No-fuse breaker, Cables | Mitsubishi Electronics MR-J2S- CL guide

1. FUNCTIONS AND CONFIGURATION

1.7 Servo system with auxiliary equipment

To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control

box.

(1) MR-J2S-100CL or less

(a) For 3-phase 200V to 230VAC or 1-phase 230VAC

(Note2)

3-phase 200V

Options and auxiliary equipment

Reference

Options and auxiliary equipment

Reference

to 230VAC power

No-fuse breaker

Section 14.2.2

Cables

Section 14.2.1

supply or

1-phase 230VAC

Magnetic contactor

Section 14.2.2

Manual pulse generator

Section 14.1.8

power supply

Servo configuration software

Chapter 6

External digital display

Section 14.1.7

No-fuse breaker

Regenerative brake option

Section 14.1.1

Power factor improving reactor

Section 14.2.3

(NFB) or fuse

Servo amplifier

Command device

Junction terminal block

Magnetic

To CN1A

Manual pulse generator

contactor

(MC)

To CN1B

External digital display

Power

factor

To CN3

improving

CHARGE

Personal

Servo configuration

reactor

(FR-BAL)

computer

software

To CN2

MRZJW3-SETUP151E

L1

L2

U

V

W

L3

Protective earth (PE) terminal

(Note1)

Encoder cable

Control circuit terminal block

(Note1)

Power supply lead

D

L21

L11

Regenerative brake option

P

C

Servo motor

Note: 1. The HC-SFS, HC-RFS, HC-UFS 2000r/min series have cannon connectors.

2.A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70CL or less. Connect the power supply to L1 and L2 terminals and leave L3 open.

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Mitsubishi Electronics MR-J2S- CL specifications For 3-phase 200V to 230VAC or 1-phase 230VAC, No-fuse breaker, Cables

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 Machine directive ConfigurationEMC directive Low voltage directive Auxiliary equipment and options Power supplyWiring Grounding Use UL/C-UL standard-compliant products Memo Contents Functions and Configuration Operation Servo Configuration Software 12.2 11.111.2 12.1 13.4 13.113.2 13.3 15-18 15-1115-14 15-16Page Memo Introduction Functions and Configuration Function block diagram Function block diagram of this servo is shown belowStop 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 TemperatureWeight 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 Backup Battery holder Output analog monitor data Encoder connector CN2MR-J2S-500CL MR-J2S-700CL Name plate Main circuit terminal block TE1Brake option and servo motor For MR-J2S-500CL For MR-J2S-700CL Magnetic contactor Section Manual pulse generator For 3-phase 200V to 230VAC or 1-phase 230VACNo-fuse breaker Cables For 1-phase 100V to 120VAC Magnetic contactorFR-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 Installation of two or more servo amplifiers OthersKeep out foreign materials 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 arrangementsSignal arrangement CN1A OPC Input devices Signal devices explanations O devices ST2 DOGOFF Than the rated by the analog torque limit TLA DI3 DI2 DI1 DI0Proportion control Proportional type Is ignored Multiplication Parameter No.1 settingTemporary 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 OverrideOverride VC Override selection OVR Torque limit Internal torque limits 1Analog torque limit TLA Parameter No TLA External torque limit offset parameter No.26TL2 Parameter No Parameter No Incremental system Regenerative alarmInstantaneous power failure Overcurrent, overload 1 or overload TXD L Interfaces 3.6.1 Common lineCN1A CN1B 24VDC VDD COM OPC MR-HDP01 Ppnp Detailed description of the interfaces Digital input interface DI-1Digital output interface DO-1 COM 24VDC VDD VDD-COM Lamp loadEncoder pulse output DO-2 Open collector system Interface Output pulse Source input interface Analog inputInput impedance 10 to 12k Analog output For 3-phase 200 to 230VAC power supply NfbmcEMG SON VDD COM ALM 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 230VAC50/60Hz Phase 100 to 120VAC Terminals VDD COM EMG Power-on sequence Power-on procedureTiming chart Forced stop Connection diagram HC-SF121 B to 301 B HC-MF053 B to 73 BHA-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 methodNH1 Nichifu JST Nakamura Seisakusho Instructions for the 3M connectorTorque screwdriver N6L TDK Operation Before starting operation, check the followingMachine CDV Machine conditions Startup procedure Function selection Absolute position detection systemProgram end ZRT Home position return Program operation mode What is program operation mode? Programming language Command list Trip TripiITP Times ForLpos 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 MoviaAbsolute continuous move command Incremental move command Mova Absolute continuous move command STM m OutonOUT1 OFF OUT3 is turned off in 500ms 300 MOV Absolute move command 1000 10STMOUT1 is turned off in 200ms OUT2 is turned off in 100ms OUT2 OFF Trip Absolute trip point 250Outof Tripi Incremental trip point 300 Program output 3 OUT 3 is turned OFF 300 Movi Incremental move commandMOV 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 CountTrip Trip point 500 Count Next Step repeat command for NextStep 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 parametersParameter CCW rotation with SPN Speed Motor speed 1000 r/min STC Program operation timing chart Operation conditions100 ms MOV Absolute move command 5000 100 ms MOV Absolute move command 2500 ST1ON ST2ON CCW Manual operation modeJog operation Setting Servo motor rotation direction PED OFF 100 m Manual pulse generator operation SettingManual pulse generator multiplication 10 m Parameter No.1 setting valid Time Times Manual home position return types Length of the proximity dogSince the machine part collides with Instructions Home position return parameter Length of proximity dog Signals, parametersSet the input signals, parameters and program as follows Dog type home position return Adjustment Set the input signals and parameters as follows Count type home position returnMovement over the moving distance Return is selected Data setting type home position return Stopper type home position return Is obtained to output 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 Structure SpecificationsAbsolute 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 operationPositioning operation in accordance with programs Selection of programs Group setting example Group designationStation Group setting instructions Mova Incremental value command systemCommands MOV Program example Parameters Item list List TL1 SICFFC TLO PG2B NH1NH2 LPF Detail list Command system, regenerative brake option selection 0000 Multiplication factor Function Column Refer to Chapter 85HzHigh CMX CDV PED Communication conditions, and clear the alarm history MOD Analog monitor outputMonitor 2 MO2. Refer to Section Status display on servo amplifier display Operation can be performed for the parameters marked No time-out check Time-out check period settingSetting s 19 *BLK Basic parameters 20 *OP2 22 *OP4 Pulses/rev Set value 999 toUsed 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 meansMachine 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 invalid63 LPF Expansion parameters 64 GD2B 65 PG2B 66 VG2B Low-pass filter/adaptive vibration suppression control 0000 BIN HEX 68 *CDPCDS 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 isMachine 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 Changing the stop pattern using a limit switch Alarm history clearSoftware limit Memo Servo Configuration Software System configuration ComponentsMR-CPCATCBL3M CN3 CN2 Configuration diagramFor 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 settingStation number setting Closing of the station setting window Parameters Parameter value write aParameter value verify b Parameter change list display e Parameter default value indication gParameter value batch-read c Parameter value batch-write d How to open the setting screen Simple Program 6.5.1 Program dataExplanation of Program Data window Explanation of Program Edit window Servo Configuration Software Indirect addressing Explanation of Indirect Addressing windowLimited 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 Servo motor stop e Servo motor speed setting aAcceleration/deceleration time constant setting b Servo motor start c, d Positioning operation Positioning operation window closing g Moving distance setting cServo motor start d, e Temporary stop of servo motor f Click Close to close the window Click Start to perform motor-less operation Output signal do forced output Signal ON/OFF setting a, bDo forced output window closing c Program of the MR-J2S-CL can be test-operated Program test operation Displaying the program a Closing the Program Test window bClick the OK button to close the Program Test window Closing of alarm history window b Alarm historyAlarm history display Alarm history clear a Memo Display and Operation Display flowchart Status display Display transitionDOW 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 displaySegments 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 usageAdjustment using servo configuration software You can automatically set the optimum gains Auto tuning Auto tuning mode Position control gainSpeed control gain PG2,VG2,VIC Auto tuning mode operationBlock 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 adjustmentOperation of manual mode Adjustment by manual mode For position control General Gain Adjustment PG2 Interpolation modeAdjustment 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 toGain changing selection parameter No Gain changing condition parameter No Gain changing operation This operation will be described by way of setting examplesWhen you choose changing by external input Setting Gain changing condition Pulse When you choose changing by droop pulsesSpeed integral compensation 250 Changing ratio Gain changing selection 0003 Memo Years InspectionInspection Life Memo Make operation instable TroubleshootingPosition 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 accelerationOption, 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 Outline Dimension Drawings TE1 TE2TE1 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 3MInsulation displacement type Soldered type DE-C1-J6-S6 34.5 24.99 #4-40 Communication cable connector JAE Memo Characteristics Overload protection characteristicsMR-J2S-10CL to MR-J2S-100CL MR-J2S-200CL to MR-J2S-350CL HC-MFS43 HC-UFS43 MR-J2S-60CL HC-SFS52 HC-SFS53 HC-KFS73 HC-KFS053HC-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 characteristicsThere is internal relay delay time of about 30ms Mmin HC-MFS series HC-KFS seriesHC-SFS1000r/min series HC-SFS3000r/min series MR-JCCBL M-L MR-JHSCBL M-L Encoder cable flexing lifeMR-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 30AMR-J2S-40CL 60CL 30A Attenuated to approx a in 0.5 to 1ms Memo 130 300 500 Options and Auxiliary EquipmentSelection 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 drawingMR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB31 12.3 MR-RB50 16.5 MR-J2S-500CL FR-BU-30K Brake unitSelection FR-BU-15K Outside dimensions Brake unit FR-BUUnit mmin Resistor unit FR-BR FR-RC15FR-RC30 RA2 EM1 OFF FR-BAL VDD COM EMG ALM SONRDY 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-LMR-JCCBL M-H MR-JHSCBL M-L MR-J2CN3TM MR-J2CN1MR-J2TBL MR-TB20 164.0 Standard flexing life Long flexing life16.4 131.2 MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL30M-L MR-JCCBL50M-HMRR MDR BAT SHD MR-JHSCBL M-L MR-ENCBL50M-H MR-CPCATCBL3M Connection diagramCommunication cable Model MR-CPCATCBL3M MR-J2TBL05M How to use the junction terminal blockJunction terminal block MR-TB20 Terminal labels B10 Junction terminal block cable MR-J2TBL M Model MR-J2TBL MDI0 PED ST1 LSP LSN ALM VDD COM EM1 Maintenance junction card MR-J2CN3TM UsageMR-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 NoExternal 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 wiringRecommended wires Auxiliary equipment AMP Wires for cablesWires for option cables Recommended crimping terminals MR-J2S-40CL 20CL1 Power factor improving reactorsNo-fuse breakers, fuses, magnetic contactors MR-J2S-20CL Noise reduction techniques RelaysFollowing 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 Leakage current breaker Selection method NV-SWNFB HC-MFS73 Selection example EMC filter Combination with the servo amplifierNFB Line Load HF3050A-TM 290 240 100 HF3040-TM HF-3050A-TMHF3040A-TM 260 210 155 140 125 R3.25 WA2WYA2SEBK2KΩ Japan Resistor make Memo Communication Functions Configuration 15.1.1 RS-422 configuration OutlineCable connection diagram Wire as shown below Single axis of servo amplifier is operated 15.1.2 RS-232C configuration Outline Communication specifications 15.2.1 Communication overview DescriptionMSB Protocol station number selection Serial communication response delay timeSerial communication baudrate Serial communication selection Transmission of data from the controller to the servo Protocol Recovery of communication status by time-out Data length depends on the commandData frames For example, 61H is transmitted in hexadecimal for group a Ascii codes are used Error codes ChecksumSOH Retry operation Time-out operation STX ETX Communication procedure exampleInitialization Data item Value Description External I/O signals Command Command and data No. listRead commands Status display Command Parameter Command Current alarm Command 02 Alarm history Command Group setting Command 1F Current position latch data Command 6CGeneral-purpose register Rx value Command 6D General-purpose register Dx value Command 6E General-purpose register Rx value Command B9 Write commands Status display CommandExternal I/O signal Command Current alarm Command Group setting Command 9F External input signal disable CommandOperation 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 NoStatus display Status display data read Status display data clear Parameter Parameter read Command Data No Data No. definition Command Data No Set data Parameter write00 to See below External input pin status read Reply ON/OFF statuses of the input pins are sent back External output pin status read CN1B-18CN1A-14 See below Read of the statuses of output devicesDevice ON/OFF Ready RD Limiting torque TLC Trouble ALM Input devices DI Disable/enable of I/O devices DIOSignal Status Enable See below Input devices ON/OFF test operation Enable the disabled input devices Test operation mode Instructions for test operation mode1EA5 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 SONLSN 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 outputChoosing 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. readFor example, 0032 means A.32 and 00FF A. no alarm Alarm occurrence time read Current alarm Current alarm read Read of the status display at alarm occurrenceCurrent alarm clear Reply Send command 6C and data No to be readCurrent 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 writeGroup setting read Reply Slave station sends back the group setting requested Reply Slave station returns the software version requested Software version App 1. Status indication block diagram AppendixApp For CN1B Appendix Manual number is given on the bottom left of the back cover Revisions Model Code