Instruction Manual

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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

Print data *Manual number Revision

Oct.,2002 SH(NA)030006-D

Servo amplifier: Addition of MR-J2S-11KA, MR-J2S-15KA and MR-J2S-22KA

Servo motor: Addition of HA-LFS11K2, HA-LFS15K2, HA-LFS22K2 and

HC-LFS

SAFETY INSTRUCTIONS: Addition of About processing of waste

Addition of FOR MAXIMUM SAFETY

Addition of EEP-ROM life

Compliance with EC Directives 2: Addition of Note to (3)

Reexamination of sentences in (4)(a)

Conformance with UL/C-UL Standard: Addition of (6) Attachment of servo motor

Addition of (7) About wiring protection

Section 1.4: Change made to the contents of the test operation mode

Section 1.7.2 (4): Addition

Section 1.8 (5): Addition

Section 2.3 (3): Sentence change

Section 3.1.1 (1), (2): Addition of Note 14

Section 3.1.2: Addition of Note 14

Section 3.1.3: Addition of Note 12

Section 3.2: Addition of Note

Section 3.5: Addition of Note

Section 3.7: Addition of POINT

Section 3.8.2: Addition of POINT

Overall reexamination

Section 3.8.3: Addition of Note

Section 3.11: Overall reexamination

Section 3.13: Addition

Section 4.2.3: POINT sentence change

Section 4.2.4: POINT sentence change

Section 5.2 (2): Addition of regenerative brake option to parameter No. 0

Addition of CN1B-pin 19's function selection to parameter No. 1

Modification made to the contents of parameter No. 5

Reexamination of the contents of parameter No. 23

Addition of AL. 37-related sentences to parameter No. 49

Section 5.2.1 (3): Reexamination of some servo motor speeds

Section 5.2.2: Changed to analog monitor

Section 7.2.2: POINT sentences addition

Section 10.2.1: Sentence addition

Section 10.2.2: Addition of 4. to alarm 16

Addition of 3. to alarm 20

Addition of 6. to alarm 33

Changing of occurrence factor and checking method of alarm 50

Changing of occurrence factor and checking method of alarm 51

Section 11.2 (1): Overall change

Section 12.1 (4): Addition

Note sentence addition

Section 12.3: Note sentence addition

Section 13.1.1 (1): Regenerative brake option addition

Section 13.1.1 (3): Parameter setting addition

Section 13.1.1 (4): Reexamination

Section 13.1.1 (5): Outline drawing addition

Section 13.1.2: Addition of FR-BU-55K brake unit