Page 1 General-Purpose AC Servo J2-Super Series CC-Link Compatible MODEL MR-J2S- CP-S084 SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
Page 5 CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
Page 7 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.
Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
Page 9 (4) Power supply (a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.
Page 10 This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the MR-J2S-CP-S084 for the first time. Always purchase them and use the MR-J2S-CP-S084 safely. Relevant manuals Manual name Manual No. MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010 MELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines...
Page 11 MEMO A - 10...
Page 12: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-28 1.1 Introduction.............................. 1- 1 1.1.1 Features of CC-Link communication functions................1- 1 1.1.2 Function block diagram........................1- 2 1.1.3 System configuration........................1- 4 1.2 Servo amplifier standard specifications ....................1- 7 1.3 Function list .............................
Page 13 3.6 Data communication timing charts ...................... 3-34 3.6.1 Monitor codes ........................... 3-34 3.6.2 Instruction codes..........................3-36 3.6.3 Remote register-based position/speed setting................3-38 3.7 Function-by-function programming examples ..................3-41 3.7.1 System configuration example ....................... 3-41 3.7.2 Reading the servo amplifier status ....................3-42 3.7.3 Writing the operation commands....................
Page 14 5.2 Automatic operation mode........................5- 5 5.2.1 What is automatic operation mode? ....................5- 5 5.2.2 Automatic operation using point table ................... 5- 7 5.2.3 Remote register-based position/speed setting................5-17 5.3 Manual operation mode ......................... 5-21 5.4 Manual home position return mode ..................... 5-23 5.4.1 Outline of home position return .....................
Page 15 8. DISPLAY AND OPERATION 8- 1 to 8-24 8.1 Display flowchart............................. 8- 1 8.2 Status display ............................8- 2 8.2.1 Display transition ..........................8- 2 8.2.2 Display examples ..........................8- 3 8.2.3 Status display list ..........................8- 4 8.3 Diagnosis mode ............................8- 5 8.3.1 Display transition ..........................
Page 16 10. SPECIAL ADJUSTMENT FUNCTIONS 10- 1 to 10-10 10.1 Function block diagram ........................10- 1 10.2 Machine resonance suppression filter ....................10- 1 10.3 Adaptive vibration suppression control..................... 10- 3 10.4 Low-pass filter ............................. 10- 4 10.5 Gain changing function........................10- 5 10.5.1 Applications...........................
Page 17 15.2 Auxiliary equipment .......................... 15-23 15.2.1 Recommended wires ........................15-23 15.2.2 No-fuse breakers, fuses, magnetic contactors................15-27 15.2.3 Power factor improving reactors ....................15-27 15.2.4 Relays............................15-28 15.2.5 Surge absorbers ........................... 15-28 15.2.6 Noise reduction techniques......................15-28 15.2.7 Leakage current breaker......................15-34 15.2.8 EMC filter.............................
Page 18: Functions And Configuration
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction When used with the MR-J2S-T01 CC-Link option unit, the MR-J2S- CP-S084 CC-Link compatible servo amplifier can support the CC-Link communication functions. Up to 42 axes of servo amplifiers can be controlled/monitored from the PLC side.
Page 19: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J2S-350CP-S084 or less Regenerative brake option Servo amplifier Servo motor (Note1) (Note2) Power supply Regenerative Current 3-phase brake detector transistor 200 to CHARGE 230VAC, lamp...
Page 20 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-500CP-S084 700CP-S084 Regenerative brake option Servo amplifier Servo motor (Note2) Power supply Regenerative Current 3-phase brake detector transistor 200 to CHARGE 230VAC, lamp 1-phase Dynamic 100 to brake 120VAC Control Electro- power magnetic supply brake Regenerative Base Voltage...
Page 21: System Configuration
1. FUNCTIONS AND CONFIGURATION 1.1.3 System configuration This section provides operations using this servo. Use of CC-Link enables you to freely configure any system from a single-axis system to an up to 42-axis system. Further, you can assign external input signals to the pins of the connector CN1A and CN1B by setting parameter No.
Page 22 1. FUNCTIONS AND CONFIGURATION (1) Operation using CC-Link communication functions (a) Operation All signals can be controlled by CC-Link communication. Also, each point table setting, point table selection, parameter value change, setting, monitor, servo motor operation and others can be performed.
Page 23 1. FUNCTIONS AND CONFIGURATION (2) Operation using CC-Link communication functions and external input signals (a) Operation Using parameter No. 116 to 118 and parameter No. 79 to 83, input signals can be assigned to the external input signals of CN1A and CN1B. The signals assigned to the external input signals cannot be used with the CC-Link communication functions.
Page 24: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications POINT Refer to Section 3.1 for the specifications of the CC-Link communication functions. Servo amplifier MR-J2S- -S084 10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1 Item 3-phase 200 to 230VAC, 50/60Hz 1-phase 100 to Voltage/frequency...
Page 25 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J2S- -S084 10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1 Item Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position Dog type return direction may be selected.
Page 26: Function List
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Select the required ones from among 31 preset point tables and perform operation in accordance with the set values.
Page 27 1. FUNCTIONS AND CONFIGURATION Function Description Reference By using the Servo configuration Software, the current alarm and Alarm history Section 7.8 five past alarm numbers are stored and displayed. By changing the parameter setting or using the Servo Parameter No.79 to 83 Configuration Software, any devices can be assigned to 9 input, 5 Parameter No.88 to 90 I/O signal selection (Device setting)
Page 28: Model Code Definition
3PH+1PH200-230V 60Hz 5.5A 1PH230V 50/60Hz Rated output current OUTPUT: 170V 0-360Hz 3.6A SERIAL : A5******* Serial number TC3**AAAAG52 PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN MR-J2S-100CP-S084 or less MR-J2S-200CP-S084 350CP-S084 Rating plate Rating plate MR-J2S-500CP-S084 MR-J2S-700CP-S084 Rating plate Rating plate...
Page 29 1. FUNCTIONS AND CONFIGURATION (2) Model of servo amplifier MR–J2S– –S084 Series Power Supply Symbol Power supply 3-phase 200 to 230VAC None (Note2) 1-phase 230VAC (Note1) 1-phase 100V to 120VAC Note:1. Not supplied to the servo amplifier of MR-J2S-60CP-S084 or more. 2.
Page 30: Combination With Servo Motor
1. FUNCTIONS AND CONFIGURATION 1.5 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears. Servo motors HC-SFS HC-UFS Servo amplifier HC-KFS HC-MFS...
Page 31: Structure
1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Part names of servo amplifier (1) MR-J2S-100CP-S084 or less Name/Application Reference Battery holder Section5.5 Contains the battery for absolute position data backup. Battery connector (CON1) Section5.5 Used to connect the battery for absolute position data backup.
Page 32 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CP-S084 MR-J2S-350CP-S084 POINT This servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.6.3. Name/Application Reference Battery holder Section5.5 Contains the battery for absolute position data backup. Battery connector (CON1) Section5.5 Used to connect the battery for absolute position data...
Page 33 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CP-S084 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.6.3. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section5.5 backup.
Page 34 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CP-S084 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.6.3. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section5.5 backup.
Page 35: Part Name Of Cc-Link Unit
1. FUNCTIONS AND CONFIGURATION 1.6.2 Part name of CC-Link unit Name/Application Reference CC-Link connector (CN10) Section 3.3.2 Wire the CC-Link cable. Station number switches (RSW1, RSW2) Set the station number of the servo amplifier. MR-J2S-T01 Section RSW1: Set the ten place. 3.2.3 RSW2: Set the one place.
Page 36: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.6.3 Removal and reinstallation of the front cover To avoid the risk of an electric shock, do not open the front cover while power is CAUTION (1) For MR-J2S-200CP-S084 or more Removal of the front cover Reinstallation of the front cover Front cover hook (2 places)
Page 37 1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700CP-S084 Removal of the front cover Reinstallation of the front cover Front cover hook (2 places) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you 1) Insert the two front cover hooks at the bottom into the finger into the front hole of the front cover.
Page 38: Servo System With Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100CP-S084 or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) Options and auxiliary equipment...
Page 39 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to Options and auxiliary equipment Reference Options and auxiliary equipment Reference 120VAC power No-fuse breaker Section 15.2.2 Regenerative brake option Section 15.1.1 supply Magnetic contactor Section 15.2.2 Cables Section 15.2.1 Servo configuration software Chapter 7...
Page 40 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CP-S084 MR-J2S-350CP-S084 POINT The configuration of the MR-J2S-T01 CC-Link unit is the same as in (1) in this section. Options and auxiliary equipment Reference Options and auxiliary equipment Reference 3-phase 200V No-fuse breaker Section 14.2.2 Cables Section 14.2.1 to 230VAC...
Page 41 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CP-S084 POINT The configuration of the MR-J2S-T01 CC-Link unit is the same as in (1) in this section. 3-phase 200V to 230VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment Reference No-fuse breaker Section 15.2.2 Regenerative brake option Section 15.1.1...
Page 42 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CP-S084 POINT The configuration of the MR-J2S-T01 CC-Link unit is the same as in (1) in this section. Options and auxiliary equipment Reference Options and auxiliary equipment Reference No-fuse breaker Section 15.2.2 Regenerative brake option Section 15.1.1 Magnetic contactor Section 15.2.2...
Page 43: Flowchart Of Operation Method
1. FUNCTIONS AND CONFIGURATION 1.8 Flowchart of Operation Method Using the CC-Link communication functions, this servo enables a wide variety of operation methods. The operation method changes depending on the input signal, parameter and point table setting. The flow of the operation method that changes depending on the parameter setting status is shown in the following chart for your reference.
Page 44 1. FUNCTIONS AND CONFIGURATION Reference Main description Positioning is started by Positioning operation is Section 3.8.2 Point table making the start signal executed once with Section auxiliary fanction valid after selection of position data handled 5.2.2 (1) the point table with the as absolute value.
Page 45 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 28...
Page 46: Installation
2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.
Page 47: Installation Direction And Clearances
2. INSTALLATION 2.2 Installation direction and clearances Do not hold the front cover to transport the controller. The controller may drop. The equipment must be installed in the specified direction. Otherwise, a fault may CAUTION occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment.
Page 48: Keep Out Foreign Materials
2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Page 49: Cable Stress
2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables.
Page 50: Cc-Link Communication Functions 3- 1 To
3. CC-Link COMMUNICATION FUNCTIONS 3. CC-Link COMMUNICATION FUNCTIONS 3.1 Communication specifications POINT This servo is equivalent to a remote device station. For details of the PLC side specifications, refer to the CC-Link system master unit manual. Item MR-J2S-T01 specifications Power supply 5VDC supplied from servo amplifier Applicable CC-Link version Ver.1.10...
Page 51: System Configuration
3. CC-Link COMMUNICATION FUNCTIONS 3.2 System configuration 3.2.1 Configuration example (1) PLC side Fit “Type AJ61BT11”, “Type A1SJ61BT”, “Type AJ61QBT11” or “Type A1SJ61QBT” “Control & Communication Link system master/local module” to the main or extension base unit which is loaded with the PLC CPU used as the master station.
Page 52: Wiring Method
3. CC-Link COMMUNICATION FUNCTIONS 3.2.2 Wiring method (1) Communication connector The pin layout of the communication connector CN10 on the MR-J2S-T01 option unit is shown below. Signal Pin No. name (2) Connection example The servo amplifier and PLC CC-Link master unit are wired as shown below. Refer to Section 15.2.1 (3) for the twisted pair cable used for connection.
Page 53 3. CC-Link COMMUNICATION FUNCTIONS (4) How to wire the CC-Link terminal block (TE5) (a) Strip the sheath of the cable and separate the internal wires and braided shield. (b) Strip the sheaths of the braided shield and internal wires and twist the cores. Braided shield Approx.
Page 54: Station Number Setting
3. CC-Link COMMUNICATION FUNCTIONS 3.2.3 Station number setting (1) How to number the stations Set the servo station numbers before powering on the servo amplifiers. Note the following points when setting the station numbers: (a) Station numbers may be set within the range 1 to 64. (b) One servo amplifier occupies 1 or 2 stations.
Page 55: Communication Baudrate Setting
3. CC-Link COMMUNICATION FUNCTIONS 3.2.4 Communication baudrate setting Set the transfer baudrate of CC-Link with the transfer baudrate switch (RSW1) on the option unit MR- J2S-T01 front. The initial value is set to 156kbps. The overall distance of the system changes with the transfer speed setting. For details, refer to the CC- Link system master/local unit user's manual.
Page 56: Functions
3. CC-Link COMMUNICATION FUNCTIONS 3.3 Functions 3.3.1 Function block diagram This section explains the transfer of I/O data to/from the servo amplifier in CC-Link, using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally performed at intervals of 3.5 to 18ms (512 points).
Page 57: Servo Amplifier Setting
3. CC-Link COMMUNICATION FUNCTIONS 3.4 Servo amplifier setting (1) Servo amplifier side operation modes The MR-J2S- CP-S084 servo amplifier has the following operation modes: Operation mode Description The buttons in the operation section of the servo amplifier are operated to run the servo Test operation mode motor.
Page 58: I/O Signals Transferred To/From The Plc Cpu
3. CC-Link COMMUNICATION FUNCTIONS 3.5 I/O Signals transferred to/from the PLC CPU 3.5.1 I/O signals The input signals may be used as either the CC-Link or CN1A CN1B external input signals. Make selection in parameter No. 116 117 118. The output signals can be used as both the CC-Link CN1A CN1B external input signals.
Page 59 3. CC-Link COMMUNICATION FUNCTIONS (b) When 2 stations are occupied RXn/RYn: 32 points each (possible to extend to 64 points), RWrn/RWwn: 8 points each Servo amplifier (RYn) Servo amplifier PLC (RXn) (Note) Signal External (Note) Signal External Signal name Signal name Device No.
Page 60 3. CC-Link COMMUNICATION FUNCTIONS Servo amplifier (RYn) Servo amplifier PLC (RXn) (Note) Signal External (Note) Signal External Signal name Signal name Device No. abbreviation input Device No. abbreviation output Remote station communication RY(n+3)A Reset RX(n+3)B ready RY(n+3)B RX(n+3)C Reserved Reserved RY(n+3)F RX(n+3)F Note 1.
Page 61: Detailed Explanation Of I/O Signals
3. CC-Link COMMUNICATION FUNCTIONS 3.5.2 Detailed explanation of I/O signals (1) Input signals The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Servo-on Turning RYn0 ON powers on the base circuit, making RYn0...
Page 62 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Forward rotation stroke In the factory-shipped status, the forward rotation stroke RYn4 RYn4 (Note 1) end is valid as the external input signal (CN1B-16) and the (Note 2) reverse rotation stroke end is valid as the external input Reverse rotation stroke end...
Page 63 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Monitor output execution When RYn8 is turned ON, the following data and signals RYn8 RYn8 demand are set. At the same time, RXC turns ON. While RYn8 is ON, the monitor values are kept updated.
Page 64 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Point table No. selection The point table Nos. combined by RYnA, RYnB, RYnC, RYnA RYnA (Note 1) bit 0 RYnD and RYnE are indicated in the following table. (Note 2) Point table No.
Page 65 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Internal torque limit Turning RY(n+2)6 OFF makes the torque limit value of RY(n+2)6 (Note 1) selection parameter No. 28 (internal torque limit 1) valid, and turning it ON makes that of parameter No.
Page 66 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Reset Keeping RY(n+1)A or RY(n+3)A ON for 50ms or longer RY(n+1)A RY(n+3)A (Note 1) allows an alarm to be deactivated. Some alarms cannot be deactivated by Reset RY(n+1)A or RY(n+3)A.
Page 67 3. CC-Link COMMUNICATION FUNCTIONS (b) Output signals The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No. Signal name Description 1 station 2 stations occupied occupied Ready RXn0 turns ON when the servo amplifier is ready to operate after RXn0 RXn0 servo-on.
Page 68 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Instruction code execution Refer to Instruction code execution demand. RXn9 RXn9 completion Warning RXnA turns ON when a warning occurs. RXnA RXnA When no warning has occurred, RXnA turns OFF within 1s after power-on.
Page 69 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Point No. output 1 RX(n+2)2 As soon as Movement finish (RXnC) turns ON, the point table No. is output in 5-bit code. Point No. output 2 RX(n+2)3 Point No.
Page 70 3. CC-Link COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Trouble RX(n+1)A or RX(n+3)A turns ON when it is desired to switch RX(n+1)A RX(n+3)A power OFF or when the protective circuit is activated to shut off the base circuit.
Page 71 3. CC-Link COMMUNICATION FUNCTIONS Remote register Signal name Description Setting range 1 station 2 stations occupied occupied RWwn+2 RWwn+2 Instruction code Sets the instruction code used to perform parameter or Refer to Section point table data read, alarm reference or the like. 3.5.4 (1).
Page 72 3. CC-Link COMMUNICATION FUNCTIONS 2) Output (Servo amplifier PLC) Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to Answer code (RWrn+2).
Page 73: Monitor Codes
3. CC-Link COMMUNICATION FUNCTIONS 3.5.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication.
Page 74: Instruction Codes (Rwwn+2 Rwwn+3)
3. CC-Link COMMUNICATION FUNCTIONS 3.5.4 Instruction codes (RWwn+2 RWwn+3) Refer to Section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000H to 0A1FH is read by Read code (RWrn+3).
Page 75 3. CC-Link COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0040H Input signal status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding Reads the statuses (OFF/ON) of the input input signals. Refer to Section 3.5.1 for the meanings of the signals.
Page 76 3. CC-Link COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0052H Output signal status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding Reads the statuses (OFF/ON) of the output signals. Refer to Section 3.5.1 for the meanings of the Output signals.
Page 77 3. CC-Link COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0100H Monitor multiplying factor Reads the multiplying factor of the data to 011DH be read with the monitor code. The instruction codes 0100 to 011D Monitor multiplying factor correspond to the monitor codes 0000 to 0003: 1000...
Page 78 3. CC-Link COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0700H Acceleration time constant of point table The acceleration time constant set to the requested point table No. 0 to 31 No. is returned. 071FH The decimal value converted from the 2 lower digits of the code No.
Page 79 3. CC-Link COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (PLC Servo amplifier) 8300 Data EEP-ROM instruction of parameter 0 to 124 Convert the decimal values into hexadecimal before Writes the values set in parameter No. 0 to 124 to making setting.
Page 80 3. CC-Link COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (PLC Servo amplifier) 8900H Dwell data RAM command of point table Convert the values into hexadecimal before making Writes the dwell data of point table No. 0 to 31 to setting.
Page 81: Answer Codes (Rwrn+2)
3. CC-Link COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (PLC Servo amplifier) 9100H Auxiliary function data EEP-ROM command of point Convert the values into hexadecimal before making table setting. 911FH Writes the auxiliary function data of point table No. 0 to 31 to EEP-ROM.
Page 82: Setting The Cn1A Cn1B External Input Signals
3. CC-Link COMMUNICATION FUNCTIONS 3.5.6 Setting the CN1A CN1B external input signals Using parameter No. 116 to 118, you can assign the input signals as the CN1A CN1B external input signals. The signals assigned as the CN1A CN1B external input signals cannot be used in CC-Link. Refer to Section 4.3.2 (1)(a) for the pins to which signals can be assigned.
Page 83: Data Communication Timing Charts
3. CC-Link COMMUNICATION FUNCTIONS 3.6 Data communication timing charts 3.6.1 Monitor codes (1) When 1 station is occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) Monitor 1 data (RWrn) Monitor 2 data (RWrn+1) Answer code (RWrn+2) Data HOLD Set the monitor codes (refer to Section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn...
Page 84 3. CC-Link COMMUNICATION FUNCTIONS (2) When 2 stations are occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) Monitor 1 data Under 16bit (RWrn) Monitor 1 data Upper 16bit (RWrn+1) Monitor 2 data Under 16bit (RWrn+5) Monitor 2 data Upper 16bit (RWrn+6) Answer code...
Page 85: Instruction Codes
3. CC-Link COMMUNICATION FUNCTIONS 3.6.2 Instruction codes (1) Read instruction codes (0000 to 0A1FH) Instruction code (RWwn+2) Instruction code execution demand (RYn9) Instruction code execution completion (RXn9) Reading data (RWrn+3) Answer code (RWrn+2) Data read period Set the read instruction code (refer to Section 3.5.4 (1)) to Instruction code (RWwn+2) and turn Instruction code execution demand (RYn9) to ON.
Page 86 3. CC-Link COMMUNICATION FUNCTIONS (2) Write instruction codes (80000 to 911FH) Instruction code (RWwn+2) Writing data (RWwn+3) Instruction code execution demand (RYn9) Instruction code Write in execution processing Instruction code execution completion (RXn9) Answer code (RWrn+2) Set the write instruction code (refer to Section 3.5.4 (2)) to Instruction code (RWwn+2) and the data to be written (data to be executed) to Writing data (RWwn+3) in hexadecimal, and turn Instruction code execution demand (RYn9) to ON.
Page 87: Remote Register-Based Position/Speed Setting
3. CC-Link COMMUNICATION FUNCTIONS 3.6.3 Remote register-based position/speed setting The functions in this section are usable when Position/speed specifying system selection (RY(n+2)A) is ON (remote register-based position/speed specifying system is selected) with 2 stations occupied. The position command/speed command necessary for positioning can be selected by parameter No. 41 setting as indicated below.
Page 88 3. CC-Link COMMUNICATION FUNCTIONS (2) When setting the position command data/point table No. (speed command) Specify the position address with the remote register, and specify the speed command data by specifying the point table No. to use the preset servo motor speed, acceleration time constant and deceleration time constant the speed command data, and execute positioning.
Page 89 3. CC-Link COMMUNICATION FUNCTIONS (3) When setting the position command data and speed command data Specify the position address and servo motor speed with the remote register, and execute positioning. At this time, use the acceleration time constant and deceleration time constant set in point table No. 1. Preset “...
Page 90: Function-By-Function Programming Examples
3. CC-Link COMMUNICATION FUNCTIONS 3.7 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in Section 3.7.1. 3.7.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied).
Page 91: Reading The Servo Amplifier Status
3. CC-Link COMMUNICATION FUNCTIONS 3.7.2 Reading the servo amplifier status Read the status of the servo amplifier from the master station buffer memory. The servo amplifier status is always stored in the remote input RX (addresses E0 to 15F ). Read the servo amplifier status of station 1 to M0 M31.
Page 92: Writing The Operation Commands
3. CC-Link COMMUNICATION FUNCTIONS 3.7.3 Writing the operation commands To operate the servo amplifier, write the operation commands to the remote output RY (addresses 160 ). Perform positioning operation of point table No. 2 for the servo amplifier of station 2. Servo-on command (RY00) Point table No.
Page 93: Reading The Data
3. CC-Link COMMUNICATION FUNCTIONS 3.7.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. Description H000A Cumulative feedback pulse data (hexadecimal) The answer code at instruction code execution is set to D9.
Page 94 3. CC-Link COMMUNICATION FUNCTIONS (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. Description H0010 Occurring alarm/warning No. (hexadecimal) The answer code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.
Page 95: Writing The Data
3. CC-Link COMMUNICATION FUNCTIONS 3.7.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the speed block No. 1 of the servo amplifier of station 2 to “100”. Code No.
Page 96 3. CC-Link COMMUNICATION FUNCTIONS (2) Writing the parameter Change parameter No. 13 (JOG speed) of the servo amplifier of station 2 to “100”. Code No. Description H830D Parameter No. 13 write (hexadecimal) Set data Description K100 Set data (decimal) The answer code at instruction code execution is set to D2. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.
Page 97 3. CC-Link COMMUNICATION FUNCTIONS (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the PLC. This method is limited to servo alarm occurrence. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.
Page 98: Operation
3. CC-Link COMMUNICATION FUNCTIONS 3.7.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Reads remote input (RX00 to RX1F)
Page 99 3. CC-Link COMMUNICATION FUNCTIONS (2) Remote register-based position data/speed data setting Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset " 2" in parameter No. 41. Set data Description K100000...
Page 100 3. CC-Link COMMUNICATION FUNCTIONS (3) Remote register-based point table No. setting (incremental value command system) Operate the servo amplifier of station 2 with incremental values after specifying the point table No. 5 in the direct specification mode. Preset " 0 " in parameter No. 0 and " 2"...
Page 101: Continuous Operation Program Example
3. CC-Link COMMUNICATION FUNCTIONS 3.8 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in Section 3.8.1, 3.8.3. 3.8.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied).
Page 102: Program Example When 1 Station Is Occupied
3. CC-Link COMMUNICATION FUNCTIONS 3.8.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 3 " in parameter No. 116 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the “current position”...
Page 103: System Configuration Example When 2 Stations Are Occupied
3. CC-Link COMMUNICATION FUNCTIONS Command request time 10ms Positioning start command reset Point table No. selection command (bit0) Bit 0 selection Point table No. selection command (bit1) Bit 1 selection Point table No. selection command (bit2) Bit 2 selection Point table No. selection command (bit3) Bit 3 selection Point table No.
Page 104: Program Example When 2 Stations Are Occupied
3. CC-Link COMMUNICATION FUNCTIONS 3.8.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 3 " in parameter No. 116 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the “motor speed”...
Page 105 3. CC-Link COMMUNICATION FUNCTIONS Positioning start In position Rough Home position return command completion match Writes position command data (K50000) to , RW , and speed data (K100) to Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21). Reads RWR2 to D2 when position instruction execution completion (RX20) and speed instruction execution completion (RX21) turn on.
Page 106: Signals And Wiring
4. SIGNALS AND WIRING 4. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 10 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.
Page 107: Standard Connection Example
4. SIGNALS AND WIRING 4.1 Standard connection example POINT As the cable for connection of the servo amplifier and option unit, always use the MR-J2HBUS05M of 0.5m long. It is not recommended to fabricate this cable on the user side. MR-J2S-CP-S084 (Note 3, 7) CN1A...
Page 108 4. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop and other protective circuits.
Page 109: Internal Connection Diagram Of Servo Amplifier
4. SIGNALS AND WIRING 4.2 Internal connection diagram of servo amplifier This section gives the internal connection diagram where the signal assignment is in the initial status. MR-J2S-T01 option unit Servo amplifier CN1B 24VDC CN30 CN1A CN1B Approx. 4.7k 10, 20 CN1B CN1B MEND...
Page 110: I/O Signals
4. SIGNALS AND WIRING 4.3 I/O signals 4.3.1 Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side. To the pins left blank in the CN1A/CN1B connectors, input signals can be assigned by setting parameter No.
Page 111: Signal (Devices) Explanations
4. SIGNALS AND WIRING 4.3.2 Signal (devices) explanations (1) I/O devices POINT The devices not indicated in the Connector Pin No. field of the I/O devices can be assigned to the connector CN1A/CN1B using parameter No. 78 to 83 and parameter No. 116 to 118. (a) Pins whose devices can be changed Refer to Section 4.6.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins.
Page 112 4. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Internal torque limit selection Refer to Section 3.5.2 (1). Proportion control Temporary stop/Restart Gain changing (c) Output devices Devices Connector Device name Functions/Applications symbol pin No. Trouble CN1B-18 Refer to Section 3.5.2 (2).
Page 113: Detailed Description Of Signals (Devices)
4. SIGNALS AND WIRING 4.4 Detailed description of signals (devices) 4.4.1 Forward rotation start Reverse rotation start Temporary stop/Restart (1) A forward rotation start (RYn1) or a reverse rotation start (RYn2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established.
Page 114: Movement Finish Rough Match In Position
4. SIGNALS AND WIRING 4.4.2 Movement finish Rough match In position POINT If servo-on occurs after a stop made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement finish (RXnC), Rough match (RXn2) and In position (RXn1) turn on. To make a start again, confirm the point table No.
Page 115 4. SIGNALS AND WIRING (3) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No. 6 (in-position range). INP-SG are connected in the servo-on status. Forward rotation start (RYn1) or reverse rotation start (RYn2) In-position range...
Page 116: Torque Limit
4. SIGNALS AND WIRING 4.4.3 Torque limit The following table lists the signals and parameters related to the torque limit: Item Name Remarks Input signals Internal torque limit selection (RY(n+2)6) Output signal Limiting torque (RXn4) No.28 (internal torque limit 1) 0 to 100% Parameters No.29 (internal torque limit 2)
Page 117: Alarm Occurrence Timing Chart
4. SIGNALS AND WIRING 4.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
Page 118: Interfaces
4. SIGNALS AND WIRING 4.6 Interfaces 4.6.1 Common line The following diagram shows the power supply and its common line. Servo amplifier CN1A CN1A CN1B CN1B DC24V ALM, etc. DO-1 SON, etc. MR-J2S-T01 DI-1 option unit <Isolated> CN40 CN30 Servo motor encoder Servo motor Ground 4 - 13...
Page 119: Detailed Description Of The Interfaces
4. SIGNALS AND WIRING 4.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 4.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
Page 120 4. SIGNALS AND WIRING (b) Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC Do not connect VDD-COM. 24VDC 24VDC ALM, etc. ALM, etc. (3) Source input interface When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided.
Page 121 4. SIGNALS AND WIRING Since no source output is provided, configure the following circuit. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect 24VDC 24VDC VDD-COM. 24VDC Load Load ALM, ALM, etc.
Page 122: Input Power Supply Circuit
4. SIGNALS AND WIRING 4.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
Page 123 4. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Forced stop Power supply Servo amplifier 1-phase 100 to 120VAC or 1-phase 230VAC (Note) Forced stop Trouble Note : Not provided for 1-phase 100 to 120VAC. 4 - 18...
Page 124: Terminals
4. SIGNALS AND WIRING 4.7.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 13.1. Symbol Connection target (Application) Description Supply L and L with the following power: For 1-phase 230VAC, connect the power supply to L and leave L open.
Page 125: Power-On Sequence
4. SIGNALS AND WIRING 4.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 4.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L , single-phase 230V: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
Page 126: Connection Of Servo Amplifier And Servo Motor
4. SIGNALS AND WIRING 4.8 Connection of servo amplifier and servo motor 4.8.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Page 127 4. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor U (Red) V (White) Motor W (Black) (Green) (Note 1) (Note3) 24VDC (Note2) HC-KFS053 (B) to 73 (B) Electro- HC-MFS053 (B) to 73 (B) magnetic brake To be shut off when servo-on HC-UFS13 (B) to 73 (B) (RYn0) switches off or by trouble (RX(n+1)A or RX(n+3)A)
Page 128: I/O Terminals
4. SIGNALS AND WIRING 4.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (molex) Without electromagnetic brake 5557-04R-210 (receptacle) Encoder cable 0.3m (0.98ft.) 5556PBTL (Female terminal) With connector 1-172169-9 With electromagnetic brake (AMP) 5557-06R-210 (receptacle)
Page 129 4. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector HC-SFS81(B) The connector CE05-2A22- HC-SFS52(B) to 152(B) for power is 23PD-B HC-SFS53(B) to 153(B) shared. HC-SFS121(B) to 301(B) CE05-2A24- HC-SFS202(B) to 502 (B) 17PD-B...
Page 130: Servo Motor With Electromagnetic Brake
4. SIGNALS AND WIRING 4.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EMG). Contacts must be open when servo-on (RYn0) is off or when a Circuit must be trouble (RY(n+1)A or RX(n+3)A) is...
Page 131 4. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (RYn0) command (from controller) ON/OFF Tb (ms) after servo-on (RYn0) is switched off, servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
Page 132 4. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time brake interlock (RXn6) Valid(OFF) No(ON) Trouble (RX(n+1)A or RX(n+3)A) Yes(OFF) (d) Both main and control circuit power supplies off Dynamic brake Dynamic brake (10ms)
Page 133: Grounding
4. SIGNALS AND WIRING 4.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
Page 134: Servo Amplifier Terminal Block (Te2) Wiring Method
4. SIGNALS AND WIRING 4.11 Servo amplifier terminal block (TE2) wiring method 1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core.
Page 135: Instructions For The 3M Connector
4. SIGNALS AND WIRING Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit, please consult us.
Page 136: Operation
5. OPERATION 5. OPERATION POINT In the shipment status, Forward rotation stroke end (LSP), Reverse rotation stroke end (LSN) and Proximity dog (DOG) are valid as the CN1A/CN1B external input signals. However, this chapter explains them with the register No. of the remote input. 5.1 When switching power on for the first time 5.1.1 Pre-operation checks Before starting operation, check the following:...
Page 137: Startup
5. OPERATION 5.1.2 Startup WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. During power-on for some after power-off, do not touch or close a parts (cable etc.) CAUTION to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.
Page 138 5. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo-on (RYn0). 2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (AL.25) alarm and the servo system cannot be switched on.
Page 139 5. OPERATION (f) Home position return Perform home position return as required. Refer to Section 5.4 for home position return types. A parameter setting example for dog type home position return is given here. Parameter Name Setting Description Dog type home position return is selected. Home position return is started in address No.8 Home position return type...
Page 140: Automatic Operation Mode
5. OPERATION 5.2 Automatic operation mode 5.2.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (RYn1) or reverse rotation start (RYn2). Automatic operation has the absolute value command system, incremental value command system.
Page 141 5. OPERATION (Note) Remote input Selected point table No. RYnE RYnD RYnC RYnB RYnA 0 (Manual home position return mode) Note: 0: ON 1: OFF 5 - 6...
Page 142: Automatic Operation Using Point Table
5. OPERATION 5.2.2 Automatic operation using point table (1) Absolute value command system (a) Point table Set the point table values using the Servo Configuration software, from the servo amplifier operating section or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
Page 143 5. OPERATION 2) Forward rotation start coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) is switched on. Servo motor rotation direction Parameter No. 1 setting when forward rotation start (RYn1) is switched on CCW rotation with position data CW rotation with...
Page 144 5. OPERATION (2) Incremental value command system (a) Point table Set the point table values using the Servo Configuration software, from the servo amplifier operating section or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
Page 145 5. OPERATION 2) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) signal or reverse rotation start (RYn2) signal is switched on. Servo motor rotation direction Parameter No.1 setting Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON CCW rotation (address incremented)
Page 146 5. OPERATION (3) Automatic operation timing chart The timing chart is shown below. Automatic/manual selection (RYn6) Servo-on (RYn0) (Note 2) 5ms or more Forward rotation start (RYn1) 8ms or more Reverse rotation 5ms or more start (RYn2) (Note 1) 8ms or more Point table No.
Page 147 5. OPERATION (4) Automatic continuous operation POINT This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. (a) What is automatic continuous operation? By merely choosing one point table and making a start (RYn1 or RYn2), operation can be performed in accordance with the point tables having consecutive numbers.
Page 148 5. OPERATION 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table.
Page 149 5. OPERATION Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2 the incremental value command system, and the point table No. 3 the absolute position system.
Page 150 5. OPERATION 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table.
Page 151 5. OPERATION (c) Temporary stop/restart When RYn7 is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When RYn7 is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (RYn1 or RYn2) is ignored if it is switched on during a temporary stop.
Page 152: Remote Register-Based Position/Speed Setting
5. OPERATION 5.2.3 Remote register-based position/speed setting This operation can be used when 2 stations are occupied. This section explains operation to be performed when the remote register is used to specify the position command data/speed command data. (1) Absolute position command positioning in absolute value command system The position data set in the absolute value command system are used as absolute values in positioning.
Page 153 5. OPERATION Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RYn+2)A Incremental value/absolute value selection (RYn+2)B (Note) (Note) 5ms or more 5ms or more Forward rotation start (RYn1) 8ms or more 8ms or more Position data Position data 1 Position data 2 (RWwn+4 RWwn+5) Speed data (RWwn+6)
Page 154 5. OPERATION (2) Incremental value command positioning in absolute value command system The position data set in the absolute value command system are used as incremental values in positioning. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6)
Page 155 5. OPERATION (3) Positioning in incremental value command system Execute positioning in the incremental value command system. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed Position/speed specifying system selection Turn RY(n+2)A ON.
Page 156: Manual Operation Mode
5. OPERATION 5.3 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No.
Page 157 5. OPERATION (4) Timing chart Servo-on (RYn0) 80ms Ready (RYn0) Trouble (RX(n+1)A or RX(n+3)A) Automatic/manual mode selection (RYn6) Movement finish (RXnC) Rough match (RXn2) Forward rotation Servo motor speed 0r/min Reverse rotation Forward rotation start Forward rotation jog (RYn1) Reverse rotation start Reverse rotation jog (RYn2) 5 - 22...
Page 158: Manual Home Position Return Mode
5. OPERATION 5.4 Manual home position return mode 5.4.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
Page 159 5. OPERATION (2) Home position return parameter When performing home position return, set parameter No.8 as follows: Parameter No. 8 Home position return method························································1) 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type...
Page 160: Dog Type Home Position Return
5. OPERATION 5.4.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
Page 161 5. OPERATION (3) Timing chart Movement finish (RXnC) Rough match (RXn2) Home position return completion (RXn3) Home position shift Home position return Point table No. 1 Point table No. 1 distance Parameter No. 11 Deceleration time constant speed Parameter No. 9 Acceleration time Creep speed Home position...
Page 162: Count Type Home Position Return
5. OPERATION 5.4.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z- phase signal is given after that is defined as a home position.
Page 163 5. OPERATION (2) Timing chart Movement finish (RXnC) Rough match (RXn2) Home position return Home position completion (RXn3) Point table No. 1 shift distance Home position return Point table No. 1 Deceleration time Parameter No. 11 Acceleration time constant speed Parameter No. 9 constant Creep speed Home position...
Page 164: Data Setting Type Home Position Return
5. OPERATION 5.4.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation can be used for movement. (1) Signals, parameters Set the input signals and parameters as follows: Item Device/Parameter used Description...
Page 165: Stopper Type Home Position Return
5. OPERATION 5.4.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that position is defined as a home position. (1) Signals, parameters Set the input signals and parameters as follows: Item...
Page 166: Home Position Ignorance (Servo-On Position Defined As Home Position)
5. OPERATION 5.4.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Signals, parameter Set the input signals and parameter as follows: Item Device/Parameter used Description Home position ignorance Parameter No.8 4 : Home position ignorance is selected.
Page 167: Dog Type Rear End Reference Home Position Return
5. OPERATION 5.4.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (RYn3) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position.
Page 168 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Movement finish (RXnC) Rough match (RXn2) Home position return completion (RXn3) Moving distance after proximity dog Home position return speed Home position shift distance Creep speed Servo motor speed 5ms or less Home position address Proximity dog Parameter No.
Page 169: Count Type Front End Reference Home Position Return
5. OPERATION 5.4.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (RYn3) that has detected the front end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position.
Page 170 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Movement finish (RXnC) Rough match (RXn2) Home position return completion (RXn3) Moving distance after proximity dog Home position return speed Home position shift distance Creep speed Servo motor speed 5ms or less Home position address Proximity dog (DOG) Parameter No.
Page 171: Dog Cradle Type Home Position Return
5. OPERATION 5.4.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Signals, parameters Set the input signals and parameters as indicated below. Item Device/Parameter used Description...
Page 172 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Movement finish (RYnC) Rough match (RXn2) Home position return completion (RXn3) Home position return speed Home position shift distance Creep speed Servo motor speed 5ms or less Home position address Proximity dog Parameter No.
Page 173: Home Position Return Automatic Return Function
5. OPERATION 5.4.10 Home position return automatic return function If the current position is at or beyond the proximity dog in dog or count type home position return, you need not make a start after making a return by jog operation or the like. When the current position is at the proximity dog, an automatic return is made before home position return.
Page 174: Automatic Positioning Function To The Home Position
5. OPERATION 5.4.11 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.
Page 175: Absolute Position Detection System
5. OPERATION 5.5 Absolute position detection system This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position system. Hence, an absolute position detection system can be configured up by merely loading an absolute position data back-up battery and setting parameter values. (1) Restrictions An absolute position detection system cannot be built under the following conditions: 1) Stroke-less coordinate system, e.g.
Page 176 5. OPERATION (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
Page 177 5. OPERATION 1) Open the operation window. (When the model used is the MR-J2S-200CP-S084 MR-J2S-350CP- S084 or more, also remove the front cover.) 2) Install the battery in the battery holder. 3) Install the battery connector into CON1 until it clicks. Battery connector Battery connector Operation window...
Page 178: Parameters
6. PARAMETERS 6. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 6.1 Parameter list 6.1.1 Parameter write inhibit POINT Set "000E" when using the Servo Configuration Software to make device setting. After setting the parameter No.19 value, switch power off, then on to make that setting valid.
Page 179: List
6. PARAMETERS 6.1.2 List POINT The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting. Refer to the corresponding reference items for details of the parameters. (1) Item list Customer Class No.
Page 180 6. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting *OP2 Function selection 2 0000 For manufacturer setting 0002 Function selection 4 0000 For manufacturer setting Feed forward gain For manufacturer setting 4000 Internal torque limit 1 Internal torque limit 2 *BKC Backlash compensation...
Page 181 6. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting For manufacturer setting 0000 *OP6 Function selection 6 0100 For manufacturer setting 0000 *OP8 Function selection 8 0000 0000 For manufacturer setting 0000 0000 Machine resonance suppression filter 1 0000 Machine resonance suppression filter 2 0000...
Page 182 6. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting 0000 0000 0000 0000 For manufacturer setting 0.1 times 0001 *IN1 External I/O function selection 1 0230 *IN2 External I/O function selection 2 0000 *IN3 External I/O function selection 3 0000 For manufacturer setting 6 - 5...
Page 183 6. PARAMETERS (2) Detail list Initial Setting Class No. Symbol Name and Function Unit value range Command system, regenerative brake option selection *STY 0000 Refer to Used to select the command system and regenerative brake option. Name function Selection of command system column.
Page 184 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Function selection 1 *OP1 0002 Refer to Used to select the input filter and absolute position detection system. Name function column. Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
Page 185 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Electronic gear numerator 0 to Set the value of electronic gear numerator. Setting "0" sets the number of 65535 encoder pulses internally. (Refer to Section 6.2.1) Electronic gear denominator 1 to Set the value of electronic gear denominator.
Page 186 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Station number setting *SNO Station 0 to 31 Used to specify the station number. (Refer to Section 5.6.3) Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.
Page 187 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *BLK Parameter block 0000 Refer to Used to select the reference and write ranges of the parameters. Name Operation can be performed for the parameters marked Option function Expansion Expansion...
Page 188 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Feed forward gain 0 to 100 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
Page 189 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Speed differential compensation 0 to 1000 Used to set the differential compensation. (Refer to Chapter 9) Made valid when the proportion control (PC) is switched on. For manufacturer setting Don’t change this value by any means.
Page 190 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Software limit 999999 Used to set the address decrement side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ". 999999 (Refer to Section 6.2.8) Set the same sign to parameters No.48 and 49.
Page 191 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range For manufacturer setting 0000 Don’t change this value by any means. 0000 0000 Machine resonance suppression filter 1 0000 Refer to Used to selection the machine resonance suppression filter. Name (Refer to Section 10.1.) function...
Page 192 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Low-pass filter/adaptive vibration suppression control 0000 Refer to Used to selection the low-pass filter and adaptive vibration suppression Name control. (Refer to Chapter 10) function column. Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid VG2 setting 10...
Page 193 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to Section 10.5) Name function column. Gain changing selection Gains are changed in accordance with the settings of parameters No.
Page 194 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DI1 Input device selection 0000 Refer to Used to select the functions of the CN1A-8 and CN1A-19 pins. Name function column. Set the function of the CN1A-8 pin. The set value and its function are the same as those of the CN1A-19 pin.
Page 195 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DI3 Input device selection 3 0000 Refer to Used to select the functions of the CN1B-8 and CN1B-9 pins. Name function column. Set the function of the CN1B-8 pin. The set value and its function are the same as those of the CN1A-19 pin.
Page 196 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DI6 Input device selection 6 0000 Refer to Select the function device signals that will turn ON automatically. Name function column. Initial value Signal name Forced stop Servo-on Initial value Signal name...
Page 197 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DI8 Input device selection 8 0000 Refer to Select the function device signals that will turn ON automatically. Name function column. Initial value Signal name Point table No. selection 1 Point table No.
Page 198 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DO2 Output device selection 2 0D04 Refer to Used to select the functions of the CN1B-4 and CN1B-6 pins. Name function column. Set the function of the CN1B-4 pin. The set value and its function are the same as those of the CN1A-19 pin.
Page 199 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *IN1 External I/O function selection 1 0230 Refer to Set any signals to be imported from CN1. Name function column. Initial value Signal name Servo-on Reset Initial value Signal name Forward rotation stroke end Reverse rotation stroke end...
Page 200 6. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *IN3 External I/O function selection 3 0000 Refer to Set any signals to be imported from CN1. Name function column. Initial value Signal name Point table No. selection 1 Point table No.
Page 201: Detailed Explanation
6. PARAMETERS 6.2 Detailed explanation 6.2.1 Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT The guideline for setting the electronic gear is 1000 . If you set any value outside this range, noise may be produced during acceleration/deceleration or operation not performed at the preset speed or acceleration/deceleration time constant.
Page 202: Changing The Status Display Screen
6. PARAMETERS 6.2.2 Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No.18 (status display selection) settings. In the initial condition, the servo amplifier display shows the servo motor speed.
Page 203: Changing The Stop Pattern Using A Limit Switch
6. PARAMETERS 6.2.4 Changing the stop pattern using a limit switch The servo amplifier is factory-set to make a sudden stop when the limit switch or software limit is made valid. When a sudden stop is not required, e.g. when there is an allowance from the limit switch installation position to the permissible moving range of the machine, a slow stop may be selected by changing the parameter No.22 setting.
Page 204: Servo Configuration Software
7. SERVO CONFIGURATION SOFTWARE 7. SERVO CONFIGURATION SOFTWARE POINT Some functions of the Servo Configuration Software may be unusable depending on the version. Contact us for more information. The Servo Configuration software (MR2JW3-SETUP152E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.
Page 205 7. SERVO CONFIGURATION SOFTWARE (2) Configuration diagram For use of RS-232C Servo amplifier Parsonal computer Communication cable Servo motor To RS-232C MR-J2S-T01 connector CC-Link option unit CN30 CN40 MR-JRPCATCBL 3M 7 - 2...
Page 206: Station Setting
7. SERVO CONFIGURATION SOFTWARE 7.3 Station setting Click “System” on the menu bar and click “Station Selection” on the menu. When the above choices are made, the following window appears: (1) Station number setting Choose the station number in the combo box and click the “Station Settings” button to set the station number.
Page 207: Parameters
7. SERVO CONFIGURATION SOFTWARE 7.4 Parameters Click “Parameters” on the menu bar and click “Parameter List” on the menu. When the above choices are made, the following window appears: (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the “Write” button to write the new parameter setting to the servo amplifier.
Page 208 7. SERVO CONFIGURATION SOFTWARE (3) Parameter value batch-read ( c) ) Click the “Read All” button to read and display all parameter values from the servo amplifier. (4) Parameter value batch-write ( d) ) Click the “Write All” button to write all parameter values to the servo amplifier. (5) Parameter change list display ( e) ) Click the “Change List”...
Page 209: Point Table
7. SERVO CONFIGURATION SOFTWARE 7.5 Point table Click “Position-Data” on the menu bar and click “Point Tables” on the menu. When the above choices are made, the following window appears: (1) Point table data write ( a) ) Click the point table data changed and press the “Write” button to write the new point table data to the servo amplifier.
Page 210 7. SERVO CONFIGURATION SOFTWARE (3) Point table data batch-read ( c) ) Click the “Read All” button to read and display all point table data from the servo amplifier. (4) Point table data batch-write ( d) ) Click the “Write All” button to write all point table data to the servo amplifier. (5) Point table data insertion ( e) ) Click the “Insert Row”...
Page 211: Device Assignment Method
7. SERVO CONFIGURATION SOFTWARE 7.6 Device assignment method POINT When using the device setting, preset “000E” in parameter No. 19. (1) How to open the setting screen Click “Parameters” on the menu bar and click “Device setting” in the menu. Making selection displays the following window.
Page 212 7. SERVO CONFIGURATION SOFTWARE (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. 1) Read of function assignment ( a) ) Click the “Read”...
Page 213 7. SERVO CONFIGURATION SOFTWARE (b) DIDO function display window screen This screen is used to select the slot numbers and functions assigned to the pins. Choose the slot numbers in * and *. The functions displayed below * and * are assignable. Move the pointer to the place of the function to be assigned.
Page 214 7. SERVO CONFIGURATION SOFTWARE (C) Function device assignment checking auto ON setting display Click the “ / ” button in the DIDO function display window displays the following window. The assigned functions are indicated by The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell.
Page 215: Test Operation
7. SERVO CONFIGURATION SOFTWARE 7.7 Test operation The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG).
Page 216 7. SERVO CONFIGURATION SOFTWARE When the above choices are made, the following window appears: (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time”...
Page 217: Positioning Operation
7. SERVO CONFIGURATION SOFTWARE 7.7.2 Positioning operation POINT In the positioning operation mode, do not rewrite data from the point table list screen or the servo amplifier's front panel. Otherwise, the set values are made invalid. The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.
Page 218 7. SERVO CONFIGURATION SOFTWARE When the above choices are made, the following window appears: (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time”...
Page 219: Motor-Less Operation
7. SERVO CONFIGURATION SOFTWARE 7.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly unless the encoder is connected properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals.
Page 220: Output Signal (Do) Forced Output
7. SERVO CONFIGURATION SOFTWARE 7.7.4 Output signal (DO) forced output Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click “Test” on the menu bar and click “Forced Output” on the menu. Clicking displays the following window.
Page 221: Single-Step Feed
7. SERVO CONFIGURATION SOFTWARE 7.7.5 Single-step feed POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG.
Page 222 7. SERVO CONFIGURATION SOFTWARE (1) Point table No. setting ( a) ) Enter the point table No. into the “Point table No.” input field and press the enter key. (2) Servo motor start ( b) ) Click the “Start” button to rotate the servo motor. (3) Temporary stop of servo motor ( c) ) Press the “Pause”...
Page 223: Alarm History
7. SERVO CONFIGURATION SOFTWARE 7.8 Alarm history Click “Alarms” on the menu bar and click “History” on the menu. When the above choices are made, the following window appears: (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear ( a) ) Click the “Clear”...
Page 224: Display And Operation
8. DISPLAY AND OPERATION 8. DISPLAY AND OPERATION 8.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.
Page 225: Status Display
8. DISPLAY AND OPERATION 8.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.
Page 226: Display Examples
8. DISPLAY AND OPERATION 8.2.2 Display examples The following table lists display examples: Displayed data Item Status Servo amplifier display MR-DP60 Forward rotation at 2500r/min Servo motor speed Reverse rotation at 3000r/min Reverse rotation is indicated by " ". Load inertia 15.5 times moment 11252pulse...
Page 227: Status Display List
8. DISPLAY AND OPERATION 8.2.3 Status display list The following table lists the servo statuses that may be shown: Status display Symbol Unit Description Display range The current position from the machine home position of 0 is 99999 to Current position displayed.
Page 228: Diagnosis Mode
8. DISPLAY AND OPERATION 8.3 Diagnosis mode 8.3.1 Display transition After choosing the diagnosis mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. To Teaching Sequence Software version Low External I/O signal display Software version High Output signal (DO) Option unit software version...
Page 229: Diagnosis Mode List
8. DISPLAY AND OPERATION 8.3.2 Diagnosis mode list Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON-OFF states of the external I/O signals.
Page 230 8. DISPLAY AND OPERATION Name Display Description Press the "SET" button to show the motor series ID of the servo motor currently connected. Motor series For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Press the "SET" button to show the motor type ID of the servo motor currently connected.
Page 231: Alarm Mode
8. DISPLAY AND OPERATION 8.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
Page 232: Alarm Mode List
8. DISPLAY AND OPERATION 8.4.2 Alarm mode list Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of overvoltage (AL.33). Flickers at occurrence of the alarm. Indicates that the last alarm is overload 1 (AL.50). Indicates that the second alarm in the past is overvoltage (AL.33).
Page 233 8. DISPLAY AND OPERATION Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) If during alarm occurrence, the other screen can be viewed by pressing the button in the operation section. At this time, the decimal point in the fourth digit remains flickering. (3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to Section 12.2.1): (a) Switch power OFF, then ON.
Page 234: Point Table Mode
8. DISPLAY AND OPERATION 8.5 Point table mode You can set the target position, servo motor speed, acceleration time, deceleration time, dwell and auxiliary function. 8.5.1 Point table transition After choosing the point table mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
Page 235: Point Table Mode Setting Screen Sequence
8. DISPLAY AND OPERATION 8.5.2 Point table mode setting screen sequence Press "SET" in the point table mode. The following screen appears. Press "UP" or "DOWN" to move to the next screen. Position data Servo motor speed Acceleration time constant Deceleration time constant DOWN Dwell...
Page 236: Operation Method
8. DISPLAY AND OPERATION 8.5.3 Operation method (1) Setting of 5 or less-digit value The following example provides the after-power-on operation procedure to set "1" in the auxiliary function of point table No.1: (Note) Press MODE three times. ··········The point table No. appears. Press UP or DOWN to choose point table No.
Page 237 8. DISPLAY AND OPERATION (2) Setting of 6 or more-digit value The following example gives the after-power-on operation procedure to change the target value of point table No.1 to "123456": (Note) Press MODE three times. Press UP or DOWN to choose point table No. 1. Press SET once.
Page 238: Parameter Mode
8. DISPLAY AND OPERATION 8.6 Parameter mode POINT To use the expansion parameters, change the parameter No. 19 (parameter block) value. (Refer to Section 5.1.1) 8.6.1 Parameter mode transition After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
Page 239: Operation Example
8. DISPLAY AND OPERATION 8.6.2 Operation example (1) Parameter of 5 or less digits The following example shows the operation procedure performed after power-on to change the home position setting method (Parameter No.8) into the data setting type. Press "MODE" to switch to the basic parameter screen.
Page 240 8. DISPLAY AND OPERATION (2) Signed 5-digit parameter The following example gives the operation procedure to change the home position return position data (parameter No. 42) to "-12345". (Note) Press MODE three times. Press UP or DOWN to choose parameter No. 42. Press SET once.
Page 241: External I/O Signal Display
8. DISPLAY AND OPERATION 8.7 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
Page 242: Output Signal (Do) Forced Output
8. DISPLAY AND OPERATION 8.8 Output signal (DO) forced output POINT When the servo is used in a vertical lift application, turning on Electromagnetic brake interlock (RXn6) will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side. The output signal can be forced on/off independently of the servo status.
Page 243: Test Operation Mode
8. DISPLAY AND OPERATION 8.9 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG) .
Page 244: Jog Operation
8. DISPLAY AND OPERATION 8.9.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the servo configuration software, you can change the operation conditions.
Page 245: Positioning Operation
8. DISPLAY AND OPERATION 8.9.3 Positioning operation POINT The servo configuration software is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.
Page 246: Motor-Less Operation
8. DISPLAY AND OPERATION 8.9.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
Page 247 8. DISPLAY AND OPERATION MEMO 8 - 24...
Page 248: General Gain Adjustment
9. GENERAL GAIN ADJUSTMENT 9. GENERAL GAIN ADJUSTMENT 9.1 Different adjustment methods 9.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.
Page 249: Adjustment Using Servo Configuration Software
9. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to Interpolation made for 2 or more match the position gain axes? (PG1) between 2 or more Interpolation mode axes. Normally not used for other purposes.
Page 250 9. GENERAL GAIN ADJUSTMENT 9.2 Auto tuning 9.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 251: Auto Tuning Mode Operation
9. GENERAL GAIN ADJUSTMENT 9.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Control gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Position/speed Set 0 or 1 to turn on. tuning section feedback Load inertia...
Page 252: Adjustment Procedure By Auto Tuning
9. GENERAL GAIN ADJUSTMENT 9.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 253: Response Level Setting In Auto Tuning Mode
9. GENERAL GAIN ADJUSTMENT 9.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.3) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.
Page 254: Manual Mode 1 (Simple Manual Adjustment)
9. GENERAL GAIN ADJUSTMENT 9.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 9.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
Page 255 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed control gain 2 setting Speed loop response...
Page 256 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 7) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
Page 257: Interpolation Mode
9. GENERAL GAIN ADJUSTMENT 9.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
Page 258: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super
9.5.2 Auto tuning selection The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has the addition of the manual mode 1 which permits manual adjustment with three parameters.
Page 259 9. GENERAL GAIN ADJUSTMENT MEMO 9 - 12...
Page 260: Special Adjustment Functions
10. SPECIAL ADJUSTMENT 10. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 9. If a mechanical system has a natural resonance point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Page 261 10. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 61) and machine resonance suppression filter 2 (parameter No. 62) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.
Page 262: Adaptive Vibration Suppression Control
10. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.
Page 263: Low-Pass Filter
10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.63). Parameter No. 63 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 61) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to...
Page 264: Gain Changing Function
10. SPECIAL ADJUSTMENT FUNCTIONS 10.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 10.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
Page 265: Parameters
10. SPECIAL ADJUSTMENT FUNCTIONS 10.5.3 Parameters When using the gain changing function, always set " " in parameter No.3 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Page 266 10. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 7, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.
Page 267: Gain Changing Operation
10. SPECIAL ADJUSTMENT FUNCTIONS 10.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
Page 268 10. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to 0.1 times servo motor inertia moment Position control gain 2 rad/s Speed control gain 2...
Page 269 10. SPECIAL ADJUSTMENT FUNCTIONS MEMO 10 - 10...
Page 270: Inspection
11. INSPECTION 11. INSPECTION Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.
Page 271 11. INSPECTION MEMO 11 - 2...
Page 272: Troubleshooting
12. TROUBLESHOOTING 12. TROUBLESHOOTING 12.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
Page 273: Operation At Error Occurrence
12. TROUBLESHOOTING 12.2 Operation at Error Occurrence An error occurring during operation will result in any of the statuses indicated in the following table. Operation mode Error location Description Test operation CC-Link operation Servo operation Stop Stop Servo side alarm Data communication between servo amplifier and CC-Link unit Continued Continued...
Page 274: Cc-Link Communication Error
12. TROUBLESHOOTING 12.3 CC-Link Communication Error This section gives the definitions of the indications given in the communication alarm display section. The MR-J2S-T01 option unit has six LED indications. L.RUN : Lit at normal receive of refresh data. Extinguished when data is not received for a given period of time.
Page 275: Alarms And Warning List
12. TROUBLESHOOTING 12.4.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 12.4.2 or 12.4.3 and take the appropriate action. When an alarm occurs, Trouble (RX(n+1)A or RX(n+3)A) turns ON.
Page 276: Remedies For Alarms
12. TROUBLESHOOTING 12.4.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase alarm (AL.25) occurred, always make home position setting again.
Page 277 12. TROUBLESHOOTING Display Name Definition Cause Action AL.15 Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (AL.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Page 278 12. TROUBLESHOOTING Display Name Definition Cause Action AL.30 Regenerative Permissible 1. Wrong setting of parameter No. 0 Set correctly. alarm regenerative power 2. Built-in regenerative brake resistor Connect correctly of the built-in or regenerative brake option is not regenerative brake connected.
Page 279 12. TROUBLESHOOTING Display Name Definition Cause Action AL.33 Overvoltage Converter bus 1. Lead of built-in regenerative brake 1. Change lead. voltage exceeded resistor or regenerative brake 2. Connect correctly. 400VDC. option is open or disconnected. 2. Regenerative transistor faulty. Change servo amplifier 3.
Page 280 12. TROUBLESHOOTING Display Name Definition Cause Action AL.50 Overload 1 Load exceeded 1. Servo amplifier is used in excess of 1. Reduce load. overload protection its continuous output current. 2. Review operation pattern. characteristic of 3. Use servo motor that provides larger servo amplifier.
Page 281 12. TROUBLESHOOTING Display Name Definition Cause Action AL.52 Error excessive The droop pulse 1. Acceleration/deceleration time Increase the acceleration/deceleration value of the constant is too small. time constant. deviation counter 2. Internal torque limit 1 (parameter Increase the torque limit value. exceeded the encoder No.28) is too small.
Page 282: Remedies For Warnings
12. TROUBLESHOOTING Display Name Definition Cause Action AL.8E Serial Serial 1. Communication cable fault Repair or change the cable. communication communication error (Open cable or short circuit) error occurred between 2. Communication device (e.g. Change the communication device (e.g. servo amplifier and personal computer) faulty personal computer).
Page 283 12. TROUBLESHOOTING Display Name Definition Cause Action AL9E CC-Link warning Communication error of 1. The transmission status is abnormal. Take measures against noise. cable 2. CC-Link twisted cable wiring incorrect. 1. Change the CC-Link twisted cable. 3. CC-Link twisted cable faulty. 2.
Page 284: Outline Dimension Drawings
13. OUTLINE DIMENSION DRAWINGS 13. OUTLINE DIMENSION DRAWINGS 13.1 Servo amplifiers (1) MR-J2S-10CP-S084 to MR-J2S-60CP-S084 MR-J2S-10CP1-S084 to MR-J2S-40CP1-S084 [Unit: mm] ([Unit: in]) 70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate (Note) PE terminal...
Page 285 13. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70CP-S084 MR-J2S-100CP-S084 [Unit: mm] 6 ( 0.24) 70(2.76) ([Unit: in]) mounting hole 70(2.76) 190(7.48) Terminal layout (0.87) (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal 6(0.24) 6(0.24) (0.87) (1.65) 6(0.24) Weight Servo amplifier [kg] ([lb]) MR-J2S-70CP-S084 1.7 (3.75)
Page 286 13. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200CP-S084 MR-J2S-350CP-S084 [Unit: mm] ([Unit: in]) 6 ( 0.24) 70(2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI PE terminal Fan air orientation Weight Servo amplifier [kg] ([lb]) MR-J2S-200CP-S084 2.0 (4.41) MR-J2S-350CP-S084 PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (175.6 [oz in]) Terminal screw: M4...
Page 287 13. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500CP-S084 2- 6( 0.24) [Unit: mm] ([Unit: in]) mounting hole (0.24) 130(5.12) (0.24) 200(7.87) 118(4.65) (2.76) (0.19) 5 Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN N.P. N.P. 6(0.24) Fan air orientation Weight Servo amplifier [kg] ([lb]) MR-J2S-500CP-S084 4.9 (10.8) PE terminals...
Page 288: Cc-Link Option Unit (Mr-J2S-T01)
13. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700CP-S084 2- 6( 0.24) [Unit: mm] mounting hole ([Unit: in]) 200(7.87) 180(7.09) (0.39) 160(6.23) 138(5.43) (2.76) 6(0.24) (2.44) (0.39) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN 6 (0.24) Fan air orientation Weight Servo amplifier [kg] ([lb]) MR-J2S-700CP-S084 7.2 (15.9) PE terminals...
Page 289: Connectors
13. OUTLINE DIMENSION DRAWINGS 13.3 Connectors (1) Servo amplifier side <3M > (a) Soldered type Model [Unit: mm] Connector : 10120-3000VE ([Unit: in]) Shell kit : 10320-52F0-008 12.0(0.47) 14.0 22.0 (0.87) (0.55) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type Model [Unit: mm]...
Page 290 13. OUTLINE DIMENSION DRAWINGS (2) Communication cable connector <JAE> [Unit: mm] ([Unit: in]) Fitting fixing screw G E (max. diameter of cable used) Type 0.25 reference DE-C1-J6-S6 34.5 (1.36) 19 (0.75) 24.99 (0.98) 33 (1.30) 6 (0.24) 18 (0.71) #4-40 13 - 7...
Page 291 13. OUTLINE DIMENSION DRAWINGS MEMO 13 - 8...
Page 292: Characteristics
14. CHARACTERISTICS 14. CHARACTERISTICS 14.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 14.1.
Page 293: Power Supply Equipment Capacity And Generated Loss
14. CHARACTERISTICS 14.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 14.1 in consideration for the worst operating conditions.
Page 294 14. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .
Page 295: Dynamic Brake Characteristics
14. CHARACTERISTICS 14.3 Dynamic brake characteristics Fig. 14.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 14.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
Page 296 14. CHARACTERISTICS 0.02 0.018 0.016 0.014 0.012 0.01 0.008 0.006 0.004 0.002 500 1000 1500 2000 2500 3000 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] a. HC-KFS series b. HC-MFS series 0.04 0.045 0.04 0.035 0.035 0.03 0.03 0.025 0.025...
Page 297: Encoder Cable Flexing Life
14. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J2S-10CP-S084...
Page 298: Inrush Currents At Power-On Of Main Circuit And Control Circuit
14. CHARACTERISTICS 14.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (measurement data) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 10m.
Page 299 14. CHARACTERISTICS MEMO 14 - 8...
Page 300: Options And Auxiliary Equipment
15. OPTIONS AND AUXILIARY EQUIPMENT 15. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.
Page 301 15. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative brake option (a) Simple selection method In horizontal motion applications, select the regenerative brake option as described below: When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in Section 5.1 of the separately available Servo Motor Instruction Manual.
Page 302 15. OPTIONS AND AUXILIARY EQUIPMENT b. Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor charging[J] MR-J2S-10CP(1)-S084 MR-J2S-20CP(1)-S084...
Page 303 15. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option The regenerative brake option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative brake option body.
Page 304 15. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500CP-S084 MR-J2S-700CP-S084 Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal protector. G3-G4 are disconnected when the regenerative brake option overheats abnormally.
Page 305 15. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Fan installation screw hole dimensions 2-M3 screw hole (for fan installation) Terminal block Depth 10 or less (Screw hole already machined) Thermal relay Bottom 82.5 40 (1.58)
Page 306 15. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-RB32 MR-RB30 MR-RB31 [Unit: mm (in)] (7.05) Terminal block 7(0.28) Terminal Terminal screw: M4 3.2(0.13) block Tightening torque: 1.2 [N m](10 [lb in]) (0.39) (3.54) 318(12.52) (0.67) 100(3.94) Regenerative Regenerative Resistance Weight brake option power[W] [kg] [lb]...
Page 307: Brake Unit
15. OPTIONS AND AUXILIARY EQUIPMENT 15.1.2 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage.
Page 308 15. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size.
Page 309 15. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) [Unit : mm(in)] 2- D Control circuit (Note) terminals Main circuit terminals FR-BR-55K Two eye bolts are provided (as shown below). AA 5 (0.197) Eye bolt (8.031) A 5 (0.197) Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Approx.
Page 310: Power Regeneration Converter
15. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Power factor improving reactor FR-BAL Power supply 3-phase 200V or 230VAC Always remove wiring across P-C. 5m(16.4ft) or less Ready output Alarm output (Note) Phase detection terminals Power regeneration converter FR-RC FR-RC Operation ready Note.
Page 311 15. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.
Page 312: Cables And Connectors
15. OPTIONS AND AUXILIARY EQUIPMENT 15.1.4 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. MR-J2S-T01 Servo amplifier CN10 Operation CN1A CN1B...
Page 313 15. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard encoder MR-JCCBL M-L Connector: 10120-3000VE Housing : 1-172161-9 Standard cable Refer to (2) in this Shell kit: 10320-52F0-008 Connector pin : 170359-1 flexing life section. (3M or equivalent) (AMP or equivalent) IP20 Cable clamp : MTI-0002...
Page 314 15. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Control signal MR-J2CN1 Connector: 10120-3000VE connector set Shell kit: 10320-52F0-008 (3M or equivalent) Qty: 2 each 10) Junction MR-J2TBL M Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL terminal block Refer to (Hirose Electric) Shell kit: 10320-3210-000 MR-J2S-T01 cable Section15.1.5.
Page 315 15. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 14.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
Page 316 15. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Encoder side Encoder side Encoder side Servo amplifier side Servo amplifier side Servo amplifier side (Note) (Note) (Note) Plate Plate Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system.
Page 317 15. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL M- Symbol Specifications Standard flexing life Long flexing life Symbol Cable length [m(ft)] 2 (6.56) 5 (16.4) 10 (32.8)
Page 318 15. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-ENCBL50M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (Note1) Plate (Note2) Use of AWG24 (Less than 10m(32.8ft)) (Note1) (Note1) Note1: This wiring is required for use in the absolute...
Page 319 15. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable (MR-JRCATCBL3M) POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. Select the communication cable according to the shape of the RS-232C connector of the personal computer used.
Page 320: Junction Terminal Block (Mr-Tb20)
15. OPTIONS AND AUXILIARY EQUIPMENT 15.1.5 Junction terminal block (MR-TB20) POINT When using the junction terminal block, you cannot use SG of CN1A-20 and CN1B-20. Use SG of CN1A-4 and CN1B-4. (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-J2TBL M) as a set.
Page 321: Battery (Mr-Bat, A6Bat)
15. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL Symbol Cable length[m(ft)] 0.5 (1.64) 1 (3.28) Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M) HIF3BA-20D-2.54R (connector) 10120-6000EL (connector) 10320-3210-000 (shell kit) (Note) Junction terminal...
Page 322: Auxiliary Equipment
15. OPTIONS AND AUXILIARY EQUIPMENT 15.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 15.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
Page 323 15. OPTIONS AND AUXILIARY EQUIPMENT Table 15.1 Recommended wires (Note 1) Wires [mm Servo amplifier 1) L 2) L 3) U V W 4) P C 5) B1 B2 MR-J2S-10CP(1)-S084 MR-J2S-20CP(1)-S084 MR-J2S-40CP(1)-S084 1.25 (AWG16) : a 2 (AWG14) : a MR-J2S-60CP-S084 MR-J2S-70CP-S084 2 (AWG14) : a...
Page 324 15. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 15.3 Wires for option cables Characteristics of one core (Note 3) Length Core size Number Type Model Finishing...
Page 325 60nF/km or less Characteristic impedance (1MHz) 100 15 Sheath Shield Blue Section White Yellow Aluminum tape Ground wire Outline dimension Approx. weight 65kg/km Note. For any inquiry, please contact your nearest Mitsubishi Electric System Service Co., Ltd. 15 - 26...
Page 326: Fuse Breakers, Fuses, Magnetic Contactors
15. OPTIONS AND AUXILIARY EQUIPMENT 15.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...
Page 327: Relays
15. OPTIONS AND AUXILIARY EQUIPMENT 15.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for input signals (interface DI-1) signals To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less...
Page 328 15. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
Page 329 15. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 330 15. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
Page 331 15. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) 22(0.87) (Note)M4 screw 35(1.38) (0.24) Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
Page 332 15. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Page 333: Leakage Current Breaker
15. OPTIONS AND AUXILIARY EQUIPMENT 15.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 334 15. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 5m(196.85inch) 5m(196.85inch) Servo amplifier HA-FF63 MR-J2S-CP -S084 Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (15.2) from the diagram: Ig1 20 0.1 [mA] 1000...
Page 335: Emc Filter
15. OPTIONS AND AUXILIARY EQUIPMENT 15.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Weight [kg]([lb])
Page 336 15. OPTIONS AND AUXILIARY EQUIPMENT HF3040-TM HF-3050A-TM Dimensions [mm(in)] Model HF3040A-TM (10.23) (8.27) (3.35) (6.10) (5.51) (4.92) (1.73) (5.51) (2.76) R3.25, length 8 HF3050A-TM (11.42) (9.45) (3.94) (7.48) (6.89) (6.30) (1.73) (5.51) (3.94) 15 - 37...
Page 337 15. OPTIONS AND AUXILIARY EQUIPMENT MEMO 15 - 38...
Page 338: App 1. Status Indication Block Diagram
APPENDIX App 1. Status indication block diagram App - 1...
Page 339: App 2. Junction Terminal Block (Mr-Tb20) Terminal Block Labels
APPENDIX App 2. Junction terminal block (MR-TB20) terminal block labels For CN1A For CN1B App - 2...
Page 340 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jun., 2003 SH(NA)030036-A First edition...
Page 341 MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030036-A (0306) MEE Printed in Japan Specifications subject to change without notice.

This manual is also suitable for:

Mr-j2s cp-s084 series Mr-j2s-10cp-s084 Mr-j2s-10cp1-s084 Mr-j2s-20cp-s084 1 Mr-j2s-20cp1-s084 1 Mr-j2s-40cp-s084 ... Show all

Mitsubishi Electric MELSERVO-J2-Super Series Instruction Manual

1 Functions and Configuration

2 Installation

3 CC-Link COMMUNICATION FUNCTIONS 3- 1 to

4 Signals and Wiring

5 Operation

6 Parameters

7 Servo Configuration Software

8 Display and Operation

9 General Gain Adjustment

10 Special Adjustment Functions

11 Inspection

12 Troubleshooting

13 Outline Dimension Drawings

14 Characteristics

15 Options and Auxiliary Equipment

Appendix

Quick Links

Related Manuals for Mitsubishi Electric MELSERVO-J2-Super Series

Summary of Contents for Mitsubishi Electric MELSERVO-J2-Super Series