor

717M

RMRR

5m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder

(linear scale) side output cable and connector.

5. Can be connected directly when the MR-J2SCLCBL02M-P-H is used.

[Linear scale side connector] (Note 4)

Applicable

Housing

17 Pin Coupling

291697-26 (Female)

(Heidenhain make)

20 Pin Connector

(Note 5)

(3M or equivalent)

SD 14 6 /SD 17 16 RQ 8 7

/RQ 9 17

5V 7 20

0V 10 1

5V/sensor 1 19 0V/sensor 4 11

2 - 14

2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]

The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5 connections must be changed according to the following table.

10120-3000PE, 10320-52F0-008 (3M or equi valent)

To CN2

Servo motor

Encoder

1912P

5LG6

Pla te

(Note 2)

(Note 3)

Servo ampli fier MR- J2 S-

-PY096/ S096

Linear scale connector

Opti on cabl e (MR-J2SCLCBL02M-P-H)

(Note 1)

Heidenhain make linear encoder (linear sc ale)

(Linear encoder head section)

5V/sensor

0V/sensor

RMRR

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MRJ2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder (linear scale) side output cable and connector.

5. Can be connected directly when the MR-J2SCLCBL02M-P-H is used.

Wiring

Length

Number of LG and

P5 Connections

to 5m 2 parallel to 10m 4 parallel to 15m 6 parallel to 20m 8 parallel to 25m 10 parallel to 30m 12 parallel

[Linear scale side connector] (Note 4)

Applicable

Housing

17 Pin Coupling

291697-26 (Female)

(Heidenhain make)

20 Pin Connector

(Note 5)

(3M or equivalent)

SD 14 6

/SD

17 16

RQ 8 7

/RQ 9 17

5V 7 20

0V 10 1 5V/sensor 1 19 0V/sensor 4 11

2 - 15

2. LINEAR SCALES

2.1.3 Renishaw make linear encoders (linear scales) (INC type)

Specifications Reference

Contact Renishaw for the specifications of these linear encoders (linear scales). Renishaw Encoder Section: TEL. (03) 5332-6023

Item Specifications

Model RGH26P RGH26Q RGH26R System Optical system Effective measurement length Maximum length 70000mm Resolution 5 m1m0.5m Accuracy (20 ) 3 m/m (when compensation is made between two points) Supply power voltage 5V 5% Current consumption Max.230mA Rated response speed (Note 1) 4.0m/s 3.2m/s 1.6m/s Maximum response speed 5.0m/s 4.0m/s 2.0m/s Operating temperature range 0 to 55 (non-freezing) Operating humidity range 10 to 90%RH (non-condensing) Storage temperature range 20 to 70 (non-freezing) Dust tightness water tightness IP50 Vibration resistance 100m/s2 (55 to 2000HZ) Shock resistance 1000m/s2 (1/2sin, 11ms)

Output signal

Serial communication compatibility

(Z phase data included, serial communication of reference mark data is also is made) (Note 3) Output cable Renishaw make N-15 PIN Dtype Dtype plug (0.5m) Connection cable Refer to the standard connection example in Chapter 3 and fabricate the cable.

Note 1. Use at the rated speed or less.

2. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for

isolation.

3. A home position return cannot be made if there is no encoder (scale) home position (reference mark). Always provide an

encoder (scale) home position (reference mark).

Linear encoder (linear scale) unit structure Reference

RENISHAW RGH26

Increasing direction Decreasing direction

Note 1. Always set an encoder (scale) home position (reference mark).

2 - 16

2. LINEAR SCALES

RGH26P, RGH26Q, RGH26R outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Renishaw. Contact Renishaw for this outline drawing.

Reference mark actuator

Dynamic bending radius R50

Static bending radius R10

6 minimum

Reference mark sensor position

Optical center

M3 0.5, two 9.5 deep holes

(Yaw tolerance 0.5 )

0.38

Mounting surface

Setup LED

(Roll tolerance 1.0 )

0.13

Mounting surface range

Selectable mounting surface

Q limit sensor position

M3 0.5, two 7.5 deep holes

Mount the Q limit switch with the white point up.

P limit sensor position

P limit switch Mount it with the white point directed toward the machine stock side. (Size is the same as that of the Q limit switch.)

The arrow indicates the forward moving direction of the read head relative to the scale.

Scale mounting surface

Clearance detail

(Pitch tolerance 1.0 )

0.8

0.8 0.1

7.6

11.6

15.5

10.5

23.5

14.614.6

10.6

2.2

4.7

14.5

2 - 17

2. LINEAR SCALES

Connection cable connection examples (1)

The following cable wiring examples assume that the linear encoder (linear scale) is connected directly to CN2 of the servo amplifier.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 RGH26 Renishaw make output cable 0.5m

[Connection example]

(Note 1)

Renishaw make linear encoder

(linear scale)

RMRR

Plate

DMDR

RMRR

Inner

(Note 2)

CN2

Servo motor

Encoder

(Note 3)

Servo ampli fier MR-J2S -

-PY096/S096

Limit s witch out put (Note 4)

(Note 5)

10120-3000PE, 10320-52F0- 008 (3M make or equi valent)

50m or less (2 wire type)

5m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MRJ2S-

B standard model.

4. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for isolation as shown above. Contact the scale manufacturer for detailed specifications of the limit switch.

5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.

6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder (linear scale) side output cable and connector.

/P, /Q

Renishaw make

linear encoder (linear scale)

Photocoupler

isolation

[Linear encoder side connector] (Note 6)

Applicable

Housing

D Sub 15 Pin Female

Equivalent

Inner 15

P5 7, 8 LG 2, 9

MR 10

MRR 1

SD Case

2 - 18

2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 RGH26 Renishaw make output cable 0.5m

[Connection example]

The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5 connections must be changed according to the following table.

Plate

(Note 2)

CN2

Servo motor

Encoder

(Note 3)

Servo amplifier MR-J2S -

-PY096/S096

(Note 1)

Renishaw make linear encoder

(linear scale) (Note 5)

Inner

/P/Q

(Note 5)

Limit switch outp ut (Note 4)

10120-3000PE, 10320-52F0-0 08 (3M make or equivalent )

50m or less (2 wire type)

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for

isolation as shown above. Contact the scale manufacturer for detailed specifications of the limit switch.

5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.

6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder

(linear scale) side output cable and connector.

Wiring

Length

Number of LG and P5

Connections

to 5m 2 parallel to 10m 3 parallel to 15m 4 parallel to 20m 5 parallel to 25m 6 parallel

to 30m 7 parallel

/P, /Q

Renishaw make

linear encoder (linear scale)

Photocoupler

isolation

[Linear encoder side connector] (Note 6)

Applicable

Housing

D Sub 15 Pin Female

Equivalent

Inner 15

P5 7, 8

LG 2, 9

MR 10

MRR 1

SD Case

2 - 19

2. LINEAR SCALES

Connection cable connection examples (2)

The following cable wiring examples assume that the linear encoder (linear scale) is connected to CN2 of the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 RGH26 Renishaw make output cable 0.5m

[Connection example]

10120-3000PE, 10320-52F0- 008 (3M or equivalent)

To CN2

Servo motor

Encoder

1912P5

Plate

(Note 2)

(Note 3)

Servo amplifier MR-J 2S-

-PY096/S096

Linear scale connector

Option ca ble (MR-J2SCLCBL02M-P-H)

(Note 1)

Renishaw make linear encoder

(linear scale)

GMR

Inner

(Note 5)

Limit switch output (Note 4)

5m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MRJ2S-

B standard model.

5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.

6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder (linear scale) side output cable and connector.

[Linear encoder side connector] (Note 6)

Applicable

Housing

D Sub 15 Pin Female

Equivalent

Inner 15

P5 7, 8

LG 2, 9

MR 10

MRR 1

SD Case

/P, /Q

Renishaw make

linear encoder (linear scale)

Photocoupler

isolation

2 - 20

2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications

AWG22 RGH26 Renishaw make output cable 0.5m

[Connection example]

The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5 connections must be changed according to the following table.

10120-3000PE, 10320-52F0-008 (3M or equivalent )

To CN2

Servo motor

Encoder

1912P

Pla te

RMRRP5

(Note 2)

(Note 3)

Servo ampli fier MR- J2 S-

-PY096/ S096

Linear scale connect or

Opti on cabl e (MR-J2 SCLCBL02H-P-H)

(Note 1)

Renishaw make linear encoder (linear scale)

RMRRP5

Inner

(Note 5)

Limit swit ch out put (Note 4)

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MRJ2S-

B standard model.

5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.

6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder (linear scale) side output cable and connector.

Wiring

Length

Number of LG and

P5 Connections

to 5m 2 parallel

to 10m 3 parallel

tob15m 4 parallel

to 20m 5 parallel to 25m 6 parallel to 30m 7 parallel

[Linear encoder side connector] (Note 6)

Applicable

Housing

D Sub 15 Pin Female

Equivalent

Inner 15

P5 7, 8

LG 2, 9

MR 10

MRR 1

SD Case

/P, /Q

Renishaw make

linear encoder (linear scale)

Photocoupler

isolation

2 - 21

2. LINEAR SCALES

2.1.4 Sony precision technology make linear encoders (linear scales) (INC type)

Specifications Reference

Contact Sony Precision Technology for the specifications of these linear encoders (linear scales). Sony Precision Technology Sales Section: TEL. (03) 3490-3915

Item Specifications

Interpolator model MJ830 Linear encoder model SL710 PL101R (H) System Magnetic detection system Effective measurement length 50 to 3000mm Resolution Min. 0.2 m (Note 2) Accuracy 10 m Supply power voltage 5V (4.5 to 5.5V) (Note 1) Power consumption Max.3W Rated response speed 6.4 m/s Maximum response speed 6.4 m/s Operating temperature range 0 to 55

(non-freezing) 0 to 45

(non-freezing) Storage temperature range 20 to 65 (non-freezing) 20 to 50 (non-freezing) Dust tightness water tightness No protective structure IP50 (PL101R), IP64 (PL101RH) Vibration resistance 9.6m/s2 5 to 800Hz 20m/s2 50 to 2000Hz Shock resistance 980m/s2 11ms 980m/s2 11ms Output signal Serial communication compatibility (Z phase data included) Output extension cable CK-T1

Connection cable

Refer to the standard connection example

in Chapter 3 and fabricate the cable.

Item Specifications

Interpolator model MJ830 Linear encoder model SH13 System Optical detection system Effective measurement length 70 to 1240mm Resolution Min. 0.005 m (Note 2)

Accuracy

3 m A3 type 5 m A5 type

Supply power voltage 5V (4.5 to 5.5V) (Note 1) Power consumption Max. 3W Rated response speed 1.4m/s Maximum response speed 2.0m/s Operating temperature range 0 to 55 (non-freezing) 0 to 45 (non-freezing) Storage temperature range 20 to 65 (non-freezing) 10 to 60 (non-freezing)

Dust tightness water tightness No protective structure

IP53

(in accordance with the mounting in the

manual of the Sony Precision Technology make

linear encoder)

Vibration resistance 9.6m/s2 5 to 800Hz 98m/s2 (30 to 1000Hz, 30 minutes)

Shock resistance 980m/s2 11ms

294m/s

(11ms, three directions XYZ,

three times each) Output signal Serial communication compatibility (Z phase data included) (Note 3) Output extension cable CR4-05NNT0 , CR4-10NNT01 (10m)

Connection cable

Refer to the standard connection example

in Chapter 3 and fabricate the cable.

Note 1. For the 24V-specified interpolator, contact Sony Precision Technology.

2. Changes depending on the setting of the interpolator.

3. A home position return cannot be made if there is no encoder (scale) home position (reference mark). Always provide an encoder (scale) home position (reference mark).

2 - 22

2. LINEAR SCALES

Linear encoder (linear scale) unit structure Reference

[When interpolator (MJ830) MODE switch = 5]

When PL101 or SL700 is used

SONY SL700

SONY PL101R

Increasing direction Decreasing direction

When SH13 is used

Decreasing direction Increasing direction

SH13

Note 1. Note that the increasing direction/decreasing direction of the linear encoder (linear scale) changes depending on the setting of

the interpolator (MJ830).

2. Always set an encoder (scale) home position (reference mark).

2 - 23

2. LINEAR SCALES

SL710 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision Technology for this outline drawing.

SL710

Mount the scale on a non-magnetic material. When mounting it on a magnetic material, provide a non-magnetic layer of 3mm or more.

n - D reamed hole

(For D parallel pin insertion)

P (n - 1 or 2)

Effective measurement length (ML)

Full length = effective measurement length + 40

(20)

D/2

P 200

12 0.05

ML - P (n - 1)

200

PL101 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision Technology for this outline drawing.

<PL101-RH (IP67 type)>

Offset

Effective measurement length (ML)

Full length = effective measurement length + 40

Clearance

2 2 - M3 depth 5

43.5

Pitch

Roll

Cable length: 3000mm

Center mark

<PL101-N/PL101-R (IP50 type)>

Offset

Effective measurement length (ML)

Full length = effective measurement length + 40

Cable length: 3000mm

Roll

Pitch

Center mark

43.5

2 2 - M3 depth 5

11.5 48

1.5

0.15 12

0.15

Clearance

20 20(20) (20)

12 0.2

SH13 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision Technology for this outline drawing.

SONY

SH13-

124

1240

2 450 434 620

114

1140

2 420 394 570

102

1020

2 380 354 510

092

920

507

460

082

820

457

410

077

770

432

385

072

720

407

360

067

670

382

335

062

620

357

310

057

570

332

285

052

520

307

260

047

470

235

042

420

210

037

370

185

032

320

160

027

270

135

022

220

110

017

170

012

120

007

L n

mm mm mm

Scale full length = L + 105

Scale mounting hole pitch = L + 94 Middle support mounting position = A

Middle support mounting position = A

(n - 1) P1

Middle support A Middle support B

Home position mark

Head cable length = 1000

(20)

Scanning unit

56 80

40 Z

4.6

26.513

Home position

Effective measurement length = L

Left side measurement end

Right side measurement end

M4 (depth 10)

3374

M4 (depth 10)

4.5

2 - 5, 8.2 spot facing depth 5

Air intake (M5)

(5.5)

Depth 5

Middle support B mounting side face

Middle support A mounting side face

10.5

556

1915

43.5

7.5

2.5 0.3

Effective measurement length Middle support

Middle support mounting hole pitch

Home position

5.5

35 26

(25)

43.5

5.8

2 - 24

2. LINEAR SCALES

MJ830 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision Technology for this outline drawing.

4.5 mounting hole

(13)

4.5

100

(115)

138

124

2 - 25

2. LINEAR SCALES

Connection cable connection example (1)

The following cable wiring example assumes that the linear encoder (linear scale) is connected directly to CN2 of the servo amplifier.

(1) Connection example of up to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Interpolator Model

AWG28 MJ830

[Connection example]

(Note 1)

Sony Precision

Technology make

interpolator

Plate

DMDRSD

RMRR

SHD

(Note 2)

CN2

Servo motor

Encoder

(Note 3)

Servo amplifier MR-J2S -

-PY096/S096

Sony Precision Technology make

linear encoder (linear scale)

Stabilized

power s upply

(5V)

10120-3000PE, 10320-52F0- 008 (3M make or equi valent)

50m or less (2 wire type)

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder

(linear scale) side output cable and connector.

[Linear encoder side connector] (Note 4)

Applicable

Housing

10114-3000PE, 10314-52F0-008

3M or Equivalent

OV 11, 12

MR 4 MRR 5 SHD 7

2 - 26

2. LINEAR SCALES

Connection cable connection example (2)

The following cable wiring example assumes that the linear encoder (linear scale) is connected to CN2 of the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 30m wiring length (This connection example assumes that the following

operating combination is satisfied.)

[Operating combination]

Used Wire Size Interpolator Model

AWG28 MJ830

[Connection example]

10120-3000PE, 10320-52F0- 008 (3M make or equi valent)

To CN2

Servo motor

Encoder

1211LG

Plate

RSD

(Note 2)

(Note 3)

Servo amplifier MR-J 2S-

-PY096/S096

Linear scale connector

Option cable (MR-J2SCLCBL02M-P-H)

(Note 1)

Sony Precision

Technology make

interpolator

RSHD

Sony Precision Technology make

linear enco der (linea r scale)

Stabi li zed

power supply

(5V)

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.

2. Connect the shield wire to the plate (ground plate) in the connector securely.

3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-

J2S-

B standard model.

4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder

(linear scale) side output cable and connector.

[Linear encoder side connector] (Note 4)

Applicable

Housing

10114-3000PE, 10314-52F0-008

3M or Equivalent

OV 11, 12

MR 4 MRR 5 SHD 7

2 - 27

2. LINEAR SCALES

2.2 A B Z-phase differential input interface unit specifications

Contact the linear scale manufacturer for the specifications of the A/B/Z-phase differential output linear scale. (Since the permissible resolution range is 0.005 to 5

m, select the linear scale within this range.)

Specifications

Item Description

Model MR-J2S-CLP01

Permissible voltage fluctuation

DC4.85 to 5.25V

Power supply

Current consumption

200mA (when power is supplied from servo amplifier)

250mA (when power is supplied from external power supply) (Note 1)

Input signal A B Z-phase differential input signal Minimum phase difference

500ns

Output signal High-speed serial communication (Z phase data included) Structure Open (IP00)

Ambient temperature

0 to 55 (non-freezing)

Storage temperature

20 to 65 (non-freezing)

Ambient humidity

90%RH or less (non-condensing)

Storage humidity

90%RH or less (non-condensing)

Ambience

Indoors (no direct sunlight)

Without corrosive gas, flammable gas, oil mist, dust and dirt

Altitude 1000m or less above sea level

Environment

Vibration 5.9m/s2 or less

Weight 0.4kg

Note 1. The power supply of the linear scale is not included. When an external power supply is used, an up to 350mA linear

scale can be used.

2 - 28

2. LINEAR SCALES

MR-J2S-CLP01 outline drawing

[Unit: mm]

6 hole

Terminal layout

Model Weight [kg]

(75) 90

1.6

156

168

TE1

P5L

P50

MR-J2S-CLP01

0.4

2 - 29

2. LINEAR SCALES

Connection cable connection example

Note 1. The A/B/Z-phase differential input interface unit is required to use the A B Z-phase differential output linear scale.

2. If there is no Z phase, an alarm occurs and operation cannot be performed.

3. If there is no alarm output, change the setting of the following servo amplifier parameter.

Pr.62

4. The A-phase, B-phase, Z-phase and alarm signals must be provided as differential line driver outputs.

5. Set the internal setting switch (SW1) to CLOSE.

6. If the current consumption of the linear scale exceeds 150mA, supply external power.

7. Connect the shield wire to the plate (ground plate) in the connector securely.

8. Use a cable that can endure bending motion for a long time.

9. Because of RS-422 communication, the cable length is maximum 30m. However, it may be necessary to shorten the length

depending on the power supply voltage drop and linear scale specifications.

10. As the connection cable, use the MR-J2HBUS05M or MR-J2HBUS1M.

11. When a connection cable is to be fabricated, the cable length should be within 1m.

B Z-phase differential input interface unit

MR-J2S-CLP01

(Note 7)

Servo amplifier

MR-J2S-

CN2

7 17 11 20 Plate

LG P5 MR

MRR

LG P5 SD

LG P5 MR

MRR

LG P5 SD

CN2

7 17 11 20 Plate

10120-3000PE, 10320-52F0-008

(3M make or equivalent)

A/B/Z-phase differential output linear

Connection cable (Note10,11) MR-J2HBUS05M or MR-J2HBUS1M

10114-3000PE, 10314-52F0-008

(3M make or equivalent)

P5L

LG LA LAR LB LBR LZ LZR (LAL) (LALR) SD

CN1A 14

1 2 3 4 5 6 7 8 9

Plate

5V 0V

phase

(Note 4)

B phase (Note 4)

Z phase

(Note 2, 4)

(Alarm)

(Note 3, 4)

Shield

(Note 7)

(Note 1, 5)

(Note 6)

(Note 8, 9)

P5L P5G PE

(

Note 6

)

LA, LB, LZ, LAL

LAR, LBR, LZR, LALR

M26LS31 o

equivalent

Linear scale

LALR

LAL

LZR

LBR

LAR

Phase difference 500ns or

1 pulse of Z phase = 1 cycle of A phase

s or more at alarm occurrence

LINEAR

SW1

2 - 30

2. LINEAR SCALES

MEMO

3 - 1

3. SIGNALS AND WIRING

3 SIGNALS AND WIRING

3.1 Standard connection examples of full closed control servo amplifier control signals

(1) When MR-J2S-CLP01 is used

24VDC

Note

1. Use the MR-J2HBUS M-A or MR-J2HBUS M cable within the overall length of 30m. To improve noise immunity, it is recommended to use a cable clamp and data line filters (connect 3 or 4 pcs. in series) near the connector lead-out area.

2. The motor side connections of the second axis and later are omitted.

3. Up to eight axes (n = 0 to 7) can be connected. The MR-H BN type servo can also be connected to the same bus. (Note that the cable differs.)

4. In this example, the motor is equipped with an electromagnetic brake. The power supply connected to the electromagnetic brake is irrelevant to the polarity. The HC-SFS121 to 301, 202 to 702, 203, 353 and HC-UFS202 to 502 use different connectors.

5. Connect the shield wire to the plate (ground plate) in the connector securely.

6. Connect the diode in the correct orientation. If it is connected oppositely, the amplifier will fail and signals will not be output.

7. A forced stop of the corresponding axis servo amplifier alone. Use it as necessary when the QD75M, Q172, Q173 or Position Board is connected. Do not use it when any of the A171SH, A172SH, A173UH and A273UH is connected. When this signal is not used, short EM1-SG within the connector. Make an emergency stop of the whole system on the controller side. A forced stop input can be made invalid using parameter No. 23.

8. For details, refer to the "MR-J2S-B Instruction Manual" and "MR-J2S-CLP01 Installation Guide".

9. Always use a shielded multi-core cable. Up to 15m is allowed in noise free environment. However, the cable length should be within 3m when 38,400bps or more baud rate is set for RS-232C communication.

10. When using an external power supply, do not connect VDD-COM.

11. When the personal computer is connected simultaneously with analog monitor output 1 (MO1) or analog monitor output 2 (MO2), use the maintenance relay card (MR-J2CN3TM).

12. CN1A, CN1B, CN2 and CN3 have the same shape. Incorrect connection of the connector can cause a failure.

13. In the case of single-phase 100VAC (MR-J2S-40B1-PY096 or less) or single-phase 230VAC (MR-J2S-70B-PY096 or less), connect the power suppl y to the L

, L2 terminals and keep L3 open.

G H

8 9

LZR

LAL

LALR

P5L

LAR

CN1 A

CN1B

1LG

7 8

1 2

4 5

MRR

BAT

CNT

24VDC

A B C D

EM1

TE1

L11

L21

RA1

TE1

TE2

CN3

GND

232C

CS1

MO1

RA1

MBR

5COM

LB LBR

LZR

CS1

1 2

4 5

MRR

6CNT

2 3

LZR

LAL

LALR

LBR

P5L

LAR

CN1 A

1LG

J2S-C

LP01

CN1B

Configure a sequence that will turn off MC at an alarm or emergency stop.

NFB

Power supply Three-phase 200 to 230VAC or single-phase 100VAC/single-phase 230VAC (Note 13)

If the regenerative option is connected incorrectly, the servo amplifier is damaged.

In the case of MR-J2S-500B/700B

Configure a sequence that will turn off MC at an alarm or emergency stop.

Servo amplifier

MR-J2S- B-S096

Regenerative option

When connecting an external regenerative option, always disconnect the link from across C-P.

Regenerative

option When connecting an external regenerative option, always disconnect the link from across P-D.

Controller

A171SH A172SH A173UH A273UH QD75M Q172 Q173 Position Board

Cable clamp

Use the MR-J2HBUS M-A cable with the A171SH,A172SH, A173UH or A273UH, and the MR-J2HBUS M cable with the QD75M. (Note 1) Refer to the "Motion Controller Q Series Catalog" for the cable between Q172/Q173 and amplifier, and to the "Position Board, Interface Board New Product News (SV0206-1)" for the cable between Positi on Board and ampl ifier.

MR-J2HBUS M cable

Always insert the terminating connector (MR-A-TM) to the termination of the servo bus.

Servo amplifie r

MR-J2S- B

-PY096/-S096 (Axis 1)

(Note 12)

CN2

CN1A

(Note 12)

Plate

CN1B

(Note 12)

Servo amplifier

MR-J2S- B

(-PY096/-S096)

(Axis 2)

CN1A

(Note 12)

CN1B

(Note 2)

CN1A

(Note 12)

CN1B

Servo amplifier

MR-J2S- B

(-PY096/-S096)

(Axis n)

Set SW1 to CLOSE.

(Note 3)

CN2

(Note 12)

MR-J2HBUS M cable Use 1m or less .

A B Z-phase differential input interface unit MR-J2S-CLP01

Plate

(Note 12)

Shut off when servo-on signal turns off or alarm signal turns on.

Motor HC-KFS, MFS, UFS3000r/min series

(Note 4)

Electromagnetic brake

Encoder

General-purpose linear scale or rotary encoder

(A B Z-phase differential output type)

Connect the MR-HP4CN1 connector to the CN1A connector.

(Note 8)

MR-JCCBL M-H cable or MR-JCCBL M-L cable Use 30m or less.

15m or less

(Note 9)

Commercially available personal computer

Windows

(Note 7) Forced stop

10m or less

(Note 6) Electromagnetic brake interlock

(Note 10) When not using the external power supply, always connect VDD-COM.

Max. +1mA meter Zero-center ( 10V output)

Monitor output 1

(Note 11)

Monitor output 2

10k

Encoder A-phase pulse (Differential line driver)

Encoder B-phase pulse (Differential line driver)

Encoder Z-phase pulse (Differential line driver)

2m or less

Plate

(Note 12)

Shut off when serv o-on signal turns off or al arm signal turns on.

Motor HC-SFS, RFS, UFS2000r/min series

(Note 4) Electromagnetic brake

Encoder

General-purpose linear scale or rotary encoder

(A/B/Z-phase differential output type)

Connect the MR-HP4CN1 connector to the CN1A connector.

MR-JHSCBL M-H cable, MR-JHSCBL M -L cable or MR-ENCBL M-H cable Use 30m or less.

(Note 8)

EM1

n - 1

U V

MR-J2S- B

-PY096/-S096

NFB MC

3 - 2

3. SIGNALS AND WIRING

(2) When serial communication compatible linear scale is connected to closed end F/B

CN2

MRR

12 20

MDR2

MDR

BAT

MRR

11 LG

BAT

MRR

2 LG

CN1 A

CN1 B

CN3

7 8

2 4

MRR

BAT

6CN

8 1

2 4

P5 LG

MRR

6CNT

20 11

MRR

P5 SD

MRR

12 LG

11 LG

SHD

P5 FG

/RQ

P5 SD

MRR

12 LG

P5 /P

MRR

12 LG

/RQ

/SD

11 LG 20 P5

CN2

30m

CaseSD

For connection of TE1, TE2 and connectors CN1A, CN1B, CN3, refer to "3.1 (1) When MR-J2S-CLP01 is used".

Using the ABS type scale enables an absolute position detection system to be configured. At that time, the battery (MR-BAT) is not needed.

Servo amplifier

MR-J2S- B

-PY096/-S096

Plate

Motor connector

MR-JCCBL M-H cable or MR-JCCBL M-L cable Use 30m or less.

Motor connector

Motor HC-KFS, MFS, UFS3000r/min series

Encoder

Plate

MR-JHSCBL M -H cable, MR-JHSCBL M -L cable or MR-ENCBL M-H cable Use 30m or less.

Motor HC-SFS, RFS, UFS2000r/min series

Linear scale connector

Plate

(Note1)

(Note2)

(Note6)

(Note7)

(Note3)

(Note7)

(Note4, 7)

(Note6)

Mitutoyo make

linear scale

Sony Precision Technology

make interpolator

Sony Precision Technology

make linear encoder (linear scale)

Stabilized

power supply

(5V)

Renishaw make linear encoder

(linear scale)

Heidenhain make linear

encoder (linear scale)

Limit switch output

0V/sensor 5V/sensor

The Heidenhain make linear scale is compatible with the MR-J2S-B-PY096/-S096 type only .

The option cable (MR-J2SCLCBL02M-P-H) can be used for connection between CN2 and motor connector or between CN2 and linear scale connector.

For CN2

Amplif ier con nector (3M or equivalent) 10120-3000PE (connector) 10320-52F0-008 (shell kit)

(Note 5) For motor

Motor connector (3M or equivalent) 10220-0200EL (connector) 10320-E2W0-008 (shell kit)

Linear scale connector (3M or equivalent) 10220-0200EL (connector) 10320-E2W0-008 (shell kit)

(Note 5) For linear scale

motor

SCALE

Note 1. Fabricate the linear scale connection cable on the customer side using the optional CN1 connector (MR-J2CN1).

2. Cont act the corresponding scale manufacturer for the linear scale and interpolator side pin numbers.

3. For the specifications of the stabilized power supply, contact Sony Precision Technology.

4. To use the Heidenhain make linear scale, the parameter No. 23 (in the case of the MR-J2S-B-PY096/-S096 type) setting must be chan ged. Refer to "CHAPTER 2 LIN EAR SCALES" for mo re information.

5. The motor connector and linear scale connector have the same shape. Incorrect connection of the connector can cause a failure.

6. Th is wiring is for AWG22. Up to 30m is allowed by changin g the wiring. Refer to " CHAPTER 2 LINEAR SCALES " for details of wiring.

7. Use a fter confirming the specifications of the linear scale s uch as the temperatures, vibration resistance and protective str ucture. For use in the environment having much static noise, contact the scale manufacturer separately.

Plate

(Note1)

(Note2)

(Note1)

(Note2)

(Note1)

inner

0.2m

Plate

3 - 3

3. SIGNALS AND WIRING

(3) When serial communication compatible servo motor is connected to closed end F/B

CN2

LG P5 LG

MRR

12 20

MDR

BAT

11L

MD6

BAT9

MRR

BAT

8 1 2 4

MDR

BAT

CNT

8 1 2

4 5

MRR

BAT

CNT

12 20

MRR

12 20

CN1 A

CN1 B

CN3

BAT

6CNT

8 1

2 4

MDR

BAT

CNT

20 11

MRR

12 20

CN2

For connection of TE1, TE2 and connectors CN1A, CN1B, CN3, refer to "3.1 (1) When MR-J2S-CLP01 is used".

Servo amplifier

MR-J2S- B

-PY096/-S096

Plate Plate

Motor conn ector

MR-JCCBL M-H cable or MR-JCCBL M-L cable Use 30m or less.

Plate

Motor conn ector

MR-JHSCBL M -H cable, MR-JHSCBL M -L cable or MR-ENCBL M-H cable Use 30m or less.

Drive motor HC-KFS, MFS, UFS3000r/min series

Drive motor HC-SFS, RFS, UFS2000r/min series

EncoderEncoder

Position detection motor HC-KFS, MFS series

Encoder

Position detector connector

MR-JCCBL M-H cable or MR-JCCBL M-L cable Use 30m or less.

Plate

(Note1)

The option cable (MR-J2SCLCBL02M-P-H) can be used for connection between CN2 and motor connector or between CN2 and linear scale connector.

For CN2

Amplifier connector (3M or equivalent) 10120-3000VE (connector) 10320-52F0-008 (shell kit)

(Note 2) For motor

Motor connector (3M or equivalent) 10220-0200EL (connector) 10320-E2W0-008 (shell kit)

Linear scale connector (3M or equivalent) 10220-0200EL (connector) 10320-E2W0-008 (shell kit)

(Note 2) For position detector

motor

SCALE

Note 1. Fabricate the linear scale connection cable on the customer side using the optional CN1 connector (MR-J2CWired in the option cable (MR-J2SCLCBL02M-P-H). Note that it is not compatible with an absolute position detection system .

2. The motor connector and position detector connector have the same shape. Incorrect connection of the connector can cause a failure.

0.2m

3 - 4

3. SIGNALS AND WIRING

(4) About CN2 wiring for closed end serial communication compatibility (when MR-J2CLCBL02M-P-H is used)

For use of the serial I/F compatible encoder, the wiring diagram shows that a bifurcated cable is to be connected. When using the option cable MR-J2CLCBL02M-P-H in the bifurcated wiring area, perform wiring as shown below.

(a) For serial communication compatible linear scale

Servo amplifier

CN2

Encoder signal

Linear scale

3) Serial communication signal cabl

Servo motor

1) MR-J2SCLCBL02M-P-H

1) Use the MR-J2SCLCBL02M-P-H. (Refer to "CHAPTER 7 OPTIONS AND AUXILIARY EQUIPMENT" for details such as internal

connection.)

2) Use the encoder cable (e.g. MR-JCCBL

M-H, MR-JHSCBL M-H, MR-ENCBL M-H) of the

servo motor.

3) The wiring method changes depending on the linear scale. Confirm "CHAPTER 2 LINEAR SCALES" and fabricate a connection cable on the customer side.

(b) For serial communication compatible rotary encoder

Servo amplifier

CN2

Encoder signal

Closed end servo motor for detection

2) Encoder signal

Drive servo motor

1) MR-J2SCLCBL02M-P-H

2) (Note 2)

1) Use the MR-J2SCLCBL02M-P-H. (Refer to " CHAPTER 7 OPTIONS AND AUXILIARY EQUIPMENT " for details such as

internal connection.)

2) Use the encoder cable (e.g. MR-JCCBL

M-H, MR-JHSCBL M-H, MR-ENCBL M-H) of the

servo motor.

3 - 5

3. SIGNALS AND WIRING

3.2 Signal

erminal explanation

(1) Main circuit terminal block, control circuit terminal block

Signal Name Abbreviation

Termina

l Block

Description

Main circuit

power supply

L1, L2, L3 TE1

Main circuit power input terminals. MR-J2S- B : Connect three-phase 200 to 230VAC/50, 60Hz. MR-J2S-

B1 : Connect single-phase 100 to 120VAC/50, 60Hz.

Servo motor

output

U, V, W TE1

Servo motor power output terminals. 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.

Control

circuit power

supply

L11, L21 TE2

Control circuit power input terminals. L11 should be in the same power supply phase with L1, and L21 with L2. MR-J2S- B : Connect to single-phase 200 to 230VAC/50, 60Hz. MR-J2S-

B1 : Connect to single-phase 100 to 120VAC/50, 60Hz.

Regenerative

option

P, C, D TE2

Regenerative option connection terminals. Factory-wired across P-D. When using the regenerative option, always remove the wire across P-D and connect the regenerative option across P-C.

Keep open.

Protective

earth

PE Chassis

Ground terminal. Connect to the earth terminal of the servo motor and the protective earth of the control box for grounding.

(2) CN3

Signal Name Abbreviation Pin No.

Function/Application

Digital I/F power

supply input

COM 5

24VDC for input interface is input. Digital interface driver power input terminal. COM is all connected internally. When using an external power supply, connect a power supply of 24VDC and 200mA or more instead of VDD.

I/F internal

power supply

output

VDD 10

Digital interface driver power output terminal. 24VDC is output across VDD-SG. Connect with COM. (Do not make connection when using an external power supply.) The permissible current is 80mA.

Digital I/F

common

SG 3

24V common for VDD/COM and isolated from LG.

Control common LG 1, 11

Control common used as a monitor common.

LA 6

Encoder

A-phase pulse

LAR 16

Encoder A-phase pulse output terminals. The pulses set in parameter No. 38 (ENR) in the output type selected in parameter No. 68 (FC2) are output in the differential line driver system.

LB 7

Encoder

B-phase pulse

LBR 17

Encoder B-phase pulse output terminals. The pulses set in parameter No. 38 (ENR) in the output type selected in parameter No. 68 (FC2) are output in the differential line driver system.

LZ 8

Encoder

Z-phase pulse

LZR 18

Encoder Z-phase pulse output terminals. 1 pulse is output per servo motor revolution. By setting parameter No. 68 (FC2), the Z phase (reference mark) of the full closed encoder can be output.

MO1 4

Monitor output

MO2 14

Monitor output signal output terminals. The data set in parameter No. 22 (MOD) is output in analog form. The multiplying factor can be set in parameter No. 22 (MOD).

Electromagnetic

brake interlock

MBR 13

MBR-SG are disconnected at servo-off or alarm. At alarm occurrence, they are disconnected independently of the base circuit state.

Forced stop EM1 20

When EM1-SG are opened, a forced stop state occurs, the servo switches off, and the dynamic brake is operated to make a stop. The forced stop signal can be made invalid using parameter No. 23.

Shield SD Plate

Connect one end of the shield wire.

3 - 6

3. SIGNALS AND WIRING

3.3 About power-on

The servo amplifier can accept a servo-on command within about 5s after the main circuit is powered on. Therefore, when SON is turned on as soon as the main circuit is powered on, the base circuit switches on within about 5s to make operation ready.

[Timing chart]

Within 5s

SON acceptance

Power supply

Base circuit

OFF

Servo-on command (From controller)

OFF

60ms

10ms

4 - 1

4. OPERATION AND FUNCTIONS

4 OPERATION AND FUNCTIONS

4.1 Startup

4.1.1 Startup procedure

Start up the full closed control system in the following procedure.

Completion of installation and wiring

Positioning operation check by controller

Refer to Section 4.1.3.

Refer to Section 4.1.4.

Adjustment and operation check in full closed control

Refer to Section 4.1.7.

Refer to Section 4.1.5.

Refer to Section 4.3.

Refer to Section 4.1.2.

Adjustment and operation check in semi closed control

Positioning operation check using MR Configurator

Selection of full closed function

Gain adjustment

Selection of full closed encoder communication system

Setting of full closed encoder electronic gear

Setting of full closed encoder polarity

Positioning operation check using MR Configurator

Home position return operation

Positioning operation

Gain adjustment

Adjustment of dual F/B switching filter (for dual F/B control)

Completion of full closed control system startup

Refer to Section 4.2.

Check that the servo equipment is normal. Do as necessary.

Refer to Section 4.1.6.

Confirmation of full closed encoder position data

4 - 2

4. OPERATION AND FUNCTIONS

4.1.2 Selection of full closed function (1) Parameters

No. Abbreviation Name and Function

Initial

Value

Unit

Setting

Range

62 FCT Full closed selection:

Select the full closed encoder direction, full closed control error detection function 1 and full closed control error detection function 2.

Full closed function

0: Invalid 1: Always valid 2: Switching valid (semi/full

switching by host controller)

1300 0000h

1312h

67 DUF Dual F/B filter

Set the bandwidth of the dual F/B filter. At 1000rad/s setting, the full closed control is made always valid. At 0rad/s setting, the full closed control is made invalid. About half of the position loop gain 2 in parameter No. 15 is the guideline of the upper setting limit.

10 rad/s 0

1000

Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".

2. After setting the parameter marked

, switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

Selection between semi closed control and full closed control can be made by combining the settings of parameter No. 62 and No. 67.

Pr62 (FCT) Full Closed Function Pr67 (DUF) Control Mode

0 Invalid Semi closed control

0 to 999 Dual F/B full closed control

1 Valid

1000

Completely full closed control When the full closed function switching is valid (semi/full switching by host controller), the combinations are as follows. At this time, the semi/full switching signal is invalid and semi closed control is performed in the test operation from the MR Configurator.

Pr62 (FCT) Semi/Full Switching Signal Pr 67 (DUF) Control Mode

MR Configurator Test Operation

Mode

Semi selection

Semi closed control

1 to 999

Dual F/B full closed

control

Full selection

1000

Completely full closed

control

Semi closed control

CAUTION

Contact your sales representative for the models and specifications of the

host controller that allows semi/full switching.

4 - 3

4. OPERATION AND FUNCTIONS

4.1.3 Selection of full closed encoder communication system (1) Parameters

No. Abbreviation Name and Function

Initial

Value

Unit

Setting

Range

23 OP1 Optional function 1:

Select the optional function 1.

0000 0000h

0201h

Note 1. After setting the parameter marked , switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

The communication system changes depending on the full closed encoder type. Refer to section 2.1 Compatible Linear Scale List for the communication systems of the full closed encoders.

CAUTION

If a wrong value is set in Serial encoder cable selection (parameter No. 23), a servo alarm (alarm 70) occurs at power-on of the servo amplifier.

Serial encoder cable selection Select the communication systems of CH1 (for motor) and CH2 (for full closed encoder).

When full closed func tion is invalid

(Pr:62: 0)

When full closed func tion is valid

(Pr:62: 1 or 2)

Hundreds digit

setting

ENC CH1 ENC CH2 ENC CH1 ENC CH2

0 2 wire type Unusable 2 wire type 2 wire type 1 4 wire type Unusable 4 wire type Unusable 2 2 wire type Unusable 2 wire type 4 wire type

4 - 4

4. OPERATION AND FUNCTIONS

4.1.4 Setting of full closed encoder polarity (1) Parameter

No. Abbreviation Name and Function

Initial

Value

Unit

Setting

Range

62 FCT Full closed selection

Select the full closed encoder direction, full closed control error detection function 1 and full closed control error detection function 2.

Full closed encoder polarity

0: Scale increasing direction in motor CCW

direction

1: Scale increasing direction in motor CW

direction

1300 0000h

1312h

Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".

2. After setting the parameter marked

, switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

Make setting so that the CCW direction (forward rotation direction) of the servomotor matches the increasing direction of the full closed encoder feedback.

This setting must be made for all linear scales or rotary encoders.

[Pr. 62 = 0 : When the encoder address increasing direction is set for motor CCW]

Linear scale

Servo motor

Motor CCW direction

Linear scale increasing direction

[Pr. 62 = 1 : When the encoder address increasing direction is set for motor CW]

Linear scale

Servo motor

Motor CCW direction

Linear scale increasing direction

(3) How to confirm the full closed encoder feedback direction

For the way to confirm the full closed encoder feedback direction, refer to "4.1.6 Confirmation of full closed encoder position data".

CAUTION

If a wrong value is set in the encoder direction of the full closed encoder

selection (parameter No. 62), normal operation may not performed, causing machine collision. It may also cause a servo alarm (AL. 42) during positioning operation.

The above full closed encoder polarity setting is irrelevant to Pr. 7 (POL)

"rotation direction selection". As described above, always make setting according to the relationship between the servo motor and linear scale or rotary encoder.

4 - 5

4. OPERATION AND FUNCTIONS

4.1.5 Setting of full closed encoder electronic gear (1) Parameters

No. Abbreviation Name and Function

Initial

Value

Unit

Setting

Range

65 FCM Full closed electronic gear numerator

Set the numerator of the electronic gear relative to the full closed encoder pulse.

65535

66 FCD Full closed electronic gear denominator

Set the denominator of the electronic gear relative to the full closed encoder pulse.

65535

Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".

2. After setting the parameter marked

, switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

For the full closed electronic gear setting, set the ratio of the full closed encoder feedback to the servo motor encoder feedback.

Make setting so that the full closed electronic gear

FCD

FCM

does not fall outside the

FCD

FCM1100

100

range.

This setting must be made for all linear scales or rotary encoders.

[Setting example 1] When the servo motor is directly coupled with a ballscrew and the linear scale resolution is

0.05

Calculate the number of linear scale pulses per servo motor revolution.

[Setting example 2] When a rotary encoder at roll feed detection end is used for detection

When the pulley diameters or reduction ratios differ, consider that in calculation. For the rotary encoder, make calculation using the number of pulses multiplied by 4.

CAUTION

If a wrong value is set in the linear scale electronic gear (parameter No. 65,

66), normal operation may not performed. It may also cause a servo alarm (AL. 42) during positioning operation.

FCM

FCD

Number of servo motor encoder

ulses per servo

Number of full closed encoder pulses per servo

Servo motor

Linear scale

<Conditions> Servo motor resolution : 131072pulse/rev Ballscrew lead : 4mm Linear scale resolution : 0.05

FCM

FCD

131072

80000

1024

625

Ballscrew lead / linear scale resolution

4mm/0.05 m 80000pluse

Servo motor

Pulley diameter d2 20mm

Pulley diameter d1 30mm

Rotary encoder

5000pulse/rev

<Conditions> Servo motor resolution : 131072pulse/rev Servo motor side pulley diameter : 30mm Rotary encoder side pulley diameter : 20mm Rotary encoder resolution : 5000pulse/rev

(20000 pulses/rev after multiplication by 4)

FCM

FCD

131072 20

20000 30

8192

1875

4 - 6

4. OPERATION AND FUNCTIONS

4.1.6 Confirmation of full closed encoder position data

Check the full closed encoder mounting and parameter settings for any problems.

POINT

Depending on the check items, the MR Configurator may be used.

Refer to "4.6 About Setup" for the data displayed on the MR Configurator.

[Check items]

When checking the following items, the full closed control mode must be selected by setting parameter No. 62 and No. 67.

For the control mode setting, refer to "4.1.2 Selection of full closed function".

No. Check Item Checking Method/Description

1 Read of full closed encoder position data With the full closed encoder in a normal state (mounting,

connection, etc.), the cumulative feedback pulse 2 (full closed encoder side) value is counted normally when the full closed encoder is moved.

2 Read of full closed encoder scale home position

(reference mark, Z phase)

With the scale home position (reference mark, Z phase) of the full closed encoder in a normal state (mounting, connection, etc.), the within-full-one-revolution position (full closed encoder side) value is cleared to 0 when the scale home position (reference mark, Z phase) is passed through by moving the full closed encoder.

3 Confirmation of full closed encoder feedback

direction (Setting of full closed encoder polarity)

Confirm the full closed encoder feedback direction at the within-full-one-revolution position (full closed encoder side) by moving the device (full closed encoder) manually in a servo off state. When the servo motor and full closed encoder feedback directions match, running the servo motor in the CCW direction (counterclockwise as viewed from the shaft end) increases the within-full-one-revolution position (full closed encoder side), and running the servo motor in the CW direction (clockwise as viewed from the shaft end) decreases the within-full-one-revolution position (full closed encoder side). When the servo motor and full closed encoder directions do not match, operation is performed oppositely.

4 Setting of full closed electronic gear When the servo motor and full closed encoders operate

synchronously, the cumulative feedback pulse (motor encoder

side) and cumulative feedback pulse 2 (full closed encoder side) values increase in accordance with the setting ratio of

the full closed electronic gear (FCM/FCD).

[Confirmation example]

When the servo motor is directly coupled with a ballscrew and the

linear scale resolution is 1.0

Motor encoder resolution

131072pullse/rev

Ballscrew lead

4.0mm

Linear scale resolution

1.0 m

When the movement is equivalent to one servo motor revolution

(machine end 4.0mm)

Cumulative feedback pulse 2 (full closed encoder side) 4000 pulses

4 - 7

4. OPERATION AND FUNCTIONS

4.1.7 Setting of dual feedback switching filter (1) Parameter

No. Abbreviation Name and Function

Initial

Value

Unit

Setting

Range

67 DUF Dual F/B filter

Set the bandwidth of the dual F/B filter. At 1000rad/s setting, the full closed control is made always valid. At 0rad/s setting, the full closed control is made invalid.

About half of the position loop gain 2 in parameter No. 15 is the guideline of the upper setting limit.

10 rad/s 0

1000

Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".

(2) Parameter setting method

1) With the initial value (setting = 10) set in parameter No. 67, make gain adjustment by auto tuning, etc. as in semi closed control.

2) While observing the servo operation waveform with the graph function, etc. of the MR Configurator, adjust the dual F/B filter.

The dual F/B filter operates as described below depending on the setting.

No. 67 Setting

Smaller

1 (initial value = 10)

Larger

PG2 setting/2

1000

Control mode Dual F/B Full closed

Vibration Less likely to occur. More likely to occur.

Settling time Increases. Decreases.

Increasing the dual F/B filter setting shortens the settling time, but increases motor vibration since the motor is more likely to be influenced by the full closed encoder vibration. The maximum setting of the dual F/B filter should be less than half of the PG2 setting.

[Reduction of settling time]: Increase the dual F/B filter setting.

[Suppression of vibration]: Decrease the dual F/B filter setting.

Droop pulses

Time

Command

Droop pulses

Time

Command

Droop pulses

Time

Command

Time

Command

4 - 8

4. OPERATION AND FUNCTIONS

4.2 Home position return operation

4.2.1 General precautions

Home position return operation is all performed according to the full closed encoder feedback data, independently of the full closed encoder type. It is irrelevant to the Z-phase position of the motor encoder. In the case of a home position return using a dog signal, the scale home position (reference mark) must be passed through when an incremental type linear scale is used, or the Z phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.

4.2.2 Full closed encoder types and home position return methods (1) About proximity dog type home position return using absolute linear scale Serial I/F

When an absolute linear scale is used, the home position reference position is the position per motor encoder resolution relative to the scale home position (absolute position data = 0). In the case of a proximity dog type home position return, the nearest position after proximity dog OFF is the home position. The scale home position may be set in any position.

Home position return speed

Creep speed

Home position return direction

Scale home position

Home position return operation

Proximity dog signal

Machine position

Home position

OFF

Home position reference position

Equivalent to one motor encoder revolution

4 - 9

4. OPERATION AND FUNCTIONS

(2) About proximity dog type home position return using incremental linear scale

Serial I/F

General-purpose pulse output

When an incremental linear scale is used, the home position is the position per motor encoder resolution relative to the scale home position (reference mark) passed through first after a home position return start. In the case of a proximity dog type home position return, the nearest position after proximity dog OFF is the home position. Set one scale home position in the full stroke, and set it in the position that can always be passed through after a home position return start.

If a home position return is started at the position where the scale home position (reference mark) does not exist in the home position return direction, a home position return error occurs in the controller (the error definition changes depending on the controller type). When starting a home position return at the position where the scale home position (reference mark) does not exist in the home position return direction, move the axis up to the stroke end on the side opposite to the home position return direction by jog operation, etc. of the controller once, then make a home position return.

CAUTION

To execute a home position return securely, start a home position return after moving the axis to the opposite stroke end by jog operation, etc. of the controller.

To execute a home position return securely, start a home position ret A home position return cannot be made if the incremental linear scale does not have a scale home position (reference mark). Always provide a scale home position (reference mark). (One place in the full stroke)

Home position return speed

Creep speed

Home position return direction

Scale home position

Home position return

Proximity dog signal

Machine position

Home position

OFF

Home position reference position

Equivalent to one motor encoder revolution

Home position return speed

Creep speed

Home position return direction

Scale home position

Home position return

Proximity dog signal

Machine position

Home position

ON OFF

Stroke end

Jog operation

Home position return enabled Home position return disabled area

4 - 10

4. OPERATION AND FUNCTIONS

[Precautions] Note the following if the system uses the positioning module (QD75M) or VME bus Position Board (MR-MC01) as a position controller.

The scale home position (reference mark) has some

width in the region where the signal turns on.

The signal ON width changes depending on the used linear scale.

Contact the scale manufacturer for details.

The positioning module (QD75M) or VME bus Position Board (MR-MC01) determines the home position reference position when the scale home position (reference mark) is passed through first after power-on of the servo amplifier. Therefore, a lag equivalent to the scale home position signal width is produced in the home position reference position depending on the direction in which the scale home position (reference mark) is passed through.

Therefore, when it is desired to always make a home position return to the same position without a lag equivalent to the scale home position signal width, a home position return must be performed so that the scale home position is always passed through in the same direction. The following indicates a home position return method in which a lag equivalent to the scale home position signal width is not produced in the positioning module (QD75M) or VME bus Position Board (MR-MC01).

[Home position return method in which lag equivalent to scale home position signal width is not produced]

(a) Move the linear servo motor to the position where the stroke end signal on the side opposite to the

home position return direction turns on.

(b) Perform the power-on reset of the servo amplifier or reset the controller. (c) Switch on the servo and make a home position return.

Scale home position signal

OFF

Signal ON width

Scale home position

OFF

Signal ON width

Home position reference position (

Passed through

in direction)

Home position reference position (

Passed through

in direction

)

Lag equivalent to scale home position signal ON width is produced.

Equivalent to one motor encoder revolution

Machine position

Stroke end

Scale home position Home position

Stroke end

Home position return direction

Creep speed

Home position return speed

Scale home position

Home position return operation

Proximity dog signal

Machine position

Home position

OFF

4 - 11

4. OPERATION AND FUNCTIONS

SUPPLEMENT

The positioning module (QD75M) and VME bus Position Board (MR-

MC01) are scheduled for modification to operate like the other controllers.

Contact your sales representative for the modification time and compatible versions.

CAUTION

The home position return retry function of the positioning module (QD75M)

cannot be used.

4 - 12

4. OPERATION AND FUNCTIONS

(3) About proximity dog type home position return using rotary encoder

Serial I/F

General-purpose pulse output

The home position using a rotary encoder as a full closed encoder is as described below. It is the position per motor encoder resolution, starting at the position where the Z phase of the full closed encoder is passed through first after power-on of the servo amplifier.

[Precautions]

Precautions for passage of Z phase

The home position reference position is set relative to the Z phase position of the full closed encoder that is passed through first after power-on of the servo amplifier. In Case A and Case B where the power-on position differs as shown below, the power-on position must be noted since the axis cannot stop at the same home position return position.

Servo amplifier power-on position

Machine position

Home position

Home position reference position

Full closed encoder Zphase signal

ON OFF

Equivalent to one motor encoder revolution

Home position reference is position per motor encoder resolution relative to Z-phase signal of full closed encoder that was passed through first after power-on of servo amplifier.

Servo amplifier power-on position

Home position return operation

Home position

Home position reference position

Full closed encoder Zphase signal

ON OFF

Equivalent to one motor encoder revolution

Home position return speed

Creep speed

Proximity dog signal

OFF

Servo amplifier power-on position

Home position return operation

Home position

Home position reference position

Home position return speed

Creep speed

Equivalent to one motor encoder revolution

Case

4 - 13

4. OPERATION AND FUNCTIONS

[Method for always making home position return to the same position]

(a) Move the linear servo motor to the position where the stroke end signal on the side opposite to the

home position return direction turns on.

(b) Perform the power-on reset of the servo amplifier or reset the controller. (c) Switch on the servo and make a home position return.

Machine position

Stroke end

Scale home position Home position

Stroke end

Home position return speed

Creep speed

Home position return direction

Scale home position

Home position return operation

Proximity dog signal

Machine position

Home position

OFF

4 - 14

4. OPERATION AND FUNCTIONS

(4) About data setting type count type 2) (QD75M) Common to all full closed encoders

In the data setting type/count type 2) (QD75M) home position return method, a home position return can be normally made if the home position has been passed through (in either direction) before start of a home position return, since a scale home position (reference mark) or the Z-phase signal of a rotary encoder is not required. When the linear scale used does not have a scale home position (reference mark) or the machine has no distance of one motor encoder revolution until the Z phase of the rotary encoder is passed through, a home position return can be made by changing the parameter (Pr. 33 "home position setting condition selection") setting if the home position is not yet passed through.

4 - 15

4. OPERATION AND FUNCTIONS

4.3 Operation from controller

The full closed control compatible amplifier can be used with any of the following controllers.

Classification Model Remarks

A17 SHCPU, A173UHCPU A273UHCPU (-S3)Motion controller Q17

CPU

Speed control (II) instructions (VVF, VVR) cannot be used.

Positioning module QD75M

AD(A1SD)75M cannot be used.

Home position return must be made with care. MR-MC10 (PCI bus compatible) MR-MC2 (CPCI bus compatible) MR-MC30 (ISA bus compatible)

Position Board

MR-MC01 (VME bus compatible) Home position return must be made with care.

Note. An ABS type linear scale is required to configure an absolute position system.

The battery (MR-BAT) need not be fitted to the servo amplifier.

4.3.1 Operation from controller

Positioning operation from the controller is basically performed like the standard model servo. However, some parameter settings and home position return operation change depending on the controller type.

4.3.2 Controller setting

When using full closed control, make the following setting. Set the other servo parameters and control parameters as in the standard servo.

(1) Motion controller, positioning module

After writing parameter No. 23, 33, 62, 65, 66, and 68 to the servo amplifier, turn off the power supply and then on again to make the setting valid. (For motion controller, resetting makes the servo amplifier setting valid.)

Settings

Motion controller Positioning module

Setting Item

A17

SH, A173UH, A273UH

Q17

QD75M

Command resolution Motor encoder resolution unit

Amplifier setting MR-J2S- B Motor setting Automatic setting

Serial encoder cable selection (parameter No. 23)

Setting is necessary only when a 4 wire type linear scale is used. Contact your sales representative

for the setting method. Home position setting condition selection (parameter No. 33)

Contact your sales representative

for the setting method. Full closed selection (parameter No. 62) Full closed control error detection 1 (parameter No. 63) Full closed control error detection 2 (parameter No. 64) Full closed electronic gear numerator (parameter No. 65) Full closed electronic gear denominator (parameter No. 66) Dual F/B filter (parameter No. 67)

Servo parameters

Full closed selection 2 (parameter No. 68)

Set using

MR Configurator.

Set using sequence ladder.

Unit setting mm/inch/degree/pulse

Positioning control parameters

Moving distance per pulse (AP, AL, AM) Number of pulses per revolution (AP) Moving distance per revolution (AL) Unit multiplying factor (AM)

Set AP, AL and AM as usual with motor encoder

resolution.

SUPPLEMENT

In the future, the Q motion controller (Q17 ) is scheduled to allow the

servo parameter Pr. 40 to Pr. 75 settings to be changed from the peripheral software.

Contact your sales representative for the modification time and compatible versions.

4 - 16

4. OPERATION AND FUNCTIONS

[Precautions]

The positioning module (QD75M) controls the servo parameters No. 0 to 75. Therefore, when setting any of the servo parameters up to No. 75, change the buffer memory setting of the positioning module in a sequence program. If the settings of the parameters No. 0 to 75 are changed using the MR Configurator, they are not reflected on the positioning module.

[Reference sequence program]

Example of writing the servo parameters (No. 62 to 67) of Axis No. 1

The flash ROM has a restriction on the write count. Therefore, when setting data using a sequence

program every time, for example, do not write data to the flash ROM.

When controlling multiple axes, write the parameters to all axes.

(2) Position Board

Settings

Position Board

Setting Item

MR-MC01

MR-MC10, MR-MC2

MR-MC30

Command resolution Motor encoder resolution unit

Motor type (parameter No. 3)

0080h (131072) (Add 0603h)

0080h (Automatic setting)

(Add 0414h) Serial encoder cable selection (parameter No. 23)

Setting is necessary only when a 4 wire type

linear scale is used. Home position setting condition selection (parameter No. 33)

Set as required.

Full closed selection (parameter No. 62) Full closed control error detection 1 (parameter No. 63) Full closed control error detection 2 (parameter No. 64) Full closed electronic gear numerator (parameter No. 65) Full closed electronic gear denominator (parameter No. 66) Dual F/B filter (parameter No. 67)

Servo parameters

Full closed selection 2 (parameter No. 68)

Set using MR Configurator.

Home position return option (OPZ1) No setting 1 h

Control parameters

Electronic gear setting (CMX, CDV) Set as usual with motor encoder resolution.

TOP H0 K30162 H1302 K1

TOP H0 K30163 K1000 K1

TOP H0 K30164 K50 K1

TOP H0 K30165 K20 K1

TOP H0 K30166 K1 K1

TOP H0 K30167 K10 K1

T30

Write condition

Pr. 62 setting

Pr. 63 setting

Pr. 64 setting

Pr. 65 setting

Pr. 66 setting

Pr. 67 setting

Write waiting timer

PLC ready signal

TOP H0 K1900 K1 K1 Write to flash ROM

4 - 17

4. OPERATION AND FUNCTIONS

4.4 Functions

4.4.1 Full closed control error detection

If full closed control becomes instable for some reason, the speed at servo motor end may increase abnormally. The full closed control error detection function is a protective function designed to pre-detect it and stop operation. The full closed control error detection function has two different detection methods, speed difference and position difference, and errors are detected only when the corresponding functions are made valid by setting Full closed selection (parameter No. 62). The detection level setting can be changed using the parameters (No. 63, 64).

(1) Parameters

No. Abbreviation Name and Function

Initial

Value

Unit

Setting

Range

62 FCT

Full closed selection:

Select the full closed encoder direction, full closed control error detection function 1 and full closed control error detection function 2.

Full closed control error detection function

0: Invalid 1: Full closed control error detection

function 1 valid

2: Full closed control error detection

function 2 valid

3: Full closed control error detection

functions 1 and 2 both valid

1300 0000h

1312h

63 BC1 Full closed control error detection 1

Set the speed difference error detection level of Full closed control error detection 1. Whether this function is valid or invalid can be selected using parameter No. 62 (FCT). 1 to permissible speed

400 r/min 1

permissible

speed

64 BC2

Full closed control error detection 2

Set the position difference error detection level of Full closed control error detection 2. Whether this function is valid or invalid can be selected using parameter No. 62 (FCT).

10 0.1rev 1

2000

Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".

2. After setting the parameter marked

, switch power off once. The setting is made valid by switching power on again.

(2) Linear servo control error detection function

Example of linear scale

Servo motor

1) Motor end F/B speed (r/min)

2) Motor end F/B position (pulse)

3) Full closed end F/B speed (r/min)

4) Full closed end F/B position (pulse) (Motor end equivalent value)

4 - 18

4. OPERATION AND FUNCTIONS

(a) Speed difference error detection

If there is a difference of not less than the setting (1 to permissible speed, r/min) between 1) motor end F/B speed and 3) full closed end F/B speed as a result of comparison, a stop is made due to an alarm (AL42). In the default setting of the parameter, the error level is 400r/min.

(b) Position difference error detection

If there is a difference of not less than the setting (0.1 to 200.0rev) between 2) motor end F/B position and 4) full closed end F/B position as a result of comparison, a stop is made due to an alarm (AL42). In the default setting of the parameter, the error level is 1.0rev.

In the default settings of the parameters, speed difference error detection and position difference error detection are both valid.

4.4.2 Auto tuning function

The auto tuning function is the same as that of the standard servo. For full information, refer to the Instruction Manual of the MR-J2S-

B standard model.

4.4.3 Machine analyzer function

The machine analyzer function of the MR Configurator is the same as that of the standard servo. For full information, refer to the Instruction Manual of the MR-J2S-

B standard model.

This function is activated by the feedback of the motor encoder. It is irrelevant to the full closed encoder.

4.4.4 Test operation

POINT

When performing test operation using the MR Configurator, it is

necessary to reset the power supply after setting the axis number of the servo amplifier to "F".

Test operation can be performed by combining the MR Configurator that runs on the personal computer and the servo amplifier. The full closed control compatible amplifier cannot use motor-less operation.

Function Item Usability Remarks

Jog operation Usable

Performed by the feedback of the motor encoder.

It is irrelevant to the full closed encoder. Positioning operation

Usable

Program operation Usable

In a semi closed control/full closed control state, operation is performed in

the control mode states as set in parameter No. 62, No. 67.

When full closed function switching is valid (semi/full switching by host

controller), semi closed control is always valid. DO forced output Usable Same as the standard servo function.

Test operation

Motor-less operation Unusable Not supported.

4 - 19

4. OPERATION AND FUNCTIONS

4.5 Absolute position detection system

An ABS type linear scale is necessary to configure an absolute position detection system under full closed control using a linear scale. In this case, absolute value data are backed up on the linear scale side, and therefore, the encoder battery (MR-BAT) need not be installed to the servo amplifier.

POINT

When configuring an absolute position detection system with this servo

amplifier under semi closed control, the encoder battery (MR-BAT) must be installed to the servo amplifier like the standard amplifier.

At this time, the option cable (MR-J2SCLCBL02M-P-H) cannot be used. Connect the encoder cable of the motor encoder directly to the servo

amplifier.

[Precautions]

Make setting to make Absolute position detection valid in the servo parameter (Pr. 1

0001). The system

can be used in the following limited conditions.

(1) Using conditions

1) Use an absolute type linear scale with the full closed encoder.

2) Select Always full closed (Pr. 62

1).

(2) Absolute position detection range using encoder

Encoder Type Absolute Position Detection Enabled Range

Linear scale (Serial I/F)

Movable distance range of scale (within 32-bit absolute position data)

(3) Alarm detection

The absolute position-related alarm (25) and warnings (92, 9F, E3) are not detected.

4 - 20

4. OPERATION AND FUNCTIONS

4.6 About the MR Configurator

4.6.1 When current version of MR Configurator (MRZJW3-SETUP121 to -SETUP151 S/W: E0 version) is used

The following indicates how to check whether the full closed-related parameter settings are normal or not and whether the servo motor and full closed encoders operate normally or not. Select "MR-J2S-B" in the system setting of the MR Configurator. Opening the batch monitor screen displays the following screen.

(1) Explanation of display items

The following table indicates the display items that are related to the servo motor and full closed encoders.

Symbol Name Explanation

Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and displayed.

Click "Clear" to reset the value to 0.

Command pulse frequency Position command inputs from the command controller are counted and

displayed. Click "Clear" to reset the value to 0.

3) Within-one-revolution position The within-one-revolution position of the servo motor encoder is displayed.

ABS counter The multi-revolution counter (number of revolutions from home position) of the

servo motor encoder is displayed. The value is incremented or decremented by 1 per servo motor revolution.

Regenerative load ratio (

read as

Cumulative feedback pulse 2)

Caution: The name does not match what is monitored. The real regenerative load ratio is displayed on the left side.

Feedback pulses from the full closed encoder are counted and displayed. The value is displayed in the pulse unit of the closed encoder. Click "Clear" to reset the value to 0.

Bus voltage (

read as Within-full-one-

revolution position)

Caution: The name does not

match

what is

monitored

. The real bus

oltage is displayed two

lines

above.

The within-one-revolution position of the full closed encoder is displayed. In the case of an INC linear scale, the Z-phase counter is displayed. The value is counted up from 0 relative to the home position (reference mark). The value is displayed in the pulse unit of the closed encoder. In the case of an ABS linear scale, the virtual within-one-revolution position (equivalent to lower 17 bits of the conversion result of 32-bit absolute position data into the motor end unit, 0 to 131071) is displayed.

Peak bus voltage (

read as Full ABS

counter)

Caution: The name does not match what is monitored.

The multi-revolution counter (number of revolutions from home position) of the full closed encoder is displayed. In the case of an ABS linear scale, the virtual multi-revolution counter (equivalent to lower 15 bits of the conversion result of 32-bit absolute position data into the motor end unit, 0 to 32767) is displayed.

4 - 21

4. OPERATION AND FUNCTIONS

4.6.2 When full closed compatible MR Configurator (MRZJW3-SETUP151 S/W: E1 version or later) is used

Select "MR-J2S-B full closed" in the system setting of the MR Configurator.

(1) Batch monitor screen

This screen is designed to display Cumulative feedback pulse 2, Within-full-one-revolution position and Full ABS counter as formal names. Refer to above Section 4.7.1 for the explanation of what are displayed.

(2) Diagnosis - full closed diagnosis screen

The position-related monitor indications and parameters on the full closed function are all displayed on a single screen.

(The explanation is given on the next page.)

4 - 22

4. OPERATION AND FUNCTIONS

[Explanation of display items and functions]

For the monitor display item, click "Start monitor" to read it continuously from the amplifier. Click

"Stop monitor" to stop read.

For the parameter item, click "Read parameter" to read it from the amplifier, and click "Write

parameter" to write.

Name Explanation

Command pulse frequency

Commands from the host controller are counted and displayed. Click "Clear" to reset the value to 0.

Cumulative feedback pulse

Feedback pulses from the servo motor encoder are counted and displayed. Click "Clear" to reset the value to 0.

Droop pulses

When the full closed function is "invalid", a deviation from the command that uses the servo motor encoder as F/B is displayed.

When the full closed function is "valid" or "semi/full switching", a deviation from the

command that uses the closed encoder as F/B is displayed. Cumulative feedback pulse 2

Feedback pulses from the full closed encoder are counted and displayed.

The value is displayed in the pulse unit of the closed encoder.

Click "Clear" to reset the value to 0.

Encoder data

The data of the closed end encoder are displayed.

The displayed data change depending on the closed encoder type.

ID : The ID number of the encoder is displayed. Data 1 : In the case of the INC type, a counter starting at power-on is displayed.

In the ABS type linear encoder, absolute position data is displayed. In the case of the ABS type rotary encoder, a multi-revolution counter is displayed.

Data 2 : In the case of the INC type, the distance (number of pulses) from the reference

mark (Z phase) is displayed.

In the ABS type linear encoder, 00000000 is displayed. In the case of the ABS type rotary encoder, a cycle counter is displayed.

Polarity

or sign is displayed according to the full closed encoder polarity specified in the full

closed selection parameter.

Note: Full closed encoder polarity

is displayed when the setting is "0: Address increasing direction for motor CCW".

Z-phase pass state

When the full closed function is "invalid", the Z-phase pass state of the servo motor encoder

is displayed.

When the full closed function is "valid" or "semi/full switching", the Z-phase pass state of

the closed encoder is displayed.

Full closed switching device

Displayed only when "semi/full switching" is selected for the full closed function.

The switching device selection command state and the internal state during selection are

displayed. Parameter

The parameter related to the full closed control is displayed.

Its setting can be changed and the new value can be written to the servo amplifier.

The related parameters are as follows.

Electronic gear : Pr. 6 Dual F/B filter : Pr. 67 FCM : Pr. 65 FCD : Pr. 66

Full closed selection : Pr. 62, 63, 64

5 - 1

5. PARAMETERS

5 PARAMETERS

5.1 Parameter list

SUPPLEMENT

For any parameter flagged with an asterisk (*), set the parameter value

and switch power off, then switch it on again to make the setting valid. Parameter is set at the timing when communication is established

between the servo system controller and the servo amplifier (displayed in b*). Subsequently, turn off the power supply of servo amplifier and then on

again.

Class No. Abbreviation Name Initial Value Unit Remarks

Basic parameters

01 02 03 04 05 06 07 08 09 10 11

AMS

REG

FBP POL

ATU

RSP TLP

TLN

Amplifier setting Regenerative resistor For manufacture setting For manufacture setting For manufacture setting Feedback pulse Rotation direction selection Auto tuning Servo response level setting Forward rotation torque limit value Reverse rotation torque limit value

0000 0000 0080 0000

1 0

0 0001 0005

300 300%%

Adjustment parameters

13 14 15 16 17 18 19 20 21 22 23 24 25 26

GD2

PG1

VG1

PG2

VG2

VIC

NCH

FFC

INP

MBR

MOD

OP1 OP2 LPF

Ratio of load inertia moment to servo motor inertia moment Position loop gain 1 Speed loop gain 1 Position loop gain 2 Speed loop gain 2 Speed integral compensation Machine resonance suppression filter Feed forward gain In-position range Electromagnetic brake sequence output Analog monitor output Optional function 1 Optional function 2 Low-pass filter/adaptive vibration suppression control For manufacture setting

177

817

100

0 0001 0000 0000 0000 0000

0.1 times

rad/s rad/s rad/s rad/s msec

% pulse msec

Expansion parameters

27 28 29 30 31 32 33 34 35 36 37 38 39 40

MO1 MO2

ZSP

ERZ

OP5 OP6

VPI

VDC

ENR

BLK

Monitor output 1 offset Monitor output 2 offset For manufacture setting Zero speed Error excessive alarm level Optional function 5 Optional function 6 PI-PID switching position droop For manufacture setting Speed differential compensation For manufacture setting Encoder output pulse For manufacture setting Parameter write inhibit

0 0001

80 0000 0000

0 0

980 0010 4000

0000

mv mv

r/min

0.1rev

pulse

pulse/rev

The parameters marked are valid only at power-on.

5 - 2

5. PARAMETERS

Class No. Abbreviation Name Initial Value Unit Remarks

Expansion parameters 2

41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62

68 69 70 71 72 73 74 75

OPC

FCT

BC1

BC2

FCM

FCD

DUF

FC2

For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting For manufacture setting Optional function C For manufacture setting Full closed selection (additional function unavailable for the standard model) Full closed control error detection 1 (additional function unavailable for the standard model) Full closed control error detection 2 (additional function unavailable for the standard model) Full closed electronic gear numerator (additional function unavailable for the standard model) Full closed electronic gear denominator (additional function unavailable for the standard model) Dual F/B filter (additional function unavailable for the standard model) Full closed selection 2 (additional function unavailable for the standard model)

500 0000 0111

20 50

0 0 0

0000

70 100 100 100

0000 0000 0000 0000 0000 0000 1300

400

0000

0 0 0 0 0 0 0

r/min

0.1rev

The parameters marked are valid only at power-on.

5 - 3

5. PARAMETERS

The following parameters are those added to or modified in the MR-J2S- B-S096. For other parameters, refer to the MELSERVO-J2S-B Instruction Manual as they are the same as those of the standard model.

Class No. Abbreviation Name Initial Value Unit

Setting

Range

Basic parameters

01 AMS Amplifier setting

Select the amplifier setting.

0000 0000h

0001h

Adjustment parameter

22 MOD Analog monitor output

Set the signals output to the analog monitor outputs.

0001 0000h

4C4Ch

The parameter marked is valid only at power-on.

bsolute position detection selection 0: Invalid (used in incremental system) 1: Valid (used in absolute position detection system)

Note: The INC type linear scale is compatible with the incremental

system only. It is also compatible with the incremental system only when "2: Switching valid" is selected for the full closed function. If absolute position detection valid is selected in such cases, the parameter error AL-37 occurs.

nalog monitor ch2 output selection

The settings and their definitions are as in analog monitor ch1.

nalog monitor ch1 output selection 0: Motor speed ( 8V/maximum speed) 1: Torque ( 8V/maximum torque) 2: Motor speed (

8V/maximum speed) 3: Torque ( 8V/maximum torque) 4: Current command ( 8V/maximum current command) 5: Speed command ( 8V/maximum speed) 6: Droop pulses ( 10V/128 pulses) 7: Droop pulses ( 10V/2048 pulses) 8: Droop pulses (

10V/8192 pulses)

9: Droop pulses (

10V/32768 pulses)

: Droop pulses ( 10V/131072 pulses)

B: Bus voltage (

8V/400V)

C: Motor end full closed end position difference (

10V/131072

pulses)

Droop pulses are in the pulse unit of the motor end. The difference between the position command and linear scale is output. By setting parameter No. 68 "droop pulse unit selection", droop pulses can be output in the full closed end pulse unit.

5 - 4

5. PARAMETERS

Class No. Abbreviation Name Initial Value Unit

Setting

Range

23 OP1 Optional function 1:

Select the optional function 1.

0000 0000h

0201h

Adjustment parameter

The parameter marked is valid only at power-on.

Servo forced stop selection Select the servo forced stop function of the CN3-20 input. 0: Valid (forced stop signal is used) 1: Invalid (forced stop signal is not used)monitor ch1.

Serial encoder cable selection Select the communication systems of CH1 (for motor) and CH2 (for full closed encoder).

When full closed function

is invalid

(Pr. 62: 0)

When full closed function

is valid

(Pr. 62: 1 or 2)

Hundreds

digit setting

ENC CH1 ENC CH2 ENC CH1 ENC CH2

0 2 wire type Unusable 2 wire type 2 wire type 1 4 wire type Unusable 4 wire type Unusable 2 2 wire type Unusable 2 wire type 4 wire type

5 - 5

5. PARAMETERS

Class No. Abbreviation Name Initial Value Unit

Setting

Range

33 OP6 Optional function 6:

Select the optional function 6.

0000 0000h

1110h

Expansion parameters

38 ENR Encoder output pulse:

Set the encoder output provided by the servo amplifier in terms of the number of output pulses per revolution or a division ratio. This selection depends on parameter No. 33. Use the maximum output frequency within 1.3Mpulse/sec.

1) In the case of division ratio setting

Number of output pulses equivalent to one motor revolution

Number of encoder pulses equivalen to one motor revolution

ENR setting

2) In the case of output pulse setting Number of output pulses equivalent to one motor revolution ENR setting Set the above number of output pulses in terms of the number of pulses multiplied by 4 in AB phases.

Note: When the full closed function is made valid in

parameter No. 62 (FCT) and the ABZ-phase pulse output of the full closed encoder is selected in parameter No. 68 (FC2), consider it as "equivalent to one motor revolution"

"moving distance of the full closed encoder equivalent to one revolution of the semi closed end motor". For example, when the linear scale of 0.1 m resolution is installed as the full closed encoder to move 10mm per servo motor revolution,

1) On the assumption that the ENR setting is 20 for division ratio setting

Number of output pulses for 10mm movement

100000 (equivalent to one motor revolution)

500

2) On the assumption that the ENR setting is 20 for output pulse setting Number of output pulses for 10mm movement

4000 0

65535

The parameters marked are valid only at power-on.

Serial communication baud rate selection 0: 9600[bps]

Serial communication response delay time selection 0: Invalid 1: Valid, a replay is sent after a delay time of 888

sec or more

Encoder pulse output setting selection 0: Output pulse setting 1: Division ratio setting

Home position setting condition selection Select the condition under which a home position setting is made from the servo system controller. 0: Motor Z-phase pass required after power on 1: Motor Z-phase pass not required after power on

(Used in a data setting type home position return where the Z phase is not passed through.)

5 - 6

5. PARAMETERS

Class No. Abbreviation Name Initial Value Unit

Setting

Range

Expansion parameters

40 BLK Parameter write inhibit:

Select the reference and write ranges of the parameters.

0000 0000h

100Eh

60 OPC Optional function C:

Select the encoder pulse output direction.

0000 0000h

0100h

Expansion parameters 2

62 FCT Full closed selection:

Select the full closed encoder rotation direction, full closed control error detection function 1 and full closed control error detection function 2.

1300 0000h

1312h

The parameters marked are valid only at power-on.

MR Configurator

Setting Reference Range Write Range

Other than the

following

00 to 11, 40 00 to 11, 40

000A 40 40 000C 00 to 40 00 to 11, 40 000E 00 to 40 00 to 40 000F 00 to 75 00 to 75 100E 00 to 40 40 only

Encoder pulse output direction selection 0: A-phase 90 lead for CCW 1: A-phase 90

lead for CW

Full closed function 0: Invalid 1: Always valid 2: Switching valid (semi/full switching by host controller)

Full closed encoder polarity 0: Address increasing direction for motor CCW 1: Address increasing direction for motor CW

Full closed control error detection function

Setting Full closed control error detection function

0 Invalid 1 Full closed control error detection function 1 valid 2 Full closed control error detection function 2 valid 3 Full closed control error detection functions 1 and 2

both valid

Full closed encoder error (AL-2A) selection 0: Invalid (when ALM signal is not connected in MR-J2S-CLP01) 1: Valid

5 - 7

5. PARAMETERS

Class No. Abbreviation Name Initial Value Unit

Setting

Range

63 BC1 Full closed control error detection 1:

Set the speed difference error detection level of the full closed control error detection function 1. (Set in terms of the servo motor end-equivalent speed.) Whether this function is valid or invalid can be selected using parameter No. 62 (FCT).

400 r/min 1

permissi

ble

speed

64 BC2 Full closed control error detection 2:

Set the position difference error detection level of the full closed control error detection 2 function. (Set in terms of the number of servo motor end-equivalent revolutions.) Whether this function is valid or invalid can be selected using parameter No. 62 (FCT).

10 0.1rev 1

2000

65 FCM Full closed electronic gear numerator:

Set the numerator of the electronic gear relative to the full closed encoder pulse.

65535

66 FCD Full closed electronic gear denominator:

Set the denominator of the electronic gear relative to the full closed encoder pulse.

65535

67 DUF Dual F/B filter:

10 rad/s 0

1000

Expansion parameters 2

68 FC2 Full closed selection 2:

Select the functions related to full closed control.

0000 0000h

0011h

The parameters marked are valid only at power-on.

Droop pulse unit selection

0: Motor end pulse unit 1: Closed end pulse unit With this setting, the droop pulse unit of the MR Configurator batch monitor display, monitor graph data and analog monitor output can be selected. (Note: When the full closed function is invalid (including when the semi closed function is selected at the time of the switching valid setting), the motor end pulse unit is forcibly set.)

Pulse output setting

0: ABZ phase pulses of the full closed encoder are output. 1: ABZ phase pulses of the motor end encoder are output. (Note: When the full closed function is invalid (including when the semi closed function is selected at the time of the switching valid setting), the ABZ phase pulses of the motor end encoder are forcibly output.)

5 - 8

5. PARAMETERS

MEMO

6 - 1

6. TROUBLESHOOTING

6 TROUBLESHOOTING

6.1 Alarm list

The following protective functions are the alarms that differ from those of the standard model. For the other alarms, refer to the MELSERVO-J2S-B Specifications and Installation Guide and Instruction Manual since they are the same as those of the standard model.

Indication Name Definition Occurrence Factor Corrective Action

The linear scale temperature is high. (Mitutoyo make linear scale)

Check the linear scale temperature and contact the scale manufacturer.

AL28 Full closed

encoder error 2

Linear scale operating environment was abnormal.

Reduction of linear scale signal level (Sony Precision Technology make linear encoder)

Check the mounting state of the linear scale.

Full closed encoder fault Contact the full closed

encoder manufacturer.

Linear scale alarm Confirm the detailed

information given in Section 6.2 and contact

the scale manufacturer. The linear scale speed exceeded the specification range.

Use the linear scale at the

speed within the

specification range. Linear scale and detection head mounting position error

Adjust the linear scale

and detection head

mounting positions. Noise entry Take noise reduction

measures.

Contact the full closed

encoder manufacturer. The MR-J2S-CLP01 connector CN1A is disconnected.

Connect it correctly.

AL2A Full closed

encoder error 1

Full closed encoder (linear scale or ABZ phase pulsespecified encoder) is faulty.

ALM output of the full closed encoder (when ALM output detection is valid in parameter No. 62)

Change the full closed

encoder.

Full closed encoder failure Change the full closed

encoder. The polarity of the full closed encoder is set oppositely.

Check the mounting

orientation of the full

closed encoder.

Reexamine the setting of

parameter No. 62.

AL42 Full closed

control error detection

The setting of the full closed encoder electronic gear is wrong.

Reexamine the settings of

parameter No. 65, 66.

Check the mounting state

of the full closed encoder.

Full closed control error detection function was activated.

1) The difference between the F/B speed of the full closed encoder and the F/B speed of the motor end encoder reached or exceeded the setting of Pr. 63.

2) The motor shaft-equivalent difference between the F/B position of the full closed encoder and the F/B position of the motor end encoder reached or exceeded the setting of Pr. 64.

The resolution setting for the full closed encoder is incorrect.

Set the resolution setting for the full closed encoder correctly.

The connector CN2 is disconnected. Connect it correctly. MR-J2S-CLP01 unit failure Change the unit. The internal setting switch (SW1) for

MR-J2S -CLP01 unit is not closed.

Set correctly.

AL70 Full closed

encoder communication error 1

Error occurred in communication between the full closed encoder and servo amplifier.

Full closed encoder cable failure Correct or change the

cable.

MR-J2S-CLP01 unit failure Change the unit.

Full closed encoder cable failure Correct or change the

cable.

AL71 Full closed

encoder communication error 2

Error occurred in communication between the full closed encoder and servo amplifier.

Full closed encoder cable wiring mistake (All of the A-, B- and Zphase signal and power supply wires are not yet connected. Especially note that the wiring of the MR-J2SCLP01 unit Z-phase cannot be omitted.)

Reexamine the wiring.

The startup timing of 5V power supply for the MR-J2S-CLP01 unit is slow.

Speed up the startup timing of 5V power supply for the MR-J2S-CLP01 unit.

Note: The above alarms are cleared by powering off the servo amplifier. They are not cleared by performing an alarm reset.

6 - 2

6. TROUBLESHOOTING

6.2 Scale error (AL. 2A) details classified by linear scale manufacturer

When the occurrence cause of alarm 2A is unknown, contact the linear scale manufacturer after confirming the scale error details in the following table on the basis of the alarm detail information of the alarm history display on the MR Configurator.

Scale Error (Alarm 2A) Details

Detail

Information Bit

Mitutoyo Sony Precision Technology Heidenhain Renishaw

Bit7 Optical overspeed Overspeed error Bit6 ROM RAM error Overspeed Bit5 EEPROM error Encoder alarm EEPROM error Bit4 CPU error CPU error Bit3 Capacitive error ABS data error Bit2 Photoelectric error INC data error

Bit1

Photoelectric

capacitive

data mismatch

Encoder warning

Scale level error

INC/ABS data mismatch error

Level error

Bit0 Initialization error Initialization error

Example in which alarm 2A occurred on Mitutoyo make linear scale AT343A

larm details : 44h

When the alarm detail information of alarm 2A is 44h, bit 6 and bit 2 are on as indicated below, indicating that the ROM

RAM error and photoelectric error occurred.

Use this information when contacting the scale manufacturer.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

44h = 0 1 0 0 0 1 0 0

4 4

7 - 1

7. OPTIONS AND AUXILIARY EQUIPMENT

7 OPTIONS AND AUXILIARY EQUIPMENT

7.1 CN2 wiring option cable (MR-J2SCLCBL02M-P-H)

The internal wiring of the option cable (MR-J2SCLCBL02M-P-H) is as shown below. Explanation of connectors

CN2

connector : Connect to CN2 of the servo amplifier.

MOTOR

connector : Connect the encoder cable (e.g. MR-JCCBL M-H, MR-JHSCBL M-H,

MR-ENCBL

M-H) of the servo motor.

SCALE

connector : Connect the serial communication encoder connector at the full closed end.

CN2

MOTORSCALE

19 12 20 11 7 17 6 16 4 14 9 1

P5 LG P5 LG MR MRR MD MDR MD2 MDR2 BAT LG Shieldﾞ

CN2 connector

10120-3000PE(connector)

20-52F0-008(shell kit)

(3M or equivalent)

18 19 12 20 11 7 17 18 1 2

P5 P5 LG P5 LG MR MRR P5 LG LG

Shield

ﾄ

MOTOR connector

10220-0200EL (connector) 10320-E2W0-008 (shell kit) (3M or equivalent)

10 19 12 20 11 7 17 6 16 9 1 2

P5 P5 LG P5 LG MR MRR MD MDR BAT LG LG

Shield

ﾄ

SCALE connector

10220-0200EL (connector) 10320-E2W0-008 (shell kit) (3M or equivalent)

200mm

Appearance

Wiring diagram

7 - 2

7. OPTIONS AND AUXILIARY EQUIPMENT

MEMO

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Data *Manual Number Revision

Feb., 2003 SH(NA)030035-A First edition Jan., 2007 SH(NA)030035-B Chapter 2

Section 4.3. 2 (1) Section 5.1

Section 6.1

Change of connector type name manufactured by 3M Originally 10120-3000VE Addition of sentence Addition of sentence Change of initial value for parameter No. 17 Originally 20 Addition of cause for AL. 42 Addition of cause for AL. 70 Addition of cause for AL. 71

J2-Super Series MR-J2S- B-PY096 MR-J2S- B-S096(5.7kW) Instruction Manual

MODEL

MODEL CODE

SH (NA) 030035-B (0701) MEE Printed in Japan Specifications subject to change without notice.

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

Mitsubishi Melservo-J2-Super, MR-J2S-B-PY096, MR-J2S-B-S096 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual