Main
Safety Instructions
WARNING
CAUTION
1. To prevent electric shock, note the following:
WARNING
2. To prevent fire, note the following:
CAUTION
3. To prevent injury, note the follow
CAUTION
4. Additional instructions
(1) Transportation and installation
(2) Wiring
(3) Test run adjustment
(4) Usage
(5) Corrective actions
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COMPLIANCE WITH EC DIRECTIVES
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CONFORMANCE WITH UL/C-UL STANDARD
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Optional Servo Motor Instruction Manual CONTENTS
1. FUNCTIONS AND CONFIGURATION
1 - 2
1.2 Function block diagram The function block diagram of this servo is shown below.
1 - 3
1.3 Servo amplifier standard specifications
1 - 4
1 - 5
1.5 Model code definition (1) Rating plate
MITSUBISHI
1 - 6
(2) Model
1 - 7
1.7 Parts identification (1) MR-J2S-100A or less
1 - 8
(2) MR-J2S-200A or more
1 - 9
1 - 10
1.8 Servo system with auxiliary equipment
WARNING
1 - 11
(b) For 1-phase 100V to 120VAC
1 - 12
(2) MR-J2S-200A or more
2. INSTALLATION
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3. SIGNALS AND WIRING
WARNING
3 - 2
3.1 Standard connection example
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3 - 4
(2) AD75P (A1SD75P )
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3 - 6
3.1.2 Speed control mode
Servo motor
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3 - 8
3.1.3 Torque control mode
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3 - 10
Note. P: Position control mode, S: S
p
eed control mode, T: Tor
q
3 - 11
3.3 I/O signals 3.3.1 Connectors and signal arrangements
3 - 12
For note, refer to the next page.
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3 - 14
3 - 15
3 - 16
3 - 17
3 - 18
3 - 19
(2) Output signals
3 - 20
3 - 21
(3) Communication
Refer to Chapter 14 for the communication function.
3 - 22
(4) Power supply
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CAUTION
3 - 39
3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line.
ALM .etc
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3 - 41
(b) Lamp load For use of internal power supply F or use of external power supply
2) Conditions of the input pulse
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3 - 43
(b) Differential line driver system 1) Interface Max. output current: 35mA
2) Output pulse
(5) Analog input Input impedance 10 to 12k
(6) Analog output Output 10V Max.1mA
3 - 44
Note: This also applies to the use of the external power supply.
3 - 45
3.7 Input power supply circuit
3 - 46
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WARNING
3 - 49
3 - 50
3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series
3 - 51
(2) HC-SFS HC-RFS HC-UFS2000 r/min series
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3 - 53
(b) Emergency stop signal (EMG) ON/OFF
3 - 54
(c) Alarm occurrence
(d) Both main and control circuit power supplies off
(e) Only main circuit power supply off (control circuit power supply remains on)
3 - 55
WARNING
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4. OPERATION
WARNING CAUTION
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5. PARAMETERS
CAUTION
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5 - 3
5 - 4
5 - 5
(2) Details list
0 0
5 - 6
5 - 7
5 - 8
5 - 9
5 - 10
5 - 11
5 - 12
5 - 13
5 - 14
5 - 15
5 - 16
5 - 17
5 - 18
5 - 19
5 - 20
5 - 21
5 - 22
5 - 23
5 - 24
CAUTION
CDV
CMX 0Pt S0Pt
nPb 10 10 31/2 10
131072 262144 1000 32768
26214 450
36000 1 131072 4
64 360 359.995
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5 - 29
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6 - 1
6. DISPLAY AND OPERATION
UP
DOWN
MODE
Command pulse frequency [kpps]
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6 - 3
6 - 4
6 - 5
6.3 Diagnostic mode
6 - 6
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6 - 10
(a) Control modes and I/O signals
(b) Symbol and signal names
6 - 11
(3) Default signal indications (a) Position control mode
(b) Speed control mode
(c) Torque control mode
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7 - 1
7. GENERAL GAIN ADJUSTMENT
7 - 2
(2) Adjustment sequence and mode usag e
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PG1 guideline VG2 setting (1 load inertia moment ratio) ( to1
5
1 3)
Droop pulse value (pulse) PG1 setting
Rotation speed (r/min) 131,072(pulse)
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8. SPECIAL ADJUSTMENT FUNCTIONS
8 - 2
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8 - 6
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8 - 8
(b) Changing operation
8 - 9
(2) When you choose changing by dro op pulses (a) Setting
(b) Changing operation
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9. INSPECTION
9. INSPECTION WARNING
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10 - 1
10. TROUBLESHOOTING
10.1 Trouble at start-up
CAUTION
make operation instable.
10 - 2
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10 - 4
10.1.2 Speed control mode
10 - 5
10.1.3 Torque control mode
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10 - 8
10 - 9
10 - 10
10 - 11
10 - 12
11 - 1
11. OUTLINE DIMENSION DRAWINGS
(0.79)
11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1
168 (6.61)
156 (6.14) 6 (0.24)
11 - 2
(2) MR-J2S-70A MR-J2S- 100A
168(6.61)
20 (0.79)
156(6.14)
11 - 3
(3) MR-J2S-200A MR-J2S-350A
168(6.61) 156(6.14) 6
11 - 4
11.2 Connectors (1) Servo amplifier side <Sumitomo 3M make> (a) Soldered type
(b) Threaded type
(c) Insulation displacement type
11 - 5
(2) Communication cable connector <Japan Aviation Electronics Industry make>
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12. CHARACTERISTICS
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12 - 5
a. HC-MFS series b. HC-SF S1000r/min series
c. HC-SFS2000r/min series d. HC-SFS3000r/min series
e. HC-RFS series f . HC-UFS 2000r/min series
g. HC-UFS3000r/min series Fig. 12.5 Dynamic brake time constant
12 - 6
Flexing life [times]
13. OPTIONS AND AUXILIARY EQUIPMENT
WARNING
CAUTION
13 - 2
Generated torque
Unbalance torque
Servo motor speed
2) 3)
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13 - 4
(4) Outline drawing (a) MR-RB032 MR-RB12
150(5.91)
12 (0.47)
168 (6.61)
13 - 5
13 - 6
13 - 7
CAUTION
13 - 9
13 - 10
2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1.
13 - 11
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13 - 13
13.1.3 Junction terminal block (MR-TB20)
750(1.97)
1) For CN1A
2) For CN1B
13 - 14
(4) Junction terminal block cable (MR-J 2TBL M) Model : MR-J2TBL M
Cable length[m]Symbol 05 10.5 1
13 - 15
(2) Connection diagram
75(2.95)
13 - 16
(4) Bus cable (MR-J2HBUS M)
13.1.5 Battery (MR-BAT, A6BAT) Use the battery to build an absolute position detection system.
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13 - 18
(b) Configuration diagram 1) When using RS-232C
2) When using RS-422 You can make multidrop connection of up to 32 axes.
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13 - 20
Table 13.2 Recommended crimping terminals
Table 13.4 Wire specifications
13 - 21
A
E
D
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13 - 24
13 1
(0.51 0.04) 30 1 (1.18 0.04)
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13 - 26
Outline drawing
13 - 27
65 (2.56)
3 (0.12)
31.5 (1.24)
35 (1.38)
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Ig1 20 1000
50.1 [mA] Ig2 20 1000
50.1 [mA]
13 - 30
(2) Connection example
14 - 1
14. COMMUNICATION FUNCTIONS
(2) Cable connection diagram Wire as shown below:
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14 - 6
(2) Transmission of data request from the controller to the servo
(3) Recovery of communication status by time-out
(4) Data frames The data length depends on the command.
14 - 7
14.4 Character codes (1) Control codes
For example, "61H" is transmitted in hexadecimal for group a.
(2) Codes for data JIS8 unit codes are used.
For example, "30H" is transmitted in hexadecim al for the station number of "0" (axis 1). (4) Group
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14 - 11
14.11 Command and data No. list 14.11.1 Read commands (1) Status display (Command [0][1])
(2) Parameter (Command [0][5])
(3) External I/O signals (Command [1][ 2])
(4) Alarm history (Command [3][3])
14 - 12
(5) Current alarm (Command [0][2] [3][5])
(6) Group setting (Command [1][F])
(7) Others
14.11.2 Write commands (1) Status display (Command [8][1])
14 - 13
(5) Operation mode selection (Comm and [8][B])
(6) External input signal disable (Command [9][0])
(7) Data for test operation mode (Comm and [9][2] [A][0])
(8) Group setting (Command [9][F])
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15. ABSOLUTE POSITION DETECTION SYSTEM
15 - 2
15.2 Specifications (1) Specification list
(2) General-purpose programmable c ontroller
WARNING
15 - 4
15.4 Standard connection diagram
15 - 5
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15 - 7
15.7 Absolute position data transfer protocol
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15 - 14
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15 - 16
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15 - 19
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15 - 22
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15 - 24
(2) Connection diagram
CN1A
A1SCPU
A1SX40
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15 - 26
15 - 27
15 - 28
15 - 29
15 - 30
15 - 31
15 - 32
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15 - 35
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG) (1) Connection diagram (a) FX-32MT (FX-1PG)
15V
24V
15 - 36
(b) FX2N-32MT (FX2N-1PG)
15V
24V
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15 - 38
(b) Device list
15 - 39
(c) ABS data transfer program for X-axis
15 - 40
15 - 41
15 - 42
15 - 43
15 - 44
15 - 45
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15 - 48
15.8.3 MELSEC A1SD75(AD75) (1) Connection diagram
A1SCPU
A1SX40
A1SY40
15 - 49
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15 - 58
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15 - 64
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App - 1
App
endix
App 1. Signal arrangement recording sheets
(1) Position control mode
(2) Speed control mode
Appendix App 2. Analog monitor block diagram
App - 3
Appendix App 3. Status display block diagram
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REVISIONS
*The manual number is given on the bottom left of the back cover.
