Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual
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Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual

General-purpose ac servo melservo-j4 general-purpose interface mr-j4 series servo amplifier
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Table of Contents

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General-Purpose AC Servo
General-Purpose Interface
MODEL
MR-J4-_A_(-RJ)
MR-J4-03A6(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
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Summary of Contents for Mitsubishi Electric MR-J4-10A(-RJ)

  • Page 1 General-Purpose AC Servo General-Purpose Interface MODEL MR-J4-_A_(-RJ) MR-J4-03A6(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL...
  • Page 2 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 power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct.
  • Page 5 CAUTION When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment.
  • Page 6 (3) Test run and adjustment CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
  • Page 7 (5) Corrective actions CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
  • Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
  • Page 9 «About the manuals» You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely. When using the MR-J4-03A6(-RJ), refer to chapter 18. Relevant manuals Manual name Manual No. MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) (Note 5) SH(NA)030143ENG MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU Protocol)

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-56 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 ............... 1-18 1.5 Function list ............................1-21 1.6 Model designation ..........................
  • Page 11 3.7.3 Vertical axis freefall prevention function ................... 3-58 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 5-76 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 7.2.4 Gain switching procedure ......................7-21 7.3 Tough drive function ........................7-25 7.3.1 Vibration tough drive function....................7-25 7.3.2 Instantaneous power failure tough drive function ..............7-27 7.4 Compliance with SEMI-F47 standard ....................7-31 7.5 Model adaptive control disabled ...................... 7-34 7.6 Lost motion compensation function ....................
  • Page 14 11.6 Junction terminal block MR-TB50 ....................11-51 11.7 MR Configurator2 ........................11-54 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 .......................
  • Page 15 13.4.1 Sink I/O interface ........................13-11 13.4.2 Source I/O interface ......................13-12 14- 1 to 14-40 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.1 Structure ............................14- 2 14.1.1 Configuration diagram ......................14- 2 14.1.2 Precautions for using RS-422/RS-232C/USB communication function ........ 14- 4 14.2 Communication specifications ......................
  • Page 16 14.5.10 Alarm history ........................14-37 14.5.11 Current alarm ........................14-38 14.5.12 Other commands......................... 14-39 15. USING A LINEAR SERVO MOTOR 15- 1 to 15-32 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 .........................
  • Page 17 17.3.1 Startup ........................... 17-10 17.3.2 Home position return ......................17-17 17.3.3 Fully closed loop control error detection functions..............17-20 17.3.4 Auto tuning function ......................17-21 17.3.5 Machine analyzer function ....................17-21 17.3.6 Test operation mode ......................17-21 17.3.7 Absolute position detection system under fully closed loop system ........17-22 17.3.8 About MR Configurator2 .......................
  • Page 18 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 Communication function (Mitsubishi Electric general-purpose AC servo protocol) ....18-82 19. MR-D01 EXTENSION I/O UNIT 19- 1 to 19-48 19.1 Function block diagram ......................... 19- 2 19.2 Structure ............................
  • Page 19 MEMO...

  • Page 20: Summary

    18 for details of MR-J4-03A6(-RJ) servo amplifiers. 1.1 Summary The Mitsubishi Electric MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the previous MELSERVO-J3 series. The MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high- resolution absolute encoder.
  • Page 21 1. FUNCTIONS AND CONFIGURATION Table 1.1 Connectors to connect external encoders External encoder Connector Operation communication mode MR-J4-_A_ MR-J4-_A_-RJ method Two-wire type (Note 1, 4) (Note 1) Four-wire type Linear servo A/B/Z-phase motor system CN2L differential output (Note 5) method Two-wire type (Note 2, 3, 4) Fully closed...

  • Page 22: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 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 (Note 6) Regenerative...
  • Page 23 1. FUNCTIONS AND CONFIGURATION Note 1. The built-in regenerative resistor is not provided for MR-J4-10A(-RJ). 2. 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. 3.
  • Page 24 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-700A(-RJ) (Note 4) Power factor improving Regenerative DC reactor option Servo amplifier P4 (Note 2) Servo motor Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power encoder Regene- supply rative CHARGE lamp Cooling fan Electromagnetic Control 24 V DC...
  • Page 25 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ) (Note 5) External regenerative (Note 4, 6) resistor or Power factor improving regenerative option DC reactor External dynamic brake (optional) Servo amplifier Servo motor (Note 2) Diode stack Thyristor MCCB (Note 1) Current Power encoder Regene- supply...
  • Page 26 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) MR-J4-350A4(-RJ) or less (Note 5) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor P4 (Note 3) Dynamic Diode brake Relay stack circuit MCCB (Note 1) Current Power Regene- detector supply rative...
  • Page 27 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ) (Note 4) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor P4 (Note 2) Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic circuit...
  • Page 28 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ) (Note 5) External Power factor regenerative resistor (Note 4, 6) improving regenerative option DC reactor External dynamic brake (optional) Servo amplifier P3 Servo motor P4 (Note 2) Diode Thyristor stack MCCB (Note 1) Current Power Regene- detector...
  • Page 29 1. FUNCTIONS AND CONFIGURATION (3) 100 V class Regenerative option Servo amplifier Servo motor (Note 1) Dynamic brake circuit MCCB Charge (Note 2) lamp Current Power encoder supply Regene- Relay rative Diode stack Electromagnetic Control 24 V DC brake circuit power circuit Base...

  • Page 30: Servo Amplifier Standard Specifications

    Fully closed loop control Compatible (Note 9) Load-side encoder interface (Note 10) Mitsubishi Electric high-speed serial communication USB: Connection to a personal computer or others (MR Configurator2-compatible) Communication function RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7, 13)
  • Page 31 1. FUNCTIONS AND CONFIGURATION Model: MR-J4-_(-RJ) 100A 200A 350A 500A 700A 11KA 15KA 22KA Max. input pulse 4 Mpulses/s (for differential receiver) (Note 6), 200 kpulses/s (for open collector) frequency Positioning feedback Encoder resolution (resolution per servo motor revolution): 22 bits pulse Position control Command pulse...
  • Page 32 1. FUNCTIONS AND CONFIGURATION Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 ˚C to 45 ˚C or at 75% or smaller effective load ratio.
  • Page 33 External option (Note 6, 7) Fully closed loop control Compatible Load-side encoder interface (Note 5) Mitsubishi Electric high-speed serial communication USB: connection to a personal computer or others (MR Configurator2-compatible) Communication function RS-422/RS-485: 1: n communication (up to 32 axes) (Note 8)
  • Page 34 1. FUNCTIONS AND CONFIGURATION Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4 Standards certified by CB EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2 (Note 9) Response performance 8 ms or less (STO input off →...
  • Page 35 Built-in Fully closed loop control Compatible (Note 5) Load-side encoder interface (Note 6) Mitsubishi Electric high-speed serial communication USB: Connection to a personal computer or others (MR Configurator2-compatible) Communication function RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7)
  • Page 36 1. FUNCTIONS AND CONFIGURATION Model: MR-J4-_(-RJ) 10A1 20A1 40A1 Standards certified by EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2 CB (Note 8) Response performance 8 ms or less (STO input off → energy shut off) Test pulse interval: 1 Hz to 25 Hz Test pulse input (STO) (Note 3)

  • Page 37: Combinations Of Servo Amplifiers And Servo Motors

    1. FUNCTIONS AND CONFIGURATION 1.4 Combinations of servo amplifiers and servo motors POINT When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot be achieved with HG-JR series servo motor. When you use the MR-J4-100A or MR-J4-200A with the 1-phase 200 V AC input, contact your local sales office for the torque characteristics of the HG-UR series, HG-RR series, and HG-JR series servo motors.
  • Page 38 1. FUNCTIONS AND CONFIGURATION (1) 200 V class Linear servo motor Rotary servo motor Direct drive motor (Note 1) (primary side) (Note 1) Servo amplifier HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR MR-J4-10A(-RJ) MR-J4-20A(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20 LM-U2PBB-07M-1SS0 TM-RG2M002C30 (Note 2) TM-RU2M002C30 (Note 2) TM-RG2M004E30 (Note 2) TM-RU2M004E30 (Note 2) MR-J4-40A(-RJ)
  • Page 39 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Rotary servo motor Linear servo motor Servo amplifier (primary side) (Note 1) HG-SR HG-JR MR-J4-60A4(-RJ) MR-J4-100A4(-RJ) 534 (Note 2) 1024 1034 MR-J4-200A4(-RJ) 734 (Note 2) 1034 (Note 2) 1524 2024 1534 2034 MR-J4-350A4(-RJ) 1534 (Note 2) 3524...

  • Page 40: Function List

    1. FUNCTIONS AND CONFIGURATION 1.5 Function list The following table lists the functions of this servo. 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- degrees-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately.

  • Page 41: Connector

    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 42 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder will not operate on the following conditions.

  • Page 43: Model Designation

    1. FUNCTIONS AND CONFIGURATION 1.6 Model designation (1) Rating plate The following shows an example of rating plate for explanation of each item. AC SERVO Serial number SER.A45001001 MR-J4-10A MODEL Model Capacity POWER : 100W Applicable power supply INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Rated output current OUTPUT : 3PH170V 0-360Hz 1.1A...

  • Page 44: Structure

    1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) 200 V class (a) MR-J4-200A(-RJ) or less The diagram is for MR-J4-10A-RJ. Detailed Name/Application explanation Display Section 4.5 The 5-digit, 7-segment LED shows the servo status and the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations.
  • Page 45 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 46 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 connector (CNP1) Section 3.1 Section 3.3 Connect the input power supply. Section 1.6 Rating plate Servo motor power connector (CNP3) Connect the servo motor.
  • Page 47 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500A(-RJ) POINT 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.
  • Page 48 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700A(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 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.
  • Page 49 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 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.
  • Page 50 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KA(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 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.
  • Page 51 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) For MR-J4-200A4(-RJ) or less The diagram is for MR-J4-60A4-RJ. Detailed Name/Application explanation Display The 5-digit, seven-segment LED shows the servo status and the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations.
  • Page 52 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 53 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 connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Control circuit power connector (CNP2) Connect the control circuit power supply and Section 3.1 regenerative option.
  • Page 54 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500A4(-RJ) POINT 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.
  • Page 55 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700A4(-RJ) POINT 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 56 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ) POINT 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...
  • Page 57 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KA4(-RJ) POINT 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...
  • Page 58 1. FUNCTIONS AND CONFIGURATION (3) 100 V class The diagram is for MR-J4-10A1-RJ. Detailed Name/Application explanation Display Section 4.5 The 5-digit, 7-segment LED shows the servo status and the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations.

  • Page 59: Removal And Reinstallation Of The Front Cover

    1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage WARNING between P+ and N- is safe with a voltage tester and others.
  • Page 60 1. FUNCTIONS AND CONFIGURATION (2) 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 61: Configuration Including Peripheral Equipment

    1. FUNCTIONS AND CONFIGURATION 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 62 1. FUNCTIONS AND CONFIGURATION (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 Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Magnetic Analog monitor contactor (MC) To RS-422/RS-485 communication (Note 1) controller, parameter unit, etc.
  • Page 63 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350A(-RJ) R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Analog monitor To RS-422/RS-485 communication controller, parameter unit, etc. Line noise To safety relay or filter MR-J3-D05 safety (FR-BSF01)
  • Page 64 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500A(-RJ) R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Analog monitor To RS-422/RS-485 communication Line noise controller, parameter unit, etc. filter To safety relay or (FR-BLF) MR-J3-D05 safety...
  • Page 65 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700A(-RJ) (Note 2) Power R S T supply Molded-case circuit breaker Personal (MCCB) computer MR Configurator2 (Note 3) Magnetic contactor (MC) Analog monitor (Note 1) To RS-422/RS-485 communication controller, parameter unit, etc. To safety relay or Line noise MR-J3-D05 safety filter...
  • Page 66 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ) R S T Personal (Note 2) computer Power MR Configurator2 supply Molded-case circuit breaker (MCCB) Analog monitor (Note 3) Magnetic To RS-422/RS-485 communication contactor controller, parameter unit, etc. (MC) To safety relay or MR-J3-D05 safety (Note 1) logic unit Line noise...
  • Page 67 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KA(-RJ) Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Analog monitor To RS-422/RS-485 communication (Note 3) controller, parameter unit, etc. Magnetic To safety relay or contactor MR-J3-D05 safety (MC) logic unit (Note 1)
  • Page 68 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) MR-J4-200A4(-RJ) or less The diagram is for MR-J4-60A4-RJ and MR-J4-100A4-RJ. R S T Personal (Note 2) computer Power supply MR Configurator2 Molded-case circuit breaker (MCCB) Analog monitor (Note 3) Magnetic To RS-422/RS-485 communication contactor controller, parameter unit, etc.
  • Page 69 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350A4(-RJ) R S T (Note 2) Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) (Note 3) Magnetic contactor (MC) Analog monitor (Note 1) To RS-422/RS-485 communication controller, parameter unit, etc. To safety relay or MR-J3-D05 safety logic unit Line noise filter...
  • Page 70 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500A4(-RJ) R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Power factor Analog monitor improving DC reactor To RS-422/RS-485 communication (FR-HEL-H) controller, parameter unit, etc. To safety relay or Line noise filter MR-J3-D05 safety...
  • Page 71 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700A4(-RJ) R S T (Note 2) Power supply Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Analog monitor Magnetic contactor To RS-422/RS-485 communication (MC) controller, parameter unit, etc. To safety relay or (Note 1) MR-J3-D05 safety logic unit Line noise filter...
  • Page 72 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ) Personal computer R S T MR Configurator2 (Note 2) Power supply Molded-case circuit breaker (MCCB) Analog monitor To RS-422/RS-485 communication controller, parameter unit, etc. (Note 3) To safety relay or Magnetic MR-J3-D05 safety contactor logic unit (MC) (Note 1)
  • Page 73 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KA4(-RJ) Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Analog monitor To RS-422/RS-485 communication controller, parameter unit, etc. To safety relay or (Note 3) MR-J3-D05 safety Magnetic logic unit contactor (MC) (Note 1)
  • Page 74 1. FUNCTIONS AND CONFIGURATION (3) 100 V class The diagram shows MR-J4-20A1-RJ. R S T (Note 2) Power supply Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Magnetic Analog monitor contactor (MC) To RS-422/RS-485 communication Power factor (Note 1) controller, parameter unit, etc.
  • Page 75 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 56...
  • Page 76 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. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the equipment on incombustible material.

  • Page 77: Installation Direction And Clearances

    2. INSTALLATION 2.1 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. (1) Installation clearances of the servo amplifier (a) Installation of one servo amplifier Cabinet...
  • Page 78 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting. When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left.

  • Page 79: 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 80: 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 81: Parts Having Service Life

    2. INSTALLATION 2.5 Parts having service life Service life of the following parts is 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 life.

  • Page 82: Restrictions When Using This Product At Altitude Exceeding 1000 M And Up To 2000 M Above Sea Level

    2. INSTALLATION 2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level (1) Effective load ratio and regenerative load ratio As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the effective load ratio and regenerative load ratio shown in the following figure.
  • Page 83 2. INSTALLATION MEMO 2 - 8...
  • Page 84 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 85: Input Power Supply Circuit

    3. SIGNALS AND WIRING Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. POINT When you use a linear servo motor, replace the following words in the left to the words in the right.

  • Page 86: V Class

    3. SIGNALS AND WIRING 3.1.1 200 V class (1) Using 3-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-350A(-RJ) Malfunction Emergency stop switch Servo amplifier Servo motor (Note 6) MCCB CNP1 (Note 10) 3-phase CNP3 (Note 5) 200 V AC to Motor...
  • Page 87 3. SIGNALS AND WIRING (2) Using 1-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-200A(-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. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.
  • Page 88 3. SIGNALS AND WIRING (3) MR-J4-500A(-RJ) Malfunction Emergency 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 (Note 2) (Note 7) Main circuit power supply...
  • Page 89 3. SIGNALS AND WIRING (4) MR-J4-700A(-RJ) Malfunction Emergency 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) Encoder Encoder cable (Note 1)
  • Page 90 3. SIGNALS AND WIRING (5) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ) Malfunction Emergency 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 MCCB (Note 5) (Note 9)

  • Page 91: V 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 (Note 9) (Note 1) CNP2...
  • Page 92 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) (Note 10) (Note 3) Encoder...
  • Page 93 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 Motor 480 V AC MCCB...

  • Page 94: V Class

    3. SIGNALS AND WIRING 3.1.3 100 V class Malfunction Emergency stop switch Servo amplifier Servo motor (Note 6) MCCB CNP1 (Note 10) 1-phase CNP3 (Note 5) 100 V AC to 120 V AC Unassigned Motor Unassigned (Note 9) Unassigned CNP2 (Note 2) (Note 10) (Note 3)

  • Page 95: 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/LD75D/QD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6) CLEARCOM...
  • Page 96 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 97 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/LD75D/QD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6)

  • Page 98: 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 99 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 100 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 101: 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 102 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 103 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 104: Explanation Of Power Supply System

    3. SIGNALS AND WIRING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, refer to app. 13. Connection target Symbol Description...

  • Page 105: 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 L11/L21 supply 1-phase 380 V AC to...

  • Page 106: Wiring Cnp1, Cnp2, And Cnp3

    3. SIGNALS AND WIRING (2) Timing chart SON (Servo-on) accepted (Note) (2.5 s to 3.5 s) Main circuit power supply Control circuit Base circuit 95 ms 10 ms 10 ms SON (Servo-on) 95 ms RES (Reset) 5 ms 5 ms 5 ms 10 ms 10 ms...
  • Page 107 3. SIGNALS AND WIRING (b) MR-J4-200A(-RJ)/MR-J4-350A(-RJ) MR-J4-200A(-RJ) MR-J4-350A(-RJ) Servo amplifier Servo amplifier CNP1 CNP1 CNP2 CNP3 CNP3 CNP2 Table 3.2 Connector and applicable wire Applicable wire Stripped Manufac Connector Receptacle assembly Open tool length [mm] turer Size Insulator OD CNP1 06JFAT-SAXGFK-XL AWG 16 to 10 4.7 mm or shorter...
  • Page 108 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 Manufac Connector Receptacle assembly Open tool length [mm] turer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.5 J-FAT-OT (N) or CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter...
  • Page 109 3. SIGNALS AND WIRING You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal. Ferrule model (Phoenix Contact) Crimp terminal Servo amplifier Wire size (Phoenix Contact) For one For two MR-J4-10A(-RJ) AWG 16...

  • Page 110: Connectors And Pin Assignment

    3. SIGNALS AND WIRING 3.4 Connectors and pin assignment POINT The pin assignment of the connectors is 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 111 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. CN3 (RS-422/RS-485 connector) refer to chapter 14.
  • Page 112 3. SIGNALS AND WIRING (Note 2) I/O signals in control modes (Note 1) Pin No. Related parameter P15R P15R P15R P15R P15R P15R -/VC VC/VLA VLA/- PP/- -/PP PD43/PD44 (Note 5) (Note 6) (Note 6) (Note 6) PG/- -/PG OPC/- -/OPC (Note 4) (Note 4)

  • Page 113: 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 114 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Forward rotation CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1 stroke end sudden stop and make it servo-locked. Setting [Pr.
  • Page 115 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 116 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 for a pulse due to any external factor, it generates torque to compensate for a position shift.
  • Page 117 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Control switching CN1-45 «Position/speed control change mode» DI-1 Refer to Function This is used to select the control mode in the position/speed control switching mode. application.
  • Page 118 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 119 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 (50 r/min) or less. DO-1 detection Zero speed can be changed with [Pr. PC17]. OFF level Forward 70 r/min...
  • Page 120 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division During tough MTTR MTTR turns on when the instantaneous power failure tough drive operates DO-1 drive while the tough drive function selection is enabled with [Pr. PA20]. This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
  • Page 121 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 122 3. SIGNALS AND WIRING (5) Power supply Control Connector mode Device Symbol Function and application pin No. division Digital I/F DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 500 mA) to I/O interface. The power supply power supply capacity changes depending on the number of I/O interface points to be CN1-21 input...

  • Page 123: Detailed Explanation Of Signals

    3. SIGNALS AND WIRING 3.6 Detailed explanation of signals 3.6.1 Position control mode POINT 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.
  • Page 124 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 125 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 126 3. SIGNALS AND WIRING (5) Torque limit If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position. CAUTION When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] is set properly.
  • Page 127 3. SIGNALS AND WIRING Input device (Note 1) 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 < TLA (Note 2) TLA (Note 3) Pr.

  • Page 128: 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 129 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 130: 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 131 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 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 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 133: 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 134 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 135: 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 136 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 137: 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 138: 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 cannot be guaranteed. (Refer to chapter 8.) In the torque control mode, the forced stop deceleration function is not available. Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure.
  • Page 139 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) is turned off, the motor will decelerate according to [Pr.

  • Page 140: 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 141: 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 142: 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 inputted, 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 143: 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 144: 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 145 3. SIGNALS AND WIRING 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 24 V DC 24 V DC DICOM...

  • Page 146: 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 147 3. SIGNALS AND WIRING (2) Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven.
  • Page 148 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 149 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 150: Source I/O Interfaces

    3. SIGNALS AND WIRING (6) Analog output Servo amplifier (MO2) Output voltage: ±10 V (Note 1, 2) Maximum output current: 1 mA Resolution: 10 bits or equivalent Note 1. Output voltage range varies depending on the monitored signal. 2. For MR-J4-03A6(-RJ) 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 151 3. SIGNALS AND WIRING (2) Digital output interface DO-1 This is a circuit in which the emitter side of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.

  • Page 152: 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 which is interlocked with an external emergency stop switch. Contacts must be opened when ALM (Malfunction) Contacts must be opened with the or MBR (Electromagnetic brake interlock) turns off.
  • Page 153 3. SIGNALS AND WIRING (1) Connection diagram Servo amplifier Servo motor (Note 2) (Malfunction) 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 154: 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 155 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 156 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 157 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) in this section. (e) Main circuit power supply off during control circuit power supply on Dynamic brake Dynamic brake + Electromagnetic brake...

  • Page 158: 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 159 3. SIGNALS AND WIRING MEMO 3 - 76...
  • Page 160 4. STARTUP 4. STARTUP When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

  • Page 161: 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 162: 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/L21) of the servo amplifier should satisfy the defined specifications.
  • Page 163 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 164 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 165: 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 166: Stop

    4. STARTUP 4.2.2 Stop Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off. 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 167: 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 168: 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 169 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 170 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...

  • Page 171: 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 172: Stop

    4. STARTUP 4.3.2 Stop Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off. 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.

  • Page 173: 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 174: 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 175 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 176: 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 177: 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 178: 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 179: 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 180: Display And Operation Sections

    4. STARTUP 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. The operation section and display data are described below.

  • Page 181: 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 182: 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 183 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 184 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 185 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 186 4. STARTUP (3) Status display list The following table lists the servo statuses that may be shown. Refer to app. 7.3 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 187 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. Internal temperature of °C Inside temperature of encoder detected by the encoder is displayed.
  • Page 188 4. STARTUP Status display Symbol Unit Description Electrical angle low ECY1 pulse The servo motor electrical angle is displayed. 100000 Electrical angle high ECY2 The servo motor electrical angle is displayed by increments of 100000 pulses. pulses (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.

  • Page 189: 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 190 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 V, this function automatically makes zero-...

  • Page 191: 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 192: 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 blinking. (3) For any alarm, remove its cause and clear it in any of the following methods.
  • Page 193 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 194: External I/O Signal Display

    4. STARTUP 4.5.7 External I/O signal display POINT The I/O signal settings can be changed using the I/O setting parameters [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on.
  • Page 195 4. STARTUP (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O signals in control modes input/output Connector Pin No. Related parameter (Note 1) I/O PP/- (Note 5) (Note 5) (Note 5) -/PP PD43/PD44 (Note 4) (Note 3) (Note 3) (Note 3) (Note 3)
  • Page 196 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 197: Output Signal (Do) Forced Output

    4. STARTUP 4.5.8 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 198: 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 199 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 200 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 201 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 202 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 203 4. STARTUP MEMO 4 - 44...
  • Page 204 5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause CAUTION an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting Setting a value out of the range Changing the fixed values in the digits of a parameter...

  • Page 205: Parameter List

    5. PARAMETERS 5.1 Parameter list POINT To enable a parameter whose symbol is preceded by *, cycle the power after setting it. Abbreviations of operation modes indicate the followings. Standard: Standard (semi closed loop system) use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive (DD) motor use...

  • Page 206: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])

    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 207 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 208: Extension Setting Parameters ([Pr. Pc_ _ ])

    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 209 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 210: I/O Setting Parameters ([Pr. Pd_ _ ])

    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 211: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    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 212 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 213: Extension Setting 3 Parameters ([Pr. Pf_ _ ])

    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 214: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])

    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 215: Option Setting Parameters ([Pr. Po_ _ ])

    5. PARAMETERS 5.1.8 Option setting parameters ([Pr. Po_ _ ]) Operation Control mode mode Initial Symbol Name Unit value Po01 For manufacturer setting 0000h Po02 *ODI1 MR-D01 input device selection 1 0302h Po03 *ODI2 MR-D01 input device selection 2 0905h Po04 *ODI3 MR-D01 input device selection 3...

  • Page 216: Detailed List Of Parameters

    5. PARAMETERS 5.2 Detailed list of parameters POINT Set a value to each "x" in the "Setting digit" columns. 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] PA01 _ _ _ x Control mode selection *STY Select a control mode.
  • Page 217 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA02 _ _ x x Regenerative option *REG Select the regenerative option. Regenerative Incorrect setting may cause the regenerative option to burn. option If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.
  • Page 218 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 219 5. PARAMETERS Initial No./symbol/ Setting Control Function value name digit mode [unit] PA06 Set the numerator of the electronic gear. To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic Electronic gear setting value compatibility mode (3 _ _ _)"...
  • Page 220 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 221 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 222 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 223 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 224 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA14 Select command input pulses of the rotation direction or the travel direction of the rotary servo motor, the linear servo motor and the direct drive motor. *POL Rotation Servo motor rotation direction/ direction...
  • Page 225 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA17 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h 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(-RJ) servo amplifiers.
  • Page 226 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA18 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h 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(-RJ) servo amplifiers.
  • Page 227 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. *TDS 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.
  • Page 228 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PA23 _ _ x x Alarm detail No. setting DRAT Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function. Drive recorder When these digits are "0 0", only the arbitrary alarm No.

  • Page 229: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])

    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 tuning. Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to tuning mode section 7.1.2 for details.
  • Page 230 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB03 Set the constant of a primary delay to the position command. [ms] You can select a control method from "Primary delay" or "Linear acceleration/deceleration" of "Position acceleration/deceleration filter type selection" Position in [Pr.
  • Page 231 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB06 Set the load to motor inertia ratio or load to motor mass ratio. 7.00 Setting a value considerably different from the actual load moment of inertia or load [Multiplier] mass may cause an unexpected operation such as an overshoot.
  • Page 232 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB08 Set the gain of the position loop. 37.0 [rad/s] Set this parameter to increase the position response to level load disturbance. Position loop Increasing the setting value will also increase the response level to the load gain disturbance but will be liable to generate vibration and noise.
  • Page 233 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB14 Set the shape of the machine resonance suppression filter 1. NHQ1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning.
  • Page 234 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB17 Set the shaft resonance suppression filter. This is used to suppress a low-frequency machine vibration. Shaft When "Shaft resonance suppression filter selection" is set to "Automatic setting (_ _ _ 0)" in [Pr. PB23], the value will resonance be calculated automatically from the servo motor you use and load to motor inertia ratio.
  • Page 235 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0 frequency machine vibration. [Hz] VRF11 When "Vibration suppression control 1 tuning mode selection" is set to "Automatic Vibration setting (_ _ _ 1)"...
  • Page 236 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 237 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 for when 7.00 gain switching is enabled. GD2B [Multiplier] This parameter is enabled only when "Gain adjustment mode selection" is "Manual Load to motor mode (_ _ _ 3)"...
  • Page 238 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PB35 Set a damping of the vibration frequency for vibration suppression control 1 when 0.00 the gain switching is enabled. VRF3B This parameter will be enabled only when the following conditions are fulfilled. Vibration suppression "Gain adjustment mode selection"...
  • Page 239 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 240 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 241 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 242 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 243: Extension Setting Parameters ([Pr. Pc_ _ ])

    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 244 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 Setting "0" will make it linear acceleration/deceleration. acceleration/ deceleration Speed command...
  • Page 245 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 instantaneous permissible speed speed Set the speed 2 of internal speed limits. command 2 Internal speed limit 2...
  • Page 246 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 247 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC14 _ _ x x Analog monitor 1 output selection MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to app. 7.3 for detection point of output selection. Analog monitor 1 Refer to table 5.8 or table 5.9 for settings.
  • Page 248 5. PARAMETERS Control Initial No./symbol/ Setting mode 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 _ _ 0 0 Servo motor speed (5 V ± 3 V/max. speed) _ _ 0 1 Torque (5 V ±...
  • Page 249 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 250 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC22 _ _ _ x For manufacturer setting *COP1 _ _ x _ Function _ x _ _ selection C-1 x _ _ _ Encoder cable communication method selection Select the encoder cable communication method.
  • Page 251 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC26 _ _ _ x [AL. 99 Stroke limit warning] selection *COP5 Enable or disable [AL. 99 Stroke limit warning]. Function 0: Enabled selection C-5 1: Disabled _ _ x _ For manufacturer setting _ x _ _ x _ _ _ PC27...
  • Page 252 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC32 To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value CMX2 compatibility mode (3 _ _ _)"...
  • Page 253 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC36 _ _ x x Status display selection at power-on *DMD Select a status display shown at power-on. Setting "21" to "27" will trigger [AL. 37] in the mode other than the positioning mode. Status display selection 00: Cumulative feedback pulses...
  • Page 254 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC37 Set the offset voltage of VC (Analog speed command). The value For example, if CCW rotation or positive direction travel is provided by switching on differs ST1 (Forward rotation start) while applying 0 V to VC, set a negative value. Analog speed depending command...
  • Page 255 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC45 _ _ _ X Encoder pulse count polarity selection *COPA Select a polarity of the linear encoder or load-side encoder. Function 0: Encoder pulse increases in the servo motor CCW or positive direction. selection C-A 1: Encoder pulse decreases in the servo motor CCW or positive direction.
  • Page 256 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PC54 Set the compensation amount of the vertical axis freefall prevention function. [0.0001 RSUP1 Set it per servo motor rotation amount or linear servo motor travel distance. rev]/ Vertical axis When setting a positive value, the servo motor or linear servo motor moves in the [0.01...

  • Page 257: I/O Setting Parameters ([Pr. Pd_ _ ])

    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 258 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD03 Any input device can be assigned to the CN1-15 pin. *DI1L _ _ x x Position control mode - Device selection Input device Refer to table 5.10. selection 1L x x _ _ Speed control mode - Device selection...
  • Page 259 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 260 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD20 Any input device can be assigned to the CN1-44 pin. *DI9H _ _ x x Torque control mode - Device selection Input device Refer to table 5.10 in [Pr. PD03] for settings. selection 9H x x _ _ For manufacturer setting...
  • Page 261 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 262 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 263 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD34 _ _ _ x Alarm code output *DOP5 Select output status of alarm codes. Function Alarm codes are outputted to the pins CN1-22, CN1-23, and CN1-24. selection D-5 0: Disabled 1: Enabled For details of the alarm codes, refer to chapter 8.
  • Page 264 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PD45 Any input device can be assigned to the CN1-35 pin/CN1-38 pin. *DI12L Setting "00" will assign NP/NP2 (reverse rotation pulse). Input device The parameter is available for the following MR-J4-_A_-RJ servo amplifiers. selection 12L 1) For 100 W or more CN1-35 pin: Servo amplifiers with software version B3 or later...

  • Page 265: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    5. PARAMETERS 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] PE01 _ _ _ x Fully closed loop function selection *FCT1 The fully closed loop function is selected. Fully closed 0: Always enabled loop function 1: Switching with CLD (Fully closed loop control selection)
  • Page 266 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PE05 Set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control. *FBD 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.
  • Page 267 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 268: Extension Setting 3 Parameters ([Pr. Pf_ _ ])

    5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PE50 Set the lost motion compensation non-sensitive band. When the fluctuation of the droop pulse is the setting value or less, the speed will be 0. Setting can be changed LMCT [pulse]/ in [Pr.
  • Page 269 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PF21 Set a drive recorder switching time. When a USB communication is cut during using a graph function or a graph function is terminated, the function will be changed to the drive recorder function after the Drive settling time of this parameter.
  • Page 270 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] PF31 Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis. [r/min]/ FRIC [mm/s] Setting "0"...

  • Page 271: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])

    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(-RJ) servo amplifiers. Control Initial No./symbol/ Setting mode Function value name digit [unit] PL01 _ _ _ x Linear servo motor/DD motor magnetic pole detection selection...
  • Page 272 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 273 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 274: Option Setting Parameters ([Pr. Po_ _ ])

    5. PARAMETERS 5.2.8 Option setting parameters ([Pr. Po_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] Po02 Any input device can be assigned to the CN10-21 pin and CN10-26 pin. *ODI1 _ _ x x CN10-21 selection MR-D01 input Select an input signal function of the CN10-21 pin.
  • Page 275 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] Po04 Any input device can be assigned to the CN10-29 pin and CN10-30 pin. *ODI3 _ _ x x CN10-28 selection MR-D01 input Select an input signal function of the CN10-28 pin. device Refer to table 5.14 in [Pr.
  • Page 276 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] Po08 Any output device can be assigned to the CN10-46 pin and CN10-47 pin. *ODO1 _ _ x x CN10-46 selection MR-D01 Select an output signal function of the CN10-46 pin. output device Refer to table 5.15 for settings.
  • Page 277 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] Po11 Select the input devices of the analog speed command, analog speed limit and torque limit. *OOP2 _ _ _ x For manufacturer setting Function _ _ x _ Override input CN1-2/CN20-2 switching selection selection O-2 0: CN1-2 pin enabled 1: CN20-2 pin enabled...
  • Page 278 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] Po13 Set a signal to output to Analog monitor 1. *OMOD1 _ _ x x Analog monitor 1 output selection MR-D01 Refer to table 5.16 for settings. analog This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software monitor 1 version B7 or later.
  • Page 279 5. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] Po14 Set a signal to output to Analog monitor 2. OMOD2 _ _ x x Analog monitor 2 output selection MR-D01 Select a signal to output to MO2 (Analog monitor 2). analog Refer to [Pr.

  • Page 280: Different Adjustment Methods

    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 281: 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 282: One-Touch Tuning

    6. NORMAL GAIN ADJUSTMENT 6.2 One-touch tuning POINT After the one-touch tuning is completed, "Gain adjustment mode selection" in [Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment mode selection"...
  • Page 283 6. NORMAL GAIN ADJUSTMENT The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response]. Table 6.1 List of parameters automatically set with one-touch tuning Parameter Symbol...

  • Page 284: One-Touch Tuning Flowchart

    6. NORMAL GAIN ADJUSTMENT 6.2.1 One-touch tuning flowchart (1) User command method (a) When you use MR Configurator2 Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Rotate the servo motor by a controller. (In the user command method, the one-touch tuning Operation cannot be executed if the servo motor is not operating.) One-touch tuning start,...
  • Page 285 6. NORMAL GAIN ADJUSTMENT (b) When you use push buttons Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Rotate the servo motor by a controller. (In the user command method, the one-touch tuning Operation cannot be executed if the servo motor is not operating.) One-touch tuning start,...
  • Page 286 6. NORMAL GAIN ADJUSTMENT (2) Amplifier command method Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Move the moving part to the center of a movable range. Movement to tuning start position Start one-touch tuning of MR Configurator2, and select "Amplifier command method".

  • Page 287: 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) Command method selection Select a command method from two methods in the one-touch tuning window of MR Configurator2. 6 - 8...
  • Page 288 6. NORMAL GAIN ADJUSTMENT 1) User command method It is recommended to input commands meeting the following conditions to the servo amplifier. If one-touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier, the one-touch tuning error may occur. One cycle time Travel distance Forward...
  • Page 289 6. NORMAL GAIN ADJUSTMENT 2) Amplifier command method Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier command method, the servo motor will be operated in a range between "current value ±...
  • Page 290 6. NORMAL GAIN ADJUSTMENT (b) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Table 6.2 Response mode explanations Response mode Explanation High mode This mode is for high-rigid system. Basic mode This mode is for standard system.
  • Page 291 6. NORMAL GAIN ADJUSTMENT Refer to the following table for selecting a response mode. Table 6.3 Guideline for response mode Response mode Machine characteristic Response Low mode Basic mode High mode Guideline of corresponding machine Low response Arm robot General machine tool conveyor Precision working machine...
  • Page 292 6. NORMAL GAIN ADJUSTMENT After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. To return to the state in which control is performed from the controller, cycle the power. During processing of one-touch tuning, the progress will be displayed as follows.
  • Page 293 6. NORMAL GAIN ADJUSTMENT After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition, settling time and overshoot amount will be displayed in "Adjustment result". (d) Stop of one-touch tuning During one-touch tuning, clicking the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C000"...
  • Page 294 6. NORMAL GAIN ADJUSTMENT (e) If an error occurs If a tuning error occurs during the one-touch tuning, the tuning will be stopped. With that, the following error code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning again, stop the servo motor once.
  • Page 295 6. NORMAL GAIN ADJUSTMENT Display Name Error detail Corrective action example C006 Amplifier command start One-touch tuning was attempted to start in Execute the one-touch tuning in the amplifier error the amplifier command method under the command method while the servo motor is following speed condition.
  • Page 296 6. NORMAL GAIN ADJUSTMENT (h) Initializing one-touch tuning Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize. Clicking "Return to value before adjustment"...
  • Page 297 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"). When you use push buttons, one-touch tuning can be executed in the user command method only.
  • Page 298 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 299 6. NORMAL GAIN ADJUSTMENT (d) 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 001" to "C 00F" will be displayed by turns with 2 s interval.
  • Page 300 6. NORMAL GAIN ADJUSTMENT (g) Clearing one-touch tuning Refer to table 6.1 for the parameters which you can clear. You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset the parameters to before tuning with the back mode. 1) Switch to the initial screen "AUTO"...

  • Page 301: Caution For One-Touch Tuning

    6. NORMAL GAIN ADJUSTMENT 6.2.3 Caution for one-touch tuning (1) Caution common for user command method and amplifier command method (a) The tuning is not available in the torque control mode. (b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring.

  • Page 302: 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 303: 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 304: 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 305: 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, trackability to a command improves and settling time decreases, but setting the response level too high will generate vibration.

  • Page 306: Manual Mode

    6. NORMAL GAIN ADJUSTMENT 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually. POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr.
  • Page 307 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 308 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 small value to the model loop gain and the position loop...

  • Page 309: 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 310 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 311 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 trackability to a position command, but a too high value will make overshoot liable to occur at settling. Number of droop pulses is determined by the following expression.

  • Page 312: Filter Setting

    7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. When you use a linear servo motor, replace the following words in the left to the words in the right.

  • Page 313: Machine Resonance Suppression Filter

    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 314 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 315 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter (a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13]/[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 316: Adaptive Filter Ii

    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 317 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. [Pr. PB01] Filter tuning mode selection Setting Filter tuning mode selection Automatically set parameter value Disabled Automatic setting PB13/PB14 Manual setting Tuning accuracy selection (Note)
  • Page 318 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? In the standard mode In the high accuracy mode Execute or re-execute adaptive Execute or re-execute adaptive tuning in the standard mode.

  • Page 319: Shaft Resonance Suppression Filter

    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. It is recommended that [Pr. PB23] be set to "_ _ _ 0" (automatic setting) because changing "Shaft resonance suppression filter selection"...

  • Page 320: Low-Pass Filter

    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 321 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 322 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 323 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 324 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 325: 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 326 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 327: 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 328: 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 329: 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 330 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 331 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 332: 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 333 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 334 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 335 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Return time constant disabled was selected. The gain switching time constant is enabled. 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 336: 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 337 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 338: Instantaneous Power Failure Tough Drive Function

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
  • Page 339 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 340 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 341 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 ON (energization) Control circuit...

  • Page 342: Compliance With Semi-F47 Standard

    7. SPECIAL ADJUSTMENT FUNCTIONS 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 343 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 344 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Calculation of tolerance against instantaneous power failure Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms. Table 7.3 Tolerance against instantaneous power failure (instantaneous power failure voltage = rated voltage ×...

  • Page 345: 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 346: 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 347 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 348 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 349: 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 350 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 351 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 40...

  • Page 352: Explanation For The Lists

    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 353: Alarm List

    8. TROUBLESHOOTING 8.2 Alarm list Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power Voltage drop in the control 10.1 circuit power Undervoltage Voltage drop in the main circuit 10.2...
  • Page 354 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power 17.1 Board error 1 17.3 Board error 2 17.4 Board error 3 17.5 Board error 4 Board error...
  • Page 355 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power Initial magnetic pole detection - 27.1 Abnormal termination Initial magnetic pole detection - 27.2 Time out error Initial magnetic pole detection -...
  • Page 356 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power 37.1 Parameter setting range error Parameter error 37.2 Parameter combination error 37.3 Point table setting error 39.1...
  • Page 357 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power Thermal overload error 3 during 51.1 operation (Note 1) (Note 1) Overload 2 Thermal overload error 3 during 51.2...
  • Page 358 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power Encoder normal communication - Receive data error 1 (safety 67.1 observation function) Encoder normal communication 67.2...
  • Page 359 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling ACD3 ACD2 ACD1 ACD0 (Note 2, Alarm reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power Load-side encoder normal 71.1 communication - Receive data error 1 Load-side encoder normal 71.2 communication - Receive data...
  • Page 360 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling Alarm ACD3 ACD2 ACD1 ACD0 (Note 2, reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power Encoder diagnosis error 1 7B.1 (safety observation function) Encoder diagnosis error 2 7B.2 Encoder diagnosis (safety observation function)
  • Page 361 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling Alarm ACD3 ACD2 ACD1 ACD0 (Note 2, reset (Bit 3) (Bit 2) (Bit 1) (Bit 0) power USB communication receive 8E.1 error/Serial communication receive error USB communication checksum 8E.2 error/Serial communication checksum error...

  • Page 362: Warning List

    8. TROUBLESHOOTING 8.3 Warning list Stop Detail method Name Detail name (Note 2, 90.1 Home position return incomplete Home position return Home position return abnormal 90.2 incomplete warning termination 90.5 Z-phase unpassed Servo amplifier Main circuit device overheat overheat warning 91.1 warning (Note 1)
  • Page 363 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Excessive E0.1 Excessive regeneration warning regeneration warning Thermal overload warning 1 E1.1 during operation Thermal overload warning 2 E1.2 during operation Thermal overload warning 3 E1.3 during operation Thermal overload warning 4 E1.4 during operation Overload warning 1...
  • Page 364 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Drive recorder - Area writing F2.1 time-out warning Drive recorder - Miswriting warning Drive recorder - Data miswriting F2.2 warning Oscillation F3.1 Oscillation detection warning detection warning Target position setting range F4.4 error warning Acceleration time constant...
  • Page 365 8. TROUBLESHOOTING MEMO 8 - 14...
  • Page 366 9. DIMENSIONS 9. DIMENSIONS 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 367 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 40 2-M5 screw CNP2 CNP3 Screw size: M4...
  • Page 368 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 40 2-M5 screw CNP2 CNP3 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting hole process drawing...
  • Page 369 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 60 CNP2 CNP3 3-M5 screw...
  • Page 370 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 90 CNP2 3-M5 screw CNP3...
  • Page 371 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 90 CNP3 CNP2 13 hole...
  • Page 372 9. DIMENSIONS (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 373 9. DIMENSIONS (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] N- P3 P4 Approx.
  • Page 374 9. DIMENSIONS (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] TE1-1 L2 L3...
  • Page 375 9. DIMENSIONS (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] TE1-1 L2 L3 Approx.
  • Page 376 9. DIMENSIONS (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 CNP2 3-M5 screw CNP3 42 ±...
  • Page 377 9. DIMENSIONS (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 CNP2 3-M5 screw CNP3...
  • Page 378 9. DIMENSIONS (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 379 9. DIMENSIONS (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 Terminal Screw size: M5 N- P3 P4 L11 L21...
  • Page 380 9. DIMENSIONS (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] N- P3 P4 Approx.
  • Page 381 9. DIMENSIONS (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] TE1-1 L2 L3...
  • Page 382 9. DIMENSIONS (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] TE1-1 L2 L3 Approx.
  • Page 383 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 40 2-M5 screw CNP2 CNP3 Screw size: M4...
  • Page 384 9. DIMENSIONS (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 CNP1 Tightening torque: 3.24 [N•m] Approx. 40 2-M5 screw CNP2 CNP3 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting hole process drawing 9 - 19...
  • Page 385 9. DIMENSIONS 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 386 9. DIMENSIONS (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 9 - 21...
  • Page 387 9. DIMENSIONS MEMO 9 - 22...

  • Page 388: Overload Protection 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 389 10. CHARACTERISTICS The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph of overload protection HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR characteristics Characteristics a 53 (Note) Characteristics b 73 (Note) Characteristics c 103 (Note) 153 (Note) 203 (Note)
  • Page 390 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 391 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 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.

  • Page 392: Power Supply Capacity And Generated Loss

    10. CHARACTERISTICS 10.2 Power supply capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.
  • Page 393 10. CHARACTERISTICS (Note 2) Servo amplifier-generated heat [W] At rated output (Note 1) Area required for [Generated heat 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-JR903 HG-JR11K1M...
  • Page 394 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 395: Dynamic Brake Characteristics

    10. CHARACTERISTICS 10.3 Dynamic brake characteristics The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash CAUTION into the stroke end, which is very dangerous.

  • Page 396: Dynamic Brake Operation

    10. CHARACTERISTICS 10.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
  • Page 397 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 398 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 399: 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 400: 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 401: Inrush Currents At Power-On Of Main Circuit And Control Circuit

    10. CHARACTERISTICS 10.5 Inrush currents at power-on of main circuit and control circuit POINT For a servo amplifier of 600 W or less, the inrush current values can change depending on frequency of turning on/off the power and ambient temperature. Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors.
  • Page 402 10. CHARACTERISTICS (2) 400 V class The following shows the inrush currents (reference data) that will flow when 480 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. Inrush currents (A Servo amplifier Main circuit power supply Control circuit power supply...
  • Page 403 10. CHARACTERISTICS MEMO 10 - 16...

  • Page 404: Cable/Connector Sets

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11. OPTIONS AND PERIPHERAL 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 405: Combinations Of Cable/Connector Sets

    11. OPTIONS AND PERIPHERAL 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 Battery Battery unit MR-BT6VCASE and...
  • Page 406 11. OPTIONS AND PERIPHERAL 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 MR-BAT6V1 battery To 24 V DC power supply for electromagnetic brake...
  • Page 407 11. OPTIONS AND PERIPHERAL 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 408 11. OPTIONS AND PERIPHERAL 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 409: Mr-D05Udl3M-B Sto Cable

    11. OPTIONS AND PERIPHERAL 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 410: Battery Cable/Junction Battery Cable

    11. OPTIONS AND PERIPHERAL 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 411: Regenerative Options

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2 Regenerative options Do not use servo amplifiers with regenerative options other than the combinations CAUTION specified below. Otherwise, it may cause a fire. 11.2.1 Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. (1) 200 V class Regenerative Power [W] (Note 1)
  • Page 412 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) 400 V class Regenerative power [W] (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) Built-in Servo amplifier RB1H-4 regenerative RB3M-4 RB3G-4 RB5G-4 RB34-4 RB54-4 RB3U-4 RB5U-4 resistor [82 Ω] [120 Ω] [47 Ω] [47 Ω]...

  • Page 413: Selection Of Regenerative Option

    11. OPTIONS AND PERIPHERAL 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 414 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode 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 [%]...
  • Page 415 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Linear servo motor (a) Thrust and energy calculation Linear servo motor Feed speed secondary-side (magnet) Load Positive direction Time Negative Linear servo motor direction primary-side (coil) Linear servo motor psa1 psd1 psa2 psd2 The following shows equations of the linear servo motor thrust and energy at the driving pattern above.

  • Page 416: Parameter Setting

    11. OPTIONS AND PERIPHERAL 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 417 11. OPTIONS AND PERIPHERAL 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 418 11. OPTIONS AND PERIPHERAL 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 419 11. OPTIONS AND PERIPHERAL 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 protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock.
  • Page 420 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) 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/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.

  • Page 421: Dimensions

    11. OPTIONS AND PERIPHERAL 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) TE1 terminal block G4 G3 C Mounting screw 4-M3...
  • Page 422 11. OPTIONS AND PERIPHERAL 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 Intake Tightening torque: 5.4 [N•m] Variable Regenerative Mass dimensions option [kg]...
  • Page 423 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) MR-RB032 [Unit: mm] TE1 terminal φ6 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 424 11. OPTIONS AND PERIPHERAL EQUIPMENT (6) MR-RB1H-4 [Unit: mm] TE1 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 425: Fr-Bu2-(H) Brake Unit

    11. OPTIONS AND PERIPHERAL 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 426: Selection

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Permissible Resultant Applicable servo Number of continuous resistance amplifier Brake unit Resistor unit connected power units [Ω] (Note 3) [kW] 200 V FR-BU2-15K FR-BR-15K...

  • Page 427: Connection Example

    11. OPTIONS AND PERIPHERAL 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 428 11. OPTIONS AND PERIPHERAL 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 429 11. OPTIONS AND PERIPHERAL 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 430 11. OPTIONS AND PERIPHERAL 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 431 11. OPTIONS AND PERIPHERAL EQUIPMENT Note 1. For power supply specifications, refer to section 1.3. 2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
  • Page 432 11. OPTIONS AND PERIPHERAL 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 433 11. OPTIONS AND PERIPHERAL 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 434 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Connection instructions Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter. The wires should not exceed 10 m even when the wires are twisted.
  • Page 435 11. OPTIONS AND PERIPHERAL 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 436 11. OPTIONS AND PERIPHERAL EQUIPMENT (5) Crimp terminals for P+ and N- terminals of servo amplifier (a) Recommended crimp terminals POINT Always use recommended crimp terminals or equivalent since some crimp terminals cannot be installed depending on the size. (Note 1) Number of Servo amplifier Brake unit...

  • Page 437: Dimensions

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3.4 Dimensions (1) FR-BU2-(H) Brake unit [Unit: mm] FR-BU2-15K φ5 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 438 11. OPTIONS AND PERIPHERAL 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 439: Fr-Rc-(H) Power Regeneration Converter

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.4 FR-RC-(H) power regeneration converter POINT When using the FR-RC-(H), power regeneration converter, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). When using the FR-RC-(H) power regeneration converter, refer to "Power Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
  • Page 440 11. OPTIONS AND PERIPHERAL 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 441 11. OPTIONS AND PERIPHERAL 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. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).
  • Page 442 11. OPTIONS AND PERIPHERAL 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 443 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions Mounting foot (removable) 2-φD 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 444 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Mounting hole machining dimensions The following shows mounting hole dimensions for mounting the heat generation area of the power regeneration converter outside a cabinet as measures against heat generation when the converter is mounted in an enclosed type cabinet. [Unit: mm] Power regeneration (AA)

  • Page 445: Fr-Cv-(H) Power Regeneration Common Converter

    11. OPTIONS AND PERIPHERAL 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/L3) of the servo amplifier.

  • Page 446: Selection Example

    11. OPTIONS AND PERIPHERAL 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 447 11. OPTIONS AND PERIPHERAL 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 448 11. OPTIONS AND PERIPHERAL 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 3) Servo amplifier Servo motor FR-CVL FR-CV (Note 7) MCCB R/L11 R2/L12...
  • Page 449 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Servo amplifier Servo motor FR-CVL-H FR-CV-H (Note 6) 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 4) N/L- 24 V DC (Note 7) R/L11 24 V DC (Note 7) Step-down...
  • Page 450 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Selection example of wires used for wiring POINT Selection conditions of wire size are 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 451 11. OPTIONS AND PERIPHERAL 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 452 11. OPTIONS AND PERIPHERAL 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 453 11. OPTIONS AND PERIPHERAL 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 454: Junction Terminal Block Mr-Tb50

    11. OPTIONS AND PERIPHERAL 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 junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN-ESET).
  • Page 455 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Junction terminal block cable MR-J2M-CN1TBL_M (a) Model explanations Model: T B L 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.
  • Page 456 11. OPTIONS AND PERIPHERAL EQUIPMENT 2) MR-J4-03A6(-RJ) 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 11 - 53...

  • Page 457: Mr Configurator2

    11. OPTIONS AND PERIPHERAL EQUIPMENT 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. 11.7.1 Specifications Item Description...

  • Page 458: System Configuration

    11. OPTIONS AND PERIPHERAL 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 ® 10 Home Microsoft Windows 10 Pro ®...

  • Page 459: Precautions For Using Usb Communication Function

    11. OPTIONS AND PERIPHERAL 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 460: Battery

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8 Battery POINT Refer to app. 2 and 3 for battery transportation and the new EU Battery Directive. This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction of the absolute position detection system.

  • Page 461: Mr-Bat6V1Set Battery

    11. OPTIONS AND PERIPHERAL 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 462 11. OPTIONS AND PERIPHERAL 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 463 11. OPTIONS AND PERIPHERAL 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 464 11. OPTIONS AND PERIPHERAL 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. 1) While pressing the locking part, open the cover. Cover Locking part 2) Replace the battery with a new MR-BAT6V1.

  • Page 465: Mr-Bat6V1Bj Battery For Junction Battery Cable

    11. OPTIONS AND PERIPHERAL 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 466 11. OPTIONS AND PERIPHERAL 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 467 11. OPTIONS AND PERIPHERAL 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 468 11. OPTIONS AND PERIPHERAL 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 469: Mr-Bat6V1Set-A Battery

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.4 MR-BAT6V1SET-A battery POINT Use MR-BAT6V1SET-A for MR-J4-03A6(-RJ) 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 470 11. OPTIONS AND PERIPHERAL 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 471 11. OPTIONS AND PERIPHERAL 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 472 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its life, replace the built-in MR-BAT6V1 battery. 1) While pressing the locking part, open the cover. Cover 2) Replace the battery with a new MR-BAT6V1 battery. 3) Press the cover until it is fixed with the projection of the locking part to close the cover.

  • Page 473: Mr-Bt6Vcase Battery Case

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.5 MR-BT6VCASE battery case POINT MR-BT6VCASE cannot be used for MR-J4-03A6(-RJ) 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 474 11. OPTIONS AND PERIPHERAL 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 475 11. OPTIONS AND PERIPHERAL 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 476 11. OPTIONS AND PERIPHERAL 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 477 11. OPTIONS AND PERIPHERAL 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 478 11. OPTIONS AND PERIPHERAL 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 479: Mr-Bat6V1 Battery

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.6 MR-BAT6V1 battery The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET and a primary lithium 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 480: Selection Example Of Wires

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.9 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard. For the selection example when the MR-J4-_A-RJ servo amplifier is used with the DC power supply input, refer to app.
  • Page 481 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) Example of selecting the wire sizes Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example. (a) 200 V class Table 11.1 Wire size selection example (HIV wire) Wire [mm ] (Note 1) Servo amplifier...
  • Page 482 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class 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 (AWG 14) AWG 16 to 14...
  • Page 483 11. OPTIONS AND PERIPHERAL 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 484: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.10 Molded-case circuit breakers, fuses, magnetic contactors To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
  • Page 485 80 ms or less. 3. S-N18 can be used when auxiliary contact is not required. 4. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general- purpose products. 11 - 82...
  • Page 486 11. OPTIONS AND PERIPHERAL EQUIPMENT The Type E Combination motor controller can also be used instead of a molded-case circuit breaker. Type E Combination motor controller Rated input Rated SCCR Rated current Servo amplifier Input phase voltage AC [V] [kA] Model voltage (Heater design)

  • Page 487: Power Factor Improving Dc Reactors

    11. OPTIONS AND PERIPHERAL 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 488 11. OPTIONS AND PERIPHERAL 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)
  • Page 489 11. OPTIONS AND PERIPHERAL 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 490 11. OPTIONS AND PERIPHERAL 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 Fig.

  • Page 491: Power Factor Improving Ac Reactors

    11. OPTIONS AND PERIPHERAL 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 492 11. OPTIONS AND PERIPHERAL 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) MR-J4-70A(-RJ) FR-HAL-1.5K MR-J4-40A1(-RJ) MR-J4-100A(-RJ) FR-HAL-2.2K (3-phase power (Note) Fig. 11.7 supply input) MR-J4-100A(-RJ) (1-phase power supply input)
  • Page 493 11. OPTIONS AND PERIPHERAL 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 494: Relays (Recommended)

    11. OPTIONS AND PERIPHERAL 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 MR-J4-700A4(-RJ) FR-HAL-H15K MR-J4-11KA4(-RJ)

  • Page 495: Noise Reduction Techniques

    11. OPTIONS AND PERIPHERAL 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 496 11. OPTIONS AND PERIPHERAL 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 497 11. OPTIONS AND PERIPHERAL 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 498 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Cable clamp fitting AERSBAN-_SET Generally, connecting the grounding of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the grounding plate as shown below.
  • Page 499 11. OPTIONS AND PERIPHERAL 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 500 11. OPTIONS AND PERIPHERAL EQUIPMENT (e) Radio noise filter (FR-BIF(-H)) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input only.
  • Page 501 11. OPTIONS AND PERIPHERAL 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 502: Earth-Leakage Current Breaker

    11. OPTIONS AND PERIPHERAL 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 503 11. OPTIONS AND PERIPHERAL EQUIPMENT Table 11.4 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.05 to 1 1.2 to 2 3 to 3.5 4.2 to 5 6 to 7 8 to 11 12 to 15 20 to 25 Table 11.5 Servo amplifier leakage current example (Iga) Servo amplifier capacity [kW]...
  • Page 504 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions. 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.

  • Page 505: Emc Filter (Recommended)

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.16 EMC filter (recommended) POINT For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines". It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current.
  • Page 506 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection example Servo amplifier EMC filter MCCB (Note 1) Power supply (Note 2) Surge protector Note 1. Refer to section 1.3 for the power supply specifications. 2. The example is when a surge protector is connected. (3) Dimensions (a) EMC filter HF3010A-UN...
  • Page 507 11. OPTIONS AND PERIPHERAL EQUIPMENT HF3030A-UN/HF-3040A-UN [Unit: mm] 6-R3.25 length: 8 3-M5 3-M5 70 ± 2 85 ± 1 85 ± 1 210 ± 2 140 ± 2 260 ± 5 HF3100A-UN [Unit: mm] 2-φ 6.5 2-6.5 × 8 380 ± 1 400 ±...
  • Page 508 11. OPTIONS AND PERIPHERAL EQUIPMENT TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length 8 M4 M4 3-M4 Approx. 67.5 100 ± 1 100 ± 1 ± 3 290 ± 2 150 ± 2 308 ± 5 Approx. 160 332 ± 5 170 ± 5 11 - 105...
  • Page 509 11. OPTIONS AND PERIPHERAL 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 510 11. OPTIONS AND PERIPHERAL EQUIPMENT FTB-100-355-L/FTB-80-355-L [Unit: mm] 3-M8 (option-S: hexagon socket head cap screw) 3-M8 (option-S: hexagon Input socket head cap screw) Output Model plate M6 (option-S: hexagon socket head cap screw) M6 (option-S: hexagon Protective earth (PE) socket head cap screw) Terminal block cover Terminal block cover Protective earth (PE)
  • Page 511 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Surge protector RSPD-250-U4/RSPD-500-U4 [Unit: mm] φ4.2 ± 0.5 Resin Lead Case 41 ± 1 11 - 108...

  • Page 512: External Dynamic Brake

    11. OPTIONS AND PERIPHERAL 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 513 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection example (a) 200 V class Operation ready Servo amplifier Servo motor Emergency stop switch (Note 3) MCCB (Note 2) Power supply 24 V DC (Note 5) DOCOM DOCOM (Note 8) (Note 6) (Note 8) (Note 1, (Note 4) Main circuit...
  • Page 514 11. OPTIONS AND PERIPHERAL 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 10) (Note 6) (Note 10) (Note 1, (Note 4)
  • Page 515 11. OPTIONS AND PERIPHERAL 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 516 11. OPTIONS AND PERIPHERAL 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 Emergency stop switch Open a. Timing chart at alarm occurrence b.
  • Page 517 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] Mass (Note) Connection wire [mm 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 518 11. OPTIONS AND PERIPHERAL 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 519: Panel Through Attachment (Mr-J4Acn15K/Mr-J3Acn)

    11. OPTIONS AND PERIPHERAL EQUIPMENT 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of heat generated in the cabinet.
  • Page 520 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Mounting method Attachment Servo amplifier Fit using the assembling screws. Attachment a. Assembling the panel through attachment Punched hole Cabinet Servo amplifier b. Mounting it to inside cabinet 11 - 117...
  • Page 521 11. OPTIONS AND PERIPHERAL 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] 4-M10 Screw Punched hole 11 - 118...
  • Page 522 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) How to assemble the attachment for panel through attachment Attachment Screw (2 places) (c) Mounting method Attachment Punched hole Servo amplifier Servo Fit using the amplifier assembling screws. Cabinet Attachment a. Assembling the panel through attachment b.
  • Page 523 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] Panel Servo amplifier Attachment Servo amplifier Panel Approx. 11.5 Mounting Approx. 260 hole Approx. 260 11 - 120...

  • Page 524: Summary

    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 525: 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 526: 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 527: 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 528: 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 529: 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 530: 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 Servo-on Electromagnetic brake output ABS transmission mode ABSM...

  • Page 531: 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 532: 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 533: 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 534: 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 535 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 536 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 537 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 538 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 539 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 540 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 541 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 542 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 543: 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 544 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 545: 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 546: 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 547 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 548 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 549: 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 550 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 551 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) in this section.
  • Page 552 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 553 12. ABSOLUTE POSITION DETECTION SYSTEM MEMO 12 - 30...

  • Page 554: Introduction

    13. 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(-RJ) servo amplifier is not compatible with the STO function. 13.1 Introduction This section provides the cautions of the STO function. 13.1.1 Summary This servo amplifier complies with the following safety standards.

  • Page 555: Residual Risks Of The 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 Electric is not liable for any damages or injuries caused by these risks.

  • Page 556: 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 e, IEC 61508 SIL 3, Safety performance (Note 2) EN 62061 SIL CL3, EN 61800-5-2 Mean time to dangerous failure MTTFd ≥...

  • Page 557: Maintenance

    13. USING STO FUNCTION 13.1.6 Maintenance This servo amplifier has alarms and warnings for maintenance that supports the 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 assignment of the connectors is as viewed from the cable connector wiring section.

  • Page 558: Signal (Device) Explanations

    13. USING STO FUNCTION 13.2.2 Signal (device) explanations (1) I/O device Connector Signal name Description pin No. division STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1 STO1 CN8-4 Inputs STO state 1. DI-1 STO state (base shut-off): Open between STO1 and STOCOM. STO release state (in driving): Close between STO1 and STOCOM.

  • Page 559: 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 560: 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. 13 - 7...
  • Page 561 13. USING STO FUNCTION (1) Connection example 24 V (Note 2) (Note 2) RESB RESA MR-J3-D05 (Note 1) (Note 1) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- Servo amplifier SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2...
  • Page 562 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 563: 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 564: 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 the input terminal.

  • Page 565: 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 566 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 567 13. USING STO FUNCTION MEMO 13 - 14...
  • Page 568 The USB communication function (CN5 connector) and the RS-422 communication function (CN3 connector) are mutually exclusive functions. They cannot be used together. You can operate servo driving, parameter change, monitor function, etc. using RS-422 communication (Mitsubishi Electric general-purpose AC servo protocol) with the servo amplifier. 14 - 1...

  • Page 569: Structure

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.1 Structure 14.1.1 Configuration diagram (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable. Personal computer Servo amplifier 10 m or less RS-422/232C conversion cable...
  • Page 570 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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...

  • Page 571: Precautions For Using Rs-422/Rs-232C/Usb Communication Function

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.

  • Page 572: Communication Specifications

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 573: Protocol

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 574: Character Codes

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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...

  • Page 575: Error Codes

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 576: Retry Processing

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 577: Communication Procedure Example

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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...

  • Page 578: Command And Data No. List

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.4 Command and data No. list POINT Even if a command or data No. is the same between different model servo amplifiers, its description may differ. 14.4.1 Reading command (1) Status display (command [0] [1]) Command Data No.
  • Page 579 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) Command Data No. Description Status display Frame length [0] [1] [8] [0] Status display data value and Cumulative feedback pulses processing information Motor-side cumu. feedback pulses (after gear) [8] [1] Servo motor speed...
  • Page 580 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Parameters (command [0] [4], [0] [5], [0] [6], [0] [7], [0] [8], and [0] [9]) Command Data No. Description Frame length [0] [4] [0] [1] Parameter group reading 0000: Basic setting parameters ([Pr. PA_ _ ]) 0001: Gain/filter parameters ([Pr.
  • Page 581 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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...
  • Page 582 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (6) Status display at alarm occurrence (command [3] [5]) Command Data No. Description Status display Frame length [3] [5] [0] [0] Status display symbol and unit Cumulative feedback pulses Motor-side cumu. feedback pulses (after gear)
  • Page 583 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) Command Data No. Description Status display Frame length [3] [5] [8] [0] Status display data value and Cumulative feedback pulses processing information Motor-side cumu. feedback pulses (after gear) [8] [1] Servo motor speed...

  • Page 584: Writing Commands

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.4.2 Writing commands (1) Status display (command [8] [1]) Command Data No. Description Setting range Frame length [8] [1] [0] [0] Status display data deletion 1EA5 (2) Parameters (command [9] [4], [8] [5]) Command Data No.
  • Page 585 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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...

  • Page 586: Detailed Explanations Of Commands

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.
  • Page 587 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 588: Status Display Mode

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 589: Parameter

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.3 Parameter (1) Specification of the parameter group To read or write the parameter settings, etc., the group of the parameters to be operated must be specified in advance. Write data to the servo amplifier as follows to specify the parameter group.
  • Page 590 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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) in this section.) (a) Transmission Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F].
  • Page 591 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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) in 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 592 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 593: External I/O Signal Status (Dio Diagnosis)

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.4 External I/O signal status (DIO diagnosis) (1) Reading input device status The following shows how to read the status of the input devices. (a) Transmission Transmit command [1] [2] and data No. [0] [0].
  • Page 594 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (3) Reading the status of input devices switched on with communication The following shows how to read the on/off status of the input devices switched on with communication. (a) Transmission Transmit command [1] [2] and data No. [6] [0].
  • Page 595 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Reading output device status The following shows how to read the on/off status of the output devices. (a) Transmission Transmit command [1] [2] and data No. [8] [0]. Command Data No.

  • Page 596: Input Device On/Off

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.5 Input device on/off POINT The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.

  • Page 597: Disabling/Enabling I/O Devices (Dio)

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 598: Input Devices On/Off (Test Operation)

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.7 Input devices on/off (test operation) Each input devices can be turned on/off for test operation. However, when the device to be switched off is in the external input signal, also switch off the input signal.

  • Page 599: Test Operation Mode

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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 600 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.
  • Page 601 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.
  • Page 602 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.

  • Page 603: Output Signal Pin On/Off (Output Signal (Do) Forced Output)

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14.5.9 Output signal pin on/off (output signal (DO) forced output) In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Using command [9] [0], disable the external output signals in advance.

  • Page 604: Alarm History

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.

  • Page 605: Current Alarm

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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].

  • Page 606: Other Commands

    14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC 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.
  • Page 607 14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) MEMO 14 - 40...

  • Page 608: Functions And Configuration

    15. USING A LINEAR SERVO MOTOR 15. USING A LINEAR SERVO MOTOR When using the linear servo motor, read "Linear Servo Motor Instruction Manual" WARNING and "Linear Encoder Instruction Manual". POINT The linear servo system is available for the servo amplifiers of which software version is A5 or later.

  • Page 609: Configuration Including Peripheral Equipment

    15. USING A LINEAR SERVO MOTOR 15.1.2 Configuration including peripheral equipment Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may CAUTION cause a malfunction. POINT Equipment other than the servo amplifier and linear servo motor are optional or recommended products.
  • Page 610 15. USING A LINEAR SERVO MOTOR Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. 2.
  • Page 611 15. USING A LINEAR SERVO MOTOR (2) When using serial linear encoder with MR-J4-_A_-RJ The configuration diagram is an example of MR-J4-20A-RJ. 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 612 15. USING A LINEAR SERVO MOTOR (3) When using A/B/Z-phase differential output linear encoder with MR-J4-_A_-RJ The configuration diagram is an example of MR-J4-20A-RJ. 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 613: 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 614: Operation And Functions

    15. USING A LINEAR SERVO MOTOR Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. CAUTION Do not modify the equipment.
  • Page 615 15. USING A LINEAR SERVO MOTOR (1) Startup procedure Start up the linear servo system in the following procedure. Installation and wiring Set the linear servo motor series and linear servo motor type. (Refer to (2) in this section.) (Note 1) Set the linear encoder direction and the linear servo motor direction.
  • Page 616 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 617 15. USING A LINEAR SERVO MOTOR (4) Linear encoder resolution setting POINT To enable the parameter values, cycle the power after setting. If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning operation or the magnetic pole detection.

  • Page 618: Magnetic Pole Detection

    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 619 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 620 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 621 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 622 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 623 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 624 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 625: 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 626 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 627 15. USING A LINEAR SERVO MOTOR (b) When the linear encoder home position (reference mark) does not exist in the home position return direction 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.
  • Page 628 15. USING A LINEAR SERVO MOTOR (d) Caution for linear encoder which does not have the home position (reference mark) The linear encoder which does not have the home position (reference mark), LZ (Encoder Z-phase pulse) of the servo amplifier does not be outputted. It is depending on positioning controllers to use whether LZ (Encoder Z-phase pulse) is necessary or not for home position return.
  • Page 629 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 630: 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 631: 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 632 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 633 15. USING A LINEAR SERVO MOTOR (2) Auto tuning function POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied. Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s or less.

  • Page 634: 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 635: 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 636: Power Supply Capacity And Generated Loss

    15. USING A LINEAR SERVO MOTOR 15.4.2 Power supply capacity and generated loss Table 15.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.

  • Page 637: Dynamic Brake Characteristics

    15. USING A LINEAR SERVO MOTOR 15.4.3 Dynamic brake characteristics The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value is considered to be longer than the actual distance. However, if an enough braking distance is not provided, a CAUTION moving part may crash into the stroke end, which is very dangerous.

  • Page 638: 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 639 15. USING A LINEAR SERVO MOTOR MEMO 15 - 32...

  • Page 640: Functions And Configuration

    16. USING A DIRECT DRIVE MOTOR 16. USING A DIRECT DRIVE MOTOR CAUTION When using the direct drive motor, read "Direct Drive Motor Instruction Manual". POINT Refer to section 1.4 for the software version of the servo amplifier that is compatible with the direct drive servo system.

  • Page 641: Configuration Including Peripheral Equipment

    16. USING A DIRECT DRIVE MOTOR 16.1.2 Configuration including peripheral equipment Connecting a direct drive motor of the wrong axis to the U, V, W, or CN2 may CAUTION cause a malfunction. POINT Equipment other than the servo amplifier and direct drive motor are optional or recommended products.

  • Page 642: Signals And Wiring

    16. USING A DIRECT DRIVE MOTOR Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. 2.

  • Page 643: Operation And Functions

    16. USING A DIRECT DRIVE MOTOR When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U/V/W) to the direct drive motor power input (U/V/W) directly.

  • Page 644: Startup Procedure

    16. USING A DIRECT DRIVE MOTOR 16.3.1 Startup procedure Start up the direct drive servo system 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 645: Magnetic Pole Detection

    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 646 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 647 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 648 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 649 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 650 16. USING A DIRECT DRIVE MOTOR 2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.) 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr.

  • Page 651: 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 652 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 653: 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 654: 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 655 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 1000 10000 Operating 1000 Operating Servo-lock Servo-lock (Note) Load ratio [%] (Note) Load ratio [%] TM-RFM240J10 TM-RG2M002C30/TM-RU2M002C30/ TM-RG2M004E30/TM-RU2M004E30/...

  • Page 656: Power Supply Capacity And Generated Loss

    16. USING A DIRECT DRIVE MOTOR 16.5.2 Power supply capacity and generated loss Table 16.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.

  • Page 657: Dynamic Brake Characteristics

    16. USING A DIRECT DRIVE MOTOR 16.5.3 Dynamic brake characteristics The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash CAUTION into the stroke end, which is very dangerous.
  • Page 658 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 Speed [r/min] Speed [r/min] TM-RG2M002C30 TM-RG2M004E30 TM-RU2M002C30 TM-RU2M004E30...
  • Page 659 16. USING A DIRECT DRIVE MOTOR (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. 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 660 17. FULLY CLOSED LOOP SYSTEM 17. FULLY CLOSED LOOP SYSTEM POINT The fully closed loop system is available for the servo amplifiers of which software version is A5 or above. When fully closed loop control system is used with this servo amplifier, "Linear Encoder Instruction Manual"...

  • Page 661: 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 662: 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 663: 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 664 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 665: Load-Side Encoder

    17. FULLY CLOSED LOOP SYSTEM 17.2 Load-side encoder POINT Always use the load-side encoder cable introduced in this section. Using other products may cause a malfunction. For details of the load-side encoder specifications, performance and assurance, contact each encoder manufacturer. 17.2.1 Linear encoder Refer to "Linear Encoder Instruction Manual"...

  • Page 666: Configuration Diagram Of Encoder Cable

    17. FULLY CLOSED LOOP SYSTEM 17.2.3 Configuration diagram of encoder cable Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary, depending on the load-side encoder. (1) Linear encoder Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder. (a) MR-J4-_A_ servo amplifier MR-J4FCCBL03M branch cable (Refer to section 17.2.4)
  • Page 667 17. FULLY CLOSED LOOP SYSTEM (2) Rotary encoder Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders. (a) MR-J4-_A_ servo amplifier MR-J4FCCBL03M branch cable (Refer to section 17.2.4) Servo amplifier (Note) MOTOR Encoder of rotary servo motor SCALE Servo motor HG-KR...

  • Page 668: 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 669: 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 670 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 671 17. FULLY CLOSED LOOP SYSTEM (3) Selection of load-side encoder communication method The communication method changes depending on the load-side encoder type. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the communication method for each load- side encoder. Select the cable to be connected to CN2L connector in [Pr.
  • Page 672 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 673 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 674 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 675 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 676: 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 677 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 678 17. FULLY CLOSED LOOP SYSTEM (c) About dog type home position return when using the rotary encoder of a serial communication servo motor The home position for when using the rotary encoder of a serial communication servo motor for the load-side encoder is at the load-side Z-phase position.

  • Page 679: 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 680: 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 681: 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 682: 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 683 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 684: Functions And Configuration

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18. MR-J4-03A6(-RJ) 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 Chapter 6 Special adjustment function Chapter 7...

  • Page 685: Function Block Diagram

    18. MR-J4-03A6(-RJ) 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 Regene -rative CHARGE...

  • Page 686: Servo Amplifier Standard Specifications

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.1 3 Servo amplifier standard specifications Model MR-J4-03A6(-RJ) 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 Main circuit power supply...

  • Page 687: Combinations Of Servo Amplifiers And Servo Motors

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER Model MR-J4-03A6(-RJ) LVD: EN 61800-5-1/EN 60950-1 Compliance CE marking EMC: EN 61800-3 with global standards UL standard UL 508C (NMMS2) Structure (IP rating) Natural cooling, open (IP20) Close mounting Possible (Note 2) DIN rail mounting (width: 35 mm) Possible Operation 0 ˚C to 55 ˚C (non-freezing)

  • Page 688: Function List

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.1.5 Function list The following table lists the functions of MR-J4-03A6(-RJ) 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- degree-of-freedom-model model adaptive control enables you to set a response to the Model adaptive control command and response to the disturbance separately.
  • Page 689 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 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. Brake unit This is not available with MR-J4-03A6(-RJ) servo amplifier. Power regeneration converter This is not available with MR-J4-03A6(-RJ) servo amplifier. Regenerative option This is not available with MR-J4-03A6(-RJ) servo amplifier.
  • Page 690 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER Detailed Function Description explanation Cumulative operation time can be checked. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor before they Servo amplifier life diagnosis malfunction. function MR Configurator2 is necessary for this function.

  • Page 691: Model Definition

    18. MR-J4-03A6(-RJ) 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 Standard, Manual number...

  • Page 692: Parts Identification

    18. MR-J4-03A6(-RJ) 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 693: Configuration Including Peripheral Equipment

    18. MR-J4-03A6(-RJ) 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 694: Installation

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.2 Installation WARNING To prevent electric shock, ground equipment securely. Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing them 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 695: Installation Direction And Clearances

    18. MR-J4-03A6(-RJ) 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. (1) Installation of one servo amplifier Cabinet Cabinet...
  • Page 696 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (2) Installation of two or more servo amplifiers POINT You can install MR-J4-03A6(-RJ) servo amplifiers without clearances between them. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 °C to 45 °C. Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.

  • Page 697: Installation By Din Rail

    18. MR-J4-03A6(-RJ) 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. CAUTION The following explains mounting and removing procedure of servo amplifier using DIN rail.
  • Page 698 18. MR-J4-03A6(-RJ) 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. 18 - 15...

  • Page 699: Signals And Wiring

    18. MR-J4-03A6(-RJ) 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 700: Input Power Supply Circuit

    18. MR-J4-03A6(-RJ) 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 Forced stop deceleration function Section 3.7...
  • Page 701 18. MR-J4-03A6(-RJ) 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) Emergency stop switch Servo amplifier Servo motor...

  • Page 702: Explanation Of Power Supply System

    18. MR-J4-03A6(-RJ) 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). Set [Pr.
  • Page 703 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (3) Wiring CNP1 POINT For the wire sizes used for wiring, refer to section 18.8.3. Use the servo amplifier power connector for wiring CNP1. (a) Connector Servo amplifier CNP1 Table 18.1 Connector and applicable wire Stripped Connector Receptacle assembly Applicable wire size...
  • Page 704 18. MR-J4-03A6(-RJ) 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. The following show a connection example when using stranded wire to the CNP 1 connector.

  • Page 705: Selection Of Main Circuit Power Supply/Control Circuit Power Supply

    18. MR-J4-03A6(-RJ) 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 706: I/O Signal Connection Example

    18. MR-J4-03A6(-RJ) 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/LD75D/QD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6) CLEARCOM...
  • Page 707 18. MR-J4-03A6(-RJ) 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 708 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (b) For source I/O interface POINT For notes, refer to (1) (a) in this section. Servo amplifier (Note 4,14) 24 V DC (Note 7) (Note 4,14) Positioning module 24 V DC RD75D/LD75D/QD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6) CLEAR...
  • Page 709 18. MR-J4-03A6(-RJ) 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 Zero speed detection (Note 3, 5) Forced stop 2...
  • Page 710 18. MR-J4-03A6(-RJ) 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 711 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (b) For source I/O interface POINT For notes, refer to (2) (a) in 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) (Note 12) Main circuit power supply Zero speed detection...
  • Page 712 18. MR-J4-03A6(-RJ) 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 Malfunction (Note 5) (Note 6) (Note 10)
  • Page 713 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (b) For source I/O interface POINT For notes, refer to (3) (a) in 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) (Note 10) Main circuit power supply Zero speed detection...

  • Page 714: Connectors And Pin Assignment

    18. MR-J4-03A6(-RJ) 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. Screw Cable Screw...
  • Page 715 18. MR-J4-03A6(-RJ) 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 716 18. MR-J4-03A6(-RJ) 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 717: Signal (Device) Explanations

    18. MR-J4-03A6(-RJ) 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 718 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER Control Connector mode Device Symbol Function and application pin No. division Second STAB2 For details of device, refer to section 3.5.1 (1) (a). DI-1 acceleration/ deceleration selection ABS transfer ABSM CN1-17 DI-1 mode ABS request ABSR CN1-18 DI-1 (b) Output device...
  • Page 719 18. MR-J4-03A6(-RJ) 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 CN1-2 Analog command...
  • Page 720 18. MR-J4-03A6(-RJ) 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 supply capacity changes depending on the number of I/O interface CN1-21 points to be used.

  • Page 721: Alarm Occurrence Timing Chart

    18. MR-J4-03A6(-RJ) 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. To deactivate an alarm, cycle the control circuit power, push the "SET"...
  • Page 722 18. MR-J4-03A6(-RJ) 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 Base circuit (Energy supply to the servo motor)

  • Page 723: Interfaces (Internal Connection Diagram)

    18. MR-J4-03A6(-RJ) 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. Item Detailed explanation Detailed explanation of interfaces...
  • Page 724 18. MR-J4-03A6(-RJ) 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 24 V DC 24 V DC DICOM...

  • Page 725: Grounding

    18. MR-J4-03A6(-RJ) 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 726: Startup

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.4 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 and servo motor may be hot while the power is on, and for CAUTION some time after power-off.

  • Page 727: Startup Procedure

    18. MR-J4-03A6(-RJ) 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 728: Troubleshooting When "24 V Error" Lamp Turns On

    18. MR-J4-03A6(-RJ) 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 729: Wiring Check

    18. MR-J4-03A6(-RJ) 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 730: Surrounding Environment

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.4.4 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 731: Display Flowchart

    18. MR-J4-03A6(-RJ) 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 732: Status Display Mode

    18. MR-J4-03A6(-RJ) 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 733 18. MR-J4-03A6(-RJ) 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 734 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (3) Status display list The following table lists the servo statuses that may be shown. Refer to app. 8.3 (2) for the measurement point. Status display Symbol Unit Description Feedback pulses from the servo motor encoder are counted and displayed. Cumulative feedback pulses When the count exceeds ±999, it starts from 0.
  • Page 735 18. MR-J4-03A6(-RJ) 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. The travel distance from the home position is displayed as multi-revolution ABS counter (1 rev unit) counter value of the absolution position encoder in the absolution position...
  • Page 736 18. MR-J4-03A6(-RJ) 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. Control mode Status display Position...

  • Page 737: One-Touch Tuning

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.5.4 One-touch tuning The contents mentioned in this section is an operation method only for executing one-touch tuning in the user command method on MR-J4-03A6(-RJ) servo amplifier by using push button. Refer to section 6.2 for details of one-touch tuning.
  • Page 738 18. MR-J4-03A6(-RJ) 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 739 18. MR-J4-03A6(-RJ) 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 740 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER (6) If a warning occurs One-touch tuning in progress If a warning occurs during the one-touch 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 741: Diagnostic Mode

    18. MR-J4-03A6(-RJ) 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 742 18. MR-J4-03A6(-RJ) 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 743 18. MR-J4-03A6(-RJ) 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 app. 1 of "Servo Servo motor series ID "SET"...

  • Page 744: Alarm Mode

    18. MR-J4-03A6(-RJ) 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. Indicates the occurrence of [AL.
  • Page 745 18. MR-J4-03A6(-RJ) 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 746: Parameter Mode

    18. MR-J4-03A6(-RJ) 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 Gain/filter Extension setting I/O setting...
  • Page 747 18. MR-J4-03A6(-RJ) 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. Parameter number selection Press "UP"...
  • Page 748 18. MR-J4-03A6(-RJ) 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. Press "UP"...
  • Page 749 18. MR-J4-03A6(-RJ) 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. Press "SET"...
  • Page 750 18. MR-J4-03A6(-RJ) 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]. Press "SET"...

  • Page 751: External I/O Signal Display

    18. MR-J4-03A6(-RJ) 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. (1) Operation The display screen at power-on.
  • Page 752 18. MR-J4-03A6(-RJ) 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 PD43/PD44 PD03/PD04 -/SP2 SP2/SP2 SP2/- PD05/PD06...
  • Page 753 18. MR-J4-03A6(-RJ) 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 Light off: off OP (CN1-33) RD (CN1-49)

  • Page 754: Output Signal (Do) Forced Output

    18. MR-J4-03A6(-RJ) 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 755: Test Operation Mode

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.5.10 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 756 18. MR-J4-03A6(-RJ) 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. (a) Operation/drive The servo motor rotates while holding down the "UP"...

  • Page 757: Dimensions

    18. MR-J4-03A6(-RJ) 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 18 - 74...

  • Page 758: Characteristics

    18. MR-J4-03A6(-RJ) 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 18.7.1 Overload protection characteristics...

  • Page 759: Power Supply Capacity And Generated Loss

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.7.2 Power supply capacity and generated loss Table 18.4 indicates the required power supply capacities for main circuit and losses generated under rated load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.
  • Page 760 18. MR-J4-03A6(-RJ) 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 761: Inrush Currents At Power-On Of Main Circuit And Control Circuit

    18. MR-J4-03A6(-RJ) 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 762: Options And Peripheral Equipment

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.8 Options and peripheral equipment Before connecting options and peripheral equipment, turn off the power and wait until the charge lamp turns off. Otherwise, an electric shock may occur. In WARNING addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

  • Page 763: Combinations Of Cable/Connector Sets

    18. MR-J4-03A6(-RJ) 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. Name Model Description...

  • Page 764: Selection Example Of Wires

    18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18.8.3 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 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. Construction condition: Single wire set in midair Wire length: 30 m or less The voltage drops because of the cable conductor resistance.

  • Page 765: Communication Function (Mitsubishi Electric General-Purpose Ac Servo Protocol)

    They cannot be used together. With MR-J4-03A6(-RJ) servo amplifier, driving servo, changing parameters, operating motor function, etc. is possible using RS-422 communication (Mitsubishi Electric general-purpose AC servo protocol). In this section, only the configuration of operating RS-422 communication function with MR-J4-03A6(-RJ) servo amplifier is described.
  • Page 766 18. MR-J4-03A6(-RJ) 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. 4.
  • Page 767 18. MR-J4-03A6(-RJ) SERVO AMPLIFIER MEMO 18 - 84...
  • Page 768 19. MR-D01 EXTENSION I/O UNIT 19. MR-D01 EXTENSION I/O UNIT MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4-_A_-RJ servo amplifiers. POINT MR-D01 is used with servo amplifiers with software version B7 or later. MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.

  • Page 769: Function Block Diagram

    19. MR-D01 EXTENSION I/O UNIT 19.1 Function block diagram The function block diagram of this servo is shown below. The following illustration is an example of MR-J4-20A-RJ. (Note 5) Power factor Regenerative improving DC reactor option Servo amplifier Servo motor (Note 4) Dynamic (Note 1)
  • Page 770 19. MR-D01 EXTENSION I/O UNIT Note 1. The built-in regenerative resistor is not provided for MR-J4-10A-RJ. 2. For power supply specifications, refer to section 1.3. 3. Servo amplifiers MR-J4-70A-RJ or more have a cooling fan. 4. 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 771: Structure

    19. MR-D01 EXTENSION I/O UNIT 19.2 Structure 19.2.1 Parts identification (1) Interface The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ. For servo amplifiers, refer to section 1.7.1. Detailed Name/Application explanation Analog input signal connector (CN20) Section Connect analog input signals of analog torque limit 19.5.1...

  • Page 772: Installation And Removal Of The Mr-D01 Extension I/O Unit

    19. MR-D01 EXTENSION I/O UNIT 19.2.2 Installation and removal of the MR-D01 extension I/O unit Before installing or removing MR-D01, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ WARNING and N- is safe with a voltage tester and others.
  • Page 773 19. MR-D01 EXTENSION I/O UNIT (1) For MR-J4-200A(4)-RJ or less and MR-J4-350A-RJ (a) Installation of MR-D01 1) Remove the covers of CN7 and CN9 connectors. Make sure to store the removed cover. 2) Find the guide hole on the side of the servo amplifier. To Guide hole the guide hole, insert the MR-D01's guide pins.
  • Page 774 19. MR-D01 EXTENSION I/O UNIT (2) MR-J4-500A-RJ to MR-J4-700A-RJ and MR-J4-350A4-RJ to MR-J4-700A4-RJ (a) Removal of the side cover 1) Keep pushing the knobs ( a), b)) and pull out the side cover to the arrow direction. (b) Installation of MR-D01 1) Find the guide hole on the side of the servo amplifier.
  • Page 775 19. MR-D01 EXTENSION I/O UNIT (d) Installation of the side cover 1) Insert the side cover setting tabs into the sockets a) of the servo amplifier. Side cover setting tab 2) Push the side cover at the supporting point a) until the knobs click.

  • Page 776: Configuration Including Peripheral Equipment

    19. MR-D01 EXTENSION I/O UNIT 19.3 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 777 19. MR-D01 EXTENSION I/O UNIT Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. 2.

  • Page 778: Installation Direction And Clearances

    19. MR-D01 EXTENSION I/O UNIT 19.4 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, it may cause malfunction. CAUTION Leave specified clearances between the servo amplifier and cabinet walls or other equipment. Otherwise, it may cause malfunction. (1) Installation clearances of the servo amplifier (a) Installation of one servo amplifier Cabinet...
  • Page 779 19. MR-D01 EXTENSION I/O UNIT (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. For the possibility of close mounting, refer to section 1.3. When mounting the servo amplifiers closely, do not install the servo amplifier whose depth is larger than that of the left side servo amplifier since CNP1, CNP2, and CNP3 connectors cannot be disconnected.

  • Page 780: Signals And Wiring

    19. MR-D01 EXTENSION I/O UNIT 19.5 Signals and wiring POINT Input signals of the servo amplifier are valid even when the MR-D01 has been connected. When the same input devices have been assigned to the servo amplifier and MR-D01 and both input signals are turned on, the input signal that has turned on first is enabled.

  • Page 781: I/O Signal Connection Example

    19. MR-D01 EXTENSION I/O UNIT 19.5.1 I/O Signal Connection Example (1) Position control mode (a) For sink I/O interface Servo amplifier 24 V DC (Note 4) (Note 7) Positioning module 24 V DC (Note 4) RD75D/LD75D/QD75D (Note 7) DOCOM (Note 2) DICOM Malfunction (Note 6) CLEARCOM...
  • Page 782 19. MR-D01 EXTENSION I/O UNIT MR-D01 24 V DC (Note 18, 19) CN10 CN10 24 V DC (Note 18, 19) DICOMD DOCOMD DICOMD ACD0 Servo-on Reset ACD1 Alarm code External torque limit selection ACD2 (Note 22) Internal torque limit selection Electronic gear selection 1 ACD3 Electronic gear selection 2...
  • Page 783 19. MR-D01 EXTENSION I/O UNIT 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 784 19. MR-D01 EXTENSION I/O UNIT (b) For source I/O interface POINT For notes, refer to (1) (a) in this section. Servo amplifier 24 V DC (Note 4, 14) (Note 7) Positioning module 24 V DC (Note 4, 14) RD75D/LD75D/QD75D (Note 7) DOCOM (Note 2) DICOM...
  • Page 785 19. MR-D01 EXTENSION I/O UNIT MR-D01 24 V DC (Note 18, 19) CN10 CN10 24 V DC (Note 18, 19) DICOMD DOCOMD DICOMD ACD0 Servo-on Reset ACD1 Alarm code External torque limit selection ACD2 (Note 22) Internal torque limit selection Electronic gear selection 1 ACD3 Electronic gear selection 2...
  • Page 786 19. MR-D01 EXTENSION I/O UNIT (2) Speed control mode (a) For sink I/O interface Servo amplifier (Note 7) 24 V DC (Note 4) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 7) (Note 12) Main circuit power supply Zero speed detection (Note 3, 5) Forced stop 2...
  • Page 787 19. MR-D01 EXTENSION I/O UNIT MR-D01 24 V DC (Note 15, 16) CN10 CN10 24 V DC (Note 15, 16) DICOMD DOCOMD DICOMD ACD0 Servo-on Reset ACD1 Alarm code External torque limit selection ACD2 Internal torque limit selection Second acceleration/deceleration (Note 20) STAB2 ACD3...
  • Page 788 19. MR-D01 EXTENSION I/O UNIT 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 789 19. MR-D01 EXTENSION I/O UNIT (b) For source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 7) 24 V DC (Note 4, 13) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 7) (Note 12) Main circuit power supply...
  • Page 790 19. MR-D01 EXTENSION I/O UNIT MR-D01 24 V DC (Note 13, 14) CN10 CN10 24 V DC (Note 13, 14) DICOMD DOCOMD DICOMD ACD0 Servo-on Reset ACD1 Alarm code External torque limit selection ACD2 Internal torque limit selection Second acceleration/deceleration (Note 20) STAB2 ACD3...
  • Page 791 19. MR-D01 EXTENSION I/O UNIT (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) 24 V DC (Note 4) DOCOM (Note 2) DOCOM 10 m or less Malfunction (Note 5) (Note 6)
  • Page 792 19. MR-D01 EXTENSION I/O UNIT MR-D01 24 V DC (Note 15, 16) CN10 CN10 24 V DC (Note 15, 16) DICOMD DOCOMD DICOMD ACD0 Servo-on Reset ACD1 Alarm code Second acceleration/deceleration STAB2 selection ACD2 (Note 18) Speed selection 1 Proportional control ACD3 Reverse rotation selection (Note 20)
  • Page 793 19. MR-D01 EXTENSION I/O UNIT 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 794 19. MR-D01 EXTENSION I/O UNIT (b) For source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 6) 24 V DC (Note 4, 11) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 5) (Note 10) (Note 6) Main circuit power supply...
  • Page 795 19. MR-D01 EXTENSION I/O UNIT MR-D01 24 V DC (Note 15, 16) CN10 CN10 24 V DC (Note 15, 16) DICOMD DOCOMD DICOMD ACD0 Servo-on Reset ACD1 Alarm code Second acceleration/deceleration STAB2 selection ACD2 (Note 18) Speed selection 1 Proportional control ACD3 Reverse rotation selection (Note 20)

  • Page 796: Connectors And Pin Assignment

    19. MR-D01 EXTENSION I/O UNIT 19.5.2 Connectors and pin assignment POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. The CN30 connector is for manufacturer setting. This connector is attached on the MR-D01 servo amplifier, but not for use. For the pin assignment of the CN10 connector, refer to (2) in this section.
  • Page 797 19. MR-D01 EXTENSION I/O UNIT (2) Pin assignment of the CN10 connector (Note 2) I/O signals in control modes (Note 1) Pin No. Related parameter DICOMD DICOMD DICOMD DICOMD DICOMD DICOMD Po27 Po27 Po28 Po02 ACD0 ACD0 ACD0 ACD1 ACD1 ACD1 ACD2 ACD2...

  • Page 798: Signal (Device) Explanations

    19. MR-D01 EXTENSION I/O UNIT 19.5.3 Signal (device) explanations This section describes the signals (devices) of the MR-D01 extension I/O unit. The connector pin No. column in the table lists the pin Nos. which devices are assigned to by default. For the I/O interfaces (symbols in the I/O division column in the table), refer to section 19.5.4 (2).
  • Page 799 19. MR-D01 EXTENSION I/O UNIT (1) I/O device (a) Input device Control Connector mode Device Symbol Function and application pin No. division Servo-on CN10-21 Same as when a servo amplifier is used alone. Refer to section 3.5 (1) DI-1 (a). Reset CN10-26 DI-1...
  • Page 800 19. MR-D01 EXTENSION I/O UNIT (b) Output device Control Connector mode Device Symbol Function and application pin No. division Malfunction Same as when a servo amplifier is used alone. Refer to section 3.5 (1) (b). DO-1 Dynamic brake DO-1 interlock Ready DO-1 In-position...
  • Page 801 19. MR-D01 EXTENSION I/O UNIT (3) Output signal Control Connector mode Device Symbol Function and application pin No. division Analog monitor 1 OMO1 CN20-4 This signal outputs the data set in [Pr. Po13] to between OMO1 and LG in Analog terms of voltage.
  • Page 802 19. MR-D01 EXTENSION I/O UNIT (5) Torque limit If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position. CAUTION When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio] is set properly.
  • Page 803 19. MR-D01 EXTENSION I/O UNIT Input device (Note 1) Enabled torque limit value Limit value status CCW power running/ CW power running/ CW regeneration CCW regeneration Pr. PA11 Pr. PA12 Pr. PA11 OTLA > Pr. PA11 Pr. PA12 Pr. PA12 Pr.

  • Page 804: Interface

    19. MR-D01 EXTENSION I/O UNIT 19.5.4 Interface (1) Internal connection diagram The following shows an example of internal connection diagram of the position control mode. For the internal connection diagram of the servo amplifier, refer to section 3.9.1. MR-D01 CN10 CN10 24 V DC DICOMD...
  • Page 805 19. MR-D01 EXTENSION I/O UNIT (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 19.5.3. Refer to the following and make connection with the external device. (a) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is the input terminal.
  • Page 806 19. MR-D01 EXTENSION I/O UNIT (3) Analog input Input impedance 10 kΩ to 12 kΩ MR-D01 MR-D01 +15 V DC +15 V DC P15R P15R Upper limit Upper limit OTLA setting: 2 kΩ setting: 2 kΩ 2 kΩ 2 kΩ Approx.
  • Page 807 19. MR-D01 EXTENSION I/O UNIT (5) Source I/O interface In this servo amplifier, source type I/O interfaces can be used. (a) Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open-collector) type transistor output, relay switch, etc.

  • Page 808: Monitor Display With Mr Configurator2

    19. MR-D01 EXTENSION I/O UNIT 19.6 Monitor display with MR Configurator2 The following shows how to display the input/output monitor with MR Configurator2 when MR-D01 has been connected. (1) Initial setting When MR-D01 has been connected, click "MR-D01" from the "Option unit" menu in the creating new project window of MR Configurator2.
  • Page 809 19. MR-D01 EXTENSION I/O UNIT The following window is displayed. Click "Option unit monitor" in the menu bar. The following window is displayed. The input/output monitor on the MR-D01 side can be checked. 19 - 42...

  • Page 810: Dimensions

    19. MR-D01 EXTENSION I/O UNIT 19.7 Dimensions 19.7.1 MR-D01 extension I/O unit [Unit: mm] Approx. 80 79.5 CN20 CN30 CN10 19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier Servo amplifier L [mm] 100 V/200 V 0.1 kW to 3.5 kW 200 V 5 kW/7 kW MR-J4-10A1-RJ to MR-J4-40A1-RJ 400 V 0.6 kW to 2 kW...

  • Page 811: Options Peripheral Equipment

    19. MR-D01 EXTENSION I/O UNIT 19.8 Options peripheral equipment 19.8.1 Combinations of cable/connector sets MR-D01 Servo amplifier CN20 CN30 CN10 Product name Model Description Application Connector set MR-CCN1 Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) Junction terminal PS7DW-20V14B-F block (Toho Technology) (recommended) MR-J2HBUS_M...

  • Page 812: Ps7Dw-20V14B-F (Junction Terminal Block) (Recommended)

    19. MR-D01 EXTENSION I/O UNIT 19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended) (1) Usage Always use the PS7DW-20V14B-F (Junction terminal block) (Toho Technology)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. MR-D01 PS7DW-20V14B-F AERSBAN-ESET (Junction terminal block) (Cable clamp fitting) CN20 MR-J2HBUS_M...
  • Page 813 19. MR-D01 EXTENSION I/O UNIT (3) Dimensions of junction terminal block [Unit: mm] 44.11 7.62 φ4.5 TB.E (φ6) M3 × 5L 1.42 M3 × 6L 19 - 46...

  • Page 814: Mr-Tb50 (Junction Terminal Block)

    19. MR-D01 EXTENSION I/O UNIT 19.8.3 MR-TB50 (Junction terminal block) (1) Usage Always use MR-TB50 (Junction terminal block) with MR-J2M-CN1TBL_M (Junction terminal block cable) as a set. MR-D01 Junction terminal block MR-TB50 Cable clamp CN10 MR-J2M-CN1TBL_M Ground the junction terminal block cable on the junction terminal block side with the supplied AERSBAN-ESET (cable clamp fitting).
  • Page 815 19. MR-D01 EXTENSION I/O UNIT (3) Connection diagram of MR-J2M-CN1TBL_M cable and MR-TB50 The following connection diagram shows for position control mode as an example. MR-D01 MR-TB50 (Note 1) CN10 (Note 2) MR-J2M-CN1TBL_M Terminal block Symbol DICOMD DICOMD (Note 3) (Note 3) (Note 3) ACD0...
  • Page 816 APPENDIX APPENDIX App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of October 2017. For information, such as the delivery time, price, and specifications of the recommended products, contact each manufacturer. Manufacturer Reference NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd.
  • Page 817 APPENDIX (b) Battery unit (assembled battery) Lithium Mass of Model Option model Type Remark content battery Assembled batteries with more than Assembled two grams of lithium content must be MR-J2M-BT battery 4.55 g 112 g handled as dangerous goods (Class (Seven) 9) regardless of packaging requirements.
  • Page 818 For sea or air transportation, attaching the handling label (Fig. app. 1) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be compliant with Class 9 Packages.
  • Page 819 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 820 Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications such as voltage, temperature, etc. 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 821 APPENDIX (1) Peripheral device and power wiring The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14. (a) Power Wiring (local wiring and crimping tool) Use only copper wires or copper bus bars for wiring. The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C.
  • Page 822 APPENDIX (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers.
  • Page 823 DC power supply. (b) For Declaration of Conformity (DoC) Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the servo amplifiers are in compliance with the necessary requirements and standards (2006/42/EC, 2014/30/EU, 2014/35/EU and 2011/65/EU). For the copy of Declaration of Conformity, contact your local sales office.
  • Page 824 APPENDIX (3) USA/Canada compliance 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 825 APPENDIX App. 4.2.4 General cautions for safety protection and protective measures Observe the following items to ensure proper use of the MR-J4 servo amplifiers. (1) For safety components and installing systems, only qualified personnel and professional engineers should perform. (2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards and directives applicable in the country.
  • Page 826 APPENDIX App. 4.3 Installation direction and clearances The devices must be installed in the specified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct direction to maintain pollution degree 2. The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not CAUTION have a protective cover.
  • Page 827 APPENDIX App. 4.4 Electrical Installation and configuration diagram Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or WARNING damages to the product before starting the installation or wiring. The installation complies with IEC/EN 60204-1. The voltage supply to machines must be 20 ms or more of tolerance against instantaneous power failure as specified in IEC/EN 60204-1.
  • Page 828 The 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. - 13...
  • Page 829 APPENDIX App. 4.5 Signal App. 4.5.1 Signal The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo amplifier instruction manual. STO I/O signal connector DOCOM STO1 STOCOM DICOM TOFB1 STO2 TOFCOM TOFB2 DICOM App.
  • Page 830 APPENDIX App. 4.6 Maintenance and service To avoid an electric shock, only qualified personnel should attempt inspections. WARNING 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.
  • Page 831 APPENDIX App. 4.6.2 Parts having service life Service life of the following parts is listed below. However, the service life varies depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life.
  • Page 832 APPENDIX App. 4.7 Transportation and storage Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier.
  • Page 833 APPENDIX App. 4.8 Technical data App. 4.8.1 MR-J4 servo amplifier MR-J4-10_/ MR-J4-20_/ MR-J4-60_4/ MR-J4-40_/ MR-J4-350_/ MR-J4-100_4/ MR-J4-60_/ MR-J4-500_/ MR-J4-200_4/ MR-J4-70_/ MR-J4-700_/ MR-J4-10_1/ MR-J4-350_4/ MR-J4-100_/ MR-J4-03A6/ Item MR-J4W2-1010B/ MR-J4-20_1/ MR-J4-500_4/ MR-J4-200_/ MR-J4W2-0303B6 MR-J4-11K_/ MR-J4-40_1 MR-J4-700_4/ MR-J4W2-22B/ MR-J4-15K_/ MR-J4-11K_4/ MR-J4W2-44B/ MR-J4-22K_ MR-J4-15K_4/ MR-J4W2-77B/ MR-J4-22K_4 MR-J4W3-222B/...
  • Page 834 APPENDIX App. 4.8.2 Dimensions/mounting hole process drawing Variable dimension [mm] Servo amplifier Mass [kg] MR-J4-03A6 Front Side MR-J4-10_(1)/MR-J4-20_(1) (Note) 40 (50) 135 (155) 0.8 (1.0) MR-J4-40_(1)/MR-J4-60_ (Note) 40 (50) 170 (155) 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...
  • Page 835 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. 1.
  • Page 836 APPENDIX App. 5 MR-J3-D05 Safety logic unit App. 5.1 Contents of the package Open packing, and confirm the content of packing. Contents Quantity MR-J3-D05 Safety logic unit Connector for CN9 1-1871940-4 (TE Connectivity) Connector for CN10 1-1871940-8 (TE Connectivity) MR-J3-D05 Safety Logic Unit Installation Guide App.
  • Page 837 App. 5.4 Residual risk Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or injuries caused by the residual risks.
  • Page 838 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 839 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 840 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. MR-J3-D05 MR-J4_A_(-RJ) Power...
  • Page 841 APPENDIX (2) Connection example 24 V DC (Note 2) (Note 2) RESA RESB MR-J3-D05 (Note 1) (Note 1) 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-...
  • Page 842 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 843 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 844 APPENDIX (b) Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven.
  • Page 845 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 846 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 847 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 848 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 849 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 MR-J3-D05 Column A Column B Monitor LED for start/reset SRES SRES Off: The start/reset is off. (The switch contact is opened.) SDI1 SDI2 On: The start/reset is on.
  • Page 850 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 851 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 852 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 853 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) App. - 38...
  • Page 854 APPENDIX App. 6 EC declaration of conformity The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit comply with the safety component laid down in the Machinery directive. App. - 39...
  • Page 855 APPENDIX This certificate is valid until 2017-02-28. After March 2017, use the certificate shown on the previous page. App. - 40...
  • Page 856 APPENDIX App. - 41...
  • Page 857 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 858 APPENDIX App. 7.2 Set content POINT When you use a linear servo motor, replace the following words in the left to the words in the right. (servo motor) speed →(linear servo motor) speed CCW direction →Positive direction CW direction →Negative direction Torque →Thrust The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque...
  • Page 859 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 860 APPENDIX Setting Output item Description value Internal temperature of 10 [V] encoder (±10 V/±128 ˚C) -128 [°C] 128 [°C] -10 [V] Note 1. Encoder pulse unit. 2. Available in position control mode 3. This cannot be used in the torque control mode. 4.
  • Page 861 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 862 APPENDIX App. 7.3 Analog monitor block diagram App. 7.3.1 MR-J4-_A_(-RJ) 100 W or more (1) Semi closed loop control Speed Speed Current Droop pulses Bus voltage command command 2 command Current Speed encoder command Command Position Speed Current Servo motor pulse control control...
  • Page 863 APPENDIX App. 7.3.2 MR-J4-03A6(-RJ) 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 Internal temperature of encoder Current feedback Encoder Differen- tiation Position feedback Feedback Servo motor Torque...
  • Page 864 APPENDIX App. 7.4 Values of the maximum current command (maximum torque) when the analog monitor is at the maximum/minimum voltage Values of the maximum current command (maximum torque) when the analog monitor is at the maximum/minimum voltage are listed. The current command (torque) outputs the maximum current command (maximum torque) at ±8 V (5 V ± 3 V for MR-J4-03A6).
  • Page 865 APPENDIX Maximum current command Servo motor Servo amplifier/drive unit (maximum torque) [%] HG-JR701M MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) HG-JR11K1M MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) HG-JR15K1M MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) HG-JR 1500 r/min series HG-JR22K1M MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) HG-JR30K1M MR-J4-DU30K_(-RJ) HG-JR37K1M MR-J4-DU37K_(-RJ) MR-J4-60_(-RJ) HG-JR53 MR-J4-100_(-RJ) MR-J4-70_(-RJ) HG-JR73 MR-J4-200_(-RJ) MR-J4-100_(-RJ) HG-JR103 MR-J4-200_(-RJ) MR-J4-200_(-RJ) HG-JR153 MR-J4-350_(-RJ) HG-JR 3000 r/min series MR-J4-200_(-RJ)
  • Page 866 APPENDIX (2) 400 V class Maximum current command Servo motor Servo amplifier/drive unit (maximum torque) [%] HG-SR524 MR-J4-60_4(-RJ) HG-SR1024 MR-J4-100_4(-RJ) HG-SR1524 MR-J4-200_4(-RJ) HG-SR 2000 HG-SR2024 MR-J4-200_4(-RJ) r/min series HG-SR3524 MR-J4-350_4(-RJ) HG-SR5024 MR-J4-500_4(-RJ) HG-SR7024 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR6014 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR8014 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) HG-JR12K14 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) HG-JR15K14 MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) HG-JR 1000...
  • Page 867 APPENDIX App. 7.4.2 Servo motor with functional safety (1) 200 V/100 V class Maximum current command Servo motor Servo amplifier/drive unit (maximum torque) [%] HG-KR053W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) HG-KR13W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) HG-KR series HG-KR23W0C MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) HG-KR43W0C MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) HG-KR73W0C MR-J4-70_(-RJ) HG-SR51W0C MR-J4-60_(-RJ) HG-SR81W0C MR-J4-100_(-RJ) HG-SR HG-SR121W0C MR-J4-200_(-RJ)
  • Page 868 APPENDIX (2) 400 V class Maximum current command Servo motor Servo amplifier/drive unit (maximum torque) [%] HG-SR524W0C MR-J4-60_4(-RJ) HG-SR1024W0C MR-J4-100_4(-RJ) HG-SR1524W0C MR-J4-200_4(-RJ) HG-SR 2000 r/min HG-SR2024W0C MR-J4-200_4(-RJ) series HG-SR3524W0C MR-J4-350_4(-RJ) HG-SR5024W0C MR-J4-500_4(-RJ) HG-SR7024W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR701M4W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR HG-JR11K1M4W0C MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 1500 r/min HG-JR15K1M4W0C MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) series...
  • Page 869 APPENDIX App. 7.4.3 Linear servo motor (primary side) (1) 200 V/100 V class Maximum current command Linear servo motor (primary side) Servo amplifier/drive unit (maximum torque) [%] LM-H3P2A-07P-BSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) LM-H3P3A-12P-CSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) LM-H3P3B-24P-CSS0 MR-J4-70_(-RJ) LM-H3P3C-36P-CSS0 MR-J4-70_(-RJ) LM-H3 series LM-H3P3D-48P-CSS0 MR-J4-200_(-RJ) LM-H3P7A-24P-ASS0 MR-J4-70_(-RJ) LM-H3P7B-48P-ASS0 MR-J4-200_(-RJ)
  • Page 870 APPENDIX App. 7.4.4 Direct drive motor (1) 200 V/100 V class Maximum current command Direct drive motor Servo amplifier/drive unit (maximum torque) [%] TM-RFM002C20 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) TM-RFM004C20 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) TM-RFM006C20 MR-J4-60_(-RJ) TM-RFM006E20 MR-J4-60_(-RJ) TM-RFM012E20 MR-J4-70_(-RJ) TM-RFM018E20 MR-J4-100_(-RJ) TM-RFM series TM-RFM012G20 MR-J4-70_(-RJ) TM-RFM048G20 MR-J4-350_(-RJ) TM-RFM072G20 MR-J4-350_(-RJ)
  • Page 871 APPENDIX 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. Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MR- ECNM connector set.
  • Page 872 APPENDIX App. 8.3 Internal wiring diagram Servo amplifier-side Servo motor-side connector connector Plate (Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. App. 9 How to replace servo amplifier without magnetic pole detection Be sure to write the magnetic pole information of the servo amplifier before the CAUTION replacement to the servo amplifier after the replacement.
  • Page 873 APPENDIX 3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window. 4) Click "Read All" of the magnetic pole information window. ( 2) in figure) 5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take notes.
  • Page 874 APPENDIX App. 10 Special specification App. 10.1 Amplifiers without dynamic brake 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 875 APPENDIX App. 10.2 Without regenerative resistor 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 876 APPENDIX App. 10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2) App. 10.3.1 Summary This section explains servo amplifiers with a special coating specification. Items not given in this section will be the same as MR-J4-_A_(-RJ). App. 10.3.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
  • Page 877 APPENDIX App. 10.3.3 Specifications (a) Special coating Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time, resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating specification, a urethane coating agent is applied to some parts capable of being coated technically (except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases.
  • Page 878 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 879 APPENDIX App. 11.2 Magnetic contactor 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)
  • Page 880 APPENDIX App. 12 STO function with SIL 3 certification The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard. App. 12.1 Target models MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6) App.
  • Page 881 APPENDIX App. 12.6 How to check the country of origin, and the year and month of manufacture The country of origin, and the year and month of manufacture are indicated on the packaging box (Fig. app. 2) and the rating plate (Fig. app. 3). Manufacture month and year Country of origin...
  • Page 882 APPENDIX App. 13 When using the servo amplifier with the DC power supply input POINT The DC power supply input is available with MR-J4-_A-RJ servo amplifiers with software version C2 or later. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, set [Pr.
  • Page 883 APPENDIX (2) MR-J4-200A-RJ to MR-J4-22KA-RJ Malfunction Emergency stop switch Servo amplifier (Note 1) 24 V DC (Note 7, 8) MCCB MC (Note 3) AC/DC 3-phase or 1-phase Converter 200 V AC to 240 V AC (283 V DC to 340 V DC) (Note 9) (Note 4) Main circuit power supply...
  • Page 884 APPENDIX App. 13.3 Selection example of wires POINT Selection conditions of wire size are as follows. Construction condition: Single wire set in midair Wiring length: 30 m or shorter The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. (1) Example of selecting the wire sizes Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring.
  • Page 885 APPENDIX App. 13.4 Molded-case circuit breakers, fuses, magnetic contactors (1) For main circuit power supply To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
  • Page 886 APPENDIX (2) For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3/N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit. Fuse (Class T) Fuse (Class K5) Servo amplifier...
  • Page 887 APPENDIX App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive (1) Summary The China RoHS directive: 电子信息产品污染控制管理办法 (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 888 APPENDIX (3) 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 "...
  • Page 889 REVISIONS *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision Mar. 2012 SH(NA)030107ENG-A First edition Jun. 2012 SH(NA)030107ENG-B 4. Additional instructions (2) The sentences are added. Wiring 4. Additional instructions (3) The sentences are added.
  • Page 890 Revision Date *Manual Number Revision Jun. 2012 SH(NA)030107ENG-B Section 5.2.3 The sentences are added to PC12 and PC13, PC21 is added, and the sentences are added to the initial value in PC37. Section 5.2.6 PF09 and PF15 are added. Section 7.3.1 The sentences are added to POINT.
  • Page 891 Revision Date *Manual Number Revision COMPLIANCE WITH The reference is changed. Feb. 2013 SH(NA)030107ENG-E 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 892 Revision Date *Manual Number Revision Section 5.1.1 [Pr. PA17], [Pr. PA18], and [Pr. PA26] are added. [Pr. PA27] Feb. 2013 SH(NA)030107ENG-E is changed. The operation mode is added. Section 5.1.3 [Pr. PC44] and [Pr. PC45] are added. The operation mode is added.
  • Page 893 Revision Date *Manual Number Revision Section 3.9.1 Note 6 is added. Aug. 2013 SH(NA)030107ENG-F 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.
  • Page 894 Revision Date *Manual Number Revision Oct. 2013 SH(NA)030107ENG-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 895 Revision Date *Manual Number Revision Oct. 2013 SH(NA)030107ENG-G Section 11.15 (1) The graph is added. Section 11.16 The sentences are added. Section 11.16 (1) The content of the table is added. Section 11.16 (2) (b) Newly added. Section 11.16 (3) (a) The content is added.
  • Page 896 Revision Date *Manual Number Revision Mar. 2014 SH(NA)030107ENG-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 897 Revision Date *Manual Number Revision Jan. 2015 SH(NA)030107ENG-J Section 4.5.7 POINT is changed. Section 4.5.7 (2) The diagram is changed. Note is added. Section 4.5.7 (2) (a) The content of the table is changed. Note is added. Section 4.5.8 The diagram is changed. Note is added.
  • Page 898 Revision Date *Manual Number Revision Section 3.2.3 Partially changed. Apr. 2015 SH(NA)030107ENG-K 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. Section 3.6.3 (3) Partially added and partially changed.
  • Page 899 Revision Date *Manual Number Revision Apr. 2015 SH(NA)030107ENG-K Section 11.7 Partially changed. Section 11.8 The contents are entirely changed. Section 11.9 (1) Partially changed. Section 11.12 Partially changed. Section 11.14 (2) (b) Partially changed. Section 12.1 The contents are entirely changed. The contents are entirely changed.
  • Page 900 Revision Date *Manual Number Revision Sep. 2015 SH(NA)030107ENG-L Section 3.4 POINT is partially added. Partially added and partially changed. Section 3.5 Partially added and partially changed. Section 3.6.1 Partially added and partially changed. Section 3.9.1 Partially changed. Section 3.9.2 Partially changed. Partially added and partially changed.
  • Page 901 Revision Date *Manual Number Revision Sep. 2015 SH(NA)030107ENG-L Section 12.3 Partially changed. Chapter 13 POINT is partially changed. Section 13.1.1 Partially changed. Section 13.1.5 Partially added and partially changed. Section 13.3.1 Partially added. Section 13.3.2 Partially changed. Partially changed. Section 13.3.3 Chapter 14 The title is changed.
  • Page 902 Revision Date *Manual Number Revision May 2016 SH(NA)030107ENG-N (2) Wiring Partially added. (5) Corrective actions Partially added. (6) Maintenance, inspection Partially added and partially changed. and parts replacement About the manuals Partially added. Section 1.3 (1) Partially added and partially changed. Partially added and partially changed.
  • Page 903 Revision Date *Manual Number Revision Mar. 2017 SH(NA)030107ENG-P Section 3.6.1 Partially changed. Chapter 5 POINT is partially changed. Section 5.2.3 [Pr. PC27] is partially changed. Section 5.2.4 [Pr. PD33] and [Pr. PD34] are partially changed. Section 6.2 POINT is partially added. Section 6.2.3 Partially added.
  • Page 904 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 905 MEMO...
  • Page 906 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. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
  • Page 907 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 908 MODEL MR-J4-A INSTRUCTIONMANUAL MODEL 1CW804 CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030107ENG-Q(1710)MEE Printed in Japan Specifications are subject to change without notice.

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