Mitsubishi MELSERVO MR-J2S-A-PY091 Series User manual

BCN-B32110-011*
MITSUBISHI
General Purpose AC Servo
MELSERVO-J2S
Full Closed Control Compatible
MR-J2S- A-PY091 (3.5kW or less)
MR-J2S- A-S091 (5k, 7kW)
MITSUBISHI ELECTRIC CORPORATION
NAGOYA WORKS

BCN-B32110-011-2-
Revision
Version Description Created
・Newly created

BCN-B32110-011-3-
∼CONTENTS ∼
CHAPTER 1 FUNCTIONS AND CONFIGURATION
1.1 Overview
1.2 Control Block Diagram
1.3 Specification List
1.4 Model Name
1.5 System Configuration
CHAPTER 2 LINEAR SCALES
2.1 Compatible Linear Scale List
CHAPTER 3 SIGNALS AND WIRING
3.1 Standard Connection Examples of Full Closed Control Servo Amplifier Control Signals
3.2 Signal/Terminal Explanation
CHAPTER 4 OPERATION AND FUNCTIONS
4.1 Startup
4.2 Home Position Return Operation
4.3 Functions
4.3.1 Test operation
4.3.2 Semi/full closed control switching operation
4.4 About the Servo Configuration Software
4.4.1 When current version of Servo Configuration software (MRZJW3-SETUP111E to -SETUP151E S/W:
E1 version) is used
4.4.2 When full closed compatible Servo Configuration software (MRZJW3-SETUP151E S/W: E2 version or
later) is used
CHAPTER 5 PARAMETERS
5.1 Parameter List
CHAPTER 6 DISPLAY
CHAPTER 7 TROUBLESHOOTING
7.1 Alarm List
7.2 Alarm Code Outputting and Resetting Methods
7.3 Scale Error (AL. 2A) Details Classified by Linear Scale Makers

BCN-B32110-011-4-
CHAPTER 1 FUNCTIONS AND CONFIGURATION
1.1 Overview
This Specification explains the full closed control compatible product that imports a position F/B signal from an
external encoder, such as a linear scale, to the MR-J2S-A servo amplifier. For the items that are not described in this
Specification, refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual and the
MELSERVO-J2S-A Specifications and Installation Guide and Instruction Manual.
[Servo amplifier]
[Items changed from those of the standard model]
1) The A/B/Z differential input I/F unit MR-J2S-CLP01 or Mitsubishi serial interface compatible linear scale is used to
detect the position F/B signal of an external encoder such as a linear scale.
2) In addition to the full closed control that feeds back the position signal of the external encoder, dual F/B control that
feeds back a signal composed of the external encoder's position F/B signal and the motor position F/B signal has been
added as an extended function.
3) Function to switch pulse output between the closed encoder and motor end encoder
[Functions deleted from the standard model]
1) Speed/torque control
2) Absolute position detection function
3) Control switching mode
4) Motor-less operation (test operation)
1.2 Control Block Diagram
A full closed control block diagram is shown below.
ω
S+ω
Dual F/B filter
Parameter No. 97
CMX
CDV
FCM
FCD
CDV
CMX FCD FCM E
INP
Command pulse train
electronic gear
Parameter No. 3, 4
Full closed electronic ge
a
Parameter No. 89, 90
Droop pulse dis
p
Servo motor
Linear scale
Closed end pulse unit
Position deviation
Encoder pulse unit
S
+
−
+
−
Full closed selection
Parameter No. 86
+−
+
+
−
+
OP9 ABZ phase pulse output
selection Parameter No.
5
FCT Full closed control error
detection function selectio
Dual f/b position signal
Droop pulse unit selec
Parameter No. 49
Command
pulse train
Command pulse
unit
Switching between semi closed control and full closed control can be performed by changing the setting of parameter No. 86.
When semi closed control is selected, control is always performed on the basis of the position data of the motor end encoder
(independently of whether the motor is at a stop or running).
When the full closed function in parameter No. 86 is valid, dual F/B control in which the motor F/B signal and linear scale
F/B signal are combined by the dual F/B filter in parameter No. 97 is performed. In this case, full closed control is performed
when the motor is at a stop, and semi closed control is performed when the motor is operating to improve control
performance. When 1000 is set as the filter value of parameter No. 97, full closed control is always performed.

BCN-B32110-011-5-
1.3 Specification List
(1) Servo amplifiers
Servo Amplifier Model
MR-J2S- 10A
-PY091 20A -PY091 40A -PY091 60A -PY091 70A -PY091 100A -PY091 200A -PY091 350A -PY091 500A -S091 700A -S091 10A1 -PY091 20A1 -PY091 40A1 -PY091
Voltage/fre
quency
(Note 1)
Three-phase 200 to 230VAC/50, 60Hz or
single-phase 230VAC/50, 60Hz (Note 2) Three-phase 200 to 230VAC/50, 60Hz
(Note 2) Single-phase 100 to 120VAC/50, 60Hz
Permissible
voltage
fluctuation
Three-phase 170 to 253VAC/50, 60Hz
or single-phase 207 to 253VAC/50, 60Hz Three-phase 170 to 253VAC/50, 60Hz Single-phase 85 to
127VAC/50, 60Hz
Power
supply
Permissible
frequency
fluctuation Within ±5%
Control system Sine-wave PWM control/current control system
Protective
functions
Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal relay), servo
motor overheat protection, encoder error protection, regeneration error protection,
undervoltage/instantaneous power failure protection, overspeed protection, error excessive protection
Structure Self-cooling, open (IP00) Forced cooling, open (IP00) Self-cooling, open (IP00)
Ambient
temperature 0 to 55(C (non-freezing), storage: -20 to 65(C (non-freezing)
Ambient
humidity 90%RH or less (non-condensing), storage: 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight), without corrosive gas, flammable gas, oil mist, dust and dirt
Altitude 1000m or less above sea level
Enviro
nment
Vibration 5.9m/s2 or less
Weight (kg) 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1
Note: 1. The rated output capacity and rated speed of a servo motor used with the servo amplifier assumes that the power supply
voltage and frequency are as indicated. They cannot be guaranteed when a power supply voltage drop occurs.
2. The torque characteristic of the servo amplifier used with a servo motor assumes that the voltage is three-phase 200 to
230VAC or single-phase 230VAC.
1.4 Model Name
A special number is added to the model name of the servo amplifier.
MR−J2S−A −PY091
Indicates that the servo amplifier software
conforms to this specification.
PY091: 0.05kW to 3.5kW type
S091: 5.0kW to 7.0kW type

BCN-B32110-011-6-
1.5 System Configuration
(1) When A/B/Z differential input I/F unit (MR-J2S-CLP01) is used
The A/B/Z differential input I/F unit (MR-J2S-CLP01) converts external ABZ phase pulses into a position feedback
signal that can be used for serial communication. Full closed control is enabled by connecting the output of the ABZ
differential input I/F unit to the servo amplifier encoder connector.
Note: When the MR-J2S-CLP01 is used, a linear scale without Z phase (rotary encoder) cannot be connected. Use a
linear scale that has the Z phase.
•System configuration example 1 (when ABZ pulse train-specified linear scale is used)
Controller Servo amplifier
Position
command
control
signal
CN1A
CN1B
CN2
CN2
CN1A,CN1B
Encoder signal Linear scale
A,B,Z phase output
(ALM output)
Servo motor
ABZ differential input I/F unit
MR-CLP01 General-purpose pulse
output linear scale
•System configuration example 2 (when ABZ phase pulse train-specified rotary encoder is used)
Controller Servo amplifier
Position
command
control
signal
CN1A
CN1B
CN2
CN2
CN1A,CN1B
Encoder signal Rotary encoder
A,B,Z phase output
ABZ differential input I/F unit
MR-CLP01
Servo motor
General-purpose pulse
output encoder

BCN-B32110-011-7-
(2) When A/B/Z differential input I/F unit (MR-J2S-CLP01) is not used
•System configuration example 3 (when serial communication-specified linear scale is used)
Controller Servo amplifier
Position
command
control
signal CN2
CN1A,CN1B
Encoder signal Linear scale
Serial communication signal cable
Servo motor
Serial I/F linear scale

BCN-B32110-011-8-
CHAPTER 2 LINEAR SCALES
2.1 Compatible Linear Scale List
Scale Type Maker Model Resolution Speed Communication
System
ABS type Mitutoyo AT343A
AT543A 0.05µm 2.0m/s 2 wire type
SL710
+ PL101R
+ MJ830 0.2µm 6.4m/s
Sony Precision
SH13
+MJ830 0.005µm 1.4m/s
2 wire type
RGH26P 5.0µm 4.0m/s
RGH26Q 1.0µm 3.2m/s
Mitsubishi serial
interface
compatibility INC type
Renishaw
RGH26R 0.5µm 1.6m/s
2 wire type
General-purpose
pulse train output
(MR-J2S-CLP01
used)
INC type Not specified Not
specified 2 wire type
Note: The linear scales of Heidenhain make cannot be used (including LC491M).
For the specifications and connection cable wiring examples of the linear scales, refer to the MELSERVO-J2-Super
Series Full Closed Control Compatible Instruction Manual.

BCN-B32110-011-9-
NF MC
Power supply
Three-phase
200VAC
CHAPTER 3 SIGNALS AND WIRING
3.1 Standard Connection Examples of Full Closed Control Servo Amplifier Control Signals
(1) When MR-J2S-CLP01 is used
Command pulse
Clear
Ready
In position
Encoder Z-phase pulse
(Differential line driver)
Encoder A-phase pulse
(Differential line driver)
Encoder B-phase pulse
(Differential line driver)
Encoder Z-phase pulse
(Open collector)
Emergency stop
Servo-on
Alarm reset
Proportion control
Torque limit
Forward rotation stroke end
Reverse rotation stroke end
Trouble
Zero speed
Limiting torque
Analog torque limit
Monitor output 1
Monitor output 2
CN1A
COM 9
OPC 11
PP 3
PG 13
NP 2
NG 12
CR 8
SG 10
RD 19
INP 18
SG 20
LZ 5
LZR 15
LA 6
LAR 16
LB 7
LBR 17
LG 1
OP 14
P15R 4
SD Plate
CN1B
EMG 15
SON ５
RES 14
PC 8
TL 9
LSP 16
LSN 17
SG 10
SG 20
VDD 3
COM 13
ALM 18
ZSP 19
TLC 6
P15R 11
LG 1
TLA 12
SD Plate
RS-232C
SD
RD
GND
GND
RS-422
RDP
RDN
SDP
SDN
GND
GND
CN3
2 RXD
12 TXD
1 LG
11 LG
9 SDP
19 SDN
5 RDP
15 RDN
1 LG
11 LG
10 TRE
4 MO1
3 LG
14 MO2
13 LG
Plate SD
RA1
RA4
RA3
RA5
A
A
RA2
When connecting an external
regenerative brake option,
always disconnect the link
across P-D.
L1 TE1 U
L2 V
L3 W
PE
L11 PE
L21
C TE2
D
P
U
V SM
W
E
Do not connect when using
an external
p
ower su
pp
l
y
.
Connect in the case
of the last axis.
RS-422
and
RS-232C
are
exclusive
functions.
CN2
Encoder
CN2
CN1B
MR-J2S-CLP01
CN1A
ABZ phase output
Alarm output
Standard
encoder cable
MR-J2HBUS M
Use 1M or less.
External encoder
5V input for external
encoder
Servo amplifier Servo motor
*Option unit
For the wiring method of the
MR-J2S-CLP01 part, refer to
the attached Installation
Set to CLOSE

BCN-B32110-011-10-
(2) When serial communication compatible linear scale is connected to closed end F/B
Refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual.
(3) About CN2 wiring for closed end serial communication (when MR-J2CLCBL02M-P-H is used)
Refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual.

Instructions
1. Connect the diode in the correct orientation. If it is connected oppositely, the servo amplifier will fail,
the signals will not be output, and the protective circuits such as the emergency stop may be disabled.
CAUTION
2. Always install an external emergency stop switch.
3. When connecting a regenerative brake option, always disconnect the link across D-P.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Incorrect connection of the connector can cause .
NOTICE a failure
5. The sum of the currents that will flow in the external relay should be within 80mA. If it will exceed
80mA, supply interface power from the outside.
6. When starting operation, always short the external emergency stop (EMG) and forward/reverse rotation
stroke end signals (LSP, LSN). (Normally closed contacts)
7. The signals having the same name are connected inside the servo amplifier.
MEMO 8. The trouble signal (ALM) is on in a normal status without any alarm. When it turns off (when an alarm
occurs), stop the controller signal with a sequence program.
9. Connect the shield wire to the plate (ground plate) in the connector securely.
!