General-Purpose AC Servo
J2M Series
SSCNET Compatible
MODEL
MR-J2M-P8B
MR-J2M- DU
MR-J2M-BU
SERVO AMPLIFIER
INSTRUCTION MANUAL
G
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the base unit and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire for each unit and the servo motor until they are installed. Otherwise, you can obtain
the electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the base unit, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When each unit has become faulty, switch off the main base unit power side. Continuous flow of a large
current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot
while power is on or for some time after power-off. Their temperatures may be high and you may get
burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A - 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their masses.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport each unit. Each unit may drop.
Install the each unit in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the base unit and control enclosure walls or other equipment.
Do not install or operate the unit and servo motor which has been damaged or has any parts missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering each unit and servo motor.
Do not drop or strike each unit or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Each unit
0 to 55 (non-freezing)
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
Servo motor
0 to 40 (non-freezing)
32 to 104 (non-freezing)
15 to 70 (non-freezing)
5 to 158 (non-freezing)
[
[
[
[
]
]
]
]
During
operation
Ambient
temperature
In storage
During
operation
In storage
90%RH or less (non-condensing)
80%RH or less (non-condensing)
Ambient
humidity
90%RH or less (non-condensing)
Ambience
Altitude
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
HC-KFS Series
[m/s2]
[ft/s2]
5.9 or less
HC-MFS Series
HC-UFS13 to 43
HC-KFS Series
HC-MFS Series
HC-UFS13 to 43
X
X
Y : 49
(Note)
Vibration
19.4 or less
Y : 161
Note. Except the servo motor with reduction gear.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
A - 3
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and drive unit.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
Drive unit
Servo Motor
U
V
U
V
W
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the forced stop and other protective circuits may not operate.
Interface unit
VIN
Interface unit
VIN
SG
SG
Control output
signal
Control output
signal
RA
RA
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
A - 4
(4) Usage
CAUTION
Provide a emergency stop circuit to ensure that operation can be stopped and power switched off
immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.
A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near MELSERVO-J2M.
Burning or breaking each unit may cause a toxic gas. Do not burn or break each unit.
Use the drive unit with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but
also by a forced stop (EM1).
Contacts must be open when
servo-off, when an alarm occurrence
and when an electromagnetic brake
interlock (MBR).
Circuit must be
opened during
forced stop (EM1).
Servo motor
RA EM1
24VDC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the drive unit will deteriorate. To prevent a secondary accident due
to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
A - 6
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
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COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo (MELSERVO-J2M is contained) have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to MELSERVO-J2M. Hence, they are designed to comply with
the low voltage directive.
MELSERVO-J2M is certified by TUV, third-party assessment organization, to comply with the low
voltage directive.
(3) Machine directive
Not being machines, MELSERVO-J2M need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Unit and servo motors used
Use each units and servo motors which comply with the standard model.
Drive unit
Interface unit
Base unit
:MR-J2M- DU
:MR-J2M-P8B
:MR-J2M-BU
:HC-KFS
Servo motor
HC-MFS
HC-UFS
(2) Configuration
Control box
Reinforced
insulating type
24VDC
power
supply
Reinforced
insulating
transformer
No-fuse
breaker
Magnetic
contactor
Servo
motor
MELSERVO-
J2M
MC
M
NFB
A - 8
(3) Environment
Operate MELSERVO-J2M at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install MELSERVO-J2M in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
(4) Power supply
(a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in
IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN
standard should be used in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
base unit to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the base unit must be connected to the corresponding earth terminals.
(d) The protective earth (PE) of the servo motor is connected to the protective earth of the base unit via
the screw which fastens the drive unit to the base unit. When fixing the drive unit to the base unit,
therefore, tighten the accessory screw securely.
(6) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in Section 12.2.2.
(b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(7) Performing EMC tests
When EMC tests are run on a machine/device into which MELSERVO-J2M has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC directive guidelines on MELSERVO-J2M, refer to the EMC Installation
Guidelines(IB(NA)67310).
A - 9
CONFORMANCE WITH UL/C-UL STANDARD
The MELSERVO-J2M complies with UL508C.
(1) Unit and servo motors used
Use the each units and servo motors which comply with the standard model.
Drive unit
:MR-J2M- DU
:MR-J2M-P8B
:MR-J2M-BU
:HC-KFS
Interface unit
Base unit
Servo motor
HC-MFS
HC-UFS
(2) Installation
Install a fan of 100CFM (2.8m3/min)air flow 4 in (10.16 cm) above MELSERVO-J2M or provide cooling
of at least equivalent capability.
(3) Short circuit rating
MELSERVO-J2M conforms to the circuit whose peak current is limited to 5000A or less. Having been
subjected to the short-circuit tests of the UL in the alternating-current circuit, MELSERVO-J2M
conforms to the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.
Base unit
Discharge time [min]
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
3
4
5
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
MELSERVO-J2M for the first time. Always purchase them and use the MELSERVO-J2M safely.
Also read the manual of the servo system controller.
Relevant manuals
Manual name
Manual No.
MELSERVO-J2M Series To Use the AC Servo Safely
(Packed with the MR-J2M-P8B, MR-J2M- BU and MR-J2M-BU
MELSERVO Servo Motor Instruction Manual
EMC Installation Guidelines
IB(NA)0300027
)
SH(NA)3181
IB(NA)67310
In this Instruction Manual, the drive unit, interface unit and base unit may be referred to as follows:
Drive unit : DRU
Interface unit : IFU
Base unit : BU
A - 10
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-10
1.1 Overview................................................................................................................................................... 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Unit standard specifications................................................................................................................... 1- 3
1.4 Function list ............................................................................................................................................. 1- 4
1.5 Model code definition .............................................................................................................................. 1- 5
1.6 Combination with servo motor............................................................................................................... 1- 6
1.7 Parts identification.................................................................................................................................. 1- 7
1.8 Servo system with auxiliary equipment................................................................................................ 1- 9
2. INSTALLATION AND START UP
2- 1 to 2-10
2.1 Environmental conditions....................................................................................................................... 2- 1
2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress.............................................................................................................................................. 2- 3
2.5 Mounting method .................................................................................................................................... 2- 4
2.6 When switching power on for the first time.......................................................................................... 2- 6
2.7 Start up..................................................................................................................................................... 2- 7
2.8 Control axis selection .............................................................................................................................. 2- 9
3. SIGNALS AND WIRING
3- 1 to 3-28
3.1 Connection example of control signal system....................................................................................... 3- 2
3.2 I/O signals of interface unit.................................................................................................................... 3- 4
3.2.1 Connectors and signal arrangements............................................................................................. 3- 4
3.2.2 Signal explanations .......................................................................................................................... 3- 5
3.2.3 Interfaces........................................................................................................................................... 3- 6
3.3 Signals and wiring for extension IO unit.............................................................................................. 3- 9
3.3.1 Connection example ......................................................................................................................... 3- 9
3.3.2 Connectors and signal configurations ...........................................................................................3-11
3.3.3 Output signal explanations ............................................................................................................3-12
3.4 Signals and wiring for base unit...........................................................................................................3-14
3.4.1 Connection example of power line circuit......................................................................................3-14
3.4.2 Connectors and signal configurations ...........................................................................................3-16
3.4.3 Terminals..........................................................................................................................................3-17
3.4.4 Power-on sequence...........................................................................................................................3-18
3.5 Connection of drive unit and servo motor............................................................................................3-19
3.5.1 Connection instructions ..................................................................................................................3-19
3.5.2 Connection diagram ........................................................................................................................3-19
3.5.3 I/O terminals ....................................................................................................................................3-20
3.6 Alarm occurrence timing chart .............................................................................................................3-21
3.7 Servo motor with electromagnetic brake .............................................................................................3-22
3.8 Grounding................................................................................................................................................3-26
3.9 Instructions for the 3M connector.........................................................................................................3-27
1
4. OPERATION AND DISPLAY
4- 1 to 4-10
4.1 Normal indication.................................................................................................................................... 4- 1
4.1.1 Display sequence............................................................................................................................... 4- 2
4.1.2 If alarm/warning occurs................................................................................................................... 4- 3
4.2 Status display mode of interface unit.................................................................................................... 4- 4
4.2.1 Display flowchart.............................................................................................................................. 4- 4
4.2.2 Status display of interface unit....................................................................................................... 4- 5
4.2.3 Diagnostic mode of interface unit ................................................................................................... 4- 6
4.2.4 Alarm mode of interface unit........................................................................................................... 4- 7
4.2.5 Interface unit parameter mode ....................................................................................................... 4- 8
4.2.6 Output signal (DO) forced output ................................................................................................... 4- 9
5. PARAMETERS
5- 1 to 5-26
5.1 Drive unit ................................................................................................................................................. 5- 1
5.1.1 Parameter write inhibit ................................................................................................................... 5- 1
5.1.2 Lists.................................................................................................................................................... 5- 2
5.2 Interface unit ..........................................................................................................................................5-15
5.2.1 IFU parameter write inhibit...........................................................................................................5-15
5.2.2 Lists...................................................................................................................................................5-15
5.2.3 Analog monitor.................................................................................................................................5-21
5.2.4 Test operation mode ........................................................................................................................5-24
6. GENERAL GAIN ADJUSTMENT
6- 1 to 6-12
6.1 Different adjustment methods ............................................................................................................... 6- 1
6.1.1 Adjustment on a MELSERVO-J2M................................................................................................ 6- 1
6.1.2 Adjustment using MR Configurator (servo configuration software)........................................... 6- 3
6.2 Auto tuning .............................................................................................................................................. 6- 4
6.2.1 Auto tuning mode ............................................................................................................................. 6- 4
6.2.2 Auto tuning mode operation............................................................................................................ 6- 5
6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 6
6.2.4 Response level setting in auto tuning mode .................................................................................. 6- 7
6.3 Manual mode 1 (simple manual adjustment)....................................................................................... 6- 8
6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 8
6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 8
6.4 Interpolation mode .................................................................................................................................6-11
7. SPECIAL ADJUSTMENT FUNCTIONS
7- 1 to 7-10
7.1 Function block diagram .......................................................................................................................... 7- 1
7.2 Machine resonance suppression filter................................................................................................... 7- 1
7.3 Adaptive vibration suppression control................................................................................................. 7- 3
7.4 Low-pass filter ......................................................................................................................................... 7- 4
7.5 Gain changing function........................................................................................................................... 7- 5
7.5.1 Applications ...................................................................................................................................... 7- 5
7.5.2 Function block diagram................................................................................................................... 7- 5
7.5.3 Parameters........................................................................................................................................ 7- 6
7.5.4 Gain changing operation ................................................................................................................. 7- 8
8. INSPECTION
8- 1 to 8- 2
2
9. TROUBLESHOOTING
9- 1 to 9-10
9.1 Alarms and warning list ......................................................................................................................... 9- 1
9.2 Remedies for alarms................................................................................................................................ 9- 3
9.3 Remedies for warnings...........................................................................................................................9-10
10. OUTLINE DRAWINGS
10- 1 to 10- 10
10.1 MELSERVO-J2M configuration example.........................................................................................10- 1
10.2 Unit outline drawings .........................................................................................................................10- 2
10.2.1 Base unit (MR-J2M-BU )...........................................................................................................10- 2
10.2.2 Interface unit (MR-J2M-P8B) .....................................................................................................10- 2
10.2.3 Drive unit (MR-J2M- DU).........................................................................................................10- 3
10.2.4 Extension IO unit (MR-J2M-D01) ..............................................................................................10- 4
10.2.5 Battery unit (MR-J2M-BT)..........................................................................................................10- 4
10.3 Connector .............................................................................................................................................10- 5
11. CHARACTERISTICS
11- 1 to 11- 6
11.1 Overload protection characteristics...................................................................................................11- 1
11.2 Power supply equipment capacity and generated loss ....................................................................11- 2
11.3 Dynamic brake characteristics...........................................................................................................11- 4
11.4 Encoder cable flexing life....................................................................................................................11- 6
12. OPTIONS AND AUXILIARY EQUIPMENT
12- 1 to 12-36
12.1 Options..................................................................................................................................................12- 1
12.1.1 Regenerative brake options .........................................................................................................12- 1
12.1.2 Cables and connectors..................................................................................................................12- 8
12.1.3 Maintenance junction card (MR-J2CN3TM) ............................................................................12-21
12.1.4 MR Configurator (servo configurations software)....................................................................12-23
12.2 Auxiliary equipment ..........................................................................................................................12-25
12.2.1 Recommended wires....................................................................................................................12-25
12.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................12-26
12.2.3 Power factor improving reactors................................................................................................12-27
12.2.4 Relays............................................................................................................................................12-28
12.2.5 Surge absorbers ...........................................................................................................................12-28
12.2.6 Noise reduction techniques.........................................................................................................12-28
12.2.7 Leakage current breaker ............................................................................................................12-34
12.2.8 EMC filter.....................................................................................................................................12-35
13. ABSOLUTE POSITION DETECTION SYSTEM
13- 1 to 13- 4
13.1 Features................................................................................................................................................13- 1
13.2 Specifications .......................................................................................................................................13- 2
13.3 Confirmation of absolute position detection data.............................................................................13- 3
APPENDIX
App- 1 to App- 2
App 1. Status indication block diagram ................................................................................................. App- 1
3
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in
this Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULATION METHODS FOR DESIGNING
4
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Overview
The Mitsubishi general-purpose AC servo MELSERVO-J2M series is an AC servo which has realized
wiring-saving, energy-saving and space-saving in addition to the high performance and high functions of
the MELSERVO-J2-Super series. Connected with a servo system controller or like by a serial bus
(SSCNET), the equipment reads position data directly to perform operation. Data from a command unit
are used to control the speeds and directions of servo motors and execute precision positioning.
The MELSERVO-J2M series consists of an interface unit (abbreviated to the IFU) to be connected with a
servo system controller, drive units (abbreviated to the DRU) for driving and controlling servo motors,
and a base unit (abbreviated to the BU) where these units are installed.
A torque limit is applied to the drive unit by the clamp circuit to protect the main circuit power
transistors from overcurrent caused by abrupt acceleration/deceleration or overload. In addition, the
torque limit value can be changed as desired using the parameter.
The interface unit has an RS-232C serial communication function to allow the parameter setting, test
operation, status indication monitoring, gain adjustment and others of all units to be performed using a
personal computer or like where the MR Configurator (servo configuration software) is installed. By
choosing the axis number of the drive unit using the MR Configurator (servo configuration software), you
can select the unit to communicate with, without changing the cabling.
The real-time auto tuning function automatically adjusts the servo gains according to a machine.
The MELSERVO-J2M series supports as standard the absolute position encoders which have 131072
pulses/rev resolution, ensuring control as accurate as that of the MELSERVO-J2-Super series. Simply
adding the optional battery unit configures an absolute position detection system. Hence, merely setting a
home position once makes it unnecessary to perform a home position return at power-on, alarm
occurrence or like.
The MELSERVO-J2M series has a control circuit power supply in the interface unit and main circuit
converter and regenerative functions in the base unit to batch-wire the main circuit power input,
regenerative brake connection and control circuit power input, achieving wiring-saving.
In the MELSERVO-J2M series, main circuit converter sharing has improved the capacitor regeneration
capability dramatically. Except for the operation pattern where all axes slow down simultaneously, the
capacitor can be used for regeneration. You can save the energy which used to be consumed by the
regenerative brake resistor.
Bus cable connections
Extension IO unit
MR-J2M-D01
Regenerative
brake option
Encoder pulse output
extension DIO (Axes 1 to 4)
Control circuit
power input
Encoder cable
Encoder pulse output
extension DIO (Axes 5 to 8)
Servo motor power cable
Main circuit power input
Personal computer connection
Analog monitor
Forced stop input
Electromagnetic brake interlock output
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
Base unit
CNP1B
Interface unit
L11
I/F Control
Power
L21
supply
3-phase
200 to
230VAC
(Note)
1-phase
200 to
Controller or
Servo amplifier
FR-BAL CNP3
NFB
MC
Position command
I/F Control
L1
L2
L3
Servo amplifier
or termination
connector
Personal
computer
RS-232C
D/A
230VAC
CNP1A
Regenerative brake option
P
N
C
Analog monitor
(3 channels)
Drive unit
Servo motor
Dynamic
brake
(Earth)
U
Current
detector
V
M
W
Overcurrent
protection
Current
detection
Base amplifier
Current
control
Actual position
control
Actual speed
control
Encoder
Model
position
Model
speed
Model
torque
Position
command
input
Model position
control
Model speed
control
Virtual Virtual
servo encoder
motor
Drive unit
Dynamic
brake
Servo motor
(Earth)
U
Current
detection
V
M
W
Encoder
Drive unit
Servo motor
Dynamic
brake
(Earth)
U
V
W
Current
detection
M
Encoder
Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
1 - 2
1. FUNCTIONS AND CONFIGURATION
1.3 Unit standard specifications
(1) Base unit
Model
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
Number of slots
4
6
8
(Note)
Control
circuit
power
supply
Voltage/frequency
3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage fluctuation
Permissible frequency fluctuation
1-phase 170 to 253VAC
Within 5%
Inrush current
20A (5ms)
Voltage/frequency
3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC or 1-phase 170 to 253VAC, 50/60Hz
Within 5%
Permissible voltage fluctuation
Permissible frequency fluctuation
Maximum servo motor connection
capacity [W]
Main
circuit
power
supply
1600
1280
2400
3200
2560
Continuous capacity [W]
Inrush current
1920
62.5A (15ms)
Function
Converter function, regenerative control, rushing into current control function
Regenerative overvoltage shut-off, regenerative fault protection,
undervoltage /instantaneous power failure protection
Protective functions
Mass
[kg]
[lb]
1.1
2.4
1.3
2.9
1.5
3.3
Note. The control circuit power supply is recorded to the interface unit.
(2) Drive unit
Model
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
Voltage/frequency
270 to 311VDC
230 to 342VDC
Power
supply
Permissible voltage fluctuation
Control system
Dynamic brake
Sine-wave PWM control, current control system
Built-in
Overcurrent shut-off, functions overload shut-off (electronic thermal relay),
servo motor overheat protection, encoder fault protection, overspeed
protection, excessive error protection
Protective functions
Structure
Open (IP00)
Cooling method
Self-cooled
0.4
Force-cooling (With built-in fan unit)
0.4
[kg]
[lb]
0.4
0.89
0.7
Mass
0.89
0.89
1.54
(3) Interface unit
Model
MR-J2M-P8B
Power supply circuit for each unit(8 slots or less)
Control circuit power supply
Interface
SSCNET interface 1channel RS-232C interface 1channel
Forced stop input(1 point), Electromagnetic brake sequence output
DIO
(1 point)
AIO
Analog monitor 3channel
Structure
Open (IP00)
0.5
[kg]
[lb]
Mass
1.10
1 - 3
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the Reference
field.
(1) Drive unit (Abbreviation DRU)
Function
Description
Reference
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
Auto tuning
Chapter 6
Section 7.3
Section 7.4
Adaptive vibration
suppression control
MELSERVO-J2M detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Low-pass filter
Slight vibration
suppression control
Forced stop signal
automatic ON
DRU Parameter
No.24
Suppresses vibration of 1 pulse produced at a servo motor stop.
Forced stop (EM1) can be automatically switched on internally to invalidate it.
Servo motor torque can be limited to any value.
DRU Parameter
No.23
DRU Parameters
No.10, No.11
Torque limit
(2) Interface unit (Abbreviation IFU)
Function
Description
Reference
Forced stop signal input
Disconnect forced stop (EM1) to bring the servo motor to a forced stop state, in
which the servo is switched off and the dynamic brake is operated.
In the servo-off or alarm status, this signal is disconnected.
When an alarm occurs, they are disconnected, independently of the base circuit
status.
Section 3.2.2
Electromagnetic brake
output
Section 3.2.2
Section 5.2.3
It is possible to use it to excite an electromagnetic brake.
Servo status is output in terms of voltage in real time.
Analog monitor
(3) Base unit (Abbreviation BU)
Function
Description
Reference
Used when the built-in regenerative brake resistor of the unit does not have
sufficient regenerative capability for the regenerative power generated.
Regenerative brake option
Section 12.1.1
(4) MR Configurator (servo configuration software)
Function
Description
Reference
Machine analyzer function Analyzes the frequency characteristic of the mechanical system.
Can simulate machine motions on a personal computer screen on the basis of the
machine analyzer results.
Machine simulation
Gain search function
Test operation mode
Can simulate machine motions on the basis of the machine analyzer results.
JOG operation and positioning operation are possible.
(5) Option unit
Function
Description
Reference
Merely setting a home position once makes home position return unnecessary at
every power-on.
Battery unit MR-J2M-BT is necessary.
Absolute position
detection system
The encoder feedback is output from enhancing IO unit MR-J2M-D01 by the
Encoder pulse output
A
B
Z phase pulse. The number of pulses output by the parameter can be
changed.
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.5 Model code definition
(1) Drive unit
(a) Rating plate
SON
ALM
Rating plate
MODEL
Model
MR-J2M-40DU
Capacity
POWER 400W
INPUT DC270V-311V
OUTPUT 170V 0-360Hz 2.3A
SERIAL N9Z95046
Applicable power supply
Rated output current
Serial number
TC300A***G51
MITSUBISHI ELECTRIC
Rating plate
(b) Model code
MR-J2M- DU
Rated output
Symbol Capacity of applied servo motor
10
20
40
70
100
200
400
750
(2) Interface unit
(a) Rating plate
MITSUBISHI
AC SERVO
MR-J2M-P8B
Model
MODEL
Rating
plate
Input capacity
POWER :75W
AC INPUT:2PH AC200-230V 50Hz
2PH AC200-230V 60Hz
Applicable
power supply
OUTPUT :DC5/12/20 4.6A/1.2/0.7A
SERIAL :A5*******
Output voltage / current
Serial number
TC3**AAAAG52
PASSED
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
(b) Model code
MR-J2M-P8B
SSCNET compatible
1 - 5
1. FUNCTIONS AND CONFIGURATION
(3) Base unit
(a) Rating plate
Rating plate
MITSUBISHI
MODEL
Model
MR-J2M-BU4
Applicable power
supply
Serial number
INPUT : 3PH 200-230
14A 50/60Hz
SERIAL:
N87B95046
BC336U246
PASSED
MITSUBISHI ELECTRIC
MADE IN JAPAN
(b) Model code
MR-J2M-BU
Number of Maximum servo motor
Symbol
Continuous capacity [W]
slots
connection capacity [W]
4
6
8
4
6
8
1600
2400
3200
1280
1920
2560
1.6 Combination with servo motor
The following table lists combinations of drive units and servo motors. The same combinations apply to
the models with electromagnetic brakes and the models with reduction gears.
Servo motor
Drive unit
HC-KFS
053 13
23
HC-MFS
053 13
23
HC-UFS
13
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
23
43
43
43
73
73
73
1 - 6
1. FUNCTIONS AND CONFIGURATION
1.7 Parts identification
(1) Drive unit
Mounting screw
Status indicator LED
Indicates the status of the drive unit.
Blinking green: Servo off status
Steady green: Servo on status
Blinking red: Warning status
Steady red: Alarm status
Rating plate
CN2
Encoder connector
Connect the servo
motor encoder
CNP2
Servo motor connector
For connection of servo
motor power line cable
(2) Interface unit
Display
Indicates operating status or alarm.
Pushbutton switches
Used to change status indication or set IFU parameters.
Mounting screw
CN1A
Bus cable connector
Display/setting cover
For connection of servo system controller or
preceding-axis servo amplifier.
CN1B
Bus cable connector
For connection of subsequent-axis servo
amplifier or MR-A-TM termination connector.
CN3
For connection of personal computer (RS-232C).
Outputs analog monitor.
Charge lamp
Lit when main circuit capacitor carries electrical charge.
When this lamp is on, do not remove/reinstall any unit
from/to base unit and do not unplug/plug cable and
connector from/into any unit.
1 - 7
1. FUNCTIONS AND CONFIGURATION
(3) Base unit
The following shows the MR-J2M-BU4.
CON3A
First slot connector
CNP1B
CON3C
Control circuit power input connector
Third slot connector
CNP1A
Regenerative brake
option connector
CON4
CNP3
Option slot connector
Main circuit power
input connector
CON5
Battery unit connector
CON1,CON2
Interface unit connectors
CON3B
Second slot connector
CON3D
Fourth slot connector
1 - 8
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the base unit to the protective earth (PE) of the control box.
WARNING
3-phase 200V to 230VAC
(Note) 1-phase 200V to 230VAC
power supply
Options and auxiliary equipment
Options and auxiliary equipment
Reference
Reference
Section 12.2.2
No-fuse breaker
Section 12.1.1
Section 12.2.1
Regenerative brake option
Magnetic contactor
Section 12.2.2 Cables
MR Configurator
(servo configuration software)
No-fuse breaker
(NFB) or fuse
Section 12.1.4 Power factor improving reactor Section 12.2.3
Servo system
controller
Subsequent axis
servo amplifier
or
Termination
connector
Control circuit
power supply
L11
L21
or
Preceding axis
servo amplifier
Magnetic
contactor
(MC)
Regenerative brake
option
To CN1A
To CN1B
L1
L2 L3
P
C
To CNP1B
Power
factor
improving
reactor
(FR-BAL)
To CNP1A
Encoder cable
Main circuit
power supply
To CNP3
To CN3
MR Configurator
(servo configuration
software)
Personal
computer
Power supply lead
Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
1 - 9
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 10
2. INSTALLATION AND START UP
2. INSTALLATION AND START UP
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range.
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering each unit.
Do not block the intake/exhaust ports of each unit. Otherwise, a fault may occur.
Do not subject each unit to drop impact or shock loads as they are precision
equipment.
CAUTION
Do not install or operate a faulty unit.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
2.1 Environmental conditions
The following environmental conditions are common to the drive unit, interface unit and base unit.
Environment
Conditions
[
[
[
[
]
]
]
]
0 to 55 (non-freezing)
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
During
operation
Ambient
temperature
In storage
During operation
In storage
Ambient
humidity
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
Ambience
Altitude
2
2
[m/s ]
5.9 [m/s ] or less
Vibration
2
2
[ft/s ]
19.4 [ft/s ] or less
2 - 1
2. INSTALLATION AND START UP
2.2 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION
Leave specified clearances between each unit and control box inside walls or other
equipment.
(1) Installation of one MELSERVO-J2M
40mm(1.57inch) or more
40mm(1.57inch) or more
(2) Installation of two or more MELSERVO-J2M
When installing two units vertically, heat generated by the lower unit influences the ambient
temperature of the upper unit. Suppress temperature rises in the control box so that the temperature
between the upper and lower units satisfies the environmental conditions. Also provide adequate
clearances between the units or install a fan.
40mm(1.57inch) or more
Leave 100mm(3.94inch) or more
clearance or install fan for forced air cooling.
40mm(1.57inch) or more
2 - 2
2. INSTALLATION AND START UP
(3) Others
When using heat generating equipment such as the regenerative brake option, install them with full
consideration of heat generation so that MELSERVO-J2M is not affected.
Install MELSERVO-J2M on a perpendicular wall in the correct vertical direction.
2.3 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering each
unit.
(2) Prevent oil, water, metallic dust, etc. from entering each unit through openings in the control box or a
fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an
air purge (force clean air into the control box from outside to make the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.
2.4 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional encoder cable or the power supply and brake
wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and
brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 11.4 for the flexing life.
2 - 3
2. INSTALLATION AND START UP
2.5 Mounting method
(1) Base unit
As shown below, mount the base unit on the wall of a control box or like with M5 screws.
Wall
(2) Interface unit/drive unit (MR-J2M-40DU or less)
The following example gives installation of the drive unit to the base unit. The same also applies to the
interface unit.
Sectional view
Base unit
Drive unit
Wall
1)
Positioning hole
Catch
1) Hook the catch of the drive unit in the positioning hole of the base unit.
Sectional view
2)
Base unit
Drive unit
Wall
2) Using the catch hooked in the positioning hole as a support, push the drive unit in.
2 - 4
2. INSTALLATION AND START UP
Sectional view
3)
3)
Wall
3) Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit.
POINT
Securely tighten the drive unit fixing screw.
Sectional view
Wall
(3) Drive unit (MR-J2M-70DU)
When using the MR-J2M-70DU, install it on two slots of the base unit. The slot number of this drive
unit is that of the left hand side slot of the two occupied slots, when they are viewed from the front of
the base unit.
2 - 5
2. INSTALLATION AND START UP
2.6 When switching power on for the first time
Before starting operation, check the following:
(1) Wiring
(a) Check that the control circuit power cable, main circuit power cable and servo motor power cable
are fabricated properly.
(b) Check that the control circuit power cable is connected to the CNP1B connector and the main
circuit power cable is connected to the CNP3 connector.
(c) Check that the servo motor power cable is connected to the drive unit CNP2 connector.
(d) The earth terminal of the servo motor is connected to the PE terminal of the drive unit. Also check
that the drive unit is screwed to the base unit securely.
(e) When using the regenerative brake option, check that the cable using twisted wires is fabricated
properly and it is connected to the CNP1A connector properly.
(f) 24VDC or higher voltages are not applied to the pins of connector CN3.
(g) SD and SG of connector CN3 are not shorted.
(h) The wiring cables are free from excessive force.
(i) CN1A should be connected with the bus cable connected to the servo system controller or preceding
axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent
axis servo amplifier or with the termination connector MR-A-TM.
(j) Check that the encoder cable and servo motor power cable connected to the drive unit are connected
to the same servo motor properly.
(2) Axis number
(a) Check that the axis numbers of the servo system controller match the axis number settings of the
corresponding drive units.
(b) When changing the factory setting of any axis number (axis number slot number), check that the
IFU parameter No. 11 to 18 values are set without fail.
(c) Check that the encoder cable and motor power cable of the servo motor are wired to the drive unit
mounted to the slot as in the axis setting.
(3) Parameters
(a) Check that the drive unit parameters are set to correct values using the servo system controller
screen or MR Configurator (servo configuration software).
(b) Check that the interface unit parameters are set to correct values using the interface unit display
or MR Configurator (servo configuration software).
(4) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(5) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.
(b) The servo motor and the machine connected with the servo motor can be operated.
2 - 6
2. INSTALLATION AND START UP
2.7 Start up
Do not operate the switches with wet hands. You may get an electric shock.
Do not operate the controller with the front cover removed. High-voltage terminals
and charging area exposed and you may get an electric shock.
During power-on or operation, do not open the front cover. You may get an electric
shock.
WARNING
CAUTION
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake
resistor, servo motor, etc.since they may be hot while power is on or for some time
after power-off. Their temperatures may be high and you may get burnt or a parts
may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
(1) Power on
Switching on the main circuit power/control circuit power places the interface unit display in the scroll
status as shown below.
In the absolute position detection system, first power-on results in the absolute position lost (A.25)
alarm and the servo system cannot be switched on. This is not a failure and takes place due to the
uncharged capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then
switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.
2 - 7
2. INSTALLATION AND START UP
(2) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions.
(3) Checking the axis number
On the interface unit display, check that the slot numbers and axis numbers are as set. Set the drive
unit axis numbers in the IFU parameters No. 11 to 18.
For MR-J2M-BU4
First slot
Display
Third slot
Axis number
Drive unit status
Slot number
Second slot
Fourth slot
(4) Servo-on
Switch the servo-on in the following procedure:
1) Switch on main circuit/control circuit power supply.
2) The controller transmits the servo-on command.
When placed in the servo-on status, MELSERVO-J2M is ready to operate and the servo motor is
locked.
(5) Home position return
Always perform home position return before starting positioning operation.
(6) Stop
If any of the following situations occurs, MELSERVO-J2M suspends the running of the servo motor
and brings it to a stop.
When the servo motor is equipped with an electromagnetic brake, refer to Section 3.7.
Operation/command
Servo off command
Stopping condition
The base circuit is shut off and the servo motor coasts.
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to stop. The controller forced stop (A.E7)
occurs.
Servo system controller
MELSERVO-J2M
Forced stop command
Alarm occurrence
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to stop.
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to stop. The servo forced stop (A.E6)
occurs.
Forced stop (EM1) OFF
2 - 8
2. INSTALLATION AND START UP
2.8 Control axis selection
POINT
The control axis number set to the IFU parameter software should be the
same as the one set to the servo system controller.
Set the control axis numbers of the drive units in the IFU parameters No. 11 to 18.
Setting the same control axis numbers in a single communication system will disable normal operation.
Each control axis can be set independently of the slot number where the drive unit has been installed.
The axis numbers of the drive units installed to the slots are factory-set as listed below.
IFU Parameter No.
Name
Initial Value
0000
(Note) Definition
Axis 1
11
12
13
14
15
16
17
18
1 slot axis number selection
2 slot axis number selection
3 slot axis number selection
4 slot axis number selection
5 slot axis number selection
6 slot axis number selection
7 slot axis number selection
8 slot axis number selection
0001
Axis 2
0002
Axis 3
0003
Axis 4
0004
Axis 5
0005
Axis 6
0006
Axis 7
0007
Axis 8
Note. The axis number is represented as a set value 1.
2 - 9
2. INSTALLATION AND START UP
MEMO
2 - 10
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, make sure that the voltage is safe in the tester more than 15
minutes after power-off. Otherwise, you may get an electric shock.
Ground the base unit and the servo motor securely.
WARNING
Do not attempt to wire each unit and servo motor until they have been installed.
Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop and other protective circuits.
Interface unit
Interface unit
VIN
VIN
SG
SG
CAUTION
Control output
signal
Control output
signal
RA
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near each unit.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative brake resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative brake
resistor, causing a fire.
Do not modify the equipment.
POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.
3 - 1
3. SIGNALS AND WIRING
3.1 Connection example of control signal system
POINT
Refer to Section 3.4 for the connection of the power supply system and to
Section 3.5 for connection with the servo motor.
Interface unit
(Note 5) (Note 5)
(Note 2 6)
24VDC
7)
Forced stop
CN3
8
CN3
13 MBR
MO1
RA
A
VIN
(Note 3
4
EM1 20
4
10k
(Note 8)
SG
3
Analog monitor
Max. 1mA
Reading in
A
A
14 MO2
10k
10k
7
MO3
both directions
11 LG
Plate SD
Servo system
controller
2m(6.56ft) or less
(Note 11 12 13)
(Note 10 13) Bus cable
(Option)
(Note 5)
CN1A
Termination connector (MR-A-TM)
(Note 5)
CN1B
Cable clamp
(Option)
Base unit
Drive unit
CON3A
(Slot 1)
(Note 5)
CN2
Drive unit
CON3B
(Slot 2)
(Note 5)
CN2
(Note 9)
MR Configurator
(servo configuration
(Note 4)
Personal computer
(Note 5)
CN3
software)
15m(49.2ft) or less
Drive unit
CON3H
(Slot 8)
(Note 5)
CN2
(Note 14)
MR-J2M-D01
CN4A
Battery unit
MR-J2M-BT
Encoder output
pulses
MR-J2MBTCBL
M
CON5
CON4
Encoder output
pulses
CN4B
(Note 1)
3 - 2
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked
protective earth (PE) of the control box.
) of the base unit to the
2. Connect the diode in the correct direction. If it is connected reversely, the interface unit will be faulty and will not output signals,
disabling the forced stop and other protective circuits.
3. If the controller does not have a forced stop function, always install a forced stop switch (Normally closed).
4. When a personal computer is connected for use of the test operation mode, always use the maintenance junction card (MR-
J2CN3TM) to enable the use of the forced stop (EM1). (Refer to section 12.1.5)
5. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
6. When using the electromagnetic brake interlock (MBR) or forced stop (EM1), always supply 24VDC between VIN and SG.
7. When starting operation, always connect the forced stop (EM1) and SG. (Normally closed contacts) By setting “0001” in DRU
parameter No.23 of the drive unit, the forced stop (EM1) can be made invalid.
8. When connecting the personal computer together with analog monitor 1
(Refer to Section 12.1.3.)
2
3 use the maintenance junction card (MR-J2CN3TM).
9. Use MRZJW3-SETUP151E.
10. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to use a
cable clamp and data line filters (three or four filters connected in series) near the connector outlet.
11. Up to eight axes (n 1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the same
bus.
12. Always insert the termination connector (MR-A-TM) into CN1B of the interface unit located at the termination.
13. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer to
the following table and choose the bus cable.
MR-J2M-P8B
MR-J2S-
B
MR-J2-03B5
QD75M
MR-J2HBUS
M
Q172CPU(N)
Q173CPU(N)
A motion
Q172J2BCBL M(-B)
Q173J2B CBL
MR-J2HBUS M-A
Motion
M
controller
MR-J2M-P8B MR-J2S-
MR-J2-03B5
B
MR-J2HBUS
M
Maintenance junction card
14. When using an absolute position detection system, connect the battery unit (MR-J2M-BT).
3 - 3
3. SIGNALS AND WIRING
3.2 I/O signals of interface unit
3.2.1 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
CN1A
CN1B
1
11
LG
13
1
11
LG
13
2
RD
4
12
RD*
14
2
RD
4
12
RD*
14
LG
3
LG
3
TD
6
TD*
16
TD
6
TD*
16
5
LG
7
15
5
LG
7
15
Interface unit
LG
17
LG
17
8
18
20
8
18
20
EMG*
EMG
9
EMG*
19
EMG
9
19
10
10
BT
BT
CN3
1
LG
3
11
LG
2
RXD
4
12
TXD
14
13
SG
5
MBR
15
The connector frames are
connected with the PE (earth)
terminal inside the base unit.
MO1
6
MO2
16
7
MO3
9
17
19
8
18
VIN
10
20
EM1
Cable side connector
Model
1. Soldering type
Connector
Maker
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
2. Insulation displacement type
Connector: 10120-6000EL
Shell kit: 10320-3210-000
CN1A
CN1B
CN3
3M
3 - 4
3. SIGNALS AND WIRING
3.2.2 Signal explanations
For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.2.3.
(1) Connector applications
Connector
Name
Function/Application
Used for connection with the controller or preceding-axis
servo amplifier.
CN1A
Connector for bus cable from preceding axis.
Used for connection with the next-axis servo amplifier or
for connection of the termination connector.
Used for connection with the personal computer.
Serves as an I/O signal connector when the personal
computer is not used.
CN1B
CN3
Connector for bus cable to next axis
Communication connector
(I/O signal connector)
(2) I/O signals
(a) Input signal
Connector Pin
No.
Signal
Symbol
Function/Application
I/O Division
Disconnect EM1-SG to bring the servo motor to a forced stop
state, in which the servo is switched off and the dynamic
brake is operated.
DI-1
CN3
20
Forced stop
EM1
In the forced stop state, connect EM1-SG to reset that state.
(b) Output signals
Connector Pin
No.
Signal
Symbol
Function/Application
I/O Division
MBR-SG are disconnected when a forced stop is made valid,
an alarm occurs in the interface unit or drive unit, or the
servo switches off.
DO-1
Electromagnetic brake
interlock
CN3
13
MBR
With IFU parameter No. 10, choose the axis number of the
drive unit that will use this signal.
CN3
4
CN3
14
CN3
7
Used to output the data set in IFU parameter No.3 to across
MO1-LG in terms of voltage. Resolution 10 bits
Used to output the data set in IFU parameter No.4 to across
MO2-LG in terms of voltage. Resolution 10 bits
Used to output the data set in IFU parameter No.5 to across
MO3-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog
output
Analog
output
Analog monitor 1
Analog monitor 2
Analog monitor 3
MO1
MO2
MO3
(c) Power supply
Connector Pin
No.
Signal
Symbol
VIN
Function/Application
Power input for digital
interface
Common for digital
interface
CN3
8
CN3
3
Driver power input terminal for digital interface.
Used to input 24VDC (200mA or more) for input interface.
Common terminal to VIN. Pins are connected internally.
Separated from LG.
SG
CN3
1
11
Common terminal to MO1, MO2 and MO3.
Control common
Shield
LG
SD
Plate
Connect the external conductor of the shield cable.
3 - 5
3. SIGNALS AND WIRING
3.2.3 Interfaces
(1) Common line
The following diagram shows the power supply and its common line.
Interface unit
INP .etc
MBR
24VDC
RA
VIN
SD
SON .etc
MO1
MO2
Analog monitor
DI-1
SG
MO3
LG
Base unit
TXD
RXD
RS-232
Drive unit
Servo motor encoder
MR
MRR
LG
SD
Servo motor
M
E
Extension IO unit
LA.etc
LAR.etc
LG
Differential line
driver output
35mA max.
SD
Ground
MBR
SG
RA
24VDC
3 - 6
3. SIGNALS AND WIRING
(2) Detailed description of the interfaces
This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
Sections 3.2.2.
Refer to this section and connect the interfaces with the external equipment.
(a) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Interface unit
24VDC
200mA or more
R: Approx. 4.7k
VIN
For transistor
Approx. 5mA
EM1
Switch
SG
TR
VCES 1.0V
I CE0 100
A
(b) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush
current: 100mA or less)
1) Inductive load
Interface unit
VIN
24VDC
Load
10%
MBR
SG
Opposite polarity of diode
will fail interface unit.
3 - 7
3. SIGNALS AND WIRING
2) Lamp load
Interface unit
VIN
R
24VDC
10%
MBR
SG
(c) Analog output
Output voltage : 4V
Max. output current :0.5mA
Resolution :10bit
Interface unit
MO1
(MO2 M03)
10k
1mA meter which deflects
unidirectionally or bidirectionally
A
LG
SD
3 - 8
3. SIGNALS AND WIRING
3.3 Signals and wiring for extension IO unit
3.3.1 Connection example
POINT
The pins without symbols can be assigned any devices using the MR
Configurator (servo configuration software).
MR-J2M-D01
(Note 2)
CN4A
(Note 3)
24VDC
(Note 2)
CN4A
(Note 1)
RA1
VIN
SG
CN4B-11
11 36
12 37
1
9
MBR1
MBR2
Approx. 4.7k
10
RA2
RA3
RA4
2
3
34 MBR3
4
5
MBR4
35
6
(Note 2)
CN4A
7
(Note 4)
8
13 38 LG
50 LA1
25 LAR1
49 LB1
24 LBR1
48 LZ1
23 LZR1
47 LA2
22 LAR2
46 LB2
21 LBR2
45 LZ2
20 LZR2
44 LA3
19 LAR3
43 LB3
18 LBR3
42 LZ3
17 LZR3
41 LA4
16 LAR4
40 LB4
15 LBR4
39 LZ4
14 LZR4
plate SD
26
27
28
29
30
31
32
33
Encoder A-phase pulse 1
(Differential line driver system)
Encoder B-phase pulse 1
(Differential line driver system)
Encoder Z-phase pulse 1
(Differential line driver system)
Approx. 4.7k
Encoder A-phase pulse 2
(Differential line driver system)
Encoder B-phase pulse 2
(Differential line driver system)
Encoder Z-phase pulse 2
(Differential line driver system)
Encoder A-phase pulse 3
(Differential line driver system)
Encoder B-phase pulse 3
(Differential line driver system)
Encoder Z-phase pulse 3
(Differential line driver system)
Encoder A-phase pulse 4
(Differential line driver system)
Encoder B-phase pulse 4
(Differential line driver system)
Encoder Z-phase pulse 4
(Differential line driver system)
3 - 9
3. SIGNALS AND WIRING
(Note 2)
CN4B
(Note 2)
CN4B
CN4A-11
LG
13 38
1
Approx. 4.7k
2
3
50 LA5
25 LAR5
49 LB5
24 LBR5
48 LZ5
23 LZR5
47 LA6
22 LAR6
46 LB6
21 LBR6
45 LZ6
20 LZR6
44 LA7
19 LAR7
43 LB7
18 LBR7
42 LZ7
17 LZR7
41 LA8
16 LAR8
40 LB8
15 LBR8
39 LZ8
14 LZR8
Encoder A-phase pulse 5
(Differential line driver system)
4
Encoder B-phase pulse 5
(Differential line driver system)
5
6
7
Encoder Z-phase pulse 5
(Differential line driver system)
8
(Note 4)
26
27
28
29
30
31
32
33
Encoder A-phase pulse 6
(Differential line driver system)
Encoder B-phase pulse 6
(Differential line driver system)
Encoder Z-phase pulse 6
(Differential line driver system)
Approx. 4.7k
SG
12 37
Encoder A-phase pulse 7
(Differential line driver system)
VIN 11 36
Encoder B-phase pulse 7
(Differential line driver system)
Encoder Z-phase pulse 7
(Differential line driver system)
Encoder A-phase pulse 8
(Differential line driver system)
Encoder B-phase pulse 8
(Differential line driver system)
Encoder Z-phase pulse 8
(Differential line driver system)
plate
SD
(Note 2)
CN4B
(Note 1)
RA7
9
MBR5
MBR6
MBR7
MBR8
RA8
RA9
10
34
35
RA10
MR-J2M-D01
Note 1. Connect the diodes in the correct orientation. Opposite connection may cause the servo amplifier to be faulty and
disable the signals from being output, making the forced stop and other protective circuits inoperative.
2. The signals having the same name are connected to the inside of the servo amplifier.
3. Always connect 24VDC (200mA).
4. These pins are unavailable when the MR-J2M-P8B is used as the interface unit.
3 - 10
3. SIGNALS AND WIRING
3.3.2 Connectors and signal configurations
(1) Signal configurations
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
CN4A
CN4B
50
50
25
LAR1
23
25
LAR5
23
49
LB1
47
24
LBR1
22
49
LB5
47
24
LBR5
22
LA1
48
LA5
48
LZ1
46
LZR1
21
LZ5
46
LZR5
21
LA2
45
LAR2
20
LA6
45
LAR6
20
LB2
44
LBR2
19
LB6
44
LBR6
19
LZ2
43
LZR2
18
LZ6
43
LZR6
18
LA3
42
LAR3
17
LA7
42
LAR7
17
LB3
41
LBR3
16
LB7
41
LBR7
16
LZ3
40
LZR3
15
LZ7
40
LZR7
15
LA4
39
LAR4
14
LA8
39
LAR8
14
LB4
38
LBR4
13
LB8
38
LBR8
13
LZ4
37
LZR4
12
LZ8
37
LZR8
12
LG
LG
LG
LG
SG
35
SG
SG
35
SG
36
11
36
11
10
10
VIN
34
VIN
9
VIN
34
VIN
9
MBR4
33
MBR2
8
MBR8
33
MBR6
8
MBR3
32
MBR1
7
MBR7
32
MBR5
7
31
29
27
6
4
2
31
29
27
6
4
2
30
28
26
5
3
1
30
28
26
5
3
1
3 - 11
3. SIGNALS AND WIRING
3.3.3 Output signal explanations
For the IO interfaces (system in I/O column in the table), refer to section 3.2.3.
Connector
I/O
Signal
Symbol
Function/Applications
pin No.
division
Encoder A-phase
pulse 1
Encoder B-phase
pulse 1
LA1 CN4A-50 As LA , LAR , LB and LBR , the pulses per servo motor revolution set DO-2
LAR1 CN4A-25 in the DRU parameter No. 38 of the corresponding slots are output in the
LB1 CN4A-49 differential line driver system.
LBR1 CN4A-24 In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of /2.
The relationships between rotation direction and phase difference of the A-
and B-phase pulses can be changed using DRU parameter No. 33.
LZ1
CN4A-48
Encoder Z-phase
pulse 1
LZR1 CN4A-23
LA2 CN4A-47
LAR2 CN4A-22
LB2 CN4A-46
LBR2 CN4A-21
Encoder A-phase
pulse 2
As LZ
and LZR
the zero-point signals of the encoders of the
corresponding slots are output. One pulse is output per servo motor
revolution. The same signals as OP are output in the differential line
driver system.
Encoder B-phase
pulse 2
LZ2
CN4A-45
Encoder Z-phase
pulse 2
LZR2 CN4A-20
LA3 CN4A-44
LAR3 CN4A-19
LB3 CN4A-43
LBR3 CN4A-18
Encoder pulse outputs for slot 1
Signal
Symbol
Encoder A-phase
pulse 3
Encoder A-phase pulse 1
Encoder B-phase pulse 1
Encoder Z-phase pulse 1
Encoder pulse outputs for slot 2
Signal
LA1 LAR1
LB1 LBR1
LZ1 LZR1
Encoder B-phase
pulse 3
LZ3
CN4A-42
Encoder Z-phase
pulse 3
LZR3 CN4A-17
LA4 CN4A-41
LAR4 CN4A-16
LB4 CN4A-40
LBR4 CN4A-15
Symbol
Encoder A-phase pulse 2
Encoder B-phase pulse 2
Encoder Z-phase pulse 2
LA2 LAR2
LB2 LBR2
LZ2 LZR2
Encoder A-phase
pulse 4
Encoder B-phase
pulse 4
Encoder pulse outputs for slot 3
LZ4
CN4A-39
Signal
Symbol
Encoder Z-phase
pulse 4
LZR4 CN4A-14
LA5 CN4B-50
LAR5 CN4B-25
LB5 CN4B-49
LBR5 CN4B-24
Encoder A-phase pulse 3
Encoder B-phase pulse 3
Encoder Z-phase pulse 3
LA3 LAR3
LB3 LBR3
LZ3 LZR3
Encoder A-phase
pulse 5
Encoder pulse outputs for slot 4
Encoder B-phase
pulse 5
Signal
Symbol
LZ5
CN4B-48
Encoder A-phase pulse 4
Encoder B-phase pulse 4
Encoder Z-phase pulse 4
LA4 LAR4
LB4 LBR4
LZ4 LZR4
Encoder Z-phase
pulse 5
LZR5 CN4B-23
LA6 CN4B-47
LAR6 CN4B-22
LB6 CN4B-46
LBR6 CN4B-21
Encoder A-phase
pulse 6
Encoder pulse outputs for slot 5
Signal
Symbol
Encoder B-phase
pulse 6
Encoder A-phase pulse 5
Encoder B-phase pulse 5
Encoder Z-phase pulse 5
LA5 LAR5
LB5 LBR5
LZ5 LZR5
LZ6
CN4B-45
Encoder Z-phase
pulse 6
LZR6 CN4B-20
LA7 CN4B-44
LAR7 CN4B-19
LB7 CN4B-43
LBR7 CN4B-18
Encoder pulse outputs for slot 6
Encoder A-phase
pulse 7
Signal
Symbol
Encoder A-phase pulse 6
Encoder B-phase pulse 6
Encoder Z-phase pulse 6
LA6 LAR6
LB6 LBR6
LZ6 LZR6
Encoder B-phase
pulse 7
LZ7
CN4B-42
Encoder Z-phase
pulse 7
LZR7 CN4B-17
LA8 CN4B-41
LAR8 CN4B-16
LB8 CN4B-40
LBR8 CN4B-15
Encoder pulse outputs for slot 7
Signal
Symbol
Encoder A-phase
pulse 8
Encoder A-phase pulse 7
Encoder B-phase pulse 7
Encoder Z-phase pulse 7
LA7 LAR7
LB7 LBR7
LZ7 LZR7
Encoder B-phase
pulse 8
LZ8
CN4B-39
Encoder pulse outputs for slot 8
Encoder Z-phase
pulse 8
LZR8 CN4B-14
Signal
Symbol
Encoder A-phase pulse 8
Encoder B-phase pulse 8
Encoder Z-phase pulse 8
LA8 LAR8
LB8 LBR8
LZ8 LZR8
3 - 12
3. SIGNALS AND WIRING
Connector
I/O
Signal
Symbol
Function/Applications
pin No.
division
DO-1
MBR1: Electromagnetic brake interlock signal for axis 1
MBR2: Electromagnetic brake interlock signal for axis 2
MBR3: Electromagnetic brake interlock signal for axis 3
MBR4: Electromagnetic brake interlock signal for axis 4
MBR5: Electromagnetic brake interlock signal for axis 5
MBR6: Electromagnetic brake interlock signal for axis 6
MBR7: Electromagnetic brake interlock signal for axis 7
MBR8: Electromagnetic brake interlock signal for axis 8
MBR -SG are disconnected when a forced stop is made valid, an alarm
occurs in the interface unit or drive unit, or the servo switches off. At alarm
occurrence, they are disconnected independently of the base circuit status.
Electromagnetic
brake interlock 1
Electromagnetic
brake interlock 2
MBR1 CN4A-9
MBR2 CN4A-10
MBR3 CN4A-34
MBR4 CN4A-35
MBR5 CN4A-9
MBR6 CN4A-10
MBR7 CN4A-34
MBR8 CN4A-35
Electromagnetic
brake interlock 3
Electromagnetic
brake interlock 4
Electromagnetic
brake interlock 5
Electromagnetic
brake interlock 6
Electromagnetic
brake interlock 7
Electromagnetic
brake interlock 8
3 - 13
3. SIGNALS AND WIRING
3.4 Signals and wiring for base unit
When each unit has become faulty, switch power off on the base unit power side.
Continuous flow of a large current may cause a fire.
Switch power off at detection of an alarm. Otherwise, a regenerative brake
transistor fault or the like may overheat the regenerative brake resistor, causing a
fire.
CAUTION
Fabricate the cables noting the shapes of the CNP1A housing (X type) and CNP1B
housing (Y type).
3.4.1 Connection example of power line circuit
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command
turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made
valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply
(Note)
Alarm
RA1
Controller
forced stop
RA2
Forced
stop
ON
MC
OFF
MC
SK
MELSERVO-
J2M
CNP3
NFB
MC
L1
L2
L3
1
2
3
Power supply
3-phase
200 to 230VAC
CNP1B
1
L11
L21
2
CN3
VIN
EM1
SG
24VDC
Forced stop
Note. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller
side.
3 - 14
3. SIGNALS AND WIRING
(2) For 1-phase 200 to 230VAC power supply
Controller
forced
stop
(Note 1)
Alarm
RA1
Forced
stop
OFF
ON
MC
RA2
MC
SK
MELSERVO-J2M
NFB
MC
CNP3
(Note 2)
Power supply
1-phase
200 to 230VAC
L1
L2
L3
1
2
3
CNP1B
1
L11
L21
2
CN3
VIN
24VDC
Forced stop
EM1
SG
Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the
controller side.
2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
3 - 15
3. SIGNALS AND WIRING
3.4.2 Connectors and signal configurations
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
CNP1A
(X type)
CNP1B
(Y type)
1
1
L11
2
Base unit
N
2
P
3
L21
3
C
CNP3
3
L3
2
L2
1
The connector frames are connected to
the PE (earth) terminal of the base unit.
L1
Cable side connector
Model
Housing: 1-178128-3 (X type)
Connector
Maker
CNP1A
Contact: 917511-2 (max. sheath OD: 2.8[mm])
353717-2 (max. sheath OD: 3.4[mm]) (Note)
Housing: 2-178128-3 (Y type)
Tyco
CNP1B
CNP3
Contact: 917511-2 (max. sheath OD: 2.8[mm])
353717-2 (max. sheath OD: 3.4[mm]) (Note)
Housing: 1-179958-3
Electronics
Contact: 316041-2
Note. This contact is not included in the option (MR-J2MCNM).
3 - 16
3. SIGNALS AND WIRING
3.4.3 Terminals
Refer to Section 10.2.1 for the layouts and signal configurations of the terminal blocks.
Connection target
Connector
Pin No.
Code
Description
(Application)
(1) When using a three-phase power supply
Supply L1, L2 and L3 with three-phase, 200 to 230VAC, 50/60Hz
power.
1
L
L
L
1
2
3
CNP3
2
3
Main circuit power
(2) When using a signal-phase power supply
Supply L1 and L2 with signal-phase, 200 to 230VAC, 50/60Hz
power.
1
2
3
1
2
3
L
L
11
21
Supply L and L with single-phase, 200 to 230VAC, 50/60Hz
11 21
CNP1B
CNP1A
Control circuit power
power.
N
Regenerative brake
option
Connect the regenerative brake option across P-C.
Keep N open. (Refer to Section 12.1.1)
P
C
Connect this terminal to the protective earth (PE) terminals of the
servo motor and control box for grounding.
Protective earth (PE)
3 - 17
3. SIGNALS AND WIRING
3.4.4 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.4.1 using the magnetic contactor with
the main circuit power supply (3-phase 200V: L1, L2, L3, 1-phase 200 to 230VAC: L1, L2). Configure
up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and MELSERVO-J2M will operate properly.
3) Each drive unit can accept the servo-on command within 4s the main circuit power supply is
switched on. (Refer to paragraph (2) in this section.)
(2) Timing chart
SON accepted
(4s)
Main circuit
Control circuit
ON
OFF
ON
power
Base circuit
OFF
ON
100ms
10ms
100ms
Servo-on command
(from controller)
OFF
(3) Forced stop
Install an emergency stop circuit externally to ensure that operation can be
stopped and power shut off immediately.
CAUTION
If the controller does not have a forced stop function, make up a circuit which shuts off main circuit
power as soon as EM1-SG are opened at a forced stop. To ensure safety, always install a forced stop
switch across EM1-SG. By disconnecting EM1-SG, the dynamic brake is operated to bring the servo
motor to a stop. At this time, the display shows the servo forced stop warning (A.E6).
During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of
each drive unit may be shortened.
Interface unit
24VDC
VIN
Forced stop
EM1
SG
3 - 18
3. SIGNALS AND WIRING
3.5 Connection of drive unit and servo motor
3.5.1 Connection instructions
Connect the wires to the correct phase terminals (U, V, W) of the drive unit and
servo motor. Otherwise, the servo motor will operate improperly.
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.
CAUTION
POINT
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.
The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.
(1) The protective earth of the servo motor joins to the base unit via the drive unit mounting screw.
Connect the protective earth terminal of the base unit to the protective earth of the control box to
discharge electricity to the earth.
(2) The power supply for the electromagnetic brake should not be used as the 24VDC power supply for
interface. Always use the power supply for electromagnetic brake only.
3.5.2 Connection diagram
The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For
encoder cable connection, refer to Section 12.1.2. For the signal layouts of the connectors, refer to Section
3.5.3.
For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.
Servo motor
Connection diagram
Base unit Drive unit
Servo motor
Motor
CNP2
U (Red)
V (White)
W (Black)
(Green)
U
V
W
(Note 1) (Note 3)
24VDC
B1
B2
(Note 2)
Electro-
magnetic
brake
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
EM1
To be shut off when servo-
off or alarm occurrence
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the base
unit to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3. The protective earth of the servo motor is connected to the base unit via the drive unit
mounting screw.
3 - 19
3. SIGNALS AND WIRING
3.5.3 I/O terminals
(1) Drive unit
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
CN2
20
P5
10
8
19
P5
9
Drive unit
BAT
7
18
17
P5
CNP2
MRR
15
MR
5
2
V
1
4
16
6
MD
4
MDR
14
3
U
W
13
3
12
2
11
1
LG
LG
Cable side connector
Model
Connector
LG
LG
Maker
1. Soldering type
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
2. Insulation displacement type
Connector: 10120-6000EL
Shell kit: 10320-3210-000
3M
CN2
Housing: 5557-04R-210
Terminal: 5556PBT3L
CNP2
Molex
(2) Servo motor (HC-KFS HC-MFS HC-UFS3000r/min series)
Encoder connector signal arrangement
Power supply lead
4-AWG19 0.3m (0.98ft.)
1
MR
4
2
3
Power supply connector (Molex)
Without electromagnetic brake
5557-04R-210 (receptacle)
MRR BAT
5
MDR
8
6
a
MD
7
Encoder cable 0.3m (0.98ft.)
5556PBTL (Female terminal)
b
9
With connector 1-172169-9
With electromagnetic brake
P5
LG
SHD
(Tyco Electronics)
5557-06R-210 (receptacle)
5556PBTL (Female terminal)
Power supply
connector
5557-04R-210
View a
Power supply
connector
5557-06R-210
Pin Signal
Signal
U
Pin
1
1
U
1
2
3
4
1
2
3
4
5
6
2
3
2
3
V
W
V
W
4
4
View b
(Earth)
(Earth)
5
6
(Note)
B1
B2
View b
(Note)
Note. Supply electromagnetic
brake power (24VDC).
There is no polarity.
3 - 20
3. SIGNALS AND WIRING
3.6 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
CAUTION
As soon as an alarm occurs, make the Servo off status and interrupt the main
circuit power.
When an alarm occurs in each unit, the base circuit is shut off and the servo motor is coated to a stop.
Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the
control circuit off, then on or give the error reset or CPU reset command from the servo system controller.
However, the alarm cannot be deactivated unless its cause is removed.
(Note)
Main circuit
Control circuit
ON
OFF
Power off
power
Power on
ON
OFF
Base circuit
Valid
Invalid
Brake operation
Brake operation
Dynamic brake
ON
Servo-on command
(from controller)
OFF
NO
YES
NO
YES
NO
Alarm
4s
Reset command
(from controller)
ON
OFF
50ms or more
30ms or more
Alarm occurs.
Remove cause of trouble.
Note. Switch off the main circuit power as soon as an alarm occurs.
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A.32),
overload 1 (A.50), overload 2 (A.51) or multi axis overload (A.53) alarm after its occurrence, without
removing its cause, each unit and servo motor may become faulty due to temperature rise. Securely
remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (A.30)
alarm after its occurrence, the external regenerative brake resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (A. 10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 30ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less.
3 - 21
3. SIGNALS AND WIRING
3.7 Servo motor with electromagnetic brake
Configure the electromagnetic brake operation circuit so that it is activated not only
by the interface unit signals but also by an external forced stop (EM1).
Contacts must be open when
servo-off, when an alarm occurrence
and when an electromagnetic brake
interlock (MBR).
Circuit must be
opened during
forced stop (EM1).
Servo motor
RA EM1
CAUTION
24VDC
Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.
POINT
Refer to the Servo Motor Instruction Manual for specifications such as the
power supply capacity and operation delay time of the electromagnetic
brake.
Note the following when the servo motor equipped with electromagnetic brake is used.
1) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.
2) The brake will operate when the power (24VDC) switches off.
3) Switch off the servo-on command after the servo motor has stopped.
4) Using the IFU parameter No.10, select the axis number of the drive unit which uses the
electromagnetic brake interlock (MBR).
(1) Connection diagram
Interface unit
or
extension IO unit
Forced
stop
Servo motor
RA
B1
B2
24VDC
SG
24VDC
RA
MBR
(2) Setting
In DRU parameter No.21 (electromagnetic brake sequence output), set the delay time (Tb) from
electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (4)
in this section.
3 - 22
3. SIGNALS AND WIRING
(3) Electromagnetic brake interlock signal
There are the following electromagnetic brake interlock signals. The MR-J2M-D01 is required to use
MBR1 to MBR8. Load the MR-J2M-D01 to the option slot of the base unit.
Signal
Symbol
Connector Pin No.
Description
Electromagnetic
brake interlock
Electromagnetic
brake interlock 1
Electromagnetic
brake interlock 2
Electromagnetic
brake interlock 3
Electromagnetic
brake interlock 4
Electromagnetic
brake interlock 5
Electromagnetic
brake interlock 6
Electromagnetic
brake interlock 7
Electromagnetic
brake interlock 8
Electromagnetic brake interlock signal for all axes or the axis
selected in parameter No. 10
MBR
CN3-13
MBR1
MBR2
MBR3
MBR4
MBR5
MBR6
MBR7
MBR8
CN4A-9
CN4A-10
CN4A-34
CN4A-35
CN4B-9
Electromagnetic brake interlock signal for axis 1
Electromagnetic brake interlock signal for axis 2
Electromagnetic brake interlock signal for axis 3
Electromagnetic brake interlock signal for axis 4
Electromagnetic brake interlock signal for axis 5
Electromagnetic brake interlock signal for axis 6
Electromagnetic brake interlock signal for axis 7
Electromagnetic brake interlock signal for axis 8
CN4B-10
CN4B-34
CN4B-35
(a) Electromagnetic brake interlock (MBR)
This signal is output from the CN3 connector of the interface unit. This signal allows you to select
the axis number of the drive unit to be used with IFU parameter No. 10.
Electromagnetic brake interlock output axis number selection
Choose the axis number of the drive unit
that will use electromagnetic brake interlock output (MBR).
Setting
Selected Axis
All connected axes
Axis 1
0
1
2
3
4
5
6
7
8
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8
1) When selecting the corresponding axis number
The timing chart of the corresponding axis is the same as in (4) of this section.
2) When using all axes
The timing chart in (4)(a) of this section changes as described below.
When the base circuits of all connected axes turn on, electromagnetic brake interlock (MBR)
turns on. If the servo on command timings differ between the axes, the axis whose servo on
occurred first will result in overload alarm. Hence, the servo on command should be given to all
axes at the same timing.
The others are as shown in (4) of this section.
3 - 23
3. SIGNALS AND WIRING
(b) Electromagnetic brake interlock 1 to 8 (MBR1 to MBR8)
By adding an extension IO unit, you can use the electromagnetic brake interlock (MBR) for each
axis. The timing chart is as shown in (4) of this section.
(4) Timing charts
(a) Servo-on command (from controller) ON/OFF
Delay time (Tb) [ms] after the servo-on is switched off, the servo lock is released and the servo
motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may
be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the
like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
0 r/min
Servo motor speed
(100ms)
(120ms)
Tb
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR MBR1 to MBR8)
Electromagnetic brake
operation delay time
Invalid(ON)
Valid(OFF)
ON
Servo-on command
(from controller)
OFF
(b) Forced stop command (from controller) or forced stop (EM1) ON/OFF
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake release
(180ms)
(10ms)
ON
Base circuit
OFF
(180ms)
Electromagnetic
brake interlock
(MBR MBR1 to MBR8)
Electromagnetic brake
operation delay time
Invalid (ON)
Valid (OFF)
Invalid (ON)
Valid (OFF)
Forced stop
command(from controller)
or
Forced stop (EM1)
3 - 24
3. SIGNALS AND WIRING
(c) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(10ms)
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR MBR1 to MBR8)
Invalid(ON)
Valid(OFF)
Electromagnetic brake
operation delay time
No(ON)
Trouble (ALM)
Yes(OFF)
(d) Both main and control circuit power supplies off
Dynamic brake
Dynamic brake
Electromagnetic brake
(10ms)
Servo motor speed
Electromagnetic brake
(Note)15 to 100ms
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR MBR1 to MBR8)
Invalid(ON)
Valid(OFF)
Electromagnetic brake
operation delay time
No(ON)
Trouble (ALM)
Yes(OFF)
ON
Main circuit
power
Control circuit
OFF
Note. Changes with the operating status.
(e) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake
Electromagnetic brake
(10ms)
Servo motor speed
Electromagnetic brake
(Note 1)15ms or more
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR MBR1 to MBR8)
Invalid(ON)
Valid(OFF)
Electromagnetic brake
operation delay time
(Note 2)
No(ON)
Trouble (ALM)
Yes(OFF)
ON
Main circuit power
supply
OFF
Note 1. Changes with the operating status.
2. When the main circuit power supply is off in a motor stop status,
the main circuit off warning (A.E9) occurs and the trouble (ALM_ ) does not turn off.
3 - 25
3. SIGNALS AND WIRING
3.8 Grounding
Ground the base unit and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal of
the base unit with the protective earth (PE) of the control box.
WARNING
The base unit switches the power transistor on-off to supply power to the servo motor. Depending on the
wiring and ground cablerouting, MELSERVO-J2M may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Base unit
Power
supply
NFB
Servo motor
FR-BAL
Drive unit
MC
CN2
3-phase
200 to
230VAC
(Note 4)
1-phase
200 to
L1
L2
Encoder
L3
U
V
U
L11
L21
M
V
230VAC
CNP2
W
(Earth)
W
(Note 2)
(Note 3)
Drive unit
Servo motor
CN2
Encoder
U
V
U
M
V
CNP2
W
(Earth)
W
(Note 2)
(Note 3)
Interface unit
CN1A
(Note 1)
Protective earth(PE)
Note 1. To reduce the influence of external noise, we recommend you to ground the bus cable near
the controller using a cable clamping fixture or to connect three or four data line filters in series.
2. The mounting screw of the drive unit is also used for PE connection of the servo motor.
3. Ensure to connect it to PE terminal of the drive unit. Do not connect it directly to the protective earth of the control panel.
4. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
3 - 26
3. SIGNALS AND WIRING
3.9 Instructions for the 3M connector
When fabricating an encoder cable or the like, securely connect the shielded external conductor of the
cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor
Sheath
Core
External conductor
Pull back the external conductor to cover the sheath
Sheath
Strip the sheath.
Screw
Cable
Screw
Ground plate
3 - 27
3. SIGNALS AND WIRING
MEMO
3 - 28
4. OPERATION AND DISPLAY
4. OPERATION AND DISPLAY
On the interface unit display (5-digit, seven-segment display), check the status of communication with the
servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an
alarm.
4.1 Normal indication
When powered on, the MELSERVO-J2M is placed in the automatic scroll mode in which the statuses of
the drive units installed on the base unit appear at intervals of 2 seconds in due order. At this time, open
slot numbers do not appear.
In the initial status, the indication is in the automatic scroll mode. Pressing the "SET" button switches the
automatic scroll mode to the fixed mode. In the fixed mode, pressing the "UP" or "DOWN" button displays
the status of the subsequent-axis drive unit.
If an alarm/warning occurs in the interface unit, the alarm/warning number of the interface unit appears.
(Refer to Section 4.1.2)
Automatic scroll
or
button
UP DOWN
#
#
#
#
#
DRU status indication
DRU status indication
DRU status indication
DRU status indication
DRU status indication
(Slot 1)
(Slot 2)
(Slot 3)
(Slot 7)
(Slot 8)
Pressing the "MODE" button in the automatic scroll mode for more than 2s switches to the interface-
related display mode in which the data of the interface unit appears. (Refer to Section 4.2)
4 - 1
4. OPERATION AND DISPLAY
4.1.1 Display sequence
@ in the diagram denotes the slot number of the base unit and # the axis number of the drive unit.
MELSERVO-J2M power ON
Waiting for servo system controller
power to switch ON
@
#
Servo system controller power ON
@
@
@
#
#
#
Initial data communication
with servo system controller
At interface unit alarm occurrence
Interface unit
current alarm indication
Ready OFF/servo OFF
Ready ON/servo OFF
Ready ON/servo ON
@
@
@
#
#
#
* *
Ready ON
Servo ON
2s later
When alarm
occurs, alarm
code appears.
To drive unit status indication
Ordinary operation
Servo system controller power OFF
@
#
Servo system controller power ON
4 - 2
4. OPERATION AND DISPLAY
(1) Indication list
(Note 1) Indication
Status
Description
MELSERVO-J2M was switched on when power to the servo system controller
is off.
@ Ab# Initializing
Power to the servo system controller was switched off during power-on of
MELSERVO-J2M.
The axis No. set to the servo system controller does not match the axis No.
set with IFU parameter No.11 to No.18.
@ AA# Initializing
@ AC# Initializing
MELSERVO-J2M fault occurred or an error took place in communication
with the servo system controller. In this case, the indication changes:
"Ab"
"AC"
"Ad"
"Ab"
The servo system controller is faulty.
Communication started between the servo system controller and MELSERVO-
J2M.
@ Ad# Initializing
The initial parameters from the servo system controller were received.
Initial data communication with the servo system controller was completed.
The ready off signal from the servo system controller was received.
The ready off signal from the servo system controller was received.
The ready off signal from the servo system controller was received.
The alarm No./warning No. that occurred is displayed. (Refer to Section 9.1.)
It is a state of the test operation mode with the MR Configurator (servo
configuration software).
@ AE# Initialize completion
@ b#
@ C#
@ d#
Ready OFF
Servo OFF
Servo ON
(Note 2) @A**# Alarm Warning
@T b#.
(Note 3)
@T c#.
Test operation mode
@T d#.
JOG operation, positioning operation, programmed operation, DO forced
output, motor-less operation.
Note 1. @ denotes the slot number of the base unit and # the axis number of the drive unit.
2. ** indicates the warning/alarm No.
4.1.2 If alarm/warning occurs
(1) If alarm/warning occurs in drive unit
An alarm/warning which occurred in the drive unit is represented by the following indication.
The following indication example assumes that an encoder error (A.16) occurred in the drive unit of
axis 3 installed on slot 1. During alarm occurrence, the decimal points in the fifth and second digits
flicker.
1. A 1 6. 3
Axis number
Alarm/warning number
Denotes alarm/warning indication.
Slot number
(2) If alarm/warning occurs in interface unit
An alarm/warning which occurred in the interface unit is represented by the following indication. The
following indication example assumes that interface unit undervoltage (A.10) occurred. During alarm
occurrence, the decimal points in the fifth and second digits flicker.
F. A 1 0.
Alarm/warning number
Denotes alarm/warning indication.
Denotes interface unit.
4 - 3
4. OPERATION AND DISPLAY
4.2 Status display mode of interface unit
4.2.1 Display flowchart
Use the display (5-digit, 7-segment LED) on the front panel of the interface unit for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status. The unit is in the automatic scroll mode at power-on.
Press the "MODE" button for more than 2s to change the display before starting operation. Press the
"MODE" "UP" or "DOWN" button once to move to the next screen.
button
MODE
Status display
Diagnosis
Alarm
Basic IFU parameters
Regenerative load
ratio [%]
External I/O
signal display
IFU parameter No. 0
IFU parameter No. 1
Current alarm
Bus voltage [V]
Output signal
forced output
Last alarm
UP
Peak bus voltage
[V]
Software version
low
Second alarm in past
Third alarm in past
Fourth alarm in past
Fifth alarm in past
Sixth alarm in past
Parameter error No.
DOWN
Software version
high
IFU parameter No. 18
IFU parameter No. 19
4 - 4
4. OPERATION AND DISPLAY
4.2.2 Status display of interface unit
MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP"
or "DOWN" button to change display data as desired. When the required data is selected, the
corresponding symbol appears. Press the "SET" button to display its data.
(1) Display examples
The following table lists display examples:
Displayed data
Item
Status
Interface unit display
Regenerative load ratio
60%
Bus voltage
270V
350V
Peak bus voltage
(2) Status display list
The following table lists the servo statuses that may be shown: Refer to Appendix 1 for the
measurement point.
Display
range
Name
Symbol
Unit
Description
Regenerative load
ratio
The ratio of regenerative power to permissible regenerative power is
displayed in %.
L
%
V
0 to 100
0 to 450
Bus voltage
Pn
The voltage (across P-N) of the main circuit converter is displayed.
Shows the maximum voltage of the main circuit converter (across P-N).
The maximum value during past 15s is displayed.
Peak bus voltage
PnP
V
0 to 450
If there is a difference of 40V or more between the bus voltage and peak
bus voltage during normal operation, use the regenerative brake option.
4 - 5
4. OPERATION AND DISPLAY
4.2.3 Diagnostic mode of interface unit
Name
Display
Description
Shows the ON/OFF states of the external I/O signals and
whether a forced stop command from the servo system controller
is present or not.
2)
1)
3)
1) Forced stop command from servo system controller
External I/O signal
display
Absent: On
Present: Off
2) Forced stop (EM1)
ON: On
OFF: Off
3) Electromagnetic brake interlock (MBR)
ON: On
OFF: Off
Output signal forced
output
The digital output signal can be forced on/off. For more
information, refer to section 4.2.6.
Software version low
Software version high
Indicates the version of the software.
Indicates the system number of the software.
4 - 6
4. OPERATION AND DISPLAY
4.2.4 Alarm mode of interface unit
The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the
display indicate the alarm number that has occurred or the parameter number in error. Display examples
are shown below.
Name
Display
Description
Indicates no occurrence of an alarm.
Current alarm
Indicates the occurrence of overvoltage (A.33).
Flickers at occurrence of the alarm.
Indicates that the last alarm is Multiple axis overload (A.53).
Indicates that the second alarm in the past is overvoltage (A.33).
Indicates that the third alarm in the past is undervoltage (A.10).
Indicates that the fourth alarm in the past is overspeed (A.31).
Indicates that there is no fifth alarm in the past.
Alarm history
Indicates that there is no sixth alarm in the past.
Indicates no occurrence of parameter error.
Parameter error No.
Indicates that the data of parameter No. 1 is faulty.
Functions at occurrence of an alarm
(1) Any mode screen displays the current alarm.
(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the fourth digit remains flickering.
(3) For any alarm, remove its cause and clear it in any of the following:
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on the alarm reset (RES) methods (for clearable alarms, refer to Section 9.1).
(4) Use IFU parameter No. 16 to clear the alarm history.
(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed
information display screen. Note that this is provided for maintenance by the manufacturer.
(6) Press "UP" or "DOWN" button to move to the next history.
4 - 7
4. OPERATION AND DISPLAY
4.2.5 Interface unit parameter mode
The parameters whose abbreviations are marked* are made valid by changing the setting and then
switching power off once and switching it on again. Refer to Section 5.2.2.
The following example shows the operation procedure performed after power-on to change the serial
communication baudrate (IFU parameter No. 0) to 38400bps.
Using the "MODE" button, show the basic parameter screen.
The parameter number is displayed.
Press
or
UP DOWN
to change the number.
Press SET twice.
The set value of the specified parameter number flickers.
Press UP once.
During flickering, the set value can be changed.
Use
(
or
UP DOWN
2: Baudrate 38400bps)
.
Press SET to enter.
/
UP DOWN
To shift to the next parameter, press the
button.
When changing the parameter No. 0 setting, change its set value, then switch power off once and switch it
on again to make the new value valid.
4 - 8
4. OPERATION AND DISPLAY
4.2.6 Output signal (DO) forced output
POINT
This function is available during test operation.
The output signal can be forced on/off independently of the servo status. This function is used for output
signal wiring check, etc. This operation must be performed in the servo off state.
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
Press UP once.
Press SET for more than 2s.
Turns on/off the signal under the lit LED.
Always lit.
Indicates whether the output signal is ON or OFF.
The signals are the same as the output signals of
CN3
13
the external I/O signal display. (On: ON, Off: OFF)
Pressing MODE once moves the lit LED to the left.
Press UP once.
The CN3-13 pin turns on.
(There will be continuity across CN3-13 pin-SG.)
Press DOWN once.
The CN3-13 pin turns off.
Press SET for more than 2s.
4 - 9
4. OPERATION AND DISPLAY
MEMO
4 - 10
5. PARAMETERS
5. PARAMETERS
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
POINT
When MELSERVO-J2M is connected with the servo system controller, the
parameters are set to the values of the servo system controller. Switching
power off, then on makes the values set on the MR Configurator (servo
configuration software) invalid and the servo system controller values valid.
In the maker setting parameters, do not set any values other than the
initial values.
Setting may not be made to some parameters and ranges depending on the
model or version of the servo system controller. For details, refer to the
servo system controller user's manual.
The IFU and DRU parameters can be set in the following methods.
Parameters
Setting Method
Pushbuttons in interface unit operation section
MR Configurator (servo configuration software)
MR Configurator (servo configuration software)
Servo system controller
IFU parameters
DRU parameters
5.1 Drive unit
5.1.1 Parameter write inhibit
POINT
When setting the parameter values from the servo system controller, the
DRU parameter No. 40 setting need not be changed.
In this drive unit, the parameters are classified into the basic DRU parameters (No. 1 to 11), adjustment
DRU parameters (No. 12 to 26) and expansion DRU parameters (No. 27 to 40) according to their safety
aspects and frequencies of use. The values of the basic DRU parameters may be set/changed by the
customer, but those of the adjustment and expansion DRU parameters cannot. When in-depth
adjustment such as gain adjustment is required, change the DRU parameter No. 40 value to make all
parameters accessible. DRU parameter No. 40 is made valid by switching power off, then on after setting
its value.
The following table indicates the parameters which are enabled for reference and write by DRU
parameter No. 40 setting.
Operation from MR Configurator
Operation from controller
DRU parameter No.1 to 39
DRU parameter No.1 to 39
DRU parameter No.1 to 39
DRU parameter No.1 to 39
DRU parameter No.1 to 39
Setting
0000(initial value)
000A
Operation
(servo configuration software)
Reference
Write
DRU parameter No.1 to 11 40
Reference
Write
DRU parameter No.40
Reference
Write
DRU parameter No.1 to 40
000C
DRU parameter No.1 to 11 40
Reference
Write
000E
DRU parameter No.1 to 40
Reference
Write
DRU parameter No.1 to 40
DRU parameter No.40
100E
5 - 1
5. PARAMETERS
5.1.2 Lists
POINT
For any DRU parameter whose symbol is preceded by*, set the DRU
parameter value and switch power off once, then switch it on again to
make that parameter setting valid. The parameter is set when
communication between the servo system controller and servo amplifier is
established (b* is displayed). After that, power the servo amplifier off once
and then on again.
(1) Item list
(Note)
Classifi-
Customer
No. Symbol
cation
Name
Initial
Unit
setting
Value
1
*AMS Amplifier setting
*REG Regenerative brake resistor
0000
0000
0080
000
1
2
3
4
For automatic setting by servo system controller
*FBP Feedback pulse number
5
6
0
7
*POL Rotation direction selection
ATU Auto tuning
0
8
0001
0005
300
300
7.0
35
9
RSP
TLP
Servo response
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Forward rotation torque limit
%
TLN Reverse rotation torque limit
%
GD2
PG1
VG1
PG2
VG2
VIC
Ratio of load inertia to servo motor inertia (load inertia ratio)
Position control gain 1
times
rad/s
rad/s
rad/s
rad/s
ms
Speed control gain 1
177
35
Position control gain 2
Speed control gain 2
817
48
Speed integral compensation
NCH Machine resonance suppression filter 1 (Notch filter)
0000
0
FFC
INP
Feed forward gain
In-position range
%
100
0
pulse
ms
MBR Electromagnetic brake sequence output
For manufacturer setting
0001
0000
0000
0000
0
*OP1 Optional function 1
*OP2 Optional function 2
LPF
Low-pass filter/adaptive vibration suppression control
0
For manufacturer setting
0
0001
50
ZSP
ERZ
OP5
Zero speed
r/min
Error excessive alarm level
Optional function 5
80
0.1rev
0000
0000
0
*OP6 Optional function 6
VPI PI-PID control switch-over position droop
For manufacturer setting
pulse
0
VDC Speed differential compensation
For manufacturer setting
980
0010
*ENR Encoder output pulses
For manufacturer setting
4000 pulse/rev
0
*BLK DRU parameter write inhibit
0000
Note. Factory settings of the servo amplifier. Connecting it with the servo system controller and switching power on changes them to the
settings of the servo system controller.
5 - 2
5. PARAMETERS
(Note)
Initial
Classifi-
Custome
r setting
No. Symbol
cation
Name
Unit
Value
41
42
43
44
45
46
47
48
For manufacturer setting
500
0000
0111
20
50
0
0
0
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
*CDP Gain changing selection
0000
10
CDS
CDT
Gain changing condition
(Note)
ms
Gain changing time constant
1
GD2B Ratio of load inertia moment to Servo motor inertia moment 2
PG2B Position control gain 2 changing ratio
7.0
100
100
100
0000
0000
0000
0000
0000
0000
0000
400
100
1
times
%
VG2B Speed control gain 2 changing ratio
%
VICB
Speed integral compensation changing ratio
For manufacturer setting
%
*OPC Optional function C
NH2 Machine resonance suppression filter 2
For manufacturer setting
1
0
0
0
0
0
0
0
0
0
Note. Depends on the DRU parameter No. 49 setting.
5 - 3
5. PARAMETERS
(2) Details list
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
1
*AMS Amplifier setting
0000
Refer to
name
Used to select the absolute position detection.
and
0 0 0
function
column.
Absolute position detection selection
0: Invalid (Used in incremental system.)
1: Valid (Used in absolute position
detection system.)
2
*REG Regenerative brake resistor
0000
Refer to
name
Used to select the regenerative brake option used. The values set to
the drive units installed on the base unit should all be the same.
and
function
column.
0 0
Regenerative selection brake option
(The built-in regenerative brake resister is used.)
00: Not used
06: MR-RB34
07: MR-RB54
10: MR-RB032
11: MR-RB14
POINT
Wrong setting may cause the regenerative brake option to burn.
If the regenerative brake option selected is not for use with the
drive unit, parameter error (A.37) occurs.
For automatic setting by servo system controller
Automatically set from the servo system controller
3
4
5
6
0080
0000
1
*FBP Feedback pulse number
0
Refer to
name
Set the number of pulses per revolution in the controller side
command unit. Information on the motor such as the feedback pulse
value, present position, droop pulses and within-one-revolution
position are derived from the values converted into the number of
pulses set here.
and
function
column.
Setting
Number of feedback pulses
0
1
16384
8192
6
32768
131072
7
255
Depending on the number of motor resolution pulses.
POINT
If the number of pulses set exceeds the actual motor
resolution, the motor resolution is set automatically.
5 - 4
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
7
*POL Rotation direction selection
0
Refer to
name
Used to select the rotation direction of the servo motor.
0: Forward rotation (CCW) with the increase of the positioning
and
address.
function
column.
1: Reverse rotation (CW) with the increase of the positioning
address.
CCW
CW
8
ATU Auto tuning
0001
Refer to
name
Used to select the gain adjustment mode of auto tuning.
and
0 0 0
function
column.
Gain adjustment mode selection
(For details, refer to Section 6.1.1.)
Set
value
0
Gain adjustment
mode
Interpolation mode Fixes position control
Description
gain 1
(parameter No. 13).
1
3
Auto tuning mode 1 Ordinary auto tuning.
Auto tuning mode 2 Fixes the load inertia
moment ratio set in
parameter No. 12.
Response level setting
can be changed.
4
2
Manual mode 1
Manual mode 2
Simple manual
adjustment.
Manual adjustment
of all gains.
5 - 5
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
9
RSP
Servo response
0005
Refer to
name
Used to select the response level of auto tuning.
and
0 0 0
function
column.
Auto tuning response level selection
Set
Response Machine resonance
value
level
Low
response
frequency guideline
15Hz
1
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
8
9
55Hz
70Hz
85Hz
Middle
response
A
B
C
D
E
F
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
High
response
If the machine hunts or generates large gear
sound, decrease the set value.
To improve performance, e.g. shorten the
settling time, increase the set value.
10
11
TLP
Forward rotation torque limit
300
300
%
%
0
Assume that the rated torque is 100[%].
to
Used to limit the torque in the forward rotation driving mode and
reverse rotation regenerative mode.
500
In other than the test operation mode on the MR Configurator (servo
configuration software), the torque limit value on the servo system
controller side is made valid.
TLN Reverse rotation torque limit
0
Assume that the rated torque is 100[%].
to
Used to limit the torque in the forward rotation driving mode and
forward rotation regenerative mode.
500
In other than the test operation mode on the MR Configurator (servo
configuration software), the torque limit value on the servo system
controller side is made valid.
Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor
shaft inertia moment. When auto tuning mode 1 and interpolation
mode is selected, the result of auto tuning is automatically used.
(Refer to section 6.1.1)
12
13
GD2
PG1
7.0
35
times
rad/s
0.0
to
300.0
In this case, it varies between 0 and 1000.
Position loop gain 1
4
to
Used to set the gain of position loop 1. Increase the gain to improve
trackability performance in response to the position command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
2000
5 - 6
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
14
VG1
Speed loop gain 1
177
rad/s
20
to
Normally this parameter setting need not be changed. Higher setting
increases the response level but is liable to generate vibration and/or
noise.
5000
When auto tuning mode 1,2 and interpolation mode is selected, the
result of auto tuning is automatically used.
15
PG2
Position loop gain 2
35
rad/s
rad/s
ms
1
to
Used to set the gain of the position loop.
Set this parameter to increase position response to load disturbance.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
1000
When auto tuning mode 1 2, manual mode and interpolation mode
is selected, the result of auto tuning is automatically used.
Speed loop gain 2
16
VG2
817
20
to
Set this parameter when vibration occurs on machines of low
rigidity or large backlash.
20000
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.
17
18
VIC
Speed integral compensation
48
0
1
to
Used to set the constant of integral compensation.
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.
1000
NCH Machine resonance suppression filter 1 (Notch filter)
Used to select the machine resonance suppression filter.
(Refer to Section 7.2.)
Refer to
name
and
function
column.
0
Notch frequency selection
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
00
01
02
03
04
05
06
07
Invalid
4500
2250
1500
1125
900
08
562.5
500
10
11
12
13
14
15
16
17
281.3
264.7
250
18
187.5
180
09
19
0A
0B
0C
0D
0E
0F
450
1A
1B
1C
1D
1E
1F
173.1
166.7
160.1
155.2
150
409.1
375
236.8
225
346.2
321.4
300
214.3
204.5
195.7
750
642.9
145.2
Notch depth selection
Setting
Depth
Deep
to
Gain
0
1
2
3
40dB
14dB
8dB
Shallow
4dB
Feed forward gain
19
FFC
0
%
0
Set the feed forward gain. When the setting is 100%, the droop
pulses during operation at constant speed are nearly zero. However,
sudden acceleration/deceleration will increase the overshoot. As a
guideline, when the feed forward gain setting is 100%, set 1s or more
as the acceleration/deceleration time constant up to the rated speed.
to
100
5 - 7
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
20
INP
In-position range
100
pulse
0
to
Used to set the droop pulse range in which the in-position (INP) will
be output to the controller. Make setting in the feedback pulse unit
(parameter No. 6).
50000
For example, when you want to set 10 m in the conditions that the
ballscrew is direct coupled, the lead is 10mm (0.39inch), and the
feedback pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as
indicated by the following expression:
6
10 10
8192 8.192
8
3
10 10
21
MBR Electromagnetic brake sequence output
Used to set a time delay (Tb) from when the electromagnetic brake
interlock (MBR) turns off until the base circuit is shut off.
For manufacturer setting
100
ms
0
to
1000
22
23
0001
0000
Do not change this value by any means.
*OP1 Optional function 1
Refer to
name
Used to make the servo forced stop function invalid.
and
0
0
function
column.
Servo forced stop selection
0: Valid (Use the forced stop (EM1).)
1: Invalid (Do not use the forced stop (EM1).)
Automatically switched on internally
Encoder cable selection
0: 2-wire type (when MR-JCCBL M-L/H is used)
1: 4-wire type (when MR-JC4CBL M-H is used)
24
*OP2 Optional function 2
0000
Refer to
name
Used to select slight vibration suppression control and motor-less
operation
and
function
column.
0
0
Slight vibration suppression control selection
Made valid when auto tuning selection is
set to "0002" in parameter No.8.
Used to suppress vibration at a stop.
0: Invalid
1: Valid
Motor-less operation selection
0: Invalid
1: Makes motor-less operation valid.
When motor-less operation is made valid, signal output or
status display can be provided as if the servo motor is running
actually in response to the servo system controller command,
without the servo motor being connected.
Motor-less operation is performed as in the motor-less
operation using the MR Configurator (servo configuration software).
(Refer to Section 5.2.4.)
5 - 8
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
25
LPF
Low-pass filter/adaptive vibration suppression control
Used to select the low-pass filter and adaptive vibration suppression
control. (Refer to Chapter 7.)
0000
Refer to
name
and
function
column.
0
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
VG2 setting 10
When you choose "valid",
[Hz]
(1 GD2 setting 0.1)
2
bandwidth filter is set automatically.
Adaptive vibration suppression control selection
0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance to
suppress machine vibration.
2: Held
The characteristics of the filter generated so far are
held, and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity
selection
Used to select the sensitivity of machine resonance
detection.
0: Normal
1: Large sensitivity
26
For manufacturer setting
0
Do not change this value by any means.
For manufacturer setting
27
28
29
30
0
0
Do not change this value by any means.
0001
50
ZSP
ERZ
OP5
Zero speed
r/min
0
to
Used to set the output range of the zero speed (ZSP).
10000
31
32
Error excessive alarm level
80
0.1rev
0
to
Used to set the output range of the error excessive alarm.
1000
Optional function 5
0000
Refer to
name
Used to select PI-PID control switch-over.
and
0 0 0
function
column.
PI-PID control switch over selection
0: PI control is always valid.
1: Droop-based switching is valid in position
control mode (refer to DRU parameter No. 34).
2: PID control is always valid.
5 - 9
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
33
*OP6 Option function 6
0000
Refer to
name
Used to select the serial communication baudrate, serial
communication response delay time setting and encoder output
pulse setting.
and
function
column.
0
0 0
Encoder output pulse setting selection
(refer to parameter No.38)
0: Output pulse setting
1: Division ratio setting
34
VPI
PI-PID control switch-over position droop
0
pulse
0
to
Used to set the position droop value (number of pulses) at which PI
control is switched over to PID control.
50000
Set "0001" in DRU parameter No. 32 to make this function valid.
For manufacturer setting
35
36
0
Do not change this value by any means.
VDC Speed differential compensation
Used to set the differential compensation.
980
0
to
1000
37
38
For manufacturer setting
0010
4000
*ENR Encoder output pulses
pulse/rev
1
to
POINT
The MR-J2M-D01 extension IO unit is required to output the
encoder pulses (A phase, B phase, Z phase).
65535
Used to set the encoder pulses (A-phase, B-phase) output by the
enhancing IO unit.
Set the value 4 times greater than the A-phase and B-phase pulses.
You can use DRU parameter No.33 to choose the output pulse
setting or output division ratio setting.
The number of A-phase and B-phase pulses actually output is 1/4
times greater than the preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by
4). Use this parameter within this range.
For output pulse designation
Set "0
" (initial value) in DRU parameter No.33.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
At the setting of 5600, for example, the actually output A-phase
and B-phase pulses are as indicated below:
5600
A-phase and B-phase output pulses
1400[pulse]
4
For output division ratio setting
Set "1
" in DRU parameter No.33.
The number of pulses per servo motor revolution is divided by the
set value.
Resolution per servo motor revolution
Output pulse
[pulses/rev]
Set value
At the setting of 8, for example, the actually output A-phase and
B-phase pulses are as indicated below:
131072
8
1
4
A-phase and B-phase output pulses
4096[pulse]
5 - 10
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
39
For manufacturer setting
Do not change this value by any means.
*BLK DRU Parameter blocks write inhibit
0
40
0000
Refer to
name
Operation from MR
Configurator (servo
configuration
and
Operation from
controller
Setting
Operation
function
column.
software)
0000
(initial
value)
000A
Reference DRU parameter
No.1 to 39
DRU parameter
No.1 to 11 40
Write
Reference DRU parameter
No.1 to 39
DRU parameter
No.40
Write
000C
Reference DRU parameter
DRU parameter
No.1 to 40
No.1 to 39
Write
DRU parameter
No.1 to 11 40
DRU parameter
No.1 to 40
000E
100E
Reference DRU parameter
No.1 to 39
Write
Reference DRU parameter
DRU parameter
No.1 to 40
No.1 to 39
Write
DRU parameter
No.40
5 - 11
5. PARAMETERS
Initial
value
Setting
range
Class
No. Symbol
Name and function
For manufacturer setting
Unit
41
42
43
44
45
46
47
48
500
0000
0111
20
Do not change this value by any means.
50
0
0
0
49
*CDP
Gain changing selection
0000
Refer to
Name
Used to select the gain changing condition. (Refer to Section 7.5.)
and
0 0 0
function
column
Gain changing selection
Gains are changed in accordance with the settings
of parameters No. 52 to 55 under any of the following
conditions:
0: Invalid
1: Control command from controller
2: Command frequency is equal to higher than
parameter No. 50 setting
3: Droop pulse value is equal to higher than
parameter No. 50 setting
4: Servo motor speed is equal to higher than
parameter No. 50 setting
50
51
CDS
CDT
Gain changing condition
10
1
kpps
pulse
r/min
0
to
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in parameter
No. 49. The set value unit changes with the changing condition
item. (Refer to Section 7.5.)
9999
Gain changing time constant
ms
0
Used to set the time constant at which the gains will change in
response to the conditions set in parameters No. 49 and 50.
(Refer to Section 7.5.)
to
100
52
53
GD2B Ratio of load inertia moment to servo motor inertia moment 2
Used to set the ratio of load inertia moment to servo motor inertia
moment when gain changing is valid.
7.0
times
%
0
to
300.0
10
PG2B
VG2B
VICB
Position control gain 2 changing ratio
Used to set the ratio of changing the position control gain 2 when
gain changing is valid.
100
to
200
Made valid when auto tuning is invalid.
Speed control gain 2 changing ratio
54
55
100
100
%
%
10
to
Used to set the ratio of changing the speed control gain 2 when gain
changing is valid.
200
Made valid when auto tuning is invalid.
Speed integral compensation changing ratio
Used to set the ratio of changing the speed integral compensation
when gain changing is valid. Made valid when auto tuning is
invalid.
50
to
1000
56
57
58
59
For manufacturer setting
0000
0000
0000
0000
Do not change this value by any means.
5 - 12
5. PARAMETERS
Initial
value
Setting
range
Class
No. Symbol
60 *OPC
Name and function
Unit
Optional function C
Use to select the encoder output pulse direction.
0000
Refer to
Name
and
0
0 0
function
column
Encoder pulse output phase changing
Changes the phases of A, B-phase encoder pulses output .
Servo motor rotation direction
Set value
CCW
CW
A phase
B phase
A phase
B phase
0
A phase
B phase
A phase
B phase
1
61
NH2
Machine resonance suppression filter 2
0000
Refer to
Name
Used to selection the machine resonance suppression filter.
(Refer to Section 7.2.)
and
function
column
0
Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No. 25:
1
or
2
).
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
value
value
value
value
00
Invalid
4500
2250
1500
1125
900
08
562.5
500
10
281.3
264.7
250
18
187.5
180
01
09
11
19
02
0A
0B
0C
0D
0E
0F
450
12
1A
1B
1C
1D
1E
1F
173.1
166.7
160.1
155.2
150
03
409.1
375
13
236.8
225
04
14
05
346.2
321.4
300
15
214.3
204.5
195.7
06
750
16
07
642.9
17
145.2
Notch depth selection
Setting
value
Depth
Gain
0
1
40dB
14dB
Deep
to
2
3
8dB
4dB
Shallow
5 - 13
5. PARAMETERS
Initial
value
Setting
range
Class
No. Symbol
Name and function
Unit
62
63
64
65
66
67
68
69
70
71
72
73
74
75
For manufacturer setting
Do not change this value by any means.
0000
400
100
1
1
0
0
0
0
0
0
0
0
0
5 - 14
5. PARAMETERS
5.2 Interface unit
5.2.1 IFU parameter write inhibit
POINT
Use the unit operation section pushbutton switches or MR Configurator
(servo configuration software) to set the IFU parameters of the interface
unit. They cannot be set from the servo system controller.
Use the unit pushbutton switches or MR Configurator (servo configuration software) to set the interface
unit parameters.
The following table indicates the IFU parameters which are made valid for reference and write by setting
the IFU parameter No. 19.
Operation from unit operation section or MR Configurator
Setting
0000 (initial value)
000A
Setting operation
(servo configuration software)
Reference
Write
IFU parameter No. 1 to 19
Reference
Write
IFU parameter No. 19
5.2.2 Lists
POINT
For any IFU parameter whose symbol is preceded by*, set the IFU
parameter value and switch power off once, then switch it on again to
make that parameter setting valid. The parameter is set when
communication between the servo system controller and servo amplifier is
established (b* is displayed). After that, power the servo amplifier off once
and then on again.
(1) Item list
Classifi-
Initial
Customer
setting
No. Symbol
Name
Unit
cation
Value
0
1
*BPS Serial communication baudrate selection, alarm history clear
0000
0
SIC
Serial communication time-out selection
2
*OP1 Function selection 1
0000
0000
0000
0000
0
3
MD1 Analog monitor 1 output
MD2 Analog monitor 2 output
MD3 Analog monitor 3 output
MO1 Analog monitor 1 offset
MO2 Analog monitor 2 offset
MO3 Analog monitor 3 offset
*SSC SSCNET type selection
*OP2 Optional function 2
4
5
6
mV
mV
mV
7
0
8
0
9
0200
0020
0000
0001
0002
0003
0004
0005
0006
0007
0000
10
11
12
13
14
15
16
17
18
19
*SL1 Slot 1 axis number selection
*SL2 Slot 2 axis number selection
*SL3 Slot 3 axis number selection
*SL4 Slot 4 axis number selection
*SL5 Slot 5 axis number selection
*SL6 Slot 6 axis number selection
*SL7 Slot 7 axis number selection
*SL8 Slot 8 axis number selection
*BLK IFU parameter write inhibit
5 - 15
5. PARAMETERS
(2) Details list
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
0
*BPS Serial communication function selection, alarm history clear
Used to select the serial communication baudrate, select various
communication conditions, and clear the alarm history.
0000
Refer to
name
and
function
column.
0
Serial baudrate selection
0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid,
the alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid reset to "0".
Serial communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more
1
2
SIC
Serial communication time-out selection
0
0
Set the time-out period of the communication protocol in [s] unit.
Setting "0" disables time-out check.
s
1
to
60
*OP1 Function selection 1
Used to select the protocol of serial communication.
0000
Refer to
name
and
0 0
0
function
column.
Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
5 - 16
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
3
*MD1 Analog monitor 1 output
0000
Refer to
name
Choose the signal to be output to analog monitor 1.
and
0 0
function
column.
Analog monitor 1 selection
0: Servo motor speed ( 4V/max. Servo motor speed)
1: Torque ( 4V/max. Torque)
2: Servo motor speed ( 4V/max. Servo motor speed)
3: Torque ( 4V/max. Torque)
4: Current command ( 4V/max. Current command)
5: Speed command ( 4V/max. Servo motor speed)
6: Droop pulses ( 4V/128pulse)
7: Droop pulses ( 4V/2048pulse)
8: Droop pulses ( 4V/8192pulse)
9: Droop pulses ( 4V/32768pulse)
A: Droop pulses ( 4V/131072pulse)
B: Bus voltage ( 4V/400V)
C: In position ( 4V/ON)
D: Ready ( 4V/ON)
E: Trouble ( 4V/ON)
Axis number of channel 1
Choose the axis number output to analog monitor 1.
Axis number set value. Selecting 0 disables output.
4
*MD2 Analog monitor 2 output
Choose the signal to be output to analog monitor 2.
0000
Refer to
name
and
0 0
function
column.
Analog monitor 2 selection
0: Servo motor speed ( 4V/max. Servo motor speed)
1: Torque ( 4V/max. Torque)
2: Servo motor speed ( 4V/max. Servo motor speed)
3: Torque ( 4V/max. Torque)
4: Current command ( 4V/max. Current command)
5: Speed command ( 4V/max. Servo motor speed)
6: Droop pulses ( 4V/128pulse)
7: Droop pulses ( 4V/2048pulse)
8: Droop pulses ( 4V/8192pulse)
9: Droop pulses ( 4V/32768pulse)
A: Droop pulses ( 4V/131072pulse)
B: Bus voltage ( 4V/400V)
C: In position ( 4V/ON)
D: Ready ( 4V/ON)
E: Trouble ( 4V/ON)
Axis number of channel 2
Choose the axis number output to analog monitor 2.
Axis number set value. Selecting 0 disables output.
5 - 17
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
5
*MD3 Analog monitor 3 output
0000
Refer to
name
Choose the signal to be output to analog monitor 3.
and
0 0
function
column.
Analog monitor 3 selection
0: Servo motor speed ( 4V/max. Servo motor speed)
1: Torque ( 4V/max. Torque)
2: Servo motor speed ( 4V/max. Servo motor speed)
3: Torque ( 4V/max. Torque)
4: Current command ( 4V/max. Current command)
5: Speed command ( 4V/max. Servo motor speed)
6: Droop pulses ( 4V/128pulse)
7: Droop pulses ( 4V/2048pulse)
8: Droop pulses ( 4V/8192pulse)
9: Droop pulses ( 4V/32768pulse)
A: Droop pulses ( 4V/131072pulse)
B: Bus voltage ( 4V/400V)
C: In position ( 4V/ON)
D: Ready ( 4V/ON)
E: Trouble ( 4V/ON)
Axis number of channel 3
Choose the axis number output to analog monitor 3.
Axis number set value. Selecting 0 disables output.
MO1 Analog monitor 1 offset
Used to set the offset voltage of the analog monitor 1 (MO1).
999
to
999
999
to
999
999
to
6
7
8
0
0
0
mV
mV
mV
MO2 Analog monitor 2 offset
Used to set the offset voltage of the analog monitor 2 (MO2).
MO3 Analog monitor 3 offset
Used to set the offset voltage of the analog monitor 3 (MO2).
999
5 - 18
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
9
*SSC SSCNET type selection
0200
Refer to
name
Select the network type of the interface unit.
and
0 2
function
column.
SSCNET type selection
00: SSCNET3.5ms
01: SSCNET1.7ms
02: SSCNET0.8ms
12: SSCNET
POINT
When using motion controller Q series, set the communication
cycle according to the motion controller.
The initial settings of communication cycle/number of control
axes of motion controller Q series are as follows:
1. Q173CPU
SV13: SSCNET0.8ms/1 to 8 axes, SSCNET1.7ms/9 to 16
axes, SSCNET3.5ms/17 to 32 axes
SV22: SSCNET0.8ms/1 to 4 axes, SSCNET1.7ms/5 to 12
axes, SSCNET3.5ms/13 to 32 axes
2. Q172CPU
SV13: SSCNET0.8ms/1 to 8 axes
SV22: SSCNET0.8ms/1 to 4 axes, SSCNET1.7ms/5 to 8
axes
The communication cycle of motion controller can be
changed using the parameter.
In the case of MR-J2M, initialization of servo amplifier MR-
J2M (LED indication "@ Ab#" or "@ AC#") will not be
completed, if the communication cycle settings are different
between the motion controller and servo amplifier MR-
J2M.
10
*OP2 Optional function 2
0020
Refer to
name
Choose the input signal filter and test operation.
and
0
function
column.
Test operation selection
0: Invalid
1: Valid
Input signal filter
0: No
1: 1.777ms
2: 3.555ms
Electromagnetic brake interlock output axis number selection
Choose the axis number of the drive unit which uses
electromagnetic brake interlock output (MBR).
Setting
Selected Axis
All connected axes
First axis
Second axis
Third axis
Fourth axis
Fifth axis
Sixth axis
Seventh axis
Eighth axis
0
1
2
3
4
5
6
7
8
5 - 19
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
11
12
13
14
15
16
17
18
19
*SL1 Slot 1 axis number selection
0000
0001
0002
0003
0004
0005
0006
0007
0000
0000
to
Choose the axis number of the drive unit connected to the first slot
of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the first axis is set to the first slot.
*SL2 Slot 2 axis number selection
0000
to
Choose the axis number of the drive unit connected to the second
slot of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the second axis is set to the second slot.
*SL3 Slot 3 axis number selection
0000
to
Choose the axis number of the drive unit connected to the third slot
of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the third axis is set to the third slot.
*SL4 Slot 4 axis number selection
0000
to
Choose the axis number of the drive unit connected to the fourth slot
of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the fourth axis is set to the fourth slot.
*SL5 Slot 5 axis number selection
0000
to
Choose the axis number of the drive unit connected to the fifth slot
of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the fifth axis is set to the fifth slot.
*SL6 Slot 6 axis number selection
0000
to
Choose the axis number of the drive unit connected to the sixth slot
of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the sixth axis is set to the sixth slot.
*SL7 Slot 7 axis number selection
0000
to
Choose the axis number of the drive unit connected to the seventh
slot of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the seventh axis is set to the seventh slot.
*SL8 Slot 8 axis number selection
0000
to
Choose the axis number of the drive unit connected to the eighth slot
of the base unit. (Refer to Section 2.8)
0007h
Axis number set value
1
In the initial setting, the eighth axis is set to the eighth slot.
*BLK IFU parameter write inhibit
Refer to
name
Operation from unit operation section or
Setting
and
Setting
MR Configurator
operation
Reference
Write
function
column.
(servo configuration software)
0000
(initial
value)
IFU parameter No. 1 to 19
IFU parameter No. 19
Reference
Write
000A
5 - 20
5. PARAMETERS
5.2.3 Analog monitor
The servo status can be output to 3 channels in terms of voltage. Using an ammeter enables monitoring
the servo status.
(1) Setting
Change the following digits of IFU parameter No.3 to 5:
IFU parameter No. 3
Analog monitor 1 selection
(Signal output to across MO1-LG)
Axis number of analog monitor 1
IFU parameter No. 4
Analog monitor 2 selection
(Signal output to across MO2-LG)
Axis number of analog monitor 2
IFU parameter No. 5
Analog monitor 3 selection
(Signal output to across MO3-LG)
Axis number of analog monitor 3
IFU parameters No.6 to 8 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
IFU parameter No.
Description
Setting range [mV]
6
7
8
Used to set the offset voltage for the analog monitor 1.
Used to set the offset voltage for the analog monitor 2.
Used to set the offset voltage for the analog monitor 3.
999 to 999
(2) Settings
The three channels are all factory-set to output servo motor speeds. By changing the IFU parameter
No. 3 to 5 values, you can change the data as shown in the following tale.
Refer to (3) for measurement points.
Setting
Output item
Data
CCW direction
Setting
Output item
Data
Driving in
CCW direction
0
Servo motor speed
1
Torque (Note)
4[V]
4[V]
Max. speed
Max. torque
0
0
Max. torque
4[V]
Max. speed
4[V]
Driving in
CW direction
CW direction
5 - 21
5. PARAMETERS
Setting
Output item
Data
Setting
Output item
Data
CCW direction
2
Servo motor speed
9
Droop pulses
4[V]
CW
direction
CCW
direction
( 4V/32768pulse)
4[V]
32768[pulse]
0
32768[pulse]
Max. speed 0 Max. speed
4[V]
CCW direction
CW direction
4[V]
3
Torque (Note)
A
Droop pulses
Driving in
Driving in
( 4V/131072pulse)
CW direction
CCW direction
4[V]
131072[pulse]
0
131072[pulse]
Max. torque
Max. torque
0
4[V]
CW direction
4[V]
CCW direction
4
5
6
7
8
Current command
B
C
D
E
Bus voltage
In-position
Ready
4[V]
Max. current
command
0
Max. current
command
0
400[V]
4[V]
CW direction
CCW direction
Speed command
4[V]
4[V]
Max. speed
OFF
ON
0
Max. speed
0
4[V]
CW direction
4[V]
CCW direction
Droop pulses
( 4V/128pulse)
4[V]
128[pulse]
OFF
ON
0
128[pulse]
0
4[V]
CW direction
4[V]
CCW direction
Droop pulses
Failure
4[V]
( 4V/2048pulse)
Alarm
Alarm
2048[pulse]
provided not provided
0
2048[pulse]
0
4[V]
CW direction
4[V]
CCW direction
Droop pulses
( 4V/8192pulse)
8192[pulse]
0
8192[pulse]
4[V]
CW direction
Note. 4V is outputted at the maximum torque.
5 - 22
5. PARAMETERS
(3) Analog monitor block diagram
5 - 23
5. PARAMETERS
5.2.4 Test operation mode
The test operation mode is designed for servo operation confirmation and not for
machine operation confirmation. Do not use this mode with the machine. Always
use the servo motor alone.
CAUTION
If an operation fault occurred, use the forced stop (EM1) to make a stop.
By using a personal computer and the MR Configurator (servo configuration software), you can execute
jog operation, positioning operation, motor-less operation and DO forced output without connecting the
servo system controller.
(1) Setting and indication
1) Set "
1" in the IFU parameter No. 10 to enable test operation. After setting, switch power off
once, then on again to make the IFU parameter No. 10 valid.
2) Switching power on changes the interface unit display as shown below. # in the figure below
indicates the axis number of the drive unit.
#
#
#
#
#
3) Perform test operation using the personal computer.
(2) Test operation mode
(a) Jog operation
Jog operation can be performed without using the servo system controller. Use this operation with
the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the jog operation screen of the MR Configurator (servo configuration software).
1) Operation pattern
Item
Initial value
200
Setting range
0 to max. speed
1 to 20000
Speed [r/min]
Acceleration/deceleration time constant [ms]
1000
2) Operation method
Operation
Forward rotation start
Reverse rotation start
Stop
Screen control
"Click Forward" button.
"Click Reverse" button.
"Click Stop" button.
(b) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this
operation with the forced stop reset. This operation may be used independently of whether the
servo is on or off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of the MR Configurator (servo configuration
software).
5 - 24
5. PARAMETERS
1) Operation pattern
Item
Initial value
100000
200
Setting range
0 to 9999999
0 to max. speed
1 to 50000
Travel [pulse]
Speed [r/min]
Acceleration/deceleration time constant [ms]
1000
2) Operation method
Operation
Screen control
Forward rotation start
Reverse rotation start
Pause
"Click Forward" button.
"Click Reverse" button.
"Click Pause" button.
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the programmed operation screen of the MR Configurator (servo configuration
software). For full information, refer to the MR Configurator (servo configuration software)
Installation Guide.
Operation
Start
Screen Control
"Click Start" button.
"Click Reset" button.
Stop
(d) Motorless operation
POINT
Motor-less operation may be used with the MR Configurator (servo
configuration software). Usually, however, use motor-less operation which
is available by making the servo system controller parameter setting.
Without connecting the servo motor, output signals or status displays can be provided in response
to the servo system controller commands as if the servo motor is actually running. This operation
may be used to check the servo system controller sequence. Use this operation with the forced stop
reset. Use this operation with MELSERVO-J2M connected to the servo system controller.
Exercise control on the motor-less operation screen of the MR Configurator (servo configuration
software).
1) Load conditions
Load Item
Condition
Load torque
Load inertia moment ratio
0
Same as servo motor inertia moment
2) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur
as when the servo motor is connected:
Encoder error 1 (A.16)
Encoder error 2 (A.20)
Absolute position erasure (A.25)
Battery cable breakage warning (A.92)
5 - 25
5. PARAMETERS
(e) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. Use this function
for output signal wiring check, etc.
Exercise control on the DO forced output screen of the MR Configurator (servo configuration
software).
(3) Configuration
Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at
occurrence of an alarm.
5 - 26
6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
6.1 Different adjustment methods
6.1.1 Adjustment on a MELSERVO-J2M
The gain adjustment in this section can be made on MELSERVO-J2M. For gain adjustment, first execute
auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1
and manual mode 2 in this order.
(1) Gain adjustment mode explanation
Gain adjustment
mode
DRU parameter
No. 8 setting
Estimation of load
Automatically set parameters
Manually set parameters
inertia moment ratio
Auto tuning mode 1
(initial value)
0001
0003
Always estimated
GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
RSP (DRU parameter No. 9)
Auto tuning mode 2
Fixed to parameter
No. 12 value
GD2 (DRU parameter No. 12)
RSP (DRU parameter No. 9)
Manual mode 1
Manual mode 2
0004
0002
GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
Interpolation mode
0000
Always estimated
GD2 (DRU parameter No. 12)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
6 - 1
6. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Yes
Used when you want to
match the position gain 1
(PG1) between 2 or more
axes. Normally not used for
other purposes.
Interpolation
made for 2 or more
axes?
Interpolation mode
Operation
No
Allows adjustment by
merely changing the
response level setting.
First use this mode to make
adjustment.
Auto tuning mode 1
Operation
Yes
No
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
OK?
OK?
Yes
No
Auto tuning mode 2
Operation
Yes
OK?
No
This mode permits
adjustment easily with three
gains if you were not
satisfied with auto tuning
results.
Manual mode 1
Operation
Yes
OK?
You can adjust all gains
manually when you want to
do fast settling or the like.
No
Manual mode 2
END
6 - 2
6. GENERAL GAIN ADJUSTMENT
6.1.2 Adjustment using MR Configurator (servo configuration software)
This section gives the functions and adjustment that may be performed by using MELSERVO-J2M with
the MR Configurator (servo configuration software) which operates on a personal computer.
Function
Description
Adjustment
Machine analyzer
With the machine and servo motor
coupled, the characteristic of the
mechanical system can be measured by
giving a random vibration command from
the personal computer to the servo and
measuring the machine response.
You can grasp the machine resonance frequency and
determine the notch frequency of the machine
resonance suppression filter.
You can automatically set the optimum gains in
response to the machine characteristic. This simple
adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
Gain search
Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
You can automatically set gains which make positioning
settling time shortest.
Machine simulation
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
You can optimize gain adjustment and command
pattern on personal computer.
6 - 3
6. GENERAL GAIN ADJUSTMENT
6.2 Auto tuning
6.2.1 Auto tuning mode
MELSERVO-J2M has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of MELSERVO-J2M.
(1) Auto tuning mode 1
MELSERVO-J2M is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following DRU parameters are automatically adjusted in the auto tuning mode 1.
DRU parameter No.
Abbreviation
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
Position control gain 1
12
13
14
15
16
17
PG1
VG1
Speed control gain 1
PG2
Position control gain 2
VG2
Speed control gain 2
VIC
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is not
more than 100 times.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode 1 2 to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (DRU parameter No. 12).
The following DRU parameters are automatically adjusted in the auto tuning mode 2.
DRU parameter No.
Abbreviation
PG1
Name
13
14
15
16
17
Position control gain 1
Speed control gain 1
VG1
PG2
Position control gain 2
Speed control gain 2
VG2
VIC
Speed integral compensation
6 - 4
6. GENERAL GAIN ADJUSTMENT
6.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Encoder
Control gains
PG1,VG1
PG2,VG2,VIC
Command
Current
control
Servo
motor
Current feedback
Real-time auto
tuning section
Position/speed
feedback
Set 0 or 1 to turn on.
Load inertia
moment ratio
estimation section
Gain
table
Switch
Speed feedback
DRU parameter No.12
Load inertia moment
ratio estimation value
DRU parameter
No.8
DRU parameter
No.9
Response level setting
Auto tuning selection
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to DRU parameter No. 12 (the ratio of load inertia moment to servo motor). These
results can be confirmed on the status display screen of the MR Configurator (servo configuration
software section).
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
chose the "auto tuning mode 2" (DRU parameter No.8:0003) to stop the estimation of the load inertia
moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (DRU
parameter No. 12) manually.
From the preset load inertia moment ratio (DRU parameter No. 12) value and response level (DRU
parameter No. 9), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the servo system controller every 10 minutes since power-on. At
power-on, auto tuning is performed with the value of each control gain saved in the servo system
controller being used as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the estimation
of the inertia moment ratio may malfunction temporarily. In such a case,
choose the "auto tuning mode 2" (DRU parameter No. 8: 0003) and set the
correct load inertia moment ratio in DRU parameter No. 12.
When any of the auto tuning mode 1, auto tuning mode 2 and manual
mode 1 settings is changed to the manual mode 2 setting, the current
control gains and load inertia moment ratio estimation value are saved in
the EEP-ROM.
6 - 5
6. GENERAL GAIN ADJUSTMENT
6.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level
setting value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)
No
Yes
Choose the auto tuning mode 2
(DRU parameter No. 8: 0003) and
set the load inertia moment ratio
(DRU parameter No. 12) manually.
Adjust response level setting
so that desired response is
achieved on vibration-free level.
Acceleration/deceleration repeated
Requested
No
performance satisfied?
Yes
END
To manual mode
6 - 6
6. GENERAL GAIN ADJUSTMENT
6.2.4 Response level setting in auto tuning mode
Set the response (DRU parameter No.9) of the whole servo system. As the response level setting is
increased, the trackability and settling time for a command decreases, but a too high response level will
generate vibration. Hence, make setting until desired response is obtained within the vibration-free
range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, adaptive vibration suppression control (DRU parameter No. 25) or machine resonance
suppression filter (DRU parameter No. 18) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to Section 7.2, 7.3 for adaptive
vibration suppression control and machine resonance suppression filter.
DRU parameter No. 9
Response level setting
Machine characteristic
Response level setting
Machine resonance
frequency guideline
Machine rigidity
Guideline of corresponding machine
1
2
Low
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
3
Large conveyor
4
5
6
Arm robot
7
General machine
tool conveyor
8
Middle
9
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
Precision
working
machine
A
B
C
D
E
F
Inserter
Mounter
Bonder
High
6 - 7
6. GENERAL GAIN ADJUSTMENT
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three DRU parameters.
6.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.
GD2
User setting
PG1
PG2
VG2
VG1
Automatic setting
VIC
Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (DRU parameter No. 12) correctly.
6.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control (DRU
parameter No. 25) or machine resonance suppression filter (DRU parameter
No. 18) may be used to suppress machine resonance. (Refer to Section 7.2,
7.3.)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment:
DRU parameter No.
Abbreviation
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
Speed control gain 2
12
16
17
VG2
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
Description
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (DRU parameter No. 12).
Increase the speed control gain 2 (DRU parameter No. 16) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
1
Increase the speed control gain.
2
Decrease the speed integral compensation (DRU parameter No. 17)
within the vibration-free range, and return slightly if vibration takes
place.
Decrease the time constant of the speed
integral compensation.
3
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance
the like and the desired response cannot be achieved, response may be Refer to Section 7.2, 7.3.
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 2 and 3.
4
5
While checking the settling characteristic and rotational status, fine-
adjust each gain.
Fine adjustment
6 - 8
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Speed control gain 2 (DRU parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression:
Speed control gain setting
(1 ratio of load inertia moment to servo motor inertia moment)
Speed loop response frequency(Hz)
2
2) Speed integral compensation (DRU parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression:
2000 to 3000
Speed integral
Speed control gain 2 setting/ (1 ratio of load inertia moment
to servo motor inertia moment.)
composition setting (ms)
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment:
DRU parameter No.
Abbreviation
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
Position control gain 1
12
13
16
17
PG1
VG2
Speed control gain 2
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
Description
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (DRU parameter No. 12).
Set a slightly smaller value to the position control gain 1 (DRU
parameter No. 13).
1
2
Increase the speed control gain 2 (DRU parameter No. 16) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Increase the speed control gain.
3
Decrease the speed integral compensation (DRU parameter No. 17)
within the vibration-free range, and return slightly if vibration takes
place.
Decrease the time constant of the speed
integral compensation.
4
5
Increase the position control gain 1 (DRU parameter No. 13).
Increase the position control gain.
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance
the like and the desired response cannot be achieved, response may be Refer to Section 7.2 and 7.3.
increased by suppressing resonance with adaptive vibration
6
7
suppression control or machine resonance suppression filter and then
executing steps 3 to 5.
While checking the settling characteristic and rotational status, fine-
adjust each gain.
Fine adjustment
6 - 9
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (DRU parameter No. 13)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves trackability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
1
3
1
5
Position control
gain 1 guideline
Speed control gain 2 setting
to
)
(
(1 ratio of load inertia moment to servo motor inertia moment)
2) Speed control gain 2 (DRU parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression:
Speed control gain 2 setting
Speed loop response
(1 ratio of load inertia moment to servo motor inertia moment)
2
frequency(Hz)
3) Speed integral compensation (DRU parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression:
Speed integral
compensation setting(ms)
2000 to 3000
Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment set value)
6 - 10
6. GENERAL GAIN ADJUSTMENT
6.4 Interpolation mode
The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 1 and speed control gain 1 which determine command trackability are set manually
and the other gain adjusting parameters are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
DRU parameter No.
Abbreviation
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
12
15
16
17
PG2
VG2
Speed control gain 2
VIC
Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
DRU parameter No.
Abbreviation
Name
13
14
PG1
Position control gain 1
Speed control gain 1
VG1
(2) Adjustment procedure
Step
Operation
Description
Choose the auto tuning mode 1 (DRU parameter No. 8: 0001) and set the
machine resonance frequency of the response level to 15Hz 1 (DRU parameter
No. 9: 0001).
During operation, increase the response level setting (DRU parameter No. 9),
and return the setting if vibration occurs.
1
2
Select the auto tuning mode 1.
Adjustment in auto tuning mode
1.
Check the values of position control gain 1 (DRU parameter No. 13) and speed
control gain 1 (DRU parameter No. 14).
Choose the interpolation mode (DRU parameter No. 8: 0000).
Using the position control gain 1 value checked in step 3 as the guideline of the
3
4
Check the upper setting limits.
Select the interpolation mode.
5
upper limit, set in position control gain 1 the value identical to the position loop Set position control gain 1.
gain of the axis to be interpolated.
Using the speed control gain 1 value checked in step 3 as the guideline of the
upper limit, look at the rotation status and set in speed control gain 1 the value Set speed control gain 1.
three or more times greater than the position control gain 1 setting.
6
7
Looking at the interpolation characteristic and rotation status, fine-adjust the
Fine adjustment.
gains and response level setting.
(3) Adjustment description
(a) Position control gain 1 (DRU parameter No.13)
This parameter determines the response level of the position control loop. Increasing PG1 improves
trackability to a position command but a too high value will make overshooting liable to occur at
the time of settling. The droop pulse value is determined by the following expression.
Rotation speed (r/min)
131,072(pulse)
60
Droop pulse value (pulse)
Position control gain set value
(b) Speed control gain 1 (DRU parameter No. 14)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
6 - 11
6. GENERAL GAIN ADJUSTMENT
MEMO
6 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used generally. Use them
if you are not satisfied with the machine status after making adjustment
in the methods in Chapter 6.
If a mechanical system has a natural resonance level point, increasing the servo system response may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.
7.1 Function block diagram
DRU parameter
Current
command
DRU parameter
No.25
DRU parameter
Speed
control
No.18
00
No.25
0
0
Low-pass
filter
Servo
motor
1
Machine resonance
Encoder
suppression filter 1
00
except
Adaptive vibration
suppression control
1
or
2
7.2 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency) and gain decreasing depth.
Mechanical
system
Machine resonance point
response
level
Frequency
Notch
depth
Frequency
Notch frequency
POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
7 - 1
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (DRU
parameter No. 18).
DRU parameter No. 18
Notch frequency selection
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
562.5
500
10
11
12
13
14
15
16
17
281.3
264.7
250
18
19
187.5
180
00
01
02
03
04
05
06
07
Invalid
4500
2250
1500
1125
900
08
09
450
173.1
166.7
160.1
155.2
150
0A
0B
0C
0D
0E
0F
1A
1B
1C
1D
1E
1F
409.1
375
236.8
225
346.2
321.4
300
214.3
204.5
195.7
750
642.9
145.2
Notch depth selection
Setting Depth (Gain)
Deep ( 40dB)
( 14dB)
( 8dB)
Shallow ( 4dB)
0
1
2
3
POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch
frequency is set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator (servo configuration software). This
allows the required notch frequency and depth to be determined.
7 - 2
7. SPECIAL ADJUSTMENT FUNCTIONS
7.3 Adaptive vibration suppression control
(1) Function
Adaptive vibration suppression control is a function in which the drive unit detects machine resonance
and sets the filter characteristics automatically to suppress mechanical system vibration. Since the
filter characteristics (frequency, depth) are set automatically, you need not be conscious of the
resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is
valid, MELSERVO-J2M always detects machine resonance, and if the resonance frequency changes, it
changes the filter characteristics in response to that frequency.
Machine resonance point
Machine resonance point
Mechanical
system
Mechanical
system
response
level
response
level
Frequency
Frequency
Notch
depth
Notch
depth
Frequency
Frequency
Notch frequency
Notch frequency
When machine resonance is large and frequency is low When machine resonance is small and frequency is high
POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration
suppression control has no effect on the resonance frequency outside this
range. Use the machine resonance suppression filter for the machine
resonance of such frequency.
Adaptive vibration suppression control may provide no effect on a
mechanical system which has complex resonance characteristics or which
has too large resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive
vibration suppression control to be "held" (DRU parameter No. 25:
2
)
to fix the characteristics of the adaptive vibration suppression control filter.
7 - 3
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (DRU parameter No.25).
DRU parameter No. 25
Adaptive vibration suppression control selection
0: Invalid
1: Valid
Machine resonance frequency is always detected to
generate the filter in response to resonance, suppressing
machine vibration.
2: Held
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Set the sensitivity of detecting machine resonance.
0: Normal
1: Large sensitivity
POINT
Adaptive vibration suppression control is factory-set to be "invalid" (DRU
parameter No. 25: 0000).
Selection the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Selection of "large
sensitivity" detects smaller machine resonance and generates a filter to
suppress machine vibration. However, since a phase delay will also
increase, the response of the servo system may not increase.
7.4 Low-pass filter
(1) Function
When a ballscrew or the like is used, resonance level of high frequency may occur as the response of
the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression:
Filter frequency
(Hz)
Speed control gain 2 set value 10
(1 ratio of load inertia moment to servo motor inertia moment set value 0.1)
2
(2) Parameter
Set the operation of the low-pass filter (DRU parameter No.25).
DRU parameter No. 25
Low-pass filter selection
0: Valid (automatic adjustment) initial value
1: Invalid
POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase
the servo system response to shorten the settling time.
7 - 4
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5 Gain changing function
This function can change the gains. You can change between gains during rotation and gains during stop
or can use an external signal to change gains during operation.
7.5.1 Applications
This function is used when:
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an external signal to ensure stability of the servo system since the
load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7.5.2 Function block diagram
The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (DRU parameter No. 49) and gain changing condition CDS (DRU
parameter No. 50).
CDP
DRU Parameter No.49
External signal
CDP
Command pulse
frequency
Droop pulses
Changing
Model speed
Comparator
CDS
DRU Parameter No.50
GD2
DRU Parameter No.12
Valid
GD2B
GD2 value
DRU Parameter No.52
PG2
DRU Parameter No.15
Valid
PG2 PG2B
100
PG2 value
VG2
DRU Parameter No.16
Valid
VG2 VG2B
100
VG2 value
VIC
DRU Parameter No.17
Valid
VIC VICB
100
VIC value
7 - 5
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.3 Parameters
When using the gain changing function, always set "
4
" in DRU parameter No.2 (auto tuning) to
choose the manual mode 1 of the gain adjustment modes. The gain changing function cannot be used in
the auto tuning mode.
DRU
Abbrevi
Parameter
No.
Name
Unit
Description
ation
13
14
PG1
VG1
Position control gain 1
Speed control gain 1
rad/s
rad/s
0.1
Position and speed gains of a model used to set the response
level to a command. Always valid.
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
Control parameters before changing
12
GD2
times
rad/s
rad/s
ms
15
16
17
PG2
VG2
VIC
Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2 changing
ratio
0.1
Used to set the ratio of load inertia moment to servo motor
52
53
54
GD2B
PG2B
VG2B
VICB
times inertia moment after changing.
Used to set the ratio (%) of the after-changing position
%
control gain 2 to position control gain 2.
Speed control gain 2 changing
ratio
Used to set the ratio (%) of the after-changing speed control
%
gain 2 to speed control gain 2.
Speed integral compensation
changing ratio
Used to set the ratio (%) of the after-changing speed integral
55
49
%
compensation to speed integral compensation.
CDP Gain changing selection
Used to select the changing condition.
kpps
pulse
r/min
Used to set the changing condition values.
50
51
CDS Gain changing condition
You can set the filter time constant for a gain change at
changing.
CDT Gain changing time constant
ms
7 - 6
7. SPECIAL ADJUSTMENT FUNCTIONS
(1) DRU Parameters No. 12 to 17
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: DRU parameter No. 52)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (parameter No. 34).
(3) Position control gain 2 changing ratio (DRU parameter No. 53), speed control gain 2 changing ratio (DRU
parameter No. 54), speed integral compensation changing ratio (DRU parameter No. 55)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2 100, speed control gain 2 2000, speed integral
compensation 20 and position control gain 2 changing ratio 180%, speed control gain 2 changing
ratio 150% and speed integral compensation changing ratio 80%, the after-changing values are as
follows:
Position control gain 2 Position control gain 2 Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 Speed control gain 2
Speed control gain 2 changing ratio /100 3000rad/s
Speed integral compensation Speed integral compensation Speed integral compensation changing
ratio /100 16ms
(4) Gain changing selection (DRU parameter No. 49)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, gains can be changed by the control command of controller.
DRU Parameter No. 49
Gain changing selection
Gains are changed in accordance with the settings of
DRU parameters No. 52 to 55 under any of the following conditions:
0: Invalid
1: Control command from controller
2: Command frequency is equal to higher than parameter No. 66 setting
3: Droop pulse value is equal to higher than parameter No. 66 setting
4: Servo motor speed is equal to higher than parameter No. 66 setting
(5) Gain changing condition (DRU parameter No. 50)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.65), set the gain changing level.
The setting unit is as follows:
Gain changing condition
Command frequency
Droop pulses
Unit
kpps
pulse
r/min
Servo motor speed
(6) Gain changing time constant (DRU parameter No. 51)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.
7 - 7
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
DRU Parameter No.
Abbreviation
PG1
Name
Setting
100
Unit
rad/s
rad/s
13
14
Position control gain 1
Speed control gain 1
VG1
1000
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
12
GD2
4
0.1 times
15
16
17
PG2
VG2
VIC
120
3000
20
rad/s
rad/s
ms
Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2
changing ratio
52
53
54
55
GD2B
PG2B
VG2B
VICB
100
70
0.1 times
%
%
%
Speed control gain 2 changing
ratio
133
250
Speed integral compensation
changing ratio
0001
(Control command from
controller)
49
51
CDP
CDT
Gain changing selection
Gain changing time constant
100
ms
(b) Changing operation
OFF
OFF
ON
Gain changing
(CDP)
After-changing gain
Before-changing gain
Change of
each gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
Position control gain 2
4.0
10.0
4.0
120
3000
20
84
4000
50
120
3000
20
Speed control gain 2
Speed integral compensation
7 - 8
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
DRU Parameter No.
Abbreviation
PG1
Name
Setting
100
Unit
rad/s
rad/s
13
14
Position control gain 1
Speed control gain 1
VG1
1000
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
12
GD2
40
0.1 times
15
16
17
PG2
VG2
VIC
120
3000
20
rad/s
rad/s
ms
Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2
changing ratio
52
53
54
55
49
GD2B
PG2B
VG2B
VICB
CDP
100
70
0.1 times
%
%
%
Speed control gain 2 changing
ratio
133
250
Speed integral compensation
changing ratio
0003
Gain changing selection
(Changed by droop pulses)
50
51
CDS
CDT
Gain changing condition
50
pulse
ms
Gain changing time constant
100
(b) Changing operation
Command pulse
Droop pulses
CDS
CDS
Droop pulses [pulses]
0
After-changing gain
Before-changing gain
Change of each gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
4.0
10.0
4.0
10.0
to servo motor inertia moment
Position control gain 2
120
3000
20
84
4000
50
120
3000
20
84
4000
50
Speed control gain 2
Speed integral compensation
7 - 9
7. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
7 - 10
8. INSPECTION
8. INSPECTION
Before starting maintenance and/or inspection, make sure that the charge lamp is
off more than 15 minutes after power-off. Then, confirm that the voltage is safe in
the tester or the like. Otherwise, you may get an electric shock.
WARNING
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.
POINT
Do not test MELSERVO-J2M with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
(1) Inspection
It is recommended to make the following checks periodically:
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.
Part name
Life guideline
Smoothing capacitor
10 years
Number of power-on and number of forced
Stop times:100,000times.
Relay
Cooling fan
10,000 to 30,000hours (2 to 3 years)
Refer to Section 13.2
Absolute position battery unit
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life when the cumulative number of power-on and forced stop times is 100,000, which depends
on the power supply capacity.
(c) Drive unit cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
8 - 1
8. INSPECTION
MEMO
8 - 2
9. TROUBLESHOOTING
9. TROUBLESHOOTING
9.1 Alarms and warning list
POINT
The alarm/warning whose indication is not given does not exist in that
unit.
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to Section 9.2 or 9.3 and take the appropriate action.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
alarm deactivation column.
in the
When an alarm/warning occurs, the interface unit display shows the corresponding unit and alarm
number.
Interface unit display
Drive unit axis number
Alarm/warning number
Symbol
Definition (Slot)
Interface unit
First slot
Second slot
Third slot
Fourth slot
Fifth slot
Sixth slot
F
1
2
3
4
5
6
7
8
Seventh slot
Eight slot
9 - 1
9. TROUBLESHOOTING
Alarm deactivation
Error reset CPU reset
Display
Name
A.10
A.12
A.13
A.14
A.15
A.16
A.17
A.19
A.1A
A.1B
A.1C
A.1D
A.1E
A.20
A.24
A.25
A.30
A.31
A.32
A.33
A.34
A.35
A.36
Undervoltage
Memory error 1
Clock error
Watchdog
Memory error 2
Encoder error 1
Board error
Memory error 3
Motor combination error
Axis set error
Base unit bus error 1
Base unit bus error 2
Drive unit mounting error
Encoder error 2
Main circuit error
Absolute position erase
Regenerative error
Overspeed
Overcurrent
Overvoltage
CRC error
Command frequency error
Transfer error
(Note 1)
(Note 1)
IFU parameter error
DRU parameter error
DRU parameter adjustment error
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Error excessive
Multiple axis overload
Drive unit alarm
Option slot fault
Option slot loading error
Serial communication time-out
Serial communication error
Watchdog
Open battery cable warning
Home position setting warning
Battery warning
Excessive regenerative warning
Overload warning
Absolute position counter warning
Parameter warning
Servo forced stop warning
Controller forced stop warning
Main circuit off warning
A.37
A.38
A.45
A.46
A.50
A.51
A.52
A.53
A.54
A.78
A.79
A.8A
A.8E
A.88
A.92
A.96
A.9F
A.E0
A.E1
A.E3
A.E4
A.E6
A.E7
A.E9
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 2)
(Note 2)
Removing the cause of
occurrence
deactivates the alarm
automatically.
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. Resetting the drive unit alarm automatically deactivates the alarm display.
9 - 2
9. TROUBLESHOOTING
9.2 Remedies for alarms
When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
If an absolute position erase (A.25) occurred, always make home position setting
again. Otherwise, misoperation may occur.
CAUTION
As soon as an alarm occurs, make the Servo off status and interrupt the main
circuit power.
POINT
When any of the following alarms has occurred, always remove its cause
and allow about 30 minutes for cooling before resuming operation. If
operation is resumed by switching control circuit power off, then on to reset
the alarm, each unit and servo motor may become faulty. To protect the
main circuit elements, any of these servo alarms cannot be deactivated from
the servo system controller until the specified time elapses after its
occurrence. Judging the load changing condition until the alarm occurs, the
servo amplifier calculates this specified time automatically.
Regenerative error (A.30)
Overload 1 (A.50)
Overload 2 (A.51)
Multi axis overload (A.53)
The alarm can be deactivated by switching power off, then on or by the
error reset command CPU reset from the servo system controller. For
details, refer to Section 9.1.
When an alarm occurs, the dynamic brake is operated to stop the servomotor. At this time, the display
indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance
with this section. The optional MR Configurator (servo configuration software) may be used to refer to the
cause.
@ in the Indication field denotes the slot number of the base unit and # the axis number of the drive unit.
Display
Name
Definition
Cause
Action
IFU
DRU
FA.10
Undervoltage
Power supply voltage 1. Power supply voltage is low.
Review the power supply.
fell to or below 160VAC.
2. There was an instantaneous control
circuit power failure of 30ms or
longer.
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. Power was restored after the bus
voltage had dropped to 200VDC.
(Main circuit power switched on
within 5s after it had switched off.)
5. Faulty parts in the base unit.
Change the base unit.
Checking method
Alarm (A.10) occurs if interface
unit is changed.
6. Faulty parts in interface unit.
Checking method
Change the interface unit.
Alarm (A.10) occurs if base unit
is changed.
7. CNP3 or CNP1B connector
unplugged.
Connect properly.
FA.12
FA.13
FA.14
Memory error 1 RAM, memory fault
Faulty parts in the interface unit.
Change the interface unit.
Clock error
Watchdog
Printed board fault.
CPU/parts fault
Checking method
Alarm (any of A.11 and 13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
Checking method
Alarm (A.15) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
FA.15
Memory error 2 EEP-ROM fault
Change the interface unit.
9 - 3
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.12# Memory error 1 RAM, memory fault
Faulty parts in the drive unit.
Change the drive unit.
@A.13# Clock error
@A.14# Watchdog
Printed board fault.
CPU/parts fault
Checking method
Alarm (any of A.12 to 15)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
@A.15# Memory error 2 EEP-ROM fault
@A.16# Encoder error 1 Communication error 1. Encoder connector (CN2)
Connect correctly.
occurred between
encoder and servo
amplifier.
disconnected.
2. Encoder fault.
Change the servo motor.
Repair or change cable.
3. Encoder cable faulty.
(Wire breakage or shorted)
1. Faulty parts in the drive unit.
Checking method
@A.17# Board error 2
CPU/parts fault
Change the drive unit.
Alarm (A.17) occurs if power is
switched on after disconnection of all
cables but the control circuit power
supply cables.
The output terminals 2. The wiring of U, V, W is
U, V, W of drive unit disconnected or not connected.
and the input
Correctly connect the output
terminals U, V, W of the drive
unit and the input terminals U,
V, W of the servo motor.
terminals U, V, W of
the servo motor are
not connected.
Faulty parts in the interface unit or
drive unit.
FA.19 @A.19# Memory error 3 ROM memory fault
Change the interface unit or
drive unit.
Checking method
Alarm (A.19) occurs if power is
switched on after disconnection of all
cables but the control circuit power
supply cables.
@A.1A# Servo motor
combination
error
Wrong combination of Wrong combination of drive unit and Use correct combination.
drive unit and servo
motor.
servo motor connected.
FA.1B
FA.1C
Axis set error
Drive units installed IFU parameter No. 11 to 18 setting
on the same drive unit mistake.
have the same axis
Make correct setting.
number.
Base unit bus
error 1
There is error in
communication
1. Interface unit connection fault.
Connect the interface unit to the
base unit properly.
between interface unit
and drive unit.
2. Interface unit failure.
3. Base unit failure.
Change the interface unit.
Change the base unit.
Connect the drive unit to the
base unit properly.
FA.1D
FA.1E
Base unit bus
error 2
There is error in
communication
1. Drive unit connection fault.
between interface unit
and drive unit.
2. Drive unit failure.
Change the drive unit.
Change the base unit.
Connect the drive unit to the
base unit properly.
3. Base unit failure.
Drive unit
Drive unit came off
1. Drive unit connection fault.
mounting error the base unit after
initialization.
2. Base unit failure.
Change the base unit.
Change the drive unit.
3. Faulty parts in drive unit.
Checking method
Alarm (A.1E) occurs if power is
switched on after disconnection of
the U, V, W power cables.
9 - 4
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
Connect correctly.
IFU
DRU
@A.20# Encoder error 2 Communication error 1. Encoder connector (CN2)
occurred between
encoder and drive
unit.
disconnected.
2. Encoder fault.
Change the servo motor.
Repair or change cable.
3. Encoder cable faulty.
(Wire breakage or shorted)
@A.24# Main circuit
error
Ground fault occurred 1. Power input wires and servo motor Connect correctly.
at the servo motor
outputs (U,V and W)
of the drive unit.
output wires are in contact at CNP2.
2. Sheathes of servo motor power
cables deteriorated, resulting in
ground fault.
Change the cable.
3. Main circuit of drive unit failed.
Checking method
Change the drive unit.
Alarm (A.24) occurs if power is
switched on after disconnection of
the U, V, W power cables.
@A.25# Absolute
position erase
Absolute position data 1. Battery voltage low.
Change battery.
in error.
Always make home position
setting again.
2. Battery cable or battery is faulty.
Power was switched
on for the first time in
the absolute position
detection system.
Permissible
3. Super capacitor of the absolute
position encoder is not charged.
After leaving the alarm occurring
for a few minutes, switch power
off, then on again. Always make
home position setting again.
Set correctly.
FA.30
Regenerative
alarm
1. Mismatch between used
regenerative power of
regenerative brake option and DRU
the regenerative brake parameter No. 2 setting.
option is exceeded.
2. Regenerative brake option is not
connected.
Connect correctly.
3. High-duty operation or continuous 1. Reduce the frequency of
regenerative operation caused the
permissible regenerative power of
the regenerative brake option to be
exceeded.
positioning.
2. Use the regenerative brake
option of larger capacity.
3. Reduce the load.
Checking method
Call the status display and check
the regenerative load ratio.
4. Power supply voltage rose to or
above 200VAC.
Review power supply.
5. Regenerative brake option faulty.
Change regenerative brake
option.
Regenerative
6. Regenerative transistor faulty.
Change the drive unit.
transistor fault
Checking method
1) The regenerative brake option
has overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative brake resistor or
regenerative brake option.
9 - 5
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.31# Overspeed
Speed has exceeded
the instantaneous
permissible speed.
1. Small acceleration/deceleration time Increase acceleration/
constant caused overshoot to be
large.
deceleration time constant.
2. Servo system is instable to cause
overshoot.
1. Reset servo gain to proper
value.
2. If servo gain cannot be set to
proper value:
1) Reduce load inertia moment
ratio; or
2) Reexamine acceleration/
deceleration time constant.
Change the servo motor.
3. Encoder faulty.
@A.32# Overcurrent
Current that flew is
higher than the
1. Short occurred in drive unit output Correct the wiring.
U, V and W.
permissible current of
the drive unit.
2. Transistor of the servo drive unit
faulty.
Change the drive unit.
Checking method
Alarm (A.32) occurs if power is
switched on after disconnection of
the U, V, W power cables.
3. Ground fault occurred in servo
amplifier output U, V and W.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Correct the wiring.
Take noise suppression
measures.
FA.33
Overvoltage
Converter bus voltage 1. Regenerative brake option is not
Use the regenerative brake
option.
exceeded 400VDC.
used.
2. Though the regenerative brake
option is used, the DRU parameter
Make correct setting.
No. 2 setting is "
00 (not used)".
3. Regenerative brake option is open or 1. Change lead.
disconnected.
2. Connect correctly.
Change drive unit.
4. Regenerative transistor faulty.
5. Wire breakage of regenerative brake For wire breakage of regenerative
option.
brake option, change regenerative
brake option.
6. Power supply voltage high.
1. Bus cable disconnected.
2. Bus cable fault.
Review the power supply.
Connect correctly.
FA.34
CRC error
Bus cable is faulty.
Input frequency of
Change the cable.
3. Noise entered bus cable.
Take measures against noise.
4. Termination connector disconnected. Connect termination connector.
5. The same No. exists in the interface Set correctly.
unit side axis setting.
@A.35# Command
1. Command given is greater than the Review operation program.
maximum speed of the servo motor.
frequency error command pulse is too
high.
2. Noise entered bus cable.
Take action against noise.
Change the servo system
controller.
3. Servo system controller failure.
FA.36
Transfer error Bus cable or printed
board is faulty.
1. Bus cable is disconnected.
Connect the connector of the bus
cable.
2. Bus cable fault.
Change the cable.
3. Printed board is faulty.
Change the interface unit
4. Termination connector disconnected Connect termination connector.
9 - 6
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
FA.37
IFU parameter IFU parameter setting 1. Interface unit fault caused the IFU Change the interface unit.
error
is wrong.
parameter setting to be rewritten.
2. There is a IFU parameter whose
Change the IFU parameter value
value was set to outside the setting to within the setting range.
range by the controller.
3. The number of write times to EEP- Change the servo amplifier.
ROM exceeded 100,000 due to
parameter write, etc
@A.37# DRU parameter DRU parameter
error setting is wrong.
1. Drive unit fault caused the DRU
parameter setting to be rewritten.
2. There is a DRU parameter whose
Change the drive unit.
Change the DRU parameter
value was set to outside the setting value to within the setting range.
range by the controller.
FA.38
DRU parameter In some drive unit, the There is a drive unit whose DRU
Make correct setting.
adjustment
error
parameter which
requires all axes to be different from others.
set for the same value
parameter No. 2 or 23 setting is
differs from those of
the other axes.
@A.45# Main circuit
Main circuit device
1. Drive unit faulty.
Change the drive unit.
device overheat overheat.
2. The power supply was turned on
and off continuously by overloaded
status.
The drive method is reviewed.
3. Air cooling fan of drive unit stops.
1. Change the drive unit or
cooling fan.
2. Reduce ambient temperature.
@A.46# Servo motor
overheat
Servo motor
1. Ambient temperature of servo motor Review environment so that
is over 40 ambient temperature is 0 to
40
temperature rise
actuated the thermal
sensor.
.
.
2. Servo motor is overloaded.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides
larger output.
3. Thermal sensor in encoder is faulty. Change servo motor.
@A.50# Overload 1
Load exceeded
1. Drive unit is used in excess of its
continuous output current.
1. Reduce load.
overload protection
characteristic of servo
amplifier.
2. Review operation pattern.
3. Use servo motor that provides
larger output.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto
tuning.
2. Change auto tuning response
level setting.
3. Set auto tuning to OFF and
make gain adjustment
manually.
3. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
4. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
5. Encoder faulty.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
9 - 7
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.51# Overload 2
Machine collision or
the like caused max.
output current to flow
successively for
1. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
2. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
3. Servo system is instable and
hunting.
several seconds.
Servo motor locked:
0.3s or more
1. Repeat acceleration/
deceleration to execute auto
tuning.
During rotation:
2.5s or more
2. Change auto tuning response
level setting.
3. Set auto tuning to OFF and
make gain adjustment
manually.
4. Encoder faulty.
Checking method
Change the servo motor.
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
@A.52# Error excessive The deviation
between the model
1. Acceleration/deceleration time
constant is too small.
Increase the acceleration/
deceleration time constant.
Increase the torque limit value.
1. Review the power supply
capacity.
position and the
actual servo motor
position exceeds the
DRU parameter
No.31 setting value
(initial value: 2
revolutions
2. Torque limit value is too small.
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
2. Use servo motor which
provides larger output.
Increase set value and adjust to
ensure proper operation.
1. When torque is limited,
increase the limit value.
2. Reduce load.
4. Position control gain 1 (DRU
parameter No.13) value is small.
5. Servo motor shaft was rotated by
external force.
3. Use servo motor that provides
larger output.
6. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Change the servo motor.
Connect correctly.
7. Encoder faulty.
8. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
9 - 8
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
FA.53
Multiple axis
overload
Drive unit whose
effective load factor is
85% or more is
adjacent.
1. Drive unit having large load is
adjacent.
1. Change the slot of the drive
unit whose load is large.
2. Reduce the load.
3. Reexamine the operation
pattern.
4. Use a servo motor whose
output is large.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration and perform auto
tuning.
2. Change the response setting of
auto tuning.
3. Turn off auto tuning and make
gain adjustment manually.
Make correct connection.
3. Encoder cable and power cable (U,
V, W) coming out of one drive unit
are connected to the incorrect servo
motor.
FA.54
FA.78
Drive unit
alarm
Alarm occurred in one Alarm occurred in one or more axes of Remove the alarm causes of all
or more axes of drive drive units installed to the base unit. drive units where alarm has
units installed to the
base unit.
occurred.
Option slot fault Extension IO unit is 1. Extension IO unit is not inserted
Insert correctly.
faulty.
properly.
2. Incompatibility with the extension Change the interface unit for the
IO unit.
one compatible with the
extension IO unit.
3. Extension IO unit is faulty.
4. Base unit is faulty.
Change the extension IO unit.
Change the base unit.
FA.79
FA.8A
Option slot
loading error
Serial
Extension IO unit is
connected improperly.
Extension IO unit is disconnected.
Switch power off and reinsert the
extension IO unit.
Serial communication 1. Communication cable fault.
(Wire break or short circuit)
2. Communication cycle is longer than Set the IFU parameter value
Repair or change the cable.
communication stopped for longer
time-out
than the time set in
IFU parameter No. 1.
the IFU parameter No. 1 setting.
3. Protocol is incorrect.
correctly.
Correct the protocol.
Repair or change the cable.
Serial communication
error occurred
between interface unit
and communication
device (e.g. personal
computer).
FA.8E
88888
Serial
1. Communication cable fault.
(Open cable or short circuit)
communication
error
2. Communication device (e.g. personal Change the communication
computer) faulty.
device (e.g. personal computer).
Watchdog
CPU, parts faulty
Fault of parts in interface unit.
Change interface unit.
Checking method
Alarm (8888) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
9 - 9
9. TROUBLESHOOTING
9.3 Remedies for warnings
POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo
amplifier and servo motor may become faulty. If the power of the servo
amplifier is switched OFF/ON during the alarms, allow more than 30
minutes for cooling before resuming operation.
Excessive regenerative warning (A.E0)
Overload warning 1 (A.E1)
If A.E6, A.E7 or A.E9 occurs, the servo off status is established. If any other warning occurs, operation
can be continued but an alarm may take place or proper operation may not be performed. Eliminate the
cause of the warning according to this section. Use the optional MR Configurator (servo configuration
software) to refer to the cause of warning.
@ in the Indication field denotes the slot number of the base unit and # the axis number of the drive unit.
Display
Name
Definition
Cause
Action
IFU
DRU
@A.92# Open battery
Absolute position
1. Battery cable is open.
Repair cable or changed.
Change battery.
cable warning detection system
battery voltage is low.
2. Battery voltage supplied from the
battery unit to the encoder fell to
about 3.2V or less.
(Detected with the encoder)
3. Encoder cable is open.
Change the encoder cable.
@A.96# Home position Home position return 1. Droop pulses remaining are greater Remove the cause of droop pulse
setting warning could not be made in
the precise position.
than the in-position range setting.
occurrence.
2. Home position return was executed Reduce creep speed.
during operation command.
3. Creep speed high.
FA.9F
FA.E0
Battery
warning
Voltage of battery for Battery voltage fell to 3.2V or less.
Change the battery.
absolute position
detection system
reduced.
(Detected with the servo amplifier)
Excessive
regenerative
warning
There is a possibility Regenerative power increased to 85% 1. Reduce frequency of
that regenerative
power may exceed
permissible
or more of permissible regenerative
power of regenerative brake option.
positioning.
2. Change regenerative brake
option for the one with larger
capacity.
Checking method
Call the status display and check
regenerative load ratio.
regenerative power of
regenerative brake
option.
3. Reduce load.
@A.E1# Overload
There is a possibility Load increased to 85% or more of
that overload alarm 1 overload alarm 1 or 2 occurrence level.
Refer to A.50, A.51.
warning
or 2 may occur.
Cause, checking method
Refer to A.50, A.51.
@A.E3# Absolute
Absolute position
1. Noise entered the encoder.
Take noise suppression
measures.
position counter encoder pulses faulty.
warning
2. Encoder faulty.
Change servo motor.
@A.E4# Parameter
Parameter outside
setting range.
Parameter value set from servo system Set it correctly.
controller is outside setting range.
warning
FA.E6
FA.E7
Servo forced
stop warning
Controller
forced stop
warning
EM1-SG are open.
External forced stop was made valid. Ensure safety and deactivate
(EM1-SG opened.)
forced stop.
Forced stop signal was entered into the Ensure safety and deactivate
servo system controller.
forced stop.
FA.E9
Main circuit off Servo-on command
Switch on main circuit power.
warning
was issued with main
circuit power off.
9 - 10
10. OUTLINE DRAWINGS
10. OUTLINE DRAWINGS
10.1 MELSERVO-J2M configuration example
The following diagram shows the MR-J2M-BU8 base unit where one interface unit and eight drive units
are installed.
[Unit: mm]
([Unit: in])
30
(1.12)
240 (9.45)
35
50
25
(1.38)
(1.67)
(0.98)
350 (13.78)
338 (13.31)
6 (0.24)
6 (0.24)
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
CC
NN
PP
11
AB
C
N
1
C
N
1
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
A
B
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
3
C
N
P
3
CON4
CON5
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
Approx. 70 (2.76)
Approx. 70 (2.76)
158 (6.22)
RATING PLATE
NAME PLATE
10 - 1
10 OUTLINE DRAWINGS
10.2 Unit outline drawings
10.2.1 Base unit (MR-J2M-BU )
[Unit: mm]
([Unit: in])
Variable Dimensions
Mass
[kg]([lb])
Base Unit
A
B
MR-J2M-BU4 230 (9.06) 218 (8.58)
MR-J2M-BU6 290 (11.42) 278 (10.95)
MR-J2M-BU8 350 (13.78) 338 (13.307)
1.1 (2.43)
1.3 (2.87)
1.5 (3.31)
A
B
6 (0.24)
6 (0.24)
Connector layout
CNP3
CNP1A, CNP1B
PE
NAME
PLATE
A
B
3 L3
2 L2
1 L1
1 N L11
2 P L21
3 C
CC
NN
P P
1 1
A B
C
N
P
3
Terminal screw: M4
Tightening torque:1.2 [N m]
(10.6 [lb in])
2 (0.08)
2- 6 ( 0.24) mounting hole
Mounting screw: M5
Tightening torque:3.24 [N m]
(28.7 [lb in])
10.2.2 Interface unit (MR-J2M-P8B)
[Unit: mm]
([Unit: in])
4.5 ( 0.18)
mounting hole
Approx. 70
(2.76)
139 (5.47)
130 (5.12)
6.5 (0.26)
50 (1.97)
25
(0.98)
Display/setting
cover
MELSERV
MITSUBISHI
MR-J2M-J2M
C
N
1
C
N
1
A
B
RATING PLATE
NAME PLATE
C
N
3
CHARGE
Mass: 0.5kg(1.10lb)
Mounting screw: M4
Tightening torque:1.5 [N m]
(13.3 [lb in])
10 - 2
10 OUTLINE DRAWINGS
10.2.3 Drive unit (MR-J2M- DU)
(1) MR-J2M-10DU to MR-J2M-40DU
[Unit: mm]
([Unit: in])
Approx. 70 (2.76)
138.5 (5.45)
130 (4.72)
5
Connector layout
CNP2
4.5 ( 0.18)
mounting hole
30
(1.18)
(0.20)
6.5 (0.26)
2
V
1
4
SON
ALM
MITSUBISHI
MELSERVO
3
NAME
U
W
PLATE
MITSUBISHI
Mounting screw: M4
Tightening torque:1.5 [N m]
(13.3 [lb in])
NAME PLATE
C
N
2
C
N
P
2
Mass: 0.4kg (0.88lb)
(2) MR-J2M-70DU
[Unit: mm]
([Unit: in])
2- 5 ( 0.2)
Approx. 70 (2.76)
60 (2.36)
138.5 (5.47)
130 (4.72)
mounting hole
Connector layout
5 (0.20) 30 (1.18)
6.5 (0.26)
CNP2
2
V
1
4
SON
ALM
MITSUBISHI
MELSERVO
3
NAME
PLATE
U
W
MITSUBISHI
Mounting screw
: M4
Tightening torque
:1.5 [N m]
NAME PLATE
C
N
2
C
N
P
2
(13.3 [lb in])
Mass: 0.7kg (1.54lb)
10 - 3
10 OUTLINE DRAWINGS
10.2.4 Extension IO unit (MR-J2M-D01)
[Unit: mm]
([Unit: in])
138.5 (5.45)
130 (4.72)
Approx. 80 (3.15)
25
(0.89)
5 (0.20)
6.5 (0.26)
2- 4.5 ( 0.18)
mounting hole
Mounting screw: M4
Tightening torque:1.5 [N m]
(13.3 [lb in])
C
N
4
A
C
N
4
B
NAME PLATE
Mass: 0.2kg (1.10lb)
10.2.5 Battery unit (MR-J2M-BT)
[Unit: mm]
([Unit: in])
25 (0.89)
Approx. 70 (2.76)
130 (5.45)
5 (0.20)
6.5 (0.26)
2- 4.5 ( 0.18)
mounting hole
Mounting screw: M4
Tightening torque:1.5 [N m]
(13.3 [lb in])
C
N
1
C
NAME PLATE
Mass: 0.3kg (0.66lb)
10 - 4
10 OUTLINE DRAWINGS
10.3 Connector
(1) CN1A CN1B CN2 CN3 connector
<3M>
(a) Soldered type
Model Connector : 10120-3000VE
Shell kit
: 10320-52F0-008
[Unit: mm]
([Unit: in])
12.0 (0.47)
14.0 (0.55)
22.0 (0.87)
Logo, etc. are
indicated here.
33.3 (1.31)
12.7
(0.50)
(b) Threaded type
Model Connector : 10120-3000VE
Shell kit : 10320-52A0-008
Note. This is not available as option and should be user-prepared.
[Unit: mm]
([Unit: in])
12.0 (0.47)
22.0 (0.87)
14.0 (0.55)
27.4
(1.08)
Logo, etc. are
indicated here.
33.3
(1.31)
12.7
(0.50)
10 - 5
10 OUTLINE DRAWINGS
(c) Insulation displacement type
Model Connector : 10120-6000EL
Shell kit
: 10320-3210-000
[Unit: mm]
([Unit: in])
6.7 ( 0.26)
Logo, etc. are
indicated here.
20.9 (0.82)
2- 0.5
(
0.02)
29.7
(1.17)
10 - 6
10 OUTLINE DRAWINGS
(2) CN4A CN4B connector
<3M>
(a) Soldered type
Model Connector : 10150-3000VE
Shell kit
: 10350-52F0-008
[Unit: mm]
([Unit: in])
17.0 (0.67)
46.5 (1.83)
18.0 (0.71)
41.1 (1.62)
Logo, etc. are
indicated here.
52.4 (2.06)
12.7
(0.50)
(b) Threaded type
Model Connector : 10150-3000VE
Shell kit : 10350-52A0-008
Note. This is not available as option and should be user-prepared.
[Unit: mm]
([Unit: in])
17.0 (0.67)
46.5 (1.83)
18.0 (0.71)
41.1 (1.62)
Logo, etc. are
indicated here.
52.4 (2.06)
12.7
(0.50)
10 - 7
10 OUTLINE DRAWINGS
(3) CNP1A CNP1B connector
<Tyco Electronics>
Model CNP1A housing
CNP1B housing
: 1-178128-3
: 2-178128-3
Contact
: 917511-2 (max. sheath OD: 2.8 [mm])
353717-2 (max. sheath OD: 3.4 [mm])
: 91560-1 (for 917511-2)
937315-1 (for 353717-2)
[Unit: mm]
Applicable tool
5.08 (0.2)
([Unit: in])
7.15 (0.28)
29.7 (0.12)
3
2
1
P
A M
3 0 -
X
19.24 (0.76)
6.55
(0.26)
(4) CNP3 connector
< Tyco Electronics >
Model Housing
Contact
: 1-179958-3
: 316041-2
: 234171-1
Applicable tool
[Unit: mm]
([Unit: in)
10.16 (0.4)
9.8 (0.39)
45.29 (1.79)
3
2
1
P
A M
5 0 -
Y
33.92 (1.33)
10 - 8
10 OUTLINE DRAWINGS
(5) CNP1 CNP2 CNP3 connector
<molex>
[Unit: mm]
([Unit: in])
0.6 (0.024)
1
2
3
4
5
6
7
9
0 1
R0.3
Circuit number
3 (0.118)
1.2
Layout diagrams classified by the number of poles
(0.047)
5.4 (0.213)
1
3
2
4
11.6
(0.457)
5.4 (0.213)
4 poles
1.5
(0.059)
3
Variable Dimensions
3.5
(0.138)
(0.118)
Model
5557-04R
A
B
4.2 (0.165)
9.6 (0.378)
(Pitch)
4.2
(0.165)
2.7 (0.106)
2.7 (0.106)
A
B
Terminal
[Unit: mm]
([Unit: in])
Model: 5556
1.9 (0.075)
14.7 (0.579)
6.6 (0.26)
5.5 (0.217)
4.3 (0.169)
2.6
(0.102)
1.2 (0.047)
OMIN
1
(0.039)
Applicable wire
2
(0.079)
Core size : AWG#18 to #24 (5556-PBTL)
AWG28 (5556-PBT2L)
Sheath OD: 3.1mm ( 0.122 in) max.
Strip length: 3.0 to 3.5 [mm] (0.118 to 0.138 [in])
Exclusive tools
Wire specifications
Sheath OD [mm(inch)]
Terminal
Tool number
Core size
1.5 to 2.2 (0.06 to 0.09)
2.3 to 3.1 (0.06 to 0.12)
57026-5000
57027-5000
57064-5000
57022-5300
5556-PBL
AWG18 to AWG24
5556-PBT2L
5556-PBT3L
AWG28
AWG16
10 - 9
10 OUTLINE DRAWINGS
(6) Bus cable connector
Honda Tsushin Industry HDR type
Model HDR
Number of Pins
Connector
Connector case
(Note) Crimping terminal
Wire straightening tool : FHAT-0029
Insulation displacement tool : FHPT-0004C
14
26
HDR-E14MG1
HDR-E26MG1
HDR-E14LPA5
HDR-E26LPA5
Note. Not available from us and to be supplied by the customer.
Model Connector
: HDR-E14MG1
Model Connector
: HDR-E26MG1
Connector case : HDR-E14LPA5
Connector case : HDR-E26LPA5
[Unit: mm]
([Unit: in])
21.8 (0.86)
17 (0.67)
5.6 ( 0.22)
6
7 (0.24 0.28)
21 (0.83)
25.8 (1.02)
10 - 10
11. CHARACTERISTICS
11. CHARACTERISTICS
11.1 Overload protection characteristics
An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from
overloads.
Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay
protection curve shown in any of Figs. 13.1, or overload 2 alarm (A.51) occurs if the maximum current
flows continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand
side area of the continuous or broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.
The overload protection characteristic is about 20% lower than that of the MELSERVO-J2-Super series.
However, operation at the 100% continuous rating can be performed.
1000
1000
During rotation
100
100
During rotation
During servo lock
10
1
10
1
During servo lock
0.1
0
0.1
0
50
100
150
200
250
300
50
100
150
200
250
300
(Note) Load ratio [%]
(Note) Load ratio [%]
a. MR-J2M-10DU to MR-J2M-40DU
b. MR-J2M-70DU
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop
status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic
thermal relay protection is not activated.
Fig 11.1 MR-J2M multiple axis overload curve
11 - 1
11. CHARACTERISTICS
11.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the drive unit
Table 11.1 indicates drive unit's power supply capacities and losses generated under rated load. For
thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating
conditions. The actual amount of generated heat will be intermediate between values at rated torque
and servo off according to the duty used during operation. When the servo motor is run at less than
the maximum speed, the power supply capacity will be smaller than the value in the table, but
generated heat will not change.
Table 11.1 Power supply capacity and generated heat at rated output
(Note 2)
(Note 1)
Area required for heat dissipation
Generated heat[W]
Unit
Servo motor
Power supply
capacity[kVA]
At rated torque
At servo off
[m2]
0.2
0.2
0.2
0.3
0.3
0.3
0.4
0.4
0.7
0.7
0.7
0.2
0.1
0.1
0.1
[ft2]
HC-KFS053 13
HC-MFS053 13
HC-UFS13
0.3
0.3
0.3
0.5
0.5
0.5
0.9
0.9
1.3
1.3
1.3
0.1
0
11
11
11
14
14
14
20
20
40
40
40
9
6
6
6
6
6
6
6
6
6
6
6
9
4
4
4
2.16
2.16
2.16
3.24
3.24
3.24
4.32
4.32
7.54
7.54
7.54
2.16
1.08
1.08
1.08
MR-J2M-10DU
HC-KFS23
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
HC-MFS23
HC-UFS23
HC-KFS43
HC-MFS43
HC-KFS73
HC-MFS73
HC-UFS73
MR-J2M-P8B
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
4
0
4
0
4
Note 1. Note that the power supply capacity will vary according to the power supply impedance.
This value applies to the case where the power factor improving reactor is not used.
2. Heat generated during regeneration is not included in generated heat. To calculate heat generated by the regenerative brake
option, use Equation 12.1 in Section 12.1.1.
11 - 2
11. CHARACTERISTICS
(2) Heat dissipation area for enclosed drive unit
The enclosed control box (hereafter called the control box) which will contain the drive unit should be
designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .
(With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.)
The necessary enclosure heat dissipation area can be calculated by Equation 11.1:
P
............................................................................................................................................. (11.1)
A
K
T
where, A
P
: Heat dissipation area [m2]
: Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [
: Heat dissipation coefficient [5 to 6]
]
K
When calculating the heat dissipation area with Equation 11.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 11.1 for heat generated by the drive unit. "A" indicates the
effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that
extra amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore,
arrangement of the equipment in the enclosure and the use of a fan should be considered.
Table 11.1 lists the enclosure dissipation area for each drive unit when the drive unit is operated at
the ambient temperature of 40 (104 ) under rated load.
(Outside)
(Inside)
Air flow
Fig. 11.2 Temperature distribution in enclosure
When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because
the temperature slope inside and outside the enclosure will be steeper.
11 - 3
11. CHARACTERISTICS
11.3 Dynamic brake characteristics
Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.4)
ON
Forced stop(EM1)
OFF
Time constant
V0
Machine speed
Time
te
Fig. 11.3 Dynamic brake operation diagram
JL
JM
V0
60
Lmax
te
....................................................................................................................... (11.2)
1
Lmax
Vo
: Maximum coasting distance .................................................................................................[mm][in]
: Machine rapid feedrate......................................................................................... [mm/min][in/min]
: Servo motor inertial moment.................................................................................[kg cm2][oz in2]
: Load inertia moment converted into equivalent value on servo motor shaft.....[kg cm2][oz in2]
: Brake time constant........................................................................................................................[s]
M
J
L
J
te
: Delay time of control section ..........................................................................................................[s]
(There is internal relay delay time of about 30ms.)
11 - 4
11. CHARACTERISTICS
0.02
0.018
0.016
0.014
0.012
0.01
16
14
12
23
10
8
6
73
23
053
0.008
0.006
0.004
0.002
0
43
73
4
2
0
053
43
13
13
0
500 1000 1500 2000 2500 3000
Speed [r/min]
0
500 1000 1500 2000 2500 3000
Speed [r/min]
a. HC-KFS series
b. HC-MFS series
0.07
0.06
0.05
0.04
0.03
0.02
0.01
0
73
43
23
13
0
50
500
1000 1500 2000 2500 3000
Speed [r/min]
c. HC-UFS3000r/min series
Fig. 11.4 Dynamic brake time constant
Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the
load inertia moment may exceed the value, contact Mitsubishi.
Drive unit
Load inertia moment ratio [times]
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
30
11 - 5
11. CHARACTERISTICS
11.4 Encoder cable flexing life
The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1
5
108
107
a
1
5
107
106
a : Long flexing-life encoder cable
MR-JCCBL M-H
1
5
106
105
b : Standard encoder cable
MR-JCCBL M-L
1
5
105
104
1
5
104
103
b
1
103
4
7
10
20
40
70 100
200
Flexing radius [mm]
11 - 6
12. OPTIONS AND AUXILIARY EQUIPMENT
12. OPTIONS AND AUXILIARY EQUIPMENT
Before connecting any option or auxiliary equipment, make sure that the charge
lamp is off more than 15 minutes after power-off, then confirm the voltage with a
tester or the like. Otherwise, you may get an electric shock.
WARNING
CAUTION
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
12.1 Options
12.1.1 Regenerative brake options
The specified combinations of regenerative brake options and base units may only
be used. Otherwise, a fire may occur.
CAUTION
(1) Combinations and regenerative powers
The power values in the table are resistor-generated regenerative powers and not rated powers.
Regenerative power [W]
Base unit
MR-RB032
[40
MR-RB14
[26
MR-RB34
[26
MR-RB54
[26
]
]
]
]
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
30
100
300
500
(2) Selection of regenerative brake option
(a) Simple judgment of regenerative brake option necessity
The MELSERVO-J2M series does not contain a regenerative brake resistor. Check whether the
regenerative brake option is needed or not in the following method.
1) Requirements
The drive units mounted to the same base unit are all horizontal axes.
The operation pattern is clear and the load inertia moments of the axes to be decelerated
simultaneously are clear.
2) Checking method
The following table gives the permissible load inertia moment that does not require the
regenerative brake option when speed is reduced from 3000r/min.
Drive unit
Permissible Load Inertia Moment
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
2
1.42kg cm
2
4.94kg cm
Calculate the 3000r/min-equivalent inertia moment of each drive unit.
(Load inertia moment equivalent for 3000r/min) (JL JM) (running speed/3000)2
12 - 1
12. OPTIONS AND AUXILIARY EQUIPMENT
Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be decelerated
simultaneously, and find the maximum total of 3000r/min-equivalent inertia moments.
Also find the sum total of permissible load inertia moments of the drive units installed on the
same base unit.
(Maximum total of 3000r/min-equivalent inertia moments) (Sum total of permissible load
inertia moments of drive units) 1.42
Regenerative brake option is unnecessary.
(Maximum total of 3000r/min-equivalent inertia moments) (Sum total of permissible load
inertia moments of drive units) 1.42
Regenerative brake option is necessary.
3) Confirmation example
In the following 8-axis system, the total 3000r/min-equivalent inertia moment is maximum
(9.75kg cm) at the timing of 7). The permissible inertia moment of this 8-axis system is
11.36[kg cm2] as indicated by the following expression.
8 [axes] 1.42[kg cm2] 11.36[kg cm2]
Hence,
(Maximum total of 3000r/min-equivalent load inertia moments 9.75) 11.36[kg cm2]
The regenerative brake option is unnecessary.
Speed
1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13)
First axis
Second axis
Third axis
Fourth axis
Fifth axis
Operation pattern
Sixth axis
Seventh axis
Eighth axis
Servo
Load Inertia
Total
Running 3000r/min-
Servo
Motor
Model
Motor
Moment
inertia
moment
speed
equivalent
Total Inertia
Moment
kg/cm2
Axis
No.
Inertia
Moment
kg/cm2
(Servo motor
shaft equivalent)
kg/cm2
kg/cm2
r/min
HC-KFS13
HC-KFS23
HC-KFS43
HC-KFS13
HC-MFS13
HC-MFS23
HC-KFS13
HC-KFS43
0.084
0.42
1.3
2.1
2.0
0.8
0.9
2.5
0.4
5.83
1.384
2.52
3000
3000
3000
2500
2500
3000
3300
3000
1.38
2.52
2.67
0.61
0.65
2.59
0.59
6.5
1.38
2.52
2.67
1.38
2.52
2.67
1.38
2.52
2.67
First axis
Second axis
Third axis
Fourth axis
Fifth axis
0.67
2.67
0.084
0.03
0.884
0.93
0.61
0.65
0.61
0.65
0.088
0.084
0.67
2.588
0.484
6.5
2.59
0.59
Sixth axis
Seventh axis
Eighth axis
6.5
6.5 6.57
kg/cm2
3000r/min-equivalent total inertia moment
6.57 1.26
9.75
1.26
Simultaneous deceleration total inertia moment maximum value
12 - 2
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) To make selection according to regenerative energy
Use the following method when regeneration occurs continuously in vertical motion applications or
when it is desired to make an in-depth selection of the regenerative brake option:
1) Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [N m]
Energy [J]
(JL JM)
1
0.1047
2
No
No
No
No
E1
T1
TU TF
TU TF
TU TF
TU TF
No T1 Tpsa1
1)
2)
104
Tpsa1
9.55
T2 TU TF
E2 0.1047 No T2 t1
0.1047
(JL JM)
1
E3
T3
No T3 Tpsd1
3)
104
2
Tpsd1
9.55
4), 8)
5)
T4 TU
E4 0 (No regeneration)
0.1047
(JL JM)
1
E5
T5
No T5 Tpsa2
104
2
Tpsa2
9.55
T6 TU TF
(JL JM)
6)
E6 0.1047 No T6 t3
0.1047
1
E7
T7
No T7 Tpsd2
7)
104
2
Tpsd2
9.55
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
2) Losses of servo motor and drive unit in regenerative mode
The following table lists the efficiencies and other data of the servo motor and drive unit in the
regenerative mode.
Drive unit
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
Inverse efficiency [%]
C charging [J]
55
70
85
80
5.5
18
Using the following expression, find the total of C charging [J] of the MELSERVO-J2M.
Number of drive unit axes 5.5J
Then, find the energy at each timing in a single-cycle operation pattern. The energy is positive in
the driving mode and negative in the regenerative mode. Enter signed driving/regenerative
energy values into the following calculation table. The shaded areas indicate negative values.
12 - 3
12. OPTIONS AND AUXILIARY EQUIPMENT
<Entry example>
Timing
First axis
Second axis
Third axis
Fourth axis
Fifth axis
Sixth axis
Seventh axis
Eighth axis
Total
1)
E1
E1
E1
E4
E4
E1
E1
E1
E 1)
2)
E2
E2
E2
E4
E4
E2
E2
E2
E 2)
3)
E3
4)
E4
5)
E1
E1
E5
E3
E4
E4
E4
E4
E 5)
6)
E2
E2
E6
E4
E1
E4
E4
E4
E 6)
7)
E3
E3
E7
E4
E2
E1
E1
E1
E 7)
8)
E4
E4
E8
E4
E3
E2
E2
E2
E 8)
E3
E4
E3
E4
E1
E2
E4
E4
E2
E3
E2
E3
E2
E3
E 3)
ES 3)
ER
E 4)
ES 4)
ER
Regenerative ES
|ES|-EC
PR(W)
ER/t
f
Calculate the total of energies at each timing. Only when the total is negative (timings 3), 4) in
the example), use the following expression for calculation.
Energy total ER regenerative energy ES (absolute value) C charging total (EC)
If the subtraction results are negative at all timings, the regenerative brake option is not
needed. From the total of ER's whose subtraction results are positive and a single-cycle period,
the power consumption of the regenerative brake option can be calculated with the following
expression.
Power consumption PR [W] (total of positive ER's)/1-cycle operation period (tf)
12 - 4
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Connection of the regenerative brake option
POINT
When using the MR-RB54, cooling by a fan is required. Please obtain a
cooling fan at your discretion.
Set DRU parameter No.2 according to the option to be used. The regenerative brake option will cause
a temperature rise of 100 degrees relative to the ambient temperature. Fully examine heat
dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-
resistant cables and keep them clear of the regenerative brake option body. Always use twisted cables
of max. 5m(16.4ft) length for connection with the base unit.
The G3 and G4 terminals act as a thermal sensor. G3-G4 are disconnected when the regenerative
brake option overheats abnormally.
DRU parameter No.2
Selection of regenerative
00: Not used.
06: MR-RB34
07: MR-RB54
10: MR-RB032
12: MR-RB14
Base unit
Regenerative brake option
CNP1A
P
2
3
P
C
C
G3
G4
(Note)
5m (16.4 ft) max.
Note. Make up a sequence which will switch off the magnetic contactor
(MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
12 - 5
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Outline drawing
(a) MR-RB032 MR-RB14
[Unit: mm (in)]
LA
6 (0.24) mounting hole
LB
MR-RB
TE1
Terminal block
5 (0.20)
G3
G4
P
G3
G4
TE1
P
C
C
Terminal screw: M3
Tightening torque:
0.5 to 0.6 [N m](4 to 5 [lb in])
Mounting screw
1.6 (0.06)
6 (0.23)
Screw size: M5
20
(0.79)
LD
LC
Tightening torque:
3.2 [N m](28.32 [lb in])
Variable dimensions
LB LC
Mass
[kg] [lb]
Regenerative
brake option
LA
LD
MR-RB032
MR-RB14
30 (1.18) 15 (0.59) 119 (4.69) 99 (3.9) 0.5 1.1
40 (1.57) 15 (0.59) 169 (6.69) 149 (5.87) 1.1 2.4
12 - 6
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-RB34
[Unit: mm (in)]
Terminal block
P
Terminal screw: M4
C
G3 Tightening torque: 1.2 [N m] (10.6 [lb in])
G4
Mounting screw
Screw : M6
Tightening torque: 5.4 [N m](47.79 [lb in])
7
318 (12.52)
335 (13.19)
17
(0.67)
90 (3.54)
100 (3.94)
10 (0.39)
Mass
[kg(lb)]
Regenerative
Brake Option
MR-RB34
2.9 (6.393)
(c) MR-RB54
[Unit: mm (in)]
Terminal block
P
Fan mounting screw
(2-M3 screw)
On opposite side
82.5
(3.25)
49
(1.93)
C
Terminal screw: M4
G3
G4
Tightening torque: 1.2 [N m](10.6 [lb in])
7
14 slot
Mounting screw
Screw : M6
Tightening torque: 5.4 [N m](47.79 [lb in])
Wind blows in the
arrow direction.
7 (0.28)
2.3
(0.09)
Approx. 30 (1.18)
17 (0.67)
200 (7.87)
223 (8.78)
108 (4.25)
120 (4.73)
12
(0.47)
8 (0.32)
Mass
[kg(lb)]
Regenerative
Brake Option
MR-RB54
5.6 (12.346)
12 - 7
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.2 Cables and connectors
(1) Cable make-up
The following cables are used for connection with the servo motor and other models.
The broken line areas in the diagram are not options.
Servo amplifier
Servo system controller
(Note)
Bus cable
(Note)
Bus cable
CN1A CN1B
CN2 CN3
or 10)
Termination
connector
(Note)
Connector set
Battery unit
MR-J2M-BT
Extension IO unit
DRU MR-J2M-D01
BU
IFU
DRU
CN1C
CNP1A CNP1B
CN4A
To regenerative
brake option
5)
CN1A CN1B
To control circuit
power supply
CN2
CN2
16)
CNP3
CN4B
To main circuit
power supply
CN3
CON5
17)
CNP2
CNP2
Personal
computer
15)
13) 14)
HC-KFS
HC-MFS
HC-UFS 3000r/min
11)
12)
(Note)
1) 2) 3)
4)
Note. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected.
Refer to the following table and choose the bus cable.
MR-J2M-P8B
MR-J2S-
B
MR-J2-03B5
QD75M
7) Bus cable :MR-J2HBUS
18) Bus cable :Q172J2BCBL M(-B)
M
9) Connector set:MR-J2CN1
Q172CPU(N)
Q173CPU(N)
A motion
Motion
19) Bus cable :Q173J2B
CBL
M
controller
6) Bus cable :MR-J2HBUS M-A
8) Connector set:MR-J2CN1-A
9) Connector set:MR-J2CN1
MR-J2M-P8B
MR-J2S-
MR-J2-03B5
Maintenance junction card
B
7) Bus cable :MR-J2HBUS
M
12 - 8
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Housing: 1-172161-9
Pin: 170359-1
Application
1) Standard encoder MR-JCCBL M-L
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Standard
flexing life
cable
Refer to (2) (a) in
this section.
(Tyco Electronics or equivalent) IP20
Cable clamp: MTI-0002
(Toa Electric Industry)
2) Long flexing life MR-JCCBL M-H
Long flexing
life
IP20
encoder cable
Refer to (2) (a) in
this section.
3)
MR-JC4CBL M-H
Refer to (2) (b) in
this section.
4 line type
Long flexing
life
IP20
4) Encoder
connector set
MR-J2CNM
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing: 1-172161-9
Pin: 170359-1
IP20
(Tyco Electronics or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)
5) Connector set
6) Bus cable
MR-J2MCN1
Connector: 10150-3000VE
Shell kit: 10350-52F0-008
(3M or equivalent)
Qty: 2 each
MR-J2HBUS M-A Connector: PCR-S20FS
Refer to (4) in this Case: PCR-LS20LA1
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
section.
(Honda Tsushin)
7) Bus cable
MR-J2HBUS M
Connector: 10120-6000EL
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Refer to (4) in this Shell kit: 10320-3210-000
section.
(3M or equivalent)
8) Connector set
MR-J2CN1-A
Connector: PCR-S20FS
Connector: 10120-3000EL
Shell kit: 10320-52F0-008
(3M or equivalent)
Refer to (4) in this Case: PCR-LS20LA1
section
(Honda Tsushin)
9) Control signal
connector set
MR-J2CN1
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Qty: 2 each
10) Termination
connector
MR-A-TM
11) Maintenance
junction card
MR-J2CN3TM
Refer to Section 12.1.3.
12) Communication MR-CPCATCBL3M Connector: DE-9SF-N
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
For
cable
Refer to (3) in this Case: DE-C1-J6-S6
connection
with PC-AT-
compatible
personal
computer
IP20
section.
(Japan Aviation Electronics)
13) Power supply
connector set
MR-PWCNK1
MR-PWCNK2
Plug: 5559-04P-210
Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(Molex)
14) Power supply
connector set
Plug: 5559-06P-210
For motor
with brake
IP20
Terminal: 5558PBT3L (For AWG16)(8 pcs.)
(Molex)
12 - 9
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Application
15) Power supply
connector
MR-PWCNK3
Plug: 5557-04R-210
Servo motor
power cable
Terminal: 5556PBT3L (for AWG16) (6 pcs.)
(Molex)
16) Base unit
connector set
MR-J2MCNM
Housing: 2-178128-3 (5 pcs.)
Contact: 917511-2 (max. sheath OD 2.8 [mm]
15 pcs.)
For CNP1B
For CNP1A
For CNP3
Y
X
(Tyco Electronics)
Housing: 1-178128-3 (5 pcs.)
Contact: 917511-2 (max. sheath OD 2.8 [mm]
15 pcs.)
(Tyco Electronics)
Housing: 1-179958-3 (5 pcs.)
Contact: 316041-2 (20 pcs.)
(Tyco Electronics)
17) Battery cable
MR-J2MBTCBL M Housing: 51030-0230
Terminal: 50083-8160
(Molex)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
18) Bus cable
Q172J2BCBL
(-B)
M
Connector: HDR-E14MG1
Shell kit: HDR-E14LPA5
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Refer to (4) in this (Honda Tsushin)
section
(Note)
Socket: HCN2-2.5S-2
Terminal: HCN2-2.5S-D-B
(Hirose Electric)
Note. When using the battery unit Q170BAT, use the
Q172J2BCBL M-B.
Q173J2B CBL M Connector: HDR-E26MG1
Refer to (4) in this Shell kit: HDR-E26LPA5
19) Bus cable
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
section
(Honda Tsushin)
12 - 10
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Encoder cable
If you have fabricated the encoder cable, connect it correctly.
CAUTION
Otherwise, misoperation or explosion may occur.
POINT
The encoder cable is not oil resistant.
Refer to Section 11.4 for the flexing life of the encoder cable.
When the encoder cable is used, the sum of the resistance values of the
cable used for P5 and the cable used for LG should be within 2.4 .
When soldering the wire to the connector pin, insulate and protect the
connection portion using heat-shrinkable tubing.
Generally use the encoder cable available as our options. If the required length is not found in the
options, fabricate the cable on the customer side.
(a) MR-JCCBL M-L/H
1) Model explanation
Model: MR-JCCBL M-
Symbol
Specifications
Standard flexing life
Long flexing life
L
H
Symbol
Cable length [m(ft)]
2
5
2 (6.56)
5 (16.4)
10
20
10 (32.8)
20 (65.6)
2) Connection diagram
The signal assignment of the encoder connector is as viewed from the pin side. For the pin
assignment on the drive unit side, refer to Section 3.5.3
Encoder cable
supplied to servo motor
Drive unit
Encoder connector
1-172169-9
(Tyco Electronics)
Encoder connector
Servo motor
Encoder cable
(option or fabricated)
1
2
3
MR MRR BAT
CN2
Encoder
4
5
6
MD MDR
30m(98.4ft) max.
30cm
(0.98ft)
7
8
9
P5
LG SHD
12 - 11
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JCCBL10M-L
MR-JCCBL20M-L
MR-JCCBL10M-H
MR-JCCBL20M-H
MR-JCCBL2M-L
MR-JCCBL5M-L
MR-JCCBL2M-H
MR-JCCBL5M-H
Drive unit side
Encoder side
7
Drive unit side
Encoder side
7
Drive unit side
Encoder side
7
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
8
1
2
4
5
3
8
1
2
4
5
3
8
1
2
4
5
3
MR
7
MR
7
MR
7
MRR 17
MD
MDR 16
MRR 17
MD
MDR 16
MRR 17
MD
MDR 16
6
6
6
BAT
LG
9
1
BAT
LG
9
1
BAT
LG
9
1
(Note)
(Note)
(Note)
Plate
Plate
Plate
SD
9
SD
9
SD
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the
MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown
in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder
cable of up to less than 30m (98.4ft) length including the length of the encoder cable supplied to
the servo motor.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not
required.
Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector
according to the servo motor installation environment.
For use of AWG22
Drive unit side
(3M)
Encoder side
19
11
20
12
18
2
7
P5
LG
P5
LG
P5
LG
8
1
2
7
MR
17
MRR
9
1
3
BAT
LG
(Note)
9
Plate
SD
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
12 - 12
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JC4CBL M-H
POINT
When using this encoder cable, set "
1
" in DRU parameter No. 23.
1) Model explanation
Model: MR-JC4CBL M-H
Long flexing life
Symbol Cable Length [m(ft)]
30
40
50
30 (98.4)
40 (131.2)
50 (164.0)
2) Connection diagram
The signal assignment of the encoder connector is as viewed from the pin side. For the pin
assignment on the drive unit side, refer to Section 3.5.3
Encoder cable
supplied to servo motor
Drive unit
Encoder connector
1-172169-9
(Tyco Electronics)
Encoder connector
Servo motor
Encoder cable
(option or fabricated)
1
2
3
MR MRR BAT
CN2
Encoder
4
5
6
MD MDR CNT
50m(164.0ft) max.
30cm
(0.98ft)
7
8
9
P5
LG SHD
MR-JC4CBL30M-H to MR-JC4CBL50M-H
Drive unit side
Encoder side
P5
19
11
20
12
18
2
7
LG
P5
LG
P5
LG
6
8
1
2
4
5
3
MR
7
17
6
MRR
MD
MDR
BAT
LG
16
9
1
(Note)
Plate
SD
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
12 - 13
12. OPTIONS AND AUXILIARY EQUIPMENT
When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the
MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown
in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder
cable of up to 50m (164.0ft) length.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not
required.
Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector
according to the servo motor installation environment.
Drive unit side
(3M)
Encoder side
7
P5
19
11
20
12
18
2
LG
P5
LG
P5
LG
6
8
1
2
4
5
3
MR
7
MRR 17
MD
MDR 16
6
BAT
LG
9
1
(Note)
9
SD
Plate
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
12 - 14
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Communication cable
POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.
(a) Model definition
Model : MR-CPCATCBL3M
Cable length 3[m](10[ft])
(b) Connection diagram
MR-CPCATCBL3M
Personal computer side
Interface unit side
Plate FG
TXD
3
2
1
RXD
LG
RXD
GND
RTS
CTS
DSR
DTR
2
5
7
8
6
4
12
11
TXD
LG
D-SUB9 pins
Half-pitch 20 pins
When fabricating the cable, refer to the connection diagram in this section.
The following must be observed in fabrication:
1) Always use a shielded, multi-core cable and connect the shield with FG securely.
2) The optional communication cable is 3m(10ft) long. When the cable is fabricated, its maximum
length is 15m(49ft) in offices of good environment with minimal noise.
12 - 15
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Bus cable
When fabricating the bus cable, do not make incorrect connection. Doing so can
cause misoperation or explosion.
CAUTION
When fabricating this cable, use the recommended cable given in Section 12.2.1 and fabricate it in
accordance with the connection diagram shown in this section. The overall distance of the bus cable on
the same bus is 30m(98.4ft).
(a) MR-J2HBUS M-A
1) Model definition
Model:MR-J2HBUS M-A
Symbol Cable Length [m(ft)]
05
1
5
0.5 (1.64)
1 (3.28)
5 (16.4)
2) Connection diagram
MR-J2HBUS M-A
PCR-S20FS(Connector)
PCR-LS20LA1(Case)
10120-6000EL(Connector)
10320-3210-000(Shell kit)
LG
LG
1
11
2
1
11
2
RD
RD*
TD
12
4
12
4
TD*
LG
14
5
14
5
LG
15
6
15
7
EMG
EMG*
16
17
SD
20
Plate
12 - 16
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-J2HBUS M
1) Model definition
Model:MR-J2HBUS
M
Symbol Cable Length [m(ft)]
05
1
5
0.5 (1.64)
1 (3.28)
5 (16.4)
2) Connection diagram
MR-J2HBUS
M
10120-6000EL(Connector)
10320-3210-000(Shell kit)
10120-6000EL(Connector)
10320-3210-000(Shell kit)
LG
1
11
2
1
11
2
LG
RD
RD*
12
3
12
3
13
4
13
4
TD
TD* 14
14
5
LG
LG
5
15
6
15
6
16
7
16
7
EMG
EMG*
17
8
17
8
18
9
18
9
BAT
SD
19
10
20
19
10
20
Plate
Plate
12 - 17
12. OPTIONS AND AUXILIARY EQUIPMENT
(c) Q172J2BCBL M(-B)
When using the battery unit Q170BAT, use the Q172J2BCBL M-B. For the Q170BAT, refer to
the Motion Controller Q Series User's Manual (IB(NA)0300021).
1) Model definition
Model:Q172J2BCBL M-
Symbol Connection of Battery Unit
No
-B
No
Yes
Symbol
Cable Length [m(ft)]
05
1
5
0.5 (1.64)
1 (3.28)
5 (16.4)
2) Connection diagram
Q172J2BCBL
M
Q172J2BCBL M-B
HDR-E14MG1(Connector) 10120-6000EL(Connector)
HDR-E14-LPA5(Connectorcase) 10320-3210-000(Shell kit)
HDR-E14MG1(Connector)
10120-6000EL(Connector)
HDR-E14-LPA5(Connector case) 10320-3210-000(Shell kit)
TD1
TD1*
LG
1
8
2
12
1
RD
TD1
TD1*
LG
1
8
2
12
1
RD
RD*
LG
RD*
LG
2
2
LG
9
11
4
LG
LG
9
11
4
LG
RD
3
TD
RD
3
TD
RD*
LG
10
6
14
5
TD*
LG
RD*
LG
10
6
14
5
TD*
LG
BT
13
4
9
BT
BT
13
4
9
BT
EMG
EMG*
SD
7
EMG
EMG*
SD
EMG
EMG*
SD
7
EMG
EMG*
SD
11
Shell
17
Plate
11
Shell
17
Plate
BAT
LG
1
2
HCN2-2.5S-2(Socket)
HNC2-2.5S-D-B(Terminal)
(d) Q173J2B CBL M
1) Model definition
Model:Q173J2B CBL
M
Symbol
Cable Length [m(ft)]
05
1
5
0.5 (1.64)
1 (3.28)
5 (16.4)
Symbol
SSCNET Line Number
SSCNET1 Line
SSCNET2 Line
SSCNET3 Line
SSCNET4 Line
No
2
3
4
12 - 18
12. OPTIONS AND AUXILIARY EQUIPMENT
2) Connection diagram
Q173J2B CBL
M
When =4
HDR-E26MG1(Connector)
HDR-E26-LPA5(Connector case)
10120-6000EL(Connector)
10320-3210-000(Connector case)
SSCNET1 Line
TD1
1
14
3
2
12
1
RD
TD1*
LG
RD*
LG
LG
16
2
11
4
LG
RD1
RD1*
LG
TD
15
13
26
6
14
5
TD*
LG
= No
BT
9
BT
EMG12
EMG12*
7
EMG
EMG*
SD
19
17
Plate
= 2
SSCNET2 Line
SSCNET3 Line
SSCNET4 Line
TD2
4
2
12
1
RD
TD2*
17
RD*
LG
11
4
LG
RD2
5
TD
RD2*
18
14
5
TD*
LG
= 3
9
BT
7
EMG
EMG*
SD
17
Plate
= 4
TD3
TD3*
LG
7
20
9
2
12
1
RD
RD*
LG
LG
22
8
11
4
LG
RD3
RD3*
TD
21
14
5
TD*
LG
9
BT
EMG34
12
25
7
EMG
EMG*
SD
EMG34*
17
Plate
TD4
10
23
2
12
1
RD
TD4*
RD*
LG
11
4
LG
RD4
11
24
TD
RD4*
14
5
TD*
LG
9
BT
7
EMG
EMG*
SD
17
Plate
SD
Shell
12 - 19
12. OPTIONS AND AUXILIARY EQUIPMENT
(5) Battery cable
When fabricating, use the recommended wire given in Section 12.2.1 and fabricate as in the
connection diagram shown in this section.
(a) Definition of model
Model: MR-J2MBTCBL M
Symbol Cable Length L [m(ft)]
03
1
0.3 (0.1)
1 (3.28)
(b) Outline drawing
L
(c) Connection diagram
Base unit side
Battery unit side
Housing: 51030-0230
Terminal: 50083-8160
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
LG
1
2
1
9
LG
BAT
BAT
SD
Plate
12 - 20
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.3 Maintenance junction card (MR-J2CN3TM)
(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor are used at the same time.
Interface unit
Maintenance junction card (MR-J2CN3TM) Communication cable
CN3B
Bus cable
MR-J2HBUS
M
CN3
CN3A
CN3C
3
20
8
SG
EM1
VIN
DC24V
13 MBR
MO1
RA
A
A
A
4
10k
10k
10k
Monitor output
Max. 1mA
Reading in both
directions
14 MO2
MO3
7
11 LG
Plate SD
A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6
LG LG MO1 MO2
Analog monitor output 1
Analog monitor output 2
(2) Connection diagram
TE1
B5
B6
A5
A6
LG
LG
CN3A
1
2
3
4
5
6
7
CN3B
CN3C
1
LG
1
2
3
4
5
6
7
1
2
3
4
5
6
7
MO1
MO2
RXD
SG
MO1
3
4
5
MO3
VIN
8
9
8
9
8
9
10
A1
A2
A3
A4
B4
B3
B2
B1
10
11
TXD 12
MBR 13
MO2 14
15
10
11
12
13
14
15
16
17
18
19
20
10
11
12
13
14
15
16
17
18
19
20
LG
13
14
15
16
17
18
19
Not used.
19
20
EM1 20
Shell
Shell
Shell
12 - 21
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
[Unit: mm]
([Unit: in])
CN3A
CN3B
CN3C
2- 5.3(0.21)(mounting hole)
A1
B1
A6
B6
TE1
3(0.12)
88(3.47)
41.5(1.63)
100(3.94)
Mass: 110g(0.24Ib)
12 - 22
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.4 MR Configurator (servo configurations software)
POINT
Required to assign devices to the pins of CN4A and CN4B of the MR-
J2M-D01 extension IO unit.
The MR Configurator (servo configuration software) uses the communication function of the interface unit
to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
(1) Specifications
Item
Description
Communication signal
Baudrate [bps]
Conforms to RS-232C.
57600, 38400, 19200, 9600
Batch display, high-speed display, multiple axis display, graph display
Minimum resolution changes with the processing speed of the personal computer.
Alarm display, alarm history, alarm occurrence time
Monitor
Alarm
I/O display, function device display no-rotation reason display, cumulative power-on time display,
software number display, motor information display, tuning data display, ABS data display, shaft
name setting, unit composition list display.
Diagnostic
Parameter setting, list display, change list display, detailed display, turning, Device setting,
parameter (IFU), parameter (DRU).
Parameters
Test operation
Advanced function
File operation
Others
Jog operation, positioning operation, motor-less operation, DO forced output, program operation.
Machine analyzer, gain search, machine simulation.
Data read, save, print
Automatic operation, help display
(2) System configuration
(a) Components
To use this software, the following components are required in addition to MELSERVO-J2M and
servo motor:
Model
(Note 1) Description
IBM PC-AT compatible where the English version of Windows® 95, Windows® 98, Windows® Me,
Windows NT® Workstation 4.0 or Windows® 2000 Professional operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0,
Windows® 2000 Professional)
(Note 2)
Personal
computer
Pentium® 150MHz or more (Windows® Me)
Memory: 16MB or more (Windows® 95), 24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
Free hard disk space: 60MB or more
Serial port used
Windows® 95, Windows® 98, Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional
OS
(English version)
One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
Display
Keyboard
Mouse
Connectable with the above personal computer.
Connectable with the above personal computer. Note that a serial mouse is not used.
Connectable with the above personal computer.
Printer
Communication MR-CPCATCBL3M
cable
When this cannot be used, refer to (3) Section 12.1.2 and fabricate.
Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, this software may not run properly.
12 - 23
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Configuration diagram
Personal computer
BU
DRU (First axis)
CN2
IFU
Communication cable
CN3
Servo motor
Servo motor
To RS-232C
connector
DRU (Eighth axis)
CN2
12 - 24
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2 Auxiliary equipment
Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-
UL(CSA) Standard, use the products which conform to the corresponding standard.
12.2.1 Recommended wires
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or
equivalent.
1) Main circuit power supply lead
3) Motor power supply lead
Base unit
Drive unit
Servo motor
Power supply
L1
U
V
U
V
L2
L3
Motor
W
W
(Earth)
L11
5) Electromagnetic
brake lead
L21
2) Control circuit power supply lead
Regenerative brake option
Electro-
magnetic
brake
B1
B2
CN2
C
P
Encoder
Encoder cable (refer to Section 12.1.2)
4) Regenerative brake option lead
The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the
wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in
consideration of voltage drop.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
Section 3.5.3.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or
more for wiring.
Table 12.1 Recommended wires
2
Wires [mm ]
Unit
1) L1 L2 L3
2 (AWG14)
2) L11 L21
3) U
V
W
4) P
C
5) B1 B2
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
3.5 (AWG12)
5.5 (AWG10)
2 (AWG14)
2 (AWG14)
1.25 (AWG16)
1.25 (AWG16)
12 - 25
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent:
Table 12.2 Wires for option cables
Characteristics of one core
(Note 3)
Finishing
OD [mm]
Length
[m(ft)]
Core size Number
Type
Model
Wire model
Structure
Conductor
Insulation coating
[mm2]
of Cores
[Wires/mm] resistance[ /mm] ODd[mm] (Note 1)
2 to 10
(6.56 to 32.8)
20 30
12
(6 pairs)
12
(6 pairs)
12
(6 pairs)
14
(7 pairs)
14
(7 pairs)
6
UL20276 AWG#28
6pair (BLACK)
UL20276 AWG#22
6pair (BLACK)
(Note 2)
A14B2343 6P
(Note 2)
A14B0238 7P
(Note 2)
0.08
0.3
7/0.127
12/0.18
40/0.08
40/0.08
40/0.08
7/0.127
222
62
0.38
1.2
5.6
8.2
7.2
8.0
8.0
4.6
MR-JCCBL M-L
(65.6 98.4)
2 5
(6.56 16.4)
10 to 50
(32.8 to 164)
30 to 50
Encoder cable
0.2
105
105
105
222
0.88
0.88
0.88
0.38
MR-JCCBL M-H
0.2
MR-JC4CBL M-H
MR-CPCATCBL3M
0.2
(98.4 to 164)
A14B0238 7P
UL20276 AWG#28
3pair (BLACK)
Communication
cable
3 (9.84)
0.08
(3 pairs)
MR-J2HBUS
MR-J2HBUS M-A
Q172J2BCBL
Q173J2B CBL
MR-J2MBATCBL
M
M
20
(10 pairs)
UL20276 AWG#28
10pair (CREAM)
0.5 to 5
(1.64 to 16.4)
Bus cable
0.08
0.3
7/0.127
12/0.18
222
63
0.38
1.5
6.1
5.1
M
14
(7 pairs)
UL20276 AWG#28
7pair (CREAM)
M
Battery unit
cable
0.3 1
(0.98 3.28)
2
2
MVVS IP 0.3mm
(1 pairs)
Note 1. d is as shown below:
d
Conductor Insulation sheath
2. Purchased from Toa Electric Industry
3. Standard OD. Max. OD is about 10% greater.
12.2.2 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one drive unit. Make selection as
indicated below according to the total output value of the servo motors connected to one base unit. When
using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.
(1) No-fuse breaker
Servo motor output total
550W max.
No-fuse breaker
30A frame5A
30A frame10A
30A frame15A
30A frame20A
30A frame30A
Rated current [A]
5
More than 550W to 1100W max.
More than 1100W to 1650W max.
More than 1650W to 2200W max.
More than 2200W to 3300W max.
10
15
20
30
(2) Fuse
Fuse
Servo motor output total
Class
K5
Current [A]
Voltage [V]
AC250
AC250
AC250
AC250
AC250
800W max.
15
20
30
40
70
More than 800W to 1100W max.
More than 1100W to 1650W max.
More than 1650W to 2200W max.
More than 2200W to 3300W max.
K5
K5
K5
K5
(3) Magnetic contactor
Servo motor output total
1700W max.
Magnetic contactor
S-N10
More than 1700W to 2800W max.
More than 2800W to 3300W max.
S-N18
S-N20
12 - 26
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.3 Power factor improving reactors
The input power factor is improved to be about 90%. Make selection as described below according to the
sum of the outputs of the servo motors connected to one base unit.
[Unit : mm]
([Unit : in.])
Base unit
MR-J2M-BU
NFB
MC
FR-BAL
R
S
T
X
L1
L2
L3
Y
Z
3-phase
200 to 230VAC
Base unit
MR-J2M-BU
D1
W
NFB
Installation screw
MC
FR-BAL
X
(Note)
1-plase
200 to 230VAC
R
S
T
L1
L2
L3
Y
Z
RXSYT Z
W1
C
Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.
Dimensions [mm (in) ]
Servo motor
output total
Mounting Terminal
screw size screw size
Mass
Model
[kg (lb)]
W
W1
H
D
D1
C
0
0
45 2.5(1.77
)
300W max.
FR-BAL-0.4K 135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32)
FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72)
FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79)
FR-BAL-2.2K 160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58)
FR-BAL-3.7K 220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54)
FR-BAL-5.5K 220 (8.66) 200 (7.87) 192 (7.56) 96 (3.78)
FR-BAL-7.5K 220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
10 (0.39)
10 (0.39)
10 (0.39)
M4
M4
M4
M4
M5
M5
M5
M3.5
M3.5
M3.5
M3.5
M4
2.0 (4.4)
2.8 (6.17)
3.7 (8.16)
5.6 (12.35)
8.5 (18.74)
9.5 (20.94)
14.5 (32.0)
0.098
More than 300W to
450W max.
0
0
57 2.5(2.24
)
0.098
More than 450W to
750W max.
0
0
55 2.5(2.17
)
0.098
More than 750W to
1100W max.
0
0
75 2.5(2.95
)
0.098
More than 1100W to
1900W max.
0
0
70 2.5(2.76
)
0.098
More than 1900W to
2500W max.
M4
75 5(2.95 0.2)
100 5(3.94 0.2)
More than 2500W to
3800W max.
M5
12 - 27
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.4 Relays
The following relays should be used with the interfaces:
Interface
Selection example
Relay used for digital input signals (interface DI-1)
To prevent defective contacts , use a relay for small signal
(twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1)
Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY
12.2.5 Surge absorbers
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating
Static
capacity
(reference
value)
Maximum
Varistor voltage
Permissible circuit
voltage
Surge
Energy
Rated
power
limit voltage
rating (range) V1mA
immunity
immunity
AC[Vma]
140
DC[V]
180
[A]
[J]
5
[W]
0.4
[A]
25
[V]
[pF]
[V]
220
(Note)
360
300
500/time
(198 to 242)
Note. 1 time
8
20 s
(Example) ERZV10D221 (Matsushita Electric Industry)
TNR-10V221K (Nippon Chemi-con)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)
13.5 (0.53)
4.7 1.0 (0.19 0.04)
Vinyl tube
Crimping terminal
for M4 screw
0.8 (0.03)
12.2.6 Noise reduction techniques
Noises are classified into external noises which enter MELSERVO-J2M to cause it to malfunction and
those radiated by MELSERVO-J2M to cause peripheral devices to malfunction. Since MELSERVO-J2M
is an electronic device which handles small signals, the following general noise reduction techniques are
required.
Also, the drive unit can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the drive unit, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input cables) and signal cables side by side or do not bundle them
together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal
transmission, and connect the shield to the SD terminal.
Ground the base unit, servo motor, etc. together at one point (refer to Section 3.8).
12 - 28
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Reduction techniques for external noises that cause MELSERVO-J2M to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near MELSERVO-J2M and MELSERVO-J2M may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
(c) Techniques for noises radiated by MELSERVO-J2M that cause peripheral devices to malfunction
Noises produced by MELSERVO-J2M are classified into those radiated from the cables connected
to MELSERVO-J2M and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced
by MELSERVO-J2M
Noise radiated directly
from MELSERVO-J2M
Noises transmitted
in the air
Route 1)
Route 2)
Route 3)
Noise radiated from the
power supply cable
Noise radiated from
servo motor cable
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
Noise transmitted through
power supply cable
Route 7)
Route 8)
Noise sneaking from
grounding cable due to
leakage current
5)
7)
7)
2)
7)
Sensor
power
supply
1)
MELSERVO-
J2M
2)
Instrument
Receiver
3)
8)
6)
Sensor
4)
3)
Servo motor
M
12 - 29
12. OPTIONS AND AUXILIARY EQUIPMENT
Noise transmission route
Suppression techniques
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a control box together with the
MELSERVO-J2M or run near MELSERVO-J2M, such devices may malfunction due to noises
transmitted through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of
MELSERVO-J2M.
1) 2) 3)
3. Avoid laying the power lines (I/O cables of MELSERVO-J2M) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of
MELSERVO-J2M.
4) 5) 6)
3. Avoid laying the power lines (I/O cables of MELSERVO-J2M) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of MELSERVO-J2M
system, noises produced by MELSERVO-J2M may be transmitted back through the power supply
cable and the devices may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (input cables) of MELSERVO-J2M.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of MELSERVO-J2M.
When the cables of peripheral devices are connected to MELSERVO-J2M to make a closed loop
circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
7)
8)
(2) Noise reduction products
(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN are available as data
line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.
Impedance[ ]
[Unit: mm]([Unit: in.])
10 to 100MHZ
80
100 to 500MHZ
150
39 1(1.54 0.04)
Loop for fixing the
cable band
34 1
(1.34 0.04)
TDK
Product name Lot number
Outline drawing (ZCAT3035-1330)
12 - 30
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near MELSERVO-J2M is shown below. Use this product or equivalent.
MC
Relay
Surge suppressor
Surge suppressor
This distance should be short
Surge suppressor
(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200VAC rating)
Outline drawing [Unit: mm] ([Unit: in.])
Vinyl sheath
Rated
voltage
AC[V]
C [ F]
R [ ]
Test voltage AC[V]
18 1.5
(0.71 0.06)
Blue vinyl cord
Red vinyl cord
50
Across
6(0.24)
200
0.5
(1W)
T-C 1000(1 to 5s)
10(0.39)or less 10(0.39)or less
15 1(0.59 0.04)
4(0.16)
10 3
(0.39
0.12)
10 3
(0.39
0.15)
31(1.22)
200(7.87)
48 1.5
200(7.87)
or more (1.89 0.06) or more
Note that a diode should be installed to a DC relay, DC valve or
the like.
RA
Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like
Maximum current: Not less than twice the drive current of
the relay or the like
Diode
(c) Cable clamp fitting (AERSBAN -SET)
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth plate near the drive unit for the encoder cable. Peel part of the cable sheath to
expose the external conductor, and press that part against the earth plate with the cable clamp. If
the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
Cable
Cable clamp
Earth plate
(A,B)
Strip the cable sheath of
the clamped area.
cutter
cable
External conductor
Clamp section diagram
12 - 31
12. OPTIONS AND AUXILIARY EQUIPMENT
Outline drawing
[Unit: mm]
([Unit: in.])
Earth plate
Clamp section diagram
2- 5(0.20) hole
installation hole
17.5(0.69)
L or less
10(0.39)
22(0.87)
6
(Note)M4 screw
35(1.38)
(0.24)
Note. Screw hole for grounding. Connect it to the earth plate of the control box.
Type
A
B
C
Accessory fittings
Clamp fitting
L
100
86
30
70
(2.76)
45
AERSBAN-DSET
clamp A: 2pcs.
A
(3.94) (3.39) (1.18)
70 56
(2.76) (2.20)
AERSBAN-ESET
clamp B: 1pc.
B
(1.77)
12 - 32
12. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of
MELSERVO-J2M and also in suppressing high-frequency leakage current side (zero-phase
current) especially within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm] ([Unit: in.])
Wind the 3-phase wires by the equal number of times in the
same direction, and connect the filter to the power supply side
and output side of MELSERVO-J2M
FR-BSF01
110 (4.33)
The effect of the filter on the power supply side is higher as the
number of winds is larger. The number of turns is generally four.
If the wires are too thick to be wound, use two or more filters
and make the total number of turns as mentioned above.
On the output side, the number of turns must be four or less.
Do not wind the grounding wire together with the 3-phase wires.
The filter effect will decrease. Use a separate wire for grounding.
95 0.5 (3.74 0.02)
2- 5 (0.20)
65 (2.56)
33 (1.3)
Example 1
NFB MC
Base unit
Power
supply
L1
L2
L3
Line noise
filter
(Number of turns: 4)
NFB MC
Example 2
Base unit
Power
supply
L1
L2
L3
Line noise
filter
Two filters are used
(Total number of turns: 4)
(e) Radio noise filter (FR-BIF)...for the input side only
This filter is effective in suppressing noises radiated from the power supply side of MELSERVO-
J2M especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the input
only.
Connection diagram
Outline drawing (Unit: mm) ([Unit: in.])
Make the connection cables as short as possible.
Grounding is always required.
When using the FR-BIF with a single-phase wire, always
insulate the wires that are not used for wiring.
Leakage current: 4mA
Red WhiteBlue
Green
NFB
MC
Base unit
L1
L2
L3
Power
supply
29 (1.14)
5 (0.20)
hole
29 (1.14)
44 (1.73)
58 (2.28)
Radio noise
filter FR-BIF
7 (0.28)
12 - 33
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.7 Leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the base unit, servo
motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm (11.8 in)) to minimize leakage currents.
Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(12.1)
K: Constant considering the harmonic contents
Cable
Leakage current breaker
K
1
3
Mitsubishi
products
Noise
filter
Type
NV
MELSERVO
-J2M
Cable
Ig2
M
NV-SP
NV-SW
NV-CP
NV-CW
NV-HW
BV-C1
NFB
Models provided with
harmonic and surge
reduction techniques
Ig1 Ign
Iga
Igm
General models
NV-L
Ig1:
Ig2:
Leakage current on the electric channel from the leakage current breaker to the input terminals
of the base unit (Found from Fig. 12.1.)
Leakage current on the electric channel from the output terminals of the drive unit to the
servo motor (Found from Fig. 12.1.)
Ign:
Iga:
Igm:
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the drive unit (Found from Table 12.4.)
Leakage current of the servo motor (Found from Table 12.3.)
Table 12.3 Servo motor's
leakage current
Table 12.4 Drive unit's
leakage current
example (Iga)
Leakage current
120
100
80
60
40
20
0
example (Igm)
Servo motor
output [kW]
Leakage
Drive unit
current [mA]
capacity [kW]
[mA]
0.3
0.05 to 0.4
0.1
0.1 to 0.4
0.75
0.6
[mA]
2
3.5 8 1422 38 80 150
5.5 30 60 100
Cable size[mm2]
Fig. 12.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit
12 - 34
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.8 EMC filter
For compliance with the EMC directive of the EN standard, it is recommended to use the following filter:
(1) Combination with the base unit
Recommended filter
Base unit
Mass [kg(lb)]
Model
Leakage current [mA]
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
SF1253
57
1.37 (3.02)
(2) Connection example
EMC filter
Base unit
NFB LINE
LOAD
L1
L2
L3
L1
L2
L3
L1
L2
L3
(Note 2)
Power supply
(Note 1)
L11
L21
Note 1. Connect when the power supply has earth.
2. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.
(3) Outline drawing
[Unit: mm(in)]
6.0(0.236)
SF1253
209.5(8.248)
L1
L2
L3
LINE
(input side)
L1'
L2'
L3'
LOAD
(output side)
23.0(0.906)
8.5
(0.335)
49.0
(1.929)
12 - 35
12. OPTIONS AND AUXILIARY EQUIPMENT
MEMO
12 - 36
13. ABSOLUTE POSITION DETECTION SYSTEM
13. ABSOLUTE POSITION DETECTION SYSTEM
If an absolute position erase (A.25) or an absolute position counter warning (A.E3)
has occurred, always perform home position setting again. Not doing so can cause
runaway.
CAUTION
13.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the servo system controller power is on or off.
Therefore, once home position return is made at the time of machine installation, home position return is
not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
Servo system controller
MELSERVO-J2M
Position data
Current
position
Detecting
the number
Detecting the
position within
Home position data
LS0
CYC0
Battery
unit
of revolutions one revolution
MR-J2M-BT
Servo motor
1 pulse/rev accumulative revolution counter
Super capacitor
High speed serial
communication
Within one-revolution counter
13 - 1
13. ABSOLUTE POSITION DETECTION SYSTEM
13.2 Specifications
(1) Specification list
POINT
The revision (Edition 44) of the Dangerous Goods Rule of the
International Air Transport Association (IATA) went into effect on
January 1, 2003 and was enforced immediately. In this rule, "provisions of
the lithium and lithium ion batteries" were revised to tighten the
restrictions on the air transportation of batteries. However, since this
battery is dangerous goods (Class 9), requires packing compliant with the
Packing Standard 903. When a self-certificate is necessary for battery
safety tests, contact our branch or representative. For more information,
consult our branch or representative. (As of October, 2005).
Item
Description
MR-J2M-BT
Model
System
Electronic battery backup system
Lithium battery ( primary battery, nominal 3.6V)
Home position 32767 rev.
Battery unit
Maximum revolution range
(Note 1) Maximum speed at power failure
(Note 2) Battery backup time
(Note 3) Data holding time during battery
replacement
500r/min
Approx. 10,000 hours (battery life with power off)
2 hours at delivery, 1 hour in 5 years after delivery
Battery storage period
5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years
independently of whether power is kept on or off.
3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery unit
voltage low or the battery unit removed, or during which data can be held with the encoder cable disconnected.
Battery replacement should be finished within this period.
(2) Configuration
Servo system controller
Base unit
Drive unit
CN2
Interface unit
CN1A
CON5
MR-J2MBTCBL
Servo motor
Battery unit
MR-J2M-BT
(3) Parameter setting
Set "0001" in DRU parameter No.1 to make the absolute position detection system valid.
Absolute position detection selection
0: Valid (used in incremental system.)
1: Invalid (used in absolute position
detection system.)
13 - 2
13. ABSOLUTE POSITION DETECTION SYSTEM
13.3 Confirmation of absolute position detection data
You can confirm the absolute position data with MR Configurator (servo configuration software).
Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Click "Diagnostics" in the menu and click "Absolute Encoder Data" in the menu:
(2) Clicking "Absolute Encoder Data" displays the following window.
(3) Click the "Close" button to close the window.
13 - 3
13. ABSOLUTE POSITION DETECTION SYSTEM
MEMO
13 - 4
APPENDIX
App 1. Status indication block diagram
App - 1
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data
*Manual Number
Revision
Apr., 2001
Jan., 2002
SH(NA)030012-A First edition
SH(NA)030012-B Addition of FOR MAXIMUM SAFETY
CONFORMANCE WITH UL/C-UL STANDARD: Capacitor discharge time
changed to 1[min]
Addition of (6) Attachment of a servo motor
Section 1.2: Addition of the case with 1-phase 200 to 230VAC power supply
Section 1.3: Addition of MR-J2M-70DU
Addition of the case with 1-phase 200 to 230VAC power supply
Section 1.5: Addition of MR-J2M-70DU
Section 1.6: Addition of MR-J2M-70DU
Addition of HC-KFS73, HC-MFS73 and HC-UFS73 servo motors
Section 1.8: Addition of the case with 1-phase 200 to 230VAC power supply
Section 2.5 (3): Addition
Section 3.2.3 (1): Overall modification to common line
Section 3.2.3 (2) (c): Maximum output current changed to 0.5mA
Section 3.3: Addition of extension IO unit signals and wiring
Section 3.4.1 (2): Addition of the case with 1-phase 200 to 230VAC power
supply
Section 3.4.3: Addition of the case of using 1-phase power supply
Section 3.7 (3): Overall modification
Section 3.8: Addition of the case with 1-phase 200 to 230VAC power supply
Section 5.1.2 (1): Reexamination of sentence for parameter No. 12
Modification to parameter No. 19
Addition of POINT to parameter No. 38
Section 9.2: Reexamination of sentence for investigation method
Section 10.2: Outline drawing modification
Section 10.2.2: Outline drawing modification
Section 10.2.3 (2): Addition of MR-J2M-70DU drive unit outline drawing
Section 10.2.4: Outline drawing modification
Section 10.2.5: Outline drawing modification
Section 11.1 (2): Addition of the case with MR-J2M-70DU
Addition of sentence
Section 11.2: Addition of MR-JM-70DU
Addition of HC-KFS73, HC-MFS73 and HC-UFS73 servo motors
Section 11.3: Addition of dynamic brake time constants of HC-KFS73, HC-
MFS73 and HC-UFS73 servo motors
Addition of load inertia moment ratio table of MR-J2M-70DU
Section 12.1.1 (2) (a) 1), 2): Overall modification
Section 12.1.1 (2) (b) 2): Addition of MR-J2M-70DU
Section 12.1.4: Addition of POINT
Section 12.1.4 (1): Partial addition to table
Section 12.1.4 (2) (a): Overall modification to table
Section 12.2.1 (1): Addition of MR-J2M-70DU
Section 12.2.2 (2): No-fuse breaker model name changing
Section 12.2.3: Addition of the case with 1-phase 200 to 230VAC power supply
Print Data
*Manual Number
Revision
Jan., 2002
SH(NA)030012-B Section 12.2.6 (2) (b): Diode mounting diagram modification
Section 12.2.7 (1): Our leakage current breaker product model name changing
Addition of MR-J2M-70DU to Table 12.4
Section 12.2.8 (2): Addition of the case with 1-phase 200 to 230VAC power
supply
Section 13.2 (1): Reexamination of table
Sept., 2002
SH(NA)030012-C Safety Instructions: Addition of About wiring protection
Addition of EEP-ROM life
Section 1.5 (2) (a): Change of rating plate
Section 2.4 (2): Reexamination of description
Section 2.6 (1) (d): Reexamination of sentence
Section 3.4.2: Addition of cable side connector 353717-2
Addition of Note
Section 3.5.1: Addition of POINT
Section 3.6: Addition of Note to timing chart
Section 5.1.2 (2): Addition of DRU parameter No. 23 encoder cable selection
Section 5.2.2 (1): Addition of IFU parameter No. 9 SSCNET type selection
Section 5.2.2 (2): Addition of IFU parameter No. 9 SSCNET type selection
Section 6.2.2: Addition of POINT
Section 9.1: Addition of A. 78 and A. 79
Section 9.2: Addition of A. 78 and A. 79
Section 10.3 (3): Addition of contact 353717-2
Addition of applicable tool 937315-1
Section 11.1: Layout change
Addition of Note
Section 12.1.1 (1): Addition of sentence
Deletion of Note
Section 12.1.1 (4): Addition of terminal block, terminal screw and tightening
torque
Section 12.1.2 (1): Addition of encoder cable MR-JC4CBL M-H
Section 12.1.2 (2) (a): Addition of POINT
Section 12.1.2 (2) (b): Addition
Section 12.1.3 (1): Change of Usage and Connection diagram
Section 12.1.4 (2): Reexamination of display description and representation
Section 12.2.1 (2): Addition of encoder cable MR-JC4CBL M-H
Section 13.3: Change of representation
Apr., 2003
SH(NA)030012-D CONFORMANCE WITH UL/C-UL STANDARD (2) Installation: Addition of air
volume 2.8m3/min
Section 1.3 (1): Addition of inrush current
Section 3.1: Partial reexamination of connection diagram
Reexamination of motion controller-compatible bus cable in Note
13
Section 3.4: Partial change of CAUTION sentence
Section 3.4.4 (3): Partial reexamination of connection diagram
Section 3.5.3 (2): Reexamination of diagram
Section 4.2.4 (2): Partial reexamination of sentence
Section 5.1.2 (2): Addition of "When built-in regenerative brake resistor is used"
to DRU parameter No. 2
Print Data
*Manual Number
Revision
Apr., 2003
SH(NA)030012-D Section 9.2: Reexamination of cause and action in FA. 12 to 15
Addition of cause and action to FA. 37
Reexamination of A.50# definition
Addition of "During rotation: 2.5s or more" to A.51#
Section 10.3 (3): Change to applicable tool 91560-1
Section 10.3 (6): Addition
Section 12.1.2 (1): Reexamination of motion controller-compatible bus cable in
Note
Bus cable addition
Section 12.1.2 (4): Reexamination of contents
Section 12.2.1 (2): Bus cable addition
Mar., 2004
SH(NA)030012-E Reexamination of description on configuration software
Safety Instructions: 1. To prevent electric shock: Addition of sentence
3. To prevent injury: Change of sentence
4. Additional instructions (1): Change of sentence
COMPLIANCE WITH EC DIRECTIVES: Modified to IEC60664-1 in (3)
Modified to IEC60664-1 in (4).
Section 2.7: Partial modification of CAUTION sentence
Section 3.7 (4) (a): Partial change of timing chart
Section 5.1.2: Change of POINT sentence
Section 5.2.1: Change of POINT sentence
: Addition of IFU parameter No.9 and POINT
Section 9.2: Reexamination of A.52# content
Section 12.1.1 (3): Partial reexamination of sentence
Section 12.1.1 (4): Reexamination of outline drawing
Section 12.1.4 (2) (a): Reexamination of content
Section 12.2.6 (2) (d): Modification of FR-BSF01 outline drawing
Section 12.2.6 (2) (e): Reexamination of connection diagram
Section 13.2 (1): Addition of POINT
Feb., 2005
Oct., 2005
SH(NA)030012-F Section 13.2 (1): Error in writing correction of POINT
SH(NA)030012-G Safety Instructions
: 1. To prevent electric shock:
Description is corrected as 15 minutes.
4. Additional instructions (2) (4):
Caution sentence addition
Usage: Sentence change
Compliance with EC Directives: Partial sentence change
Conformance with UL/C-UL Standard (4): Partial sentence change
Chapter 2: CAUTION sentence addition
Section 3.6: CAUTION sentence addition
Section 3.6 (3): Sentence change
Section 3.7: CAUTION sentence addition
Section 5.2.1 (1) (2): Addition of parameter No. 49 to 55, 60, 61
Section 5.2.3: (2): Note addition
Section 7.5: Addition of gain changing function
Chapter 8: WARNING sentence partial change
Section 9.1: Note addition in the table for alarm code No. A45, A46
Section 9.2: CAUTION sentences addition
Addition of the contents of DRU parameter No.@A. 17#
Print Data
*Manual Number
Revision
Oct., 2005
SH(NA)030012-G Section 9.3: Reexamination of Cause 2 of DRU parameter No.@A. 92#
Partial addition of the cause of IFU parameter No.FA. 9F
Correction of the contents of IFU parameter No.FA. E9
Section 10.2: Addition of mounting screw and tightening torque
Section 11.1: Reexamination of CAUTION sentence
Chapter 12: WARNING sentence partial change
Section 12.1.1 (4) (b): Reexamination of outline dimension drawing
Section 12.1.4 (2): Partial reexamination of table value
Section 12.2.6 (2) (d): Reexamination of outline dimension drawing of
FR-BSF01
Section 12.2.6 (2) (c): Sentence addition
Chapter 13: Reexamination of CAUTION sentence
MODEL
MODEL
CODE
HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
SH (NA) 030012-G (0510) MEE
Printed in Japan
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