General-Purpose AC Servo. General-Purpose Interface MR-J2S- A. J2-Super Series SERVO AMPLIFIER INSTRUCTION MANUAL MODEL

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MODEL

J2-Super Series MR-J2S- A Servo Amplifier Instruction Manual

MR-J2S-A GIJUTU SIRYOU

MODEL

MR-J2S- A

SERVO AMPLIFIER

INSTRUCTION MANUAL General-Purpose Interface

J2-Super ^Series

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A - 1

WARNING

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

CAUTION

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

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

: Indicates what must not be done. For example, "No Fire" is indicated by . : Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this installation guide, always keep it accessible to the operator.

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WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not.

Connect the servo amplifier and servo motor to ground.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire.

Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

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A - 3

Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The controller and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

When you keep or use it, please fulfill the following environmental conditions.

Conditions Environment

Servo amplifier Servo motor

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

operation [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing) [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing) Ambient

temperature

In storage

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

In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing) Ambient

humidity In storage 90%RH or less (non-condensing)

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

HC-KFS Series HC-MFS Series HC-UFS13 to 73

X Y : 49 HC-SFS81

HC-SFS52 to 152 HC-SFS53 to 153 HC-RFS Series HC-UFS 72 152

X Y : 24.5

HC-SFS121 201 HC-SFS202 352 HC-SFS203 353 HC-UFS202 to 502

X : 24.5 Y : 49 HC-SFS301

HC-SFS502 to 702

X : 24.5 Y : 29.4 [m/s²] 5.9 or less

HA-LFS11K2 to 22K2 X : 11.7 Y : 29.4 HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73 X Y : 161 HC-SFS81

HC-SFS52 to 152 HC-SFS53 to 153 HC-RFS Series HC-UFS 72 152

X Y : 80

HC-SFS121 201 HC-SFS202 352 HC-SFS203 353 HC-UFS202 to 502

X : 80 Y : 161 HC-SFS301

HC-SFS502 to 702 X : 80 Y : 96 (Note)

Vibration

[ft/s²] 19.4 or less

HA-LFS11K2 to 22K2 X : 38 Y : 96 Note. Except the servo motor with reduction gear.

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missing.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.

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

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

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

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

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

Otherwise, the servo motor does not operate properly.

Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

U

Servo motor

V M W

U V W

U V M W

U V W

Servo amplifier Servo amplifier Servo motor

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction. Otherwise, the emergency stop (EMG) and other protective circuits may not operate.

COM Servo amplifier COM

Servo amplifier

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A - 5

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.

Use the servo amplifier with the specified servo motor.

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

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

For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop (EMG).

EMG RA

24VDC Contacts must be open when

servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR).

Electromagnetic brake Servo motor

Circuit must be opened during

emergency stop (EMG).

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

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CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please consult our sales representative.

(7) General instruction

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

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

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equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive.

This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE (1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10A to MR-J2S-22KA MR-J2S-10A1 to MR-J2S-40A1 Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS (2) Configuration

Reinforced insulating transformer

NFB MC M

No-fuse

breaker Magnetic contactor

Reinforced insulating type

24VDC power supply

Servo amplifier

Servo motor Control box

(Note)

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

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dirt, etc. (IP54).

(4) Power supply

(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section.

Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage

category III set forth in IE60664-1, a reinforced insulating transformer is not required in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the servo amplifier to the protective earth (PE) of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the cables to the terminals one-to-one.

PE terminals 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

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A - 9 (8) Performing EMC tests

When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications.

For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines(IB(NA)67310).

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(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10A to MR-J2S-22KA MR-J2S-10A1 to MR-J2S-40A1 Servo motor :HC-KFS

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

(2) Installation

Install a cooling fan of 100CFM (2.8m³/min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of at least equivalent capability.

(3) Short circuit rating

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

(4) Capacitor discharge time

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

Servo amplifier Discharge time [min]

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

MR-J2S-40A(1) 60A 2

MR-J2S-70A to 350A 3

MR-J2S-500A 700A 5

MR-J2S-11KA 4

MR-J2S-15KA 6

MR-J2S-22KA 8

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

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A - 11 Relevant manuals

Manual name Manual No.

MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010

MELSERVO Servo Motor Instruction Manual SH(NA)3181

EMC Installation Guidelines IB(NA)67310

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1

1.7.1 Parts identification ... 1-10 1.7.2 Removal and reinstallation of the front cover ... 1-15 1.8 Servo system with auxiliary equipment... 1-19

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions... 2- 1 2.2 Installation direction and clearances ... 2- 2 2.3 Keep out foreign materials ... 2- 3 2.4 Cable stress ... 2- 4

3. SIGNALS AND WIRING 3- 1 to 3- 70

3.1 Standard connection example ... 3- 2 3.1.1 Position control mode ... 3- 2 3.1.2 Speed control mode... 3- 6 3.1.3 Torque control mode... 3- 8 3.2 Internal connection diagram of servo amplifier ... 3-10 3.3 I/O signals... 3-11 3.3.1 Connectors and signal arrangements... 3-11 3.3.2 Signal explanations ... 3-15 3.4 Detailed description of the signals... 3-24 3.4.1 Position control mode ... 3-24 3.4.2 Speed control mode... 3-29 3.4.3 Torque control mode... 3-31 3.4.4 Position/speed control change mode ... 3-34 3.4.5 Speed/torque control change mode... 3-36 3.4.6 Torque/position control change mode ... 3-38 3.5 Alarm occurrence timing chart ... 3-39 3.6 Interfaces... 3-40 3.6.1 Common line ... 3-40 3.6.2 Detailed description of the interfaces ... 3-41 3.7 Input power supply circuit... 3-47 3.7.1 Connection example... 3-47 3.7.2 Terminals... 3-49 3.7.3 Power-on sequence... 3-50 3.8 Connection of servo amplifier and servo motor ... 3-52 3.8.1 Connection instructions ... 3-52 3.8.2 Connection diagram... 3-53

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3.11 Servo amplifier terminal block (TE2) wiring method... 3-61 3.11.1 For the servo amplifier produced later than Jan. 2006 ... 3-61 3.11.2 For the servo amplifier produced earlier than Dec. 2005... 3-63 3.12 Instructions for the 3M connector... 3-64 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA ... 3-64 3.13.1 Connection example ... 3-65 3.13.2 Servo amplifier terminals ... 3-66 3.13.3 Servo motor terminals... 3-67

4. OPERATION 4- 1 to 4- 6

4.1 When switching power on for the first time... 4- 1 4.2 Startup... 4- 2 4.2.1 Selection of control mode... 4- 2 4.2.2 Position control mode ... 4- 2 4.2.3 Speed control mode... 4- 4 4.2.4 Torque control mode... 4- 5 4.3 Multidrop communication ... 4- 6

5. PARAMETERS 5- 1 to 5- 34

5.1 Parameter list ... 5- 1 5.1.1 Parameter write inhibit ... 5- 1 5.1.2 Lists... 5- 2 5.2 Detailed description ... 5-26 5.2.1 Electronic gear ... 5-26 5.2.2 Analog monitor... 5-30 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern... 5-33 5.2.4 Alarm history clear... 5-33 5.2.5 Position smoothing ... 5-34

6. DISPLAY AND OPERATION 6- 1 to 6-16

6.1 Display flowchart... 6- 1 6.2 Status display ... 6- 2 6.2.1 Display examples... 6- 2 6.2.2 Status display list ... 6- 3 6.2.3 Changing the status display screen... 6- 4

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3

7.2.4 Response level setting in auto tuning mode... 7- 6 7.3 Manual mode 1 (simple manual adjustment)... 7- 7 7.3.1 Operation of manual mode 1 ... 7- 7 7.3.2 Adjustment by manual mode 1 ... 7- 7 7.4 Interpolation mode ... 7- 9 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super ... 7-11 7.5.1 Response level setting ... 7-11 7.5.2 Auto tuning selection... 7-11

8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10

8.1 Function block diagram ... 8- 1 8.2 Machine resonance suppression filter ... 8- 1 8.3 Adaptive vibration suppression control... 8- 3 8.4 Low-pass filter ... 8- 4 8.5 Gain changing function... 8- 5 8.5.1 Applications... 8- 5 8.5.2 Function block diagram... 8- 5 8.5.3 Parameters ... 8- 6 8.5.4 Gain changing operation... 8- 8

9. INSPECTION 9- 1 to 9- 2

10. TROUBLESHOOTING 10- 1 to 10-14

10.1 Trouble at start-up ... 10- 1 10.1.1 Position control mode ... 10- 1 10.1.2 Speed control mode... 10- 4 10.1.3 Torque control mode... 10- 5 10.2 When alarm or warning has occurred ... 10- 6 10.2.1 Alarms and warning list ... 10- 6 10.2.2 Remedies for alarms... 10- 7 10.2.3 Remedies for warnings...10-13

11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11-10

11.1 Servo amplifiers... 11- 1 11.2 Connectors... 11- 8

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12.2 Power supply equipment capacity and generated loss ... 12- 2 12.3 Dynamic brake characteristics... 12- 5 12.3.1 Dynamic brake operation... 12- 5 12.3.2 The dynamic brake at the load inertia moment ... 12- 7 12.4 Encoder cable flexing life ... 12- 7 12.5 Inrush currents at power-on of main circuit and control circuit ... 12- 8

13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-64

13.1 Options... 13- 1 13.1.1 Regenerative options ... 13- 1 13.1.2 FR-BU2 brake unit...13-10 13.1.3 Power regeneration converter ...13-17 13.1.4 External dynamic brake...13-20 13.1.5 Cables and connectors...13-23 13.1.6 Junction terminal block (MR-TB20) ...13-31 13.1.7 Maintenance junction card (MR-J2CN3TM) ...13-33 13.1.8 Battery (MR-BAT, A6BAT)...13-34 13.1.9 MR Configurator (Servo configurations software) ...13-35 13.1.10 Power regeneration common converter...13-37 13.1.11 Heat sink outside mounting attachment (MR-JACN)...13-41 13.2 Auxiliary equipment ...13-44 13.2.1 Recommended wires...13-44 13.2.2 No-fuse breakers, fuses, magnetic contactors...13-47 13.2.3 Power factor improving reactors ...13-47 13.2.4 Power factor improving DC reactors...13-48 13.2.5 Relays...13-49 13.2.6 Surge absorbers ...13-49 13.2.7 Noise reduction techniques...13-49 13.2.8 Leakage current breaker...13-57 13.2.9 EMC filter...13-59 13.2.10 Setting potentiometers for analog inputs...13-63

14. COMMUNICATION FUNCTIONS 14- 1 to 14- 28

14.1 Configuration ... 14- 1 14.1.1 RS-422 configuration... 14- 1 14.1.2 RS-232C configuration ... 14- 2

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5

14.12.5 Disable/enable of external I/O signals (DIO) ...14-20 14.12.6 Input devices ON/OFF (test operation) ...14-21 14.12.7 Test operation mode ...14-22 14.12.8 Output signal pin ON/OFF output signal (DO) forced output...14-24 14.12.9 Alarm history ...14-25 14.12.10 Current alarm...14-26 14.12.11 Other commands...14-27

15. ABSOLUTE POSITION DETECTION SYSTEM 15- 1 to 15- 68

15.1 Outline... 15- 1 15.1.1 Features... 15- 1 15.1.2 Restrictions... 15- 1 15.2 Specifications ... 15- 2 15.3 Battery installation procedure ... 15- 3 15.4 Standard connection diagram ... 15- 4 15.5 Signal explanation... 15- 5 15.6 Startup procedure... 15- 6 15.7 Absolute position data transfer protocol ... 15- 7 15.7.1 Data transfer procedure... 15- 7 15.7.2 Transfer method ... 15- 8 15.7.3 Home position setting...15-19 15.7.4 Use of servo motor with electromagnetic brake ...15-21 15.7.5 How to process the absolute position data at detection of stroke end...15-22 15.8 Examples of use ...15-23 15.8.1 MELSEC-A1S (A1SD71)...15-23 15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG) ...15-37 15.8.3 MELSEC A1SD75...15-49 15.9 Confirmation of absolute position detection data...15-64 15.10 Absolute position data transfer errors ...15-65 15.10.1 Corrective actions ...15-65 15.10.2 Error resetting conditions...15-67

APPENDIX App- 1 to App- 4

App 1. Signal arrangement recording sheets... App- 1 App 2. Status display block diagram ... App- 2 App 3. Combination of servo amplifier and servo motor ... App- 3 App 4. Change of connector sets to the RoHS compatible products ... App- 4

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here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULATION METHODS FOR DESIGNING

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1 - 1

Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

As this new series has the RS-232C or RS-422 serial communication function, a MR Configurator (servo configuration software)-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc.

With real-time auto tuning, you can automatically adjust the servo gains according to the machine.

The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2 series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.

This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

(1) Position control mode

An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 131072 pulses/rev resolution.

The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command.

A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be changed to any value with an external analog input or the parameter.

(2) Speed control mode

An external analog speed command (0 to 10VDC) or parameter-driven internal speed command (max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.

There are also the acceleration/deceleration time constant setting in response to speed command, the servo lock function at a stop time, and automatic offset adjustment function in response to external analog speed command.

(3) Torque control mode

An external analog torque command (0 to 8VDC) is used to control the torque output by the servo motor.

To prevent unexpected operation under no load, the speed limit function (external or internal setting) is also available for application to tension control, etc.

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1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J2S-350A or less

amplifierBase

CON1

D C

Encoder Current

detection

NFB MC

L1

L2

L3

L11

L21

B2 U V W

B1 Regenerative option

MR-BAT Pulse

input

(Note 1)

(Note 2) Power supply

CHARGE lamp ^Regene-_rative

TR

Current detector

Dynamic brake

Electro- magnetic brake Servo motor Servo amplifier

Optional battery (for absolute position detection system) Overcurrent

protection Voltage

detection

Virtual encoder

Virtual motor

Model torque Actual speed

control Actual position

control (Note 3)Cooling fan

Control circuit power supply

Model position control

Model

position Model speed

CN2

P

U V W

M

Model speed control

Current control

Analog monitor Diode

stack Relay

I/F A/D

RS-232C

RS-422 D/A

CN1A CN1B CN3

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1 - 3

Cooling fan

Regene- rative TR

amplifierBase

CON1

Encoder Current

detection L3

L11

L21

B2 W

B1

MR-BAT Pulse

input

CHARGE lamp

Dynamic brake

Electro- magnetic brake

protection Voltage

detection

Virtual encoder

Virtual motor

control Control

circuit power supply

Model

CN2

W

Model speed control

Current control

Analog monitor (2 channels) I/F

A/D RS-232C

RS-422 D/A

CN1A CN1B CN3

Controller

RS-422/RS-232C Analog

(2 channels)

D I/O control Servo on Start Failure, etc.

Note. Refer to section 1.3 for the power supply specification.

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(3) MR-J2S-11KA or more

Cooling fan

amplifierBase

CON1

N

Encoder Current

detection

NFB MC

L1

L2

L3

L11

L21

B2 U V W

B1 Regenerative option

MR-BAT Pulse

input (Note)

Power supply

CHARGE

lamp ^Regene-_rative

TR

Current detector

Dynamic brake

Electro- magnetic brake Servo motor Servo amplifier

protection Voltage

detection

Virtual encoder

Virtual motor

control Control

circuit power supply

Model

CN2

U V W

M

Model speed control

Current control

Analog monitor (2 channels) Diode

stack

I/F

A/D RS-232C

RS-422 D/A

CN1A CN1B CN3

Controller Analog

(2 channels)

D I/O control Servo on Start

C

P1 P

Thyristor

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1 - 5 Permissible voltage fluctuation

1-phase 230VAC: 207 to 253VAC

3-phase 170 to 253VAC

85 to 127VAC

Permissible frequency fluctuation Within 5%

Power supply capacity Refer to section12.2

Power su

Inrush current Refer to section 12.5

Control system Sine-wave PWM control, current control system

Dynamic brake Built-in External option Built-in

Protective functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

Max. input pulse frequency 500kpps (for differential receiver), 200kpps (for open collector) Command pulse multiplying factor Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500 In-position range setting 0 to 10000 pulse (command pulse unit)

Error excessive (Note) 2.5 revolutions

Position control mode

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Speed control range Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed command input 0 to 10VDC / Rated speed

Speed fluctuation ratio

0.01% or less (load fluctuation 0 to 100%) 0% (power fluctuation 10%)

0.2% or less (ambient temperature 25 10 (59 to 95 )), when using analog speed command

Speed control mode

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k )

Torque control

mode Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

Structure Self-cooled, open (IP00) Force-cooling, open (IP00) Self-cooled,

open(IP00)

[ ] 0 to 55 (non-freezing)

In operation

Ambient temperature

In storage

In operation Ambient

humidity In storage 90%RH or less (non-condensing)

Ambient Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude Max. 1000m (3280ft) above sea level

5.9 [m/s²] or less

Environment

Vibration

19.4 [ft/s²] or less

[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 15 16 16 20 0.7 0.7 1.1 Mass [lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 33.1 35.3 35.3 44.1 1.5 1.5 2.4 Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B0 or later is

used. When the software version is earlier than B0, the error excessive detection level of that servo amplifier is 10 revolutions.

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1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description (Note)

Control mode Reference

Position control mode This servo is used as position control servo. P

Section 3.1.1 Section 3.4.1 Section 4.2.2

Speed control mode This servo is used as speed control servo. S

Torque control mode This servo is used as torque control servo. T

Section 3.1.3 Section 3.4.3 Section 4.2.4 Position/speed control change

mode

Using external input signal, control can be switched

between position control and speed control. P/S Section 3.4.4 Speed/torque control change

mode

between speed control and torque control. S/T Section 3.4.5 Torque/position control

change mode

between torque control and position control. T/P Section 3.4.6 High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a

servo motor encoder. P, S, T

Absolute position detection system

Merely setting a home position once makes home position

return unnecessary at every power-on. P Chapter 15

Gain changing function

You can switch between gains during rotation and gains during stop or use an external signal to change gains during operation.

P, S Section 8.5

Adaptive vibration suppression control

Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

P, S, T Section 8.3

Low-pass filter Suppresses high-frequency resonance which occurs as servo

system response is increased. P, S, T Section 8.4

Machine analyzer function

Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator (servo configuration software ) installed personal computer and servo amplifier.

P

Machine simulation Can simulate machine motions on a personal computer

screen on the basis of the machine analyzer results. P Gain search function Personal computer changes gains automatically and

searches for overshoot-free gains in a short time. P Slight vibration suppression

control

Suppresses vibration of 1 pulse produced at a servo motor

stop. P Section 7.5

Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No. 3, 4

Auto tuning

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MR-J2 series servo amplifier.

P, S Chapter 7

Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7

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1 - 7

Command pulse selection Command pulse train form can be selected from among four

different types. P Parameter No. 21

Input signal selection Forward rotation start, reverse rotation start, servo-on

(SON) and other input signals can be assigned to any pins. P, S, T Parameters No. 43 to 48 Torque limit Servo motor torque can be limited to any value. P, S Section 3.4.1 (5)

Parameter No. 28

Speed limit Servo motor speed can be limited to any value. T

Section 3.4.3 (3) Parameter No. 8 to 10,72 to 75 Status display Servo status is shown on the 5-digit, 7-segment LED

display P, S, T Section 6.2

External I/O signal display ON/OFF statuses of external I/O signals are shown on the

display. P, S, T Section 6.6

Output signal (DO) forced output

Output signal can be forced on/off independently of the servo status.

Use this function for output signal wiring check, etc.

P, S, T Section 6.7

Automatic VC offset

Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command (VC) or analog speed limit (VLA) of 0V.

S, T Section 6.3

Test operation mode JOG operation positioning operation motor-less operation

DO forced output. P, S, T Section 6.8

Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No. 17 MR Configurator

(Servo configuration software)

Using a personal computer, parameter setting, test

operation, status display, etc. can be performed. P, S, T Section 13.1.9 Alarm code output If an alarm has occurred, the corresponding alarm number

is output in 3-bit code. P, S, T Section 10.2.1

Note. P: Position control mode, S: Speed control mode, T: Torque control mode

P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

1.5 Model code definition (1) Rating plate

POWER

MITSUBISHI _{AC SERVO}

MADE IN JAPAN

MODEL MR-J2S-60A

MITSUBISHI ELECTRIC CORPORATION

600W

3.2A 3PH 1PH200-230V 50Hz

170V 0-360Hz 3.6A POWER :

INPUT :

OUTPUT : SERIAL :

AC SERVO

A5

PASSED

Model Capacity

Applicable power supply

Rated output current Serial number 3PH 1PH200-230V 60Hz

5.5A 1PH 230V 50/60Hz

TC3 AAAAG52

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(2) Model

MR–J2S–100A or less MR–J2S–200A 350A

Rating plate

MR-J2S-500A MR-J2S-700A

Rating plate Rating plate

MR-J2S-11KA 15KA MR-J2S-22KA

Rating plate Rating plate

Note 1. 1-phase 230V is supported by 750W or less.

2. 1-phase 100V to 120V is supported by 400W or less.

Power supply

Series Symbol Description

-PX

Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory.

With no regenerative resistor

Symbol Power supply 3-phase 200 to 230VAC (Note 1)1-phase 230VAC 1-phase 100 to 120VAC None

(Note 2) 1

General-purpose interface

Rated output Rated output [kW]

Symbol

10 0.1

20 0.2

40 0.4

60 0.6

70 0.75

100 1

200 2

350 3.5

500 5

700 7

11K 11

15K 15

22K 22

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1 - 9

MR-J2S-10A(1) 053 13 053 13 13

MR-J2S-20A(1) 23 23 23

MR-J2S-40A(1) 43 43 43

MR-J2S-60A 52 53

MR-J2S-70A (Note 1) 73 73 72 73

MR-J2S-100A 81 102 103

MR-J2S-200A 121 201 152 202 153 203 103 153 152

MR-J2S-350A 301 352 353 (Note 1) 203 (Note 1) 202

MR-J2S-500A (Note 1)

502

(Note 1) 353 503

(Note 1) 352 502

MR-J2S-700A (Note 1)

702

Servo motors HA-LFS

Servo amplifier

1000r/min 1500r/min 2000r/min

(Note 1) HC-LFS

MR-J2S-60A 52

MR-J2S-100A 102

MR-J2S-200A 152

MR-J2S-350A 202

MR-J2S-500A (Note 1)502 302

MR-J2S-700A (Note 2)601 (Note 2)701M (Note 1)702

MR-J2S-11KA 801 12K1 11K1M 11K2

MR-J2S-15KA 15K1 15K1M 15K2

MR-J2S-22KA 20K1 25K1 22K1M 22K2

Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to appendix 3.

2. Consult us since the servo amplifier to be used with any of these servo motors is optional.

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1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100A or less

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

MODE UP DOWN SET

Encoder connector (CN2)

Used to connect the servo motor encoder.

Charge lamp

Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

MODE UP DOWN SET

Battery holder

Contains the battery for absolute position data backup.

Communication connector (CN3)

Used to connect a command device (RS-422/RS-232C) and output analog monitor data.

Battery connector (CON1)

Used to connect the battery for absolute position data backup.

Reference

Section 15.3

Chpater 6

Chapter 6

Section 3.3

Section 3.3 Section 13.1.5

Chapter 14 Section 1.5

Section 3.3 Section 13.1.5 Display

The 5-digit, seven-segment LED shows the servo status and alarm number.

Operation section

Used to perform status display, diagnostic, alarm and parameter setting operations.

Used to change the display or data in each mode.

I/O signal connector (CN1A) Used to connect digital I/O signals.

I/O signal connector (CN1B) Used to connect digital I/O signals.

Rating plate

Name/Application

Used to set data.

Used to change the mode.

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1 - 11

Protective earth (PE) terminal ( ) Ground terminal.

Cooling fan Fixed part (4 places)

MODE UP DOWN SET

Charge lamp

Main circuit terminal block (TE1)

Used to connect the input power supply and servo motor.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply and regenerative option.

MODE UP DOWN SET

Battery holder

Section 15.3

Chpater 6

Chapter 6

Section 3.3

Chapter 14 Section 1.5

Section 3.7 Section 11.1

Section 3.7 Section 11.1 Section 3.1.1 Section 3.10 Section 11.1 Display

Operation section

Rating plate

Used to set data.

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(3) MR-J2S-500A

POINT

Fixed part (4 places)

MODE UP DOWN SET

Charge lamp

Used to connect the control circuit power supply and regenerative option.

MODE UP DOWN SET

Battery holder

Reference

Chpater 6

Chapter 6

Section 3.3

Chapter 14 Section 3.3 Section 13.1.5

Section 3.7 Section 11.1 Section 13.1.1 Display

Operation section

Name/Application

Used to set data.

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1 - 13

MODE UP DOWN SET

Fixed part (4 places) Cooling fan

Charge lamp

Main circuit terminal block (TE1)

Used to connect the input power supply, regenerative option and servo motor.

Used to connect the control circuit power supply.

Protective earth (PE) terminal ( ) Ground terminal.

MODE UP DOWN SET

Battery holder

Chpater 6

Chapter 6

Section 3.3

Chapter 14

Section 1.5 Section 3.3 Section 13.1.5

Section 3.7 Section 11.1 Section 13.1.1

Section 3.10 Section 11.1 Display

Operation section

Rating plate

Used to set data.

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(5) MR-J2S-11KA or more

POINT

MODE UP DOWN SET

Cooling fan

MODE UP DOWN SET

Battery holder

Display

Operation section

Used to set data.

Section 15.3

Chapter 6

Name/Application Reference

Used to connect a command device (RS232C) I/O signal connector (CN1A)

Used to connect digital I/O signals.

Charge lamp

Lit to indicate that the main circuit is charged.

While this lamp is lit, do not reconnect the cables.

Used to connect the control circuit power supply.

Section 15.3

Section 3.3 Section 11.1 Section 3.3 Section 13.1.5

Section 3.3

Section 3.7 Section 11.1 Section 13.1.1 Monitor output terminal (CN4)

Used to output monitor values as analog signals for two channels.

Manufacturer adjusting connector (CON2) Keep this connector open.

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1 - 15 (1) For MR-J2S-350A or less

Removal of the front cover

Front cover 2)

1)

Reinstallation of the front cover

Front cover hook (2 places)

Front cover socket (2 places) 2)

1)

1) Hold down the removing knob.

2) Pull the front cover toward you.

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

(2) For MR-J2S-500A

2)

1)

Front cover

1) Front cover hook (2 places)

1) Hold down the removing knob.

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

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(3) For MR-J2S-700A

1) A)

A)

2) B)

1) Front cover

hook (2 places)

1) Push the removing knob A) or B), and put you finger into the front hole of the front cover.

1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier.

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1 - 17

Mounting screws (2 places)

1) Remove the front cover mounting screws (2 places) and remove the front cover.

2) Remove the front cover mounting screws (2 places).

3) Remove the front cover by drawing it in the direction of arrow.

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1) Insert the front cover in the direction of arrow. 2) Fix it with the mounting screws (2 places).

3) Fit the front cover and fix it with the mounting screws (2 places).

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1 - 19

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

To CN2

To CN3 To CN1B

Junction terminal block To CN1A

L1

L2

L21

L11

Servo motor Personal

computer

U V W

MR Configurator (Servo configuration software

MRZJW3-SETUP151E) Servo amplifier

Regenerative option

D

P

C

CHARGE

Control circuit terminal block

(Note 1) Encoder cable Command device

(Note 1)

Power supply lead L3

Power factor improving reactor (FR-BAL)

Magnetic contactor MR Configurator

Section 13.2.2 Section 13.1.9

Cables

Power factor improving reactor

Section 13.2.1 Section 13.2.3

Note 1. The HC-SFS, HC-RFS series have cannon connectors.

2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less.

For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.

Refer to section 1.3 for the power supply specification.

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(b) For 1-phase 100V to 120VAC

(Note 2) Power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

To CN2

To CN3 To CN1B

Junction terminal block To CN1A

L21

L11

Servo motor Personal

computer

U V W

MR Configurator (Servo configuration software

MRZJW3-SETUP151E) Servo amplifier

Regenerative option

D

P

CHARGE

Control circuit terminal block

(Note 1) Encoder cable Command device

(Note 1)

Power supply lead L1

L2

Power factor improving reactor (FR-BAL)

Options and auxiliary equipment Reference No-fuse breaker

Magnetic contactor MR Configurator

Options and auxiliary equipment Reference Regenerative option

Cables

Power factor improving reactor