Mitsubishi Electric MELSERVO-J2-Super Series User manual

General-Purpose AC Servo
MODEL
MR-J2S- CP-S084
SERVO AMPLIFIER
INSTRUCTION MANUAL
CC-Link Compatible
J2-Super Series

A - 1
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".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
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 - 2
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.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following: CAUTION
Do not install the 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.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

A - 3
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 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 servo amplifier 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.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment Servo amplifier Servo motor
[]0to55 (non-freezing) 0 to 40 (non-freezing)
Operation [] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Ambient
temperature Storage []4 to 149 (non-freezing) 5 to 158 (non-freezing)
Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
Ambient
humidity Storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level HC-KFS Series
HC-MFS Series
HC-UFS13 to 73 XY : 49
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
XY : 24.5
HC-SFS121 201
HC-SFS202 352
HC-SFS203 353
HC-UFS202
X : 24.5
Y : 49
[m/s2] 5.9 or less
HC-SFS301 X : 24.5
Y : 29.4
HC-KFS Series
HC-MFS Series
HC-UFS 13 to 73 XY : 161
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
XY : 80
HC-SFS121 201
HC-SFS202 352
HC-SFS203 353
HC-UFS202
X : 80
Y : 161
(Note)
Vibration
[ft/s2] 19.4 or less
HC-SFS301 X : 80
Y : 96
Note. Except the servo motor with reduction gear.

A - 4
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.
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 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 of the servo amplifier must be wired in
the specified direction. Otherwise, the forced stop (EMG) and other protective circuits may not operate.
COM
(24VDC)
Servo
Amplifier
RA
Control
output
signal
RA
Servo
Amplifier
COM
(24VDC)
Control
output
signal
(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 - 5
(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.
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 an external forced stop (EMG).
EMGRA
24VDC
Contacts must be open when
servo-on (SON) is off, when a trouble (ALM)
is present and when an electromagnetic
brake interlock (MBR).
Electromagnetic brake
Servo motor
Circuit must be
opened during
forced stop (EMG).
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 - 6
(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
This product is not designed or manufactured to be used in equipment or systems in situations that can
affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems used in
passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating
applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised
to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the
product is likely to cause a serious accident.
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
Write to the EEP-ROM due to point table changes

A - 7
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 series :MR-J2S-10CP-S084 to MR-J2S-700CP-S084
MR-J2S-10CP1-S084 to MR-J2S40CP1-S084
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Reinforced
insulating
transformer
NFB MC SM
No-fuse
breaker Magnetic
contactor
Reinforced
insulating type
24VDC
power
supply
Servo
amplifier
Servo
motor
Control box
(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 - 8
(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) 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.
(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 14.2.2.
(b) The sizes of the cables described in Section 14.2.1 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).

A - 9
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 series :MR-J2S-10CP-S084 to MR-J2S-700CP-S084
MR-J2S-10CP1-S084 to MR-J2S-40CP1-S084
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
Install a 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
10 minutes after power-off.
Servo amplifier Discharge time [min]
MR-J2S-10CP(1)-S084 20CP(1)-S084 1
MR-J2S-40CP(1)-S084 60CP-S084 2
MR-J2S-70CP-S084 to 350CP-S084 3
MR-J2S-500CP-S084 700CP-S084 5
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the MR-J2S-CP-S084 for the first time. Always purchase them and use the MR-J2S-CP-S084 safely.
Relevant manuals
Manual name Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310

A - 10
MEMO

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-28
1.1 Introduction..............................................................................................................................................1- 1
1.1.1 Features of CC-Link communication functions.............................................................................1- 1
1.1.2 Function block diagram....................................................................................................................1- 2
1.1.3 System configuration........................................................................................................................1- 4
1.2 Servo amplifier standard specifications................................................................................................1- 7
1.3 Function list.............................................................................................................................................1- 9
1.4 Model code definition .............................................................................................................................1-11
1.5 Combination with servo motor..............................................................................................................1-13
1.6 Structure..................................................................................................................................................1-14
1.6.1 Part names of servo amplifier ........................................................................................................1-14
1.6.2 Part name of CC-Link unit.............................................................................................................1-18
1.6.3 Removal and reinstallation of the front cover ..............................................................................1-19
1.7 Servo system with auxiliary equipment...............................................................................................1-21
1.8 Flowchart of Operation Method............................................................................................................1-26
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. CC-Link COMMUNICATION FUNCTIONS 3- 1 to 3-56
3.1 Communication specifications................................................................................................................3- 1
3.2 System configuration...............................................................................................................................3- 2
3.2.1 Configuration example.....................................................................................................................3- 2
3.2.2 Wiring method ..................................................................................................................................3- 3
3.2.3 Station number setting ....................................................................................................................3- 5
3.2.4 Communication baudrate setting ...................................................................................................3- 6
3.2.5 Occupied station count setting........................................................................................................3- 6
3.3 Functions..................................................................................................................................................3- 7
3.3.1 Function block diagram....................................................................................................................3- 7
3.3.2 Functions...........................................................................................................................................3- 7
3.4 Servo amplifier setting............................................................................................................................3- 8
3.5 I/O Signals transferred to/from the PLC CPU......................................................................................3- 9
3.5.1 I/O signals..........................................................................................................................................3- 9
3.5.2 Detailed explanation of I/O signals................................................................................................3-12
3.5.3 Monitor codes ...................................................................................................................................3-24
3.5.4 Instruction codes (RWwn+2 RWwn+3) .......................................................................................3-25
3.5.5 Answer codes (RWrn+2)..................................................................................................................3-32
3.5.6 Setting the CN1A CN1B external input signals........................................................................3-33

2
3.6 Data communication timing charts......................................................................................................3-34
3.6.1 Monitor codes ...................................................................................................................................3-34
3.6.2 Instruction codes..............................................................................................................................3-36
3.6.3 Remote register-based position/speed setting...............................................................................3-38
3.7 Function-by-function programming examples ....................................................................................3-41
3.7.1 System configuration example .......................................................................................................3-41
3.7.2 Reading the servo amplifier status................................................................................................3-42
3.7.3 Writing the operation commands...................................................................................................3-43
3.7.4 Reading the data..............................................................................................................................3-44
3.7.5 Writing the data...............................................................................................................................3-46
3.7.6 Operation..........................................................................................................................................3-49
3.8 Continuous operation program example..............................................................................................3-52
3.8.1 System configuration example when 1 station is occupied.........................................................3-52
3.8.2 Program example when 1 station is occupied...............................................................................3-53
3.8.3 System configuration example when 2 stations are occupied.....................................................3-54
3.8.4 Program example when 2 stations are occupied ..........................................................................3-55
4. SIGNALS AND WIRING 4- 1 to 4-30
4.1 Standard connection example ................................................................................................................4- 2
4.2 Internal connection diagram of servo amplifier...................................................................................4- 4
4.3 I/O signals.................................................................................................................................................4- 5
4.3.1 Connectors and signal arrangements.............................................................................................4- 5
4.3.2 Signal (devices) explanations ..........................................................................................................4- 6
4.4 Detailed description of signals (devices)................................................................................................4- 8
4.4.1 Forward rotation start Reverse rotation start Temporary stop/Restart.................................4- 8
4.4.2 Movement finish Rough match In position................................................................................4- 9
4.4.3 Torque limit......................................................................................................................................4-11
4.5 Alarm occurrence timing chart .............................................................................................................4-12
4.6 Interfaces.................................................................................................................................................4-13
4.6.1 Common line ....................................................................................................................................4-13
4.6.2 Detailed description of the interfaces............................................................................................4-14
4.7 Input power supply circuit.....................................................................................................................4-17
4.7.1 Connection example.........................................................................................................................4-17
4.7.2 Terminals..........................................................................................................................................4-19
4.7.3 Power-on sequence...........................................................................................................................4-20
4.8 Connection of servo amplifier and servo motor...................................................................................4-21
4.8.1 Connection instructions ..................................................................................................................4-21
4.8.2 Connection diagram.........................................................................................................................4-21
4.8.3 I/O terminals....................................................................................................................................4-23
4.9 Servo motor with electromagnetic brake .............................................................................................4-25
4.10 Grounding .............................................................................................................................................4-28
4.11 Servo amplifier terminal block (TE2) wiring method.......................................................................4-29
4.12 Instructions for the 3M connector.......................................................................................................4-30
5. OPERATION 5- 1 to 5-42
5.1 When switching power on for the first time..........................................................................................5- 1
5.1.1 Pre-operation checks ........................................................................................................................5- 1
5.1.2 Startup...............................................................................................................................................5- 2

3
5.2 Automatic operation mode......................................................................................................................5- 5
5.2.1 What is automatic operation mode? ...............................................................................................5- 5
5.2.2 Automatic operation using point table...........................................................................................5- 7
5.2.3 Remote register-based position/speed setting...............................................................................5-17
5.3 Manual operation mode.........................................................................................................................5-21
5.4 Manual home position return mode .....................................................................................................5-23
5.4.1 Outline of home position return.....................................................................................................5-23
5.4.2 Dog type home position return.......................................................................................................5-25
5.4.3 Count type home position return...................................................................................................5-27
5.4.4 Data setting type home position return ........................................................................................5-29
5.4.5 Stopper type home position return ................................................................................................5-30
5.4.6 Home position ignorance (servo-on position defined as home position).....................................5-31
5.4.7 Dog type rear end reference home position return.......................................................................5-32
5.4.8 Count type front end reference home position return..................................................................5-34
5.4.9 Dog cradle type home position return ...........................................................................................5-36
5.4.10 Home position return automatic return function.......................................................................5-38
5.4.11 Automatic positioning function to the home position ................................................................5-39
5.5 Absolute position detection system.......................................................................................................5-40
6. PARAMETERS 6- 1 to 6-26
6.1 Parameter list..........................................................................................................................................6- 1
6.1.1 Parameter write inhibit ...................................................................................................................6- 1
6.1.2 List .....................................................................................................................................................6- 2
6.2 Detailed explanation..............................................................................................................................6-24
6.2.1 Electronic gear .................................................................................................................................6-24
6.2.2 Changing the status display screen...............................................................................................6-25
6.2.3 S-pattern acceleration/deceleration...............................................................................................6-25
6.2.4 Changing the stop pattern using a limit switch...........................................................................6-26
6.2.5 Alarm history clear..........................................................................................................................6-26
6.2.6 Rough match output........................................................................................................................6-26
6.2.7 Software limit...................................................................................................................................6-26
7. SERVO CONFIGURATION SOFTWARE 7- 1 to 7-20
7.1 Specifications ...........................................................................................................................................7- 1
7.2 System configuration...............................................................................................................................7- 1
7.3 Station setting..........................................................................................................................................7- 3
7.4 Parameters...............................................................................................................................................7- 4
7.5 Point table................................................................................................................................................7- 6
7.6 Device assignment method.....................................................................................................................7- 8
7.7 Test operation.........................................................................................................................................7-12
7.7.1 Jog operation....................................................................................................................................7-12
7.7.2 Positioning operation.......................................................................................................................7-14
7.7.3 Motor-less operation........................................................................................................................7-16
7.7.4 Output signal (DO) forced output ..................................................................................................7-17
7.7.5 Single-step feed................................................................................................................................7-18
7.8 Alarm history..........................................................................................................................................7-20

4
8. DISPLAY AND OPERATION 8- 1 to 8-24
8.1 Display flowchart.....................................................................................................................................8- 1
8.2 Status display ..........................................................................................................................................8- 2
8.2.1 Display transition.............................................................................................................................8- 2
8.2.2 Display examples..............................................................................................................................8- 3
8.2.3 Status display list.............................................................................................................................8- 4
8.3 Diagnosis mode........................................................................................................................................8- 5
8.3.1 Display transition.............................................................................................................................8- 5
8.3.2 Diagnosis mode list...........................................................................................................................8- 6
8.4 Alarm mode..............................................................................................................................................8- 8
8.4.1 Display transition.............................................................................................................................8- 8
8.4.2 Alarm mode list.................................................................................................................................8- 9
8.5 Point table mode.....................................................................................................................................8-11
8.5.1 Point table transition ......................................................................................................................8-11
8.5.2 Point table mode setting screen sequence.....................................................................................8-12
8.5.3 Operation method............................................................................................................................8-13
8.6 Parameter mode .....................................................................................................................................8-15
8.6.1 Parameter mode transition.............................................................................................................8-15
8.6.2 Operation example...........................................................................................................................8-16
8.7 External I/O signal display....................................................................................................................8-18
8.8 Output signal (DO) forced output.........................................................................................................8-19
8.9 Test operation mode...............................................................................................................................8-20
8.9.1 Mode change.....................................................................................................................................8-20
8.9.2 Jog operation....................................................................................................................................8-21
8.9.3 Positioning operation.......................................................................................................................8-22
8.9.4 Motor-less operation........................................................................................................................8-23
9. GENERAL GAIN ADJUSTMENT 9- 1 to 9-12
9.1 Different adjustment methods...............................................................................................................9- 1
9.1.1 Adjustment on a single servo amplifier..........................................................................................9- 1
9.1.2 Adjustment using servo configuration software............................................................................9- 2
9.2 Auto tuning ..............................................................................................................................................9- 3
9.2.1 Auto tuning mode .............................................................................................................................9- 3
9.2.2 Auto tuning mode operation............................................................................................................9- 4
9.2.3 Adjustment procedure by auto tuning............................................................................................9- 5
9.2.4 Response level setting in auto tuning mode...................................................................................9- 6
9.3 Manual mode 1 (simple manual adjustment).......................................................................................9- 7
9.3.1 Operation of manual mode 1 ...........................................................................................................9- 7
9.3.2 Adjustment by manual mode 1 .......................................................................................................9- 7
9.4 Interpolation mode.................................................................................................................................9-10
9.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super..........................9-11
9.5.1 Response level setting.....................................................................................................................9-11
9.5.2 Auto tuning selection.......................................................................................................................9-11

5
10. SPECIAL ADJUSTMENT FUNCTIONS 10- 1 to 10-10
10.1 Function block diagram......................................................................................................................10- 1
10.2 Machine resonance suppression filter...............................................................................................10- 1
10.3 Adaptive vibration suppression control.............................................................................................10- 3
10.4 Low-pass filter .....................................................................................................................................10- 4
10.5 Gain changing function.......................................................................................................................10- 5
10.5.1 Applications...................................................................................................................................10- 5
10.5.2 Function block diagram ...............................................................................................................10- 5
10.5.3 Parameters....................................................................................................................................10- 6
10.5.4 Gain changing operation..............................................................................................................10- 8
11. INSPECTION 11- 1 to 11- 2
12. TROUBLESHOOTING 12- 1 to 12-12
12.1 Trouble at start-up..............................................................................................................................12- 1
12.2 Operation at Error Occurrence..........................................................................................................12- 2
12.3 CC-Link Communication Error .........................................................................................................12- 3
12.4 When alarm or warning has occurred...............................................................................................12- 3
12.4.1 Alarms and warning list..............................................................................................................12- 4
12.4.2 Remedies for alarms.....................................................................................................................12- 5
12.4.3 Remedies for warnings................................................................................................................12-11
13. OUTLINE DIMENSION DRAWINGS 13- 1 to 13- 8
13.1 Servo amplifiers...................................................................................................................................13- 1
13.2 CC-Link option unit (MR-J2S-T01)...................................................................................................13- 5
13.3 Connectors............................................................................................................................................13- 6
14. CHARACTERISTICS 14- 1 to 14- 8
14.1 Overload protection characteristics...................................................................................................14- 1
14.2 Power supply equipment capacity and generated loss....................................................................14- 2
14.3 Dynamic brake characteristics...........................................................................................................14- 4
14.4 Encoder cable flexing life....................................................................................................................14- 6
14.5 Inrush currents at power-on of main circuit and control circuit....................................................14- 7
15. OPTIONS AND AUXILIARY EQUIPMENT 15- 1 to 15-38
15.1 Options..................................................................................................................................................15- 1
15.1.1 Regenerative brake options.........................................................................................................15- 1
15.1.2 Brake unit......................................................................................................................................15- 8
15.1.3 Power regeneration converter ....................................................................................................15-10
15.1.4 Cables and connectors.................................................................................................................15-13
15.1.5 Junction terminal block (MR-TB20)..........................................................................................15-21
15.1.6 Battery (MR-BAT, A6BAT).........................................................................................................15-22

6
15.2 Auxiliary equipment ..........................................................................................................................15-23
15.2.1 Recommended wires....................................................................................................................15-23
15.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................15-27
15.2.3 Power factor improving reactors................................................................................................15-27
15.2.4 Relays............................................................................................................................................15-28
15.2.5 Surge absorbers ...........................................................................................................................15-28
15.2.6 Noise reduction techniques.........................................................................................................15-28
15.2.7 Leakage current breaker.............................................................................................................15-34
15.2.8 EMC filter.....................................................................................................................................15-36
Appendix App- 1 to App- 2
App 1. Status indication block diagram .................................................................................................App- 1
App 2. Junction terminal block (MR-TB20) terminal block labels...................................................... App- 2

1 - 1
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
When used with the MR-J2S-T01 CC-Link option unit, the MR-J2S- CP-S084 CC-Link compatible servo
amplifier can support the CC-Link communication functions. Up to 42 axes of servo amplifiers can be
controlled/monitored from the PLC side.
As the servo, it is based on the MR-J2S-CP AC servo amplifier with built-in positioning functions and has
the function to perform positioning operation by merely setting the position data (target positions), servo
motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in
parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning
system or to simplify a system, for example.
There are 3 points of point tables as standard, and they can be increased up to 31 points by using the
optional servo configuration software.
All servo motors are equipped with an absolute position encoder as standard. An absolute position
detection system can be configured by merely adding a battery to the servo amplifier. Once the home
position has been set, home position return is not required at power on, alarm occurrence, etc.
The MR-J2S-CP-S084 AC servo amplifier with positioning function is made easier to use and higher in
function by using it with the servo configuration software.
1.1.1 Features of CC-Link communication functions
(1) Fast communication
Fast communication can be made by cyclic transmission of not only bit data but also word data.
(a) The highest communication speed is 10Mbps.
(b) The broadcast polling system ensures as high as 3.9ms to 6.7ms even at the maximum link scan
(10Mbps).
(2) Variable communication speed/distance system
Selection of speed/distance allows use in a wide range of areas from a system requiring high speed to a
system requiring long distance.
(3) System fault prevention (station separating function)
Because of connection in the bus system, any remote or local station that has become faulty due to
power-off or the like does not affect communications with normal remote and local stations.
In addition, use of the two-piece terminal block allows the unit to be changed during data link.
(4) Factory Automation compatible
As the remote device stations of CC-Link, the servo amplifiers share a link system and can be
controlled/monitored with PLC user programs.
From the PLC side, the running speed, acceleration/deceleration time constant and other settings of
servo motors can be changed/checked and the servo motors started and stopped.

1 - 2
1. FUNCTIONS AND CONFIGURATION
1.1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J2S-350CP-S084 or less
1000
0
80
100
100
0
(Note2)
Power
supply
3-phase
200 to
230VAC,
or
1-phase
100 to
120VAC
NFB MC
Servo amplifier
Regenerative brake option
(Note1)
PDC
DS RA
L1
L2
L3CHARGE
lamp
Regenerative
brake
transistor
Dynamic
brake
Current
detector
Servo motor
SM
U
V
W
U
V
W
E2
E1
Encoder
Electro-
magnetic
brake
CN2
L11
L21
Fan
(MR-J2S-200CP or more)
Regenerative
brake Base amplifier Voltage detection Overcurrent
protection
Control
power
supply
Current
detection
Point table
CON1
MR-BAT
Optional battery
(for absolute position
detection system)
1
31
8
7
6
5
4
3
21000 2000
4000
500
1000
2000
1000
1000
2000 2000
1000
1000
2000
2000
2000
2000
1000 80
100
70
60
80
80
80
100
80
80
100
70
60
80
80
100
80
1000
500
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
No.
Model adaptive control
Current
control
Position
control
Speed
control
Position
command
creation
Auxiliary
Dwell
Position
data Speed Acceleration
time
constant
Deceleration
time
constant
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10CP (1)-S084.
2. For 1-phase 230VAC, connect the power supply to L1,L2and leave L3open.
L3is not provided for a 1-phase 100 to120VAC power supply.
1000
RS-232C/RS-422
Controller
I/F
MR-J2S-T01
option unit
CN3
CN30
CN40
CN10 CC-Link
CN1A CN1B
DI/O Control
Servo on
Start
Failure, etc

1 - 3
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-500CP-S084 700CP-S084
1000
0
80
100
100
0
(Note2)
Power
supply
3-phase
200 to
230VAC,
or
1-phase
100 to
120VAC
NFB MC
Servo amplifier
Regenerative brake option
PNC
DS RA
L1
L2
L3CHARGE
lamp
Regenerative
brake
transistor
Dynamic
brake
Current
detector
Servo motor
SM
U
V
W
U
V
W
E2
E1
Encoder
Electro-
magnetic
brake
CN2
L11
L21
Fan
Regenerative
brake Base amplifier Voltage detection Overcurrent
protection
Control
power
supply
Current
detection
Point table
CON1
MR-BAT
Optional battery
(for absolute position
detection system)
1
31
8
7
6
5
4
3
21000 2000
4000
500
1000
2000
1000
1000
2000 2000
1000
1000
2000
2000
2000
2000
1000 80
100
70
60
80
80
80
100
80
80
100
70
60
80
80
100
80
1000
500
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
No.
Model adaptive control
Current
control
Position
control
Speed
control
Position
command
creation
Auxiliary
Dwell
Position
data Speed Acceleration
time
constant
Deceleration
time
constant
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10CP (1)-S084.
2. For 1-phase 230VAC, connect the power supply to L1,L2and leave L3open.
L3is not provided for a 1-phase 100 to120VAC power supply.
1000
RS-232C/RS-422
Controller
I/F
MR-J2S-T01
option unit
CN3
CN30
CN40
CN10 CC-Link
CN1A CN1B
DI/O Control
Servo on
Start
Failure, etc