J2-Super Series
Safety Instructions
To prevent electric shock, note the following
HC-SFS81
Additional instructions
COM
Wiring
RA EMG 24VDC
Usage
Maintenance, inspection and parts replacement
For Maximum Safety
Machine directive
Configuration
EMC directive
Low voltage directive
Auxiliary equipment and options
Power supply
Wiring
Grounding
Use UL/C-UL standard-compliant products
Memo
Contents Functions and Configuration
Operation
Servo Configuration Software
12.2
11.1
11.2
12.1
13.4
13.1
13.2
13.3
15-18
15-11
15-14
15-16
Page
Memo
Introduction
Functions and Configuration
Stop
Function block diagram
Function block diagram of this servo is shown below
Operation using external input signals
System configuration
Operation using external input signals and communication
External I/O signals Servo amplifier axis
Operation using communication
Functions and Configuration
3 I/O devices
Servo amplifier standard specifications
Humidity
Other functions Structure Ambient Temperature
Weight
Phase pulse Dog cradle type
Function list
Model code definition Rating plate
Combination with servo motor
Model
Structure 1.6.1 Part names MR-J2S-100CL or less
MR-J2S-200CL MR-J2S-350CL
MR-J2S-500CL
Backup Battery holder
Output analog monitor data Encoder connector CN2
Brake option and servo motor
MR-J2S-700CL
Name plate Main circuit terminal block TE1
For MR-J2S-500CL
For MR-J2S-700CL
Magnetic contactor Section Manual pulse generator
For 3-phase 200V to 230VAC or 1-phase 230VAC
No-fuse breaker
Cables
FR-BAL
For 1-phase 100V to 120VAC
Magnetic contactor
MRZJW3
SETUP151E
Servo configuration software
Command device Junction terminal Servo amplifier Block
Installation
Installation
Control box 10mm 0.4 in. or more 40mm Or more
Keep out foreign materials
Installation of two or more servo amplifiers
Others
Cable stress
Signals and Wiring
Signals and Wiring
Standard connection example
Signals and Wiring
Internal connection diagram of servo amplifier
DOG COM SON CN2 MDR MRR
I/O signals Connectors and signal arrangements
Signal arrangement
CN1A OPC
Input devices
Signal devices explanations O devices
OFF
ST2
DOG
Than the rated by the analog torque limit TLA
DI3 DI2 DI1 DI0
Proportion control
Proportional type
Is ignored
Multiplication Parameter No.1 setting
Temporary
Stop/Restart Turn it on again to make a restart
MBR
Output devices
Output signal
Input signal
Refer to for the communication function
Communication
3ms or less
OFF
Movement complete
Used to make the override VC valid or invalid
Override
Override VC
Override selection OVR
Analog torque limit TLA
Torque limit
Internal torque limits 1
Parameter No TLA
External torque limit offset parameter No.26
TL2
Parameter No Parameter No
Incremental system
Regenerative alarm
Instantaneous power failure
Overcurrent, overload 1 or overload
TXD L
Interfaces 3.6.1 Common line
CN1A CN1B 24VDC VDD COM
OPC MR-HDP01 Ppnp
Digital output interface DO-1
Detailed description of the interfaces
Digital input interface DI-1
COM 24VDC VDD VDD-COM
Lamp load
Encoder pulse output DO-2 Open collector system Interface
Output pulse
Source input interface
Analog input
Input impedance 10 to 12k
Analog output
EMG SON VDD COM ALM
For 3-phase 200 to 230VAC power supply
Nfbmc
For 1-phase 100 to 120VAC or 1-phase 230VAC power supply
Refer to Sections 14.1.2 and 14.1.3 for details
11, L Control circuit power supply Phase 200 to 230VAC
50/60Hz Phase 100 to 120VAC
Terminals
VDD COM EMG
Power-on sequence Power-on procedure
Timing chart
Forced stop
Connection diagram
HC-SF121 B to 301 B
HC-MF053 B to 73 B
HA-FF053 B to 63 B
HC-UF13 B to 73 B
Earth
3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min series
MDR MRR BAT
HC-SFS HC-RFS HC-UFS2000 r/min series
COM MBR 24VDC
Setting
Coasting Servo motor speed Min 60ms Base circuit
Both main and control circuit power supplies off
Alarm occurrence
CN1A CN1B
CRIMPFOX-UD6
Servo amplifier terminal block TE2 wiring method
NH1 Nichifu
JST
Nakamura Seisakusho
Instructions for the 3M connector
Torque screwdriver
N6L TDK
Machine
Operation
Before starting operation, check the following
CDV
Machine conditions
Program end
Startup procedure
Function selection Absolute position detection system
ZRT
Home position return
Program operation mode What is program operation mode?
Programming language
Command list
ITP
Trip
Tripi
Times
For
Lpos
TIM
Details of programming languages
TIM Dwell command time 100 ms MOV Absolute move command 2000
500 r/min STC
200 ms MOV Absolute move command
Incremental continuous move command
Continuous move command Mova Movia
Absolute continuous move command
Incremental move command
OUT1 OFF
Mova Absolute continuous move command STM m
Outon
OUT3 is turned off in 500ms
300 MOV Absolute move command 1000 10STM
OUT1 is turned off in 200ms
OUT2 is turned off in 100ms
OUT2 OFF
Trip Absolute trip point 250
Outof
Tripi Incremental trip point 300
Program output 3 OUT 3 is turned OFF
300 Movi Incremental move command
MOV cannot be used with Tripi
Tripi Absolute trip point 300
Movi Incremental move command 500 r/min
TIM Dwell command time 200 ms SPN
OUT1
PI1 OFF
ITP Interrupt positioning command 200
Interrupt positioning command ITP
Waiting for PI1 to be turned on by SYNC1 a
Count
Trip Trip point 500
Count
Next
Step repeat command for Next
Step repeat command end For
Step repeat command end
Times
Current position latch is set
Position latch Lpos
Movi R2
Movi R1
Position data Initial value 100 1000
Basic setting of signals and parameters
Parameter
CCW rotation with
SPN Speed Motor speed 1000 r/min STC
Program operation timing chart Operation conditions
100 ms MOV Absolute move command 5000
100 ms MOV Absolute move command 2500
ST1ON ST2ON CCW
Manual operation mode
Jog operation Setting
Servo motor rotation direction
PED OFF
100 m
Manual pulse generator operation Setting
Manual pulse generator multiplication
10 m
Parameter No.1 setting valid Time Times
Since the machine part collides with
Manual home position return types
Length of the proximity dog
Instructions
Home position return parameter
Length of proximity dog
Signals, parameters
Set the input signals, parameters and program as follows
Dog type home position return
Adjustment
Movement over the moving distance
Set the input signals and parameters as follows
Count type home position return
Return is selected
Data setting type home position return
Completion ZP
Stopper type home position return
Is obtained to output home position return
Set the input signals and parameter as follows
Signals, parameter
Dog type rear end reference home position return
Set the input signals and parameters as indicated below
Count type front end reference home position return
Dog cradle type home position return
Phase signal position
Software limit cannot be used with these functions
Home position return automatic return function
Structure
Specifications
Absolute position detection system
Restrictions
Servo amplifier Program No. selection DI0 to DI3, etc
Outline of absolute position detection data communication
CON1
Parameter setting
Multidrop system
Serial communication operation
Positioning operation in accordance with programs
Selection of programs
Station
Group setting example
Group designation
Group setting instructions
Mova
Incremental value command system
Commands
MOV
Program example
Parameters
Item list
List
TL1
SIC
FFC
TLO
PG2B
NH1
NH2
LPF
Detail list
Command system, regenerative brake option selection 0000
Multiplication factor Function Column
High
Refer to Chapter
85Hz
CMX CDV PED
Monitor 2 MO2. Refer to Section
Communication conditions, and clear the alarm history
MOD Analog monitor output
Status display on servo amplifier display
Operation can be performed for the parameters marked
No time-out check Time-out check period setting
Setting s
19 *BLK Basic parameters 20 *OP2 22 *OP4
Pulses/rev Set value
999 to
Used to set the offset voltage to analog override 999
65535
ZTT
DCT
Parameter error
OP9 Function selection
Setting
OPA Function selection a 0000
Connector pins
Used to set the machine resonance suppression filter
0000 Don’t change this value by any means
Machine resonance suppression filter 0000
Used to selection the machine resonance suppression filter
Control. Refer to Chapter
Changing is valid. Made valid when auto tuning is invalid
63 LPF Expansion parameters 64 GD2B 65 PG2B 66 VG2B
Low-pass filter/adaptive vibration suppression control 0000
BIN HEX
68 *CDP
CDS
Gain changing selection 0000
0001 0209 060A 1918 030B 0504 0102 0000 0005 120E
Machine specifications Pulley diameter r 160 6.30 mmin
Guideline for setting the electronic gear is
Machine specifications Ballscrew lead Pb 10 0.39 mmin
Reduction ratio n Servo motor resolution Pt Pulse/rev
Changing the status display screen
Change the following digits of parameter No.17
Pattern acceleration/deceleration
Contents of a setting
Software limit
Changing the stop pattern using a limit switch
Alarm history clear
Memo
MR-CPCATCBL3M
Servo Configuration Software
System configuration Components
CN3 CN2
Configuration diagram
For use of RS-232C
For use of RS-422 Up to 32 axes may be multidropped
Click the Close button to close the window
Station setting
Station number setting
Closing of the station setting window
Parameter value verify b
Parameters
Parameter value write a
Parameter change list display e
Parameter default value indication g
Parameter value batch-read c
Parameter value batch-write d
Explanation of Program Data window
How to open the setting screen
Simple Program 6.5.1 Program data
Explanation of Program Edit window
Servo Configuration Software
Limited number of time to write to EEP-ROM is 100,000
Indirect addressing
Explanation of Indirect Addressing window
Servo Configuration Software
Device assignment method
When using the device setting, preset 000E in parameter No
Screen explanation
Servo Configuration Software
Servo Configuration Software
Point
Servo motor stop e
Servo motor speed setting a
Acceleration/deceleration time constant setting b
Servo motor start c, d
Positioning operation
Positioning operation window closing g
Moving distance setting c
Servo motor start d, e
Temporary stop of servo motor f
Click Close to close the window
Click Start to perform motor-less operation
Do forced output window closing c
Output signal do forced output
Signal ON/OFF setting a, b
Program of the MR-J2S-CL can be test-operated
Program test operation
Click the OK button to close the Program Test window
Displaying the program a
Closing the Program Test window b
Closing of alarm history window b
Alarm history
Alarm history display
Alarm history clear a
Memo
Display and Operation
Display flowchart
DOW
Status display
Display transition
Following table lists display examples
Display examples
Following table lists the servo statuses that may be shown
Status display list
Down
Diagnosis mode 7.3.1 Display transition
Diagnosis mode list
Display and Operation
Alarm mode
Indicates no occurrence of an alarm
Alarm mode list
Display and Operation
Parameter mode transition
Parameter mode
Operation example Parameter of 5 or less digits
Signed 5-digit parameter
CN1A CN1B CN1B
External I/O signal display
Segments of the seven-segment LEDs correspond to the pins
Display definition
Press UP twice Press SET for more than 2 seconds
Mode change
Termination of jog operation
How to use the buttons is explained below
How to use the keys is explained below
Termination of motor-less operation
To terminate the motor-less operation, switch power off
Memo
Gain adjustment mode explanation
General Gain Adjustment
Executing gain search under to-and-fro
Adjustment sequence and mode usage
Adjustment using servo configuration software
You can automatically set the optimum gains
Speed control gain
Auto tuning Auto tuning mode
Position control gain
PG2,VG2,VIC
Auto tuning mode operation
Block diagram of real-time auto tuning is shown below
PG1,VG1
Adjustment procedure by auto tuning
Response level setting in auto tuning mode
Adjustment procedure
Manual mode 1 simple manual adjustment
Operation of manual mode
Adjustment by manual mode
For position control
General Gain Adjustment
PG2
Interpolation mode
Adjustment procedure
Adjustment description
100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz
Auto tuning selection
Memo
Machine resonance suppression filter Function
Special Adjustment Functions
Deep 40dB 14dB 8dB Shallow 4dB
Parameter No Notch frequency
Adaptive vibration suppression control Function
Set the operation of the low-pass filter parameter No
Low-pass filter Function
Applications
Gain changing function
GD2B
Gain changing time constant parameter No
Parameters No , 34 to
Gain changing selection parameter No
Gain changing condition parameter No
Gain changing operation
This operation will be described by way of setting examples
When you choose changing by external input
Setting
Gain changing condition Pulse
When you choose changing by droop pulses
Speed integral compensation 250 Changing ratio
Gain changing selection 0003
Memo
Years
Inspection
Inspection
Life
Memo
Make operation instable
Troubleshooting
Position control mode Troubleshooting
Trouble at start-up
Alarms and warning list
When alarm or warning has occurred
MR-J2S- CL
MR-J2S
Capacity of built-in regenerative
Reexamine acceleration
Option, change regenerative brake
Option
Review environment so that ambient
Servo motor locked Input terminals U, V, W
AL.50 Overload Load exceeded
Serial Communication cable fault Repair or change the cable
Remedies for warnings
Memo
TE1
Outline Dimension Drawings
TE1 TE2
MR-J2S-70CL MR-J2S-100CL
PE terminal Fan air orientation Servo amplifier Weight
Mounting hole Unit 1305.12 2007.87 1184.65 Terminal layout
Mounting hole 1807.09 1606.23
Threaded type
Connectors Servo amplifier side 3M
Insulation displacement type
Soldered type
DE-C1-J6-S6 34.5 24.99 #4-40
Communication cable connector JAE
Memo
MR-J2S-10CL to MR-J2S-100CL MR-J2S-200CL to MR-J2S-350CL
Characteristics
Overload protection characteristics
HC-MFS43 HC-UFS43 MR-J2S-60CL HC-SFS52 HC-SFS53 HC-KFS73
HC-KFS053
HC-MFS053 HC-UFS13 HC-KFS23
HC-MFS23 HC-UFS23 HC-KFS43
Heat dissipation area for enclosed servo amplifier
Temperature distribution in enclosure
Mm/minin/min
Dynamic brake characteristics
There is internal relay delay time of about 30ms
Mmin
HC-MFS series
HC-KFS series
HC-SFS1000r/min series
HC-SFS3000r/min series
MR-JCCBL M-L MR-JHSCBL M-L
Encoder cable flexing life
MR-J2S-500CL MR-J2S-700CL
MR-JCCBL M-H MR-JHSCBL M-H MR-ENCBL M-H
MR-J2S-70CL 100CL 54A
MR-J2S-10CL 20CL 30A
MR-J2S-40CL 60CL 30A
Attenuated to approx a in 0.5 to 1ms
Memo
130 300 500
Options and Auxiliary Equipment
Selection of the regenerative brake option
100 300 500
Servo amplifier Inverse efficiency% Capacitor chargingJ
1047
Set parameter No.2 according to the open to be used
Connection of the regenerative brake option
For the MR-RB50 install the cooling fan as shown
Mounting method
For the MR-RB50 MR-RB51 install the cooling fan as shown
119
Outline drawing
MR-RB032 MR-RB12
MR-RB32 MR-RB30 MR-RB31
12.3
MR-RB50
16.5 MR-J2S-500CL FR-BU-30K
Brake unit
Selection
FR-BU-15K
Unit mmin
Outside dimensions
Brake unit FR-BU
FR-RC30
Resistor unit FR-BR
FR-RC15
RA2 EM1 OFF
FR-BAL VDD COM EMG ALM SON
RDY
FR-RC
Mounting hole machining dimensions
Outside dimensions of the power return converters Unit mmin
HC-KFS
Cables and connectors Cable make-up
JAE
MR-JCCBL M-L
MR-JCCBL M-H
MR-JHSCBL M-L
MR-J2CN3TM
MR-J2CN1
MR-J2TBL
MR-TB20
164.0
Standard flexing life Long flexing life
16.4
131.2
MRR MDR BAT
MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H
MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL30M-L MR-JCCBL50M-H
SHD
MR-JHSCBL M-L
MR-ENCBL50M-H
MR-CPCATCBL3M
Connection diagram
Communication cable
Model MR-CPCATCBL3M
MR-J2TBL05M
How to use the junction terminal block
Junction terminal block MR-TB20
Terminal labels
B10
Junction terminal block cable MR-J2TBL M Model MR-J2TBL M
DI0 PED ST1
LSP LSN ALM
VDD COM EM1
Maintenance junction card MR-J2CN3TM Usage
MR-J2HBUS CN3B CN3A CN3C
CN3A CN3B CN3C
MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M
Bus cable MR-J2HBUS
Start bit Date bit
When using the MR-DP60, set 1 4 in parameter No
External digital display MR-DP60
Terminal arrangement
Mounting
Outline dimension drawing
VDD CN1B OPC CN1A
Manual pulse generator MR-HDP01 Specifications
Battery MR-BAT, A6BAT
MR-J2S-10CL MR-J2S-20CL MR-J2S-40CL AWG14 a 25 AWG16 a
Recommended wires Wires for power supply wiring
Recommended wires
Auxiliary equipment
AMP
Wires for cables
Wires for option cables
Recommended crimping terminals
MR-J2S-40CL 20CL1
Power factor improving reactors
No-fuse breakers, fuses, magnetic contactors
MR-J2S-20CL
Noise reduction techniques
Relays
Following relays should be used with the interfaces
Surge absorbers
Noises produced by servo amplifier
10 to 100MHz 100 to 500MHz 150
Noise reduction products
Ex A.2003
Outline drawing
Outline drawing Unit mm Unit FR-BLFMR-J2S-350CL or more
NFB
Leakage current breaker Selection method
NV-SW
HC-MFS73
Selection example
NFB Line Load
EMC filter
Combination with the servo amplifier
HF3050A-TM 290 240 100
HF3040-TM HF-3050A-TM
HF3040A-TM 260 210 155 140 125
R3.25
WA2WYA2SEBK2KΩ Japan Resistor make
Memo
Communication Functions
Configuration 15.1.1 RS-422 configuration Outline
Cable connection diagram
Wire as shown below
Single axis of servo amplifier is operated
15.1.2 RS-232C configuration Outline
MSB
Communication specifications 15.2.1 Communication overview
Description
Protocol station number selection
Serial communication response delay time
Serial communication baudrate
Serial communication selection
Transmission of data from the controller to the servo
Protocol
Data frames
Recovery of communication status by time-out
Data length depends on the command
For example, 61H is transmitted in hexadecimal for group a
Ascii codes are used
SOH
Error codes
Checksum
Retry operation
Time-out operation
STX ETX
Communication procedure example
Initialization
Data item Value Description
External I/O signals Command
Command and data No. list
Read commands Status display Command
Parameter Command
Current alarm Command 02
Alarm history Command
Group setting Command 1F
Current position latch data Command 6C
General-purpose register Rx value Command 6D
General-purpose register Dx value Command 6E
General-purpose register Rx value Command B9
Write commands Status display Command
External I/O signal Command
Current alarm Command
Group setting Command 9F
External input signal disable Command
Operation mode selection Command 8B
Data for test operation mode Command 92 A0
Processing the read data
Detailed explanations of commands 15.12.1 Data processing
Writing the processed data
1EA5
Command Data No
Status display Status display data read
Status display data clear
Parameter Parameter read
Command Data No Data No. definition
00 to See below
Command Data No Set data
Parameter write
External input pin status read
Reply ON/OFF statuses of the input pins are sent back
CN1A-14
External output pin status read
CN1B-18
See below
Read of the statuses of output devices
Device ON/OFF
Ready RD Limiting torque TLC Trouble ALM
Input devices DI
Disable/enable of I/O devices DIO
Signal Status
Enable
See below
Input devices ON/OFF test operation
Enable the disabled input devices
Test operation mode Instructions for test operation mode
1EA5 Choose the test operation mode
Cancel the test operation mode
Servo-on Turns on SON LSP LSN Stroke end OFF
Forward rotation start Turns on SON
LSN and ST1 Reverse rotation start Turns on SON
LSN and ST2 Stop Turns on SON LSP and LSN
Communication Functions
Command Data No Setting data
Output signal pin ON/OFF output signal do forced output
Choosing do forced output in test operation mode
External output signal ON/OFF
Erase the alarm history Send command 82 and data No
Alarm history Alarm No. read
For example, 0032 means A.32 and 00FF A. no alarm
Alarm occurrence time read
Current alarm clear
Current alarm Current alarm read
Read of the status display at alarm occurrence
Reply
Send command 6C and data No to be read
Current position latch data
Transmission
General-purpose register Dx read
General-purpose register General-purpose register Rx read
General-purpose register Dx write
General-purpose register Rx write
Servo amplifier group designation
Group setting write
Group setting read
Reply Slave station sends back the group setting requested
Reply Slave station returns the software version requested
Software version
App
App 1. Status indication block diagram
Appendix
For CN1B
Appendix
Manual number is given on the bottom left of the back cover
Revisions
Model Code