Page 1 General-Purpose AC Servo General-Purpose Interface AC Servo MODEL MR-J4-_A_(-RJ) MR-J4-03A6(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2: Safety Instructions
Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 3. To prevent injury, note the following CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor.
Page 6 CAUTION Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.
Page 7 3. It is necessary for using a direct drive motor. 4. It is necessary for using a fully closed loop system. 5. It is necessary for using an MR-J4-_A_-RJ servo amplifier in the positioning mode. 6. It is necessary for using an MR-J4-DU_A_(-RJ) drive unit and MR-CR55K_ converter unit.
Page 8 «Wiring» Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S.
Page 9 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-54 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 3 1.3 Servo amplifier standard specifications ................... 1-11 1.4 Combinations of servo amplifiers and servo motors ............... 1-17 1.5 Function list ............................1-19 1.6 Model designation ..........................
Page 11 3.7.4 Residual risks of the forced stop function (EM2) ..............3-58 3.8 Alarm occurrence timing chart ......................3-59 3.8.1 When you use the forced stop deceleration function ..............3-59 3.8.2 When you do not use the forced stop deceleration function ............. 3-60 3.9 Interfaces ............................
Page 12 5. PARAMETERS 5- 1 to 5-66 5.1 Parameter list ............................ 5- 2 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ..................5- 2 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................5- 3 5.1.3 Extension setting parameters ([Pr. PC_ _ ]) ................5- 5 5.1.4 I/O setting parameters ([Pr.
Page 13 7.3.1 Vibration tough drive function....................7-24 7.3.2 Instantaneous power failure tough drive function ..............7-26 7.4 Compliance with SEMI-F47 standard ....................7-30 7.5 Model adaptive control disabled ...................... 7-33 7.6 Lost motion compensation function ....................7-34 7.7 Super trace control .......................... 7-37 8.
Page 14 11.7.1 Specifications ........................11-54 11.7.2 System configuration ......................11-55 11.7.3 Precautions for using USB communication function ............. 11-56 11.8 Battery ............................11-57 11.8.1 Selection of battery ....................... 11-57 11.8.2 MR-BAT6V1SET battery ....................... 11-58 11.8.3 MR-BAT6V1BJ battery for junction battery cable ..............11-62 11.8.4 MR-BAT6V1SET-A battery ....................
Page 15 13.1.2 Terms related to safety ......................13- 1 13.1.3 Cautions ..........................13- 1 13.1.4 Residual risks of the STO function ..................13- 2 13.1.5 Specifications ......................... 13- 3 13.1.6 Maintenance ........................... 13- 4 13.2 STO I/O signal connector (CN8) and signal layouts ..............13- 4 13.2.1 Signal layouts .........................
Page 16 15. USING A LINEAR SERVO MOTOR 15- 1 to 15-30 15.1 Functions and configuration ......................15- 1 15.1.1 Summary ..........................15- 1 15.1.2 Configuration including peripheral equipment ............... 15- 2 15.2 Signals and wiring ......................... 15- 6 15.3 Operation and functions ........................ 15- 7 15.3.1 Startup ............................
Page 17 17.3.6 Test operation mode ......................17-20 17.3.7 Absolute position detection system under fully closed loop system ........17-21 17.3.8 About MR Configurator2 ....................... 17-22 18. MR-J4-03A6 SERVO AMPLIFIER 18- 1 to 18-84 18.1 Functions and configuration ......................18- 1 18.1.1 Summary ..........................18- 1 18.1.2 Function block diagram ......................
Page 18 18.7.4 Inrush currents at power-on of main circuit and control circuit ..........18-78 18.8 Options and peripheral equipment ....................18-79 18.8.1 Cable/connector sets ......................18-79 18.8.2 Combinations of cable/connector sets .................. 18-80 18.8.3 Selection example of wires ....................18-81 18.8.4 Circuit protector ........................18-81 18.9 Mitsubishi general-purpose AC servo protocol communication function ........
Page 19 MEMO...
Page 20: Functions And Configuration
This function provides strong support for the machine maintenance and inspection. The MR-J4-_A_ servo amplifier supports the Safe Torque Off (STO) function. By combining with optional MR-J3-D05, the servo amplifier supports Safe stop 1 (SS1) function.
Page 21 2. The MR-J4FCCBL03M branch cable is necessary. 3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A_ cannot be used. Use an MR-J4-_A_-RJ. 4. This is used with software version A5 or later. 5. Connect a thermistor to CN2.
Page 22: Function Block Diagram
1.2 Function block diagram The function block diagram of this servo is shown below. POINT The diagram shows MR-J4-_A_-RJ as an example. The MR-J4-_A_ servo amplifier does not have the CN2L connector. (1) 200 V class (a) MR-J4-500A(-RJ) or less...
Page 23 3. Servo amplifiers MR-J4-70A(-RJ) or more have a cooling fan. 4. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of the MR-J3 servo amplifiers.
Page 24 Note 1. For the power supply specifications, refer to section 1.3. 2. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 25 Note 1. For the power supply specifications, refer to section 1.3. 2. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of the MR-J3 servo amplifiers.
Page 26 Note 1. Refer to section 1.3 for the power supply specification. 2. Servo amplifiers MR-J4-200A4(-RJ) or more have a cooling fan. 3. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 27 RS-485 Note 1. Refer to section 1.3 for the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 28 RS-485 Note 1. Refer to section 1.3 for the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 29 RS-485 Note 1. The built-in regenerative resistor is not provided for MR-J4-10A1(-RJ). 2. Refer to section 1.3 for the power supply specifications. 3. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector. 1 - 10...
Page 30: Servo Amplifier Standard Specifications
Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1. Positioning mode The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later. Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection,...
Page 31 MR Configurator2. 10. The MR-J4-_A servo amplifier is compatible only with the two-wire type. The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details. 11. This value is applicable when a 3-phase power supply is used.
Page 32 Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1. Positioning mode The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later. Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection,...
Page 33 Mpulses/s or lower, change the setting in [Pr. PA13]. 5. MR-J4-_A4 servo amplifier is compatible only with two-wire type. MR-J4-_A4-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
Page 34 Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1. Positioning mode The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later. Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection,...
Page 35 MR Configurator2. 6. The MR-J4-_A servo amplifier is compatible only with the two-wire type. The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details. 7. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later.
Page 36: Combinations Of Servo Amplifiers And Servo Motors
(1) 200 V class Rotary servo motor HG-JR Linear servo motor Direct Servo amplifier (When the (primary side) drive motor HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR maximum torque is 400%) MR-J4-10A(-RJ) MR-J4-20A(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20 LM-U2PBB-07M-1SS0 MR-J4-40A(-RJ) LM-H3P2A-07P-BSS0 TM-RFM004C20 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0...
Page 37 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Rotary servo motor HG-JR Servo amplifier Linear servo motor (primary side) HG-SR HG-JR (When the maximum torque is 400%) MR-J4-60A4(-RJ) MR-J4-100A4(-RJ) 1024 1034 MR-J4-200A4(-RJ) 1524 1534 2024 2034 1034 MR-J4-350A4(-RJ) 1534 3524...
Page 38: Function List
This servo amplifier is used as a torque control servo. Section 3.6.3 Section 4.4 Used when you use an MR-J4-_A_-RJ servo amplifier in the positioning mode under the point table/program/indexer method. Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" for Positioning mode details.
Page 39 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Automatically adjusts the gain to optimum value if load applied to the servo motor Auto tuning Section 6.3 shaft varies. Used when the regenerative option cannot provide enough regenerative power. Brake unit Section 11.3 Can be used for the 5 kW or more servo amplifier.
Page 40 MR Configurator2. The analog input resolution can be increased to 16 bits. This function is available with High-resolution analog input MR-J4-_A_-RJ 100 W or more servo amplifiers manufactured in November 2014 or [Pr. PC60] (VC) later.
Page 41: Model Designation
Fully closed loop control four-wire type/ load-side encoder A/B/Z-phase input compatible Symbol Rated output [kW] Positioning mode compatible MR-J4-_A_ without a dynamic brake (Note 2) MR-J4-_A_-RJ without a dynamic brake (Note 2) MR-J4-_A_ without regenerative resistor (Note 1) MR-J4-_A_-RJ without regenerative resistor (Note 1) 0.75...
Page 42: Structure
(Note Instruction 1, 2) Manual" Optional unit connector (CN7) Connect the optional unit. It is available with MR-J4-_A-RJ (18) servo amplifiers manufactured in November 2014 or later. The MR-J4-_A servo amplifier does not have this connector. Optional unit connector (CN9) Connect the optional unit.
Page 43 1. FUNCTIONS AND CONFIGURATION Note 1. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed loop system in this manual.
Page 44 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350A(-RJ) Detailed Name/Application The broken line area is the same as explanation MR-J4-200A(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.1 Section 3.3 Connect the input power supply. Section 1.6 Rating plate Servo motor power supply connector (CNP3) Connect the servo motor.
Page 45 The servo amplifier is shown with the front cover open. The front cover cannot be removed. Detailed Name/Application The broken line area is the same as explanation MR-J4-200A(-RJ) or less. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1 Section 3.3 Main circuit terminal block (TE1) Connect the input power supply.
Page 46 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200A(-RJ) or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor. Main circuit terminal block (TE1) Used to connect the input power supply, Section 3.1...
Page 47 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200A(-RJ) or less. Power factor improving reactor terminal block (TE1- Used to connect a power factor improving DC reactor and a regenerative option. Main circuit terminal block (TE1-1) Section 3.1...
Page 48 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200A(-RJ) or less. Power factor improving reactor terminal block (TE1- Used to connect a power factor improving DC reactor and a regenerative option. Main circuit terminal block (TE1-1) Section 3.1...
Page 49 Instruction table 1.1 for the compatible external encoders. Manual" Optional unit connector (CN7) Connect the optional unit. It is available with MR-J4- (18) _A4-RJ servo amplifiers manufactured in November 2014 or later. MR-J4-_A4 servo amplifier does not have this connector.
Page 50 1. FUNCTIONS AND CONFIGURATION Note 1. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed loop system in this manual.
Page 51 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350A4(-RJ) Detailed Name/Application The broken line area is the same as explanation MR-J4-200A4(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Control circuit power supply connector (CNP2) Connect the control circuit power supply and Section 3.1...
Page 52 The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less. explanation Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1 Main circuit terminal block (TE1) Section 3.3...
Page 53 The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less. explanation Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Page 54 The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less. explanation Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC reactor and a regenerative option.
Page 55 The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less. explanation Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC reactor and a regenerative option.
Page 56 Note 1. This is for the MR-J4-_A1-RJ servo amplifier. The MR-J4-_A1 servo amplifier does not have the CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed loop system in this manual.
Page 57: Removal And Reinstallation Of The
In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. The following shows how to remove and reinstall the front cover of MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) and MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ).
Page 58 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab 1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A). the servo amplifier (2 places). Setting tab 3) Press the cover against the terminal box until the setting tabs click.
Page 59: Configuration Including Peripheral Equipment
CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) 200 V class (a) MR-J4-200A(-RJ) or less The diagram shows MR-J4-20A-RJ. R S T (Note 2) Power supply...
Page 60 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70A(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 61 4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 62 4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 63 4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 64 4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 65 4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 66 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 67 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 68 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 69 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 70 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 71 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 72 When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor. 4. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and Linear Encoder Instruction Manual for the compatible external encoders.
Page 73 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 54...
Page 74: Installation
2. INSTALLATION 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Page 75: Installation Direction And Clearances
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. For the MR-J4-500A(-RJ), the clearance between the left side and wall will be 25 mm or more.
Page 76 Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. When you install the MR-J4-500A(-RJ) on the right side, the clearance between the left side and wall will be 25 mm or more.
Page 77: Keeping Out Of Foreign Materials
2. INSTALLATION 2.2 Keeping out of foreign materials (1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or a cooling fan installed on the ceiling.
Page 78: Inspection Items
2. INSTALLATION 2.4 Inspection items Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric WARNING shock may occur.
Page 79: Parts Having Service Lives
2. INSTALLATION 2.5 Parts having service lives Service lives of the following parts are listed below. However, the service life vary depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
Page 80: Signals And Wiring
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Page 81: Input Power Supply Circuit
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.
Page 82: Class
3. SIGNALS AND WIRING 3.1.1 200 V class (1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10A(-RJ) to MR-J4-350A(-RJ) Malfunction EMG stop switch Servo amplifier Servo motor (Note 6) MCCB CNP1 (Note 10) 3-phase CNP3...
Page 83 3. SIGNALS AND WIRING (2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10A(-RJ) to MR-J4-70A(-RJ) POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's.
Page 84 3. SIGNALS AND WIRING (3) MR-J4-500A(-RJ) Malfunction EMG stop switch Servo amplifier Servo motor (Note 6) MCCB (Note 10) 3-phase (Note 5) 200 V AC to Motor 240 V AC (Note 9) (Note 1) (Note 10) (Note 3) Encoder Encoder cable...
Page 85 3. SIGNALS AND WIRING (4) MR-J4-700A(-RJ) Malfunction EMG stop switch Servo amplifier Servo motor (Note 6) MCCB (Note 10) 3-phase (Note 5) Built-in 200 V AC to Motor regenerative 240 V AC resistor (Note 2) (Note 9) (Note 10) (Note 3)
Page 86 3. SIGNALS AND WIRING (5) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ) Malfunction EMG stop switch (Note 13) Cooling fan power supply (Note 14, 15) Servo amplifier External Servo motor (Note 6) dynamic brake MCCB (optional) 3-phase (Note 10) 200 V AC to Motor 240 V AC...
Page 87: Class
3. SIGNALS AND WIRING 3.1.2 400 V class (1) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ) Malfunction Emergency stop switch (Note 11) Step-down Servo amplifier Servo motor transformer CNP1 (Note 10) (Note 6) MCCB CNP3 (Note 5) Motor 3-phase 380 V AC to 480 V AC...
Page 88 3. SIGNALS AND WIRING (2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ) Malfunction Emergency stop switch (Note 11) Step-down transformer Servo amplifier Servo motor (Note 6) MCCB (Note 10) 3-phase (Note 5) Built-in 380 V AC to Motor regenerative 480 V AC resistor (Note 2) (Note 9)
Page 89 3. SIGNALS AND WIRING (3) MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ) Malfunction (Note 13) Cooling fan Emergency stop switch (Note 11) power supply Step-down (Note 15, 16) transformer Servo amplifier Servo motor External (Note 6) dynamic brake MCCB (optional) 3-phase (Note 10) 380 V AC to...
Page 90: Class
3. SIGNALS AND WIRING 3.1.3 100 V class Malfunction EMG stop switch Servo amplifier Servo motor (Note 6) MCCB CNP1 (Note 10) 1-phase CNP3 100 V AC to (Note 5) 120 V AC Unassigned Motor Unassigned (Note 9) Unassigned CNP2 (Note 2) (Note 10) (Note 3)
Page 91: I/O Signal Connection Example
3. SIGNALS AND WIRING 3.2 I/O signal connection example 3.2.1 Position control mode (1) Sink I/O interface Servo amplifier (Note 4) 24 V DC (Note 7) (Note 4) Positioning module 24 V DC RD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6) CLEARCOM...
Page 92 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 93 3. SIGNALS AND WIRING (2) Source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 4, 14) 24 V DC (Note 7) (Note 4, 14) Positioning module 24 V DC RD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6)
Page 94: Speed Control Mode
3. SIGNALS AND WIRING 3.2.2 Speed control mode (1) Sink I/O interface Servo amplifier (Note 7) (Note 4) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 7) (Note 12) (Note 6) Main circuit power supply Zero speed Forced stop 2 (Note 3, 5)
Page 95 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 96 3. SIGNALS AND WIRING (2) Source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 7) (Note 4, 13) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 7) (Note 12) (Note 6) Main circuit power supply Zero speed...
Page 97: Torque Control Mode
3. SIGNALS AND WIRING 3.2.3 Torque control mode POINT EM2 has the same function as EM1 in the torque control mode. (1) For sink I/O interface Servo amplifier (Note 6) (Note 4) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 10)
Page 98 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 99 3. SIGNALS AND WIRING (2) For source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 6) (Note 4, 11) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 10) (Note 6) (Note 5) Main circuit power supply Zero speed...
Page 100: Explanation Of Power Supply System
100 V class servo amplifiers. Refer to section 11.11 for details. (1) 200 V class/100 V class 1) MR-J4-500A(-RJ) or less and MR-J4-40A1(-RJ) or less When using a servo amplifier built-in regenerative resistor, connect P+ and D (factory- wired).
Page 101: Power-On Sequence
3. SIGNALS AND WIRING Connection target Symbol Description (application) Supply the following power to L11 and L21. Servo amplifier MR-J4-10A(-RJ) to MR-J4-60A4(-RJ) to MR-J4-10A1 to MR-J4-22KA(-RJ) MR-J4-22KA4(-RJ) MR-J4-40A1 Power 1-phase 200 V AC to L11/L21 Control circuit power 240 V AC, 50 Hz/60 Hz...
Page 102: Wiring Cnp1, Cnp2, And Cnp3
3.3.3 Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 11.9. MR-J4-500A(-RJ) or more and MR-J4-500A4(-RJ) or more do not have these connectors. Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.
Page 103 CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL CNP2 05JFAT-SAXGDK-H5.0 AWG18 to 14 3.9 mm or shorter (c) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ) Servo amplifier (Note) CNP1 CNP2 CNP3 Note. A pin for preventing improper connection is inserted to N- of CNP1 connector. Table 3.3 Connector and applicable wire...
Page 104 3. SIGNALS AND WIRING (d) MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ) Servo amplifier CNP1 CNP2 CNP3 Table 3.4 Connector and applicable wire Applicable wire Stripped Manufa Connector Receptacle assembly Open tool length [mm] cturer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.5 CNP2 05JFAT-SAXGDK-H5.0 AWG18 to 14 3.9 mm or shorter...
Page 105 Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the CNP3 connector for MR-J4-200A(-RJ) and MR-J4- 350A(-RJ).
Page 106: Connectors And Pin Assignment
3. SIGNALS AND WIRING 3.4 Connectors and pin assignment POINT The pin assignment of the connectors are as viewed from the cable connector wiring section. For the STO I/O signal connector (CN8), refer to chapter 13. For the CN1 connector, securely connect the external conductive portion of the shielded cable to the ground plate and fix it to the connector shell.
Page 107 3. SIGNALS AND WIRING The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers. CN5 (USB connector) refer to section 11.7.
Page 108 7. This is used for source interface. Input device is not assigned by default. When using it, assign the devices with [Pr. PD43] to [Pr. PD46] as necessary. 8. These pins are available for MR-J4-_A_-RJ servo amplifiers manufactured in January 2015 or later with software version B7 or later.
Page 109: Signal (Device) Explanations
3. SIGNALS AND WIRING 3.5 Signal (device) explanations The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the control mode field of the table shows the followings.
Page 110 (Warning) turns on. When using WNG, enable it by the setting of [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. However, [Pr. PD47] is not available with MR-J4-03A6 servo amplifiers. In the torque control mode, this device cannot be used during normal operation.
Page 111 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Forward rotation CN1-18 This is used to select a servo motor torque generation directions. DI-1 selection The following shows the torque generation directions. (Note) Input device Torque generation direction Torque is not generated.
Page 112 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Proportion control CN1-17 Turn PC on to switch the speed amplifier from the proportional integral type DI-1 to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
Page 113 Turn off CLD to select the semi closed loop control, and turn on CLD to select the fully closed loop control. This device is not available with MR-J4-03A6 servo amplifiers. Turn on MECR to clear the motor-side/load-side position deviation counter...
Page 114 3. SIGNALS AND WIRING (b) Output device Control Connector mode Device Symbol Function and application pin No. division Malfunction CN1-48 When an alarm occurs, ALM will turn off. DO-1 When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.
Page 115 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Zero speed CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or less. DO-1 detection Zero speed can be changed with [Pr. PC17]. OFF level Forward 70 r/min...
Page 116 Resolution: 14 bits or equivalent For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to "_ _ 1 _" increases the analog input resolution to 16 bits. This function is available with servo amplifiers manufactured in November 2014 or later.
Page 117 3. SIGNALS AND WIRING (3) Output signal Control Connector mode Device Symbol Function and application pin No. division Encoder A- CN1-4 The encoder output pulses set in [Pr. PA15] are outputted in the differential DO-2 phase pulse line driver type. CN1-5 (differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the...
Page 118 (+) power of 24 V DC. sink interface Supply + of 24 V DC to this terminal when using CN1-10 pin and CN1-35 pin by DI. CN1-10 pin and CN1-35 pin are available for MR-J4-_A_-RJ servo amplifiers manufactured in November 2014 or later. Digital I/F DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier.
Page 119: Detailed Explanation Of Signals
Adjust the logic of a positioning module and command pulse as follows. MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning module Command pulse logic setting Signal type Positioning module MR-J4-_A_(-RJ) servo Pr. 23 setting amplifier [Pr. PA13] setting Positive logic Positive logic (_ _ 0 _) Open-collector type...
Page 120 3. SIGNALS AND WIRING The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. (ON) (ON) (ON) (OFF) (OFF) (OFF) Forward rotation pulse train (transistor) Reverse rotation pulse train (OFF)
Page 121 3. SIGNALS AND WIRING (2) INP (In-position) INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as the in-position range.
Page 122 3. SIGNALS AND WIRING (5) Torque limit If the torque limit is canceled during servo-lock, the servo motor may suddenly CAUTION rotate according to position deviation in respect to the command position. (a) Torque limit and torque By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation.
Page 123 3. SIGNALS AND WIRING (Note) Input device Enabled torque limit value Limit value status CCW power running/CW CW power running/CCW regeneration regeneration Pr. PA11 Pr .PA12 Pr. PA11 > Pr. PA11 Pr. PA12 Pr. PA12 Pr. PA11 < Pr. PA12 Pr.
Page 124: Speed Control Mode
3. SIGNALS AND WIRING 3.6.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage and the servo motor speed is as follows.
Page 125 3. SIGNALS AND WIRING (b) SP1 (Speed selection 1), SP2 (Speed selection 2), and speed command value Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows. (Note) Input device Speed command value VC (Analog speed command)
Page 126: Torque Control Mode
3. SIGNALS AND WIRING 3.6.3 Torque control mode (1) Torque limit (a) Torque command and torque The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo motor. The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13]. CCW direction Forward rotation Maximum torque...
Page 127 3. SIGNALS AND WIRING (b) Analog torque command offset Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage as follows. Maximum torque Torque [Pr. PC38] offset range -9999 mV to 9999 mV 8 (-8) TC applied voltage [V] (2) Torque limit...
Page 128 3. SIGNALS AND WIRING Normally, connect as follows. Servo amplifier (Note) 24 V DC DICOM P15R 2 kΩ 2 kΩ Japan resistor RRS10 or equivalent Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. (b) Speed limit value selection Select any of the speed settings by the internal speed limits 1 to 7 and by VLA (Analog speed limit) using SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) as follows.
Page 129: Position/Speed Control Switching Mode
3. SIGNALS AND WIRING 3.6.4 Position/speed control switching mode Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not available in the absolute position detection system. (1) LOP (control switching) Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact.
Page 130 3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as section 3.6.2 (1) (a).
Page 131: Speed/Torque Control Switching Mode
3. SIGNALS AND WIRING (c) SA (Speed reached) As in section 3.6.2 (2) 3.6.5 Speed/torque control switching mode Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode. (1) LOP (control switching) Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact.
Page 132 3. SIGNALS AND WIRING Normally, connect as follows. Servo amplifier (Note) 24 V DC DICOM P15R 2 kΩ 2 kΩ Japan resistor RRS10 or equivalent Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. (b) Speed limit value selection Select any of the speed settings by the internal speed limit 1 and by VLA (Analog speed limit) using SP1 (Speed selection 1) as follows.
Page 133: Torque/Position Control Switching Mode
3. SIGNALS AND WIRING 3.6.6 Torque/position control switching mode Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode. (1) LOP (control switching) Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact.
Page 134: Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.7 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to chapter 8.) In the torque control mode, the forced stop deceleration function is not available. When using in a system configuration where synchronous operation is performed with multiple axes, disable the forced stop deceleration function.
Page 135 3. SIGNALS AND WIRING (2) Timing chart POINT When LSP/LSN is turned on during a forced stop deceleration, the motor will stop depending on the setting of [Pr. PD30] as follows. [Pr. PD30] Stop system _ _ _ 0 Switching to sudden stop _ _ _ 1 Continuing forced stop deceleration When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr.
Page 136: Base Circuit Shut-Off Delay Time Function
3. SIGNALS AND WIRING 3.7.2 Base circuit shut-off delay time function The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and shut-off of the base circuit.
Page 137: Vertical Axis Freefall Prevention Function
3. SIGNALS AND WIRING 3.7.3 Vertical axis freefall prevention function The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case. When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop.
Page 138: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.8 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forced stop deceleration function is not available. To deactivate an alarm, cycle the control circuit power, push the "SET"...
Page 139: When You Do Not Use The Forced Stop Deceleration Function
3. SIGNALS AND WIRING (2) When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed 0 r/min Base circuit (Energy supply to the servo motor) Servo amplifier No alarm Alarm No.
Page 140: Interfaces
3. SIGNALS AND WIRING 3.9 Interfaces 3.9.1 Internal connection diagram POINT Refer to section 13.3.1 for the CN8 connector. Servo amplifier (Note 1) (Note 5) 24 V DC (Note 1) DOCOM Approx. 6.2 kΩ SON SON SON DOCOM SP2 SP2 16 INP SA PC ST1 RS2 17 TL ST2 RS1 18...
Page 141 3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 4. This is for MR-J4-_A_RJ servo amplifier. The MR-J4-_A_ servo amplifier does not have the CN2L connector. 5. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.
Page 142: Detailed Explanation Of Interfaces
3. SIGNALS AND WIRING 3.9.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is the input terminal.
Page 143 3. SIGNALS AND WIRING (2) Digital output interface DO-1 This is a circuit in which the collector side of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the collector terminal. A lamp, relay or photocoupler can be driven.
Page 144 3. SIGNALS AND WIRING (b) Open-collector type 1) Interface Servo amplifier Max. input pulse frequency 200 kpulses/s 24 V DC Approximately 1.2 kΩ 2 m or less (Note) PP, NP DOCOM Note. Pulse train input interface is comprised of a photocoupler. If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
Page 145 3. SIGNALS AND WIRING (b) Differential line driver type 1) Interface Maximum output current: 35 mA Servo amplifier Servo amplifier 100 Ω Am26LS32 or equivalent (LB, LZ) (LB, LZ) 150 Ω High-speed photocoupler (LBR, LZR) (LBR, LZR) 2) Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of [Pr.
Page 146: Source I/O Interfaces
Resolution: 10 bits or equivalent Note 1. Output voltage range varies depending on the monitored signal. 2. For MR-J4-03A6 servo amplifiers, the output voltage becomes 5 V ± 4 V. 3.9.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used.
Page 147 3. SIGNALS AND WIRING (3) Pulse train input interface DI-2 Give a pulse train signal in the open-collector type. 1) Interface Servo amplifier Max. input pulse frequency 200 kpulses/s (Note) Approx. 20 mA ≤ 1.0 V Approx. 1.2 kΩ ≤ 100 μA (Note) Approx.
Page 148: Servo Motor With An Electromagnetic Brake
3. SIGNALS AND WIRING 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) Contacts must be opened with the or MBR (Electromagnetic brake interlock) turns off.
Page 149 3. SIGNALS AND WIRING (1) Connection diagram Servo amplifier Servo motor (Note 2) (Malfaunction) 24 V DC DOCOM (Note 1) 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch. 2.
Page 150: Timing Chart
3. SIGNALS AND WIRING 3.10.2 Timing chart (1) When you use the forced stop deceleration function POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. (a) SON (Servo-on) on/off When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast.
Page 151 3. SIGNALS AND WIRING (b) Forced stop 2 on/off POINT In the torque control mode, the forced stop deceleration function is not available. (Note 2) Model speed command 0 and equal to or less than zero speed Servo motor speed 0 r/min Base circuit (Energy supply to...
Page 152 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on POINT In the torque control mode, the forced stop deceleration function is not available. Forced stop deceleration Dynamic brake Dynamic brake The time until a voltage Servo motor speed drop is detected.
Page 153 3. SIGNALS AND WIRING (c) Alarm occurrence The operation status during an alarm is the same as section 3.8. (d) Both main and control circuit power supplies off It is the same as (1) (d) of this section. (e) Main circuit power supply off during control circuit power supply on Dynamic brake Dynamic brake + Electromagnetic brake...
Page 154: Grounding
3. SIGNALS AND WIRING 3.11 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
Page 155 3. SIGNALS AND WIRING MEMO 3 - 76...
Page 156: Startup
4. STARTUP 4. STARTUP Do not operate the switches with wet hands. Otherwise, it may cause an electric WARNING shock. Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off.
Page 157: Switching Power On For The First Time
4. STARTUP 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure Check whether the servo amplifier and servo motor are wired correctly using Wiring check visual inspection, DO forced output function (section 4.5.8), etc.
Page 158: Wiring Check
4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring 1) The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specifications.
Page 159 4. STARTUP (c) When option and auxiliary equipment are used 1) 200 V class a) When you use a regenerative option for 5 kW or less servo amplifiers The lead wire between P+ terminal and D terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal.
Page 160 4. STARTUP b) When you use a regenerative option for 5 kW or more servo amplifiers For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal.
Page 161: Surrounding Environment
4. STARTUP 4.1.3 Surrounding environment (1) Cable routing (a) The wiring cables should not be stressed. (b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.) (c) The connector of the servo motor should not be stressed. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
Page 162: Stop
4. STARTUP 4.2.2 Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. Operation/command Stopping condition Switch of SON (Servo-on).
Page 163: Test Operation
4. STARTUP 4.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2.1 for the power on and off methods of the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate alone in JOG operation of test normally.
Page 164: Parameter Setting
4. STARTUP 4.2.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 165 4. STARTUP Start-up sequence Fault Investigation Possible cause Reference Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8 (Servo-on). (Note) Servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not input. Section not servo-locked.
Page 166 4. STARTUP (2) How to find the cause of position shift Controller Servo amplifier Machine (a) Output pulse Servo motor counter Electronic gear [Pr.PA05], [Pr.PA06], (d) Machine stop position M [Pr.PA07], [Pr.PA21] (b) Cumulative command pulses Cause B Cause A SON (Servo-on) input LSP/LSN (Stroke end) input Encoder...
Page 167: Startup In Speed Control Mode
4. STARTUP Check for a position mismatch in the following sequence. 1) When Q ≠ P Noise entered the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be miscounted. (Cause A) Make the following check or take the following measures. Check how the shielding is done.
Page 168: Stop
4. STARTUP 4.3.2 Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. Operation/command Stopping condition Switch of SON (Servo-on).
Page 169: Test Operation
4. STARTUP 4.3.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.3.1 for the power on and off methods of the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate alone in JOG operation of test normally.
Page 170: Parameter Setting
4. STARTUP 4.3.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 171 4. STARTUP Start-up sequence Fault Investigation Possible cause Reference Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8 (Servo-on). (Note) Servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not input. Section not servo-locked.
Page 172: Startup In Torque Control Mode
4. STARTUP 4.4 Startup in torque control mode Make a startup in accordance with section 4.1. This section provides the methods specific to the torque control mode. 4.4.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off SON (Servo-on).
Page 173: Test Operation
4. STARTUP 4.4.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.4.1 for the power on and off methods of the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate alone in JOG operation of test normally.
Page 174: Parameter Setting
4. STARTUP 4.4.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 175: Trouble At Start-Up
4. STARTUP 4.4.6 Trouble at start-up Never adjust or change the parameter values extremely as it will make unstable CAUTION movement. POINT Using the optional MR Configurator2, you can refer to reason for rotation failure, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. Start-up sequence Fault Investigation...
Page 176: Display And Operation Sections
4.5 Display and operation sections 4.5.1 Summary The MR-J4-_A_(-RJ) servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
Page 177: Display Flowchart
4. STARTUP 4.5.2 Display flowchart Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the description of the corresponding display mode. To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr.
Page 178: Status Display Mode
4. STARTUP 4.5.3 Status display mode The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears after the symbol of the status display selected in [Pr.
Page 179 4. STARTUP (b) Fully closed loop control mode Load-side encoder information 2 (Note) Cumulative feedback pulses Unit total power consumption 2 (increment of 100 kWh) Load-side encoder cumulative feedback pulses Load-side encoder droop pulses Load-side encoder information 1 (1 pulse unit) Load-side encoder information 1 (100000 pulses unit) Load-side encoder information 2...
Page 180 4. STARTUP (c) Linear servo motor control mode Electrical angle high (Note) Cumulative feedback pulses Unit total power consumption 2 (increment of 100 kWh) Z-phase counter low Z-phase counter high Electrical angle low Electrical angle high Cumulative feedback pulses Note. The displays in the frames are the standard control modes in one cycle with some displays omitted.
Page 181 4. STARTUP (2) Display examples The following table shows the display examples. Displayed data Item State Servo amplifier display Forward rotation at 2500 r/min Servo motor speed Reverse rotation at 3000 r/min Reverse rotation is indicated by "- ". Load to motor inertia ratio 7.00 times 11252 rev ABS counter -12566 rev...
Page 182 4. STARTUP (3) Status display list The following table lists the servo statuses that may be shown. Refer to appendix 7.3 (3) for the measurement point. Status display Symbol Unit Description Feedback pulses from the servo motor encoder are counted and displayed. The values in excess of ±99999 can be counted.
Page 183 4. STARTUP Status display Symbol Unit Description The estimated ratio of the load inertia moment to the servo motor shaft inertia Load to motor inertia ratio Multiplier moment is displayed. Bus voltage The voltage of main circuit converter (between P+ and N-) is displayed. Encoder inside temperature °C Inside temperature of encoder etected by the encoder is displayed.
Page 184 4. STARTUP (4) Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing [Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows. Control mode Status display Position...
Page 185: Diagnostic Mode
4. STARTUP 4.5.4 Diagnostic mode Name Display Description Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Drive recorder enabled When an alarm occurs in the status, the drive recorder will operate and write the status of...
Page 186 4. STARTUP Name Display Description Indicates the version of the software. Software version – Lower Indicates the system number of the software. Software version - Upper If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC (Analog speed command) or VLA (Analog speed limit) of 0...
Page 187: Alarm Mode
4. STARTUP 4.5.5 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 3 digits on the display indicate the alarm number that has occurred or the parameter number in error. Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of [AL.
Page 188: Parameter Mode
4. STARTUP Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the fourth digit remains flickering. (3) For any alarm, remove its cause and clear it in any of the following methods.
Page 189 4. STARTUP (2) Operation example (a) Parameters of 5 or less digits The following example shows the operation procedure performed after power-on to change the control mode to the speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to the basic setting parameter screen.
Page 190: External I/O Signal Display
Light off: off Note 1. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later. 2. This is available for MR-J4-_A_-RJ servo amplifiers manufactured in January 2015 or later with software version B7 or later. 3. CN1-10 pin and CN1-37 pin are mutually exclusive, and CN1-35 pin and CN1-38 pin are mutually exclusive.
Page 191 6. This is used for source interface. Input device is not assigned by default. When using it, assign the devices with [Pr. PD43] to [Pr. PD46] as necessary. 7. These pins are available for MR-J4-_A_-RJ servo amplifiers manufactured in January 2015 or later with software version B7 or later.
Page 192 4. STARTUP (3) Display data at initial values (a) Position control mode PC (CN1-17) NP (CN1-35)/ NP2 (CN1-38) CR (CN1-41) TL (CN1-18) RES (CN1-19) LOP (CN1-45) SON (CN1-15) PP (CN1-10)/ LSN (CN1-44) PP2 (CN1-37) EM2 (CN1-42) LSP (CN1-43) Input signal Light on: on Light off: off Output signals...
Page 193: Output Signal (Do) Forced Output
(Between CN1-24 and DOCOM are connected.) Press the "DOWN" button once. …… CN1-24 switches off. Press the "SET" button for 2 s or more. Note. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later. 4 - 38...
Page 194: Test Operation Mode
4. STARTUP 4.5.9 Test operation mode The test operation mode is designed for checking servo operation. Do not use it CAUTION for actual operation. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it. POINT The test operation mode cannot be used in the absolute position detection system by DIO ([Pr.
Page 195 4. STARTUP (2) JOG operation POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ". JOG operation can be performed when there is no command from the controller. (a) Operation The servo motor rotates while holding down the "UP"...
Page 196 4. STARTUP (3) Positioning operation POINT MR Configurator2 is required to perform positioning operation. Turn on EM2 (forced stop 2) when performing positioning operation. Positioning operation can be performed when there is no command from a controller. (a) Operation a) Motor speed [r/min] Enter the servo motor speed into the "Motor speed"...
Page 197 4. STARTUP f) Travel distance unit selection Select with the option buttons whether the travel distance set in c) is in the command pulse unit or in the encoder pulse unit. When the command input pulse unit is selected, the value, which is the set travel distance multiplied by the electronic gear, will be the command value.
Page 198 4. STARTUP (4) Motor-less operation Without connecting the servo motor, output signals or status display can be provided in response to the input device as if the servo motor is actually running. This operation can be used to check the sequence of a controller or the like.
Page 199 4. STARTUP MEMO 4 - 44...
Page 200: Parameters
Do not change parameters for manufacturer setting. Do not set a value other than the described values to each parameter. POINT The following parameters are not available with MR-J4-03A6 servo amplifiers. [Pr. PA02 Regenerative option] [Pr. PA17 Servo motor series setting] [Pr.
Page 201: Parameter List
Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive (DD) motor use For MR-J4-03A6 servo amplifiers, the operation mode is available only in standard (semi closed loop system). The symbols in the control mode column mean as follows.
Page 202 5. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PA24 AOP4 Function selection A-4 0000h PA25 OTHOV One-touch tuning - Overshoot permissible level PA26 *AOP5 Function selection A-5 0000h PA27 For manufacturer setting 0000h PA28 0000h PA29 0000h PA30 0000h PA31...
Page 203 5. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PB30 PG2B Position loop gain after gain switching [rad/s] PB31 VG2B Speed loop gain after gain switching [rad/s] PB32 VICB Speed integral compensation after gain switching [ms] PB33 VRF1B Vibration suppression control 1 - Vibration frequency after [Hz] gain switching...
Page 204 5. PARAMETERS 5.1.3 Extension setting parameters ([Pr. PC_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PC01 Acceleration time constant [ms] PC02 Deceleration time constant [ms] PC03 S-pattern acceleration/deceleration time constant [ms] PC04 Torque command time constant/thrust command time [ms] constant PC05...
Page 205 5. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PC38 Analog torque command offset [mV] Analog torque limit offset PC39 Analog monitor 1 offset [mV] PC40 Analog monitor 2 offset [mV] PC41 For manufacturer setting PC42 PC43 Error excessive alarm detection level [rev]/[mm] PC44 *COP9...
Page 206 5. PARAMETERS 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PD01 *DIA1 Input signal automatic on selection 1 0000h PD02 For manufacturer setting 0000h PD03 *DI1L Input device selection 1L 0202h PD04 *DI1H Input device selection 1H...
Page 207 5. PARAMETERS 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PE01 *FCT1 Fully closed loop function selection 1 0000h PE02 For manufacturer setting 0000h PE03 *FCT2 Fully closed loop function selection 2 0003h PE04 *FBN...
Page 208 5. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PE42 For manufacturer setting PE43 PE44 LMCP Lost motion compensation positive-side compensation value [0.01%] selection PE45 LMCN Lost motion compensation negative-side compensation value [0.01%] selection PE46 LMFLT Lost motion filter setting [0.1 ms] PE47 Torque offset...
Page 209 5. PARAMETERS 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PF01 For manufacturer setting 0000h PF02 0000h PF03 0000h PF04 PF05 PF06 0000h PF07 PF08 PF09 *FOP5 Function selection F-5 0000h PF10 For manufacturer setting...
Page 210 5. PARAMETERS 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PL01 *LIT1 Linear servo motor/DD motor function selection 1 0301h PL02 *LIM Linear encoder resolution - Numerator 1000 [µm] PL03 *LID...
Page 211: Detailed List Of Parameters
MR-J4-_A_(-RJ) servo amplifiers of which software version is A5 or later. For MR-J4-03A6 servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.
Page 212 11 kW to 22 kW is cooled by a cooling fan to increase regenerative ability. For MR-J4-03A6 servo amplifiers, this digit cannot be used when a setting value other than the initial value is set. _ x _ _ For manufacturer setting...
Page 213 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA03 _ _ _ x Absolute position detection system selection *ABS Set this digit when using the absolute position detection system in the position control mode. Absolute position 0: Disabled (incremental system) detection 1: Enabled (absolute position detection system by DIO)
Page 214 _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic Electronic gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6 servo gear amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and "J2S numerator electronic gear setting value compatibility mode (3 _ _ _)"...
Page 215 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA08 _ _ _ x Gain adjustment mode selection Select the gain adjustment mode. Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode) mode 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2...
Page 216 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA09 Set a response of the auto tuning. Machine characteristic Machine characteristic Auto tuning Guideline for Guideline for response Setting Setting machine machine value value Response Response resonance resonance frequency [Hz] frequency [Hz]...
Page 217 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA13 _ _ _ x Command input pulse train form selection *PLSS 0: Forward/reverse rotation pulse train Command 1: Signed pulse train pulse input 2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after form multiplying by four.) Refer to table 5.3 for settings.
Page 218 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA13 Table 5.3 Command input pulse train form selection *PLSS Forward rotation Reverse rotation Command Setting Pulse train form (positive direction) (negative direction) pulse input value command command form Forward rotation pulse train...
Page 219 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA14 Select the servo motor rotation direction or linear servo motor travel direction for the input pulse train. *POL Rotation Servo motor rotation direction/ direction linear servo motor travel direction Setting selection/ value...
Page 220 Set this and [Pr. PA18] at a time. *MSR Refer to the following table for settings. Servo motor series setting This parameter is not available with MR-J4-03A6 servo amplifiers. Parameter Linear servo motor Linear servo motor [Pr. PA17] [Pr. PA18]...
Page 221 Set this and [Pr. PA17] at a time. *MTY Refer to the table of [Pr. PA17] for settings. Servo motor type setting This parameter is not available with MR-J4-03A6 servo amplifiers. PA19 Select a reference range and writing range of the parameter. 00AAh *BLK Refer to table 5.4 for settings.
Page 222 You can assign MTTR (During tough drive) to the pins CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 with [Pr. Tough drive PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. For MR-J4-03A6 servo amplifiers, MTTR (during tough drive) cannot setting be assigned.
Page 223 "SEMI-F47 function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)". This parameter setting is used with servo amplifier with software version A6 or later. For MR-J4-03A6 servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.
Page 224 5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] PB01 _ _ _ x Filter tuning mode selection FILT Set the adaptive filter tuning. Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to tuning mode section 7.1.2 for details.
Page 225 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB04 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. When the super trace control is enabled, constant speed and uniform Feed forward acceleration/deceleration droop pulses will be almost 0.
Page 226 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB09 Set the gain of the speed loop. [rad/s] Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will Speed loop be liable to generate vibration and/or noise.
Page 227 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB16 Set the shape of the machine resonance suppression filter 2. NHQ2 _ _ _ x Machine resonance suppression filter 2 selection Notch shape 0: Disabled selection 2 1: Enabled _ _ x _ Notch depth selection 0: -40 dB...
Page 228 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB18 Set the low-pass filter. 3141 [rad/s] The following shows a relation of a required parameter to this parameter. Low-pass filter setting Setting range: 100 to 18000 [Pr. PB23] [Pr.
Page 229 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB24 _ _ _ x Slight vibration suppression control selection *MVS Select the slight vibration suppression control. Slight 0: Disabled vibration 1: Enabled suppression To enable the slight vibration suppression control, set "Gain adjustment mode control selection"...
Page 230 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB29 This is used to set the load to motor inertia ratio/load to motor mass ratio when gain 7.00 switching is enabled. GD2B [Multiplier] This parameter is enabled only when "Gain adjustment mode selection" is "Manual Load to motor mode (_ _ _ 3)"...
Page 231 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00 the gain switching is enabled. VRF4B This parameter will be enabled only when the following conditions are fulfilled. Vibration suppression "Gain adjustment mode selection"...
Page 232 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB45 Set the command notch filter. CNHF _ _ x x Command notch filter setting frequency selection Command Refer to table 5.6 for the relation of setting values to frequency. notch filter _ x _ _ Notch depth selection Refer to table 5.7 for details.
Page 233 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500 [Hz] To enable the setting value, set "Machine resonance suppression filter 3 selection" to "Enabled (_ _ _ 1)" in [Pr. PB47]. Machine resonance suppression...
Page 234 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB51 Set the shape of the machine resonance suppression filter 5. NHQ5 When "Robust filter selection" is "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5 is not available.
Page 235 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB56 Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled. [Hz] VRF21B When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52]. Vibration suppression This parameter will be enabled only when the following conditions are fulfilled.
Page 236 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB60 Set the model loop gain when the gain switching is enabled. [rad/s] PG1B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. Model loop This parameter will be enabled only when the following conditions are fulfilled.
Page 237 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC03 Start/stop the servo motor or linear servo motor smoothly. [ms] Set the time of the arc part for S-pattern acceleration/deceleration. S-pattern acceleration/ Speed command deceleration time constant 0 r/min (0 mm/s) Time...
Page 238 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC06 Set the speed 2 of internal speed commands. [r/min]/ [mm/s] Internal Setting range: 0 to permissible instantaneous speed speed Set the speed 2 of internal speed limits. command 2 Internal Setting range: 0 to permissible instantaneous speed...
Page 239 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC13 Set the output torque/thrust at the analog torque/thrust command voltage (TC = ±8 100.0 V) of +8 V on the assumption that the maximum torque/thrust is 100.0%. For example, set 50.0.
Page 240 1 Refer to table 5.8 or table 5.9 for settings. output _ x _ _ For manufacturer setting x _ _ _ Table 5.8 Analog monitor setting value (MR-J4-_A_(-RJ) 100 W or more) Operation mode (Note 1) Setting Item...
Page 241 Function value name digit [unit] PC14 MOD1 Table 5.9 Analog monitor setting value (MR-J4-03A6(-RJ)) Analog Setting monitor 1 Item value output Servo motor speed (5 V ± 3 V/max. speed) Torque (5 V ± 3 V/max. torque) (Note 2) Servo motor speed (5 V + 3 V/max.
Page 242 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC19 _ _ _ x Encoder output pulse phase selection *ENRS Select the encoder pulse direction. Encoder 0: A-phase 90° shift in CCW or positive direction output pulse 1: A-phase 90°...
Page 243 If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20 Encoder normal communication error 1] occurs. Setting "1" will trigger [AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4- _A_-RJ).
Page 244 This digit is not available with MR-J4-03A6 servo amplifiers. _ _ x _ Main circuit power supply selection Select a voltage to be connected to the main circuit power supply with an MR-J4- 03A6 servo amplifier. 0: 48 V DC 1: 24 V DC When using 24 V DC for the main circuit power supply, set "1"...
Page 245 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC33 To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value CMX3 compatibility mode (3 _ _ _)"...
Page 246 4. Setting "1D to 20" will trigger [AL. 37] in the mode other than the linear servo motor control mode. 5. This is not available with the MR-J4-03A6 servo amplifier. _ x _ _ Status display at power-on in corresponding control mode...
Page 247 When using a load-side encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37]. This digit is not available with MR-J4-03A6 servo amplifiers. 5 - 48...
Page 248 C-A 1: Encoder pulse decreases in the servo motor CCW or positive direction. This digit is not available with MR-J4-03A6 servo amplifiers. _ _ X _ For manufacturer setting _ X _ _ Selection of A/B/Z-phase input interface encoder Z-phase connection judgement...
Page 249 When you change parameters, perform offset adjustment with [Pr. PC37 Analog speed command offset]. The offset adjustment can be performed by executing VC automatic offset. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ, MR-J4-_A_-RU, and MR-J4-_A_-RZ will trigger [AL. 37].
Page 250 5. PARAMETERS 5.2.4 I/O setting parameters ([Pr. PD_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] PD01 Select input devices to turn on them automatically. *DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting Input signal (HEX) _ _ x _ (BIN): For manufacturer setting...
Page 251 Also, when the magnetic pole detection in the torque control mode is completed, this signal will be disabled. 4. It cannot be set with MR-J4-03A6 servo amplifiers. PD04 Any input device can be assigned to the CN1-15 pin.
Page 252 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD07 Any input device can be assigned to the CN1-17 pin. *DI3L When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-17 pin will become ABSM (ABS transfer mode).
Page 253 Always off (Note 2) CLDS Always off Always off ABSV Always off Always off Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode 2. It cannot be set with MR-J4-03A6 servo amplifiers. 5 - 54...
Page 254 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD24 _ _ x x Device selection *DO2 Any output device can be assigned to the CN1-23 pin. Output device When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in selection 2 [Pr.
Page 255 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD30 _ _ _ x Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off *DOP1 Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse Function rotation stroke end) off.
Page 256 Any input device can be assigned to the CN1-10 pin/CN1-37 pin. *DI11L Setting "00" will assign PP/PP2 (forward rotation pulse). Input device The parameter is available for the following MR-J4-_A_-RJ servo amplifiers. selection 11L 1) For 100 W or more CN1-10 pin: Servo amplifiers with software version B3 or later...
Page 257 PD47 Any output device can be assigned to the CN1-13 pin and CN1-14 pin. *DO7 This parameter is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later. Output device This parameter is not available with MR-J4-03A6 servo amplifiers.
Page 258 [AL. 37] while "absolute position detection system selection" is "Enabled (absolute position detection system by DIO) (_ _ _ 1)" in [Pr. PA03] . This digit is not available with MR-J4-03A6 servo amplifiers. _ _ x _ For manufacturer setting...
Page 259 Set the electronic gear so that the number of servo motor encoder pulses for one Fully closed servo motor revolution is converted to the resolution of the load-side encoder. loop control - Feedback This parameter is not available with MR-J4-03A6 servo amplifiers. pulse electronic Setting range: 1 to 65535 gear 1 -...
Page 260 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PE41 _ _ _ x Robust filter selection EOP3 0: Disabled Function 1: Enabled selection E-3 When you select "Enabled" of this digit, the machine resonance suppression filter 5 set in [Pr.
Page 261 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PE50 Set the lost motion compensation non-sensitive band. When the model position droop is the setting value or less, the speed will be 0. Setting can be changed in [Pr. LMCT [pulse]/ PE48].
Page 262 CVAT To disable the parameter, set "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20]. SEMI-F47 function - This parameter is not available with MR-J4-03A6 servo amplifiers. Instantaneous power failure Setting range: 30 to 200 detection time...
Page 263 5. PARAMETERS 5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) POINT Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6 servo amplifiers. Control Initial No./symbol/ Setting mode Function value name digit...
Page 264 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PL05 Set the position deviation error detection level of the servo control error detection. [mm]/ When the deviation between a model feedback position and actual feedback position [0.01 is larger than the setting value, [AL.
Page 265 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PL17 _ _ _ x Response selection LTSTS Set a response of the minute position detection method. Magnetic pole When reducing a travel distance at the magnetic pole detection, increase the setting detection - value.
Page 266: Normal Gain Adjustment 6- 1 To
6. NORMAL GAIN ADJUSTMENT 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly.
Page 267: Adjustment Using Mr Configurator2
6. NORMAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage Start Interpolation 2 gain adjustment mode 1 made for 2 or more (interpolation mode) axes? The load fluctuation is large during driving? One-touch tuning Handle the error Error handling Finished normally? Auto tuning mode 1 is possible? Adjustment OK?
Page 268: One-Touch Tuning Flowchart
6. NORMAL GAIN ADJUSTMENT 6.2 One-touch tuning POINT When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). You can execute the one-touch tuning with MR Configurator2 or push buttons. The following parameters are set automatically with one-touch tuning.
Page 269 6. NORMAL GAIN ADJUSTMENT (2) When you use push buttons Make one-touch tuning as follows. Start Startup a system referring to chapter 4. Startup of the system Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the Operation servo motor is not operating.) Push the "MODE"...
Page 270: Display Transition And Operation Procedure Of One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.2 Display transition and operation procedure of one-touch tuning (1) When you use MR Configurator2 (a) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system.
Page 271 6. NORMAL GAIN ADJUSTMENT Response Machine characteristic mode Response Low mode Basic mode High mode Guideline of corresponding machine Low response Arm robot General machine tool conveyor Precision working machine Inserter Mounter Bonder High response 6 - 6...
Page 272 6. NORMAL GAIN ADJUSTMENT (b) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shorten the settling time and improve the response.
Page 273 6. NORMAL GAIN ADJUSTMENT (c) One-touch tuning execution During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code. (d) If an error occur If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated.
Page 274 6. NORMAL GAIN ADJUSTMENT (g) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear. Pushing "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button.
Page 275 6. NORMAL GAIN ADJUSTMENT (2) When you use push buttons POINT Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the response mode selection ("AUTO.") without going through the initial screen of the one-touch tuning ("AUTO"). (a) Response mode selection Select a response mode of the one-touch tuning from 3 modes with "UP"...
Page 276 6. NORMAL GAIN ADJUSTMENT (c) One-touch tuning execution Stop symbol The one-touch tuning mode can be stopped by pushing the "SET" button regardless of displayed item. 2 s interval The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns with 2 s interval.
Page 277 6. NORMAL GAIN ADJUSTMENT (f) If a warning occur One-touch tuning in progress If a warning occurs during tuning, the alarm No. of the warning will be displayed. When the warning is one which continue the motor driving, the one-touch tuning will be continued.
Page 278: Caution For One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.3 Caution for one-touch tuning (1) The tuning is not available in the torque control mode. (2) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring. (3) You can execute the one-touch tuning during the following test operation modes marked by "○".
Page 279: Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 280: Auto Tuning Mode Basis
6. NORMAL GAIN ADJUSTMENT 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Load moment Automatic setting of inertia Encoder Loop gain Command Current PG1, PG2, control VG2, VIC Servo motor Current feedback Real-time Position/speed Set 0 or 1 to turn on.
Page 281: Adjustment Procedure By Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 282: Response Level Setting In Auto Tuning Mode
6. NORMAL GAIN ADJUSTMENT 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
Page 283: Manual Mode
6. NORMAL GAIN ADJUSTMENT 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
Page 284 6. NORMAL GAIN ADJUSTMENT (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 285 6. NORMAL GAIN ADJUSTMENT (b) Adjustment procedure Step Operation Description Brief-adjust with auto tuning. Refer to section 6.2.3. Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). Set the estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.) Set a slightly smaller value to the model loop gain and the...
Page 286: Gain Adjustment Mode
6. NORMAL GAIN ADJUSTMENT 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the value increases the response level to the disturbance, but a too high value will increase vibration of the mechanical system.
Page 287 6. NORMAL GAIN ADJUSTMENT (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr.
Page 288 6. NORMAL GAIN ADJUSTMENT (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but a too high value will make overshoot liable to occur at settling. The droop pulses value is determined by the following expression.
Page 289 6. NORMAL GAIN ADJUSTMENT MEMO 6 - 24...
Page 290: Special Adjustment Functions
Load to motor inertia ratio → Load to motor mass ratio Torque → Thrust (Servo motor) speed → (Linear servo motor) speed 7.1 Filter setting The following filters are available with MR-J4 servo amplifiers. Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46] control...
Page 291 7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.1 Machine resonance suppression filter POINT The machine resonance suppression filter is a delay factor for the servo system. Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide. If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order.
Page 292 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Frequency Notch width...
Page 293 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter (a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 294 7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.2 Adaptive filter II POINT The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.
Page 295 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set [Pr. PB01] to "_ _ _ 1".) Tuning ends automatically after the If assumption fails after tuning is executed at a large vibration or predetermined period of time.
Page 296 7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or setting [Pr.
Page 297 7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a default.
Page 298: Advanced Vibration Suppression Control Ii
7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate. Servo motor side Servo motor side Load side Load side...
Page 299 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
Page 300 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.
Page 301 7. SPECIAL ADJUSTMENT FUNCTIONS Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr. PB02]. Step 2 Set "Vibration suppression control - Vibration frequency"...
Page 302: Command Notch Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.6 Command notch filter POINT By using the advanced vibration suppression control II and the command notch filter, the load-side vibration of three frequencies can be suppressed. The frequency range of machine vibration, which can be supported by the command notch filter, is between 4.5 Hz and 2250 Hz.
Page 303 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side. [Pr. PB45] Notch depth Command notch filter setting frequency Depth Setting Setting...
Page 304: Gain Switching Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use an input device to switch gains during operation. 7.2.1 Applications The following shows when you use the function. (1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.
Page 305: Function Block Diagram
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
Page 306: Parameter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.3 Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Page 307 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/ PB06 Load to motor inertia ratio/ PB29 GD2B Load to motor inertia ratio/ load to motor mass ratio load to motor mass ratio load to motor mass ratio Model loop gain...
Page 308 7. SPECIAL ADJUSTMENT FUNCTIONS (c) [Pr. PB29 Load to motor inertia ratio after gain switching] Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio]. (d) [Pr.
Page 309: Gain Switching Procedure
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by input device (CDP) (a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to motor 4.00 [Multiplier] mass ratio...
Page 310 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart CDP (gain switching) After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Model loop gain → → Load to motor inertia ratio/load to motor 4.00 → 10.00 → 4.00 mass ratio Position loop gain →...
Page 311 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Command pulses Droop pulses Command pulses +CDL Droop pulses [pulse] -CDL After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Load to motor inertia ratio 4.00 → 10.00 → 4.00 →...
Page 312 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
Page 313: Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.
Page 314 7. SPECIAL ADJUSTMENT FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is reset with vibration Filter...
Page 315: Instantaneous Power Failure Tough Drive Function
PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs. The MR-J4-03A6 servo amplifier is not compatible with instantaneous power failure tough drive. 7 - 26...
Page 316 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr.
Page 317 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. (a) When the bus voltage decrease lower than undervoltage level within the instantaneous power failure time of the control circuit power supply [AL.
Page 318 7. SPECIAL ADJUSTMENT FUNCTIONS (b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power failure time of the control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply Control circuit power supply...
Page 319: Compliance With Semi-F47 Standard
7.4 Compliance with SEMI-F47 standard POINT The control circuit power supply of the MR-J4-_A_(-RJ) 100 W or more servo amplifier can comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation.
Page 320 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Requirements conditions of SEMI-F47 standard Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard. Table 7.2 Requirements conditions of SEMI-F47 standard Permissible time of Instantaneous power instantaneous power failure voltage failure [s] Rated voltage ×...
Page 321 = rated voltage × 50%, instantaneous power failure time = 200 ms) Tolerance against Instantaneous maximum instantaneous Servo amplifier model output [W] power failure [W] (voltage drop between lines) MR-J4-10A(-RJ) MR-J4-20A(-RJ) MR-J4-40A(-RJ) 1400 MR-J4-60A(-RJ) 2100 MR-J4-70A(-RJ) 2625 1150...
Page 322: Model Adaptive Control Disabled
7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. This is used with servo amplifiers with software version B4 or later.
Page 323: Lost Motion Compensation Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.6 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.
Page 324 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
Page 325 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated.
Page 326: Super Trace Control
7. SPECIAL ADJUSTMENT FUNCTIONS 7.7 Super trace control (1) Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/deceleration cannot be suppressed.
Page 327 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Adjustment procedure POINT In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition selection" in [Pr. PD31] to " _ 1 _ _". When you use the super trace control, it is recommended that the acceleration time constant up to the rated speed be set to 1 s or more.
Page 328: Troubleshooting
8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
Page 329: Alarm List
8. TROUBLESHOOTING 8.2 Alarm list Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 10.1 Voltage drop in the control circuit power Undervoltage 10.2 Voltage drop in the main circuit power 12.1 RAM error 1 12.2...
Page 330 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 21.1 Encoder data error 1 21.2 Encoder data update error 21.3 Encoder data waveform error Encoder normal 21.4 Encoder non-signal error communication error 2...
Page 331 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note Alarm 2, 3) reset power (Bit 2) (Bit 1) (Bit 0) 42.1 Servo control error by position deviation (Note 4) Servo control error 42.2 Servo control error by speed deviation (Note 4) (for linear servo motor and direct drive motor)
Page 332 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 63.1 STO1 off STO timing error 63.2 STO2 off Load-side encoder initial communication - Receive 70.1 data error 1 Load-side encoder initial communication - Receive 70.2...
Page 333 2. The following shows three stop methods of DB, EDB, and SD. DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6. Note that EDB is applied when an alarm below occurs: [AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2] EDB: Electronic dynamic brake stop (available with specified servo motors) Refer to the following table for the specified servo motors.
Page 334: Warning List
2. The following shows two stop methods of DB and SD. DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6. SD: Forced stop deceleration 3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
Page 335 8. TROUBLESHOOTING MEMO 8 - 8...
Page 336: Outline Drawings
9. OUTLINE DRAWINGS 9.1 Servo amplifier POINT Only MR-J4-_A_-RJ are shown for dimensions. MR-J4-_A_ does not have CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_A_ are the same as those of MR-J4-_A_-RJ except CN2L, CN7 and CN9 connectors. 9 - 1...
Page 337 9 OUTLINE DRAWINGS (1) 200 V class (a) MR-J4-10A(-RJ)/MR-J4-20A(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob With MR-BAT6V1SET Approx. 69.3 Approx. 38.5 Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 338 9 OUTLINE DRAWINGS (b) MR-J4-40A(-RJ)/MR-J4-60A(-RJ) [Unit: mm] φ 6 mounting hole Approx. 80 Lock knob With MR-BAT6V1SET Approx. 69.3 Approx. 38.5 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx. 40 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 339 9 OUTLINE DRAWINGS (c) MR-J4-70A(-RJ)/MR-J4-100A(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust Cooling fan air intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 1.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 340 9 OUTLINE DRAWINGS (d) MR-J4-200A(-RJ) [Unit: mm] φ6 mounting hole Lock knob Approx. 80 Exhaust Cooling fan Approx. air intake 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 341 9 OUTLINE DRAWINGS (e) MR-J4-350A(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust Cooling fan Approx. air intake 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.3 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 342 9 OUTLINE DRAWINGS (f) MR-J4-500A(-RJ) [Unit: mm] Approx. 25 Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Mass: 4.0 [kg] Mounting screw Terminal Screw size: M5 Screw size: M3.5 Tightening torque: 3.24 [N•m] Tightening torque: 0.8 [N•m] Approx.
Page 343 9 OUTLINE DRAWINGS (g) MR-J4-700A(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.2 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 344 9 OUTLINE DRAWINGS (h) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 224.2 57.9 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 345 9 OUTLINE DRAWINGS (i) MR-J4-22KA(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 Intake 188.5 22.8 With 223.4 59.9 127.5 MR-BAT6V1SET 235.4 Mass: 18.2 [kg] Mounting screw Terminal Screw size: M10 Tightening torque: 3.24 [N•m]...
Page 346 9 OUTLINE DRAWINGS (2) 400 V class (a) MR-J4-60A4(-RJ)/MR-J4-100A4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 1.7 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 60...
Page 347 9 OUTLINE DRAWINGS (b) MR-J4-200A4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust Cooling fan Approx. air intake 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 90...
Page 348 9 OUTLINE DRAWINGS (c) MR-J4-350A4(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 Lock knob Cooling fan exhaust CNP1 CNP2 CNP3 With MR-BAT6V1SET Intake Mass: 3.6 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 105 Approx.
Page 349 9 OUTLINE DRAWINGS (d) MR-J4-500A4(-RJ) [Unit: mm] Approx. 28 Approx. 80 Approx. 200 Approx. 28 Cooling fan exhaust With Intake MR-BAT6V1SET Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 4.3 [kg] Mounting screw...
Page 350 9 OUTLINE DRAWINGS (e) MR-J4-700A4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.5 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 351 9 OUTLINE DRAWINGS (f) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 224.2 57.9 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 352 9 OUTLINE DRAWINGS (g) MR-J4-22KA4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 Intake 188.5 22.8 With 223.4 59.9 127.5 MR-BAT6V1SET 235.4 Mass: 18.2 [kg] Mounting screw Terminal Screw size: M10 Tightening torque: 3.24 [N•m]...
Page 353 9 OUTLINE DRAWINGS (3) 100 V class (a) MR-J4-10A1(-RJ)/MR-J4-20A1(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Approx. 69.3 With MR-BAT6V1SET Approx. 38.5 Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 354 9 OUTLINE DRAWINGS (b) MR-J4-40A1(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob With MR-BAT6V1SET Approx. 69.3 Approx. 38.5 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx. 40 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 355: Connector
9 OUTLINE DRAWINGS 9.2 Connector (1) Miniature delta ribbon (MDR) system (3M) (2) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Variable dimensions Connector Shell kit 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 (b) Jack screw M2.6 type This is not available as option.
Page 356 9 OUTLINE DRAWINGS (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 9 - 21...
Page 357 9 OUTLINE DRAWINGS MEMO 9 - 22...
Page 358: Characteristics
10. CHARACTERISTICS 10. CHARACTERISTICS POINT For the characteristics of the linear servo motor and the direct drive motor, refer to sections 15.4 and 16.5. 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.
Page 359 10. CHARACTERISTICS The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph of overload HG-JR protection HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR (When the maximum characteristics torque is 400%) Characteristics a Characteristics b Characteristics c Characteristics d...
Page 360 10. CHARACTERISTICS The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%] Characteristics a Characteristics b 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 3) (Note 1, 3) Load ratio [%] Load ratio [%]...
Page 361 10. CHARACTERISTICS 10000 1000 Operating Servo-lock (Note 1) Load ratio [%] Characteristics e Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Page 362: Power Supply Capacity And Generated Loss
Power supply Servo amplifier Servo motor heat dissipation in the cabinet capacity At rated output With servo-off when cooled [kVA] outside the cabinet] (Note 3) HG-MR053 HG-MR13 MR-J4-10A(-RJ) HG-KR053 HG-KR13 HG-MR23 MR-J4-20A(-RJ) HG-KR23 HG-MR43 MR-J4-40A(-RJ) HG-KR43 HG-SR52 MR-J4-60A(-RJ) HG-SR51 HG-JR53 HG-MR73...
Page 363 Servo amplifier Servo motor heat dissipation in the cabinet capacity At rated output With servo-off when cooled [kVA] outside the cabinet] (Note 3) HG-JR903 HG-JR11K1M 11.0 MR-J4-11KA(-RJ) HG-JR801 HG-JR12K1 11.5 HG-JR15K1M 13.0 MR-J4-15KA(-RJ) HG-JR15K1 12.8 HG-JR22K1M 17.0 MR-J4-22KA(-RJ) HG-JR20K1 16.0 HG-JR25K1 19.0...
Page 364 10. CHARACTERISTICS (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C. (With an approximately 5 °C safety margin, the system should operate within a maximum 55 °C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.
Page 365: Dynamic Brake Characteristics
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency. Servo motors for MR-J4 may have the different coasting distance from that of the previous model. The electronic dynamic brake operates in the initial state for the HG series servo motors of 600 W or smaller capacity.
Page 366 10. CHARACTERISTICS (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. (a) 200 V class 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min] Speed [r/min] HG-MR series HG-KR series 152 502 750 1000 1250 1500...
Page 367 10. CHARACTERISTICS 1000 1500 2000 Speed [r/min] HG-UR series (b) 400 V class 15K14 3524 25K14 12K14 2024 20K14 8014 5024 1024 6014 7024 1000 1500 2000 1524 Speed [r/min] 500 1000 1500 2000 2500 3000 Speed [r/min] HG-SR series HG-JR1000 r/min series 7034 9034...
Page 368: Permissible Load To Motor Inertia When The Dynamic Brake Is Used
10. CHARACTERISTICS 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
Page 369: Cable Bending Life
10. CHARACTERISTICS 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 × 10 5 × 10 1 × 10 Long bending life encoder cable 5 ×...
Page 370: Inrush Currents At Power-On Of Main Circuit And Control Circuit
The following shows the inrush currents (reference data) that will flow when 240 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. When you use a 1-phase 200 V AC power supply with MR-J4-10A(-RJ) to MR-J4-70A(-RJ), the inrush currents of the main circuit power supply are the same.
Page 371 Inrush currents (A Servo amplifier Main circuit power supply Control circuit power supply (L1, L2 and L3) (L11 and L21) MR-J4-60A4(-RJ) 65 A (attenuated to approx. 5 A in 10 ms) MR-J4-100A4(-RJ) 40 A to 50 A 80 A MR-J4-200A4(-RJ) (attenuated to approx.
Page 372: Options And Auxiliary Equipment
11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 373: Combinations Of Cable/Connector Sets
11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.1 Combinations of cable/connector sets For MR-J4-_A_ servo amplifier Operation panel Personal computer Servo amplifier Servo amplifier Controller (Packed with the servo amplifier) (Note 1) CNP1 Safety logic unit MR-J3-D05 (Note 2) CNP2 CN10 CNP3...
Page 374 11. OPTIONS AND AUXILIARY EQUIPMENT For MR-J4-_A_-RJ servo amplifier Operation panel Personal computer Servo amplifier Servo amplifier Controller (Packed with the servo amplifier) (Note 1) CNP1 Safety logic unit MR-J3-D05 (Note 2) CNP2 CN10 CNP3 Battery CN2L Battery unit MR-BT6VCASE and...
Page 375 11. OPTIONS AND AUXILIARY EQUIPMENT Name Model Description Remark Servo amplifier Supplied power connector with 200 V class and 100 V class servo CNP1 Connector: CNP2 Connector: CNP3 Connector: amplifiers 06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 of 1 kW or (JST) (JST) (JST) less.
Page 376 11. OPTIONS AND AUXILIARY EQUIPMENT Name Model Description Remark Monitor cable MR-J3CN6CBL1M CN6 connector 3 (Red) Cable length: 1 m Housing: 51004-0300 2 (White) Terminal: 50011-8100 1 (Black) (Molex) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection cable for (TE Connectivity) the CN8 connector Short-circuit...
Page 377: Mr-D05Udl3M-B Sto Cable
11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Application MR-D05UDL3M-B Connection cable for the CN8 connector (1) Configuration diagram Servo amplifier MR-D05UDL3M-B (2) Internal wiring diagram CN8 connector (Note) Yellow (with black dots)
Page 378: Battery Cable/Junction Battery Cable
11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.3 Battery cable/junction battery cable (1) Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable length Cable model Bending life...
Page 379: Regenerative Options
MR-RB50 MR-RB5N MR-RB51 regenerative [40 Ω] [40 Ω] [13 Ω] [9 Ω] [6.7 Ω] [40 Ω] resistor [13 Ω] [9 Ω] [6.7 Ω] MR-J4-10A (-RJ) MR-J4-20A (-RJ) MR-J4-40A (-RJ) MR-J4-60A (-RJ) MR-J4-70A (-RJ) MR-J4-100A (-RJ) MR-J4-200A (-RJ) MR-J4-350A (-RJ)
Page 380 RB34-4 RB54-4 RB3U-4 RB5U-4 resistor [82 Ω] [120 Ω] [47 Ω] [47 Ω] [26 Ω] [26 Ω] [22 Ω] [22 Ω] MR-J4-60A4(-RJ) MR-J4-100A4(-RJ) MR-J4-200A4(-RJ) MR-J4-350A4(-RJ) MR-J4-500A4(-RJ) MR-J4-700A4(-RJ) (Note 2) Regenerative power [W] External Servo amplifier MR-RB5K-4 MR-RB6K-4 regenerative resistor [10 Ω] [10 Ω]...
Page 381: Selection Of Regenerative Option
11. OPTIONS AND AUXILIARY EQUIPMENT 11.2.2 Selection of regenerative option (1) Rotary servo motor and direct drive motor Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (a) Regenerative energy calculation tf (1 cycle) Time...
Page 382 The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Inverse Capacitor Inverse Capacitor Servo amplifier Servo amplifier efficiency [%] charging [J] efficiency [%] charging [J] MR-J4-10A(-RJ) MR-J4-60A4(-RJ) MR-J4-20A(-RJ) MR-J4-100A4(-RJ) MR-J4-40A(-RJ) MR-J4-200A4(-RJ) MR-J4-60A(-RJ) MR-J4-350A4(-RJ) MR-J4-70A(-RJ) MR-J4-500A4(-RJ) MR-J4-100A(-RJ) MR-J4-700A4(-RJ)
Page 383 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Linear servo motor (a) Thrust and energy calculation Liner servo motor Feed speed secondary-side (magnet) Load Positive direction Time Negative Liner servo motor direction primary-side (coil) Liner servo motor psa1 psd1 psa2 psd2 The following shows equations of the linear servo motor thrust and energy at the driving pattern above.
Page 384: Parameter Setting
11. OPTIONS AND AUXILIARY EQUIPMENT 11.2.3 Parameter setting Set [Pr. PA02] according to the option to be used. [Pr. PA02] Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
Page 385 11. OPTIONS AND AUXILIARY EQUIPMENT (1) MR-J4-500A(-RJ) or less/MR-J4-350A4(-RJ) or less Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 386 11. OPTIONS AND AUXILIARY EQUIPMENT (2) MR-J4-500A4(-RJ)/MR-J4-700A(-RJ)/MR-J4-700A4(-RJ) Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 387 11. OPTIONS AND AUXILIARY EQUIPMENT (3) MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ)/MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ) (when using the supplied regenerative resistor) The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protect cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock.
Page 388 22KA4-PX/MR-J4-11KA4-RZ to MR-J4-22KA4-RZ (when using the regenerative option) The MR-J4-11KA-PX to MR-J4-22KA-PX, MR-J4-11KA-RZ to MR-J4-22KA-RZ, MR-J4-11KA4-PX to MR-J4-22KA4-PX, and MR-J4-11KA4-RZ to MR-J4-22KA4-RZ servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the regenerative option MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.
Page 389: Dimensions
11. OPTIONS AND AUXILIARY EQUIPMENT When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. MR-RB5R/MR-RB9F/MR-RB9T/ MR-RB5K-4/MR-RB6K-4 Bottom Cooling fan × 2 (1.0 m /min or more, 92 mm × 92 mm) G4 G3 C Mounting screw 4-M3 11.2.5 Dimensions...
Page 390 11. OPTIONS AND AUXILIARY EQUIPMENT (2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm] Terminal block Cooling fan mounting screw (2-M4 screw) Terminal screw size: M4 Tightening torque: 1.2 [N•m] 101.5 82.5 Mounting screw Screw size: M5 Air intake Tightening torque: 5.4 [N•m] Variable Regenerative Mass dimensions option...
Page 391 11. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-RB032 [Unit: mm] TE1 terminal block 6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 0.5 [kg] Approx.
Page 392 11. OPTIONS AND AUXILIARY EQUIPMENT (6) MR-RB1H-4 [Unit: mm] Terminal φ6 mounting hole Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] Approx. 24 (7) GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω...
Page 393: Fr-Bu2-(H) Brake Unit
11. OPTIONS AND AUXILIARY EQUIPMENT 11.3 FR-BU2-(H) Brake unit POINT Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier.
Page 394: Selection
Number of continuous resistance amplifier Brake unit Resistor unit connected power units [Ω] (Note 3) [kW] 200 V FR-BU2-15K FR-BR-15K 0.99 MR-J4-500A(-RJ) class (Note 1) 2 (parallel) 1.98 MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) FR-BU2-30K FR-BR-30K 1.99 MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) FR-BU2-55K FR-BR-55K 3.91...
Page 395: Connection Example
11. OPTIONS AND AUXILIARY EQUIPMENT 11.3.3 Connection example POINT EM2 has the same function as EM1 in the torque control mode. Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
Page 396 11. OPTIONS AND AUXILIARY EQUIPMENT 2) 400 V class Emergency stop switch Step-down transformer Servo amplifier (Note 9) 24 V DC (Note 12) MCCB (Note 1) DOCOM Power supply DOCOM (Note 11) FR-BR-H (Note 5) (Note 10) Main circuit power supply (Note 3) FR-BU2-H (Note 4)
Page 397 11. OPTIONS AND AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Page 398 11. OPTIONS AND AUXILIARY EQUIPMENT Emergency stop switch Servo amplifier (Note 11) 24 V DC (Note 14) MCCB (Note 1) DOCOM Power supply DOCOM (Note 13) FR-BR (Note 5) (Note 12) (Note 3) Main circuit FR-BU2 power supply (Note 10) (Note 9) (Note 4) (Note 7)
Page 399 11. OPTIONS AND AUXILIARY EQUIPMENT Note 1. For power supply specifications, refer to section 1.3. 2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
Page 400 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit (a) 200 V class Emergency stop switch Servo amplifier (Note 9) 24 V DC (Note 12) MCCB (Note 1) DOCOM Power supply DOCOM (Note 11) MT-BR5 (Note 5) (Note 10) Main circuit power supply (Note 3)
Page 401 11. OPTIONS AND AUXILIARY EQUIPMENT (b) 400 V class Emergency stop switch Step-down Servo amplifier transformer (Note 8) 24 V DC (Note 11) MCCB (Note 1) DOCOM Power supply DOCOM (Note 10) MT-BR5-H (Note 4) (Note 9) Main circuit power supply (Note 2) FR-BU2-H (Note 3)
Page 402 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection instructions The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per one meter).
Page 403 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Cables (a) Cables for the brake unit For the brake unit, HIV cable (600 V grade heat-resistant PVC insulated wire) is recommended. 1) Main circuit terminal Crimp Main Wire size terminal Tightening circuit torque N/-, P/+, PR, Brake unit terminal...
Page 404 (Note 1) Number of Servo amplifier Brake unit Crimp terminal (Manufacturer) Applicable connected tool units MR-J4-500A(-RJ) FR-BU2-15K FVD5.5-S4 (JST) 200 V class 8-4NS (JST) (Note 2) FR-BU2-30K FVD5.5-S4 (JST) MR-J4-700A(-RJ) FR-BU2-15K 8-4NS (JST) (Note 2) FR-BU2-30K FVD5.5-S4 (JST)
Page 405: Dimensions
11. OPTIONS AND AUXILIARY EQUIPMENT 11.3.4 Dimensions (1) FR-BU2-(H) Brake unit [Unit: mm] FR-BU2-15K φ5 hole5 hole (Screw size: M4) Rating plate 18.5 132.5 [Unit: mm] FR-BU2-30K/FR-BU2-H30K 2-φ5 hole (Screw size: M4) Rating plate 18.5 129.5 [Unit: mm] FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K 2-φ5 hole (Screw size: M4) Rating plate...
Page 406 11. OPTIONS AND AUXILIARY EQUIPMENT (2) FR-BR-(H) Resistor unit [Unit: mm] 2-φC (Note) Control circuit (Note) terminal Main circuit terminal Approx. 35 Approx. 35 W1 ± 1 For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations. (Refer to the following diagram. ) Eyebolt W ±...
Page 407 The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5 kW to 22 kW. Nominal regenerative Power regeneration Servo amplifier power converter [kW] MR-J4-500A(-RJ) FR-RC-15K MR-J4-700A(-RJ) MR-J4-11KA(-RJ) FR-RC-30K MR-J4-15KA(-RJ) FR-RC-55K MR-J4-22A(-RJ) MR-J4-500A4(-RJ)
Page 408 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier (Note 7) Power factor improving AC reactor MCCB (Note 10) (Note 5) Power...
Page 409 11. OPTIONS AND AUXILIARY EQUIPMENT Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate. 2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+ and C terminals.
Page 410: Fr-Rc-(H) Power Regeneration Converter
11. OPTIONS AND AUXILIARY EQUIPMENT (b) 400 V class Servo amplifier (Note 7) Power factor improving AC reactor MCCB (Note 10) (Note 5) Power supply (Note 9) 24 V DC Forced stop 1 DOCOM (Note 6) (Note 8) (Note 8) Servo-on Malfunction (Note 3)
Page 411 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Dimensions Mounting foot (removable) D hole Mounting foot (movable) Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension [Unit: mm] Power regeneration Approximate converter mass [kg] FR-RC-15K FR-RC-30K FR-RC-55K FR-RC-H15K FR-RC-H30K...
Page 412 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting hole machining dimensions When the power regeneration converter is installed to an enclosed type cabinet, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box.
Page 413: Fr-Cv-(H) Power Regeneration Common Converter
11. OPTIONS AND AUXILIARY EQUIPMENT 11.5 FR-CV-(H) power regeneration common converter POINT For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, and L3) of the servo amplifier.
Page 414: Selection Example
11. OPTIONS AND AUXILIARY EQUIPMENT 11.5.2 Selection example (1) 200 V class FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W to 22 kW. The following shows the restrictions on using the FR-CV. (a) Up to six servo amplifiers can be connected to one FR-CV.
Page 415 11. OPTIONS AND AUXILIARY EQUIPMENT (2) 400 V class FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW. The following shows the restrictions on using the FR-CV-H. (a) Up to two servo amplifiers can be connected to one FR-CV-H. (b) FR-CV-H capacity [W] ≥...
Page 416 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class (Note 9) Servo amplifier Servo motor FR-CVL FR-CV (Note 7) MCCB R/L11 R2/L12...
Page 417 11. OPTIONS AND AUXILIARY EQUIPMENT (b) 400 V class (Note 9) Servo amplifier Servo motor FR-CVL-H FR-CV-H (Note 7) MCCB R/L11 R2/L12 R2/L1 3-phase 380 V AC S/L21 S2/L22 S2/L2 480 V AC T/L31 T2/L32 T2/L3 P/L+ (Note 5) N/L- 24 V DC R/L11 24 V DC (Note 8)
Page 418 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wire size is as follows. Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair (a) Wire sizes 1) Across P to P4, N to N The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
Page 419 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Example of selecting the wire sizes 1) 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4, N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
Page 420 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Other precautions (a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or Power factor improving DC reactor (FR- HEL-(H)). (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them.
Page 421 11. OPTIONS AND AUXILIARY EQUIPMENT Power regeneration common converter FR-CV-H_ Item Total of connectable servo amplifier [kW] 27.5 capacities Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Total capacity of applicable servo motors, 300% torque, 60 s Short-time rating Regenerative (Note 1)
Page 422: Junction Terminal Block Mr-Tb50
11. OPTIONS AND AUXILIARY EQUIPMENT 11.6 Junction terminal block MR-TB50 (1) Usage Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set. Servo amplifier Junction terminal block MR-TB50 Cable clamp Junction terminal block cable (MR-J2M-CN1TBL_M) Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN- ESET).
Page 423 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable MR-J2M-CN1TBL_M (a) Model explanations Model: Symbol Cable length [m] (b) Connection diagram 1) MR-J4-_A_(-RJ) 100 W or more 10150-6000EL (Servo amplifier side) D7950-B500FL (Junction terminal side) Signal symbol Pin No. Pin No. Position...
Page 424 11. OPTIONS AND AUXILIARY EQUIPMENT 2) MR-J4-03A6 10150-6000EL (Servo amplifier side) D7950-B500FL (Junction terminal side) Signal symbol Pin No. Pin No. Position Speed Torque P15R P15R P15R DICOM DICOM DICOM DICOM DICOM DICOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM Plate...
Page 425: Mr Configurator2
11.7 MR Configurator2 POINT MR-J4-_A_-RJ servo amplifier is supported with software version 1.19V or later. MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
Page 426: System Configuration
11. OPTIONS AND AUXILIARY EQUIPMENT 11.7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment Description ® ® Microsoft Windows 8.1 Enterprise Operating System ® ® Microsoft Windows 8.1 Pro Operating System...
Page 427: Precautions For Using Usb Communication Function
11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection with servo amplifier Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M connector (Option) 11.7.3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers Connect your personal computer with the following procedures.
Page 428: Battery
For absolute position data backup MR-BAT6V1 For absolute position data backup of MR-BT6VCASE Battery case MR-BAT6V1 multi-axis servo motor (2) Combinations of batteries and the servo amplifier MR-J4-_A_(-RJ) Model MR-J4-03A6(-RJ) 100 W or more MR-BAT6V1SET MR-BAT6V1BJ MR-BAT6V1SET-A MR-BT6VCASE 11 - 57...
Page 429: Mr-Bat6V1Set Battery
11. OPTIONS AND AUXILIARY EQUIPMENT 11.8.2 MR-BAT6V1SET battery POINT For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.8.6. (1) Parts identification and dimensions [Unit: mm] 69.3 Rating plate Connector for servo amplifier Case Mass: 34 [g] (including MR-BAT6V1 battery) (2) Battery mounting...
Page 430 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 431 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Page 432 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET. While pressing the locking part, open the cover. Cover Locking part Replace the battery with a new MR-BAT6V1.
Page 433: Mr-Bat6V1Bj Battery For Junction Battery Cable
11. OPTIONS AND AUXILIARY EQUIPMENT 11.8.3 MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system. (1) Parts identification and dimensions [Unit: mm] 34.8 69.3...
Page 434 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Battery mounting Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows. Servo amplifier MR-BT6VCBL03M Encoder cable MR-BAT6V1BJ Black: Connector for branch cable Orange: Connector for servo amplifier HG series servo motors (5) Transporting a servo motor and machine apart POINT Be sure to connect the connector for branch cable connection (black) when transporting a servo motor and machine apart.
Page 435 11. OPTIONS AND AUXILIARY EQUIPMENT (6) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 436 11. OPTIONS AND AUXILIARY EQUIPMENT 2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ. Servo amplifier MR-BT6VCBL03M Orange Orange Old MR-BAT6V1BJ New MR-BAT6V1BJ Black 3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, performing 3) without [AL.
Page 437: Mr-Bat6V1Set-A Battery
11.8.4 MR-BAT6V1SET-A battery POINT Use MR-BAT6V1SET-A for MR-J4-03A6 servo amplifier. The MR-BAT6V1SET-A cannot be used for MR-J4-_A_(-RJ) 100 W or more servo amplifiers. For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.8.6.
Page 438 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Battery replacement procedure Before replacing a battery, turn off the main circuit power supply and wait until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when WARNING confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 439 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Installation procedure Insert the connector of the battery into CN4. Insert the battery along the rails. (b) Removal procedure Pulling out the connector of the battery without the lock release lever pressed CAUTION may damage the CN4 connector of the servo amplifier or the connector of the battery.
Page 440 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET-A. While pressing the locking part, open the cover. Cover Replace the battery with a new MR-BAT6V1 battery. Press the cover until it is fixed with the projection of the locking part to close the cover.
Page 441: Mr-Bt6Vcase Battery Case
11. OPTIONS AND AUXILIARY EQUIPMENT 11.8.5 MR-BT6VCASE battery case POINT MR-BT6VCASE cannot be used for MR-J4-03A6 servo amplifiers. The battery unit consists of an MR-BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and year and month of manufacture of MR-BAT6V1 battery, refer to section 11.8.6.
Page 442 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Battery mounting POINT One battery unit can be connected to up to 8-axis servo motors. However, when using direct drive motors, the number of axes of the direct drive motors should be up to 4 axes. Servo motors and direct drive motors in the incremental system are included as the axis Nos.
Page 443 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 444 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Assembling a battery unit Do not mount new and old batteries together. CAUTION When you replace a battery, replace all batteries at the same time. POINT Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case. 1) Required items Product name Model...
Page 445 11. OPTIONS AND AUXILIARY EQUIPMENT b) Mounting MR-BAT6V1 Securely mount an MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect CON1 direction, the connector will break.
Page 446 11. OPTIONS AND AUXILIARY EQUIPMENT c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
Page 447: Mr-Bat6V1 Battery
11. OPTIONS AND AUXILIARY EQUIPMENT 11.8.6 MR-BAT6V1 battery The MR-BAT6V1 battery is a battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET and a battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on an MR-BAT6V1 battery.
Page 448: Selection Example Of Wires
11. OPTIONS AND AUXILIARY EQUIPMENT 11.9 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection condition of wire size is as follows.
Page 449 Table 11.1 Wire size selection example 1 (HIV wire) Wire [mm ] (Note 1) Servo amplifier 4) U/V/W/ 1) L1/L2/L3/ 2) L11/L21 3) P+/C (Note 3) MR-J4-10A(-RJ) MR-J4-20A(-RJ) MR-J4-40A(-RJ) AWG 18 to 14 1.25 to 2 (Note 4) MR-J4-60A(-RJ) 2 (AWG 14) (AWG 16 to 14)
Page 450 Table 11.2 Wire size selection example (HIV wire) Wires [mm ] (Note 1) Servo amplifier 4) U/V/W/ 1) L1/L2/L3/ 2) L11/L21 3) P+/C (Note 3) MR-J4-60A4(-RJ) 1.25 to 2 MR-J4-100A4(-RJ) 2 (AWG 14) (AWG 16 to 14) 2 (AWG14) AWG 16 to 14 MR-J4-200A4(-RJ) (Note 4)
Page 451 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example of crimp terminals (a) 200 V class Servo amplifier-side crimp terminals Symbol Applicable tool (Note 2) Manufacturer Crimp terminal Body Head Dice FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S FVD2-4 YNT-1614 FVD2-M3 FVD1.25-M3 YNT-2216 DH-122...
Page 452: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
S-N95 MR-J4-60A4(-RJ) 30 A frame 5 A 30 A frame 5 A S-N10 MR-J4-100A4(-RJ) 30 A frame 10 A 30 A frame 5 A S-T10 MR-J4-200A4(-RJ) 30 A frame 15 A 30 A frame 10 A MR-J4-350A4(-RJ) 30 A frame 20 A...
Page 453 MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) MR-J4-22KA(-RJ) MR-J4-60A4(-RJ) MR-J4-100A4(-RJ) MR-J4-200A4(-RJ) MR-J4-350A4(-RJ) MR-J4-500A4(-RJ) 30 A frame 5 A MR-J4-700A4(-RJ) MR-J4-11KA4(-RJ) MR-J4-15KA4(-RJ) MR-J4-22KA4(-RJ) MR-J4-10A1(-RJ) MR-J4-20A1(-RJ) 30 A frame 5 A MR-J4-40A1(-RJ) Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to appendix 4.
Page 454: Power Factor Improving Dc Reactors
11. OPTIONS AND AUXILIARY EQUIPMENT 11.11 Power factor improving DC reactors The following shows the advantages of using power factor improving DC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to be about 85%.
Page 455 11. OPTIONS AND AUXILIARY EQUIPMENT Dimensions [mm] Power factor Terminal Mass Wire [mm Servo amplifier improving DC Dimensions size [kg] (Note 2) reactor (Note 1) MR-J4-10A(-RJ) FR-HEL-0.4K MR-J4-20A(-RJ) MR-J4-40A(-RJ) FR-HEL-0.75K Fig. 11.1 MR-J4-60A(-RJ) 2 (AWG 14) FR-HEL-1.5K MR-J4-70A(-RJ) MR-J4-100A(-RJ) FR-HEL-2.2K MR-J4-200A(-RJ) FR-HEL-3.7K MR-J4-350A(-RJ) FR-HEL-7.5K...
Page 456 11. OPTIONS AND AUXILIARY EQUIPMENT (2) 400 V class 4-d mounting hole (Note 1) 4-d mounting hole (Note 1) D or less D or less (D3) (D3) P P1 P P1 W ± 2.5 D1 ± 1 W ± 2.5 D1 ±...
Page 457 11. OPTIONS AND AUXILIARY EQUIPMENT Power factor Dimensions [mm] Terminal Mass Wire [mm Servo amplifier improving DC Dimensions size [kg] (Note) reactor MR-J4-60A4(-RJ) FR-HEL-H1.5K M3.5 2 (AWG 14) Fig. 11.4 MR-J4-100A4(-RJ) FR-HEL-H2.2K M3.5 2 (AWG 14) MR-J4-200A4(-RJ) FR-HEL-H3.7K 2 (AWG 14) MR-J4-350A4(-RJ) FR-HEL-H7.5K...
Page 458: Power Factor Improving Ac Reactors
11. OPTIONS AND AUXILIARY EQUIPMENT 11.12 Power factor improving AC reactors The following shows the advantages of using power factor improving AC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to be about 80%.
Page 459 11. OPTIONS AND AUXILIARY EQUIPMENT Power factor Dimensions [mm] Mass Terminal Servo amplifier improving AC Dimensions size [kg] D (Note) reactor MR-J4-10A(-RJ) MR-J4-20A(-RJ) FR-HAL-0.4K MR-J4-10A1(-RJ) MR-J4-40A(-RJ) FR-HAL-0.75K MR-J4-20A1(-RJ) MR-J4-60A(-RJ) Fig. 11.7 MR-J4-70A(-RJ) FR-HAL-1.5K MR-J4-40A1(-RJ) MR-J4-100A(-RJ) FR-HAL-2.2K (Note) MR-J4-200A(-RJ) FR-HAL-3.7K (Note) MR-J4-350A(-RJ) FR-HAL-7.5K...
Page 460 11. OPTIONS AND AUXILIARY EQUIPMENT (2) 400 V class 4-d mounting hole (Note) (φ5 groove) S Y T D or less Servo amplifier 3-phase 400 V class FR-HAL-H MCCB 3-phase 380 V AC to 480 V AC W ± 0.5 Fig.
Page 461: Relays (Recommended)
11. OPTIONS AND AUXILIARY EQUIPMENT Dimensions [mm] Power factor Mass Terminal Servo amplifier improving AC Dimensions size [kg] reactor (Note) MR-J4-60A4(-RJ) FR-HAL-H1.5K 59.6 M3.5 MR-J4-100A4(-RJ) FR-HAL-H2.2K Fig. 11.10 59.6 M3.5 MR-J4-200A4(-RJ) FR-HAL-H3.7K 70.6 M3.5 MR-J4-350A4(-RJ) FR-HAL-H7.5K MR-J4-500A4(-RJ) FR-HAL-H11K Fig. 11.11...
Page 462: Noise Reduction Techniques
11. OPTIONS AND AUXILIARY EQUIPMENT 11.14 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 463 11. OPTIONS AND AUXILIARY EQUIPMENT Sensor power supply Servo amplifier Instrument Receiver Sensor Servo motor Noise transmission Suppression techniques route When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 464 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Noise reduction techniques (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
Page 465 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an grounding plate as shown below.
Page 466 11. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01/ FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
Page 467 Leakage current: 4 mA always required. White Blue Green When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring. MR-J4-350A(-RJ) or less/MR-J4-350A4(-RJ) or less/MR-J4- 40A1(-RJ) or less Terminal Servo amplifier block MCCB hole...
Page 468 11. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment.
Page 469: Earth-Leakage Current Breaker
11. OPTIONS AND AUXILIARY EQUIPMENT 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 470 Leakage current [mA] 0.1 to 0.6 0.75 to 3.5 0.15 11/15 Table 11.6 Earth-leakage current breaker selection example Rated sensitivity current of earth- Servo amplifier leakage current breaker [mA] MR-J4-10A(-RJ) to MR-J4-350A(-RJ) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ) MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ) MR-J4-500A(-RJ) MR-J4-500A4(-RJ) MR-J4-700A(-RJ)
Page 471 2 mm × 5 m 2 mm × 5 m Servo motor Servo amplifier MR-J4-40A HG-KR43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram. Ig1 = 20 • = 0.1 [mA] 1000 Ig2 = 20 •...
Page 472: Emc Filter (Recommended)
Some EMC filters have large in leakage current. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Servo amplifier Mass [kg] Rated voltage Leakage current Model Rated current [A] [V AC] [mA] MR-J4-10A(-RJ) to (Note) MR-J4-100A(-RJ) HF3010A-UN MR-J4-200A(-RJ) (Note) MR-J4-350A(-RJ) HF3030A-UN MR-J4-500A(-RJ) (Note) MR-J4-700A(-RJ)
Page 473 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 × 7 3-M4 Approx. 41 258 ± 4 65 ± 4 273 ± 2 288 ± 4 300 ± 5 HF3030A-UN/HF-3040A-UN [Unit: mm] 6-R3.25 length: 8 3-M5 3-M5 70 ±...
Page 474 11. OPTIONS AND AUXILIARY EQUIPMENT HF3100A-UN [Unit: mm] 2-φ 6.5 2-6.5 × 8 380 ± 1 400 ± 5 TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 6-R3.25 length: 8 3-M4 3-M4 ± ± Approx.6.75 ± ± ± 2 Approx. 160 ± ± ± 11 - 103...
Page 475 11. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX/TF3060C-TX [Unit: mm] 8-R3.25 Length 8 (for M6) 3-M6 3-M6 Approx. 91.5 100 ± 1 100 ± 1 100 ± 1 390 ± 2 180 ± 2 Approx. 190 412 ± 5 438 ± 5 200 ±...
Page 476: External Dynamic Brake
11. OPTIONS AND AUXILIARY EQUIPMENT 11.17 External dynamic brake Use an external dynamic brake for a servo amplifier of MR-J4-11KA(-RJ) to MR- J4-22KA(-RJ) and MR-J4-11KA4(-RJ) to MRJ4-22KA4(-RJ). Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.
Page 477 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example (a) 200 V class Operation ready Servo amplifier Servo motor EMG stop switch (Note 3) MCCB (Note 2) Power supply 24 V DC (Note 5) DOCOM DOCOM (Note 6) (Note 1, (Note 4) Main circuit power supply DICOM...
Page 478 11. OPTIONS AND AUXILIARY EQUIPMENT (b) 400 V class Operation ready Servo amplifier Servo motor Emergency stop switch (Note 7) Step-down (Note 3) transformer MCCB (Note 2) Power supply 24 V DC (Note 5) DOCOM DOCOM (Note 6) (Note 1, (Note 4) Main circuit power supply...
Page 479 11. OPTIONS AND AUXILIARY EQUIPMENT Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. 2. For power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration.
Page 480 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Timing chart Coasting Coasting Servo motor speed Dynamic brake Dynamic brake Present Alarm Absent Base circuit DB (Dynamic brake interlock) Disabled Dynamic brake Enabled Short EMG stop switch Open a. Timing chart at alarm occurrence b.
Page 481 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] Terminal block Screw: M4 Screw: M3.5 Tightening torque: 1.2 [N•m] Tightening torque: 0.8 [N•m] (Note) Connection wire [mm Mass External dynamic brake [kg] U/V/W Except U/V/W DBU-11K 163.5 5.5 (AWG 10) 2 (AWG 14) DBU-15K/DBU-22K-R1 5.5 (AWG 10)
Page 482 11. OPTIONS AND AUXILIARY EQUIPMENT (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 2-φ7 mounting hole 73.75 Mass: 6.7 [kg] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] (Note) Connection wire [mm External dynamic brake U/V/W Except U/V/W DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
Page 483: Heat Sink Outside Mounting Attachment (Mr-J4Acn15K/Mr-J3Acn)
The environment outside the cabinet when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment. The heat sink outside mounting attachments are used for MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ) and MR- J4-11KA4(-RJ) to MR-J4-22KA4(-RJ).
Page 484 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Mounting method Attachment Servo amplifier Fit using the assembling screws. Attachment a. Assembling the heat sink outside mounting attachment Punched hole Cabinet Servo amplifier b. Mounting it to inside cabinet 11 - 113...
Page 485 11. OPTIONS AND AUXILIARY EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] 20.6 Panel Attachment Servo amplifier Servo amplifier Panel 108.3 Mounting hole Approx. 263.3 (2) MR-J3ACN (a) Panel cut dimensions [Unit: mm] [Unit : mm] 4-M10 Screw Punched hole 11 - 114...
Page 486 11. OPTIONS AND AUXILIARY EQUIPMENT (b) How to assemble the attachment for heat sink outside mounting attachment Attachment Screw (2 places) (c) Mounting method Attachment Punched hole Servo amplifier Servo Fit using the amplifier assembling Cabinet screws. Attachment a. Assembling the heat sink outside mounting b.
Page 487 11. OPTIONS AND AUXILIARY EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] Panel Servo amplifier Attachment Servo amplifier Panel Approx. 11.5 Mounting Approx. 260 hole Approx. 260 11 - 116...
Page 488: Absolute Position Detection System
12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. CAUTION If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery, the MR-BAT6V1 battery can become hot.
Page 489: Restrictions
12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.2 Restrictions The system cannot be configured under the following conditions. Additionally, test operation cannot be performed in the absolute position detection system. To perform test operation, select incremental system in [Pr. PA03]. (1) Speed control mode and torque control mode (2) Control switch-over mode (position/speed, speed/torque, and torque/position) (3) Stroke-less coordinate system, e.g.
Page 490: Parameter Setting
12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.4 Parameter setting POINT Set "_ _ _ 2" in [Pr. PA03] when using the absolute position detection system by communication. This parameter setting is supported by servo amplifier with software version A3 or later. Set "_ _ _ 1"...
Page 491: Battery
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery (1) Configuration diagram General purpose Servo amplifier programmable controller Pulse train Positioning module command Home position data Current EEP-ROM memory position Current position Backed up in the I/O module case of power failure...
Page 492: Using Mr-Bat6V1Bj Battery For Junction Battery Cable
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system. (1) Configuration diagram General purpose Servo amplifier...
Page 493: Using Mr-Bt6Vcase Battery Case
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.3 Using MR-BT6VCASE battery case POINT One MR-BT6VCASE holds absolute position data up to eight axes servo motors. Always install five MR-BAT6V1 batteries to an MR-BT6VCASE. (1) Configuration diagram General purpose Servo amplifier programmable controller Pulse train Positioning module command...
Page 494: Standard Connection Example
12. ABSOLUTE POSITION DETECTION SYSTEM 12.3 Standard connection example Servo amplifier 24 V DC DICOM DOCOM (Note) Stroke end in forward rotation Stroke end in reverse rotation External torque limit selection Reset DOCOM Output Forced stop 2 Electromagnetic Servo-on brake output ABS transmission mode ABSM...
Page 495: Signal Explanation
12. ABSOLUTE POSITION DETECTION SYSTEM 12.4 Signal explanation When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in section 3.5.
Page 496: Startup Procedure
12. ABSOLUTE POSITION DETECTION SYSTEM 12.5 Startup procedure (1) Battery installation. Refer to section 12.2. (2) Parameter setting Set "_ _ _ 1" in [Pr. PA03] of the servo amplifier and switch power off, then on. (3) Resetting of [AL. 25 Absolute position erased] After connecting the encoder cable, [AL.
Page 497: Absolute Position Data Transfer Protocol
12. ABSOLUTE POSITION DETECTION SYSTEM 12.6 Absolute position data transfer protocol POINT After switching on ABSM, turn on SON. When the ABS transfer mode is off, turning on SON does not switch on the base circuit. 12.6.1 Data transfer procedure Each time SON is turned on (when the power is switched on for example), the programmable controller reads the position data (present position) of the servo amplifier.
Page 498: Transfer Method
12. ABSOLUTE POSITION DETECTION SYSTEM 12.6.2 Transfer method The following shows a sequence how to turn on the base circuit while it is off state because SON is off, EM2 is off, or an alarm is occurring. In the absolute position detection system, every time SON is turned on, ABSM should always be turned on to read the current position in the servo amplifier to the controller.
Page 499 12. ABSOLUTE POSITION DETECTION SYSTEM 1) After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSM- on is not received. 2) Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM is turned on.
Page 500 12. ABSOLUTE POSITION DETECTION SYSTEM 1) The programmable controller turns on ABSM and SON at the leading edge of the internal servo- 2) In response to ABS transfer mode, the servo detects and calculates the absolute position and turns on ABST to notify the programmable controller that the servo is ready for data transmission. 3) After acknowledging that ABST is turned on, the programmable controller will turn on ABSR.
Page 501 12. ABSOLUTE POSITION DETECTION SYSTEM (2) Transmission error (a) [AL. E5 ABS time-out warning] In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. E5] when a time-out error occurs. [AL. E5 ABS time-out warning] is cleared when ABSM changes from off to on. 1) ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units checksum) If the ABS request signal is not turned on by the programmable controller within 5 s after ABST is...
Page 502 12. ABSOLUTE POSITION DETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for absolute position data transmission) is turned on, it is regarded as the transmission error and the [AL.
Page 503 12. ABSOLUTE POSITION DETECTION SYSTEM 5) SON off, RES on, and EM2 off check during the ABS transfer When the ABS transfer mode is turned on to start transferring and then SON is turned off, RES is turned on, or EM2 is turned on before the 19th ABST is turned on, [AL. E5 ABS time-out warning] occurs, regarding it as a transfer error.
Page 504 12. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn off SON by detecting ALM. If an alarm has occurred, ABSM cannot be accepted. In the reset state, ABSM can be input. ABSM During transfer of ABS ABSR ABST...
Page 505 12. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of forced stop reset (a) If the power is switched on in the forced stop state he forced stop state can be reset while the absolute position data is being transferred. If the forced stop state is reset while the absolute position data is transmitted, the base circuit is turned on 95 ms after resetting.
Page 506 12. ABSOLUTE POSITION DETECTION SYSTEM (b) If forced stop is activated during servo-on ABSM is permissible while in the forced stop state. In this case, the base circuit and RD are turned on after the forced stop state is reset. ABSM During transfer of ABS ABSR...
Page 507: Home Position Setting
12. ABSOLUTE POSITION DETECTION SYSTEM 12.6.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, CR is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position absolute position data.
Page 508 12. ABSOLUTE POSITION DETECTION SYSTEM (2) Data set type home position return POINT Never make home position setting during command operation or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return during the servo off. Move the machine to the position where the home position is to be set by performing manual operation such as JOG operation.
Page 509: Use Of Servo Motor With An Electromagnetic Brake
12. ABSOLUTE POSITION DETECTION SYSTEM 12.6.4 Use of servo motor with an electromagnetic brake The timing charts at power on/off and SON on/off are given below. Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When MBR is set for the CN1-23 pin, turning ABSM on will change the CN1-23 pin to ABSB1 (ABS transmission data bit 1).
Page 510: How To Process The Absolute Position Data At Detection Of Stroke End
12. ABSOLUTE POSITION DETECTION SYSTEM 12.6.5 How to process the absolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when off of LSP or LSN are detected, clears the droop pulses to 0 at the same time, and stops the servo motor. At this time, the programmable controller keeps outputting the command pulse.
Page 511 12. ABSOLUTE POSITION DETECTION SYSTEM (1) The off period of the ABS transmission data ready signal output from the servo amplifier is checked. If the off period is 1 s or longer, regard as a transfer fault and generate the ABS communication error. Generate the ABS communication error if [AL.
Page 512 12. ABSOLUTE POSITION DETECTION SYSTEM (3) The time required for the ABS request signal to go off after it has been turned on (ABS transfer time) is checked. To detect [AL. E5 ABS time-out warning] at the servo amplifier. If the ABS request remains on for longer than 1 s, regard that a fault relating to the ABS request signal or the ABST has occurred and generate the ABS communication error.
Page 513: Communication-Based Absolute Position Transfer System
12. ABSOLUTE POSITION DETECTION SYSTEM 12.8 Communication-based absolute position transfer system 12.8.1 Serial communication command The following commands are available for reading absolute position data using the serial communication function. When reading data, take care to specify the correct station number of the servo amplifier from where the data will be read.
Page 514 12. ABSOLUTE POSITION DETECTION SYSTEM (2) Transfer method The following shows a sequence how to turn on the base circuit while it is off state because SON is off, EM2 is off, or an alarm is occurring. In the absolute position detection system, always give the serial communication command to read the current position in the servo amplifier to the controller every time RD turns on.
Page 515 12. ABSOLUTE POSITION DETECTION SYSTEM (c) At the time of alarm reset If an alarm has occurred, detect ALM and turn off SON. After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the servo amplifier in accordance with the procedure in (a) of this section.
Page 516 12. ABSOLUTE POSITION DETECTION SYSTEM (d) At the time of forced stop reset 210 ms after the forced stop is deactivated, the base circuit turns on, and RD turns on further 5 ms after that, turns on. Always get the current position data using RD as the trigger before the position command is issued.
Page 517 12. ABSOLUTE POSITION DETECTION SYSTEM MEMO 12 - 30...
Page 518: Using Sto Function
13. USING STO FUNCTION POINT In the torque control mode, the forced stop deceleration function is not available. The MR-J4-03A6 servo amplifier is not compatible with the STO function. 13.1 Introduction This section provides the cautions of the STO function.
Page 519: Residual Risks Of The Sto Function
13. USING STO FUNCTION 13.1.4 Residual risks of the STO function Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi is not liable for any damages or injuries caused by these risks.
Page 520: Specifications
13. USING STO FUNCTION 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) ISO/EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, Safety performance EN 62061 SIL CL2, EN 61800-5-2 SIL 2 Mean time to dangerous failure 100 years or more (Note) (MTTFd) Diagnostic converge (DC)
Page 521: Maintenance
13. USING STO FUNCTION 13.1.6 Maintenance This servo amplifier has alarms and warnings for maintenance that supports the Mitsubishi drive safety function. (Refer to chapter 8.) 13.2 STO I/O signal connector (CN8) and signal layouts 13.2.1 Signal layouts POINT The pin configurations of the connectors are as viewed from the cable connector wiring section.
Page 522: Signal (Device) Explanations
The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier. While pressing knob 1) of the STO cable plug in the direction of the arrow, pull out the plug 2). (This figure shows the MR-J4-_B_(-RJ) servo amplifier. This procedure also applies to the MR-J4-_A_(-RJ) servo amplifier.) 13 - 5...
Page 523: Connection Example
13. USING STO FUNCTION 13.3 Connection example POINT Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2). Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.
Page 524: External I/O Signal Connection Example Using An Mr-J3-D05 Safety Logic Unit
13. USING STO FUNCTION 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2. (1) Connection example 24 V RESA RESB MR-J3-D05...
Page 525 13. USING STO FUNCTION (2) Basic operation example The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05. The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
Page 526: External I/O Signal Connection Example Using An External Safety Relay Unit
13. USING STO FUNCTION 13.3.3 External I/O signal connection example using an external safety relay unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2. This connection example complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d. For details, refer to the safety relay module user’s manual.
Page 527: Detailed Description Of Interfaces
13. USING STO FUNCTION 13.4 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 13.2. Refer to this section and make connection with the external device. 13.4.1 Sink I/O interface (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
Page 528: Source I/O Interface
13. USING STO FUNCTION (b) When outputting two STO states by using one TOFB Servo amplifier If polarity of diode is reversed, servo amplifier TOFB1 Load will malfunction. TOFCOM (Note) 24 V DC ± 10% 500 mA TOFB2 Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
Page 529 13. USING STO FUNCTION (b) When outputting two STO states by using one TOFB Servo amplifier If polarity of diode is reversed, servo amplifier TOFB1 Load will malfunction. TOFCOM (Note) 24 V DC ± 10% 500 mA TOFB2 Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
Page 530: Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) POINT RS-422 serial communication function is supported by servo amplifier with software version A3 or later. The USB communication function (CN5 connector) and the RS-422 communication function (CN3 connector) are mutually exclusive functions.
Page 531 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (b) Cable connection diagram Wire the cables as follows. (Note 3) 30 m or less (Note 1) (Note 1) (Note 1, 7) The first axis servo amplifier The second axis servo amplifier The n axis servo amplifier Connector for CN3 Connector for CN3...
Page 532: Precautions For Using Rs-422/Rs-232C/Usb Communication Function
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.1.2 Precautions for using RS-422/RS-232C/USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers Connect your personal computer with the following procedures. (a) When you use a personal computer with AC power supply 1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.
Page 533: Communication Specifications
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.2 Communication specifications 14.2.1 Outline of communication Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal computer) is called a master station and the device (servo amplifier) which returns data in response to the command is called a slave station.
Page 534: Protocol
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.3 Protocol 14.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier using the parameters.
Page 535: Character Codes
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.3.2 Character codes (1) Control codes Personal computer terminal Hexadecimal Code key operation Description name (ASCII code) (general) start of head ctrl + A start of text ctrl + B end of text ctrl + C end of transmission ctrl + D...
Page 536: Error Codes
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. Receiving data from the master station, the slave station sends the error code corresponding to that data to the master station.
Page 537: Retry Processing
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.3.6 Retry processing When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (retry processing).
Page 538: Communication Procedure Example
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.3.8 Communication procedure example The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0. Data item Value Description Station No. Servo amplifier station 0 Command Reading command Data No.
Page 539: Command And Data No. List
Encoder inside temperature [2] [1] Settling time [2] [2] Oscillation detection frequency [2] [3] Number of tough operations [2] [8] Unit power consumption [2] [9] Unit total power consumption Note. This is not available with the MR-J4-03A6 servo amplifier. 14 - 10...
Page 540 Encoder inside temperature [A] [1] Settling time [A] [2] Oscillation detection frequency [A] [3] Number of tough operations [A] [8] Unit power consumption [A] [9] Unit total power consumption Note. This is not available with the MR-J4-03A6 servo amplifier. 14 - 11...
Page 541 [8] [5] + data No. [0] [0]. 0000: Writing enabled 0001: Writing disabled Note. This is not available with the MR-J4-03A6 servo amplifier. (3) External I/O signals (command [1] [2]) Command Data No.
Page 542 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (4) Alarm history (command [3] [3]) Command Data No. Description Alarm occurrence sequence Frame length [3] [3] [1] [0] Alarm No. in alarm history Most recent alarm [1] [1] First alarm in past [1] [2] Second alarm in past [1] [3]...
Page 543 Encoder inside temperature [2] [1] Settling time [2] [2] Oscillation detection frequency [2] [3] Number of tough operations [2] [8] Unit power consumption [2] [9] Unit total power consumption Note. This is not available with the MR-J4-03A6 servo amplifier. 14 - 14...
Page 544 [A] [3] Number of tough operations [A] [8] Unit power consumption [A] [9] Unit total power consumption Note. This is not available with the MR-J4-03A6 servo amplifier. (7) Test operation mode (command [0] [0]) Command Data No. Description Frame length...
Page 545: Writing Commands
0005: Extension setting 3 parameters ([Pr. PF_ _ ]) 000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) (Note) Note. This is not available with the MR-J4-03A6 servo amplifier. (3) External I/O signals (command [9] [2]) Command Data No.
Page 546 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (7) Operation mode selection (command [8] [B]) Command Data No. Description Setting range Frame length [8] [B] [0] [0] Selection of test operation mode 0000 to 0002, 0004 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0004: Output signal (DO) forced output...
Page 547: Detailed Explanations Of Commands
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5 Detailed explanations of commands 14.5.1 Data processing When the master station transmits a command data No. or a command + data No. + data to a slave station, the servo amplifier returns a response or data in accordance with the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
Page 548 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Writing processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
Page 549: Status Display Mode
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.2 Status display mode (1) Reading the status display name and unit The following shows how to read the status display name and unit. (a) Transmission Transmit the command [0] [1] and the data No. corresponding to the status display item to be read, [0] [0] to [0] [E] and [2] [0] to [2] [9].
Page 550: Parameter
Linear servo motor/DD motor setting parameters (Note) ([Pr. PL_ _ ]) Note. This is not available with the MR-J4-03A6 servo amplifier. (2) Parameter group reading The following shows how to read the parameter group set with slave station. (a) Transmission Transmit command [0] [4] and data No.
Page 551 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (4) Reading the setting The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to (1) of this section.) (a) Transmission Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F]. (Refer to section 14.4.1.) The data No.
Page 552 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Reading the setting range The following shows how to read the parameter setting range. Specify a parameter group in advance. (Refer to (1) of this section.) (a) Transmission When reading an upper limit value, transmit the command [1] [6] and the data No. [0] [1] to [F] [F] corresponding to the parameter No.
Page 553 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (6) Writing setting values POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEPROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 554: External I/O Signal Status (Dio Diagnosis)
ST2/RS1 STAB2 CLD (Note) MECR (Note) Note. This is not available with the MR-J4-03A6 servo amplifier. (2) Reading external input pin status The following shows how to read the on/off status of the external input pins. (a) Transmission Transmit command [1] [2] and data No. [4] [0].
Page 555 13 (Note) Note. This is available when devices are assigned to the CN1-13 pin and CN1-14 pin with MR-J4-_A_-RJ 100 W or more servo amplifiers with software version B3 or later. This is not available with the MR-J4-03A6 servo amplifier.
Page 556 Command of each bit is transmitted to the master station as hexadecimal data. Symbol Symbol Symbol Symbol CDPS CLDS (Note) DB (Note) ABSV ACD0 ACD1 ACD2 BWNG MTTR (Note) Note. This is not available with the MR-J4-03A6 servo amplifier. 14 - 27...
Page 557: Input Device On/Off
1: On 0: Off Command of each bit is transmitted to the master station as hexadecimal data. Symbol Symbol Symbol Symbol ST1/RS2 ST2/RS1 STAB2 CLD (Note) MECR (Note) Note. This is not available with the MR-J4-03A6 servo amplifier. 14 - 28...
Page 558: Disabling/Enabling I/O Devices (Dio)
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.6 Disabling/enabling I/O devices (DIO) You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals (devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end) cannot be disabled.
Page 559: Input Devices On/Off (Test Operation)
1: On 0: Off Command of each bit is transmitted to the master station as hexadecimal data. Symbol Symbol Symbol Symbol STAB2 CLD (Note) MECR (Note) Note. This is not available with the MR-J4-03A6 servo amplifier. 14 - 30...
Page 560: Test Operation Mode
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.8 Test operation mode POINT The test operation mode is used to check operation. Do not use it for actual operation. If communication stops for longer than 0.5 s during test operation, the servo amplifier decelerates to a stop, resulting in servo-lock.
Page 561 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (2) JOG operation Transmit the command, data No., and data as follows to execute JOG operation. Start Select the JOG operation in the test Command : [8] [B] operation mode. Data No. : [0] [0] Data : 0001 (JOG operation)
Page 562 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (3) Positioning operation (a) Operation procedure Transmit the command, data No., and data as follows to execute positioning operation. Start Select the JOG operation in the test Command [8] [B] operation mode. Data No.
Page 563 14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (b) Temporary stop/restart/remaining distance clear Transmit the following command, data No., and data during positioning operation to make deceleration to a stop. Command Data No. Data [A] [0] [4] [1] STOP Transmit the following command, data No., and data during a temporary stop to restart. Command Data No.
Page 564: Output Signal Pin On/Off (Output Signal (Do) Forced Output)
CN1 connector pin 14 (Note) 13 (Note) Note. The MR-J4-_A_-RJ 100 W or more servo amplifier is available with software version B3 or later. This is not available with the MR-J4-03A6 servo amplifier. (3) Output signal (DO) forced output Transmit command [8] [B] + data No. [0] [0] + data to stop output signal (DO) forced output.
Page 565: Alarm History
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.10 Alarm history (1) Alarm No. reading The following shows how to read alarm Nos. which occurred in the past. Alarm Nos. and occurrence times of No. 0 (last alarm) to No. 15 (sixteenth alarm in the past) are read. (a) Transmission Transmit command [3] [3] + data No.
Page 566: Current Alarm
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.11 Current alarm (1) Current alarm reading The following shows how to read the alarm No. which is occurring currently. (a) Transmission Transmit command [0] [2] and data No. [0] [0]. Command Data No.
Page 567: Other Commands
14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.12 Other commands (1) Servo motor-side pulse unit absolute position The following shows how to read the absolute position in the servo motor-side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Transmit command [0] [2] and data No.
Page 568 POINT The linear servo system is available for the servo amplifiers of which software version is A5 or later. The MR-J4-03A6 servo amplifier is not compatible with linear servo motor. 15.1 Functions and configuration 15.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy, high speed, and efficiency.
Page 569: Configuration Including Peripheral Equipment
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". (1) MR-J4-_A_ The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders.
Page 570 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70A or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Page 571 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B-RJ or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 572 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-J4-70A-RJ or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
Page 573: Signals And Wiring
15. USING A LINEAR SERVO MOTOR 15.2 Signals and wiring Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off.
Page 574: Operation And Functions
15. USING A LINEAR SERVO MOTOR Do not modify the equipment. The cables such as power wires deriving from the primary side cannot stand the CAUTION long-term bending action. Avoid the bending action by fixing the cables to the moving part, etc. Also, use the cable that stands the long-term bending action for the wiring to the servo amplifier.
Page 575 15. USING A LINEAR SERVO MOTOR (1) Startup procedure Start up the linear servo in the following procedure. Installation and wiring Set the linear servo motor series and linear servo motor type. (Refer to (2) of this section.) (Note 1) Set the linear encoder direction and the linear servo motor direction.
Page 576 15. USING A LINEAR SERVO MOTOR (3) Setting of linear encoder direction and linear servo motor direction Set the first digit of [Pr. PC45] (Encoder pulse count polarity selection) so that the positive direction of the linear servo motor matches with the increasing direction of the linear encoder feedback. [Pr.
Page 577 15. USING A LINEAR SERVO MOTOR (4) Linear encoder resolution setting Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator]. POINT To enable the parameter values, cycle the power after setting.
Page 578 15. USING A LINEAR SERVO MOTOR 15.3.2 Magnetic pole detection POINT Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic pole detection. Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection. When [Pr.
Page 579 15. USING A LINEAR SERVO MOTOR (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detection procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Magnetic pole detection 1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 580 15. USING A LINEAR SERVO MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection 1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Set [Pr.
Page 581 15. USING A LINEAR SERVO MOTOR (2) Operation at the magnetic pole detection Note that the magnetic pole detection automatically starts simultaneously with the WARNING turning-on of the servo-on command. If the magnetic pole detection is not executed properly, the linear servo motor CAUTION may operate unexpectedly.
Page 582: Magnetic Pole Detection
15. USING A LINEAR SERVO MOTOR (a) For the incremental linear encoder POINT For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on. By turning on SON (Servo-on) after power-on, the magnetic pole detection is automatically carried out.
Page 583 15. USING A LINEAR SERVO MOTOR 3) Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows. The linear servo motor moves to a magnetic pole detection start position upon servo-on, and the magnetic pole...
Page 584 15. USING A LINEAR SERVO MOTOR 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr. PL01] Magnetic pole detection disabled After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after each power-on is not required.
Page 585: Home Position Return
15. USING A LINEAR SERVO MOTOR 2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
Page 586 15. USING A LINEAR SERVO MOTOR (1) Incremental linear encoder If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear CAUTION encoder is large, it is very dangerous since the linear servo motor may crash into the stroke end.
Page 587 15. USING A LINEAR SERVO MOTOR POINT To execute a home position return securely, start a home position return after moving the linear servo motor to the opposite stroke end with JOG operation and others. Change the third digit value of [Pr. PL01] according to the linear encoder resolution.
Page 588 15. USING A LINEAR SERVO MOTOR The following shows the relation between the stop interval at the home position return and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter for the stop interval at the home position return, [Pr.PL01], is set to "_ 5 _ _" (16777216 pulses), the stop interval is 16.777 mm.
Page 589: Test Operation Mode In Mr Configurator2
15. USING A LINEAR SERVO MOTOR 15.3.4 Test operation mode in MR Configurator2 The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use CAUTION the linear servo motor alone.
Page 590: Function
15. USING A LINEAR SERVO MOTOR (3) Program operation Positioning operation can be performed in two or more operation patterns combined, without using a controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on, servo-off, or whether a controller is connected or not.
Page 591 15. USING A LINEAR SERVO MOTOR (a) Position deviation error detection Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection. [Pr. PL04] Position deviation error detection enabled When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if the deviation is more than the value of [Pr.
Page 592 15. USING A LINEAR SERVO MOTOR (2) Auto tuning function The auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
Page 593: Absolute Position Detection System
15. USING A LINEAR SERVO MOTOR 15.3.6 Absolute position detection system When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required. (1) Operating conditions of absolute position detection system (a) Use an absolute type linear encoder. (b) Perform the magnetic pole detection in the incremental system and disable the magnetic pole detection after the detection.
Page 594: Characteristics
15. USING A LINEAR SERVO MOTOR 15.4 Characteristics 15.4.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig.
Page 595: Power Supply Capacity And Generated Loss
Servo amplifier-generated heat [W] Power supply Area required for Linear servo motor (Note 2) Servo amplifier capacity [kVA] heat dissipation (primary side) (Note 1) At rated output With servo-off LM-H3P2A-07P-BSS0 MR-J4-40A(-RJ) MR-J4-40A1(-RJ) LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 MR-J4-70A(-RJ) LM-H3P3C-36P-CSS0 LM-H3P3D-48P-CSS0 MR-J4-200A(-RJ) LM-H3P7A-24P-ASS0 MR-J4-70A(-RJ) LM-H3P7B-48P-ASS0 MR-J4-200A(-RJ) LM-H3P7C-72P-ASS0...
Page 596: Dynamic Brake Characteristics
15. USING A LINEAR SERVO MOTOR 15.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor mass ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 597: Permissible Load To Motor Mass Ratio When The Dynamic Brake Is Used
15. USING A LINEAR SERVO MOTOR 15.4.4 Permissible load to motor mass ratio when the dynamic brake is used Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.
Page 598: Using A Direct Drive Motor
POINT The direct drive servo system is available for the servo amplifiers of which software version is A5 or later. The MR-J4-03A6 servo amplifier is not compatible with direct drive motor. 16.1 Functions and configuration 16.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and efficiency.
Page 599: Configuration Including Peripheral Equipment
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _". The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to section 1.8 depending on servo amplifiers you use.
Page 600: Signals And Wiring
When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70A(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 601: Operation And Functions
16. USING A DIRECT DRIVE MOTOR Connect the servo amplifier power output (U, V, and W) to the direct drive motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier Direct drive motor Servo amplifier...
Page 602: Startup Procedure
16. USING A DIRECT DRIVE MOTOR 16.3.1 Startup procedure Start up the direct drive servo in the following procedure. Perform this procedure once at startup. Installation and wiring Perform the magnetic pole detection. (Refer to section 16.3.2.) (Note 1, 4) Positioning operation check using the test operation mode (Note 1, 4) Incremental system Absolute position detection system...
Page 603 16. USING A DIRECT DRIVE MOTOR Note 1. Use MR Configurator2. 2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the absolute position becomes confirmed.
Page 604 16. USING A DIRECT DRIVE MOTOR (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detection procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Magnetic pole detection Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 605 16. USING A DIRECT DRIVE MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Set [Pr.
Page 606: Magnetic Pole Detection
16. USING A DIRECT DRIVE MOTOR (2) Operation at the magnetic pole detection Note that the magnetic pole detection automatically starts simultaneously with the WARNING turning-on of the servo-on command. If the magnetic pole detection is not executed properly, the direct drive motor may CAUTION operates unexpectedly.
Page 607 16. USING A DIRECT DRIVE MOTOR 2) Direct drive motor movement (when LSP and LSN are on) Center of direct drive motor rotation part (Note) LSN LSP (Note) Servo-on position (Magnetic pole detection start position) Magnetic pole detection completion position 10 degrees or less Note.
Page 608 16. USING A DIRECT DRIVE MOTOR 2) Execute the magnetic pole detection. (Refer to (2) (a) of this section.) 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr.
Page 609: Function
16. USING A DIRECT DRIVE MOTOR (c) Setting example Magnetic pole detection [Pr. PL09] setting value Existent Alarm Non-existent While increasing the setting value of [Pr. PL09], carry out the An alarm has occurred magnetic pole detection repeatedly. when the setting value of [Pr.
Page 610 16. USING A DIRECT DRIVE MOTOR (b) Speed deviation error detection Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04] Speed deviation error detection enabled When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 16.1, if the deviation is more than the value of [Pr.
Page 611: Absolute Position Detection System
16. USING A DIRECT DRIVE MOTOR 16.4 Absolute position detection system POINT To configure the absolute position detection system by using the direct drive motor, the battery and the absolute position storage unit (MR-BTAS01) are required. For encoder cables and absolute position storage units, refer to "Direct Drive Motor Instruction Manual".
Page 612: Characteristics
16. USING A DIRECT DRIVE MOTOR Timing chart at power on under the condition of performing magnetic pole detection Power First servo-on after power on Second or later servo-on SON (Servo-on) ABSM (ABS transfer mode) During ABS transfer During ABS transfer (Note 1) (Note 1) ABSR (ABS request)
Page 613 16. USING A DIRECT DRIVE MOTOR 1000 1000 Operating Operating Servo-lock Servo-lock (Note) Load ratio [%] (Note) Load ratio [%] TM-RFM002C20/TM-RFM004C20/ TM-RFM048G20/TM-RFM072G20/ TM-RFM006C20/TM-RFM006E20/ TM-RFM120J10 TM-RFM012E20/TM-RFM018E20/ TM-RFM012G20/TM-RFM040J10 10000 1000 Operating Servo-lock (Note) Load ratio [%] TM-RFM240J10 Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Page 614: Power Supply Capacity And Generated Loss
Table 16.1 Power supply capacity and generated loss per direct drive motor at rated output Servo amplifier-generated heat [W] Power supply Area required for Direct drive motor Servo amplifier capacity [kVA] heat dissipation [m At rated output With servo-off MR-J4-20A(-RJ) TM-RFM002C20 0.25 MR-J4-20A1(-RJ) MR-J4-40A(-RJ) TM-RFM004C20 0.38 MR-J4-40A1(-RJ) TM-RFM006C20 0.53...
Page 615: Dynamic Brake Characteristics
16. USING A DIRECT DRIVE MOTOR 16.5.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 616 16. USING A DIRECT DRIVE MOTOR (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 16.1. Speed [r/min] Speed [r/min] TM-RFM_C20 TM-RFM_E20 Speed [r/min] Speed [r/min] TM-RFM_G20 TM-RFM_J10 (2) Permissible load to motor inertia ratio when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table.
Page 617 16. USING A DIRECT DRIVE MOTOR MEMO 16 - 20...
Page 618: Fully Closed Loop System
EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to appendix 9. The MR-J4-03A6 servo amplifier is not compatible with the fully closed loop system. 17 - 1...
Page 619: Functions And Configuration
17. FULLY CLOSED LOOP SYSTEM 17.1 Functions and configuration 17.1.1 Function block diagram A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the load-side encoder unit. Electronic gear Controller Servo motor Servo motor-side cumulative (Servo motor side) feedback pulses...
Page 620: Selecting Procedure Of Control Mode
17. FULLY CLOSED LOOP SYSTEM 17.1.2 Selecting procedure of control mode (1) Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be selected as a control system. In addition, the fully closed loop control and dual feedback control can be selected by the [Pr. PE08] settings on the fully closed loop system.
Page 621: System Configuration
17. FULLY CLOSED LOOP SYSTEM 17.1.3 System configuration (1) For a linear encoder (a) MR-J4-_A_ servo amplifier Servo amplifier (Note) Controller Two-wire type serial interface compatible linear encoder Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table Note.
Page 622 17. FULLY CLOSED LOOP SYSTEM (2) For a rotary encoder (a) MR-J4-_A_ servo amplifier Servo amplifier Servo motor encoder signal Drive part Controller (Note) (Note) Servo motor Load-side encoder signal Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) Note.
Page 623: Load-Side Encoder
When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder. Use a two-wire type encoder cable for MR-J4-_A_ servo amplifiers. Do not use MR-EKCBL30M-L, MR- EKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type.
Page 624: Configuration Diagram Of Encoder Cable
(Refer to the Linear Encoder Instruction Manual.) (b) MR-J4-_A_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ servo amplifier. You can also use a four-wire type linear encoder. Servo amplifier...
Page 625 Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used. (b) MR-J4-_A_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ servo amplifier. You can also use a four-wire type linear encoder.
Page 626: Mr-J4Fccbl03M Branch Cable
17. FULLY CLOSED LOOP SYSTEM 17.2.4 MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m (Note 1) (Note 2)
Page 627: Operation And Functions
17. FULLY CLOSED LOOP SYSTEM 17.3 Operation and functions 17.3.1 Startup (1) Startup procedure Start up the fully closed loop system in the following procedure. Completion of installation and wiring Adjustment and operation check in semi closed loop system Check that the servo equipment is normal.
Page 628 17. FULLY CLOSED LOOP SYSTEM (2) Selection of fully closed loop system By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table. Semi closed loop Absolute position [Pr.
Page 629 When using a load-side encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37]. (4) Setting of load-side encoder polarity Do not set an incorrect direction to "Encoder pulse count polarity selection"...
Page 630 17. FULLY CLOSED LOOP SYSTEM (5) Setting of feedback pulse electronic gear POINT If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal operation may occur.
Page 631 17. FULLY CLOSED LOOP SYSTEM (b) Setting example when using the rotary encoder for the load-side encoder of roll feeder Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 4194304 pulses/rev Drive part Pulley diameter...
Page 632 17. FULLY CLOSED LOOP SYSTEM (6) Confirmation of load-side encoder position data Check the load-side encoder mounting and parameter settings for any problems. POINT Depending on the check items, MR Configurator2 may be used. Refer to section 17.3.8 for the data displayed on the MR Configurator2. When checking the following items, the fully closed loop control mode must be set.
Page 633 17. FULLY CLOSED LOOP SYSTEM (7) Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc.
Page 634: Home Position Return
17. FULLY CLOSED LOOP SYSTEM 17.3.2 Home position return (1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
Page 635 17. FULLY CLOSED LOOP SYSTEM (b) Home position return using incremental linear encoder When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier will be the home position (reference mark) of the linear encoder. Two or more home positions (reference marks) should not be set.
Page 636: Fully Closed Loop Control Error Detection Functions
17. FULLY CLOSED LOOP SYSTEM 17.3.3 Fully closed loop control error detection functions If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre- detect it and stop operation.
Page 637: Auto Tuning Function
17. FULLY CLOSED LOOP SYSTEM (b) Position deviation error detection Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection. [Pr. PE03] Position deviation error detection Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr.
Page 638: Absolute Position Detection System Under Fully Closed Loop System
17. FULLY CLOSED LOOP SYSTEM 17.3.7 Absolute position detection system under fully closed loop system An absolute type linear encoder is necessary to configure an absolute position detection system under fully closed loop control using a linear encoder. In this case, the encoder battery (MR-BAT6V1SET) need not be installed to the servo amplifier.
Page 639: About Mr Configurator2
17. FULLY CLOSED LOOP SYSTEM 17.3.8 About MR Configurator2 Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load- side encoder operate properly. This section explains the fully closed diagnosis screen. Click "Monitor start"...
Page 640 17. FULLY CLOSED LOOP SYSTEM Symbol Name Explanation Unit Encoder information The load-side encoder information is displayed. The display contents differ depending on the load-side encoder type. ID: The ID No. of the load-side encoder is displayed. Data 1: For the incremental type linear encoder, the counter from powering on is displayed.
Page 641 17. FULLY CLOSED LOOP SYSTEM MEMO 17 - 24...
Page 642: Mr-J4-03A6 Servo Amplifier
18. MR-J4-03A6 SERVO AMPLIFIER 18. MR-J4-03A6 SERVO AMPLIFIER The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of the detailed explanation field for details. Item Detailed explanation Parameter Chapter 5 Normal gain adjustment...
Page 643: Function Block Diagram
18. MR-J4-03A6 SERVO AMPLIFIER 18.1.2 Function block diagram The function block diagram of this servo is shown below. 48 V DC main circuit power supply Servo amplifier Servo motor Circuit 48 V DC Inverter protector Built-in regenerative Current resistor detector...
Page 644: Servo Amplifier Standard Specifications
18. MR-J4-03A6 SERVO AMPLIFIER 18.1 3 Servo amplifier standard specifications Model MR-J4-03A6 Rated output 30 W Rated voltage 3-phase 13 V AC Output Rated current Voltage 48 V DC/24 V DC (Note 5) For 48 V DC: 1.2 A Rated current For 24 V DC: 2.4 A...
Page 645: Combinations Of Servo Amplifiers And Servo Motors
18. MR-J4-03A6 SERVO AMPLIFIER Model MR-J4-03A6 LVD: EN 61800-5-1/EN 60950-1 Compliance CE marking EMC: EN 61800-3 to global standards UL standard UL 508C (NMMS2) Structure (IP rating) Natural cooling, open (IP20) Close mounting Possible (Note 2) DIN rail mounting (width: 35mm)
Page 646: Function List
18. MR-J4-03A6 SERVO AMPLIFIER 18.1.5 Function list The following table lists the functions of MR-J4-03A6 servo amplifier. For details of the functions, refer to each section indicated in the detailed explanation field. Detailed Function Description explanation This realizes a high response and stable control following the ideal model. The two-...
Page 647 Tough drive function Section 7.3.1 MR-J4-03A6 servo amplifier is compatible with vibration tough drive. This is not compatible with instantaneous power failure tough drive. This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time.
Page 648 This function improves the response delay occurred when the machine moving Section 7.6 function direction is reversed. This function sets constant and uniform acceleration/deceleration droop pulses to Super trace control Section 7.7 almost 0. High-resolution analog input This is not available with MR-J4-03A6 servo amplifier. 18 - 7...
Page 649: Model Definition
18. MR-J4-03A6 SERVO AMPLIFIER 18.1.6 Model definition (1) Rating plate The following shows an example of rating plate for explanation of each item. AC SERVO Serial number SER.A4X001001 MODEL MR-J4-03A6 Model Capacity POWER : Applicable power supply INPUT 0.2A DC24V, 2.4A DC24V/1.2A DC48V Rated output current OUTPUT: 3PH13V 0-360Hz 2.4A...
Page 650: Parts Identification
18. MR-J4-03A6 SERVO AMPLIFIER 18.1.7 Parts identification Detailed Name/Application explanation Display Section The 3-digit, 7-segment LED shows the servo status and 18.5 the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET"...
Page 651: Configuration Including Peripheral Equipment
18. MR-J4-03A6 SERVO AMPLIFIER 18.1.8 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 652: Installation
Additionally, disinfect and protect wood from insects before packing the products. The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of the detailed explanation field for details. Item...
Page 653: Installation Direction And Clearances
18. MR-J4-03A6 SERVO AMPLIFIER 18.2.1 Installation direction and clearances When using heat generating equipment, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.
Page 654 18. MR-J4-03A6 SERVO AMPLIFIER (2) Installation of two or more servo amplifiers POINT You can install MR-J4-03A6 servo amplifiers without clearances between them. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 ˚C to 45 ˚C.
Page 655: Installation By Din Rail
18. MR-J4-03A6 SERVO AMPLIFIER 18.2.2 Installation by DIN rail To mount the servo amplifier to DIN rail, pull down the tab of hook. The hook may come off when the tab is pushed down from the back side of the servo amplifier.
Page 656 18. MR-J4-03A6 SERVO AMPLIFIER Removing servo amplifier from DIN rail Wall Wall Upper tab Upper tab DIN rail DIN rail Hook 1) Pull down the hook. 2) Pull the servo amplifier forward. Wall Upper tab DIN rail 3) Lift up and remove the servo amplifier.
Page 657: Signals And Wiring
18. MR-J4-03A6 SERVO AMPLIFIER 18.3 Signals and wiring A person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and check to see if the charge lamp turned off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 658: Input Power Supply Circuit
18. MR-J4-03A6 SERVO AMPLIFIER The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details. Item Detailed explanation Detailed explanation of signals Section 3.6...
Page 659 18. MR-J4-03A6 SERVO AMPLIFIER Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. Malfunction 24 V DC (Note 7)
Page 660: Explanation Of Power Supply System
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.2 Explanation of power supply system (1) Pin assignment Servo amplifier CNP1 (2) Detailed explanation Connection target Symbol Description (application) Used to connect + of the control circuit power supply (24 V DC). Used to connect + of the main circuit power supply (48 V DC/24 V DC).
Page 661 18. MR-J4-03A6 SERVO AMPLIFIER (3) Wiring CNP1 POINT For the wire sizes used for wiring, refer to section18.8.3. Use the servo amplifier power connector for wiring CNP1. (a) Connector Servo amplifier CNP1 Table 18.1 Connector and applicable wire Stripped Connector...
Page 662 18. MR-J4-03A6 SERVO AMPLIFIER 2) Inserting wire When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the end with pushing down the release button with a small flat head screwdriver, etc.
Page 663: Selection Of Main Circuit Power Supply/Control Circuit Power Supply
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.3 Selection of main circuit power supply/control circuit power supply The inrush current at power on will be large because a resistance for protecting inrush current is not built-in in the main circuit power supply of the servo amplifier. The main circuit capacitor capacity of the servo amplifier is approximately 270 μF.
Page 664: I/O Signal Connection Example
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.5 I/O signal connection example (1) Position control mode (a) For sink I/O interface (Note 4) Servo amplifier 24 V DC (Note 7) (Note 4) Positioning module 24 V DC RD75D (Note 7) DOCOM (Note 2)
Page 665 18. MR-J4-03A6 SERVO AMPLIFIER Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the grounding terminal (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 666 18. MR-J4-03A6 SERVO AMPLIFIER (b) For source I/O interface POINT For notes, refer to (1) (a) of this section. Servo amplifier (Note 4,14) 24 V DC (Note 7) (Note 4,14) Positioning module 24 V DC RD75D (Note 7) DOCOM (Note 2)
Page 667 18. MR-J4-03A6 SERVO AMPLIFIER (2) Speed control mode (a) For sink I/O interface Servo amplifier (Note 7) (Note 4) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 7) (Note 12) Main circuit power supply...
Page 668 18. MR-J4-03A6 SERVO AMPLIFIER Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the grounding terminal (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 669 18. MR-J4-03A6 SERVO AMPLIFIER (b) For source I/O interface POINT For notes, refer to (2) (a) of this section. Servo amplifier (Note 7) (Note 4,13) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 7)
Page 670 18. MR-J4-03A6 SERVO AMPLIFIER (3) Torque control mode POINT EM2 has the same function as EM1 in the torque control mode. (a) For sink I/O interface Servo amplifier (Note 6) (Note 4) 24 V DC DOCOM DOCOM (Note 2) 10 m or less...
Page 671 18. MR-J4-03A6 SERVO AMPLIFIER (b) For source I/O interface POINT For notes, refer to (3) (a) of this section. Servo amplifier (Note 6) (Note 4,11) 24 V DC DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 5) (Note 6)
Page 672: Connectors And Pin Assignment
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.6 Connectors and pin assignment POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. For the CN1 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
Page 673 18. MR-J4-03A6 SERVO AMPLIFIER The device assignment of CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices will be changed using those parameters. (Note 2) I/O signals in control modes (Note 1) Pin No.
Page 674 18. MR-J4-03A6 SERVO AMPLIFIER Note 1. I: input signal, O: output signal 2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode 3.
Page 675: Signal (Device) Explanations
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.7 Signal (device) explanations The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the control mode field of the table shows the followings.
Page 676 18. MR-J4-03A6 SERVO AMPLIFIER Control Connector mode Device Symbol Function and application pin No. division Second STAB2 DI-1 acceleration/ deceleration selection ABS transfer ABSM CN1-17 DI-1 mode ABS request ABSR CN1-18 DI-1 (b) Output device Control Connector mode Device Symbol Function and application pin No.
Page 677 18. MR-J4-03A6 SERVO AMPLIFIER (2) Input signal Control Connector mode Device Symbol Function and application pin No. division Analog torque CN1-27 Refer to section 3.5 (2) for details of signal. Analog limit input Analog torque Analog command input Analog speed...
Page 678 18. MR-J4-03A6 SERVO AMPLIFIER (5) Power supply Control Connector mode Device Symbol Function and application pin No. division Digital I/F power DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power supply input...
Page 679: Alarm Occurrence Timing Chart
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.8 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forced stop deceleration function is not available.
Page 680 18. MR-J4-03A6 SERVO AMPLIFIER (b) When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed Braking by the electromagnetic brake 0 r/min Dynamic brake operating time...
Page 681: Interfaces (Internal Connection Diagram)
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.9 Interfaces (Internal connection diagram) The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Page 682 18. MR-J4-03A6 SERVO AMPLIFIER Note 1. P: position control mode, S: speed control mode, T: torque control mode 2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows. DOCOM DOCOM...
Page 683: Grounding
18. MR-J4-03A6 SERVO AMPLIFIER 18.3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the noiseless grounding terminal (marked ) of the servo amplifier to the grounding terminal of the cabinet. The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
Page 684: Startup
During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury. The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Page 685: Startup Procedure
18. MR-J4-03A6 SERVO AMPLIFIER 18.4.1 Startup procedure When switching power on for the first time, follow this section to make a startup. Check that the servo amplifiers and servo motors are wired correctly. (Refer 01. Wiring check to section 18.4.3.) Set the main circuit power supply selection (48 V DC or 24 V DC) to servo amplifier.
Page 686: Troubleshooting When "24 V Error" Lamp Turns On
18. MR-J4-03A6 SERVO AMPLIFIER 18.4.2 Troubleshooting when "24 V ERROR" lamp turns on (1) When overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be shut off and the "24 V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn off.
Page 687: Wiring Check
18. MR-J4-03A6 SERVO AMPLIFIER 18.4.3 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (24/0/PM) of the servo amplifier should satisfy the defined specifications.
Page 688: Surrounding Environment
18.5 Display and operation sections 18.5.1 Summary MR-J4-03A6 servo amplifier has the display section (3-digit, 7-segment LED) and operation section (4 push buttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
Page 689: Display Flowchart
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.2 Display flowchart Press the "MODE" button once to shift to the next display mode. Refer to section 18.5.3 and later for the description of the corresponding display mode. To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr.
Page 690: Status Display Mode
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.3 Status display mode The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed.
Page 691 18. MR-J4-03A6 SERVO AMPLIFIER (2) Display examples The following table shows the display examples. Displayed data Item Status Servo amplifier display pulse unit 720000 pulses 1000 pulses unit Cumulative feedback pulses pulse unit The negative value is indicated by the lit decimal points in the upper two digits.
Page 692 18. MR-J4-03A6 SERVO AMPLIFIER (3) Status display list The following table lists the servo statuses that may be shown. Refer to appendix 8.3 (2) for the measurement point. Status display Symbol Unit Description Feedback pulses from the servo motor encoder are counted and displayed.
Page 693 18. MR-J4-03A6 SERVO AMPLIFIER Status display Symbol Unit Description The within one-revolution position is displayed in 1000000 pulse increments of the encoder. Within one-revolution position 1000000 (1000000 pulses unit) pulses When the count exceeds 999, it starts from 0. When the servo motor rotates in the CCW direction, the value is added.
Page 694 18. MR-J4-03A6 SERVO AMPLIFIER (4) Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing [Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.
Page 695: One-Touch Tuning
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.4 One-touch tuning The contents mentioned in this section is an operation method only for operating one-touch tuning on MR- J4-03A6 servo amplifier by using push button. Refer to section 6.2 for details of one-touch tuning.
Page 696 18. MR-J4-03A6 SERVO AMPLIFIER (2) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning overshoot permissible level] will shorten the settling time and improve the response.
Page 697 18. MR-J4-03A6 SERVO AMPLIFIER (4) If an error occurs Stop symbol If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code from "C 01" to "C 0F" will be displayed by turns with 2 s interval.
Page 698 18. MR-J4-03A6 SERVO AMPLIFIER (6) If a warning occurs One-touch tuning in progress If a warning occurs during tuning, the alarm No. of the warning will be displayed. When the warning is one which continue the motor driving, the one-touch tuning will be continued.
Page 699: Diagnostic Mode
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.5 Diagnostic mode Name Display Description Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
Page 700 18. MR-J4-03A6 SERVO AMPLIFIER Name Display Description Indicates the version of the software. The software version is displayed while the "SET" button is pressed and held. Press the "MODE" button to shift to the next display mode. Software version: lower "SET"...
Page 701 18. MR-J4-03A6 SERVO AMPLIFIER Name Display Description Displays the series ID of the servo motor currently connected. Press the "SET" button to show the lower 3 digits of servo motor series ID. For indication details, refer to appendix 1 of Servo motor series ID "SET"...
Page 702: Alarm Mode
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.6 Alarm mode The current alarm, past alarm history and parameter error are displayed. The alarm number that has occurred or the parameter numbers in error are displayed on the display. Name Display Description Indicates no occurrence of an alarm.
Page 703 18. MR-J4-03A6 SERVO AMPLIFIER Name Display Description This indicates no occurrence of [AL. 37 Parameter error]. The parameter error number is displayed. The parameter group in which the parameter error has occurred is displayed. Press and Parameter error No. hold the "SET" button to show the parameter number with the error.
Page 704: Parameter Mode
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.7 Parameter mode (1) Parameter mode transition After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as follows. To status display mode MODE From an Basic setting...
Page 705 18. MR-J4-03A6 SERVO AMPLIFIER (2) Operation example (a) Parameters of 3 or less decimal digits. The following example gives the operation procedure to change [Pr. PA Reverse rotation torque limit]. Press "MODE" to switch to the basic setting parameter screen.
Page 706 18. MR-J4-03A6 SERVO AMPLIFIER (b) Parameters of 4 to 6 decimal digits The following example gives the operation procedure to change [Pr. PB03 Positioning command acceleration/deceleration time constants (position smoothing)] to "65535". Press "MODE" to switch to the gain/filter setting parameter screen.
Page 707 18. MR-J4-03A6 SERVO AMPLIFIER (c) Parameters of 7 or more decimal digits The following example gives the operation procedure to change the [Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)] to "12345678". Press "MODE" to switch to the basic setting parameter screen.
Page 708 18. MR-J4-03A6 SERVO AMPLIFIER (d) Parameter of hexadecimal The following example gives the operation procedure to change the [Pr. PA01 Operation mode] to "1234". Press "MODE" to switch to the basic setting parameter screen. Press "UP" or "DOWN" to select [Pr. PA01].
Page 709: External I/O Signal Display
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.8 External I/O signal display POINT The I/O signal settings can be changed using the I/O setting parameters [Pr. PD03] to [Pr. PD26], and [Pr. PD28]. The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.
Page 710 18. MR-J4-03A6 SERVO AMPLIFIER (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O signals in control modes input/output Pin No. Related parameter Connector (Note 1) I/O PP/- (Note 3) (Note 3) (Note 3) -/PP Pr. PD43/Pr. PD44 Pr.
Page 711 18. MR-J4-03A6 SERVO AMPLIFIER (3) Display data at initial values (a) Position control mode PP (CN1-10)/PP2 (CN1-37) CR (CN1-41) NP (CN1-35)/NP2 (CN1-38) RES (CN1-19) PC (CN1-17) SON (CN1-15) TL (CN1-18) LSN (CN1-44) LOP (CN1-45) LSP (CN1-43) EM2 (CN1-42) Light on: on...
Page 712: Output Signal (Do) Forced Output
18. MR-J4-03A6 SERVO AMPLIFIER 18.5.9 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on MBR (Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Page 713: Test Operation Mode
Test operation cannot be performed if SON (Servo-on) is not turned off. The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Page 714 18. MR-J4-03A6 SERVO AMPLIFIER (2) JOG operation POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ". JOG operation can be performed when there is no command from the controller.
Page 715: Dimensions
18. MR-J4-03A6 SERVO AMPLIFIER 18.6 Dimensions [Unit: mm] Approx. 80 CNP1 Approx. Approx. 51 27.4 With MR-BAT6V1SET-A Mass: 0.2 [kg] Mounting screw Terminal Screw size: M4 CNP1 Tightening torque: 1.24 [N•m] Approx. 30 Approx. 2-M4 screw Mounting hole process drawing...
Page 716: Characteristics
18. MR-J4-03A6 SERVO AMPLIFIER 18.7 Characteristics The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details. Item Detailed explanation Cable bending life Section 10.4...
Page 717: Power Supply Capacity And Generated Loss
18.7.3 Dynamic brake characteristics POINT The dynamic brake of MR-J4-03A6 is an electronic type. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency.
Page 718 18. MR-J4-03A6 SERVO AMPLIFIER (1) Dynamic brake operation (a) Calculation of coasting distance Fig. 18.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 18.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
Page 719: Inrush Currents At Power-On Of Main Circuit And Control Circuit
18. MR-J4-03A6 SERVO AMPLIFIER (2) Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the servo amplifier may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.
Page 720: Options And Peripheral Equipment
Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers. The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Page 721: Combinations Of Cable/Connector Sets
18. MR-J4-03A6 SERVO AMPLIFIER 18.8.2 Combinations of cable/connector sets Operation panel Personal computer Servo amplifier Controller Battery 1) Packed with the servo amplifier CNP1 (Note) (Note) HG-AK servo motor Note. Refer to "Servo Motor Instruction Manual (Vol. 3)" for servo motor power cables and encoder cables.
Page 722: Selection Example Of Wires
18. MR-J4-03A6 SERVO AMPLIFIER 18.8.3 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection conditions of wire size are as follows.
Page 723: Mitsubishi General-Purpose Ac Servo Protocol Communication Function
With MR-J4-03A6 servo amplifier, driving servo, changing parameters, operating motor function, etc. is possible using Mitsubishi general-purpose AC servo protocol (RS-422 communication). In this section, only the configuration of operating RS-422 communication function with MR-J4-03A6 servo amplifier is described. Refer to chapter 14 for details of the communication specification and protocol, etc.
Page 724 18. MR-J4-03A6 SERVO AMPLIFIER Note 1. Connector set MR-J3CN1 (3M or equivalent) Connector: 10150-3000PE Shell kit: 10350-52F0-008 2. Connect between TRE and RDN of the final axis servo amplifier. 3. The overall length is 30 m or less in low-noise environment.
Page 725 18. MR-J4-03A6 SERVO AMPLIFIER MEMO 18 - 84...
Page 726: Appendix
APPENDIX App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of April 2015. Manufacturer Reference NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. J.S.T. Mfg. Co., Ltd. Junkosha Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch SEIWA ELECTRIC Seiwa Electric Mfg.
Page 727 APPENDIX (3) Change in regulations The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as UN3091.
Page 728: App. 3 Symbol For The New Eu Battery Directive
Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.
Page 729: App. 4 Compliance With Global Standards
Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.3 for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
Page 730 4. Use the crimp terminal c for the PE terminal of the servo amplifier. 5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6. 6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6. Table 2. Recommended crimp terminals Servo amplifier-side crimp terminals...
Page 731 24 V DC power supply with reinforced insulation on I/O terminals. In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which can generate more than 1.2 A/2.4 A per axis.
Page 732 (2004/108/EC), and Low-voltage directive (2006/95/EC). (a) EMC requirement MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires (max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m), use shielded wires and ground the shields.
Page 733 This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14. (a) Installation The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet.
Page 734 APPENDIX App. 4.2.5 Residual risk (1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. (2) Perform all risk assessments and safety level certification to the machine or the system as a whole. (3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum.
Page 735 Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. For MR-J4-500_, the clearance on the left side will be 25 mm or more. To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited...
Page 736 Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction. The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards. (1) 3-phase input for MR-J4 1-axis servo amplifier Servo amplifier (3-phase...
Page 737 The control circuit connectors described by rectangles are safely separated from the main circuits described by circles. The connected motors will be limited as follows. (1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) (2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA) App. - 12...
Page 738 APPENDIX App. 4.5 Signal App. 4.5.1 Signal The following shows MR-J4-10B signals as a typical example. STO I/O signal connector DOCOM STO1 STOCOM DICOM TOFB1 STO2 TOFCOM TOFB2 DICOM App. 4.5.2 I/O device Input device Symbol Device Connector Pin No.
Page 739 For repair and parts replacement, contact your local sales office. App. 4.6.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws.(Except for MR-J4-03A6 and MR- J4W2-0303B6) Tightening torque [N•m]...
Page 740 (Note 2) Battery life 5 years from date of manufacture Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.
Page 741 (line voltage) 50/60 Hz AC, 50 Hz/60 Hz AC, 50 Hz/60 Hz 24 V DC, (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA; MR-J4W2-_B_, Interface (SELV) 350 mA; MR-J4W3-_B, 450 mA) Control method Sine-wave PWM control, current control method...
Page 742 APPENDIX App. 4.8.2 Servo amplifier dimensions Variable dimension table [mm] Servo amplifier Mass [kg] MR-J4-03A6 Front Side MR-J4-10_(1)/MR-J4-20_(1) MR-J4-40_(1)/MR-J4-60_ MR-J4-70_/MR-J4-100_ MR-J4-200_(4) MR-J4-350_ MR-J4-500_ MR-J4-700_ MR-J4-11K_(4)/MR-J4-15K_(4) 13.4 MR-J4-22K_(4) 18.2 MR-J4-60_4/MR-J4-100_4 MR-J4-350_4 MR-J4-500_4 MR-J4-700_4 MR-J4W2-0303B6 MR-J4W2-22B/MR-J4W2-44B MR-J4W2-77B/MR-J4W2-1010B MR-J4W3-222B/MR-J4W3-444B App. 4.8.3 Mounting hole...
Page 743 APPENDIX App. 4.9 Check list for user documentation MR-J4 installation checklist for manufacturer/installer The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items. Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
Page 744: App. 5 Mr-J3-D05 Safety Logic Unit
SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating. The delay time can be set with MR-J3-D05. The purpose of this function is as follows. This function is available by using an MR-J4 series servo amplifier with MR-J3-D05.
Page 745 (4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.
Page 746 APPENDIX (7) Perform all risk assessments and safety level certification to the machine or the system as a whole. It is recommended that a Certification Body final safety certification of the system be used. (8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as deemed necessary by the applicable safety standard.
Page 747 APPENDIX App. 5.7.2 Specifications Safety logic unit model MR-J3-D05 Voltage 24 V DC Control circuit Permissible 24 V DC ± 10% power supply voltage fluctuation Power supply 0.5 (Note 1, 2) capacity Compatible system 2 systems (A-axis, B-axis independent) Shut-off input 4 points (2 point ×...
Page 748 APPENDIX App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier (1) System configuration diagram The following shows the connection targets of the STO switch and STO release switch. POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
Page 749 APPENDIX (2) Connection example 24 V DC RESA RESB MR-J3-D05 (Note) (Note) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- MR-J4_A_(-RJ) SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B-...
Page 750 APPENDIX App. 5.8 Signal App. 5.8.1 Connector/pin assignment (1) CN8A Device Symbol Pin No. Function/application division A-axis STO1 STO1A- Outputs STO1 to A-axis driving device. STO1A+ Outputs the same signal as A-axis STO2. STO state (base shutdown): Between STO1A+ and STO1A- is opened. STO release state (in driving): Between STO1A+ and STO1A- is closed.
Page 751 APPENDIX (4) CN10 Device Symbol Pin No. Function/application division A-axis SDI2A+ Connect this device to a safety switch for A-axis driving device. DI-1 shutdown 2 SDI2A- Input the same signal as A-axis shutdown 1. STO state (base shutdown): Open between SDI2A+ and SDI2A-. STO release state (in driving): Close between SDI2A+ and SDI2A-.
Page 752 APPENDIX (b) Digital output interface DO-1 This is a circuit of collector output terminal of the output transistor. When the output transistor is turned on, collector terminal current will be applied for the output. A lamp, relay or photocoupler can be driven.
Page 753 APPENDIX App. 5.8.3 Wiring CN9 and CN10 connectors Handle with the tool with care when connecting wires. (1) Wire strip (a) Use wires with size of AWG 24 to 20 (0.22 mm to 0.5 mm ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm ±...
Page 754 APPENDIX 2) Connecting wires a) Confirm the model number of the housing, contact and tool to be used. b) Insert the tool diagonally into the receptacle assembly. c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
Page 755 APPENDIX (b) Using a screwdriver To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force. Be cautious when connecting. 1) Adjusting screw driver Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm Length: 120 mm or less Length: 120 mm or less Width: 2.3 mm...
Page 756 APPENDIX (3) Connector insertion Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged. (4) Compatible wire Compatible wire size is listed below.
Page 757 APPENDIX App. 5.9 LED display I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis. Description Column A Column B Monitor LED for start/reset SRES Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on.
Page 758 APPENDIX App. 5.11 Troubleshooting When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action. Event Description Cause Action Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
Page 759 APPENDIX App. 5.12 Dimensions [Unit: mm] 22.5 19.5 Approx. 22.5 Approx. 80 9.75 φ5 mounting hole Rating plate 9.75 CN8A 2-M4 screw CN8B CN10 Mounting hole process drawing Mounting screw Pin assignment CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B...
Page 760 APPENDIX App. 5.13 Installation Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet. Cabinet Cabinet Cabinet 100 mm or longer 40 mm or 80 mm or longer 10 mm or longer for wiring...
Page 761 APPENDIX Name Model Description 1) Connector MR-J3-D05 attachment connector Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8 (TE Connectivity) (TE Connectivity) 2) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Cable length: 3 m (TE Connectivity) COMPLIANCE WITH THE MACHINERY DIRECTIVES The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery). App.
Page 762: App. 6 Ec Declaration Of Conformity
APPENDIX App. 6 EC declaration of conformity The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive. App. - 37...
Page 763 APPENDIX App. - 38...
Page 764: App. 7 Analog Monitor
APPENDIX App. 7 Analog monitor POINT A voltage of analog monitor output may be irregular at power-on. The servo status can be output to two channels in terms of voltage. App. 7.1 Setting Change the following digits of [Pr. PC14] and [Pr. PC15]. [Pr.
Page 765 MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14] and [Pr. PC15] value. Refer to App. 7.3 for the detection point. (1) MR-J4-_A_(-RJ) 100 W or more Setting Setting Output item...
Page 766 APPENDIX Setting Setting Output item Description Output item Description value value Servo motor-side droop Servo motor-side droop CCW direction CCW direction 10 [V] 10 [V] pulses pulses (Note 1, 3, 5, 6) (Note 1, 3, 5, 6) (±10 V/10000 pulses) (±10 V/100000 pulses) 10000 [pulse] 100000 [pulse]...
Page 767 6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed loop control. 7. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V. (2) MR-J4-03A6 Setting Setting...
Page 768 APPENDIX Setting Setting Output item Description Output item Description value value Servo motor-side droop Servo motor-side droop CCW direction CCW direction 9 [V] 9 [V] pulses (Note 1, 2, 3) pulses (Note 1, 2, 3) (5 V ± 4 V/10000 (5 V ±...
Page 769 APPENDIX App. 7.3 Analog monitor block diagram (1) MR-J4-_A_(-RJ) 100 W or more (a) Semi closed loop control Speed Speed Current Droop pulses Bus voltage command command 2 command Current encoder Speed command Command Position Speed Current Servo motor pulse...
Page 770 APPENDIX (2) MR-J4-03A6 Speed Current Command pulse Droop pulses Bus voltage frequency command 2 command Current Speed detector Command command Speed Position Current Servo motor pulse control control control Encoder inside temperature Current feedback Encoder Differen- tiation Position feedback Feedback...
Page 771: App. 8 Two-Wire Type Encoder Cable For Hg-Mr/Hg-Kr
App. 8 Two-wire type encoder cable for HG-MR/HG-KR Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_A_ servo amplifiers. For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.
Page 772: App. 9 How To Replace Servo Amplifier Without Magnetic Pole Detection
(2) Migration method of the magnetic pole information (a) How to read the magnetic pole information from the servo amplifier before the replacement 1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for operation mode.
Page 773 (b) How to write the magnetic pole information to the servo amplifier after the replacement 1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for operation mode. 2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"...
Page 774: App. 10 Special Specification
App. 10.1.1 Summary This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_A_(-RJ). App. 10.1.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 775 App. 10.2.1 Summary This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_A_(-RJ). App. 10.2.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 776: App. 11 Driving On/Off Of Main Circuit Power Supply With Dc Power Supply
APPENDIX App. 11 Driving on/off of main circuit power supply with DC power supply App. 11.1 Connection example The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3. Malfunction Emergency stop switch Servo amplifier...
Page 777 Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Magnetic Magnetic Servo amplifier Servo amplifier contactor contactor MR-J4-10A(-RJ) MR-J4-60A4(-RJ) MR-J4-20A(-RJ) MR-J4-100A4(-RJ) SD-N11 MR-J4-40A(-RJ) MR-J4-200A4(-RJ) SD-N11...
Page 778 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030107-A First edition Jun. 2012 SH(NA)030107-B 4. Additional instructions (2) The sentences are added. Wiring 4. Additional instructions (3) The sentences are added.
Page 779 Section 13.4.2 (1) The diagram is changed. Feb. 2013 SH(NA)030107-E HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ servo amplifier are added. Safety 4 (1) Two items are added to CAUTION. Safety Instructions 4 (2) The diagram in CAUTION is changed.
Page 780 Print Data *Manual Number Revision The reference is changed. Feb. 2013 SH(NA)030107-E COMPLIANCE WITH UL/CSA STANDARD COMPLIANCE WITH KC The reference is changed. MARK Section 1.1 The sentences and table of combination are added. Section 1.2 POINT is added. Section 1.2 (1) CN2L connector, Note 5 and 6 are added.
Page 781 Print Data *Manual Number Revision [Pr. PA17], [Pr. PA18], and [Pr. PA26] are added. [Pr. PA27] is Feb. 2013 SH(NA)030107-E Section 5.1.1 changed. The operation mode is added. Section 5.1.3 [Pr. PC44] and [Pr. PC45] are added. The operation mode is added. Section 5.1.1 to 5.1.6 The operation mode is added.
Page 782 Print Data *Manual Number Revision Aug. 2013 SH(NA)030107-F Section 3.9.1 Note 6 is added. Section 5.1.3 Analog torque/thrust limit maximum output of [Pr. PC13] is deleted. Section 5.2.1 The sentences are added to [Pr. PA13]. Section 5.2.3 Analog torque/thrust limit maximum output of [Pr. PC13] is deleted. Section 5.2.6 [Pr.
Page 783 Print Data *Manual Number Revision Oct. 2013 SH(NA)030107-G Section 5.2.3 [Pr. PC14] The content is changed. Chapter 6 POINT is added. Section 6.2 POINT is added. Chapter 7 POINT is added. Section 7.1.1 (1) The content of the table is changed. Section 7.1.3 POINT is added.
Page 784 App. 4.8.3 (2) Newly added. Note 7 is added. App. 11 (2) Mar. 2014 SH(NA)030107-H 100 V class MR-J4 series servo amplifiers are added. Section 1.2 (3) Newly added. Section 1.3 (1) Note 11 is added. Section 1.3 (3) Newly added.
Page 785 Print Data *Manual Number Revision Mar. 2014 SH(NA)030107-H Section 7.3 The sentences are added. Section 7.3.1 (2) Caution for the table is changed. Section 7.4 POINT is changed. Sentences are added. Chapter 8 POINT is added. Section 9.1 (3) Newly added. Section 10.2 (1) The content of the table is added.
Page 786 The sentences are changed. Section 16.5.2 The content of the table is changed. App. 4 The content of the section is changed. Apr. 2015 SH(NA)030107-K MR-J4-03A6(-RJ) servo amplifier is added. Safety Instructions Partially changed. About the manuals Partially added. Section 1.2 Partially changed.
Page 787 Print Data *Manual Number Revision Apr. 2015 SH(NA)030107-K Section 3.2.3 Partially changed. Section 3.3.3 Partially changed. Section 3.4 Partially added and partially changed. Section 3.5 Partially added and partially changed. Section 3.6.1 POINT is partially changed. Section 3.6.1 (1) Partially added and partially changed. Partially added and partially changed.
Page 788 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 789 MEMO...
Page 790 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries.
Page 791 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 792 MODEL MR-J4-A INSTRUCTIONMANUAL MODEL 1CW804 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030107-K (1504) MEE Printed in Japan Specifications are subject to change without notice.
Page 794 Phone: +1 (847) 478-2100 Fax: +36 (0)1 / 431-9727 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

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Mr-j4-03a6

Mitsubishi Electric MR-J4 Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Startup

5 Parameters

6 NORMAL GAIN ADJUSTMENT 6- 1 to

7 Special Adjustment Functions

8 Troubleshooting

9 Outline Drawings

10 Characteristics

11 Options and Auxiliary Equipment

12 Absolute Position Detection System

13 Using Sto Function

14 Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

16 Using a Direct Drive Motor

17 Fully Closed Loop System

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MR-J4