General-Purpose AC Servo
J2-Super Series
General-Purpose Interface
MODEL
MR-J2S- A
SERVO AMPLIFIER
INSTRUCTION MANUAL
J
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,
WARNING
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
CAUTION
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
A - 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.
Connect the servo amplifier 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 the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an 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
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative 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 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.
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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 the servo amplifier. The servo amplifier may drop.
Install the servo amplifier 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 servo amplifier and control enclosure walls or other equipment.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Servo amplifier
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)
[
[
[
[
]
]
]
]
In
operation
Ambient
temperature
In storage
In operation
In storage
90%RH or less (non-condensing)
90%RH or less (non-condensing)
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
80%RH or less (non-condensing)
Ambient
humidity
Ambience
Altitude
Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series
HC-UFS13 to 73
HC-SFS81
X
X
Y : 49
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352
HC-SFS203 353
HC-UFS202 to 502
HC-SFS301
Y : 24.5
[m/s2]
5.9 or less
X : 24.5
Y : 49
X : 24.5
Y : 29.4
X : 11.7
Y : 29.4
HC-SFS502 to 702
HA-LFS11K2 to 22K2
(Note)
Vibration
HC-KFS Series
HC-MFS Series
HC-UFS 13 to 73
HC-SFS81
X
Y : 161
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352
HC-SFS203 353
HC-UFS202 to 502
HC-SFS301
X
Y : 80
[ft/s2]
19.4 or less
X : 80
Y : 161
X : 80
Y : 96
X : 38
Y : 96
HC-SFS502 to 702
HA-LFS11K2 to 22K2
Note. Except the servo motor with reduction gear.
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CAUTION
Do not install or operate the servo amplifier 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 the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
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.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Otherwise, the servo motor does not operate properly.
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.
Servo amplifier
U
Servo motor
Servo amplifier
U
Servo motor
U
V
U
V
V
V
M
M
W
W
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 emergency stop (EMG) and other protective circuits may not
operate.
Servo amplifier
Servo amplifier
COM
COM
(24VDC)
(24VDC)
Control
output
signal
Control
output
signal
RA
RA
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
A - 4
(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.
(4) Usage
CAUTION
Provide an external 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 the servo amplifier.
Use the servo amplifier with the specified servo motor.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
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 ball screw 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 servo amplifier signals
but also by an external emergency stop (EMG).
Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).
Circuit must be
opened during
emergency stop (EMG).
Servo motor
RA EMG
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).
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(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier 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 Specifications and 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 Specifications
and Instruction Manual.
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
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device 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 amplifiers 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 servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10A to MR-J2S-22KA
MR-J2S-10A1 to MR-J2S-40A1
Servo motor
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Control box
Reinforced
insulating type
(Note)
Reinforced
insulating
24VDC
power
supply
No-fuse
breaker
Magnetic
contactor
transformer
Servo
motor
Servo
amplifier
MC
M
NFB
Note. The insulating transformer is not required for the 11kW or more servo amplifier.
A - 7
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
(4) Power supply
(a) Operate the servo amplifier 7kW or less 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.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in IE60664-1, a reinforced insulating transformer is not required 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
servo amplifier 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.
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.
A - 8
(7) 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 13.2.2.
(b) The sizes of the cables described in section 13.2.1 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.
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier 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 the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
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CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10A to MR-J2S-22KA
MR-J2S-10A1 to MR-J2S-40A1
Servo motor
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
Install a cooling fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or
provide cooling of at least equivalent capability.
(3) Short circuit rating
This servo amplifier 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, the servo
amplifier 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.
Discharge time
Servo amplifier
[min]
MR-J2S-10A(1) 20A(1)
MR-J2S-40A(1) 60A
MR-J2S-70A to 350A
1
2
3
MR-J2S-500A 700A
MR-J2S-11KA
5
4
6
8
MR-J2S-15KA
MR-J2S-22KA
(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.
A - 10
(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
the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR-
J2S-A safely.
Relevant manuals
Manual name
MELSERVO-J2-Super Series To Use the AC Servo Safely
MELSERVO Servo Motor Instruction Manual
EMC Installation Guidelines
Manual No.
IB(NA)0300010
SH(NA)3181
IB(NA)67310
A - 11
MEMO
A - 12
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-24
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications................................................................................................ 1- 5
1.4 Function list ............................................................................................................................................. 1- 6
1.5 Model code definition .............................................................................................................................. 1- 7
1.6 Combination with servo motor............................................................................................................... 1- 9
1.7 Structure.................................................................................................................................................. 1-10
1.7.1 Parts identification.......................................................................................................................... 1-10
1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-15
1.8 Servo system with auxiliary equipment............................................................................................... 1-19
2. INSTALLATION
2- 1 to 2- 4
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- 4
3. SIGNALS AND WIRING
3- 1 to 3- 70
3.1 Standard connection example ................................................................................................................ 3- 2
3.1.1 Position control mode ....................................................................................................................... 3- 2
3.1.2 Speed control mode........................................................................................................................... 3- 6
3.1.3 Torque control mode......................................................................................................................... 3- 8
3.2 Internal connection diagram of servo amplifier .................................................................................. 3-10
3.3 I/O signals................................................................................................................................................ 3-11
3.3.1 Connectors and signal arrangements............................................................................................ 3-11
3.3.2 Signal explanations ......................................................................................................................... 3-15
3.4 Detailed description of the signals........................................................................................................ 3-24
3.4.1 Position control mode ...................................................................................................................... 3-24
3.4.2 Speed control mode.......................................................................................................................... 3-29
3.4.3 Torque control mode........................................................................................................................ 3-31
3.4.4 Position/speed control change mode .............................................................................................. 3-34
3.4.5 Speed/torque control change mode................................................................................................. 3-36
3.4.6 Torque/position control change mode ............................................................................................ 3-38
3.5 Alarm occurrence timing chart ............................................................................................................. 3-39
3.6 Interfaces................................................................................................................................................. 3-40
3.6.1 Common line .................................................................................................................................... 3-40
3.6.2 Detailed description of the interfaces............................................................................................ 3-41
3.7 Input power supply circuit..................................................................................................................... 3-47
3.7.1 Connection example......................................................................................................................... 3-47
3.7.2 Terminals.......................................................................................................................................... 3-49
3.7.3 Power-on sequence........................................................................................................................... 3-50
3.8 Connection of servo amplifier and servo motor ................................................................................... 3-52
3.8.1 Connection instructions .................................................................................................................. 3-52
3.8.2 Connection diagram......................................................................................................................... 3-53
1
3.8.3 I/O terminals .................................................................................................................................... 3-54
3.9 Servo motor with electromagnetic brake ............................................................................................. 3-56
3.10 Grounding ............................................................................................................................................. 3-60
3.11 Servo amplifier terminal block (TE2) wiring method....................................................................... 3-61
3.11.1 For the servo amplifier produced later than Jan. 2006............................................................. 3-61
3.11.2 For the servo amplifier produced earlier than Dec. 2005.......................................................... 3-63
3.12 Instructions for the 3M connector....................................................................................................... 3-64
3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA............................................................... 3-64
3.13.1 Connection example ...................................................................................................................... 3-65
3.13.2 Servo amplifier terminals............................................................................................................. 3-66
3.13.3 Servo motor terminals................................................................................................................... 3-67
4. OPERATION
4- 1 to 4- 6
4.1 When switching power on for the first time.......................................................................................... 4- 1
4.2 Startup...................................................................................................................................................... 4- 2
4.2.1 Selection of control mode.................................................................................................................. 4- 2
4.2.2 Position control mode ....................................................................................................................... 4- 2
4.2.3 Speed control mode........................................................................................................................... 4- 4
4.2.4 Torque control mode......................................................................................................................... 4- 5
4.3 Multidrop communication ...................................................................................................................... 4- 6
5. PARAMETERS
5- 1 to 5- 34
5.1 Parameter list .......................................................................................................................................... 5- 1
5.1.1 Parameter write inhibit ................................................................................................................... 5- 1
5.1.2 Lists.................................................................................................................................................... 5- 2
5.2 Detailed description ............................................................................................................................... 5-26
5.2.1 Electronic gear ................................................................................................................................. 5-26
5.2.2 Analog monitor................................................................................................................................. 5-30
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern.............................. 5-33
5.2.4 Alarm history clear.......................................................................................................................... 5-33
5.2.5 Position smoothing .......................................................................................................................... 5-34
6. DISPLAY AND OPERATION
6- 1 to 6-16
6.1 Display flowchart..................................................................................................................................... 6- 1
6.2 Status display .......................................................................................................................................... 6- 2
6.2.1 Display examples.............................................................................................................................. 6- 2
6.2.2 Status display list............................................................................................................................. 6- 3
6.2.3 Changing the status display screen................................................................................................ 6- 4
6.3 Diagnostic mode....................................................................................................................................... 6- 5
6.4 Alarm mode.............................................................................................................................................. 6- 7
6.5 Parameter mode ...................................................................................................................................... 6- 8
6.6 External I/O signal display..................................................................................................................... 6- 9
6.7 Output signal (DO) forced output ......................................................................................................... 6-12
6.8 Test operation mode............................................................................................................................... 6-13
6.8.1 Mode change..................................................................................................................................... 6-13
6.8.2 Jog operation.................................................................................................................................... 6-14
6.8.3 Positioning operation....................................................................................................................... 6-15
2
6.8.4 Motor-less operation........................................................................................................................ 6-16
7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12
7.1 Different adjustment methods ............................................................................................................... 7- 1
7.1.1 Adjustment on a single servo amplifier.......................................................................................... 7- 1
7.1.2 Adjustment using MR Configurator (servo configuration software)........................................... 7- 2
7.2 Auto tuning .............................................................................................................................................. 7- 3
7.2.1 Auto tuning mode ............................................................................................................................. 7- 3
7.2.2 Auto tuning mode operation............................................................................................................ 7- 4
7.2.3 Adjustment procedure by auto tuning............................................................................................ 7- 5
7.2.4 Response level setting in auto tuning mode................................................................................... 7- 6
7.3 Manual mode 1 (simple manual adjustment)....................................................................................... 7- 7
7.3.1 Operation of manual mode 1 ........................................................................................................... 7- 7
7.3.2 Adjustment by manual mode 1 ....................................................................................................... 7- 7
7.4 Interpolation mode .................................................................................................................................. 7- 9
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super.......................... 7-11
7.5.1 Response level setting ..................................................................................................................... 7-11
7.5.2 Auto tuning selection....................................................................................................................... 7-11
8. SPECIAL ADJUSTMENT FUNCTIONS
8- 1 to 8-10
8.1 Function block diagram .......................................................................................................................... 8- 1
8.2 Machine resonance suppression filter................................................................................................... 8- 1
8.3 Adaptive vibration suppression control................................................................................................. 8- 3
8.4 Low-pass filter ......................................................................................................................................... 8- 4
8.5 Gain changing function........................................................................................................................... 8- 5
8.5.1 Applications....................................................................................................................................... 8- 5
8.5.2 Function block diagram.................................................................................................................... 8- 5
8.5.3 Parameters........................................................................................................................................ 8- 6
8.5.4 Gain changing operation.................................................................................................................. 8- 8
9. INSPECTION
9- 1 to 9- 2
10. TROUBLESHOOTING
10- 1 to 10-14
10.1 Trouble at start-up ..............................................................................................................................10- 1
10.1.1 Position control mode ...................................................................................................................10- 1
10.1.2 Speed control mode.......................................................................................................................10- 4
10.1.3 Torque control mode.....................................................................................................................10- 5
10.2 When alarm or warning has occurred...............................................................................................10- 6
10.2.1 Alarms and warning list ..............................................................................................................10- 6
10.2.2 Remedies for alarms.....................................................................................................................10- 7
10.2.3 Remedies for warnings................................................................................................................10-13
11. OUTLINE DIMENSION DRAWINGS
11- 1 to 11-10
11.1 Servo amplifiers...................................................................................................................................11- 1
11.2 Connectors............................................................................................................................................11- 8
3
12. CHARACTERISTICS
12- 1 to 12- 8
12.1 Overload protection characteristics...................................................................................................12- 1
12.2 Power supply equipment capacity and generated loss ....................................................................12- 2
12.3 Dynamic brake characteristics...........................................................................................................12- 5
12.3.1 Dynamic brake operation.............................................................................................................12- 5
12.3.2 The dynamic brake at the load inertia moment........................................................................12- 7
12.4 Encoder cable flexing life....................................................................................................................12- 7
12.5 Inrush currents at power-on of main circuit and control circuit ....................................................12- 8
13. OPTIONS AND AUXILIARY EQUIPMENT
13- 1 to 13-64
13.1 Options..................................................................................................................................................13- 1
13.1.1 Regenerative options....................................................................................................................13- 1
13.1.2 FR-BU2 brake unit......................................................................................................................13-10
13.1.3 Power regeneration converter ....................................................................................................13-17
13.1.4 External dynamic brake..............................................................................................................13-20
13.1.5 Cables and connectors.................................................................................................................13-23
13.1.6 Junction terminal block (MR-TB20)..........................................................................................13-31
13.1.7 Maintenance junction card (MR-J2CN3TM) ............................................................................13-33
13.1.8 Battery (MR-BAT, A6BAT).........................................................................................................13-34
13.1.9 MR Configurator (Servo configurations software) ...................................................................13-35
13.1.10 Power regeneration common converter...................................................................................13-37
13.1.11 Heat sink outside mounting attachment (MR-JACN)...........................................................13-41
13.2 Auxiliary equipment ..........................................................................................................................13-44
13.2.1 Recommended wires....................................................................................................................13-44
13.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................13-47
13.2.3 Power factor improving reactors................................................................................................13-47
13.2.4 Power factor improving DC reactors..........................................................................................13-48
13.2.5 Relays............................................................................................................................................13-49
13.2.6 Surge absorbers ...........................................................................................................................13-49
13.2.7 Noise reduction techniques.........................................................................................................13-49
13.2.8 Leakage current breaker.............................................................................................................13-57
13.2.9 EMC filter.....................................................................................................................................13-59
13.2.10 Setting potentiometers for analog inputs................................................................................13-63
14. COMMUNICATION FUNCTIONS
14- 1 to 14- 28
14.1 Configuration.......................................................................................................................................14- 1
14.1.1 RS-422 configuration....................................................................................................................14- 1
14.1.2 RS-232C configuration .................................................................................................................14- 2
14.2 Communication specifications............................................................................................................14- 3
14.2.1 Communication overview.............................................................................................................14- 3
14.2.2 Parameter setting.........................................................................................................................14- 4
14.3 Protocol.................................................................................................................................................14- 5
14.4 Character codes ...................................................................................................................................14- 7
14.5 Error codes ...........................................................................................................................................14- 8
14.6 Checksum.............................................................................................................................................14- 8
14.7 Time-out operation..............................................................................................................................14- 9
4
14.8 Retry operation....................................................................................................................................14- 9
14.9 Initialization........................................................................................................................................14-10
14.10 Communication procedure example ...............................................................................................14-10
14.11 Command and data No. list.............................................................................................................14-11
14.11.1 Read commands.........................................................................................................................14-11
14.11.2 Write commands........................................................................................................................14-12
14.12 Detailed explanations of commands...............................................................................................14-14
14.12.1 Data processing..........................................................................................................................14-14
14.12.2 Status display ............................................................................................................................14-16
14.12.3 Parameter...................................................................................................................................14-17
14.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................14-19
14.12.5 Disable/enable of external I/O signals (DIO) ..........................................................................14-20
14.12.6 Input devices ON/OFF (test operation)...................................................................................14-21
14.12.7 Test operation mode..................................................................................................................14-22
14.12.8 Output signal pin ON/OFF output signal (DO) forced output..............................................14-24
14.12.9 Alarm history .............................................................................................................................14-25
14.12.10 Current alarm..........................................................................................................................14-26
14.12.11 Other commands......................................................................................................................14-27
15. ABSOLUTE POSITION DETECTION SYSTEM
15- 1 to 15- 68
15.1 Outline..................................................................................................................................................15- 1
15.1.1 Features.........................................................................................................................................15- 1
15.1.2 Restrictions....................................................................................................................................15- 1
15.2 Specifications .......................................................................................................................................15- 2
15.3 Battery installation procedure...........................................................................................................15- 3
15.4 Standard connection diagram ............................................................................................................15- 4
15.5 Signal explanation...............................................................................................................................15- 5
15.6 Startup procedure................................................................................................................................15- 6
15.7 Absolute position data transfer protocol ...........................................................................................15- 7
15.7.1 Data transfer procedure...............................................................................................................15- 7
15.7.2 Transfer method ...........................................................................................................................15- 8
15.7.3 Home position setting..................................................................................................................15-19
15.7.4 Use of servo motor with electromagnetic brake .......................................................................15-21
15.7.5 How to process the absolute position data at detection of stroke end....................................15-22
15.8 Examples of use..................................................................................................................................15-23
15.8.1 MELSEC-A1S (A1SD71).............................................................................................................15-23
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG) ..........................................................................................15-37
15.8.3 MELSEC A1SD75........................................................................................................................15-49
15.9 Confirmation of absolute position detection data............................................................................15-64
15.10 Absolute position data transfer errors ...........................................................................................15-65
15.10.1 Corrective actions ......................................................................................................................15-65
15.10.2 Error resetting conditions.........................................................................................................15-67
APPENDIX
App- 1 to App- 4
App 1. Signal arrangement recording sheets......................................................................................... App- 1
App 2. Status display block diagram ...................................................................................................... App- 2
App 3. Combination of servo amplifier and servo motor ...................................................................... App- 3
App 4. Change of connector sets to the RoHS compatible products .................................................... App- 4
5
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 the Servo Amplifier 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
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2
series and has further higher performance and higher functions.
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control.
Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of
machine tools and general industrial machines but also line control and tension control.
As this new series has the RS-232C or RS-422 serial communication function, a MR Configurator (servo
configuration software)-installed personal computer or the like can be used to perform parameter setting,
test operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
(1) Position control mode
An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 131072 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so
a smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in
the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque
limit value can be changed to any value with an external analog input or the parameter.
(2) Speed control mode
An external analog speed command (0 to 10VDC) or parameter-driven internal speed command
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external
analog speed command.
(3) Torque control mode
An external analog torque command (0 to 8VDC) is used to control the torque output by the servo
motor.
To prevent unexpected operation under no load, the speed limit function (external or internal setting)
is also available for application to tension control, etc.
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J2S-350A or less
Regenerative option
Servo amplifier
Diode
P
C
D
Servo motor
U
(Note 1)
stack
Relay
NFB MC
U
V
L1
L2
L3
(Note 2)
Power
supply
V
Current
detector
M
W
W
CHARGE
lamp
Regene-
rative
TR
Dynamic
brake
(Note 3)Cooling fan
B1
B2
L11
L21
Electro-
magnetic
brake
Control
circuit
power
supply
Base
amplifier
Voltage Overcurrent Current
detection protection detection
Encoder
Virtual
encoder
Pulse
input
Model position
control
Model speed
control
Virtual
motor
Model
position
Model
speed
Model
torque
Actual position
control
Actual speed
control
Current
control
RS-232C
MR-BAT
A/D
RS-422 D/A
I/F
Optional battery
(for absolute position
detection system)
CN1A CN1B
CN3
Analog monitor
(2 channels)
D I/O control
Servo on
Start
Analog
(2 channels)
Controller
RS-422/RS-232C
Failure, etc.
Note:1. The built-in regenerative resistor is not provided for the MR-J2S-10A(1).
2. For 1-phase 230VAC, connect the power supply to L1, L2 and leave L3 open.
L3 is not provided for a 1-phase 100 to120VAC power supply. Refer to section 1.3 for the power supply specification.
3. Servo amplifiers MR-J2S-200A have a cooling fan.
1 - 2
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-500A MR-J2S-700A
Regenerative option
Servo amplifier
Diode
P
C
N
Servo motor
U
stack
Relay
NFB MC
U
V
L1
L2
L3
(Note)
Power
supply
V
Current
detector
M
W
W
CHARGE
lamp
Regene-
rative
TR
Dynamic
brake
Cooling fan
B1
B2
L11
L21
Electro-
magnetic
brake
Control
circuit
power
supply
Base
amplifier
Voltage Overcurrent Current
detection protection detection
Encoder
Virtual
encoder
Pulse
input
Model position
control
Model speed
control
Virtual
motor
Model
position
Model
speed
Model
torque
Actual position
control
Actual speed
control
Current
control
RS-232C
MR-BAT
A/D
RS-422 D/A
I/F
Optional battery
(for absolute position
detection system)
CN1A CN1B
CN3
Analog monitor
(2 channels)
D I/O control
Servo on
Start
Analog
(2 channels)
Controller
RS-422/RS-232C
Failure, etc.
Note. Refer to section 1.3 for the power supply specification.
1 - 3
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-11KA or more
Regenerative option
Servo amplifier
Diode
P
C
N
Servo motor
U
P1
Thyristor
stack
NFB MC
U
V
L1
L2
L3
(Note)
Power
supply
V
Current
detector
M
W
W
CHARGE
lamp
Regene-
rative
TR
Dynamic
brake
Cooling fan
B1
B2
L11
L21
Electro-
magnetic
brake
Control
circuit
power
supply
Base
amplifier
Voltage Overcurrent Current
detection protection detection
Encoder
Virtual
encoder
Pulse
input
Model position
control
Model speed
control
Virtual
motor
Model
position
Model
speed
Model
torque
Actual position
control
Actual speed
control
Current
control
RS-232C
MR-BAT
A/D
RS-422 D/A
I/F
Optional battery
(for absolute position
detection system)
CN1A CN1B
CN3
Analog monitor
(2 channels)
D I/O control
Servo on
Start
Analog
(2 channels)
Controller
RS-422/RS-232C
Failure, etc.
Note. Refer to section 1.3 for the power supply specification.
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Servo Amplifier
MR-J2S-
10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1
Item
3-phase 200 to 230VAC,
50/60Hz or 1-phase
230VAC, 50/60Hz
3-phase 200 to 230VAC:
170 to 253VAC
1-phase 100 to
120VAC
Voltage/frequency
3-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC
50/60Hz
1-phase
Permissible voltage fluctuation
1-phase 230VAC: 207 to
253VAC
85 to 127VAC
Permissible frequency fluctuation
Power supply capacity
Inrush current
Within 5%
Refer to section12.2
Refer to section 12.5
Control system
Dynamic brake
Sine-wave PWM control, current control system
Built-in External option
Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
error protection, undervoltage, instantaneous power failure protection, overspeed
protection, excessive error protection
Protective functions
Max. input pulse frequency
Command pulse multiplying factor
In-position range setting
Error excessive
500kpps (for differential receiver), 200kpps (for open collector)
Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500
0 to 10000 pulse (command pulse unit)
(Note) 2.5 revolutions
Torque limit
Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control range
Analog speed command 1: 2000, internal speed command 1: 5000
0 to 10VDC / Rated speed
Analog speed command input
0.01% or less (load fluctuation 0 to 100%)
0% (power fluctuation 10%)
Speed fluctuation ratio
Torque limit
0.2% or less (ambient temperature 25
10 (59 to 95 ) ,
)
when using analog speed command
Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
0 to 8VDC / Maximum torque (input impedance 10 to 12k )
Torque
Analog torque command input
control
Speed limit
Set by parameter setting or external analog input (0 to 10VDC/Rated speed)
Self-cooled,
mode
Structure
Self-cooled, open (IP00)
Force-cooling, open (IP00)
open(IP00)
[
[
[
[
]
0 to 55 (non-freezing)
In operation
In storage
]
]
]
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
Ambient
temperature
In operation
In storage
Ambient
humidity
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Ambient
Altitude
Vibration
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280ft) above sea level
5.9 [m/s2] or less
19.4 [ft/s2] or less
[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 15 16 16 20 0.7 0.7 1.1
[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 33.1 35.3 35.3 44.1 1.5 1.5 2.4
Mass
Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B0 or later is
used. When the software version is earlier than B0, the error excessive detection level of that servo amplifier is 10 revolutions.
1 - 5
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.
(Note)
Function
Description
Reference
Section 3.1.1
Control mode
Position control mode
This servo is used as position control servo.
P
Section 3.4.1
Section 4.2.2
Section 3.1.2
Section 3.4.2
Section 4.2.3
Section 3.1.3
Section 3.4.3
Section 4.2.4
Speed control mode
Torque control mode
This servo is used as speed control servo.
This servo is used as torque control servo.
S
T
Position/speed control change Using external input signal, control can be switched
mode between position control and speed control.
Speed/torque control change Using external input signal, control can be switched
P/S
S/T
Section 3.4.4
Section 3.4.5
Section 3.4.6
mode
between speed control and torque control.
Using external input signal, control can be switched
between torque control and position control.
High-resolution encoder of 131072 pulses/rev is used as a
servo motor encoder.
Torque/position control
change mode
T/P
High-resolution encoder
P, S, T
P
Absolute position detection
system
Merely setting a home position once makes home position
return unnecessary at every power-on.
Chapter 15
Section 8.5
You can switch between gains during rotation and gains
during stop or use an external signal to change gains
during operation.
Gain changing function
P, S
Servo amplifier detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical
vibration.
Adaptive vibration
suppression control
P, S, T
P, S, T
Section 8.3
Section 8.4
Suppresses high-frequency resonance which occurs as servo
system response is increased.
Low-pass filter
Analyzes the frequency characteristic of the mechanical
system by simply connecting a MR Configurator (servo
configuration software ) installed personal computer and
servo amplifier.
Machine analyzer function
P
Can simulate machine motions on a personal computer
screen on the basis of the machine analyzer results.
Personal computer changes gains automatically and
searches for overshoot-free gains in a short time.
Machine simulation
Gain search function
P
P
Slight vibration suppression Suppresses vibration of 1 pulse produced at a servo motor
P
P
Section 7.5
control
stop.
Electronic gear
Input pulses can be multiplied by 1/50 to 50.
Automatically adjusts the gain to optimum value if load
applied to the servo motor shaft varies. Higher in
performance than MR-J2 series servo amplifier.
Speed can be increased smoothly in response to input pulse.
Parameters No. 3, 4
Auto tuning
P, S
Chapter 7
Position smoothing
P
Parameter No. 7
Parameter No. 13
S-pattern acceleration/
deceleration time constant
Speed can be increased and decreased smoothly.
S, T
Used when the built-in regenerative resistor of the servo
amplifier does not have sufficient regenerative capability
for the regenerative power generated.
Regenerative option
Brake unit
P, S, T
P, S, T
Section 13.1.1
Section 13.1.2
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500A to MR-J2S-22KA.
1 - 6
1. FUNCTIONS AND CONFIGURATION
(Note)
Function
Description
Reference
Control mode
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500A to MR-J2S-22KA.
Alarm history is cleared.
Return converter
P, S, T
P, S, T
S
Section 13.1.3
Alarm history clear
Parameter No. 16
Parameter No. 20
If the input power supply voltage had reduced to cause an
alarm but has returned to normal, the servo motor can be
restarted by merely switching on the start signal.
Command pulse train form can be selected from among four
different types.
Restart after instantaneous
power failure
Command pulse selection
Input signal selection
Torque limit
P
Parameter No. 21
Forward rotation start, reverse rotation start, servo-on
(SON) and other input signals can be assigned to any pins.
Parameters
P, S, T
P, S
No. 43 to 48
Section 3.4.1 (5)
Parameter No. 28
Section 3.4.3 (3)
Parameter No. 8
to 10,72 to 75
Servo motor torque can be limited to any value.
Speed limit
Servo motor speed can be limited to any value.
T
Servo status is shown on the 5-digit, 7-segment LED
display
Status display
P, S, T
P, S, T
Section 6.2
Section 6.6
ON/OFF statuses of external I/O signals are shown on the
display.
External I/O signal display
Output signal can be forced on/off independently of the
servo status.
Output signal (DO)
forced output
P, S, T
S, T
Section 6.7
Section 6.3
Use this function for output signal wiring check, etc.
Voltage is automatically offset to stop the servo motor if it
does not come to a stop at the analog speed command (VC)
or analog speed limit (VLA) of 0V.
Automatic VC offset
Test operation mode
JOG operation positioning operation motor-less operation
DO forced output.
P, S, T
P, S, T
P, S, T
Section 6.8
Analog monitor output
MR Configurator
Servo status is output in terms of voltage in real time.
Using a personal computer, parameter setting, test
Parameter No. 17
Section 13.1.9
(Servo configuration software) operation, status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number
Alarm code output
P, S, T
Section 10.2.1
is output in 3-bit code.
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
1.5 Model code definition
(1) Rating plate
AC SERVO
MITSUBISHI
Model
MODEL
MR-J2S-60A
Capacity
POWER : 600W
INPUT : 3.2A 3PH 1PH200-230V 50Hz
Applicable power supply
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
OUTPUT : 170V 0-360Hz 3.6A
SERIAL : A5
Rated output current
Serial number
TC3 AAAAG52
PASSED
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
1 - 7
1. FUNCTIONS AND CONFIGURATION
(2) Model
MR–J2S–100A or less
MR–J2S–200A 350A
With no regenerative resistor
Symbol
Description
Series
Indicates a servo
amplifier of 11k to 22kW
that does not use a
regenerative resistor as
standard accessory.
-PX
Power supply
Rating plate
Symbol
Power supply
Rating plate
3-phase 200 to 230VAC
(Note 1)1-phase 230VAC
None
(Note 2)
1-phase 100 to 120VAC
1
MR-J2S-500A
MR-J2S-700A
Note 1. 1-phase 230V is supported
by 750W or less.
2. 1-phase 100V to 120V is
supported by 400W or less.
General-purpose interface
Rated output
Rated
Symbol
output [kW]
10
20
40
60
70
100
200
350
500
700
11K
15K
22K
0.1
0.2
0.4
0.6
0.75
1
2
3.5
5
Rating plate
Rating plate
MR-J2S-11KA 15KA
MR-J2S-22KA
7
11
15
22
Rating plate
Rating plate
1 - 8
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
HC-SFS
HC-UFS
Servo amplifier
HC-KFS
HC-MFS
HC-RFS
(Note 1)
(Note 1)
2000r/min
2000r/min
3000r/min
1000r/min
3000r/min
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
053 13
23
053 13
23
13
23
43
43
43
52
53
MR-J2S-70A
(Note 1) 73
73
72
73
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
81
102
103
121 201 152 202 153 203
103 153
152
301
352
(Note 1)
502
353
(Note 1) 203 (Note 1) 202
(Note 1)
(Note 1)
MR-J2S-500A
MR-J2S-700A
353 503
352 502
(Note 1)
702
Servo motors
Servo amplifier
HA-LFS
(Note 1)
HC-LFS
1000r/min
1500r/min
2000r/min
MR-J2S-60A
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
52
102
152
202
302
(Note 1)502
(Note 2)601 (Note 2)701M (Note 1)702
801 12K1
15K1
11K1M
15K1M
22K1M
11K2
15K2
22K2
20K1 25K1
Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to appendix 3.
2. Consult us since the servo amplifier to be used with any of these servo motors is optional.
1 - 9
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-J2S-100A or less
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Reference
Name/Application
Battery holder
Section 15.3
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section 15.3
Chpater 6
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
SET
MODE
UP
DOWN
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
UP
DOWN SET
Chapter 6
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
I/O signal connector (CN1A)
Section 3.3
Section 3.3
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 13.1.5
Chapter 14
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Rating plate
Section 1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Section 3.3
Used to connect the servo motor encoder.
Section 13.1.5
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section 3.7
Section 11.1
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Section 3.7
Section 11.1
Section 13.1.1
Protective earth (PE) terminal (
Ground terminal.
)
Section 3.10
Section 11.1
Fixed part(2places)
(For MR-J2S-70A 100A 3 places)
1 - 10
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Reference
Name/Application
Battery holder
Section 15.3
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section 15.3
Chpater 6
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
SET
MODE
UP
DOWN
MODE
UP DOWN
SET
Chapter 6
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
I/O signal connector (CN1A)
Section 3.3
Section 3.3
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 13.1.5
Chapter 14
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Rating plate
Section 1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Section 3.3
Used to connect the servo motor encoder.
Section 13.1.5
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section 3.7
Section 11.1
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Section 3.7
Section 11.1
Section 3.1.1
Protective earth (PE) terminal (
Ground terminal.
)
Section 3.10
Section 11.1
Cooling fan
Fixed part
(4 places)
1 - 11
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Reference
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section 15.3
Battery holder
Section 15.3
Chpater 6
Contains the battery for absolute position data backup.
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
Operation section
MODE
UP
DOWN
SET
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
UP
DOWN SET
Chapter 6
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Fixed part
(4 places)
I/O signal connector (CN1A)
Section 3.3
Section 3.3
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 13.1.5
Chapter 14
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Encoder connector (CN2)
Section 3.3
Used to connect the servo motor encoder.
Section 13.1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Section 3.7
Section 11.1
Section 13.1.1
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Section 3.7
Section 11.1
Rating plate
Section 1.5
Cooling fan
Protective earth (PE) terminal (
Ground terminal.
)
Section 3.10
Section 11.1
1 - 12
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Reference
Name/Application
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Section 15.3
Battery holder
Section 15.3
Chpater 6
Contains the battery for absolute position data backup.
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.
Operation section
SET
MODE
UP
DOWN
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
UP
DOWN SET
Chapter 6
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
I/O signal connector (CN1A)
Section 3.3
Section 3.3
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 13.1.5
Chapter 14
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Section 3.7
Used to connect the control circuit power supply.
Section 11.1
Encoder connector (CN2)
Section 3.3
Used to connect the servo motor encoder.
Section 13.1.5
Rating plate
Section 1.5
Main circuit terminal block (TE1)
Section 3.7
Section 11.1
Section 13.1.1
Used to connect the input power supply, regenerative
option and servo motor.
Protective earth (PE) terminal (
Ground terminal.
)
Section 3.10
Section 11.1
Fixed part
(4 places)
Cooling fan
1 - 13
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KA or more
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery holder
Contains the battery for absolute position data backup.
Section 15.3
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
Chapter 6
Chapter 6
MODE
UP
DOWN SET
MODE
UP
DOWN
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Battery connector (CON1)
Section 15.3
Used to connect the battery for absolute position data
backup.
Cooling fan
Monitor output terminal (CN4)
Used to output monitor values as analog signals
for two channels.
Section 3.3
Section 11.1
Section 3.3
Communication connector (CN3)
Section 13.1.5
Used to connect a command device (RS232C)
I/O signal connector (CN1A)
Used to connect digital I/O signals.
Section 3.3
Section 3.3
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.
Section 3.7
Section 11.1
Section 13.1.1
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Section 3.3
Section 13.1.5
Encoder connector (CN2)
Used to connect the servo motor encoder.
Manufacturer adjusting connector (CON2)
Keep this connector open.
Rating plate
Section 1.5
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
option and servo motor.
Section 3.7
Section 11.1
Section 13.1.1
Fixed part
(4 places)
Protective earth (PE) terminal (
Ground terminal.
)
Section 3.10
Section 11.1
1 - 14
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.
CAUTION
(1) For MR-J2S-350A or less
Removal of the front cover
1)
Reinstallation of the front cover
Front cover hook
(2 places)
2)
2)
Front cover
1)
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
(2) For MR-J2S-500A
Removal of the front cover
1)
Reinstallation of the front cover
Front cover hook
(2 places)
2)
2)
1)
Front cover
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 15
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J2S-700A
Removal of the front cover
Reinstallation of the front cover
Front cover
hook
(2 places)
A)
B)
2)
2)
1)
A)
1)
Front cover socket
(2 places)
1) Push the removing knob A) or B), and put you finger into the
front hole of the front cover.
1) Insert the two front cover hooks at the bottom into the
sockets of the servo amplifier.
2) Pull the front cover toward you.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 16
1. FUNCTIONS AND CONFIGURATION
(4) For MR-J2S-11KA or more
Removal of the front cover
Mounting screws
(2 places)
Mounting screws (2 places)
1) Remove the front cover mounting screws (2 places) and
remove the front cover.
2) Remove the front cover mounting screws (2 places).
3) Remove the front cover by drawing it in the direction of
arrow.
1 - 17
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Mounting screws
(2 places)
1) Insert the front cover in the direction of arrow.
Reinstallation of the front cover
2) Fix it with the mounting screws (2 places).
Mounting screws (2 places)
3) Fit the front cover and fix it with the mounting screws (2
places).
1 - 18
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
To prevent an electric shock, always connect the protective earth (PE) terminal ( )
of the servo amplifier to the protective earth (PE) of the control box.
WARNING
(1) MR-J2S-100A or less
(a) For 3-phase 200V to 230VAC or 1-phase 230V
(Note 2)
Power supply
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2 Regenerative option
Section 13.2.2 Cables
Section 13.1.1
Section 13.2.1
Magnetic contactor
MR Configurator
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Section 13.1.9
No-fuse breaker
(NFB) or fuse
Servo amplifier
Command device
To CN1A
Junction terminal block
Magnetic
contactor
(MC)
To CN1B
To CN3
Power
factor
improving
reactor
MR Configurator
(Servo configuration
software
CHARGE
Personal
computer
(FR-BAL)
MRZJW3-SETUP151E)
To CN2
L1
L2
L3
U
V
W
(Note 1)
Encoder cable
(Note 1)
Power supply lead
D
Control circuit terminal block
L21
L11
P
Regenerative option
Servo motor
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less.
For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
Refer to section 1.3 for the power supply specification.
1 - 19
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
(Note 2)
Power supply
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2 Regenerative option
Section 13.2.2 Cables
Section 13.1.1
Section 13.2.1
Magnetic contactor
MR Configurator
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Section 13.1.9
No-fuse breaker
(NFB) or fuse
Servo amplifier
Command device
To CN1A
Junction terminal block
Magnetic
contactor
(MC)
To CN1B
To CN3
MR Configurator
(Servo configuration
software
CHARGE
Personal
computer
Power
factor
MRZJW3-SETUP151E)
To CN2
improving
reactor
(FR-BAL)
L1
L2
U
V
W
(Note 1)
Encoder cable
(Note 1)
Power supply lead
D
Control circuit terminal block
L21
L11
P
Regenerative option
Servo motor
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. Refer to section 1.3 for the power supply specification.
1 - 20
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A or more
(Note)
Power supply
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2 Regenerative option
Section 13.2.2 Cables
Section 13.1.1
Section 13.2.1
Magnetic contactor
MR Configurator
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Section 13.1.9
No-fuse
breaker
(NFB) or
Servo amplifier
fuse
Command device
To CN1A
Junction terminal
block
Magnetic
contactor
(MC)
To CN1B
To CN3
Power
factor
improving
reactor
(FR-BAL)
MR Configurator
(Servo
configuration
software
MRZJW3-
SETUP151E)
To CN2
Personal
computer
L11
L21
L1
L2
L3
U
V
W
P
C
Regenerative option
Note. Refer to section 1.3 for the power supply specification.
1 - 21
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
(Note 2)
Power supply
Options and auxiliary equipment
No-fuse breaker
Reference
Options and auxiliary equipment
Reference
Section 13.2.2 Regenerative option
Section 13.2.2 Cables
Section 13.1.1
Section 13.2.1
Magnetic contactor
MR Configurator
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Section 13.1.9
No-fuse
breaker
(NFB) or
fuse
Magnetic
contactor
(MC)
Servo amplifier
Command device
Power
factor
To CN1A
improving
reactor
(FA-BAL)
Junction terminal
block
L1
L2
L3
MR Configurator
(Servo
configuration
To CN1B
To CN3
(Note 1)
C
P
Personal
computer
software
MRZJW3-
SETUP151E)
U
V
Regenerative option
W
To CN2
L11
L21
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 22
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700A
(Note 2)
Power supply
Options and auxiliary equipment
No-fuse breaker
Reference
Options and auxiliary equipment
Reference
Section 13.2.2 Regenerative option
Section 13.2.2 Cables
Section 13.1.1
Section 13.2.1
Magnetic contactor
MR Configurator
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Section 13.1.9
No-fuse
breaker
(NFB) or
fuse
Command device
Servo amplifier
L11
To CN1A
L21
Junction terminal
block
Magnetic
contactor
(MC)
To CN1B
To CN3
MR Configurator
(Servo
configuration
software
MRZJW3-
SETUP151E)
Personal
computer
Power
factor
improving
reactor
(FA-BAL)
To CN2
L3
L2
L1
U
V
W
C
P
(Note 1) Regenerative option
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 23
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KA or more
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2 Regenerative option
Section 13.2.2 Cables
Section 13.1.1
Section 13.2.1
Magnetic contactor
(Note 3)
Power supply
MR Configurator
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Section 13.1.9
Power factor improving
Section 13.2.4
DC reactor
MR Configurator
(Servo
configuration
software
MRZJW3-
SETUP151E)
No-fuse
breaker
(NFB) or
fuse
Personal
computer
L21
To CN3
Magnetic
contactor
(MC)
L11
Analog monitor
To CN4
MITSUBISHI
(Note 2)
Power
factor
improving
reactor
Command device
To CN1A
(FA-BAL)
L3
L2
Junction terminal
block
L1
To CN1B
To CN2
C
P
Regenerative
option
(Note 2)
Power factor
improving DC reactor
(FR-BEL)
(Note 1)
BW
BV
U VW
BU
Servo motor
series
Note 1. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
2. Use either the FR-BAL or FR-BEL power factor improving reactor.
3. Refer to section 1.3 for the power supply specification.
1 - 24
2. INSTALLATION
2. INSTALLATION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead 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. (For the
environmental conditions, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
amplifier.
CAUTION
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
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
Environment
Conditions
[
[
[
[
]
]
]
]
0 to 55 (non-freezing)
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
In
operation
Ambient
temperature
In storage
In operation
In storage
Ambient
humidity
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Ambience
Altitude
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
[m/s2] 5.9 [m/s2] or less
[ft/s2] 19.4 [ft/s2] or less
Vibration
2 - 1
2. INSTALLATION
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 the servo amplifier and control box inside
walls or other equipment.
(1) Installation of one servo amplifier
Control box
Control box
40mm
(1.6 in.)
or more
Servo amplifier
Wiring clearance
70mm
Top
(2.8 in.)
10mm
10mm
(0.4 in.)
or more
(0.4 in.)
or more
Bottom
40mm
(1.6 in.)
or more
2 - 2
2. INSTALLATION
(2) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm
(4.0 in.)
or more
10mm
(0.4 in.)
or more
Servo
amplifier
30mm
30mm
(1.2 in.)
or more
(1.2 in.)
or more
40mm
(1.6 in.)
or more
(3) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier 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 the
servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a cooling 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 - 3
2. INSTALLATION
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 12.4 for the flexing life.
2 - 4
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off
or not.
WARNING
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier 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
operate unexpectedly, 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 emergency stop (EMG) and other protective circuits.
Servo amplifier
Servo amplifier
COM
COM
(24VDC)
(24VDC)
Control output
signal
Control output
signal
RA
RA
CAUTION
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
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 resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
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 Standard connection example
POINT
Refer to section 3.7.1 for the connection of the power supply system and
refer to section 3.8 for connection with the servo motor.
3.1.1 Position control mode
(1) FX-10GM
Positioning module
FX-10GM
Servo amplifier
(Note 4, 9) (Note 4)
CN1A
CN1B
SVRDY
COM2
1
2
RD
COM
INP
19
9
18
3
VDD
(Note 12)
12
11
14
13
COM2
SVEND
(Note 7)
Trouble
13 COM
18 ALM
19 ZSP
(Note 2, 5)
RA1
COM4
PG0
P15R
OP
4
14
Zero speed
RA2
RA3
24
7,17
8,18
5
OPC
COM
11
9
Limiting torque
VC
6
TLC
FPO
FP
6
PP
3
9,19
16
15
3
COM5
RP
SG 10
10m (32ft) or less
NP
2
RP0
CLR
COM3
CR
SG
SD
8
20
Plate
4
(Note 13)
(Note 4, 9)
CN1A
(Note 10) 2m(6.5ft) max.
START
ST-
1
2
3
4
5
6
7
8
6
16
7
LA
Encoder A-phase pulse
(differential line driver)
LAR
LB
ZRN
FWD
RVS
DOG
LSF
Encoder B-phase pulse
(differential line driver)
17
LG
5
LBR
1
Control common
Encoder Z-phase pulse
(differential line driver)
LZ
LSR
15
LZR
SD
COM1 9,19
Plate
10m(32ft) max.
(Note 4, 9)(Note 4, 9,14)
CN1B
CN3
(Note 3, 6) Emergency stop
4
MO1
LG
A
A
EMG 15
(Note 8)
Analog monitor
Max. 1mA
Reading in both
directions
10k
10k
Servo-on
3
14
SON
RES
PC
5
14
8
Reset
MO2
LG
13
Proportion control
Torque limit selection
Plate
SD
TL
9
2m (6.5ft) max.
LSP
LSN
SG
16
17
10
11
12
1
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
P15R
TLA
LG
Analog torque limit
10V/max. torque
Plate
SD
(Note 11)
2m(6.5ft) max.
(Note 8)
Personal
computer
MR Configurator
(Servo configuration
software)
(Note 4, 9)
CN3
(Note 1)
Communication cable
3 - 2
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the opencollector system. It is 10m (32ft) or less in the differential line
driver system.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. Connect to CN1A-10 when using the junction terminal block (MR-TB20).
14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
A
A
1
2
4
MO1
MO2
LG
2m (6.5ft) or less
3 - 3
3. SIGNALS AND WIRING
(2) AD75P (A1SD75P
)
Positioning module
AD75P
Servo amplifier
(A1SD75P
)
(Note 10) 10m(32ft) max.
(Note 4,9)
CN1A
(Note 4)
CN1B
Ready
COM
INPS
RD
COM
INP 18
19
9
7
26
8
3
VDD
(Note 12)
(Note 7)
Trouble
13 COM
18 ALM
19 ZSP
(Note 2,5)
RA1
PGO(24V)
PGO(5V)
PGO COM
6
24
25
5
LZ
LZR 15
CR
SG
PG
PP
NG 12
NP
LG
5
Zero speed
RA2
RA3
CLEAR
CLEAR COM
8
10
13
3
Limiting torque
23
21
3
6
TLC
PULSE F
PULSE F
PULSE R
PULSE R
10m(32ft) or less
22
4
2
1
SD Plate
(Note 13)
PULSE F
1
PULSE COM
19
2
PULSE R
PULSE COM
20
11
12
13
14
15
16
35
36
DOG
FLS
RLS
STOP
CHG
START
COM
COM
10m(32ft) or less
(Note 4,9)
CN1A
6
LA
LAR
LB
Encoder A-phase pulse
(differential line driver)
16
7
(Note 4,9)
DC24V
CN1B
15
5
Encoder B-phase pulse
(differential line driver)
(Note 3, 6) Emergency stop
Servo-on
EMG
SON
RES
PC
17
LBR
Control common
Reset
14
8
Control common
1
14
LG
OP
Proportion control
Encoder Z-phase pulse
(open collector)
Torque limit selection
TL
9
4
P15R
SD
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
LSP
LSN
SG
16
17
10
11
12
Plate
2m(6.5ft) or less
(Note 4,9,14)
CN3
Upper limit setting
P15R
TLA
LG
Analog torque limit
10V/max. torque
4
MO1
LG
A
A
(Note 8)
10k
1
3
Analog monitor
Plate
SD
Max. 1mA
14
MO2
LG
2m(6.5ft) max.
(Note 8)
10k
Reading in both
directions
13
Plate
SD
(Note 11)
Personal
computer
MR Configurator
(Servo configuration
software)
2m(6.5ft) max.
(Note 4,9)
CN3
Communication cable
(Note 1)
3 - 4
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the differential line driver system.
It is 2m (6.5ft) or less in the opencollector system.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. This connection is not required for the AD75P. Depending on the used positioning module, however, it is recommended to
connect the LG and control common terminals of the servo amplifier to enhance noise immunity.
14. For the 11kW or more servo amplifier, Analog monitor 1 (MO1) and Analog monitor 2 (MO2) are replaced by CN4.
CN4
A
A
1
2
4
MO1
MO2
LG
2m (6.5ft) or less
3 - 5
3. SIGNALS AND WIRING
3.1.2 Speed control mode
Servo amplifier
(Note 4)
CN1B
3
VDD
(Note 12)
(Note 4,9)
CN1A
(Note 7)
Trouble
13 COM
18 ALM
19 ZSP
(Note 2,5)
RA1
SP1
SG
8
Speed selection 1
10
Zero speed
RA2
RA3
Limiting torque
6
TLC
10m(32ft) max.
(Note 4,9) (Note 4,9)
10m(32ft) or less
CN1B
CN1A
(Note 3, 6) Emergency stop
Servo-on
EMG 15
SON
RES 14
9
COM
5
18 SA
RA5
RA4
Speed reached
Ready
Reset
SP2
ST1
ST2
LSP
7
8
Speed selection 2
Forward rotation start
Reverse rotation start
19 RD
LZ
15 LZR
LA
16 LAR
LB
17 LBR
5
Encoder Z-phase pulse
(differential line driver)
9
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
16
6
Encoder A-phase pulse
(differential line driver)
LSN 17
SG 10
P15R 11
Upper limit setting
Encoder B-phase pulse
(differential line driver)
7
Analog speed command
VC
LG
2
1
10V/rated speed
(Note 13)
Control common
Upper limit setting
1
LG
Control common
Encoder Z-phase pulse
(open collector)
TLA
SD
12
14 OP
(Note 10) Analog torque limit
10V/max. torque
4
P15R
Plate
Plate
SD
2m(6.5ft) or less
(Note 4,9,14)
CN3
2m(6.5ft) max.
(Note 8)
(Note 8)
Analog monitor
Max. 1mA
4
3
MO1
LG
A
(Note 11)
10k
10k
Personal
computer
MR Configurator
(Servo configuration
software)
(Note 4,9)
CN3
14 MO2
13 LG
A
Reading in
Communication cable
both directions
Plate
SD
2m(6.5ft) max.
(Note 1)
3 - 6
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition.
8. When connecting the personal computer together with Analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. By setting parameters No.43 to 48 to make TL available, TLA can be used.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. Use an external power supply when inputting a negative voltage.
14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
A
A
1
2
4
MO1
MO2
LG
2m (6.5ft) or less
3 - 7
3. SIGNALS AND WIRING
3.1.3 Torque control mode
Servo amplifier
(Note 4)
CN1B
(Note 10)
3
VDD
(Note 4,8)
CN1A
(Note 6)
Trouble
13 COM
18 ALM
19 ZSP
(Note 2,5)
RA1
SP1
SG
8
Speed selection 1
10
Zero speed
RA2
RA3
Limiting torque
6
VLC
10m(32ft) max.
10m(32ft) or less
(Note 4,8) (Note 4,8)
CN1B
CN1A
(Note 3) Emergency stop
Servo-on
EMG 15
SON
RES 14
9
COM
5
19 RD
RA4
Ready
Reset
SP2
RS1
RS2
SG
7
9
5
LZ
Speed selection 2
Forward rotation start
Reverse rotation start
Encoder Z-phase pulse
(differential line driver)
15 LZR
LA
16 LAR
LB
17 LBR
8
6
Encoder A-phase pulse
(differential line driver)
10
Upper limit setting
Encoder B-phase pulse
(differential line driver)
P15R 11
7
Analog torque command
8V/max. torque
TC
LG
12
1
(Note 11)
Control common
Upper limit setting
1
14
LG
Control common
Encoder Z-phase pulse
(open collector)
VLA
SD
2
Analog speed limit
0 to 10V/rated speed
OP
4
P15R
SD
Plate
Plate
2m(6.5ft) or less
2m(6.5ft) max.
(Note 4,8,12)
CN3
4
3
MO1
LG
A
A
(Note 7)
10k
Analog monitor
(Note 9)
MR Configurator
(Servo configuration
software)
Max. 1mA
Personal
computer
14 MO2
13 LG
(Note 4,8)
CN3
10k
Reading in both
directions
(Note 7)
Communication cable
Plate SD
2m(6.5ft) max.
(Note 1)
3 - 8
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the ( ) servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. Trouble (ALM) turns on in normal alarm-free condition.
7. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
8. The pins with the same signal name are connected in the servo amplifier.
9. Use MRZJW3-SETUP 151E.
10. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
11. Use an external power supply when inputting a negative voltage.
12. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
A
A
1
2
4
MO1
MO2
LG
2m (6.5ft) or less
3 - 9
3. SIGNALS AND WIRING
3.2 Internal connection diagram of servo amplifier
The following is the internal connection diagram where the signal assignment has been made in the
initial status in each control mode.
Servo amplifier
CN1B
24VDC
VDD
3
COM
13
(Note 1)
P
(Note 1)
P
S
T
CN1A
S
T
CN1A
18
COM COM COM
9
8
INP
SA
RD
Approx. 4.7k
CR
SP1 SP1
19
RD
(Note 1)
P
RD
T
SG
(Note 1)
P
SG
SG 10,20
S
CN1B
6
S
T
TLC TLC VLC
ALM ALM ALM
ZSP ZSP ZSP
CN1B
5
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
SON SON SON
SP2 SP2
18
19
7
8
DO1 DO1
PC
TL
ST1 RS2
ST2 RS1
4
DO1
9
RES RES RES
EMG EMG EMG
LSP LSP
14
15
16
17
LSN LSN
SG
(Note 1)
P
SG
SG 10,20
CN1A
6
CN1A
11
S
T
LA
LAR
LB
OPC
PG
PP
16
7
13
Approx. 100k
Approx. 100k
Approx. 1.2k
3
17
5
LBR
LZ
NG
NP
12
Approx. 1.2k
2
15
LZR
Case
14
1
OP
LG
SD
SD
SD
T
CN3
(Note 1)
P
4
14
2
MO1
MO2
RXD
S
CN1B
(Note 2)
VC
VLA
TC
2
TLA TLA
12
12
9
TXD
SDP
SDN
RDP
RDN
15VDC
P15R P15R P15R 11
LG
SD
LG
SD
LG
SD
1
19
5
Case
15
PE
CN1A
4
P15R
Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode
2. For the 11kW or more servo amplifier, MO1 is replaced by CN4-1 and MO2 by CN4-2.
3 - 10
3. SIGNALS AND WIRING
3.3 I/O signals
3.3.1 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
Refer to (2) CN1A and CN1B signal assignment for CN1A and CN1B
signal assignment.
(1) Signal arrangements
(a) MR-J2S-700A or less
CN1A
CN1B
1
11
13
15
17
19
1
3
5
7
9
11
13
15
17
19
2
4
12
14
16
18
20
2
4
12
14
16
18
20
3
5
7
9
6
6
MITSUBISHI
MELSERVO-J2
8
8
10
10
CN2
CN3
1
LG
3
11
LG
13
1
LG
3
11
LG
13
2
12
LG
14
2
RXD
4
12
TXD
14
LG
4
LG
5
LG
15
MO1
6
MO2
16
5
15
6
MD
8
16
MDR
18
RDP
7
RDN
17
7
MR
9
17
MRR
19
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
8
18
P5
9
19
10
20
10
20
BAT
P5
SDP
SDN
P5
TRE
P5
3 - 11
3. SIGNALS AND WIRING
(b) MR-J2S-11KA or more
CN3
1
11
LG
13
CN4
2
12
TXD
14
LG
3
1 MO1
2 MO2
RXD
4
5
RDP
7
15
RDN
17
4
LG
6
8
16
18
9
19
10
20
P5
SDN
SDP
MITSUBISHI
TRE
CN1A
Same as the one of the
MR-J2S-700A or less.
CN1B
Same as the one of the
MR-J2S-700A or less.
CN2
CHARGE
CON2
1
LG
3
11
LG
13
For manufacturer adjustment.
Keep this open.
2
LG
4
12
LG
14
5
15
6
MD
8
16
MDR
18
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
7
MR
9
17
MRR
19
P5
10
20
BAT
P5
P5
3 - 12
3. SIGNALS AND WIRING
(2) CN1A and CN1B signal assignment
The signal assignment of connector changes with the control mode as indicated below.
For the pins which are given parameter No.s in the related parameter column, their signals can be
changed using those parameters.
(Note 2) I/O Signals in control modes
(Note 1)
I/O
Related
Connector
Pin No.
parameter
P
LG
P/S
S
S/T
T
T/P
1
2
3
4
5
6
7
8
9
LG
LG
LG
LG
LG
/NP
I
I
NP
NP/
/PP
P15R
LZ
PP
PP/
P15R/P15R
LZ
P15R
LZ
P15R
LZ
P15R
LZ
P15R
LZ
O
O
O
I
LA
LA
LA
LA
LA
LA
LB
LB
LB
LB
LB
LB
CR
CR/SP1
COM
SG
SP1
COM
SG
SP1/SP1
COM
SG
SP1
COM
SG
SP1/CR
COM
SG
No.43 to 48
COM
SG
10
CN1A
11
OPC
NG
PG
OPC/
NG/
/OPC
/NG
12
I
13
I
PG/
/PG
14
O
O
O
O
O
O
OP
OP
OP
LZR
LAR
LBR
SA
OP
LZR
OP
OP
15
LZR
LAR
LBR
INP
RD
LZR
LZR
LAR
LBR
LZR
16
LAR
LBR
INP/SA
RD
LAR
LAR
LBR
/INP
RD
17
LBR
18
SA/
No.49
No.49
19
RD
RD
RD
SG
20
SG
SG
SG
SG
SG
1
LG
LG
LG
LG
LG
LG
2
I
/VC
VC
VC/VLA
VDD
DO1
VLA
VDD
DO1
SON
VLC
SP2
RS2
RS1
SG
VLA/
VDD
DO1
SON
VLC/TLC
LOP
RS2/PC
RS1/TL
SG
3
VDD
DO1
SON
TLC
VDD
DO1
SON
TLC
VDD
DO1
SON
TLC
SP2
ST1
ST2
SG
(Note 4) 4
O
I
5
6
SON
TLC/VLC
LOP
No.43 to 48
No.49
O
I
7
LOP
PC/ST1
TL/ST2
SG
No.43 to 48
No.43 to 48
No.43 to 48
8
I
PC
TL
ST1/RS2
ST2/RS1
SG
9
I
10
11
SG
CN1B
P15R
P15R
(Note 3)
TLA/TLA
COM
RES
P15R
(Note 3)
TLA
COM
RES
EMG
LSP
LSN
ALM
ZSP
SG
P15R
(Note 3)
TLA/TC
COM
RES
P15R
P15R
12
I
TLA
TC
TC/TLA
13
14
15
16
17
18
19
20
COM
RES
EMG
LSP
LSN
ALM
ZSP
SG
COM
RES
COM
RES
EMG
/LSP
/LSN
ALM
ZSP
I
I
No.43 to 48
EMG
LSP
EMG
LSP/
LSN/
ALM
ZSP
EMG
I
I
LSN
ALM
ZSP
O
O
ALM
ZSP
SG
No.49
No.1, 49
SG
SG
SG
Note 1. I : Input signal, O: Output signal
2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. By setting parameters No. 43 to 48 to make TL available, TLA can be used.
4. CN1B-4 and CN1A-18 output signals are the same. However, this pin may not be used when assigning alarm codes to CN1A-
18.
3 - 13
3. SIGNALS AND WIRING
(3) Symbols and signal names
Symbol
SON
Signal name
Symbol
VLC
Signal name
Servo-on
Limiting speed
Ready
LSP
LSN
CR
Forward rotation stroke end
Reverse rotation stroke end
Clear
RD
ZSP
INP
SA
Zero speed
In position
Speed reached
Trouble
SP1
SP2
PC
Speed selection 1
Speed selection 2
ALM
WNG
BWNG
OP
Proportion control
Forward rotation start
Reverse rotation start
Torque limit selection
Reset
Warning
ST1
ST2
TL
Battery warning
Encoder Z-phase pulse (open collector)
Electromagnetic brake interlock
Encoder Z-phase pulse
MBR
LZ
RES
EMG
LOP
VC
(differential line driver)
Emergency stop
LZR
LA
Control change
Encoder A-phase pulse
(differential line driver)
Analog speed command
Analog speed limit
Analog torque limit
Analog torque command
Forward rotation selection
Reverse rotation selection
LAR
LB
VLA
TLA
TC
Encoder B-phase pulse
(differential line driver)
I/F internal power supply
Digital I/F power supply input
Open collector power input
Digital I/F common
LBR
VDD
COM
OPC
SG
RS1
RS2
PP
NP
P15R
LG
15VDC power supply
Control common
Forward/reverse rotation pulse train
Limiting torque
PG
NG
SD
Shield
TLC
3 - 14
3. SIGNALS AND WIRING
3.3.2 Signal explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.6.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status.
: Denotes that the signal may be used by setting the corresponding parameter among parameters 43 to
49.
The pin No.s in the connector pin No. column are those in the initial status.
(1) Input signals
Control
Connector
pin No.
I/O
mode
Signal
Symbol
Functions/Applications
division
P
S
T
Servo-on
SON
CN1B
5
Turn SON on to power on the base circuit and make the servo
amplifier ready to operate (servo-on).
DI-1
Turn it off to shut off the base circuit and coast the servo motor
(servo off).
Set "
1" in parameter No. 41 to switch this signal on
(keep terminals connected) automatically in the servo
amplifier.
Reset
RES
LSP
CN1B
14
Turn RES on for more than 50ms to reset the alarm.
Some alarms cannot be deactivated by the reset signal. Refer to
section 10.2.
DI-1
DI-1
Turning RES on in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when "
No. 51.
1
"is set in parameter
Forward
rotation stroke
end
CN1B
16
To start operation, turn LSP/LSN on. Turn it off to bring the
motor to a sudden stop and make it servo-locked.
Set "
1" in parameter No. 22 to make a slow stop.
(Refer to section 5.2.3.)
(Note) Input signals
Operation
CCW CW
direction direction
LSP
LSN
1
0
1
0
1
1
0
0
Reverse rotation
stroke end
LSN
CN1B
17
Note. 0: off
1: on
Set parameter No. 41 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier.
Parameter No.41
Automatic ON
LSP
1
1
LSN
3 - 15
3. SIGNALS AND WIRING
Control
mode
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
P
S
T
External torque
limit selection
TL
CN1B
9
Turn TL off to make Internal torque limit 1 (parameter No. 28)
valid, or turn it on to make Analog torque limit (TLA) valid.
For details, refer to section 3.4.1 (5).
DI-1
DI-1
DI-1
Internal
TL1
ST1
When using this signal, make it usable by making the setting of
parameter No. 43 to 48.
torque limit
selection
For details, refer to section 3.4.1 (5).
Forward
CN1B
8
Used to start the servo motor in any of the following directions.
rotation start
(Note) Input signals
Servo motor starting direction
ST2
0
ST1
0
Stop (servo lock)
CCW
Reverse rotation
start
ST2
CN1B
9
0
1
1
0
CW
1
1
Stop (servo lock)
Note. 0: off
1: on
If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the
parameter No. 12 setting and servo-locked.
Forward
rotation
selection
RS1
RS2
CN1B
9
Used to select any of the following servo motor torque generation
directions.
DI-1
(Note) Input signals
Torque generation direction
RS2
RS1
0
0
Torque is not generated.
Reverse rotation
selection
CN1B
8
Forward rotation in driving mode /
reverse rotation in regenerative mode
0
1
Reverse rotation in driving mode /
1
1
0
1
forward rotation in regenerative mode
Torque is not generated.
Note. 0: off
1: on
3 - 16
3. SIGNALS AND WIRING
Control
mode
S
Connector
pin No.
I/O
division
Signal
Symbol
Functions/Applications
P
T
Speed selection 1
SP1
CN1A
8
<Speed control mode>
DI-1
Used to select the command speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
Speed selection 2
Speed selection 3
SP2
SP3
CN1B
7
DI-1
DI-1
(Note) Input
signals
Setting of
parameter
No. 43 to 48
Speed command
SP3 SP2 SP1
0
0
Analog speed command (VC)
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No. 10)
Analog speed command (VC)
When speed
selection
(SP3) is not
used
(initial status)
0
1
1
0
1
0
0
1
0
1
0
0
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No.10)
Internal speed command 4
(parameter No. 72)
Internal speed command 5
(parameter No. 73)
Internal speed command 6
(parameter No. 74)
Internal speed command 7
(parameter No. 75)
0
0
1
1
1
1
1
1
0
0
1
1
0
1
0
1
0
1
When speed
selection
(SP3) is made
valid
Note. 0: off
1: on
<Torque control mode>
Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
(Note) Input
signals
Setting of
parameter
No. 43 to 48
Speed limit
SP3 SP2 SP1
0
0
1
0
1
0
Analog speed limit (VLA)
When speed
selection
(SP3) is not
used
(initial status)
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No. 10)
Analog speed limit (VLA)
1
0
0
1
0
1
0
0
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No.10)
Internal speed command 4
(parameter No. 72)
Internal speed command 5
(parameter No. 73)
Internal speed command 6
(parameter No. 74)
Internal speed command 7
(parameter No. 75)
0
0
1
1
1
1
1
1
0
0
1
1
0
1
0
1
0
1
When speed
selection
(SP3) is made
valid
Note. 0: off
1: on
3 - 17
3. SIGNALS AND WIRING
Control
mode
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
P
S
T
Proportion
control
PC
CN1B
8
Connect PC-SG to switch the speed amplifier from the
proportional integral type to the proportional type.
DI-1
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically
after positioning completion (stop), switching on the proportion
control (PC) upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control (PC) and torque control (TL) at the same time
to make the torque less than the rated by the analog torque limit.
Turn EMG off (open EMG-common) to bring the motor to an
emergency stop state, in which the base circuit is shut off and the
dynamic brake is operated.
Emergency stop
EMG
CN1B
15
DI-1
Turn EMG on (short EMG-common) in the emergency stop state
to reset that state.
Clear
CR
CN1A
8
Turn CR on to clear the position control counter droop pulses on
its leading edge. The pulse width should be 10ms or more.
DI-1
DI-1
When the parameter No. 42 setting is "
always cleared while CR is on.
1 ", the pulses are
Electronic gear
selection 1
CM1
When using CM1 and CM2, make them usable by the setting of
parameters No. 43 to 48.
The combination of CM1 and CM2 gives you a choice of four
different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.
Electronic gear
selection 2
CM2
(Note) Input signals
DI-1
Electronic gear molecule
CM2
CM1
0
0
1
1
0
1
0
1
Parameter No. 3
Parameter No. 69
Parameter No. 70
Parameter No. 71
Note. 0: off
1: on
Gain changing
CDP
When using this signal, make it usable by the setting of
parameter No. 43 to 48.
DI-1
Turn CDP on to change the load inertia moment ratio into the
parameter No. 61 setting and the gain values into the values
multiplied by the parameter No. 62 to 64 settings.
3 - 18
3. SIGNALS AND WIRING
Control
mode
Connector
pin No.
I/O
division
Signal
Symbol
Functions/Applications
<Position/speed control change mode>
Used to select the control mode in the position/speed control
change mode.
P
S
T
Control change
LOP
CN1B
7
DI-1
Refer to
Functions/
Appli-
cations.
(Note) LOP
Control mode
Position
0
1
Speed
Note. 0: off
1: on
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.
(Note) LOP
Control mode
Speed
0
1
Torque
Note. 0: off
1: on
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.
(Note) LOP
Control mode
Torque
0
1
Position
Note. 0: off
1: on
Analog torque
limit
TLA
CN1B
12
To use this signal in the speed control mode, set any of
parameters No. 43 to 48 to make TL available.
When the analog torque limit (TLA) is valid, torque is limited in
the full servo motor output torque range. Apply 0 to 10VDC
across TLA-LG. Connect the positive terminal of the power supply
to TLA. Maximum torque is generated at 10V. (Refer to section
3.4.1 (5)) Resolution:10bit
Analog
input
Analog torque
command
TC
VC
Used to control torque in the full servo motor output torque
range.
Apply 0 to 8VDC across TC-LG. Maximum torque is generated
at 8V. (Refer to section 3.4.3 (1))
The torque at 8V input can be changed using parameter No. 26.
Apply 0 to 10VDC across VC-LG. Speed set in parameter No. 25
is provided at 10V. (Refer to section 3.4.2 (1))
Resolution:14bit or equivalent
Analog
input
Analog speed
command
CN1B
2
Analog
input
Analog speed
limit
VLA
PP
Apply 0 to 10VDC across VLA-LG. Speed set in parameter No.
25 is provided at 10V. (Refer to section 3.4.3 (3))
Used to enter a command pulse train.
In the open collector system (max. input frequency 200kpps).
Forward rotation pulse train across PP-SG
Reverse rotation pulse train across NP-SG
In the differential receiver system (max. input frequency
500kpps).
Analog
input
DI-2
Forward
rotation pulse
train
Reverse rotation
pulse train
CN1A
3
CN1A
2
CN1A
13
NP
PG
NG
CN1A
12
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using parameter
No. 21.
3 - 19
3. SIGNALS AND WIRING
(2) Output signals
Control
mode
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
P
S
T
Trouble
ALM
CN1B
18
ALM turns off when power is switched off or the protective circuit
is activated to shut off the base circuit.
DO-1
DO-1
Without alarm occurring, ALM turns on within about 1s after
power-on.
Dynamic brake
interlock
DB
This signal can be used with the 11kW or more servo amplifier.
When using this signal, set " 1
" in parameter No. 1.
When the dynamic brake is operated, DB turns off. (Refer to
section 13.1.4.)
Ready
RD
CN1A
19
RD turns on when the servo is switched on and the servo
amplifier is ready to operate.
DO-1
DO-1
In position
INP
CN1A
18
INP turns on when the number of droop pulses is in the preset in-
position range. The in-position range can be changed using
parameter No. 5.
When the in-position range is increased, INP-SG may be kept
connected during low-speed rotation.
Speed reached
Limiting speed
SA
SA turns on when the servo motor speed has nearly reached the
preset speed. When the preset speed is 20r/min or less, SA
always turns on. SA does not turn on even when the servo on
(SON) is turned off or the servo motor speed by the external force
reaches the preset speed while both the forward rotation start
(ST1) and the reverse rotation start (ST2) are off.
VLC turns on when speed reaches the value limited using any of
the internal speed limits 1 to 7 (parameter No. 8 to 10, 72 to 75)
or the analog speed limit (VLA) in the torque control mode.
VLC turns off when servo on (SON) turns off.
DO-1
VLC
TLC
CN1B
6
DO-1
DO-1
Limiting torque
Zero speed
TLC turns on when the torque generated reaches the value set to
the internal torque limit 1 (parameter No. 28) or analog torque
limit (TLA).
ZSP
CN1B
19
ZSP turns on when the servo motor speed is zero speed (50r/min)
or less. Zero speed can be changed using parameter No. 24.
DO-1
DO-1
Electromagnetic
brake interlock
MBR
CN1B
19
Set"
1 "in parameter No. 1 to use this parameter. Note that
ZSP will be unusable.
MBR turns off when the servo is switched off or an alarm occurs.
To use this signal, assign the connector pin for output using
parameter No.49. The old signal before assignment will be
unusable.
Warning
WNG
DO-1
When warning has occurred, WNG turns on.
When there is no warning, WNG turns off within about 1s after
power-on.
Battery warning BWNG
To use this signal, assign the connector pin for output using
parameter No.49. The old signal before assignment will be
unusable.
DO-1
BWNG turns on when battery cable breakage warning (AL. 92) or
battery warning (AL. 9F) has occurred.
When there is no battery warning, BWNG turns off within about
1s after power-on.
3 - 20
3. SIGNALS AND WIRING
Control
mode
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
P
S
T
Alarm code
ACD 0
ACD 1
ACD 2
CN1A
19
To use this signal, set "
1" in parameter No.49.
DO-1
This signal is output when an alarm occurs. When there is no
alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below.
CN1A
18
CN1B
19
(Note) Alarm code
Alarm
Name
CN1B CN1A CN1A
19 Pin 18 Pin 19 Pin
display
88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error
0
0
0
AL.19 Memory error 3
AL.37 Parameter error
Serial communication
timeout
AL.8A
AL.8E Serial communication error
AL.30 Regenerative error
AL.33 Overvoltage
0
0
0
1
1
0
AL.10 Undervoltage
AL.45 Main circuit device
AL.46 Servo motor overheat
AL.50 Overload 1
0
1
1
1
0
0
1
0
1
AL.51 Overload 2
AL.24 Main circuit error
AL.32 Overcurrent
AL.31 Overspeed
Command pulse frequency
AL.35
alarm
AL.52 Error excessive
AL.16 Encoder error 1
AL.1A Monitor combination error
AL.20 Encoder error 2
1
1
0
AL.25 Absolute position erase
Note. 0: off
1: on
3 - 21
3. SIGNALS AND WIRING
Control
mode
Connector pin No.
7kW or 11kW or
I/O
Signal
Symbol
Functions/Applications
division
P
S
T
less
more
Encoder Z-phase
pulse
OP
CN1A
14
CN1A Outputs the zero-point signal of the encoder. One pulse is
DO-2
14
output per servo motor revolution. OP turns on when the
zero-point position is reached. (Negative logic)
The minimum pulse width is about 400 s. For home
position return using this pulse, set the creep speed to
100r/min. or less.
(Open collector)
Encoder A-phase
Pulse
LA
LAR
LB
CN1A
6
CN1A Outputs pulses per servo motor revolution set in
parameter No. 27 in the differential line driver system.
CN1A In CCW rotation of the servo motor, the encoder B-phase
DO-2
6
(Differential line
driver)
CN1A
16
16
CN1A
7
pulse lags the encoder A-phase pulse by a phase angle of
/2.
Encoder B-phase
pulse
CN1A
7
The relationships between rotation direction and phase
difference of the A B-phase pulses can be changed using
parameter No. 54.
(Differential line
driver)
LBR
LZ
CN1A
17
CN1A
17
Encoder Z-phase
pulse
CN1A
5
CN1A The same signal as OP is output in the differential line
DO-2
5
CN1A
15
driver system.
(Differential line
driver)
LZR
CN1A
15
Analog monitor 1 MO1
CN3
4
CN4
1
Used to output the data set in parameter No.17 to across
MO1-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog
output
Analog monitor 2 MO2
CN3
14
CN4
2
Used to output the data set in parameter No.17 to across
MO2-LG in terms of voltage. Resolution 10 bits
(3) Communication
POINT
Refer to chapter 14 for the communication function.
Control
mode
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
P
S
T
RS-422 I/F
SDP
SDN
RDP
RDN
TRE
CN3
9
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
CN3
19
CN3
5
CN3
15
RS-422
CN3
10
Termination resistor connection terminal of RS-422 interface.
When the servo amplifier is the termination axis, connect this
terminal to RDN (CN3-15).
termination
RS-232C I/F
RXD
TXD
CN3
2
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
CN3
12
3 - 22
3. SIGNALS AND WIRING
(4) Power supply
Control
mode
Connector pin No.
7kW or 11kW or
Signal
Symbol
Functions/Applications
I/O division
P
S
T
less
more
I/F internal
VDD
CN1B
3
CN1B Used to output 24V 10% to across VDD-SG.
power supply
3
When using this power supply for digital interface,
connect it with COM.
Permissible current : 80mA
Digital I/F power COM
supply input
CN1A
9
CN1A Used to input 24VDC for input interface.
Connect the positive terminal of the 24VDC external
CN1B power supply.
13 24VDC 10%
CN1A When inputting a pulse train in the open collector
9
CN1B
13
Open collector
power input
OPC
SG
CN1A
11
11
system, supply this terminal with the positive ( ) power
of 24VDC.
Digital I/F
common
CN1A
10
CN1A Common terminal for input signals such as SON and
10
20
EMG. Pins are connected internally.
Separated from LG.
20
CN1B
10
CN1B
10
20
20
15VDC power
supply
P15R
LG
CN1A
4
CN1A Outputs 15VDC to across P15R-LG. Available as power
for TC, TLA, VC, VLA.
4
CN1B
11
CN1B Permissible current: 30mA
11
Control common
CN1A
1
CN1A Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP
1
,MO1, MO2 and P15R.
CN1B
1
CN1B Pins are connected internally.
1
CN3
1, 11
3, 13
CN3
1, 11
3, 13
CN4
4
Shield
SD
Plate
Plate Connect the external conductor of the shield cable.
3 - 23
3. SIGNALS AND WIRING
3.4 Detailed description of the signals
3.4.1 Position control mode
(1) Pulse train input
(a) Input pulse waveform selection
Command pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in parameter No. 21.
Arrow
or
in the table indicates the timing of importing a pulse train.
A B-phase pulse trains are imported after they have been multiplied by 4.
Forward rotation
command
Reverse rotation
command
Parameter No. 21
Pulse train form
(Command pulse train)
Forward rotation
pulse train
PP
0010
0011
Reverse rotation
pulse train
NP
PP
Pulse train sign
L
H
NP
PP
A-phase pulse train
B-phase pulse train
0012
NP
PP
Forward rotation
pulse train
0000
0001
0002
Reverse rotation
pulse train
NP
PP
NP
Pulse train sign
L
H
PP
NP
A-phase pulse train
B-phase pulse train
3 - 24
3. SIGNALS AND WIRING
(b) Connections and waveforms
1) Open collector system
Connect as shown below.
Servo amplifier
VDD
OPC
PP
Approx.
1.2k
Approx.
1.2k
NP
(Note)
SG
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the
table refer to (1) (a) in this section are voltage waveforms of PP and NP based on SG. Their
relationships with transistor ON/OFF are as follows.
Forward rotation
pulse train
(transistor)
(OFF) (ON) (OFF) (ON)
(OFF)
Reverse rotation
pulse train
(transistor)
(OFF)
(ON) (OFF) (ON) (OFF) (ON)
Reverse rotation command
Forward rotation command
3 - 25
3. SIGNALS AND WIRING
2) Differential line driver system
Connect as shown below.
Servo amplifier
PP
PG
NP
NG
(Note)
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010).
For the differential line driver, the waveforms in the table refer to (1) (a) in this section are as
follows.
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line
driver.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation command
Reverse rotation command
3 - 26
3. SIGNALS AND WIRING
(2) In-position (INP)
PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset
in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is
performed with a large value set as the in-position range.
ON
Servo-on (SON)
OFF
Yes
Alarm
No
In-position range
Droop pulses
ON
In position (INP)
OFF
(3) Ready (RD)
ON
Servo-on (SON)
OFF
Yes
Alarm
No
80ms or less
10ms or less
10ms or less
ON
Ready (RD)
OFF
(4) Electronic gear switching
The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if
any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.
(Note) External input signal
Electronic gear molecule
CM2
CM1
0
0
1
1
0
1
0
1
Parameter No. 3
Parameter No. 69
Parameter No. 70
Parameter No. 71
Note. 0: off
1: on
3 - 27
3. SIGNALS AND WIRING
(5) Torque limit
If the torque limit is canceled during servo lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
CAUTION
(a) Torque limit and torque
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum
value during operation. A relationship between the limit value and servo motor torque is shown
below.
Max. torque
0
0
100
Torque limit value [%]
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit
value of the servo motor is shown below. Torque limit values will vary about 5% relative to the
voltage depending on products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore,
use this function at the voltage of 0.05V or more.
100
Servo amplifier
TL
SG
5%
P15R
TLA
LG
2k
2k
0
0 0.05
10
Japan resistor
TLA application voltage [V]
RRS10 or equivalent
SD
TLA application voltage vs.
torque limit value
(b) Torque limit value selection
Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using
the external torque limit selection (TL) or the torque limit made valid by the analog torque limit
(TLA) as indicated below.
When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal
torque limit 2 (parameter No. 76) can be selected. However, if the parameter No. 28 value is less
than the limit value selected by TL/TL1, the parameter No. 28 value is made valid.
(Note) External input signals
Torque limit value made valid
TL1
TL
0
0
Internal torque limit value 1 (parameter No. 28)
TLA Parameter No. 28: Parameter No. 28
TLA Parameter No. 28: TLA
0
1
1
1
0
1
Parameter No. 76 Parameter No. 28: Parameter No. 28
Parameter No. 76 Parameter No. 28: Parameter No. 76
TLA Parameter No. 76: Parameter No. 76
TLA Parameter No. 76: TLA
Note. 0: off
1: on
(c) Limiting torque (TLC)
TLC turns on when the servo motor torque reaches the torque limited using the internal torque
limit 1 2 or analog torque limit.
3 - 28
3. SIGNALS AND WIRING
3.4.2 Speed control mode
(1) Speed setting
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied
voltage of the analog speed command (VC). A relationship between the analog speed command
(VC) applied voltage and the servo motor speed is shown below.
Rated speed is achieved at 10V with initial setting. The speed at 10V can be changed using
parameter No.25.
Rated speed [r/min]
Forward rotation (CCW)
Speed [r/min]
10
CCW direction
0
10
VC applied voltage [V]
CW direction
Rated speed [r/min]
Reverse rotation (CW)
The following table indicates the rotation direction according to forward rotation start (ST1) and
reverse rotation start (ST2) combination.
(Note 1) External input signals
(Note 2) Rotation direction
Analog speed command (VC)
Internal speed
commands
ST2
ST1
Polarity
0V
Polarity
Stop
(Servo lock)
CCW
Stop
(Servo lock)
Stop
Stop
(Servo lock)
CW
Stop
(Servo lock)
CCW
0
0
0
1
1
0
(No servo lock)
CW
CCW
CW
Stop
Stop
Stop
Stop
1
1
(Servo lock)
(Servo lock)
(Servo lock)
(Servo lock)
Note 1. 0: off
1: on
2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.
The forward rotation start (ST1) and reverse rotation start (ST2) can be assigned to any pins of the
connector CN1A, CN1B using parameters No. 43 to 48.
Generally, make connection as shown below.
Servo amplifier
ST1
ST2
SG
P15R
2k
VC
LG
SD
2k
Japan resistor
RRS10 or equivalent
3 - 29
3. SIGNALS AND WIRING
(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection
1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
Speed command value
SP2
SP1
0
0
1
1
0
1
0
1
Analog speed command (VC)
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No. 10)
Note. 0: off
1: on
By making speed selection 3 (SP3) usable by setting of parameter No. 43 to 48, you can choose the
speed command values of analog speed command (VC) and internal speed commands 1 to 7.
(Note) External input signals
Speed command value
SP3
0
SP2
0
SP1
0
Analog speed command (VC)
0
0
1
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No. 10)
Internal speed command 4 (parameter No. 72)
Internal speed command 5 (parameter No. 73)
Internal speed command 6 (parameter No. 74)
Internal speed command 7 (parameter No. 75)
0
1
0
0
1
1
1
0
0
1
0
1
1
1
0
1
1
1
Note. 0: off
1: on
The speed may be changed during rotation. In this case, the values set in parameters No. 11 and
12 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.
(2) Speed reached (SA)
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
command 2
Internal speed
command 1
Set speed selection
ON
OFF
Start (ST1,ST2)
Servo motor speed
ON
OFF
Speed reached (SA)
(3) Torque limit
As in section 3.4.1 (5).
3 - 30
3. SIGNALS AND WIRING
3.4.3 Torque control mode
(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by
the servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with
parameter No. 26.
CCW direction
Forward rotation (CCW)
Max. torque
Generated torque
8
0.05
0.05
8
TC applied voltage [V]
Max. torque
CW direction
Reverse rotation (CW)
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to the
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals
Rotation direction
Torque control command (TC)
0V
RS2
RS1
Polarity
Polarity
0
0
Torque is not generated.
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
Torque is not generated.
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
0
1
Torque is not
generated.
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
1
1
0
1
Torque is not generated.
Torque is not generated.
Note. 0: off
1: on
Generally, make connection as shown below.
Servo amplifier
RS1
RS2
SG
TC
8 to 8V
LG
SD
3 - 31
3. SIGNALS AND WIRING
(b) Analog torque command offset
Using parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied
voltage as shown below.
Max. torque
Parameter No.30 offset range
999 to 999mV
0
8( 8)
TC applied voltage [V]
(2) Torque limit
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value
during operation. A relationship between limit value and servo motor torque is as in section 3.4.1 (5).
Note that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No. 8 to 10, 72 to 75 (internal speed limits 1 to
7) or the value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100r/min greater than the desired speed limit value.
Rated speed
Forward rotation (CCW)
Speed [r/min]
CCW direction
10
0
10
CW direction
VLA applied voltage [V]
Rated speed
Reverse rotation (CW)
The following table indicates the limit direction according to forward rotation selection (RS1) and
reverse rotation selection (RS2) combination.
(Note) External input signals
Speed limit direction
Analog speed limit (VLA)
Internal speed
commands
RS1
RS2
Polarity
CCW
CW
Polarity
1
0
0
1
CW
CCW
CCW
CW
Note. 0: off
1: on
Generally, make connection as shown below.
Servo amplifier
SP1
SP2
SG
P15R
VC
2k
2k
LG
Japan resistor
RRS10 or equivalent
SD
3 - 32
3. SIGNALS AND WIRING
(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection
1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed
limit command (VLA), as indicated below.
(Note) Input signals
Setting of parameter
No. 43 to 48
Speed limit value
Analog speed limit (VLA)
SP3
SP2
0
SP1
0
1
0
1
0
1
0
1
0
1
0
1
When speed selection
(SP3) is not used
(initial status)
0
Internal speed limit 1 (parameter No. 8)
Internal speed limit 2 (parameter No. 9)
Internal speed limit 3 (parameter No. 10)
Analog speed limit (VLA)
1
1
0
0
0
0
1
1
1
1
0
0
Internal speed limit 1 (parameter No. 8)
Internal speed limit 2 (parameter No. 9)
Internal speed limit 3 (parameter No. 10)
Internal speed limit 4 (parameter No. 72)
Internal speed limit 5 (parameter No. 73)
Internal speed limit 6 (parameter No. 74)
Internal speed limit 7 (parameter No. 75)
1
1
When speed selection
(SP3) is made valid
0
0
1
1
Note. 0: off
1: on
When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with
the ambient temperature.
(c) Limiting speed (VLC)
VLC turns on when the servo motor speed reaches the speed limited using any of the internal
speed limits 1 to 7 or the analog speed limit (VLA).
3 - 33
3. SIGNALS AND WIRING
3.4.4 Position/speed control change mode
Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode
from an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP
Servo control mode
Position control mode
Speed control mode
0
1
Note. 0: off
1: on
The control mode may be changed in the zero speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses
are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below.
Position
Speed
Position
control mode
control mode
control mode
Zero speed
level
Servo motor speed
ON
Zero speed (ZSP)
OFF
ON
Control change (LOP)
(Note)
(Note)
OFF
Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.
(2) Torque limit in position control mode
As in section 3.4.1 (5).
3 - 34
3. SIGNALS AND WIRING
(3) Speed setting in speed control mode
(a) Speed command and speed
The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the
speed set in the applied voltage of the analog speed command (VC). A relationship between analog
speed command (VC) applied voltage and servo motor speed and the rotation directions determined
by the forward rotation start (ST1) and reverse rotation start (ST2) are as in section 3.4.2 (1) (a).
Generally, make connection as shown below.
Servo amplifier
SP1
SG
P15R
2k
2k
VC
LG
SD
Japan resistor
RRS10 or equivalent
(b) Speed selection 1 (SP1) and speed command value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed command (VC) as indicated in the following table.
(Note) External input signals
Speed command value
SP1
0
1
Analog speed command (VC)
Internal speed command 1 (parameter No. 8)
Note. 0: off
1: on
By making speed selection 2 (SP2) speed selection 3 (SP3) usable by setting of parameter No. 43 to
48, you can choose the speed command values of analog speed command (VC) and internal speed
commands 1 to 7.
(Note) External input signals
Speed command value
SP3
0
SP2
0
SP1
0
Analog speed command (VC)
0
0
1
Internal speed command 1 (parameter No. 8)
Internal speed command 2 (parameter No. 9)
Internal speed command 3 (parameter No. 10)
Internal speed command 4 (parameter No. 72)
Internal speed command 5 (parameter No. 73)
Internal speed command 6 (parameter No. 74)
Internal speed command 7 (parameter No. 75)
0
1
0
0
1
1
1
0
0
1
0
1
1
1
0
1
1
1
Note. 0: off
1: on
The speed may also be changed during rotation. In this case, it is increased or decreased according
to the value set in parameter No. 11 or 12.
When the internal speed command 1 is used to command the speed, the speed does not vary with
the ambient temperature.
(c) Speed reached (SA)
As in section 3.4.2 (2).
3 - 35
3. SIGNALS AND WIRING
3.4.5 Speed/torque control change mode
Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the speed control mode and the torque control mode from
an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP
Servo control mode
Speed control mode
Torque control mode
0
1
Note. 0: off
1: on
The control mode may be changed at any time. A change timing chart is shown below.
Speed
Torque
Speed
control mode control mode control mode
ON
Control change (LOP)
Servo motor speed
OFF
(Note)
Load torque
10V
0
Analog torque
command (TC)
Forward rotation in driving mode
Note: When the start (ST1 ST2) is switched off as soon as the mode is changed to speed control,
the servo motor comes to a stop according to the deceleration time constant.
(2) Speed setting in speed control mode
As in section 3.4.2 (1).
(3) Torque limit in speed control mode
As in section 3.4.1 (5).
3 - 36
3. SIGNALS AND WIRING
(4) Speed limit in torque control mode
(a) Speed limit value and speed
The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value
set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed
limit (VLA) applied voltage and the servo motor speed is as in section 3.4.3 (3) (a).
Generally, make connection as shown below.
Servo amplifier
SP1
SG
P15R
2k
2k
VLA
LG
Japan resistor
SD
RRS10 or equivalent
(b) Speed selection 1 (SP1) and speed limit value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed limit (VLA) as indicated in the following table.
(Note) External input signals
Speed command value
SP1
0
1
Analog speed limit (VLA)
Internal speed limit 1 (parameter No. 8)
Note. 0: off
1: on
When the internal speed limit 1 is used to command the speed, the speed does not vary with the
ambient temperature.
(c) Limiting speed (VLC)
As in section 3.4.3 (3) (c).
(5) Torque control in torque control mode
As in section 3.4.3 (1).
(6) Torque limit in torque control mode
As in section 3.4.3 (2).
3 - 37
3. SIGNALS AND WIRING
3.4.6 Torque/position control change mode
Set "0005" in parameter No. 0 to switch to the torque/position control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the torque control mode and the position control mode
from an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP
Servo control mode
Torque control mode
Position control mode
0
1
Note. 0: off
1: on
The control mode may be changed in the zero speed status.
To ensure safety, change control after the servo motor has stopped. When position control mode is
changed to torque control mode, droop pulses are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below.
Speed
Torque
Speed
control mode control mode control mode
Zero speed
level
Servo motor speed
10V
Analog torque
command (TLA)
0V
ON
Zero speed (ZSP)
OFF
ON
Control change (LOP)
OFF
(2) Speed limit in torque control mode
As in section 3.4.3 (3).
(3) Torque control in torque control mode
As in section 3.4.3 (1).
(4) Torque limit in torque control mode
As in section 3.4.3 (2).
(5) Torque limit in position control mode
As in section 3.4.1 (5).
3 - 38
3. SIGNALS AND WIRING
3.5 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, turn off Servo-on (SON) and power off the main
circuit.
When an alarm occurs in the servo amplifier, 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 reset the alarm, switch the
control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn
the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.
(Note)
Main circuit
control circuit
power supply
ON
OFF
ON
Power off
Power on
Base circuit
OFF
Dynamic brake
Valid
Invalid
Brake operation
Brake operation
Servo-on
(SON)
ON
OFF
ON
Ready
(RD)
OFF
ON
Trouble
(ALM)
OFF
ON
about 1s
Reset
(RES)
OFF
50ms or more
60ms or more
Alarm occurs.
Remove cause of trouble.
Note. Shut 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 (AL.32),
overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the
servo amplifier 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 error
If operation is repeated by switching control circuit power off, then on to reset the regenerative (AL.30)
alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (AL.10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J2S- A, or to 158VDC or less for the MR-
J2S- A1.
(4) In position control mode (incremental)
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.
3 - 39
3. SIGNALS AND WIRING
3.6 Interfaces
3.6.1 Common line
The following diagram shows the power supply and its common line.
CN1A
CN1B
24VDC
CN1A
CN1B
VDD
RA
COM
ALM .etc
DO-1
SON, etc.
SG
DI-1
(Note)
OPC
PG NG
PP NP
SG
SG
Isolated
OP
LG
15VDC 10%
30mA
P15R
LA etc.
Differential line
driver output
35mA max.
LAR
etc.
TLA
VC etc.
Analog input
( 10V/max. current)
LG
SD
MO1
MO2
CN3
Analog monitor output
LG
SD
LG
SDP
SDN
RDP
RDN
LG
RS-422
SD
TXD
RS-232C
Servo motor encoder
RXD
CN2
MR
MRR
LG
Servo motor
M
SD
Ground
Note. For the open collection pulse train input. Make the following connection for the different line driver pulse
train input.
OPC
PG NG
PP NP
SG
3 - 40
3. SIGNALS AND WIRING
3.6.2 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 3.3.2.
Refer to this section and connect the interfaces with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (7) in this section.
For use of internal power supply
For use of external power supply
Servo amplifier
Do not connect
VDD-COM.
24VDC
VDD
Servo amplifier
R: Approx. 4.7
COM
24VDC
VDD
24VDC
R: Approx. 4.7
200mA or more
(Note)
COM
For a transistor
SON, etc.
Approx. 5mA
SON, etc.
Switch
TR
SG
Switch
V CES 1.0V
I CEO 100
SG
A
Note. This also applies to the use of the external power supply.
3 - 41
3. SIGNALS AND WIRING
(2) 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 resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.
(a) Inductive load
For use of internal power supply
For use of external power supply
Servo amplifier
Servo amplifier
Do not connect
VDD-COM.
24VDC
24VDC
VDD
VDD
COM
COM
(Note)
24VDC
10%
Load
Load
ALM, etc
SG
ALM, etc
SG
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
Note. If the voltage drop (maximum of 2.6V) interferes with the
relay operation, apply high voltage (up to 26.4V) from
external source.
(b) Lamp load
For use of internal power supply
For use of external power supply
Servo amplifier
Servo amplifier
Do not connect
24VDC
VDD
24VDC
VDD
VDD-COM.
R
COM
COM
R
(Note)
24VDC
10%
ALM, etc
SG
ALM, etc
SG
Note. If the voltage drop (maximum of 2.6V) interferes with the
relay operation, apply high voltage (up to 26.4V) from
external source.
3 - 42
3. SIGNALS AND WIRING
(3) Pulse train input interface DI-2
Provide a pulse train signal in the open collector or differential line driver system.
(a) Open collector system
1) Interface
For use of internal power supply
For use of external power supply
Servo amplifier
24VDC
VDD
Do not connect
VDD-OPC.
Servo amplifier
24VDC
Max. input pulse
OPC
frequency 200kpps
VDD
OPC
Max. input pulse
frequency 200kpps
About 1.2k
2m (78.74in) or less
About 1.2k
PP, NP
2m (78.74in) or less
24VDC
PP, NP
(Note)
(Note)
SG
SD
SG
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.
2) Conditions of the input pulse
tc
tHL
tLH tHL 0.2 s
tc 2 s
PP 0.9
0.1
tF 3 s
tc
tLH
tF
NP
3 - 43
3. SIGNALS AND WIRING
(b) Differential line driver system
1) Interface
Servo amplifier
Max. input pulse
frequency 500kpps
10m (393.70in) or less
PP(NP)
(Note)
Approx. 100
PG(NG)
SD
Am26LS31 or equivalent
VOH: 2.5V
VOL: 0.5V
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance
to a pulse train signal line.
2) Conditions of the input pulse
tc
tHL
tLH tHL 0.1 s
tc 1 s
0.9
0.1
PP PG
NP NG
tF 3 s
tc
tLH
tF
(4) Encoder pulse output DO-2
(a) Open collector system
Interface
Max. output current : 35mA
Servo amplifier
Servo amplifier
5 to 24VDC
OP
LG
OP
LG
Photocoupler
SD
SD
3 - 44
3. SIGNALS AND WIRING
(b) Differential line driver system
1) Interface
Max. output current: 35mA
Servo amplifier
Servo amplifier
LA
(LB, LZ)
LA
(LB, LZ)
Am26LS32 or equivalent
High-speed photocoupler
100
150
LAR
LAR
(LBR, LZR)
(LBR, LZR)
LG
SD
SD
2) Output pulse
Servo motor CCW rotation
LA
LAR
LB
The time cycle (T) is determined by
the setting of the parameter No. 27 and 54.
T
LBR
/2
LZ
LZR
400 s or more
OP
(5) Analog input
Input impedance 10 to 12k
Servo amplifier
15VDC
P15R
Upper limit setting 2k
2k
VC‚ etc
Approx.
LG
10k
SD
(6) Analog output
Output voltage 10V
Max.1mA
Max. output current
Resolution : 10bit
Servo amplifier
10k
MO1
(MO2)
Reading in one or
both directions
1mA meter
A
LG
SD
3 - 45
3. SIGNALS AND WIRING
(7) Source input interface
When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.
For use of internal power supply
Servo amplifier
For use of external power supply
Servo amplifier
SG
SG
R: Approx. 4.7
COM
(Note)
R: Approx. 4.7
COM
For a transistor
Approx. 5mA
SON,
etc.
Switch
Switch
SON,etc.
24VDC
VDD
TR
24VDC
200mA or more
VCES 1.0V
ICEO 100 A
Note. This also applies to the use of the external power supply.
When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.
For 11kW or more, the source input interface cannot be used with the internal power supply. Always
use the external power supply.
MITSUBISHI
CON2
CON2
JP11
(Note)
JP11
(Note)
CON2
JP11
Jumper
Jumper
For sink input (factory setting)
For source input
Note. The jumper, which is shown black for the convenience of explanation, is actually white.
3 - 46
3. SIGNALS AND WIRING
3.7 Input power supply circuit
Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
CAUTION
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.
POINT
For the power line circuit of the MR-J2S-11KA to MR-J2S-22KA, refer to
section 3.13 where the power line circuit is shown together with the servo
motor connection diagram.
3.7.1 Connection example
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as
alarm occurrence is detected and power is shut off.
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
Emergency
ON
stop
OFF
RA
MC
SK
MC
NFB
MC
Servo amplifier
L1
3-phase
L2
200 to 230 VAC
L3
L11
L21
Emergency
EMG
SON
SG
stop
VDD
COM
ALM
Servo-on
Trouble
RA
3 - 47
3. SIGNALS AND WIRING
(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply
(Note 1) Emergency
ON
MC
OFF
stop
RA
MC
SK
NFB
MC
Power supply
1-phase 100 to
120VAC or
Servo amplifier
L1
L2
1-phase 230VAC
(Note 2)
L3
L11
L21
EMG
SON
SG
Emergency stop
Servo-on
VDD
COM
ALM
Trouble
RA
Note 1. Configure the power supply circuit to shut off the magnetic contactor after detecting an alarm occurrence on the
controller side.
2. Not provided for 1-phase 100 to 120VAC.
3 - 48
3. SIGNALS AND WIRING
3.7.2 Terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 11.1.
Connection Target
Symbol
Description
(Application)
Supply L1, L2 and L3 with the following power.
For 1-phase 230VAC, connect the power supply to L1, L2 and leave L3 open.
Servo amplifier MR-J2S-10A to MR-J2S-100A MR-J2S-10A1
Power supply
70A
to 22kA
to 40A1
3-phase 200 to 230VAC,
50/60Hz
L1 L2 L3
L1, L2, L3
Main circuit power supply
1-phase 230VAC,
50/60Hz
L1 L2
1-phase 100 to 120VAC,
50/60Hz
L1 L2
Connect to the servo motor power supply terminals (U, V, W).
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
U, V, W
Servo motor output
Supply L11 and L12 with the following power.
Servo amplifier
MR-J2S-10A to 700A MR-J2S-10A1 to 40A1
Power supply
1-phase 200 to 230VAC,
L11 L21
L11, L21
Control circuit power supply
50/60Hz
1-phase 100 to 120VAC,
L11 L21
50/60Hz
When not using the power factor improving DC reactor, connect P1 and P.
(Factory-wired.)
When using the power factor improving DC reactor, disconnect the wiring across
P1-P2 and connect the power factor improving DC reactor across P1-P.
The power factor improving DC reactor can be used with MR-J2S-11KA to 22KA.
(Refer to section 13.2.4.)
Power factor improving DC
reactor
P1
1) MR-J2S-350A or less
When using servo amplifier built-in regenerative resistor, connect P and D.
(Wired by default)
When using regenerative option, disconnect between P-D terminals and
connect regenerative option to P terminal and C terminal.
2) MR-J2S-500A
MR-J2S-500A
700A
700A
do not have D terminal.
When using servo amplifier built-in regenerative resistor, connect P terminal
and C terminal. (Wired by default)
P, C, D
Regenerative option
When using regenerative option, disconnect P terminal and C terminal and
connect regenerative option to P terminal and C terminal.
3) MR-J2S-11KA to 22KA
MR-J2S-11KA to 22KA do not have D terminal.
When not using the power supply return converter and the brake unit, make
sure to connect the regenerative option to P terminal and C terminal.
Refer to section 13.1.1.
When using the return converter or brake unit, connect it across P-N.
Do not connect it to the servo amplifier of MR-J2S-200A or less.
Refer to sections 13.1.2 and 13.1.3 for details.
Return converter
Brake unit
N
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
Protective earth (PE)
3 - 49
3. SIGNALS AND WIRING
3.7.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V, single-phase
100V: 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 the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power
supply is switched on. Therefore, when SON is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on
in further about 20ms, making the servo amplifier ready to operate. (Refer to (2) in this section)
4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.
(2) Timing chart
Servo-on (SON) accepted
(1 to 2s)
Main circuit
ON
Control circuit
OFF
Power supply
ON
Base circuit
OFF
60ms
10ms
10ms
ON
Servo-on
(SON)
OFF
60ms
Reset
(RES)
ON
OFF
20ms
10ms 20ms
10ms 20ms
10ms
Ready
(RD)
ON
OFF
No (ON)
Trouble (ALM)
Yes (OFF)
Power-on timing chart
3 - 50
3. SIGNALS AND WIRING
(3) Emergency stop
Provide an external forced stop circuit to ensure that operation can be stopped and
power switched off immediately.
CAUTION
Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop.
When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At
this time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input
during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an
emergency stop, always shut off the run command.
Servo amplifier
VDD
COM
EMG
Emergency stop
SG
3 - 51
3. SIGNALS AND WIRING
3.8 Connection of servo amplifier and servo motor
3.8.1 Connection instructions
Insulate the connections of the power supply terminals to prevent an electric
WARNING
shock.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.
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) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo
amplifier
Servo motor
PE terminal
(2) 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.
3 - 52
3. SIGNALS AND WIRING
3.8.2 Connection diagram
During power-on, do not open or close the motor power line. Otherwise, a
CAUTION
malfunction or faulty may occur.
POINT
For the connection diagram of the MR-J2S-11KA to MR-J2S-22KA, refer
to section 3.13 where the connection diagram is shown together with the
power line circuit.
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 13.2.1. For
encoder cable connection, refer to section 13.1.5. For the signal layouts of the connectors, refer to section
3.8.3.
For the servo motor connector, refer to chapter 3 of the Servo Motor Instruction Manual.
Servo motor
Connection diagram
Servo amplifier
Servo motor
Motor
U (Red)
U
V
V (White)
W (Black)
(Green)
W
24VDC
(Note 1)
B1
B2
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
(Note 2)
Electromagnetic
brake
EMG
To be shut off when servo-off
or Trouble (ALM)
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
Servo motor
U
V
U
V
Motor
W
W
24VDC
(Note 1)
HC-SFS121 (B) to 301 (B)
HC-SFS202 (B) 702 (B)
HC-SFS203 (B) 353 (B)
HC-UFS202 (B) to 502 (B)
HC-RFS353 (B) to 503 (B)
B1
B2
(Note 2)
EMG
Electromagnetic
brake
To be shut off when servo-off
or Trouble (ALM)
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3 - 53
3. SIGNALS AND WIRING
Servo motor
Connection diagram
Servo amplifier
Servo motor
Motor
U
V
U
V
W
W
24VDC
(Note 1)
HC-SFS81 (B)
B1
B2
(Note 2)
HC-SFS52 (B) to 152 (B)
HC-SFS53 (B) to 153 (B)
HC-RFS103 (B) to 203 (B)
HC-UFS72 (B) 152 (B)
EMG
Electromagnetic
brake
To be shut off when servo-off
or Trouble (ALM)
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3.8.3 I/O terminals
(1) 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
MRR
5
3
BAT
6
Power supply connector (Molex)
Without electromagnetic brake
5557-04R-210 (receptacle)
5556PBTL (Female terminal)
With electromagnetic brake
5557-06R-210 (receptacle)
5556PBTL (Female terminal)
a
MD
7
MDR
8
Encoder cable 0.3m (0.98ft.)
With connector 1-172169-9
(Tyco Electronics)
b
9
P5
LG
SHD
Power supply
connector
View a
Power supply
connector
5557-06R-210
Signal
U
Pin
1
2
3
4
Signal
Pin
1
2
3
4
5557-04R-210
U
V
W
1
2
3
4
1
2
3
4
5
6
V
W
(Earth)
(Note)
(Earth)
View b
5
6
B1
B2
View b
(Note)
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
3 - 54
3. SIGNALS AND WIRING
(2) HC-SFS HC-RFS HC-UFS2000 r/min series
Servo motor side connectors
Servo motor
Electromagnetic
For power supply For encoder
brake connector
HC-SFS81(B)
The connector
for power is
shared.
CE05-2A22-
23PD-B
HC-SFS52(B) to 152(B)
HC-SFS53(B) to 153(B)
HC-SFS121(B) to 301(B)
HC-SFS202(B) to 502 (B)
HC-SFS203(B) 353(B)
CE05-2A24-
10PD-B
MS3102A10SL-
4P
CE05-2A32-
HC-SFS702(B)
17PD-B
MS3102A20-
29P
CE05-2A22-
23PD-B
HC-RFS103(B) to 203 (B)
HC-RFS353(B) 503(B)
HC-UFS72(B) 152(B)
HC-UFS202(B) to 502(B)
a
The connector
for power is
shared.
CE05-2A24-
10PD-B
Encoder connector
b
CE05-2A22-
23PD-B
c
Brake connector
Power supply connector
CE05-2A24-
10PD-B
MS3102A10SL-
4P
Power supply connector signal arrangement
CE05-2A22-23PD-B
Key
CE05-2A24-10PD-B
CE05-2A32-17PD-B
Key
Key
Pin
Signal
U
V
W
(Earth)
Pin
A
B
C
D
E
Signal
Pin
A
B
C
D
Signal
U
V
W
U
V
W
A
B
C
D
E
F
F
E
F
A
C
A
G
H
A
B
D
C
B
E
B
G
C
D
(Earth)
(Note) B1
(Note) B2
(Earth)
D
View c
View c
F
(Note) B1
(Note) B2
G
G
H
Note. For the motor with
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
Encoder connector signal arrangement
Electromagnetic brake connector signal arrangement
MS3102A20-29P
Key
MS3102A10SL-4P
Key
Pin
A
B
Signal
(Note)B1
(Note)B2
Pin
Signal
Pin
Signal
M
B
A
L
C
N
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
MD
MDR
MR
D
K
T
P
A
B
J
E
S
R
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
F
H
G
MRR
SD
View a
View b
BAT
LG
LG
P5
3 - 55
3. SIGNALS AND WIRING
3.9 Servo motor with electromagnetic brake
Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external emergency stop signal.
Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).
Circuit must be
opened during
emergency stop (EMG).
Servo motor
RA EMG
24VDC
CAUTION
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) Set " "in parameter No.1 to make the electromagnetic brake interlock (MBR) valid. Note
1
that this will make the zero speed signal (ZSP) unavailable.
2) 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.
3) The brake will operate when the power (24VDC) switches off.
4) While the reset (RES) is on, the base circuit is shut off. When using the servo motor with a
vertical shaft, use the electromagnetic brake interlock (MBR).
5) Switch off the servo-on (SON) after the servo motor has stopped.
(1) Connection diagram
Servo amplifier
Servo motor
Emergency
stop
RA
B1
B2
VDD
COM
MBR
24VDC
RA
3 - 56
3. SIGNALS AND WIRING
(2) Setting
1) Set "
1
"in parameter No.1 to make the electromagnetic brake interlock (MBR) valid.
2) Using parameter No. 33 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off
from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) in
this section.
(3) Timing charts
(a) Servo-on (SON) command (from controller) ON/OFF
Tb [ms] after the servo-on (SON) signal 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
Servo motor speed
Base circuit
0 r/min
ON
(60ms)
(80ms)
Tb
OFF
Electromagnetic
brake operation
delay time
Electromagnetic
brake interlock
(MBR)
(Note 1) ON
OFF
ON
Servo-on (SON)
OFF
(Note 3)
Position command
(Note 4)
0 r/min
Release
Activate
Electromagnetic
brake
Release delay time and external relay (Note 2)
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual.
3. After the electromagnetic brake is released, give the position command from the controller.
4. For the position control mode.
3 - 57
3. SIGNALS AND WIRING
(b) Emergency stop (EMG) ON/OFF
Servo motor speed
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(10ms)
(180ms)
ON
Base circuit
OFF
(180ms)
(Note) ON
Electromagnetic brake
operation delay time
Electromagnetic
brake interlock (MBR)
OFF
Invalid (ON)
Valid (OFF)
Emergency stop (EMG)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(c) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(10ms)
ON
Base circuit
OFF
(Note) ON
Electromagnetic brake
operation delay time
Electromagnetic
brake interlock (MBR)
OFF
No (ON)
Trouble (ALM)
Yes (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 58
3. SIGNALS AND WIRING
(d) Both main and control circuit power supplies off
Dynamic brake
Dynamic brake
Electromagnetic brake
(10ms)
Servo motor speed
Base circuit
Electromagnetic brake
(Note 1)
15 to 60ms
ON
OFF
(10ms or less)
(Note 2) ON
Electromagnetic
brake interlock (MBR)
OFF
Electromagnetic brake
operation delay time
No (ON)
Yes (OFF)
ON
Trouble (ALM)
Main circuit
power
Control circuit
OFF
Note 1. Changes with the operating status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(e) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake
(10ms)
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(Note 1)
15ms or more
ON
Base circuit
OFF
(Note 3) ON
Electromagnetic
brake interlock (MBR)
OFF
Electromagnetic brake
operation delay time
(Note 2)
No (ON)
Yes (OFF)
ON
Trouble (ALM)
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 (AL.E9) occurs and the
trouble (ALM) does not turn off.
3. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 59
3. SIGNALS AND WIRING
3.10 Grounding
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal of
the servo amplifier with the protective earth (PE) of the control box.
WARNING
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier 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
Servo motor
NFB
MC
Servo amplifier
L1
CN2
Encoder
(Note)
Power supply
L2
L3
L11
L21
U
U
V
V
M
W
W
CN1A CN1B
Ensure to connect it to PE
terminal of the servo amplifier.
Do not connect it directly to
the protective earth of
the control panel.
Outer
box
Protective earth(PE)
Note. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
3 - 60
3. SIGNALS AND WIRING
3.11 Servo amplifier terminal block (TE2) wiring method
POINT
Refer to Table 13.1 2) and 4) in section 13.2.1 for the wire sizes used for
wiring.
3.11.1 For the servo amplifier produced later than Jan. 2006
(1) Termination of the cables
(a) Solid wire
After the sheath has been stripped, the cable can be used as it is.
Sheath
Core
Approx. 10mm
(b) Twisted wire
1) When the wire is inserted directly
Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a
short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may
cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.
2) When the wires are put together
Using a bar terminal.
Cable Size
Bar Terminal Type
For 1 cable For 2 cables
AI-TWIN 1.5-10BK
Crimping Tool
Manufacturer
[mm2] AWG
1.25/1.5 16 AI1.5-10BK
2/2.5 14 AI2.5-10BU
CRIMPFOX ZA 3
Phoenix Contact
Cut the wire running out of bar terminal to less than 0.5mm.
Less than 0.5mm
When using a bar terminal for two wires, insert the wires in the direction where the insulation
sleeve does not interfere with the next pole and pressure them.
Pressure
Pressure
3 - 61
3. SIGNALS AND WIRING
(2) Termination of the cables
(a) When the wire is inserted directly
Insert the wire to the end pressing the button with a small flat blade screwdriver or the like.
Button
Small flat blade
screwdriver or the like
When removing the short-circuit bar
from across P-D, press the buttons
of P and D alternately pulling the
short-circuit bar. For the installation,
insert the bar straight to the end.
Twisted wire
(b) When the wires are put together using a bar terminal
Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.
Bar terminal for one
wire or solid wire
Bar terminal for two wires
When the two wires are inserted into one opening, a bar terminal for two wires is required.
3 - 62
3. SIGNALS AND WIRING
3.11.2 For the servo amplifier produced earlier than Dec. 2005
(1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Approx. 10mm
(0.39inch)
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. Alternatively, a bar terminal may be used to
put the wires together.
Cable Size
Bar Terminal Type
For 1 cable For 2 cables
AI-TWIN 1.5-10BK
Crimping Tool
Manufacturer
[mm2] AWG
1.25/1.5 16 AI1.5-10BK
CRIMPFOX ZA 3
or
CRIMPFOX UD 6
Phoenix Contact
2/2.5 14 AI2.5-10BU
(2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that
the cable does not come off. (Tightening torque: 0.3 to 0.4N m(2.7 to 3.5 lb in)) Before inserting the
cable into the opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.
Flat-blade screwdriver
Tip thickness 0.4 to 0.6mm
Overall width 2.5 to 3.5mm
To loosen. To tighten.
Cable
Opening
Control circuit terminal block
3 - 63
3. SIGNALS AND WIRING
Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The
following table indicates the recommended products of the torque screwdriver for tightening torque
management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit,
please consult us.
Product
Torque screwdriver
Bit for torque screwdriver
Model
Manufacturer/Representative
Nakamura Seisakusho
Shiro Sangyo
N6L TDK
B-30, flat-blade, H3.5 X 73L
3.12 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
3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA
Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
CAUTION
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
The power-on sequence is the same as in section 5.7.3.
3 - 64
3. SIGNALS AND WIRING
3.13.1 Connection example
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal
turned off as soon as an alarm occurs, a servo emergency stop is made valid, a controller emergency stop,
or a servo motor thermal relay alarm is made valid. A no-fuse breaker (NFB) must be used with the input
cables of the power supply.
Servo motor
thermal relay
RA2
Alarm
RA1
emergency stop
OFF
ON
MC
MC
SK
(Note 1)
Servo amplifier
Dynamic
break
Servo motor
HA-LFS series
NFB
MC
U
U
V
L1
M
3-phase
V
L2
200 to 230VAC
W
W
L3
L11
CN2
L21
MR-JHSCBL
cable
M
Encoder
BU
BV
BW
P
(Note 3)
VDD
P1
(Note 2)
COM
Cooling fan
Trouble
ALM
EMG
RA1
Emergency stop
servo-on
OHS1
OHS2 Servo motor
thermal relay
24VDC
power supply
SON
SG
RA2
Note 1. When using the external dynamic break, refer to section 13.1.4.
2. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is
different from that of the servo amplifier. Therefore, separate power supply is required.
3. Always connect P1 and P. (Factory-wired). When using the power factor improving DC reactor, refer to section 13.2.4.
3 - 65
3. SIGNALS AND WIRING
3.13.2 Servo amplifier terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 11.1.
Connection Target
Symbol
Description
(Application)
Main circuit power supply Supply L1, L2 and L3 with three-phase 200 to 230VAC, 50/60Hz power.
Servo motor output Connect to the servo motor power supply terminals (U, V, W).
Control circuit power supply Supply L11 and L21 with single-phase 200 to 230VAC power.
The servo amplifier built-in regenerative resistor is not connected at the time of
L1, L2, L3
U, V, W
L11, L21
shipment.
P, C
N
Regenerative option
When using the regenerative option, wire it across P-C.
Refer to section 13.1.1 for details.
Return converter
Brake unit
When using the return converter or brake unit, connect it across P-N.
Refer to sections 13.1.2 and 13.1.3 for details.
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
Protective earth (PE)
Power factor improving DC P1-P are connected before shipment. When connecting a power factor improving
P1, P
reactors
DC reactor, remove the short bar across P1-P. Refer to section 13.2.4 for details.
3 - 66
3. SIGNALS AND WIRING
3.13.3 Servo motor terminals
Pin
Signal
Pin
Signal
Encoder connector
signal arrangement
MS3102A20-29P
Terminal box
Encoder connector
MS3102A20-29P
A
B
C
D
E
F
G
H
J
MD
MDR
MR
K
L
Key
M
N
P
M
B
MRR
SHD
A
L
J
C
N
K
T
P
D
BAT
LG
R
S
LG
P5
E
S
R
H
F
G
T
Terminal box inside (HA-LFS601, 701M, 11K2)
Thermal sensor
terminal block
(OHS1 OHS2) M4 screw
Motor power supply
terminal block
(U V W) M6 screw
Cooling fan
terminal block
(BU BV) M4 screw
Earth terminal
M6 screw
Terminal block signal arrangement
OHS1OHS2
Encoder connector
MS3102A20-29P
BU BV
U
V
W
3 - 67
3. SIGNALS AND WIRING
Terminal box inside (HA-LFS801, 12K1, 11K1M, 15K1M, 15K2, 22K2)
Cooling fan terminal
block (BU BV BW)
M4 screw
Thermal sensor terminal
block (OHS1 OHS2)
M4 screw
Terminal block signal arrangement
BU BV BW OHS1OHS2
Encoder connector
MS3102A20-29
Motor power supply
terminal block
(U V W) M8 screw
U
V
W
Earth terminal M6 screw
Terminal box inside (HA-LFS15K1, 20K1, 22K1M, 25K1)
Encoder connector
MS3102A20-29P
Motor power supply
terminal block
(U V W) M8 screw
Earth terminal
M6 screw
Terminal block signal arrangement
Cooling fan
Thermal sensor
terminal block
Earth terminal
M6 screw
terminal block
BU BV BW OHS1OHS2
U
V
W
(BU BV BW) M4 screw
(OHS1 OHS2) M4 screw
3 - 68
3. SIGNALS AND WIRING
Signal Name
Abbreviation
Description
Power supply
U
V
W
Connect to the motor output terminals (U, V, W) of the servo amplifier.
Supply power which satisfies the following specifications.
Power
Rated
current
[A]
Voltage
Servo motor
Voltage/frequency
consumption
[W]
division
HA-LFS601, 701M,
11K2
200V
class
1-phase 200 to 220VAC
42(50Hz)
54(60Hz)
0.21(50Hz)
0.25(60Hz)
50Hz
1-phase 200 to 230VAC
60Hz
3-phase 200 to 230VAC
60Hz
(Note)
Cooling fan
BU BV BW
HA-LFS801 12K1,
11K1M, 15K1M,
15K2, 22K2
62(50Hz)
76(60Hz)
0.18(50Hz)
0.17(60Hz)
HA-LFS-15K1,
20K1, 22K1M
HA-LFS25K1
65(50Hz)
85(60Hz)
120(50Hz)
175(60Hz)
0.20(50Hz)
0.22(60Hz)
0.65(50Hz)
0.80(60Hz)
Motor thermal relay OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.
For grounding, connect to the earth of the control box via the earth terminal of the servo
Earth terminal
amplifier.
Note. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
3 - 69
3. SIGNALS AND WIRING
MEMO
3 - 70
4. OPERATION
4. OPERATION
4.1 When switching power on for the first time
Before starting operation, check the following.
(1) Wiring
(a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo
amplifier.
(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L1, L2, L3) of the servo motor.
(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(e) Note the following when using the regenerative option, brake unit or power regeneration converter.
1) For the MR-J2S-350A or less, the lead has been removed from across D-P of the control circuit
terminal block, and twisted cables are used for its wiring.
2) For the MR-J2S-500A or more, the lead has been removed from across P-C of the servo amplifier
built-in regenerative resistor, and twisted cables are used for its wiring.
(f) When stroke end limit switches are used, LSP and LSN are on during operation.
(g) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B.
(h) SD and SG of connectors CN1A and CN1B are not shorted.
(i) The wiring cables are free from excessive force.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(3) 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.
4 - 1
4. OPERATION
4.2 Startup
Do not operate the switches with wet hands. You may get an electric shock.
WARNING
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 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.
CAUTION
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.
4.2.1 Selection of control mode
Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by
switching power off, then on.
4.2.2 Position control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in two second later, shows data.
In the absolute position detection system, first power-on results in the absolute position lost (AL.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) Test operation 1
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Name
Setting
Description
3
0
Control mode, regenerative option
selection
Position control mode
0
MR-RB12 regenerative option is used.
0
02
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
Used in incremental positioning system.
1
Function selection 1
1
5
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
Auto tuning
2
3
4
Electronic gear numerator (CMX)
Electronic gear denominator (CDV)
1
1
Electronic gear numerator
Electronic gear denominator
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
4 - 2
4. OPERATION
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON)
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor
is locked.
(5) Command pulse input
Entry of a pulse train from the positioning device rotates the servo motor. At first, run it at low speed
and check the rotation direction, etc. If it does not run in the intended direction, check the input
signal.
On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the program of the positioning
device.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)
(6) Home position return
Make home position return as required.
(7) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that the stop
pattern of stroke end (LSP/LSN) OFF is as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in
the opposite direction.
4 - 3
4. OPERATION
4.2.3 Speed control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "r (servo motor
speed)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Name
Setting
Description
0
2
12
5
Control mode, regenerative option
selection
Position control mode
0
MR-RB12 regenerative option is used.
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
1
2
Function selection 1
Auto tuning
1
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
8
9
10
11
12
Internal speed command 1
Internal speed command 2
Internal speed command 3
Acceleration time constant
Deceleration time constant
S-pattern acceleration/deceleration
time constant
1000
1500
2000
1000
500
Set 1000r/min.
Set 1500r/min.
Set 2000r/min.
Set 1000ms
Set 500ms.
13
0
Not used
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON).
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor
is locked.
(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation start (ST1) to run the motor in the forward rotation (CCW) direction or reverse
rotation start (ST2) to run it in the reverse rotation (CW) direction. At first, set a low speed and check
the rotation direction, etc. If it does not run in the intended direction, check the input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)
4 - 4
4. OPERATION
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9 (2) for the servo motor equipped with electromagnetic brake. Note that
simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start
(ST1) or reverse rotation start (ST2) has the same stop pattern as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Stroke end (LSP/LSN) OFF
The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the
opposite direction.
(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start
(ST2)
The servo motor is decelerated to a stop.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time
constant of zero.
4.2.4 Torque control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "U (torque
command voltage)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Name
Setting
Description
0
2
Control mode, regenerative option
selection
Position control mode
0
MR-RB12 regenerative option is used.
12
Input filter 3.555ms(initial value)
1
Function selection 1
Electromagnetic brake interlock (MBR) is not used.
8
9
10
11
12
Internal speed command 1
Internal speed command 2
Internal speed command 3
Acceleration time constant
Deceleration time constant
1000
1500
2000
1000
500
Set 1000r/min.
Set 1500r/min.
Set 2000r/min.
Set 1000ms.
Set 500ms.
S-pattern acceleration/deceleration
time constant
13
0
Not used
14
28
Torque command time constant
Internal torque limit 1
2000
50
Set 2000ms.
Controlled to 50 output.
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
4 - 5
4. OPERATION
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON).
When placed in the servo-on status, the servo amplifier is ready to operate.
(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation select (DI4) to run the motor in the forward rotation (CCW) direction or reverse
rotation select (DI3) to run it in the reverse rotation (CW) direction, generating torque. At first, set a
low speed and check the rotation direction, etc. If it does not run in the intended direction, check the
input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9 (2) for the servo motor equipped with electromagnetic brake.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Simultaneous ON or simultaneous OFF of forward rotation selection (RS1) and reverse rotation
selection (RS2)
The servo motor coasts.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time
constant of zero.
4.3 Multidrop communication
You can use the RS-422 communication function (parameter No.16) to operate two or more servo
amplifiers on the same bus. In this case, set station numbers to the servo amplifiers to recognize the servo
amplifier to which the current data is being sent. Use parameter No. 15 to set the station numbers.
Always set one station number to one servo amplifier. Normal communication cannot be made if the same
station number is set to two or more servo amplifiers.
For details, refer to chapter 14.
4 - 6
5. PARAMETERS
5. PARAMETERS
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
5.1 Parameter list
5.1.1 Parameter write inhibit
POINT
After setting the parameter No. 19 value, switch power off, then on to
make that setting valid.
In the MR-J2S-A servo amplifier, its parameters are classified into the basic parameters (No. 0 to 19),
expansion parameters 1 (No. 20 to 49) and expansion parameters 2 (No.50 to 84) according to their safety
aspects and frequencies of use. In the factory setting condition, the customer can change the basic
parameter values but cannot change the expansion parameter values. When fine adjustment, e.g. gain
adjustment, is required, change the parameter No. 19 setting to make the expansion parameters write-
enabled.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No. 19. Operation can be performed for the parameters marked
.
Basic parameters
No. 0 to No. 19
Expansion parameters 1 Expansion parameters 2
No. 20 to No. 49 No. 50 to No. 84
Parameter No. 19 setting
Operation
Reference
Write
0000
(initial value)
Reference
Write
No. 19 only
No. 19 only
000A
000B
000C
000E
100B
100C
100E
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No. 19 only
No. 19 only
No. 19 only
Reference
Write
Reference
Write
5 - 1
5. PARAMETERS
5.1.2 Lists
POINT
For any parameter whose symbol is preceded by *, set the parameter
value and switch power off once, then switch it on again to make that
parameter setting valid.
The symbols in the control mode column of the table indicate the following modes.
P : Position control mode
S : Speed control mode
T : Torque control mode
(1) Item list
Control
Initial
value
Customer
setting
No. Symbol
Name
Unit
mode
P S T
P S T
0
1
*STY Control mode ,regenerative option selection
*OP1 Function selection 1
0000
0002
7kW or
less: 0105
11kW or
more:0102
1
2
ATU Auto tuning
P S
3
4
5
CMX Electronic gear numerator
CDV Electronic gear denominator
P
P
P
1
INP
In-position range
100
pulse
rad/s
7kW or
less: 35
11kW or
more:19
6
PG1 Position control gain 1
P
Position command acceleration/deceleration time constant
7
8
PST
SC1
SC2
SC3
P
3
ms
(position smoothing)
Internal speed command 1
Internal speed limit 1
Internal speed command 2
Internal speed limit 2
Internal speed command 3
Internal speed limit 3
S
T
100
100
500
500
1000
1000
0
r/min
r/min
r/min
r/min
r/min
r/min
ms
S
9
T
S
10
T
11
12
13
14
15
16
17
STA Acceleration time constant
S T
S T
S T
T
STB Deceleration time constant
0
ms
STC S-pattern acceleration/deceleration time constant
TQC Torque command time constant
*SNO Station number setting
0
ms
0
ms
P S T
P S T
P S T
P S T
P S T
0
station
*BPS Serial communication function selection, alarm history clear
MOD Analog monitor output
0000
0100
0000
0000
18 *DMD Status display selection
19 *BLK Parameter write inhibit
5 - 2
5. PARAMETERS
Control
mode
Initial
value
Customer
setting
No. Symbol
Name
Unit
20
21
22
23
24
*OP2 Function selection 2
P S
0000
0000
0000
0
*OP3 Function selection 3 (Command pulse selection)
*OP4 Function selection 4
P
P S T
FFC Feed forward gain
P
%
ZSP
Zero speed
P S T
50
r/min
Analog speed command maximum speed
Analog speed limit maximum speed
S
T
T
(Note 1)0 (r/min)
25
26
27
28
29
VCM
(Note 1)0 (r/min)
TLC Analog torque command maximum output
100
%
pulse
/rev
%
*ENR Encoder output pulses
P S T
4000
TL1
Internal torque limit 1
P S T
S
100
Analog speed command offset
Analog speed limit offset
Analog torque command offset
Analog torque limit offset
(Note 2)
mV
mV
mV
mV
mV
mV
ms
VCO
T
(Note 2)
T
0
0
30
TLO
S
31
32
33
MO1 Analog monitor 1 offset
P S T
P S T
P S T
0
MO2 Analog monitor 2 offset
0
MBR Electromagnetic brake sequence output
100
0.1
34
GD2 Ratio of load inertia moment to servo motor inertia moment
PG2 Position control gain 2
P S
70
times
7kW or
less: 35
11kW or
more:19
7kW or
less:177
11kW or
more:96
7kW or
less:817
11kW or
more:45
7kW or
less: 48
11kW or
more:91
980
35
P
rad/s
rad/s
rad/s
ms
36
37
38
VG1 Speed control gain 1
VG2 Speed control gain 2
P S
P S
VIC
Speed integral compensation
P S
P S
39
40
41
42
43
44
45
46
47
48
49
VDC Speed differential compensation
For manufacturer setting
0
*DIA Input signal automatic ON selection
*DI1 Input signal selection 1
P S T
P S T
P S T
P S T
P S T
P S T
P S T
P S T
P S T
0000
0003
*DI2 Input signal selection 2 (CN1B-5)
*DI3 Input signal selection 3 (CN1B-14)
*DI4 Input signal selection 4 (CN1A-8)
*DI5 Input signal selection 5 (CN1B-7)
*DI6 Input signal selection 6 (CN1B-8)
*DI7 Input signal selection 7 (CN1B-9)
*DO1 Output signal selection 1
0111
0222
0665
0770
0883
0994
0000
For notes, refer to next page.
5 - 3
5. PARAMETERS
Control
mode
Initial
value
Customer
setting
No. Symbol
Name
Unit
50
51
52
53
54
55
56
57
58
59
60
For manufacturer setting
0000
0000
0000
0000
0000
0000
0
*OP6 Function selection 6
For manufacturer setting
*OP8 Function selection 8
*OP9 Function selection 9
*OPA Function selection A
P S T
P S T
P S T
P
SIC
Serial communication time-out selection
For manufacturer setting
P S T
s
10
NH1 Machine resonance suppression filter 1
P S T
P S T
P S T
0000
0000
0000
NH2 Machine resonance suppression filter 2
LPF Low-pass filter, adaptive vibration suppression control
0.1
times
%
61 GD2B Ratio of load inertia moment to servo motor inertia moment 2
P S
70
62
63
64
65
66
67
68
PG2B Position control gain 2 changing ratio
VG2B Speed control gain 2 changing ratio
VICB Speed integral compensation changing ratio
*CDP Gain changing selection
P
100
100
100
0000
10
1
P S
P S
P S
P S
P S
%
%
CDS Gain changing condition
(Note 3)
CDT Gain changing time constant
For manufacturer setting
ms
0
69 CMX2 Command pulse multiplying factor numerator 2
70 CMX3 Command pulse multiplying factor numerator 3
71 CMX4 Command pulse multiplying factor numerator 4
Internal speed command 4
P
1
P
1
P
1
S
72
73
74
75
SC4
SC5
SC6
200
300
500
800
r/min
r/min
r/min
Internal speed limit 4
Internal speed command 5
Internal speed limit 5
Internal speed command 6
Internal speed limit 6
Internal speed command 7
Internal speed limit 7
Internal torque limit 2
For manufacturer setting
T
S
T
S
T
S
SC7
TL2
r/min
%
T
76
77
78
79
80
81
82
83
84
P S T
100
100
10000
10
10
100
100
100
0000
Note 1. The setting of "0" provides the rated servo motor speed.
2. Depends on the servo amplifier.
3. Depends on the parameter No. 65 setting.
5 - 4
5. PARAMETERS
(2) Details list
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
0
*STY
0000
Refer to
Name
and
P S T
Control mode, regenerative option selection
Used to select the control mode and regenerative option.
function
column.
0
0
Select the control mode.
0:Position
1:Position and speed
2:Speed
3:Speed and torque
4:Torque
5:Torque and position
Selection of regenerative option
00: Regenerative option or regenerative option is
not used with 7kW or less servo amplifier (The
built-in regenerative resistor is used.)
Supplied regenerative resistors or regenerative
option is used with 11kW or more servo
amplifier
01: FR-RC, FR-BU2, FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0E: When regenerative resistors supplied to 11k to 22kW
are cooled by cooling fans to increase capability
The MR-RB65, 66 and 67 are regenerative options
that have encased the GRZG400-2
,
GRZG400-1 and GRZG400-0.8 , respectively.
When using any of these regenerative options,
make the same parameter setting as when using
the GRZG400-2 , GRZG400-1 or
GRZG400-0.8 (supplied regenerative resistors or
regenerative option is used with 11kW or more
servo amplifier).
POINT
Wrong setting may cause the regenerative option
to burn.
If the regenerative option selected is not for use
with the servo amplifier, parameter error (AL.37)
occurs.
5 - 5
5. PARAMETERS
Initial
Setting Control
range mode
Class No. Symbol
Name and function
Unit
value
1
*OP1
0002
Refer to P S T
Name
and
Function selection 1
Used to select the input signal filter, pin CN1B-19 function and
absolute position detection system.
function.
Input signal filter
If external input signal causes chattering due to noise,
etc., input filter is used to suppress it.
0: None
1: 1.777[ms]
2: 3.555[ms]
3: 5.333[ms]
CN1B-pin 19's function selection
0: Zero Speed detection (ZSP)
1: Electromagnetic brake interlock (MBR)
CN1B-pin 18's function selection
0: Alarm (ALM)
1: Dynamic brake interlock (DB)
When using the external dynamic brake with 11kW or
more, make dynamic brake interlock (DB) valid.
Selection of absolute position detection system (Refer
to chapter 15)
0: Used in incremental system
1: Used in absolute position detection system
5 - 6
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
2
ATU Auto tuning
7kW or
Refer to
Name
P S
Used to selection the response level, etc. for execution of auto tuning. less:
Refer to chapter 7. 0105
and
11kW or
more:
function
column.
0
0
Response level setting
0102
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,
increasethe set value.
Gain adjustment mode selection
(For more information, refer to section 7.1.1.)
Set
value
Gain adjustment mode
Description
Interpolation mode
Fixes position control gain 1
(parameter No. 6).
0
Auto tuning mode 1
Auto tuning mode 2
Ordinary auto tuning.
1
2
Fixes the load inertia moment
ratio set in parameter No. 34.
Response level setting can be
changed.
3
4
Manual mode 1
Manual mode 2
Simple manual adjustment.
Manual adjustment of all gains.
3
4
CMX Electronic gear numerator
Used to set the electronic gear numerator value.
1
1
0
1
P
P
For the setting, refer to section 5.2.1.
to
Setting "0" automatically sets the resolution of the servo motor
connected.
65535
For the HC-MFS series, 131072 pulses are set for example.
CDV Electronic gear denominator
1
to
Used to set the electronic gear denominator value.
For the setting, refer to section 5.2.1.
65535
5 - 7
5. PARAMETERS
Initial
value
100
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
5
INP
In-position range
pulse
0
to
P
Used to set the in-position (INP) output range in the command pulse
increments prior to electronic gear calculation.
10000
For example, when you want to set 100 m when the ball screw is
directly coupled, the lead is 10mm, the feedback pulse count is 131072
pulses/rev, and the electronic gear numerator (CMX)/electronic gear
denominator (CDV) is 16384/125 (setting in units of 10 m per pulse),
set "10" as indicated by the following expression.
6
100 10
10 10
125
16384
10
131072[pulse/rev]
3
6
7
PG1 Position control gain 1
Used to set the gain of position loop.
7kW or red/s
less: 35
11kW or
4
to
2000
P
P
Increase the gain to improve track ability in response to the position
command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
more: 19
Position command acceleration/deceleration time constant
(position smoothing)
PST
3
ms
0
to
20000
Used to set the time constant of a low-pass filter in response to the
position command.
You can use parameter No. 55 to choose the primary delay or linear
acceleration/deceleration control system. When you choose linear
acceleration/deceleration, the setting range is 0 to 10ms. Setting of
longer than 10ms is recognized as 10ms.
POINT
When you have chosen linear acceleration/
deceleration, do not select control selection
(parameter No. 0) and restart after instantaneous
power failure (parameter No. 20). Doing so will
cause the servo motor to make a sudden stop at the
time of position control switching or restart.
Example: When a command is given from a synchronizing detector,
synchronous operation can be started smoothly if started
during line operation.
Synchronizing
detector
Start
Servo motor
Servo amplifier
Without time
constant setting
With time
Servo motor
speed
constant setting
ON
OFF
t
Start
0 to
Internal speed command 1
Used to set speed 1 of internal speed commands.
8
SC1
100
r/min
S
T
instan-
taneous
permi-
ssible
Internal speed limit 1
Used to set speed 1 of internal speed limits.
speed
5 - 8
5. PARAMETERS
Initial
value
500
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
9
SC2 Internal speed command 2
r/min
0 to
instan-
taneous
permi-
ssible
speed
0 to
instan-
taneous
permi-
ssible
S
Used to set speed 2 of internal speed commands.
Internal speed limit 2
T
S
T
Used to set speed 2 of internal speed limits.
10
SC3 Internal speed command 3
1000
r/min
ms
Used to set speed 3 of internal speed commands.
Internal speed limit 3
Used to set speed 3 of internal speed limits.
speed
Acceleration time constant
0
0
to
S T
11
STA
Used to set the acceleration time required to reach the rated speed
from 0r/min in response to the analog speed command and internal
speed commands 1 to 7.
20000
If the preset speed command is
lower than the rated speed,
acceleration/deceleration time
Speed
Rated
speed
will be shorter.
Zero
speed
Time
Parameter
No.11 setting
Parameter
No.12 setting
For example for the servo motor of 3000r/min rated speed, set 3000
(3s) to increase speed from 0r/min to 1000r/min in 1 second.
Deceleration time constant
Used to set the deceleration time required to reach 0r/min from the
rated speed in response to the analog speed command and internal
speed commands 1 to 7.
12
13
STB
0
0
STC S-pattern acceleration/deceleration time constant
Used to smooth start/stop of the servo motor.
ms
0
to
S T
Set the time of the arc part for S-pattern acceleration/deceleration.
1000
Speed command
0r/min
STC
Time
STC
STC STB
STA STC
STA: Acceleration time constant (parameter No.11)
STB: Deceleration time constant (parameter No.12)
STC: S-pattern acceleration/deceleration time con-
stant (parameter No.13)
Long setting of STA (acceleration time constant) or STB (deceleration time
constant) may produce an error in the time of the arc part for the setting of the
S-pattern acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by
2000000
STA
2000000
STB
for acceleration or by
for deceleration.
(Example)
At the setting of STA 20000, STB 5000 and STC 200,
the actual arc part times are as follows:
Limited to 100[ms] since
2000000
20000
During acceleration: 100[ms]
During deceleration: 200[ms]
100[ms] 200[ms].
200[ms] as set since
2000000
5000
400[ms] 200[ms].
5 - 9
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
14
TQC Torque command time constant
0
ms
0
to
T
Used to set the constant of a low-pass filter in response to the torque
command.
20000
Torque command
Torque
After
filtered
Time
TQC
TQC
TQC: Torque command time constant
15 *SNO Station number setting
Used to specify the station number for serial communication.
0
sta-
tion
0
P S T
to
31
Always set one station to one axis of servo amplifier. If one station
number is set to two or more stations, normal communication cannot
be made.
16
*BPS Serial communication function selection, alarm history clear
Used to select the serial communication baud rate, select various
communication conditions, and clear the alarm history.
0000
Refer to P S T
Name
and
function
column.
Serial baud rate 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 standard selection
0: RS-232C used
1: RS-422 used
Serial communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more
5 - 10
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
17
MOD Analog monitor output
0100
Refer to P S T
Name
Used to selection the signal provided to the analog monitor (MO1)
(MO2) output. (Refer to section 5.2.2)
analog monitor
and
function
column.
0
0
Setting
Analog monitor (MO2)
Analog monitor (MO1)
0
1
2
3
4
5
6
7
8
9
A
B
Servo motor speed ( 8V/max. speed)
Torque ( 8V/max. torque) (Note)
Motor speed ( 8V/max. speed)
Torque ( 8V/max. torque) (Note)
Current command ( 8V/max. current command)
Command pulse frequency ( 10V/500kpulse/s)
Droop pulses
( 10V/128 pulses)
Droop pulses ( 10V/2048 pulses)
Droop pulses ( 10V/8192 pulses)
Droop pulses ( 10V/32768 pulses)
Droop pulses ( 10V/131072 pulses)
Bus voltage ( 8V/400V)
Note. 8V is outputted at the maximum torque.
However, when parameter No.28 76 are
set to limit torque, 8V is outputted at the torque highly
limited.
5 - 11
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
18 *DMD Status display selection
0000
Refer to P S T
Name
Used to select the status display shown at power-on.
and
0 0
function
column.
Selection of status display at
power-on
0: Cumulative feedback pulses
1: Servo motor speed
2: Droop pulses
3: Cumulative command pulses
4: Command pulse frequency
5: Analog speed command voltage
(Note 1)
6: Analog torque command voltage
(Note 2)
7: Regenerative load ratio
8: Effective load ratio
9: Peak load ratio
A: Instantaneous torque
B: Within one-revolution position low
C: Within one-revolution position high
D: ABS counter
E: Load inertia moment ratio
F: Bus voltage
Note 1. In speed control mode. Analog
speed limit voltage in torque
control mode.
2. In torque control mode. Analog
torque limit voltage in speed or
position control mode.
Status display at power-on in
corresponding control mode
0: Depends on the control mode.
Control Mode
Position
Status display at power-on
Cumulative feedback pulses
Position/speed
Speed
Cumulative feedback pulses/servo motor speed
Servo motor speed
Speed/torque
Torque
Servo motor speed/analog torque command voltage
Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses
1: Depends on the first digit setting of this parameter.
5 - 12
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
19
*BLK Parameter write inhibit
0000
Refer to P S T
Name
Used to select the reference and write ranges of the parameters.
Operation can be performed for the parameters marked
.
and
function
column.
Basic Expansion
parameters parameters 1 parameters 2
Expansion
Set
value
Operation
No. 0
No. 20
No. 50
to No. 19
to No. 49
to No. 84
0000
(Initial
value)
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No. 19 only
No. 19 only
000A
000B
000C
000E
100B
100C
100E
No. 19 only
No. 19 only
No. 19 only
20
*OP2 Function selection 2
Used to select restart after instantaneous power failure,
0000
Refer to
Name
servo lock at a stop in speed control mode, and slight vibration
suppression control.
and
function
column.
0
Restart after instantaneous power failure
If the power supply voltage has returned to normal
after an undervoltage status caused by the reduction
of the input power supply voltage in the speed control
mode, the servo motor can be restarted by merely
turning on the start signal without resetting the alarm.
0: Invalid (Undervoltage alarm (AL.10) occurs.)
1: Valid
S
Selection of servo lock at stop
In the speed control mode, the servo motor shaft can
be locked to prevent the shaft from being moved by
the external force.
0: Valid (Servo-locked)
The operation to maintain the stop position is
performed.
1: Invalid (Not servo-locked)
The stop position is not maintained.
The control to make the speed 0r/min is performed.
Slight vibration suppression control
Made valid when auto tuning selection is set to
"0400" in parameter No. 2.
Used to suppress vibration at a stop.
0: Invalid
P S
1: Valid
5 - 13
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
21
*OP3 Function selection 3 (Command pulse selection)
Used to select the input form of the pulse train input signal.
(Refer to section 3.4.1)
0000
Refer to
Name
P
and
function
column.
0 0
Command pulse train input form
0: Forward/reverse rotation pulse train
1: Signed pulse train
2: A B-phase pulse train
Pulse train logic selection
0: Positive logic
1: Negative logic
22
*OP4 Function selection 4
0000
Refer to
Name
Used to select stop processing at forward rotation stroke end (LSP)
off and choose VC/VLA voltage
and
reverse rotation stroke end (LSN)
averaging.
function
column.
P S
0
0
How to make a stop when forward
rotation stroke end (LSP) reverse rotation stroke end
(LSN) is valid. (Refer to section 5.2.3)
0: Sudden stop
1: Slow stop
P S T
VC/VLA voltage averaging
Used to set the filtering time when the analog speed
command (VC) voltage or analog speed limit (VLA) is
imported.
Set 0 to vary the speed to voltage fluctuation in real
time. Increase the set value to vary the speed slower
to voltage fluctuation.
Set
Filtering time [ms]
value
0
1
2
3
4
0
0.444
0.888
1.777
3.555
5 - 14
5. PARAMETERS
Initial
value
0
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
23
FFC
%
0
to
P
Feed forward gain
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.
100
24
25
ZSP Zero speed
Used to set the output range of the zero speed (ZSP).
50
0
r/min
r/min
0
to
10000
0
1
to
50000
P S T
S
VCM Analog speed command maximum speed
Used to set the speed at the maximum input voltage (10V) of the
analog speed command (VC).
Set "0" to select the rated speed of the servo motor connected.
Analog speed limit maximum speed
Used to set the speed at the maximum input voltage (10V) of the
analog speed limit (VLA).
0
0
1
T
T
r/min
%
to
50000
0
Set "0" to select the rated speed of the servo motor connected.
TLC Analog torque command maximum output
26
100
Used to set the output torque at the analog torque command voltage
to
(TC
8V) of 8V on the assumption that the maximum torque is
1000
100[%]. For example, set 50 to output (maximum torque
the TC of 8V.
50/100) at
27 *ENR Encoder output pulses
Used to set the encoder pulses (A-phase, B-phase) output by the
servo amplifier.
4000 pulse/
rev
1
to
65535
P S T
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No. 54 to choose the output pulse setting or
output division ratio setting.
The number of A 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 parameter No. 54.
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 B-phase
pulses are as indicated below.
5600
4
A B-phase output pulses
1400[pulse]
For output division ratio setting
Set"1 "in parameter No. 54.
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 B-phase
pulses are as indicated below.
131072
8
1
4
A B-phase output pulses
4096[pulse]
28
TL1 Internal torque limit 1
100
%
0
to
P S T
Set this parameter to limit servo motor torque on the assumption
that the maximum torque is 100[%].
100
When 0 is set, torque is not produced.
(Note)
Torque limit
TL
0
1
Internal torque limit 1 (Parameter No. 28)
Analog torque limit internal torque limit 1
: Analog torque limit
Analog torque limit internal torque limit 1
: Internal torque limit 1
Note. 0: off
1: on
When torque is output in analog monitor output, this set value is the
maximum output voltage ( 8V). (Refer to section 3.4.1 (5))
5 - 15
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
29
VCO Analog speed command offset
Depends mV
on servo
999
to
999
S
Used to set the offset voltage of the analog speed command (VC).
For example, if CCW rotation is provided by switching on forward
rotation start (ST1) with 0V applied to VC, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to section 6.3)
amplifier
The initial value is the value provided by the automatic VC offset
function before shipment at the VC-LG voltage of 0V.
Analog speed limit offset
T
Used to set the offset voltage of the analog speed limit (VLA).
For example, if CCW rotation is provided by switching on forward
rotation selection (RS1) with 0V applied to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to section 6.3)
The initial value is the value provided by the automatic VC offset
function before shipment at the VLA-LG voltage of 0V.
TLO Analog torque command offset
Used to set the offset voltage of the analog torque command (TC).
Analog torque limit offset
Used to set the offset voltage of the analog torque limit (TLA).
MO1 Analog monitor 1 offset
Used to set the offset voltage of the analog monitor (MO1).
MO2 Analog monitor 2 offset
Used to set the offset voltage of the analog monitor (MO2).
MBR Electromagnetic brake sequence output
30
0
mV
mV
999
to
999
T
S
31
32
33
0
0
999
to 999
999
to 999
0
P S T
mV
ms
P S T
P S T
100
Used to set the delay time (Tb) between electronic brake interlock
(MBR) and the base drive circuit is shut-off.
to
1000
0
to
3000
34
GD2 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 7.1.1)
70
0.1
times
P S
In this case, it varies between 0 and 1000.
35
PG2 Position control gain 2
7kW or rad/s
less: 35
1
to
P
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load
11kW or
1000
disturbance. Higher setting increases the response level but is liable more: 19
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.
36
37
38
VG1 Speed control gain 1
Normally this parameter setting need not be changed.
7kW or rad/s
less: 177
11kW or
more: 96
20
to
8000
P S
P S
P S
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode
is selected, the result of auto tuning is automatically used.
VG2 Speed control gain 2
7kW or rad/s
20
to
20000
Set this parameter when vibration occurs on machines of low rigidity less: 817
or large backlash. 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.
11kW or
more: 45
VIC Speed integral compensation
7kW or
less: 48
11kW or
more: 91
ms
1
to
1000
Used to set the integral time constant of the speed loop.
Lower 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.
5 - 16
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
39
VDC Speed differential compensation
980
0
to
P S
Used to set the differential compensation.
Made valid when the proportion control (PC) is switched on.
For manufacturer setting
1000
40
41
0
Do not change this value by any means.
*DIA Input signal automatic ON selection
0000
Refer to P S T
Name
Used to set automatic Servo-on (SON)
forward rotation stroke end
.
and
(LSP) reveres rotation stroke end (LSN)
function
column.
0
Servo-on (SON) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo amplifier.
(No need of external wiring)
Forward rotation stroke end
(LSP) input selection
P S
0: Switched on/off by external input.
1: Switched on automatically in servo amplifier.
(No need of external wiring)
Reverse rotation stroke end (LSN)
input selection
0: Switched on/off by external input.
1: Switched on automatically in servo amplifier.
(No need of external wiring)
42
*DI1 Input signal selection 1
0003
Refer to
Name
and
Used to assign the control mode changing signal input pins and to set
the clear (CR).
function
0 0
column.
P/S
Control change (LOP) input pin assignment
Used to set the control mode change signal input
connector pins. Note that this parameter is made valid
when parameter No.
S/T
T/P
0 is set to select the position/speed, speed/torque or
torque/position change mode.
Set
Connector pin No.
value
0
1
2
3
4
5
CN1B-5
CN1B-14
CN1A-8
CN1A-7
CN1B-8
CN1B-9
Clear (CR) selection
P
0: Droop pulses are cleared on the leading edge.
1: While on, droop pulses are always cleared.
5 - 17
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
43
*DI2 Input signal selection 2 (CN1B-5)
0111
Refer to P S T
Name
This parameter is unavailable when parameter No.42 is set to assign
the control change (LOP) to CN1B-pin 5.
and
Allows any input signal to be assigned to CN1B-pin 5.
Note that the setting digit and assigned signal differ according to the
control mode.
function
column.
0
Position
control mode
Speed control
mode
Input signals of
CN1B-pin 5
selected.
Torque control mode
Signals that may be assigned in each control mode are indicated
below by their symbols.
Setting of any other signal will be invalid.
(Note) Control mode
Set value
P
S
T
0
SON
RES
PC
SON
RES
PC
SON
RES
1
2
3
TL
TL
4
CR
CR
CR
SP1
SP2
RS2
RS1
SP3
5
SP1
SP2
ST1
ST2
SP3
6
7
8
9
A
B
C
D
E
CM1
CM2
TL1
TL1
TL1
CDP
CDP
CDP
Note. P: Position control mode
S: Speed control mode
T: Torque control mode
44
*DI3 Input signal selection 3 (CN1B-14)
0222
Refer to P S T
Name
Allows any input signal to be assigned to CN1B-pin 14.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
and
function
column.
0
Position
control mode
Speed control
mode
Input signals of
CN1B-pin 14
selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1B-pin 14.
5 - 18
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Input signal selection 4 (CN1A-8)
Allows any input signal to be assigned to CN1A-pin 8.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
Unit
45
46
47
*DI4
*DI5
*DI6
0665
0770
0883
Refer to P S T
Name
and
function
column.
0
Position
control mode
Speed control
mode
Input signals of
CN1A-pin 8
selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1 A-pin 8.
Input signal selection 5 (CN1B-7)
Allows any input signal to be assigned to CN1B-pin 7.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
Refer to P S T
Name
and
function
column.
0
Position
control mode
Speed control
mode
Input signals of
CN1B-pin 7
selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1 B-pin 7.
Input signal selection 6 (CN1B-8)
Allows any input signal to be assigned to CN1B-pin 8.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
Refer to P S T
Name
and
function
column.
0
Position
control mode
Speed control
mode
Input signals of
CN1B-pin 8
selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1B-pin 8.
When "Used in absolute position detection system" is selected in
parameter No. 1, CN1B-pin 8 is in the ABS transfer mode (ABSM).
(Refer to section 15.5)
Input signal selection 7 (CN1B-9)
48
*DI7
0994
Refer to P S T
Name
Allows any input signal to be assigned to CN1B-pin 9.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
and
function
column.
0
Position
control mode
Speed control
mode
Input signals of
CN1B-pin 9
selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1B-pin 9.
When "Used in absolute position detection system" is selected in
parameter No. 1, CN1B-pin 9 is in the ABS request mode (ABSR).
(Refer to section 15.5)
5 - 19
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
Output signal selection 1
Used to select the connector pins to output the alarm code, warning
(WNG) and battery warning (BWNG).
49 *DO1
0000
Refer to P S T
Name
and
function
column.
0
Setting of alarm code output
The alarm code output and the following functions are
exclusive, so the simultaneous use is not possible.
If set, the parameter error alarm (AL.37) occurs.
Absolute position detection system
Signal assignment function of the electromagnetic
interlock (MBR) to pin CN1B-19
Connector pins
CN1A-18
Set
value
CN1B-19
CN1A-19
0
1
ZSP
INP or SA
RD
Alarm code is output at alarm occurrence.
(Note) Alarm code
Alarm
display
Name
CN1B CN1A CN1A
pin 19 pin 18 pin 19
88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error 2
AL.19 Memory error 3
AL.37 Parameter error
0
0
0
AL.8A Serial communication time-out error
AL.8E Serial communication error
AL.30 Regenerative error
AL.33 Overvoltage
0
0
0
1
1
0
AL.10 Undervoltage
AL.45 Main circuit device overheat
AL.46 Servo motor overheat
AL.50 Overload 1
0
1
1
AL.51 Overload 2
AL.24 Main circuit
AL.32 Overcurrent
AL.31 Overspeed
AL.35 Command pulse frequency error
AL.52 Error excessive
1
1
0
0
0
1
AL.16 Encoder error 1
AL.1A Motor combination error
AL.20 Encoder error 2
1
1
0
AL.25 Absolute position erase
Note. 0: off
1: on
Setting of warning (WNG) output
Select the connector pin to output warning. The old
signal before selection will be unavailable.
A parameter error (AL. 27) will occur if the connector
pin setting is the same as that in the third digit.
Set
value
Connector pin No.
0
1
2
3
4
5
Not output
CN1A-19
CN1B-18
CN1A-18
CN1B-19
CN1B-6
Setting of battery warning (BWNG) output
Select the connector pin to output battery warning.
The old signal before selection will be unavailable. Set
this function as in the second digit of this parameter.
Parameter No. 1 setting has priority. A parameter
error (AL. 37) will occur if the connector pin setting is
the same as that in the second digit.
5 - 20
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
50
51
For manufacturer setting
Do not change this value by any means.
*OP6 Function selection 6
0000
0000
Refer to P S T
Name
Used to select the operation to be performed when the reset (RES)
switches on. This parameter is invalid (base circuit is shut off) in the
absolute position detection system.
and
function
column.
0
0 0
Operation to be performed when the
reset (RES) switches on
0: Base circuit shut off
1: Base circuit not shut off
52
53
For manufacturer setting
0000
0000
Do not change this value by any means.
*OP8 Function selection 8
Used to select the protocol of serial communication.
Refer to P S T
Name
and
0
0
function
column.
Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
Protocol checksum selection
0: With station numbers
1: No station numbers
54
*OP9 Function selection 9
0000
Refer to P S T
Name
Use to select the command pulse rotation direction, encoder output
pulse direction and encoder pulse output setting.
and
function
column.
0
Servo motor rotation direction changing
Changes the servo motor rotation
direction for the input pulse train.
Servo motor rotation direction
Set value
At forward rotation
pulse input (Note)
At reverse rotation
pulse input (Note)
0
1
CW
CCW
CW
CCW
Note. Refer to section 3.4.1 (1) (a).
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
Encoder output pulse setting selection (refer to parameter No. 27)
0: Output pulse designation
1: Division ratio setting
5 - 21
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
55
*OPA Function selection A
0000
Refer to
Name
P
Used to select the position command acceleration/deceleration time
constant (parameter No. 7) control system.
and
function
column.
0 0
0
Position command acceleration/deceleration
time constant control
0: Primary delay
1: Linear acceleration/deceleration
56
SIC
Serial communication time-out selection
0
P S T
0
Used to set the communication protocol time-out period in [s].
When you set "0", time-out check is not made.
s
1 to 60
57
58
For manufacturer setting
10
Do not change this value by any means.
NH1 Machine resonance suppression filter 1
Used to selection the machine resonance suppression filter.
(Refer to section 8.1)
0000
Refer to P S T
Name
and
function
column.
0
Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No. 60:
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
59
NH2 Machine resonance suppression filter 2
0000
Refer to P S T
Name
Used to set the machine resonance suppression filter.
and
0
function
column.
Notch frequency
Same setting as in parameter No. 58
However, you need not set "00" if you have
set adaptive vibration suppression control to
be "valid" or "held".
Notch depth
Same setting as in parameter No. 58
5 - 22
5. PARAMETERS
Initial
value
Setting Control
range mode
Class No. Symbol
Name and function
Unit
60
LPF Low-pass filter adaptive vibration suppression control
Used to selection the low-pass filter adaptive vibration suppression
control. (Refer to chapter 8)
0000
Refer to P S T
Name
and
function
column.
0
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
When you choose "valid", the filter of the handwidth
represented by the following expression is set automatically
For 1kW or less
VG2 setting 10
[H ]
z
2
(1 GD2 setting 0.1)
For 2kW or more
VG2 setting
(1 GD2 setting 0.1)
5
[H ]
z
2
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration
suppression control selection makes the machine
resonance control filter 1 (parameter No. 58) invalid.
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 set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity
61 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.
70
0.1
0
to
P S
P
times
3000
10
62 PG2B 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.
63 VG2B Speed control gain 2 changing ratio
Used to set the ratio of changing the speed control gain 2 when gain
changing is valid.
100
100
10
to
P S
P S
200
Made valid when auto tuning is invalid.
64
VICB Speed integral compensation changing ratio
50
to
Used to set the ratio of changing the speed integral compensation
when gain changing is valid. Made valid when auto tuning is invalid.
1000
5 - 23
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
65
*CDP Gain changing selection
0000
Refer to
Name
P S
Used to select the gain changing condition. (Refer to section 8.3)
and
0 0 0
function
column.
Gain changing selection
Gains are changed in accordance with the settings
of parameters No. 61 to 64 under any of the following
conditions:
0: Invalid
1: Gain changing (CDP) signal is ON
2: Command frequency is equal to higher than
parameter No. 66 setting or more
3: Droop pulse value is equal to higher than
parameter No. 66 setting or more
4: Servo motor speed is equal to higher than
parameter No. 66 setting or more
66
CDS Gain changing condition
10
1
kpps
10
to
P S
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in parameter
No. 65.The set value unit changes with the changing condition item.
(Refer to section 8.5)
pulse
r/min 9999
67
68
CDT Gain changing time constant
ms
0
to
P S
Used to set the time constant at which the gains will change in
response to the conditions set in parameters No. 65 and 66.
(Refer to section 8.5)
100
For manufacturer setting
0
1
Do not change this value by any means.
69 CMX2 Command pulse multiplying factor numerator 2
Used to set the multiplier for the command pulse.
0 1
to
P
P
P
Setting "0" automatically sets the connected motor resolution.
70 CMX3 Command pulse multiplying factor numerator 3
Used to set the multiplier for the command pulse.
65535
0 1
1
1
to
Setting "0" automatically sets the connected motor resolution.
71 CMX4 Command pulse multiplying factor numerator 4
Used to set the multiplier for the command pulse.
65535
0 1
to
Setting "0" automatically sets the connected motor resolution.
65535
72
SC4 Internal speed command 4
Used to set speed 4 of internal speed commands.
200
r/min 0 to in-
stanta-
neous
S
T
Internal speed limit 4
permi-
Used to set speed 4 of internal speed limits.
ssible
speed
5 - 24
5. PARAMETERS
Initial
value
Setting Control
Class No. Symbol
Name and function
Unit
range
mode
0 to in-
stanta-
neous
permi-
ssible
73
74
75
SC5 Internal speed command 5
300
500
800
r/min
S
Used to set speed 5 of internal speed commands.
Internal speed limit 5
T
S
T
S
Used to set speed 5 of internal speed limits.
speed
0 to in-
stanta-
neous
permi-
ssible
SC6 Internal speed command 6
r/min
r/min
Used to set speed 6 of internal speed commands.
Internal speed limit 6
Used to set speed 6 of internal speed limits.
speed
0 to in-
stanta-
neous
permi-
ssible
SC7 Internal speed command 7
Used to set speed 7 of internal speed commands.
Internal speed limit 7
T
Used to set speed 7 of internal speed limits.
speed
76
TL2 Internal torque limit 2
100
%
0
P S T
Set this parameter to limit servo motor torque on the assumption
that the maximum torque is 100[%].
to
100
When 0 is set, torque is not produced. (Refer to section 3.4.1 (5))
For manufacturer setting
77
78
79
80
81
82
83
84
00
10000
10
Do not change this value by any means.
10
100
100
100
0000
5 - 25
5. PARAMETERS
5.2 Detailed description
5.2.1 Electronic gear
Wrong setting can lead to unexpected fast rotation, causing injury.
POINT
CAUTION
1
50
CMX
CDV
The guideline of the electronic gear setting range is
500.
If the set value is outside this range, noise may be generated during
acceleration/ deceleration or operation may not be performed at the preset
speed and/or acceleration/deceleration time constants.
Always set the electronic gear with servo off state to prevent unexpected
operation due to improper setting.
(1) Concept of electronic gear
The machine can be moved at any multiplication factor to input pulses.
Motor
CMX
CDV
Deviation
counter
CMX
CDV
Parameter No.3
Parameter No.4
Feedback pulse
Electronic gear
Encoder
The following setting examples are used to explain how to calculate the electronic gear.
POINT
The following specification symbols are required to calculate the electronic
gear
Pb : Ball screw lead [mm]
n
: Reduction ratio
Pt : Servo motor resolution [pulses/rev]
Travel per command pulse [mm/pulse]
Travel per servo motor revolution [mm/rev]
Angle per pulse [ /pulse]
0:
S
:
:
: Angle per revolution [ /rev]
(a) For motion in increments of 10 m per pulse
Machine specifications
n
n
NL/NM
1/2
NL
Pb 10[mm]
NM
Ball screw lead Pb 10 [mm]
Reduction ratio: n 1/2
Servo motor
131072 [pulse/rev]
Servo motor resolution: Pt 131072 [pulses/rev]
CMX
CDV
Pt
S
Pt
n Pb
131072
1/2 10
262144 32768
1000 125
3
0
0
10 10
Hence, set 32768 to CMX and 125 to CDV.
5 - 26
5. PARAMETERS
(b) Conveyor setting example
For rotation in increments of 0.01 per pulse
Servo motor
131072 [pulse/rev]
Machine specifications
Table
Table : 360 /rev
Reduction ratio: n 4/64
Timing belt : 4/64
Servo motor resolution: Pt 131072 [pulses/rev]
CMX
CDV
Pt
131072
4/64 360
65536
1125
................................................................................. (5.1)
0.01
Since CMX is not within the setting range in this status, it must be reduced to the lowest term.
When CMX has been reduced to a value within the setting range, round off the value to the
nearest unit.
CMX 65536
1125
26214.4
450
26214
450
CDV
Hence, set 26214 to CMX and 450 to CDV.
POINT
When “0” is set to parameter No.3 (CMX), CMX is automatically set to the
servo motor resolution. Therefore, in the case of Expression (5.2), setting
0 to CMX and 2250 to CDX concludes in the following expression:
CMX/CDV=131072/2250, and electric gear can be set without the
necessity to reduce the fraction to the lowest term.
For unlimited one-way rotation, e.g. an index table, indexing positions will
be missed due to cumulative error produced by rounding off.
For example, entering a command of 36000 pulses in the above example
causes the table to rotate only the following:
26214
450
1
4
36000
360
359.995
131072 64
Therefore, indexing cannot be done in the same position on the table.
(2) Instructions for reduction
The calculated value before reduction must be as near as possible to the calculated value after
reduction.
In the case of (1) (b) in this section, an error will be smaller if reduction is made to provide no fraction
for CDV. The fraction of Expression (5.1) before reduction is calculated as follows.
CMX 65536
.................................................................................................................... (5.2)
58.25422
1125
CDV
The result of reduction to provide no fraction for CMX is as follows.
CMX 65536
1125
32768
562.5
32768
563
.................................................................................... (5.3)
58.20249
CDV
The result of reduction to provide no fraction for CDV is as follows.
CMX
CDV
65536
1125
26214.4 26214
450 450
.................................................................................. (5.4)
58.25333
As a result, it is understood that the value nearer to the calculation result of Expression (5.2) is the
result of Expression (5.4). Accordingly, the set values of (1) (b) in this section are CMX 26214,
CDV 450.
5 - 27
5. PARAMETERS
(3) Setting for use of A1SD75P
The A1SD75P also has the following electronic gear parameters. Normally, the servo amplifier side
electronic gear must also be set due to the restriction on the command pulse frequency (differential
400kpulse/s, open collector 200kpulse/s).
AP : Number of pulses per motor revolution
AL : Moving distance per motor revolution
AM: Unit scale factor
A1SD75P
Servo amplifier
Command
value
AP
AL AM
CMX
CDV
Deviation
counter
Control
unit
Command
pulse
Electronic gear
Electronic gear
Feedback pulse
Servo motor
The resolution of the servo motor is 131072 pulses/rev. For example, the pulse command needed to
rotate the servo motor is as follows.
Servo motor speed [r/min]
Required pulse command
2000
3000
131072 2000/60 4369066 pulse/s
131072 3000/60 6553600 pulse/s
For the A1SD75P, the maximum value of the pulse command that may be output is 200kpulse/s in the
open collector system or 400kpulse/s in the differential line driver system. Hence, either of the servo
motor speeds exceeds the maximum output pulse command of the A1SD75P.
Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse
command of the A1SD75P.
5 - 28
5. PARAMETERS
To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic
gear as follows
CMX N0
CDV 60
f
pt
f
: Input pulses [pulse/s]
N : Servo motor speed [r/min]
0
Pt : Servo motor resolution [pulse/rev]
CMX 3000
200 10 3
131072
60
CMX 3000 131072
60 200
CDV
3000 131072 4096
60 200000 125
CDV
The following table indicates the electronic gear setting example (ball screw lead 10mm) when the
A1SD75P is used in this way.
Rated servo motor speed
Input system
3000r/min
Differential Open
2000r/min
Differential
Open
collector
200
line driver
500
collector
200
line driver
500
Max. input pulse frequency [kpulse/s]
Feedback pulse/revolution [pulse/rev]
Electronic gear (CMX/CDV)
Servo amplifier
131072
4096/125
131072
8192/375
2048/125
400
4096/375
400
Command pulse frequency [kpulse/s] (Note)
Number of pulses per servo motor revolution as
viewed from A1SD75P[pulse/rev]
200
200
4000
8000
6000
12000
AP
AL
AM
AP
AL
AM
1
1
1
1
Minimum command unit
1
1
1
1
1
1
1
1
A1SD75P
1pulse
Electronic gear
4000
100.0[ m]
10
8000
100.0[ m]
10
6000
100.0[ m]
10
12000
100.0[ m]
10
Minimum command unit
0.1 m
Note. Command pulse frequency at rated speed.
5 - 29
5. PARAMETERS
5.2.2 Analog monitor
The servo status can be output to two channels in terms of voltage. The servo status can be monitored
using an ammeter.
(1) Setting
Change the following digits of parameter No.17.
Parameter No. 17
0
0
Analog monitor (MO1) output selection
(Signal output to across MO1-LG)
Analog monitor (MO2) output selection
(Signal output to across MO2-LG)
Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
Parameter No.
Description
Setting range [mV]
31
Used to set the offset voltage for the analog monitor 1 (MO1).
Used to set the offset voltage for the analog monitor 2 (MO2)
output.
999 to 999
32
5 - 30
5. PARAMETERS
(2) Set content
The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the
torque to analog monitor (MO2). The setting can be changed as listed below by changing the
parameter No.17 value.
Refer to Appendix 2 for the measurement point.
Setting
Output item
Description
Setting
Output item
Droop pulses
(Note 1)
Description
CCW direction
CCW direction
0
Servo motor speed
6
10[V]
8[V]
( 10V/128pulse)
128[pulse]
Max. speed
0
0
Max. speed
8[V]
128[pulse]
10[V]
CCW direction
CW direction
10[V]
CW direction
8[V]
Driving in CCW direction
1
Torque (Note 2)
7
Droop pulses
(Note 1)
( 10V/2048pulse)
2048[pulse]
Max. torque
0
0
2048[pulse]
Max. torque
10[V]
CCW direction
8[V]
Driving in CW direction
CW direction
10[V]
2
Servo motor speed
8
Droop pulses
(Note 1)
CW
CCW
direction
8[V]
direction
( 10V/8192pulse)
8192[pulse]
0
8192[pulse]
Max. speed
0
Max. speed
10[V]
CCW direction
CW direction
10[V]
3
Torque(Note2)
9
Droop pulses
(Note 1)
Driving in
CW direction 8[V]
Driving in
CCW direction
( 10V/32768pulse)
32768[pulse]
0
32768[pulse]
Max. torque
8[V]
Max. command
current
0
Max. torque
10[V]
CCW direction
CW direction
10[V]
CCW direction
4
Current command
A
Droop pulses
(Note 1)
( 10V/131072pulse)
(Max. torque
command)
131072[pulse]
0
0
Max. command
current
(Max. torque
131072[pulse]
10[V]
command)
8[V]
CW direction
8[V]
CW direction
10[V]
CCW direction
5
Command pulse
frequency
B
Bus voltage
500kpps
0
500kpps
0
400[V]
10[V]
CW direction
Note 1. Encoder pulse unit.
2. 8V is outputted at the maximum torque.However, when parameter No.28 76 are set to limit torgue, 8V is outputted at the
torque highly limited.
5 - 31
5. PARAMETERS
(3) Analog monitor block diagram
5 - 32
5. PARAMETERS
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern
The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is
made valid. A slow stop can be made by changing the parameter No. 22 value.
Parameter No.22 Setting
Stopping method
Sudden stop
0
Position control mode : Motor stops with droop pulses cleared.
Speed control mode : Motor stops at deceleration time constant of zero.
Slow stop
(initial value)
Position control mode : The motor is decelerated to a stop in accordance with the
parameter No. 7 value.
1
Speed control mode : The motor is decelerated to a stop in accordance with the
parameter No. 12 value.
5.2.4 Alarm history clear
The servo amplifier stores one current alarm and five past alarms from when its power is switched on
first. To control alarms which will occur during operation, clear the alarm history using parameter No.16
before starting operation.
Clearing the alarm history automatically returns to "
0 ".
After setting, this parameter is made valid by switch power from OFF to ON.
Parameter No.16
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)
5 - 33
5. PARAMETERS
5.2.5 Position smoothing
By setting the position command acceleration/deceleration time constant (parameter No.7), you can run
the servo motor smoothly in response to a sudden position command.
The following diagrams show the operation patterns of the servo motor in response to a position command
when you have set the position command acceleration/deceleration time constant.
Choose the primary delay or linear acceleration/deceleration in parameter No. 55 according to the
machine used.
(1) For step input
: Input position command
: Position command after
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
: Position command acceleration/
t
deceleration time constant (parameter No. 7)
t
t
Time
(3t)
(2) For trapezoidal input
(3t)
t
: Input position command
: Position command after filtering
for linear acceleration/deceleration
: Position command after
filtering for primary delay
t
: Position command acceleration/
deceleration time constant
(parameter No. 7)
t
Time
(3t)
5 - 34
6. DISPLAY AND OPERATION
6. DISPLAY AND OPERATION
6.1 Display flowchart
Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move to
the next screen.
To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write
disable).
button
MODE
Expansion
parameters 1
Expansion
parameters 2
Basic
Status display
Diagnosis
Alarm
parameters
(Note)
Cumulative feedback
pulses [pulse]
Sequence
Current alarm
Last alarm
Parameter No. 0
Parameter No. 1
Parameter No. 20
Parameter No. 21
Parameter No. 50
Parameter No. 51
External I/O
signal display
Motor speed
[r/min]
Droop pulses
[pulse]
Output signal
forced output
Second alarm in past
UP
Cumulative command
pulses [pulse]
Test operation
Jog feed
Third alarm in past
Fourth alarm in past
DOWN
Command pulse
frequency [kpps]
Test operation
Positioning operation
Parameter No. 18
Parameter No. 19
Parameter No. 48
Parameter No. 49
Parameter No. 83
Parameter No. 84
Speed command voltage
Speed limit voltage[mV]
Test operation
Motor-less operation
Fifth alarm in past
Sixth alarm in past
Parameter error No.
Test operation
Torque limit voltage
Torque command voltage
[mV]
Machine analyzer operation
Regenerative load
ratio [%]
Software version L
Software version H
Automatic VC offset
Effective load ratio
[%]
Peak load ratio
[%]
Instantaneous torque
[%]
Motor series ID
Motor type ID
Encoder ID
Within one-revolution
position low [pulse]
Within one-revolution
position, high [100 pulses]
ABS counter
[rev]
Load inertia moment
ratio [times]
Bus voltage [V]
Note. The initial status display at power-on depends on the control mode.
Position control mode: Cumulative feedback pulses(C), Speed control mode: Motor speed(r),
Torque control mode: Torque command voltage(U)
Also, parameter No. 18 can be used to change the initial indication of the status display at power-on.
6 - 1
6. DISPLAY AND OPERATION
6.2 Status display
The servo 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. At only power-on, however, data appears after
the symbol of the status display selected in parameter No. 18 has been shown for 2[s].
The servo amplifier display shows the lower five digits of 16 data items such as the servo motor speed.
6.2.1 Display examples
The following table lists display examples.
Displayed data
Item
Status
Servo amplifier display
Forward rotation at 3000r/min
Servo motor
speed
Reverse rotation at 3000r/min
Reverse rotation is indicated by " ".
Load inertia
moment
15.5 times
11252pulse
Multi-
revolution
counter
12566pulse
Lit
Negative value is indicated by the lit decimal points in the upper four
digits.
6 - 2
6. DISPLAY AND OPERATION
6.2.2 Status display list
The following table lists the servo statuses that may be shown.
Refer to Appendix 2 for the measurement point.
Display
range
Name
Symbol
Unit
Description
Cumulative feedback
pulses
C
pulse
Feedback pulses from the servo motor encoder are counted and
displayed. The value in excess of 99999 is counted, bus since the
servo amplifier display is five digits, it shows the lower five digits of
the actual value. Press the "SET" button to reset the display value to
zero.
99999
to
99999
Reverse rotation is indicated by the lit decimal points in the upper
four digits.
Servo motor speed
Droop pulses
r
r/min
pulse
The servo motor speed is displayed.
The value rounded off is displayed in 0.1r/min.
5400
to
5400
99999
to
E
The number of droop pulses in the deviation counter is displayed.
When the servo motor is rotating in the reverse direction, the
decimal points in the upper four digits are lit.
Since the servo amplifier display is five digits, it shows the lower five
digits of the actual value.
99999
The number of pulses displayed is not yet multiplied by the electronic
gear.
Cumulative command
pulses
P
pulse
The position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear
(CMX/CDV), it may not match the indication of the cumulative
feedback pulses.
99999
to
99999
The value in excess of 99999 is counted, but since the servo
amplifier display is five digits, it shows the lower five digits of the
actual value. Press the "SET" button to reset the display value to
zero. When the servo motor is rotating in the reverse direction, the
decimal points in the upper four digits are lit.
The frequency of the position command input pulses is displayed.
The value displayed is not multiplied by the electronic gear
(CMX/CDV).
(1) Torque control mode
Analog speed limit (VLA) voltage is displayed.
(2) Speed control mode
Analog speed command (VC) voltage is displayed.
(1) Position control mode, speed control mode
Analog torque limit (TLA) voltage is displayed.
Command pulse
frequency
n
F
kpps
V
800
to
800
10.00
to
10.00
Analog speed
command voltage
Analog speed limit
voltage
Analog torque
command voltage
Analog torque limit
voltage
U
V
0
to
10.00
10.00
to
(2) Torque control mode
Analog torque command (TLA) voltage is displayed.
10.00
Regenerative load
ratio
L
J
%
%
The ratio of regenerative power to permissible regenerative power is
displayed in %.
0
to
100
0
to
300
0
Effective load ratio
Peak load ratio
The continuous effective load torque is displayed.
The effective value in the past 15 seconds is displayed relative to the
rated torque of 100%.
The maximum torque generated during acceleration/deceleration, etc.
The highest value in the past 15 seconds is displayed relative to the
rated torque of 100%.
Torque that occurred instantaneously is displayed.
The value of the torque that occurred is displayed in real time
relative to the rate torque of 100%.
b
%
to
400
400
to
Instantaneous torque
T
%
400
Within one-revolution
position low
Cy1
pulse
Position within one revolution is displayed in encoder pulses.
The value returns to 0 when it exceeds the maximum number of
pulses.
0
to
99999
The value is incremented in the CCW direction of rotation.
6 - 3
6. DISPLAY AND OPERATION
Display
range
Name
Symbol
Unit
Description
Within one-revolution
position high
Cy2
100
The within one-revolution position is displayed in 100 pulse
increments of the encoder.
0
to
pulse
The value returns to 0 when it exceeds the maximum number of
pulses.
1310
The value is incremented in the CCW direction of rotation.
Travel value from the home position in the absolute position
detection systems is displayed in terms of the absolute position
detectors counter value.
ABS counter
LS
dC
Pn
rev
32768
to
32767
0.0
Load inertia moment
ratio
Times The estimated ratio of the load inertia moment to the servo motor
shaft inertia moment is displayed.
to
300.0
0
Bus voltage
V
The voltage (across P-N) of the main circuit converter is displayed.
to
450
6.2.3 Changing the status display screen
The status display item of the servo amplifier display shown at power-on can be changed by changing the
parameter No. 18 settings.
The item displayed in the initial status changes with the control mode as follows.
Control mode
Position
Status display at power-on
Cumulative feedback pulses
Position/speed
Speed
Cumulative feedback pulses/servo motor speed
Servo motor speed
Speed/torque
Torque
Servo motor speed/analog torque command voltage
Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses
6 - 4
6. DISPLAY AND OPERATION
6.3 Diagnostic mode
Name
Display
Description
Not ready.
Indicates that the servo amplifier is being initialized or an alarm
has occurred.
Sequence
Ready.
Indicates that the servo was switched on after completion of
initialization and the servo amplifier is ready to operate.
Indicates the ON-OFF states of the external I/O signals.
The upper segments correspond to the input signals and the
lower segments to the output signals.
Lit : ON
Refer to section 6.6.
External I/O signal
display
Extinguished : OFF
The I/O signals can be changed using parameters No. 43 to 49.
Output signal (DO)
forced output
The digital output signal can be forced on/off. For more
information, refer to section 6.7.
Jog operation can be performed when there is no command from
the external command device.
Jog feed
For details, refer to section 6.8.2.
The MR Configurator (servo configuration software MRZJW3-
SETUP151E) is required for positioning operation. This operation
cannot be performed from the operation section of the servo
amplifier.
Positioning
operation
Positioning operation can be performed once when there is no
command from the external command device.
Without connection of the servo motor, the servo amplifier
provides output signals and displays the status as if the servo
motor is running actually in response to the external input
signal.
Test
operation
mode
Motorless
operation
For details, refer to section 6.8.4.
Merely connecting the servo amplifier allows the resonance point
of the mechanical system to be measured.
The MR Configurator (servo configuration software MRZJW3-
SETUP151E) is required for machine analyzer operation.
Machine
analyzer
operation
Software version low
Software version high
Indicates the version of the software.
Indicates the system number of the software.
If offset voltages in the analog circuits inside and outside the
servo amplifier cause the servo motor to rotate slowly at the
analog speed command (VC) or analog speed limit (VLA) of 0V,
this function automatically makes zero-adjustment of offset
voltages.
When using this function, make it valid in the following
procedure. Making it valid causes the parameter No. 29 value to
be the automatically adjusted offset voltage.
1) Press "SET" once.
Automatic VC offset
2) Set the number in the first digit to 1 with "UP"/"DOWN".
3) Press "SET".
You cannot use this function if the input voltage of VC or VLA
is 0.4V or more.
6 - 5
6. DISPLAY AND OPERATION
Name
Display
Description
Press the "SET" button to show the motor series ID of the servo
motor currently connected.
Motor series
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the motor type ID of the servo
motor currently connected.
Motor type
Encoder
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the encoder ID of the servo motor
currently connected.
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
6 - 6
6. DISPLAY AND OPERATION
6.4 Alarm mode
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 (AL.33).
Flickers at occurrence of the alarm.
Indicates that the last alarm is overload 1 (AL.50).
Indicates that the second alarm in the past is overvoltage (AL.33).
Indicates that the third alarm in the past is undervoltage (AL.10).
Indicates that the fourth alarm in the past is overspeed (AL.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 (AL.37).
Indicates that the data of parameter No. 1 is faulty.
Parameter error No.
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 methods (for clearable alarms,
refer to section 10.2.1).
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on the alarm reset (RES).
6 - 7
6. DISPLAY AND OPERATION
(4) Use parameter No. 16 to clear the alarm history.
(5) Pressing "SET" 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" to move to the next history.
6.5 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 5.1.2.
(1) Operation example
The following example shows the operation procedure performed after power-on to change the control
mode (parameter No. 0) to the speed control mode.
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: Speed control mode)
.
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.
(2) Expansion parameters
To use the expansion parameters, change the setting of parameter No. 19 (parameter write disable).
Refer to section 5.1.1.
6 - 8
6. DISPLAY AND OPERATION
6.6 External I/O signal display
The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
Press UP once.
External I/O signal display screen
(2) Display definition
CN1B CN1B
CN1B CN1B
CN1A CN1B
CN1B CN1B
CN1B
16
15
9
8
7
8
14
5
17
Input signals
Always lit
Output signals
CN1A
14
CN1B
18
CN1B
4
CN1A
18
CN1B
6
CN1B
19
CN1A
19
Lit: ON
Extinguished: OFF
The 7-segment LED shown above indicates ON/OFF.
Each segment at top indicates the input signal and each segment at bottom indicates the output
signal. The signals corresponding to the pins in the respective control modes are indicated below.
6 - 9
6. DISPLAY AND OPERATION
(a) Control modes and I/O signals
Signal
(Note 2) Symbols of I/O signals in control modes
Related
Connector
Pin No.
input/output
(Note 1) I/O
parameter
P
P/S
S
S/T
T
T/P
8
14
18
19
I
O
O
O
O
I
CR
OP
CR/SP1
OP
SP1
OP
SP1
OP
SP1
OP
SP1/CR
OP
No.43 to 48
CN1A
INP
RD
INP/SA
RD
SA
SA/
/INP
No.49
No.49
RD
RD
DO1
RD
DO1
SON
VLC
SP2
RD
(Note 3) 4
DO1
SON
TLC
DO1
DO1
SON
TLC
SP2
ST1
ST2
RES
EMG
LSP
LSN
ALM
ZSP
DO1
5
6
SON
TLC
SON
SON
No.43 to 48
No.49
O
I
TLC/VLC
LOP
VLC/TLC
LOP
7
LOP
No.43 to 48
No.43 to 48
No.43 to 48
No.43 to 48
8
I
PC
TL
PC/ST1
TL/ST2
RES
ST1/RS2
ST2/RS1
RES
RS2
RS1
RES
EMG
RS2/PC
RS1/TL
RES
9
I
CN1B
14
15
16
17
18
19
I
RES
EMG
LSP
LSN
ALM
ZSP
I
EMG
LSP
EMG
EMG
/LSP
I
LSP/
I
LSN
LSN/
/LSN
ALM
ZSP
O
O
ALM
ZSP
ALM
ALM
ZSP
No.49
ZSP
No.1 49
Note 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. CN1B-4 and CN1A-18 output signals are the same.
(b) Symbol and signal names
Symbol
SON
LSP
LSN
CR
Signal name
Symbol
EMG
LOP
TLC
VLC
RD
Signal name
Servo-on
Emergency stop
Control change
Limiting torque
Limiting speed
Ready
Forward rotation stroke end
Reverse rotation stroke end
Clear
SP1
SP2
PC
Speed selection 1
Speed selection 2
ZSP
Zero speed
Proportion control
Forward rotation start
Reverse rotation start
Forward rotation selection
Reverse rotation selection
Torque limit
INP
In position
ST1
ST2
RS1
RS2
TL
SA
Speed reached
Trouble
ALM
WNG
OP
Warning
Encoder Z-phase pulse (open collector)
Battery warning
BWNG
RES
Reset
6 - 10
6. DISPLAY AND OPERATION
(3) Default signal indications
(a) Position control mode
EMG(CN 1 B-15) Emergency stop
TL (CN 1 B-9) Torque limit
PC (CN 1 B-8) Proportional control
CR (CN 1 A-8) Clear
RES (CN 1 B-14) Reset
SON(CN 1 B-5) Servo-on
LSN (CN 1 B-17) Reverse rotation stroke end
LSP (CN 1 B-16) Forward rotation stroke end
Input signals
Lit: ON
Extinguished:OFF
Output signals
RD (CN 1 A-19) Ready
INP (CN 1 A-18) In position
ZSP (CN 1 B-19) Zero speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) In position
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse
(b) Speed control mode
EMG(CN 1 B-15) Emergency stop
ST2 (CN 1 B-9) Reverse rotation start
ST1 (CN 1 B-8) For ward rotation start
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
RES (CN 1 B-14) Reset
SON (CN 1 B-5) Servo-on
LSN (CN 1 B-17) External emergency stop
LSP (CN 1 B-16) Forward rotation stroke end
Input signals
Lit: ON
Extinguished: OFF
Output signals
RD (CN 1 A-19) Ready
SA (CN 1 A-18) Limiting speed
ZSP (CN 1 B-19) Zero speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) Limiting speed
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse
(c) Torque control mode
EMG(CN 1 B-15) Emergency stop
RS1 (CN 1 B-9) Forward rotation selection
RS2 (CN 1 B-8) Reverse rotation selection
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
RES (CN 1 B-14) Reset
SON (CN 1 B-5) Servo-on
Input signals
Lit: ON
Extinguished: OFF
RD (CN 1 A-19) Ready
Output signals
ZSP (CN 1 B-19) Zero speed
VLC (CN 1 B-6) Speed reached
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse
6 - 11
6. DISPLAY AND OPERATION
6.7 Output signal (DO) forced output
POINT
When the servo system is used in a vertical lift application, turning on the
electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19
will release the electromagnetic brake, causing a drop. Take drop
preventive measures on the machine side.
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 servo-on (SON).
Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
Press UP twice.
Press SET for more than 2 seconds.
Switch on/off the signal below the lit segment.
Always lit
Indicates the ON/OFF of the output signal. The correspondences
between segments and signals are as in the output signals of the
external I/O signal display.
CN1A
14
CN1B CN1B CN1B CN1B CN1A CN1A
18 19 18 19
4
6
(Lit: ON, extinguished: OFF)
Press MODE once.
The segment above CN1A-pin 18 is lit.
Press UP once.
CN1A-pin 18 is switched on.
(CN1A-pin 18-SG conduct.)
Press DOWN once.
CN1A-pin 18 is switched off.
Press SET for more than 2 seconds.
6 - 12
6. DISPLAY AND OPERATION
6.8 Test operation mode
The test operation mode is designed to confirm servo operation and not to confirm
machine operation. In this mode, do not use the servo motor with the machine.
Always use the servo motor alone.
CAUTION
If any operational fault has occurred, stop operation using the emergency stop
(EMG) signal.
POINT
The test operation mode cannot be used in the absolute position detection
system. Use it after choosing "Incremental system" in parameter No. 1.
The MR Configurator (servo configuration software) is required to perform
positioning operation.
Test operation cannot be performed if the servo-on (SON) is not turned
OFF.
6.8.1 Mode change
Call the display screen shown after power-on. Choose jog operation/motor-less operation in the following
procedure. Using the "MODE" button, show the diagnostic screen.
Press UP three times.
Press UP five times.
Press SET for more
than 2s.
Press SET for more than 2s.
When this screen
appears, jog feed can
be performed.
When this screen is displayed,
motor-less operation can be
performed.
Flickers in the test operation mode.
6 - 13
6. DISPLAY AND OPERATION
6.8.2 Jog operation
Jog operation can be performed when there is no command from the external command device.
(1) Operation
Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply.
Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR
Configurator (servo configuration software), you can change the operation conditions. The initial
conditions and setting ranges for operation are listed below.
Item
Initial setting
200
Setting range
0 to instantaneous permissible speed
0 to 50000
Speed [r/min]
Acceleration/deceleration time constant [ms]
1000
How to use the buttons is explained below.
Button
"UP"
Description
Press to start CCW rotation.
Release to stop.
Press to start CW rotation.
Release to stop.
"DOWN"
If the communication cable is disconnected during jog operation performed by using the MR
Configurator (servo configuration software), the servo motor will be decelerated to a stop.
(2) Status display
You can confirm the servo status during jog operation.
Pressing the "MODE" button in the jog operation-ready status calls the status display screen. With this
screen being shown, perform jog operation with the "UP" or "DOWN" button. Every time you press the
"MODE" button, the next status display screen appears, and on completion of a screen cycle, pressing
that button returns to the jog operation-ready status screen. For full information of the status display,
refer to section 6.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons to
change the status display screen from one to another.
(3) Termination of jog operation
To end the jog operation, switch power off once or press the "MODE" button to switch to the next
screen and then hold down the "SET" button for 2 or more seconds.
6 - 14
6. DISPLAY AND OPERATION
6.8.3 Positioning operation
POINT
The MR Configurator (servo configuration software) is required to perform
positioning operation.
Positioning operation can be performed once when there is no command from the external command
device.
(1) Operation
Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power
supply.
Pressing the "Forward" or "Reverse" click on the MR Configurator (servo configuration software) starts
the servo motor, which will then stop after moving the preset travel distance. You can change the
operation conditions on the MR Configurator (servo configuration software). The initial conditions and
setting ranges for operation are listed below.
Item
Travel distance [pulse]
Initial setting
10000
Setting range
0 to 9999999
Speed [r/min]
200
0 to instantaneous permissible speed
0 to 50000
Acceleration/deceleration time constant [ms]
1000
How to use the buttons is explained below.
Button
Description
"Forward"
"Reverse"
Click to start positioning operation CCW.
Click to start positioning operation CW.
Click during operation to make a temporary stop. Click the
"Pause" button again erases the remaining distance.
To resume operation, press the click that was pressed to start
the operation.
"Pause"
If the communication cable is disconnected during positioning operation, the servo motor will come to
a sudden stop.
(2) Status display
You can monitor the status display even during positioning operation.
6 - 15
6. DISPLAY AND OPERATION
6.8.4 Motor-less operation
Without connecting the servo motor, you can provide output signals or monitor the status display as if the
servo motor is running in response to external input signals. This operation can be used to check the
sequence of a host programmable controller or the like.
(1) Operation
After turning off the signal across SON-SG, choose motor-less operation. After that, perform external
operation as in ordinary operation.
(2) Status display
You can confirm the servo status during motor-less operation.
Pressing the "MODE" button in the motor-less operation-ready status calls the status display screen.
With this screen being shown, perform motor-less operation. Every time you press the "MODE" button,
the next status display screen appears, and on completion of a screen cycle, pressing that button
returns to the motor-less operation-ready status screen. For full information of the status display,
refer to section 6.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons to
change the status display screen from one to another.
(3) Termination of motor-less operation
To terminate the motor-less operation, switch power off.
6 - 16
7. GENERAL GAIN ADJUSTMENT
7. GENERAL GAIN ADJUSTMENT
POINT
For use in the torque control mode, you need not make gain adjustment.
7.1 Different adjustment methods
7.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. 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
Parameter No. 2
setting
Estimation of load inertia
moment ratio
Automatically set
parameters
Gain adjustment mode
Manually set parameters
Auto tuning mode 1
(initial value)
010
Always estimated
PG1 (parameter No. 6)
Response level setting of
GD2 (parameter No. 34) parameter No. 2
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Auto tuning mode 2
020
Fixed to parameter No. PG1 (parameter No. 6)
GD2 (parameter No. 34)
34 value
PG2 (parameter No. 35) Response level setting of
VG1 (parameter No. 36) parameter No. 2
VG2 (parameter No. 37)
VIC (parameter No. 38)
Manual mode 1
Manual mode 2
030
040
PG2 (parameter No. 35) PG1 (parameter No. 6)
VG1 (parameter No. 36) GD2 (parameter No. 34)
VG2 (parameter No. 37)
VIC (parameter No. 38)
PG1 (parameter No. 6)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Interpolation mode
000
Always estimated
GD2 (parameter No. 34) PG1 (parameter No. 6)
PG2 (parameter No. 35) VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
7 - 1
7. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Yes
Interpolation
made for 2 or more
axes?
Used when you want to
match the position gain
(PG1) between 2 or more
axes. Normally not used for
other purposes.
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
7.1.2 Adjustment using MR Configurator (servo configuration software)
This section gives the functions and adjustment that may be performed by using the servo amplifier 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.
7 - 2
7. GENERAL GAIN ADJUSTMENT
7.2 Auto tuning
7.2.1 Auto tuning mode
The servo amplifier 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 the servo amplifier.
(1) Auto tuning mode 1
The servo amplifier 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 parameters are automatically adjusted in the auto tuning mode 1.
Parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
34
35
36
37
38
GD2
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
PG2
VG1
Speed control gain 1
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 100
times or less.
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 (parameter No. 34).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
Position control gain 2
Speed control gain 1
35
36
37
38
PG2
VG1
VG2
Speed control gain 2
VIC
Speed integral compensation
7 - 3
7. GENERAL GAIN ADJUSTMENT
7.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Encoder
Control gains
Command
Current
control
Servo
motor
PG1,VG1
PG2,VG2,VIC
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
Parameter No. 34
Parameter No. 2
Load inertia moment
ratio estimation value
First digit
Gain adjustment Response level
mode selection setting
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 parameter No. 34 (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" (parameter No.2:
2
) to stop the estimation of the load inertia
moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.
34) manually.
From the preset load inertia moment ratio (parameter No. 34) value and response level (The first digit of
parameter No. 2), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-
on. At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM
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" (parameter No. 2: 020 ) and set the
correct load inertia moment ratio in parameter No. 34.
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.
7 - 4
7. GENERAL GAIN ADJUSTMENT
7.2.3 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
(parameter No.2 : 020 ) and set
the load inertia moment ratio
(parameter No.34) 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
7 - 5
7. GENERAL GAIN ADJUSTMENT
7.2.4 Response level setting in auto tuning mode
Set the response (The first digit of parameter No.2) of the whole servo system. As the response level
setting is increased, the track ability 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 (parameter No. 60) or machine resonance
suppression filter (parameter No. 58 59) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 8.1 for adaptive
vibration suppression control and machine resonance suppression filter.
Parameter No. 2
Response level setting
Gain adjustment mode selection
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
7 - 6
7. GENERAL GAIN ADJUSTMENT
7.3 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 parameters.
7.3.1 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 (parameter No. 34) correctly.
7.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control
(parameter No. 60) or machine resonance suppression filter (parameter No.
58 59) may be used to suppress machine resonance. (Refer to section 8.1)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
Speed control gain 2
34
37
38
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 (parameter No. 34).
Increase the speed control gain 2 (parameter No. 37) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
1
2
3
Increase the speed control gain.
Decrease the speed integral compensation (parameter No. 38) within
the vibration-free range, and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
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 8.2, 8.3.
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
7 - 7
7. GENERAL GAIN ADJUSTMENT
(c)Adjustment description
1) Speed control gain 2 (parameter No. 37)
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
(1 ratio of load inertia moment to servo motor inertia moment)
Speed loop response
frequency(Hz)
2
2) Speed integral compensation (VIC: parameter No. 38)
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 compensation
setting(ms)
Speed control gain 2 setting/
(1 ratio of load inertia moment to
servo motor inertia moment setting 0.1)
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
34
37
38
GD2
Ratio of load inertia moment to servo motor inertia moment
Speed control gain 2
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 (parameter No. 34).
1
2
Set a slightly smaller value to the position control gain 1 (parameter
No. 6).
Increase the speed control gain 2 (parameter No. 37) 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 (parameter No. 38) within
the vibration-free range, and return slightly if vibration takes place.
Increase the position control gain 1 (parameter No. 6).
Decrease the time constant of the speed
integral compensation.
4
5
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 8.1.
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
7 - 8
7. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (parameter No. 6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
1
3
1
5
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
Position control
gain 1 guideline
to
)
(
2) Speed control gain 2 (VG2: parameter No. 37)
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
(1 ratio of load inertia moment to servo motor inertia moment)
Speed loop response
frequency(Hz)
2
3) Speed integral compensation (parameter No. 38)
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
compensation setting(ms)
Speed control gain 2 setting/
(1 ratio of load inertia moment to
servo motor inertia moment 2 setting 0.1)
7.4 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 2 and speed control gain 2 which determine command track ability are set manually
and the other parameter for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No.
Abbreviation
GD2
Name
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
34
35
37
38
PG2
VG2
Speed control gain 2
VIC
Speed integral compensation
7 - 9
7. GENERAL GAIN ADJUSTMENT
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
Speed control gain 1
36
VG1
(2) Adjustment procedure
Step
Operation
Description
Set 15Hz (parameter No. 2: 010 ) as the machine resonance frequency of response
in the auto tuning mode 1.
1
2
Select the auto tuning mode 1.
During operation, increase the response level setting (parameter No. 2), and
return the setting if vibration occurs.
Adjustment in auto tuning mode
1.
Check the values of position control gain 1 (parameter No. 6) and speed control
gain 1 (parameter No. 36).
3
4
Check the upper setting limits.
Select the interpolation mode.
Set the interpolation mode (parameter No. 2: 000 ).
Set the position control gain 1 of all the axes to be interpolated to the same value.
At that time, adjust to the setting value of the axis, which has the smallest
position control gain 1.
5
Set position control gain 1.
Using the speed control gain 1 value checked in step 3 as the guideline of the
6
7
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.
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 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability 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 1 setting
(b) Speed control gain 1 (parameter No. 36)
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
7 - 10
7. GENERAL GAIN ADJUSTMENT
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
7.5.1 Response level setting
To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level
setting range from the MELSERVO-J2 series. The following table lists comparison of the response level
setting.
Parameter No. 2
Response level setting
MELSERVO-J2 series
Machine resonance frequency
MELSERVO-J2-Super series
Machine resonance frequency guideline
Set value
Set value
1
2
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
1
20Hz
3
4
5
2
40Hz
6
7
3
4
5
60Hz
80Hz
8
9
100Hz
A
B
C
D
E
F
Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.
7.5.2 Auto tuning selection
The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has
the addition of the manual mode 1 which permits manual adjustment with three parameters.
Parameter No. 2
1
Gain adjustment mode selection
Auto tuning selection
Gain adjustment mode
Remarks
MELSERVO-J2 series
MELSERVO-J2-Super series
Interpolation mode
Auto tuning mode 1
0
1
0
1
Position control gain 1 is fixed.
Ordinary auto tuning
Estimation of load inertia moment
ratio stopped.
Auto tuning
Auto tuning mode 2
2
Response level setting valid.
Simple manual adjustment
Manual adjustment of all gains
Manual mode 1
Manual mode 2
3
4
Auto tuning
invalid
2
7 - 11
7. GENERAL GAIN ADJUSTMENT
MEMO
7 - 12
8. SPECIAL ADJUSTMENT FUNCTIONS
8. 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 7.
If a mechanical system has a natural resonance point, increasing the servo system response level 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.
8.1 Function block diagram
Speed
control
Parameter
No.60
Parameter
No.59
00
Current
command
Parameter
No.60
Parameter
No.58
00
0
0
Low-pass
filter
Servo
motor
Encoder
Machine resonance
suppression filter 1
Machine resonance
suppression filter 2
1
00
00
except
except
Adaptive vibration
suppression control
1
or
2
8.2 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.
Machine resonance point
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
Notch frequency
8 - 1
8. SPECIAL ADJUSTMENT FUNCTIONS
You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance
suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note
that if adaptive vibration suppression control is made valid, the machine resonance suppression filter
1 (parameter No. 58) is made invalid.
Machine resonance point
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
Parameter No. 58 Parameter No. 59
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.
(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No. 58)
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter
No. 58)
When you have made adaptive vibration suppression control selection (parameter No. 60) "valid" or
"held", make the machine resonance suppression filter 1 invalid (parameter No. 58: 0000).
Parameter No. 58
Notch frequency
Setting
value
Setting
value
Setting
value
Setting
value
Frequency
Frequency
Frequency
Frequency
00
01
02
03
04
05
06
07
Invalid
4500
2250
1500
1125
900
08
09
562.5
500
10
11
12
13
14
15
16
17
281.3
264.7
250
18
19
187.5
180
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
Setting
value
Depth (Gain)
Deep ( 40dB)
( 14dB)
0
1
2
3
( 8dB)
Shallow( 4dB)
8 - 2
8. SPECIAL ADJUSTMENT FUNCTIONS
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.
Resonance may occur if parameter No. 58 59 is used to select a close notch
frequency and set a deep notch.
(b) Machine resonance suppression filter 2 (parameter No. 59)
The setting method of machine resonance suppression filter 2 (parameter No. 59) is the same as
that of machine resonance suppression filter 1 (parameter No. 58). However, the machine
resonance suppression filter 2 can be set independently of whether adaptive vibration suppression
control is valid or invalid.
8.3 Adaptive vibration suppression control
(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier 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, the servo amplifier 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" (parameter No. 60:
2
) to fix
the characteristics of the adaptive vibration suppression control filter.
8 - 3
8. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (parameter No.60).
Parameter No. 60
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration suppression
control selection makes the machine resonance suppression
filter 1 (parameter No. 58) invalid.
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
(parameter No. 60: 0000).
Setting the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Setting 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.
8.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level 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.
Speed control gain 2 setting 10
Filter frequency(Hz)
(1 Ratio of load inertia moment to servo motor inertia moment setting 0.1)
2
(2) Parameter
Set the operation of the low-pass filter (parameter No. 60.)
Parameter No. 60
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 level to shorten the settling time.
8 - 4
8. SPECIAL ADJUSTMENT FUNCTIONS
8.5 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.
8.5.1 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).
8.5.2 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 (parameter No. 65) and gain changing condition CDS (parameter
No. 66).
CDP
Parameter No.65
External signal
CDP
Command pulse
frequency
Droop pulses
Changing
Model speed
Comparator
CDS
Parameter No.66
GD2
Parameter No.34
Valid
GD2
GD2 value
Parameter No.61
PG2
Parameter No.35
Valid
PG2 PG2B
100
PG2 value
VG2
Parameter No.37
Valid
VG2 VG2B
100
VG2 value
VIC
Parameter No.38
Valid
VIC VICB
100
VIC value
8 - 5
8. SPECIAL ADJUSTMENT FUNCTIONS
8.5.3 Parameters
When using the gain changing function, always set "
4
" in parameter No.2 (auto tuning) to choose
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrevi
Name
Unit
Description
No.
6
ation
PG1
VG1
Position control gain 1
Speed control gain 1
rad/s Position and speed gains of a model used to set the response
level to a command. Always valid.
Control parameters before changing
36
rad/s
0.1
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
34
GD2
times
rad/s
rad/s
ms
35
37
38
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
61
62
63
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
64
65
%
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.
66
67
CDS Gain changing condition
You can set the filter time constant for a gain change at
changing.
CDT Gain changing time constant
ms
(1) Parameters No. 6, 34 to 38
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: parameter No. 61)
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 (parameter No. 62), speed control gain 2 changing ratio (parameter
No. 63), speed integral compensation changing ratio (parameter No. 64)
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
8 - 6
8. SPECIAL ADJUSTMENT FUNCTIONS
(4) Gain changing selection (parameter No. 65)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP) external input signal for gain changing. The gain changing
(CDP) can be assigned to the pins using parameters No. 43 to 48.
Parameter No. 65
Gain changing selection
Gains are changed in accordance with the settings of
parameters No. 61 to 64 under any of the following conditions:
0: Invalid
1: Gain changing (CDP) input is ON
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 (parameter No. 66)
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 (parameter No. 67)
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.
8 - 7
8. SPECIAL ADJUSTMENT FUNCTIONS
8.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No.
Abbreviation
PG1
Name
Setting
100
Unit
rad/s
rad/s
6
Position control gain 1
Speed control gain 1
36
VG1
1000
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
34
GD2
4
0.1 times
35
37
38
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
61
62
63
64
GD2B
PG2B
VG2B
VICB
100
70
0.1 times
%
%
%
Speed control gain 2 changing
ratio
133
250
Speed integral compensation
changing ratio
0001
(Changed by ON/OFF of
pin CN1A-8)
100
65
67
CDP
CDT
Gain changing selection
Gain changing time constant
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
8 - 8
8. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No.
Abbreviation
PG1
Name
Setting
100
Unit
rad/s
rad/s
6
Position control gain 1
Speed control gain 1
36
VG1
1000
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
34
GD2
40
0.1 times
35
37
38
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
61
62
63
64
65
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)
66
67
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
8 - 9
8. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
8 - 10
9. INSPECTION
9. INSPECTION
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.
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 the servo amplifier 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
emergency stop times : 100,000 times
10,000 to 30,000hours (2 to 3 years)
Refer to section 15.2
Relay
Servo amplifier
Cooling fan
Absolute position battery
(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 emergency stop times is 100,000, which
depends on the power supply capacity.
(c) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the cooling 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.
9 - 1
9. INSPECTION
MEMO
9 - 2
10. TROUBLESHOOTING
10. TROUBLESHOOTING
10.1 Trouble at start-up
Excessive adjustment or change of parameter setting must not be made as it will
CAUTION
make operation instable.
POINT
Using the MR Configurator (servo configuration software), you can refer
to unrotated servo motor reasons, etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
10.1.1 Position control mode
(1) Troubleshooting
No.
Start-up sequence
Fault
Investigation
Possible cause
Reference
1
Power on
LED is not lit.
LED flickers.
Not improved if connectors
1. Power supply voltage fault
CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CNP1 cabling
is shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Power supply of CN3 cabling is
shorted.
Improved when connector
CN3 is disconnected.
Alarm occurs.
Alarm occurs.
Refer to section 10.2 and remove cause.
Refer to section 10.2 and remove cause.
Section 10.2
Section 10.2
2
3
Switch on servo-on
(SON).
Servo motor shaft is 1. Check the display to see if 1. Servo-on (SON) is not input. Section 6.6
not servo-locked
(is free).
the servo amplifier is
ready to operate.
(Wiring mistake)
2. 24VDC power is not
supplied to COM.
2. Check the external I/O
signal indication to see if
the servo-on (SON) is ON.
Enter input
command.
Servo motor does
not rotate.
Check cumulative command 1. Wiring mistake
pulses. (a) For open collector pulse
Section 6.2
(Test operation)
train input, 24VDC
power is not supplied to
OPC.
(b) LSP and LSN are not on.
2. No pulses is input.
1. Mistake in wiring to
controller.
Servo motor run in
reverse direction.
Chapter 5
2. Mistake in setting of
parameter No. 54.
10 - 1
10. TROUBLESHOOTING
No.
Start-up sequence
Fault
Investigation
Possible cause
Reference
4
Gain adjustment
Rotation ripples
Make gain adjustment in the Gain adjustment fault
Chapter 7
(speed fluctuations) following procedure.
are large at low
speed.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
If the servo motor may be
Large load inertia
Gain adjustment fault
Chapter 7
moment causes the run with safety, repeat
servo motor shaft to acceleration and
oscillate side to side. deceleration several times to
complete auto tuning.
5
Cyclic operation
Position shift occurs Confirm the cumulative
Pulse counting error, etc.
(2) in this
section
command pulses, cumulative due to noise.
feedback pulses and actual
servo motor position.
10 - 2
10. TROUBLESHOOTING
(2) How to find the cause of position shift
Positioning unit
(a) Output pulse
Servo amplifier
Electronic gear (parameters No. 3, 4)
Machine
L
counter
Servo motor
M
CMX
Q
P
(d) Machine stop
position M
CDV
(B)
(A)
(b) Cumulative command
pulses
(C) Servo-on (SON),
stroke end
Encoder
C
(LSP/LSN) input
(c) Cumulative
feedback pulses
When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display,
(c) cumulative feedback pulse display, and (d) machine stop position in the above diagram.
(A), (B) and (C) indicate position shift causes. For example, (A) indicates that noise entered the wiring
between positioning unit and servo amplifier, causing pulses to be mis-counted.
In a normal status without position shift, there are the following relationships.
1) Q P (positioning unit's output counter servo amplifier's cumulative command pulses)
CMX(parameter No.3)
P
2)
CMX(parameter No.4)
C (cumulative command pulses electronic gear cumulative feedback pulses)
3) C
M (cumulative feedback pulses travel per pulse machine position)
Check for a position shift in the following sequence.
1) When Q
P
Noise entered the pulse train signal wiring between positioning unit and servo amplifier,
causing pulses to be miss-counted. (Cause A)
Make the following check or take the following measures.
Check how the shielding is done.
Change the open collector system to the differential line driver system.
Run wiring away from the power circuit.
Install a data line filter. (Refer to section 13.2.6 (2) (a))
CMX
CDV
2) When
P
C
During operation, the servo-on (SON) or forward/reverse rotation stroke end was switched off or
the clear (CR) and the reset (RES) switched on. (Cause C)
If a malfunction may occur due to much noise, increase the input filter setting (parameter No. 1).
3) When C
M
Mechanical slip occurred between the servo motor and machine. (Cause B)
10 - 3
10. TROUBLESHOOTING
10.1.2 Speed control mode
No.
Start-up sequence
Fault
Investigation
Possible cause
Reference
1
Power on
LED is not lit.
LED flickers.
Not improved if connectors
1. Power supply voltage fault
CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CN1 cabling is
shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Power supply of CN3 cabling is
shorted.
Improved when connector
CN3 is disconnected.
Alarm occurs.
Alarm occurs.
Refer to section 10.2 and remove cause.
Refer to section 10.2 and remove cause.
Section 10.2
Section 10.2
2
3
Switch on servo-on
(SON).
Servo motor shaft is 1. Check the display to see if 1. Servo-on (SON) is not input. Section 6.6
not servo-locked
(is free).
the servo amplifier is
ready to operate.
(Wiring mistake)
2. 24VDC power is not
supplied to COM.
2. Check the external I/O
signal indication to see if
the servo-on (SON) is ON.
Call the status display and
check the input voltage of
the analog speed command
(VC).
Switch on forward
Servo motor does
Analog speed command is 0V.
LSP, LSN, ST1 or ST2 is off.
Set value is 0.
Section 6.2
Section 6.6
rotation start (ST1) not rotate.
or reverse rotation
start (ST2).
Call the external I/O signal
display and check the
ON/OFF status of the input
signal.
Check the internal speed
commands 1 to 7
Section
5.1.2 (1)
(parameters No. 8 to 10 72
to 75).
Check the internal torque
limit 1 (parameter No. 28).
When the analog torque
Torque limit level is too low as
compared to the load torque.
Torque limit level is too low as
limit (TLA) is usable, check compared to the load torque.
the input voltage on the
status display.
4
Gain adjustment
Rotation ripples
Make gain adjustment in the Gain adjustment fault
Chapter 7
(speed fluctuations) following procedure.
are large at low
speed.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several
times to complete auto
tuning.
Large load inertia
If the servo motor may be
Gain adjustment fault
Chapter 7
moment causes the run with safety, repeat
servo motor shaft to acceleration and
oscillate side to side. deceleration several times to
complete auto tuning.
10 - 4
10. TROUBLESHOOTING
10.1.3 Torque control mode
No.
Start-up sequence
Fault
Investigation
Possible cause
Reference
1
Power on
LED is not lit.
LED flickers.
Not improved if connectors
1. Power supply voltage fault
CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CN1 cabling is
shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Power supply of CN3 cabling is
shorted.
Improved when connector
CN3 is disconnected.
Alarm occurs.
Alarm occurs.
Refer to section 10.2 and remove cause.
Refer to section 10.2 and remove cause.
Section 10.2
Section 10.2
2
3
Switch on servo-on
(SON).
Servo motor shaft is Call the external I/O signal
1. Servo-on (SON) is not input. Section 6.6
(Wiring mistake)
free.
display and check the
ON/OFF status of the input 2. 24VDC power is not
signal.
supplied to COM.
Switch on forward
Servo motor does
Call the status display and
check the analog torque
command (TC).
Analog torque command is 0V. Section 6.2
rotation start (RS1) not rotate.
or reverse rotation
start (RS2).
Call the external I/O signal
display and check the
ON/OFF status of the input
signal.
RS1 or RS2 is off.
Section 6.6
Check the internal speed
limits 1 to 7
Set value is 0.
Section
5.1.2 (1)
(parameters No. 8 to 10 72
to 75).
Check the analog torque
Torque command level is too
command maximum output low as compared to the load
(parameter No. 26) value.
Check the internal torque
limit 1 (parameter No. 28).
torque.
Set value is 0.
10 - 5
10. TROUBLESHOOTING
10.2 When alarm or warning has occurred
POINT
Configure up a circuit which will detect the trouble (ALM) and turn off the
servo-on (SON) at occurrence of an alarm.
10.2.1 Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to section 10.2.2 or 10.2.3 and take the appropriate action. When an alarm
occurs, ALM turns off.
Set "
1" in parameter No. 49 to output the alarm code in ON/OFF status across the corresponding
pin and SG. Warnings (AL.92 to AL.EA) have no alarm codes. Any alarm code is output at occurrence of
the corresponding alarm. In the normal status, the signals available before alarm code setting (CN1B-19:
ZSP, CN1A-18: INP or SA, CN1A-19: RD) are output.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
alarm deactivation column.
in the
(Note 2) Alarm code
Alarm deactivation
Press
"SET" on
current
Alarm
reset
(RES)
Display
Name
CN1B-19
CN1A-18
pin
CN1A-19
Power
OFF ON
pin
pin
alarm
screen.
AL.10
AL.12
AL.13
AL.15
AL.16
AL.17
AL.19
AL.1A
AL.20
AL.24
AL.25
AL.30
AL.31
AL.32
AL.33
AL.35
AL.37
AL.45
AL.46
AL.50
AL.51
AL.52
AL.8A
AL.8E
88888
AL.92
AL.96
AL.9F
AL.E0
AL.E1
AL.E3
AL.E5
AL.E6
AL.E9
AL.EA
0
0
0
0
1
0
0
1
1
1
1
0
1
1
0
1
0
0
0
0
0
1
0
0
0
1
0
0
0
1
0
0
1
1
0
1
0
0
0
0
0
0
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
0
1
1
0
1
1
1
1
1
0
0
0
Undervoltage
Memory error 1
Clock error
Memory error 2
Encoder error 1
Board error
Memory error 3
Motor combination error
Encoder error 2
Main circuit error
Absolute position erase
Regenerative error
Overspeed
Overcurrent
Overvoltage
Command pulse frequency error
Parameter error
Main circuit device overheat
Servo motor overheat
Overload 1
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
Overload 2
Error excessive
Serial communication time-out error
Serial communication error
Watchdog
Open battery cable warning
Home position setting warning
Battery warning
Excessive regenerative warning
Overload warning
Removing the cause of occurrence
deactivates the alarm
automatically.
Absolute position counter warning
ABS time-out warning
Servo emergency stop warning
Main circuit off warning
ABS servo-on warning
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: off
1: on
10 - 6
10. TROUBLESHOOTING
10.2.2 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 (AL.25) occurred, always make home position setting
again. Not doing so may cause unexpected operation.
CAUTION
As soon as an alarm occurs, turn off Servo-on (SON) and power off the main
circuit.
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, the servo amplifier and servo motor may become faulty.
Regenerative error (AL.30)
Overload 1 (AL.50)
Overload 2 (AL.51)
The alarm can be deactivated by switching power off, then on press the
"SET" button on the current alarm screen or by turning on the reset
(RES). For details, refer to section 10.2.1.
When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the
servo motor. 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.
Display
Name
Definition
Cause
Action
AL.10
Undervoltage Power supply
voltage dropped.
MR-J2S- A:
1. Power supply voltage is low.
2. There was an instantaneous
control power failure of 60ms or
longer.
Check the power supply.
160VAC or less
MR-J2S- A1:
83VAC or less
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. The bus voltage dropped to
200VDC.
5. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.10) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
AL.12
AL.13
Memory error 1 RAM, memory fault Faulty parts in the servo amplifier
Change the servo amplifier.
Clock error
Printed board fault
Checking method
Alarm (any of AL.12 and AL.13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
10 - 7
10. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
AL.15
Memory error 2 EEP-ROM fault
1. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.15) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
2. The number of write times to EEP-
ROM exceeded 100,000.
AL.16
AL.17
Encoder error 1 Communication
error occurred
1. Encoder connector (CN2)
disconnected.
2. Encoder fault
3. Encoder cable faulty
(Wire breakage or shorted)
1. Faulty parts in the servo amplifier. Change the servo amplifier.
Connect correctly.
between encoder
and servo amplifier.
Change the servo motor.
Repair or change the cable.
Board error
CPU/parts fault
Checking method
Alarm (AL.17) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
The output
2. The wiring of U, V, W is
Correctly connect the output terminals U,
terminals U, V, W of
the servo amplifier
and the input
disconnected or not connected.
V, W of the servo amplifier and the input
terminals U, V, W of the servo motor.
terminals U, V, W of
the servo motor are
not connected.
AL.19
Memory error 3 ROM memory fault Faulty parts in the servo amplifier. Change the servo amplifier.
Checking method
Alarm (AL.19) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
AL.1A
AL.20
Motor
combination
error
Encoder error 2 Communication
error occurred
Wrong combination Wrong combination of servo amplifier Use correct combination.
of servo amplifier
and servo motor.
and servo motor connected.
1. Encoder connector (CN2)
disconnected.
Connect correctly.
between encoder
and servo amplifier.
2. Encoder cable faulty
(Wire breakage or shorted)
3. Encoder fault
4. Excessive acceleration is occurred
due to oscillation and others.
Repair or change the cable.
Change the servo motor.
1. Decrease the speed control gain 2.
2. Decrease the auto tuning response
level.
Encoder detected
acceleration error.
AL.24
Main circuit
error
Ground fault
1. Power input wires and servo motor Connect correctly.
output wires are in contact at
main circuit terminal block (TE1).
occurred at the
servo motor outputs
(U,V and W phases)
of the servo
2. Sheathes of servo motor power
cables deteriorated, resulting in
ground fault.
Change the cable.
amplifier.
3. Main circuit of servo amplifier
failed.
Change the servo amplifier.
Checking method
AL.24 occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.
10 - 8
10. TROUBLESHOOTING
Display
Name
Absolute
position erase
Definition
Cause
Action
AL.25
Absolute position
data in error
1. Reduced voltage of super capacitor After leaving the alarm occurring for a few
in encoder
minutes, switch power off, then on again.
Always make home position setting again.
Change the battery.
2. Battery voltage low
Always make home position setting again.
3. Battery cable or battery is faulty.
Power was switched 4. Super capacitor of the absolute
After leaving the alarm occurring for a few
minutes, switch power off, then on again.
Always make home position setting again.
on for the first time
in the absolute
position detection
system.
position encoder is not charged
AL.30
Regenerative
error
Permissible
1. Wrong setting of parameter No. 0 Set correctly.
regenerative power
of the built-in
regenerative
2. Built-in regenerative resistor or
regenerative option is not
connected.
Connect correctly
resistor or
regenerative option
is exceeded.
3. High-duty operation or continuous 1. Reduce the frequency of positioning.
regenerative operation caused the 2. Use the regenerative option of larger
permissible regenerative power of
the regenerative option to be
exceeded.
capacity.
3. Reduce the load.
Checking method
Call the status display and check
the regenerative load ratio.
4. Power supply voltage is abnormal. Check the power supply
MR-J2S- A:260VAC or more
MR-J2S- A1:135VAC or more
5. Built-in regenerative resistor or
regenerative option faulty.
Change the servo amplifier or
regenerative option.
Regenerative
6. Regenerative transistor faulty.
Change the servo amplifier.
transistor fault
Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.
AL.31
Overspeed
Speed has exceeded 1. Input command pulse frequency
Set command pulses correctly.
the instantaneous
permissible speed.
exceeded the permissible
instantaneous speed frequency.
2. Small acceleration/deceleration
Increase acceleration/deceleration time
time constant caused overshoot to constant.
be large.
3. Servo system is instable to cause 1. Re-set servo gain to proper value.
overshoot.
2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large
(parameters No. 3, 4)
Set correctly.
5. Encoder faulty.
Change the servo motor.
10 - 9
10. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
Current that flew is
higher than the
permissible current
of the servo
AL.32
Overcurrent
1. Short occurred in servo amplifier Correct the wiring.
output phases U, V and W.
2. Transistor (IPM) of the servo
amplifier faulty.
Change the servo amplifier.
amplifier. (When
the alarm (AL.32)
occurs, switch the
power OFF and
then ON to reset the
alarm. Then, turn
on the servo-on.
When the alarm
(AL.32) still occurs
at the time, the
transistor (IPM
IGBT) of the servo
amplifier may be at
fault. Do not switch
the power OFF/ON
repeatedly; check
the transistor
Checking method
Alarm (AL.32) occurs if power is
switched on after U,V and W
are disconnected.
3. Ground fault occurred in servo
amplifier output phases U, V and
W.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Correct the wiring.
Take noise suppression measures.
according to the
cause 2 checking
method.)
Current higher than 5. Improper wiring of the
Wire the regenerative option correctly.
Use the regenerative option.
the permissible
current flew in the
regenerative
regenerative option.
transistor.
(MR-J2S-500A only)
Converter bus
voltage exceeded
400VDC.
AL.33
Overvoltage
1. Regenerative option is not used.
2. Though the regenerative option is Make correct setting.
used, the parameter No. 0 setting
is “ 00
(not used)”.
3. Lead of built-in regenerative
resistor or regenerative option is
open or disconnected.
1. Change the lead.
2. Connect correctly.
4. Regenerative transistor faulty.
5. Wire breakage of built-in
regenerative resistor or
Change the servo amplifier
1. For wire breakage of built-in
regenerative resistor, change the servo
regenerative option
amplifier.
2. For wire breakage of regenerative
option, change the regenerative option.
Add regenerative option or increase
6. Capacity of built-in regenerative
resistor or regenerative option is capacity.
insufficient.
7. Power supply voltage high.
8. Ground fault occurred in servo
amplifier output phases U, V and
W.
Check the power supply.
Correct the wiring.
9. The jumper across BUE-SD of the Fit the jumper across BUE-SD.
FR-BU2 brake unit is removed.
AL.35
Command
pulse frequency frequency of the
Input pulse
1. Pulse frequency of the command
pulse is too high.
Change the command pulse frequency to a
proper value.
error
command pulse is
too high.
2. Noise entered command pulses.
3. Command device failure
Take action against noise.
Change the command device.
10 - 10
10. TROUBLESHOOTING
Display
Name
Definition
Parameter setting is 1. Servo amplifier fault caused the
wrong. parameter setting to be rewritten.
Cause
Action
AL.37
Parameter
error
Change the servo amplifier.
2. Regenerative option not used with Set parameter No.0 correctly.
servo amplifier was selected in
parameter No.0.
3. The number of write times to EEP- Change the servo amplifier.
ROM exceeded 100,000 due to
parameter write, etc.
4.The alarm code output (parameter The absolute position detection system
No. 49) was set by the absolute
position detection system.
and the alarm code output function are
exclusive. Set as either one of the two is
used.
5.The alarm code output (parameter The signal assignment function of the
No.49) was set with the
electromagnetic brake interlock
(MBR) assigned to pin CN1B-19.
electromagnetic interlock (MBR) to pin
CN1B-19 and the alarm code output
function are exclusive. Set as either one of
the two is used.
AL.45
AL.46
Main circuit
device overheat overheat
Main circuit device 1. Servo amplifier faulty.
Change the servo amplifier.
The drive method is reviewed.
2. The power supply was turned on
and off continuously by overloaded
status.
3. Air cooling fan of servo amplifier
stops.
1. Exchange the cooling fan or the servo
amplifier.
2. Reduce ambient temperature.
Review environment so that ambient
Servo motor
overheat
Servo motor
temperature rise
actuated the
1. Ambient temperature of servo
motor is over 40 (104 ).
2. Servo motor is overloaded.
temperature is 0 to 40 (32
1. Reduce load.
104 ).
to
thermal sensor.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is
faulty.
Change the servo motor.
AL.50
Overload 1
Load exceeded
1. Servo amplifier 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 the auto tuning response
setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Servo amplifier’s output terminals
U, V, W do not match servo
motor’s input terminals 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.
10 - 11
10. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
AL.51
Overload 2
Machine collision or 1. Machine struck something.
the like caused max.
1. Review operation pattern.
2. Install limit switches.
For the time of the
alarm occurrence,
refer to the section
12.1.
2. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
3. Servo system is instable and
hunting.
1. Repeat acceleration/deceleration to
execute auto tuning.
2. Change auto tuning response 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.
AL.52
Error excessive The difference
1. Acceleration/deceleration time
constant is too small.
2. Torque limit value (parameter
No.28) is too small.
Increase the acceleration/deceleration
time constant.
Increase the torque limit value.
(Note)
between the model
position and the
actual servo motor
position exceeds 2.5
rotations.
3. Motor cannot be started due to
1. Review the power supply capacity.
torque shortage caused by power 2. Use servo motor which provides larger
supply voltage drop. output.
4. Position control gain 1 (parameter Increase set value and adjust to ensure
No.6) value is small. proper operation.
5. Servo motor shaft was rotated by 1. When torque is limited, increase the
(Refer to the
function block
diagram in section
1.2)
external force.
limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something.
7. Encoder faulty
1. Review operation pattern.
2. Install limit switches.
Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
AL.8A
AL.8E
Serial
RS-232C or RS-422 1. Communication cable breakage.
Repair or change the communication cable
communication communication
time-out error stopped for longer
than the time set in
2. Communication cycle longer than Set correct value in parameter.
parameter No. 56 setting.
3. Wrong protocol.
Correct protocol.
parameter No.56.
Serial
Serial
1. Communication cable fault
(Open cable or short circuit)
Repair or change the cable.
communication communication
error
error occurred
between servo
amplifier and
2. Communication device (e.g.
personal computer) faulty
Change the communication device (e.g.
personal computer).
communication
device (e.g. personal
computer).
88888 Watchdog
CPU, parts faulty
Fault of parts in servo amplifier
Change the servo amplifier.
Checking method
Alarm (88888) occurs if power
is switched on after disconnection
of all cables but the control circuit
power supply cable.
Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B0 or later is used.
For the servo amplifier of software version older than B0, an error excessive alarm occurs when the deviation (deviation counter
value) between the instructed position and the actual servo motor position exceeds 10 revolutions.
10 - 12
10. TROUBLESHOOTING
10.2.3 Remedies for warnings
If an absolute position counter warning (AL.E3) occurred, always make home
CAUTION
position setting again. Not doing so may cause unexpected operation.
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 (AL.E0)
Overload warning 1 (AL.E1)
If Servo emergency stop warning (AL.E6) or ABS servo-on warning (AL.EA) 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. Use the optional MR Configurator (servo configuration software)
to refer to the cause of warning.
Display
Name
Definition
Cause
Action
AL.92 Open battery
cable warning
Absolute position
detection system battery
voltage is low.
1. Battery cable is open.
Repair cable or changed.
2. Battery voltage supplied from the servo Change the battery.
amplifier to the encoder fell to about 3.2V
or less. (Detected with the encoder)
AL.96 Home position
Home position setting
1. Droop pulses remaining are greater
than the in-position range setting.
Remove the cause of droop pulse
occurrence
setting warning could not be made.
2. Command pulse entered after clearing Do not enter command pulse
of droop pulses.
after clearing of droop pulses.
Reduce creep speed.
3. Creep speed high.
AL.9F Battery warning Voltage of battery for
absolute position
Battery voltage fell to 3.2V or less.
(Detected with the servo amplifier)
Change the battery.
detection system reduced.
AL.E0 Excessive
regenerative
warning
There is a possibility that Regenerative power increased to 85% or
regenerative power may more of permissible regenerative power of
1. Reduce frequency of
positioning.
exceed permissible
regenerative power of
built-in regenerative
resistor or regenerative
option.
built-in regenerative resistor or
regenerative option.
2. Change regenerative option
for the one with larger
capacity.
Checking method
Call the status display and check
regenerative load ratio.
3. Reduce load.
AL.E1 Overload
warning
There is a possibility that Load increased to 85% or more of overload Refer to AL.50, AL.51.
overload alarm 1 or 2
may occur.
alarm 1 or 2 occurrence level.
Cause, checking method
Refer to AL.50,51.
AL.E3 Absolute position Absolute position encoder 1. Noise entered the encoder.
counter warning pulses faulty.
Take noise suppression
measures.
2. Encoder faulty.
Change the servo motor.
The multi-revolution
counter value of the
absolute position encoder
exceeded the maximum
revolution range.
3. The movement amount from the home Make home position setting
position exceeded a 32767 rotation or
37268 rotation in succession.
again.
10 - 13
10. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
AL.E5 ABS time-out
warning
1. PLC ladder program wrong.
Contact the program.
2. Reverse rotation start (ST2) Limiting Connect properly.
torque (TLC) improper wiring
AL.E6 Servo emergency EMG is off.
stop warning
External emergency stop was made valid. Ensure safety and deactivate
(EMG was turned off.)
emergency stop.
AL.E9 Main circuit off Servo-on (SON) was
Switch on main circuit power.
warning
switched on with main
circuit power off.
AL.EA ABS
Servo-on (SON) turned on 1. PLC ladder program wrong.
1. Correct the program.
2. Connect properly.
servo-on warning more than 1s after servo
amplifier had entered
2. Servo-on (SON) improper wiring.
absolute position data
transfer mode.
10 - 14
11. OUTLINE DIMENSION DRAWINGS
11. OUTLINE DIMENSION DRAWINGS
11.1 Servo amplifiers
(1) MR-J2S-10A to MR-J2S-60A
MR-J2S-10A1 to MR-J2S-40A1
[Unit: mm]
([Unit: in])
A
Approx.70 (2.76)
135 (5.32)
6 ( 0.24) mounting hole
Terminal layout
(Terminal cover open)
MITSUBISHI
B
MITSUBISHI
OPEN
OPEN
C
N
1
C
N
1
C
N
1
C
N
1
A
B
A
B
Rating plate
C
N
2
E
N
C
C
N
3
C
N
2
E
N
C
C
N
3
TE1
L1 L2 L3
(Note)
U
V
W
TE2
PE terminal
6
(0.24)
4(0.16)
Variable dimensions
Mass
Servo amplifier
[kg]([lb])
A
B
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
50 (1.97)
70 (2.76)
6 (0.24)
0.7 (1.54)
1.1 (2.43)
22 (0.87)
Note. This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models.
Terminal signal layout
TE1
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
For 3-phase 200 to 230VAC and 1-phase 230VAC
For 1-phase 100 to 120VAC
L1
U
L2
V
L3
W
L1
U
L2
W
V
(28.676 [lb in])
Terminal screw: M4
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
PE terminals
Front
D
C
P
L21 L11
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
11 - 1
11. OUTLINE DIMENSION DRAWINGS
(2) MR-J2S-70A MR-J2S-100A
[Unit: mm]
([Unit: in])
6 ( 0.24)
70(2.76)
mounting hole
Approx.70(2.76)
190(7.48)
22
Terminal layout
(Terminal cover open)
MITSUBISHI
(0.87)
MITSUBISHI
OPEN
OPEN
C
N
1
C
N
1
C
N
1
C
N
1
A
B
A
B
Rating plate
C
N
2
C
N
3
C
N
2
C
N
3
E
N
C
E
N
C
L1 L2 L3
U
V
W
PE terminal
TE2
TE1
6(0.24)
42
6(0.24)
22
(0.87) (1.65)
6(0.24)
Mass
Servo amplifier
[kg]([lb])
MR-J2S-70A
MR-J2S-100A
1.7
(3.75)
Terminal signal layout
TE1
L1
Mounting Screw
Screw Size:M5
Tightening torque:3.24[N m](28.676 [lb in])
L2
V
L3
W
U
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
Front
D
C
P
L21 L11
N
PE terminals
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
11 - 2
11. OUTLINE DIMENSION DRAWINGS
(3) MR-J2S-200A MR-J2S-350A
[Unit: mm]
([Unit: in])
Approx.70
(2.76)
195(7.68)
6 ( 0.24)
mounting hole
90(3.54)
78(3.07)
6
(0.24)
Terminal layout
MITSUBISHI
MITSUBISHI
TE2
TE1
PE terminal
Cooling fan wind direction
Mass
Servo amplifier
[kg]([lb])
MR-J2S-200A
MR-J2S-350A
2.0
(4.41)
Terminal signal layout
PE terminals
TE1
L1
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
L2
L3
U
V
W
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
(28.676 [lb in])
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
L11 L21
D
P
C
N
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
11 - 3
11. OUTLINE DIMENSION DRAWINGS
(4) MR-J2S-500A
2- 6 ( 0.24)
mounting hole
[Unit: mm]
([Unit: in])
Approx.
70
(2.76)
(0.24)
6
(0.24)
6
130(5.12)
118(4.65)
200(7.87)
(0.19) 5
Terminal layout
MITSUBISHI
OPEN
MITSUBISHI
OPEN
OPEN
TE1
C
N
1
C
N
1
C
N
1
C
N
1
A
B
A
B
C
N
2
C
N
3
C
N
2
C
N
3
TE2
N.P.
N.P.
6(0.24)
Cooling fan
Cooling fan
Cooling fan wind direction
Mass
Servo amplifier
MR-J2S-500A
[kg]([lb])
4.9(10.8)
Terminal signal layout
PE terminals
Mounting Screw
TE1
Screw Size:M5
Tightening torque:
3.24[N m]
Built-in regenerative resistor
lead terminal fixing screw
Terminal screw : M4
L1
L2
L3
C
Tightening torque : 1.2 [N m](10.6[lb in])
(28.676 [lb in])
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
TE2
Terminal screw : M3.5
Tightening torque : 0.8 [N m](7[lb in])
L11
L21
11 - 4
11. OUTLINE DIMENSION DRAWINGS
(5) MR-J2S-700A
2- 6 ( 0.24)
mounting hole
[Unit: mm]
([Unit: in])
200(7.87)
138(5.43)
Approx.70
10
180(7.09)
160(6.23)
(0.39)
10
62
(2.76)
6(0.24)
(2.44)
(0.39)
Terminal layout
MITSUBISHI
MITSUBISHI
OPEN
OPEN
C
N
1
C
N
1
C
N
1
C
N
1
A
B
A
B
C
N
3
C
N
3
C
N
2
C
N
2
TE2
OPEN
Cooling fan
TE1
6 (0.24)
Cooling fan
Cooling fan wind direction
Mass
Servo amplifier
MR-J2S-700A
[kg]([lb])
7.2(15.9)
Terminal signal layout
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
TE1
PE terminals
L1
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
L2 L3
C
P
N
U
V
W
Built-in regenerative
resistor lead terminal
fixing screw
(28.676 [lb in])
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
TE2
Terminal screw : M3.5
Tightening torque : 0.8 [N m](7[lb in])
L11
L21
11 - 5
11. OUTLINE DIMENSION DRAWINGS
(6) MR-J2S-11KA 15KA
[Unit: mm]
([Unit: in])
Cooling fan wind direction
Approx.
75
2- 12 ( 0.47)
mounting hole
(2.95)
MITSUBISHI
CN4
Cooling fan
Cooling fan
C
N
3
C
N
1
A
C
N
1
B
TE2
CHARGE
CON2
CN2
TE1
12(0.47)
(0.47)12
236(9.29)
260(10.24)
12(0.47)
Mass
Servo amplifier
[kg]([lb])
15(33.1)
16(35.3)
MR-J2S-11KA
MR-J2S-15KA
Terminal signal layout
Mounting Screw
TE1
PE terminal
Screw Size:M10
Tightening torque:
26.5[N m]
L1
Terminal screw : M6
Tightening torque : 3.0[N m] (26.6[lb in])
L2
L3
U
V
W
P1
P
C
N
(234.545[lb in])
Terminal screw : M6
Tightening torque : 6.0[N m] (53.1[lb in])
TE2
L11
L21
Terminal screw : M4
Tightening torque : 1.2[N m] (10.6[lb in])
11 - 6
11. OUTLINE DIMENSION DRAWINGS
(7) MR-J2S-22KA
[Unit: mm]
([Unit: in])
Cooling fan wind direction
Approx.
75
(2.95)
2- 12 ( 0.47)
mounting hole
MITSUBISHI
CN4
Cooling fan
C
N
3
Cooling fan
C
N
1
A
C
N
1
B
TE2
CN2 CHARGE
CON2
TE1
12(0.47)
(0.47)12
326(12.84)
350(13.78)
12(0.47)
Mass
[kg]([lb])
20(44.1)
Servo amplifier
MR-J2S-22KA
Terminal signal layout
Mounting Screw
TE1
PE terminal
Screw Size:M10
Tighting torque:
26.5[N m]
L1
L2
L3
U
V
W
P1
P
C
N
Terminal screw : M8
Tightening torque : 6.0[N m] (53.1[lb in])
(234.545[lb in])
Terminal screw : M8
Tightening torque : 6.0[N m] (53.1[lb in])
TE2
L11
L21
Terminal screw : M4
Tightening torque : 1.2[N m] (10.6[lb in])
11 - 7
11. OUTLINE DIMENSION DRAWINGS
11.2 Connectors
(1) Servo amplifier side
<3M>
(a) Soldered type
Model
Connector
Shell kit
[Unit: mm]
([Unit: in])
: 10120-3000PE
: 10320-52F0-008
12.0(0.47)
14.0
22.0 (0.87)
(0.55)
Logo, etc. are indicated here.
33.3 (1.31)
12.7(0.50)
(b) Threaded type
Model
Connector
Shell kit
Note. This is not available as option
and should be user-prepared.
: 10120-3000PE
: 10320-52A0-008
[Unit: mm]
([Unit: in])
12.0(0.47)
22.0(0.87)
14.0
27.4
(0.55)
(1.08)
Logo, etc. are indicated here.
33.3
(1.31)
12.7
(0.50)
11 - 8
11. OUTLINE DIMENSION DRAWINGS
(c) Insulation displacement type
Model
Connector
Shell kit
: 10120-6000EL
: 10320-3210-000
[Unit: mm]
0.26)
([Unit: in])
(
6.7
2- 0.5 20.9(0.82)
(0.02)
Logo, etc. are indicated here.
29.7
(1.17)
(2) Communication cable connector
<Japan Aviation Electronics Industry >
[Unit: mm]
([Unit: in])
B
A
Fitting fixing screwG
F
E(max. diameter of cable used)
C
D
A
B
C
D
F
Type
E
G
1
1
0.25
1
Reference
DE-C1-J6-S6
34.5(1.36)
19(0.75)
24.99(0.98)
33(1.30)
6(0.24)
18(0.71)
#4-40
11 - 9
11. OUTLINE DIMENSION DRAWINGS
MEMO
11 - 10
12. CHARACTERISTICS
12. CHARACTERISTICS
12.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier
from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic
thermal relay protection curve shown in any of Figs 12.1. Overload 2 alarm (AL.51) occurs if the
maximum current flew 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.
1000
100
10
1000
100
During rotation
During rotation
During stop
10
1
During stop
1
0.1
0
0.1
0
50
100
150
200
250
300
50
150
200
250
300
100
(Note) Load ratio [%]
(Note) Load ratio [%]
b. MR-J2S-200A to MR-J2S-350A
a. MR-J2S-10A to MR-J2S-100A
10000
1000
10000
1000
During rotation
During rotation
During servo lock
100
100
During servo lock
10
1
10
1
0
50
100
150
200
250
300
0
100
200
300
(Note) Load ratio [%]
(Note) Load ratio [%]
c. MR-J2S-500A MR-J2S-700A
d. MR-J2S-11KA to MR-J2S-22KA
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 12.1 Electronic thermal relay protection characteristics
12 - 1
12. CHARACTERISTICS
12.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the servo amplifier
Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosure, use the values in Table 12.1 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 the servo amplifier's generated heat will not change.
Table 12.1 Power supply capacity and generated heat per servo amplifier at rated output
(Note 2)
(Note 1)
Area required for heat dissipation
Servo amplifier-generated heat[W]
Servo amplifier
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
Servo motor
Power supply
capacity[kVA]
At rated torque
With servo off
[m2]
0.5
0.5
0.5
0.5
0.5
0.5
0.7
0.7
0.7
0.8
0.8
0.8
1.0
1.0
1.0
1.0
1.0
1.0
1.8
1.8
1.8
1.8
1.0
1.8
1.8
1.8
2.7
2.7
1.8
1.8
1.8
[ft2]
5.4
HC-KFS053 13
HC-MFS053 13
HC-UFS13
0.3
0.3
0.3
0.5
0.5
0.5
0.9
0.9
0.9
1.0
1.0
1.0
1.3
1.3
1.3
1.5
1.7
1.7
2.1
3.5
2.5
3.5
1.8
2.5
2.5
2.5
4.8
5.5
3.5
3.5
3.5
25
25
25
25
25
25
35
35
35
40
40
40
50
50
50
50
50
50
90
90
90
90
50
90
90
90
120
130
90
90
90
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
20
20
20
20
15
20
20
20
20
20
20
20
20
5.4
5.4
HC-KFS23
5.4
HC-MFS23
5.4
HC-UFS23
5.4
HC-KFS43
7.5
HC-MFS43
7.5
HC-UFS43
7.5
HC-SFS52
8.6
HC-SFS53
8.6
HC-LFS52
8.6
HC-KFS73
10.8
10.8
10.8
10.8
10.8
10.8
19.4
19.4
19.4
19.4
10.8
19.4
19.4
19.4
29.1
29.1
19.4
19.4
19.4
MR-J2S-70A
HC-MFS73
HC-UFS72 73
HC-SFS81
MR-J2S-100A
HC-SFS102 103
HC-LFS102
HC-SFS121
HC-SFS201
HC-SFS152 153
HC-SFS202 203
HC-RFS103
HC-RFS153
HC-UFS152
HC-LFS152
HC-SFS301
HC-SFS352 353
HC-RFS203
HC-UFS202
HC-LFS202
MR-J2S-200A
MR-J2S-350A
12 - 2
12. CHARACTERISTICS
(Note 2)
(Note 1)
Area required for heat dissipation
Servo amplifier-generated heat[W]
Servo amplifier
Servo motor
Power supply
capacity[kVA]
At rated torque
195
With servo off
[m2]
3.9
2.7
3.9
3.9
3.9
2.4
3.9
6.0
6.0
11
[ft2]
HC-SFS502
7.5
5.5
25
25
25
25
25
25
25
25
25
45
45
45
45
45
45
45
55
55
55
55
42.0
HC-RFS353
HC-RFS503
HC-UFS352
HC-UFS502
HC-LFS302
135
29.1
7.5
195
42.0
MR-J2S-500A
5.5
195
42.0
7.5
195
42.0
4.5
120
25.8
HA-LFS502
7.5
195
42.0
HC-SFS702
10.0
10.6
16.0
12.0
18.0
16.0
22.0
22.0
22.0
33.0
30.1
37.6
33.0
300
64.6
MR-J2S-700A
MR-J2S-11KA
HA-LFS702
300
64.6
HA-LFS11K2
HA-LFS801
530
118.4
83.9
390
7.8
11.6
11.0
13
HA-LFS12K1
HA-LFS11K1M
HA-LFS15K2
HA-LFS15K1
HA-LFS15K1M
HA-LFS22K2
HA-LFS20K1
HA-LFS25K1
HA-LFS22K1M
580
124.8
118.4
139.0
139.0
139.0
183.0
166.8
208.8
193.0
530
640
MR-J2S-15KA
MR-J2S-22KA
640
13
640
13
850
17
775
15.5
19.4
17.0
970
850
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power
factor improving reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 13.1.1.
12 - 3
12. CHARACTERISTICS
(2) Heat dissipation area for enclosed servo amplifier
The enclosed control box (hereafter called the control box) which will contain the servo amplifier
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 12.1:
)
P
............................................................................................................................................. (12.1)
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 12.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 12.1 for heat generated by the servo amplifier. "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 cooling fan should be considered.
Table 12.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is
operated at the ambient temperature of 40 (104 ) under rated load.
(Outside)
(Inside)
Air flow
Fig. 12.2 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.
12 - 4
12. CHARACTERISTICS
12.3 Dynamic brake characteristics
12.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 12.6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use Equation 12.2 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 (2) in this
section.)
ON
Emergency stop(EMG)
OFF
Time constant
V0
Machine speed
Time
te
Fig. 12.3 Dynamic brake operation diagram
JL
JM
V0
60
Lmax
te
....................................................................................................................... (12.2)
1
Lmax
Vo
: Maximum coasting distance .................................................................................................[mm][in]
: Machine rapid feed rate........................................................................................ [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]
For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo,
there is delay time of about 100ms caused by a delay of the external relay and a delay of the
magnetic contactor built in the external dynamic brake.
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for the equations (12.2).
20
18
16
16
14
12
23
14
12
23
10
8
73
10
8
73
053
6
6
4
2
0
053
43
4
2
0
43
13
13
0
500 1000 1500 2000 2500 3000
Speed[r/min]
0
500 1000 1500 2000 2500 3000
Speed [r/min]
HC-KFS series
HC-MFS series
12 - 5
12. CHARACTERISTICS
40
35
30
45
40
35
121
201
702
30
25
20
15
352
202
25
20
301
52
502
15
10
10
5
152
81
102
5
0
0
0
50
500
1000
0
500
1000 1500 2000
Speed [r/min]
Speed [r/min]
HC-SFS1000r/min series
HC-SFS2000r/min series
120
18
16
100
80
203
53
14
12
10
60
40
103
503
8
6
153
353
153
103
4
2
0
20
0
353
203
0
50 500 1000 1500 2000 2500 3000
Speed [r/min]
0
500 1000 1500 2000 2500 3000
Speed [r/min]
HC-SFS3000r/min series
HC-RFS series
70
60
50
40
30
20
73
100
90
80
72
502
70
60
352
43
50
23
13
40
30
10
0
20
202
152
10
0
0
50 500 10001500200025003000
Speed [r/min]
0
500
1000 1500 2000
Speed [r/min]
HC-UFS 2000r/min series
HC-UFS3000r/min series
40
35
40
35
30
30
25
25
15K2
302
20
15
20
15
11K2
10
10
5
5
22K2
0
0
0
500
1000 1500 2000
Speed [r/min]
0
500
1000 1500 2000
Speed [r/min]
HA-LFS series
HC-LFS series
12 - 6
12. CHARACTERISTICS
12.3.2 The dynamic brake at the load inertia moment
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.
Servo amplifier
Load inertia moment ratio [times]
MR-J2S-10A to MR-J2S-200A
MR-J2S-10A1 to MR-J2S-40A1
MR-J2S-350A
30
16
15
MR-J2S-500A MR-J2S-700A
MR-J2S-11KA to MR-J2S-22KA
(Note) 30
Note. The value assumes that the external dynamic brake is used.
12.4 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
MR-JHSCBL M-H
MR-ENCBL M-H
1
5
106
105
b : Standard encoder cable
MR-JCCBL M-L
MR-JHSCBL M-L
1
5
105
104
1
5
104
103
b
1
103
4
7
10
20
40
70 100
200
Flexing radius [mm]
12 - 7
12. CHARACTERISTICS
12.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference value) that will flow when the maximum
permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of
1m.
Inrush Currents (A0-p
)
Servo Amplifier
Main circuit power supply (L1, L2, L3)
30A (Attenuated to approx. 5A in 10ms)
30A (Attenuated to approx. 5A in 10ms)
54A (Attenuated to approx. 12A in 10ms)
Control circuit power supply (L11, L21)
MR-J2S-10A 20A
MR-J2S-40A 60A
MR-J2S-70A 100A
70 to 100A
(Attenuated to approx. 0A in 0.5 to 1ms)
100 to 130A
MR-J2S-200A 350A
120A (Attenuated to approx. 12A in 20ms)
(Attenuated to approx. 0A in 0.5 to 1ms)
MR-J2S-500A
MR-J2S-700A
44A (Attenuated to approx. 20A in 20ms)
88A (Attenuated to approx. 20A in 20ms)
30A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
MR-J2S-10A1 20A1
MR-J2S-40A1
(Attenuated to approx. 0A in several ms)
235A (Attenuated to approx. 20A in 20ms)
59A (Attenuated to approx. 5A in 4ms)
72A (Attenuated to approx. 5A in 4ms)
100 to 130A
(Attenuated to approx. 0A in 0.5 to 1ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic
contactors. (Refer to section 13.2.2)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped
by an inrush current.
12 - 8
13. OPTIONS AND AUXILIARY EQUIPMENT
13. OPTIONS AND AUXILIARY EQUIPMENT
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo
amplifier whether the charge lamp is off or not.
WARNING
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
CAUTION
13.1 Options
13.1.1 Regenerative options
The specified combinations of regenerative options and servo amplifiers may only
be used. Otherwise, a fire may occur.
CAUTION
(1) Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power[W]
(Note)
(Note)
MR-RB51
[6.7 ]
Servo amplifier
Built-in regenerative MR-RB032 MR-RB12
MR-RB32
[40 ]
MR-RB30
[13 ]
MR-RB31
[6.7 ]
MR-RB50
[13 ]
resistor
[40 ]
[40 ]
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
30
30
30
30
30
30
10
10
10
20
20
100
100
130
170
100
100
100
100
100
MR-J2S-70A
300
300
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A
300
300
300
500
500
500
300
500
Note. Always install a cooling fan.
(Note) Regenerative power[W]
Servo amplifier
External regenerative
resistor (Accessory)
MR-RB65
MR-RB66
[5 ]
MR-RB67
[8 ]
[4 ]
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
500 (800)
850 (1300)
850 (1300)
500 (800)
850 (1300)
850 (1300)
Note. Values in parentheses assume the installation of a cooling fan.
13 - 1
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
(a) Simple selection method
In horizontal motion applications, select the regenerative option as described below.
When the servo motor is run without load in the regenerative mode from the running speed to a
stop, the permissible duty is as indicated in section 5.1 of the separately available Servo Motor
Instruction Manual.
For the servo motor with a load, the permissible duty changes according to the inertia moment of
the load and can be calculated by the following formula.
Permissible duty for servo motor with no load (value indication Section 5.1 in Servo Motor Instruction Manual)
Permissible
duty
(m 1)
2
ratedspeed
running speed
[times/min]
where m
load inertia moment/servo motor inertia moment
From the permissible duty, find whether the regenerative option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative option out of the combinations in (1) in this section.
(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 option.
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
tf(1 cycle)
No
Up
Time
Down
M
t1
Tpsa1
t2
t3
t4
Tpsd1
Tpsa2
Tpsd2
Friction
torque
1)
( )
(Driving)
2)
TF
4)
8)
5)
TU
6)
3)
7)
(Regenerative)
( )
Formulas for calculating torque and energy in operation
Torque applied to servo motor [N m]
Regenerative power
Energy [J]
(JL JM)
1
0.1047
2
N0
104
E1
T1
TU
TF
N0 T1 Tpsa1
1)
2)
Tpsa1
9.55
T2 TU TF
E2 0.1047 N0 T2 t1
(JL JM)
1
0.1047
N0
9.55 104
E3
T3
TU TF
TU TF
TU TF
N0 T3 Tpsd1
3)
2
Tpsd1
4), 8)
5)
T4 TU
E4 0 (No regeneration)
0.1047
(JL JM)
1
N0
E5
N0
T5
T5 Tpsa2
104
2
Tpsa2
9.55
6)
T6
T7
TU TF
(JL JM)
N0
9.55 104
E6 0.1047 N0 T6 t3
0.1047
1
E7
N0
T7 Tpsd2
7)
2
Tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
13 - 2
13. OPTIONS AND AUXILIARY EQUIPMENT
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier
MR-J2S-10A
MR-J2S-10A1
MR-J2S-20A
MR-J2S-20A1
MR-J2S-40A
MR-J2S-40A1
MR-J2S-60A
MR-J2S-70A
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
Inverse efficiency[%]
Capacitor charging[J]
55
55
70
70
85
85
85
80
80
85
85
90
90
90
90
90
9
4
9
4
11
12
11
18
18
40
40
45
70
120
170
250
Inverse efficiency ( )
:Efficiency including some efficiencies of the servo motor and servo
amplifier when rated (regenerative) torque is generated at rated speed.
Since the efficiency varies with the speed and generated torque, allow for
about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J]
Es Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.
PR [W] ER/tf
(3) Connection of the regenerative option
Set parameter No.2 according to the option to be used.
The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2 , GRZG400-1
and GRZG400-0.8 , respectively. When using any of these regenerative options, make the same
parameter setting as when using the GRZG400-2 , GRZG400-1 or GRZG400-0.8 (supplied
regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Parameter No.0
Selection of regenerative
00: Regenerative option or regenerative option is not used with 7kW or
less servo amplifier
Supplied regenerative resistors or regenerative option is used with
11kW or more servo amplifier
01: FR-RC, FR-BU2, FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0E: When regenerative resistors supplied to 11kW or more are cooled by
cooling fans to increase capability
13 - 3
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Connection of the regenerative option
POINT
When the MR-RB50 MR-RB51 is used, a cooling fan is required to cool it.
The cooling fan should be prepared by the customer.
The regenerative option will cause a temperature rise of 100 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 option body. Always use
twisted cables of max. 5m (16.4ft) length for connection with the servo amplifier.
(a) MR-J2S-350A or less
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option
overheats abnormally.
Always remove the lead from across P-D.
Servo amplifier
Regenerative option
D
P
P
C
C
G3
(Note 2)
G4
5m (16.4 ft) or less
Cooling fan(Note 1)
Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. 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
For the MR-RB50 install the cooling fan as shown.
[Unit : mm(in)]
Cooling fan installation screw hole dimensions
2-M3 screw hole
Top
(for cooling fan installation)
Depth 10 or less
Cooling fan
Terminal block
(Screw hole already
machined)
Thermal relay
Bottom
82.5
40 (1.58)
(3.25)
Installation surface
Horizontal installation
Vertical
installation
13 - 4
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-J2S-500A MR-J2S-700A
Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit
the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 are opened when the regenerative option
overheats abnormally.
Always remove wiring (across P-C) of servo
amplifier built-in regenerative resistor.
Servo amplifier
Regenerative option
P
C
P
C
G3
(Note 2)
G4
5m(16.4ft) or less
Cooling fan(Note 1)
Note 1. When using the MR-RB50 MR-RB51, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. 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
When using the regenerative resistor option, remove the servo amplifier's built-in regenerative
resistor terminals (across P-C), fit them back to back, and secure them to the frame with the
accessory screw as shown below.
Mounting method
Accessory screw
For MR-J2S-700A
For MR-J2S-500A
Accessory screw
Accessory screw
13 - 5
13. OPTIONS AND AUXILIARY EQUIPMENT
For the MR-RB50 MR-RB51 install the cooling fan as shown.
[Unit : mm(in)]
Cooling fan installation screw hole dimensions
2-M3 screw hole
Top
(for cooling fan installation)
Depth 10 or less
Cooling fan
Terminal block
(Screw hole already
machined)
Thermal relay
Bottom
82.5
40 (1.58)
(3.25)
Installation surface
Horizontal installation
Vertical
installation
(c) MR-J2S-11KA to MR-J2S-22KA (when using the supplied regenerative resistor)
When using the regenerative resistors supplied to the servo amplifier, the specified number of
resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less
than the specified number, the servo amplifier may become faulty and/or the regenerative resistors
burn. Install the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans
(92 92, minimum air flow : 1.0m3) improves the regeneration capability. In this case, set "0E
in parameter No. 0.
"
5m or less
Do not remove
the short bar.
Servo amplifier
P1
P
C
(Note) Series connection
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. Install a thermal sensor or like to configure a
circuit that will shut off the main circuit power at abnormal overheat. The supplied regenerative resistor does not have a
built-in thermal sensor. If the regenerative brake circuit fails, abnormal overheat of the resistor is expected to occur. On
the customer side, please also install a thermal sensor for the resistor and provide a protective circuit that will shut off the
main circuit power supply at abnormal overheat. The detection level of the thermal sensor changes depending on the
resistor installation method. Please install the thermal sensor in the optimum position according to the customer's design
standards, or use our regenerative option having built-in thermal sensor (MR-RB65, 66, 67).
Regenerative Power [W]
Number of
Resistors
Regenerative
Resistor
Resistance
[ ]
Servo Amplifier
Normal
500
Cooling
800
MR-J2S-11KA
MR-J2S-15KA
GRZG400-2
GRZG400-1
8
5
4
4
5
5
850
1300
1300
MR-J2S-22KA GRZG400-0.8
850
13 - 6
13. OPTIONS AND AUXILIARY EQUIPMENT
(d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative option)
The MR-J2S-11KA-PX to MR-J2S-22KA-PX servo amplifiers are not supplied with regenerative
resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67
regenerative option.
The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2 , GRZG400-
1
and GRZG400-0.8 , respectively. When using any of these regenerative options, make the
same parameter setting as when using the GRZG400-2 , GRZG400-1 or GRZG400-0.8
(supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Cooling the regenerative option with cooling fans improves regenerative capability.
The G3 and G4 terminals are for the thermal sensor. G3-G4 are opened when the regenerative
option overheats abnormally.
Servo amplifier
Do not remove
Regenerative option
the short bar.
P1
P
C
P
C
RA
G3
G4
COM
ALM
(Note)
Configure up a circuit which
shuts off main circuit power
when thermal sensor operates.
Note. Specifications of contact across G3-G4
Maximum voltage : 120V AC/DC
Maximum current : 0.5A/4.8VDC
Maximum capacity : 2.4VA
Regenerative Power [W]
Without With
cooling fans cooling fans
Regenerative
Option Model
Resistance
Servo Amplifier
[ ]
MR-J2S-11KA-PX
MR-J2S-15KA-PX
MR-J2S-22KA-PX
MR-RB65
MR-RB66
MR-RB67
8
5
4
500
850
850
800
1300
1300
When using cooling fans, install them using the mounting holes provided in the bottom of the
regenerative option. In this case, set "0E
" in parameter No. 0.
Top
MR-RB65 66 67
Bottom
TE1
2 cooling fans
(92 92, minimum air flow: 1.0m3)
TE
G4 G3 C
P
Mounting screw
4-M3(0.118)
13 - 7
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Outline drawing
(a) MR-RB032 MR-RB12
[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 (0.24)
Screw size: M5
20
(0.79)
LD
LC
Tightening torque:
3.24 [N m](28.676 [lb in])
Variable dimensions
Mass
Regenerative
option
LA
LB
LC
LD [kg] [lb]
30
15
119
99
MR-RB032
MR-RB12
0.5 1.1
(1.18) (0.59) (4.69) (3.9)
40 15 169 149
(1.58) (0.59) (6.65) (5.87)
1.1 2.4
(b) MR-RB30 MR-RB31 MR-RB32
[Unit: mm (in)]
Terminal block
P
C
Terminal screw: M4
G3 Tightening torque: 1.2 [N m] (10.6 [Ib in])
G4
Mounting screw
Screw: M6
318 (12.5)
7 (0.28)
Tightening torque: 5.4 [N m] (47.79 [Ib in])
17
335 (13.2)
(0.67)
90 (3.54)
10
(0.39)
Regenerative
Mass [kg] (Ib)
option
100 (3.94)
MR-RB30
MR-RB31
MR-RB32
2.9 (6.4)
13 - 8
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) MR-RB50 MR-RB51
[Unit: mm (in)]
Cooling fan mounting
screw (2-M3 screw)
On opposite side
Terminal block
P
C
Terminal screw: M4
Tightening torque: 1.2 [N m]
(10.6 [Ib in])
49
(1.93)
82.5
(3.25)
G3
G4
Mounting screw
Screw: M6
Tightening torque: 5.4 [N m]
(47.79 [Ib in])
7 14
slot
Regenerative
Mass [kg] (Ib)
option
Wind blows in the
arrow direction
MR-RB50
5.6 (12.3)
MR-RB51
7 (0.28)
108 (4.25)
120 (4.73)
2.3
(0.09)
Approx.30 (1.18)
8 (0.32)
200 (7.87)
217 (8.54)
17
(0.67)
12
(0.47)
(d) MR-RB65 MR-RB66 MR-RB67
[Unit: mm (in)]
Terminal block
G4 G3 C
2- 10 ( 0.39)
monuting hole
P
Terminal screw: M5
Tightening torque: 2.0 [N m] (17 [Ib in])
Mounting screw
Screw: M8
Tightening torque: 13.2 [N m] (116.83 [Ib in])
Mass
[kg]
Regenerative
option
(Ib)
22.0
24.3
24.3
MR-RB65
MR-RB66
MR-RB67
10
11
11
TE1
G4G3 CP
2.3 (0.09)
215 (8.47)
10 (0.39)
15 (0.59)
230 (9.06)
260 (10.2)
230 (9.06)
4-M3 screw
Cooling fan mounting
82.5 82.5
(3.25)
(3.25)
(e) GRZG400-2
GRZG400-1
GRZG400-0.8 (standard accessories)
Approx.
10(0.39)
5.5(0.22)
Approx.
24(0.95)
10
(0.39)
Approx.
[Unit: mm (in)]
9.5
(0.37)
Mounting screw
Screw size: M8
Approx.330(13.0)
385(15.2)
40(1.58)
Approx. 47(1.85)
Tightening torque: 13.2 [N m](116.83 [lb in])
411(16.2)
13 - 9
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.2 FR-BU2 brake unit
POINT
The brake unit and resistor unit of other than 200V class are not
applicable to the servo amplifier. Combination of different voltage class
units and servo amplifier cannot be used.
Install a brake unit and a resistor unit on a flat surface vertically. When
the unit is installed horizontally or diagonally, the heat dissipation effect
diminishes.
Temperature of the resistor unit case rises to higher than 100 . Keep
cables and flammable materials away from the case.
Ambient temperature condition of the brake unit is between 10 (14
and 50 (122 ). Note that the condition is different from the ambient
temperature condition of the servo amplifier (between 0 (32 ) and
55 (131 )).
)
Configure the circuit to shut down the power-supply with the alarm
output of the brake unit and resistor unit under abnormal condition.
Use the brake unit with a combination indicated in (1) of this section.
For executing a continuous regenerative operation, use FR-RC power
regeneration converter or FR-CV power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be
used simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option,
the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide
sufficient regenerative capability.
When using the brake unit, set the parameter No.0 of the servo amplifier to " 01
".
When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.
(1) Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Number of
connected
units
Permissible
continuous
power [kW]
Total
Applicable servo
amplifier
Brake unit
FR-BU2-15K
FR-BU2-30K
Resistor unit
resistance
[
]
FR-BR-15K
1
0.99
8
4
MR-J2S-350A
MR-J2S-500A
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
MR-J2S-22KA
FR-BR-30K
1
1.99
FR-BU2-55K
FR-BR-55K
1
1
3.91
5.5
2
2
MT-BR5-55K
13 - 10
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Brake unit parameter setting
Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can
be changed or not is listed below.
Parameter
Name
Change
possible/
impossible
Remarks
No.
0
1
Brake mode switchover
Impossible Do not change the parameter.
Monitor display data selection
Possible
Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
2
3
Input terminal function selection 1
Input terminal function selection 2
Parameter write selection
Impossible Do not change the parameter.
77
78
Cumulative energization time
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1
For manufacturer setting
(3) Connection example
POINT
Connecting PR terminal of the brake unit to P terminal of the servo
amplifier results in brake unit malfunction. Always connect the PR
terminal of the brake unit to the PR terminal of the resistor unit.
(a) Combination with FR-BR resistor unit
(Note 7) Servo motor
thermal relay ALM
ON
MC
EMG
OFF
RA2
RA1
MC
SK
Servo amplifier
CN1B
15 EMG
NFB
MC
L1
(Note 1)
Power
supply
10
3
SG
L2
FR-BR
VDD
L3
(Note 5) TH1
TH2
13 COM
18 ALM
P1
P
L11
L21
RA1
PR
(Note 3)
FR-BU2
P
D
P
PR
P/
MSG
SD
(Note 8)
(Note 4)
A
B
(Note 9)
N/
N
C
C
BUE
SD
(Note 10)
(Note 6)
(Note 2)
13 - 11
13. OPTIONS AND AUXILIARY EQUIPMENT
Note 1. For power supply specifications, refer to section 1.3.
2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P
and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C
terminals.
3. For the servo amplifier of 11k to 22kW, always connect P1 and P (Factory-wired). When using the power factor improving DC
reactor, refer to section 13.2.4.
4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
5. Contact rating 1b contact, 110VAC_5A/220VAC_3A
Normal condition TH1-TH2 is conducting. Abnormal condition TH1-TH2 is not conducting.
6. Contact rating 230VAC_0.3A/30VDC_0.3A
Normal condition B-C is conducting/A-C is not conducting. Abnormal condition B-C is not conducting/A-C is conducting.
7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier.
8. For the servo amplifier of 3.5kW, always disconnect the wiring between P and D terminals.
9. Do not connect more than one cable to each P and N terminals of the servo amplifier.
10. Make sure to connect BUE and SD (Factory-wired).
(b) Combination with MT-BR5 resistor unit
Servo motor
thermal relay ALM
ON
MC
EMG
OFF
RA2
RA1
RA3
MC
SK
Servo amplifier
CN1B
15 EMG
NFB
MC
L1
(Note 1)
Power
supply
10
3
SG
SK
L2
MT-BR5
(Note 4)
VDD
L3
TH1
TH2
13 COM
18 ALM
P
RA3
L11
L21
RA1
PR
FR-BU2
C
(Note 8)
(Note 2)
PR
P/
MSG
P1
P
SD
A
(Note 3)
(Note 6)
N/
B
C
N
BUE
SD
(Note 7)
(Note 5)
Note 1. For power supply specifications, refer to section 1.3.
2. Make sure to connect P1 and P (Factory-wired). When using the power factor improving DC reactor, refer to section 13.2.4.
3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
4. Contact rating 1a contact, 110VAC_5A/220VAC_3A
Normal condition TH1-TH2 is not conducting. Abnormal condition TH1-TH2 is conducting.
5. Contact rating 230VAC_0.3A/30VDC_0.3A
Normal condition B-C is conducting/A-C is not conducting. Abnormal condition B-C is not conducting/A-C is conducting.
6. Do not connect more than one cable to each P and N terminals of the servo amplifier.
7. Make sure to connect BUE and SD (Factory-wired).
8. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals.
13 - 12
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) Precautions for wiring
The cables between the servo amplifier and the brake unit, and between the resistor unit and the
brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times
or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using
cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake
unit malfunction.
Servo amplifier
Servo amplifier
Brake unit
Resistor unit
Brake unit
Resistor unit
Twist
Twist
P
N
P
N
P
PR
P
PR
P
N
P
N
P
PR
P
PR
5m or less
5m or less
10m or less
10m or less
(d) Cables
For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.
a) Main circuit terminal
Main
circuit
terminal
screw
size
Cable size
Crimping
terminal
Tightening
torque
N/ , P/ , PR,
Brake unit
[N m]
N/ , P/
PR,
,
HIV cables,
etc. [mm2]
AWG
([lb in])
N/
P/
PR
FR-BU2-15K
FR-BU2-30K
FR-BU2-55K
M4
M5
M6
5.5-4
5.5-5
14-6
1.5 (13.3)
2.5 (22.1)
4.4 (38.9)
3.5
5.5
14
12
10
6
Terminal block
b) Control circuit terminal
POINT
Undertightening can cause a cable disconnection or malfunction.
Overtightening can cause a short circuit or malfunction due to damage to
the screw or the brake unit.
Sheath
RES
MSG MSG
SD
SD SD
Core
BUE
PC
SD
Jumper
A
B
C
6mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5N m to 0.6N
m
Cable size: 0.3mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4mm/Tip width 2.5mm)
13 - 13
13. OPTIONS AND AUXILIARY EQUIPMENT
(e) Crimping terminals for P and N terminals of servo amplifier
POINT
Always use recommended crimping terminals or equivalent since some
crimping terminals cannot be installed depending on the size.
Number of
(Note)
Applicable
tool
Servo amplifier
Brake unit
connected
units
Crimping terminal (Manufacturer)
MR-J2S-350A
FR-BU2-15K
FR-BU2-15K
FR-BU2-30K
FR-BU2-30K
FR-BU2-30K
FR-BU2-55K
FR-BU2-30K
FR-BU2-55K
FR-BU2-55K
1
1
1
1
1
1
1
1
1
FVD5.5-S4
b
MR-J2S-500A
(Japan Solderless Terminal)
MR-J2S-700A
MR-J2S-11KA
FVD5.5-6(Japan Solderless Terminal)
FVD14-6(Japan Solderless Terminal)
FVD5.5-6(Japan Solderless Terminal)
FVD14-6(Japan Solderless Terminal)
FVD14-8(Japan Solderless Terminal)
b
a
b
a
a
MR-J2S-15KA
MR-J2S-22KA
Note. Symbols in the applicable tool field indicate the following applicable tools.
Symbol
Applicable tool
Manufacturer
Body
Head
Dice
YF-1 E-4
a
b
YNE-38
Japan Solderless
Terminal
DH-112 DH-122
YNT-1210S
(4) Outline dimension drawings
(a) FR-BU2 brake unit
[Unit: mm]
FR-BU2-15K
5 hole
(Screw size: M4)
Rating
plate
4
5
18.5
6
56
68
6
52
62
132.5
13 - 14
13. OPTIONS AND AUXILIARY EQUIPMENT
FR-BU2-30K
[Unit: mm]
2- 5 hole
(Screw size: M4)
Rating
plate
5
5
96
6
6
18.5
52
59
108
129.5
FR-BU2-55K
2- 5 hole
(Screw size: M4)
Rating
plate
5
5
18.5
6
158
170
6
52
72
142.5
13 - 15
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) FR-BR resistor unit
[Unit: mm]
2
C
(Note)
Control circuit
terminal
(Note)
Main circuit
terminal
C
C
Approx. 35
Approx. 35
W1
1
For FR-BR-55K, a hanging bolt is placed
on two locations (Indicated below).
Hanging bolt
204
W
5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Approximate
Resistor unit
W
W1
H
H1
H2
H3
D
D1
C
mass
[kg] ([lb])
FR-BR-15K
FR-BR-30K
FR-BR-55K
170 100 450 410 20 432 220 3.2
340 270 600 560 20 582 220
480 410 700 620 40 670 450 3.2
6
15 (33.1)
30 (66.1)
70 (154)
4
10
12
(c) MT-BR5- (H) resistor unit
[Unit: mm]
Approximate
mass
Resistance
value
Resistor unit
[kg] ([lb])
NP
MT-BR5-55K
2.0
50 (110)
M4
M6
193
189
37
60 10 21
480
510
75
300
450
75
4
15 mounting hole
7.5
7.5
13 - 16
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.3 Power regeneration converter
When using the power regeneration converter, set "01
" in parameter No.0.
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to
the servo amplifiers of the MR-J2S-500A to MR-J2S-22KA.
Power
Nominal
regeneration
converter
Regenerative
Power (kW)
Servo Amplifier
500
300
200
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
FR-RC-15
15
100
FR-RC-30
30
55
50
FR-RC-55K
MR-J2S-22KA
30
20
0
50
75 100
150
Nominal regenerative power (%)
13 - 17
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
L11
L21
(Note 3) Power factor improving reactor
NFB
MC
FR-BAL
L1
L2
(Note 5)
Power supply
L3
VDD
SG
COM
EMG
SON
RA2
ALM
(Note 2)
N
C
P
P1
5m(16.4ft) or less
(Note 4)
N/
P/
RDY
SE
A
B
Ready
RDY
B
output
C
C
R/L1
S/L2
T/L3
Alarm
output
RX
R
(Note 1)
SX
S
Phase detection
terminals
TX
T
Power regeneration
converter FR-RC
FR-RC
Operation ready
ON
EMG
RA2
OFF
B
C
MC
SK
MC
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the
FR-RC will not operate.
2. For the servo amplifiers of 5k and 7kW, always remove the wiring (across P-C) of the built-in regenerative resistor.
3. Refer to the power return converter FR-RC instruction manual (IB(NA)-66330) for the power factor improving reactor to be
used.
When using FR-RC with the servo amplifier of 11k to 22kW, do not use the power factor improving reactor (FR-BEL) together.
4. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
5. Refer to section 1.3 for the power supply specification.
13 - 18
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outside dimensions of the power regeneration converters
[Unit : mm(in)]
Mounting foot (removable)
Mounting foot
movable
2- D hole
Rating plate
Front cover
Display
panel
window
Cooling fan
K
D
F
AA
A
C
Heat generation area outside mounting dimension
Power
Approx.
regeneration
converter
A
AA
B
BA
C
D
E
EE
K
F
mass [kg(Ib)]
270
(10.6)
340
200
(7.87)
270
450
432
195
(7.68)
195
10
(0.39)
10
10
(0.39)
10
8
3.2
(0.13)
3.2
87
19
(41.9)
31
FR-RC-15K
FR-RC-30K
FR-RC-55K
(17.7)
600
(17.0)
582
(0.32)
8
(3.43)
90
(13.4)
480
(10.6)
410
(23.6)
700
(22.9)
670
(7.68)
250
(0.39)
12
(0.39)
15
(0.32)
15
(0.13)
3.2
(3.54)
135
(68.3)
55
(18.9)
(16.1)
(27.6)
(26.4)
(9.84)
(0.47)
(0.59)
(0.59)
(0.13)
(5.32)
(121)
(4) Mounting hole machining dimensions
When the power regeneration converter is fitted to a totally enclosed type box, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
[Unit : mm(in)]
(2- D hole)
(AA)
Model
a
b
D
AA
BA
260
412
10
200
432
FR-RC-15K
(10.2) (16.2) (0.39) (7.87) (17.0)
330 562 10 270 582
(13.0) (22.1) (0.39) (10.6) (22.9)
470 642 12 410 670
(18.5) (25.3) (0.47) (16.1) (26.4)
FR-RC-30K
FR-RC-55K
(Mounting hole)
a
13 - 19
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.4 External dynamic brake
POINT
Configure up a sequence which switches off the contact of the brake unit
after (or as soon as) it has turned off the servo on signal at a power failure
or failure.
For the braking time taken when the dynamic brake is operated, refer to
section 12.3.
The brake unit is rated for a short duration. Do not use it for high duty.
(1) Selection of dynamic brake
The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs
or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built
in the 11kW or more servo amplifier, purchase it separately if required. Set " 1
No. 1.
" in the parameter
Servo amplifier
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
Dynamic brake
DBU-11K
DBU-15K
DBU-22K
13 - 20
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
Operation-ready
ON
CN1B
3
(Note 1)
EMG
OFF
VDD
COM
DB
MC
SK
MC
13
18
RA1
NFB
MC
Servo motor
M
L1
(Note 3)
Power
supply
U
V
U
V
L2
L3
W
E
W
L11
L21
P
CN1B
5
RA1
EMG
(Note 2)
SON
EMG
SG
P1
15
10
Plate SD
14
13
U
V
W
a
RA1
b
Dynamic brake
Note 1. Configure up the circuit so that power is switched off in the external sequence at servo alarm occurrence.
2. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) When using the power factor
improving DC reactor, refer to section 13.2.4.
3. Refer to section 1.3 for the power supply specification.
Coasting
Dynamic brake
Coasting
Dynamic brake
Servo motor rotation
Present
Alarm
Absent
ON
Base
OFF
ON
OFF
RA1
Invalid
Valid
Dynamic brake
Short
Open
Emergency stop
(EMG)
a. Timing chart at alarm occurrence
b. Timing chart at emergency stop (EMG) validity
13 - 21
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline dimension drawing
[Unit: mm]
([Unit: in])
5
(0.2)
(0.2)5
100(3.94)
G
F
D
D
2.3(0.09)
C
Terminal block
E
U
V
W
a
b
13 14
(GND)
Screw : M4
Tightening torque : 1.2 [N m](10.6 [lb in])]
Screw : M3.5
Tightening torque : 0.8 [N m](7 [lb in])]
Mass
Connection
Dynamic brake
DBU-11K
A
B
C
D
E
F
G
2
[kg]([Ib])
wire [mm ]
200
(7.87)
250
190
(7.48)
238
140
(5.51)
150
20
5
(0.2)
6
170
(6.69)
235
163.5
(6.44)
228
2 (4.41)
5.5
5.5
(0.79)
25
DBU -15K, 22K
6 (13.23)
(9.84)
(9.37)
(5.91)
(0.98)
(0.24)
(9.25)
(8.98)
13 - 22
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.5 Cables and connectors
(1) Cable make-up
The following cables are used for connection with the servo motor and other models. Those indicated
by broken lines in the figure are not options.
9)
Operation
panel
Servo amplifier
Controller
CN1A
CN1B
10)
10)
Personal
computer
11)
11)
CN2 CN3
CON2 CN4
14)
13)
(Note 1)
12)
21) (Note 2)
To U, V, W,
19) 20)
HA-LFS
HC-KFS
HC-MFS
HC-UFS 3000r/min
1) 2)
3) 4) 5)
6)
7) 8)
HC-SFS
HC-RFS
HC-UFS 2000r/min
15) 16) 17) 18)
3) 4) 5)
7) 8)
Note 1. Use 12) and 13) with 7kW or less.
2. Use 21) with 11kW or more.
13 - 23
13. OPTIONS AND AUXILIARY EQUIPMENT
No.
1) Standard encoder MR-JCCBL M-L
cable Refer to (2) in this Shell kit: 10320-52F0-008
section. (3M or equivalent)
Product
Model
Description
Housing
Connector pin : 170359-1
Application
Connector: 10120-3000PE
: 1-172161-9
Standard
flexing life
(Tyco Electronics or equivalent) IP20
Cable clamp : MTI-0002
(Toa Electric Industry)
2) Long flexing life MR-JCCBL M-H
Long flexing
encoder cable
Refer to (2) in this
section.
life
IP20
3) Standard encoder MR-JHSCBL M-L Connector: 10120-3000PE
cable Refer to (2) in this Shell kit: 10320-52F0-008
section. (3M or equivalent)
4) Long flexing life MR-JHSCBL M-H
Connector: D/MS3106B20-29S
Cable clamp: D/MS3057-12A
(DDK)
Standard
flexing life
IP20
Long flexing
life
encoder cable
Refer to (2) in this
section.
5) IP65-compliant
encoder cable
MR-ENCBL M-H Connector: 10120-3000PE
Refer to (2) in this Shell kit: 10320-52F0-008
Connector
Long flexing
: D/MS3106A20-29S (D190) life
section.
(3M or equivalent)
Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-S-D
(DDK)
IP65
IP67
Not oil-
resistant.
6) Encoder
connector set
MR-J2CNM
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing
: 1-172161-9
IP20
Connector pin: 170359-1
(Tyco Electronics or equivalent)
Cable clamp : MTI-0002
(Toa Electric Industry)
7) Encoder
connector set
MR-J2CNS
MR-ENCNS
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Connector: D/MS3106B20-29S
Cable clamp: D/MS3057-12A
(DDK)
IP20
IP65
8) Encoder
connector set
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Connector
: D/MS3106A20-29S (D190) IP67
Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-S-D
(DDK)
13 - 24
13. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
MR-J2CN1
Description
Application
Control signal
connector set
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
9)
Qty: 2 each
Connector: 10120-6000EL
Junction
terminal block
cable
MR-J2TBL M
Refer to section
13.1.6.
Connector: HIF3BA-20D-2.54R
(Hirose Electric)
For junction
terminal
block
Shell kit: 10320-3210-000
(3M or equivalent)
10)
11)
12)
13)
connection
Junction
MR-TB20
Refer to section 13.1.6.
terminal block
Bus cable
MR-J2HBUS M
Refer to section
13.1.7.
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
For
maintenance
junction
card
connection
Maintenance
junction card
MR-J2CN3TM
Refer to section 13.1.7.
Communication MR-CPCATCBL3M Connector: 10120-6000EL
Connector: DE-9SF-N
Case: DE-C1-J6-S6
For
cable
Refer to (3) in this Shell kit: 10320-3210-000
connection
with PC-AT-
compatible
personal
computer
section.
(3M or equivalent)
(Japan Aviation Electronics)
14)
Power supply
connector set
MR-PWCNS1
Refer to the Servo
Motor Instruction
Manual.
Connector: CE05-6A22-23SD-D-BSS
Cable clamp:CE3057-12A-2-D
(DDK)
15)
16)
17)
18)
19)
Power supply
connector set
MR-PWCNS2
Refer to the Servo
Motor Instruction
Manual.
Connector: CE05-6A24-10SD-D-BSS
Cable clamp: CE3057-16A-2-D
(DDK)
EN
Standard-
compliant
IP65 IP67
Power supply
connector set
MR-PWCNS3
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A32-17SD-D-BSS
Cable clamp: CE3057-20A-1-D
(DDK)
Brake connector MR-BKCN
Plug: D/MS3106A10SL-4S (D190) (DDK)
Cable connector: YS010-5-8 (Daiwa Dengyo)
set
Refer to the Servo
Motor Instruction
Manual.
Power supply
connector set
MR-PWCNK1
Refer to the Servo
Motor Instruction
Manual.
Plug: 5559-04P-210
IP20
Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(Molex)
Power supply
MR-PWCNK2
Plug: 5559-06P-210
For motor
with brake
IP20
20) connector set
Terminal: 5558PBT3L (For AWG16)(8 pcs.)
(Molex)
Monitor cable
21)
MR-H3CBL1M
Servo amplifier side connector
(Tyco Electronics)
Housing: 171822-4
13 - 25
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Encoder cable
If you have fabricated the encoder cable, connect it correctly.
CAUTION
Otherwise, not doing so may cause unexpected operation.
POINT
The encoder cable is not oil resistant.
Refer to section 12.4 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 MR-JCCBL M-H
These encoder cables are used with the HC-KFS HC-MFS HC-UFS3000r/min series servo
motors.
1) Model explanation
Model: MR-JCCBL M-
Symbol
Specifications
Standard flexing life
Long flexing life
L
H
Symbol (Note) Cable length [m(ft)]
2
5
2 (6.56)
5 (16.4)
10
20
30
40
50
10 (32.8)
20 (65.6)
30 (98.4)
40 (131.2)
50 (164.0)
Note. MR-JCCBL M-H has no 40m(131.2ft)
and 50m(164.0ft) sizes.
2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.3.1.
Encoder cable
Servo amplifier
supplied to servo motor
Encoder connector
Encoder connector
172161-9
(Tyco Electronics)
Servo motor
Encoder
Encoder cable
(option or fabricated)
1
2
3
MR MRR BAT
CN2
4
5
6
MD MDR
50m(164.0ft) max.
30cm
(0.98ft)
7
8
9
P5
LG SHD
13 - 26
13. OPTIONS AND AUXILIARY EQUIPMENT
MR-JCCBL10M-L
MR-JCCBL10M-H
to
MR-JCCBL2M-L
MR-JCCBL5M-L
MR-JCCBL2M-H
MR-JCCBL5M-H
to
MR-JCCBL30M-L
MR-JCCBL50M-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 13.2.1 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 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.
13 - 27
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H
These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors.
1) Model explanation
Model: MR-JHSCBL M-
Symbol
Specifications
Standard flexing life
Long flexing life
L
H
Symbol (Note) Cable length [m(ft)]
2
5
2 (6.56)
5 (16.4)
10
20
30
40
50
10 (32.8)
20 (65.6)
30 (98.4)
40 (131.2)
50 (164.0)
Note. MR-JHSCBL M-L has no 40m(131.2ft)
and 50m(164.0ft) sizes.
Model: MR-ENCBL M-H
Long flexing life
Symbol
Cable length [m(ft)]
2 (6.56)
2
5
5 (16.4)
10
20
30
40
50
10 (32.8)
20 (65.6)
30 (98.4)
40 (131.2)
50 (164.0)
2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.3.1.
Servo amplifier
Pin Signal
Pin Signal
Encoder connector
Encoder connector
A
B
C
D
E
F
G
H
J
MD
MDR
MR
K
L
M
Servo motor
Encoder cable
A
M
T
B
P
(Optional or fabricated)
C
L
N
K
J
D
E
F
MRR
N
P
R
S
SHD
CN2
Encoder
S
R
H
G
BAT
LG
LG
P5
T
50m(164.0ft) max.
13 - 28
13. OPTIONS AND AUXILIARY EQUIPMENT
MR-JHSCBL2M-L
MR-JHSCBL5M-L
MR-JHSCBL2M-H
MR-JHSCBL5M-H
MR-ENCBL2M-H
MR-ENCBL5M-H
MR-JHSCBL10M-L
MR-JHSCBL10M-H
to
to
MR-JHSCBL30M-L
MR-JHSCBL50M-H
MR-ENCBL10M-H
to
MR-ENCBL50M-H
Servo amplifier side
Encoder side Servo amplifier side
Encoder side Servo amplifier side
Encoder side
S
19
11
20
12
18
2
P5
LG
P5
LG
P5
LG
19
11
20
12
7
19
11
20
12
18
2
P5
LG
P5
LG
P5
LG
P5
S
S
LG
P5
LG
R
C
D
MR
MRR
P5
17
18
2
R
C
D
LG
R
C
D
7
MR
9
7
MR
MRR
BAT
LG
F
17
MRR
17
1
G
(Note 1)
SD
N
Plate
9
1
BAT
LG
9
1
BAT
LG
F
F
(Note 2) Use of AWG24
(Less than 10m(32.8ft))
G
G
(Note 1)
(Note 1)
SD
SD
N
N
Plate
Plate
Use of AWG22
Use of AWG24
(10m(32.8ft) to 50m(164.0ft))
(10m(32.8ft) to 50m(164.0ft))
Note 1. This wiring is required for use in the absolute position detection system. This wiring is not needed for use in the incremental
system.
2. AWG28 can be used for 5m(16.4ft) or less.
When fabricating an encoder cable, use the recommended wires given in section 13.2.1 and the
MR-J2CNS connector set for encoder cable fabrication, and fabricate an encoder cable in
accordance with the optional encoder cable wiring diagram given of this section. You can
fabricate an encoder cable of up to 50m(164.0ft) length.
Refer to chapter 3 of the servo motor instruction guide and choose the encode side connector
according to the servo motor installation environment.
13 - 29
13. 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])
Servo amplifier side
(b) Connection diagram
MR-CPCATCBL3M
Personal computer side
Plate
2
FG
RXD
LG
TXD
3
1
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.
13 - 30
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.6 Junction terminal block (MR-TB20)
POINT
When using the junction terminal block, you cannot use SG of CN1A-20
and CN1B-20. Use SG of CN1A-10 and CN1B-10.
(1) How to use the junction terminal block
Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-
J2TBL M) as a set. A connection example is shown below.
Servo amplifier
Junction terminal block
Cable clamp
MR-TB20
(AERSBAN- ESET)
CN1A
or
Junction terminal
block cable
CN1B
(MR-J2TBL05M)
Ground the junction terminal block cable on the junction terminal block side with the standard
accessory cable clamp fitting (AERSBAN- ESET). For the use of the cable clamp fitting, refer to
section 13.2.7 (2) (c).
(2) Terminal labels
Among the terminal block labels for the junction terminal block, use the two for the MR-J2S-A(MR-J2-
A). When changing the input signals in parameters No. 43 to 48, refer to (4) in this section and section
3.3 and apply the accessory signal seals to the labels.
1) For CN1A
2) For CN1B
LG PP LZ
LB COM OPC PG LZR LBR RD
LG VDD SON
TL P15R COM EMG LSN ZSP
NP P15R LA CR SG NG OP LAR INP SD
VC DO1 TLC PC SG TLA RES LSP ALM SD
(3) Outline drawing
[Unit: mm]
([Unit: in.])
126(4.96)
117(4.61)
B1
B10
A10
A1
MITSUBISHI
MR-TB20
16 17 18 19
10 11 12 13 14 15
Terminal
block No.
0
1
2
3
5
6
7
8
9
2- 4.5(0.18)
4
Terminal screw: M3.5
Applicable cable: Max. 2mm2
(Crimping terminal width: 7.2mm (0.283 in) max.)
13 - 31
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Junction terminal block cable (MR-J2TBL M)
Model: MR-J2TBL
M
Symbol
Cable length [m(ft)]
0.5 (1.64)
05
1
1 (3.28)
Junction terminal block side connector (Hirose Electric)
HIF3BA-20D-2.54R (connector)
Servo amplifier side (CN1A CN1B) connector (3M)
10120-6000EL (connector)
10320-3210-000 (shell kit)
(Note) Symbol
Pin
No.
Junction terminal Pin
block terminal No. No.
Position control mode Speed control mode Torque control mode
For CN1A For CN1B For CN1A For CN1B For CN1A For CN1B
10
0
11
1
12
2
13
3
14
4
15
5
16
6
17
7
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
B8
A8
B9
A9
B10
A10
1
2
3
4
5
6
7
8
9
LG
LG
NP
LG
VC
VDD
DO1
SON
TLC
LG
LG
VC
LG
VLA
VDD
DO1
SON
VLC
SP2
RS2
RS1
SG
P15R
TC
COM
RES
EMG
PP
VDD
DO1
SON
TLC
SP2
ST1
ST2
SG
P15R
TLA
COM
RES
EMG
LSP
LSN
ALM
ZSP
SD
P15R
LZ
LA
LB
SP1
COM
SG
P15R
LZ
LA
LB
CR
COM
SG
P15R
LZ
LA
LB
SP1
COM
SG
PC
TLC
SG
10
11
12
13
14
15
16
17
18
19
20
Plate
P15R
TLA
COM
RES
EMG
LSP
LSN
ALM
ZSP
SD
OPC
NG
PG
OP
OP
OP
LZR
LAR
LBR
SA
LZR
LAR
LBR
LZR
LAR
LBR
INP
RD
18
8
19
9
ALM
ZSP
SD
RD
SD
RD
SD
SD
Note. The labels supplied to the junction terminal block are designed for the position control mode. When using the junction terminal
block in the speed or torque control mode, change the signal abbreviations using the accessory signal seals.
13 - 32
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.7 Maintenance junction card (MR-J2CN3TM)
POINT
Cannot be used with the MR-J2S-11KA to MR-J2S-22KA.
(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor outputs are used at the same time.
Communication cable
Servo amplifier
Maintenance junction card (MR-J2CN3TM)
Bus cable
MR-J2HBUS
M
CN3B
CN3
CN3A
CN3C
B1 B5 B6 A5 A6
B2
A1 A2 A3 A4 B4 B3
LG LG MO1 MO2
VDD COM EM1 DI MBR EMGO SG PE
Not used.
Analog monitor 2
Analog monitor 1
(2) Connection diagram
TE1
B5
LG
B6
LG
CN3A
CN3B
1
2
3
4
5
6
7
8
CN3C
1
2
3
4
5
6
7
8
A5
1
1
LG
MO1
2
RXD
A6
3
4
5
3
MO2
LG
4
MO1
5
RDP
6
MO73
8
SD9P
9
9
A1
A2
A3
A4
B4
B3
B2
B1
10
VDD
COM
EM1
DI
TRE
10
10
11
12
13
14
15
16
17
18
19
20
10
11
12
13
14
15
16
17
18
19
20
LG
11
TXD
12
13
14
15
LG
13
MO2
14
15
16
17
18
Not used.
MBR
EMGO
SG
19
20
SDN
19
P5
20
Shell
Shell
Shell
PE
(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)
41.5(1.63)
88(3.47)
100(3.94)
Mass: 110g(0.24Ib)
13 - 33
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Bus cable (MR-J2HBUS M)
Model: MR-J2HBUS
M
Symbol
Cable length [m(ft)]
0.5 (1.64)
05
1
1 (3.28)
5
5 (16.4)
MR-J2HBUS05M
MR-J2HBUS1M
MR-J2HBUS5M
10120-6000EL (connector)
10320-3210-000 (shell kit)
10120-6000EL (connector)
10320-3210-000 (shell kit)
1
11
2
1
11
2
12
3
12
3
13
4
13
4
14
5
14
5
15
6
15
6
16
7
16
7
17
8
17
8
18
9
18
9
19
10
20
19
10
20
Plate
Plate
13.1.8 Battery (MR-BAT, A6BAT)
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 non-dangerous goods (non-Class 9), air transportation of 24 or
less batteries is outside the range of the restrictions. Air transportation of
more than 24 batteries 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 Dec., 2007).
Use the battery to build an absolute position detection system.
13 - 34
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.9 MR Configurator (Servo configurations software)
The MR Configurator (servo configuration software MRZJW3-SETUP151E) uses the communication
function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.
on a personal computer.
(1) Specifications
Item
Description
Communication signal Conforms to RS-232C.
Baud rate [bps]
57600, 38400, 19200, 9600
Display, high speed monitor, trend graph
Monitor
Minimum resolution changes with the processing speed of the personal computer.
Display, history, amplifier data
Alarm
Digital I/O, no motor rotation, total power-on time, amplifier version info, motor information,
tuning data, absolute encoder data, automatic voltage control, Axis name setting.
Parameter list, turning, change list, detailed information
Jog operation, positioning operation, motor-less operation, Do forced output, program operation.
Machine analyzer, gain search, machine simulation.
Diagnostic
Parameters
Test operation
Advanced function
File operation
Others
Data read, save, print
Automatic demo, help display
(2) System configuration
(a) Components
To use this software, the following components are required in addition to the servo amplifier 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, Windows® 2000 Professional, Windows® XP Professional and Windows®
XP Home Edition operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0,
Windows® 2000 Professional)
Pentium® 150MHz or more (Windows® Me)
(Note 2)
Personal
computer
Pentium® 300MHz or more (Windows® XP Professional, Windows® XP Home Edition)
Memory:16MB or more (Windows® 95)
24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional, Windows® XP Home Edition)
Free hard disk space: 60MB or more
Serial port used
Windows® 95, Windows® 98, Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional
(English version)
OS
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.
Printer
Connectable with the above personal computer.
Communication MR-CPCATCBL3M
cable
When this cannot be used, refer to section 13.1.5 (3) and fabricate.
RS-232C/RS-422
Required for use of the RS-422 multidrop communication function of the servo amplifier.
converter
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.
13 - 35
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Configuration diagram
1) When using RS-232C
Servo amplifier
Personal computer
Communication cable
CN3
CN2
Servo motor
To RS-232C
connector
2) When using RS-422
You can make multidrop connection of up to 32 axes.
Servo amplifier
Personal computer
RS-232C/RS-422
(Note)
converter
Communication cable
CN3
CN2
Servo motor
(Axis 1)
To RS-232C
connector
Servo amplifier
CN3
CN2
Servo motor
(Axis 2)
Servo amplifier
CN3
CN2
Servo motor
(Axis 32)
Note. For cable connection, refer to section 14.1.1.
13 - 36
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.10 Power regeneration common converter
POINT
For details of the power regeneration common converter FR-CV, refer to
the FR-CV Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2, L3)
of the servo amplifier. Doing so will fail the servo amplifier and FR-CV.
Connect the DC power supply between the FR-CV and servo amplifier
with correct polarity. Connection with incorrect polarity will fail the FR-
CV and servo amplifier.
Two or more FR-CV's cannot be installed to improve regeneration
capability. Two or more FR-CV's cannot be connected to the same DC
power supply line.
When using the power regeneration common converter, set parameter No. 0 to "01
(1) Selection
".
The power regeneration common converter FR-CV can be used with 750 to 22kW servo amplifiers.
There are the following restrictions on use of the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W] Total of rated capacities [W] of servo amplifiers connected to FR-CV
2
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.
FR-CV-
Item
7.5K
11K
15K
22K
6
30K
37K
55K
Maximum number of connected servo amplifiers
Total of connectable servo amplifier capacities [kW]
Total of connectable servo motor rated currents [A]
Maximum servo amplifier capacity [kW]
3.75
33
5.5
46
5
7.5
61
7
11
90
11
15
115
15
18.5
145
15
27.5
215
22
3.5
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common converter
FR-CV-7.5K(-AT)
FR-CV-11 K(-AT)
FR-CV-15K(-AT)
FR-CV-22K(-AT)
FR-CV-30K(-AT)
FR-CV-37K
Dedicated stand-alone reactor
FR-CVL-7.5K
FR-CVL-11K
FR-CVL-15K
FR-CVL-22K
FR-CVL-30K
FR-CVL-37K
FR-CVL-55K
FR-CV-55K
13 - 37
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection diagram
Servo amplifier
Servo motor
U
FR-CVL
FR-CV
R2/L1
NFB
MC
U
V
L11
L21
R/L11
R2/L12
S2/L22
T2/L32
(Note 6)
Power
supply
V
S/L21
T/L31
S2/L2
T2/L3
(Note 5)
P
1
Thermel
relay
W
W
OHS2
OHS1
P
P/L
P/L
(Note 4)
N
(Note 2)
CN2
R/L11
S/L21
P24
T/MC1
SD
SG
SON
RA1
RESET
(Note 3)
(Note1)
SON
RES
(Note 3)
RDYB
RDYA
RSO
RA1
EMG
RA2
SD
EMG
SG
RES
SG
(Note 1)
EMG
(Note 1)
(Note 1) (Note 2)
RA2 RA3 RA4
SE
A
RA3
ALM
ON
OFF
(Note
1)
RA2
VIN
MC
B
C
MC
SK
24VDC
power
supply
RA4
Note 1. Configure a sequence that will shut off main circuit power in the following cases.
Alarm occurred in the FR-CV or the servo amplifier.
Emergency stop is activated.
2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay
operates.
3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready.
4. For 7kW or less servo amplifier, always remove the wiring (3.5kW or less: across P-D, 5k 7kW: across P-C) of built-in
regenerative resistor.
5. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
6. Refer to section 1.3 for the power supply specification.
(3) Wires used for wiring
(a) Wire sizes
1) Across P-P, N-N
The following table indicates the connection wire sizes of the DC power supply (P, N terminals)
between the FR-CV and servo amplifier. The used wires are based on the 600V vinyl wires.
Total of servo amplifier capacities [kW]
Wires[mm2]
1 or less
2
2
5
3.5
5.5
8
7
11
15
22
14
22
50
13 - 38
13. OPTIONS AND AUXILIARY EQUIPMENT
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Power regeneration common converter
Grounding wire size [mm2]
FR-CV-7.5K TO FR-CV-15K
FR-CV-22K • FR-CV-30K
FR-CV-37K • FR-CV-55K
14
22
38
(b) Example of selecting the wire sizes
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo
amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller
capacities.
Wire as short as possible.
50mm2
22mm2
FR-CV-55K
Servo amplifier (15kW)
First unit:
P/L
N/L
P
N
R2/L1
S2/L2
T2/L3
50mm2 assuming that the total of servo amplifier
capacities is 27.5kW since 15kW + 7kW + 3.5kW
+ 2.0kW = 27.5kW.
22mm2
8mm2
Servo amplifier (7kW)
Second unit:
P
N
R/L11
22mm2 assuming that the total of servo amplifier
capacities is 15kW since 7kW + 3.5kW + 2.0kW =
12.5kW.
(Note)
S/L21
T/MC1
8mm2
5.5mm2
Servo amplifier (3.5kW)
Third unit:
P
N
8mm2 assuming that the total of servo amplifier
capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.
(Note)
3.5mm2
3.5mm2
Servo amplifier (2kW)
Fourth unit:
P
N
3.5mm2 assuming that the total of servo amplifier
capacities is 2kW since 2.0kW = 2.0kW.
(Note)
Junction terminals
Overall wiring length 5m or less
Note. For 7kW or less servo amplifier, always remove the wiring (3.5kW or less: across P-D, 5k 7kW: across P-C) of built-in
regenerative resistor.
(4) Other precautions
(a) Always use the FR-CVL as the power factor improving reactor. Do not use the FR-BAL or FR-BEL.
(b) The inputs/outputs (main circuits) of the FR-CV and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment
(such as AM radios) used near them. In this case, interference can be reduced by installing the
radio noise filter (FR-BIF) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV and servo
amplifiers should be 5m or less, and the wiring must be twisted.
13 - 39
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Specifications
Power regeneration common converter
7.5K
11K
15K
22K
30K
37K
55K
FR-CV-
Item
Total of connectable servo amplifier capacities [kW]
Maximum servo amplifier capacity [kW]
Total of connectable servo motor rated
3.75
3.5
5.5
5
7.5
7
11
11
15
15
18.5
15
27.5
22
33
46
61
90
115
145
215
currents
[A]
Short-time
rating
Output
Total capacity of applicable servo motors, 300% torque, 60s (Note1)
Regenerative
braking torque
Continuous
rating
100% torque
Rated input AC voltage/frequency
Permissible AC voltage fluctuation
Permissible frequency fluctuation
Power supply capacity(Note2) [kVA]
Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz
Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz
5%
Power supply
17
20
28
41
52
66
100
Protective structure (JEM 1030), cooling system
Ambient temperature
Open type (IP00), forced cooling
-10 (14 ) to +50 (122 ) (non-freezing)
90%RH or less (non-condensing)
Environment Ambient humidity
Ambience
Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt)
1000m or less above sea level, 5.9m/s2 or less
Altitude, vibration
30AF
30A
50AF
50A
100AF
75A
100AF
100A
225AF
125A
225AF
125A
225AF
175A
No-fuse breaker or leakage current breaker
Magnetic contactor
S-N20
S-N35
S-N50
S-N65
S-N95
S-N95
S-N125
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is activated
in the time indicated in section 12.1.
2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
13 - 40
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.11 Heat sink outside mounting attachment (MR-JACN)
Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier
in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and
reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting
attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo
amplifier to the control box.
The environment outside the control box when using the heat sink outside mounting attachment should
be within the range of the servo amplifier operating environment conditions.
(1) Panel cut dimensions
D
4-M10 Screw
[Unit: mm(in)]
Changeable
dimension
A
B
C
D
Servo amplifier
Model
236
(9.291)
255
(10.039)
270
(10.63)
203
(7.992)
MR-J2S-11KA
MR-J2S-15KA
MR-JACN15K
326
(12.835)
345
(13.583)
360
(14.173)
290
(11.417)
MR-JACN22K
MR-J2S-22KA
Punched
hole
A
B
C
(2) How to assemble the attachment for a heat sink outside mounting attachment
Screw
(2 places)
Screw
(4 places)
Attachment
Attachment
MR-JACN15K
MR-JACN22K
13 - 41
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Fitting method
Attachment
Fit using the
Servo
amplifier
Punched
hole
assembling
screws.
Servo
amplifier
Attachment
Control box
a. Assembling the heat sink outside mounting attachment
b. Installation to the control box
(4) Outline dimension drawing
(a) MR-JACN15K (MR-J2S-11KA, MR-J2S-15KA)
[Unit: mm(in)]
20 (0.787)
Panel
Attachment
Servo amplifier
Servo amplifier
Attachment
Panel
105
236 (9.291)
280 (11.024)
260 (10.236)
4- 12
Mounting hole
3.2 (0.126)
155 (6.102)
260
11.5
(0.453)
(4.134)
(10.236)
13 - 42
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JACN22K (MR-J2S-22KA)
[Unit: mm(in)]
68(2.677)
Panel
Attachment
Servo amplifier
Servo amplifier
Attachment
Panel
105
326(12.835)
370(14.567)
350(13.78)
4- 12
Mounting hole
3.2(0.126)
155(6.102)
11.5
(4.134) (0.453)
260
(10.236)
13 - 43
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2 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.
13.2.1 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
Servo motor
Servo amplifier
Power supply
L1
U
V
U
V
L2
L3
Motor
W
W
L11
L21
6) Power regeneration
converter lead
5) Electromagnetic
brake lead
2) Control power supply lead
Electro-
magnetic
brake
Power regeneration
converter
B1
B2
N
Regenerative option
C
P
Encoder
Encoder cable
(refer to section 13.1.5)
Power supply
4) Regenerative option lead
Cooling fan
BU
BV
BW
Cooling fan 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 alphabets (a, b, c) in the table correspond to the crimping terminals (Table 13.2) used to wire the
servo amplifier. For connection with the terminal block TE2 of the MR-J2S-100A or less, refer to
section 3.11.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
section 3.8.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or
more for wiring.
13 - 44
13. OPTIONS AND AUXILIARY EQUIPMENT
Table 13.1 Recommended wires
2
(Note 1) Wires [mm ]
4)
Servo amplifier
1) L1 L2 L3
2) L11 L21 3) U
V
W
P1
P
P
C
N
5) B1 B2
6) BU BV BW
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
1.25 (AWG16) : a
2 (AWG14) : a
MR-J2S-70A
2 (AWG14) : a
MR-J2S-100A
MR-J2S-200A
2 (AWG14) : a
3.5 (AWG12) : b
(Note 2)
3.5 (AWG12) : b
5.5 (AWG10) : b
1.25
1.25 (AWG16)
(AWG16)
MR-J2S-350A
5.5 (AWG10) : b
5.5 (AWG10) : b
8 (AWG8) : c
22 (AWG4) :e
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
8 (AWG8) : c
14 (AWG6) :d
22 (AWG4) :e
50 (AWG1/0) :g
3.5(AWG12) : b
5.5(AWG10) : b
30 (AWG2) :f
2(AWG14)
60 (AWG2/0) :g
Note 1. For the crimping terminals and applicable tools, refer to table 13.2.
2. 3.5mm2 for use of the HC-RFS203 servo motor.
Use wires 6) of the following sizes with the power regeneration converter (FR-RC).
Model
Wires[mm2]
14(AWG6)
14(AWG6)
22(AWG4)
FR-RC-15K
FR-RC-30K
FR-RC-55K
Table 13.2 Recommended crimping terminals
Servo amplifier side crimping terminals
Symbol
Crimping terminal
Applicable tool
Manufacturer name
a
b
32959
FDV5.5-4
47387
YNT-1210S
Tyco Electronics
Body YF-1 E-4
c
d
e
FVD8-5
FVD14-6
FVD22-6
Head YNE-38
Dice DH-111 DH-121
Body YF-1 E-4
Head YNE-38
Dice DH-112 DH-122
Body YF-1 E-4
Head YNE-38
Japan Solderless
Terminal
Dice DH-113 DH-123
Body YPT-60-21
Dice TD-124 TD-112
Body YF-1 E-4
Head YET-60-1
Dice TD-124 TD-112
NOP60
NOM60
38-S6
R38-6S
(Note 1 2)
f
NICHIFU
Body YDT-60-21
Dice TD-125 TD-113
Body YF-1 E-4
Head YET-60-1
Japan Solderless
Terminal
g
(Note)R60-8
Dice TD-125 TD-113
Note 1. Cover the crimped portion with an insulating tape.
2. Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the
size.
13 - 45
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 13.3 Wires for option cables
Characteristics of one core
Conductor Insulation coating
[Wires/mm] resistance[ /mm]
(Note 3)
Finishing
OD [mm]
Length
[m(ft)]
Core size Number
[mm2] of Cores
Type
Model
Wire model
Structure
ODd[mm] (Note 1)
2 to 10
(6.56 to 32.8)
20 30
(65.6 98.4)
2 5
(6.56 16.4)
10 to 50
(32.8 to 164)
2 5
(6.56 16.4)
10 to 30
(32.8 to 98.4)
2 5
(6.56 16.4)
10 to 50
(32.8 to 164)
2 5
12
0.08
UL20276 AWG#28
6pair (BLAC)
UL20276 AWG#22
6pair (BLAC)
(Note 2)
7/0.127
12/0.18
40/0.08
40/0.08
7/0.127
12/0.18
40/0.08
40/0.08
40/0.08
40/0.08
7/0.127
222
62
0.38
5.6
8.2
7.2
8.0
4.7
8.2
6.5
7.2
6.5
7.2
4.6
(6 pairs)
MR-JCCBL M-L
12
0.3
1.2
(6 pairs)
12
0.2
105
105
222
62
0.88
0.88
0.38
1.2
(6 pairs)
A14B2343 6P
(Note 2)
MR-JCCBL M-H
MR-JHSCBL M-L
MR-JHSCBL M-H
14
0.2
(7 pairs)
A14B0238 7P
UL20276 AWG#28
4pair (BLAC)
UL20276 AWG#22
6pair (BLAC)
(Note 2)
8
0.08
(4 pairs)
Encoder cable
12
0.3
(6 pairs)
8
0.2
105
105
105
105
222
0.88
0.88
0.88
0.88
0.38
(4 pairs)
A14B2339 4P
(Note 2)
12
0.2
(6 pairs)
A14B2343 6P
(Note 2)
8
0.2
(6.56 16.4)
10 to 50
(32.8 to 164)
(4 pairs)
A14B2339 4P
(Note 2)
MR-ENCBL M-H
MR-CPCATCBL3M
12
0.2
(6 pairs)
A14B2343 6P
UL20276 AWG#28
3pair (BLAC)
Communication
cable
6
0.08
3 (9.84)
(3 pairs)
0.5 to 5
(1.64 to 16.4)
20
0.08
UL20276 AWG#28
10pair (CREAM)
Bus cable
MR-J2HBUS
M
7/0.127
222
0.38
6.1
(10 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.
13 - 46
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.2 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Fuse
Servo amplifier
No-fuse breaker
Magnetic contactor
Class Current[A] Voltage AC [V]
MR-J2S-10A(1)
MR-J2S-20A
MR-J2S-40A 20A1 30A frame 10A
MR-J2S-60A 40A1 30A frame 15A
MR-J2S-70A
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
30A frame 5A
30A frame 5A
K5
K5
K5
K5
K5
K5
K5
K5
K5
K5
10
10
15
20
20
25
40
70
125
150
200
250
350
S-N10
30A frame 15A
30A frame 15A
30A frame 20A
30A frame 30A
50A frame 50A
100A frame 75A
100A frame 100A K5
225A frame 125A K5
225A frame 175A K5
250
S-N18
S-N20
S-N35
S-N50
S-N65
S-N95
S-N25
13.2.3 Power factor improving reactors
The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be
slightly lower than 90%.
Servo amplifier
[Unit : mm]
FR-BAL
FR-BAL
FR-BAL
MR-J2S-
L1
A
MC
MC
MC
NFB
R
S
T
X
Y
Z
3-phase
200 to 230VAC
L2
L3
Servo amplifier
MR-J2S-
A
NFB
W
D1
R
S
T
X
Y
Z
L1
Installation screw
(Note)
1-phase
230VAC
L2
L3
RXSY T Z
W1
Servo amplifier
MR-J2S- A1
C
NFB
R
S
T
X
Y
Z
1-phase
100 to120VAC
L1
L2
Note. For the 1-phase 230V power supply, Connect the power supply to L1, L2 and leave L3 open.
Dimensions [mm (in) ]
Mounting Terminal
screw size screw size
Mass
[kg (lb)]
Servo amplifier
Model
W
W1
H
D
D1
C
45-02.5 (1.77-00.098
57-02.5 (2.24-00.098
55-02.5 (2.17-00.098
75-02.5 (2.95-00.098
70-02.5 (2.76-00.098
)
)
)
)
)
MR-J2S-10A(1)/20A
MR-J2S-40A/20A1
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)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
10 (0.39)
10 (0.39)
12.5 (0.49)
12.5 (0.49)
M4
M4
M4
M4
M5
M5
M6
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)
14.5 (32.0)
19 (41.9)
MR-J2S-60A/70A/40A1 FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79)
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
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-7.5K 220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72)
FR-BAL-11K 280 (11.02) 255 (10.04) 220 (8.66) 135 (5.31)
FR-BAL-15K 295 (11.61) 270 (10.62) 275 (10.83) 133 (5.24)
100-02.5 (3.94-00.098
100-02.5 (3.94-00.098
110-02.5 (4.33-00.098
)
)
)
M5
M6
MR-J2S-700A/11KA
MR-J2S-15KA
MR-J2S-22KA
M6
M8
M8
M6
M8
M8
27 (59.5)
35 (77.16)
43 (94.79)
FR-BAL-22K 290 (11.41) 240 (9.75) 301 (11.85) 199 (7.84) 170 5 (6.69 0.2) 25 (0.98)
FR-BAL-30K 290 (11.41) 240 (9.75) 301 (11.85) 219 (8.62) 190 5 (7.48 0.2) 25 (0.98)
13 - 47
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.4 Power factor improving DC reactors
The input power factor is improved to be about 95%.
(Note 1) Terminal cover
Screw size G
Rating plate
2-F
L
H
Notch
E
B or less
A or less
F
Mounting foot part
5m or less
FR-BEL
Servo amplifier
P
(Note 2)
P1
Note 1. Fit the supplied terminal cover after wiring.
2. When using the DC reactor, remove the short-circuit bar across P1-P.
Power factor
improving DC
reactors
Dimensions [mm (in) ]
Terminal
Mass
Used wire
2
Servo amplifier
screw size [kg (lb)]
[mm ]
A
B
C
D
E
F
L
G
H
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
FR-BEL-15K 170(6.69) 93(3.66) 170(6.69)2.3(0.09)155(6.10) 6(0.24) 14(0.55)
FR-BEL-22K 185(7.28)119(4.69)182(7.17)2.6(0.10)165(6.49) 7(0.28) 15(0.59)
FR-BEL-30K 185(7.28)119(4.69)201(7.91)2.6(0.10)165(6.49) 7(0.28) 15(0.59)
M8
M8
M8
56(2.21)
70(2.77)
70(2.77)
M5
M6
M6
3.8(8.38) 22(AWG4)
5.4(11.91) 30(AWG2)
6.7(14.77) 60(AWG1/0)
13 - 48
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.5 Relays
The following relays should be used with the interfaces.
Interface
Selection example
Relay used for digital input command signals To prevent defective contacts , use a relay for small signal
(interface DI-1)
(twin contacts).
(Ex.) Omron : type G2A , MY
Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY
Relay used for digital output signals (interface DO-1)
13.2.6 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]
DC[V]
180
[A]
[J]
5
[W]
0.4
[A]
25
[V]
[pF]
[V]
220
(Note)
140
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)
13.2.7 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and
those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier
is an electronic device which handles small signals, the following general noise reduction techniques are
required.
Also, the servo amplifier 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 servo amplifier, 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 and output 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 servo amplifier, servo motor, etc. together at one point (refer to section 3.10).
13 - 49
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Reduction techniques for external noises that cause the servo amplifier 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 the servo amplifier and the servo amplifier 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.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and
other equipment against large exogenous noise and lightning surge, attaching a varistor to the
power input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier 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.
13 - 50
13. OPTIONS AND AUXILIARY EQUIPMENT
Noise radiated directly
from servo amplifier
Noises produced
by servo amplifier
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)
1)
7)
Sensor
power
supply
Servo
amplifier
2)
Instrument
Receiver
3)
8)
6)
Sensor
4)
3)
Servo motor
M
13 - 51
13. 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
servo amplifier or run near the servo amplifier, 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 the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
1) 2) 3)
3. Avoid laying the power lines (Input cables of the servo amplifier) 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 the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
4) 5) 6)
3. Avoid laying the power lines (I/O cables of the servo amplifier) 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 the servo
amplifier system, noises produced by the servo amplifier 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 the servo amplifier.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
When the cables of peripheral devices are connected to the servo amplifier 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 make 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.
[Unit: mm]([Unit: in.])
Impedance[ ]
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)
13 - 52
13. 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 the servo amplifier is shown below. Use this product or equivalent.
MC
Relay
Surge suppressor
Surge suppressor
Surge suppressor
This distance should be short
(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
0.12)
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
Diode
Maximum current: Not less than twice the drive current of
the relay or the like
(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 servo amplifier 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
13 - 53
13. 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
AERSBAN-DSET
clamp A: 2pcs.
A
(3.94) (3.39) (1.18)
70 56
(2.76) (2.20)
(2.76)
45
AERSBAN-ESET
clamp B: 1pc.
B
(1.77)
13 - 54
13. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BLF, FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current)
especially within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm] ([Unit: in.])
FR-BSF01 (for MR-J2S-200A or less)
Use the line noise filters for wires of the main power supply
Approx.110(4.33)
(L1 L2 L3) and of the motor power supply (U
V
W). Pass
95 0.5(3.74 0.02)
2- 5(0.20)
each of the 3-phase wires through the line noise filter an equal
number of times in the same direction. For the main power
supply, the effect of the filter rises as the number of passes
increases, but generally four passes would be appropriate. For
the motor power supply, passes must be four times or less. Do
not pass the grounding (earth) wire through the filter, or the
effect of the filter will drop. Wind the wires by passing through
the filter to satisfy the required number of passes as shown in
Example 1. If the wires are too thick to wind, use two or more
filters to have the required number of passes as shown in
Example 2. Place the line noise filters as close to the servo
amplifier as possible for their best performance.
Approx.65 (2.56)
33(1.30)
Example 1
NFB MC
Servo amplifier
FR-BLF (MR-J2S-350A or more)
Power
supply
L1
L2
L3
7(0.28)
Line noise
filter
130(5.12)
85(3.35)
(Number of turns: 4)
Example 2
MC
NFB
Servo amplifier
Power
supply
160(6.30)
180(7.09)
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 the servo
amplifier 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.
Leakage current: 4mA
Red White Blue
Green
When using the FR-BIF with a single-phase wire,
always insulate the wires that are not used for wiring.
Servo amplifier
NFB
MC
L1
Power
supply
L2
29 (1.14)
5 (0.20)
hole
L3
Radio noise
filter FR-BIF
29 (1.14)
44 (1.73)
58 (2.28)
7 (0.28)
13 - 55
13. OPTIONS AND AUXILIARY EQUIPMENT
(f) Varistors for input power supply (Recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON
CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Maximum rating
Static
Varistor voltage
rating (range)
V1mA
Maximum limit capacity
Rated
pulse
power
[W]
Permissible circuit Surge current
Energy
voltage
(reference
value)
Varistor
voltage
immunity
immunity
AC[Vrms]
DC[V]
350
8/20 s[A]
10000/1 time
7000/2 time
2ms[J]
195
[A]
[V]
[pF]
[V]
TND20V-431K
TND20V-471K
275
300
710
775
1300
1200
430(387 to 473)
470(423 to 517)
1.0
100
385
215
[Unit: mm]
D
H
T
E
(Note)L
min.
d
W
D
T
Model
Max.
Max.
Max.
1.0
0.05
1.0
TND20V-431K
TND20V-471K
6.4
6.6
3.3
3.5
21.5
24.5
20
0.8
10.0
Note. For special purpose items for lead length (L), contact the manufacturer.
W
E
d
13 - 56
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.8 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 servo amplifier,
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] ..........(13.1)
K: Constant considering the harmonic contents
Cable
Leakage current breaker
K
Mitsubishi
products
Type
Noise
filter
NV
Servo
amplifier
Cable
Ig2
NV-SP
NV-SW
NV-CP
NV-CW
NV-HW
BV-C1
NFB
M
Models provided with
harmonic and surge
reduction techniques
1
3
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 servo amplifier (Found from Fig. 13.1.)
Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 13.1.)
Ign:
Iga:
Igm:
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the servo amplifier (Found from Table 13.6.)
Leakage current of the servo motor (Found from Table 13.5.)
Table 13.4 Servo motor's
leakage current
Table 13.5 Servo amplifier's
leakage current
120
100
80
60
40
20
0
example (Igm)
example (Iga)
Servo motor
output [kW]
Leakage
current [mA]
Servo amplifier
Leakage
capacity [kW]
0.1 to 0.6
0.7 to 3.5
current [mA]
0.05 to 0.5
0.6 to 1.0
0.1
0.1
0.2
0.3
0.5
0.7
1.0
1.3
2.3
0.1
0.15
2
1.2 to 2.2
5
7
[mA]
3 to 3.5
11 15
22
5.5
7
5
7
Table 13.6 Leakage circuit breaker selection example
2
3.5 8 1422 38 80 150
5.5 30 60 100
11
15
22
Rated sensitivity
Cable size[mm2]
Servo amplifier
current of leakage
circuit breaker [mA]
Fig. 13.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit
MR-J2S-10A to MR-J2S-350A
MR-J2S-10A1 to MR-J2S-40A1
MR-J2S-500A
15
30
50
MR-J2S-700A
MR-J2S-11KA to MR-J2S-22KA
100
13 - 57
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection example
Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m
2mm2 5m
NV
Servo
Servo motor
HC-MFS73
amplifier
MR-J2S-60A
M
Ig1
Iga
Ig2
Igm
Use a leakage current breaker generally available.
Find the terms of Equation (13.1) from the diagram.
5
1000
Ig1
Ig2
20
20
0.1 [mA]
0.1 [mA]
5
1000
Ign 0 (not used)
Iga 0.1 [mA]
Igm 0.1 [mA]
Insert these values in Equation (13.1).
Ig 10 {0.1 0 0.1 1 (0.1 0.1)}
4.0 [mA]
According to the result of calculation, use a leakage current breaker having the rated sensitivity
current (Ig) of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-
SP/SW/CP/CW/HW series.
13 - 58
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.9 EMC filter
For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter.
Some EMC filters are large in leakage current.
(1) Combination with the servo amplifier
Recommended filter
Servo amplifier
Mass [kg]([lb])
Model
Leakage current [mA]
MR-J2S-10A to MR-J2S-100A
MR-J2S-10A1 to MR-J2S-40A1
MR-J2S-200A MR-J2S-350A
MR-J2S-500A
SF1252
38
0.75(1.65)
SF1253
57
1.5
1.5
3.0
3.0
3.0
1.37(3.02)
5.5(12.1)
6.7(14.8)
10.0(22.1)
13.0(28.7)
14.5(32)
(Note) HF3040A-TM
(Note) HF3050A-TM
(Note) HF3060A-TMA
(Note) HF3080A-TMA
(Note) HF3100A-TMA
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
Note: Soshin Electric A surge protector is separately required to use any of these EMC filters. (Refer to the EMC Installation
Guidelines.)
(2) Connection example
EMC filter
EMC filter
(SOSHIN Electric Co., Ltd)
(SF1252, SF1253)
Servo amplifier
Servo amplifier
NF
NF
MC
MC
LINE
LOAD
L1
L2
L3
L1
L2
L3
L1
L2
L3
1
2
3
4
5
6
E
L1
L2
L3
(Note 1)
Power
supply
(Note 1)
Power
supply
(Note 2)
L11
L11
L21
L21
1
2
3
Surge protector 1
(RAV-781BYZ-2)
(OKAYA Electric Industries
Co., Ltd.)
Surge protector 2
(RAV-781BXZ-4)
1 2 3
(OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
2. Connect when the power supply has earth.
13 - 59
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
(a) EMC filter
[Unit: mm(in)]
6.0(0.236)
SF1252
SF1253
6.0(0.236)
LINE
149.5(5.886)
209.5(8.248)
L1
L2
L3
L1
L2
L3
LINE
(input side)
(input side)
L1'
L2'
L3'
L1'
L2'
L3'
LOAD
(output side)
LOAD
(output side)
8.5
(0.335)
16.0(0.63)
23.0(0.906)
8.5
(0.335)
42.0
49.0
(1.654)
(1.929)
HF3040A-TM HF3050A-TM HF3060A-TMA
6-K
3-L
3-L
M
J
2
C
1
C
1
H
2
B
A
2
5
Dimensions [mm(in)]
Model
A
B
C
D
E
F
G
H
J
K
L
M
260
210
85
155
140
125
44
140
70
HF3040A-TM
HF3050A-TM
HF3060A-TMA
M5
M6
M6
M4
M4
M4
(10.24) (8.27) (3.35) (6.10) (5.51) (4.92) (1.73) (5.51) (2.76)
290 240 100 190 175 160 44 170 100
R3.25
(0.13),
(11.42) (9.45) (3.94) (7.48) (6.89) (6.29) (1.73) (6.69) (3.94) length
8 (0.32)
290
240
100
190
175
160
44
230
160
(11.42) (9.45) (3.94) (7.48) (6.89) (6.29) (1.73) (9.06) (6.29)
13 - 60
13. OPTIONS AND AUXILIARY EQUIPMENT
HF3080A-TMA HF3100A-TMA
8-K
3-L
3-L
M
J
2
C
1
C
B
A
1
2
5
C
1
H
2
Dimensions [mm(in)]
Model
A
B
C
D
E
F
G
H
J
K
L
M
R4.25
(0.17),
HF3080A-TMA
HF3100A-TMA
405
350
100
220
200
180
56
210
135
M8
M6
(15.95) (13.78) (3.94) (8.66) (7.87) (7.09) (2.21) (8.27) (5.32) length 12
(0.47)
13 - 61
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge protector
[Unit: mm]
RAV-781BYZ-2
1)
2)
3)
Black Black Black
4.2 0.2
UL-1015AWG16
1
2
3
41 1.0
[Unit: mm]
RAV-781BXZ-4
1)
2)
3)
4)
4.2 0.2
UL-1015AWG16
1
2
3
41 1.0
13 - 62
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.10 Setting potentiometers for analog inputs
The following variable resistors are available for use with analog inputs.
(1) Single-revolution type
WA2WYA2SEBK2K (Japan Resistor make)
Resistance
tolerance
Dielectric strength
(for 1 minute)
Insulation
resistance
Mechanical
rotary angle
Rated power Resistance
2W 2k
Rotary torque
10%
700V A.C
100M or more
300
5
10 to 100g-cm or less
Connection diagram
Outline dimension drawing
Panel hole machining diagram
[Unit: mm (in)]
[Unit: mm (in)]
20 (0.79)
2.5 (0.10)
25 (0.98)
10 (0.39)
30 (1.18)
2.8 (0.11)
3.6 (0.14) hole
10 (0.37) hole
1.6 (0.06)
1
2
3
M9 0.75 (0.03)
3
(0.08)
3- 1.54 (0.56) hole
1
3
2
(2) Multi-revolution type
Position meter: RRS10M202 (Japan Resistor make)
Analog dial: 23M (Japan Resistor make)
Resistance
tolerance
Dielectric strength
(for 1 minute)
Insulation
resistance
Mechanical
Rotary torque
rotary angle
Rated power Resistance
10
0
1W 2k
10%
700V A.C
1000M or more
3600
100g-cm or less
Connection diagram
Panel hole machining diagram
1
3
[Unit: mm (in)]
Panel thickness: 2 to 6 (0.08 to 0.24)
CW
2
9 (0.35) hole
2.1 (0.08) hole
Outline dimension drawing
RRS10 M202
23M
[Unit: mm (in)]
12.5 (0.49)
[Unit: mm (in)]
1)
15 (0.59)
2)
3)
30
3)
1)
2)
M9 0.75 (0.03)
12 (0.47)
6 (0.24)
1.2
(0.05)
20.5
(0.81)
7.5
(0.3)
23 (0.91)
L
13 - 63
13. OPTIONS AND AUXILIARY EQUIPMENT
MEMO
13 - 64
14. COMMUNICATION FUNCTIONS
14. COMMUNICATION FUNCTIONS
This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be
used to perform servo operation, parameter changing, monitor function, etc.
However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-
422 and RS-232C with parameter No.16. (Refer to section 14.2.2)
14.1 Configuration
14.1.1 RS-422 configuration
(1) Outline
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Servo amplifier
Servo amplifier
Servo amplifier
MITSUBISHI
MITSUBISHI
MITSUBISHI
Controller such as
personal computer
CHARGE
CHARGE
CHARGE
To CN3
To CN3
To CN3
RS-232C/
RS-422
converter
Axis 1 (Station 0)
Axis 2 (Station 1)
RS-422
Axis 32 (Station 31)
Unavailable as option.
To be prepared by customer.
(2) Cable connection diagram
Wire as shown below.
(Note 3) 30m (98.4ft) or less
(Note 1)
Axis 32 (last axis)
(Note 1)
(Note 1)
servo amplifier
CN3 connector
Axis 1 servo amplifier
CN3 connector
Axis 2 servo amplifier
CN3 connector
Plate
9
SD
Plate
9
Plate SD
SD
SDP
SDN
RDP
RDN
TRE
LG
9
19
5
SDP
SDN
RDP
RDN
TRE
LG
SDP
SDN
RDP
RDN
TRE
LG
19
5
19
5
15
10
11
1
15
10
11
1
15
10
11
1
(Note 2)
LG
LG
LG
RS-422
output unit
RDP
RDN
SDP
SDN
GND
GND
Note 1. Connector set MR-J2CN1 (3M)
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
2. In the last axis, connect TRE and RDN.
3. 30m (98.4ft) or less in environment of little noise.
14 - 1
14. COMMUNICATION FUNCTIONS
14.1.2 RS-232C configuration
(1) Outline
A single axis of servo amplifier is operated.
Servo amplifier
MITSUBISHI
CHARGE
To CN3
RS-232C
Controller such as
personal computer
(2) Cable connection diagram
Wire as shown below. The communication cable for connection with the personal computer (MR-
CPCATCBL3M) is available. (Refer to section 13.1.4)
(Note 1)
Servo amplifier
CN3 connector
(Note 2) 15m (49.2ft) or less
Personal computer
connector D-SUB9 (socket)
Plate
2
FG
RXD
GND
TXD
GND
3
TXD
1
12
11
2
5
7
8
6
4
RXD
GND
RTS
CTS
DSR
DTR
Note 1. Connector set MR-J2CN1 (3M)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
2. 15m (49.2ft) or less in environment of little noise. However, this distance should be 3m (9.84ft) or less for use at 38400bps
or more baud rate.
14 - 2
14. COMMUNICATION FUNCTIONS
14.2 Communication specifications
14.2.1 Communication overview
This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this
instruction (e.g. personal computer) is called a master station and the device which sends a reply in
response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the
master station repeatedly commands the slave station to send data.
Item
Baud rate
Description
9600/19200/38400/57600 asynchronous system
Start bit : 1 bit
Data bit : 8 bits
Transfer code
Parity bit: 1 bit (even)
Stop bit : 1 bit
Transfer protocol
Character system, half-duplex communication system
(LSB)
(MSB)
7
Next
start
Start
Parity
Stop
0
1
2
3
4
5
6
Data
1 frame (11bits)
14 - 3
14. COMMUNICATION FUNCTIONS
14.2.2 Parameter setting
When the RS-422/RS-232C communication function is used to operate the servo, set the communication
specifications of the servo amplifier in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on
again.
(1) Serial communication baud rate
Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
Parameter No. 16
Communication baud rate
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
(2) Serial communication selection
Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.
Parameter No. 16
Serial communication standard selection
0: RS-232C used
1: RS-422 used
(3) Serial communication response delay time
Set the time from when the servo amplifier (slave station) receives communication data to when it
sends back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.
Parameter No. 16
Serial communication response delay time
0: Invalid
1: Valid, reply sent in 800 s or more
(4) Station number setting
Set the station number of the servo amplifier in parameter No. 15. The setting range is stations 0 to 31.
(5) Protocol station number selection
When communication is made without setting station numbers to servo amplifiers as in the MR-J2-A
servo amplifiers, choose "no station numbers" in parameter No. 53. The communication protocol will
be free of station numbers.
Parameter No. 53
Protocol station number selection
0: With station numbers
1: No station numbers
14 - 4
14. COMMUNICATION FUNCTIONS
14.3 Protocol
POINT
Whether station number setting will be made or not must be selected if
the RS-232C communication function is used. Note that choosing "no
station numbers" in parameter No. 53 will make the communication
protocol free of station numbers as in the MR-J2-A servo amplifiers.
Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter. Transmission data is valid for the servo amplifier of the specified station
number or group.
When " " is set as the station number added to the transmission data, the transmission data is made
*
valid for all servo amplifiers connected. However, when return data is required from the servo amplifier
in response to the transmission data, set "0" to the station number of the servo amplifier which must
provide the return data.
(1) Transmission of data from the controller to the servo
10 frames (data)
S
O
H
S
T
X
E
T
X
Controller side
(Master station)
Data
No.
Check
sum
Station number
Data*
S
T
X
E
T
X
Servo side
(Slave station)
Station number
Check
sum
6 frames
Positive response: Error code
A
Negative response: Error code other than A
14 - 5
14. COMMUNICATION FUNCTIONS
(2) Transmission of data request from the controller to the servo
10 frames
S
O
H
S
T
X
E
T
X
Data
No.
Check
sum
Station number
Controller side
(Master station)
S
T
X
E
T
X
Station number
Check
sum
Servo side
(Slave station)
Data*
6 frames (data)
(3) Recovery of communication status by time-out
EOT causes the servo to return to
the receive neutral status.
E
O
T
Controller side
(Master station)
Servo side
(Slave station)
(4) Data frames
The data length depends on the command.
or
Data
Data
or 12 frames or 16 frames
4 frames
8 frames
14 - 6
14. COMMUNICATION FUNCTIONS
14.4 Character codes
(1) Control codes
Hexadecimal
Personal computer terminal key operation
(General)
Code name
Description
(ASCII code)
SOH
STX
ETX
EOT
01H
02H
03H
04H
start of head
start of text
ctrl
ctrl
ctrl
ctrl
A
B
C
D
end of text
end of transmission
(2) Codes for data
ASCII unit codes are used.
b
b
b
0
0
0
0
0
0
0
1
0
0
1
0
0
0
1
1
0
1
0
0
0
1
0
1
0
1
1
0
0
1
1
1
8
7
6
b5
b to
C
8
b4 b3 b2 b1
0
1
2
3
4
5
6
7
b5
R
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
NUL DLE Space
0
1
2
3
4
5
6
7
8
9
:
@
A
B
C
D
E
F
G
H
I
P
Q
R
S
`
a
b
c
p
SOH DC
STX DC
ETX DC
!
“
q
1
2
3
2
r
3
#
$
%
&
‘
s
4
T
U
V
W
X
Y
Z
d
e
f
t
5
u
6
v
7
g
h
i
w
8
(
x
9
)
y
10
11
12
13
14
15
J
j
z
;
K
L
M
N
O
[
k
l
{
,
|
]
m
n
o
}
¯
.
/
^
_
?
DEL
(3) Station numbers
You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to
specify the stations.
Station number
ASCII code
0
0
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
A
11
B
12
C
13
D
14
E
15
F
Station number
ASCII code
16
G
17
H
18
I
19
J
20
K
21
L
22
M
23
N
24
O
25
P
26
Q
27
R
28
S
29
T
30
U
31
V
For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1).
14 - 7
14. COMMUNICATION FUNCTIONS
14.5 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that
data to the master station.
The error code sent in upper case indicates that the servo is normal and the one in lower case indicates
that an alarm occurred.
Error code
Error name
Description
Remarks
Servo normal
Servo alarm
[A]
[B]
[C]
[a]
[b]
[c]
Normal operation
Parity error
Data transmitted was processed properly.
Parity error occurred in the transmitted data.
Checksum error occurred in the transmitted data.
Character not existing in the specifications was
transmitted.
Positive response
Checksum error
[D]
[E]
[F]
[d]
[e]
[f]
Character error
Command error
Data No. error
Negative response
Command not existing in the specifications was
transmitted.
Data No. not existing in the specifications was
transmitted.
14.6 Checksum
The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).
(Example)
Station number
S
T
X
E
T
X
[0] [A] [1] [2] [5] [F]
[5] [2]
02H 30H 41H 31H 32H 35H 46H 03H
STX or
SOH
ETX Check
30H 41H 31H 32H 35H 46H 03H
152H
Checksum range
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].
14 - 8
14. COMMUNICATION FUNCTIONS
14.7 Time-out operation
The master station transmits EOT when the slave station does not start reply operation (STX is not
received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above operation three times. (Communication error)
100ms
100ms
100ms
*Time-out
300ms
300ms
300ms
300ms
E
O
T
E
O
T
E
O
T
Controller
(Master station)
Servo
(Slave station)
14.8 Retry operation
When a fault occurs in communication between the master and slave stations, the error code in the
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the
master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A
communication error occurs if the above operation is repeated and results in the error three or more
consecutive times.
*Communication error
Controller
(Master station)
Servo
(Slave station)
S
T
X
S
T
X
S
T
X
Station number
Station number
Station number
Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the
slave station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry operation is performed three times.
14 - 9
14. COMMUNICATION FUNCTIONS
14.9 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after.
(1) 1s or more time has elapsed after the slave station is switched on; and
(2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems.
14.10 Communication procedure example
The following example reads the set value of parameter No.2 "function selection 1" from the servo
amplifier of station 0.
Data item
Station number
Command
Value
0
Description
Servo amplifier station 0
Read command
05
Data No.
02
Parameter No.2
Axis No. Command
Data No.
Start
Data [0] 0 5 STX 0 2 ETX
[0][0][5] [0][2]
Data make-up
STX
ETX
Checksum 30H 30H 35H 02H 30H 32H 03H FCH
Checksum calculation and
addition
Transmission data SOH
0
0 5 STX 0 2 ETX F C 46H 43H
Master station slave station
Addition of SOH to make
up transmission data
Data transmission
Data receive
Master station slave station
No
Is there receive data?
Yes
No
300ms elapsed?
Yes
No
3 consecutive times?
Yes
Master station slave station
Yes
Other than error code
[A] [a]?
100ms after EOT transmission
No
3 consecutive times?
No
Error processing
Yes
Receive data analysis
Error processing
End
14 - 10
14. COMMUNICATION FUNCTIONS
14.11 Command and data No. list
POINT
If the command/data No. is the same, its data may be different from the
interface and drive units and other servo amplifiers.
14.11.1 Read commands
(1) Status display (Command [0][1])
Command
[0][1]
[0][1]
Data No.
[8][0]
[8][1]
[8][2]
[8][3]
[8][4]
[8][5]
Description
Display item
Frame length
Status display data value and processing cumulative feedback pulses
12
12
12
12
12
12
information
servo motor speed
[0][1]
droop pulses
[0][1]
cumulative command pulses
command pulse frequency
analog speed command voltage
analog speed limit voltage
analog torque command voltage
analog torque limit voltage
regenerative load ratio
effective load ratio
[0][1]
[0][1]
[0][1]
[8][6]
12
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[8][7]
[8][8]
[8][9]
[8][A]
[8][B]
[8][C]
[8][D]
[8][E]
12
12
12
12
12
12
12
12
peak load ratio
Instantaneous torque
within one-revolution position
ABS counter
load inertia moment ratio
Bus voltage
(2) Parameter (Command [0][5])
Command
Data No.
Description
Frame length
[0][5]
[0][0] to
[5][4]
Current value of each parameter
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
8
(3) External I/O signals (Command [1][2])
Command
[1][2]
[1][2]
Data No.
[4][0]
[C][0]
Description
Frame length
External input pin statuses
External output pin statuses
8
8
(4) Alarm history (Command [3][3])
Command
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
Data No.
[1][0]
[1][1]
[1][2]
[1][3]
[1][4]
[1][5]
[2][0]
[2][1]
[2][2]
[2][3]
[2][4]
[2][5]
Description
Alarm occurrence sequence
most recent alarm
Frame length
Alarm number in alarm history
4
4
4
4
4
4
8
8
8
8
8
8
first alarm in past
second alarm in past
third alarm in past
fourth alarm in past
fifth alarm in past
Alarm occurrence time in alarm history most recent alarm
first alarm in past
second alarm in past
third alarm in past
fourth alarm in past
fifth alarm in past
14 - 11
14. COMMUNICATION FUNCTIONS
(5) Current alarm (Command [0][2] [3][5])
Command
Data No.
Description
Frame length
[0][2]
[0][0]
Current alarm number
4
Command
[3][5]
Data No.
[8][0]
Description
Display item
Frame length
Status display data value and processing cumulative feedback pulses
12
12
12
12
12
12
information at alarm occurrence
[3][5]
[8][1]
servo motor speed
[3][5]
[8][2]
droop pulses
[3][5]
[8][3]
cumulative command pulses
command pulse frequency
[3][5]
[8][4]
analog speed command voltage
analog speed limit voltage
[3][5]
[3][5]
[8][5]
[8][6]
analog torque command voltage
analog torque limit voltage
12
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[8][7]
[8][8]
[8][9]
[8][A]
[8][B]
[8][C]
[8][D]
[8][E]
regenerative load ratio
effective load ratio
peak load ratio
12
12
12
12
12
12
12
12
Instantaneous torque
within one-revolution position
ABS counter
load inertia moment ratio
Bus voltage
(6) Others
Command
[0][2]
Data No.
[9][0]
Description
Frame length
Servo motor end pulse unit absolute position
Command unit absolute position
Software version
8
8
[0][2]
[9][1]
[0][2]
[7][0]
16
14.11.2 Write commands
(1) Status display (Command [8][1])
Command
Data No.
Description
Description
Setting range
Setting range
Frame length
[8][1]
[0][0]
Status display data clear
1EA5
4
(2) Parameter (Command [8][4])
Command
Data No.
Frame length
[8][4]
[0][0] to
[5][4]
Each parameter write
Depends on the
parameter.
8
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter number.
(3) Alarm history (Command [8][2])
Command
Data No.
Description
Description
Setting range
Frame length
[8][2]
[2][0]
Alarm history clear
1EA5
1EA5
4
(4) Current alarm (Command [8][2])
Command
Data No.
Setting range
Frame length
[8][2]
[0][0]
Alarm reset
4
14 - 12
14. COMMUNICATION FUNCTIONS
(5) Operation mode selection (Command [8][B])
Command
Data No.
Description
Setting range
Frame length
[8][B]
[0][0]
Operation mode changing
0000 to 0004
4
0000: Exit from test operation mode
0001: Jog operation
0002: Positioning operation
0003: Motor-less operation
0004: Output signal (DO) forced output
(6) External input signal disable (Command [9][0])
Command
Data No.
Description
Setting range
Frame length
[9][0]
[0][0]
Turns off the external input signals (DI), external analog input 1EA5
signals and pulse train inputs with the exception of EMG, LSP
and LSN, independently of the external ON/OFF statuses.
4
[9][0]
[9][0]
[0][3]
[1][0]
Disables all output devices (DO).
1EA5
4
4
Enables the disabled external input signals (DI), external analog 1EA5
input signals and pulse train inputs with the exception of EMG,
LSP and LSN.
[9][0]
[1][3]
Enables the disabled external output signals (DO).
1EA5
4
(7) Data for test operation mode (Command [9][2] [A][0])
Command
Data No.
Description
Input signal for test operation
Setting range
Frame length
[9][2]
[0][0]
Refer to section
14.12.6
8
[9][2]
[A][0]
Forced output from signal pin
Refer to section
14.12.8
8
Command
Data No.
Description
Setting range
Frame length
[A][0]
[1][0]
Writes the speed of the test operation mode (jog operation, 0000 to 7FFF
positioning operation).
4
[A][0]
[A][0]
[A][0]
[A][0]
[1][1]
[1][2]
[1][3]
[1][5]
Writes the acceleration/deceleration time constant of the test 00000000 to
8
4
8
4
operation mode (jog operation, positioning operation).
7FFFFFFF
Clears the acceleration/deceleration time constant of the test 1EA5
operation mode (jog operation, positioning operation).
Writes the moving distance (in pulses) of the test operation mode 80000000 to
(jog operation, positioning operation).
7FFFFFFF
Temporary stop command of the test operation mode (jog 1EA5
operation, positioning operation)
14 - 13
14. COMMUNICATION FUNCTIONS
14.12 Detailed explanations of commands
14.12.1 Data processing
When the master station transmits a command data No. or a command data No. data to a slave
station, the servo amplifier returns a reply or data according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in
decimal, hexadecimal, etc.
Therefore, data must be processed according to the application.
Since whether data must be processed or not and how to process data depend on the monitoring,
parameters, etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.
(1) Processing the read data
When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.
The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.
0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type)
Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit
Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.
14 - 14
14. COMMUNICATION FUNCTIONS
(2) Writing the processed data
When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.
0
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
By way of example, here is described how to process the set data when a value of "15.5" is sent.
Since the decimal point position is the second digit, the decimal point position data is "2".
As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.
155 9B
Hence, "0200009B" is transmitted.
14 - 15
14. COMMUNICATION FUNCTIONS
14.12.2 Status display
(1) Status display data read
When the master station transmits the data No. (refer to the following table for assignment) to the
slave station, the slave station sends back the data value and data processing information.
1) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to section 14.11.1.
2) Reply
The slave station sends back the status display data requested.
0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Decimal point position
0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
(2) Status display data clear
The cumulative feedback pulse data of the status display is cleared. Send this command immediately
after reading the status display item. The data of the status display item transmitted is cleared to zero.
Command
Data No.
Data
[8][1]
[0][0]
1EA5
For example, after sending command [0][1] and data No. [8][0] and receiving the status display data,
send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to
zero.
14 - 16
14. COMMUNICATION FUNCTIONS
14.12.3 Parameter
(1) Parameter read
Read the parameter setting.
1) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No.
The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the
parameter number.
Command
Data No.
[0][5]
[0][0] to
[5][4]
2) Reply
The slave station sends back the data and processing information of the requested parameter
No.
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
0
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Parameter write type
0: Valid after write
1: Valid when power is switched on again after write
Read enable/disable
0: Read enable
1: Read disable
Enable/disable information changes according to the setting of parameter No.19 "parameter
write inhibit". When the enable/disable setting is read disable, ignore the parameter data part
and process it as unreadable.
14 - 17
14. COMMUNICATION FUNCTIONS
(2) Parameter write
POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEP-
ROM. The EEP-ROM has a limitation in the number of write times and
exceeding this limitation causes the servo amplifier to malfunction. Note
that the number of write times to the EEP-ROM is limited to
approximately 100, 000.
Write the parameter setting.
Write the value within the setting range. Refer to section 5.1 for the setting range.
Transmit command [8][4], the data No., and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
When the data to be written is handled as decimal, the decimal point position must be specified. If it
is not specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the
decimal point position.
Write the data after making sure that it is within the upper/lower limit value range given in section
5.1.2. Read the parameter data to be written, confirm the decimal point position, and create
transmission data to prevent error occurrence. On completion of write, read the same parameter
data to verify that data has been written correctly.
Command
Data No.
Set data
See below.
[8][4]
[0][0] to
[5][4]
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower forth digit
5: Lower fifth digit
Write mode
0: Write to EEP-ROM
3: Write to RAM
When the parameter data is changed frequently through communication,
set "3" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.
14 - 18
14. COMMUNICATION FUNCTIONS
14.12.4 External I/O pin statuses (DIO diagnosis)
(1) External input pin status read
Read the ON/OFF statuses of the external input pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command
Data No.
[1][2]
[4][0]
(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.
bit
0
1
2
3
4
5
6
7
External input pin
CN1B-16
CN1B-17
CN1B-15
CN1B-5
bit
8
External input pin
bit
16
17
18
19
20
21
22
23
External input pin
bit
24
25
26
27
28
29
30
31
External input pin
CN1B-9
9
10
11
12
13
14
15
CN1B-14
CN1A-8
CN1B-7
CN1B-8
(2) External output pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command
Data No.
[1][2]
[C][0]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.
bit
0
1
2
3
4
5
6
7
External output pin
CN1A-19
CN1A-18
CN1B-19
CN1B-6
bit
8
External output pin
bit
16
17
18
19
20
21
22
23
External output pin
bit
24
25
26
27
28
29
30
31
External output pin
9
10
11
12
13
14
15
CN1B-4
CN1B-18
CN1A-14
14 - 19
14. COMMUNICATION FUNCTIONS
14.12.5 Disable/enable of external I/O signals (DIO)
Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the
input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be
disabled.
Signal
External input signals (DI)
External analog input signals
Pulse train inputs
Status
OFF
0V
None
(1) Disabling/enabling the external input signals (DI), external analog input signals and pulse train
inputs with the exception of EMG, LSP and LSN.
Transmit the following communication commands.
(a) Disable
Command
Data No.
Data
[9][0]
[0][0]
1EA5
(b) Enable
Command
Data No.
Data
[9][0]
[1][0]
1EA5
(2) Disabling/enabling the external output signals (DO)
Transmit the following communication commands.
(a) Disable
Command
Data No.
Data
[9][0]
[0][3]
1EA5
(b) Enable
Command
Data No.
Data
[9][0]
[1][3]
1EA5
14 - 20
14. COMMUNICATION FUNCTIONS
14.12.6 Input devices ON/OFF (test operation)
Each input signal can be turned on/off for test operation. Turn off the external input signals.
Send command [9] [2], data No. [0] [0] and data.
Command
Data No.
Set data
[9][2]
[0][0]
See below.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the slave
station as hexadecimal data.
bit
0
1
2
3
4
5
6
7
Signal abbreviation
bit
8
Signal abbreviation
bit
16
17
18
19
20
21
22
23
Signal abbreviation
bit
24
25
26
27
28
29
30
31
Signal abbreviation
SON
LSP
LSN
TL
9
10
11
12
13
14
15
ST1
ST2
PC
RES
CR
14 - 21
14. COMMUNICATION FUNCTIONS
14.12.7 Test operation mode
(1) Instructions for test operation mode
The test operation mode must be executed in the following procedure. If communication is interrupted
for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a
stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the
status display.
(a) Execution of test operation
1) Turn off all external input signals.
2) Disable the external input signals.
Command
Data No.
Data
[9][0]
[0][0]
1EA5
3) Choose the test operation mode.
Command
[8][B]
Data No.
[0][0]
Transmission data
Selection of test operation mode
Test operation mode cancel
Jog operation
0000
0001
0002
0003
0004
[8][B]
[0][0]
[8][B]
[0][0]
Positioning operation
Motor-less operation
DO forced output
[8][B]
[0][0]
[8][B]
[0][0]
4) Set the data needed for test operation.
5) Start.
6) Continue communication using the status display or other command.
(b) Termination of test operation
To terminate the test operation mode, complete the corresponding operation and.
1) Clear the test operation acceleration/deceleration time constant.
Command
Data No.
Data
[A][0]
[1][2]
1EA5
2) Cancel the test operation mode.
Command
Data No.
Data
[8][B]
[0][0]
0000
3) Enable the disabled external input signals.
Command
Data No.
Data
[9][0]
[1][0]
1EA5
14 - 22
14. COMMUNICATION FUNCTIONS
(2) Jog operation
Transmit the following communication commands.
(a) Setting of jog operation data
Item
Command
[A][0]
Data No.
[1][0]
Data
Speed
Write the speed [r/min] in hexadecimal.
Write the acceleration/deceleration time constant [ms] in
hexadecimal.
Acceleration/deceleration
time constant
[A][0]
[1][1]
(b) Start
Turn on the input devices SON
by using command [9][2] data No. [0][0].
LSP LSN
Item
Forward rotation start
Reverse rotation start
Stop
Command
Data No.
Data
[9][2]
[9][2]
[9][2]
[0][0]
[0][0]
[0][0]
00000807: Turns on SON
00001007: Turns on SON
00000007: Turns on SON
.
LSP LSN ST1
.
LSP LSN ST2
and
.
LSN
LSP
(3) Positioning operation
Transmit the following communication commands.
(a) Setting of positioning operation data
Item
Command
[A][0]
Data No.
[1][0]
Data
Write the speed [r/min] in hexadecimal.
Speed
Acceleration/deceleration
time constant
[A][0]
[1][1]
Write the acceleration/deceleration time constant [ms] in
hexadecimal.
Moving distance
[A][0]
[1][3]
Write the moving distance [pulse] in hexadecimal.
(b)
Input of servo-on stroke end
Turn on the input devices SON
by using command [9][2] data No. [0][0].
LSN
LSP
and
Item
Command
Data No.
[0][0]
Data
[9][2]
[9][2]
00000001: Turns on SON.
Servo-on
[0][0]
Servo OFF
00000006: Turns off SON and turns on LSP
00000007: Turns on SON LSP LSN.
LSN.
Stroke end ON
Servo-on
[9][2]
[0][0]
Stroke end ON
(c) Start of positioning operation
Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON) and
forward/reverse rotation stroke end (LSP LSN , and then send the moving distance to start
)
positioning operation. After that, positioning operation will start every time the moving distance is
transmitted. To start opposite rotation, send the moving distance of a negative value.
When the servo-on (SON) and forward/reverse rotation stroke end (LSP LSN) are off, the
transmission of the moving distance is invalid. Therefore, positioning operation will not start if the
servo-on (SON) and forward/reverse rotation stroke end (LSP LSN) are turned on after the setting
of the moving distance.
(d) Temporary stop
A temporary stop can be made during positioning operation.
Command
Data No.
Data
[A][0]
[1][5]
1EA5
Retransmit the same communication commands as at the start time to resume operation.
To stop positioning operation after a temporary stop, retransmit the temporary stop communication
command. The remaining moving distance is then cleared.
14 - 23
14. COMMUNICATION FUNCTIONS
14.12.8 Output signal pin ON/OFF output signal (DO) forced output
In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(1) Choosing DO forced output in test operation mode
Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
0 0 0 4
Selection of test operation mode
4: DO forced output (output signal forced output)
(2) External output signal ON/OFF
Transmit the following communication commands.
Command
Data No.
Setting data
See below.
[9][2]
[A][0]
b31
b1 b0
1: ON
0: OFF
Command of each bit is sent to the slave station in hexadecimal.
bit
External output pin
CN1A-19
CN1A-18
CN1B-19
CN1B-6
bit
8
External output pin
bit
16
17
18
19
20
21
22
23
External output pin
bit
24
25
26
27
28
29
30
31
External output pin
0
1
2
3
4
5
6
7
9
10
11
12
13
14
15
CN1B-4
CN1B-18
CN1A-14
14 - 24
14. COMMUNICATION FUNCTIONS
14.12.9 Alarm history
(1) Alarm No. read
Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last
alarm) to No. 5 (sixth alarm in the past) are read.
(a) Transmission
Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 14.11.1.
(b) Reply
The alarm No. corresponding to the data No. is provided.
0 0
Alarm No. is transferred in decimal.
For example, “0032” means AL.32 and “00FF” means AL._ (no alarm).
(2) Alarm occurrence time read
Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time
beginning with operation start, with the minute unit omitted.
(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to section 14.11.1.
(b) Reply
The alarm occurrence time is transferred in decimal.
Hexadecimal must be converted into decimal.
For example, data “01F5” means that the alarm occurred in 501 hours after start of operation.
(3) Alarm history clear
Erase the alarm history.
Send command [8][2] and data No. [2][0].
Command
Data No.
Data
[8][2]
[2][0]
1EA5
14 - 25
14. COMMUNICATION FUNCTIONS
14.12.10 Current alarm
(1) Current alarm read
Read the alarm No. which is occurring currently.
(a) Transmission
Send command [0][2] and data No. [0][0].
Command
Data No.
[0][2]
[0][0]
(b) Reply
The slave station sends back the alarm currently occurring.
0 0
Alarm No. is transferred in decimal.
For example, “0032” means AL.32 and “00FF” means AL._ (no alarm).
(2) Read of the status display at alarm occurrence
Read the status display data at alarm occurrence. When the data No. corresponding to the status
display item is transmitted, the data value and data processing information are sent back.
(a) Transmission
Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to
be read. Refer to section 14.11.1.
(b) Reply
The slave station sends back the requested status display data at alarm occurrence.
0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)
Display type
0: Conversion into decimal required
1: Used unchanged in hexadecimal
Decimal point position
0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
(3) Current alarm clear
As by the entry of the reset (RES), reset the servo amplifier alarm to make the servo amplifier ready to
operate. After removing the cause of the alarm, reset the alarm with no command entered.
Command
Data No.
Data
[8][2]
[0][0]
1EA5
14 - 26
14. COMMUNICATION FUNCTIONS
14.12.11 Other commands
(1) Servo motor end pulse unit absolute position
Read the absolute position in the servo motor end pulse unit.
Note that overflow will occur in the position of 16384 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No. [9][0].
Command
Data No.
[0][2]
[9][0]
(b) Reply
The slave station sends back the requested servo motor end pulses.
Absolute value is sent back in hexadecimal in
the servo motor end pulse unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command
Data No.
[0][2]
[9][1]
(b) Reply
The slave station sends back the requested command pulses.
Absolute value is sent back in hexadecimal in the
command unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.
(3) Software version
Reads the software version of the servo amplifier.
(a) Transmission
Send command [0][2] and data No.[7][0].
Command
Data No.
[0][2]
[7][0]
(b) Reply
The slave station returns the software version requested.
Software version (15 digits)
Space
14 - 27
14. COMMUNICATION FUNCTIONS
MEMO
14 - 28
15. ABSOLUTE POSITION DETECTION SYSTEM
15. ABSOLUTE POSITION DETECTION SYSTEM
If an absolute position erase alarm (AL.25) or an absolute position counter warning
(AL.E3) has occurred, always perform home position setting again. Not doing so
may cause unexpected operation.
CAUTION
POINT
When configuring an absolute position detection system using the QD75P/D
PLC, refer to the Type QD75P/QD75D Positioning Module User's Manual
(SH (NA) 080058).
15.1 Outline
15.1.1 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 general-purpose programmable controller power is on or
off. Therefore, once the home position is defined 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.
General purpose programmable
Servo amplifier
controller
Pulse train
(command)
CPU
Positioning module
Home position data
Current
position
data
EEPROM memory
Current
position
data
LSO
1XO
Backed up in the
I/O module
case of power failure
LS
1X
Input
Detecting the Detecting the
number of
revolutions
position within
one revolution
Output
Battery MR-BAT
Servo motor
1 pulse/rev Accumulative
revolution counter
High speed serial
communication
Super capacitor
Within-one-revolution counter
(Position detector)
15.1.2 Restrictions
The absolute position detection system cannot be configured under the following conditions. Test
operation cannot be performed in the absolute position detection system, either. To perform test
operation, choose incremental in parameter No.1.
(1) Speed control mode, torque control mode.
(2) Control switch-over mode (position/speed, speed/torque, torque/position).
(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning.
(4) Changing of electronic gear after home position setting.
(5) Use of alarm code output.
15 - 1
15. ABSOLUTE POSITION DETECTION SYSTEM
15.2 Specifications
(1) Specification list
Item
Description
System
Battery
Electronic battery backup system
1 piece of lithium battery ( primary battery, nominal 3.6V)
Type: MR-BAT or A6BAT
Maximum revolution range
(Note 1) Maximum speed at power failure
(Note 2) Battery backup time
(Note 3) Data holding time during battery
replacement
Home position 32767 rev.
500r/min
Approx. 10,000 hours (battery life with power off)
2 hours at delivery, 1 hour in 5 years after delivery
5 years from date of manufacture
Battery storage period
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 voltage low or the
battery removed, or during which data can be held with the encoder cable disconnected.
Battery replacement should be finished within this period.
(2) Configuration
Positioning module
A1SD71S2 A1SD71S7
I/O module
AX40 41 42
AY40 41 42
A1SD75
FX2N-1GP FX2N-10PG FX2N-10GM
FX2N-20GM
FX2N(C) series, FX3U(C) series
Programmable controller
A1SD75 etc.
Servo amplifier
CN1A
CN2
I/O
CN1B
CON1
Servo motor
Battery (MR-BAT)
(3) Parameter setting
Set " 1
" in parameter No.1 to make the absolute position detection system valid.
Parameter No. 1
1
Selection of absolute position detection system
0: Incremental system
1: Absolute position detection system
15 - 2
15. ABSOLUTE POSITION DETECTION SYSTEM
15.3 Battery installation procedure
Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
confirm that the voltage between P and N is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front
of the servo amplifier whether the charge lamp is off or not.
WARNING
POINT
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
(1) Open the operation window. (When the model used is the MR-J2S-200A MR-J2S-350A or more, also
remove the front cover.)
(2) Install the battery in the battery holder.
(3) Install the battery connector into CON1 until it clicks.
Battery connector
Battery connector
Operation window
CON1
CON1
Battery
Battery holder
Battery
Battery holder
For MR-J2S-100A or less
For MR-J2S-200A MR-J2S-350A
CON1
Battery connector
CON1
Battery holder
Battery connector
Battery holder
Battery
Battery
For MR-J2S-11KA or more
For MR-J2S-500A MR-J2S-700A
15 - 3
15. ABSOLUTE POSITION DETECTION SYSTEM
15.4 Standard connection diagram
Servo amplifier
VDD CN1B-3
COM CN1B-13
LSP CN1B-16
LSN CN1B-17
TL CN1B-7
(Note 2) Stroke end in forward rotation
Stroke end in reverse rotation
External torque control
(Note 3)
Reset
RES CN1B-14
SG CN1B-10
EMG (Note 1)
Emergency stop
Servo-on
Output
Input
EMG CN1B-15
SON CN1B-5
Electromagnetic
brake output
ABS transmission
mode
RA2
ABSM CN1B-8
ABSR CN1B-9
DO1 CN1B-4
ZSP CN1B-19
TLC CN1B-6
ABS request
ABS bit 0
Reset
ABS bit 1
Send data ready
I/O module
Dog
Near-zero point signal
Stop signal
Stop
SG CN1A-10
Power supply (24V)
Ready
VDD CN1B-3
RD CN1A-19
P15R CN1A-4
OP CN1A-14
CR CN1A-8
SG CN1A-20
Zero-point
signal
Clear
PP CN1A-3
PG CN1A-13
NP CN1A-2
NG CN1A-12
Command
pulses
(for differential
line driver type)
Upper limit setting
Torque limit
10V/max.torque
P15R CN1B-11
TLA CN1B-12
LG CN1B-1
SD
Plate
Note 1. Always install the emergency stop switch.
2. For operation, always turn on forward rotation stroke end (LSP)/reverse rotation stroke end (LSN).
3. When using the torque limit signal (TL), set " 4"in parameter No.46 to assign TL to pin CN1B-7.
15 - 4
15. ABSOLUTE POSITION DETECTION SYSTEM
15.5 Signal explanation
When the absolute position data is transferred, the signals of connector CN1 change as described in this
section. They return to the previous status on completion of data transfer. The other signals are as
described in section 3.3.2.
For the I/O interfaces (symbols in the I/O Category column in the table), refer to section 3.6.
I/O
Control
mode
Signal name
Code
Pin No.
Function/Application
category
While ABSM is on, the servo amplifier is in the ABS transfer
mode, and the functions of ZSP, TLC, and D01 are as
indicated in this table.
ABS transfer
mode
(Note)
ABSM
DI-1
DI-1
CN1B-8
(Note)
Turn on ABSR to request the ABS data in the ABS transfer
ABS request
ABS bit 0
ABSR
D01
CN1B-9 mode.
Indicates the lower bit of the ABS data (2 bits) which is sent
from the servo to the programmable controller in the ABS
transfer mode.
CN1B-4
DO-1
DO-1
P
If there is a signal, D01 turns on.
(Position
control)
Indicates the upper bit of the ABS data (2 bits) which is sent
from the servo to the programmable controller in the ABS
transfer mode.
ABS bit 1
ZSP
CN1B-19
If there is a signal, ZSP turns on.
Indicates that the data to be sent is being prepared in the
Send data ready
TLC
CR
CN1B-6 ABS transfer mode. At the completion of the ready state, TLC
turns on.
DO-1
DI-1
When CR is turned on, the position control counter is cleared
CN1A-8 and the home position data is stored into the non-volatile
memory (backup memory).
Home position
setting
Note. When "Used in absolute position detection system" is selected in parameter No. 1, pin CN1B-8 acts as the ABS transfer mode
(ABSM) and pin CN1B-9 as the ABS request (ABSR). They do not return to the original signals if data transfer ends.
15 - 5
15. ABSOLUTE POSITION DETECTION SYSTEM
15.6 Startup procedure
(1) Battery installation.
Refer to section 15.3 installation of absolute position backup battery.
(2) Parameter setting
Set "1
"in parameter No. 1 of the servo amplifier and switch power off, then on.
(3) Resetting of absolute position erase (AL.25)
After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on. Leave
the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.
(4) Confirmation of absolute position data transfer
When the servo-on (SON) is turned on, the absolute position data is transferred to the programmable
controller. When the ABS data is transferred properly.
(a) The ready output (RD) turns on.
(b) The programmable controller/ABS data ready contact (M3 for A1SD71, M99 for 1PG) turns on.
(c) The MR Configurator (servo configuration software) ABS data display window (refer to section
15.9) and programmable controller side ABS data registers (D3, D4 for A1SD71, D106, D107 for
1PG) show the same value (at the home position address of 0).
If any warning such as ABS time-out warning (AL.E5) or programmable controller side transfer
error occurs, refer to section 15.10 or chapter 10 and take corrective action.
(5) Home position setting
The home position must be set if.
(a) System setup is performed.
(b) The servo amplifier has been changed.
(c) The servo motor has been changed; or
(d) The absolute position erase (AL.25) occurred.
In the absolute position system, the absolute position coordinates are made up by making home
position setting at the time of system setup.
The servo motor may operate unexpectedly if positioning operation is performed without home
position setting. Always make home position setting before starting operation.
For the home position setting method and types, refer to section 15.7.3.
15 - 6
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7 Absolute position data transfer protocol
POINT
After switching on the ABS transfer mode (ABSM), turn on the servo-on
signal (SON). When the ABS transfer mode is off, turning on the servo-on
signal (SON) does not switch on the base circuit.
15.7.1 Data transfer procedure
Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the
programmable controller reads the position data (present position) of the servo amplifier.
Time-out monitoring is performed by the programmable controller.
Servo amplifier
Programmable controller
Servo-on (SON) ON
Every time the SON is
turned ON, the ABS transfer
mode signal is turned ON
to set the data to be
transmitted.
ABS transfer mode ON
DI0 allocation change
Transmission data set
Send data ready ON
ABS request ON
Watch dog timer
<Current position data>
Send data ready OFF
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
32-bit data is configured.
16 times
Reading 2 bits
Shift and addition
ABS request OFF
Send data ready ON
ABS request ON
<Sum check data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
6-bit data is configured.
Transmission data set
Watch dog timer
Send data ready OFF
3 times
Reading 2 bits
Shift and addition
ABS request OFF
Send data ready ON
Setting the current
position
A sum check is executed
for the received 32-bit data.
After making sure that
there are no errors in the data,
the current position is set.
Sum check
ABS transfer mode OFF
DI0 allocation change
TLC (send data ready) OFF
15 - 7
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.2 Transfer method
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the
absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode
(ABSM) should always be turned on to read the current position in the servo amplifier to the controller.
The servo amplifier transmits to the controller the current position latched when the ABS transfer mode
(ABSM) switches from OFF to ON. At the same time, this data is set as a position command value inside
the servo amplifier. Unless the ABS transfer mode (ABSM) is turned ON, the base circuit cannot be
turned ON.
(1) At power-on
(a) Timing chart
ON
Power
supply
OFF
If SON is turned ON before ABSM is input
ON
Servo-on
(SON)
OFF
2), 3)
ON
4)
During transfer of ABS
During transfer of ABS
(Note)
ABS transfer mode
(ABSM)
OFF
(Note)
ON
ABS request
(ABSR)
OFF
(Note)
(Note)
ON
Send data ready
(TLC)
OFF
(Note)
(Note)
Transmission
(ABS) data
ABS data
ABS data
D01:bit1
ZSP:bit2
80[ms]
80[ms]
ON
Base circuit
OFF
1)
Operation
ON
Ready
(RD)
Operation
enabled
enabled
OFF
Note. For details, refer to (1) (b) in this section.
15 - 8
15. ABSOLUTE POSITION DETECTION SYSTEM
1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after
transmission of the ABS data.
While the ready (RD) is ON, the ABS transfer mode (ABSM) input is not accepted.
2) Even if the servo-on (SON) is turned ON before the ABS transfer mode (ABSM) is turned ON,
the base circuit is not turned ON until the ABS transfer mode (ABSM) is turned ON.
If a servo alarm has occurred, the ABS transfer mode (ABSM) is not received.
The ABS transfer mode (ABSM) allows data transmission even while a servo warning is
occurring.
3) If the ABS transfer mode (ABSM) is turned OFF during the ABS transfer mode, the ABS
transfer mode is interrupted and the ABS time-out warning (AL.E5) occurs.
If the servo-on (SON) is turned OFF, the reset (RES) is turned ON, and the emergency stop
(EMG) is turned OFF during the ABS transfer mode, the ABS time-out warning (AL.E5) occurs.
4) The functions of output signals such as ZSP, TLC, D01, and INP change depending on the
ON/OFF state of the ABS transfer mode (ABSM).
Note that if the ABS transfer mode (ABSM) is turned ON for a purpose other than ABS data
transmission, the output signals will be assigned the functions of ABS data transmission.
Output signal
Symbol
Pin No.
ABS transfer mode (ABSM): OFF ABS transfer mode (ABSM): ON
(Note)
D01
CN1B-4
Positioning completion
ABS data bit 0
ZSP
CN1B-19
CN1B-6
Zero speed
ABS data bit 1
TLC
(Note)
INP
During torque limit control
Send data ready
CN1A-18
Positioning completion
ABS data bit 0
Note. CN1B-4 and CN1A-18 output the same signals. (To enter the positioning completion signal into INPS of the A1SD75,
connect CN1A-18.)
5) The ABS transfer mode (ABSM) is not accepted while the base circuit is ON
For re-transferring, turn OFF the servo-on (SON) signal and keep the base circuit in the off state
for 20ms or more.
15 - 9
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Detailed description of absolute position data transfer
ON
Servo-on
(programmable
controller)
OFF
ON
Servo-on
(SON)
OFF
(Note)
7)
1)
ON
ABS transfer mode
(ABSM)
During transfer of ABS
OFF
3)
5)
ON
ABS request
(ABSR)
OFF
2)
4)
6)
ON
Send data ready
(TLC)
OFF
1
2
18
19
Lower
2 bits
Checksum
Upper 2 bits
Transmission (ABS) data
Note. If the servo-on (SON) is not turned ON within 1 second after the ABS transfer mode (ABSM) is turned ON, an SON
time-out warning (AL.EA) occurs. This warning, however, does not interrupt data transmission.
It is automatically cleared when the servo-on (SON) is turned ON.
1) The programmable controller turns ON the ABS transfer mode (ABSM) and servo-on (SON) at
the leading edge of the internal servo-on (SON).
2) In response to the ABS transfer mode (ABSM), the servo detects and calculates the absolute
position and turns ON the send data ready (TLC) to notify the programmable controller that the
servo is ready for data transmission.
3) After acknowledging that the ready to send (TLC) has been turned ON, the programmable
controller turns ABS request (ABSR) ON.
4) In response to ABS request (ABSR), the servo outputs the lower 2 bits of the ABS data and the
ready to send (TLC) in the OFF state.
5) After acknowledging that the ready to send (TLC) has been turned OFF, which implies that 2
bits of the ABS data have been transmitted, the programmable controller reads the lower 2 bits
of the ABS data and then turns OFF the ABS request (ABSR).
6) The servo turns ON the ready to send (TLC) so that it can respond to the next request.
Steps 3) to 6) are repeated until 32-bit data and the 6-bit checksum have been transmitted.
7) After receiving of the sum check, the programmable controller confirms that the 19th ABS
transmission data ready (ABST) is turned ON, and then turns OFF the ABS transfer mode
(ABSM). If the ABS transfer mode (ABSM) is turned OFF during data transmission, the ABS
transfer mode (ABSM) is interrupted and the ABS time-out warning (AL.E5) occurs.
15 - 10
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) Checksum
The checksum is the code which is used by the programmable controller to check for errors in the
received ABS data. The 6-bit checksum is transmitted following the 32-bit ABS data.
At the programmable controller, calculate the sum of the received ABS data using the ladder
program and compare it with the checksum code sent from the servo.
The method of calculating the checksum is shown. Every time the programmable controller
receives 2 bits of ABS data, it adds the data to obtain the sum of the received data. The checksum
is 6-bit data.
Negative data is available for the FX-1PG and unavailable for the A1SD71.
Example: ABS data: 10 (FFFFFFF6H)
10b
01b
<Appendix>
11b
11b
10
Decimal
11b
FFFF FFF6
Hexadecimal
Binary
11b
11b
1111 1111 1111
0110
11b
When the binary data of each 2bits of the
ABS data is added up, "10 1101b " is obtained.
11b
11b
11b
11b
11b
11b
11b
11b
101101b
Therefore, the checksum of " 10" (ABS data) is "2Db"
15 - 11
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Transmission error
(a) Time-out warning(AL.E5)
In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time-
out error occurs, an ABS time-out warning (AL.E5) is output.
The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from
OFF to ON.
1) ABS request OFF-time time-out check (applied to 32-bit ABS data in 2-bit units checksum)
If the ABS request signal is not turned ON by the programmable controller within 5s after the
send data ready (TLC) is turned ON, this is regarded as a transmission error and the ABS time-
out warning (AL.E5) is output.
ON
ABS transfer mode
OFF
5s
ON
ABS request
OFF
Signal is not turned ON
ON
Send data ready
OFF
Yes
AL.E5 warning
No
2) ABS request ON-time time-out check (applied to 32-bit ABS data in 2-bit units checksum)
If the ABS request signal is not turned OFF by the programmable controller within 5s after the
send data ready (TLC) is turned OFF, this is regarded as the transmission error and the ABS
time-out warning (AL.E5) is output.
ON
ABS transfer mode
OFF
5s
ON
ABS request
OFF
Signal is not turned OFF
ON
Send data ready
OFF
Yes
AL.E5 warning
No
15 - 12
15. ABSOLUTE POSITION DETECTION SYSTEM
3) ABS transfer mode finish-time time-out check
If the ABS transfer mode (ABSM) is not turned OFF within 5s after the last ready to send signal
(19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error
and the ABS time-out warning (AL.E5) is output.
5s
ON
ABS transfer mode
OFF
Signal is not turned OFF
1
2
3
4
18
19
ON
ABS request
OFF
ON
Send data ready
AL.E5 warning
1
2
3
4
18
19
OFF
Yes
No
4) ABS transfer mode (ABSM) OFF check during the ABS transfer
When the ABS transfer mode is turned ON to start transferring and then the ABS transfer
mode is turned OFF before the 19th send data ready signal is turned ON, the ABS time-out
warning (AL.E5) occurs, regarding it as a transfer error.
ON
ABS transfer mode
OFF
1
2
3
4
18
19
ON
ABS request
OFF
1
2
3
4
18
19
ON
Send data ready
AL.E5 warning
OFF
Yes
No
15 - 13
15. ABSOLUTE POSITION DETECTION SYSTEM
5) Servo-on (SON) OFF, Reset (RES) ON, Emergency stop (EMG) OFF check during the ABS
transfer
When the ABS transfer mode is turned ON to start transferring and then the servo-on (SON) is
turned OFF, the reset (RES) is turned ON, or the emergency stop (EMG) is turned ON before
the 19th send data ready signal is turned ON, the ABS time-out warning (AL.E5) occurs,
regarding it as a transfer error.
ON
Servo-on (SON)
OFF
ON
ABS transfer mode
OFF
1
2
3
4
18
19
ON
ABS request
OFF
1
2
3
4
18
19
ON
Send data ready
AL.E5 warning
OFF
Yes
No
15 - 14
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Checksum error
If the checksum error occurs, the programmable controller should retry transmission of the ABS data.
Using the ladder check program of the programmable controller, turn OFF the ABS transfer mode
(ABSM). After a lapse of 10ms or more, turn OFF the servo-on (SON) (OFF time should be longer than
20ms) and then turn it ON again.
If the ABS data transmission fails to end normally even after retry, regard this situation as an ABS
checksum error and execute error processing.
The start command should be interlocked with the ABS data ready signal to disable positioning
operation when an checksum error occurs.
20ms
or more
20ms
or more
20ms
or more
ON
Servo-on
Retry 1
Retry 2
Retry 3
OFF
10ms
or more
10ms
or more
10ms
or more
10ms
or more
ON
ABS transfer mode
ABS request
OFF
ON
OFF
ON
ABS send data ready
OFF
Yes
No
ABS checksum error
15 - 15
15. ABSOLUTE POSITION DETECTION SYSTEM
(3) At the time of alarm reset
If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM).
If an alarm has occurred, the ABS transfer mode (ABSM) cannot be accepted.
In the reset state, the ABS transfer mode (ABSM) can be input.
ON
Servo-on
(SON)
OFF
ON
Reset
(RES)
OFF
ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF
ON
ABS request
(ABSR)
OFF
ON
Send data ready
(TLC)
OFF
Transmission
(ABS) data
ABS data
80[ms]
ON
Base circuit
OFF
ON
Alarm output
(ALM)
OFF
ON
Ready
(RD)
Operation
enabled
OFF
Occurrence of alarm
15 - 16
15. ABSOLUTE POSITION DETECTION SYSTEM
(4) At the time of emergency stop reset
(a) If the power is switched ON in the emergency stop state
The emergency stop state can be reset while the ABS data is being transferred.
If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned
ON 80[ms] after resetting. If the ABS transfer mode (ABSM) is OFF when the base circuit is
turned ON, the ready (RD) is turned ON 20[ms] after the turning ON of the base circuit. If the ABS
transfer mode (ABSM) is ON when the base circuit is turned ON, it is turned OFF and then the
ready (RD) is turned ON. The ABS data can be transmitted after the emergency stop state is reset.
The current position in the servo amplifier is updated even during an emergency stop. When servo-
on (SON) and ABS transfer mode (ABSM) are turned ON during an emergency stop as shown
below, the servo amplifier transmits to the controller the current position latched when the ABS
transfer mode (ABSM) switches from OFF to ON, and at the same time, the servo amplifier sets
this data as a position command value. However, since the base circuit is OFF during an
emergency stop, the servo-lock status is not encountered. Therefore, if the servo motor is rotated by
external force or the like after the ABS transfer mode (ABSM) is turned ON, this travel is
accumulated in the servo amplifier as droop pulses. If the emergency stop is cleared in this status,
the base circuit turns ON and the motor returns to the original position rapidly to compensate for
the droop pulses. To avoid this status, reread the ABS data before clearing the emergency stop.
ON
Power
supply
OFF
ON
Servo-on
(SON)
OFF
Reset
ON
Emergency stop
(EMG)
OFF
ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF
ON
ABS request
(ABSR)
OFF
ON
Send data ready
(TLC)
OFF
Send (ABS) data
Base circuit
ABS data
80[ms]
20[ms]
ON
OFF
ON
Ready
(RD)
Operation
enabled
OFF
15 - 17
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) If emergency stop is activated during servo-on
The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In this case, the
base circuit and the ready (RD) are turned ON after the emergency stop state is reset.
ON
Servo-on
(SON)
OFF
ON
Emergency stop
(EMG)
OFF
ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF
ON
ABS request
(ABSR)
OFF
ON
Send data ready
(TLC)
OFF
Send (ABS) data
Base circuit
ABS data
80[ms]
ON
OFF
ON
Ready
(RD)
Operation
enabled
OFF
15 - 18
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.3 Home position setting
(1) Dog type home position return
Preset a home position return creep speed at which the machine will not be given impact. On detection
of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo
amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-
volatile memory as the home position ABS data.
The home position setting (CR) should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.96) will
occur, but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
Servo Motor
Near-zero point dog
ON
Dog signal
(DOG)
OFF
Completion of
positioning
ON
OFF
(D01 or INP)
ON
Home position
setting (CR)
OFF
20 [ms] or more
20 [ms] or more
Home position
ABS data
Update
15 - 19
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Data set type home position return
POINT
Never make home position setting during command operation or servo motor
rotation. It may cause home position sift.
It is possible to execute data set type home position return when the servo
off.
Move the machine to the position where the home position is to be set by performing manual operation
such as jog operation to turn the motor shaft more than one revolution. When the home position
setting (CR) is on for longer than 20ms, the stop position is stored into the non-volatile memory as the
home position ABS data.
The home position setting (CR) should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.96) will
occur, but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
Manual feed (JOG, etc.)
(more than 1 revolution
of the motor shaft)
Servo Motor
Completion of
positioning
ON
OFF
(D01 or INP)
ON
Home position
setting (CR)
OFF
20 [ms] or more
Home position
ABS data
Update
15 - 20
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.4 Use of servo motor with electromagnetic brake
The timing charts at power on/off and servo-on (SON) on/off are given below.
Preset "
1 " in parameter No. 1 to make the electromagnetic brake interlock (MBR) usable. When the
ABS transfer mode is ON, the electromagnetic brake interlock (MBR) is used as the ABS data bit 1.
Hence, make up an external sequence which will cause the electromagnetic brake torque to be generated
by the ABS mode (ABSM) and electromagnetic brake interlock (MBR).
ON
Power
supply
OFF
ON
Servo-on
(SON)
OFF
ON
ABS transfer mode
(ABSM)
During transmission
of ABS
During transmission
of ABS
OFF
ON
ABS request
(ABSR)
OFF
ABS transmission
data ready
ON
OFF
(ABST)
Send (ABS) data
Base circuit
ABS data
80 [ms]
ABS data
80 [ms]
ON
OFF
20 [ms]
20 [ms]
ON
Ready
(RD)
OFF
Tb
Tb
Electromagnetic
brake interlock
(MBR)
ON
OFF
ON
Electromagnetic
brake torque
OFF
15 - 21
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.5 How to process the absolute position data at detection of stroke end
The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected,
clears the droop pulses to 0 at the same time, and stops the servo motor rapidly.
At this time, the programmable controller keeps outputting the command pulse. Since this causes a
discrepancy between the absolute position data of the servo amplifier and the programmable controller, a
difference will occur between the position data of the servo amplifier and that of the programmable
controller.
To prevent this difference in position data from occurring, do as described below. When the servo
amplifier has detected the stroke end, perform jog operation or the like to clear the stroke end. After that,
switch the servo-on (SON) off once, then on again, or switch the power off once, then on again. This causes
the absolute position data of the servo amplifier to be transferred to the programmable controller,
restoring the normal data.
15 - 22
15. ABSOLUTE POSITION DETECTION SYSTEM
15.8 Examples of use
15.8.1 MELSEC-A1S (A1SD71)
(1) Instructions
The absolute coordinate system (programmable controller coordinate system) of the A1SD71 (AD71)
only covers the range in which the address increases (positive coordinate values) on moving away from
the machine home position (the position reached in the home position return operation). Therefore, if
the motor enters the range where the coordinate value is negative due to the load torque or a fall on a
vertical axis when the power is turned ON/OFF at a point near the machine home position, the system
fails to detect the absolute position. To prevent this problem, it is necessary to set the home position
(operation home position) for positioning in addition to the machine home position.
(a) The home position should be set in the direction in which the position address of the programmable
controller coordinate system increases on moving away from machine home position, as illustrated
below. Note that the home position for positioning must be more than one revolution of the servo
motor shaft from the machine home position.
If the address of the machine home position is changed to any value other than "0", the home
position should be set in the direction in which the position address increases on moving away from
the machine home position (machine home position after changing the home position address) and
at a point removed from the machine home position by more than one revolution of the motor shaft.
Home position
Machine home position (operation home position)
Machine home
Home position position
Programmable
controller coordinate
system
Programmable
controller coordinate
system
0 10000
0
50000
50000
10000 0
0
20000
50000
Direction in which
address increases
20000
50000
ABS
coordinate
system
ABS
coordinate
system
Direction in which
address increases
More than 1 revolution
of motor shaft
More than 1 revolution
of motor shaft
a) If revolution direction parameter (Pr. 14)
0
b) If revolution direction parameter (Pr. 14) 1
(b) In the range where the address decreases on moving away from the machine home position, do not
turn the power supply to the programmable controller or the servo amplifier, the servo-on
pushbutton switch, or the PC-RESET switch, ON/OFF. If any of these operations are attempted,
the ABS coordinate error (Y4B) is output since the absolute position cannot be detected.
Machine
Machine home position Home position
Programmable
Home position home position
Programmable
controller coordinate
system
controller coordinate
system
0 10000
50000
50000
10000 0
ABS
coordinate
system
20000
0
50000
Direction in which
address increases
50000
Direction in which
address increases
0
20000
ABS
coordinate
system
ABS coordinate
ABS coordinate
value error occurs
if power is turned
on within this range
value error occurs
if power is turned
on within this range
Absolute position data can be
detected
Absolute position data can be
detected
a) If revolution direction parameter (Pr. 14)
0
b) If revolution direction parameter (Pr. 14)
1
15 - 23
15. ABSOLUTE POSITION DETECTION SYSTEM
If the address of the machine home position is changed to any coordinate value other than "0", the
programmable controller coordinate system will be as illustrated below.
The power should be turned ON/OFF in the range in which the address increases on moving away
from the home position.
Machine home position Home position
Programmable
controller coordinate
Machine home position Home position
Programmable
controller coordinate
system
0
20000 30000
70000
70000
30000 20000
0
0
system
ABS
coordinate
system
ABS
coordinate
system
20000
0
50000
50000
20000
Direction in which
address increases
Direction in which
address increases
Absolute position data can be detected
Absolute position data can be detected
ABS coordinate value error occurs if
power is turned on within this range
ABS coordinate value error occurs if
power is turned on within this range
* Home position address changed to "2000"
* Home position address changed to "2000"
a) If revolution direction parameter (Pr. 14)
0
b) If revolution direction parameter (Pr. 14)
1
(c) In a positioning program, the address of the positioning point should be determined by adding the
home position address to the target position address.
Example) After home position return, execute positioning at 1) to 3).
1) Positioning at position address 80000
(PC coordinate 140000)
2) Positioning at position address 130000
(PC coordinate 190000)
3) Positioning at position address 0
(PC coordinate 60000)
1)
ABS coordinate
error region
(80000 60000)
Machine home position
Home position (operation home
position)
Programmable
controller
coordinate
system
2)
(130000 60000)
0 10000
50000 60000
100000
150000
ABS coordinate
system
50000
Stroke limit
0
50000
Direction in which
address increases
(0 60000)
3)
* Home position address changed to "50000"
Mechanical limit
If revolution direction parameter (Pr. 14)
0
15 - 24
15. ABSOLUTE POSITION DETECTION SYSTEM
(d) Slot arrangement
The sequence programs presented in this section show I/O numbers (X, Y) assuming the
arrangement of modules on the main base unit is as illustrated below. A1SD71 is mounted at I/O
slots 0 and 1, a 16-point input module at slot 2, and 16-point output module at slot 3. If the actual
arrangement of the modules differs from this arrangement, change the X and Y numbers
accordingly.
The numbers of the devices (M, D, T, etc.) used in the program can be changed as required.
7
6
5
4
3
2
1
0
I/O slot No.
A1SD71
A1S
Power
CPU
supply
16-point output module
16-point input module
[Numbers used] X, X0-X, Y2F
Example arrangement of modules
(e) Points
1) The A1SD71 has 48 I/O points and occupies 2 slots. For I/O allocation using the GPP function,
follow the instructions given below.
First slot: Vacant slot 16 points
Second slot: Special function module 32 points
2) To execute the FROM/TO instruction for the A1SD71, use the head I/O number of the second
slot.
X30 to X3F
Note: The program example given
Y40 to Y4F
in (3) in this section is for 1-axis
control. Slot allocations are as
A1S
CPU
illustrated to the left. To use the
system for 2-axis control,
increase the number of I/O
points.
A1SD71
X,Y000 X,Y010
to to
X,Y00F X,Y02F
I/O numbers to be set
with FROM/TO instruction
Therefore, the I/O number to be set with the FROM/TO instruction is head I/O number allocated
to the A1SD71 010H.
3) By setting "0 point of vacant slot" for the first slot of the A1SD71 in the "I/O allocation" of the
GPP function, the 16 points in the first slot can be saved.
In this case, the I/O number to be set with the FROM/TO instruction is the same number as the
head I/O number allocated to the A1SD71.
A1S
A1SD71
CPU
X,Y000
I/O numbers to be set with FROM/TO instruction
to
X,Y00F
15 - 25
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Connection diagram
Servo amplifier
General purpose
programmable controller
CN1B
VDD
COM
SG
3
A1S62P
24
13
10
20
24G
LG
FG
SG
Power
supply
INPUT
AC100/200
A1SCPU
A1SX40
ABS bit 0/Completion of positioning
ABS bit 1/Zero speed
0
1
2
3
4
5
6
7
DO1
ZSP
TLC
ALM
EMG
4
19
6
18
15
Send data ready/Torque limit control
Trouble
Alarm reset
Emergency stop
Servo-on
Home position return
COM
Operation mode I
Operation mode II
Position start
8
9
A
B
C
D
Position stop
(Note 3)
JOG
JOG
E
F
COM
NC
NC
A1SY40
Servo-on
0
1
2
3
4
5
6
7
SON
5
8
9
ABS transfer mode
ABS request
Alarm reset
ABSM
ABSR
RES
14
RA2
Electromagnetic
brake output
(Note 4)
COM1
8
9
(Note 2)
A
B
COM2
(Note 1)
A1SD71-S2
DOG
6B
6A
5A
STOP
Power supply
CN1A
RD
P15R
OP
CR
SG
OPC
PP
SG
NP
SD
RDY
PGO
5B
9A
9B
12A
12B
17A
15A
15B
19
4
14
8
10
11
3
20
2
CLEAR
Power supply
PULSE-
F
PULSE- 16A
16B
R
Plate
Note 1. To be connected for dog type home position setting. The connection in Note 2 is not required.
2. To be connected for data set type home position setting. The connection in Note 1 is not required.
3. This circuit is for reference only.
4. The electromagnetic brake interlock (MBR) output should be controlled by connecting the programmable controller output to a relay.
15 - 26
15. ABSOLUTE POSITION DETECTION SYSTEM
(3) Sequence program example
(a) Conditions
This sample program is an ABS sequence program example for a single axis (X axis).
To transmit the ABS data using the OFF-to-ON change of the servo-on (SON) as the trigger.
1) When the servo-on (SON) and the GND of the power supply are shorted, the ABS data is
transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of
the RUN signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when
an alarm is reset, or when the emergency stop state is reset.
2) If a checksum discrepancy is detected in the transmitted data, ABS data transmission is retried
up to three times. If the checksum discrepancy is still detected after retrying, the ABS checksum
error is generated (Y4A ON).
3) The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y4A ON).
ON period of ABS transfer mode (Y41)
ON period of ABS request (Y42)
OFF period of ready to send ABS data (X32).
4) If the relationship between the polarity ( ) of the received ABS data and the setting value for
parameter No. 14 (rotating direction) of A1SD71 involves negative coordinate values, which
cannot be handled by the A1SD71, the ABS coordinate error is generated (Y4B ON).
(b) Device list
X input contact
Y output contact
Servo-on
ABS transfer mode
ABS request
Alarm reset
Electromagnetic brake output
Clear
Servo alarm
ABS communication error
ABS checksum error
ABS coordinate error
M contact
X30
X31
X32
X33
X34
X35
X36
X37
X38
X39
ABS bit 0 / completion of positioning
ABS bit 1 / zero speed
Send ABS data ready / torque limit control Y42
Servo alarm
Error reset
Servo emergency stop
Servo-on
Home position return start
Operation mode I
Operation mode II
Y40
Y41
Y43
X44
Y45
Y48
Y49
Y4A
Y4B
(Note 2)
(Note 1)
D register
D0
D1
D2
D3
D4
D5
D6
D7
ABS data transmission counter
Checksum transmission counter
Checksum addition counter
ABS data: Lower 16 bits
ABS data: Upper 16 bits
ABS data 2-bit receiving buffer
Check data in case of checksum error
Retry frequency
M0
M1
M2
M3
M4
M5
M6
M7
ABS data transmission start
Sum check completion
Sum check discrepancy
ABS data ready
Transmission data read enabled
Checksum 2 bits read completion
ABS 2 bits read completion
ABS 2 bits request
D8
D9
D10
D100
D101
Forward rotation direction
Home position address: Lower 16 bits
Home position address: Upper 16 bits
Received shift data: Lower 16 bits
Received shift data: Upper 16 bits
T timer
M8
M9
Servo-on request
Servo alarm
ABS data transmission retry start pulse
Retry flag setting
Retry flag reset
PLS processing command
Clear (CR) ON timer request
Data set type home position return request
C counter
M10
M11
M12
M13
M20
M21
(Note 1)
(Note 2)
T0
T1
T2
T3
T10
T200
ABS transfer mode timer
ABS request response timer
Retry wait timer
Ready to send response timer
Clear (CR) ON timer
C0
C1
C2
ABS data receive frequency counter
Checksum receive frequency counter
Retry counter
(Note 1)
Transmitted data read 10ms delay timer
Note 1. Necessary when data set type home position return is executed.
2. Necessary in the event of electromagnetic brake output.
15 - 27
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X axis
This sequence program example assumes the following conditions.
Parameters of the A1SD71-S2 positioning module
1) Unit setting
: 3 pulse (PLS)
2) Travel per pulse : 1 1 pulse
To select the unit other than the pulse, conversion into the unit of the feed command value per
pulse is required. Hence, add the following program to the area marked Note in the sequence
program.
<Additional program>
Item
mm
inch
degree
pulse
D * P K
D3 D3
Unit setting
0
1
2
3
0.00001 0.0001 0.001 0.00001 0.0001 0.001
Travel per pulse
0.1 to 1.0 to 10.0
m/PLS
to
to
to
to
to
to
Unit of travel
inch/PLS
degree/PLS
PLS
Constant K for
conversion into
unit of travel
1 to
10 to
100
1 to
10 to
100
1 to
10 to
100 None
Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
When the unit setting is pulse, the additional program is not required.
M9038
TOP H0001 K201 K1
K1
A1SD71 error reset
Initial
pulse
ON
MOV K3
DMOV D100
SET
D7
A0
Setting retry count (3 times)
Loading received shift data
Servo-on request
Initial setting
M9039
PC RUN
X36
M8
M3
M8
C0
C1
Y40
M0
Servo-on PB
X36
RST
Resetting ready to send
Resetting servo-on request
Servo-on
PB
RST
Resetting ABS transfer
counter at servo OFF
RST
Servo-on control
Resetting checksum transfer
counter at servo OFF
RST
M8
M9
M11
Servo-on output
ABS I/F start
Servo-on Error Retry flag
request flag setting
PLS
(To be continued)
1
1
15 - 28
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
1
1
M8
PLS
RST
M12
C2
Setting retry flag
ABS data
transmission
retry control
Servo-on request
M12
Resetting retry counter
Alarm reset output
Retry flag reset request
X34
M9
Y43
Error reset Error flag
PB
Y43
Alarm reset
X35
M9
M3
M8
Y48
D0
Error flag output
Servo alarm
detection, alarm
reset control
Emergency
stop PB
X33
RST
RST
Resetting ready to send
Resetting servo-on request
Servo alarm
Servo alarm
M0
Initializing ABS data transfer
counter
MOV K16
MOV K3
MOV K0
MOV K0
DMOV K0
DMOV K0
RST
ABS data
transfer
start
Initializing checksum transfer
counter
D1
D2
Initializing checksum register
Initializing ABS data register
Initializing ABS data register
Initializing ABS data register
D5
ABS transfer
mode
Initial setting
D9
A0
Resetting error for ABS
coordinate
Y4B
C0
Resetting ABS transfer
counter
RST
Resetting checksum transfer
counter
RST
C1
M0
Y41
ABS transfer mode
ABS data transfer
start
ABS transfer
mode control
Y41
C1
ABS Checksum
transfer counter
mode
(To be continued)
2
2
15 - 29
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
2
2
C0
C1
Y41
DMOVP A0
D3
A0
K1
D8
A1
M13
D4
D4
D3
D4
D5
D5
A0
K2
Saving ABS 32-bit data
Clearing register
Counter Checksum ABS
counter transfer
mode
MOVP K0
*1 Reading X-axis rotating
direction parameter
FROMP H0001 K7872 D8
Detecting absolute
position polarity
and A1SD71
Rotation direction parameter
mask
WAND H0004
WAND H8000
PLS
rotating direction
ABS data sign mask
PLS processing command
Rotation direction
judgement
M13
Reversing polarity of upper
16 bits
D8 K4
NEG
PLS processing
command
K1
Subtraction for upper 16 bits
Reversing polarity of
absolute position
Reversing polarity of lower
16 bits
NEG
Lower 16 bits
D4 D4
0
K0 D3
K1
MOV K1X30
WAND H0003
WOR D5
ROR
1
M4
C0
Reading 4 bits
Masking 2 bits
Adding 2 bits
Read
ABS data
enabled counter
Reading checksum
6 bits
(2 bit 3 times)
Right rotation of A0 2 bits
D1
C1
Counting checksum data
reception frequency
Completion of reading, 2 bits
of checksum
PLS
M5
(To be continued)
3
3
15 - 30
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
3
3
M4
Read
C0
MOV K1X30
WAND H0003
WOR D5
DROR
D5
D5
A0
K2
D2
Reading 4 bits
ABS data
enabled counter
Masking 2 bits
Adding 2 bits
Reading ABS data
32 bits
(2 bits 16 times)
Right rotation of A0 2 bits
Adding checksum
D5
D2
D0
C0
Counting frequency of ABS
data reception
Completion of reading: 2 bits
of ABS data
PLS
M6
K10
A0
C1
RORP
Right rotation of A0 10 bits
Masking checksum
Sum check OK
Check
sum
counter
WAND H003F
D2 A0
D2 A0
M1
M2
D6
Detecting ABS data
checksum error
Sum check NG
MOV A0
Sum check memory
ABS checksum error
Resetting ABS request
C2
Y4A
Y42
Retry counter
M6
RST
ABS 2 bits read
completion
M5
Checksum 2 bits read completion
Y41 X32
PLS
SET
M7
ABS 2 bits request
Setting ABS request
10ms delay timer
ABS transfer Send data
ABS request
control
mode
M7
ready
Y42
ABS 2 bits request
Y42
X32
K1
T200
ABS
Send data ready
request
Y42
X32
T200
Transmission data read
enabled
M4
10ms delay timer
(To be continued)
4
4
15 - 31
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
4
4
M1
*1 A1SD71: reading home
position address
DFROP H0001 K7912 D9
K1
Checksum OK
Restoring absolute
position data
Inserting constant K for conversion
into the unit of feed per pulse
D*P
D3
D3
K
(Note)
Adding home position address
to absolute position
D P D3
D9
D3
Detecting ABS
coordinate error
D
K0 D3
SET
D3
Y4B
K1
Setting ABS coordinate error
M1
Y4B
*1 X-axis: Present position
change ABS data "ready"
DTOP H0001 K41
Checksum ABS coordinate error
OK
Writing ABS data
to A1SD71
SET
RST
M3
Y41
ABS data "ready"
Y49
X36
Resetting ABS transfer mode
ABS transfer mode timer (5s)
ABS commu- Servo-on PB
nication error
Y41
K50
T0
ABS transfer mode
Y41
Y42
K10
T1
ABS request response timer
(1s)
ABS transfer ABS request
mode
Y41
X32
K10
T3
Ready to send response
timer (1s)
ABS communication
error detecting
ABS transfer Send data ready
mode
T0
Y49
ABS communication error
ABS transfer NG
T1
ABS request NG
T3
Send data ready NG
(To be continued)
5
5
Note. When the unit setting parameter value of the A1SD71 positioning module is changed from "3" (pulse) to "0" (mm), the unit is
0.1 m for the input value. To change the unit to
1 m, and this program to multiple the feed value by 10.
15 - 32
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
5
5
M2
PLS
SET
M10
M11
ABS transfer retry start pulse
Setting retry flag
Checksum NG
M10
C2
Retry start Retry
pulse
counter
D7
C2
Retry counter
ABS transfer
retry control
M11
K1
T2
Retry wait timer (100ms)
Resetting retry flag
Retry flag set
T2
RST
M11
Retry wait timer
M9039
DMOV A0
D100
END
Saving received shift data
PC RUN
POINT
When absolute position data is received at power ON, for example, if a
negative coordinate position which cannot be handled by the A1SD71 is
detected, the ABS coordinate error (Y4B ON) is generated. If this error is
generated, move the axis into the positive coordinate zone in JOG operation.
Then, turn OFF the servo-on pushbutton switch and turn it ON again.
15 - 33
15. ABSOLUTE POSITION DETECTION SYSTEM
(d) X-axis control program
This precludes execution of the X-axis start program while M3 (ready to send the ABS data) is
OFF.
Positioning X-axis start
When M3 (ready to send the ABS data)
is turned ON, the X-axis start command
executes the X-axis start program.
mode
command M3
X-axis start program
Ready to
send the
ABS date
(e) Dog type home position return
For an example of a program for the dog type home position return operation, refer to the home
position return program presented in the User's Manual for A1SD71.
(f) Data set type home position return
After jogging the machine to the position where the home position (e.g.500) is to be set, choose the
home position return mode set the home position with the home position return start (PB ON).
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear (CR) (Y45) for an operation other than home position return. Turning it
ON in other circumstances will cause position shift.
M9039
Home position return mode
Y2D
M20
Programmable controller ready
(Note 1)
PC RUN
Home position
return mode
M20
Y41
X30
X37
PLS
Clear (CR) ON timer request
Clear (CR) 100ms ON timer
ABS
transfer
mode
Positioning Home position
return start PB
completion
K1
T10
Clear (CR) ON
timer request
M21
SET
RST
M21
M21
Y45
D9
Setting data set type home position return request
Resetting data set type home position return request
Data set type home
position return request
T10
Clear signal 100ms ON timer
M21
Clear (CR) ON
Data set type home
position return request
Setting X-axis home position address "500"
in the data register
DMOVP K500
DTOP H0001 K7912 D9
DFROP H0001 K7912 D9
(Note 1)
K1
*1:Changing X-axis home position address
(Note 2)
K1
DTOP H0001 K41
D9
K1
*1:Changing X-axis present position data
Note 1. If data of the home position address parameter is not written by using an A6GPP programming tool, etc. before starting a
program for data set type home position return, the circuits indicated by Note 1 are necessary and the circuit indicated by Note
2 is not necessary.
2. Contrary to Note 1 above, if the home position address is written in the home position address parameter the circuit indicated
by Note 3 is necessary and the circuits indicated by Note 1 are not necessary.
15 - 34
15. ABSOLUTE POSITION DETECTION SYSTEM
(g) Electromagnetic brake output
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Set "1 1 "in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
(MBR).
Y41
X31
Y44
Electromagnetic brake output
ABS
Brake (MBR)
transfer
mode
(h) Positioning completion
To create the status information for servo positioning completion.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y41
X30
M
Completion of servo positioning
ABS transfer Positioning
mode completion
Y41
ABS transfer
mode
(i) Zero speed
To create the status information for servo zero speed
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y41
X31
M
Servo zero speed
ABS transfer Zero
mode speed
Y41
ABS transfer
mode
(j) Torque limiting
To create the status information for the servo torque limiting mode
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the torque
limiting must be off.
Y41
X32
M
Servo torque limiting mode
ABS transfer Torque limiting
mode mode
15 - 35
15. ABSOLUTE POSITION DETECTION SYSTEM
(4) Sequence program - 2-axis control
The following program is a reference example for creation of an ABS sequence program for the second
axis (Y axis) using a single A1SD71 module. Create a program for the third axis in a similar manner.
(a) Y-axis program
Refer to the X-axis ABS sequence program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so
that they do not overlap those of the X axis.
The buffer memory addresses of the A1SD71 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.1 (3) (c) should be changed as indicated below for use with
the Y axis.
[FROMP H0001 K7872 D8 K1]
[DFROP H0001 K7912 D9 K1]
[DTOP H0001 K41 D3 K1]
[FROMP H0001 K7892 D8 K1]
[DFROP H0001 K7922 D9 K1]
[DTOP H0001 K341 D3 K1]
[Program configuration]
X-axis ABS sequence program
(Program in section 15.8.1 (3) (f))
Y-axis ABS sequence program
(Refer to the X-axis program and write the Y-axis
program)
(b) Data set type home position return
Arrange the data set type home position return programs given in section 15.8.1 (3) (f) in series to
control two axes.
Refer to the X-axis data set type home position return program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts and T timers of the Y axis so that they do
not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.1 (3) (f) should be changed as indicated below for use with
the Y axis.
[DTOP H0001 K7912 D9 K1]
[DTOP H0001 K41 D9 K1]
[DTOP H0001 K7922 D9 K1]
[DTOP H0001 K341 D9 K1]
[Program configuration]
X-axis data set type home position return program
(Program in section 15.8.1 (3) (f))
Y-axis data set type home position return program
(Refer to the X-axis program and write the Y-axis
program)
15 - 36
15. ABSOLUTE POSITION DETECTION SYSTEM
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)
(1) Connection diagram
(a) FX-32MT (FX-1PG)
Servo amplifier
FX-32MT
L
Power supply
CN1B
SG 10
N
24V
COM
PC-RUN
RUN
ABS bit 0/Completion of positioning
3.3k
X0
X1
DO1
ZSP 19
TLC
4
ABS bit 1/Zero speed
Send data ready/Torque limit control
Alarm
X2
6
X3
ALM 18
CN1A
Alarm reset
Emergency stop
Servo-on
Servo ready
X4
RD
19
X5
X6
X7
JOG( )
JOG( )
X10
X11
X12
X13
X14
X15
Position start
Position stop
Home position return start
1PG error reset
COM1
Y0
EMG 15
Servo-on
SON
ABSM
ABSR
5
8
9
ABS transfer mode
ABS request
Alarm reset
Y1
Y2
Y3
RES 14
COM2
Y4
RA2
Electromagnetic
brake output
(Note 3)
Y5
Y6
Y7
COM3
Y10
Y11
Y12
Y13
24
Servo alarm
(Note 2)
ABS communication
error
ABS checksum error
COM 13
SG
FX-1PG
3.3k
SG
S/S
DOG
STOP
VH
DOG
24V
VDD
3
SD
VL
(Note 1)
CN1A
11
3
FPO
FP
OPC
PP
3.3k
3.3k
Pulse train for forward rotation
COM0
SG 20
NP
Pulse train for reverse rotation
RP
2
RPO
COM1
CLR
PGO
PGO
SG 10
Clear
CR
8
4
P15R
15V
Z-phase pulse
OP 14
SD Plate
SD
Note 1. To be connected for the dog type home position setting. At this time, do not connect the portions marked (Note 2).
2. To be connected for the data set type home position setting. At this time, do not connect the portions marked (Note 1).
3. The electromagnetic brake interlock (MBR) should be controlled by connecting the programmable controller output to a relay.
15 - 37
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) FX2N-32MT (FX2N-1PG)
Servo amplifier
FX2N-32MT
L
Power supply
N
CN1B
SG 10
24V
COM
ABS bit 0/Completion of positioning
X0
X1
DO1
ZSP 19
TLC
4
ABS bit 1/Zero speed
Send data ready/Torque limit control
Alarm
3.3k
X2
6
X3
ALM 18
Alarm reset
Emergency stop
Servo-on
Servo ready
CN1A
X4
RD
19
X5
X6
X7
JOG( )
X10
X11
X12
X13
X14
X15
JOG( )
Position start
Position stop
Home position return start
1PG error reset
COM1
Y0
EMG
SON
ABSM
ABSR
15
5
Servo-on
ABS transfer mode
ABS request
Alarm reset
Y1
8
Y2
9
Y3
RES 14
COM2
Y4
RA2
Electromagnetic
brake output
(Note 3)
Y5
Y6
Y7
COM3
Y10
Y11
Y12
Y13
24
Servo alarm
(Note 2)
ABS communication
error
ABS checksum error
COM 13
FX2N-1PG
3.3k
S/S
DOG
STOP
VIN
SD
DOG
24V
VDD
3
CN1A
(Note 1)
OPC 11
PP
SG 20
NP 12
3.3k
3.3k
Pulse train for forward rotation
FP
COM0
RP
3
Pulse train for reverse rotation
COM1
CLR
PGO
SG 10
Clear
CR
8
4
P15R
15V
Z-phase pulse
PGO
OP 14
SD
Plate
SD
Note 1. To be connected for the dog type home position setting. At this time, do not connect the portions marked (Note 2).
2. To be connected for the data set type home position setting. At this time, do not connect the portions marked (Note 1).
3. The electromagnetic brake interlock (MBR) should be controlled by connecting the programmable controller output to a relay.
15 - 38
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Sequence program example
(a) Conditions
1) Operation pattern
ABS data transfer is made as soon as the servo-on switch is turned on. After that, positioning
operation is performed as shown below.
Home position
3)
1)
300000
0
300000
address
2)
After the completion of ABS data transmission, JOG operation is possible using the JOG or
JOG switch, and dog type home position return is possible using the home position return
switch.
2) Buffer memory assignment
For BFM#26 and later, refer to the FX2(N)-1PG User's Manual.
BMF No.
Name and symbol
Set value
Remark
Upper 16 Lower 16
bits
bits
#0
#1
#3
#4
#6
Pulse rate
Feed rate
Parameter
Max. speed
Bias speed
JOG operation
Home position return speed (high speed)
Home position return speed (creep)
Home position return zero-point signal count
Home position address
Acceleration/deceleration time
Not usable
Target address (I)
Operation speed (I)
Target address (II)
Operation speed (II)
Operation command
A
B
2000
1000
H0000
100000PPS
0PPS
10000PPS
50000PPS
1000PPS
2 pulses
0
-
#2
-
#5
-
#8
#10
-
Command unit: Pulses
Vmax
Vbia
Vjog
VRT
#7
#9
#11
#12
#13
#15
#16
#17
#19
#21
#23
#25
VCL
-
N
HP
Ta
Initial value: 10
Initial value: 100
#14
-
-
#18
#20
#22
#24
-
200ms
P(I)
V(I)
P(II)
V(II)
0
100000
0
10
H0000
Initial value: 10
3) Instructions
When the servo-on switch and the COM of the power supply are shorted, the ABS data is
transmitted when the servo amplifier power is turned ON, or at the leading edge of the RUN
signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when an alarm
is reset, or when the emergency stop state is reset.
If checksum discrepancy is detected in the transmitted data, the ABS data transmission is
retried up to three times. If the checksum discrepancy is still detected after retrying, the ABS
checksum error is generated (Y12 ON).
The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y11 ON).
ON period of ABS transfer mode (Y1)
ON period of ABS request (Y2)
OFF period of ready to send the ABS data (X2).
15 - 39
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Device list
X input contact
Y output contact
X0
ABS bit 0 / completion of positioning
ABS bit 1 / zero speed
Send ABS data ready/ torque limit control
Servo alarm
Y0
Servo-on
X1
Y1
ABS transfer mode
ABS request
X2
Y2
X3
Y3
Alarm reset
X4
Alarm reset switch
Y4 (Note 2)
Y5 (Note 1)
Y10
Electromagnetic brake output
Clear
X5
Servo emergency stop
Servo-on switch
X6
Servo alarm
X7
Servo ready
Y11
ABS communication error
ABS checksum error
X10
X11
X12
X13
X14
X15
JOG ( ) switch
Y12
JOG ( ) switch
Position start switch
Position stop switch
Home position return start switch
1PG error reset
D register
M contact
D0
D1
D2
D3
D4
ABS data: Lower 16 bits
M0
M1
M2
M3
M4
Error flag
ABS data: Upper 16 bits
ABS data transmission start
Retry command
Checksum addition counter
Check data in case of checksum error
Transmission retry count in checksum
discrepancy
ABS data read
Servo-on request reset permission
D24
Home position address: Lower 16 bits
Home position address: Upper 16 bits
1PG present position address: Lower 16 bits
1PG present position address: Upper 16 bits
M5
Servo-on request
Retry flag
D25
M6
D106
D107
M10
M11
M12
M13
M20
ABS data 2 bit receiving buffer
ABS data 32 bit buffer
Checksum 6 bit buffer
M51
M52
M57
M58
M59
For checksum comparison
T timer
M62
Sum check discrepancy (greater)
T200
T201
T202
T203
T204
Retry wait timer
M63
M64
Sum check discrepancy
ABS transfer mode timer
ABS request response timer
Ready to send response timer
ABS data waiting timer
Sum check discrepancy (less)
M70 (Note 1) Clear (CR) ON timer request
M71 (Note 1) Data set type home position return request
M99
ABS data ready
T210 (Note 1) Clear (CR) ON timer
T211 Retry ABS transfer mode OFF wait timer
C counter
C0
C1
C2
All data reception frequency counter (19 times)
Checksum reception frequency counter
ABS data reception frequency counter (16 times)
Note 1. Necessary when data set type home position return is executed.
2. Necessary in the event of electromagnetic brake output.
15 - 40
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X-axis
M8002
Setting home position address
to 0
DMOV K0
D24
Initial
pulse
Setting 1PG pulse command
unit
TO
K0
K3
K0
K1
DTO K0
DTO K0
DTO K0
K4
K100000 K1
K10000 K1
K50000 K1
1PG max. speed: 100 kpps
1PG Jog speed: 10 kpps
K7
1PG home position return
speed: 50 kpps
K9
TO
TO
K0
K0
K11
K12
K13
K15
K19
K1000
K2
K1
K1
K1
K1
1PG creep speed: 1 kpps
1PG home position return
zero-point count: twice
1PG home position address
setting
DTO K0
D24
Initial setting
1PG acceleration/deceleration
time: 200ms
TO
K0
K200
1PG operation speed:
100kpps
DTO K0
K100000 K1
Position move account 1:
300000 pulses
DMOV K300000 D100
DMOV K 250000 D102
Position move account 2:
250000 pulses
Position move account 3:
0 pulses
DMOV K0
DMOV K0
DMOV K4
D104
Z
Clearing index registers V, Z
Setting "4 times" for checksum
error transmission frequency
D4
(To be continued)
1
1
15 - 41
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
1
1
X6
M6
SET
M5
Y0
Servo-on request
Servo-on
switch
M5
Retry
Y12
M0
Y11
ABS
communication
error
Servo-on output
Servo-on ABS check Error
error
request flag
PLS
RST
M1
C1
ABS data transmission start
Clearing retry counter
M1
M6
ABS
Retry
transmission
start
X6
Servo-on switch
Resetting ready to send ABS
data
RST
M99
M5
Y1
Servo-on and
retry control
RST
Resetting servo-on request
Resetting ABS transfer mode
Resetting ABS request
Resetting retry flag
Y12
RST
RST
Y2
RST
M6
M64
C2
Resetting checksum
judgement flag
ZRST M62
ZRST C0
Resetting communication
counter
2
(To be continued) 2
15 - 42
15. ABSOLUTE POSITION DETECTION SYSTEM
2
(Continued from preceding page)
Y3
2
X4
M0
Alarm reset output
Alarm reset Error flag
switch
Y3
RST
C1
Clearing retry counter
Alarm reset
Clearing ABS data receiving
area
ZRST M0
M64
D3
Clearing ABS receive data
buffer
ZRST D0
Resetting ABS data reception
counter
RST
C2
Resetting all data reception
counter
RST
C0
Servo alarm
X5
M0
Y10
Y1
Error flag output
detection, alarm
reset control
Emergency stop
switch
X3
Servo alarm output
Servo alarm
RST
RST
Resetting ABS transfer mode
Resetting ABS request
Resetting ready to send
Resetting servo-on request
Resetting retry flag
Y2
RST
M99
M5
M6
Y1
RST
RST
M1
SET
ABS transfer mode ON
ABS data
transmission start
Clearing ABS data reception
area
ZRST M10
ZRST D0
RST
M64
D2
ABS transfer
mode
Initial setting
Clearing ABS receiver data
buffer
Resetting ABS data reception
counter
C2
Resetting all data reception
counter
RST
C0
(To be continued)
3
3
15 - 43
15. ABSOLUTE POSITION DETECTION SYSTEM
3
(Continued from preceding page)
3
C0
Y1
ABS
transfer
mode
X2
PLS
SET
M3
Y2
Resetting ABS data
ABS request ON
All data
receptin
counter
Send data ready
M3
ABS data 32 bits
(2 bits 16 times)
ABS data read
Y2
X2
K1
T204
Checksum 6 bits
(2 bits 3 times)
ABS data waiting timer 10ms
Masking ABS data 2 bits
Right shift (2 bits) of ABS data
Checksum addition
ABS
request ready
Send data
T204
WANDP K1X0 H0003 K1M10
ABS data waiting timer
SFTR M10
M20
K38
K2
D2
C2
ADDP K1M10 D2
K16
C2
Updating ABS data reception
counter
K19
C0
Updating all data reception
counter
RST
RST
Y2
Resetting ABS request
C0
X2
Y1
Resetting ABS transfer mode
ABS data Send data
reception
counter
ready
WANDP H003F D2
CMPP K2M52 D2
D2
Masking checksum 6 bits
Comparison of checksum
ABS data checksum error
Retry command
M62
Detection of ABS
checksum error,
retry control
C1
Y12
M2
Retry counter
M62
C1
PLS
Retry
counter
M64
K2
T211
Setting retry ABS transfer
mode OFF wait timer: 20ms
Storing checksum value in the
case of checksum error
MOV K2M52
D3
M6
M4
M5
SET
PLS
RST
Retry flag ON
T211
Servo-on request reset
permission
Setting retry ABS transfer mode
OFF wait timer: 20ms
M4
Servo-on request
Servo-on request reset permission
M5
M6
K10
T211
Setting retry wait timer: 100ms
Servo-on Retry flag
request
4
(To be continued)
4
15 - 44
15. ABSOLUTE POSITION DETECTION SYSTEM
4
(Continued from preceding page)
4
M63
DMOVP K8M20
D0
ABS data
D0, D1
Check
sum
match
Adding 1PG home position
address
DADDPD0
D24
D0
D0
DTOP K0
K26
K1
ABS data
1PG
Writing absolute
position data to
1PG
SET
M99
M64
M6
Y1
Setting ABS data ready
Clearing checksum judging
area
ZRST M62
RST
Resetting retry flag
Y11
X6
Detecting ABS
communication error
RST
Servo-on
switch
ABS
communi-
cation error
RST
Y2
Resetting ABS request
Y1
K500
T201
ABS transfer mode 5s timer
ABS transfer mode
Y1 Y2
K100
T202
ABS request response
1s timer
Detecting ABS
communication
error
ABS transfer ABS request
mode
Y1
X2
K100
T203
Ready to send response
1s timer
ABS transfer Send data ready
mode
T201
Y11
ABS communication error
ABS transmission NG
T202
ABS request NG
T203
Send data ready NG
M2
D4
C1
Counting retry frequency
Setting servo-on request
Retry command
ABS transfer
retry control
T200
M6
SET
M5
Retry
wait
Retry
timer
5
(To be continued) 5
15 - 45
15. ABSOLUTE POSITION DETECTION SYSTEM
5
(Continued from preceding page)
M109
5
M8000
Normally
OFF
M110
M111
M112
M102
M103
1PG control
command
(not used)
X7
X12
M99
PLS
M120
M104
M105
M106
K1
Start command pulse
1PG JOG command
1PG JOG command
Servo
ready
Position
ABS data
start switch ready
X10
Operation
command
control
JOG
X11
JOG
(Note)
X7
X14
1PG home position return
start
Servo ready Home position return start switch
M120
DTO K0
K17
D100Z
SET
Setting motion distance
1PG start
Position
start
command
pulse
108
Z
DINC
DINC
K6
Z
Index processing
Position
command
control
DCMP
Z
M121
Z
M122
DMOV K0
INDX 6
X13
M101
1PG stop command
1PG error reset
Position stop
switch
M0
Error flag
X16
M100
1PG error reset
6
(To be continued)
6
Note. Program example for the dog type home position return. For the data set type home position return, refer to the program example
in (2) (d) in this section.
15 - 46
15. ABSOLUTE POSITION DETECTION SYSTEM
6
(Continued from preceding page)
6
M8000
TO
K0
K25
K28
K26
K4M100 K1
K3M200 K1
FX2 1PG
Transmission of control signals
Normally
ON
FROM K0
DFROMK0
1PG FX2
Transmission of status
D106
RST
K1
1PG FX2
Transmission of present
position D106, D107
1PG
M200
M108
END
Resetting start command
(d) Data set type home position return
After jogging the machine to the position where the home position (e.g.500) is to be set, choose the
home position return mode set the home position with the home position return start switch (X14)
ON. After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear (CR) (Y5) for an operation other than home position return. Turning it
ON in other circumstances will cause position shift.
Y1
X0
X14
PLS
M70
Clear (CR) ON timer request
ABS transfer Positioning Home position return
mode completion start swiitch
M70
K10
T210
Clear (CR) 100ms ON timer
Clear signal ON
timer request
M71
SET
RST
M71
M71
Y5
Setting data set type home position return request
Resetting data set type home position return request
Clear (CR) ON
Date set type home position return request
T210
Clear signal 100ms ON timer
M71
Data set type
home position
return request
Setting X-axis home position address "500"
in the data register
DMOVP K500
D24
K1
DTOP K0
DTOP K0
K13
K26
D24
D24
Changing X-axis home position address
Changing X-axis present position data
K1
15 - 47
15. ABSOLUTE POSITION DETECTION SYSTEM
(e) Electromagnetic brake output
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
(MBR).
Y1
X1
Y4
Electromagnetic brake output
ABS transfer Brake (MBR)
mode
(f) Positioning completion
To create the status information for positioning completion.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y1
X0
M
Completion of positioning
ABS transfer Positioning
mode completion
Y1
ABS transfer
mode
(g) Zero speed
To create the status information for zero speed.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y1
X1
M
Zero speed
ABS transfer Zero speed
mode
Y1
ABS transfer
mode
(h) Torque limiting
To create the status information for the torque limiting mode.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the torque
limiting must be off.
Y1
X2
M
Torque limiting mode
ABS transfer Torque limiting mode
mode
15 - 48
15. ABSOLUTE POSITION DETECTION SYSTEM
15.8.3 MELSEC A1SD75
(1) Connection diagram
Servo amplifier
CN1B
3
13
VDD
COM
SG
A1S62P
600mA
24
24G
10
LG
FG
SG
20
Power
supply
INPUT
AC100/200
A1SCPU
A1SX40
ABS data bit 0/Positioning completion
ABS data bit 1/zero speed
Readying to send data/Torque limiting
Trouble
0
1
2
3
4
5
6
7
COM
DO1
ZSP
TLC
ALM
4
19
6
18
Alarm reset
Emergency stop
Servo-on
EMG
15
Upper limit
Home position return
LSP
LSN
16
17
Operation mode I
Operation mode II
Position start
Lower limit
Operation
8
9
A
B
C
D
Operating
mode
Position stop
(Note 3)
status
I
II
JOG
JOG
OFF OFF
OFF ON
JOG
E
F
COM
NC
NC
ON OFF
Home
position
return
ON
ON Positioning
A1SY40
Servo-on
0
1
2
3
4
5
6
7
SON
5
8
9
ABS transfer mode
ABS request
ABSM
ABSR
RES
Alarm reset
14
RA2
Electromagnetic
brake output
(Note 4)
COM1
Servo alarm
8
9
A
B
ABS communication error
ABS checksum error
COM2
(Note 1)
Proximity signal
(Note 2)
A1SD75-P
DOG
PLS
RLS
STOP
CHG
11
12
13
14
15
START 16
COMMON 35
COMMON
36
CN1A
9
19
COM
RD
INP
Servo ready
RDY
INPS
7
8
Positioning completion
18
COMMON 26
CLEAR
COMMON
5
23
CR
SG
SG
LZ
LZR
PG
PP
NG
NP
LG
SD
8
10
20
5
15
13
3
12
2
1
(Note 2)
24
25
PGO
PULSE- 21
F
PULSE-
R
PLS COM 19
PLS COM 20
3
22
4
Plate
(Note 6)
(Note 5)
(Note 6)
15 - 49
15. ABSOLUTE POSITION DETECTION SYSTEM
Note 1. For the dog type home position return. Need not be connected for the data set type home position return.
2. If the servo motor provided with the zero point signal is started, the A1SD75 will output the deviation counter clear (CR). Therefore,
do not connect the clear (CR) of the MR-J2-A to the A1SD75 but connect it to the output module of the programmable controller.
3. This circuit is provided for your reference.
4. The electromagnetic brake output should be controlled via a relay connected to the programmable controller output.
5. Use the differential line driver system for pulse input. Do not use the open collector system.
6. To reinforce noise suppression, connect LG and pulse output COM.
(2) Sequence program example
(a) Conditions
The ABS data is transmitted using the leading edge of the servo-on switch as a trigger.
1) When the servo-on switch and power supply GND are shorted, the ABS data is transmitted at
power-on of the servo amplifier or on the leading edge of the RUN signal after a PC reset
operation (PC-RESET). The ABS data is also transmitted when an alarm is reset or when an
emergency stop is reset.
Before starting the ABS data transfer, confirm that it is the servo-on (SON) ON state (refer to
section 3.3.2).
2) If a checksum mismatch is detected in the transmitted data, data transmission is retried up to
three times. If the checksum mismatch still persists after the retries, the ABS checksum error
occurs (Y3A ON).
3) The following time periods are measured. If the ON/OFF state does not change within the
specified time, the ABS communication error occurs change within the specified time, the ABS
communication error occurs (Y39 ON).
ON period of ABS transfer mode (Y31)
ON period of ABS request (Y32)
OFF period of reading to send ABS data (X22)
15 - 50
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Device list
X input contact
Y output contact
X20
X21
X22
X23
X24
X25
X26
X27
X28
X29
ABS bit 0 / positioning completion
ABS bit 1 / zero speed
Reading to send ABS data / limiting torque
Servo alarm
Alarm reset switch
Servo emergency stop
Servo-on switch
Home position return start switch
Operation mode
Operation mode
Y30
Y31
Y32
Y33
Servo-on
ABS transfer mode
ABS request
1)
2)
Alarm reset
Y34 (Note 2) Electromagnetic brake output
Y35 (Note 1) Clear
Y38
Y39
Y3A
Servo alarm
ABS communication error
ABS checksum error
D register
M contact
D0
D1
D2
D3
ABS data transmission counter
Checksum transmission counter
Checksum addition register
ABS data: Lower 16 bits
M5
M6
M7
M8
ABS data transmission start
Sum check completion
Sum check mismatch
ABS data ready
4)
D4
D5
D6
D7
D8
D9
D10
D11
D12
D110
D111
ABS data: Upper 16 bits
M9
Transmission data read enabled
Checksum 2 bits read completion
ABS 2 bits read completion
ABS 2 bits request
Servo-on request
Servo alarm
ABS data transmission retry start pulse
Retry flag set
Retry flag reset
ABS data 2-bit receiving buffer
Check data in case of checksum error
Number of retries
M10
M11
M12
M13
M14
M15
M16
M17
M18
Forward rotation direction
Home position address: Lower 16 bits
Home position address: Upper 16 bits
Drive unit ready data
Home position return completion data
Received shift data: Lower 16 bits
Received shift data: Upper 16 bits
3)
PLS processing command
M20 (Note 1) Clear (CR) ON timer request
M21 (Note 1) Data set type home position return request
T timer
M22
M23
M24
Home position return processing instruction
Current position change processing instruction
Current position change flag
T0
T1
T2
T3
ABS transmission mode timer
ABS request response timer
Retry wait timer
M26
ABS transfer mode OFF permission
ABS data send reading response timer
C counter
T10 (Note 1) Clear (CR) ON timer
T200
T201
Transmitted data read 10ms delay timer
Retry ABS transfer mode OFF wait timer
C0
C1
C2
ABS data receive times counter
Checksum receive times counter
Retry counter
Note 1. Required for data set type home position return.
2. Required for electromagnetic brake output.
15 - 51
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X axis
This sequence program example assumes the following conditions.
Parameters of the A1SD75-P1 positioning module
1) Unit setting
:3 pulse (PLS)
2) Travel per pulse :1 1 pulse
To select the unit other than the pulse, conversion into the unit of the feed value per pulse is
required. Hence, add the following program to the area marked (Note) in the sequence program.
<Additional program>
Item
mm
inch
degree
pulse
D * P K
D3 D3
Unit setting
0
1
2
3
0.00001 0.0001 0.001 0.01 0.00001 0.0001 0.001 0.01
Travel per pulse
Unit of travel
0.1 to 1 to 10 to 100
m/PLS
to
to
to
to
to
to
to
to
inch/PLS
degree/PLS
PLS
Constant K for
conversion into unit of 1 to 10 to
travel
100
to
100
to
1000 1 to 10 to 100 to 1000 1 to 10 to
1000 None
Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
The additional program is not required for the unit setting is PLS.
5)
M101
MOV K0
K3
Y30
K1
Output signal reset
A1SD75 error reset
Error reset
completion
TO
H0000 K1151 K1
MOV K3
Initial
setting
6)
Setting the number of retries
(to 3 times)
D7
SET
M101
A0
Error reset completion flag
Loading received shift data
M9039
DMOV D110
PC RUN
1
(To be continued)
1
15 - 52
15. ABSOLUTE POSITION DETECTION SYSTEM
1
(Continued from preceding page) 1
X26
SET
FROM H0000 K816 D11
WAND H0001
M13
K1
Servo-on request
7)
Servo-on
switch
Reading A1SD75 1-axis RDY
signal
D11
M23
M24
M8
Masking RDY signal
Current position change
processing instruction
M23
D11 K1
PLS
RST
RST
RST
RST
Current position change flag
Resetting ready
Processing instruction RDY signal ON judgement
X26
Servo-on
control
Servo-on
switch
M13
C0
Resetting servo-on request
Resetting ABS transmission
counter at servo OFF
Resetting checksum
transmission counter at servo
OFF
C1
M13
M14
M16
Y30
M5
Servo-on output
Servo-on
request
Error
flag
Retry flag
set
PLS
PLS
RST
ABS interface start
Setting retry flag
M13
M17
C2
Servo-on
request
M17
ABS transfer
retry control
Resetting retry counter
Alarm reset output
Retry flag
reset request
X24
M14
Y33
Error reset
switch
Error flag
Y33
Alarm reset
X25
M14
M8
Servo alarm
detection,
alarm reset
control
Error flag output
Emergency stop
switch
X23
RST
RST
Resetting ready
Servo alarm
M13
Y38
Resetting servo-on request
Servo alarm
2
(To be continued) 2
15 - 53
15. ABSOLUTE POSITION DETECTION SYSTEM
2
(Continued from preceding page)
2
M5
Initializing ABS data
transmission counter
MOV K16
MOV K3
MOV K0
MOV K0
DMOV K0
DMOV K0
RST
D0
D1
D2
D5
D9
A0
ABS data
transfer
start
Initializing checksum
transmission counter
Initializing checksum register
Initializing ABS data register
Initializing ABS data register
Initializing ABS data register
ABS transfer mode
initial setting
Resetting ABS transmission
counter
C0
C1
M26
Y31
Resetting checksum
transmission counter
RST
ABS transfer mode OFF
permission
RST
M5
ABS transfer mode
ABS data
transfer start
Y31
ABS transfer mode
control
M26
ABS transfer mode
OFF permission
ABS transfer
mode
C0
C1
Y31
DMOVPA0
MOVP K0
D3
A0
K1
D8
A1
M18
D4
D4
D3
D4
Saving ABS 32-bit data
Clearing register
Counter Sum
ABS transfer
counter mode
8)
*1 Reading x-axis rotation
direction parameter
FROMPH0000 K5
D8
WAND H0001
WAND H8000
PLS
Absolute position
polarity,A1SD75
rotation direction
setting detection
Masking rotation direction
parameter
9)
Masking ABS data sign
PLS processing command
10)
Rotation direction
judgement
M18
Reversing polarity of upper
16 bits
D8 K1
NEG
PLS
processing
command
Decrementing upper 16 bits
by 1
K1
Reversing absolute
position polarity
Reversing polarity of lower
16 bits
NEG
Lower 16 bits
D4 D4
0
K0 D3
K1
1
3
(To be continued) 3
15 - 54
15. ABSOLUTE POSITION DETECTION SYSTEM
11)
3
(Continued from preceding page) 3
M9
Read
C0
MOV K1X20
WAND H0003
WOR D5
ROR
D5
D5
A0
K2
Reading 4 bits
ABS data
enabled counter
Masking 2 bits
Adding 2 bits
Reading checksum
6bits
(2 bits 3 times)
Right rotation of A0 2 bits
D1
C1
Counting the number of
checksum data
Completion of reading
checksum 2 bits
PLS
MOV K1X20
WAND H0003
WOR D5
DROR
M10
D5
D5
A0
M9
Read
C0
Reading 4 bits
ABS data
enabled counter
11)
Masking 2 bits
Adding 2 bits
Reading ABS data
32 bits
(2 bits 16 times)
K2
Right rotation of A0 2 bits
Adding checksum
D5
D2
D2
D0
C0
Counting the number of ABS
data
Completion of reading ABS
2 bits data
PLS
M11
K10
A0
C1
X22
RORP
Right rotation of A0 10 bits
Masking sum check
Sum check OK
Checksum
counter
Ready to
send ABS
data
WAND H003F
D2 A0
D2 A0
M6
Detecting ABS
checksum error
M7
Sum check NG
MOV A0
D6
Sum check memory
ABS transfer mode OFF
permission
SET
M26
Y3A
C2
ABS checksum error
Retry counter
4
(To be continued) 4
15 - 55
15. ABSOLUTE POSITION DETECTION SYSTEM
4
(Continued from preceding page)
4
M11
RST
Y32
ABS request reset
ABS 2 bits
completion
M10
Checksum 2 bits completion
Y31
X22
C1
PLS
SET
M12
Y32
ABS 2 bits request
ABS request set
10ms delay timer
ABS transfer Ready to Checksum
ABS request
control
send ABS
data
counter
mode
M12
ABS 2 bits request
Y32 X22
ABS request Ready to send ABS data
K1
T200
Y32
X22
T200
M9
K1
D3
D3
Transmitted data read enabled
12)
ABS
request
M6
Ready to send 10ms delay timer
ABS data
*1: Reading A1SD75 home
position address (Note 2)
DFROPH0000 K0072 D9
Checksum
OK
Restoring absolute
position data.
Inserting constant K for conversion
into the unit of feed per pulse
(Note 1)
D*P
K
D3
D9
Adding home position address
to absolute position
D
P
D3
7)
13)
M6
M24
SET
M8
K1
ABS data ready
14)
Checksum
OK
Change
flag
*1: Changing X-axis current
position
DTOP H0000 K1154 D3
Writing absolute
position data to
A1SD75
*1: Writing No. 9003 data for
changing current value
TO
H0000 K1150 K9003
K1
SET
RST
Y10
Y10
Positioning start
Y10
X1
X4
Switching start signal off on
completion of positioning
Positioning Start com- BUSY
start
pletion
XA
Error detection
15)
5
(To be continued)
5
Note 1. When the unit setting parameter value of the A1SD75 positioning module is changed from "3" (pulse) to "0" (mm), the unit is
0.1 m for the input value. To set the unit to 1 m, add this program to multiple the feed value by 10.
2. The home position address loaded from flash ROM of normal positioning module can be obtained.
For updating the home position address by the home position setting, refer to (2)(f) Data set type home position return in this
section.
15 - 56
15. ABSOLUTE POSITION DETECTION SYSTEM
5
(Continued from preceding page)
5
Y39
X26
Servo-on switch
RST
Y31
Resetting ABS transfer mode
ABS transfer mode 5s timer
ABS communi-
cation error
Y31
K50
T0
ABS transfer mode
Y31 Y32
K10
T1
ABS request response
1s timer
ABS transfer ABS request
mode
Detecting ABS
communication
error
Y31
X22
K10
T3
ABS data send ready
response 1s timer
ABS transfer Ready to send
mode ABS data
T0
Y39
ABS communication error
ABS transfer NG
T1
ABS request NG
T3
Readying to send ABS data NG
M7
Setting ABS transfer retry
start flag
PLS
SET
RST
RST
M15
Sum check NG
Y31
M15
K2
T201
Retry ABS transfer mode
OFF wait timer 20ms
ABS transfer ABS transfer
mode
T201
retry start
C2
M16
Setting retry flag
Retry counter
Retry ABS
transfer
mode OFF
wait timer
Retry
counter
D7
C2
ABS transfer
retry control
Setting ABS transfer retry
start flag
M15
M16
K1
T2
Retry waiting timer (100ms)
Resetting retry flag
Retry flag set
T2
M16
Retry waiting timer
M9039
DMOV A0
D110
END
Saving received shift data
PC RUN
15 - 57
15. ABSOLUTE POSITION DETECTION SYSTEM
(d) X-axis program
Do not execute the X-axis program while the ABS ready (M8) is off.
(Note)
Positioning X-axis start
When "M8" (ready to send ABS data) switches on,
the X-axis start program is executed by the X-axis
start command.
mode
command
M8
X-axis start program
Ready to
send ABS
data
(e) Dog type home position return
Refer to the home position return program in the A1SD75 User’s Manual.
Note that this program requires a program which outputs the clear (CR) (Y35) after completion of
home position return.
Add the following program.
16)
Home position return
start command
Reading 1-axis home position return
completion signal
FROM H0000 K817 D12
WAND K0016
K1
D12
M22
Y35
Masking home position return completion
Home position return processing instruction
Switching clear (CR) on
M22
D12 K16
Processing
instruction
Home position return
completion judgement
15 - 58
15. ABSOLUTE POSITION DETECTION SYSTEM
(f) Data set type home position return
After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the
home position return mode and set the home position with the home position return start switch
(X27) ON.
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear (CR) (Y35) for an operation other than home position return. Turning it
on in other circumstances will cause position shift.
M9039
Y1D
Programmable controller ready
PC RUN
Home position
Y31
X20
X27
return mode
PLS
M20
Clear (CR) ON timer request
ABS transfer Positioning Home position
mode completion return start switch
M20
K1
T10
Clear (CR) 100ms ON timer
Clear signal ON
timer request
M21
SET
RST
M21
M21
Y35
D9
Setting data set type home position return request
Data set type home position return request
T10
Resetting data set type home position return
request
Clear signal 100ms ON timer
M21
Switch clear (CR) on
Data set type home position
return request
Setting X-axis home position address 500
DMOVP K500
in data register
17)
18)
(Note 1)
*1: Changing X-axis home position address
(Note 2)
DTOP H0000 K72
D9
K1
DTOP H0000 K1154 D9
K1
*1: Changing X-axis current value
*1: Writing positioning data No. 9003
Starting positioning
TO
H0000 K1150 K9003
K1
SET
RST
Y10
Y10
Y10
X1
X4
Switching BUSY signal off to switch start
signal off.
Positioning Start
start completion
BUSY
XA
Error detection
19)
Note 1. When the data of the home position address parameter is not written from GX Developer or the like before starting the data set
type home position return program, this sequence circuit is required.
When the home position address is written in the home position address parameter, change to the following circuit.
17)
DFROP H0000 K72
D9
K1
2. Changes are stored temporarily to buffer memory at this time. An additional processing is required when changes should be
reflected to memory for OS or flash ROM. For details, refer to the positioning module user's manual.
15 - 59
15. ABSOLUTE POSITION DETECTION SYSTEM
(g) Electromagnetic brake output
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
(MBR).
Y31
X21
Y34
Electromagnetic brake output
ABS transfer Brake (MBR)
mode
(h) Positioning completion
To create the status information for positioning completion.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y31
X20
M
Positioning completion
ABS transfer Positioning
mode completion
Y31
ABS transfer
mode
(i) Zero speed
To create the status information for zero speed.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y31
X21
M
Zero speed
ABS transfer Zero
mode speed
Y31
ABS transfer
mode
(j) Torque limiting
To create the status information for the torque limiting mode.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the torque
limiting must be off.
Y31
X22
M
Torque limiting mode
ABS transfer Torque limiting
mode mode
15 - 60
15. ABSOLUTE POSITION DETECTION SYSTEM
(3) Sequence program - 2-axis control
The following program is a reference example for creation of an ABS sequence program for the second
axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner.
(a) Y-axis program
Refer to the X-axis ABS sequence program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so
that they do not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.3 (2) (c) should be changed as indicated below for use with
the Y axis.
[FROMP H0000 K5 D8 K1]
[DFROP H0000 K0072 D9 K1]
[DTOP H0000 K1154 D3 K1]
[TO H0000 K1150 K9003 K1]
[FROMP H0000 K155 D8
[DFROP H0000 K222 D9
[DTOP H0000 K1204 D3
K1]
K1]
K1]
[TO
H0000 K1200 K9003 K1]
[Program configuration]
20)
X-axis ABS sequence program
(Program in section 15.8.3 (2) (c))
Y-axis ABS sequence program
(Refer to the X-axis program and write the Y-axis
program)
(b) Data set type home position return
Arrange the data set type home position return programs given in section 15.8.3 (2) (f) in series to
control two axes.
Refer to the X-axis data set type home position return program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts and T timers of the Y axis so that they do
not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.3 (2) (f) should be changed as indicated below for use with
the Y axis.
[DTOP H0000 K72 D9 K1]
[DTOP H0000 K1154 D9 K1]
[TO H0000 K1150 K9003 K1]
[DTOP H0000 K222 D9 K1]
[DTOP H0000 K1204 D3 K1]
[TO H0000 K1200 K9003 K1]
[Program configuration]
20)
X-axis data set type home position return program
(Program in section 15.8.3 (2) (f))
Y-axis data set type home position return program
(Refer to the X-axis program and write the Y-axis
program)
15 - 61
15. ABSOLUTE POSITION DETECTION SYSTEM
(4) Differences between A1SD71
The sequence programs shown in (2) in this section differ from those for the A1SD71 in the following
portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) in this
section.
(a) Devices used
Since the A1SD75 is a one-slot module which occupies 32 I/O points, the I/O devices are different,
as indicated by 1) and 2), from those of the two-slot A1SD71 which occupies 48 point. The A1SD75
uses the devices indicated in the following table, and its D registers and M contacts are different as
indicated by 3) and 4).
Devices
Axis 1 Axis 2 Axis 3
X0
Bit device
:Data at ON
:Stored data
Device name
Application
A1SD75 ready
Data register
Not ready/ WDT error
BUSY(running)
Input
X4
X5
X6
BUSY
XA
XB
XC
Error detection
Error detection
Y10
Y13
Y16
Y17
Y11
Y14
Y18
Y19
Y12 Positioning start
Start being requested
Stop being requested
Forward rotation being started
Reverse rotation being started
Programmable controller CPU
normal
Y1C Axis stop
Y1A Forward rotation jog start
Y1B Reverse rotation jog start
Output
Y1D
M0
Programmable controller ready
Parameter setting completion flag
Flash ROM registration processing
flag
Setting complete
M1
Processing
M2
M3
M4
Axis error reset requesting flag
A1SD75 normal flag
Requesting
internal relay
Data register
M100
M101
M102
M103
D100
D102
D105
D108
A1SD75 normal
Error reset complete
All BUSY signal OFF
Operable
Initial error reset completion flag
All BUSY signal OFF flag
A1SD75 operable flag
Flash ROM registration results
Registration results
Error code
D101
D104
D107
D103 Axis error code
D106 Axis warning code
D109 Axis error reset results
Warning code
Axis error reset results
(b) ABS sequence program example
1) Initial setting
To reset the error of the A1SD75, the program 5) is added to reset all output signals at start-up.
The axis error reset buffer memory address is changed from 201 to 1154 (axis 1) and the slot
number from H0001 (slot number 1) to H0000 (slot number 2) 6).
2) Absolute position polarity, A1SD75 rotation direction setting detection
The slot number and buffer memory of the X-axis rotation direction parameter reading area are
changed from [FROMP H0001 K7872 D8 K1] to [FROMP H0000 K5 D8 K1] 8).
The rotation direction parameter masking area is changed from [WAND H0004 D8] to [WAND
H0001 D8] 9).
3) Reversing absolute position polarity
The rotation direction judging area is changed from [ D8 K4] to [ D8 K1] 10).
4) Reading checksum 6 bits, reading ABS data 32 bits
The 4 bits reading area is changed from [MOV K1 X30D5] to [MOV K1X20 D5] 11).
15 - 62
15. ABSOLUTE POSITION DETECTION SYSTEM
5) Restoring absolute position data
The slot number and buffer address of the A1SD75 home position address reading area are
changed from [DFROP H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 12).
6) Writing absolute position data to A1SD75
The slot number and buffer address of the X-axis current value changing area are changed from
[DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 14). When the current value is changed
in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Therefore, the starting program for positioning data No.9003 15) is added.
7) X-axis data set type home position return program
The slot numbers and buffer addresses of the X-axis home position address changing area are
changed from [DTOP H0001 K7912 D9 K1] to [DTOP H0000 K72 D9 K1] and from [DFROP
H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 17).
The slot number and buffer address of the X-axis current value changing area are changed from
[DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 18). When the current value is changed
in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Therefore, the starting program for positioning data No.9003 19) is added.
8) Y-axis sequence program, Y-axis data set type home position return program.
The slot numbers and buffer addresses are changed as indicated by 20).
9) Writing absolute position data to A1SD75
The A1SD75 allows the current position to be changed only when the ready (RD) of the Servo
amplifier is on. Therefore, if the CPU scan is fast, the program for A1SD71 may change the
current position before the ready (RD) switches on. 7) is added because the current position must
be changed after it has been confirmed that the drive unit ready (RD) of the A1SD75 (D75) has
switched on/off.
10) ABS coordinate error detection
As the A1SD75 can handle the negative-polarity coordinate position that the A1SD71 could
not handle, the program for ABS coordinate error detection is deleted 13).
11) Dog type home position return program
Due to the changes in wiring described in (4) (a) 4) in this section, the program for outputting
the clear (CR) (Y35) after completion of a home position return is required 16).
15 - 63
15. ABSOLUTE POSITION DETECTION SYSTEM
15.9 Confirmation of absolute position detection data
You can confirm the absolute position data with MR Configurator (servo configuration software).
Crick "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Cricking "Diagnostics" in the menu opens the sub-menu as shown below.
(2) By cricking "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window
appears.
(3) Crick the "Close" button to close the absolute encoder data display window.
15 - 64
15. ABSOLUTE POSITION DETECTION SYSTEM
15.10 Absolute position data transfer errors
15.10.1 Corrective actions
(1) Error list
The number within parentheses in the table indicates the output coil or input contact number of the
A1SD71.
Output coil
Name
(Note)
Description
Cause
Action
AD71 1PG
Y49 Y11 1. The ABS data transfer mode 1. Wiring for ABS transfer mode Correct the wiring.
ABS
communication
error
signal (Y41) is not completed
within 5s.
signal, ABS data request
signal, or ready to send signal
is disconnected or connected to
the SG terminal.
2. PLC ladder program wrong. Correct the ladder.
3. Faulty PLC output or input Change the input or output
module.
2. The ready to send signal
(X32) is not turned OFF
within 1s after the ABS data
request signal (Y42) is turned
ON.
module.
3. The ready to send signal
(X32) remains OFF for longer
than 1s.
4. Faulty printed board in the
servo amplifier.
Change the amplifier
5. Power supply to the servo
amplifier is OFF.
Turn on the power to the servo
amplifier.
ABS data
checksum
error
Y4A Y12
ABS data sumcheck resulted 1. Wiring for the ABS data
Correct the wiring.
in mismatch four times
consecutively.
signal (ABS bit 0 (PF), bit 1
(ZSP)) is disconnected or
connected to the SG terminal.
2. PLC ladder program wrong. Correct the ladder.
3. Faulty PLC input module.
4. Faulty printed board in the
servo amplifier.
Change the input module.
Change the amplifier.
ABS
coordinate
error
Y4B
The motor position is in the
negative coordinate value
range when the servo is
turned ON or when power
supply is turned ON.
1. The servo is turned ON or the 1. Reconsider the position
power supply is turned ON
near the machine home
position or in the zone in
which addresses decrease.
where the servo is turned
ON.
2. Set the home position for
positioning apart from the
machine home position.
Change the electromagnetic
2. The machine falls on a
vertical axis when the servo- brake operation sequence.
on (SON) is turned ON/OFF.
Servo alarm
Y48 Y10
Alarm occurred in the servo
amplifier.
1. Emergency stop (EMG) of the After ensuring safety, turn
servo amplifier was turned
off.
EMG on.
2. Trouble (ALM) of the servo
amplifier was turned on.
Refer to section 10.2.2 and take
action.
Note. Refer to (2) in this section for details of error occurrence definitions.
15 - 65
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) ABS communication error
(a) The OFF period of the send data ready signal output from the servo amplifier is checked.
If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication
error is generated.
The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the
servo amplifier due to an ABS request ON time time-out.
ON
ABS transfer mode
OFF
1s
ON
ABS request
OFF
ON
Send data ready
OFF
The signal does not come ON
YES
ABS communication
error
NO
(b) The time required for the ABS transfer mode signal to go OFF after it has been turned ON (ABS
transfer time) is checked.
If the ABS transfer time is longer than 5s, this is communication error occurs if the ABS time-out
warning (AL.E5) is generated at the servo amplifier due to an ABS transfer mode completion time
time-out.
5s
ON
ABS transfer mode
The signal does not go OFF
18 19
OFF
1
2
3
4
ON
ABS request
OFF
ON
Send data ready
1
2
3
4
18
19
OFF
YES
NO
ABS communication
error
15 - 66
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS
request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS
request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request
signal or the send data ready (TLC) has occurred, and the ABS communication error is generated.
The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the
servo amplifier due to an ABS request OFF time time-out.
ON
ABS transfer mode
OFF
1s
ON
ABS request
OFF
The signal does
not go OFF
ON
Send data ready
OFF
YES
ABS communication
error
NO
15.10.2 Error resetting conditions
Always remove the cause of the error before resetting the error.
Output coil
Name
Servo status
Ready (RD) off
Resetting condition
AD71
1PG
ABS communication error
Y49
Y11
Reset when servo-on (SON) switch
(X36) signal turns off.
ABS checksum error
Y4A
Y12
Ready (RD) on
For AD71
Reset when servo-on (SON) switch
(X36) signal turns from off to on.
For FX-1PG
Reset when servo-on (SON) switch
(X36) signal turns off.
ABS coordinate error
Servo alarm
Y4B
Y48
Ready (RD) on
Ready (RD) on
Reset when servo-on (SON) switch
(X36) signal turns from off to on
after a motion to ( ) coordinate is
made by jog operation.
Y10
Reset when alarm reset switch
turns on or power switches from off
to on.
15 - 67
15. ABSOLUTE POSITION DETECTION SYSTEM
MEMO
15 - 68
APPENDIX
App 1. Signal arrangement recording sheets
(1) Position control mode
CN1A
CN1B
1
11
OPC
13
1
11
P15R
13
2
NP
4
12
2
12
TLA
14
LG
LG
3
NG
14
3
PP
5
4
DO1
6
PG
15
VDD
5
COM
15
P15R
6
OP
16
16
LSP
18
LZ
7
LZR
17
EMG
17
LAR
LA
8
7
9
18
8
LB
9
LBR
19
LSN
19
10
20
10
20
COM
SG
SG
SG
SG
(2) Speed control mode
CN1A
CN1B
1
LG
3
11
13
1
11
P15R
13
2
12
2
VC
4
12
LG
3
4
P15R
6
14
OP
16
14
VDD
COM
15
DO1
6
5
LZ
7
15
LZR
17
5
16
EMG
17
LAR
LA
8
LSP
7
18
8
18
LB
9
LBR
19
LSN
19
9
10
20
10
20
COM
SG
SG
SG
SG
(3) Torque control mode
CN1A
CN1B
1
LG
3
11
13
1
11
P15R
13
2
12
2
VLA
4
12
LG
TC
3
4
P15R
6
14
OP
16
14
VDD
COM
15
DO1
6
5
LZ
7
15
LZR
17
5
16
EMG
17
LAR
LA
8
7
18
8
18
LB
9
LBR
19
9
19
10
20
10
20
COM
SG
SG
SG
SG
App - 1
APPENDIX
App 2. Status display block diagram
App - 2
APPENDIX
App 3. Combination of servo amplifier and servo motor
The servo amplifier software versions compatible with the servo motors are indicated in the parentheses.
The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
Servo amplifier
Servo amplifier
Servo motor
HC-KFS053
HC-KFS13
HC-KFS23
Servo motor
(Software version)
(Software version)
MR-J2S-10A
HC-RFS103
HC-RFS153
HC-RFS203
HC-RFS353
HC-RFS503
HC-UFS72
HC-UFS152
HC-UFS202
HC-UFS352
HC-UFS502
MR-J2S-200A
MR-J2S-10A1
MR-J2S-200A
MR-J2S-10A
MR-J2S-10A1
MR-J2S-350A (Version B0 or later)
MR-J2S-500A (Version B0 or later)
MR-J2S-500A (Version B0 or later)
MR-J2S-70A
MR-J2S-20A
MR-J2S-20A1
MR-J2S-40A
MR-J2S-40A1
MR-J2S-200A
HC-KFS43
HC-KFS73
HC-MFS053
MR-J2S-350A (Version B0 or later)
MR-J2S-500A (Version B0 or later)
MR-J2S-500A (Version B0 or later)
MR-J2S-10A
MR-J2S-70A (Version A4 or later)
MR-J2S-10A
MR-J2S-10A1
HC-UFS13
HC-UFS23
HC-UFS43
MR-J2S-10A1
MR-J2S-10A
MR-J2S-10A1
HC-MFS13
HC-MFS23
HC-MFS43
MR-J2S-20A
MR-J2S-20A1
MR-J2S-20A
MR-J2S-20A1
MR-J2S-40A
MR-J2S-40A1
MR-J2S-40A
MR-J2S-40A1
HC-UFS73
MR-J2S-70A
HC-MFS73
HC-SFS81
HC-SFS121
HC-SFS201
HC-SFS301
HC-SFS52
HC-SFS102
HC-SFS152
HC-SFS202
HC-SFS352
HC-SFS502
HC-SFS702
HC-SFS53
HC-SFS103
HC-SFS153
HC-SFS203
HC-SFS353
MR-J2S-70A
HC-LFS52
MR-J2S-60A (Version B3 or later)
MR-J2S-100A (Version B3 or later)
MR-J2S-200A (Version B3 or later)
MR-J2S-350A (Version B3 or later)
MR-J2S-500A (Version B3 or later)
MR-J2S-11KA
MR-J2S-100A (Version A1 or later)
MR-J2S-200A (Version A1 or later)
MR-J2S-200A (Version A1 or later)
MR-J2S-350A (Version A1 or later)
MR-J2S-60A
HC-LFS102
HC-LFS152
HC-LFS202
HC-LFS302
HA-LFS801
HA-LFS12K1
HA-LFS15K1
HA-LFS20K1
HA-LFS25K1
HA-LFS11K1M
HA-LFS15K1M
HA-LFS502
HA-LFS702
HA-LFS11K2
HA-LFS15K2
HA-LFS22K2
MR-J2S-100
MR-J2S-11KA
MR-J2S-200A
MR-J2S-15KA
MR-J2S-200A
MR-J2S-22KA
MR-J2S-350A
MR-J2S-22KA
MR-J2S-500A (Version B0 or later)
MR-J2S-700A (Version B0 or later)
MR-J2S-60A (Version A1 or later)
MR-J2S-100A (Version A1 or later)
MR-J2S-200A (Version A1 or later)
MR-J2S-200A (Version A1 or later)
MR-J2S-350A (Version A1 or later)
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-500A (Version B0 or later)
MR-J2S-700A (Version B0 or later)
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
App - 3
APPENDIX
App 4. Change of connector sets to the RoHS compatible products
Connector sets (options) in the following table are changed to the RoHS compatible products after September,
2006 shipment.
Please accept that the current products might be mixed with RoHS compatible products based on availability.
Model
Current Product
RoHS Compatible Product
MR-J2CNM
MR-J2CN1
MR-J2CNS
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
Encoder connector (DDK)
Encoder connector (DDK)
MS3057-12A (Cable clump)
D/MS3057-12A (Cable clump)
D/MS3106B20-29S (Straight plug)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
MS3106B20-29S (Straight plug)
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
MR-ENCNS
MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3 (D265) (Cable clump, DDK)
CE02-20BS-S (Back shell, DDK)
Power supply connector (DDK)
CE05-6A22-23SD-B-BSS (Connector and back
shell)
D/MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3-D (Cable clump, DDK)
CE02-20BS-S-D (Back shell, DDK)
Power supply connector (DDK)
CE05-6A22-23SD-D-BSS (Connector and back
shell)
MR-PWCNS1
MR-PWCNS2
MR-PWCNS3
MR-BKCN
CE3057-12A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A24-24SD-B-BSS (Connector and back
shell)
CE3057-12A-2-D (Cable clump)
Power supply connector (DDK)
CE05-6A24-10SD-B-BSS (Connector and back
shell)
CE3057-16A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A32-17SD-B-BSS (Connector and back
shell)
CE3057-16A-2-D (Cable clump)
Power supply connector (DDK)
CE05-6A32-17SD-D-BSS (Connector and back
shell)
CE3057-20A-1 (D265) (Cable clump)
Electromagnetic brake connector
MS3106A10SL-4S (D190) (Plug, DDK)
CE3057-20A-1-D (Cable clump)
Electromagnetic brake connector
D/MS3106A10SL-4S (D190) (Plug, DDK)
App - 4
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print data
Nov.,1999
Sep.,2000
*Manual number
SH(NA)030006-A First edition
Revision
SH(NA)030006-B Addition of single-phase 100VAC specifications
Compatible Servo Configuration software model name change
Compliance with EC Directives 1: Review of sentence
Section 1.2: Review of function block diagram
Section 1.3: Moving of servo amplifier standard specifications
Review of torque limit description in position control mode
Review of torque limit description in speed control mode
Deletion of torque linearity in torque limit mode
Addition of speed limit in torque control mode
Section 3.1.1 (1): Addition of encoder Z-phase pulse connection
Addition of Note for use of junction terminal block
Section 3.1.1 (2): Addition of Note for increased noise immunity
Section 3.1.2: Addition of Note for input of negative voltage
Section 3.1.3: Addition of Note for input of negative voltage
Section 3.3.1 (2): Review of Note
Section 3.4.1 (4): Addition of description about electronic gear switching
Section 3.4.3 (1)(a): Review of description for low voltage
Section 3.5: Change in timing chart
Section 3.5 3): Review of description
Section 3.6.2 (7): Review of connection
Section 3.9: Review of POINT
Section 3.9 (3)(b),(c): Change in timing chart
Section 3.9 (3)(d),(e): Addition
Section 5.1.2 (2): Deletion of description as to parameter No. 22 TC, TLA
Addition of parameter No. 27 setting example
Correction of parameter No. 35 setting range
Review of parameter No. 47, 48 sentences
Section 5.2.5: Correction of operation pattern diagram
Section 6.2.2: Review of within one-revolution position sentence
Section 6.3: Review of automatic VC offset description
Section 6.6 (2)(a): Review of Note
Section 6.8: Review of PL sentence
Chapter 7: Addition of POINT
Section 7.3.2 (1), (2): Review of sentence makeup
Section 7.4: Addition
Section 8.1.1: Addition
Section 8.3.2: Addition
Section 10.1.1 (1): Addition of Investigation item at power-on
Section 10.1.2: Addition of Investigation item at power-on
Addition of Investigation item at on of ST1 or ST2
Section 10.1.3: Addition of Investigation item at power-on
Addition of Investigation item at on of ST1 or ST2
Section 10.2: Addition of POINT
Section 10.2.2: Review of Cause of AL.10
Deletion of Cause 4 of AL.16
Review of Cause and Action of AL.24
Addition of description to AL.25
Print data
*Manual number
Revision
Sep.,2000
SH(NA)030006-B Section 10.2.2: Addition of description to AL.30
Addition of Cause to AL.33
Chapter 11: Changed to only outline dimensional drawing
Section 11.2 (2): Addition
Section 12.2 (1): Review of Note for Table 12.1
Section 12.3: Correction of dynamic brake time constant graph
Chapter 13: Deletion of MR-CPC98CBL3M communication cable
Section 13.1.1 (4)(c): Review of outline drawing
Section 13.1.2 (1): Deletion of MR-PWCNF power supply connector set
Section 13.1.2 (1)1), 6): Change of encoder side connector models
Section 13.1.2 (1)19), 20): Change of terminal models
Section 13.1.2 (2)(a)2): Addition of description for fabrication
Section 13.1.3: Addition of POINT
Section 13.1.3 (4): Addition of cable length
Change in connection diagram
Section 13.2.1 (1): Addition of Note for recommended wires
Section 13.2.8 (1): Addition of leakage current to recommended filter
Section 14.1.2 (2): Deletion of MR-CPC98CBL3M communication cable
Section 14.11.1 (6): Addition
Section 14.11.2 (8): Addition
Section 15.7: Addition of POINT
Section 15.8.1 (1)(b): Change in b) Coordinates when zero address is changed
to other than 0
Section 15.8.2 (1)(b): Review of connection diagram
Section 15.9: Change of display screen
Section 15.10.1 (1): Deletion of Cause 5 of ABS checksum error
SH(NA)030006-C Addition of MR-J2S-500A, 700A servo amplifiers
Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353, HC-RFS503,
HC-UFS502, HC-UFS353 servo motors
Feb.,2001
Section 1.2: Function block diagram modification
Section 1.7: Overall reexamination
Section 3.7.1(2): Addition of single-phase 100 to 120VAC
Section 3.7.2: Addition of regenerative brake converter and brake unit
Section 5.1.2(2): No. 0, Item addition to regenerative option selection
No. 5, Example addition
No. 27, Setting range change
No. 49, AL.26 addition
Section 5.2.2: Overall reexamination
Section 7.4(1): Reexamination
Chapter 8: Hierarchy reexamination
Section 10.2.2: AL.30, Reexamination
AL.8E, Reexamination of Cause and Action
Section 11.1(4)(5): Addition
Section 11.2(3): Addition
Section 12.1(3): Addition
Chapter 13: Hierarchy reexamination
Section 13.1.4(1): Connection diagram change
Cable addition
Section 13.1.4(3): Reexamination
Section 13.2.1(1): Connection diagram change
Wire table addition
Chapter 15: Addition of Note on AL.25
Print data
*Manual number
Revision
Oct.,2002
SH(NA)030006-D Servo amplifier: Addition of MR-J2S-11KA, MR-J2S-15KA and MR-J2S-22KA
Servo motor: Addition of HA-LFS11K2, HA-LFS15K2, HA-LFS22K2 and
HC-LFS
SAFETY INSTRUCTIONS: Addition of About processing of waste
Addition of FOR MAXIMUM SAFETY
Addition of EEP-ROM life
Compliance with EC Directives 2: Addition of Note to (3)
Reexamination of sentences in (4)(a)
Conformance with UL/C-UL Standard: Addition of (6) Attachment of servo motor
Addition of (7) About wiring protection
Section 1.4: Change made to the contents of the test operation mode
Section 1.7.2 (4): Addition
Section 1.8 (5): Addition
Section 2.3 (3): Sentence change
Section 3.1.1 (1), (2): Addition of Note 14
Section 3.1.2: Addition of Note 14
Section 3.1.3: Addition of Note 12
Section 3.2: Addition of Note
Section 3.5: Addition of Note
Section 3.7: Addition of POINT
Section 3.8.2: Addition of POINT
Overall reexamination
Section 3.8.3: Addition of Note
Section 3.11: Overall reexamination
Section 3.13: Addition
Section 4.2.3: POINT sentence change
Section 4.2.4: POINT sentence change
Section 5.2 (2): Addition of regenerative option to parameter No. 0
Addition of CN1B-pin 19's function selection to parameter No. 1
Modification made to the contents of parameter No. 5
Reexamination of the contents of parameter No. 23
Addition of AL. 37-related sentences to parameter No. 49
Section 5.2.1 (3): Reexamination of some servo motor speeds
Section 5.2.2: Changed to analog monitor
Section 7.2.2: POINT sentences addition
Section 10.2.1: Sentence addition
Section 10.2.2: Addition of 4. to alarm 16
Addition of 3. to alarm 20
Addition of 6. to alarm 33
Changing of occurrence factor and checking method of alarm 50
Changing of occurrence factor and checking method of alarm 51
Section 11.2 (1): Overall change
Section 12.1 (4): Addition
Note sentence addition
Section 12.3: Note sentence addition
Section 13.1.1 (1): Regenerative option addition
Section 13.1.1 (3): Parameter setting addition
Section 13.1.1 (4): Reexamination
Section 13.1.1 (5): Outline drawing addition
Section 13.1.2: Addition of FR-BU-55K brake unit
Section 13.1.3: Addition of FR-BU-55K brake unit
Section 13.1.4: Addition
Print data
*Manual number
Revision
Oct.,2002
SH(NA)030006-D Section 13.1.5 (1): Configuration diagram reexamination
Note sentence addition
Addition of connector sets and monitor cables
Section 13.1.5 (2): POINT sentence addition
Section 13.1.9 (2)(a): Reexamination
Section 13.2.1 (1): Reexamination
Section 13.2.3: Reexamination
Section 13.2.4: Addition
Section 13.2.8 (1): Leakage current breaker addition
Section 13.2.9 (1): EMC filter addition
Section 14.1.2 (2): Personal computer connector corrected to D-SUB9
Section 14.11: Addition of POINT
Section 14.12.7 (2)(d): Addition
Jun., 2003 SH(NA)030006-E Safety Instructions 1. To prevent electric shock: Sentence addition
3. To prevent injury: Sentence addition
4. Additional instructions: Partial sentence change
COMPLIANCE WITH EC DIRECTIVES 2. (6) (a): Addition
Section 1.3: Inrush current addition
Section 3.6.2 (3) (a) 1): Partial figure change
Section 3.6.2 (3) (b) 1): Partial figure change
Section 3.8.3: Partial figure change
Section 3.13.3: Partial terminal box inside figure change
Section 4.2: CAUTION sentence addition
Section 5.1.2 (2): Parameter No. 0 Addition of (The built-in regenerative
resistor is used.) to "Regenerative option is
not used"
Addition of FR-CV to the setting of 01 in
Selection of regenerative option
Partial sentence deletion
Parameter No. 20 Addition of sentence to Slight vibration
suppression control
Section 5.2.1 (3): Servo amplifier, Electronic gear, 3000r/min changed to
2048/125
Servo amplifier, Electronic gear, 2000r/min changed to
4096/375
Section 6.4 (2): Sentence change
Section 6.6 (3) (a): In position LNP changed to INP
Section 10.2.1: Partial sentence change
Section 10.2.2: AL. 12 to 15 Contents reexamination
AL. 37 Addition of Cause 3
AL. 50 Partial contents change
AL. 51 Addition of "During rotation: 2.5s or more"
Section 12.3: Change of sentence that explains "te"
Section 12.5: Addition
Section 13.1.1 (4) (d): Partial connection diagram change
Section 13.1.2: Addition of "When using the brake unit, set "01
parameter No. 0"
" in
Section 13.1.3: Addition of "When using the power regeneration converter, set
"01 " in parameter No. 0"
Section 13.1.3 (2): Partial connection diagram change
Section 13.1.4 (2): Partial connection diagram change
Section 13.1.10: Addition
Print data
*Manual number
Revision
Jun., 2003 SH(NA)030006-E Section 13.2.1 (1): Correction of the AWG of the recommended wire 60mm2 to
2/0
Section 13.2.10 (2) (3): Correction of the position meter model name to
RRS10M202
Section 14.12.7 (2) (b): Addition of ST1 to the Forward rotation start data
Addition of ST1 to the Reverse rotation start data
Section 14.12.7 (3) (b): Servo-on Stroke end changed to ON
Section 15.4: Correction of the Command pulses of the positioning module to
differential line driver type
Oct., 2003
SH(NA)030006-F Reexamination of Servo Configuration software representation
Safety Instructions 3. To prevent injury: Reexamination of some sentences
COMPLIANCE WITH EC DIRECTIVES (3) (4): Change to IEC60664-1
Section 3.6.2 (7): Addition of explanation on JP11 in the case of 11kW or more
Section 5.1.2 (2): Reexamination of part of parameter No.20
Classification of automatic setting in Low-pass filter selection
of parameter No. 60 Reexamination of part of parameter No.
76 sentences
Section 5.2.1 (3): Addition of 103 to expression
Section 10.2.2: Addition of Definition, Cause and Action to AL.32
Section 12.5: Change of wiring length to 1m
Section 13.1.1 (4): Sentence reexamination
Section 13.1.1 (5) (b) (c): Regenerative option outline dimension drawing
reexamination
Section 13.1.9 (2) (a): Reexamination of Windows trademarks
Section 13.2.9 (3): Reexamination of outline dimension drawings of HF3040A-
TM/HF3050A-TM/HF3060A-TMA and HF3080-TMA/
HF3100A-TMA
Section 15.8.1 (3) (c): Correction to error in writing
Section 15.8.3 (2) (a) 3): Correction to error in writing
Oct., 2004 SH(NA)030006-G Section 1.2: Partial diagram reexamination
Section 1.3: Addition of Note
Section 1.5 (2): Partial addition/change
Section 3.1.1 (1): Partial diagram change
Section 3.1.1 (2): Partial diagram and Note change
Section 3.1.2: Partial diagram change
Section 3.1.3: Partial diagram change
Section 3.3.2 (2): Functions/Applications of Speed reached is changed
Section 3.4.1 (5): Addition of CAUTION
Section 3.4.2 (1) (a): Addition of Note2
Section 3.4.4 (3) (b): Partial addition of table
Section 3.5: Addition of CAUTION
Section 3.5 (3): Change of text
Section 3.6.1: Partial diagram reexamination
Section 3.9 (3) (d): Partial diagram reexamination
Section 3.9 (3) (e): Partial diagram reexamination
Section 3.11: Addition of POINT
Section 4.2.4 (4) 2): Partial text deletion
Section 5.1.2 (2): Partial parameterNo.20 change
Section 5.2.1 (1) (b): POINT sentence addition
Section 10.2.2: CAUTION sectence addition,AL.12 partial Cause change,AL.52
addition of Note/change of Definition, AL.17 partial addition
Section 12.1: Change of Note
Print data
*Manual number
Revision
Oct., 2004 SH(NA)030006-G Section 12.3: HC-LFS series of graph is addition
Section 13.1.1 (b)b.: Partial table value of reexamination
Section 13.1.1 (4): Addition of POINT
Section 13.1.1 (4) (b): Note sentence addition
Section 13.1.1 (4) (c): Partial diagram change
Section 13.1.1 (4) (d): Partial text change
Section 13.1.1 (5) (c): Change of diagram
Section 13.1.2 (2): Partial change of Note2
Section 13.1.3 (2): Addition of Note2
Section 13.1.4 (1): Partial sentence delection
Section 13.1.9 (2): Partial reexamination
Section 13.1.9 (2) (a): Partial addition of Note
Section 13.1.10 (2): Addition of Note4
Section 13.1.10 (3) (d): Addition of Note
Section 13.1.11: Addition
Section 13.2.3: Partial diagram/dimensions reexamination
Section 13.2.7 (2) (d): Partial diagram change
Section 13.2.7 (2) (e): Partial diagram change
Section 13.2.9 (2): Partial Note deletion
Section 13.2.9 (3): Partial diagram change
Section 15.7.4: Partial diagram reexamination
Dec.,2005
SH(NA)030006-H Safety Instructions:Sentence addition
FOR MAXIMUM SAFETY: Addition of sentence
Section 1.5:Change of Note for power supply
Section 1.8: Change of Note2
Chapter 2:Addition of CAUTION
Section 3.1.1 (1): Partial change of connection diagram, Change of Note5
Section 3.1.1 (2):Partial change of connection diagram, Change of Note5 and
13
Section 3.1.2:Partial change of connection diagram, Change of Note5
Section 3.1.3:Partial change of connection diagram, Change of Note5
Section 3.3.1 (3):Change of Note4
Section 3.3.2 (2):SA explanation change
Section 3.6.2 (4) (b) 2): Diagram reexamination
Section 3.7.1:Diagram reexamination
Section 3.7.2:L1, L2, L3 partial reexamination in the table
Section 3.9:Addition of CAUTION
Section 3.9 (3) (d):Change of time from power OFF to base circuit OFF
Section 3.11.1:Addition
Section 3.13.3:Change of drawing of servo motor terminal box outside
Section 4.2.2 (3):Change of parameter No. 3 setting value in the table
Section 5.1.2 (2):Addition of Note for parameter No.17
Partial reexamination of sentence for parameter No.19
Section 5.2.2:Change of sentence
Section 5.2.2 (2):Addition of Note
Section 6.6 (2) (a):Change of Note3
Section 10.2.1:AL. 45, 46 addition of Note
Section 10.2.2:AL. 37 addition of Cause
Section 10.2.3:Addition of POINT, AL.92 addition of Cause
Section 12.1:Reexamination of Note
Section 13.1.1 (5):(b), (e) change of outline drawing
Section 13.1.2 (2):Diagram addition of P1 terminal, Reexamination of Note
Print data
*Manual number
Revision
Dec., 2005 SH(NA)030006-H Section 13.1.3 (2):Diagram addition of P1 terminal, Reexamination of Note
Section 13.1.4 (2):Diagram addition of P1 terminal, Reexamination of Note
Section 13.1.10 (2):Diagram addition of P1 terminal, Reexamination of Note
Section 13.1.10 (5): Partial table change
Section 13.2.7 (2) (d):FR-BSF01 change of dimensions
Section 14.12.3 (2):Reexamination of POINT
Section 15.1.1:Reexamination of diagram
Section 15.7.3 (2):Addition of POINT
Section 15.7.4:Partial reexamination of diagram
Section 15.8.3 (2) (c), (d):Addition of Note2
Dec., 2007
SH(NA)030006-J Safety Instructions 1.To prevent electric shock: Change of sentence
2.To prevent fire: Change of sentence
4.Additional instructions (2) Wiring: Change of diagram
Section 1.2: Partial change of function block diagram
Section 1.3: Correction to error in writing in specifications
Section 1.7.2: Change of WARNING sentence
Section 1.8 (1) (a) (b): Addition of Note
Section 1.8 (2) (3) (4) (5): Addition of Note
Chapter 2: Addition of CAUTION sentence and correction to error in writing
Chapter 3: Change of WARNING sentence
Addition of CAUTION sentence
Section 3.4.1 (1) (b) 1): Addition of Note
Section 3.4.1 (1) (b) 2): Addition of Note
Section 3.4.2 (1)(a): Partial change of sentence
Section 3.5 (2): Correction to error in writing
Section 3.6.2 (2) (a): Addition of sentence and Note
Section 3.6.2 (2) (b): Addition of Note
Section 3.6.2 (3) (a) 1): Addition of Note
Section 3.6.2 (3) (b) 1): Addition of Note
Section 3.7: Change of CAUTION sentence
Section 3.7.1 (2): Addition of Note
Section 3.7.2: Addition of sentence
Correction to error in writing of servo amplifier model
Section 3.7.3 (3): Addition of CAUTION sentence
Section 3.8.2: Addition of CAUTION sentence
Section 3.9 (3) (a): Change of timing chart
Section 3.9 (3) (b)(c) (d) (e): Addition of Note
Section 3.10: Addition of Note sentence
Section 3.13: Addition of CAUTION sentence
Section 3.13.1: Partial change of Note
Section 3.13.3: Addition of diagram
Change of power supply specification table of cooling fan
Partial change of Note
Section 5.1.2 (1): Partial change of name for parameters No.6, No.35, No.36,
and No.37
Section 5.1.2 (2): Partial change of parameter No.0 notation
Partial change of parameter No.20 sentence
Partial change of name for parameters No.6, No.35, No.36,
and No.37
Section 6.2.2: Partial change of item in Display range
Section 7.4 (2): Change of sentence for Step 5
Chapter 9: Change of WARNING sentence
Print data
*Manual number
SH(NA)030006-J Section 10.2.2: Addition of sentence for AL.20
Correction to error in writing of name for AL.30
Revision
Dec., 2007
Addition of sentence for AL.32
Addition of Cause for AL.33
Addition of reference for alarm occurrence time in Definition for
AL.51
Section 11.2 (1) (a): Change of figure
Section 11.2 (2): Deletion of figure and moving up (3)
Section 12.3: Reexamination of whole paragraph
Chapter 13: Change of WARNING sentence
Section 13.1.1 (2) (b): Partial change of energy formula
Section 13.1.1 (3): Partial addition of parameter setting
Section 13.1.1 (4): Change of POINT and sentence
Section 13.1.1 (5) (b): Change of outline drawing
Section 13.1.1 (5) (c): Change of outline drawing
Section 13.1.2: Change to FR-BU2
Section 13.1.3 (2): Addition of Note
Section 13.1.4: Addition of POINT
Section 13.1.4 (2): Addition of Note
Section 13.1.4 (3): Deletion of POINT
Section 13.1.5 (1): Change of list to RoHS compatible products
Section 13.1.6 (3): Change of outline drawing
Section 13.1.9 (2): Change of specification for personal computer and OS
Section 13.1.10 (2): Addition of Note
Section 13.2.1 (1): Partial change of Table 13.2 Recommended crimping
terminals
Section 13.2.7 (1) (b): Addition of sentence
Section 13.2.7 (2) (d): Change of sentence for connection diagram
Section 13.2.7 (3) (f): Addition of item of input power supply varistor
(recommended)
Section 13.2.9 (2): Addition of diagram
Addition of Note
Section 13.2.9 (3) (b): Addition of surge protector
Section 14.1.1: Change of connector in Note to RoHS compatible product
Section 14.12.3 (2): Change of POINT
Section 14.12.6: Change of title to “Input devices”
Section 15.2 (2): Change of configuration module
Section 15.3: Change of WARNING sentence
Section 15.7.2 (1) (a): Addition of sentence for 3) and 5)
Section 15.7.2 (1) (b): Change of sentence for 7)
Section 15.7.2 (2) (b): Addition of diagram and sentence
Partial change of sentence and diagram
Section 15.8.2 (2) (b): Correction to error in writing in Device list and addition
of T211
Section 15.8.2 (2) (c): Partial change and addition of ladder diagram
Section 15.8.3 (2) (a) (b): Addition of sentence and addition of M26 and T201 in
Device list
Section 15.8.3 (2) (c): Partial change and addition of ladder diagram
Section 15.8.3 (2) (f): Partial change and addition of ladder diagram and Note
Appendix: Addition of list of RoHS compatible products
SH(NA)030006-J
MR-J2S-A GIJUTU SIRYOU
MODEL
MODEL
CODE
1CW501
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
SH (NA) 030006-J (0712) MEE
Printed in Japan
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