J2-Super Series
Safety Instructions
To prevent electric shock, note the following
HC-SFS81
HC-UFS
HC-SFS121
HC-SFS202
Wiring
COM
Usage
RA EMG 24VDC
Maintenance, inspection and parts replacement
Dispose of the product as general industrial waste
Configuration
EMC directive
Low voltage directive
Machine directive
Grounding
Power supply
Wiring
Auxiliary equipment and options
Performing EMC tests
MR-J2S-10A1 20A1 MR-J2S-40A1 60A MR-J2S-70A to 350A
Use UL/C-UL standard-compliant products
Contents Functions and Configuration
To 4
To 5
To 9
10- 1 to
10-12
11- 1 to 11
12.3
12.4
13.1
13-13
14-24
14-25
14-26
14-27
Page
Position control mode
Speed control mode
Torque control mode
Introduction
Function block diagram
Function block diagram of this servo is shown below
Servo amplifier standard specifications
Parameter No
Function list
Section
Input signal selection
Model code definition Rating plate
Different types
Parameters
Model
Combination with servo motor
Battery holder
Parameter setting operations
Parts identification MR-J2S-100A or less
Output analog monitor data Name plate Charge lamp
Backup Display 5-digit, seven-segment LED shows the servo
MR-J2S-200A or more
Functions and Configuration
For 3-phase 200V to 230VAC or 1-phase 230VAC
MRZJW3-SETUP121E
Regenerative brake option Section
Magnetic contactor
For 1-phase 100V to 120VAC
Servo configuration software Section
No-fuse breaker Section Regenerative brake option
Magnetic contactor Section Cables
MRZJW3
SETUP121E
No-fuse breaker 2 Regenerative brake option
Installation
Control box
Keep out foreign materials
Installation of two or more servo amplifiers
Others
Cable stress
Signals and Wiring
Position control mode FX-10GM
Standard connection example
Signals and Wiring
AD75P A1SD75P
CN1B
Signals and Wiring
CN1B VDD COM CN1A SP1
Signals and Wiring
CN1B VDD COM CN1A
Signals and Wiring
Internal connection diagram of servo amplifier
I/O signals Connectors and signal arrangements
Signal arrangement
CN1A CN2 MDR MRR BAT
CN1B CN3 RXD TXD MO1 MO2 RDP RDN
CN1A and CN1B signal assignment
For note, refer to the next
Symbols and signal names
OPC
Signal explanations
Input signals
Servo-on
Reverse rotation
CN1B
TL1
ST1 CN1B
ST2 CN1B
Speed selection
SP1
SP2 CN1B
SP3
CN1A
CM1
CM2
CDP
LOP CN1B
TLA CN1B
Output signals
ALM CN1B
INP CN1A
TLC
AL.1A
AL.8A
AL.8E
Communication
Refer to for the communication function
24VDC
TLA, VC, VLA
Negative logic Positive logic
VDD OPC
Differential line driver system Connect as shown below
Electronic gear switching
In-position INP
Ready RD
OFF
Torque limit
TLA
Parameter No Parameter No
Parameter No TLA
No servo lock
Speed control mode Speed setting
Generally, make connection as shown below
Speed reached SA
As in .4.1
RS2
CCW
Speed limit
RS1 RS2
Setting of parameter Speed limit value No to
Position/speed control change mode
Torque limit in position control mode
Position control mode Speed control mode
Control change LOP
Speed setting in speed control mode
Speed/torque control change mode
Torque limit in speed control mode
Speed control mode Torque control mode
As in .4.2
Speed limit in torque control mode
Torque control in torque control mode
Torque limit in torque control mode
As in .4.3
0V on OFF
Torque/position control change mode
Torque control mode Position control mode
Precautions for alarm occurrence
SON OFF
ALM OFF
RES OFF
Interfaces 3.6.1 Common line
CN1A DC24V CN1B VDD COM
TLA
OPC PG NG PP NP
Digital output interface DO-1
Detailed description of the interfaces
Digital input interface DI-1
Lamp load
Pulse train input interface DI-2
Conditions of the input pulse
COM 24VDC VDD VDD-COM
Open collector system Interface
Differential line driver system 1 Interface
Encoder pulse output DO-2
Output pulse
Analog input
Input impedance 10 to 12k
Analog output Output 10V Max.1mA
Source input interface
SON
EMG SON VDD COM ALM
VAC
Nfbmc
Terminals
Power-on sequence Power-on procedure
Timing chart
Emergency stop
VDD COM EMG
Connection diagram
HC-KFS053 B to 43 B
HC-MFS053 B to 73 B
HC-UFS13 B to 73 B
HC-SFS121 B to 301 B
White
3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min series
Black
HC-SFS HC-RFS HC-UFS2000 r/min series
Earth
MDR CNT MRR
BAT
Setting
COM MBR 24VDC
Timing charts
Emergency stop signal EMG ON/OFF
Alarm occurrence
Both main and control circuit power supplies off
CN1A CN1B
Approx mm
Instructions for the 3M connector
Connection
Memo
Machine
When switching power on for the first time
Before starting operation, check the following
Selection of control mode
Position control mode Power on
Parameter setting
Test operation
Command pulse input
Servo-on
Home position return
Make home position return as required
Speed control mode Power on
Start
Torque control mode Power on
Multidrop communication
Parameters
Lists
Item list
FFC
TLO
MO1
MO2
SIC
NH1
NH2
LPF
Point
Details list
STY ParametersBasic 1 *OP1
Auto tuning 0105
CMX CDV
PG1
In-position range 100
Operation
Used to set speed 1 of internal speed limits
STB
STC
TQC
14 TQC ParametersBasic
BPS
MOD Analog monitor output 0100
8V/max. torque Motor speed 8V/max. speed
Generated torque 8V/max. torque
Droop pulses
Used to select the status display shown at power-on 001Fh
Status display selection 0000
19 *BLK Basic parameters 20 *OP2 Expansion parameters
Parameter block 0000
Initial
000A
Function selection 3 Command pulse selection 0000
21 *OP3 22 *OP4 Expansion parameters
Function selection 0000
444 888 777 555
Feed forward gain Used to set the fee forward gain
Will be almost zero Zero speed
Internal torque limit 1 Parameter No
Analog torque limit internal torque limit
Analog speed command offset
29 VCO
MBR
PG2
Clear signal
Used to set the differential compensation
CN1B-5 CN1B-14 CN1A-8 CN1B-7 CN1B-8 CN1B-9
980 1000 0000
Signal selection 2 parameter No
DI2
0111
SP2 ST1 RS2 ST2 RS1 SP3 CM1 CM2 TL1 CDP
DI4
DI5
DI6
48 *DI7
49 *DO1 Expansion parameters
Not output CN1A-19 CN1B-18 CN1A-18 CN1B-19 CN1B-6
51 *OP6 53 *OP8 Parameters 54 *OP9 Expansion
Used to select the protocol of serial communication
Function selection a 0000
55 *OPA
Expansion parameters 59 NH2
Low-pass filter/adaptive vibration suppression control 0000
60 LPF Expansion parameters 61 GD2B 62 PG2B 63 VG2B
Vicb
CMX3
CMX4
SC5
Detailed description 5.2.1 Electronic gear
Concept of electronic gear
Parameter No.3
Parameter No.4
131072 65536
1125
Instructions for reduction
65536 32768
131072 3000/60 Pulse/s
Setting for use of AD75P
131072 2000/60 Pulse/s
AD75P
3000 131072
3000 131072 4096
Analog output
Alarm history clear
Change the following digits of parameter No.17
For trapezoidal input
Position smoothing
For step input
Memo
Display flowchart
Display and Operation
Following table lists display examples
Status display
Display examples
Status display list
CMX/CDV
Control mode Status display at power-on
Changing the status display screen
Diagnostic mode
Display and Operation
Alarm mode
Expansion parameters
Parameter mode
Operation example
External I/O signal display
Display definition
CN1B CN1B CN1A CN1B
CN1A CN1B CN1B CN1B CN1B CN1A
Control modes and I/O signals
Symbol and signal names
Default signal indications
Output signal forced output do forced output
Mode change
Termination of jog operation
How to use the buttons is explained below
Jog operation
Travel distance pulse 10000 Speed r/min 200
How to use the keys is explained below
Positioning operation
Termination of motor-less operation
To terminate the motor-less operation, switch power off
Motor-less operation
General Gain Adjustment
Gain adjustment mode explanation
Adjustment sequence and mode usage
Adjustment using servo configuration software
You can automatically set the optimum gains
Time
Speed control gain
Auto tuning Auto tuning mode
Position control gain
Auto tuning mode operation
Block diagram of real-time auto tuning is shown below
PG1,VG1
PG2,VG2,VIC
Adjustment procedure by auto tuning
Basic procedure
Response level setting in auto tuning mode
Manual mode 1 simple manual adjustment
Operation of manual mode
Adjustment by manual mode
Adjustment procedure
For position control
Suppression of machine resonance
General Gain Adjustment
Interpolation mode
Following parameters are adjustable manually
Adjustment procedure
Adjustment description
Auto tuning selection
15Hz
30Hz
100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz
Memo
Special Adjustment Functions
Machine resonance suppression filter Function
Parameters
Deep 40dB 14dB 8dB Shallow 4dB
Adaptive vibration suppression control Function
Low-pass filter Function
Gain changing function
Applications
Position control gain Rad/s
Speed control gain Rad/s
Speed Integral Changing ratio Compensation to VIC
Used to set the changing condition values
Parameters No , 34 to
Gain changing selection CDP parameter No
Gain changing condition CDS parameter No
Gain changing time constant CDT parameter No
This operation will be described by way of setting examples
When you choose changing by external input
Setting
Gain changing operation
When you choose changing by droop pulses
Speed integral compensation 250 Changing ratio
Gain changing selection 0003
Position control gain 120 Speed control gain 3000 4000
Memo
Inspection
Life
100,000 times
10,000 to 30,000hours 2 to 3 years
Memo
Position control mode Troubleshooting
Trouble at start-up
Make operation instable
LSP/LSN-SG are not Connected No pulses is input
Chapter
How to find the cause of position shift
CMX CDV
Power supply of CN1 cabling is
Torque control mode
When alarm or warning has occurred
Alarms and warning list
A160V or Control power failure of 60ms or Less Longer
MR-J2S
A183V or
Change the servo amplifier
Alarm AL.17 or AL.19 occurs if
CN1B and CN3 connectors are Disconnected
Ground fault Occurred at Output wires are in contact at
Position erase Data in error
Reexamine acceleration
Change lead
Option, change regenerative brake
Option
AL.35 Command Input pulse Pulse frequency of the command
Computer Personal computer faulty
Remedies for warnings
AL.EA ABS
TE1 TE2
TE1
MR-J2S-70A MR-J2S-100A
MR-J2S-70A MR-J2S-100A
MR-J2S-200A MR-J2S-350A
MR-J2S-200A MR-J2S-350A
Connectors Servo amplifier side Sumitomo 3M make
Insulation displacement type
Soldered type
Threaded type
DE-C1-J6-S6 34.51.36 190.75 24.990.98 331.30 60.24
#4-40
Memo
MR-J2S-10A to MR-J2S-100A
Overload protection characteristics
Electronic thermal relay protection characteristics
HC-KFS053
HC-MFS053 HC-UFS13 HC-KFS23
HC-MFS23 HC-UFS23 HC-KFS43
HC-MFS43 HC-UFS43
Temperature distribution in enclosure
Heat dissipation area for enclosed servo amplifier
There is internal relay delay time of about 30ms
12.2
Mmin
Mm/minin/min
HC-MFS series
HC-SFS1000r/min series
HC-SFS2000r/min series HC-SFS3000r/min series
HC-RFS series HC-UFS 2000r/min series
MR-JCCBL M-L MR-JHSCBL M-L
Encoder cable flexing life
MR-JCCBL M-H MR-JHSCBL M-H MR-ENCBL M-H
Options and Auxiliary Equipment
Selection of the regenerative brake option
No regeneration
JM No 1047
1047 JM No
Connection of the regenerative brake option
Outline drawing
MR-RB032 MR-RB12
MR-RB32 MR-RB30
MR-RB50
Cables and connectors Cable make-up
HC-KFS
MR-JCCBL M-L
MR-JCCBL M-H
MR-JHSCBL M-L
MR-JHSCBL M-H
MR-J2CN1
MR-J2TBL M
MR-TB20
MR-J2HBUS M
Standard flexing life Long flexing life
For use of AWG24
MRR SHD
MR-JHSCBL M-L
MDR
MR-JHSCBL2M-L
TXD RXD GND RTS CTS DSR DTR
Communication cable
MR-CPCATCBL3M
How to use the junction terminal block
Junction terminal block MR-TB20
Terminal labels
For CN1A For CN1B
Junction terminal block cable MR-J2TBL M Model MR-J2TBL M
SP2 SP1 ST1
INP ALM
B10 A10
Maintenance junction card MR-J2CN3TM Usage
MR-J2HBUS M
CN3 CN3B CN3A CN3C
TE1 CN3A CN3B CN3C MO1 MO2 VDD COM EMI MBR
Battery MR-BAT, A6BAT
Bus cable MR-J2HBUS M
System configuration
Configuration diagram 1 When using RS-232C
CN3 CN2
Recommended wires Wires for power supply wiring
Recommended wires
Auxiliary equipment
5mm2 for use of the HC-RFS203 servo motor
Wires for cables
Wires for option cables
Wire specifications
Recommended crimping terminals
Power factor improving reactors
No-fuse breakers, fuses, magnetic contactors
Relays
Following relays should be used with the interfaces
Surge absorbers
Noise reduction techniques
Options and Auxiliary Equipment
Noise reduction products
10 to 100MHZ 100 to 500MHZ 150
Ex A.2003
Outline drawing
FR-BLFMR-J2S-350A
NV-CF
Leakage current breaker Selection method
NV-SF
Selection example
EMC filter
Combination with the servo amplifier
SF1252
MR-J2S-200A MR-J2S-350A SF1253
Wire as shown below
Configuration 14.1.1 RS-422 configuration Outline
Cable connection diagram
14.1.2 RS-232C configuration Outline
Single axis of servo amplifier is operated
LSB MSB
Communication specifications 14.2.1 Communication overview
Description
Communication delay time
Station number setting
Communication baudrate
RS-422/RS-232C serial interface selection
Protocol
Transmission of data from the controller to the servo
Data frames
Recovery of communication status by time-out
Data length depends on the command
JIS8 unit codes are used
For example, 61H is transmitted in hexadecimal for group a
Error codes
Checksum
Checksum range
SOH
Time-out operation
Retry operation
Communication procedure example
Initialization
Data item Value Description
STX
Parameter Command
External I/O signals Command
Alarm history Command
00 to
Current alarm Command 02
Group setting Command 1F
Write commands Status display Command
Current alarm Command
Operation mode selection Command 8B
External input signal disable Command
Data for test operation mode Command 92 A0
Group setting Command 9F
Detailed explanations of commands 14.12.1 Data processing
Processing the read data
Writing the processed data
Command Data No
Status display Status display data read
Status display data clear
1EA5
Parameter Parameter read
00 to
00 to See below
Command Data No Set data
Parameter write
Reply ON/OFF statuses of the input pins are sent back
External output pin status read
Disable/enable of external I/O signals DIO
Signal Status
External input signals DI
Enable
External input signal ON/OFF test operation
Test operation mode Instructions for test operation mode
1EA5 Choose the test operation mode
Cancel the test operation mode
Enable the disabled external input signals
Jog operation
Output signal pin ON/OFF do forced output
Choosing do forced output in test operation mode
External output signal ON/OFF
Command Data No Setting data
Alarm history Alarm No. read
For example, 0032 means AL.32 and 00FF means AL. no alarm
Alarm occurrence time read
Erase the alarm history Send command 82 and data No
Current alarm clear
Current alarm Current alarm read
Read of the status display at alarm occurrence
Other commands Servo motor end pulse unit absolute position
Command unit absolute position
Reply Slave station sends back the requested command pulses
Software version
Memo
Outline 15.1.1 Features
Restrictions
CPU
LSO
CN1A CN2 CN1B
Specifications Specification list
General-purpose programmable controller
Battery connector Operation window
Standard connection diagram
Signal explanation
Absm
Amplifier is in the ABS transfer mode, and the functions
Absr
Startup procedure Battery installation
Resetting of absolute position erase alarm AL.25
Home position setting
Confirmation of absolute position data transfer
SON on
Data transfer procedure
Absolute position data transfer protocol
Transfer method
At power-on
Timing chart
CN1B-4 Positioning completion ABS data bit
CN1A-18 Positioning completion ABS data bit
Detailed description of absolute position data transfer
Therefore, the check sum of 10 ABS data is 2Db
Ffff FFF6
Transmission error
Yes AL.E5 warning Signal is not turned OFF
At the time of alarm reset
At the time of emergency stop reset
EMG OFF
Send ABS data
Home position setting Dog type home position return
DOG OFF
Data set type home position return
Use of servo motor with electromagnetic brake
Absolute Position Detection System
Examples of use MELSEC-A1S A1SD71 Instructions
ABS
ABS coordinate system
Slot No 1 2 3 4 5 6
A1SCPU
A1SX40
Sequence program example
Y4B
100 10 to
PLS
PLS
PLS M12 RST C2
Saving ABS 32-bit data Clearing register
Reading 4 bits
A1SD71 reading home position address
ABS transfer retry start pulse
Axis start program
Electromagnetic brake output
Sequence program 2-axis control
Dtop
Melsec FX2N-32MT FX2N-1PG Connection diagram
FX-32MT FX-1PG
FX2N-32MT FX2N-1PG
VII
0PPS
PII
M62 Sum check discrepancy greater T200 Retry wait timer M63
Clear signal on timer request
T203 Ready to send response timer
Electromagnetic brake output
ABS data transfer program for X-axis
To K0 DTO K0 Dmov K0
SET
Zrst RST
PLS ABS
Setting servo-on request Retry control
OFF
From K0
Changing X-axis present position data
ABS transfer Zero speed mode ABS transfer mode
Melsec A1SD75AD75 Connection diagram
A1SCPU
Absolute Position Detection System
Y3A
Output signal reset
Reading A1SD75 1-axis RDY
Masking ABS data sign
WOR ROR PLS
ABS request reset
Dmov A0
Wand
Y1D PC RUN
Servo positioning completion
H0000 K1154 D3
Y1D
Differences between A1SD75 AD75 and A1SD71 AD71
Busy
Absolute Position Detection System
Confirmation of absolute position detection data
Y4A
ABS Y4B
ABS communication error
Error resetting conditions
Appendix
App
App 2. Analog monitor block diagram Appendix
PWM
App 3. Status display block diagram Appendix
Memo
Sep.,2000 SHNA030006-B
Manual number is given on the bottom left of the back cover
SHNA030006-A
Sep.,2000