Telex MR-J2S- B User Manual
General-Purpose AC Servo
J2-Super Series
SSCNET Compatible
MODEL
MR-J2S- B
SERVO AMPLIFIER
INSTRUCTION MANUAL
E
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read
through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents
carefully and can us e th e equ i pment correctl y. D o no t us e t he s er vo amplifier an d servo motor un ti l you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,
WARNING
CAUTION
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
In this Instructi on Manual, ins tructions at a lo wer level t han the abo ve, instruc tions for other func tions, an d so
on are classified into "POINT".
After reading this Instruction Manual, always keep it accessible to the operator.
.
.
A - 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the serv o a mpl i fie r and se rvo mot o r to grou nd .
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged , stressed, loaded, or pinched. Othe rwi se, you may get an ele ctric shoc k.
During power- on or o perat ion, do not op en t he front c over of th e serv o am plifi er. You m ay ge t an e lectric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot
while power is on or for some time after power-off. Their temperatures may be high and you may get burnt
or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A - 2
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 servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Environment
During
Ambient
temperature
Ambient
humidity
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
(Note)
Vibration
Note. Except the servo motor with reduction gear.
operation
In storage
During
operation
In storage 90%RH or less (non-condensing)
[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing)
] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
[
] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
90%RH or less (non-condensing) 80%RH or less (non-condensing)
[m/s2] 5.9 or less
2
] 19.4 or less
[ft/s
Servo amplifier Servo motor
Conditions
HC-KFS Series
HC-MFS Series
HC-UFS13 to 73
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72
HC-SFS121 201
HC-SFS202
HC-SFS203
HC-UFS202 to 502
HC-SFS301
HC-SFS502 to 702
HA-LFS11K2 to 22K2
HC-KFS Series
HC-MFS Series
HC-UFS 13 to 73
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72
HC-SFS121 201
HC-SFS202
HC-SFS203
HC-UFS202 to 502
HC-SFS301
HC-SFS502 to 702
HA-LFS11K2 to 22K2
HC-SFS81
HC-SFS81
152
352
353
152
352
353
X
Y : 49
Y : 24.5
X
X : 24.5
Y : 49
X : 24.5
Y : 29.4
X : 11.7
Y : 29.4
X
Y : 161
Y : 80
X
X : 80
Y : 161
X : 80
Y : 96
X : 38
Y : 96
A - 3
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 safet y m easur es , e .g. provide cover s, to prevent ac ci de nt al ac c ess to the rotating p ar ts of the s ervo
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 absorb er or radio nois e filter (FR-BI F option) bet ween the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge abs orb ing d iod e ins ta lled on t he DC ou tput sign al r ela y of th e s erv o am plifie r m ust be wir ed in
the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.
Servo
Amplifier
(24VDC)
Control
output
signal
COM
RA
Servo
Amplifier
(24VDC)
Control
output
signal
COM
RA
(3) Test run adjustment
CAUTION
Before operat ion, check the par ameter setti ngs. Im proper sett ings m ay cause som e mac hines to p erform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
A - 4
(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 minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y
electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reas ons as servic e life and mec hanical struc ture (e.g. wher e a ballscrew and the s ervo motor
are coupled via a tim ing belt) , the e lectrom agnet ic br ake m ay not ho ld the m otor shaf t. To ens ure saf ety,
install a stoppe r on the machin e si de.
(5) Corrective actions
CAUTION
When it is ass umed that a hazardous c ondition m ay take place a t the occur d ue to a po wer failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prev en ti on .
Configure the elec trom agnetic brake circ uit so th at it is activa ted not onl y by the inter face unit s ignals but
also by a forced stop (EM1).
Contacts must be open when
servo-off, when an alarm occurrence
and when an electromagnetic brake
interlock (MBR).
Servo motor
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restor ed after an inst antaneous power failu re, keep away from the machine because th e
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
Circuit must be
opened during
forced stop (EM1).
EM1RA
24VDC
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safet y guards. W hen the equipm ent is operate d, the covers and safet y 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
This product is not designed or manufactured to be used in equipment or systems in situations that can
affect or enda nge r hu man li fe .
When considering this product for operation in special applications such as machinery or systems used in
passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating
applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised
to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the
product is likely to cause a serious accident.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-R OM du e to pa ra met er se t ting ch an ge s
A - 6
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 mar king). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage di re ctiv e
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment orga nization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10B to MR-J2S-22KB
MR-J2S-10B1 to MR-J2S-40B1
Servo motor :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Control box
Reinforced
(Note)
Reinforced
insulating
transformer
No-fuse
breaker
NFB
Magnetic
contactor
MC
insulating type
24VDC
power
supply
Servo
amplifier
Servo
motor
M
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 IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
A - 7
(4) Power supply
(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set
forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC
or EN standard should be used in the power input section.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in 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
servo amplifier to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal Always connect the
cables to the terminals one-to-one.
) of the
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE)
terminals of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.
(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 tempera t ur e: 40 (104 ) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(8) Performing EMC tests
When EMC tests are ru n on a machine/device in to which the servo amplifier has been installed, i t
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specificati ons.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
A - 8
CONFORMANCE WITH UL/C-UL STANDAR D
(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 to MR-J2S-22KB
MR-J2S-10B1 to MR-J2S-40B1
Servo motor :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
3
Install a fan of 100CFM (2.8m
cooling of at least equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.
/min) air flow 4 in (10.16 cm) above the servo amplifier or provide
(4) Capacitor discharge time
The capacitor disc har ge tim e is a s listed belo w. To ensu re safety , do no t touch th e ch arg ing sec tion for
10 minutes after power-off.
Servo amplifier
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.
(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.
Discharge time
[min]
A - 9
<<About the manual s>>
This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u use
the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MRJ2S-B safely.
Also read the manual of the servo system controller.
Relevant manuals
Manual name Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely
(Packed with the servo amplifier)
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310
IB(NA)0300010
A - 10
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-22
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram ..........................................................................................................................1- 2
1.3 Servo amplifier standard specifications................................................................................................1- 5
1.4 Function list.............................................................................................................................................1- 6
1.5 Model code definition ..............................................................................................................................1- 7
1.6 Combination with servo motor...............................................................................................................1- 8
1.7 Structure...................................................................................................................................................1- 9
1.7.1 Parts identification...........................................................................................................................1- 9
1.7.2 Removal and reinstallation of the front cover ..............................................................................1-14
1.8 Servo system with auxiliary equipment...............................................................................................1-17
2. INSTALLATION 2- 1 to 2- 4
2.1 Environmental conditions.......................................................................................................................2- 1
2.2 Installation direction and clearances ....................................................................................................2- 2
2.3 Keep out foreign materials .....................................................................................................................2- 3
2.4 Cable stress..............................................................................................................................................2- 4
3. SIGNALS AND WIRING 3- 1 to 3-32
3.1 Connection example of control signal system.......................................................................................3- 2
3.1.1 MR-J2S-700B or less ........................................................................................................................3- 2
3.1.2 MR-J2S-11KB or more.....................................................................................................................3- 4
3.2 I/O signals................................................................................................................................................. 3- 6
3.2.1 Connectors and signal arrangements.............................................................................................3- 6
3.2.2 Signal explanations ..........................................................................................................................3- 8
3.3 Alarm occurrence timing chart ..............................................................................................................3- 9
3.4 Interfaces.................................................................................................................................................3-10
3.4.1 Common line ....................................................................................................................................3-10
3.4.2 Detailed description of the interfaces............................................................................................3-11
3.5 Power line circuit....................................................................................................................................3-14
3.5.1 Connection example.........................................................................................................................3-14
3.5.2 Terminals..........................................................................................................................................3-16
3.5.3 Power-on sequence...........................................................................................................................3-17
3.6 Connection of servo amplifier and servo motor...................................................................................3-18
3.6.1 Connection instructions ..................................................................................................................3-18
3.6.2 Connection diagram.........................................................................................................................3-18
3.6.3 I/O terminals....................................................................................................................................3-20
3.7 Servo motor with electromagnetic brake .............................................................................................3-22
3.8 Grounding................................................................................................................................................3-25
3.9 Servo amplifier terminal block (TE2) wiring method.........................................................................3-26
3.10 Instructions for the 3M connector.......................................................................................................3-27
3.11 Control axis selection ...........................................................................................................................3-28
1
3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22KB...............................................................3-29
3.12.1 Connection example ......................................................................................................................3-29
3.12.2 Servo amplifier terminals.............................................................................................................3-30
3.12.3 Servo motor terminals...................................................................................................................3-31
4. OPERATION AND DISPLAY 4- 1 to 4- 8
4.1 When switching power on for the first time..........................................................................................4- 1
4.2 Start up.....................................................................................................................................................4- 2
4.3 Servo amplifier display ...........................................................................................................................4- 4
4.4 Test operation mode................................................................................................................................4- 6
5. PARAMETERS 5- 1 to 5-18
5.1 Parameter write inhibit.......................................................................................................................... 5- 1
5.2 Lists...........................................................................................................................................................5- 1
5.3 Analog monitor .......................................................................................................................................5-11
5.4 Replacement of MR-J2-
5.4.1 Main modifications made to the parameters ................................................................................5-14
5.4.2 Explanation of the modified parameters.......................................................................................5-15
6. GENERAL GAIN ADJUSTMENT 6- 1 to 6-12
B by MR-J2S- B.......................................................................................5-14
6.1 Different adjustment methods ...............................................................................................................6- 1
6.1.1 Adjustment on a single servo amplifier.......................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator (servo configuration software)...........................................6- 3
6.2 Auto tuning ..............................................................................................................................................6- 4
6.2.1 Auto tuning mode .............................................................................................................................6- 4
6.2.2 Auto tuning mode operation............................................................................................................6- 5
6.2.3 Adjustment procedure by auto tuning............................................................................................6- 6
6.2.4 Response level setting in auto tuning mode...................................................................................6- 7
6.3 Manual mode 1 (simple manual adjustment).......................................................................................6- 8
6.3.1 Operation of manual mode 1 ...........................................................................................................6- 8
6.3.2 Adjustment by manual mode 1 .......................................................................................................6- 8
6.4 Interpolation mode .................................................................................................................................6-11
6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super..........................6-12
6.5.1 Response level setting ..................................................................................................................... 6-12
6.5.2 Auto tuning selection.......................................................................................................................6-12
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7- 4
7.1 Function block diagram ..........................................................................................................................7- 1
7.2 Machine resonance suppression filter...................................................................................................7- 1
7.3 Adaptive vibration suppression control.................................................................................................7- 3
7.4 Low-pass filter ......................................................................................................................................... 7- 4
8. INSPECTION 8- 1 to 8- 2
2
9. TROUBLESHOOTING 9- 1 to 9- 8
9.1 Alarms and warning list.........................................................................................................................9- 1
9.2 Remedies for alarms................................................................................................................................9- 2
9.3 Remedies for warnings............................................................................................................................9- 8
10. OUTLINE DIMENSION DRAWINGS 10- 1 to 10-10
10.1 Servo amplifiers...................................................................................................................................10- 1
10.2 Connectors............................................................................................................................................10- 8
11. CHARACTERISTICS 11- 1 to 11- 8
11.1 Overload protection characteristics...................................................................................................11- 1
11.2 Power supply equipment capacity and generated loss....................................................................11- 2
11.3 Dynamic brake characteristics...........................................................................................................11- 5
11.4 Encoder cable flexing life....................................................................................................................11- 7
11.5 Inrush currents at power-on of main circuit and control circuit ....................................................11- 8
12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12-56
12.1 Options..................................................................................................................................................12- 1
12.1.1 Regenerative brake options.........................................................................................................12- 1
12.1.2 Brake unit.....................................................................................................................................12-10
12.1.3 Power regeneration converter ....................................................................................................12-12
12.1.4 External dynamic brake..............................................................................................................12-15
12.1.5 Cables and connectors.................................................................................................................12-18
12.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................12-31
12.1.7 Battery (MR-BAT, A6BAT).........................................................................................................12-32
12.1.8 MR Configurator (servo configurations software)....................................................................12-33
12.1.9 Power regeneration common converter.....................................................................................12-34
12.1.10 Heat sink outside mounting attachment (MR-JACN)...........................................................12-38
12.2 Auxiliary equipment ..........................................................................................................................12-41
12.2.1 Recommended wires....................................................................................................................12-41
12.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................12-44
12.2.3 Power factor improving reactors................................................................................................12-44
12.2.4 Power factor improving DC reactors..........................................................................................12-45
12.2.5 Relays............................................................................................................................................12-46
12.2.6 Surge absorbers ...........................................................................................................................12-46
12.2.7 Noise reduction techniques.........................................................................................................12-46
12.2.8 Leakage current breaker.............................................................................................................12-52
12.2.9 EMC filter.....................................................................................................................................12-54
13. ABSOLUTE POSITION DETECTION SYSTEM 13- 1 to 13- 4
13.1 Features................................................................................................................................................13- 1
13.2 Specifications .......................................................................................................................................13- 2
13.3 Battery installation procedure...........................................................................................................13- 3
13.4 Confirmation of absolute position detection data.............................................................................13- 4
3
Appendix App- 1 to App- 2
App. Combination of servo amplifier and servo motor .........................................................................App- 1
4
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is in troduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in
the Servo Amplifier Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULA TI ON ME TH O DS F OR DES I G NI N G
5
MEMO
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is ba sed on the MELSERVO-J2
series and has further higher performance and higher functions.
It is connected with a servo system controller or simila r device via a serial bus (SSCNE T) and the servo
amplifier reads position data directly to perform operation.
Data from a command unit controls the speed and rotation direction of the servo motor and executes
precision positioning.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the
main circuit from overcurrent due to sudden acceleration/deceleration or overload. The torque limit value
can be changed to any value with an external analog input or the parameter.
As this new series has the RS-232C serial communication function, a MR Configurator (servo
configuration software)-installed personal computer or the like can be used to perform parameter setting,
test operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an abso lute position dete ction system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J2S-350B or less
Regenerative brake option
(Note 2)
Power
NFB MC
supply
3-phase
200 to
230VAC,
1-phase
230VAC or
1-phase
100to120VAC
Servo amplifier
L
1
2
L
3
L
CHARGE
lamp
(MR-J2S-200B or more)
11
L
21
L
Regenerative
brake
Position command
input
RADS
Regenerative
TR
Control
circuit
power
supply
Model position
control
P
C
Fan
Base amplifier
Model speed
control
D
(Note 1)
Voltage
detection
Current
detector
Overcurrent
protection
encoder
Virtual
motor
Dynamic
Virtual
brake
Current
detection
U
V
W
CN2
Servo motor
U
V
W
E1
E2
Encoder
M
Electromagnetic
brake
Model
position
Actual position
control
Model
speed
Actual speed
control
Model
torque
Current
control
I/F Control
CN1A CN1B
Controller
or
Servo amplifier
RS-232C
Servo amplifier
or
termination
connector
D/A
CN3
Analog monitor
(2 channels)
Personal computer
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10B(1).
2. For 1-phase 230VAC, connect the power supply to L
L
is not provided for a 1-phase 100to120VAC power supply.
3
and leave L3 open.
1,L2
1 - 2
MR-BAT
CON1
Optional battery
(for absolute position
detection system)
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-50 0B , MR - J2S - 700B
Regenerative brake option
Power
supply
3-phase
200 to
230VAC
NFB MC
Servo amplifier
L
1
2
L
3
L
11
L
21
L
Regenerative
brake
Position command
input
RADS
CHARGE
lamp
Control
circuit
power
supply
Model position
control
Regenerative
TR
Fan
Base amplifier
Model speed
control
CP N
Voltage
detection
Current
detector
Overcurrent
protection
Virtual
encoder
Virtual
motor
Dynamic
brake
Current
detection
U
V
W
CN2
Servo motor
U
V
W
E1
E2
Encoder
M
Electromagnetic
brake
Model
position
Actual position
control
CN1A CN1B
Controller
or
Servo amplifier
Model
speed
Actual speed
control
I/F Control
Servo amplifier
or
termination
connector
Model
torque
Current
control
RS-232C
CN3
D/A
Analog monitor
(2 channels)
Personal computer
MR-BAT
CON1
Optional bat t ery
(for absolute position
detection system)
1 - 3
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-11KB or more
Regenerative brake option
Power
supply
3-phase
200 to
230VAC,
1-phase
230VAC
NFB MC
Servo amplifier
DS
L
1
L
2
L
3
L
11
21
L
Regenerative
brake
Position command
input
Control
circuit
power
supply
Model position
control
PC
CHARGE
lamp
Fan
Base
amplifier
Model speed
NP1
Voltage
detection
control
Regenrative
TR
Overcurrent
protection
Virtual
motor
Current
detector
Current
detection
Virtual
encoder
U
V
W
CN2
Servo motor
U
V
M
W
Electro-
E1
magnetic
brake
E2
Encoder
Actual position
control
I/F Control
CN1A CN1B
Controller
or
Servo amplifier
Model
position
Servo amplifier
or
termination
connector
Model
speed
Actual speed
control
Model
torque
Current
control
RS-232C
CN3 CN4
D/A
MR-BAT
CON1
Optional bat t ery
(for absolute position
detection system)
Analog monitor
(2 channels)
Personal
computer
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Servo Amplifier
MR-J2S-
Item
Voltage/frequency
Permissible voltage
fluctuation
Power supply
Permissible fr eq uency
fluctuation
Power supply capacity Refer to Section 11.2
Inrush current Refer to Section 11 .5
Control system Sine-wave PWM control, curr ent c ontr ol syste m
Dynamic brake Built-in
Protective functions
Structure Self-cooled, open (I P00 )
During
Ambient
temperature
Ambient
humidity
Environment
Ambient
Altitude Max. 1000m (3280ft) above sea level
Vibration
Mass
operation
In storage
During
operation
In storage
10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1
3-phase 200 to 230VAC,
50/60Hz or 1-phase 230VAC,
50/60Hz
3-phase 200 to 230VAC:170
to 253VAC
1-phase 230VAC: 207 to
253VAC
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal
relay), servo motor overheat protection, encoder fault protection, regenerative fault protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
[ ]0 to 55 (non-freezing)
[
] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
[
] 4 to 149 (non-freezing)
90%RH or less (non-condensing)
Indoors (no direct sunligh t )
Free from corrosive gas, flammable gas, oil mist, dust and dirt
5.9 [m/s2] or less
19.4 [ft/s
[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 16 16 20 0.7 0.7 1.1
[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 15.9 35.3 35.3 44.1 1.5 1.5 2.4
2
] or less
3-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC
Within
Force-cooling, open
(IP00)
5%
External
1-phase 100 to
120VAC 50/60Hz
1-phase 85 to
127VAC
Self-cooled,
open(IP00)
1 - 5
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functi ons, refer to the reference field.
Function Description Reference
High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.
Absolute position detection
system
Adaptive vibration
suppression control
Low-pass filter
Machine analyzer function
Machine simulation
Gain search function
Slight vibration suppression
control
Auto tuning
Regenerative brake option
Brake unit
Return conv erter
Torque limit Servo motor torque can be limited to any value.
Forced stop signal automatic
ON
Output signal (DO) forced
output
Test operati on mode JOG o peration positioning operation motor-less operation DO forced output Section 4.4
Analog monitor output Servo status is output in terms of voltage in real time. Parameter No. 22
MR Configurator
(Servo configuration software)
Merely setting a home position once makes home position return unnecessary
at every power-on.
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting a MR Configurator (servo configuration software)-installed personal
computer and servo amplifier.
Can simulate machine motions on a personal computer screen on the basis of
the machine analyzer results. The MR Configurator (servo configuration
software) is required.
Personal computer changes gains automatically and searches for overshootfree gains in a short time. The MR Configurator (servo configuration software)
is required.
Suppresses vibration of
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. Higher in performance than MELSERVO-J2 series servo
amplifier.
Used when the built-in regenerative brake resistor of the servo amplifier does
not have sufficient regenerative capability for the regenerative power
generated.
Used when the regenerative brake option cannot provide enough regenerative
power.
Can be used with the MR-J2S-500B to MR-J2S-22KB.
Used when the regenerative brake option cannot provide enough regenerative
power.
Can be used with the MR-J2S-500B to MR-J2S-22KB.
Forced stop (EM1) can be automatically switched on internally to invalidate it. Parameter No.23
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
Using a personal computer, parameter setting, test operation, status display,
etc. can be performed.
1 pulse produced at a servo motor stop. Parameter No.24
Chapter 13
Section 7.3
Section 7.4
Chapter 6
Section 12.1.1
Section 12.1.2
Section 12.1.3
Parameters
No.10, 11
Section 4.4
(1) (e)
Section 12.1.8
1 - 6
1. FUNCTIONS AND CONFIGURATION
1.5 Model code definition (1) Rating plate
(2) Model
MR–J2S–
Series
MITSUBISHI
MODEL
POWER
MR-J2S-60B
POWER :
INPUT :
OUTPUT :
SERIAL :
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
600W
3.2A 3PH 1PH200-230V 50Hz
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
170V 0-360Hz 3.6A
A5
TC3 AAAAG52
B
AC SERVO
AC SERVO
PASSED
Model
Capacity
Applicable power supply
Rated output current
Serial number
MR–J2S–100B or less
MR–J2S–200B 350B
With no regenerative resistor
Symbol
Description
Indicates a servo amplifier
of 11 to 22kw that does not
–PX
use a regenerative resistor
as standard accessory.
Power Supply
Symbol
None
(Note1)
3-phase 200 to 230VAC
(Note2) 1-phase 230VAC
1-phase 100V to 120VAC
1
Power supply
MR-J2S-500B
Rating plate
Rating plate
MR-J2S-700B
Note:1. Not supplied to the servo amplifier
of MR-J2S-60B or more.
2. Not supplied to the servo amplifier
of MR-J2S-100B or more.
SSCNET compatible
Rated output
Symbol
Rated
output [kW]
Rating plate
MR-J2S-11KB 15KB
500
11k
15k
22k
Rated
output [kW]
3.5350
5
7700
11
15
22
Symbol
0.110
0.220
0.440
0.660
0.7570
1100
Rating plate
MR-J2S-22KB
2200
Rating plateRating plate
1 - 7
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table li sts comb ina tio n s of se rvo ampl if iers and servo motors. The sa me comb in a tio n s ap ply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier
MR-J2S-10B(1) 053 13 053 13 13
MR-J2S-20B(1) 23 23 23
MR-J2S-40B(1) 43 43 43
MR-J2S-60B 52 53
MR-J2S-70B (Note) 73 73 72 73
MR-J2S-100B 81 102 103
MR-J2S-200B 121 201 152 202 153 203 103 153 152
MR-J2S-350B 301 352 353 (Note 1) 203 (Note1)202
MR-J2S-500B (Note1)502
MR-J2S-700B (Note1)702
Servo amplifier
MR-J2S-60B 52
MR-J2S-100B 102
MR-J2S-200B 152
MR-J2S-350B 202
MR-J2S-500B (Note1)502 302
MR-J2S-700B (Note2)601 (Note2)701M (Note1)702
MR-J2S-11KB
MR-J2S-15KB (Note1)15K1
MR-J2S-22KB
Note1: These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to app.
2: Consult us since the servo amplifier to be used with any of these servo motors is optional.
HC-KFS
1000r/min 1500r/min 2000r/min
(Note1)
12K1
801
(Note1)
25K1
20K1
HC-MFS
Servo motors
HA-LFS
(Note1)
11K1M
(Note1)
15K1M
(Note1)
22K1M
1000r/min 2000r/min 3000r/min
(Note1)
11K2
(Note1)
15K2
(Note1)
22K2
HC-SFS HC-UFS
(Note1)
HC-LFS
HC-RFS
(Note1)
353
503
2000r/min 3000r/min
(Note1)
352 502
1 - 8
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification (1) MR-J2S-100B or less
Name/Application
Battery holder
Contains the battery for absolute position data backup.
Reference
Section13.3
Battery connector (CON1)
Used to connect the battery for absolute position data
Section13.3
backup.
Display
The two-digit, seven-s egment LED shows the servo
Chapter4
status and alar m number .
Axis select switch (CS1)
8
9
7
A
6
B
5
C
4
3
D
2
E
1
F
0
CS1
5
4
3
C
D
F
1
0
servo amplifier.
Used to set the axis number of the
8
9
7
B
Section3.11
Bus cable conne cto r ( C N 1A)
Used to connect the servo system controller or
Section3.2
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
Section3.2
or termination connector (MR- A- T M ).
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Section3.2
Section12.1.5
Name plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder con n e ctor (CN2)
Connector for connection of the servo motor encoder.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Control circ ui t t e rm i nal block (TE2)
Used to connect the control circuit power supply and
regenerative brake option.
Protective earth (PE) terminal ( )
Ground terminal.
1 - 9
Section1.5
Section3.2
Section12.1.5
Section3.5.2
Section10.1
Section3.5.2
Section10.1
Section12.1.1
Section3.8
Section10.1
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200B MR-J2S-350B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
Name/Application
Battery hol der
Contains the battery for absolute position data backup.
Reference
Section13.3
Battery connector (CON1)
Used to connect the battery for absolute position data
Section13.3
backup.
Display
The two-digit, seven-segment LED shows the servo
8
9
7
A
6
B
5
C
4
3
D
2
E
1
F
0
status and alarm number.
Axis select switch (CS1)
Chapter4
CS1
5
4
3
the servo amplifier.
C
D
F
1
0
Used to set t he axis num b er of
8
9
7
B
Section3.11
Bus cable connect o r (CN 1 A )
Used to connect the servo system controller or
Section3.2
preceding axis servo amplifier.
Bus cable connector (CN1B)
Used to connect the subsequent axis servo amplifier
Section3.2
or termination connector (MR-A-TM).
Cooling fan
Installation notch
(4 places)
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Name plate
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder conne cto r ( C N 2)
Connector for connection of the servo motor encoder.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Control circuit ter m i na l b lock (TE2)
Used to connect the control circuit power supp l y a nd
regenerative brake option.
Protective earth (PE) terminal ( )
Ground terminal.
1 - 10
Section3.2
Section12.1.5
Section1.5
Section3.2
Section12.1.5
Section3.5.2
Section10.1
Section3.5.2
Section10.1
Section12.1.1
Section3.8
Section10.1
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
8
9
7
A
6
B
5
C
4
3
D
2
E
1
F
0
Installation notch
(4 places)
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Battery h older
Contains the battery for absolute position data backup.
Display
The two-digit, seven-segment LED shows the servo
status and alarm number.
Axis select switch (CS1)
CS1
5
4
3
C
D
F
1
0
servo amplifier.
Used to set the axis number of the
8
9
7
B
Bus cable connector (CN1A)
Used to connect the servo system controlle r or
preceding axis servo amplifier.
Reference
Section13.3
Section13.3
Chapter4
Section3.11
Section3.2
Cooling fan
Bus cable connector (CN1B)
Used to connect the subsequent axis servo am plif ier
or termination connector (MR-A-TM).
Communication connector (CN3)
Used to connect a perso nal computer (RS-232C) o r
output analog monitor data.
Encoder connector ( C N2 )
Connector for connection of the servo motor encoder.
Section3.2
Section3.2
Section12.1.5
Section3.2
Section12.1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit termi nal block (TE2 )
Used to connect the control circuit power supply.
Section3.5.2
Section10.1
Section12.1.1
Main circuit terminal block (TE1)
Used to connect the input power supply, regen e rative
brake option and servo motor.
Section3.5.2
Section10.1
Name plate Section1.5
Protective earth (PE) terminal ( )
Ground terminal.
Section3.8
Section10.1
1 - 11
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700B
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
Name/Application
Reference
Battery connector (CON1)
Used to connect the battery for absolute position data
Section13.3
backup.
Battery holder
Contains the battery for absolute position data backup.
Section13.3
Display
8
9
7
A
6
B
5
C
4
3
D
2
E
1
F
0
The two-digit, seven-s egment LED shows the servo
status and alar m number .
Chapter4
Axis select switch (CS1)
CS1
5
4
3
1
C
D
F
0
servo amplifier.
Section3.11
Used to set the axis number of the
8
9
7
B
Bus cable conne cto r ( C N 1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Section3.2
Cooling fan
Installation notch
(4 places)
Bus cable connector ( C N1 B)
Used to connect the subsequent axis servo amplifier
or termination connector (MR-A-TM).
Communication connector (CN3)
Used to connect a personal computer (RS-232C) or
output analog monitor data.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circ ui t t e rm i nal block (TE2)
Used to connect the con t ro l ci r cuit power supply.
Encoder con n e ctor (CN2)
Connector for co nnection of t he s er v o mo to r encoder.
Name plate
Main circuit terminal block (TE1)
Used to connect the input power supply, re gene rative
brake option and servo motor.
Protective earth (PE) terminal ( )
Ground terminal.
Section3.2
Section3.2
Section12.1.5
Section3.5.2
Section10.1
Section12.1.1
Section3.2
Section12.1.5
Section1.5
Section3.5.2
Section10.1
Section3.8
Section10.1
1 - 12
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KB or more
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to Section 1.7.2.
Cooling fan
Name/Application
Axis select switch (CS1)
CS1
0
1
F
2
E
D
C
B
A
Used to set the axis number of
3
4
the servo amplifier.
5
6
7
9
8
Display
The two-digit, seven-s egment LED shows the servo
status and alar m number .
Battery holder
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Monitor output terminal (CN4)
Used to output monitor values on two channels in the
form of analog signals.
Communication connector (CN3)
Used to connect a personal computer (RS-232C) .
Bus cable conne cto r ( C N 1A)
Used to connect the servo system controller or
preceding axis servo amplifier.
Bus cable connector ( C N1 B)
Used to connect the subsequent axis servo amplif ier
or termination connector (MR-A-TM).
Reference
Section3.11
Chapter4
Section13.3
Section13.3
Section3.2
Section12.1.5
Section3.2
Section12.1.5
Section3.2
Section3.2
Installation notch
(4 places)
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circ ui t t e rm i nal block (TE2)
Used to connect the control circuit power supply.
Encoder con n e ctor (CN2)
Connector for connection of the servo motor encoder.
I/O signal connector (C O N 2)
Used to connect digital I/O signals.
Rating plate
Main circuit terminal block (TE1)
Used to connect the input power supply, re ge ne rative
brake option and servo motor.
Protective earth (PE) terminal ( )
Ground terminal.
1 - 13
Section3.5.2
Sectin10.1
Sectio12.1.1
Section3.2
Sectio12.1.5
Section3.2
Section12.1.5
Section1.5
Section3.5.2
Sectio10.1
Section3.8
Sectio10.1
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