Instruction Manual

ManualsBrandsMITSUBISHI ELECTRIC ManualsCar AmplifierMELSERVO MR-J2S- A

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Table Of Contents

Safety Instructions
COMPLIANCE WITH EC DIRECTIVES
CONFORMANCE WITH UL/C-UL STANDARD
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CONTENTS
Optional Servo Motor Instruction Manual CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Introduction
- 1.2 Function block diagram
- 1.3 Servo amplifier standard specifications
- 1.4 Function list
- 1.5 Model code definition
- 1.6 Combination with servo motor
- 1.7 Structure
  - 1.7.1 Parts identification
  - 1.7.2 Removal and reinstallation of the front cover
- 1.8 Servo system with auxiliary equipment
2. INSTALLATION
- 2.1 Environmental conditions
- 2.2 Installation direction and clearances
- 2.3 Keep out foreign materials
- 2.4 Cable stress
3. SIGNALS AND WIRING
- 3.1 Standard connection example
- 3.2 Internal connection diagram of servo amplifier
- 3.3 I/O signals
  - 3.3.1 Connectors and signal arrangements
  - 3.3.2 Signal explanations
- 3.4 Detailed description of the signals
- 3.5 Alarm occurrence timing chart
- 3.6 Interfaces
  - 3.6.1 Common line
  - 3.6.2 Detailed description of the interfaces
- 3.7 Input power supply circuit
- 3.8 Connection of servo amplifier and servo motor
- 3.9 Servo motor with electromagnetic brake
- 3.10 Grounding
- 3.11 Servo amplifier terminal block (TE2) wiring method
  - 3.11.1 For the servo amplifier produced later than Jan. 2006
  - 3.11.2 For the servo amplifier produced earlier than Dec. 2005
- 3.12 Instructions for the 3M connector
- 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA
4. OPERATION
- 4.1 When switching power on for the first time
- 4.2 Startup
- 4.3 Multidrop communication
5. PARAMETERS
- 5.1 Parameter list
  - 5.1.1 Parameter write inhibit
  - 5.1.2 Lists
- 5.2 Detailed description
6. DISPLAY AND OPERATION
- 6.1 Display flowchart
- 6.2 Status display
- 6.3 Diagnostic mode
- 6.4 Alarm mode
- 6.5 Parameter mode
- 6.6 External I/O signal display
- 6.7 Output signal (DO) forced output
- 6.8 Test operation mode
7. GENERAL GAIN ADJUSTMENT
- 7.1 Different adjustment methods
  - 7.1.1 Adjustment on a single servo amplifier
  - 7.1.2 Adjustment using MR Configurator (servo configuration software)
- 7.2 Auto tuning
- 7.3 Manual mode 1 (simple manual adjustment)
  - 7.3.1 Operation of manual mode 1
  - 7.3.2 Adjustment by manual mode 1
- 7.4 Interpolation mode
- 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
  - 7.5.1 Response level setting
  - 7.5.2 Auto tuning selection
8. SPECIAL ADJUSTMENT FUNCTIONS
- 8.1 Function block diagram
- 8.2 Machine resonance suppression filter
- 8.3 Adaptive vibration suppression control
- 8.4 Low-pass filter
- 8.5 Gain changing function
9. INSPECTION
10. TROUBLESHOOTING
- 10.1 Trouble at start-up
- 10.2 When alarm or warning has occurred
11. OUTLINE DIMENSION DRAWINGS
- 11.1 Servo amplifiers
- 11.2 Connectors
12. CHARACTERISTICS
- 12.1 Overload protection characteristics
- 12.2 Power supply equipment capacity and generated loss
- 12.3 Dynamic brake characteristics
- 12.4 Encoder cable flexing life
- 12.5 Inrush currents at power-on of main circuit and control circuit
13. OPTIONS AND AUXILIARY EQUIPMENT
- 13.1 Options
- 13.2 Auxiliary equipment
14. COMMUNICATION FUNCTIONS
- 14.1 Configuration
  - 14.1.1 RS-422 configuration
  - 14.1.2 RS-232C configuration
- 14.2 Communication specifications
  - 14.2.1 Communication overview
  - 14.2.2 Parameter setting
- 14.3 Protocol
- 14.4 Character codes
- 14.5 Error codes
- 14.6 Checksum
- 14.7 Time-out operation
- 14.8 Retry operation
- 14.9 Initialization
- 14.10 Communication procedure example
- 14.11 Command and data No. list
  - 14.11.1 Read commands
  - 14.11.2 Write commands
- 14.12 Detailed explanations of commands
15. ABSOLUTE POSITION DETECTION SYSTEM
- 15.1 Outline
  - 15.1.1 Features
  - 15.1.2 Restrictions
- 15.2 Specifications
- 15.3 Battery installation procedure
- 15.4 Standard connection diagram
- 15.5 Signal explanation
- 15.6 Startup procedure
- 15.7 Absolute position data transfer protocol
- 15.8 Examples of use
- 15.9 Confirmation of absolute position detection data
- 15.10 Absolute position data transfer errors
  - 15.10.1 Corrective actions
  - 15.10.2 Error resetting conditions
Appendix
- App 1. Signal arrangement recording sheets
- App 2. Status display block diagram
- App 3. Combination of servo amplifier and servo motor
REVISIONS

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15. ABSOLUTE POSITION DETECTION SYSTEM

Y1 X2

M3PLS

Y2 X2

M64

3 3

4 4

D3K2M52MOV

Y2SET

K1M10H0003K1X0WANDP

K2K38M20M10SFTR

D2D2K1M10ADDP

K16

K19

Y2RST

Y1RST

D2D2H003FWANDP

M62D2K2M52CMPP

M62 C1

Y12

M2PLS

T200

K10

M6SET

M5RST

ABS data 32 bits

(2 bits 16 times)

Check sum 6 bits

(2 bits 3 times)

Detection of ABS

check sum error,

retry control

Resetting ABS data

ABS request ON

Masking ABS data 2 bits

Right shift (2 bits) of ABS data

Check sum addition

Updating ABS data reception

counter

Updating all data reception

counter

Resetting ABS request

Resetting ABS transfer mode

Masking check sum 6 bits

Comparison of check sum

ABS data check sum error

Retry command

Setting retry wait timer: 100ms

Storing check sum value in the

case of check sum error

Retry flag ON

Resetting servo-on request

ABS

transfer

mode

Send data ready

ABS data read

ABS

request

Send data

ready

All data reception counter

Retry counter

Retry

counter

(Continued from preceding page)

(To be continued)

T204

ABS data waiting timer 10ms

ABS data waiting timer