Mitsubishi Electric MELSERVO-J2-Super Series User Manual

J2-Super Series
SH (NA) 030034-F (0709) MEE Printed in Japan Specifications subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
MR-J2S- CL Servo Amplifier Instruction Manual
General-Purpose AC Servo
MODEL
MR-J2S- CL
SERVO AMPLIFIER
INSTRUCTION MANUAL
Program Compatible
J2-Super Series
F
F
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

Mitsubishi Electric MELSERVO-J2-Super Series Specifications

General

Series	MELSERVO-J2-Super Series
Type	Servo Amplifier
Output Power Range	50W to 3kW
Communication	SSCNET
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overheat
Feedback Resolution	131, 072 pulses/rev (17-bit)
Ambient Temperature	0 to 55°C
Ambient Humidity	20 to 90% (non-condensing)
Vibration Resistance	5.9 m/s² (0.6 G) in each of the X, Y, and Z directions
Dimensions	Varies by model
Weight	Varies by model

Summary

Safety Instructions

Additional Instructions

Transportation and installation

Details on safe handling and setup of servo amplifier and motor to prevent damage or accidents.

Wiring

Guidelines for correct and secure electrical connections to prevent misoperation and hazards.

Test run adjustment

Procedures for adjusting parameters to ensure proper machine operation and stability.

Usage

Precautions for safe and correct operation, including emergency stops and environmental considerations.

Corrective actions

Procedures for addressing hazardous conditions, faults, and power failures to ensure safety.

Maintenance, inspection and parts replacement

Recommendations for periodic maintenance, inspection, and replacement of parts.

General instruction

General guidance on operating the equipment, including safety measures and illustrations.

FOR MAXIMUM SAFETY

Critical safety information regarding product design and application in life-critical systems.

EEP-ROM life

Information on the write limitations of EEP-ROM and potential failure points.

PRECAUTIONS FOR CHOOSING THE PRODUCTS

Guidelines for selecting products and understanding liability for damages.

COMPLIANCE WITH EC DIRECTIVES

EMC directive

Requirements for electromagnetic compatibility for servo-incorporated machines and equipment.

Low voltage directive

Guidelines for servo units complying with low voltage directive standards.

Machine directive

Clarification that servo amplifiers, not being machines, are exempt from this directive.

PRECAUTIONS FOR COMPLIANCE

Guidelines for ensuring compliance, including using standard models and proper configuration.

CONFORMANCE WITH UL/C-UL STANDARD

Servo amplifiers and servo motors used

Lists compatible servo amplifiers and motors for UL/C-UL standards.

Installation

Requirements for installing a cooling fan or providing adequate cooling for the servo amplifier.

Capacitor discharge time

Information on capacitor discharge time after power-off for safety.

About wiring protection

Guidelines for branch circuit protection in the US and Canada according to electrical codes.

FUNCTIONS AND CONFIGURATION

Introduction

Overview of the MR-J2S-CL program-compatible AC servo amplifier and its features.

Servo amplifier standard specifications

Detailed specifications for servo amplifiers, including voltage, control system, and operational modes.

Function list

A table listing servo amplifier functions, their descriptions, and references for further details.

Model code definition

Explanation of the components that define the servo amplifier model code on the rating plate.

Combination with servo motor

Table listing compatible combinations of servo amplifiers and servo motors.

Structure

Identification of part names and their applications on the servo amplifier.

Servo system with auxiliary equipment

Wiring diagrams and guidelines for connecting auxiliary equipment to the servo system.

MR Configurator (SERVO CONFIGURATION SOFTWARE)

Specifications

System requirements and specifications for using the MR Configurator software.

System configuration

Describes system configurations for RS-232C or RS-422 communication with servo amplifiers.

Station setting

Procedure for setting the station number for servo amplifiers in a communication system.

Parameters

Guide to reading, writing, verifying, and managing parameter values using the MR Configurator.

Simple Program

Instructions for creating and editing simple programs for the servo amplifier via the software.

Indirect addressing

Setting general-purpose registers (R1-R4, D1-D4) for indirect addressing of commands.

Device assignment method

How to assign functions to input/output pins using the MR Configurator's DIDO device setting.

Test operation

Procedures for performing various test operations like jog, positioning, and motor-less operation.

Alarm history

How to view, clear, and interpret alarm history data using the MR Configurator.

DISPLAY AND OPERATION

Display flowchart

Visual representation of display mode transitions on the servo amplifier's front panel.

Status display

Explanation of the 5-digit LED display and navigation through status items.

Diagnosis mode

Guide to accessing and interpreting diagnostic information displayed on the servo amplifier.

Alarm mode

How to view current alarms, past alarm history, and parameter errors on the display.

Parameter mode

Procedures for navigating and modifying basic, expansion, and special parameters.

External I/O signal display

How to confirm the ON/OFF states of digital I/O signals connected to the servo amplifier.

Output signal (DO) forced output

Function to force servo amplifier output signals ON/OFF independently for wiring checks.

Test operation mode

Overview and instructions for using test operation modes like jog, positioning, and motor-less operation.

GENERAL GAIN ADJUSTMENT

Different adjustment methods

Overview of methods for gain adjustment, including auto tuning and manual modes.

Auto tuning

Explanation of real-time auto tuning for optimizing gains by estimating machine characteristics.

Manual mode 1 (simple manual adjustment)

Procedures for manually adjusting gains using PG1, VG2, and VIC parameters.

Interpolation mode

Details on using interpolation mode for matching position control gains across multiple axes.

Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

Comparison of auto tuning features and response level settings between J2 and J2-Super series.

COMMUNICATION FUNCTIONS

Configuration

System configurations for RS-232C or RS-422 communication with servo amplifiers.

Communication specifications

Overview of communication parameters like baud rate, transfer code, and protocol.

Protocol

Explanation of data transmission and data request protocols, including frame structures.

Character codes

Tables for control codes and ASCII codes used in communication.

Error codes

List of error codes, their names, descriptions, and corresponding responses.

Checksum

Explanation of checksum calculation for ensuring data integrity during communication.

Time-out operation

How communication status recovery occurs when a time-out condition is met.

Retry operation

Process for retransmitting messages when communication faults occur.

Initialization

Steps required for initializing the slave station before normal communication.

Communication procedure example

Example of a communication sequence for reading parameter No.2.

Command and data No. list

Comprehensive list of commands and their corresponding data numbers for various operations.

Detailed explanations of commands

Explanation of data processing for sending and receiving data.

SPECIAL ADJUSTMENT FUNCTIONS

Function block diagram

Block diagram illustrating functions for resonance suppression and low-pass filtering.

Machine resonance suppression filter

Function and parameters for suppressing mechanical system resonance using notch filters.

Adaptive vibration suppression control

Functionality and parameters for automatically detecting and suppressing machine resonance.

Low-pass filter

Explanation of the low-pass filter's role in preventing resonance at high frequencies.

Gain changing function

How to change servo gains during operation using external signals or conditions.

INSPECTION

Inspection

Recommended periodic checks for loose screws, cable integrity, and general maintenance.

Life

Guidelines for the lifespan and replacement intervals of servo amplifier components.

TROUBLESHOOTING

Trouble at start-up

Common faults encountered during initial power-on and their potential causes and solutions.

When alarm or warning has occurred

Comprehensive list of alarms and warnings, their causes, and recommended actions for resolution.

MR-DP60 external digital display error

Troubleshooting guide for errors detected by the MR-DP60 external digital display.

OUTLINE DIMENSION DRAWINGS

Servo amplifiers

Dimensional drawings and mounting information for various MR-J2S servo amplifier models.

Connectors

Outline drawings and specifications for connectors used on the servo amplifier side.

CHARACTERISTICS

Overload protection characteristics

Graphs showing electronic thermal relay protection curves for different servo amplifier models.

Power supply equipment capacity and generated loss

Table detailing power supply capacities and generated heat for servo amplifiers under rated load.

Dynamic brake characteristics

Information on dynamic brake operation, coasting distance calculations, and time constants.

Encoder cable flexing life

Graph illustrating encoder cable flexing life based on flexing radius.

Inrush Currents at Power-On of Main Circuit and Control Circuit

Data on inrush currents during power-on for different servo amplifier models.

OPTIONS AND AUXILIARY EQUIPMENT

Regenerative options

Table detailing combinations and regenerative power ratings of various regenerative options.

FR-BU2 brake unit

Information on the FR-BU2 brake unit, including selection, parameters, and connection.

Power regeneration converter

Details on power regeneration converters, their selection, and connection examples.

Cables and connectors

Catalog of cables and connectors used for servo amplifier and motor connections.

Junction terminal block (MR-TB20)

Information on the junction terminal block, its usage, labels, and outline drawing.

Maintenance junction card (MR-J2CN3TM)

Usage and connection diagram for the maintenance junction card.

External digital display (MR-DP60)

Specifications, connection, and mounting details for the external digital display.

Manual pulse generator (MR-HDP01)

Specifications, connection, and terminal arrangement for the manual pulse generator.

Battery (MR-BAT, A6BAT)

Information on battery usage for absolute position detection systems and transportation precautions.

Recommended wires

Table specifying recommended wires for power supply wiring based on servo amplifier models.

No-fuse breakers, fuses, magnetic contactors

Selection guidelines for protective devices like no-fuse breakers and magnetic contactors.

Power factor improving reactors

Information on power factor improving reactors and their installation.

Noise reduction techniques

Methods for reducing electrical noise affecting servo amplifier and peripheral devices.

Leakage current breaker

Guidelines for selecting and installing leakage current breakers to prevent malfunction.

EMC filter

Information on EMC filters for compliance with EN standards and connection examples.

Setting potentiometers for analog inputs

Details on variable resistors for analog input configuration.

COMMUNICATION FUNCTIONS

Configuration

System configurations for RS-232C or RS-422 communication with servo amplifiers.

Communication specifications

Overview of communication parameters like baud rate, transfer code, and protocol.

Protocol

Explanation of data transmission and data request protocols, including frame structures.

Character codes

Tables for control codes and ASCII codes used in communication.

Error codes

List of error codes, their names, descriptions, and corresponding responses.

Checksum

Explanation of checksum calculation for ensuring data integrity during communication.

Time-out operation

How communication status recovery occurs when a time-out condition is met.

Retry operation

Process for retransmitting messages when communication faults occur.

Initialization

Steps required for initializing the slave station before normal communication.

Communication procedure example

Example of a communication sequence for reading parameter No.2.

Command and data No. list

Comprehensive list of commands and their corresponding data numbers for various operations.

Detailed explanations of commands

Explanation of data processing for sending and receiving data.