Bose Stereo Amplifier MR J2S B User Guide page

General-Purpose AC Servo  
J2-SuperSeries  
SSCNET Compatible  
MR-J2S- B  
Servo Amplifier  
Instruction Manual  
B
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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 Instruction Manual, always keep it accessible to the operator.  
A - 1  
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1. To prevent electric shock, note the following:  
WARNING  
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage  
is safe with voltage tester. Otherwise, you may get an electric shock.  
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.  
2. To prevent fire, note the following:  
CAUTION  
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.  
Otherwise a fire may cause.  
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous  
flow of a large current may cause a fire.  
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a  
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.  
3. To prevent injury, note the follow  
CAUTION  
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst,  
damage, etc. may occur.  
Connect the terminals correctly to prevent a burst, damage, etc.  
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.  
During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo  
amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you  
may get burnt or a parts may dameged.  
A - 2  
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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 weights.  
Stacking in excess of the specified number of products is not allowed.  
Do not carry the motor by the cables, shaft or encoder.  
Do not hold the front cover to transport the controller. The controller 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.  
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.  
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.  
Use the servo amplifier and servo motor under 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)  
[
[
[
[
]
]
]
]
Operation  
Storage  
Ambient  
temperature  
Operation  
Storage  
90%RH or less (non-condensing)  
80%RH or less (non-condensing)  
Ambient  
humidity  
Ambience  
Altitude  
90%RH or less (non-condensing)  
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt  
Max. 1000m (3280 ft) above sea level  
HC-KFS Series  
HC-MFS Series  
HC-UFS13 to 73  
HC-SFS81  
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  
HC-SFS502 to 702  
HC-KFS Series  
HC-MFS Series  
HC-UFS 13 to 73  
HC-SFS81  
X
Y : 24.5  
[m/s2]  
5.9 or less  
X : 24.5  
Y : 49  
X : 24.5  
Y : 29.4  
Vibration  
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  
X
Y : 80  
[ft/s2]  
19.4 or less  
X : 80  
Y : 161  
HC-SFS301  
HC-SFS502 to 702  
X : 80  
Y : 96  
A - 3  
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CAUTION  
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.  
For safety of personnel, always cover rotating and moving parts.  
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 misoperate.  
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo  
motor and servo amplifier.  
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.  
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 must be wired in the specified direction.  
Otherwise, the forced stop and other protective circuits may not operate.  
Servo  
Servo  
Amplifier  
Amplifier  
COM  
COM  
(24VDC)  
(24VDC)  
Control  
output  
signal  
Control  
output  
signal  
RA  
RA  
(3) Test run adjustment  
CAUTION  
Before operation, check the parameter settings. Improper settings may cause some machines to perform  
unexpected operation.  
The parameter settings must not be changed excessively. Operation will be insatiable.  
A - 4  
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(4) Usage  
CAUTION  
Provide a forced 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 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.  
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used  
for ordinary braking.  
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor  
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,  
install a stopper on the machine side.  
(5) Corrective actions  
CAUTION  
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a  
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the  
purpose of prevention.  
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals  
but also by a forced stop signal.  
Contacts must be open when  
servo-on signal is off, when an  
alarm (trouble) is present and when  
an electromagnetic brake signal.  
Circuit must be  
opened during  
forced stop signal.  
Servo motor  
RA EM1  
24VDC  
Electromagnetic brake  
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before  
restarting operation.  
When power is restored after an instantaneous power failure, keep away from the machine because the  
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).  
A - 5  
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(6) Maintenance, inspection and parts replacement  
CAUTION  
With age, the electrolytic capacitor 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) Disposal  
CAUTION  
Dispose of the product as general industrial waste.  
(8) General instruction  
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn  
without covers and safety guards. When the equipment is operated, the covers and safety guards must  
be installed as specified. Operation must be performed in accordance with this Instruction Manual.  
A - 6  
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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  
J anuary, 1995), EMC directive (effective in J anuary, 1996) and low voltage directive (effective in J anuary,  
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).  
This servo is certified by TUV, third-party assessment organization, to comply with the EMC directive  
in the conforming methods of the EMC Installation Guidelines.  
(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  
Servo motor  
:MR-J 2S-10B to MR-J 2S-700B  
MR-J 2S-10B1 to MR-J 2S-40B1  
:HC-KFS  
HC-MFS  
HC-SFS  
HC-RFS  
HC-UFS  
(2) Configuration  
Control box  
Reinforced  
insulating type  
24VDC  
power  
supply  
Reinforced  
insulating  
transformer  
No-fuse  
breaker  
Magnetic  
contactor  
Servo  
motor  
Servo  
amplifier  
SM  
MC  
NFB  
(3) Environment  
Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this  
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,  
dirt, etc. (IP54).  
A - 7  
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(4) Power supply  
(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in  
IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN  
standard should be used in the power input section.  
(b) When supplying interface power from external, use a 24VDC power supply which has been  
insulation-reinforced in I/O.  
(5) Grounding  
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the  
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) When the servo motor has a power supply lead, use a fixed terminal block to connect it with the  
servo amplifier. Do not connect cables directly.  
Terminal block  
A - 8  
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(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 12.2.2.  
(b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the  
other requirements, follow Table 5 and Appendix C in EN60204-1.  
Ambient temperature: 40 (104) [  
Sheath: PVC (polyvinyl chloride)  
(
)]  
Installed on wall surface or open table tray  
(c) Use the EMC filter for noise reduction. The radio noise filter (FR-BIF) is not required.  
(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).  
A - 9  
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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  
Servo motor  
:MR-J 2S-10B to MR-J 2S-700B  
MR-J 2S-10B1 to MR-J 2S-40B1  
:HC-KFS  
HC-MFS  
HC-SFS  
HC-RFS  
HC-UFS  
(2) Installation  
Install a fan of 100CFM air flow 10.16 cm (4 in) 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  
10 minutes after power-off.  
Discharge time  
Servo amplifier  
[min]  
MR-J 2S-10B(1) 20B(1)  
MR-J 2S-40B(1) 60B  
MR-J 2S-70B to 350B  
MR-J 2S-500B 700B  
1
2
3
5
(5) Options and auxiliary equipment  
Use UL/C-UL standard-compliant products.  
<<About the manuals>>  
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use  
the General-Purpose AC servo MR-J 2S-B for the first time. Always purchase them and use the MR-  
J 2S-B safely.  
Also read the manual of the servo system controller.  
Relevant manuals  
Manual name  
Manual No.  
MELSERVO-J 2-Super Series To Use the AC Servo Safely  
(Packed with the servo amplifier)  
IB(NA)0300010  
MELSERVO Servo Motor Instruction Manual  
EMC Installation Guidelines  
SH(NA)3181  
IB(NA)67310  
A - 10  
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CONTENTS  
1. FUNCTIONS AND CONFIGURATION  
1- 1 to 1-18  
1.1 Introduction.............................................................................................................................................. 1- 1  
1.2 Function block diagram .......................................................................................................................... 1- 2  
1.3 Servo amplifier standard specifications ................................................................................................ 1- 3  
1.4 Function list ............................................................................................................................................. 1- 4  
1.5 Model code definition .............................................................................................................................. 1- 5  
1.6 Combination with servo motor ............................................................................................................... 1- 6  
1.7 Structure................................................................................................................................................... 1- 7  
1.7.1 Parts identification ........................................................................................................................... 1- 7  
1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-11  
1.8 Servo system with auxiliary equipment............................................................................................... 1-13  
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 3-26  
3.1 Connection example of control signal system ....................................................................................... 3- 2  
3.2 I/O signals................................................................................................................................................. 3- 4  
3.2.1 Connectors and signal arrangements ............................................................................................. 3- 4  
3.2.2 Signal explanations .......................................................................................................................... 3- 5  
3.3 Alarm occurrence timing chart .............................................................................................................. 3- 6  
3.4 Interfaces.................................................................................................................................................. 3- 7  
3.4.1 Common line ..................................................................................................................................... 3- 7  
3.4.2 Detailed description of the interfaces ............................................................................................. 3- 8  
3.5 Power line circuit .................................................................................................................................... 3-11  
3.5.1 Connection example......................................................................................................................... 3-11  
3.5.2 Terminals.......................................................................................................................................... 3-13  
3.5.3 Power-on sequence........................................................................................................................... 3-14  
3.6 Connection of servo amplifier and servo motor ................................................................................... 3-15  
3.6.1 Connection instructions .................................................................................................................. 3-15  
3.6.2 Connection diagram......................................................................................................................... 3-15  
3.6.3 I/O terminals .................................................................................................................................... 3-17  
3.7 Servo motor with electromagnetic brake ............................................................................................. 3-19  
3.8 Grounding................................................................................................................................................ 3-22  
3.9 Servo amplifier terminal block (TE2) wiring method ......................................................................... 3-23  
3.10 Instructions for the 3M connector....................................................................................................... 3-24  
3.11 Control axis selection ........................................................................................................................... 3-25  
4. OPERATION AND DISPLAY  
4- 1 to 4- 8  
4.1 When switching power on for the first time.......................................................................................... 4- 1  
1
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4.2 Start up..................................................................................................................................................... 4- 2  
4.3 Servo amplifier display ........................................................................................................................... 4- 4  
4.4 Test operation mode ................................................................................................................................ 4- 6  
5. PARAMETERS  
5- 1 to 5-18  
5.1 Parameter write inhibit .......................................................................................................................... 5- 1  
5.2 Lists........................................................................................................................................................... 5- 1  
5.3 Analog output.......................................................................................................................................... 5-11  
5.4 Replacement of MR-J 2- B by MR-J 2S- B ....................................................................................... 5-14  
5.4.1 Main modifications made to the parameters ................................................................................ 5-14  
5.4.2 Explanation of the modified parameters....................................................................................... 5-15  
6. GENERAL GAIN ADJUSTMENT  
6- 1 to 6-12  
6.1 Different adjustment methods ............................................................................................................... 6- 1  
6.1.1 Adjustment on a single servo amplifier .......................................................................................... 6- 1  
6.1.2 Adjustment using servo configuration software............................................................................ 6- 3  
6.2 Auto tuning .............................................................................................................................................. 6- 4  
6.2.1 Auto tuning mode ............................................................................................................................. 6- 4  
6.2.2 Auto tuning mode operation ............................................................................................................ 6- 5  
6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 6  
6.2.4 Response level setting in auto tuning mode................................................................................... 6- 7  
6.3 Manual mode 1 (simple manual adjustment)....................................................................................... 6- 8  
6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 8  
6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 8  
6.4 Interpolation mode ................................................................................................................................. 6-11  
6.5 Differences in auto tuning between MELSERVO-J 2 and MELSERVO-J 2-Super .......................... 6-12  
6.5.1 Response level setting ..................................................................................................................... 6-12  
6.5.2 Auto tuning selection....................................................................................................................... 6-12  
7. SPECIAL ADJUSTMENT FUNCTIONS  
7- 1 to 7- 4  
7.1 Function block diagram .......................................................................................................................... 7- 1  
7.2 Machine resonance suppression filter ................................................................................................... 7- 1  
7.3 Adaptive vibration suppression control................................................................................................. 7- 3  
7.4 Low-pass filter ......................................................................................................................................... 7- 4  
8. INSPECTION  
8- 1 to 8- 2  
9- 1 to 9- 8  
9. TROUBLESHOOTING  
9.1 Alarms and warning list ......................................................................................................................... 9- 1  
9.2 Remedies for alarms................................................................................................................................ 9- 2  
9.3 Remedies for warnings............................................................................................................................ 9- 7  
10. OUTLINE DIMENSION DRAWINGS  
10- 1 to 10- 8  
10.1 Servo amplifiers................................................................................................................................... 10- 1  
10.2 Connectors............................................................................................................................................ 10- 6  
2
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11. CHARACTERISTICS  
11- 1 to 11- 8  
11.1 Overload protection characteristics ................................................................................................... 11- 1  
11.2 Power supply equipment capacity and generated loss .................................................................... 11- 3  
11.3 Dynamic brake characteristics........................................................................................................... 11- 5  
11.4 Encoder cable flexing life .................................................................................................................... 11- 7  
12. OPTIONS AND AUXILIARY EQUIPMENT  
12- 1 to 12-36  
12.1 Options.................................................................................................................................................. 12- 1  
12.1.1 Regenerative brake options ......................................................................................................... 12- 1  
12.1.2 Brake unit...................................................................................................................................... 12- 7  
12.1.3 Power return converter ................................................................................................................ 12- 9  
12.1.4 Cables and connectors ................................................................................................................. 12-12  
12.1.5 Maintenance junction card (MR-J 2CN3TM) ............................................................................ 12-21  
12.1.6 Battery (MR-BAT, A6BAT)......................................................................................................... 12-22  
12.1.7 Servo configurations software .................................................................................................... 12-23  
12.2 Auxiliary equipment .......................................................................................................................... 12-24  
12.2.1 Recommended wires .................................................................................................................... 12-24  
12.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 12-26  
12.2.3 Power factor improving reactors ................................................................................................ 12-26  
12.2.4 Relays............................................................................................................................................ 12-27  
12.2.5 Surge absorbers ........................................................................................................................... 12-27  
12.2.6 Noise reduction techniques......................................................................................................... 12-27  
12.2.7 Leakage current breaker............................................................................................................. 12-33  
12.2.8 EMC filter ..................................................................................................................................... 12-35  
13. ABSOLUTE POSITION DETECTION SYSTEM  
13- 1 to 13- 4  
13.1 Features................................................................................................................................................ 13- 1  
13.2 Specifications ....................................................................................................................................... 13- 2  
13.3 Battery installation procedure ........................................................................................................... 13- 3  
13.4 Confirmation of absolute position detection data............................................................................. 13- 4  
3
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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  
4
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1. FUNCTIONS AND CONFIGURATION  
1. FUNCTIONS AND CONFIGURATION  
1.1 Introduction  
The Mitsubishi MELSERVO-J 2-Super series general-purpose AC servo is based on the MELSERVO-J 2  
series and has further higher performance and higher functions.  
It is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo  
amplifier reads position data directly to perform operation.  
Data from a command unit controls the speed and rotation direction of the servo motor and executes  
precision positioning.  
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. The torque limit value  
can be changed to any value with an external analog input or the parameter.  
As this new series has the RS-232C serial communication function, a 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-J 2-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-J 2  
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 - 1  
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1. FUNCTIONS AND CONFIGURATION  
1.2 Function block diagram  
The function block diagram of this servo is shown below.  
Regenerative brake option  
(Note 3)  
Servo amplifier  
Servo motor  
U
P
D
C
(Note 2)  
Power  
(Note 1)  
DS  
RA  
NFB MC  
U
V
L1  
L2  
L3  
supply  
3-phase  
200 to  
230VAC,  
1-phase  
Regenerative  
brake  
transistor  
V
Current  
detector  
SM  
W
W
CHARGE  
lamp  
230VAC or  
1-phase  
100to120VAC  
Dynamic  
brake  
Fan  
(MR-J2S-200B or more)  
E1  
Electro-  
magnetic  
brake  
L11  
L21  
Control  
power  
supply  
E2  
Regenerative  
brake  
Base amplifier  
Voltage  
detection  
Overcurrent Current  
protection detection  
Encoder  
Virtual  
encoder  
Position command  
input  
Model position  
Model speed  
control  
control  
Virtual  
motor  
Model  
position  
Model  
speed  
Model torque  
Actual position  
control  
Actual speed  
control  
Current  
control  
MR-BAT  
I/F Control  
Optional battery  
(for absolute position)  
RS-232C  
CN3  
D/A  
CN1A  
CN1B  
Analog monitor  
(2 channels)  
Controller  
or  
Servo amplifier  
or  
Servo amplifier  
termination  
connector  
Personal computer  
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10B(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 100to120VAC power supply.  
3. For MR-J2S-350B or less.  
1 - 2  
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1. FUNCTIONS AND CONFIGURATION  
1.3 Servo amplifier standard specifications  
Servo Amplifier  
MR-J2S-  
10B  
20B  
40B  
60B  
70B 100B 200B 350B 500B 700B 10B1 20B1 40B1  
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  
Voltage/frequency  
3-phase 200 to 230VAC, 50/60Hz  
3-phase 170 to 253VAC  
120VAC 50/60Hz  
Permissible voltage  
fluctuation  
1-phase  
85 to 127VAC  
1-phase 230VAC: 207 to 253VAC  
Permissible frequency  
fluctuation  
Within 5%  
Power supply capacity  
Refer to Section 11.2  
System  
Sine-wave PWM control, current control system  
Built-in  
Dynamic brake  
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal  
relay), servo motor overheat protection, encoder fault protection, regenerative fault protection,  
Protective functions  
Structure  
undervoltage, instantaneous power failure protection, overspeed protection, excessive error  
protection  
Self-cooled,  
Self-cooled, open (IP00)  
Force-cooling, open (IP00)  
open(IP00)  
[
[
[
[
] 0 to 55 (non-freezing)  
] 32 to 131 (non-freezing)  
Operation  
Ambient  
temperature  
]
]
20 to 65 (non-freezing)  
4 to 149 (non-freezing)  
Storage  
Operation  
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  
[lb] 1.5  
0.7  
1.5  
1.1  
2.4  
1.1  
2.4  
1.7  
1.7  
2.0  
4.4  
2.0  
4.4  
4.9  
7.2  
0.7  
1.5  
0.7  
1.5  
1.1  
2.4  
Weight  
3.75 3.75  
10.8 15.9  
1 - 3  
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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 corresponding  
chapters and sections.  
Function  
Description  
Refer to  
High-resolution encoder  
Absolute position detection  
system  
High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.  
Merely setting a home position once makes home position return unnecessary  
at every power-on.  
Chapter 13  
Section 7.3  
Section 7.4  
Adaptive vibration  
suppression control  
Servo amplifier detects mechanical resonance and sets filter characteristics  
automatically to suppress mechanical vibration.  
Suppresses high-frequency resonance which occurs as servo system response is  
increased.  
Low-pass filter  
Analyzes the frequency characteristic of the mechanical system by simply  
connecting a servo configuration software-installed personal computer and  
servo amplifier.  
Machine analyzer function  
Can simulate machine motions on a personal computer screen on the basis of  
the machine analyzer results.  
Machine simulation  
Gain search function  
Personal computer changes gains automatically and searches for overshoot-  
free gains in a short time.  
Slight vibration suppression  
control  
Suppresses vibration of 1 pulse produced at a servo motor stop.  
Parameter No.24  
Automatically adjusts the gain to optimum value if load applied to the servo  
Auto tuning  
motor shaft varies. Higher in performance than MELSERVO-J 2 series servo Chapter 6  
amplifier.  
Used when the built-in regenerative brake resistor of the servo amplifier does  
not have sufficient regenerative capability for the regenerative power Section 12.1.1  
generated.  
Regenerative brake option  
Brake unit  
Used when the regenerative brake option cannot provide enough regenerative  
power.  
Section 12.1.2  
Section 12.1.3  
Can be used with the MR-J 2S-500B MR-J 2S-700B.  
Used when the regenerative brake option cannot provide enough regenerative  
power.  
Return converter  
Torque limit  
Can be used with the MR-J 2S-500B MR-J 2S-700B.  
Parameters  
No.10, 11  
Servo motor-generated torque can be limited to any value.  
Forced stop signal automatic Forced stop signal (EM1) can be automatically switched on internally to  
Parameter No.23  
ON  
invalidate it.  
Output signal (DO) forced  
output  
Output signal can be forced on/off independently of the servo status.  
Use this function for output signal wiring check, etc.  
Servo motor can be run from the operation section of the servo amplifier  
without the start signal entered.  
Section 4.4  
(1) (e)  
Test operation mode  
Section 4.4  
Analog monitor output  
Servo configuration software  
Servo status is output in terms of voltage in real time.  
Using a personal computer, parameter setting, test operation, status display,  
etc. can be performed.  
Parameter No. 22  
Section 12.1.7  
1 - 4  
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1. FUNCTIONS AND CONFIGURATION  
1.5 Model code definition  
(1) Rating plate  
AC SERVO  
MITSUBISHI  
Model  
MODEL  
MR-J2S-60B  
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 : TC3XXAAAAG52  
Rated output current  
Serial number  
PASSED  
MITSUBISHI ELECTRIC CORPORATION  
MADE IN JAPAN  
(2) Model  
MR–J2S–  
B
MR–J2S–100B or less  
MR–J2S–200B 350B  
Series  
Power Supply  
Power supply  
Symbol  
3-phase 200 to 230VAC  
(Note2) 1-phase 230VAC  
None  
(Note1)  
1
Rating plate  
1-phase 100V to 120VAC  
Rating plate  
Note:1. Not supplied to the servo amplifier  
of MR-J2S-60B or more.  
MR-J2S-500B  
MR-J2S-700B  
2. Not supplied to the servo amplifier  
of MR-J2S-100B or more.  
SSCNET compatible  
Rated output  
Symbol  
Rated  
output [W]  
Rated  
output [W]  
Symbol  
10  
20  
40  
60  
70  
100  
200  
400  
600  
700  
100  
200  
350  
500  
700  
1000  
2000  
3500  
5000  
7000  
Rating plate  
Rating plate  
1 - 5  
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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  
1000r/min 2000r/min 3000r/min  
2000r/min  
3000r/min  
MR-J 2S-10B(1)  
MR-J 2S-20B(1)  
MR-J 2S-40B(1)  
MR-J 2S-60B  
053 13  
23  
053 13  
23  
13  
23  
43  
43  
43  
52  
53  
MR-J 2S-70B  
(Note) 73  
73  
72  
73  
MR-J 2S-100B  
MR-J 2S-200B  
MR-J 2S-350B  
MR-J 2S-500B  
MR-J 2S-700B  
81  
102  
103  
121 201 152 202 153 203  
103 153  
203  
152  
202  
301  
352  
502  
702  
353  
353 503  
352 502  
Note: The HC-KFS73 may not be connected depending on the production time of the servo amplifier. Please consult us.  
1 - 6  
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1. FUNCTIONS AND CONFIGURATION  
1.7 Structure  
1.7.1 Parts identification  
(1) MR-J2S-100B or less  
Name/Application  
Refer to  
Battery holder  
Contains the battery for absolute position data backup.  
Section13.3  
Battery connector (CON1)  
Section13.3  
Chapter4  
Used to connect the battery for absolute position data  
backup.  
Display  
The two-digit, seven-segment LED shows the servo  
status and alarm number.  
Axis select switch (CS1)  
CS1  
Used to set the axis number of the  
servo amplifier.  
8
0
Section3.11  
Bus cable connector (CN1A)  
Used to connect the servo system controller or  
preceding axis servo amplifier.  
Section3.2  
Section3.2  
Bus cable connector (CN1B)  
Used to connect the subsequent axis servo amplifier  
or termination connector (MR-A-TM).  
Communication connector (CN3)  
Used to connect a personal computer (RS-232C) or  
output analog monitor data.  
Section3.2  
Section12.1.4  
Name plate  
Section1.5  
Charge lamp  
Lit to indicate that the main circuit is charged. While  
this lamp is lit, do not reconnect the cables.  
Encoder connector (CN2)  
Section3.2  
Connector for connection of the servo motor encoder. Section12.1.4  
Main circuit terminal block (TE1)  
Used to connect the input power supply and servo  
motor.  
Section3.5.2  
Section10.1  
Control circuit terminal block (TE2)  
Used to connect the control circuit power supply and  
regenerative brake option.  
Section3.5.2  
Section10.1  
Section12.1.1  
Section3.8  
Section10.1  
Protective earth (PE) terminal (  
Ground terminal.  
)
1 - 7  
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