Document Outline

• Safety Instructions
• About processing of waste
• COMPLIANCE WITH EC DIRECTIVES
• CONFORMANCE WITH UL/C-UL STANDARD
• About the manuals
• CONTENTS
• 1. FUNCTIONS AND CONFIGURATION
  • 1.1 Introduction
    • 1.1.1 Function block diagram
    • 1.1.2 System configuration
    • 1.1.3 I/O devices
  • 1.2 Servo amplifier standard specifications
  • 1.3 Function list
  • 1.4 Model code definition
  • 1.5 Combination with servo motor
  • 1.6 Structure
    • 1.6.1 Part names
    • 1.6.2 Removal and reinstallation of the front cover
  • 1.7 Servo system with auxiliary equipment
• 2. INSTALLATION
  • 2.1 Environmental conditions
  • 2.2 Installation direction and clearances
  • 2.3 Keep out foreign materials
  • 2.4 Cable stress
• 3. SIGNALS AND WIRING
  • 3.1 Standard connection example
  • 3.2 Internal connection diagram of servo amplifier
  • 3.3 I/O signals
    • 3.3.1 Connectors and signal arrangements
    • 3.3.2 Signal (devices) explanations
  • 3.4 Detailed description of signals (devices)
    • 3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart
    • 3.4.2 Movement finish Rough match In position
    • 3.4.3 Override
    • 3.4.4 Torque limit
  • 3.5 Alarm occurrence timing chart
  • 3.6 Interfaces
    • 3.6.1 Common line
    • 3.6.2 Detailed description of the interfaces
  • 3.7 Input power supply circuit
    • 3.7.1 Connection example
    • 3.7.2 Terminals
    • 3.7.3 Power-on sequence
  • 3.8 Connection of servo amplifier and servo motor
    • 3.8.1 Connection instructions
    • 3.8.2 Connection diagram
    • 3.8.3 I/O terminals
  • 3.9 Servo motor with electromagnetic brake
  • 3.10 Grounding
  • 3.11 Servo amplifier terminal block (TE2) wiring method
    • 3.11.1 For the servo amplifier produced later than Jan. 2006
    • 3.11.2 For the servo amplifier produced earlier than Dec. 2005
  • 3.12 Instructions for the 3M connector
• 4. OPERATION
  • 4.1 When switching power on for the first time
    • 4.1.1 Pre-operation checks
    • 4.1.2 Startup
  • 4.2 Automatic operation mode
    • 4.2.1 What is automatic operation mode?
    • 4.2.2 Absolute value command system
    • 4.2.3 Incremental value command system
    • 4.2.4 Absolute value command/incremental value command specifying system
    • 4.2.5 Automatic operation timing chart
    • 4.2.6 Automatic continuous operation
  • 4.3 Manual operation mode
    • 4.3.1 Jog operation
    • 4.3.2 Manual pulse generator operation
  • 4.4 Manual home position return mode
    • 4.4.1 Outline of home position return
    • 4.4.2 Dog type home position return
    • 4.4.3 Count type home position return
    • 4.4.4 Data setting type home position return
    • 4.4.5 Stopper type home position return
    • 4.4.6 Home position ignorance (servo-on position defined as home position)
    • 4.4.7 Dog type rear end reference home position return
    • 4.4.8 Count type front end reference home position return
    • 4.4.9 Dog cradle type home position return
    • 4.4.10 Home position return automatic return function
    • 4.4.11 Automatic positioning function to the home position
  • 4.5 Absolute position detection system
  • 4.6 Serial communication operation
    • 4.6.1 Positioning operation in accordance with point tables
    • 4.6.2 Positioning operation
    • 4.6.3 Multidrop system
    • 4.6.4 Group designation
• 5. PARAMETERS
  • 5.1 Parameter list
    • 5.1.1 Parameter write inhibit
    • 5.1.2 List
  • 5.2 Detailed explanation
    • 5.2.1 Electronic gear
    • 5.2.2 Changing the status display screen
    • 5.2.3 S-pattern acceleration/deceleration
    • 5.2.4 Analog output
    • 5.2.5 Changing the stop pattern using a limit switch
    • 5.2.6 Alarm history clear
    • 5.2.7 Rough match output
    • 5.2.8 Software limit
• 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)
  • 6.1 Specifications
  • 6.2 System configuration
  • 6.3 Station setting
  • 6.4 Parameters
  • 6.5 Point table
  • 6.6 Device assignment method
  • 6.7 Test operation
    • 6.7.1 Jog operation
    • 6.7.2 Positioning operation
    • 6.7.3 Motor-less operation
    • 6.7.4 Output signal (DO) forced output
    • 6.7.5 Single-step feed
  • 6.8 Alarm history
• 7. DISPLAY AND OPERATION
  • 7.1 Display flowchart
  • 7.2 Status display
    • 7.2.1 Display transition
    • 7.2.2 Display examples
    • 7.2.3 Status display list
  • 7.3 Diagnosis mode
    • 7.3.1 Display transition
    • 7.3.2 Diagnosis mode list
  • 7.4 Alarm mode
    • 7.4.1 Display transition
    • 7.4.2 Alarm mode list
  • 7.5 Point table mode
    • 7.5.1 Point table transition
    • 7.5.2 Point table mode setting screen sequence
    • 7.5.3 Operation method
  • 7.6 Parameter mode
    • 7.6.1 Parameter mode transition
    • 7.6.2 Operation example
  • 7.7 External I/O signal display
  • 7.8 Output signal (DO) forced output
  • 7.9 Test operation mode
    • 7.9.1 Mode change
    • 7.9.2 Jog operation
    • 7.9.3 Positioning operation
    • 7.9.4 Motor-less operation
  • 7.10 Teaching function
    • 7.10.1 Preparations for teaching
    • 7.10.2 Position data setting method
• 8. GENERAL GAIN ADJUSTMENT
  • 8.1 Different adjustment methods
    • 8.1.1 Adjustment on a single servo amplifier
    • 8.1.2 Adjustment using MR Configurator (servo configuration software)
  • 8.2 Auto tuning
    • 8.2.1 Auto tuning mode
    • 8.2.2 Auto tuning mode operation
    • 8.2.3 Adjustment procedure by auto tuning
    • 8.2.4 Response level setting in auto tuning mode
  • 8.3 Manual mode 1 (simple manual adjustment)
    • 8.3.1 Operation of manual mode 1
    • 8.3.2 Adjustment by manual mode 1
  • 8.4 Interpolation mode
  • 8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
    • 8.5.1 Response level setting
    • 8.5.2 Auto tuning selection
• 9. SPECIAL ADJUSTMENT FUNCTIONS
  • 9.1 Function block diagram
  • 9.2 Machine resonance suppression filter
  • 9.3 Adaptive vibration suppression control
  • 9.4 Low-pass filter
  • 9.5 Gain changing function
    • 9.5.1 Applications
    • 9.5.2 Function block diagram
    • 9.5.3 Parameters
    • 9.5.4 Gain changing operation
• 10. INSPECTION
• 11. TROUBLESHOOTING
  • 11.1 Trouble at start-up
  • 11.2 When alarm or warning has occurred
    • 11.2.1 Alarms and warning list
    • 11.2.2 Remedies for alarms
    • 11.2.3 Remedies for warnings
  • 11.3 MR-DP60 external digital display error
• 12. OUTLINE DIMENSION DRAWINGS
  • 12.1 Servo amplifiers
  • 12.2 Connectors
• 13. CHARACTERISTICS
  • 13.1 Overload protection characteristics
  • 13.2 Power supply equipment capacity and generated loss
  • 13.3 Dynamic brake characteristics
    • 13.3.1 Dynamic brake operation
    • 13.3.2 The dynamic brake at the load inertia moment
  • 13.4 Encoder cable flexing life
  • 13.5 Inrush currents at power-on of main circuit and control circuit
• 14. OPTIONS AND AUXILIARY EQUIPMENT
  • 14.1 Options
    • 14.1.1 Regenerative options
    • 14.1.2 FR-BU2 brake unit
    • 14.1.3 Power regeneration converter
    • 14.1.4 Cables and connectors
    • 14.1.5 Junction terminal block (MR-TB20)
    • 14.1.6 Maintenance junction card (MR-J2CN3TM)
    • 14.1.7 External digital display (MR-DP60)
    • 14.1.8 Manual pulse generator (MR-HDP01)
    • 14.1.9 Battery (MR-BAT, A6BAT)
  • 14.2 Auxiliary equipment
    • 14.2.1 Recommended wires
    • 14.2.2 Circuit breakers, fuses, magnetic contactors
    • 14.2.3 Power factor improving reactors
    • 14.2.4 Relays
    • 14.2.5 Surge absorbers
    • 14.2.6 Noise reduction techniques
    • 14.2.7 Leakage current breaker
    • 14.2.8 EMC filter
    • 14.2.9 Setting potentiometers for analog inputs
• 15. COMMUNICATION FUNCTIONS
  • 15.1 Configuration
    • 15.1.1 RS-422 configuration
    • 15.1.2 RS-232C configuration
  • 15.2 Communication specifications
    • 15.2.1 Communication overview
    • 15.2.2 Parameter setting
  • 15.3 Protocol
  • 15.4 Character codes
  • 15.5 Error codes
  • 15.6 Checksum
  • 15.7 Time-out operation
  • 15.8 Retry operation
  • 15.9 Initialization
  • 15.10 Communication procedure example
  • 15.11 Command and data No. list
    • 15.11.1 Read commands
    • 15.11.2 Write commands
  • 15.12 Detailed explanations of commands
    • 15.12.1 Data processing
    • 15.12.2 Status display
    • 15.12.3 Parameter
    • 15.12.4 External I/O signal statuses
    • 15.12.5 Input devices ON/OFF
    • 15.12.6 Disable/enable of I/O devices (DIO)
    • 15.12.7 Input devices ON/OFF (test operation)
    • 15.12.8 Test operation mode
    • 15.12.9 Output signal pin ON/OFF output signal (DO) forced output
    • 15.12.10 Alarm history
    • 15.12.11 Current alarm
    • 15.12.12 Point table
    • 15.12.13 Servo amplifier group designation
    • 15.12.14 Software version
• APPENDIX
  • App 1. Status indication block diagram
  • App 2. Junction terminal block (MR-TB20) terminal block labels
  • App 3. Combination of servo amplifier and servo motor
  • App 4. Change of connector sets to the RoHS compatible products
• REVISIONS