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.
!

BCN-B32110-011-11-
3.2 Signal/Terminal Explanation
(1) Main circuit terminal block, control circuit terminal block
Signal Name Abbreviation Terminal
Block Function/Application
Main circuit
power supply L1, L2, L3 TE1 Main circuit power input terminals. MR-J2S- A : Connect three-phase 200 to 230VAC/50, 60Hz.
MR-J2S- A1 : Connect single-phase 100 to 120VAC/50, 60Hz.
Servo motor
output U, V, W TE1 Servo motor power output terminals. Connect to the servo motor power supply terminals (U, V, W).
Control circuit
power supply
L11, L21 TE2 Control circuit power input terminals. L11 should be in the same power supply phase with L1, and L21 with L2.
MR-J2S- A : Connect to single-phase 200 to 230VAC/50, 60Hz.
MR-J2S- A1 : Connect to single-phase 100 to 120VAC/50, 60Hz.
Regenerative
brake option
P, C, D TE2 Regenerative brake option connection terminals. Factory-wired across P-D.
When using the regenerative brake option, always remove the wire across
P-D and connect the regenerative brake option across P-C.
N Keep open.
Protective
earth PE Chassis Ground terminal. Connect to the earth terminal of the servo motor and the protective earth
of the control box for grounding.
(2) CN1A
Signal Name Abbreviation Pin Connector
No. Function/Application
Digital I/F
power supply
input
COM 9 Input 24VDC for input interface. Digital interface driver power input terminal.
COM is all connected internally.
When using an external power supply, connect a power supply of 24VDC
and 200mA or more.
Open collector
power supply
input
OPC 11 When inputting a pulse train in the open collector system, supply 24VDC
to this terminal.
Digital I/F
common SG 10,20 24V common for VDD/COM and isolated from LG.
15VDC power
supply output P15R 4 Outputs 15VDC. The permissible current is 30mA.
Control
common LG 1 15V, 5V common terminal.
PP 3Forward
rotation pulse
train PG 13
Forward rotation pulse train input terminals.
Compatible with the open collector system and differential system.
The direction of rotation can be specified using parameter No. 54 (OP9).
NP 2Reverse
rotation pulse
train NG 12
Reverse rotation pulse train input terminals.
Compatible with the open collector system and differential system.
LA 6Encoder
A-phase pulse LAR 16
Encoder A-phase pulse output terminals.
The pulses set in parameter No. 27 (ENR) in the output type selected in
parameter No. 54 (OP9) are output in the differential line driver system.
LB 7Encoder
B-phase pulse LBR 17
Encoder B-phase pulse output terminals.
The pulses set in parameter No. 27 (ENR) in the output type selected in
parameter No. 54 (OP9) are output in the differential line driver system.
Encoder
Z-phase pulse
OP
14
Encoder Z-phase pulse output terminals.
Outputs the zero point signal of the encoder. When the zero point is
output, OP-SG are connected.
1 pulse is output per servo motor revolution.
By setting parameter No. 54 (OP9), the Z phase of the external encoder
can be output.
Shield SD Plate Connect one end of the shield wire.

BCN-B32110-011-12-
(3) CN1B
Signal Name Abbreviation Pin Connector
No. Function/Application
I/F internal
power supply
output
VDD 3 Digital interface driver power output terminal.
Connect with COM when an external power supply is not used.
24VDC is output across VDD-SG.
The permissible current is 80mA.
Digital I/F
power supply
input
COM 13 Digital interface driver power input terminal.
COM is all connected internally.
When using an external power supply, connect a power supply of
24VDC and 200mA or more to this terminal.
15VDC power
supply output P15R 11 Outputs 15VDC. The permissible current is 30mA.
Digital I/F
common SG 10,20 24V common for VDD/COM and isolated from LG.
Control
common LG 1 15V, 5V common terminal.
Emergency
stop EMG 15 Emergency stop input terminal. Opening EMG-SG enters an emergency stop status.
Short EMG-SG in the emergency stop status to leave the emergency
stop status.
Analog torque
limit TLA 12 Analog torque command input terminal. Apply 0 to +10V across TLA-LG.
Maximum torque is developed when 10V is applied.
(4) CN3
Signal Name Abbreviation Pin Connector
No. Function/Application
MO1 4Monitor
output MO2 14
Monitor output signal output terminals.
The data set in parameter No. 17 (MOD) is output in analog form.
The multiplying factor can be set in parameter No. 17 (MOD).
SDP 9
SDN 19
RDP 5
RS-422I/F
RDN 15
RS-422 communication terminals.
The RS-422 function and RS-232C function are exclusive functions.
Make selection using parameter No. 16 (BPS).
RS-422
termination TRE 10 RS-422 I/F terminating resistor terminal. Connect with RDN in the case of the last axis.
TXD 2RS-232C I/F RXD 12 RS-232C communication terminals.
Monitor
common LG 1,11 1,13 Control common for monitor.
Ground SD Plate Connect one end of the shield wire.
(5) Function device explanation (only differences between this specification and standard model)
1) Input device
Signal Name Abbreviation Function/Application
Full closed selection FCS Full closed selection signal input device.
Shorting FCS-SG selects the full closed control.
Opening them selects the semi closed control.
2) Output device
Signal Name Abbreviation Function/Application
Full closed controlling FCC Full closed controlling output device.
When the servo amplifier is configured for position control under full closed
control, FCC-SG are connected.

BCN-B32110-011-13-
CHAPTER 4 OPERATION AND FUNCTIONS
4.1 Startup
Refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual.
Since the parameter number compatibility differs from that of the MR-J2S-B-PY096, read the parameter numbers as
indicated below.
Table 4.1.1 Model-by-Model Parameter Compatibility List
Name and Function MR-J2S- A-PY091/-S091 MR-J2S- B-PY096/-S096
(Full Closed Control Compatible
Instruction Manual)
Full closed selection Parameter No. 86 Parameter No. 62
Dual F/B filter Parameter No. 97 Parameter No. 67
Serial encoder cable selection Cannot be selected. (Note 1) Parameter No. 23
Full closed electronic gear
numerator Parameter No. 89 Parameter No. 65
Full closed electronic gear
denominator Parameter No. 90 Parameter No. 66
Full closed control error detection 1 Parameter No. 87 Parameter No. 63
Full closed control error detection 2 Parameter No. 88 Parameter No. 64
Note 1: Both the servo motor encoder and closed encoder are compatible with only the two wire type
communication system.

BCN-B32110-011-14-
4.2 Home Position Return Operation
(1) About controller setting
Make setting in the controller after conversion into the motor end unit. The command unit issued from the
controller depends on the resolution of the motor end.
(2) Precautions for home position return
1) General precautions
Home position returns are all performed according to the closed end data. It is irrelevant to the Z phase
position of the motor end.
In the case of the linear scale, the home position (reference mark) of the linear scale must exist in the home
position return direction.
The dog should be installed 1/2 or more revolutions of the semi-closed end motor before the reference mark.
Example of incremental linear scale
Limit 1 Limit 2
Home position
return direction
A
llowed range: A home position
return can be made when it is
started from within this range.
Disallowed range: A home position
return cannot be made if it is started
from within this range.
To execute a home position
return securely, make
provisions, e.g. move the
axis to Limit 1 by JOG
operation.
Home position (reference
mark) of linear scale
Dog


2) About Z-phase output of absolute linear scale ( Serial I/F (ABS))
When an absolute linear scale is used, the home position return position is as shown below.
V
irtual Z phase is created per semi-closed end revolution.
Home position of linear scale 


Incompatible with the absolute position detection function. (The description applies to the case where the
absolute linear scale is used in the INC system.)
3) About Z-phase output of incremental linear scale ( Serial I/F, general-purpose pulse output (INC))
When an incremental linear scale is used, the Z phase output from the servo amplifier is provided in the
home position (reference mark) of the linear scale. Do not set more than one home position (reference mark).
Z phase output cannot be executed when there is no home position (reference mark).
Precautions for the case when the axis passes through the home position (reference mark)
Inherently, the signal ON region of the home position (reference mark) has some degree of width.
Home position signal
A
A
A
A
B
BB
B
B is recognized as
ON position. A is recognized as
ON position. 
Since the signal ON position changes depending on the home position passing direction, always start a
home position return in the same direction when it is desired to stop the axis in the same home position
return completion position every time.
Z phase is output in the home position (reference mark) of the linear scale.

BCN-B32110-011-15-
4.3 Functions
For the functions that are not described below, refer to the MELSERVO-J2-Super Series Full Closed Control
Compatible Instruction Manual.
For parameter number compatibility, refer to the Table 4.1.1 Model-by-Model Parameter Compatibility List
since the parameter number compatibility differs from that of the MR-J2S-B-PY096.
4.3.1 Test operation
Test operation can be performed using the Servo Configuration software, which runs on the personal
computer, and the servo amplifier. Test operation can also be performed similarly using the amplifier
front pushbuttons.
The full closed control compatible amplifier cannot use motor-less operation.
Function Item Usability Remarks
JOG
operation Usable Performed by the feedback of the motor encoder. It is irrelevant to the full closed encoder.
Positioning
operation Usable
Program
operation Usable
In a semi closed control/full closed control state, operation is
performed in the control mode states as set in parameter
No. 86, No. 97.
When full closed function switching is valid (semi/full
switching), semi closed control is always valid.
DO forced
output Usable Same as the standard servo function.
Test
operation
Motor-less
operation Unusable Not supported.
4.3.2 Semi/full closed control switching operation
Using the external DI signal, semi closed or full closed control can be selected for operation. Using the
parameter, pre-assign the full closed selection (FCS) function device to any DI signal.
When the full closed selection signal is changed to on or off, the droop pulses are cleared unconditionally and
closed loop control switching is executed. This switching must be executed during a servo motor stop.
When switching is performed between semi closed and full closed, the machine position and current position do
not match since the current position before switching and the current position after switching have a
discontinuous position relationship. Note that this switching cannot be used for absolute positioning, etc.
Position command
and servo motor
speed
Full closed selection
(FCS)
Full closed controlling
(FCC)
Droop pulse clearing and
closed loop switching
processing are executed.
Within 15ms Within 15ms
(Semi closed control) (Full closed control) (Semi closed
control)
(Application example)
When only the fixed-pitch stock feed section is full-closed controlled as in a roll feeder.

BCN-B32110-011-16-
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
The following indicates how to check whether the full closed-related parameter settings are normal or not and
whether the servo motor and full closed encoders operate normally or not.
Select "MR-J2S-A" in the system setting of the Servo Configuration software. Opening the batch monitor screen
displays the following screen.
3)
2) 4)
5)
6)
1)
7)
(1) Explanation of display items
The following table indicates the display items that are related to the servo motor and full closed encoders.
Symbol Name Explanation
1) Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and displayed.
Click "Clear" to reset the value to 0.
2) Command pulse frequency Position command inputs from the command controller are counted and displayed.
Click "Clear" to reset the value to 0.
3) Within-one-revolution position The within-one-revolution position of the servo motor encoder is displayed.
4) ABS counter The multi-revolution counter of the servo motor encoder is displayed.
The value is incremented or decremented by 1 per servo motor revolution.
5)
Cumulative feedback pulse( read
as Cumulative feedback pulse 2)
Caution: The name does not
match what is monitored.
Feedback pulses from the full closed encoder are counted and displayed.
The value is displayed in the pulse unit of the closed encoder.
Click "Clear" to reset the value to 0.
6)
Servo motor speed ( read as
Within-full-one-revolution position)
Caution: The name does not
match what is monitored.

The within-one-revolution position of the full closed encoder is displayed.
In the case of an INC linear scale, the Z-phase counter is displayed. The
value is counted up from 0 relative to the home position (reference mark).
The value is displayed in the pulse unit of the closed encoder.
In the case of an ABS linear scale, the virtual within-one-revolution
position (equivalent to lower 17 bits of the conversion result of 32-bit
absolute position data into the motor end unit, 0 to 131071) is displayed.
7)
Droop pulse( read as Full ABS
counter)
Caution: The name does not
match what is monitored.
The multi-revolution counter (number of revolutions from home position) of
the full closed encoder is displayed.
In the case of an ABS linear scale, the virtual multi-revolution counter
(equivalent to lower 15 bits of the conversion result of 32-bit absolute
position data into the motor end unit, 0 to 131071) is displayed.
Since the absolute position function is invalid, this model has nothing to do
with the absolute home position.

BCN-B32110-011-17-
4.4.2 When full closed compatible Servo Configuration software (MRZJW3-SETUP151E S/W: E2 version to be released)
is used
Select "MR-J2S-A full closed" in the system setting of the Servo Configuration software.
(1) Batch monitor screen
This screen is designed to display Cumulative feedback pulse 2, Within-full-one-revolution position and Full
ABS counter as formal names.
Refer to above Section 4.4.1(1) for the explanation of what are displayed.
(2) Diagnosis - full closed diagnosis screen
The position-related monitor indications and parameters on the full closed function are all displayed on a single
screen.

BCN-B32110-011-18-
[Explanation of display items and functions]
For the monitor display item, click "Start monitor" to read it continuously from the amplifier. Click "Stop
monitor" to stop read.
For the parameter item, click "Read parameter" to read it from the amplifier, and click "Write parameter"
to write.
Name Explanation
Cumulative
command pulse Commands from the host controller are counted and displayed. Click "Clear" to reset the value to 0.
Cumulative
feedback pulse Feedback pulses from the servo motor encoder are counted and displayed. Click "Clear" to reset the value to 0.
Droop pulse When the full closed function is "invalid", a deviation from the command that uses the
servo motor encoder as F/B is displayed.
When the full closed function is "valid" or "semi/full switching", a deviation from the
command that uses the closed encoder as F/B is displayed.
Cumulative
feedback pulse 2 Feedback pulses from the full closed encoder are counted and displayed. The value is displayed in the pulse unit of the closed encoder.
Click "Clear" to reset the value to 0.
Encoder data The data of the closed end encoder are displayed.
The displayed data change depending on the closed encoder type.
ID: The ID number of the encoder is displayed.
Data 1: In the case of the INC type, a counter starting at power-on is displayed.
In the case of the ABS type linear encoder, absolute position data is displayed.
In the case of the ABS type rotary encoder, a multi-revolution counter is displayed.
Data 2: In the case of the INC type, the distance (number of pulses) from the reference
mark (Z phase) is displayed.
In the case of the ABS type linear encoder, 00000000 is displayed.
In the case of the ABS type rotary encoder, a cycle counter is displayed.
Polarity A + or
- sign is displayed according to the full closed encoder polarity specified in the
full closed selection parameter.
Note: Full closed encoder polarity
+ is displayed when the setting is "0: Address increasing direction for motor CCW".
Full closed
switching device Displayed only when "semi/full switching" is selected for the full closed function. The switching device selection command state and the internal state during selection are
displayed.
Parameter The parameter related to the full closed control is displayed.
Its setting can be changed and the new value can be written to the servo amplifier.
The related parameters are as follows.
Electronic gear: Pr. 3, Pr. 4
Dual F/B filter: Pr. 97
FCM:Pr89
FCD:Pr90
Full closed selection: Pr. 86, 87, 88

BCN-B32110-011-19-
CHAPTER 5 PARAMETERS
5.1 Parameter List
Class No. Abbreviation Name Initial Value Unit Customer Setting
0 STY Control mode, regenerative brake option
selection 0000
1 OP1 Function selection 1 0002
2 ATU Auto tuning 0105
3 CMX Electronic gear numerator (Command pulse
multiplying factor numerator) 1
4 CDV Electronic gear denominator (Command pulse
multiplying factor denominator) 1
5 INP In-position range 100 pulse
6 PG1 Position loop gain 1 35 rad/s
7 PST Position command acceleration/deceleration time
constant (Position smoothing) 3 ms
Internal speed command 1 100 r/min8 SC1
Internal speed limit 1 100 r/min
Internal speed command 2 500 r/min9 SC2
Internal speed limit 2 500 r/min
Internal speed command 3 1000 r/min10 SC3
Internal speed limit 3 1000 r/min
11 STA Acceleration time constant 0 ms
12 STB Deceleration time constant 0 ms
13 STC S-pattern acceleration/deceleration time constant 0 ms
14 TQC Torque command time constant 0 ms
15 SNO Station number setting 0 Station
16 BPS Serial communication function selection, alarm
history clear 0000
17 MOD Analog monitor output 0100
18 DMD Status display selection 0000
Basic parameters
19 BLK Parameter block 0000

BCN-B32110-011-20-
Class No. Abbreviation Name Initial Value Unit Customer Setting
20 OP2 Function selection 2 0000
21 OP3 Function selection 3 (Command pulse selection) 0000
22 OP4 Function selection 4 0000
23 FFC Feed forward gain 0 %
24 ZSP Zero speed 50 r/min
Analog speed command maximum speed (Note 1)0 (r/min)25 VCM
Analog speed limit maximum speed (Note 1)0 (r/min)
26 TLC Analog torque command maximum output 100 %
27 ENR Encoder output pulses 1
28 TL1 Internal torque limit 1 100 %
Analog speed command offset (Note 2) mV29 VCO
Analog speed limit offset (Note 2) mV
Analog torque command offset 0 mV30 TLO
Analog torque limit offset 0 mV
31 MO1 Analog monitor 1 offset 0 mV
32 MO2 Analog monitor 2 offset 0 mV
33 MBR Electromagnetic brake sequence output 100 ms
34 GD2 Ratio of load inertia moment to servo motor
inertia moment 70 0.1 times
Expansion parameters 1
35 PG2 Position loop gain 2 35 rad/s
36 VG1 Speed loop gain 1 177 rad/s
37 VG2 Speed loop gain 2 817 rad/s
38 VIC Speed integral compensation 48 ms
39 VDC Speed differential compensation 980
40 For manufacturer setting 0
41 DIA Input signal automatic ON selection 0000
42 DI1 Input signal selection 1 0003
43 DI2 Input signal selection 2 (CN1B-5) 0111
44 DI3 Input signal selection 3 (CN1B-14) 0222
45 DI4 Input signal selection 4 (CN1A-8) 0665
46 DI5 Input signal selection 5 (CN1B-7) 0770
47 DI6 Input signal selection 6 (CN1B-8) 0883
48 DI7 Input signal selection 7 (CN1B-9) 0994
49 DO1 Output signal selection 1 0000
Note 1. Servo motor rated speed at the setting of "0".
2. Changes depending on the servo amplifier.