Mitsubishi Electronics MR-J2S- A User Manuals

Table of Contents

• Safety Instructions

  2
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  11
• <<About the manuals>>

  12
• CONTENTS

  14
• Optional Servo Motor Instruction Manual CONTENTS

  19
• 1. FUNCTIONS AND CONFIGURATION

  20
  • 1.1 Introduction

    20
  • 1.2 Function block diagram

    21
  • 1.3 Servo amplifier standard specifications

    24
  • 1.4 Function list

    25
  • 1.5 Model code definition

    26
  • 1.6 Combination with servo motor

    28
  • 1.7 Structure

    29
    • 1.7.1 Parts identification

      29
    • 1.7.2 Removal and reinstallation of the front cover

      34
  • 1.8 Servo system with auxiliary equipment

    38
• 2. INSTALLATION

  44
  • 2.1 Environmental conditions

    44
  • 2.2 Installation direction and clearances

    45
  • 2.3 Keep out foreign materials

    46
  • 2.4 Cable stress

    47
• 3. SIGNALS AND WIRING

  48
  • 3.1 Standard connection example

    49
    • 3.1.1 Position control mode

      49
    • 3.1.2 Speed control mode

      53
    • 3.1.3 Torque control mode

      55
  • 3.2 Internal connection diagram of servo amplifier

    57
  • 3.3 I/O signals

    58
    • 3.3.1 Connectors and signal arrangements

      58
    • 3.3.2 Signal explanations

      62
  • 3.4 Detailed description of the signals

    71
    • 3.4.1 Position control mode

      71
    • 3.4.2 Speed control mode

      76
    • 3.4.3 Torque control mode

      78
    • 3.4.4 Position/speed control change mode

      81
    • 3.4.5 Speed/torque control change mode

      83
    • 3.4.6 Torque/position control change mode

      85
  • 3.5 Alarm occurrence timing chart

    86
  • 3.6 Interfaces

    87
    • 3.6.1 Common line

      87
    • 3.6.2 Detailed description of the interfaces

      88
  • 3.7 Input power supply circuit

    93
    • 3.7.1 Connection example

      93
    • 3.7.2 Terminals

      95
    • 3.7.3 Power-on sequence

      96
  • 3.8 Connection of servo amplifier and servo motor

    97
    • 3.8.1 Connection instructions

      97
    • 3.8.2 Connection diagram

      97
    • 3.8.3 I/O terminals

      99
  • 3.9 Servo motor with electromagnetic brake

    101
  • 3.10 Grounding

    104
  • 3.11 Servo amplifier terminal block (TE2) wiring method

    105
    • 3.11.1 For the servo amplifier produced later than Jan. 2006

      105
    • 3.11.2 For the servo amplifier produced earlier than Dec. 2005

      107
  • 3.12 Instructions for the 3M connector

    108
  • 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA

    109
    • 3.13.1 Connection example

      109
    • 3.13.2 Servo amplifier terminals

      110
    • 3.13.3 Servo motor terminals

      111
• 4. OPERATION

  114
  • 4.1 When switching power on for the first time

    114
  • 4.2 Startup

    115
    • 4.2.1 Selection of control mode

      115
    • 4.2.2 Position control mode

      115
    • 4.2.3 Speed control mode

      117
    • 4.2.4 Torque control mode

      118
  • 4.3 Multidrop communication

    119
• 5. PARAMETERS

  120
  • 5.1 Parameter list

    120
    • 5.1.1 Parameter write inhibit

      120
    • 5.1.2 Lists

      121
  • 5.2 Detailed description

    145
    • 5.2.1 Electronic gear

      145
    • 5.2.2 Analog monitor

      149
    • 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

      152
    • 5.2.4 Alarm history clear

      152
    • 5.2.5 Position smoothing

      153
• 6. DISPLAY AND OPERATION

  154
  • 6.1 Display flowchart

    154
  • 6.2 Status display

    155
    • 6.2.1 Display examples

      155
    • 6.2.2 Status display list

      156
    • 6.2.3 Changing the status display screen

      157
  • 6.3 Diagnostic mode

    158
  • 6.4 Alarm mode

    160
  • 6.5 Parameter mode

    161
  • 6.6 External I/O signal display

    162
  • 6.7 Output signal (DO) forced output

    165
  • 6.8 Test operation mode

    166
    • 6.8.1 Mode change

      166
    • 6.8.2 Jog operation

      167
    • 6.8.3 Positioning operation

      168
    • 6.8.4 Motor-less operation

      169
• 7. GENERAL GAIN ADJUSTMENT

  170
  • 7.1 Different adjustment methods

    170
    • 7.1.1 Adjustment on a single servo amplifier

      170
    • 7.1.2 Adjustment using MR Configurator (servo configuration software)

      171
  • 7.2 Auto tuning

    172
    • 7.2.1 Auto tuning mode

      172
    • 7.2.2 Auto tuning mode operation

      173
    • 7.2.3 Adjustment procedure by auto tuning

      174
    • 7.2.4 Response level setting in auto tuning mode

      175
  • 7.3 Manual mode 1 (simple manual adjustment)

    176
    • 7.3.1 Operation of manual mode 1

      176
    • 7.3.2 Adjustment by manual mode 1

      176
  • 7.4 Interpolation mode

    179
  • 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

    180
    • 7.5.1 Response level setting

      180
    • 7.5.2 Auto tuning selection

      180
• 8. SPECIAL ADJUSTMENT FUNCTIONS

  182
  • 8.1 Function block diagram

    182
  • 8.2 Machine resonance suppression filter

    182
  • 8.3 Adaptive vibration suppression control

    184
  • 8.4 Low-pass filter

    185
  • 8.5 Gain changing function

    186
    • 8.5.1 Applications

      186
    • 8.5.2 Function block diagram

      186
    • 8.5.3 Parameters

      187
    • 8.5.4 Gain changing operation

      189
• 9. INSPECTION

  192
• 10. TROUBLESHOOTING

  194
  • 10.1 Trouble at start-up

    194
    • 10.1.1 Position control mode

      194
    • 10.1.2 Speed control mode

      197
    • 10.1.3 Torque control mode

      198
  • 10.2 When alarm or warning has occurred

    199
    • 10.2.1 Alarms and warning list

      199
    • 10.2.2 Remedies for alarms

      200
    • 10.2.3 Remedies for warnings

      206
• 11. OUTLINE DIMENSION DRAWINGS

  208
  • 11.1 Servo amplifiers

    208
  • 11.2 Connectors

    215
• 12. CHARACTERISTICS

  218
  • 12.1 Overload protection characteristics

    218
  • 12.2 Power supply equipment capacity and generated loss

    219
  • 12.3 Dynamic brake characteristics

    222
  • 12.4 Encoder cable flexing life

    224
  • 12.5 Inrush currents at power-on of main circuit and control circuit

    225
• 13. OPTIONS AND AUXILIARY EQUIPMENT

  226
  • 13.1 Options

    226
    • 13.1.1 Regenerative brake options

      226
    • 13.1.2 Brake unit

      235
    • 13.1.3 Power regeneration converter

      237
    • 13.1.4 External dynamic brake

      240
    • 13.1.5 Cables and connectors

      243
    • 13.1.6 Junction terminal block (MR-TB20)

      251
    • 13.1.7 Maintenance junction card (MR-J2CN3TM)

      253
    • 13.1.8 Battery (MR-BAT, A6BAT)

      254
    • 13.1.9 MR Configurator (Servo configurations software)

      255
    • 13.1.10 Power regeneration common converter

      257
    • 13.1.11 Heat sink outside mounting attachment (MR-JACN)

      261
  • 13.2 Auxiliary equipment

    264
    • 13.2.1 Recommended wires

      264
    • 13.2.2 No-fuse breakers, fuses, magnetic contactors

      267
    • 13.2.3 Power factor improving reactors

      267
    • 13.2.4 Power factor improving DC reactors

      268
    • 13.2.5 Relays

      269
    • 13.2.6 Surge absorbers

      269
    • 13.2.7 Noise reduction techniques

      269
    • 13.2.8 Leakage current breaker

      275
    • 13.2.9 EMC filter

      277
    • 13.2.10 Setting potentiometers for analog inputs

      279
• 14. COMMUNICATION FUNCTIONS

  280
  • 14.1 Configuration

    280
    • 14.1.1 RS-422 configuration

      280
    • 14.1.2 RS-232C configuration

      281
  • 14.2 Communication specifications

    282
    • 14.2.1 Communication overview

      282
    • 14.2.2 Parameter setting

      283
  • 14.3 Protocol

    284
  • 14.4 Character codes

    286
  • 14.5 Error codes

    287
  • 14.6 Checksum

    287
  • 14.7 Time-out operation

    288
  • 14.8 Retry operation

    288
  • 14.9 Initialization

    289
  • 14.10 Communication procedure example

    289
  • 14.11 Command and data No. list

    290
    • 14.11.1 Read commands

      290
    • 14.11.2 Write commands

      291
  • 14.12 Detailed explanations of commands

    293
    • 14.12.1 Data processing

      293
    • 14.12.2 Status display

      295
    • 14.12.3 Parameter

      296
    • 14.12.4 External I/O pin statuses (DIO diagnosis)

      298
    • 14.12.5 Disable/enable of external I/O signals (DIO)

      299
    • 14.12.6 External input signal ON/OFF (test operation)

      300
    • 14.12.7 Test operation mode

      301
    • 14.12.8 Output signal pin ON/OFF output signal (DO) forced output

      303
    • 14.12.9 Alarm history

      304
    • 14.12.10 Current alarm

      305
    • 14.12.11 Other commands

      306
• 15. ABSOLUTE POSITION DETECTION SYSTEM

  308
  • 15.1 Outline

    308
    • 15.1.1 Features

      308
    • 15.1.2 Restrictions

      308
  • 15.2 Specifications

    309
  • 15.3 Battery installation procedure

    310
  • 15.4 Standard connection diagram

    311
  • 15.5 Signal explanation

    312
  • 15.6 Startup procedure

    313
  • 15.7 Absolute position data transfer protocol

    314
    • 15.7.1 Data transfer procedure

      314
    • 15.7.2 Transfer method

      315
    • 15.7.3 Home position setting

      324
    • 15.7.4 Use of servo motor with electromagnetic brake

      326
    • 15.7.5 How to process the absolute position data at detection of stroke end

      327
  • 15.8 Examples of use

    328
    • 15.8.1 MELSEC-A1S (A1SD71)

      328
    • 15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)

      342
    • 15.8.3 MELSEC A1SD75(AD75)

      354
  • 15.9 Confirmation of absolute position detection data

    369
  • 15.10 Absolute position data transfer errors

    370
    • 15.10.1 Corrective actions

      370
    • 15.10.2 Error resetting conditions

      372
• Appendix

  374
  • App 1. Signal arrangement recording sheets

    374
  • App 2. Status display block diagram

    375
  • App 3. Combination of servo amplifier and servo motor

    376
• REVISIONS

  378