MITSUBISHI

General Purpose AC SERVO

MELSERVO-J2S

2 Axis Master - Slave Operation

(Communication between amplifier)
AC servo amplifiers

MR-J2S-□□A

- Function specifications -

MITSUBISHI ELECTRIC CO.

NAGOYA -WORKS

- 1- BCN-B32110-018
 List of revisions
Ver. Description Prepared
* New

A ・ MR-J2S-□A (less than [ 200V7kW ]) production time decision of the corresponding May/12/04
version.
・ Add a postscript about the setting method of parameter No.106-109.
・ Add a postscript parameter No.54 detail
・ Add a postscript the notation of MR-J2S-□□KA4
・ Review 3. Wiring and 4. Signal connections

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 - CONTENTS-

１． Summary
２． The example of a system configuration
(1) System configuration figure
(2) Cable fabrication drawing between amplifier
３． Wiring
(1) Master axis amplifier wiring ( less than MR-J2S-700A, less than MR-J2S-700A4 )
(2) Slave axis amplifier wiring ( less than MR-J2S-700A, less than MR-J2S-700A4 )
(3) Master axis amplifier wiring ( more than MR-J2S-11kA, more than MR-J2S-11kA4)
(4) Slave axis amplifier wiring ( more than MR-J2S-11kA, more than MR-J2S-11kA4)
４． Signal Connections
(1) CN3 (less than MR-J2S-700A, less than MR-J2S-700A4 )
(2) CN3 (more than MR-J2S-11kA, ,more than MR-J2S-11kA4)
(3) CN4 (more than MR-J2S-11kA, more than MR-J2S-11kA4)
５． Parameters
(1) Parameter list
(2) Detailed explanation of the parameter
６． Alarm and warning list

1. Summary
This installation guide describes of the AC servo amplifier MR-J2S-□□A which corresponds to 2-axis
parallel operation (the master/slave function by communication between amplifier).
Refer to the following documentation together when using this amplifier.
MR-J2S-□A Installation guide, Instruction manual or
MR-J2S-□A4 Supplementary Instruction manual

<Model>
Since the model of the servo amplifier corresponding to this specification is standard model as below,
confirm with the production time by serial number and the corresponding software version. The check
method is indicated at the following page.

MR-J2S-□□A (less than 200V 7kW)

*The correspondence version is after "BCD-B26W000-B5."
It is corresponding from productions in June, 2004.

MR-J2S-□□KA/□□KA4 (more than 200V11kW / more than 400V11kW)

*The correspondence version is after "BCD-B26W058-A3."
It is corresponding from productions in February, 2004.

MR-J2S-□□A4 (less than 400V 7kW)

*The correspondence version is after "BCD-B26W064-A4."
It is corresponding from productions in May, 2004.

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* The check method after power turn on
Confirm the software number and the version using the s/w number display of the MR Configurator
(setup software) diagnostic function.
In addition, the software version can also be confirmed in the diagnostic function of servo amplifier
front display part (LED display).

* The check method by the nomenclature plate of the packing box

Confirm production time by the serial number displayed on the nomenclature plate of the packing box.

M odel
ＭＲ−Ｊ２Ｓ−□□Ａ□

A C 2 00 -2 3 0V 50 /6 0 H z
S 4□ x x x 2004/□ /□

S erial n u m b er
L ogistics n u m b er
Yea r(A D sin gle d igit)＋ M on th (10 /X ､11 /Y ､12 /Z )
R evision

* The check method by the mane plate of the amplifier

Confirm production time by the serial number displayed on the name plate of the side of the amplifier.

M odel
M IT SU B IS H I A C S E RV O

MODEL ＭＲ−Ｊ２Ｓ−□□Ａ□
POW ER：
IN P U T ：

OUTPUT：
S E R IA L ：
PASSED

S erial n u m b er： S 4 □ xxxyyy

P rod u ction seria l n u m b er
J ob n u m b er
Yea r(A D sin gle d igit)＋ M on th (10 /X ､11 /Y ､12 /Z )
R evision

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2. System Configuration
(1) System configuration figure

Positioning
Controller

Servo-ON Amp status Servo-ON Amp status

Master Amp RS422 Slave Amp MR-J2S-□□A

MR-J2S-□□A Communication*
Torque
CN3 Torque com. CN3 Control
POL
Speed limit com.

Motor
2 motor synchronous control
Motor

※ The master amplifier transmits in the direction of the slave, and the slave is reflected on
the command by a normal reception. If slave receives abnormally, master/slave
communication abnormality alarm (AL8B) occurs in the slave axis.
The transmission data are the torque command and the speed limitation command.
※ When 2-axis motors rotation direction are different, set counter direction by the pulse
rotation direction selection of parameter No.54 function selection 9(OP9) on the slave axis.

(2) Cable fabrication drawing between amplifiers

Make and use the cable that gives the following wiring for the communication between servo amplifiers
CN3.

CN3 Master CN3 Slave

TX4P 7 8 RX4P
TX4N 17 18 RX4N
RX4P 8 7 TX4P
RX4N 18 17 TX4N

LG 1 1 LG

*Note Plate SD
SD Plate

Note: This shows that the twist is done.

Use of wire: AWG24 (0.2SQ) with 2P shield

Example maker: TACHII
Form name: TKVVBS (P) series (which is used for MR-HPCATCBL)

The connector for CN3: 10120-3000VE

Case :10320-52F0-008
Maker: Sumitomo 3M

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3. Wiring
refer to the MR-J2S-□A Instruction manual for wiring other than CN3.

(1) Master axis amplifier wiring (less than MR-J2S-700A, less than MR-J2S-700A4)
MR-J2S-□A／□A4

Personal CN3
computer CN3
+ 2 RXD
Setup RS-232CI/F
12 TXD
software
11 LG

CN1A 4 MO1
Positioning Analog monitor 1
controller 3 LG
Analog monitor 2
14 MO2
13 LG Communication cable between
amplifiers
7 TX4P
17 TX4N
8 RX4P To the slave
18 RX4N
CN1B
1 LG
Plate SD

CN1A

CN1B

CN1A

CN1B

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(2) Slave axis amplifier wiring (less than MR-J2S-700A, less than MR-J2S-700A4 )
MR-J2S-□A／□A4
Positioning
controller CN1A

CN1B

CN1A

CN3
2 RXD
RS-232CI/F
12 TXD
11 LG
CN3
4 MO1
Analog monitor1
3 LG
Analog monitor2
14 MO2
13 LG

7 TX4P Communication cable between

17 TX4N amplifiers
8 RX4P
18 RX4N To the master
CN1B 1 LG
Plate SD

CN1A

CN1B

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(3) Master axis amplifier wiring (more than MR-J2S-11kA, more than MR-J2S-11kA4)
MR-J2S-□KA／□KA4

Personal CN3
CN3
computer
2 RXD
+ RS-232CI/F
Setup 12 TXD
software 11 LG Communication cable between
amplifiers
CN1A 7 TX4P
Positioning
17 TX4N
controller
8 RX4P To the slave
18 RX4N
1 LG
Plate SD

CN1B CN4
1 MO1 Analog monitor1
2 MO2 Analog monitor2

4 LG

CN1A

CN1B

CN1A

CN1B

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(4) Slave axis amplifier wiring (more than MR-J2S-11kA, more than MR-J2S-11kA4)
MR-J2S-□□KA
Positioning
controller CN1A

CN1B

CN1A
CN3
2 RXD
RS-232CI/F
12 TXD
11 LG
Communication cable between
7 TX4P amplifiers
17 TX4N
CN3 8 RX4P
18 RX4N To the master
1 LG
Plate SD

CN1B CN4
1 MO1 Analog monitor1
2 MO2 Analog monitor2

4 LG

CN1A

CN1B

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4. Signal/Terminal explanations
(1) CN3 (less than MR-J2S-700A, less than MR-J2S-700A4) *Note 1
Signal Symbol Pin No. Functions / Applications
RXD 2 RS-232C communication terminal.
RS-232C I/F
TXD 12 RS-422 and RS-232C function cannot be used together.
Control LG 11 RS232 common terminal
common
MO1 4 Monitor output signal terminal.
Analog Data specified for ch1/ch2 in parameter No.17 (MOD) is output to across
monitor MO2 14 MO1/ MO2-LG in analog form.
Resolution: 10 bits
Control LG 3,13 Monitor common terminal for MO1, MO2.
common
RS422 TX4P 7 RS422 communication terminal between amplifiers.
communicatio TX4N 17 It is connected with slave axis servo.
n between RX4P 8 RS422 communication terminal between amplifiers.
amplifiers RX4N 18 It is connected with master axis servo.
Control LG 1 RS422 communication common terminal.
common
Shield SD Plate Connect the external conductor of the shield cable.

(2) CN3 (more than MR-J2S-11kA, more than MR-J2S-11kA4) *Note1

Signal Symbol Pin No. Functions / Applications
RXD 2 RS-232C communication terminal.
RS-232C I/F
TXD 12 RS-422 and RS-232C function cannot be used together.
Control LG 11 RS232 common terminal.
common
RS422 TX4P 7 RS422 communication terminal between amplifiers.
communicatio TX4N 17 It is connected with slave axis servo.
n between RX4P 8 RS422 communication terminal between amplifiers.
amplifiers RX4N 18 It is connected with master axis servo.
Control LG 1 RS422 communication common terminal.
common
Shield SD Plate Connect the external conductor of the shield cable.

(3) CN4 (more than MR-J2S-11kA, more than MR-J2S-11kA4) *Note1

Signal Symbol Pin No. Functions / Applications
MO1 1 Monitor output signal terminal.
Analog Data specified for ch1/ch2 in parameter No.17 (MOD) is output to across
monitor MO2 2 MO1/ MO2-LG in analog form.
Resolution: 10 bits
Control LG 4 Monitor common terminal for MO1, MO2.
common

Note1: The same name signals are connected inside of the servo amplifier.

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5. Parameters
(1) Parameter list
Initial
Class No. Symbol Name and function Unit Remark
Value
0 *STY Control mode ,regenerative brake option selection 0000
1 *OP1 Function selection 1 0002
2 ATU Auto tuning 0105 (*1)
3 CMX Electronic gear numerator 1
4 CDV Electronic gear denominator 1
5 INP In-position range 100 pulse
6 PG1 Position loop gain 1 35 rad/s (*1)
7 PST 3 msec
Basic parameters

Position command acceleration/deceleration time constant (Smoothing)

8 SC1 Internal speed command 1 100 r/min
9 SC2 Internal speed command 2 500 r/min
10 SC3 Internal speed command 3 1000 r/min
11 STA Acceleration time constant 0 msec
12 STB Deceleration time constant 0 msec
13 STC S-pattern acceleration/deceleration time constant 0 msec
14 TQC Torque command time constant 0 msec
15 *SNO Station number setting 0 Office
16 *BPS Serial communication function selection, alarm history clear 0000
17 MOD Analog monitor output 0100
18 *DMD s display selection 0000
19 *BLK Parameter block 0000
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
25 VCM Analog speed command maximum speed 0 r/min
26 TLC Analog torque command maximum output 100 %
27 *ENR Encoder output pulses 4000 pulse
28 TL1 Internal torque limit 1 100 %
29 VCO Analog speed command offset 0 mV
30 TPO Analog torque command offset 0 mV
31 MO1 Analog monitor 1 offset 0 mV
Expansion parameters

32 MO2 Analog monitor 2 offset 0 mV

33 MBR Electromagnetic brake sequence output 100 msec
34 GD2 Ratio of load inertia moment to servo motor inertia moment 70 x0.1 time
35 PG2 Position loop gain 2 35 rad/s (*1)
36 VG1 Speed loop gain 1 177 rad/s (*1)
37 VG2 Speed loop gain 2 817 rad/s (*1)
38 VIC Speed integral compensation 48 msec
39 VDC Speed differential compensation 980
40 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) To make the parameter marked * valid, set the parameter and switch power off once, then switch it on
again.
(*1) It is a value less than J2S-700A.

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 Initial
Class No. Symbol Name and function Unit Remark
Value
50 For manufacturer setting 0000
51 *OP6 Function selection 6 0000
52 For manufacturer setting 0000
53 *OP8 Function selection 8 0000
54 *OP9 Function selection 9 0000
55 *OPA Function selection A 0000
56 SIC Serial communication time-out selection 0 sec
57 For manufacturer setting 10
58 NH1 Machine resonance suppression filter 1 0000
59 NH2 Machine resonance suppression filter 2 0000
60 LPF Low-pass filter, adaptive vibration suppression control 0000
61 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 70 x0.1 time
62 PG2B Position control gain 2 changing ratio 100 %
63 VG2B Speed control gain 2 changing ratio 100 %
Expansion parameters 2

64 VICB Speed integral compensation changing ratio 100 %

65 *CDP Gain changing selection 0000
66 CDS Gain changing condition 10 A setup of
CPD
67 CDT Gain changing time constant 1 msec
68 For manufacturer setting 0
69 CMX2 Command pulse multiplying factor numerator 2 1
70 CMX3 Command pulse multiplying factor numerator 3 1
71 CMX4 Command pulse multiplying factor numerator 4 1
72 SC4 Internal speed command 4 200 r/min
73 SC5 Internal speed command 5 300 r/min
74 SC6 Internal speed command 6 500 r/min
75 SC7 Internal speed command 7 800 r/min
76 TL2 Internal torque limit 2 100 %
77 100
78 10000
79 10
80 10
81 100
82 100
83 100
84 0000
106 *OPD Function Selection D 0000
107 TLS Slave side torque command coefficient 0 %
108 VLC Slave side speed limit coefficient 0 %
109 VLL The slave side speed limit offset 0 r/min
Optional parameters

Note) To make the parameter marked * valid, set the parameter and switch power off once, then switch it on
again.

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 (2) Detailed explanation of the parameter
The parameter shown in the following has described the parameter that is added and changed for master/slave
control function. Refer to the MELSERVO-J2S-A instruction manual for parameters other than the following.

Please use MR Configurator (since the edition of setup software MRZJW3-SETUP161 version F1) for the
setting of parameter No.106-109. Moreover, it is possible to set it also with the push-button. Refer to the
instruction manual for the method of operating the push-button.

Initial
Class No. Symbol Name and function Unit Remark
Value
19 *BLK Parameter block 0000 0000h
Used to select the reference and write ranges of the -
parameters. FFFFh

Value Reference parameter range Write parameter range

0000 Basic parameter (0-19) Basic parameter (0-19)
000A Only parameter No. 19 Only parameter No. 19
000B Basic parameter (0-19) Basic parameter (0-19)
Expansion parameter 1 (20-49)
000C Basic parameter (0-19) Basic parameter (0-19)
Expansion parameter 1 (20-49) Expansion parameter 1 (20-49)
Basic parameters

000E Basic parameter (0-19) Basic parameter (0-19)

Expansion parameters 1 and 2 (20-84) Expansion parameters 1 and 2 (20-84)
00AB Basic parameter (0-19) Basic parameter (0-19)
Expansion parameters 1, 2, and 3 (20-99) Expansion parameters 1, 2, and 3 (20-99)
Option card parameter (100-124) Option card parameter (100-124)
100B Basic parameter (0-19) Only parameter No. 19
100C Basic parameter (0-19) Only parameter No. 19
Expansion parameter 1 (20-49)
100E Basic parameter (0-19) Only parameter No. 19
Expansion parameters 1 and 2 (20-84)
10AB Basic parameter (0-19) Only parameter No. 19
Expansion parameters 1, 2, and 3 (20-99)
Option card parameter (100-124)
Set 00AB only when you do the setting change of parameter No.106-109. And return
it to initial value 0000 after the setting change.

54 *OP9 Function selection 9 0000 0000h

Use to select the command pulse rotation direction. -
2101h

Servo motor rotation direction changing

Expansion parameters 2

When master axis setting (parameter No.106=□□□1)

0: CCW at forward rotation pulse input /
CW at reverse rotation pulse input
1: CW at forward rotation pulse input /
CCW at reverse rotation pulse input
When slave axis setting (parameter No.106=□□□2)
0: Same direction of the master axis rotation
1: Counter direction of master axis rotation

Note) To make the parameter marked * valid, set the parameter and switch power off once, then switch it on
again.

- 13- BCN-B32110-018
 Initial
Class No. Symbol Name and function Unit Remark
Value
106 *OPD function selection D 0000 0000-
0112h

Communication selection between amplifiers

0: It doesn't use it.
1: Master axis mode selection
2: Slave axis mode selection
Option parameters

Set the control mode (STY) to torque control mode

when you select "2".

Slave mode limitation method selection

0: Master axis speed reference method
(Parameter VLC and VLL are used).
1: Internal speed limit selection method

Torque command polarity selection at slave axis

0: Same direction of torque generation as master axis
1: Counter direction of torque generation as master axis

107 TLS Slave axis torque command coefficient 0 % 0-500

Used to set the coeffcient reflected in the torque command in
internal for "torque command value" received by the
communication between amplifiers.
It becomes one time when the coefficient is 100% setting.
(Use it when the slave axis mode is specified by the communi-
cation selection between amplifiers of parameter No.106(OPD))

108 VLC Slave side speed limitation coefficient 0 % 0-500

Used to set the coefficient reflected in an internal speed
limitation value for "speed limitation value" received by the
communication between amplifiers.
It becomes one time when the coefficient is 100% setting.
(Use it when the slave axis mode is specified by the communi-
cation selection between amplifiers of parameter No.106(OPD))

109 VLL The slave axis speed limitation minimum value 0 r/min 0-32767
Used to set the minimum value of an internal speed limitation
value. The speed limitation value never becomes less than this
value.
↑
Internal speed
Speed(r/min) limitation
Speed limitation command
from master
( communication between
Speed limitation
amplifiers)
VLL command from
VLL[r/min] master×VLC[％]
0

(Use it when the slave axis mode is specified by the communi-

cation selection between amplifiers of parameter No.106(OPD))

Note) To make the parameter marked * valid, set the parameter and switch power off once, then switch it on
again.

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6. Alarm and warning list
The alarm and warning shown in the following has described the parameter that is added and changed for
master/slave control function. Refer to the MELSERVO-J2S-A instruction manual for parameters other than
the following.
Display Name Definition Cause Action
AL8B Master/ The following conditions are Communication cable Repair or change
slave occurred at master / slave control breakage. communication cable
communicat when slave axis is selected.
ion error ・ Check-Sum data error is occurred
5 times continuously.
・ Communication frame length
error is occurred 5 times
continuously.
・ SIO status error is occurred
・ 5 times continuously.
・ Master/slave communication
stopped more than 14.22msec.

AL37 Parameter Parameter setting is wrong. 1. Servo amplifier fault caused Change the servo
error the parameter setting to be amplifier.
rewritten.

2. Value other than the setting Check

range was written from the operation method.
controller

3.Axial selection Check axial selection

(communication selection) (communication
is an illegality. selection)

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