Mitsubishi Electric MR-J2S-*A series User Manual

RGB ELEKTRONIKA AGACIAK CIACIEK
SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street
51-162 Wrocław
Poland
biuro@rgbelektronika.pl
+48 71 325 15 05
www.rgbautomatyka.pl
www.rgbelektronika.pl
DATASHEET
www.rgbautomatyka.pl
www.rgbelektronika.pl
OTHER SYMBOLS:
MR-J2S-200A
MRJ2S200A, MRJ2S 200A, MRJ2S-200A, MR J2S200A, MR J2S 200A, MR J2S-200A, MR-J2S200A, MR-J2S 200A,
MR-J2S-200A
MITSUBISHI ELECTRIC

Mitsubishi Electric MR-J2S-*A series Specifications

General

Series	MR-J2S-*A
Model	MR-J2S-*A series
Category	Servo Drives
Type	AC Servo
Power Supply Voltage	3-phase 200V to 230V AC
Input Power Supply	3-phase 200V to 230V AC, 50/60Hz
Feedback System	Incremental encoder, Absolute encoder
Communication Interface	RS-422, RS-485
Interface	Position control, Speed control
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overload, Overheat, Encoder Error, Regenerative Error
Protection Class	IP20
Ambient Temperature	0°C to 55°C (32°F to 131°F)
Ambient Humidity	90% RH or less (non-condensing)
Vibration Resistance	5.9 m/s² (0.6G) at 10 to 55Hz in X, Y, Z directions
Storage Temperature	-20 to 65°C
Control Method	Sine Wave PWM Control

Summary

DATASHEET

OTHER SYMBOLS

Lists alternative model designations for the product.

MELSERVO Servo Amplifiers and Motors Instruction Manual

Safety Instructions

WARNING

Indicates hazardous conditions resulting in death or severe injury.

CAUTION

Indicates hazardous conditions resulting in medium or slight injury or physical damage.

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

Explains the purpose and requirements of EC directives for product safety.

2. PRECAUTIONS FOR COMPLIANCE

Outlines precautions related to servo amplifiers and motors used.

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

Introduces the Mitsubishi MELSERVO-J2-Super series AC servo system.

1.2 Function block diagram

Presents a functional block diagram of the servo system, illustrating its components.

1.3 Servo amplifier standard specifications

Lists the standard specifications for the servo amplifier across various models.

1.4 Function list

Provides a list of available functions and their descriptions, with cross-references.

1.5 Model code definition

Explains how to interpret the model codes of the servo amplifiers.

1.6 Combination with servo motor

Details compatible combinations of servo amplifiers and servo motors.

1.7 Structure

Describes the physical structure and identifies key parts of the servo amplifier.

1.8 Servo system with auxiliary equipment

Illustrates the servo system configuration with auxiliary equipment connections.

INSTALLATION

2.1 Environmental conditions

Specifies the operating environment conditions for the servo amplifier.

2.2 Installation direction and clearances

Details the required installation direction and clearances for the servo amplifier.

2.3 Keep out foreign materials

Provides guidelines to prevent foreign matter entry into the servo amplifier.

2.4 Cable stress

Addresses considerations for managing cable stress during installation.

SIGNALS AND WIRING

3.1 Standard connection example

Provides standard connection examples for various control modes.

3.2 Internal connection diagram of servo amplifier

Shows the internal signal assignments within the servo amplifier.

3.3 I/O signals

Details the input and output signals of the servo amplifier.

OPERATION

4.1 When switching power on for the first time

Lists checks to perform before the first power-on operation.

4.2 Startup

Outlines the procedure for starting up the servo motor and system.

4.3 Multidrop communication

Explains how to use the RS-422 communication function for multiple axes.

PARAMETERS

5.1 Parameter list

Lists all parameters with their settings, operation modes, and descriptions.

5.1.1 Parameter write inhibit

Explains how parameter write inhibit works and how to enable expansion parameters.

5.1.2 Lists

Provides a detailed list of parameters, their initial values, units, and control modes.

DISPLAY AND OPERATION

6.1 Display flowchart

Illustrates the navigation flow for the servo amplifier's display and operation buttons.

6.2 Status display

Explains how servo status is shown on the LED display and how to view different data.

6.3 Diagnostic mode

Describes various diagnostic modes and their functions for checking system status.

6.4 Alarm mode

Details how current alarms, past alarm history, and parameter errors are displayed.

6.5 Parameter mode

Explains how to access and change parameter values using the operation buttons.

6.6 External I/O signal display

Describes how to view the ON/OFF states of digital I/O signals connected to the amplifier.

6.7 Output signal (DO) forced output

Explains how to force output signals ON/OFF for wiring checks.

6.8 Test operation mode

Covers modes for testing servo operation without a machine connection.

GENERAL GAIN ADJUSTMENT

7.1 Different adjustment methods

Outlines various methods for adjusting servo amplifier gains.

7.1.1 Adjustment on a single servo amplifier

Details the process of adjusting gains on a single servo amplifier using different modes.

7.1.2 Adjustment using servo configuration software

Explains how to perform adjustments using the servo configuration software.

7.2 Auto tuning

Describes the real-time auto tuning function for optimizing servo gains.

7.2.1 Auto tuning mode

Explains the factory-set auto tuning mode 1 and the process for auto tuning mode 2.

7.2.2 Auto tuning mode operation

Illustrates the block diagram and operation flow of the real-time auto tuning function.

7.2.3 Adjustment procedure by auto tuning

Provides a step-by-step procedure for adjusting gains using the auto tuning function.

7.2.4 Response level setting in auto tuning mode

Explains how to set the response level for the servo system in auto tuning mode.

7.3 Manual mode 1 (simple manual adjustment)

Describes simple manual gain adjustment using three key parameters.

7.3.1 Operation of manual mode 1

Details the operation of manual mode 1 and how it sets other gains automatically.

7.3.2 Adjustment by manual mode 1

Provides a step-by-step procedure for adjusting gains using manual mode 1.

7.4 Interpolation mode

Explains the interpolation mode for matching gains across multiple axes.

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

Highlights differences in auto tuning, particularly response level settings.

SPECIAL ADJUSTMENT FUNCTIONS

8.1 Function block diagram

Shows a block diagram illustrating how special adjustment functions interact.

8.2 Machine resonance suppression filter

Explains the machine resonance suppression filter (notch filter) to reduce vibration.

8.3 Adaptive vibration suppression control

Describes the adaptive vibration suppression control that automatically adjusts filters for resonance.

8.4 Low-pass filter

Explains the low-pass filter function to prevent high-frequency resonance.

8.5 Gain changing function

Details the gain changing function to adjust gains during rotation or stop.

INSPECTION

9.1 Inspection

Recommends periodic checks for loose screws, cables, and general condition.

9.2 Life

Lists parts with their expected life and recommended replacement intervals.

TROUBLESHOOTING

10.1 Trouble at start-up

Lists common faults that may occur during initial power-on and startup.

10.1.1 Position control mode

Provides troubleshooting steps for issues encountered in position control mode.

10.2 When alarm or warning has occurred

Guides users on what to do when an alarm or warning message is displayed.

10.2.1 Alarms and warning list

Lists all alarms and warnings, their codes, and deactivation methods.

10.2.2 Remedies for alarms

Provides detailed remedies for specific alarm codes, including causes and actions.

OUTLINE DIMENSION DRAWINGS

11.1 Servo amplifiers

Shows dimensional drawings and weight for various MR-J2S servo amplifier models.

11.2 Connectors

Provides outline drawings and specifications for servo amplifier connectors.

CHARACTERISTICS

12.1 Overload protection characteristics

Shows electronic thermal relay protection curves for overload conditions.

12.2 Power supply equipment capacity and generated loss

Lists power supply capacities and generated heat values for different models.

12.3 Dynamic brake characteristics

Details the dynamic brake operation and provides formulas for calculating coasting distance.

12.4 Encoder cable flexing life

Presents a graph showing calculated encoder cable flexing life based on radius.

OPTIONS AND AUXILIARY EQUIPMENT

13.1 Options

Lists available options for the servo system, such as regenerative brake options.

13.1.1 Regenerative brake options

Details combinations and regenerative power of various brake options.

13.1.2 Brake unit

Explains the brake unit as an option for higher regenerative power needs.

13.1.3 Power return converter

Introduces the power return converter for returning regenerative power.

13.1.4 Cables and connectors

Lists various cables and connectors used for system connections.

13.1.5 Junction terminal block (MR-TB20)

Describes the junction terminal block for simplifying wiring connections.

13.1.6 Maintenance junction card (MR-J2CN3TM)

Explains the maintenance junction card for PC and analog monitor use.

13.1.7 Battery (MR-BAT, A6BAT)

Describes the battery used for the absolute position detection system backup.

13.1.8 Servo configurations software

Details the servo configuration software for parameter setting and testing.

COMMUNICATION FUNCTIONS

14.1 Configuration

Covers the initial setup and configuration for communication.

14.1.1 RS-422 configuration

Details the configuration for RS-422 communication, including multidrop.

14.1.2 RS-232C configuration

Explains the configuration for RS-232C communication for single-axis operation.

14.2 Communication specifications

Outlines communication parameters like baudrate, transfer code, and protocol.

14.2.1 Communication overview

Explains the master-slave communication concept and data frames.

14.2.2 Parameter setting

Details how to set parameters for serial communication baudrate, selection, and response.

14.3 Protocol

Describes the communication protocol, including data transmission and station numbers.

14.4 Character codes

Lists control codes and data codes used in communication.

14.5 Error codes

Explains the error codes used for communication faults.

14.6 Checksum

Details the checksum calculation method for verifying data transmission.

14.7 Time-out operation

Explains the time-out procedures for communication errors.

14.8 Retry operation

Describes the retry operation mechanism for communication faults.

14.9 Initialization

Outlines the steps for initializing the slave station for communication.

14.10 Communication procedure example

Provides an example of reading parameter No. 2 from servo amplifier station 0.

14.11 Command and data No. list

Lists read and write commands for status display, parameters, and alarms.

14.12 Detailed explanations of commands

Provides detailed explanations for various commands used in communication.

ABSOLUTE POSITION DETECTION SYSTEM

15.1 Outline

Introduces the absolute position detection system and its features.

15.1.1 Features

Highlights the benefits of the absolute position detection system, like battery backup.

15.1.2 Restrictions

Lists conditions under which the absolute position system cannot be configured or used.

15.2 Specifications

Provides a specification list for the electronic battery backup system.

15.3 Battery installation procedure

Details the procedure for installing the battery for absolute position backup.

15.4 Standard connection diagram

Shows a standard connection diagram for the absolute position detection system.

15.5 Signal explanation

Explains the function and control mode of signals related to absolute position data transfer.

15.6 Startup procedure

Outlines the steps for starting up the absolute position detection system.

15.7 Absolute position data transfer protocol

Describes the protocol for transferring absolute position data between devices.

15.7.1 Data transfer procedure

Details the procedure for data transfer, including timing and sequence.

15.7.2 Transfer method

Explains the sequence of signals for absolute position data transfer.

15.7.3 Home position setting

Describes methods for setting the home position for absolute position systems.

15.7.4 Use of servo motor with electromagnetic brake

Details how to use the servo motor with an electromagnetic brake in ABS systems.

15.7.5 How to process the absolute position data at detection of stroke end

Explains how to process absolute position data when stroke ends are detected.

15.8 Examples of use

Provides examples of using the absolute position system with specific controllers.

15.8.1 MELSEC-A1S (A1SD71)

Illustrates usage with the MELSEC-A1S (A1SD71) controller.

15.9 Confirmation of absolute position detection data

Describes how to confirm absolute position data using servo configuration software.

15.10 Absolute position data transfer errors

Lists errors related to absolute position data transfer and their corrective actions.

15.10.1 Corrective actions

Provides detailed corrective actions for various ABS data transfer errors.