Mitsubishi Electric MELSERVO-J2S-S061 User manual

BCN-B11127-479*
Section Mgr.
Section Mgr.Section Mgr.
Section Mgr. Design Eng.
Design Eng.Design Eng.
Design Eng.
APPROVALS:
APPROVALS:APPROVALS:
APPROVALS: H.Ogi
H.OgiH.Ogi
H.Ogi
MITSUBISHI
General Purpose AC Servo
MELSERVO-J2S-S061
Built-In Positioning Function
Specifications and Instruction Manual
For Engineering Sample
MITSUBISHI
ELECTRIC

1 BCN-B11127-479*
Table of Contents
1. FUNCTION AND CONFIGURATION 2
1.1 Overview 2
1.2 Features 3
1.3 System configuration 3
2. WIRING DIAGRAM 5
3. TERMINALS 7
3.1Terminal blocks 7
3.2 Connection example 8
3.3 Power-on sequence 8
3.4 Signal explanations 12
3.5 Additional function devices 14
4.INTERFACES 16
5. AUTOMATIC OPERATION MODE 18
5.1 Positioning via point table with digital input 18
5.2 Positioning operation in accordance with point tables 22
5.3 Positioning operation via communication 23
5.4 Manual operation mode 24
5.5 Zeroing 26
6. DISPLAY AND OPERATION 27
6.1 Display flowchart 27
7. PARAMETERS 28
8. COMMUNICATIONS 47
8.1Configuration 47
8.2 Communication specifications 49
8.3 Protocol 50
8.4 Character codes 52
8.5 Error codes 53
8.6 Checksum 53
8.7 Time-out operation 54
8.8 Retry operation 54
8.9 Initialization 55
8.10 Communication procedure example 55
8.11 Command and data No. list 56
8.12 Detailed explanation of commands 66
REVISIONS 85

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1. FUNCTIONS AND CONFIGURATION
1.1 Overview
The MR-J2S- A-S061 AC servo amplifier with built-in positioning functions is the MR-J2S-A general-
purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform
positioning operation by merely setting the position data (target positions), 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 up to 31 points. You can choose a configuration suitable for your purpose, e.g. simple
positioning system using external I/O signals (DI/O), operation using DI/O and RS-422 serial
communication, or multi drop operation using RS-422 serial communication.
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, zeroing is not required at power on, alarm occurrence, etc.

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1.2 Features
(1) Up to 31 point tables
(2) Stopper type zeroing operation
(3) Point table output function
1.3 System configuration
1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Servo amplifier (axis 1)
External I/O
signals
Power supply
3-phase 200VAC
or single-phase
230VAC
Servo motor
RS–422
Set-up
Software
Personal
computer
CN1A CN1B
CN2 CN3
Servo amplifier (axis 2)
External I/O
signals
Servo motor
CN1A CN1B
CN2 CN3
RS–232C
RS–232C/RS-422 converter
(to be prepared by the customer)
To the next axis
RS–422
Power supply
3-phase 200VAC
or single-phase
230VAC
Communication data
PC to Servo amplifier Servo amplifier to PC
- Positioning data to point table
- Control signals
- Parameter data
- Status monitor
- Parameter data
- Alarm information and so on

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2) The following configuration uses external I/O signals. The external input signals are used to
control all signals (devices) that response delay is less than 15msec.
3) Function list
Contents Description
Operation specification - Positioning up to 31 point via point block #
Position command input - Setting at point block
- Setting range for positioning: +/- 1 [um] to +/- 999.999 [um]
Speed command input
- Setting at point block
- Set at the point block for acc. / dec. time
- Parameter # 14 is for S-Curve acc. / dec. time constant
Point block # input
System - Absolute value command with sign or incremental value command
Operation specification - Positioning via RS-422(232C) communication
Position command input - Setting via RS-422(232C) communication
- Setting range for positioning : +/- 1 [um] to +/- 999.999 [um]
Speed command input
- Setting via RS-422(232C) communication
- Set the acc. / dec. time via RS-422(232C) communication
- Parameter # 14 is for S-Curve acc. / dec. time constant
Command type
Position data input
System - Absolute value command with sign or incremental value command
Automatic mode
- Select the required ones from among 31 preset point blocks and
perform operation in accordance with the set value
(Position block # input, Position data input)
Manual mode JOG - Jogging operation among preset jog speed via RS-422(232C)
communication or external input
Operation mode
Manual zeroing Stopper type zeroing - Stopper type zeroing
Capable set the zero address at parameter setting
Function on positioning control
- Absolute position detection system
- Backlash compensation
- External stroke limit function
- Software stroke limit function
- Teaching function
- Roll feeding function (equivalent)
Servo amplifie
r
External I/O
signals
Power supply
3-phase 200VAC
or single-phase
230VAC
Servo moto
r
CN1A CN1B
CN2 CN3

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2. Wiring Diagram
Emergency stop
Proximity dog
Zeroing completion
Monitor output 1
RA2
RA3
RA4
RA5
Rough match
In position
Trouble
Ready
External torque limit
16
15
17
7
5
14
8
9
10
SON
LSN
LSP
MD0
DI0
DI1
ST1
ST2
SG 20
SG
2
11
1
12
P15R
LG
TLA
VC
Plate
SD
CN1B
10
8
DOG
SG
CN1
A
18
ZP
4
13
6
18
19
CPO
INP
ALM
RD
COM 3
VDD 13
3
Plate LG
SD
CN3
LG
4MO1
14 MO2 A
A
C
D
P
B1
W (Black)
V (White)
U (Red)
(Green) Electromagnetic
brake
Encoder
Encoder cable
(Available as option or to be fabricated)
NFB MC
Regenerative
brake option
L12
L11
L 3
L 2
L1
10 k
2m(78.74inch) max.
Upper limit setting
W
V
U
Servo amplifier
MR-J2S-A-S061
9
RA 1
20
SG
Communication cable
(Available as option or to be fabricated)
CN3
TE1
TE2
When connecting the external regenerative
brake option, always disconnec
t
the jumpe
r
from across P-D.
SM
COM
CN 2
Servo motor
Servo on
Forward rotation stroke end
Reverse rotation stroke end
Automatic/manual selection
Point table No. selection 1
Point table No. selection 2
Forward rotation start
Reverse rotation star
t
3-phase 200VAC
10m(39.37inch) max.
10m (39.37inch) max.
Upper limit setting
To be shut off when servo on signal
switches off
or alarm occurs.
Monitor output 2
B2
10 k

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Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo
amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be
faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead
to a fault.
4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external.
5. When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP)
with SG. (Normally closed contacts)
6. Trouble (ALM) is connected with COM in normal alarm-free condition.
7. The pins with the same signal name are connected in the servo amplifier.

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3. Terminals
3.1 Terminal blocks
Symbol Signal Description
Main circuit power input terminals
1) 200V Class
Supply L1, L2and L3with the following power.
For a single-phase 230VAC power supply, connect the power supply to L1 and
L2 and keep L3 open:
Servo amplifier
Power supply MR-J2-10A to 70A MR-J2-100A to 700A
3-phase 200 to 230VAC,
50/60Hz L1•L2•L3
Single-phase 230VAC,
50/60Hz L1•L2
L1, L2, L3Main circuit power supply
Cannot be used for combination with the servo motor HC-SFS52•53.
2) 100V Class
Supply L1, L2 with the single-phase 100 to 120V 50/60Hz power.
U, V, W Servo motor output Servo motor power output terminalss
Connect to the servo motor power supply terminals (U, V, W).
L11, L21 Control circuit power supply
Control circuit power input terminals
1) 200V Class
Supply L11 and L21 with single-phase 200-230VAC, 50/60Hz power.
2) 100V Class
Supply L11 and L21 with single-phase 100-120VAC, 50/60Hz power.
P, C, D Regenerative brake option
Regenerative brake option connection terminals
C and D are factory-connected.
When using the regenerative brake option, always remove wiring from across
P-D and connect the regenerative brake option across P-C.
N Do not connect.
Protective earth (PE) Ground terminal
Connect this terminal to the protective earth (PE) terminals of the servo
motor and control box for grounding.

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3.2 Connection example
Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the
input cables of the power supply.
Design the circuit so that the servo on signal also turns off as soon as the power is shut off on detection of
alarm occurrence.
MC
SK
MC
ON
OFF
Emergency
stop
RA
EMG
SON
SG
VDD
COM
(Note 1) Three-phase
200 to 230VAC
or
Single-Phase
230VAC
RA
Servo amplifier
L21
L11
L3
L2
L1
Trouble
MC
NFB
Note : For a single-phase 230VAC power supply, connect the power supply to L1
and L2 and keep L3 open.
ALM
External
emergency stop
Servo on
3.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V: L1, L2). Configure
up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit
power supply is switched on. Therefore, when SON is switched on simultaneously with the three-
phase power supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will
switch on in further about 20ms, making the servo amplifier ready to operate.
4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.

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(2) Timing chart
20ms 20ms 20ms
10ms 10ms
10ms10ms
10ms
60ms
60ms
SON accepted
(1s)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Power sypply
Base circuit
Servo on
(SON)
Reset
(RES)
Ready
(RD)