Document Outline

• Safety Instructions
• COMPLIANCE WITH EC DIRECTIVES
• CONFORMANCE WITH UL/C-UL STANDARD
• <<About the manuals>>
• CONTENTS
• Optional Servo Motor Instruction Manual CONTENTS
• 1. FUNCTIONS AND CONFIGURATION
  • 1.1 Introduction
  • 1.2 Function block diagram
  • 1.3 Servo amplifier standard specifications
  • 1.4 Function list
  • 1.5 Model code definition
  • 1.6 Combination with servo motor
  • 1.7 Structure
    • 1.7.1 Parts identification
    • 1.7.2 Removal and reinstallation of the front cover
  • 1.8 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
    • 3.1.1 Position control mode
    • 3.1.2 Speed control mode
    • 3.1.3 Torque control mode
  • 3.2 Internal connection diagram of servo amplifier
  • 3.3 I/O signals
    • 3.3.1 Connectors and signal arrangements
    • 3.3.2 Signal explanations
  • 3.4 Detailed description of the signals
    • 3.4.1 Position control mode
    • 3.4.2 Speed control mode
    • 3.4.3 Torque control mode
    • 3.4.4 Position/speed control change mode
    • 3.4.5 Speed/torque control change mode
    • 3.4.6 Torque/position control change mode
  • 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
  • 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA
    • 3.13.1 Connection example
    • 3.13.2 Servo amplifier terminals
    • 3.13.3 Servo motor terminals
• 4. OPERATION
  • 4.1 When switching power on for the first time
  • 4.2 Startup
    • 4.2.1 Selection of control mode
    • 4.2.2 Position control mode
    • 4.2.3 Speed control mode
    • 4.2.4 Torque control mode
  • 4.3 Multidrop communication
• 5. PARAMETERS
  • 5.1 Parameter list
    • 5.1.1 Parameter write inhibit
    • 5.1.2 Lists
  • 5.2 Detailed description
    • 5.2.1 Electronic gear
    • 5.2.2 Analog monitor
    • 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern
    • 5.2.4 Alarm history clear
    • 5.2.5 Position smoothing
• 6. DISPLAY AND OPERATION
  • 6.1 Display flowchart
  • 6.2 Status display
    • 6.2.1 Display examples
    • 6.2.2 Status display list
    • 6.2.3 Changing the status display screen
  • 6.3 Diagnostic mode
  • 6.4 Alarm mode
  • 6.5 Parameter mode
  • 6.6 External I/O signal display
  • 6.7 Output signal (DO) forced output
  • 6.8 Test operation mode
    • 6.8.1 Mode change
    • 6.8.2 Jog operation
    • 6.8.3 Positioning operation
    • 6.8.4 Motor-less operation
• 7. GENERAL GAIN ADJUSTMENT
  • 7.1 Different adjustment methods
    • 7.1.1 Adjustment on a single servo amplifier
    • 7.1.2 Adjustment using MR Configurator (servo configuration software)
  • 7.2 Auto tuning
    • 7.2.1 Auto tuning mode
    • 7.2.2 Auto tuning mode operation
    • 7.2.3 Adjustment procedure by auto tuning
    • 7.2.4 Response level setting in auto tuning mode
  • 7.3 Manual mode 1 (simple manual adjustment)
    • 7.3.1 Operation of manual mode 1
    • 7.3.2 Adjustment by manual mode 1
  • 7.4 Interpolation mode
  • 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
    • 7.5.1 Response level setting
    • 7.5.2 Auto tuning selection
• 8. SPECIAL ADJUSTMENT FUNCTIONS
  • 8.1 Function block diagram
  • 8.2 Machine resonance suppression filter
  • 8.3 Adaptive vibration suppression control
  • 8.4 Low-pass filter
  • 8.5 Gain changing function
    • 8.5.1 Applications
    • 8.5.2 Function block diagram
    • 8.5.3 Parameters
    • 8.5.4 Gain changing operation
• 9. INSPECTION
• 10. TROUBLESHOOTING
  • 10.1 Trouble at start-up
    • 10.1.1 Position control mode
    • 10.1.2 Speed control mode
    • 10.1.3 Torque control mode
  • 10.2 When alarm or warning has occurred
    • 10.2.1 Alarms and warning list
    • 10.2.2 Remedies for alarms
    • 10.2.3 Remedies for warnings
• 11. OUTLINE DIMENSION DRAWINGS
  • 11.1 Servo amplifiers
  • 11.2 Connectors
• 12. CHARACTERISTICS
  • 12.1 Overload protection characteristics
  • 12.2 Power supply equipment capacity and generated loss
  • 12.3 Dynamic brake characteristics
  • 12.4 Encoder cable flexing life
  • 12.5 Inrush currents at power-on of main circuit and control circuit
• 13. OPTIONS AND AUXILIARY EQUIPMENT
  • 13.1 Options
    • 13.1.1 Regenerative brake options
    • 13.1.2 Brake unit
    • 13.1.3 Power regeneration converter
    • 13.1.4 External dynamic brake
    • 13.1.5 Cables and connectors
    • 13.1.6 Junction terminal block (MR-TB20)
    • 13.1.7 Maintenance junction card (MR-J2CN3TM)
    • 13.1.8 Battery (MR-BAT, A6BAT)
    • 13.1.9 MR Configurator (Servo configurations software)
    • 13.1.10 Power regeneration common converter
    • 13.1.11 Heat sink outside mounting attachment (MR-JACN)
  • 13.2 Auxiliary equipment
    • 13.2.1 Recommended wires
    • 13.2.2 No-fuse breakers, fuses, magnetic contactors
    • 13.2.3 Power factor improving reactors
    • 13.2.4 Power factor improving DC reactors
    • 13.2.5 Relays
    • 13.2.6 Surge absorbers
    • 13.2.7 Noise reduction techniques
    • 13.2.8 Leakage current breaker
    • 13.2.9 EMC filter
    • 13.2.10 Setting potentiometers for analog inputs
• 14. COMMUNICATION FUNCTIONS
  • 14.1 Configuration
    • 14.1.1 RS-422 configuration
    • 14.1.2 RS-232C configuration
  • 14.2 Communication specifications
    • 14.2.1 Communication overview
    • 14.2.2 Parameter setting
  • 14.3 Protocol
  • 14.4 Character codes
  • 14.5 Error codes
  • 14.6 Checksum
  • 14.7 Time-out operation
  • 14.8 Retry operation
  • 14.9 Initialization
  • 14.10 Communication procedure example
  • 14.11 Command and data No. list
    • 14.11.1 Read commands
    • 14.11.2 Write commands
  • 14.12 Detailed explanations of commands
    • 14.12.1 Data processing
    • 14.12.2 Status display
    • 14.12.3 Parameter
    • 14.12.4 External I/O pin statuses (DIO diagnosis)
    • 14.12.5 Disable/enable of external I/O signals (DIO)
    • 14.12.6 External input signal ON/OFF (test operation)
    • 14.12.7 Test operation mode
    • 14.12.8 Output signal pin ON/OFF output signal (DO) forced output
    • 14.12.9 Alarm history
    • 14.12.10 Current alarm
    • 14.12.11 Other commands
• 15. ABSOLUTE POSITION DETECTION SYSTEM
  • 15.1 Outline
    • 15.1.1 Features
    • 15.1.2 Restrictions
  • 15.2 Specifications
  • 15.3 Battery installation procedure
  • 15.4 Standard connection diagram
  • 15.5 Signal explanation
  • 15.6 Startup procedure
  • 15.7 Absolute position data transfer protocol
    • 15.7.1 Data transfer procedure
    • 15.7.2 Transfer method
    • 15.7.3 Home position setting
    • 15.7.4 Use of servo motor with electromagnetic brake
    • 15.7.5 How to process the absolute position data at detection of stroke end
  • 15.8 Examples of use
    • 15.8.1 MELSEC-A1S (A1SD71)
    • 15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)
    • 15.8.3 MELSEC A1SD75(AD75)
  • 15.9 Confirmation of absolute position detection data
  • 15.10 Absolute position data transfer errors
    • 15.10.1 Corrective actions
    • 15.10.2 Error resetting conditions
• Appendix
  • App 1. Signal arrangement recording sheets
  • App 2. Status display block diagram
  • App 3. Combination of servo amplifier and servo motor
• REVISIONS