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Mitsubishi Electronics MR-J2S- CL specifications Auto tuning selection, General Gain Adjustment

Models: MR-J2S- CL

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8.5.2 Auto tuning selection

8. GENERAL GAIN ADJUSTMENT

8.5Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 8.5.1 Response level setting

To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.

Parameter No. 3

Response level setting

MELSERVO-J2 series	MELSERVO-J2-Super series
Response level setting Machine resonance frequency	Response level setting	Machine resonance frequency guideline

		1	15Hz
1	20Hz	2	20Hz
		3	25Hz
		4	30Hz
		5	35Hz
2	40Hz	6	45Hz
		7	55Hz
3	60Hz	8	70Hz
4	80Hz	9	85Hz
5	100Hz	A	105Hz
		B	130Hz
		C	160Hz
		D	200Hz
		E	240Hz
		F	300Hz

Note that because of a slight difference in gain adjustment pattern, response may not be the same if the resonance frequency is set to the same value.

8.5.2 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.

Parameter No. 3

Auto tuning selection

	Gain adjustment mode		Auto tuning selection		Remarks
	Gain adjustment mode		MELSERVO-J2 series	MELSERVO-J2-Super series	Remarks
			MELSERVO-J2 series	MELSERVO-J2-Super series
	Interpolation mode		0	0	Position control gain 1 is fixed.
		Auto tuning mode 1	1	1	Ordinary auto tuning
	Auto tuning				Estimation of load inertia moment
	Auto tuning	Auto tuning mode 2		2	ratio stopped.
		Auto tuning mode 2		2	ratio stopped.
					Response level setting valid.
	Auto tuning	Manual mode 1		3	Simple manual adjustment
	invalid	Manual mode 2	2	4	Manual adjustment of all gains

8 - 11

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Mitsubishi Electronics MR-J2S- CL specifications Auto tuning selection, General Gain Adjustment

Contents

General-PurposeAC Servo J2-Super SeriesMR-J2S-CL Program CompatibleSafety Instructions WARNING CAUTION2. To prevent fire, note the following 1. To prevent electric shock, note the following3. To prevent injury, note the follow 1 Transportation and installation 4. Additional instructions2 Wiring 3 Test run adjustment4 Usage 5 Corrective actionsAbout processing of waste FOR MAXIMUM SAFETY6 Maintenance, inspection and parts replacement EEP-ROMlifeCOMPLIANCE WITH EC DIRECTIVES 2. PRECAUTIONS FOR COMPLIANCE2 Configuration 1. WHAT ARE EC DIRECTIVES?5Grounding 4Power supply6Wiring 7Auxiliary equipment and optionsCONFORMANCE WITH UL/C-ULSTANDARD MEMO 2. INSTALLATION CONTENTS1. FUNCTIONS AND CONFIGURATION 3. SIGNALS AND WIRING5. PARAMETERS 4. OPERATION4- 1 to 5- 1 to7. DISPLAY AND OPERATION 6. SERVO CONFIGURATION SOFTWARE6- 1 to 7- 1 to8. GENERAL GAIN ADJUSTMENT 14. OPTIONS AND AUXILIARY EQUIPMENT 13. CHARACTERISTICS13- 1 to 13- 14- 1 toAppendix App- 1 to App-3.CONNECTORS USED FOR SERVO MOTOR WIRING Optional Servo Motor Instruction Manual CONTENTS1.INTRODUCTION 2.INSTALLATION 4.INSPECTION 5.SPECIFICATIONS 6.CHARACTERISTICSMEMO 1.FUNCTIONS AND CONFIGURATION 1.FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION 1.1.1 Function block diagram1Operation using external input signals 1.1.2 System configuration1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION External I/O signals3Operation using communication 1. FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION Symbol 1.1.3 I/O devices1. FUNCTIONS AND CONFIGURATION Symbol1.2 Servo amplifier standard specifications 1. FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION modeFunction 1.3 Function list1. FUNCTIONS AND CONFIGURATION Description1. FUNCTIONS AND CONFIGURATION 1.4Model code definition 1 Rating plateMITSUBISHI 1.5 Combination with servo motor 2 Model1. FUNCTIONS AND CONFIGURATION 1 MR-J2S-100CLor less 1.6Structure 1.6.1 Part names1. FUNCTIONS AND CONFIGURATION 2 MR-J2S-200CL MR-J2S-350CL POINT 1. FUNCTIONS AND CONFIGURATION3 MR-J2S-500CL POINT 1. FUNCTIONS AND CONFIGURATION4 MR-J2S-700CL POINT 1. FUNCTIONS AND CONFIGURATION2 For MR-J2S-500CL 1 For MR-J2S-200CLor more1. FUNCTIONS AND CONFIGURATION 3 For MR-J2S-700CL 1. FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipmentbox 1 MR-J2S-100CLor less a For 3-phase200V to 230VAC or 1-phase230VAC1. FUNCTIONS AND CONFIGURATION b For 1-phase100V to 120VAC2 MR-J2S-200CL MR-J2S-350CL 1. FUNCTIONS AND CONFIGURATION3 MR-J2S-500CL 1. FUNCTIONS AND CONFIGURATION4 MR-J2S-700CL 1. FUNCTIONS AND CONFIGURATION2.INSTALLATION 2.INSTALLATION2. INSTALLATION 2.3 Keep out foreign materials 2Installation of two or more servo amplifiers3Others 2. INSTALLATION2.4 Cable stress 2. INSTALLATION3.SIGNALS AND WIRING 3.SIGNALS AND WIRING3. SIGNALS AND WIRING 3.1 Standard connection example3. SIGNALS AND WIRING 11.Use MRZJW3-SETUP151E Ver. E1 or more3. SIGNALS AND WIRING 1 Signal arrangement 3.3 I/O signals3.3.1 Connectors and signal arrangements POINT 3. SIGNALS AND WIRINGPOINT 3.3.2 Signal devices explanations 1 I/O devices3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Device name3. SIGNALS AND WIRING Device name3. SIGNALS AND WIRING Device name3.SIGNALS AND WIRING cOutput devices3Output signal 2Input signal3. SIGNALS AND WIRING 4 Communication POINT 5 Power supply3. SIGNALS AND WIRING 3ms or less 3.4 Detailed description of signals devices3. SIGNALS AND WIRING Servo motor speedWhen parameter No. 6 is small 3.4.2 Movement complete POINT3. SIGNALS AND WIRING When parameter No. 6 is large2Override selection OVR 3.4.3 Override POINT1Override VC 3Override offset parameter No.252Analog torque limit TLA 3.4.4 Torque limit POINT1Internal torque limits 1, 3. SIGNALS AND WIRING4External torque limit offset parameter No.26 3. SIGNALS AND WIRING3 Instantaneous power failure 3.5 Alarm occurrence timing chart2 Regenerative alarm operation3.6Interfaces 3.6.1 Common line 3. SIGNALS AND WIRING3.6.2 Detailed description of the interfaces For use of internal power supplyFor use of external power supply 1Digital input interface DI-1For use of external power supply 3. SIGNALS AND WIRINGFor use of internal power supply b Lamp load6Source input interface 4Analog input5Analog output 3. SIGNALS AND WIRING3.7 Input power supply circuit 3. SIGNALS AND WIRING3. SIGNALS AND WIRING 3.7.2 Terminals 3. SIGNALS AND WIRING3Forced stop 3.7.3 Power-onsequence 1Power-onprocedure2Timing chart 3. SIGNALS AND WIRINGshock 3. SIGNALS AND WIRING3. SIGNALS AND WIRING Servo motor1 HC-KFS HC-MFS HC-UFS3000r/minseries 3.8.3 I/O terminals3. SIGNALS AND WIRING 2 HC-SFS HC-RFS HC-UFS2000r/min series 3. SIGNALS AND WIRING3.9 Servo motor with electromagnetic brake 1Connection diagram2Setting 3. SIGNALS AND WIRING3Timing charts 3. SIGNALS AND WIRING c Alarm occurrence3.10 Grounding 3. SIGNALS AND WIRING3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector 3. SIGNALS AND WIRING4.OPERATION 4.OPERATION4. OPERATION 2Startup procedure 4. OPERATION4. OPERATION f Home position return4. OPERATION 4.2.1 What is program operation mode?4.2 Program operation mode 999999Command 1 Command list4.2.2 Programming language SettingSetting CommandSetting 4. OPERATIONCommand 4. OPERATION2Details of programming languages 4. OPERATION2Program example 4. OPERATION3Program example bContinuous move command MOVA MOVIA 4.OPERATION4. OPERATION 2Program example 2 Wrong usage4.OPERATION 2Program example4. OPERATION 3Program examplePOINT 4.OPERATION4Program example MOV cannot be used with TRIPI4.OPERATION dDwell TIM3 Program example 4. OPERATION4 Program example 5 Program example 4. OPERATION6 Program example eInterrupt positioning command ITP 4.OPERATION4. OPERATION 2Program examplePOINT gStep repeat command FOR NEXT4.OPERATION FOR ... NEXT cannot be placed within FOR ... NEXThProgram count command TIMES 4. OPERATION4.OPERATION iPosition latch LPOS4. OPERATION General-purposeregister2Operation 4.2.3 Basic setting of signals and parameters1Parameter 4. OPERATION1Operation conditions 4.2.4 Program operation timing chart4. OPERATION 2 Servo motor rotation direction 4.3.1 Jog operation 1Setting4.3 Manual operation mode 3Operation4 Timing chart 4. OPERATION4. OPERATION 4.3.2 Manual pulse generator operation 1Setting3Manual pulse generator multiplication 2 Servo motor rotation direction4Operation 4.OPERATION4. OPERATION 1 Manual home position return typesFeatures Type3Instructions 2Home position return parameter4. OPERATION 2Length of proximity dog 1Signals, parameters4.4.2 Dog type home position return 4. OPERATION4Adjustment 3Timing chart4. OPERATION 2Timing chart 4.4.3 Count type home position return1Signals, parameters 4. OPERATION2Timing chart 4.4.4 Data setting type home position return1Signals, parameters 4. OPERATION2Timing chart 4.4.5 Stopper type home position return1Signals, parameters 4. OPERATION4. OPERATION 1Signals, parameter2 Timing chart POINT4. OPERATION 1Signals, parameters2Timing chart POINT4. OPERATION 1Signals, parameters2Timing chart POINT2 Timing chart 4.4.9 Dog cradle type home position return1Signals, parameters 4. OPERATIONProximity dog 4. OPERATIONHome position return direction Home position Home position return start position1Restrictions 2Specifications4.5 Absolute position detection system 3Structure4. OPERATION 5 Battery installation procedurePOINT 6Parameter setting 4.OPERATION4.6.2 Multidrop system 4.6 Serial communication operation1Selection of programs 2Timing chart4.6.3 Group designation 1 Group setting example4. OPERATION 2Timing chart 3Group setting instructions4. OPERATION 2Commands 4.7 Incremental value command system1Parameter setting 4. OPERATION3 Program example 4. OPERATION5.PARAMETERS 5.PARAMETERS5.1.2 List POINT 5. PARAMETERS1 Item list Class Symbol5. PARAMETERS Name and Function5. PARAMETERS SymbolNote: Depends on the parameter No. 68 setting Class2 Detail list 5. PARAMETERS5. PARAMETERS Class No5. PARAMETERS Class NoClass No. Symbol 5. PARAMETERS5. PARAMETERS Class No5. PARAMETERS ClassClass No. Symbol 5. PARAMETERS5. PARAMETERS 24FFC 25VCO 26TL0 27*ENR Expansion parameters5. PARAMETERS parameters5. PARAMETERS Class No5. PARAMETERS 5. PARAMETERS Class No5. PARAMETERS ClassClass No. Symbol 5. PARAMETERSClass No. Symbol 5. PARAMETERSFor manufacturer setting 5. PARAMETERS5. PARAMETERS 5.2Detailed explanation 5.2.1 Electronic gear1Concept of electronic gear POINT5.2.2 Changing the status display screen 5. PARAMETERS5.2.4 Analog output 1Setting5.2.3 S-patternacceleration/deceleration 5. PARAMETERS5. PARAMETERS 2Contents of a settinganalog monitor output value Parameter No. 22 setting 5.2.6 Alarm history clear5.2.7 Software limit 5. PARAMETERSMEMO 5. PARAMETERS6.SERVO CONFIGURATION SOFTWARE 6.SERVO CONFIGURATION SOFTWARE6. SERVO CONFIGURATION SOFTWARE 2Configuration diagram2Closing of the station setting window 6.3 Station setting1Station number setting 6. SERVO CONFIGURATION SOFTWARE2Parameter value verify b 6.4 Parameters1Parameter value write a 6. SERVO CONFIGURATION SOFTWARE3Parameter value batch-read c 6. SERVO CONFIGURATION SOFTWARE2 Explanation of Program Data window 1How to open the setting screen6.5Simple Program 6.5.1 Program data 6. SERVO CONFIGURATION SOFTWARE3Explanation of Program Edit window 6.SERVO CONFIGURATION SOFTWARE6. SERVO CONFIGURATION SOFTWARE c Pasting the text c6. SERVO CONFIGURATION SOFTWARE 6.5.2 Indirect addressing2 Explanation of Indirect Addressing window 1How to open the setting screen6. SERVO CONFIGURATION SOFTWARE c Read from the general-purposeregisters c6. SERVO CONFIGURATION SOFTWARE 6.6 Device assignment method POINT1How to open the setting screen 2Screen explanation 6. SERVO CONFIGURATION SOFTWARE6.SERVO CONFIGURATION SOFTWARE bDIDO function display window screen6. SERVO CONFIGURATION SOFTWARE The assigned functions are indicated by6.7 Test operation 6. SERVO CONFIGURATION SOFTWARE4Servo motor stop e 1Servo motor speed setting a3Servo motor start c, d 5Jog operation window closing f6.7.2 Positioning operation POINT 6. SERVO CONFIGURATION SOFTWARE5Temporary stop of servo motor f 3Moving distance setting c4Servo motor start d, e 6Positioning operation window closing g1Execution of motor-lessoperation a 3Cancel of motor-lessoperation6.7.3 Motor-lessoperation POINT 2Termination of motor-lessoperation b2DO forced output window closing c 6.7.4 Output signal DO forced output1Signal ON/OFF setting a, b 6. SERVO CONFIGURATION SOFTWARE6. SERVO CONFIGURATION SOFTWARE 6.7.5 Program test operation1How to open the setting screen 2Closing the Program Test window b 1Displaying the program a6. SERVO CONFIGURATION SOFTWARE 2Alarm history clear a 6.8 Alarm history1Alarm history display 3Closing of alarm history window b6. SERVO CONFIGURATION SOFTWARE MEMO7.DISPLAY AND OPERATION 7.DISPLAY AND OPERATION7.2 Status display 7. DISPLAY AND OPERATION7.2.1 Display transition 7. DISPLAY AND OPERATION 7.2.2 Display examplesThe following table lists display examples 7. DISPLAY AND OPERATION 7.2.3 Status display listSymbol Display range7.3Diagnosis mode 7.3.1 Display transition 7. DISPLAY AND OPERATIONName 7.3.2 Diagnosis mode list7. DISPLAY AND OPERATION Display7. DISPLAY AND OPERATION Motor series7.4.1 Display transition 7.4 Alarm mode7. DISPLAY AND OPERATION 7.4.2 Alarm mode list 7. DISPLAY AND OPERATIONFunctions at occurrence of an alarm 7. DISPLAY AND OPERATION7.5.1 Parameter mode transition 7.5 Parameter mode POINT7. DISPLAY AND OPERATION 1Parameter of 5 or less digits 7.5.2 Operation example7. DISPLAY AND OPERATION 2Signed 5-digitparameter 7. DISPLAY AND OPERATION2Display definition 7.6 External I/O signal display1Operation 7. DISPLAY AND OPERATION7.7 Output signal DO forced output POINT 7. DISPLAY AND OPERATION7.8 Test operation mode 7. DISPLAY AND OPERATION3Termination of jog operation 7.8.2 Jog operation2Status display 7. DISPLAY AND OPERATION1Operation 7.8.3 Positioning operation POINT7. DISPLAY AND OPERATION 2Status display7. DISPLAY AND OPERATION 7.8.4 Motor-lessoperation3Termination of motor-lessoperation 1OperationMEMO 7. DISPLAY AND OPERATION8.1 Different adjustment methods 8.GENERAL GAIN ADJUSTMENT8.GENERAL GAIN ADJUSTMENT 8.1.1 Adjustment on a single servo amplifier8. GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage2Auto tuning mode 8.2 Auto tuning 8.2.1 Auto tuning mode1Auto tuning mode 8. GENERAL GAIN ADJUSTMENT8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operationPOINT 8.2.3 Adjustment procedure by auto tuning 8. GENERAL GAIN ADJUSTMENT8.2.4 Response level setting in auto tuning mode 8. GENERAL GAIN ADJUSTMENT8.3.1 Operation of manual mode 8.3 Manual mode 1 simple manual adjustment8.3.2 Adjustment by manual mode POINT 1 For speed control2 For position control 8. GENERAL GAIN ADJUSTMENT8.GENERAL GAIN ADJUSTMENT cAdjustment description8.4 Interpolation mode 2 Adjustment procedure3Adjustment description 1 Parameter8.5.2 Auto tuning selection 8. GENERAL GAIN ADJUSTMENT8. GENERAL GAIN ADJUSTMENT MEMO9.SPECIAL ADJUSTMENT FUNCTIONS 9.SPECIAL ADJUSTMENT FUNCTIONS2Parameters 9. SPECIAL ADJUSTMENT FUNCTIONSPOINT POINT 9.3Adaptive vibration suppression control9. SPECIAL ADJUSTMENT FUNCTIONS 1Function9. SPECIAL ADJUSTMENT FUNCTIONS 9.4 Low-passfilter 1Function2Parameter 2Parameters9.5.1 Applications 9.5.2 Function block diagram9.5 Gain changing function 9. SPECIAL ADJUSTMENT FUNCTIONSParameter 9.5.3 Parameters9. SPECIAL ADJUSTMENT FUNCTIONS Abbrev5Gain changing condition parameter No. 1Parameters No. 7, 34 to4Gain changing selection parameter No 6Gain changing time constant parameter No.9. SPECIAL ADJUSTMENT FUNCTIONS 1When you choose changing by external input9.5.4 Gain changing operation aSetting2When you choose changing by droop pulses 9. SPECIAL ADJUSTMENT FUNCTIONS9. SPECIAL ADJUSTMENT FUNCTIONS MEMO10.INSPECTION 10.INSPECTIONMEMO 10. INSPECTION10 - 11.TROUBLESHOOTING 11.TROUBLESHOOTING11.2.1 Alarms and warning list 11. TROUBLESHOOTING11.2 When alarm or warning has occurred POINT 11 -POINT 11.2.2 Remedies for alarms11. TROUBLESHOOTING 11 -11 - 11. TROUBLESHOOTINGAL.17 11. TROUBLESHOOTING AL.3111. TROUBLESHOOTING AL.3711 - 11. TROUBLESHOOTINGAL.50 11. TROUBLESHOOTING AL.6311. TROUBLESHOOTING 11.2.3 Remedies for warnings11 - MEMO 11. TROUBLESHOOTING11 - 12.OUTLINE DIMENSION DRAWINGS 12.OUTLINE DIMENSION DRAWINGS12.1 Servo amplifiers MR-J2S-100CL 12. OUTLINE DIMENSION DRAWINGS2 MR-J2S-70CL 12 -12.OUTLINE DIMENSION DRAWINGS 3MR-J2S-200CL MR-J2S-350CL12 - 12. OUTLINE DIMENSION DRAWINGS 4 MR-J2S-500CL12 - 12. OUTLINE DIMENSION DRAWINGS 5 MR-J2S-700CL12 - c Insulation displacement type 12.2 Connectors 1Servo amplifier side <3M >12. OUTLINE DIMENSION DRAWINGS a Soldered type12.OUTLINE DIMENSION DRAWINGS 2Communication cable connector <JAE>12 - MEMO 12. OUTLINE DIMENSION DRAWINGS12 - 13.CHARACTERISTICS 13.CHARACTERISTICS1Amount of heat generated by the servo amplifier 13. CHARACTERISTICS13 - 13.CHARACTERISTICS Fig. 13.2 Temperature distribution in enclosure13 - 13. CHARACTERISTICS 13.3 Dynamic brake characteristicsFig. 13.3 Dynamic brake operation diagram 13 -a. HC-KFSseries 13. CHARACTERISTICS13.4 Encoder cable flexing life 13. CHARACTERISTICSServo Amplifier 13. CHARACTERISTICS13 - Inrush Currents AopMEMO 13. CHARACTERISTICS13 - 14.OPTIONS AND AUXILIARY EQUIPMENT 14.OPTIONS AND AUXILIARY EQUIPMENT14.OPTIONS AND AUXILIARY EQUIPMENT a.Regenerative energy calculation14. OPTIONS AND AUXILIARY EQUIPMENT 3Connection of the regenerative brake option14.OPTIONS AND AUXILIARY EQUIPMENT 4Connection of the regenerative brake option14 - 14.OPTIONS AND AUXILIARY EQUIPMENT Mounting method14 - 14. OPTIONS AND AUXILIARY EQUIPMENT 14 -a MR-RB032 MR-RB12 5Outline drawing14.OPTIONS AND AUXILIARY EQUIPMENT b MR-RB32 MR-RB30 MR-RB31MR-RB51 14. OPTIONS AND AUXILIARY EQUIPMENTc MR-RB50 14 -2 Connection example 14.1.2 Brake unit POINT1 Selection 14. OPTIONS AND AUXILIARY EQUIPMENT14. OPTIONS AND AUXILIARY EQUIPMENT 3Outside dimensionsUnit : mmin 14 -14.OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 Power return converter1Selection Unit : mmin14. OPTIONS AND AUXILIARY EQUIPMENT NFB Power supply 3-phase 200V or 230VAC2 Connection example Unit : mmin 4Mounting hole machining dimensions14.OPTIONS AND AUXILIARY EQUIPMENT 14 -by broken lines in the figure are not options 14.1.4 Cables and connectors 1Cable make-up14. OPTIONS AND AUXILIARY EQUIPMENT 14 -Product 14. OPTIONS AND AUXILIARY EQUIPMENT14 - Model14. OPTIONS AND AUXILIARY EQUIPMENT Control signal14 - 14.OPTIONS AND AUXILIARY EQUIPMENT 2Encoder cableOtherwise, misoperation or explosion may occur POINT14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-Hb MR-JHSCBL M-L 2Connection diagram14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L14.OPTIONS AND AUXILIARY EQUIPMENT 3Communication cable POINTModel : MR-CPCATCBL3M 14 -2Terminal labels 1How to use the junction terminal block14.1.5 Junction terminal block MR-TB20 POINT 3 Outline drawing14 - Symbol14.OPTIONS AND AUXILIARY EQUIPMENT Cable lengthmft1Usage 14.1.6 Maintenance junction card MR-J2CN3TM2 Connection diagram 14. OPTIONS AND AUXILIARY EQUIPMENT3 Outline drawing 4 Bus cable MR-J2HBUS14. OPTIONS AND AUXILIARY EQUIPMENT 14 -3 Terminal arrangement 1 Specifications14.1.7 External digital display MR-DP60 14. OPTIONS AND AUXILIARY EQUIPMENT14. OPTIONS AND AUXILIARY EQUIPMENT 5 Outline dimension drawing4 Mounting 14 -1 Specifications 14.1.8 Manual pulse generator MR-HDP012Connection example 14. OPTIONS AND AUXILIARY EQUIPMENT5 Outline dimension drawing 14.1.9 Battery MR-BAT,A6BAT4Mounting 14.OPTIONS AND AUXILIARY EQUIPMENTTable 14.1 Recommended wires 14.2.1 Recommended wires1 Wires for power supply wiring 14.2 Auxiliary equipmentTable 14.2 Recommended crimping terminals 2Wires for cablesTable 14.3 Wires for option cables 14. OPTIONS AND AUXILIARY EQUIPMENT14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.3 Power factor improving reactors14 - 14.2.6 Noise reduction techniques 14.2.4 Relays14.2.5 Surge absorbers 1Noise reduction techniques14.OPTIONS AND AUXILIARY EQUIPMENT Noises produced by servo amplifier14. OPTIONS AND AUXILIARY EQUIPMENT 2Noise reduction products14 - 14.OPTIONS AND AUXILIARY EQUIPMENT bSurge suppressorOutline drawing 14. OPTIONS AND AUXILIARY EQUIPMENT14 - 14.OPTIONS AND AUXILIARY EQUIPMENT dLine noise filter FR-BLF, FR-BSF0114.2.7 Leakage current breaker 1Selection method 14. OPTIONS AND AUXILIARY EQUIPMENT14.OPTIONS AND AUXILIARY EQUIPMENT 2Selection example14 - 3Outline drawing 14.2.8 EMC filter1 Combination with the servo amplifier 14. OPTIONS AND AUXILIARY EQUIPMENTHF-3050A-TM HF3040-TM14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.9 Setting potentiometers for analog inputs 14. OPTIONS AND AUXILIARY EQUIPMENT14. OPTIONS AND AUXILIARY EQUIPMENT MEMO14 - 15.COMMUNICATION FUNCTIONS 15.COMMUNICATION FUNCTIONS2Cable connection diagram 15.1.2 RS-232Cconfiguration 1Outline15. COMMUNICATION FUNCTIONS 15 -15. COMMUNICATION FUNCTIONS ItemDescription 15 -4Station number setting 15.2.2 Parameter setting3Serial communication response delay time 1Serial communication baudrate15. COMMUNICATION FUNCTIONS 15.3 Protocol POINT15 - The data length depends on the command 3Recovery of communication status by time-out4Data frames 15.COMMUNICATION FUNCTIONS3 Station numbers 15.4 Character codes 1 Control codes2Codes for data 4 Group15. COMMUNICATION FUNCTIONS 15.5 Error codes15.6 Checksum 15 -15. COMMUNICATION FUNCTIONS 15.7 Time-outoperation15.8 Retry operation 15 -Data item 15.10 Communication procedure example15.9 Initialization Value2 Parameter Command 15.11 Command and data No. list POINT15.11.1 Read commands 1 Status display Command 3 External I/O signals Command15.COMMUNICATION FUNCTIONS 4Alarm history Command5 Current alarm Command 02 15 -8 General-purposeregister Dx value Command 6E 6 Current position latch data Command 6C7 General-purposeregister Rx value Command 6D 9 Group setting Command 1F4 Alarm history Command 15.11.2 Write commands 1 Status display Command3 External I/O signal Command 5 Current alarm Command10 Data for test operation mode Command 92 A0 8External input signal disable Command9 Operation mode selection Command 8B 11 Group setting Command 9F15. COMMUNICATION FUNCTIONS 0 0 3 0 0 0 0 0 0 9 21Processing the read data 15 -2Writing the processed data 15.COMMUNICATION FUNCTIONS2 Status display data clear Command15.12.2 Status display 1Status display data read Data NoCommand 15.12.3 Parameter 1Parameter readData No. definition 15. COMMUNICATION FUNCTIONSCommand 2Parameter write POINTSet data 15.COMMUNICATION FUNCTIONS2External input pin status read 15.12.4 External I/O signal statuses1Reading of input device statuses 15. COMMUNICATION FUNCTIONS15.COMMUNICATION FUNCTIONS 4External output pin status read15 - aTransmission Transmit command 12 and data No 5Read of the statuses of output devices15.12.5 Device ON/OFF POINT Send command 92, data No. 60 and data15.12.6 Disable/enable of I/O devices DIO 15. COMMUNICATION FUNCTIONS15. COMMUNICATION FUNCTIONS 15.12.7 Input devices ON/OFF test operationSend command 9 2, data No. 0 0 and data 15 -15.12.8 Test operation mode 15. COMMUNICATION FUNCTIONS2 Jog operation 15. COMMUNICATION FUNCTIONS15.COMMUNICATION FUNCTIONS cStart of positioning operation0 0 0 2External output signal ON/OFFSetting data 1Choosing DO forced output in test operation mode3Alarm history clear 15.12.10 Alarm history 1Alarm No. read2Alarm occurrence time read Command3Current alarm clear 15.12.11 Current alarm 1Current alarm read2Read of the status display at alarm occurrence Command2Reply 15.12.12 Current position latch data1Transmission 15. COMMUNICATION FUNCTIONS2General-purposeregister Dx read 15.12.13 General-purposeregister1General-purposeregister Rx read 15. COMMUNICATION FUNCTIONS15.COMMUNICATION FUNCTIONS 3General-purposeregister Rx write4General-purposeregister Dx write 15 -15.12.14 Servo amplifier group designation 1Group setting write2Group setting read Command15. COMMUNICATION FUNCTIONS 15.12.15 Software versionCommand Data NoAPPENDIX App 1. Status indication block diagramApp SDZP APPENDIXFor CN1A For CN1BManual Number REVISIONSRevision This Instruction Manual uses recycled paper Specifications subject to change without noticeMODEL MODEL CODE SH NA 030034-A0301 MEE