Fr-Bal Vdd Com Emg Alm Son, Rdy | Mitsubishi Electronics MR-J2S- CL

14. OPTIONS AND AUXILIARY EQUIPMENT

(2) Connection example

NFB

Power supply 3-phase

200V or 230VAC

Servo amplifier

L11

Power factor improving reactor

L21

MC

FR-BAL

L1

L2

L3

VDD

SG

COM

EMG

ALM

SON

RA2

Always remove

N

P

C

wiring across P-C.

5m(16.4ft) or less

N/

P/

Ready

RDY

A

SE

RDY

B

B

output

C

C

R/L1

Alarm

S/L2

output

T/L3

RX

R

(Note)

SX

Phase detection

S

terminals

TX

T

Power return converter

FR-RC

FR-RC

Operation ready

RA2

EM1

OFF

ON

B C

MC

MC

SK

Note. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate.

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Mitsubishi Electronics MR-J2S- CL specifications Fr-Bal Vdd Com Emg Alm Son, Rdy, Fr-Rc, RA2 EM1 OFF

MR-J2S- CL specifications

Mitsubishi Electronics has long been a pioneer in automation and control technology, and one of its prominent offerings is the MR-J2S-CL servo amplifier. Designed to enhance the performance of servo motors, the MR-J2S-CL is a critical component in various applications, ranging from industrial machinery to robotics.

One of the standout features of the MR-J2S-CL is its high-performance control capabilities. This servo amplifier supports both position and speed control, enabling precise movement and responsiveness in dynamic applications. The MR-J2S-CL boasts a sophisticated control algorithm that ensures superior torque response, making it ideal for applications that require quick and accurate motion control.

The MR-J2S-CL employs advanced features such as the Auto-Tuning function, which automatically adjusts the servo settings to optimize performance for the specific load conditions. This automation simplifies setup processes and reduces downtime, allowing users to quickly configure the system to their needs.

In terms of connectivity, the MR-J2S-CL is equipped with various communication options, including the CC-Link and Mitsubishi's own MELSEC communications. These options facilitate seamless integration with other devices and control systems, enhancing the overall interoperability of factory automation setups.

Another critical aspect of the MR-J2S-CL is its built-in safety features. The amplifier includes functionalities like safe torque off (STO) and overcurrent protection, which contribute to the overall safety of the operation. These safety measures are essential in reducing the risk of accidents in environments where human interaction occurs alongside machinery.

The MR-J2S-CL is designed with durability and reliability in mind. It has a robust construction that is capable of withstanding harsh industrial environments, including high temperatures and dust exposure. This resilience ensures a long service life, reducing maintenance needs and operational costs.

Furthermore, the MR-J2S-CL is compatible with a wide range of Mitsubishi servo motors, making it a versatile choice for various applications. Its comprehensive capabilities, combined with user-friendly interface options, allow for easy programming and monitoring of performance.

In summary, the Mitsubishi Electronics MR-J2S-CL servo amplifier stands out for its high-performance control, advanced safety features, and robust design. It effectively meets the demands of various industrial applications, making it a valuable asset in modern automation and manufacturing environments. With its blend of precision, reliability, and flexibility, the MR-J2S-CL continues to be a preferred choice for engineers and manufacturers alike.

Contents

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 EMC directive ConfigurationLow voltage directive Machine directive Wiring Power supplyGrounding Auxiliary equipment and options Use UL/C-UL standard-compliant products Memo Contents Functions and Configuration Operation Servo Configuration Software 11.2 11.112.1 12.2 13.2 13.113.3 13.4 15-14 15-1115-16 15-18Page Memo Introduction Functions and Configuration Function block diagram of this servo is shown below Function block diagramStop 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 Weight Other functions Structure Ambient TemperaturePhase pulse Dog cradle type Humidity 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 Output analog monitor data Encoder connector CN2 Backup Battery holderMR-J2S-500CL Name plate Main circuit terminal block TE1 MR-J2S-700CLBrake option and servo motor For MR-J2S-500CL For MR-J2S-700CL No-fuse breaker For 3-phase 200V to 230VAC or 1-phase 230VACCables Magnetic contactor Section Manual pulse generator Magnetic contactor For 1-phase 100V to 120VACFR-BAL 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 Others Installation of two or more servo amplifiersKeep out foreign materials Cable stress Signals and Wiring Signals and Wiring Standard connection example Signals and Wiring Internal connection diagram of servo amplifier Signal arrangement I/O signals Connectors and signal arrangementsCN1A OPC DOG COM SON CN2 MDR MRR Input devices Signal devices explanations O devices DOG ST2OFF Proportion control DI3 DI2 DI1 DI0Proportional type Than the rated by the analog torque limit TLA Temporary Multiplication Parameter No.1 settingStop/Restart Turn it on again to make a restart Is ignored MBR Output devices Output signal Input signal Refer to for the communication function Communication 3ms or less OFF Movement complete Override VC OverrideOverride selection OVR Used to make the override VC valid or invalid Internal torque limits 1 Torque limitAnalog torque limit TLA TL2 External torque limit offset parameter No.26Parameter No Parameter No Parameter No TLA Instantaneous power failure Regenerative alarmOvercurrent, overload 1 or overload Incremental system CN1A CN1B 24VDC VDD COM Interfaces 3.6.1 Common lineOPC MR-HDP01 Ppnp TXD L Digital input interface DI-1 Detailed description of the interfacesDigital output interface DO-1 Encoder pulse output DO-2 Open collector system Interface Lamp loadOutput pulse COM 24VDC VDD VDD-COM Input impedance 10 to 12k Analog inputAnalog output Source input interface Nfbmc For 3-phase 200 to 230VAC power supplyEMG SON VDD COM ALM For 1-phase 100 to 120VAC or 1-phase 230VAC power supply 50/60Hz Phase 100 to 120VAC 11, L Control circuit power supply Phase 200 to 230VACTerminals Refer to Sections 14.1.2 and 14.1.3 for details Timing chart Power-on sequence Power-on procedureForced stop VDD COM EMG Connection diagram HA-FF053 B to 63 B HC-MF053 B to 73 BHC-UF13 B to 73 B HC-SF121 B to 301 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 NH1 Nichifu Servo amplifier terminal block TE2 wiring methodJST CRIMPFOX-UD6 Torque screwdriver Instructions for the 3M connectorN6L TDK Nakamura Seisakusho Before starting operation, check the following OperationMachine CDV Machine conditions Function selection Absolute position detection system Startup procedureProgram end ZRT Home position return Program operation mode What is program operation mode? Programming language Command list Tripi TripITP Lpos ForTIM Times 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 Absolute continuous move command Continuous move command Mova MoviaIncremental move command Incremental continuous move command Outon Mova Absolute continuous move command STM mOUT1 OFF OUT1 is turned off in 200ms 300 MOV Absolute move command 1000 10STMOUT2 is turned off in 100ms OUT3 is turned off in 500ms Outof Trip Absolute trip point 250Tripi Incremental trip point 300 OUT2 OFF MOV cannot be used with Tripi 300 Movi Incremental move commandTripi Absolute trip point 300 Program output 3 OUT 3 is turned OFF 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 Trip Trip point 500 CountCount Waiting for PI1 to be turned on by SYNC1 a Step repeat command end For Step repeat command for NextStep repeat command end Next Times Current position latch is set Position latch Lpos Movi R2 Movi R1 Parameter Basic setting of signals and parametersCCW rotation with Position data Initial value 100 1000 100 ms MOV Absolute move command 5000 Program operation timing chart Operation conditions100 ms MOV Absolute move command 2500 SPN Speed Motor speed 1000 r/min STC Jog operation Setting Manual operation modeServo motor rotation direction ST1ON ST2ON CCW PED OFF Manual pulse generator multiplication Manual pulse generator operation Setting10 m 100 m Parameter No.1 setting valid Time Times Length of the proximity dog Manual home position return typesSince the machine part collides with Instructions Home position return parameter Set the input signals, parameters and program as follows Signals, parametersDog type home position return Length of proximity dog Adjustment Count type home position return Set the input signals and parameters as followsMovement over the moving distance Return is selected Data setting type home position return Is obtained to output home position return Stopper type home position returnCompletion ZP 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 Absolute position detection system SpecificationsRestrictions Structure Servo amplifier Program No. selection DI0 to DI3, etc Outline of absolute position detection data communication CON1 Parameter setting Positioning operation in accordance with programs Serial communication operationSelection of programs Multidrop system Group designation Group setting exampleStation Group setting instructions Commands Incremental value command systemMOV Mova Program example Parameters Item list List FFC SICTLO TL1 NH2 NH1LPF PG2B Detail list Command system, regenerative brake option selection 0000 Multiplication factor Function Column 85Hz Refer to ChapterHigh CMX CDV PED MOD Analog monitor output Communication conditions, and clear the alarm historyMonitor 2 MO2. Refer to Section Status display on servo amplifier display Setting s No time-out check Time-out check period setting19 *BLK Basic parameters 20 *OP2 22 *OP4 Operation can be performed for the parameters marked Used to set the offset voltage to analog override 999 999 to65535 Pulses/rev Set value ZTT DCT Parameter error OP9 Function selection Setting OPA Function selection a 0000 Connector pins Machine resonance suppression filter 0000 0000 Don’t change this value by any meansUsed to selection the machine resonance suppression filter Used to set the machine resonance suppression filter 63 LPF Expansion parameters 64 GD2B 65 PG2B 66 VG2B Changing is valid. Made valid when auto tuning is invalidLow-pass filter/adaptive vibration suppression control 0000 Control. Refer to Chapter CDS 68 *CDPGain changing selection 0000 BIN HEX 0001 0209 060A 1918 030B 0504 0102 0000 0005 120E Machine specifications Ballscrew lead Pb 10 0.39 mmin Guideline for setting the electronic gear isReduction ratio n Servo motor resolution Pt Pulse/rev Machine specifications Pulley diameter r 160 6.30 mmin Changing the status display screen Change the following digits of parameter No.17 Pattern acceleration/deceleration Contents of a setting Alarm history clear Changing the stop pattern using a limit switchSoftware limit Memo System configuration Components Servo Configuration SoftwareMR-CPCATCBL3M For use of RS-232C Configuration diagramFor use of RS-422 Up to 32 axes may be multidropped CN3 CN2 Station number setting Station settingClosing of the station setting window Click the Close button to close the window Parameter value write a ParametersParameter value verify b Parameter value batch-read c Parameter default value indication gParameter value batch-write d Parameter change list display e Simple Program 6.5.1 Program data How to open the setting screenExplanation of Program Data window Explanation of Program Edit window Servo Configuration Software Explanation of Indirect Addressing window Indirect addressingLimited number of time to write to EEP-ROM is 100,000 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 Acceleration/deceleration time constant setting b Servo motor speed setting aServo motor start c, d Servo motor stop e Positioning operation Servo motor start d, e Moving distance setting cTemporary stop of servo motor f Positioning operation window closing g Click Close to close the window Click Start to perform motor-less operation Signal ON/OFF setting a, b Output signal do forced outputDo forced output window closing c Program of the MR-J2S-CL can be test-operated Program test operation Closing the Program Test window b Displaying the program aClick the OK button to close the Program Test window Alarm history display Alarm historyAlarm history clear a Closing of alarm history window b Memo Display and Operation Display flowchart Display transition Status displayDOW 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 Segments of the seven-segment LEDs correspond to the pins External I/O signal displayDisplay definition CN1A CN1B CN1B 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 Adjustment using servo configuration software Adjustment sequence and mode usageYou can automatically set the optimum gains Executing gain search under to-and-fro Position control gain Auto tuning Auto tuning modeSpeed control gain Block diagram of real-time auto tuning is shown below Auto tuning mode operationPG1,VG1 PG2,VG2,VIC Adjustment procedure by auto tuning Response level setting in auto tuning mode Operation of manual mode Manual mode 1 simple manual adjustmentAdjustment by manual mode Adjustment procedure For position control General Gain Adjustment Adjustment procedure Interpolation modeAdjustment description PG2 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 selection parameter No Parameters No , 34 toGain changing condition parameter No Gain changing time constant parameter No When you choose changing by external input This operation will be described by way of setting examplesSetting Gain changing operation Speed integral compensation 250 Changing ratio When you choose changing by droop pulsesGain changing selection 0003 Gain changing condition Pulse Memo Inspection InspectionLife Years Memo Position control mode Troubleshooting TroubleshootingTrouble at start-up Make operation instable Alarms and warning list When alarm or warning has occurred MR-J2S- CL MR-J2S Option, change regenerative brake Reexamine accelerationOption Capacity of built-in regenerative 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 TE2 Outline Dimension DrawingsTE1 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 Insulation displacement type Connectors Servo amplifier side 3MSoldered type Threaded type DE-C1-J6-S6 34.5 24.99 #4-40 Communication cable connector JAE Memo Overload protection characteristics CharacteristicsMR-J2S-10CL to MR-J2S-100CL MR-J2S-200CL to MR-J2S-350CL HC-MFS053 HC-UFS13 HC-KFS23 HC-KFS053HC-MFS23 HC-UFS23 HC-KFS43 HC-MFS43 HC-UFS43 MR-J2S-60CL HC-SFS52 HC-SFS53 HC-KFS73 Heat dissipation area for enclosed servo amplifier Temperature distribution in enclosure There is internal relay delay time of about 30ms Dynamic brake characteristicsMmin Mm/minin/min HC-SFS1000r/min series HC-KFS seriesHC-SFS3000r/min series HC-MFS series MR-J2S-500CL MR-J2S-700CL Encoder cable flexing lifeMR-JCCBL M-H MR-JHSCBL M-H MR-ENCBL M-H MR-JCCBL M-L MR-JHSCBL M-L MR-J2S-40CL 60CL 30A MR-J2S-10CL 20CL 30AAttenuated to approx a in 0.5 to 1ms MR-J2S-70CL 100CL 54A Memo Selection of the regenerative brake option Options and Auxiliary Equipment100 300 500 130 300 500 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 MR-RB032 MR-RB12 Outline drawingMR-RB32 MR-RB30 MR-RB31 119 12.3 MR-RB50 Selection Brake unitFR-BU-15K 16.5 MR-J2S-500CL FR-BU-30K Brake unit FR-BU Outside dimensionsUnit mmin FR-RC15 Resistor unit FR-BRFR-RC30 RDY FR-BAL VDD COM EMG ALM SONFR-RC RA2 EM1 OFF Mounting hole machining dimensions Outside dimensions of the power return converters Unit mmin HC-KFS Cables and connectors Cable make-up MR-JCCBL M-H MR-JCCBL M-LMR-JHSCBL M-L JAE MR-J2TBL MR-J2CN1MR-TB20 MR-J2CN3TM 16.4 Standard flexing life Long flexing life131.2 164.0 MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-HMRR MDR BAT SHD MR-JHSCBL M-L MR-ENCBL50M-H Communication cable Connection diagramModel MR-CPCATCBL3M MR-CPCATCBL3M Junction terminal block MR-TB20 How to use the junction terminal blockTerminal labels MR-J2TBL05M DI0 PED ST1 Junction terminal block cable MR-J2TBL M Model MR-J2TBL MLSP LSN ALM B10 MR-J2HBUS CN3B CN3A CN3C Maintenance junction card MR-J2CN3TM UsageCN3A CN3B CN3C VDD COM EM1 MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M Bus cable MR-J2HBUS External digital display MR-DP60 When using the MR-DP60, set 1 4 in parameter NoTerminal arrangement Start bit Date bit Mounting Outline dimension drawing VDD CN1B OPC CN1A Manual pulse generator MR-HDP01 Specifications Battery MR-BAT, A6BAT Recommended wires Recommended wires Wires for power supply wiringAuxiliary equipment MR-J2S-10CL MR-J2S-20CL MR-J2S-40CL AWG14 a 25 AWG16 a Wires for option cables Wires for cablesRecommended crimping terminals AMP No-fuse breakers, fuses, magnetic contactors Power factor improving reactorsMR-J2S-20CL MR-J2S-40CL 20CL1 Following relays should be used with the interfaces RelaysSurge absorbers Noise reduction techniques 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 NV-SW Leakage current breaker Selection methodNFB HC-MFS73 Selection example Combination with the servo amplifier EMC filterNFB Line Load HF3040A-TM 260 210 155 140 125 HF3040-TM HF-3050A-TMR3.25 HF3050A-TM 290 240 100 WA2WYA2SEBK2KΩ Japan Resistor make Memo Cable connection diagram Configuration 15.1.1 RS-422 configuration OutlineWire as shown below Communication Functions Single axis of servo amplifier is operated 15.1.2 RS-232C configuration Outline Description Communication specifications 15.2.1 Communication overviewMSB Serial communication baudrate Serial communication response delay timeSerial communication selection Protocol station number selection Transmission of data from the controller to the servo Protocol Data length depends on the command Recovery of communication status by time-outData frames For example, 61H is transmitted in hexadecimal for group a Ascii codes are used Checksum Error codesSOH Retry operation Time-out operation Initialization Communication procedure exampleData item Value Description STX ETX Read commands Status display Command Command and data No. listParameter Command External I/O signals Command Current alarm Command 02 Alarm history Command General-purpose register Rx value Command 6D Current position latch data Command 6CGeneral-purpose register Dx value Command 6E Group setting Command 1F External I/O signal Command Write commands Status display CommandCurrent alarm Command General-purpose register Rx value Command B9 Operation mode selection Command 8B External input signal disable CommandData for test operation mode Command 92 A0 Group setting Command 9F Processing the read data Detailed explanations of commands 15.12.1 Data processing Writing the processed data Status display Status display data read Command Data NoStatus display data clear 1EA5 Parameter Parameter read Command Data No Data No. definition Parameter write Command Data No Set data00 to See below External input pin status read Reply ON/OFF statuses of the input pins are sent back CN1B-18 External output pin status readCN1A-14 Device ON/OFF Read of the statuses of output devicesReady RD Limiting torque TLC Trouble ALM See below Signal Status Disable/enable of I/O devices DIOEnable Input devices DI See below Input devices ON/OFF test operation 1EA5 Choose the test operation mode Test operation mode Instructions for test operation modeCancel the test operation mode Enable the disabled input devices LSN and ST1 Reverse rotation start Turns on SON Forward rotation start Turns on SONLSN and ST2 Stop Turns on SON LSP and LSN Servo-on Turns on SON LSP LSN Stroke end OFF Communication Functions Choosing do forced output in test operation mode Output signal pin ON/OFF output signal do forced outputExternal output signal ON/OFF Command Data No Setting data For example, 0032 means A.32 and 00FF A. no alarm Alarm history Alarm No. readAlarm occurrence time read Erase the alarm history Send command 82 and data No Read of the status display at alarm occurrence Current alarm Current alarm readCurrent alarm clear Current position latch data Send command 6C and data No to be readTransmission Reply General-purpose register Dx read General-purpose register General-purpose register Rx read General-purpose register Dx write General-purpose register Rx write Group setting read Group setting writeReply Slave station sends back the group setting requested Servo amplifier group designation Reply Slave station returns the software version requested Software version Appendix App 1. Status indication block diagramApp For CN1B Appendix Manual number is given on the bottom left of the back cover Revisions Model Code