Mitsubishi MR-385R-ST-A Bedienerhandbuch

SH (NA) 030006-J (0712) MEE Printed in Japan Specifications subject to change without notice.This Instruction Manual uses recycled paper.MODELMODELCOD

A - 9(7) Auxiliary equipment and options(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliantproducts of the

3 - 533. SIGNALS AND WIRING3.8.2 Connection diagramCAUTIONDuring power-on, do not open or close the motor power line. Otherwise, amalfunction or faul

3 - 543. SIGNALS AND WIRINGServo motor Connection diagramHC-SFS81 (B)HC-SFS52 (B) to 152 (B)HC-SFS53 (B) to 153 (B)HC-RFS103 (B) to 203 (B)HC-UFS72 (

3 - 553. SIGNALS AND WIRING(2) HC-SFS HC-RFS HC-UFS2000 r/min seriesServo motor side connectorsServo motorFor power supply For encoderElectromagnetic

3 - 563. SIGNALS AND WIRING3.9 Servo motor with electromagnetic brakeCAUTIONConfigure the electromagnetic brake operation circuit so that it is activ

3 - 573. SIGNALS AND WIRING(2) Setting1) Set " 1 " in parameter No.1 to make the electromagnetic brake interlock (MBR) valid.2) Using

3 - 583. SIGNALS AND WIRING(b) Emergency stop (EMG) ON/OFFServo motor speed Electromagneticbrake interlock (MBR)ONOFFBase circuitEmergency stop (EMG)

3 - 593. SIGNALS AND WIRING(d) Both main and control circuit power supplies offServo motor speedONOFFBase circuitElectromagnetic brake interlock (MBR

3 - 603. SIGNALS AND WIRING3.10 GroundingWARNINGGround the servo amplifier and servo motor securely.To prevent an electric shock, always connect the

3 - 613. SIGNALS AND WIRING3.11 Servo amplifier terminal block (TE2) wiring methodPOINTRefer to Table 13.1 2) and 4) in section 13.2.1 for the wire s

3 - 623. SIGNALS AND WIRING(2) Termination of the cables(a) When the wire is inserted directlyInsert the wire to the end pressing the button with a s

A - 10CONFORMANCE WITH UL/C-UL STANDARD(1) Servo amplifiers and servo motors usedUse the servo amplifiers and servo motors which comply with the stan

3 - 633. SIGNALS AND WIRING3.11.2 For the servo amplifier produced earlier than Dec. 2005(1) Termination of the cablesSolid wire: After the sheath ha

3 - 643. SIGNALS AND WIRINGUse of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. Thefollowing table indicates

3 - 653. SIGNALS AND WIRING3.13.1 Connection exampleWire the power supply/main circuit as shown below so that power is shut off and the servo-on sign

3 - 663. SIGNALS AND WIRING3.13.2 Servo amplifier terminalsThe positions and signal arrangements of the terminal blocks change with the capacity of t

3 - 673. SIGNALS AND WIRING3.13.3 Servo motor terminalsPin Signal Pin SignalAMD KBMDR LCMR MDMRR N SHDEPF BAT R LGGLG S P5HTKeyANGS RTPHFJEKDLM BCEnc

3 - 683. SIGNALS AND WIRINGTerminal box inside (HA-LFS801, 12K1, 11K1M, 15K1M, 15K2, 22K2)Motor power supplyterminal block(U V W) M8 screwEarth ter

3 - 693. SIGNALS AND WIRINGSignal Name Abbreviation DescriptionPower supply U V W Connect to the motor output terminals (U, V, W) of the servo amplif

3 - 703. SIGNALS AND WIRINGMEMO

4 - 14. OPERATION4. OPERATION4.1 When switching power on for the first timeBefore starting operation, check the following.(1) Wiring(a) A correct pow

4 - 24. OPERATION4.2 Startup WARNINGDo not operate the switches with wet hands. You may get an electric shock. CAUTIONBefore starting operation, chec

A - 11(7) About wiring protectionFor installation in United States, branch circuit protection must be provided, in accordance with theNational Electr

4 - 34. OPERATION(4) Servo-onSwitch the servo-on in the following procedure.1) Switch on main circuit/control circuit power supply.2) Switch on the s

4 - 44. OPERATION4.2.3 Speed control mode(1) Power on1) Switch off the servo-on (SON).2) When main circuit power/control circuit power is switched on

4 - 54. OPERATION(6) StopIn any of the following statuses, the servo amplifier interrupts and stops the operation of the servomotor.Refer to section

4 - 64. OPERATION(4) Servo-onSwitch the servo-on in the following procedure.1) Switch on main circuit/control circuit power supply.2) Switch on the s

5 - 15. PARAMETERS5. PARAMETERSCAUTIONNever adjust or change the parameter values extremely as it will make operationinstable.5.1 Parameter list5.1.1

5 - 25. PARAMETERS5.1.2 ListsPOINTFor any parameter whose symbol is preceded by *, set the parametervalue and switch power off once, then switch it o

5 - 35. PARAMETERSNo. Symbol NameControlmodeInitialvalueUnitCustomersetting20 *OP2 Function selection 2 P S 000021 *OP3 Function selection 3 (Command

5 - 45. PARAMETERSNo. Symbol NameControlmodeInitialvalueUnitCustomersetting50 For manufacturer setting 000051 *OP6 Function selection 6 P S T 000052

5 - 55. PARAMETERS(2) Details listClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeControl mode, regenerative option selectio

5 - 65. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeBasic parameters1*OP1Function selection 1Used to select th

A - 12MEMO

5 - 75. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode2 ATU Auto tuningUsed to selection the response level, etc

5 - 85. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode5 INP In-position rangeUsed to set the in-position (INP) o

5 - 95. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeInternal speed command 2Used to set speed 2 of internal sp

5 - 105. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode14 TQC Torque command time constantUsed to set the consta

5 - 115. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeBasic parameters17 MOD Analog monitor outputUsed to selec

5 - 125. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode18 *DMD Status display selectionUsed to select the status

5 - 135. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeParameter write inhibitUsed to select the reference and w

5 - 145. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode21 *OP3 Function selection 3 (Command pulse selection)Use

5 - 155. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode23 FFCFeed forward gainSet the feed forward gain. When th

5 - 165. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeAnalog speed command offsetUsed to set the offset voltage

1CONTENTS1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-241.1 Introduction...

5 - 175. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode39 VDC Speed differential compensationUsed to set the dif

5 - 185. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode43 *DI2 Input signal selection 2 (CN1B-5)This parameter i

5 - 195. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode45 *DI4Input signal selection 4 (CN1A-8)Allows any input

5 - 205. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeExpansion parameters 149 *DO1Output signal selection 1Use

5 - 215. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode50 For manufacturer settingDo not change this value by an

5 - 225. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode55 *OPA Function selection AUsed to select the position c

5 - 235. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode60 LPF Low-pass filter adaptive vibration suppression con

5 - 245. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmode65 *CDP Gain changing selectionUsed to select the gain ch

5 - 255. PARAMETERSClass No. Symbol Name and functionInitialvalueUnitSettingrangeControlmodeInternal speed command 5Used to set speed 5 of internal s

5 - 265. PARAMETERS5.2 Detailed description5.2.1 Electronic gearCAUTIONWrong setting can lead to unexpected fast rotation, causing injury.POINTThe gu

23.8.3 I/O terminals ...

5 - 275. PARAMETERS(b) Conveyor setting exampleFor rotation in increments of 0.01 per pulseMachine specificationsTable : 360/revReduction ratio: n 4

5 - 285. PARAMETERS(3) Setting for use of A1SD75PThe A1SD75P also has the following electronic gear parameters. Normally, the servo amplifier sideele

5 - 295. PARAMETERSTo rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronicgear as followsCDVCMXN0f60ptf

5 - 305. PARAMETERS5.2.2 Analog monitorThe servo status can be output to two channels in terms of voltage. The servo status can be monitoredusing an

5 - 315. PARAMETERS(2) Set contentThe servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and thetorque to analo

5 - 325. PARAMETERS(3) Analog monitor block diagramPWM MCurrent controlSpeedcontrolCurrentcommandPosition controlDroop pulseDiffer- entialCommand pul

5 - 335. PARAMETERS5.2.3 Using forward/reverse rotation stroke end to change the stopping patternThe stopping pattern is factory-set to make a sudden

5 - 345. PARAMETERS5.2.5 Position smoothingBy setting the position command acceleration/deceleration time constant (parameter No.7), you can runthe s

6 - 16. DISPLAY AND OPERATION6. DISPLAY AND OPERATION6.1 Display flowchartUse the display (5-digit, 7-segment LED) on the front panel of the servo am

6 - 26. DISPLAY AND OPERATION6.2 Status displayThe servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP&q

36.8.4 Motor-less operation ... 6

6 - 36. DISPLAY AND OPERATION6.2.2 Status display listThe following table lists the servo statuses that may be shown.Refer to Appendix 2 for the meas

6 - 46. DISPLAY AND OPERATIONName Symbol Unit DescriptionDisplayrangeWithin one-revolutionposition highCy2 100pulseThe within one-revolution position

6 - 56. DISPLAY AND OPERATION6.3 Diagnostic modeName Display DescriptionNot ready.Indicates that the servo amplifier is being initialized or an alarm

6 - 66. DISPLAY AND OPERATIONName Display DescriptionMotor seriesPress the "SET" button to show the motor series ID of the servomotor curre

6 - 76. DISPLAY AND OPERATION6.4 Alarm modeThe current alarm, past alarm history and parameter error are displayed. The lower 2 digits on thedisplay

6 - 86. DISPLAY AND OPERATION(4) Use parameter No. 16 to clear the alarm history.(5) Pressing "SET" on the alarm history display screen for

6 - 96. DISPLAY AND OPERATION6.6 External I/O signal displayThe ON/OFF states of the digital I/O signals connected to the servo amplifier can be conf

6 - 106. DISPLAY AND OPERATION(a) Control modes and I/O signals(Note 2) Symbols of I/O signals in control modesConnector Pin No.Signalinput/output(No

6 - 116. DISPLAY AND OPERATION(3) Default signal indications(a) Position control modeLit: ONExtinguished:OFFInput signalsOutput signalsTL (CN 1 B-9)

6 - 126. DISPLAY AND OPERATION6.7 Output signal (DO) forced outputPOINTWhen the servo system is used in a vertical lift application, turning on theel

412. CHARACTERISTICS 12- 1 to 12- 812.1 Overload protection characteristics...

6 - 136. DISPLAY AND OPERATION6.8 Test operation mode CAUTIONThe test operation mode is designed to confirm servo operation and not to confirmmachine

6 - 146. DISPLAY AND OPERATION6.8.2 Jog operationJog operation can be performed when there is no command from the external command device.(1) Operati

6 - 156. DISPLAY AND OPERATION6.8.3 Positioning operationPOINTThe MR Configurator (servo configuration software) is required to performpositioning op

6 - 166. DISPLAY AND OPERATION6.8.4 Motor-less operationWithout connecting the servo motor, you can provide output signals or monitor the status disp

7 - 17. GENERAL GAIN ADJUSTMENT7. GENERAL GAIN ADJUSTMENTPOINTFor use in the torque control mode, you need not make gain adjustment.7.1 Different adj

7 - 27. GENERAL GAIN ADJUSTMENT(2) Adjustment sequence and mode usageUsageUsed when you want tomatch the position gain(PG1) between 2 or moreaxes. No

7 - 37. GENERAL GAIN ADJUSTMENT7.2 Auto tuning7.2.1 Auto tuning modeThe servo amplifier has a real-time auto tuning function which estimates the mach

7 - 47. GENERAL GAIN ADJUSTMENT7.2.2 Auto tuning mode operationThe block diagram of real-time auto tuning is shown below.ServomotorCommandAutomatic s

7 - 57. GENERAL GAIN ADJUSTMENT7.2.3 Adjustment procedure by auto tuningSince auto tuning is made valid before shipment from the factory, simply runn

7 - 67. GENERAL GAIN ADJUSTMENT7.2.4 Response level setting in auto tuning modeSet the response (The first digit of parameter No.2) of the whole serv

514.8 Retry operation ...

7 - 77. GENERAL GAIN ADJUSTMENT7.3 Manual mode 1 (simple manual adjustment)If you are not satisfied with the adjustment of auto tuning, you can make

7 - 87. GENERAL GAIN ADJUSTMENT(c)Adjustment description1) Speed control gain 2 (parameter No. 37)This parameter determines the response level of the

7 - 97. GENERAL GAIN ADJUSTMENT(c) Adjustment description1) Position control gain 1 (parameter No. 6)This parameter determines the response level of

7 - 107. GENERAL GAIN ADJUSTMENT(b) Manually adjusted parametersThe following parameters are adjustable manually.Parameter No. Abbreviation Name6PG1P

7 - 117. GENERAL GAIN ADJUSTMENT7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super7.5.1 Response level settingTo meet higher re

7 - 127. GENERAL GAIN ADJUSTMENTMEMO

8 - 18. SPECIAL ADJUSTMENT FUNCTIONS8. SPECIAL ADJUSTMENT FUNCTIONSPOINTThe functions given in this chapter need not be used generally. Use them ifyo

8 - 28. SPECIAL ADJUSTMENT FUNCTIONSYou can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonancesuppression filter

8 - 38. SPECIAL ADJUSTMENT FUNCTIONSPOINTIf the frequency of machine resonance is unknown, decrease the notchfrequency from higher to lower ones in o

8 - 48. SPECIAL ADJUSTMENT FUNCTIONS(2) ParametersThe operation of adaptive vibration suppression control selection (parameter No.60).Parameter No. 6

6Optional Servo Motor Instruction Manual CONTENTSThe rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introducedhere

8 - 58. SPECIAL ADJUSTMENT FUNCTIONS8.5 Gain changing functionThis function can change the gains. You can change between gains during rotation and ga

8 - 68. SPECIAL ADJUSTMENT FUNCTIONS8.5.3 ParametersWhen using the gain changing function, always set " 4 " in parameter No.2 (auto tu

8 - 78. SPECIAL ADJUSTMENT FUNCTIONS(4) Gain changing selection (parameter No. 65)Used to set the gain changing condition. Choose the changing condit

8 - 88. SPECIAL ADJUSTMENT FUNCTIONS8.5.4 Gain changing operationThis operation will be described by way of setting examples.(1) When you choose chan

8 - 98. SPECIAL ADJUSTMENT FUNCTIONS(2) When you choose changing by droop pulses(a) SettingParameter No. Abbreviation Name Setting Unit6 PG1 Position

8 - 108. SPECIAL ADJUSTMENT FUNCTIONSMEMO

9 - 19. INSPECTION9. INSPECTIONWARNINGBefore starting maintenance and/or inspection, turn off the power and wait for 15minutes or more until the char

9 - 29. INSPECTIONMEMO

10 - 110. TROUBLESHOOTING10. TROUBLESHOOTING10.1 Trouble at start-upCAUTIONExcessive adjustment or change of parameter setting must not be made as it

10 - 210. TROUBLESHOOTINGNo. Start-up sequence Fault Investigation Possible cause ReferenceRotation ripples(speed fluctuations)are large at lowspeed.

A - 1 Safety Instructions (Always read these instructions before using the equipment.)Do not attempt to install, operate, maintain or inspect the ser

1 - 11. FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION1.1 IntroductionThe Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is

10 - 310. TROUBLESHOOTING(2) How to find the cause of position shiftPositioning unit(a) Output pulse counterQPCMXCDV(C) Servo-on (SON), str

10 - 410. TROUBLESHOOTING10.1.2 Speed control modeNo. Start-up sequence Fault Investigation Possible cause ReferenceNot improved if connectorsCN1A, C

10 - 510. TROUBLESHOOTING10.1.3 Torque control modeNo. Start-up sequence Fault Investigation Possible cause ReferenceNot improved if connectorsCN1A,

10 - 610. TROUBLESHOOTING10.2 When alarm or warning has occurredPOINTConfigure up a circuit which will detect the trouble (ALM) and turn off theservo

10 - 710. TROUBLESHOOTING10.2.2 Remedies for alarmsCAUTIONWhen any alarm has occurred, eliminate its cause, ensure safety, then reset thealarm, and r

10 - 810. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Faulty parts in the servo amplifierChecking methodAlarm (AL.15) occurs if power is sw

10 - 910. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Reduced voltage of super capacitorin encoderAfter leaving the alarm occurring for a f

10 - 1010. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Short occurred in servo amplifieroutput phases U, V and W.Correct the wiring.AL.32 O

10 - 1110. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Servo amplifier fault caused theparameter setting to be rewritten.Change the servo a

10 - 1210. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Machine struck something. 1. Review operation pattern.2. Install limit switches.2. W

1 - 21. FUNCTIONS AND CONFIGURATION1.2 Function block diagramThe function block diagram of this servo is shown below.(1) MR-J2S-350A or lessBaseampli

10 - 1310. TROUBLESHOOTING10.2.3 Remedies for warningsCAUTIONIf an absolute position counter warning (AL.E3) occurred, always make homeposition setti

10 - 1410. TROUBLESHOOTINGDisplay Name Definition Cause Action1. PLC ladder program wrong. Contact the program.AL.E5 ABS time-outwarning2. Reverse ro

11 - 111. OUTLINE DIMENSION DRAWINGS11. OUTLINE DIMENSION DRAWINGS11.1 Servo amplifiers(1) MR-J2S-10A to MR-J2S-60AMR-J2S-10A1 to MR-J2S-40A1ENC()[Un

11 - 211. OUTLINE DIMENSION DRAWINGS(2) MR-J2S-70A MR-J2S-100AC N 1 AOPENMITSUBISHIC N 1 BC N 2 E N CC N 3Approx.7 (0.28)C N 1 AOPENL1 L2 L3UVWMITSUB

11 - 311. OUTLINE DIMENSION DRAWINGS(3) MR-J2S-200A MR-J2S-350AMITSUBISHIMITSUBISHIApprox.70 (2.76)195(7.68)90(3.54)78(3.07)6168(6.61)156(6.14)6

11 - 411. OUTLINE DIMENSION DRAWINGS(4) MR-J2S-500A[Unit: mm]([Unit: in])CN2CN3CN1ACN1BOPENOPENCN2CN3CN1ACN1BOPENTE1TE22- 6 ( 0.24)mounting hole1

11 - 511. OUTLINE DIMENSION DRAWINGS(5) MR-J2S-700A2- 6 ( 0.24)mounting holeCN1BCN1ACN3CN2TE2OPENCN1BCN1ACN3CN2TE17.5(0.30)(0.39)10180(7.09)160(6

11 - 611. OUTLINE DIMENSION DRAWINGS(6) MR-J2S-11KA 15KACooling fan3.9(0.15)Cooling fan wind directionApprox.75(2.95)12(0.47)CN3CN1ACN1BCN4MITSUBISHI

11 - 711. OUTLINE DIMENSION DRAWINGS(7) MR-J2S-22KA2- 12 ( 0.47)mounting hole3.9(0.15)[Unit: mm]([Unit: in])Approx.75(2.95)CN3CN1ACN1BCN4MITSUBIS

11 - 811. OUTLINE DIMENSION DRAWINGS11.2 Connectors(1) Servo amplifier side<3M>(a) Soldered typeModel Connector : 10120-3000PE Shell kit

1 - 31. FUNCTIONS AND CONFIGURATION(2) MR-J2S-500A MR-J2S-700ACooling fanRegene-rative TRBaseamplifierCON1CEncoderCurrentdetectionNFB MCL1L2L3L11L21B

11 - 911. OUTLINE DIMENSION DRAWINGS(c) Insulation displacement typeModel Connector : 10120-6000ELShell kit : 10320-3210-000 33.0(1.30)

11 - 1011. OUTLINE DIMENSION DRAWINGSMEMO

12 - 112. CHARACTERISTICS12. CHARACTERISTICS12.1 Overload protection characteristicsAn electronic thermal relay is built in the servo amplifier to pr

12 - 212. CHARACTERISTICS12.2 Power supply equipment capacity and generated loss(1) Amount of heat generated by the servo amplifierTable 12.1 indicat

12 - 312. CHARACTERISTICS(Note 2)Servo amplifier-generated heat[W]Area required for heat dissipationServo amplifier Servo motor(Note 1)Power supplyca

12 - 412. CHARACTERISTICS(2) Heat dissipation area for enclosed servo amplifierThe enclosed control box (hereafter called the control box) which will

12 - 512. CHARACTERISTICS12.3 Dynamic brake characteristics12.3.1 Dynamic brake operation(1) Calculation of coasting distanceFig. 12.6 shows the patt

12 - 612. CHARACTERISTICSTime constant [ms]50 5000100012120130181Speed [r/min]4035302520151050Time constant [ms]Speed [r/min]0 500 1000 1500 2000

12 - 712. CHARACTERISTICS12.3.2 The dynamic brake at the load inertia momentUse the dynamic brake at the load inertia moment indicated in the followi

12 - 812. CHARACTERISTICS12.5 Inrush currents at power-on of main circuit and control circuitThe following table indicates the inrush currents (refer

1 - 41. FUNCTIONS AND CONFIGURATION(3) MR-J2S-11KA or moreCooling fanBaseamplifierCON1NEncoderCurrentdetectionNFB MCL1L2L3L11L21B2UVWB1Regenerative o

13 - 113. OPTIONS AND AUXILIARY EQUIPMENT13. OPTIONS AND AUXILIARY EQUIPMENTWARNINGBefore connecting any option or peripheral equipment, turn off the

13 - 213. OPTIONS AND AUXILIARY EQUIPMENT(2) Selection of the regenerative option(a) Simple selection methodIn horizontal motion applications, select

13 - 313. OPTIONS AND AUXILIARY EQUIPMENTb. Losses of servo motor and servo amplifier in regenerative modeThe following table lists the efficiencies

13 - 413. OPTIONS AND AUXILIARY EQUIPMENT(4) Connection of the regenerative optionPOINTWhen the MR-RB50 MR-RB51 is used, a cooling fan is required to

13 - 513. OPTIONS AND AUXILIARY EQUIPMENT(b) MR-J2S-500A MR-J2S-700AAlways remove the wiring (across P-C) of the servo amplifier built-in regenerativ

13 - 613. OPTIONS AND AUXILIARY EQUIPMENTFor the MR-RB50 MR-RB51 install the cooling fan as shown.82.5 40 (1.58)82.5133Cooling fan installation screw

13 - 713. OPTIONS AND AUXILIARY EQUIPMENT(d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative option)The MR-J2S-11KA-PX to MR-J2S-22KA-P

13 - 813. OPTIONS AND AUXILIARY EQUIPMENT(5) Outline drawing(a) MR-RB032MR-RB12LA5 (0.20)LBTE16 (0.24)6 (0.24)156 (6.14)168 (6.61)144 (5.67)12 (0.47)

13 - 913. OPTIONS AND AUXILIARY EQUIPMENT(c) MR-RB50 MR-RB51[Unit: mm (in)]Terminal blockG4G3CP Terminal screw: M4Tightening torque: 1.2 [N m] (10.

13 - 1013. OPTIONS AND AUXILIARY EQUIPMENT13.1.2 FR-BU2 brake unitPOINTThe brake unit and resistor unit of other than 200V class are notapplicable to

1 - 51. FUNCTIONS AND CONFIGURATION1.3 Servo amplifier standard specificationsServo AmplifierMR-J2S-Item10A 20A 40A 60A 70A 100A 200A 350A 500A 700A

13 - 1113. OPTIONS AND AUXILIARY EQUIPMENT(2) Brake unit parameter settingNormally, when using the FR-BU2, changing parameters is not necessary. Whet

13 - 1213. OPTIONS AND AUXILIARY EQUIPMENTNote 1. For power supply specifications, refer to section 1.3.2. For the servo amplifier of 5k and 7kW, alw

13 - 1313. OPTIONS AND AUXILIARY EQUIPMENT(c) Precautions for wiringThe cables between the servo amplifier and the brake unit, and between the resist

13 - 1413. OPTIONS AND AUXILIARY EQUIPMENT(e) Crimping terminals for P and N terminals of servo amplifierPOINTAlways use recommended crimping termina

13 - 1513. OPTIONS AND AUXILIARY EQUIPMENTFR-BU2-30K[Unit: mm]129.555918.5Ratingplate522- 5 hole(Screw size: M4)51086 696FR-BU2-55K18.5Ratingplate5

13 - 1613. OPTIONS AND AUXILIARY EQUIPMENT(b) FR-BR resistor unit[Unit: mm]2 CControl circuitterminalMain circuitterminalW1 1Approx. 35 Appro

13 - 1713. OPTIONS AND AUXILIARY EQUIPMENT13.1.3 Power regeneration converterWhen using the power regeneration converter, set "01 " in par

13 - 1813. OPTIONS AND AUXILIARY EQUIPMENT(2) Connection example(Note 5)Power supplyNFBMCServo amplifierL11L21L1L2L3SKONMCBCRDYSEAlarmoutputRDYoutput

13 - 1913. OPTIONS AND AUXILIARY EQUIPMENT(3) Outside dimensions of the power regeneration converters[Unit : mm(in)]AAACFKEEBABED2- D holeRating pl

13 - 2013. OPTIONS AND AUXILIARY EQUIPMENT13.1.4 External dynamic brakePOINTConfigure up a sequence which switches off the contact of the brake unita

1 - 61. FUNCTIONS AND CONFIGURATION1.4 Function listThe following table lists the functions of this servo. For details of the functions, refer to the

13 - 2113. OPTIONS AND AUXILIARY EQUIPMENT(2) Connection example13 U14 V WNFBMCL11L21UVWUVWEMabRA1RA1EMGCN1B5SONCN1BL3L2L1RA115EMG10 SGSDPlate18DB13C

13 - 2213. OPTIONS AND AUXILIARY EQUIPMENT(3) Outline dimension drawingUVWD100(3.94)D(0.2)5CEGF2.3(0.09)Terminal blockScrew : M3.5Screw : M4BA5(0.2)E

13 - 2313. OPTIONS AND AUXILIARY EQUIPMENT13.1.5 Cables and connectors(1) Cable make-upThe following cables are used for connection with the servo mo

13 - 2413. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description Application1) Standard encodercableMR-JCCBL M-LRefer to (2) in thissection.Co

13 - 2513. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description Application9)Control signalconnector setMR-J2CN1 Connector: 10120-3000PEShell

13 - 2613. OPTIONS AND AUXILIARY EQUIPMENT(2) Encoder cableCAUTIONIf you have fabricated the encoder cable, connect it correctly.Otherwise, not doing

13 - 2713. OPTIONS AND AUXILIARY EQUIPMENTP5LGP5LG191120122MRMRR717MDR 16 537418P5LGMD 6LG 1BAT 9SD1289P5LGP5LG191120122MRMRR717MDR 16 5374MR-JCCBL2M

13 - 2813. OPTIONS AND AUXILIARY EQUIPMENT(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-HThese encoder cables are used with the HC-SFSHC-RFS HC-UF

13 - 2913. OPTIONS AND AUXILIARY EQUIPMENTMR-JHSCBL2M-LMR-JHSCBL5M-LMR-JHSCBL2M-HMR-JHSCBL5M-HMR-ENCBL2M-HMR-ENCBL5M-HMR-JHSCBL10M-LtoMR-JHSCBL30M-LM

13 - 3013. OPTIONS AND AUXILIARY EQUIPMENT(3) Communication cablePOINTThis cable may not be used with some personal computers. After fullyexamining t

1 - 71. FUNCTIONS AND CONFIGURATIONFunction Description(Note)Control modeReferenceReturn converterUsed when the regenerative option cannot provide en

13 - 3113. OPTIONS AND AUXILIARY EQUIPMENT13.1.6 Junction terminal block (MR-TB20)POINTWhen using the junction terminal block, you cannot use SG of C

13 - 3213. OPTIONS AND AUXILIARY EQUIPMENT(4) Junction terminal block cable (MR-J2TBL M)Model: MR-J2TBL MSymbol Cable length [m(ft)]05 0.5 (1.64)1

13 - 3313. OPTIONS AND AUXILIARY EQUIPMENT13.1.7 Maintenance junction card (MR-J2CN3TM)POINT Cannot be used with the MR-J2S-11KA to MR-J2S-22KA.(1) U

13 - 3413. OPTIONS AND AUXILIARY EQUIPMENT(4) Bus cable (MR-J2HBUS M)Symbol Cable length [m(ft)]05 0.5 (1.64)1 1 (3.28)5 5 (16.4)Model: MR-J2HBUS

13 - 3513. OPTIONS AND AUXILIARY EQUIPMENT13.1.9 MR Configurator (Servo configurations software)The MR Configurator (servo configuration software MRZ

13 - 3613. OPTIONS AND AUXILIARY EQUIPMENT(b) Configuration diagram1) When using RS-232CCN3 CN2Personal computerTo RS-232CconnectorCommunication cabl

13 - 3713. OPTIONS AND AUXILIARY EQUIPMENT13.1.10 Power regeneration common converterPOINT For details of the power regeneration common converter FR-

13 - 3813. OPTIONS AND AUXILIARY EQUIPMENT(2) Connection diagramRA2EMGSONCBR/L11S/L21T/L31R2/L1S2/L22R2/L12T2/L32S2/L2(Note 3)SGP24SDRDYBRDYARSOSEAT2

13 - 3913. OPTIONS AND AUXILIARY EQUIPMENT2) GroundingFor grounding, use the wire of the size equal to or greater than that indicated in the followin

13 - 4013. OPTIONS AND AUXILIARY EQUIPMENT(5) SpecificationsPower regeneration common converterFR-CV-Item7.5K 11K 15K 22K 30K 37K 55KTotal of connect

1 - 81. FUNCTIONS AND CONFIGURATION(2) ModelMR–J2S–100A or lessMR–J2S–200A 350ARating plateRating plateMR-J2S-500AMR-J2S-700ARating plate Rating plat

13 - 4113. OPTIONS AND AUXILIARY EQUIPMENT13.1.11 Heat sink outside mounting attachment (MR-JACN)Use the heat sink outside mounting attachment to mou

13 - 4213. OPTIONS AND AUXILIARY EQUIPMENT(3) Fitting methodAttachmentFit using the assembling screws.ServoamplifierAttachmentServoamplifierPunched h

13 - 4313. OPTIONS AND AUXILIARY EQUIPMENT(b) MR-JACN22K (MR-J2S-22KA)[Unit: mm(in)]68(2.677)145(5.709)400(15.748)35(1.378)194(7.638)8458123.2(0.126)

13 - 4413. OPTIONS AND AUXILIARY EQUIPMENT13.2 Auxiliary equipmentAlways use the devices indicated in this section or equivalent. To comply with the

13 - 4513. OPTIONS AND AUXILIARY EQUIPMENTTable 13.1 Recommended wires(Note 1) Wires [mm2]Servo amplifier1) L1 L2 L3 2) L11 L21 3) U V W P1 P4) PC N

13 - 4613. OPTIONS AND AUXILIARY EQUIPMENT(2) Wires for cablesWhen fabricating a cable, use the wire models given in the following table or equivalen

13 - 4713. OPTIONS AND AUXILIARY EQUIPMENT13.2.2 No-fuse breakers, fuses, magnetic contactorsAlways use one no-fuse breaker and one magnetic contacto

13 - 4813. OPTIONS AND AUXILIARY EQUIPMENT13.2.4 Power factor improving DC reactorsThe input power factor is improved to be about 95%.Screw size G(No

13 - 4913. OPTIONS AND AUXILIARY EQUIPMENT13.2.5 RelaysThe following relays should be used with the interfaces.Interface Selection exampleRelay used

13 - 5013. OPTIONS AND AUXILIARY EQUIPMENT(b) Reduction techniques for external noises that cause the servo amplifier to malfunctionIf there are nois

1 - 91. FUNCTIONS AND CONFIGURATION1.6 Combination with servo motorThe following table lists combinations of servo amplifiers and servo motors. The s

13 - 5113. OPTIONS AND AUXILIARY EQUIPMENTNoises produced by servo amplifierNoises transmitted in the airNoise radiated directly from servo amplif

13 - 5213. OPTIONS AND AUXILIARY EQUIPMENTNoise transmission route Suppression techniques1) 2) 3)When measuring instruments, receivers, sensors, et

13 - 5313. OPTIONS AND AUXILIARY EQUIPMENT(b) Surge suppressorThe recommended surge suppressor for installation to an AC relay, AC valve, AC electrom

13 - 5413. OPTIONS AND AUXILIARY EQUIPMENTOutline drawingEarth plate Clamp section diagram(Note)M4 screw11(0.43)3 (0.12)6 (0.24)CA622(0.87)17.5(0.69

13 - 5513. OPTIONS AND AUXILIARY EQUIPMENT(d) Line noise filter (FR-BLF, FR-BSF01)This filter is effective in suppressing noises radiated from the po

13 - 5613. OPTIONS AND AUXILIARY EQUIPMENT(f) Varistors for input power supply (Recommended)Varistors are effective to prevent exogenous noise and li

13 - 5713. OPTIONS AND AUXILIARY EQUIPMENT13.2.8 Leakage current breaker(1) Selection methodHigh-frequency chopper currents controlled by pulse width

13 - 5813. OPTIONS AND AUXILIARY EQUIPMENT(2) Selection exampleIndicated below is an example of selecting a leakage current breaker under the followi

13 - 5913. OPTIONS AND AUXILIARY EQUIPMENT13.2.9 EMC filterFor compliance with the EMC directive of the EN Standard, it is recommended to use the fol

13 - 6013. OPTIONS AND AUXILIARY EQUIPMENT(3) Outline drawing(a) EMC filter23.0(0.906)LABELLINELOAD168.0(6.614)L1'L2'L3'L1L2L3149.5(5.

1 - 101. FUNCTIONS AND CONFIGURATION1.7 Structure1.7.1 Parts identification(1) MR-J2S-100A or lessPOINTThe servo amplifier is shown without the front

13 - 6113. OPTIONS AND AUXILIARY EQUIPMENTHF3080A-TMA HF3100A-TMAH 2J 2G 1F 2E 1D 23-L8-K3-LMC 1B 2A 5C 1 C 1Dimensions [mm(in)

13 - 6213. OPTIONS AND AUXILIARY EQUIPMENT(b) Surge protectorRAV-781BYZ-24.5 0.51 3241 1.028.5 1.028 1.0 4.2 0.2200300UL-1015AWG165.5

13 - 6313. OPTIONS AND AUXILIARY EQUIPMENT13.2.10 Setting potentiometers for analog inputsThe following variable resistors are available for use with

13 - 6413. OPTIONS AND AUXILIARY EQUIPMENTMEMO

14 - 114. COMMUNICATION FUNCTIONS14. COMMUNICATION FUNCTIONSThis servo amplifier has the RS-422 and RS-232C serial communication functions. These fun

14 - 214. COMMUNICATION FUNCTIONS14.1.2 RS-232C configuration(1) OutlineA single axis of servo amplifier is operated.CHARGEMITSUBISHIRS-232CControlle

14 - 314. COMMUNICATION FUNCTIONS14.2 Communication specifications14.2.1 Communication overviewThis servo amplifier is designed to send a reply on re

14 - 414. COMMUNICATION FUNCTIONS14.2.2 Parameter settingWhen the RS-422/RS-232C communication function is used to operate the servo, set the communi

14 - 514. COMMUNICATION FUNCTIONS14.3 ProtocolPOINTWhether station number setting will be made or not must be selected ifthe RS-232C communication fu

14 - 614. COMMUNICATION FUNCTIONS(2) Transmission of data request from the controller to the servoSOHSTXETXSTXETXController side(Master station)Servo

A - 21. To prevent electric shock, note the following: WARNINGBefore wiring or inspection, turn off the power and wait for 15 minutes or more until t

1 - 111. FUNCTIONS AND CONFIGURATION(2) MR-J2S-200A MR-J2S-350APOINTThe servo amplifier is shown without the front cover. For removal of thefront cov

14 - 714. COMMUNICATION FUNCTIONS14.4 Character codes(1) Control codesCode nameHexadecimal(ASCII code)DescriptionPersonal computer terminal key opera

14 - 814. COMMUNICATION FUNCTIONS14.5 Error codesError codes are used in the following cases and an error code of single-code length is transmitted.O

14 - 914. COMMUNICATION FUNCTIONS14.7 Time-out operationThe master station transmits EOT when the slave station does not start reply operation (STX i

14 - 1014. COMMUNICATION FUNCTIONS14.9 InitializationAfter the slave station is switched on, it cannot reply to communication until the internal init

14 - 1114. COMMUNICATION FUNCTIONS14.11 Command and data No. listPOINTIf the command/data No. is the same, its data may be different from theinterfac

14 - 1214. COMMUNICATION FUNCTIONS(5) Current alarm (Command [0][2] [3][5])Command Data No. Description Frame length[0][2] [0][0] Current alarm numbe

14 - 1314. COMMUNICATION FUNCTIONS(5) Operation mode selection (Command [8][B])Command Data No. Description Setting range Frame length[8][B] [0][0] O

14 - 1414. COMMUNICATION FUNCTIONS14.12 Detailed explanations of commands14.12.1 Data processingWhen the master station transmits a command data No.

14 - 1514. COMMUNICATION FUNCTIONS(2) Writing the processed dataWhen the data to be written is handled as decimal, the decimal point position must be

14 - 1614. COMMUNICATION FUNCTIONS14.12.2 Status display(1) Status display data readWhen the master station transmits the data No. (refer to the foll

1 - 121. FUNCTIONS AND CONFIGURATION(3) MR-J2S-500APOINTThe servo amplifier is shown without the front cover. For removal of thefront cover, refer to

14 - 1714. COMMUNICATION FUNCTIONS14.12.3 Parameter(1) Parameter readRead the parameter setting.1) TransmissionTransmit command [0][5] and the data N

14 - 1814. COMMUNICATION FUNCTIONS(2) Parameter writePOINTIf setting values need to be changed with a high frequency (i.e. one time ormore per one ho

14 - 1914. COMMUNICATION FUNCTIONS14.12.4 External I/O pin statuses (DIO diagnosis)(1) External input pin status readRead the ON/OFF statuses of the

14 - 2014. COMMUNICATION FUNCTIONS14.12.5 Disable/enable of external I/O signals (DIO)Inputs can be disabled independently of the external I/O signal

14 - 2114. COMMUNICATION FUNCTIONS14.12.6 Input devices ON/OFF (test operation)Each input signal can be turned on/off for test operation. Turn off th

14 - 2214. COMMUNICATION FUNCTIONS14.12.7 Test operation mode(1) Instructions for test operation modeThe test operation mode must be executed in the

14 - 2314. COMMUNICATION FUNCTIONS(2) Jog operationTransmit the following communication commands.(a) Setting of jog operation dataItem Command Data N

14 - 2414. COMMUNICATION FUNCTIONS14.12.8 Output signal pin ON/OFF output signal (DO) forced outputIn the test operation mode, the output signal pins

14 - 2514. COMMUNICATION FUNCTIONS14.12.9 Alarm history(1) Alarm No. readRead the alarm No. which occurred in the past. The alarm numbers and occurre

14 - 2614. COMMUNICATION FUNCTIONS14.12.10 Current alarm(1) Current alarm readRead the alarm No. which is occurring currently.(a) TransmissionSend co

1 - 131. FUNCTIONS AND CONFIGURATION(4) MR-J2S-700APOINTThe servo amplifier is shown without the front cover. For removal of thefront cover, refer to

14 - 2714. COMMUNICATION FUNCTIONS14.12.11 Other commands(1) Servo motor end pulse unit absolute positionRead the absolute position in the servo moto

14 - 2814. COMMUNICATION FUNCTIONSMEMO

15 - 115. ABSOLUTE POSITION DETECTION SYSTEM15. ABSOLUTE POSITION DETECTION SYSTEMCAUTIONIf an absolute position erase alarm (AL.25) or an absolute p

15 - 215. ABSOLUTE POSITION DETECTION SYSTEM15.2 Specifications(1) Specification listItem DescriptionSystem Electronic battery backup systemBattery1

15 - 315. ABSOLUTE POSITION DETECTION SYSTEM15.3 Battery installation procedure WARNINGBefore installing a battery, turn off the main circuit power w

15 - 415. ABSOLUTE POSITION DETECTION SYSTEM15.4 Standard connection diagramCRSGRA2CN1B-3CN1B-13COMCN1B-16LSPCN1B-17LSNCN1B-7TLCN1B-14RESCN1B-10SGCN1

15 - 515. ABSOLUTE POSITION DETECTION SYSTEM15.5 Signal explanationWhen the absolute position data is transferred, the signals of connector CN1 chang

15 - 615. ABSOLUTE POSITION DETECTION SYSTEM15.6 Startup procedure(1) Battery installation.Refer to section 15.3 installation of absolute position ba

15 - 715. ABSOLUTE POSITION DETECTION SYSTEM15.7 Absolute position data transfer protocolPOINTAfter switching on the ABS transfer mode (ABSM), turn o

15 - 815. ABSOLUTE POSITION DETECTION SYSTEM15.7.2 Transfer methodThe sequence in which the base circuit is turned ON (servo-on) when it is in the OF

1 - 141. FUNCTIONS AND CONFIGURATION(5) MR-J2S-11KA or morePOINTThe servo amplifier is shown without the front cover. For removal of thefront cover,

15 - 915. ABSOLUTE POSITION DETECTION SYSTEM1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF aftertransmission of the A

15 - 1015. ABSOLUTE POSITION DETECTION SYSTEM(b) Detailed description of absolute position data transferOFFONOFFONOFFONOFFONOFFON3)4)5)7)(Note)1)2) 6

15 - 1115. ABSOLUTE POSITION DETECTION SYSTEM(c) ChecksumThe checksum is the code which is used by the programmable controller to check for errors in

15 - 1215. ABSOLUTE POSITION DETECTION SYSTEM(2) Transmission error(a) Time-out warning(AL.E5)In the ABS transfer mode, the time-out processing shown

15 - 1315. ABSOLUTE POSITION DETECTION SYSTEM3) ABS transfer mode finish-time time-out checkIf the ABS transfer mode (ABSM) is not turned OFF within

15 - 1415. ABSOLUTE POSITION DETECTION SYSTEM5) Servo-on (SON) OFF, Reset (RES) ON, Emergency stop (EMG) OFF check during the ABStransferWhen the ABS

15 - 1515. ABSOLUTE POSITION DETECTION SYSTEM(b) Checksum errorIf the checksum error occurs, the programmable controller should retry transmission of

15 - 1615. ABSOLUTE POSITION DETECTION SYSTEM(3) At the time of alarm resetIf an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm out

15 - 1715. ABSOLUTE POSITION DETECTION SYSTEM(4) At the time of emergency stop reset(a) If the power is switched ON in the emergency stop stateThe em

15 - 1815. ABSOLUTE POSITION DETECTION SYSTEM(b) If emergency stop is activated during servo-onThe ABS transfer mode (ABSM) is permissible while in t

1 - 151. FUNCTIONS AND CONFIGURATION1.7.2 Removal and reinstallation of the front coverCAUTIONBefore removing or installing the front cover, turn off

15 - 1915. ABSOLUTE POSITION DETECTION SYSTEM15.7.3 Home position setting(1) Dog type home position returnPreset a home position return creep speed a

15 - 2015. ABSOLUTE POSITION DETECTION SYSTEM(2) Data set type home position returnPOINTNever make home position setting during command operation or

15 - 2115. ABSOLUTE POSITION DETECTION SYSTEM15.7.4 Use of servo motor with electromagnetic brakeThe timing charts at power on/off and servo-on (SON)

15 - 2215. ABSOLUTE POSITION DETECTION SYSTEM15.7.5 How to process the absolute position data at detection of stroke endThe servo amplifier stops the

15 - 2315. ABSOLUTE POSITION DETECTION SYSTEM15.8 Examples of use15.8.1 MELSEC-A1S (A1SD71)(1) InstructionsThe absolute coordinate system (programmab

15 - 2415. ABSOLUTE POSITION DETECTION SYSTEMIf the address of the machine home position is changed to any coordinate value other than "0",

15 - 2515. ABSOLUTE POSITION DETECTION SYSTEM(d) Slot arrangementThe sequence programs presented in this section show I/O numbers (X, Y) assuming the

15 - 2615. ABSOLUTE POSITION DETECTION SYSTEM(2) Connection diagramPULSE- RPULSE- FPGODOGRDY16B16A15B15A9B9A5B6B0123457COM89ABCDEFCOMNCNC60123457689A

15 - 2715. ABSOLUTE POSITION DETECTION SYSTEM(3) Sequence program example(a) ConditionsThis sample program is an ABS sequence program example for a s

15 - 2815. ABSOLUTE POSITION DETECTION SYSTEM(c) ABS data transfer program for X axisThis sequence program example assumes the following conditions.P

1 - 161. FUNCTIONS AND CONFIGURATION(3) For MR-J2S-700ARemoval of the front coverA)1)A)2)B)Reinstallation of the front coverFront cover socket (2 pla

15 - 2915. ABSOLUTE POSITION DETECTION SYSTEMM8M12PLSM12X34 M9Y43X35Y43X33M0D0K16MOVM0Y41 C11 12 2C2RSTM9M3RSTM8RSTY48D1K3MOVD2 K0MOVD5K0MOVD9K0DMOVA

15 - 3015. ABSOLUTE POSITION DETECTION SYSTEMC0 C1 Y41D3A0DMOVPK1D8K7872H0001FROMPM13PLSM13M4 C0C12 23 3A0K0MOVPD8H0004WANDA1H8000WANDD4NEGD4K1 D3NEG

15 - 3115. ABSOLUTE POSITION DETECTION SYSTEMM4 C0D5K1X30MOVK2DRORD2D2D5C0C1C2M6M5Y41 X32M7Y42 X32Y42 X32 T2003 34 4D5H0003WANDA0D5WORD0M6PLSK10RORPA

15 - 3215. ABSOLUTE POSITION DETECTION SYSTEMM1K1D9K7912H0001DFROPM1 Y4BD3D3D*PY4BSETK1D3K41H0001DTOPY49 X36Y41T0Y41 Y42Y41 X32T0T1T34 4D3D9D3D PM3S

15 - 3315. ABSOLUTE POSITION DETECTION SYSTEMM2M10 C2M11T2M9039END5 5M10PLSM11SETC2D7T2K1M11RSTD100A0DMOVABS transferretry controlABS transfer retry

15 - 3415. ABSOLUTE POSITION DETECTION SYSTEM(d) X-axis control programThis precludes execution of the X-axis start program while M3 (ready to send t

15 - 3515. ABSOLUTE POSITION DETECTION SYSTEM(g) Electromagnetic brake outputDuring ABS data transfer (for several seconds after the servo-on (SON) i

15 - 3615. ABSOLUTE POSITION DETECTION SYSTEM(4) Sequence program - 2-axis controlThe following program is a reference example for creation of an ABS

15 - 3715. ABSOLUTE POSITION DETECTION SYSTEM15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)(1) Connection diagram(a) FX-32MT (FX-1PG)3.3k3.3k3.3kNCOM2Y4Y5Y6Y

15 - 3815. ABSOLUTE POSITION DETECTION SYSTEM(b) FX2N-32MT (FX2N-1PG)3.3k3.3k3.3kCN1BNCOM2Y4Y5Y6Y1024S/SDOGSTOPVINFPCOM0RPCOM1CLRLPower supplyFX2N-32

1 - 171. FUNCTIONS AND CONFIGURATION(4) For MR-J2S-11KA or moreRemoval of the front coverMounting screws (2 places)Mounting screws(2 places)1) Remove

15 - 3915. ABSOLUTE POSITION DETECTION SYSTEM(2) Sequence program example(a) Conditions1) Operation patternABS data transfer is made as soon as the s

15 - 4015. ABSOLUTE POSITION DETECTION SYSTEM(b) Device listX input contact Y output contactX0 ABS bit 0 / completion of positioning Y0 Servo-onX1 AB

15 - 4115. ABSOLUTE POSITION DETECTION SYSTEM(c) ABS data transfer program for X-axisM8002D24K0DMOVK1K0K3K0TOK1K100000K4K0DTOK1K10000K7K0DTOK1K50000K

15 - 4215. ABSOLUTE POSITION DETECTION SYSTEMX6 M6M5SETM5 Y12X6Y0Y121 12 2M64M62ZRSTM1PLSC1RSTC2C0ZRSTM99RSTM5RSTY1RSTY2RSTM6RSTServo-on requestServo

15 - 4315. ABSOLUTE POSITION DETECTION SYSTEMX4 M0Y3Y3C1RSTM64M0ZRSTX5X3M12 23 3D3D0ZRSTC2RSTC0RSTM0Y10Y1RSTY2RSTM99RSTM5RSTM6RSTY1SETM64M10ZRSTD2D0Z

15 - 4415. ABSOLUTE POSITION DETECTION SYSTEMY1 X2M3PLSM3Y2 X2C2C2C0M643 3D3K2M52MOVY2SETK1M10H0003K1X0WANDPK2K38M20M10SFTRD2D2K1M10ADDPK16C0K19Y2RST

15 - 4515. ABSOLUTE POSITION DETECTION SYSTEMM63D0K8M20DMOVPD0D24D0DADDPK1D0K26K0DTOPM99SETY11 X6Y1T201Y1 Y2Y1 X2T201T202T203M2T200 M6445 5M64M62ZRST

15 - 4615. ABSOLUTE POSITION DETECTION SYSTEMM8000M109X7 X12 M99M120PLSX10JOGX11JOGX7 X14M120K1D100ZK17K0DTOM121K6ZDCMPM122INDX 6ZK0DMOVX13M0X16556

15 - 4715. ABSOLUTE POSITION DETECTION SYSTEMM8000K1K4M100K25K0TOM200K1K3M200K28K0FROMK1D106K26K0DFROMM108RSTEND6 6FX2 1PGTransmission of control

15 - 4815. ABSOLUTE POSITION DETECTION SYSTEM(e) Electromagnetic brake outputDuring ABS data transfer (for several seconds after the servo-on (SON) i

1 - 181. FUNCTIONS AND CONFIGURATIONReinstallation of the front coverMounting screws(2 places)1) Insert the front cover in the direction of arrow. 2)

15 - 4915. ABSOLUTE POSITION DETECTION SYSTEM15.8.3 MELSEC A1SD75(1) Connection diagramPULSE- RPULSE- FPGODOGSTOPRDY4223212524714110123457COM89ABCDEF

15 - 5015. ABSOLUTE POSITION DETECTION SYSTEMNote 1. For the dog type home position return. Need not be connected for the data set type home position

15 - 5115. ABSOLUTE POSITION DETECTION SYSTEM(b) Device listM5M6M7M8M9M10M11M12M13M14M15M16M17M18M20 (Note 1)M21 (Note 1)M22M23M24M26T0T1T2T3T10 (Not

15 - 5215. ABSOLUTE POSITION DETECTION SYSTEM(c) ABS data transfer program for X axisThis sequence program example assumes the following conditions.P

15 - 5315. ABSOLUTE POSITION DETECTION SYSTEMX26M13SETM23K1D11K816H0000FROMD11H0001WANDM231 12 2D11 K1 M24PLSM13 M14 M16X26M8RSTM13RSTC0RSTC1RSTY30M5

15 - 5415. ABSOLUTE POSITION DETECTION SYSTEMM5D0K16MOV2 2D1K3MOVD2 K0MOVD5K0MOVD9K0DMOVA0K0DMOVC0RSTC1RSTInitializing ABS datatransmission counterIn

15 - 5515. ABSOLUTE POSITION DETECTION SYSTEMM9 C0C13 3D5K1X20MOVD5H0003WANDA0D5WORK2RORM10PLSD1M9 C0D5K1X20MOVK2DRORD2D2D5C0C1D5H0003WANDA0D5WORD0M1

15 - 5615. ABSOLUTE POSITION DETECTION SYSTEMM11M10Y31 X22M12Y32 X22Y32 X22 T200445 5Y32RSTM12PLSY32SETT200K1M9M6K1D9K0072H0000DFROPD3D3KD*PD3D9D3D

15 - 5715. ABSOLUTE POSITION DETECTION SYSTEMSetting ABS transfer retry start flagY39 X26Y31T0Y31 Y32Y31 X22T0T1T355Y31RSTK50T1K10T3K10Y39M7M15PLSDet

15 - 5815. ABSOLUTE POSITION DETECTION SYSTEM(d) X-axis programDo not execute the X-axis program while the ABS ready (M8) is off.M8When "M8"

1 - 191. FUNCTIONS AND CONFIGURATION1.8 Servo system with auxiliary equipmentWARNINGTo prevent an electric shock, always connect the protective earth

15 - 5915. ABSOLUTE POSITION DETECTION SYSTEM(f) Data set type home position returnAfter jogging the machine to the position where the home position

15 - 6015. ABSOLUTE POSITION DETECTION SYSTEM(g) Electromagnetic brake outputDuring ABS data transfer (for several seconds after the servo-on (SON) i

15 - 6115. ABSOLUTE POSITION DETECTION SYSTEM(3) Sequence program - 2-axis controlThe following program is a reference example for creation of an ABS

15 - 6215. ABSOLUTE POSITION DETECTION SYSTEM(4) Differences between A1SD71The sequence programs shown in (2) in this section differ from those for t

15 - 6315. ABSOLUTE POSITION DETECTION SYSTEM5) Restoring absolute position dataThe slot number and buffer address of the A1SD75 home position addres

15 - 6415. ABSOLUTE POSITION DETECTION SYSTEM15.9 Confirmation of absolute position detection dataYou can confirm the absolute position data with MR

15 - 6515. ABSOLUTE POSITION DETECTION SYSTEM15.10 Absolute position data transfer errors15.10.1 Corrective actions(1) Error listThe number within pa

15 - 6615. ABSOLUTE POSITION DETECTION SYSTEM(2) ABS communication error(a) The OFF period of the send data ready signal output from the servo amplif

15 - 6715. ABSOLUTE POSITION DETECTION SYSTEM(c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABSrequ

15 - 6815. ABSOLUTE POSITION DETECTION SYSTEMMEMO

1 - 201. FUNCTIONS AND CONFIGURATION(b) For 1-phase 100V to 120VAC(Note 2)Power supplyNo-fuse breaker(NFB) or fuseMagneticcontactor(MC)To CN2To CN3To

App - 1APPENDIXApp 1. Signal arrangement recording sheets(1) Position control mode1235467981011121314151617181920DO1LGVDDSGP15RCOM1235467981011121314

App - 2APPENDIXApp 2. Status display block diagramEffectiveload ratioEffective value calculationInstantaneoustorquePeakload ratioPeak holdPWMMCurrent

App - 3APPENDIXApp 3. Combination of servo amplifier and servo motorThe servo amplifier software versions compatible with the servo motors are indica

App - 4APPENDIXApp 4. Change of connector sets to the RoHS compatible productsConnector sets (options) in the following table are changed to the RoHS

REVISIONS*The manual number is given on the bottom left of the back cover.Print data *Manual number RevisionNov.,1999 SH(NA)030006-A First editionSep

Print data *Manual number RevisionSep.,2000 SH(NA)030006-B Section 10.2.2: Addition of description to AL.30Addition of Cause to AL.33Chapter 11: Chan

Print data *Manual number RevisionOct.,2002 SH(NA)030006-D Servo amplifier: Addition of MR-J2S-11KA, MR-J2S-15KA and MR-J2S-22KAServo motor: Addition

Print data *Manual number RevisionOct.,2002 SH(NA)030006-D Section 13.1.5 (1): Configuration diagram reexaminationNote sentence additionAddition of c

Print data *Manual number RevisionJun., 2003 SH(NA)030006-E Section 13.2.1 (1): Correction of the AWG of the recommended wire 60mm2 to2/0Section 13.2

Print data *Manual number RevisionOct., 2004 SH(NA)030006-G Section 12.3: HC-LFS series of graph is additionSection 13.1.1 (b)b.: Partial table value

A - 34. Additional instructionsThe following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electricshock, et

1 - 211. FUNCTIONS AND CONFIGURATION(2) MR-J2S-200A MR-J2S-350A or morePowerfactorimprovingreactor(FR-BAL)(Note)Power supplyNo-fuse breaker(NFB) orfu

Print data *Manual number RevisionDec., 2005 SH(NA)030006-H Section 13.1.3 (2):Diagram addition of P1 terminal, Reexamination of NoteSection 13.1.4 (

Print data *Manual number RevisionDec., 2007 SH(NA)030006-J Section 10.2.2: Addition of sentence for AL.20Correction to error in writing of name for

SH (NA) 030006-J (0712) MEE Printed in Japan Specifications subject to change without notice.This Instruction Manual uses recycled paper.MODELMODELCOD

1 - 221. FUNCTIONS AND CONFIGURATION(3) MR-J2S-500ATo CN1A(Note 2)Power supplyNo-fuse breaker(NFB) orfuseMagneticcontactor(MC)Powerfactorimprovingrea

1 - 231. FUNCTIONS AND CONFIGURATION(4) MR-J2S-700AWV(Note 2)Power supplyNo-fuse breaker(NFB) orfuseMagneticcontactor(MC)Powerfactorimprovingreactor(

1 - 241. FUNCTIONS AND CONFIGURATION(5) MR-J2S-11KA or more(Note 1)L11L21L2L1L3MITS UBIS HIUVWBVBUCP To CN1ATo CN1B(Note 3)Power supplyNo-fuse bre

2 - 12. INSTALLATION2. INSTALLATIONCAUTIONStacking in excess of the limited number of products is not allowed.Install the equipment on incombustible

2 - 22. INSTALLATION2.2 Installation direction and clearancesCAUTIONThe equipment must be installed in the specified direction. Otherwise, a fault ma

2 - 32. INSTALLATION(2) Installation of two or more servo amplifiersLeave a large clearance between the top of the servo amplifier and the internal s

2 - 42. INSTALLATION2.4 Cable stress(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own massstress a

3 - 13. SIGNALS AND WIRING3. SIGNALS AND WIRINGWARNINGAny person who is involved in wiring should be fully competent to do the work.Before wiring, tu

3 - 23. SIGNALS AND WIRING3.1 Standard connection examplePOINTRefer to section 3.7.1 for the connection of the power supply system andrefer to sectio

A - 4 CAUTIONDo not install or operate the servo amplifier and servo motor which has been damaged or has any partsmissing.Provide adequate protection

3 - 33. SIGNALS AND WIRINGNote 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the p

3 - 43. SIGNALS AND WIRING(2) AD75P (A1SD75P )VDDRA1RA2RA31815514891617111EMGSONRESPCTLLSPLSNSDSGP15RLG1012ALM19 ZSP6TLC14716174LALARLBLBRLGOPP15

3 - 53. SIGNALS AND WIRINGNote 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the p

3 - 63. SIGNALS AND WIRING3.1.2 Speed control modeRA1RA2RA31810SP1SGCN1A15514891617111EMGSONRESST1ST2LSPLSNSDSGP15RLG102ALM19 ZSP6TLC15514716174LZLZR

3 - 73. SIGNALS AND WIRINGNote 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the p

3 - 83. SIGNALS AND WIRING3.1.3 Torque control modeRA1RA2RA31810SP1SG155149810111EMGSONRESRS1RS2SGSDP15RLG12ALM19 ZSP6VLC15514716174LZLZRLALARLBLBRLG

3 - 93. SIGNALS AND WIRINGNote 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the ( ) servo amplifier to the p

3 - 103. SIGNALS AND WIRING3.2 Internal connection diagram of servo amplifierThe following is the internal connection diagram where the signal assign

3 - 113. SIGNALS AND WIRING3.3 I/O signals3.3.1 Connectors and signal arrangementsPOINTThe pin configurations of the connectors are as viewed from th

3 - 123. SIGNALS AND WIRING(b) MR-J2S-11KA or more2RXD468101LG357TRE912TXD1416182011LG13151719RDNRDPSDPP5SDNCN3CON2MITSUBISHICHARGE2LG46MD8101LG357MR

A - 5(3) Test run adjustment CAUTIONBefore operation, check the parameter settings. Improper settings may cause some machines to performunexpected op

3 - 133. SIGNALS AND WIRING(2) CN1A and CN1B signal assignmentThe signal assignment of connector changes with the control mode as indicated below.For

3 - 143. SIGNALS AND WIRING(3) Symbols and signal namesSymbol Signal name Symbol Signal nameSON Servo-on VLC Limiting speedLSP Forward rotation strok

3 - 153. SIGNALS AND WIRING3.3.2 Signal explanationsFor the I/O interfaces (symbols in I/O division column in the table), refer to section 3.6.2.In t

3 - 163. SIGNALS AND WIRINGControlmodeSignal SymbolConnectorpin No.Functions/ApplicationsI/OdivisionPSTExternal torquelimit selectionTL CN1B9Turn TL

3 - 173. SIGNALS AND WIRINGControlmodeSignal SymbolConnectorpin No.Functions/ApplicationsI/OdivisionPSTSpeed selection 1 SP1 CN1A8<Speed control m

3 - 183. SIGNALS AND WIRINGControlmodeSignal SymbolConnectorpin No.Functions/ApplicationsI/OdivisionPSTProportioncontrolPC CN1B8Connect PC-SG to swit

3 - 193. SIGNALS AND WIRINGControlmodeSignal SymbolConnectorpin No.Functions/ApplicationsI/OdivisionPST<Position/speed control change mode>Used

3 - 203. SIGNALS AND WIRING(2) Output signalsControlmodeSignal SymbolConnectorpin No.Functions/ApplicationsI/OdivisionPSTTrouble ALM CN1B18ALM turns

3 - 213. SIGNALS AND WIRINGControlmodeSignal SymbolConnectorpin No.Functions/ApplicationsI/OdivisionPSTTo use this signal, set " 1" in

3 - 223. SIGNALS AND WIRINGConnector pin No.ControlmodeSignal Symbol7kW orless11kW ormoreFunctions/ApplicationsI/OdivisionPSTEncoder Z-phasepulse(Ope

A - 6(6) Maintenance, inspection and parts replacement CAUTIONWith age, the electrolytic capacitor of the servo amplifier will deteriorate. To preven

3 - 233. SIGNALS AND WIRING(4) Power supplyConnector pin No.ControlmodeSignal Symbol7kW orless11kW ormoreFunctions/Applications I/O divisionPSTI/F in

3 - 243. SIGNALS AND WIRING3.4 Detailed description of the signals3.4.1 Position control mode(1) Pulse train input(a) Input pulse waveform selectionC

3 - 253. SIGNALS AND WIRING(b) Connections and waveforms1) Open collector systemConnect as shown below.SGSDServo amplifierVDDPPNPOPCApprox.1.2kApprox

3 - 263. SIGNALS AND WIRING2) Differential line driver systemConnect as shown below.PPNPServo amplifierPGNGSD(Note)Note. Pulse train input interface

3 - 273. SIGNALS AND WIRING(2) In-position (INP)PF-SG are connected when the number of droop pulses in the deviation counter falls within the preseti

3 - 283. SIGNALS AND WIRING(5) Torque limitCAUTIONIf the torque limit is canceled during servo lock, the servo motor may suddenlyrotate according to

3 - 293. SIGNALS AND WIRING3.4.2 Speed control mode(1) Speed setting(a) Speed command and speedThe servo motor is run at the speeds set in the parame

3 - 303. SIGNALS AND WIRING(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command valueChoose any of the speed settings made by the i

3 - 313. SIGNALS AND WIRING3.4.3 Torque control mode(1) Torque control(a) Torque command and torqueA relationship between the applied voltage of the

3 - 323. SIGNALS AND WIRING(b) Analog torque command offsetUsing parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied

A - 7COMPLIANCE WITH EC DIRECTIVES1. WHAT ARE EC DIRECTIVES?The EC directives were issued to standardize the regulations of the EU countries and ensu

3 - 333. SIGNALS AND WIRING(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit valuesChoose any of the speed set

3 - 343. SIGNALS AND WIRING3.4.4 Position/speed control change modeSet "0001" in parameter No. 0 to switch to the position/speed control ch

3 - 353. SIGNALS AND WIRING(3) Speed setting in speed control mode(a) Speed command and speedThe servo motor is run at the speed set in parameter No.

3 - 363. SIGNALS AND WIRING3.4.5 Speed/torque control change modeSet "0003" in parameter No. 0 to switch to the speed/torque control change

3 - 373. SIGNALS AND WIRING(4) Speed limit in torque control mode(a) Speed limit value and speedThe speed is limited to the limit value set in parame

3 - 383. SIGNALS AND WIRING3.4.6 Torque/position control change modeSet "0005" in parameter No. 0 to switch to the torque/position control

3 - 393. SIGNALS AND WIRING3.5 Alarm occurrence timing chartCAUTIONWhen an alarm has occurred, remove its cause, make sure that the operationsignal i

3 - 403. SIGNALS AND WIRING3.6 Interfaces3.6.1 Common lineThe following diagram shows the power supply and its common line.24VDCCN1ACN1BCN1ACN1BDO-1S

3 - 413. SIGNALS AND WIRING3.6.2 Detailed description of the interfacesThis section gives the details of the I/O signal interfaces (refer to I/O Divi

3 - 423. SIGNALS AND WIRING(2) Digital output interface DO-1A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, o

A - 8(3) EnvironmentOperate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For thispurpose, install the servo amp

3 - 433. SIGNALS AND WIRING(3) Pulse train input interface DI-2Provide a pulse train signal in the open collector or differential line driver system.

3 - 443. SIGNALS AND WIRING(b) Differential line driver system1) InterfaceSDPG(NG)PP(NP)Max. input pulse frequency 500kppsServo amplifierAm26LS31 or

3 - 453. SIGNALS AND WIRING(b) Differential line driver system1) InterfaceMax. output current: 35mALA(LB, LZ)LAR(LBR, LZR)LGSDLA(LB, LZ)LAR(LBR, LZR)

3 - 463. SIGNALS AND WIRING(7) Source input interfaceWhen using the input interface of source type, all Dl-1 input signals are of source type. Source

3 - 473. SIGNALS AND WIRING3.7 Input power supply circuit CAUTIONAlways connect a magnetic contactor (MC) between the main circuit power supplyand L1

3 - 483. SIGNALS AND WIRING(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supplyRAOFFONMCMCSKNFB MCL1L2L3L11L21EMGSONSGVDDCOMALM RAPower suppl

3 - 493. SIGNALS AND WIRING3.7.2 TerminalsThe positions and signal arrangements of the terminal blocks change with the capacity of the servoamplifier

3 - 503. SIGNALS AND WIRING3.7.3 Power-on sequence(1) Power-on procedure1) Always wire the power supply as shown in above section 3.7.1 using the mag

3 - 513. SIGNALS AND WIRING(3) Emergency stop CAUTIONProvide an external forced stop circuit to ensure that operation can be stopped andpower switche

3 - 523. SIGNALS AND WIRING3.8 Connection of servo amplifier and servo motor3.8.1 Connection instructionsWARNINGInsulate the connections of the power