Mitsubishi Electronics MR-J2S- CL instruction

14.OPTIONS AND AUXILIARY EQUIPMENT

(3)Outside dimensions of the power return converters

[Unit : mm(in)]

2- D hole E

Rating plate

Front cover

	D
AA	EE
A

Mounting foot (removable)
Mounting foot
movable
Display
panel
window
	Cooling fan
F	K
F
C

Heat generation area outside mounting dimension

Power return	A	AA	B	BA	C	D	E	EE	K	F	Approx.
converter											weight [kg(Ib)]

FR-RC-15K	270	200	450	432	195	10	10	8	3.2	87	19
	(10.630)	(7.874)	(17.717)	(17.008)	(7.677)	(0.394)	(0.394)	(0.315)	(0.126)	(3.425)	(41.888)

FR-RC-30K	340	270	600	582	195	10	10	8	3.2	90	31
	(13.386)	(10.630)	(23.622)	(22.913)	(7.677)	(0.394)	(0.394)	(0.315)	(0.126)	(3.543)	(68.343)

(4)Mounting hole machining dimensions

When the power return converter is fitted to a totally enclosed type box, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box.

(BA)

(AA)

(Mounting hole)

(2-	D hole)					[Unit : mm(in)]
(2-	D hole)					[Unit : mm(in)]
		Model	A	B	D	AA	BA
		FR-RC-15K	260	412	10	200	432
		FR-RC-15K	(10.236)	(16.220)	(0.394)	(7.874)	(17.009)
			(10.236)	(16.220)	(0.394)	(7.874)	(17.009)
		FR-RC-30K	330	562	10	270	582
		FR-RC-30K	(12.992)	(22.126)	(0.394)	(10.630)	(22.913)
b

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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 Additional instructions HC-SFS81 Wiring COM Usage RA EMG 24VDC For Maximum Safety Maintenance, inspection and parts replacement Low voltage directive ConfigurationEMC directive Machine directive Grounding Power supplyWiring Auxiliary equipment and options Use UL/C-UL standard-compliant products Memo Contents Functions and Configuration Operation Servo Configuration Software 12.1 11.111.2 12.2 13.3 13.113.2 13.4 15-16 15-1115-14 15-18Page Memo Functions and Configuration Introduction Stop Function block diagramFunction block diagram of this servo is shown below System configuration Operation using external input signals 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 Phase pulse Dog cradle type Other functions Structure Ambient TemperatureWeight Humidity Function list Model code definition Rating plate Model Combination with servo motor Structure 1.6.1 Part names MR-J2S-100CL or less MR-J2S-200CL MR-J2S-350CL MR-J2S-500CL Backup Battery holderOutput analog monitor data Encoder connector CN2 Brake option and servo motor MR-J2S-700CLName plate Main circuit terminal block TE1 For MR-J2S-500CL For MR-J2S-700CL Cables For 3-phase 200V to 230VAC or 1-phase 230VACNo-fuse breaker Magnetic contactor Section Manual pulse generator FR-BAL For 1-phase 100V to 120VACMagnetic contactor SETUP151E MRZJW3 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 amplifiersOthers Cable stress Signals and Wiring Signals and Wiring Standard connection example Signals and Wiring Internal connection diagram of servo amplifier CN1A OPC I/O signals Connectors and signal arrangementsSignal arrangement DOG COM SON CN2 MDR MRR Signal devices explanations O devices Input devices OFF ST2DOG Proportional type DI3 DI2 DI1 DI0Proportion control Than the rated by the analog torque limit TLA Stop/Restart Turn it on again to make a restart Multiplication Parameter No.1 settingTemporary Is ignored Output devices MBR Input signal Output signal Communication Refer to for the communication function 3ms or less Movement complete OFF Override selection OVR OverrideOverride VC Used to make the override VC valid or invalid Analog torque limit TLA Torque limitInternal torque limits 1 Parameter No Parameter No External torque limit offset parameter No.26TL2 Parameter No TLA Overcurrent, overload 1 or overload Regenerative alarmInstantaneous power failure Incremental system OPC MR-HDP01 Ppnp Interfaces 3.6.1 Common lineCN1A CN1B 24VDC VDD COM TXD L Digital output interface DO-1 Detailed description of the interfacesDigital input interface DI-1 Output pulse Lamp loadEncoder pulse output DO-2 Open collector system Interface COM 24VDC VDD VDD-COM Analog output Analog inputInput impedance 10 to 12k Source input interface EMG SON VDD COM ALM For 3-phase 200 to 230VAC power supplyNfbmc For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Terminals 11, L Control circuit power supply Phase 200 to 230VAC50/60Hz Phase 100 to 120VAC Refer to Sections 14.1.2 and 14.1.3 for details Forced stop Power-on sequence Power-on procedureTiming chart VDD COM EMG Connection diagram HC-UF13 B to 73 B HC-MF053 B to 73 BHA-FF053 B to 63 B HC-SF121 B to 301 B 3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min series Earth HC-SFS HC-RFS HC-UFS2000 r/min series MDR MRR BAT Setting COM MBR 24VDC Coasting Servo motor speed Min 60ms Base circuit Alarm occurrence Both main and control circuit power supplies off CN1A CN1B JST Servo amplifier terminal block TE2 wiring methodNH1 Nichifu CRIMPFOX-UD6 N6L TDK Instructions for the 3M connectorTorque screwdriver Nakamura Seisakusho Machine OperationBefore starting operation, check the following Machine conditions CDV Program end Startup procedureFunction selection Absolute position detection system Home position return ZRT Program operation mode What is program operation mode? Command list Programming language ITP TripTripi TIM ForLpos Times TIM Dwell command time 100 ms MOV Absolute move command 2000 Details of programming languages 200 ms MOV Absolute move command 500 r/min STC Incremental move command Continuous move command Mova MoviaAbsolute continuous move command Incremental continuous move command OUT1 OFF Mova Absolute continuous move command STM mOuton OUT2 is turned off in 100ms 300 MOV Absolute move command 1000 10STMOUT1 is turned off in 200ms OUT3 is turned off in 500ms Tripi Incremental trip point 300 Trip Absolute trip point 250Outof OUT2 OFF Tripi Absolute trip point 300 300 Movi Incremental move commandMOV cannot be used with Tripi Program output 3 OUT 3 is turned OFF TIM Dwell command time 200 ms SPN Movi Incremental move command 500 r/min OUT1 PI1 OFF Interrupt positioning command ITP ITP Interrupt positioning command 200 Count CountTrip Trip point 500 Waiting for PI1 to be turned on by SYNC1 a Step repeat command end Step repeat command for NextStep repeat command end For Next Times Position latch Lpos Current position latch is set Movi R1 Movi R2 CCW rotation with Basic setting of signals and parametersParameter Position data Initial value 100 1000 100 ms MOV Absolute move command 2500 Program operation timing chart Operation conditions100 ms MOV Absolute move command 5000 SPN Speed Motor speed 1000 r/min STC Servo motor rotation direction Manual operation modeJog operation Setting ST1ON ST2ON CCW PED OFF 10 m Manual pulse generator operation SettingManual pulse generator multiplication 100 m Parameter No.1 setting valid Time Times Since the machine part collides with Manual home position return typesLength of the proximity dog Home position return parameter Instructions Dog type home position return Signals, parametersSet the input signals, parameters and program as follows Length of proximity dog Adjustment Movement over the moving distance Set the input signals and parameters as followsCount type home position return Data setting type home position return Return is selected Completion ZP Stopper type home position returnIs obtained to output home position return Signals, parameter Set the input signals and parameter as follows Set the input signals and parameters as indicated below Dog type rear end reference home position return Count type front end reference home position return Phase signal position Dog cradle type home position return Home position return automatic return function Software limit cannot be used with these functions Restrictions SpecificationsAbsolute position detection system Structure Outline of absolute position detection data communication Servo amplifier Program No. selection DI0 to DI3, etc Parameter setting CON1 Selection of programs Serial communication operationPositioning operation in accordance with programs Multidrop system Station Group setting exampleGroup designation Group setting instructions MOV Incremental value command systemCommands Mova Program example Parameters List Item list TLO SICFFC TL1 LPF NH1NH2 PG2B Command system, regenerative brake option selection 0000 Detail list Multiplication factor Function Column High Refer to Chapter85Hz CMX CDV PED Monitor 2 MO2. Refer to Section Communication conditions, and clear the alarm historyMOD Analog monitor output Status display on servo amplifier display 19 *BLK Basic parameters 20 *OP2 22 *OP4 No time-out check Time-out check period settingSetting s Operation can be performed for the parameters marked 65535 999 toUsed to set the offset voltage to analog override 999 Pulses/rev Set value DCT ZTT Parameter error Setting OP9 Function selection Connector pins OPA Function selection a 0000 Used to selection the machine resonance suppression filter 0000 Don’t change this value by any meansMachine resonance suppression filter 0000 Used to set the machine resonance suppression filter Low-pass filter/adaptive vibration suppression control 0000 Changing is valid. Made valid when auto tuning is invalid63 LPF Expansion parameters 64 GD2B 65 PG2B 66 VG2B Control. Refer to Chapter Gain changing selection 0000 68 *CDPCDS BIN HEX 0001 0209 060A 1918 030B 0504 0102 0000 0005 120E Reduction ratio n Servo motor resolution Pt Pulse/rev Guideline for setting the electronic gear isMachine specifications Ballscrew lead Pb 10 0.39 mmin Machine specifications Pulley diameter r 160 6.30 mmin Changing the status display screen Pattern acceleration/deceleration Change the following digits of parameter No.17 Contents of a setting Software limit Changing the stop pattern using a limit switchAlarm history clear Memo MR-CPCATCBL3M Servo Configuration SoftwareSystem configuration Components For use of RS-422 Up to 32 axes may be multidropped Configuration diagramFor use of RS-232C CN3 CN2 Closing of the station setting window Station settingStation number setting Click the Close button to close the window Parameter value verify b ParametersParameter value write a Parameter value batch-write d Parameter default value indication gParameter value batch-read c Parameter change list display e Explanation of Program Data window How to open the setting screenSimple 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 addressingExplanation of Indirect Addressing window Servo Configuration Software When using the device setting, preset 000E in parameter No Device assignment method Screen explanation Servo Configuration Software Servo Configuration Software Point Servo motor start c, d Servo motor speed setting aAcceleration/deceleration time constant setting b Servo motor stop e Positioning operation Temporary stop of servo motor f Moving distance setting cServo motor start d, e Positioning operation window closing g Click Start to perform motor-less operation Click Close to close the window Do forced output window closing c Output signal do forced outputSignal ON/OFF setting a, b Program test operation Program of the MR-J2S-CL can be test-operated Click the OK button to close the Program Test window Displaying the program aClosing the Program Test window b Alarm history clear a Alarm historyAlarm history display Closing of alarm history window b Memo Display flowchart Display and Operation DOW Status displayDisplay transition Display examples Following table lists display examples Status display list Following table lists the servo statuses that may be shown Diagnosis mode 7.3.1 Display transition Down Diagnosis mode list Display and Operation Alarm mode Alarm mode list Indicates no occurrence of an alarm Display and Operation Parameter mode Parameter mode transition Operation example Parameter of 5 or less digits Signed 5-digit parameter Display definition External I/O signal displaySegments of the seven-segment LEDs correspond to the pins CN1A CN1B CN1B Press UP twice Press SET for more than 2 seconds Mode change How to use the buttons is explained below Termination of jog operation How to use the keys is explained below To terminate the motor-less operation, switch power off Termination of motor-less operation Memo General Gain Adjustment Gain adjustment mode explanation You can automatically set the optimum gains Adjustment sequence and mode usageAdjustment using servo configuration software Executing gain search under to-and-fro Speed control gain Auto tuning Auto tuning modePosition control gain PG1,VG1 Auto tuning mode operationBlock diagram of real-time auto tuning is shown below PG2,VG2,VIC Adjustment procedure by auto tuning Response level setting in auto tuning mode Adjustment by manual mode Manual mode 1 simple manual adjustmentOperation of manual mode Adjustment procedure For position control General Gain Adjustment Adjustment description Interpolation modeAdjustment procedure PG2 Auto tuning selection 100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz Memo Special Adjustment Functions Machine resonance suppression filter Function Parameter No Notch frequency Deep 40dB 14dB 8dB Shallow 4dB Adaptive vibration suppression control Function Low-pass filter Function Set the operation of the low-pass filter parameter No Gain changing function Applications GD2B Gain changing condition parameter No Parameters No , 34 toGain changing selection parameter No Gain changing time constant parameter No Setting This operation will be described by way of setting examplesWhen you choose changing by external input Gain changing operation Gain changing selection 0003 When you choose changing by droop pulsesSpeed integral compensation 250 Changing ratio Gain changing condition Pulse Memo Life InspectionInspection Years Memo Trouble at start-up TroubleshootingPosition control mode Troubleshooting Make operation instable When alarm or warning has occurred Alarms and warning list MR-J2S- CL MR-J2S Option Reexamine accelerationOption, change regenerative brake Capacity of built-in regenerative Review environment so that ambient AL.50 Overload Load exceeded Servo motor locked Input terminals U, V, W Serial Communication cable fault Repair or change the cable Remedies for warnings Memo TE1 Outline Dimension DrawingsTE1 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 Soldered type Connectors Servo amplifier side 3MInsulation displacement type Threaded type Communication cable connector JAE DE-C1-J6-S6 34.5 24.99 #4-40 Memo MR-J2S-10CL to MR-J2S-100CL MR-J2S-200CL to MR-J2S-350CL CharacteristicsOverload protection characteristics HC-MFS23 HC-UFS23 HC-KFS43 HC-KFS053HC-MFS053 HC-UFS13 HC-KFS23 HC-MFS43 HC-UFS43 MR-J2S-60CL HC-SFS52 HC-SFS53 HC-KFS73 Temperature distribution in enclosure Heat dissipation area for enclosed servo amplifier Mmin Dynamic brake characteristicsThere is internal relay delay time of about 30ms Mm/minin/min HC-SFS3000r/min series HC-KFS seriesHC-SFS1000r/min series HC-MFS series MR-JCCBL M-H MR-JHSCBL M-H MR-ENCBL M-H Encoder cable flexing lifeMR-J2S-500CL MR-J2S-700CL MR-JCCBL M-L MR-JHSCBL M-L Attenuated to approx a in 0.5 to 1ms MR-J2S-10CL 20CL 30AMR-J2S-40CL 60CL 30A MR-J2S-70CL 100CL 54A Memo 100 300 500 Options and Auxiliary EquipmentSelection of the regenerative brake option 130 300 500 1047 Servo amplifier Inverse efficiency% Capacitor chargingJ Connection of the regenerative brake option Set parameter No.2 according to the open to be used 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-RB32 MR-RB30 MR-RB31 Outline drawingMR-RB032 MR-RB12 119 MR-RB50 12.3 FR-BU-15K Brake unitSelection 16.5 MR-J2S-500CL FR-BU-30K Unit mmin Outside dimensionsBrake unit FR-BU FR-RC30 Resistor unit FR-BRFR-RC15 FR-RC FR-BAL VDD COM EMG ALM SONRDY RA2 EM1 OFF Outside dimensions of the power return converters Unit mmin Mounting hole machining dimensions Cables and connectors Cable make-up HC-KFS MR-JHSCBL M-L MR-JCCBL M-LMR-JCCBL M-H JAE MR-TB20 MR-J2CN1MR-J2TBL MR-J2CN3TM 131.2 Standard flexing life Long flexing life16.4 164.0 MRR MDR BAT MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-HMR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JHSCBL M-L SHD MR-ENCBL50M-H Model MR-CPCATCBL3M Connection diagramCommunication cable MR-CPCATCBL3M Terminal labels How to use the junction terminal blockJunction terminal block MR-TB20 MR-J2TBL05M LSP LSN ALM Junction terminal block cable MR-J2TBL M Model MR-J2TBL MDI0 PED ST1 B10 CN3A CN3B CN3C Maintenance junction card MR-J2CN3TM UsageMR-J2HBUS CN3B CN3A CN3C VDD COM EM1 Bus cable MR-J2HBUS MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M Terminal arrangement When using the MR-DP60, set 1 4 in parameter NoExternal digital display MR-DP60 Start bit Date bit Outline dimension drawing Mounting Manual pulse generator MR-HDP01 Specifications VDD CN1B OPC CN1A Battery MR-BAT, A6BAT Auxiliary equipment Recommended wires Wires for power supply wiringRecommended wires MR-J2S-10CL MR-J2S-20CL MR-J2S-40CL AWG14 a 25 AWG16 a Recommended crimping terminals Wires for cablesWires for option cables AMP MR-J2S-20CL Power factor improving reactorsNo-fuse breakers, fuses, magnetic contactors MR-J2S-40CL 20CL1 Surge absorbers RelaysFollowing relays should be used with the interfaces Noise reduction techniques Noises produced by servo amplifier Noise reduction products 10 to 100MHz 100 to 500MHz 150 Ex A.2003 Outline drawing Outline drawing Unit mm Unit FR-BLFMR-J2S-350CL or more NFB Leakage current breaker Selection methodNV-SW Selection example HC-MFS73 NFB Line Load EMC filterCombination with the servo amplifier R3.25 HF3040-TM HF-3050A-TMHF3040A-TM 260 210 155 140 125 HF3050A-TM 290 240 100 WA2WYA2SEBK2KΩ Japan Resistor make Memo Wire as shown below Configuration 15.1.1 RS-422 configuration OutlineCable connection diagram Communication Functions 15.1.2 RS-232C configuration Outline Single axis of servo amplifier is operated MSB Communication specifications 15.2.1 Communication overviewDescription Serial communication selection Serial communication response delay timeSerial communication baudrate Protocol station number selection Protocol Transmission of data from the controller to the servo Data frames Recovery of communication status by time-outData length depends on the command Ascii codes are used For example, 61H is transmitted in hexadecimal for group a SOH Error codesChecksum Time-out operation Retry operation Data item Value Description Communication procedure exampleInitialization STX ETX Parameter Command Command and data No. listRead commands Status display Command External I/O signals Command Alarm history Command Current alarm Command 02 General-purpose register Dx value Command 6E Current position latch data Command 6CGeneral-purpose register Rx value Command 6D Group setting Command 1F Current alarm Command Write commands Status display CommandExternal I/O signal Command General-purpose register Rx value Command B9 Data for test operation mode Command 92 A0 External input signal disable CommandOperation mode selection Command 8B Group setting Command 9F Detailed explanations of commands 15.12.1 Data processing Processing the read data Writing the processed data Status display data clear Command Data NoStatus display Status display data read 1EA5 Command Data No Data No. definition Parameter Parameter read 00 to See below Command Data No Set dataParameter write Reply ON/OFF statuses of the input pins are sent back External input pin status read CN1A-14 External output pin status readCN1B-18 Ready RD Limiting torque TLC Trouble ALM Read of the statuses of output devicesDevice ON/OFF See below Enable Disable/enable of I/O devices DIOSignal Status Input devices DI Input devices ON/OFF test operation See below Cancel the test operation mode Test operation mode Instructions for test operation mode1EA5 Choose the test operation mode Enable the disabled input devices LSN and ST2 Stop Turns on SON LSP and LSN Forward rotation start Turns on SONLSN and ST1 Reverse rotation start Turns on SON Servo-on Turns on SON LSP LSN Stroke end OFF Communication Functions External output signal ON/OFF Output signal pin ON/OFF output signal do forced outputChoosing do forced output in test operation mode Command Data No Setting data Alarm occurrence time read Alarm history Alarm No. readFor example, 0032 means A.32 and 00FF A. no alarm Erase the alarm history Send command 82 and data No Current alarm clear Current alarm Current alarm readRead of the status display at alarm occurrence Transmission Send command 6C and data No to be readCurrent position latch data Reply General-purpose register General-purpose register Rx read General-purpose register Dx read General-purpose register Rx write General-purpose register Dx write Reply Slave station sends back the group setting requested Group setting writeGroup setting read Servo amplifier group designation Software version Reply Slave station returns the software version requested App App 1. Status indication block diagramAppendix Appendix For CN1B Revisions Manual number is given on the bottom left of the back cover Model Code

Mitsubishi Electronics MR-J2S- CL Outside dimensions of the power return converters Unit mmin

Models: MR-J2S- CL

14.OPTIONS AND AUXILIARY EQUIPMENT

(3)Outside dimensions of the power return converters

[Unit : mm(in)]

(4)Mounting hole machining dimensions

MR-J2S- CL specifications