Related Manuals for Mitsubishi Electric MR-J5D-G
Summary of Contents for Mitsubishi Electric MR-J5D-G
- Page 1 Mitsubishi Electric AC Servo System MR-J5D-G User's Manual (Introduction) -MR-J5D_-_G_...
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Page 3: 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 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 4 [Transportation] CAUTION ● To prevent injury, transport the products correctly according to their mass. [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 20 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the converter unit/drive unit. ●...
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Page 5: Disposal Of Waste
Please dispose of this product, battery (primary battery), and other options according to your local laws and regulations. ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: •... - Page 6 It describes the parameters of the drive unit. (11) Object Dictionary It describes the objects for the drive unit. Manual name Manual No. MR-J5D-G User's Manual (Introduction) IB(NA)-0300538ENG MR-J5D User's Manual (Hardware) IB(NA)-0300548ENG MR-CV Power Regeneration Converter Unit User's Manual...
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Page 7: U.s. Customary Units
Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr. -
Page 8: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE . - Page 9 Execution method ............... . 53 Test operation mode .
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Page 10: Chapter 1 Specifications
SPECIFICATIONS Outline The MR-J5D_-_G_ is a drive unit that operates in the Ethernet open network (communication speed of up to 1 Gbps). Each of the MR-J5D2-_G_ and the MR-J5D3-_G_ drive units can drive two or three servo motors. The footprint of the MR- J5D2-_G_ drive unit and the MR-J5D3-_G_ drive unit is considerably smaller than that of two or three MR-J5D1-_G_ drive units. -
Page 11: Combination With Drive Units And Servo Motors
Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. ■MR-J5D_-_G_ M R - J 5 D 1 1 0 0 G Special specification Series Symbol Special specification Number of axes None Standard Number... -
Page 12: Drive Unit Standard Specifications
Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive... -
Page 13: Mr-J5D2-_G
Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection... -
Page 14: Mr-J5D3-_G
MR-J5D3-_G_ 400 V class Model: MR-J5D3- 100G4 200G4 Output Voltage 3-phase 0 V AC to 480 V AC Rated current (each axis) [A] Main circuit power supply input The main circuit power supply of the drive unit is supplied from a converter unit. Control circuit power Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz... -
Page 15: Positioning Mode
Positioning mode Point table method (CP) Item Description Command interface Object dictionary Operational specifications Positioning by specifying the point table number (255 points) System Signed absolute value command method Position command input Absolute value command method Setting in the point table Setting range of feed length for one point: -2147483648 to 2147483647 [μm], -214748.3648 to 214748.3647 [inch],... -
Page 16: Functional Safety
Functional safety Drive unit specifications Item Specifications Safety performance Satisfied standards EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 Mean time to dangerous failure (MTTFd) MTTFd ≥ 100 [years] (750a) Diagnostic coverage (DC) DC = Medium, 96.5 [%] Probability of dangerous Failure per Hour (PFH) - Page 17 List of safety sub-function compatible units Drive unit Function Servo motor type Safety sub-function (IEC/EN 61800-5-2) achieving method SS1- SS1- SS2-t, (wiring SS2-r destination) MR-J5D1- DI/O Servo motor with Cat. Cat. Cat. Cat. Cat. Cat. Cat. Cat. Cat. Cat. Cat. connection functional safety 4PL e,...
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Page 18: Environment
Environment Item Operation Transportation Storage Ambient temperature 0 ˚C to 60 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) Class 1K4 (IEC 60721-3-1) Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) Ambience... -
Page 19: Function Block Diagram
Function block diagram The following shows the function block diagram of this drive unit. MR-J5D1-_G_ 400 V class Drive unit Servo motor Dynamic brake circuit From L+ of converter unit Current From L- of converter detector unit MCCB To the main circuit power Power supply input... -
Page 20: Mr-J5D2-_G_/Mr-J5D3-_G
MR-J5D2-_G_/MR-J5D3-_G_ 400 V class The following is an example using MR-J5D3-_G_. Drive unit A-axis TRM (A) servo motor MCCB From L+ of converter unit To the main circuit power supply Power Current A-axis supply input of the converter unit detector output From L- of converter unit Dynamic... -
Page 21: Configuration Including Peripheral Equipment
Configuration including peripheral equipment • To prevent a malfunction, do not connect these connectors to any network other than the specified network. • Equipment other than the converter unit, drive unit, and servo motor is optional or a recommended product. The following is an example using MR-J5D1-100G4 and MR-CV11K4. -
Page 22: Special Specifications
Special specifications Drive units without the dynamic brake (-ED) Summary This section describes the drive units without the dynamic brake. Items not described in this section are the same as the MR- J5D_-_G. Specifications The built-in dynamic brakes of the drive units are removed. Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power supply shut-off. -
Page 23: Chapter 2 Function
FUNCTION Restrictions on the MR-J5_-_G_ Restrictions on CC-Link IE TSN Category Detailed functions Network communication cycle restrictions (minimum) MR-J5D1-_G_ MR-J5D2-_G_ MR-J5D3-_G_ Control mode Profile position mode (pp) 250 μs 500 μs 500 μs Profile velocity mode (pv) 250 μs Not used Not used Profile torque mode (tq) 250 μs... -
Page 24: 2.2 Function List
Function list The function list of this drive unit is shown in the following table. For details of the functions, refer to each section indicated in the detailed explanation field. Control mode Functions Detailed functions Description Ver. Detailed explanation CiA 402 control Cyclic synchronous position mode This function operates the servo motor in the Refer to "CONTROL MODE"... - Page 25 Network Functions Detailed functions Description Ver. Detailed explanation Open network (CC- CC-Link IE TSN This function connects the drive unit to MR-J5-G/MR-J5W-G User's Link line) equipment such as a controller through CC-Link Manual (Communication Function) IE TSN. CC-Link IE Field Network Basic This function connects the drive unit to equipment such as a controller through CC-Link IE Field Network Basic.
- Page 26 Operation function Functions Detailed functions Description Ver. Detailed explanation Stop function Quick Stop This function stops the servo motor with a Refer to "Quick stop" in the following specified method and switches to the servo-off manual. status. MR-J5 User's Manual (Function) Halt This function stops the servo motor while the Refer to "Halt"...
- Page 27 Control function Functions Detailed functions Description Ver. Detailed explanation Vibration Advanced vibration suppression This function suppresses vibration and residual Refer to "Advanced vibration suppression control II vibration at an arm end. suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance suppression This function decreases the gain of the specific...
- Page 28 Adjustment function Functions Detailed functions Description Ver. Detailed explanation Automatic Quick tuning This function automatically adjusts the gain at Refer to "Quick tuning" in the adjustment servo-on in a short time without acceleration/ following manual. deceleration operation of the servo motor. MR-J5 User's Manual Response without overshoot is possible, saving (Adjustment)
- Page 29 I/O, monitor Functions Detailed functions Description Ver. Detailed explanation DI/DO Input signal selection (device This function assigns input devices such as LSP Refer to "Assigning I/O devices" in selection) (Forward rotation stroke end) to certain pins of the following manual. the connector.
- Page 30 Engineering tool Functions Detailed functions Description Ver. Detailed explanation Page 43 STARTUP Setup software MR Configurator2 This function performs settings (such as servo parameter settings), test operation, and monitoring with a personal computer. *1 "Ver." indicates the supported firmware version of the drive units. The function is available on drive units with the indicated firmware version or later.
- Page 31 Functional safety Functions Detailed functions Description Ver. Detailed explanation Safety sub-function STO (Safe torque off) This drive unit supports the STO function for Refer to "USING STO FUNCTION" (When functional safety functional safety as per IEC/EN 61800-5-2. This in the following manual. parameters are not used) allows a safety system to be easily configured MR-J5D User's Manual...
- Page 32 Instantaneous power failure measures Functions Detailed functions Description Ver. Detailed explanation Tough drive SEMI-F47 function This function uses the electrical energy charged For the MR-J5D_-_G_ drive unit, this in the capacitor to avoid triggering [AL. 010 function cannot be used. Undervoltage] in case that an instantaneous power failure occurs during operation.
- Page 33 Diagnostics Functions Detailed functions Description Ver. Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo Refer to "Drive recorder" in the status and records the state transition before following manual. and after an alarm for a fixed period of time. The MR-J5 User's Manual (Function) recorded data can be checked by the Waveform-Display button on the drive recorder...
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Page 34: Security
Security To completely prevent unauthorized access to the system from external devices, the user also must take safety measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access. 2 FUNCTION 2.3 Security... -
Page 35: Chapter 3 Structure
STRUCTURE Parts identification MR-J5D_-_G_ • MR-J5D1-_G_ The diagram shows the MR-J5D1-100G4. Inside of the display cover (11) (13) (15) Front (12) (14) Right side (22) (16) (23) Side Inside of the cover Bottom (10) (21) (17) (20) 3 STRUCTURE 3.1 Parts identification... - Page 36 • MR-J5D2-_G_/MR-J5D3-_G_ The diagram shows the MR-J5D3-100G4. Inside of the display cover (11) (13) (15) Front (12) (14) Right side (22) (16) (23) Side Inside of the cover Bottom (10) (21) (17) (18) (19) Name Application Detailed explanation Page 36 Switch setting and Display section The 3-digit, 7-segment LED display shows the servo status and alarm number.
- Page 37 Name Application Detailed explanation (16) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin The analog monitor is output from this connector. assignments" in the following manual. MR-J5D User's Manual (Hardware) (17) A-axis encoder connector (CN2A) Connect the A-axis servo motor encoder or external encoder.
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Page 38: Switch Setting And Display Of The Drive Unit
Switch setting and display of the drive unit Switching to the test operation mode and configuring network setting can be done with switches on the drive unit. The network communication status and alarm status can also be checked on the display (3-digit, 7-segment LED) of the drive unit. Switches If a metal screw driver contacts with the conductive areas, the switches may malfunction. - Page 39 Test operation select switch (SW3-1) Turning "ON (up)" the test operation select switch enables the test operation mode. In the test operation mode, functions such as JOG operation, positioning operation, and machine analyzer are available using MR Configurator2. Page 53 Test operation Disabling control axis switches (SW3-2, SW3-3, and SW3-4) Turning "ON (up)"...
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Page 40: 7-Segment Led
7-segment LED The network connection status, servo status, and alarm/warning occurrence statuses can be checked on the 7-segment LED display. Display sequence The following shows the display sequence of the 7-segment LED display after power-on. Once a system check is complete and the drive unit is started, the network connection status will be displayed. - Page 41 Alarm display When an alarm/warning occurs, the alarm status is displayed after the network connection status. This is an example of the alarm display for when [AL. 032.2 Overcurrent] is occurring. ■For 1-axis drive units Network status Blank Status display Alarm No.
- Page 42 When the network is not connected ■For CC-Link IE TSN The network connection status is displayed for each axis. 1-axis drive unit 2-axis drive unit 3-axis drive unit C-axis network status B-axis network status B-axis network status Network status A-axis network status A-axis network status The 7-segment LED display during initialization is as follows.
- Page 43 ■For CC-Link IE Field Network Basic Display Status Description Controller not connected Indicates that the drive unit is not connected to the controller. Other status displays Display Status Description Test operation mode Indicates that the test operation mode is set. CPU error Indicates that a CPU watchdog error has occurred.
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Page 44: Status Leds
Status LEDs The LED states (RUN MS/ERR NS) indicate the network status of the drive unit. Description CN1AL-ER/CN1BL-ER Name: Line error status (red) On: Indicates that erroneous data is being received. CN1ALA/CN1BLA Name: Link status (green) On: Linking up Off: Indicates that an alarm is occurring. On: Indicates that the drive unit is on. -
Page 45: Chapter 4 Startup
STARTUP • MR-J5D_-_G_ drive units can be set with MR Configurator2 with software version 1.125F or later. • This chapter explains how to start up the drive unit by using MR Configurator2 with software version 1.100E. • Before starting operation, check each servo parameter. Depending on the machine, an unexpected operation may occur. - Page 46 Start MR Configurator2 and create a new project. For the connection setting, select USB. Select the drive unit model. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen. 4 STARTUP...
- Page 47 Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings. After changing the servo parameter, click "Selected Items Write" or "Axis Writing". 4 STARTUP...
- Page 48 Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset. 4 STARTUP...
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Page 49: Turning On Drive Unit For The First Time
Turning on drive unit for the first time • For the controller settings, refer to the relevant controller manual. • For the gain adjustment, refer to the following manual. MR-J5 User's Manual (Adjustment) When turning on the drive unit for the first time, follow the steps below. Procedure Description Reference... -
Page 50: Test Operation Of The Servo Motor Alone In Test Operation Mode
Test operation of the servo motor alone in test operation mode • If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2). Check that the drive unit and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly. -
Page 51: Equipment Configuration Setting
To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at first and check the operation status. After the test operation is complete, turn off the power and "OFF (down)"... -
Page 52: Controller-Related Setting
Controller-related setting Refer to the applicable network instruction manual for the network connection setting. Network Reference manual MR-J5-G/MR-J5W-G User's Manual (Communication Function) CC-Link IE TSN CC-Link IE Field Network Basic Set the servo parameter using the controller according to the control mode to be used. Item Description Reference... -
Page 53: Operation By Controller Command
Operation by controller command Confirm that the servo motor operates correctly under the commands from the controller. Give a low speed command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input signal. -
Page 54: Instructions On Startup
Instructions on startup Instructions for power-on • When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm. -
Page 55: Duplicate Setting
Duplicate setting Drive unit parameters for which setting has been completed can be copied to another drive unit. Use this function when replacing the drive unit of equipment with another drive unit during operation, and when starting up multiple devices with the same configuration. -
Page 56: Test Operation Mode
Test operation mode Setting the drive unit to the test operation mode enables the test operation while the personal computer and drive unit are connected via a USB cable. Turn off the power. Turn "ON (up)" the test operation select switch (SW3-1). When performing test operation with multiple MR-J5D_-_G_ connected to one power regeneration converter unit, turn "ON (up)"... -
Page 57: Motor Driving By Test Operation
Motor driving by test operation JOG operation The JOG operation can be performed when there is no command from the controller. The motor can be operated at the specified speed. Operate the motor using the JOG Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed and acceleration/deceleration time constants for JOG operation. - Page 58 Positioning operation Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr.
- Page 59 Program operation Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2. Open the Program Operation screen of MR Configurator2. Item Screen operation Program display...
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Page 60: Motor-Less Operation
Single-step feed This function enables test operation in accordance with the point table. Configure the settings of the point table operation in advance. For the point table operation, refer to "POSITIONING MODE (POINT TABLE METHOD) (CP)" in the following manual. MR-J5 User's Manual (Function) Item Screen operation... -
Page 61: Output Signal (Do) Forced Output
Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2. Each output signal can be turned on/off by clicking the ON/OFF button next to its name. -
Page 62: Drive Unit Setting Initialization
Drive unit setting initialization Drive unit settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2). However, information related to the drive unit, including power-on cumulative time and the number of relay on/off times, is not initialized. -
Page 63: Chapter 5 Maintenance, Inspection And Parts Replacement
MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items Precautions • Do not disassemble, repair, or modify the product. • For repair and parts replacement, contact your local sales office. • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the drive unit. Periodic inspection Perform the following inspections. -
Page 64: Replacing Fan Unit
Replacing fan unit The internal circuits of the drive unit may be damaged by static electricity. Take the following precautions. • Ensure that the work bench and your body are grounded. • Do not directly touch conductive areas such as the connector pins and electrical parts. The fan unit is composed of a cooling fan and its cover. -
Page 65: Chapter 6 Compliance With Global Standards
COMPLIANCE WITH GLOBAL STANDARDS Converter units and drive units refer to servo amplifiers in this chapter. Compliance with global standards Refer to the following manual for information about compliance with global standards. Safety Instructions and Precautions for MR-J5D AC Servos (IB(NA)-0300527) Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods... - Page 66 Purpose To enable safer transportation of lithium metal batteries. Change in regulations The following points have been changed for lithium metal batteries transportation by sea or air based on the IATA Dangerous Goods Regulations 54th edition effective January 1, 2013 in addition to the revision of the Recommendations of the United Nations Rev.
- Page 67 ■Transportation precaution for customers For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric is also required.
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Page 68: Symbol For The New Eu Battery Directive
• This mark is valid only in EU. This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused. -
Page 69: Compliance With China Compulsory Certification (Ccc)
Some products are required to comply with China Compulsory Certification (hereinafter referred to as CCC) if exported, distributed, or sold to China. An outline of CCC is explained in this section. Mitsubishi Electric servo products are not subject to CCC. -
Page 70: Compliance With The China Rohs Directive
Compliance with the China RoHS directive Outline 电子信息产品污染控制管理办法 The China RoHS directive: (Management Methods for Controlling Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法... - Page 71 Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive.
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Page 72: Revisions
First edition 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 73: Warranty
WARRANTY 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 74: Trademarks
TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. IB(NA)-0300538ENG-A... - Page 76 IB(NA)-0300538ENG-A(2106)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.