Page 1 General-Purpose AC Servo SSCNET /H Interface Multi-axis AC Servo MODEL MR-J4W2-_B MR-J4W3-_B MR-J4W2-0303B6 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 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the cables or connectors when carrying the servo amplifier.
Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side.
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 «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 an MR-J4W2-0303B6, refer to chapter 18. Relevant manuals Manual name Manual No.
Page 9 «Wiring» Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S.
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-14 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 3 1.3 Servo amplifier standard specifications .................... 1- 4 1.3.1 Integrated 2-axis servo amplifier ....................1- 4 1.3.2 Integrated 3-axis servo amplifier ....................1- 6 1.3.3 Combinations of servo amplifiers and servo motors ..............
Page 11 3.8.1 Internal connection diagram ...................... 3-26 3.8.2 Detailed description of interfaces ....................3-27 3.8.3 Source I/O interfaces ........................ 3-28 3.9 SSCNET III cable connection ......................3-29 3.10 Servo motor with an electromagnetic brake .................. 3-31 3.10.1 Safety precautions ........................3-31 3.10.2 Timing chart ..........................
Page 12 6.2.2 Display transition and operation procedure of one-touch tuning ..........6- 7 6.2.3 Caution for one-touch tuning ..................... 6-17 6.3 Auto tuning ............................6-18 6.3.1 Auto tuning mode ........................6-18 6.3.2 Auto tuning mode basis ......................6-19 6.3.3 Adjustment procedure by auto tuning ..................6-20 6.3.4 Response level setting in auto tuning mode ................
Page 13 12.1.3 Parameter setting ........................12- 1 12.1.4 Confirmation of absolute position detection data ..............12- 2 12.2 Battery ............................12- 3 12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6) ..........12- 3 12.2.2 Using MR-BT6VCASE battery case ..................12- 4 13. USING STO FUNCTION 13- 1 to 13-14 13.1 Introduction ...........................
Page 14 13.2 STO I/O signal connector (CN8) and signal layouts ..............13- 4 13.2.1 Signal layouts ......................... 13- 4 13.2.2 Signal (device) explanations ....................13- 5 13.2.3 How to pull out the STO cable ....................13- 5 13.3 Connection example ........................13- 6 13.3.1 Connection example for CN8 connector ................
Page 15 17.2.1 Functions and configuration ....................17-65 17.2.2 Scale measurement encoder ....................17-67 17.2.3 How to use scale measurement function ................17-70 18. MR-J4W2-0303B6 SERVO AMPLIFIER 18- 1 to 18-54 18.1 Functions and configuration ......................18- 1 18.1.1 Summary ..........................18- 1 18.1.2 Function block diagram ......................
Page 16 App. 7 How to replace servo amplifier without magnetic pole detection ......... App.-42 App. 8 Two-wire type encoder cable for HG-MR/HG-KR ..............App.-43 App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service ..........................App.-45 App. 10 CNP_crimping connector ..................... App.-45 App.
Page 17 App. 16 Status of general-purpose AC servo products for compliance with the China RoHS directive ..........................App.-58...
Page 18: Summary
1. FUNCTIONS AND CONFIGURATION POINT In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with 48 V DC and 24 V DC power supplies are available as MR-J4W2-0303B6. Refer to chapter 18 for details of MR-J4W2-0303B6 servo amplifiers. 1.1 Summary The MELSERVO-J4 series of multi-axis servo amplifiers inherits the high performance, sophisticated functions, and usability of the MR-J4-B servo amplifiers, and ensures space saving, reduced wiring, and energy saving.
Page 19 1. FUNCTIONS AND CONFIGURATION Table 1.1 Connectors to connect external encoders Connector Operation mode External encoder communication method MR-J4W2-_B MR-J4W3-_B CN2A (Note 1) Two-wire type CN2A (Note 1) CN2B (Note 1) CN2B (Note 1) Linear servo motor system Four-wire type CN2C (Note 1) A/B/Z-phase differential output method CN2A (Note 2, 3, 4)
Page 20: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. Regenerative option CNP2 Diode Built-in stack regenerative Relay TRM (A) A-axis Servo motor resistor MCCB Regene- (Note 2) Current A-axis rative Power detector output supply...
Page 21: Servo Amplifier Standard Specifications
Compatible (Note 8) Scale measurement function Compatible (Note 10) Load-side encoder interface Mitsubishi Electric high-speed serial communication (Note 6) Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, Protective functions...
Page 22 1. FUNCTIONS AND CONFIGURATION Model MR-J4W2- 1010B Functional safety STO (IEC/EN 61800-5-2) (Note 7) Standards certified by EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2 CB (Note 12) Response 8 ms or less (STO input off → energy shut off) performance Test pulse interval: 1 Hz to 25 Hz Test pulse input (STO)
Page 23: Integrated 3-Axis Servo Amplifier
1. FUNCTIONS AND CONFIGURATION 1.3.2 Integrated 3-axis servo amplifier Model MR-J4W3- 222B 444B Rated voltage 3-phase 170 V AC Output Rated current (each axis) Power supply 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz /Frequency Rated current (Note 9) Main circuit...
Page 24: Servo Amplifier
1. FUNCTIONS AND CONFIGURATION Model MR-J4W3- 222B 444B Functional safety STO (IEC/EN 61800-5-2) (Note 6) Standards certified by EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2 CB (Note 10) Response 8 ms or less (STO input off → energy shut off) performance Test pulse interval: 1 Hz to 25 Hz Test pulse input (STO)
Page 25: Combinations Of Servo Amplifiers And Servo Motors
1. FUNCTIONS AND CONFIGURATION 1.3.3 Combinations of servo amplifiers and servo motors (1) MR-J4W2-_B servo amplifier Rotary servo motor Linear servo motor Servo amplifier Direct drive motor (primary side) HG-KR HG-MR HG-SR HG-UR HG-JR MR-J4W2-22B LM-U2PAB-05M-0SS0 TM-RFM002C20 LM-U2PBB-07M-1SS0 TM-RG2M002C30 (Note 1) TM-RU2M002C30 (Note 1) TM-RG2M004E30...
Page 26 1. FUNCTIONS AND CONFIGURATION (2) MR-J4W3-_B servo amplifier Rotary servo motor Linear servo motor Servo amplifier Direct drive motor HG-KR HG-MR (primary side) MR-J4W3-222B LM-U2PAB-05M-0SS0 TM-RFM002C20 LM-U2PBB-07M-1SS0 TM-RG2M002C30 (Note 1) TM-RU2M002C30 (Note 1) TM-RG2M004E30 (Note 1) TM-RU2M004E30 (Note 1) MR-J4W3-444B LM-H3P2A-07P-BSS0 TM-RFM002C20 LM-H3P3A-12P-CSS0...
Page 27: Function List
1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference 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 28 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy [Pr. PA20] charged in the capacitor in case that an instantaneous power failure occurs during SEMI-F47 function (Note) operation. Use a 3-phase for the input power supply of the servo amplifier. Using a [Pr.
Page 29: Model Designation
1. FUNCTIONS AND CONFIGURATION 1.5 Model designation (1) Rating plate The following shows an example of rating plate for explanation of each item. AC SERVO SER.A45001001 Serial number MR-J4W3-222B Model Capacity POWER: 200W×3 (A, B, C) Applicable power supply INPUT: 3AC/AC200-240V 4.3A/7.5A 50/60Hz Rated output current OUTPUT: 3PH170V 0-360Hz 1.5A×3 (A, B, C) Standard, Manual number...
Page 30: Parts Identification
1. FUNCTIONS AND CONFIGURATION 1.6 Parts identification Detailed Name/Application explanation Display The 3-digit, 7-segment LED shows the servo status and the alarm number. Axis selection rotary switch (SW1) Section 4.3 Used to set the axis No. of servo amplifier. Control axis setting switch (SW2) 1 2 3 4 5 6 The test operation switch, the disabling control axis switch, and the auxiliary axis number...
Page 31: Configuration Including Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment Connecting a servo motor for different axis to the CNP3A, CNP3B, or CNP3C CAUTION connector may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 32: Installation Direction And Clearances
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 cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the equipment on incombustible material.
Page 33 2. INSTALLATION (1) Installation of one servo amplifier Control box Control box 40 mm or more Wiring Servo amplifier allowance 80 mm 10 mm 10 mm or more or more Bottom 40 mm or more (2) Installation of two or more servo amplifiers POINT You can install MR-J4W_-B servo amplifiers without clearances between them.
Page 34: Keep Out Foreign Materials
2. INSTALLATION 2.2 Keep out 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 35 2. INSTALLATION (2) Prohibition of vinyl tape use Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away from vinyl tape because the optical characteristic may be affected. SSCNET III cable Cord Cable MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B : Phthalate ester plasticizer such as DBP and DOP Optical cord Cable...
Page 36: Inspection Items
2. INSTALLATION (5) Tension If tension is added on optical cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. Doing so may cause the breakage of the optical fiber or damage of the optical connector. For cable laying, handle without putting forced tension.
Page 37: Parts Having Service Life
2. INSTALLATION (3) Check that the connector is securely connected to the servo amplifier. (4) Check that the wires are not coming out from the connector. (5) Check for dust accumulation on the servo amplifier. (6) Check for unusual noise generated from the servo amplifier. (7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.
Page 38: Restrictions When Using This Product At Altitude Exceeding 1000 M And Up To 2000 M Above Sea Level
2. INSTALLATION 2.7 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 39 2. INSTALLATION MEMO 2 - 8...
Page 40 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 41: Signals And Wiring
3. SIGNALS AND WIRING Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector 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 42 3. SIGNALS AND WIRING Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller forced stop.
Page 43 3. SIGNALS AND WIRING Note 1. Between P+ and D is connected by default. When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to Servo Motor Instruction Manual (Vol.
Page 44: I/O Signal Connection Example
3. SIGNALS AND WIRING 3.2 I/O signal connection example POINT EM2 has the same device as EM1 in the torque control mode. 3.2.1 For sink I/O interface 10 m or less 10 m or less (Note 15) Servo amplifier Main circuit (Note 10) power supply 24 V DC...
Page 45 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 46: For Source I/O Interface
3. SIGNALS AND WIRING 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. 10 m or less 10 m or less (Note 15) Servo amplifier Main circuit (Note 10) power supply 24 V DC DOCOM (Note 2) (Note 10) 24 V DC AND malfunction (Note 11)
Page 47: Explanation Of Power Supply System
3. SIGNALS AND WIRING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT N- terminal is for manufacturer. Be sure to leave this terminal open. (1) Pin assignment and connector applications CNP1 Connector Name Function and application CNP2 CNP1 Main circuit power connector Input main circuit power supply.
Page 48 3. SIGNALS AND WIRING (2) Detailed explanation Connection Symbol Connector destination Description (application) Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. MR-J4W2-22B Servo amplifier MR-J4W2-44B...
Page 49: Power-On Sequence
3. SIGNALS AND WIRING 3.3.2 Power-on sequence POINT An output signal, etc. may be irregular at power-on. (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply ((L1/L2/L3)). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs in all axes of A, B, and C.
Page 50: Wiring Cnp1, Cnp2, And Cnp3
3. SIGNALS AND WIRING 3.3.3 Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 11.5. When wiring, remove the power connectors from the servo amplifier. Insert only one wire or ferrule to each wire insertion hole. (1) Connector Servo amplifier CNP1...
Page 51 3. SIGNALS AND WIRING (2) Cable connection procedure (a) Cable making Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Insulator Core Stripped length Twist strands slightly and straighten them as follows.
Page 52: 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 CN3 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 53: Signal (Device) Explanations
3. SIGNALS AND WIRING 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8. The pin numbers in the connector pin No. column are those in the initial status. 3.5.1 Input device Connector Device Symbol...
Page 54: Output Device
3. SIGNALS AND WIRING 3.5.2 Output device (1) Output device pin The following shows the output device pins and parameters for assigning devices. Parameter Connector pin No. Initial device I/O division Remark A-axis B-axis C-axis CN3-12 [Pr. PD07] MBR-A For A-axis CN3-25 [Pr.
Page 55 3. SIGNALS AND WIRING Device Symbol Function and application AND ready Enabling servo-on to make the servo amplifier ready to operate will turn on RD. OR ready Common ready for A- RD-A axis Common ready for B- RD-B axis Common ready for C- RD-C axis AND speed reached...
Page 56 3. SIGNALS AND WIRING Device Symbol Function and application AND warning CWNG When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off about 3 s after power-on. OR warning XWNG Warning for A-axis WNG-A Warning for B-axis WNG-B...
Page 57: Output Signal
3. SIGNALS AND WIRING 3.5.3 Output signal Connector Signal name Symbol Function and application Pin No. Encoder A-phase LA-A CN3-3 The encoder output pulses set in [Pr. PA15] and [Pr. PA16] are output in differential line pulse A driver type. LAR-A CN3-16 (differential line...
Page 58: Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to section 8.1.) When SSCNET III/H communication shut-off occurs, forced stop deceleration will operate.
Page 59 3. SIGNALS AND WIRING (2) Timing chart When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], base power is cut and the dynamic brake activates.
Page 60: Base Circuit Shut-Off Delay Time Function
3. SIGNALS AND WIRING 3.6.2 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), alarm occurrence, or SSCNET III/H communication shut-off due to delay time of the electromagnetic brake.
Page 61: Vertical Axis Freefall Prevention Function
3. SIGNALS AND WIRING 3.6.3 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 62: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION When alarms are occurring in all axes of A, B, and C, shut off the main circuit power supply.
Page 63 3. SIGNALS AND WIRING (2) When the forced stop deceleration function is not enabled When an all-axis stop alarm occur, all axes will be the operation status below. When a corresponding axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the axis that any alarm is not occurring.
Page 64: When You Do Not Use The Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.7.2 When you do not use the forced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr. PA04]. The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shut- off occurs is the same as section 3.7.1 (2).
Page 65: Interfaces
3. SIGNALS AND WIRING 3.8 Interfaces 3.8.1 Internal connection diagram POINT Refer to section 13.3.1 for the CN8 connector. Servo amplifier (Note 6) 24 V DC (Note 6) DOCOM 24 V DC DICOM MBR-A Approximately 5.6 kΩ MBR-B (Note 2) DI1-A MBR-C DI2-A...
Page 66: Detailed Description Of Interfaces
3. SIGNALS AND WIRING Note 1. Signal can be assigned for these pins with the controller setting. For contents of signals, refer to the instruction manual of the controller. 2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3. 3.
Page 67: Source I/O Interfaces
3. SIGNALS AND WIRING (3) Encoder output pulses DO-2 (differential line driver type) (a) Interface Maximum output current: 35 mA Servo amplifier Servo amplifier LA-A/LA-B LA-A/LA-B 100 Ω Am26LS32 or equivalent (LB-A/LB-B) (LB-A/LB-B) 150 Ω LAR-A/LAR-B LAR-A/LAR-B High-speed photocoupler (LBR-A/LBR-B) (LBR-A/LBR-B) (b) Output pulse Servo motor CCW rotation...
Page 68: Sscnet Iii Cable Connection
3. SIGNALS AND WIRING (2) Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current will flow from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Page 69 3. SIGNALS AND WIRING (2) How to connect/disconnect cable POINT CN1A and CN1B connector are capped to protect light device inside connector from dust. For this reason, do not remove the cap until just before connecting the SSCNET III cable. Then, when removing SSCNET III cable, make sure to put a cap.
Page 70: 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 CALM (AND malfunction) Contacts must be opened with the or MBR (Electromagnetic brake interlock) turns off.
Page 71 3. SIGNALS AND WIRING (1) Connection diagram A-axis servo motor (Note 2) CALM MBR-A (Note 1) 24 V DC for electromagnetic brake Servo amplifier B-axis servo motor 24 V DC (Note 4) MBR-B DOCOM DICOM CALM 24 V DC (Note 4) MBR-A MBR-B MBR-C...
Page 72: 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) Servo-on command (from controller) on/off When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast.
Page 73 3. SIGNALS AND WIRING (b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2) When EM2 is turned off, all axes will be the operation status below. 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...
Page 74 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on When the main circuit power supply is turned off, all axes will be the operation status below. POINT In the torque control mode, the forced stop deceleration function is not available. Forced stop deceleration Dynamic brake Dynamic brake...
Page 75 3. SIGNALS AND WIRING (2) When you do not use the forced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr. PA04]. (a) Servo-on command (from controller) on/off It is the same as (1) (a) in this section. (b) Off/on of the forced stop command (from controller) or EM1 (Forced stop) When the controller forced stop warning is received from a controller or EM1 is turned off, all axes will be the operation status below.
Page 76 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on When the main circuit power supply is turned off, all axes will be the operation status below. Dynamic brake Dynamic brake + Electromagnetic brake Approx.
Page 77: 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 78: Startup
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 79: Startup Procedure
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 4.5.1), etc.
Page 80: 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 The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should satisfy the defined specifications.
Page 81: Surrounding Environment
4. STARTUP (c) When you use an option and auxiliary equipment When you use a regenerative option The regenerative option wire should be connected between P+ terminal and C terminal. Twisted wires should be used. (Refer to section 11.2.4.) (2) I/O signal wiring (a) The I/O signals should be connected correctly.
Page 82 4. STARTUP (1) Power on When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the servo amplifier display. When the absolute position detection system is used in a rotary servo motor, first power-on results in [AL.
Page 83: Switch Setting And Display Of The Servo Amplifier
4. STARTUP (5) Stop Turn off the servo-on command 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 84 4. STARTUP The following explains the test operation select switch, the disabling control axis switches, auxiliary axis number setting switches, and the axis selection rotary switch. 3-digit, 7-segment LED Axis selection rotary switch (SW1) Control axis setting switch (SW2) 1 2 3 4 5 6 MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier 2 3 4 5 6...
Page 85 4. STARTUP MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier Disabling control Disabling control Disabling control A-axis B-axis A-axis B-axis C-axis A-axis B-axis C-axis axis switch axis switch axis switch Enabled Enabled Enabled Enabled Enabled 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 Enabled Disabled...
Page 86 4. STARTUP (c) Switch combination list for the control axis No. setting POINT Set control axis Nos. for one system. For details of the control axis No., refer to the servo system controller user's manual. The following lists show the setting combinations of the auxiliary axis number setting switches and the axis selection rotary switch.
Page 87 4. STARTUP 2) MR-J4 3-axis servo amplifier The control axis No. of A-axis is set as 1 to 62, B-axis is set as 2 to 63, and C-axis is set as 3 to Axis Axis Control axis No. Control axis No. Auxiliary axis number selection Auxiliary axis number...
Page 88: Scrolling Display
4. STARTUP 4.3.2 Scrolling display Displaying the status of each axis in rotation enables you to check the status of all axes. (1) Normal display When there is no alarm, the status of all axes are displayed in rotation. After 1.6 s After 0.2 s After 1.6 s After 0.2 s...
Page 89: Status Display Of An Axis
4. STARTUP 4.3.3 Status display of an axis (1) Display sequence Servo amplifier power on System check in progress Waiting for servo system controller power to switch on (SSCNET III/H communication) Servo system controller power on (SSCNET III/H communication begins) Initial data communication with the servo system controller (initialization communication)
Page 90 4. STARTUP (2) Indication list Indication Status Description Initializing System check in progress Power of the servo amplifier was switched on at the condition that the power of the servo system controller is off. The control axis No. set to the auxiliary axis number setting switches (SW2-5 and SW2-6) and the axis selection rotary switch (SW1) do not match the one set to the servo system controller.
Page 91: Test Operation
4. STARTUP 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier. POINT If necessary, verify controller program by using motor-less operation. Refer to section 4.5.2 for the motor-less operation.
Page 92: Test Operation Mode In Mr Configurator2
4. STARTUP 4.5.1 Test operation mode in MR Configurator2 POINT All axes will be in the test operation mode for the multi-axis servo amplifier. Although only one axis is active in the mode. When the test operation mode is selected with the test operation select switch (SW2-1), the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked.
Page 93 4. STARTUP (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
Page 94: Motor-Less Operation In Controller
4. STARTUP (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW2-1. Set SW2-1 to "ON (up)". 1 2 3 4 5 6 2 3 4 5 6 Turning "ON (up)" SW2-1 during power-on will not start the test operation mode. 3) Turn on the servo amplifier.
Page 95 4. STARTUP (1) Motor-less operation Without connecting a servo motor to servo amplifier, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset.
Page 96 4. STARTUP (2) Operation procedure 1) Set the servo amplifier to the servo-off status. 2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode switch (SW2-1), and then turn on the power supply. Set SW2-1 to "OFF (down)".
Page 97 4. STARTUP MEMO 4 - 20...
Page 98 [Pr. PC12 Analog monitor 2 offset] [Pr. PC13 Analog monitor - Feedback position output standard data - Low] [Pr. PC14 Analog monitor - Feedback position output standard data - High] The following parameters are not available with MR-J4W2-0303B6 servo amplifiers. [Pr. PA02 Regenerative option] [Pr.
Page 99: Parameter List
5. PARAMETERS 5.1 Parameter list POINT The parameter whose symbol is preceded by * is enabled with the following conditions: *: After setting the parameter, cycle the power or reset the controller. **: After setting the parameter, cycle the power. How to set parameters Each: Set parameters for each axis of A, B, and C.
Page 100: Basic Setting Parameters ([Pr. Pa_ _ ])
5. PARAMETERS 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) Operation mode Initial Each/ Symbol Name Unit value Common PA01 **STY Operation mode 1000h Each PA02 **REG Regenerative option 0000h Common PA03 *ABS Absolute position detection system 0000h Each PA04 *AOP1 Function selection A-1 2000h...
Page 101: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
5. PARAMETERS 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Operation mode Initial Each/ Symbol Name Unit value Common PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h Each PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h Each suppression control II) PB03 TFBGN...
Page 102: Extension Setting Parameters ([Pr. Pc_ _ ])
5. PARAMETERS Operation mode Initial Each/ Symbol Name Unit value Common PB43 For manufacturer setting 0000h PB44 0.00 PB45 CNHF Command notch filter 0000h Each PB46 Machine resonance suppression filter 3 4500 [Hz] Each PB47 NHQ3 Notch shape selection 3 0000h Each PB48...
Page 103 5. PARAMETERS Operation mode Initial Each/ Symbol Name Unit value Common PC09 MOD1 Analog monitor 1 output 0000h Common PC10 MOD2 Analog monitor 2 output 0001h Common PC11 Analog monitor 1 offset [mV] Common PC12 Analog monitor 2 offset [mV] Common PC13 MOSDL...
Page 104: I/O Setting Parameters ([Pr. Pd_ _ ])
5. PARAMETERS Operation mode Initial Each/ Symbol Name Unit value Common PC56 For manufacturer setting 0000h PC57 0000h PC58 0000h PC59 0000h PC60 0000h PC61 0000h PC62 0000h PC63 0000h PC64 0000h 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) Operation mode Initial...
Page 105: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
5. PARAMETERS Operation mode Initial Each/ Symbol Name Unit value Common PD31 For manufacturer setting PD32 PD33 0000h PD34 0000h PD35 0000h PD36 0000h PD37 0000h PD38 0000h PD39 0000h PD40 0000h PD41 0000h PD42 0000h PD43 0000h PD44 0000h PD45 0000h PD46...
Page 106 5. PARAMETERS Operation mode Initial Each/ Symbol Name Unit value Common PE22 For manufacturer setting 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Each Numerator...
Page 107: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
5. PARAMETERS 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Operation mode Initial Each/ Symbol Name Unit value Common PF01 For manufacturer setting 0000h PF02 *FOP2 Function selection F-2 0000h Common PF03 For manufacturer setting 0000h PF04 PF05 0000h PF06 *FOP5 Function selection F-5...
Page 108: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])
5. PARAMETERS 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Operation mode Initial Each/ Symbol Name Unit value Common PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h Each PL02 **LIM Linear encoder resolution - Numerator 1000 [µm] Each...
Page 109 5. PARAMETERS Operation mode Initial Each/ Symbol Name Unit value Common PL36 For manufacturer setting 0000h PL37 0000h PL38 0000h PL39 0000h PL40 0000h PL41 0000h PL42 0000h PL43 0000h PL44 0000h PL45 0000h PL46 0000h PL47 0000h PL48 0000h 5 - 12...
Page 110: Detailed List Of Parameters
J4W2-_B servo amplifiers of which software version is A3 or later. It will not be available with MR-J4W3-_B servo amplifiers. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value. _ x _ _ For manufacturer setting...
Page 111 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PA03 *ABS Absolute position detection system Refer to Name Each and function Set this parameter when using the absolute position detection system. The parameter column. is not available in the speed control mode and torque control mode. Setting Initial Explanation...
Page 112 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PA08 Auto tuning mode Refer to Name Each and function Select a gain adjustment mode. column. Setting Initial Explanation digit value _ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2...
Page 113 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PA09 Auto tuning response 1 to 40 Each Set a response of the auto tuning. Machine characteristic Machine characteristic Guideline for Guideline for Setting Setting machine machine value value Response...
Page 114 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PA14 *POL Rotation direction selection/travel direction selection 0 to 1 Each 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. Servo motor rotation direction/linear servo motor travel direction Setting value...
Page 115 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. function Refer to the following table for settings. column. This digit is not available with the MR-J4W2-0303B6 servo amplifier. Parameter Linear servo motor Linear servo motor [Pr. PA17] [Pr.
Page 116 Select a reference range and writing range of the parameter. Refer to table 5.3 for settings. function Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with column. MR-J4W2-0303B6 servo amplifiers. Table 5.3 [Pr. PA19] setting value and reading/writing range Setting PA19 operation...
Page 117 You can assign MTTR (During tough drive) to pins CN3-11 to CN3-13, CN3-24, and CN3-25 with [Pr. PD07] to [Pr. PD09]. For MR-J4W2-0303B6 servo amplifiers, MTTR (during tough drive) cannot be assigned. Setting...
Page 118 Additionally, the setting is enabled only in the standard control mode. Setting other than "0" in other operation modes triggers [AL. 37 Parameter error]. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value. PA23 DRAT...
Page 119 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PA24 AOP4 Function selection A-4 Refer to Name Each and function Setting Initial column. Explanation digit value _ _ _ x Vibration suppression mode selection 0: Standard mode 1: 3 inertia mode 2: Low response mode When two low resonance frequencies are generated, select...
Page 120: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Setting Each/ Symbol Name and function value range Common [unit] PB01 FILT Adaptive tuning mode (adaptive filter II) Refer to Name Each and function Set the adaptive tuning. column. All axes cannot be simultaneously enabled for this function.
Page 121 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB06 Load to motor inertia ratio/load to motor mass ratio 7.00 0.00 to Each 300.00 Set a load to motor inertia ratio or load to motor mass ratio. Setting a value [Multiplier] considerably different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.
Page 122 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB10 Speed integral compensation 33.7 0.1 to Each [ms] 1000.0 Set an integral time constant of the speed loop. Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.
Page 123 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB16 NHQ2 Notch shape selection 2 Refer to Name Each and function Set the shape of the machine resonance suppression filter 2. column. Setting Initial Explanation digit value _ _ _ x Machine resonance suppression filter 2 selection...
Page 124 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB17 Shaft resonance suppression filter Refer to Name Each and function Set a shaft resonance suppression filter. column. Use this to suppress a low-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection"...
Page 125 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB18 Low-pass filter setting 3141 100 to Each [rad/s] 18000 Set the low-pass filter. The following shows a relation of a required parameter to this parameter. [Pr. PB23] [Pr.
Page 126 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB24 *MVS Slight vibration suppression control Refer to Name Each and function Select the slight vibration suppression control and PI-PID switching control. column. Setting Initial Explanation digit value _ _ _ x Slight vibration suppression control selection...
Page 127 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB26 *CDP Gain switching function Refer to Name Each and function Select the gain switching condition. column. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr.
Page 128 5. PARAMETERS Initial Setting Each/ value Symbol Name and function range Common [unit] PB30 PG2B Position loop gain after gain switching 0.0 to Each [rad/s] 2000.0 Set the position loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. This parameter is enabled only when you select "Manual mode (_ _ _ 3)"...
Page 129 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB45 CNHF Command notch filter Refer to Name Each and function Set the command notch filter. column. Setting Initial Explanation digit value _ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to frequency.
Page 130 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB45 CNHF Refer to Name Each Table 5.6 Notch depth selection and function Setting value Depth [dB] Setting value Depth [dB] column. _ 0 _ _ -40.0 _ 8 _ _ -6.0 _ 1 _ _...
Page 131 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB49 NHQ4 Notch shape selection 4 Refer to Name Each and function Set the shape of the machine resonance suppression filter 4. column. Setting Initial Explanation digit value _ _ _ x Machine resonance suppression filter 4 selection...
Page 132 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 0.1 to Each [Hz] 300.0 Set the resonance frequency for vibration suppression control 2 to suppress low- frequency machine vibration.
Page 133 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 to Each 0.30 Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled.
Page 134: Extension Setting Parameters ([Pr. Pc_ _ ])
5. PARAMETERS 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) Initial Setting Each/ Symbol Name and function value range Common [unit] PC01 Error excessive alarm level 0 to Each [rev]/ 1000 Set an error excessive alarm level. [mm] Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3 (Note) rev.
Page 135 1] will occur. Setting "1" will trigger [AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01]. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value. PC05...
Page 136 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PC06 *COP3 Function selection C-3 Refer to Name Each and function Select units for error excessive alarm level setting with [Pr. PC01] and for error column. excessive warning level setting with [Pr. PC38]. The parameter is not available in the speed control mode and torque control mode.
Page 137 Refer to the Name Common and function Select a signal to output to MO1 (Analog monitor 1). Refer to section 18.3.7 (6) (c) for column. detection point of output selection. The parameter is available with MR-J4W2-0303B6 servo amplifiers. Setting Initial Explanation digit value...
Page 138 Analog monitor 2 offset -9999 Common [mV] Set the offset voltage of MO2 (Analog monitor 2). 9999 The parameter is available with MR-J4W2-0303B6 servo amplifiers. PC13 MOSDL Analog monitor - Feedback position output standard data - Low -9999 Each [pulse]...
Page 139 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PC20 *COP7 Function selection C-7 Refer to Name Common and function Select the detection method of [AL. 10 Undervoltage]. column. Setting Initial Explanation digit value _ _ _ x For manufacturer setting _ _ x _ _ x _ _...
Page 140 **COP9 Function selection C-9 Refer to Name Each and function Select a polarity of the linear encoder or load-side encoder. column. This parameter is not available with MR-J4W2-0303B6 servo amplifiers. Setting Initial Explanation digit value _ _ _ x Selection of encoder pulse count polarity...
Page 141: I/O Setting Parameters ([Pr. Pd_ _ ])
5. PARAMETERS 5.2.4 I/O setting parameters ([Pr. PD_ _ ]) Initial Setting Each/ Symbol Name and function value range Common [unit] PD02 *DIA2 Input signal automatic on selection 2 Refer to Name Each and function Setting digit Initial column. Explanation value HEX.
Page 142 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PD07 *DO1 Output device selection 1 Refer to Name Each and function You can assign any output device to pins CN3-12, CN3-13, and CN3-25. In the initial column.
Page 143 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PD09 *DO3 Output device selection 3 Refer to Name Common and function You can assign any output device to the CN3-11 pin for each axis. CALM (AND column.
Page 144 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PD14 *DOP3 Function selection D-3 Refer to Name Each and function Setting Initial column. Explanation digit value _ _ _ x For manufacturer setting _ _ x _ Selection of output device at warning occurrence Select WNG (Warning) and ALM (Malfunction) output status at warning occurrence.
Page 145: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
Common [unit] PE01 **FCT1 Fully closed loop function selection 1 Refer to Name Each and function This parameter is not available with MR-J4W2-0303B6 servo amplifiers. column. Setting Initial Explanation digit value _ _ _ x Fully closed loop function selection...
Page 146 When the position deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur. This parameter is not available with MR-J4W2-0303B6 servo amplifiers. PE08 Fully closed loop dual feedback filter...
Page 147: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PE47 Torque offset -10000 Each [0.01%] Set this when canceling unbalanced torque of vertical axis. Set this assuming the 10000 rated torque of the servo motor as 100%. The torque offset does not need to be set for a machine not generating unbalanced torque.
Page 148 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PF18 **STOD STO diagnosis error detection time 0 to Common Set the time from when an error occurs in the STO input signal or STO circuit until the detection of [AL.
Page 149 200 ms is set in the parameter. To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20]. This parameter is not available with MR-J4W2-0303B6 servo amplifiers. PF31 FRIC Machine diagnosis function - Friction judgment speed...
Page 150: 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-J4W2-0303B6 servo amplifiers. Initial Setting Each/ Symbol Name and function value range...
Page 151 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PL04 *LIT2 Linear servo motor/DD motor function selection 2 Refer to Name Each and function Select a detection function and detection controller reset condition of [AL. 42 Servo column.
Page 152 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PL08 *LIT3 Linear servo motor/DD motor function selection 3 Refer to Name Each and function Setting Initial column. Explanation digit value _ _ _ x Magnetic pole detection method selection 0: Position detection method 4: Minute position detection method _ _ x _...
Page 153 5. PARAMETERS Initial Setting Each/ Symbol Name and function value range Common [unit] PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection Refer to Name Each and function To enable the parameter, select "Minute position detection method (_ _ _ 4)" in [Pr. column.
Page 154: 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 155: 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 156: One-Touch Tuning
When the one-touch tuning is executed, MR Configurator2 is required. For MR-J4W2-0303B6 servo amplifier, one-touch tuning by the amplifier command method will be available in the future. The one-touch tuning includes two methods: the user command method and the amplifier command method.
Page 157 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 158: One-Touch Tuning Flowchart
6. NORMAL GAIN ADJUSTMENT 6.2.1 One-touch tuning flowchart (1) User command method Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Rotate the servo motor by a servo system controller. (In the user command method, the one- Operation touch tuning cannot be executed if the servo motor is not operating.) One-touch tuning start,...
Page 159 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 160: 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) Command method selection Select a command method from two methods in the one-touch tuning window of MR Configurator2. 6 - 7...
Page 161 6. NORMAL GAIN ADJUSTMENT (a) 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.
Page 162 6. NORMAL GAIN ADJUSTMENT (b) 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 163 6. NORMAL GAIN ADJUSTMENT (2) 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 164 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 165 6. NORMAL GAIN ADJUSTMENT Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after servo-on. Then, the servo motor will reciprocate, and the one-touch tuning will be executed.
Page 166 6. NORMAL GAIN ADJUSTMENT Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the following window will be displayed. Select whether or not to reflect the tuning result in the project. 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".
Page 167 6. NORMAL GAIN ADJUSTMENT (5) If an error occurs If a tuning error occurs during tuning, one-touch 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 168 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 169 6. NORMAL GAIN ADJUSTMENT (8) 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 170: 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 171: 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 172: 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 173: 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 174: Response Level Setting In Auto Tuning Mode
6. NORMAL GAIN ADJUSTMENT 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the trackability to a command improves and settling time decreases, but setting the response level too high will generate vibration.
Page 175: 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 176 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 177 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/load to motor mass ratio.
Page 178: 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 179 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 180 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 181 6. NORMAL GAIN ADJUSTMENT MEMO 6 - 28...
Page 182: 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 183: 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 184 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 185 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter (a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 186: 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 187 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 188: 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 189: 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 190 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 191 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 192 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 193 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 194: 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 195 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 196: 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 a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function.
Page 197: 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 198: 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 199 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia PB06 Load to motor inertia PB29 GD2B Load to motor inertia ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass ratio ratio...
Page 200 7. SPECIAL ADJUSTMENT FUNCTIONS (c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching] Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr.
Page 201: 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 control command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier] PB07...
Page 202 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Control command from controller 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 203 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/load to motor 4.00 → 10.00 →...
Page 204 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 205: 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 206 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 207: Instantaneous Power Failure Tough Drive Function
[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. MR-J4W2-0303B6 servo amplifier is not compatible with instantaneous power failure tough drive. The setting range of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] differs depending on the software version of the servo amplifier as follows.
Page 208 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 209 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 158 V DC within the instantaneous power failure time of the control circuit power supply [AL.
Page 210 7. SPECIAL ADJUSTMENT FUNCTIONS (b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power failure time of the control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply Control circuit ON (energization)
Page 211: Compliance With Semi-F47 Standard
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with SEMI-F47 standard. The MR-J4W2-0303B6 servo amplifier is not compatible with SEMI-F47 standard. The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test"...
Page 212 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Calculation of tolerance against instantaneous power failure Table 7.2 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms. Table 7.2 Tolerance against instantaneous power failure (instantaneous power failure voltage = rated voltage ×...
Page 213: 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 with checking operation status of the servo motor. This is used by servo amplifiers with software version B4 or later.
Page 214: Explanation For The Lists
8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. If an alarm which indicates each axis in the stop method column occurs, the axis without the alarm operates the servo motor as per normal. As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.
Page 215: Alarm List
8. TROUBLESHOOTING 8.2 Alarm list Alarm deactivation Stop Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Voltage drop in the control 10.1 Common All axes circuit power Undervoltage Voltage drop in the main circuit 10.2...
Page 216 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power 17.1 Board error 1 Common All axes 17.3 Board error 2 Common All axes 17.4 Board error 3 Common All axes...
Page 217 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Ground fault detected by Each 24.1 All axes hardware detection circuit axis Main circuit error Ground fault detected by Each 24.2...
Page 218 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power 34.1 SSCNET receive data error Common All axes (Note 5) SSCNET connector connection 34.2 Common All axes error SSCNET communication data...
Page 219 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Abnormal temperature of servo Each Each 46.1 motor 1 (Note 1) (Note 1) (Note 1) axis axis Abnormal temperature of servo...
Page 220 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Functional safety unit 65.1 communication error 1 Functional safety unit 65.2 communication error 2 Functional safety unit 65.3 communication error 3...
Page 221 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Load-side encoder initial Each Each 70.1 communication - Receive data axis axis error 1 Load-side encoder initial Each Each...
Page 222 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Each Each 72.1 Load-side encoder data error 1 axis axis Load-side encoder data update Each Each 72.2...
Page 223 8. TROUBLESHOOTING Stop Alarm deactivation Process- Stop method Detail Cycling Name Detail name system Alarm system (Note (Note 8) reset reset (Note 8) 2, 3) power Network module undetected 84.1 error Network module Network module initialization 84.2 error 1 initialization error Network module initialization 84.3 error 2...
Page 224 DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs; [AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888] EDB: Electronic dynamic brake stop (available with specified servo motors) Refer to the following table for the specified servo motors.
Page 225: Warning List
8. TROUBLESHOOTING 8.3 Warning list Stop Process- Stop Detail method Name Detail name system (Note 2, system (Note 5) (Note 5) 90.1 Home position return incomplete Home position Home position return abnormal return incomplete 90.2 termination warning 90.5 Z-phase unpassed Servo amplifier Main circuit device overheat overheat warning...
Page 226 8. TROUBLESHOOTING Stop Process- Stop Detail method Name Detail name system (Note 2, system (Note 5) (Note 5) CC-Link IE warning 9E.1 CC-Link IE communication warning Each 9F.1 Low battery axis Battery warning Each 9F.2 Battery degradation warning axis Excessive regeneration E0.1 Excessive regeneration warning...
Page 227 2. The following shows two stop methods of DB and SD. DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. SD: Forced stop deceleration 3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr.
Page 228: Troubleshooting At Power On
8. TROUBLESHOOTING 8.4 Troubleshooting at power on When the servo system does not boot and system error occurs at power on of the servo system controller, improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this section.
Page 229 8. TROUBLESHOOTING Display Description Cause Checkpoint Action Communication between An MR-J4-_B(4)(-RJ) Check if "J3 compatibility mode" Select "J4 mode" with "MR- servo system controller servo amplifier or MR- is set using "MR-J4(W)-B mode J4(W)-B mode selection". and servo amplifier are J4W_-_B servo amplifier selection"...
Page 230: Dimensions
9. DIMENSIONS 9. DIMENSIONS 9.1 Servo amplifier (1) MR-J4W2-22B/MR-J4W2-44B [Unit: mm] 6 mounting hole Approx. 80 Lock knob Cooling fan exhaust (only with MR-J4W-44B) CNP1 CNP2 CNP3A CNP3B Air intake Lock knob Mass: 1.4 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 231 9. DIMENSIONS (2) MR-J4W2-77B/MR-J4W2-1010B [Unit: mm] 6 mounting hole Approx. 80 Lock knob Cooling fan exhaust (only with MR-J4W-44B) CNP1 CNP2 CNP3A CNP3B Air intake Lock knob Mass: 2.3 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 232 9. DIMENSIONS (3) MR-J4W3-222B/MR-J4W3-444B [Unit: mm] 6 mounting hole Approx. 80 Lock knob Cooling fan exhaust (only with MR-J4W-44B) CNP1 CNP2 CNP3A CNP3B CNP3C Air intake Lock knob Mass: 2.3 [kg] Terminal Mounting screw Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 233 9. DIMENSIONS 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 17.6 ± 0.2 17.6 ± 0.2 20.9 ± 0.2 20.9 ± 0.2 (2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] Logo etc., are indicated here. 12.7 Each type of dimension Connector...
Page 234 9. DIMENSIONS (b) Jack screw M2.6 type This is not available as option. [Unit: mm] Logo etc., are indicated here. 12.7 Each type of dimension Connector Shell kit 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4 (3) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm]...
Page 235 9. DIMENSIONS MEMO 9 - 6...
Page 236: Characteristics
10. CHARACTERISTICS 10. CHARACTERISTICS POINT For the characteristics of the linear servo motor and the direct drive motor, refer to sections 14.4 and 15.4. 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 237: Power Supply Capacity And Generated Loss
10. CHARACTERISTICS 10.2 Power supply capacity and generated loss Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1) and (2) in this section. The calculated value will vary depending on the number of connected servo motors and the capacities of the servo motors.
Page 238 10. CHARACTERISTICS (2) Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from tables 10.3 and 10.4. Table 10.3 Amount of heat generated by one servo amplifier at Table 10.4 Amount of heat generated rated output by one servo amplifier for one servo...
Page 239 10. CHARACTERISTICS (3) 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 10.3.
Page 240: 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 241: 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 10.4 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
Page 242 10. CHARACTERISTICS (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.4. 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min] Speed [r/min] HG-MR series HG-KR series 750 1000 1250 1500 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min]...
Page 243: 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 there is a possibility that the load inertia moment may exceed the value, contact your local sales office.
Page 244: Inrush Currents At Power-On Of Main Circuit And Control Circuit
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. 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.
Page 245 10. CHARACTERISTICS MEMO 10 - 10...
Page 246: Options And Peripheral Equipment
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 247: Combinations Of Cable/Connector Sets
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.1 Combinations of cable/connector sets Servo system controller Personal computer Safety logic unit MR-J3-D05 2) 3) 4) CN10 (Packed with the servo amplifier) 6) 7) CNP1 CN8 (Note 3) CN8 (Note 3) CNP2 CN1A CN1A 2) 3) 4) CNP3A CN1B...
Page 248 11. OPTIONS AND PERIPHERAL EQUIPMENT Product Model Description Remark SSCNET III MR-J3BUS_M Connector: PF-2D103 Connector: PF-2D103 Standard cable cord Cable length: (JAE) (JAE) inside 0.15 m to 3 m panel (Refer to section 11.1.2.) SSCNET III MR-J3BUS_M-A Standard cable cable Cable length: outside 5 m to 20 m...
Page 249: Sscnet Iii Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.2 SSCNET III cable POINT Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. Refer to app.
Page 250 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions (a) MR-J3BUS015M [Unit: mm] (6.7) (15) (13.4) (37.65) Protective tube (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) in this section for cable length (L). [Unit: mm] Protective tube (Note) (100) (100) Note.
Page 251: 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 252: Mr-D05Udl3M-B Sto Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.4 MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Application/remark Connection cable for the CN8 MR-D05UDL3M-B connector (1) Configuration diagram Servo amplifier MR-D05UDL3M-B (2) Internal wiring diagram (Note) Yellow (with black dots) CN8 connector...
Page 253: Selection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.2 Selection of regenerative option 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. (1) Regenerative energy calculation Servo motor speed Linear servo motor feed speed Linear servo motor...
Page 254 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) 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 charging Servo amplifier efficiency [%] energy Ec [J] MR-J4W2-22B...
Page 255: Parameter Setting
11. OPTIONS AND PERIPHERAL EQUIPMENT Calculate the energy at different timings in one cycle. Energy is a positive value in power running and a negative value in regeneration. Write down the energy during power running/regeneration with signs in the calculation table as shown below. Timing A-axis E10A...
Page 256: Connection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.4 Connection of regenerative option POINT For the sizes of wires used for wiring, refer to section 11.5. The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider heat dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option.
Page 257: Dimensions
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.5 Dimensions (1) MR-RB14 [Unit: mm] TE1 terminal 6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 14 to 12) 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.
Page 258: Battery
Application Built-in battery MR-BAT6V1SET-A Battery For absolute position data backup MR-BAT6V1 MR-BT6VCASE Battery case For absolute position data backup MR-BAT6V1 of multi-axis servo motor (2) Combinations of batteries and the servo amplifier Model MR-J4W_-_B MR-J4W2-0303B6 MR-BAT6V1SET-A MR-BT6VCASE 11 - 13...
Page 259: Mr-Bat6V1Set-A Battery
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3.2 MR-BAT6V1SET-A battery POINT Use MR-BAT6V1SET-A for MR-J4W2-0303B6 servo amplifier. The MR- BAT6V1SET-A cannot be used for MR-J4W_-B servo amplifiers other than MR- J4W2-0303B6. For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.3.4.
Page 260 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 261 11. OPTIONS AND PERIPHERAL EQUIPMENT (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. While pressing the lock release lever, pull out the connector.
Page 262: Mr-Bt6Vcase Battery Case
11.3.3 MR-BT6VCASE battery case POINT Use an MR-BT6VCASE for 200 W or more MR-J4W_-_B servo amplifiers. MR- BT6VCASE cannot be used for MR-J4W2-0303B6 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 11.3.4.
Page 263 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 264 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 265 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 266 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 267 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 268: Mr-Bat6V1 Battery
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3.4 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 269: Mr Configurator2
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.4 MR Configurator2 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. 11.4.1 Specifications Item Description Project Create/read/save/delete project, read/write other format, system setting, print Parameter Parameter setting Monitor...
Page 270: System Configuration
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.4.2 System configuration (1) Component To use MR Configurator2 (SW1DNC-MRC2-_), 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 271: Precautions For Using Usb Communication Function
11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection with servo amplifier Personal computer USB cable To USB Servo amplifier MR-J3USBCBL3M connector (Option) (Note) Note. CN5 is located under the display cover. 11.4.3 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 272: Selection Example Of Wires
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5 Selection example of wires POINT Refer to section 11.1.2 for SSCNET III cable. To comply with the EC/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.
Page 273 11. OPTIONS AND PERIPHERAL EQUIPMENT The following table shows the wire size selection example. Table 11.1 Wire size selection example (HIV wire) Wires [mm Servo amplifier 1) L1/L2/L3/ 4) U/V/W/ 2) L11/L21 3) P+/C/D (Note 1) (Note 2) MR-J4W2-22B MR-J4W2-44B MR-J4W2-77B 2 (AWG 14) AWG 18 to 14...
Page 274: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
4. S-N18 can be used when auxiliary contact is not required. 5. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor. 6. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
Page 275 30 A frame can be used. 4. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor. 5. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
Page 276: Power Factor Improving Ac Reactors
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.7 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 277: Relays (Recommended)
11. OPTIONS AND PERIPHERAL EQUIPMENT (1) For MR-J4W2 Total output of rotary servo Total continuous thrust of linear Total output of direct drive Power factor improving AC motors servo motors motors reactor 450 W or less 150 N or less 100 W or less FR-HAL-0.75K From over 450 W to 600 W...
Page 278 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) Noise reduction techniques (a) General reduction techniques Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables. Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal.
Page 279 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 280 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 281 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 282 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Line noise filter (FR-BSF01) 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 500 MHz band.
Page 283 11. OPTIONS AND PERIPHERAL EQUIPMENT (e) Radio noise filter (FR-BIF) 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 284: Earth-Leakage Current Breaker
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.10 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 285 11. OPTIONS AND PERIPHERAL EQUIPMENT Table 11.3 Servo amplifier's leakage current example (Iga) Servo amplifier Leakage current [mA] MR-J4W2-22B MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B 0.15 MR-J4W3-222B MR-J4W3-444B Table 11.4 Earth-leakage current breaker selection example Rated sensitivity current of earth- Servo amplifier leakage current breaker [mA] MR-J4W2-22B MR-J4W2-44B MR-J4W2-77B...
Page 286 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 Cable A-axis servo motor HG-KR23 2 mm × 5 m Cable Servo amplifier B-axis servo motor MR-J4W3-222B HG-KR23...
Page 287: Emc Filter (Recommended)
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.11 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 standard's EMC directive. Some EMC filters have large in leakage current.
Page 288 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 × 7 3-M4 Approx. 41 258 ± 4 65 ± 4 273 ± 2 288 ± 4 300 ± 5 HF3030A-UN [Unit: mm] 6-R3.25 length: 8 3-M5 3-M5 70 ±...
Page 289 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Surge protector RSPD-250-U4 [Unit: mm] 4.2 ± 0.5 Resin Lead Case 41 ± 1 11 - 44...
Page 290: Junction Terminal Block Mr-Tb26A
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.12 Junction terminal block MR-TB26A (1) Usage Always use the junction terminal block (MR-TB26A) with the option cable (MR-TBNATBL_M) as a set. To use a junction terminal block, mount it to the DIN rail. Cable length 05: 0.5 m 1: 1 m Terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector...
Page 291 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions [Unit: mm] Note. Values in parenthesis are the sizes when installed with a 35 mm DIN rail. 11 - 46...
Page 292: 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 293: Confirmation Of Absolute Position Detection Data
12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.4 Confirmation of absolute position detection data You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display" to open the absolute position data display screen. 12 - 2...
Page 294: Battery
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6) (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data Detecting the Detecting the Step-down number of position at circuit CYC0...
Page 295: Using Mr-Bt6Vcase Battery Case
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.2 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 Servo system controller Servo amplifier Position data Current position Home position data Detecting the...
Page 296: Introduction
In the torque control mode, the forced stop deceleration function is not available. The MR-J4W2-0303B6 servo amplifier is not compatible with the STO function. 13.1 Introduction This section provides the cautions of the STO function.
Page 297: 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 298: Specifications
13. USING STO FUNCTION 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, Safety performance (Certification standards) (Note 2) EN 62061 SIL CL3, EN 61800-5-2 Mean time to dangerous failure MTTFd ≥...
Page 299: 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 300: 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 301: 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 302: 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 3.2.2. (1) Connection example 24 V (Note 2) (Note 2) RESA...
Page 303 13. USING STO FUNCTION Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel. 2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off. (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.
Page 304: 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 3.2.2. 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 305: External I/O Signal Connection Example Using A Motion Controller
13. USING STO FUNCTION 13.3.4 External I/O signal connection example using a motion controller POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and PC-Y0B after the servo motor stops.
Page 306: 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 307: 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% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA TOFB2 Note.
Page 308 13. USING STO FUNCTION (2) Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current will flow from the output terminal to a load. A maximum of 5.2 V voltage drop occurs in the servo amplifier.
Page 309 13. USING STO FUNCTION MEMO 13 - 14...
Page 310: Functions And Configuration
When using the linear servo motor, read the "Linear Servo Motor Instruction WARNING Manual" and the "Linear Encoder Instruction Manual". The MR-J4W2-0303B6 servo amplifier is not compatible with linear servo motor. 14.1 Functions and configuration 14.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy, high speed, and efficiency.
Page 311: Servo System With Auxiliary Equipment
14. USING A LINEAR SERVO MOTOR 14.1.2 Servo system with auxiliary equipment Connecting a linear servo motor for different axis to the CNP3A, CNP3B, or CAUTION CNP3C connector may cause a malfunction. POINT Equipment other than the servo amplifier and linear servo motor are optional or recommended products.
Page 312: Signals And Wiring
14. USING A LINEAR SERVO MOTOR Note 1. This figure shows the 3-axis servo amplifier. 2. For the branch cable, use the MR-J4THCBL03M (optional). 3. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2. 4.
Page 313 14. USING A LINEAR SERVO MOTOR Connect the servo amplifier power output (U/V/W) to the linear servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Linear servo Linear servo Servo amplifier Servo amplifier motor...
Page 314: Operation And Functions
14. USING A LINEAR SERVO MOTOR 14.3 Operation and functions 14.3.1 Startup POINT When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". (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.
Page 315 14. USING A LINEAR SERVO MOTOR (3) Settings of the linear encoder direction and the linear servo motor direction Set the first digit of [Pr. PC27] (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 316 14. USING A LINEAR SERVO MOTOR 3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, if the linear servo motor operates in the positive direction, the motor speed will be a positive value.
Page 317: Magnetic Pole Detection
14. USING A LINEAR SERVO MOTOR 14.3.2 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 318 14. 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 FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 319 14. USING A LINEAR SERVO MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection 1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Turn "On (up)"...
Page 320 14. USING A LINEAR SERVO MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole During the detection...
Page 321 14. USING A LINEAR SERVO MOTOR (3) 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 322 14. 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 the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out.
Page 323 14. USING A LINEAR SERVO MOTOR 3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off) When FLS or RLS 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 324 14. 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 325: Home Position Return
14. 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 326 14. USING A LINEAR SERVO MOTOR (a) When the linear encoder home position (reference mark) exists in the home position return direction When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position (reference mark) passed through first after a home position return start.
Page 327 14. USING A LINEAR SERVO MOTOR In the case of a proximity dog type home position return, the nearest reference home position after proximity dog off is the home position. Set one linear encoder home position in the full stroke, and set it in the position that can always be passed through after a home position return start.
Page 328 14. USING A LINEAR SERVO MOTOR (b) When the linear encoder home position 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 from the controller and others.
Page 329: Test Operation Mode In Mr Configurator2
14. USING A LINEAR SERVO MOTOR (2) Absolute position linear encoder POINT The data set type home position return can also be carried out. When an absolute linear encoder is used, the reference home position is the position per 1048576 pulses (changeable with the third digit of [Pr.
Page 330 14. USING A LINEAR SERVO MOTOR (1) Test operation mode type (a) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation can be used independently of whether the servo is on or off and whether the servo system controller is connected or not.
Page 331 14. USING A LINEAR SERVO MOTOR (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW2-1. 1 2 3 4 5 6 MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier 2 3 4 5 6 2 3 4 5 6 Disabling control axis switch Disabling control axis switch Turn "OFF (down)".
Page 332: Operation From Controller
14. USING A LINEAR SERVO MOTOR 14.3.5 Operation from controller The linear servo can be used with any of the following controllers. Servo system controller Model Motion controller R_MTCPU/Q17_DSCPU Simple motion module RD77MS_/QD77MS_/LD77MS_ (1) Operation method POINT For the machine that multiple axes are connected like a tandem configuration, if you try to perform the magnetic pole detection simultaneously for multiple axes, the magnetic pole detection may not be executed.
Page 333 14. USING A LINEAR SERVO MOTOR (2) Servo system controller setting (a) Setting precautions The following parameters will be enabled by turning the servo amplifier power off and on again after the controller writes the parameters to the servo amplifier. Setting Simple motion module Setting item...
Page 334: Function
14. USING A LINEAR SERVO MOTOR (b) Settings of the number of pulses (AP) and travel distance (AL) Controller Servo amplifier User Command [mm] Linear servo motor Position feedback [mm] Linear encoder Speed feedback Differ- entiation [mm/s] Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following conditions.
Page 335 14. 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 14.1, if the deviation is more than the value of [Pr.
Page 336: Absolute Position Detection System
14. 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 337: Characteristics
14. USING A LINEAR SERVO MOTOR 14.4 Characteristics 14.4.1 Overload protection characteristics An electronic thermal relay 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 338: Power Supply Capacity And Generated Loss
14. USING A LINEAR SERVO MOTOR 14.4.2 Power supply capacity and generated loss Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1) and (2) in this section. The calculated value will vary depending on the number of connected linear servo motors and the capacities of the linear servo motors.
Page 339 14. USING A LINEAR SERVO MOTOR (2) Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from tables 14.3 and 14.4. Table 14.3 Amount of heat generated by one servo Table 14.4 Amount of heat generated by one amplifier at rated output servo amplifier for one linear servo motor...
Page 340: Dynamic Brake Characteristics
14. USING A LINEAR SERVO MOTOR 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 341: Permissible Load To Motor Mass Ratio When The Dynamic Brake Is Used
14. USING A LINEAR SERVO MOTOR 14.4.4 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 load to motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact your local sales office.
Page 342: Functions And Configuration
The number of connectable direct drive motors is limited for one MR-BT6VCASE battery case. Refer to section 11.3 for details. The MR-J4W2-0303B6 servo amplifier is not compatible with direct drive motor. 15.1 Functions and configuration 15.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and efficiency.
Page 343 15. USING A DIRECT DRIVE MOTOR The following shows the differences between the direct drive motor and the rotary servo motor. Differences Category Item Remark Direct drive motor Rotary servo motor External I/O signal FLS (Upper stroke limit), Required (for Not required Automatically turns on in the RLS (Lower stroke limit)
Page 344: Servo System With Auxiliary Equipment
15. USING A DIRECT DRIVE MOTOR 15.1.2 Servo system with auxiliary equipment Connecting a direct drive motor for different axis to the CNP3A, CNP3B, or CAUTION CNP3C connector may cause a malfunction. POINT Equipment other than the servo amplifier and direct drive motor are optional or recommended products.
Page 345: Signals And Wiring
15. USING A DIRECT DRIVE MOTOR Note 1. This figure shows the 3-axis servo amplifier. 2. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the absolute position detection system. (Refer to chapter 12.) 3.
Page 346: Operation And Functions
15. USING A DIRECT DRIVE MOTOR Connect the servo amplifier power output (U/V/W) to the power input of the direct drive motor (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Direct drive Direct drive Servo amplifier Servo amplifier...
Page 347: Startup Procedure
15. USING A DIRECT DRIVE MOTOR 15.3.1 Startup procedure Start up the direct drive servo system in the following procedure. Perform this procedure once at startup. Set [Pr. PA01]. (Refer to section 3.14.) Installation and wiring Absolute position detection system Incremental system Absolute position detection system?
Page 348: Magnetic Pole Detection
15. USING A DIRECT DRIVE MOTOR 15.3.2 Magnetic pole detection POINT The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor can be turned on manually. For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier.
Page 349 15. 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 1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 350 15. USING A DIRECT DRIVE MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again. Turn "On (up)"...
Page 351 15. USING A DIRECT DRIVE MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole During the detection...
Page 352 15. USING A DIRECT DRIVE MOTOR (3) 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 operate unexpectedly.
Page 353 15. USING A DIRECT DRIVE MOTOR 2) Direct drive motor movement (when FLS and RLS are on) Center of the direct drive motor rotation part (Note) RLS FLS (Note) Servo-on position (Magnetic pole detection start position) Magnetic pole detection completion position 10 degrees or less Note.
Page 354 15. USING A DIRECT DRIVE MOTOR 2) Execute the magnetic pole detection. (Refer to (2) (a) 1), 2) in this section.) 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled).
Page 355 15. USING A DIRECT DRIVE 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. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
Page 356: Operation From Controller
15. USING A DIRECT DRIVE MOTOR 15.3.3 Operation from controller To configure the absolute position detection system by using the direct drive motor, the battery unit (one battery case (MR-BT6VCASE) and five batteries (MR-BAT6V1) ) and the absolute position storage unit (MR- BTAS01) are required.
Page 357: Function
15. USING A DIRECT DRIVE MOTOR 15.3.4 Function (1) Servo control error detection function POINT For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3) If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function.
Page 358 15. 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 15.1, if the deviation is more than the value of [Pr.
Page 359: Characteristics
15. USING A DIRECT DRIVE MOTOR 15.4 Characteristics 15.4.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct drive 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 360: Power Supply Capacity And Generated Loss
15. USING A DIRECT DRIVE MOTOR 15.4.2 Power supply capacity and generated loss Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1) and (2) in this section. The calculated value will vary depending on the number of connected direct drive motors and the capacities of the direct drive motors.
Page 361 15. USING A DIRECT DRIVE MOTOR (2) Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from tables 15.3 and 15.4. Table 15.3 Amount of heat generated by one servo amplifier at Table 15.4 Amount of heat generated rated output by one servo amplifier for one direct...
Page 362: Dynamic Brake Characteristics
15. USING A DIRECT DRIVE 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 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 363 15. USING A DIRECT DRIVE MOTOR (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for the equation (15.1). 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...
Page 364 15. 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 load inertia moment is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact your local sales office.
Page 365 15. USING A DIRECT DRIVE MOTOR MEMO 15 - 24...
Page 366: Functions And Configuration
EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to app. 8. The MR-J4W2-0303B6 servo amplifier is not compatible with the fully closed loop system. 16.1 Functions and configuration 16.1.1 Function block diagram...
Page 367 16. FULLY CLOSED LOOP SYSTEM The following table shows the functions of each control mode. Control Description Feature Position is controlled according to the servo motor-side data. Since this control is insusceptible to machine influence (such as machine resonance), Advantage Semi closed loop control the gains of the servo amplifier can be raised and the settling time shortened.
Page 368: Selecting Procedure Of Control Mode
16. FULLY CLOSED LOOP SYSTEM 16.1.2 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, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback control can be selected by the [Pr.
Page 369: System Configuration
16. FULLY CLOSED LOOP SYSTEM 16.1.3 System configuration (1) For a linear encoder Servo amplifier SSCNET III/H controller SSCNET III/H Position command Control signal To the next servo amplifier CN2A (Note) Two-wire type serial interface compatible linear encoder CN2B Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor...
Page 370: Load-Side Encoder
16. FULLY CLOSED LOOP SYSTEM 16.2 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. 16.2.1 Linear encoder Refer to "Linear Encoder Instruction Manual"...
Page 371: Mr-J4Fccbl03M Branch Cable
16. FULLY CLOSED LOOP SYSTEM 16.2.4 MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2A or CN2B connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual".
Page 372: Operation And Functions
16. FULLY CLOSED LOOP SYSTEM 16.3 Operation and functions 16.3.1 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 373 16. 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 control/ Absolute position [Pr.
Page 374 16. FULLY CLOSED LOOP SYSTEM (3) Setting of load-side encoder polarity Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr. CAUTION PC27]. An abnormal operation and a machine collision may occur if an incorrect direction is set, which cause a fault and parts damaged. POINT "Encoder pulse count polarity selection"...
Page 375 16. FULLY CLOSED LOOP SYSTEM (4) 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 376 16. 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 pulse/rev Drive part Pulley diameter...
Page 377 16. FULLY CLOSED LOOP SYSTEM (5) 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 16.3.6 for the data displayed on the MR Configurator2. When checking the following items, the fully closed loop control mode must be set.
Page 378 16. FULLY CLOSED LOOP SYSTEM (6) 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 379: Home Position Return
16. FULLY CLOSED LOOP SYSTEM 16.3.2 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 380 16. FULLY CLOSED LOOP SYSTEM (b) About proximity dog type home position return using incremental linear encoder 1) When the linear encoder home position (reference mark) exists in the home position return direction When an incremental linear encoder is used, the home position is the position per servo motor revolution to the linear encoder home position (reference mark) passed through first after a home position return start.
Page 381 16. FULLY CLOSED LOOP SYSTEM If the home position return is performed from the position where the linear encoder home position (reference mark) does not exist, a home position return error occurs on the controller side. The error contents differ according to the controller type. When starting a home position return at the position where the linear encoder home position (reference mark) does not exist in the home position return direction, move the axis up to the stroke end on the side opposite to the home position return direction by JOG operation, etc.
Page 382: Operation From Controller
16. FULLY CLOSED LOOP SYSTEM 16.3.3 Operation from controller The fully closed loop control compatible servo amplifier can be used with any of the following controllers. Category Model Remark Motion controller R_MTCPU/Q17_DSCPU Speed control (II) instructions (VVF and VVR) cannot RD77MS_/QD77MS_/ be used.
Page 383 16. FULLY CLOSED LOOP SYSTEM (a) When using a linear encoder (unit setting: mm) Load-side encoder resolution unit User Control Servo amplifier Command [mm] Servo motor Linear encoder Position feedback [mm] Electronic gear Speed feedback Differentiation [r/min] Load-side encoder Servo motor speed resolution unit Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw revolution in the following conditions.
Page 384: Fully Closed Loop Control Error Detection Functions
16. FULLY CLOSED LOOP SYSTEM 16.3.4 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 385: Auto Tuning Function
16. 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 386: Absolute Position Detection System Under Fully Closed Loop System
16. FULLY CLOSED LOOP SYSTEM 16.3.8 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 need not be installed to the servo amplifier.
Page 387: About Mr Configurator2
16. FULLY CLOSED LOOP SYSTEM 16.3.9 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 388 16. FULLY CLOSED LOOP SYSTEM Symbol Name Explanation Unit Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (Servo pulse pulses (before gear) motor encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear"...
Page 389 16. FULLY CLOSED LOOP SYSTEM MEMO 16 - 24...
Page 390: J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS 17. APPLICATION OF FUNCTIONS 17.1 J3 compatibility mode POINT The J3 compatibility mode is compatible only with HG series servo motors. The fully closed loop control in the J3 compatibility mode is available for the servo amplifiers with software version A3 or later. Specifications of the J3 compatibility mode of the servo amplifier with software version A4 or earlier differ from those with software version A5 or later.
Page 391: J3 Compatibility Mode Supported Function List
17. APPLICATION OF FUNCTIONS 17.1.3 J3 compatibility mode supported function list The following shows functions which are compatible with J4 mode and J3 compatibility mode. The letters such as "A0" described after mean servo amplifier software versions which compatible with each function.
Page 392 17. APPLICATION OF FUNCTIONS Compatibility ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series J3 compatibility (Note 8) J4 mode mode Standard mode/3 inertia mode B0 (Note 15) Vibration suppression control 1 Vibration suppression control Vibration suppression control 2...
Page 393 17. APPLICATION OF FUNCTIONS Compatibility ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series J3 compatibility (Note 8) J4 mode mode SEMI-F47 function B0 (Note 15, 16) Vibration tough drive B0 (Note 15) Tough drive function Instantaneous power failure tough B0 (Note 15)
Page 394: How To Switch J4 Mode/J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS 17.1.4 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4W_-_B servo amplifier and MR-J4-_B_(-RJ) servo amplifier. (1) Mode selection by the automatic identification of the servo amplifier J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.
Page 395: How To Use The J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS (2) Mode selection using the application software "MR-J4(W)-B mode selection" You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated application. J4 mode/J3 compatibility mode Factory setting automatic identification Standard control Fixed to the J4 mode (Standard control (rotary servo J4 mode (rotary servo motor)
Page 396: Cautions For Switching J4 Mode/J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS (3) Setting of MR Configurator2 To use in the J3 compatibility mode, make the system setting as follows. Operation mode in J3 compatibility mode System setting MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B. MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed.
Page 397 17. APPLICATION OF FUNCTIONS (3) The J3 compatibility mode has a functional compatibility. However, the operation timing may differ. Check the operation timing on customer side to use. (4) The J3 compatibility mode is not compatible with high-response control set by [Pr. PA01 Operation mode].
Page 398: Change Of Specifications Of "J3 Compatibility Mode" Switching Process
17. APPLICATION OF FUNCTIONS 17.1.8 Change of specifications of "J3 compatibility mode" switching process (1) Detailed explanation of "J3 compatibility mode" switching (a) Operation when using a servo amplifier before change of specifications For the controllers in which "Not required" is described to controller reset in table 17.1, the mode will be switched to "J3 compatibility mode"...
Page 399 17. APPLICATION OF FUNCTIONS (b) Operation when using a servo amplifier after change of specifications For the controllers in which "Not required" is described to controller reset in table 17.3, the mode will be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for completing the connection not depending on the number of axes.
Page 400: J3 Extension Function
17. APPLICATION OF FUNCTIONS (2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection". You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is difficult to reset many times with your "Reset required"...
Page 401 17. APPLICATION OF FUNCTIONS The following shows functions used with the J3 extension function. Detailed Function Description explanation Gain switching function You can switch gains during rotation/stop, and can use input devices to switch gains Section (Vibration suppression control during operation. 17.1.9 (6) 2 and model loop gain) Advanced vibration...
Page 402 17. APPLICATION OF FUNCTIONS The following shows how to use the J3 extension function. (1) Settings of J3 extension function POINT To set the J3 extension function, connect a personal computer with MR Configurator2 of software version 1.25B or later to the servo amplifier with USB cable.
Page 403 17. APPLICATION OF FUNCTIONS 2) Select "MR-J3-B extension function" of model selection in the "New" window and click "OK". The "Extension function change" window will be displayed. 3) Click "Change to MR-J3-B extension function" in the "Extension function change" window and click "OK".
Page 404 17. APPLICATION OF FUNCTIONS (2) Extension control 2 parameters ([Pr. PX_ _ ]) 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 an unexpected condition, such as failing to start up the servo amplifier.
Page 405 17. APPLICATION OF FUNCTIONS compatibility mode Each axis/ Initial Symbol Name Unit value Common PX15 For manufacturer setting 0000h PX16 0000h PX17 Machine resonance suppression filter 3 4500 [Hz] Each axis PX18 NHQ3 Notch shape selection 3 0000h Each axis PX19 Machine resonance suppression filter 4 4500...
Page 406 17. APPLICATION OF FUNCTIONS (3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list Initial Setting Each/ Symbol Name and function value range common [unit] PX01 **J3EX J3 extension function Refer to Name and Common function column. Select enabled or disabled of the J3 extension function. Setting Initial Explanation...
Page 407 17. APPLICATION OF FUNCTIONS Initial Setting Each/ Symbol Name and function value range common [unit] PX03 VRFTX Vibration suppression control tuning mode (advanced vibration suppression control Refer to Name and Each function column. axis This is used to set the vibration suppression control tuning. Refer to (5) (C) in this section for details.
Page 408 17. APPLICATION OF FUNCTIONS Initial Setting Each/ Symbol Name and function value range common [unit] PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching Each [Hz] axis Set the vibration frequency for vibration suppression control 2 when the gain 300.0 switching is enabled.
Page 409 17. APPLICATION OF FUNCTIONS Initial Setting Each/ Symbol Name and function value range common [unit] PX12 PG1B Model loop gain after gain switching Each [rad/s] axis Set the model loop gain when the gain switching is enabled. 2000.0 When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. This parameter will be enabled only when the following conditions are fulfilled.
Page 410 17. APPLICATION OF FUNCTIONS Initial Setting Each/ Symbol Name and function value range common [unit] PX19 Machine resonance suppression filter 4 4500 Each [Hz] axis Set the notch frequency of the machine resonance suppression filter 4. 4500 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection"...
Page 411 You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr. PD07] to [Pr. PD09]. For MR-J4W2-0303B6 servo amplifiers, MTTR (during tough drive) cannot be assigned. Setting Initial...
Page 412 17. APPLICATION OF FUNCTIONS Initial Setting Each/ Symbol Name and function value range common [unit] PX26 OSCL1 Vibration tough drive - Oscillation detection level Each axis Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled.
Page 413 17. APPLICATION OF FUNCTIONS Initial Setting Each/ Symbol Name and function value range common [unit] PX30 Drive recorder switching time setting Common Set the drive recorder switching time. 32767 When a USB communication is cut during using a graph function, the function will be changed to the drive recorder function after the setting time of this parameter.
Page 414 When the one-touch tuning is executed, MR Configurator2 is required. For MR-J4W2-0303B6 servo amplifier, one-touch tuning by the amplifier command method will be available in the future. The one-touch tuning includes two methods: the user command method and the amplifier command method.
Page 415 17. APPLICATION OF FUNCTIONS 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].
Page 416 17. APPLICATION OF FUNCTIONS (a) One-touch tuning flowchart 1) User command method Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Rotate the servo motor by a servo system controller. (In the user command method, the one- Operation touch tuning cannot be executed if the servo motor is not operating.) One-touch tuning start,...
Page 417 17. APPLICATION OF FUNCTIONS 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 418 17. APPLICATION OF FUNCTIONS (b) Display transition and operation procedure of one-touch tuning 1) Command method selection Select a command method from two methods in the one-touch tuning window of MR Configurator2. 17 - 29...
Page 419 17. APPLICATION OF FUNCTIONS a) 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 420 17. APPLICATION OF FUNCTIONS b) 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 421 17. APPLICATION OF FUNCTIONS 2) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Table 17.6 Response mode explanations Response mode Explanation High mode This mode is for high-rigid system. Basic mode This mode is for standard system.
Page 422 17. APPLICATION OF FUNCTIONS Refer to the following table for selecting a response mode. Table 17.7 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 423 17. APPLICATION OF FUNCTIONS Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after servo-on.
Page 424 17. APPLICATION OF FUNCTIONS Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the following window will be displayed. Select whether or not to reflect the tuning result in the project. 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".
Page 425 17. APPLICATION OF FUNCTIONS 5) If an error occurs If a tuning error occurs during tuning, one-touch 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 426 17. APPLICATION OF FUNCTIONS 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 427 17. APPLICATION OF FUNCTIONS 8) 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 17.5 for the parameters which you can initialize.
Page 428 17. APPLICATION OF FUNCTIONS (c) 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 429 17. APPLICATION OF FUNCTIONS (5) Filter setting The following filters are available with the J3 extension function. Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PX17] control Machine Machine Machine Low-pass Command Command resonance resonance resonance filter filter pulse train suppression suppression suppression...
Page 430 17. APPLICATION OF 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 431 17. APPLICATION OF FUNCTIONS 2) Parameter a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 432 17. APPLICATION OF FUNCTIONS (b) 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 433 17. APPLICATION OF FUNCTIONS (c) Advanced vibration suppression control II POINT This is enabled when "Gain adjustment mode selection" is "Auto tuning mode 2 (_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08]. The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz.
Page 434 17. APPLICATION OF 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 435 17. APPLICATION OF 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. PX03] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
Page 436 17. APPLICATION OF 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 437 17. APPLICATION OF FUNCTIONS a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment. Vibration suppression control 2 - Vibration frequency (anti-resonance frequency) [Pr. PX04] Vibration suppression control 2 - Resonance frequency [Pr. PX05] Gain characteristics 1 Hz 300 Hz...
Page 438 17. APPLICATION OF FUNCTIONS (b) 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 439 17. APPLICATION OF FUNCTIONS (c) 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 440 17. APPLICATION OF FUNCTIONS 2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia PB06 Load to motor inertia PB29 GD2B Load to motor inertia ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass ratio ratio...
Page 441 17. APPLICATION OF FUNCTIONS a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio/load to motor mass ratio, model loop gain, position loop gain, speed loop gain, and speed integral compensation to be switched.
Page 442 17. APPLICATION OF FUNCTIONS (d) Gain switching procedure This operation will be described by way of setting examples. 1) When you choose switching by control command from the controller a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to 4.00 [Multiplier] motor mass ratio...
Page 443 17. APPLICATION OF FUNCTIONS Parameter Symbol Name Setting value Unit PX10 VRF23B Vibration suppression control 2 - 0.05 Vibration frequency damping after gain switching PX11 VRF24B Vibration suppression control 2 - 0.05 Resonance frequency damping after gain switching b) Switching timing chart Control command from controller After-switching gain...
Page 444 17. APPLICATION OF FUNCTIONS 2) When you choose switching by droop pulses The vibration suppression control after gain switching and model loop gain after gain switching cannot be used. a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to 4.00 [Multiplier] motor mass ratio...
Page 445 17. APPLICATION OF FUNCTIONS 3) When the gain switching time constant is disabled a) Switching time constant disabled was selected. The gain switching time constant is disabled. The time constant is enabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
Page 446 17. APPLICATION OF FUNCTIONS (7) Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PX25 Tough drive setting]. (Refer to (2) in this section.) This function makes the equipment continue operating even under the condition that an alarm occurs. The vibration tough drive function and instantaneous power failure tough drive function are available with the J3 extension function.
Page 447 17. APPLICATION OF FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compares it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is Filter Setting parameter...
Page 448 [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time]. The MR-J4W2-0303B6 servo amplifier is not compatible with instantaneous power failure tough drive. The setting range of [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] differs depending on the software version of the servo amplifier as follows.
Page 449 17. APPLICATION OF FUNCTIONS 1) Instantaneous power failure time of control circuit power supply > [Pr. PX28 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 450 17. APPLICATION OF FUNCTIONS 2) Instantaneous power failure time of control circuit power supply < [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. a) When the bus voltage decreases lower than 158 V DC within the instantaneous power failure time of the control circuit power supply [AL.
Page 451 17. APPLICATION OF 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 452 Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with SEMI-F47 standard. The MR-J4W2-0303B6 servo amplifier is not compatible with SEMI-F47 standard. The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test"...
Page 453 17. APPLICATION OF FUNCTIONS (c) Calculation of tolerance against instantaneous power failure Table 17.9 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms. Table 17.9 Tolerance against instantaneous power failure (instantaneous power failure voltage = rated voltage ×...
Page 454: Scale Measurement Function
Motion controller R_MTCPU/Q17_DSCPU For settings and restrictions of controllers compatible with the scale measurement function, refer to user's manuals for each controller. The MR-J4W2-0303B6 servo amplifier is not compatible with the scale measurement function. 17.2.1 Functions and configuration (1) Function block diagram The following shows a block diagram of the scale measurement function.
Page 455 17. APPLICATION OF FUNCTIONS (2) System configuration (a) For a linear encoder Servo amplifier SSCNET III/H controller SSCNET III/H Position command Control signal To the next servo amplifier CN2A Two-wire type serial interface compatible linear encoder CN2B Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor...
Page 456: Scale Measurement Encoder
17. APPLICATION OF FUNCTIONS 17.2.2 Scale measurement encoder POINT Always use the scale measurement encoder cable introduced in this section. Using other products may cause a malfunction. For details of the scale measurement encoder specifications, performance and assurance, contact each encoder manufacturer. (1) Linear encoder Refer to "Linear Encoder Instruction Manual"...
Page 457 17. APPLICATION OF FUNCTIONS (3) Configuration diagram of encoder cable Configuration diagram for servo amplifier and scale measurement encoder is shown below. Cables vary depending on the scale measurement encoder. (a) Linear encoder Refer to "Linear Encoder Instruction Manual" for encoder cables for linear encoder. MR-J4FCCBL03M branch cable (Refer to section 16.2.4.) Servo amplifier...
Page 458 17. APPLICATION OF FUNCTIONS (4) MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2A or CN2B connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m (Note 1) (Note 2) CN2A/CN2B...
Page 459: How To Use Scale Measurement Function
17. APPLICATION OF FUNCTIONS 17.2.3 How to use scale measurement function (1) Selection of scale measurement function The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and [Pr. PA22]. (1) Operation mode selection The scale measurement function can be used during semi closed loop system (standard control mode).
Page 460 17. APPLICATION OF FUNCTIONS (a) Parameter setting method Selection of the encoder pulse count polarity This parameter is used to set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
Page 461 17. APPLICATION OF FUNCTIONS MEMO 17 - 72...
Page 462: Functions And Configuration
18.1 Functions and configuration 18.1.1 Summary MR-J4W2-0303B6 servo amplifier is MELSERVO-J4W_-B series 48 V DC and 24 V DC power compatible ultra small capacity servo amplifier. The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the fast synchronization network SSCNET III/H.
Page 463: Circuit Protector
18. MR-J4W2-0303B6 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 A-axis servo motor Circuit 48 V DC Inverter (A) protector Built-in regenerative Current...
Page 464: Servo Amplifier Standard Specifications
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.1 3 Servo amplifier standard specifications Model MR-J4W2-0303B6 Rated output 30 W (A axis) + 30 W (B axis) Rated voltage 3-phase 13 V AC Output Rated current 2.4 A (each axis) Voltage 48 V DC/24 V DC (Note 1) For 48 V DC: 2.4 A...
Page 465: Combinations Of Servo Amplifiers And Servo Motors
18. MR-J4W2-0303B6 SERVO AMPLIFIER Model MR-J4W2-0303B6 Operation 0 ˚C to 55 ˚C (non-freezing) Ambient temperature Storage -20 ˚C to 65 ˚C (non-freezing) Operation Ambient 5 %RH to 90 %RH (non-condensing) humidity Environment Storage Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust...
Page 466: Function List
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.1.5 Function list The following table lists the functions of MR-J4W2-0303B6 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 command and response to the disturbance separately.
Page 467 Tough drive function Section 7.3 MR-J4W2-0303B6 servo amplifier is compatible with vibration tough drive. This is not compatible with instantaneous power failure tough drive. This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph"...
Page 468: Model Definition
The following describes what each block of a model name indicates. Not all combinations of the symbols are available. Special specifications Series Symbol Special specifications MR-J4W2-0303B6 with a special coating Number of axes specification (3C2) (Note) Symbol Number of axes Note. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2).
Page 469: Parts Identification
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.1.7 Parts identification Detailed Name/Application explanation Display Section The 3-digit, 7-segment LED shows the servo status and the 18.5 alarm number. Axis selection rotary switch (SW1) Section 18.5 Set the axis No. of the servo amplifier.
Page 470: Configuration Including Peripheral Equipment
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.1.8 Configuration including peripheral equipment Wrong wiring to CNP1 connector or connecting an encoder of wrong axis to CAUTION CN2A and CN2B may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 471: Installation
18. MR-J4W2-0303B6 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.
Page 472: Installation Direction And Clearances
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.2.1 Installation direction and clearances When using heat generating equipment, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.
Page 473 (2) Installation of two or more servo amplifiers POINT You can install MR-J4W2-0303B6 servo amplifiers without clearances between them. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 45 ˚C or lower, or the total effective load ratio of 45 w or lower for the two axes.
Page 474: Installation By Din Rail
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.2.2 Installation by DIN rail To mount the servo amplifier to DIN rail, pull down the tab of hook. The hook may come off when the tab is pushed down from the back side of the servo amplifier.
Page 475 18. MR-J4W2-0303B6 SERVO AMPLIFIER Removing servo amplifier from DIN rail Wall Wall Upper tab Upper tab DIN rail DIN rail Hook 1) Pull down the hook. 2) Pull the servo amplifier forward. Wall Upper tab DIN rail 3) Lift up and remove the servo amplifier.
Page 476: Signals And Wiring
18. MR-J4W2-0303B6 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 477: Input Power Supply Circuit
18. MR-J4W2-0303B6 SERVO AMPLIFIER The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers. Refer to the section of the detailed explanation field for details. Item Detailed explanation Forced stop deceleration function Section 3.6 SSCNET III cable connection Section 3.9...
Page 478 18. MR-J4W2-0303B6 SERVO AMPLIFIER (Note 3) AND malfunction 48 V DC main circuit Emergency stop switch power supply Circuit 24 V DC Servo amplifier A-axis servo motor 24 V DC protector (Note 1) (Note 9) CNP1 CNP1 (Note 5) Motor...
Page 479: Explanation Of Power Supply System
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.3.2 Explanation of power supply system (1) Pin assignment Servo amplifier CNP1 (2) Detailed explanation Connection target Symbol Description (application) Used to connect + of the control circuit power supply (24 V DC). Used to connect + of the main circuit power supply (48 V DC/24 V DC).
Page 480 18. MR-J4W2-0303B6 SERVO AMPLIFIER (3) Wiring CNP1 POINT For the wire sizes used for wiring, refer to section 18.8.3. (a) Connector MR-J4W2-0303B6 servo amplifier CNP1 Table 18.1 Connector and applicable wire Applicable wire Stripped length Connector Receptacle assembly Manufacturer size...
Page 481 18. MR-J4W2-0303B6 SERVO AMPLIFIER (b) Cable connection procedure 1) Fabrication on cable insulator Refer to table 18.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their fabrication status.
Page 482 18. MR-J4W2-0303B6 SERVO AMPLIFIER (c) Mounting connector 1) Mounting Fit the CNP1 connector when the servo amplifier is fixed. While pushing the connector, make sure that the connector is locked to the top and bottom of the socket. After that, check that the connector cannot be pulled out.
Page 483 18. MR-J4W2-0303B6 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 electric capacity of the main circuit capacitor is approximately 630 μ...
Page 484: I/O Signal Connection Example
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.3.5 I/O Signal Connection Example POINT EM2 has the same function as EM1 in the torque control mode. (1) For sink I/O interface 10 m or less 10 m or less (Note 15) Main circuit Servo amplifier...
Page 485 18. MR-J4W2-0303B6 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 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 486 18. MR-J4W2-0303B6 SERVO AMPLIFIER (2) For source I/O interface POINT For notes, refer to (1) in this section. 10 m or less 10 m or less (Note 15) Servo amplifier Main circuit (Note 10) power supply 24 V DC DOCOM...
Page 487: Connectors And Pin Assignment
18. MR-J4W2-0303B6 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 CN3 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
Page 488: Signal (Device) Explanations
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.3.7 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2 and section 18.3.9 (2). The pin numbers in the connector pin No. column are those in the initial status.
Page 489 18. MR-J4W2-0303B6 SERVO AMPLIFIER Device Symbol Function and application AND electromagnetic For details of device, refer to section 3.5.2. CMBR brake interlock OR electromagnetic XMBR brake interlock Electromagnetic brake interlock for A- MBR-A axis Electromagnetic brake interlock for B- MBR-B...
Page 490 18. MR-J4W2-0303B6 SERVO AMPLIFIER Device Symbol Function and application AND variable gain CCDPS For details of device, refer to section 3.5.2. selection OR variable gain XCDPS selection Variable gain CDPS-A selection for A-axis Variable gain CDPS-B selection for B-axis AND absolute position...
Page 491 18. MR-J4W2-0303B6 SERVO AMPLIFIER (5) Analog monitor output Connector Signal name Symbol Function and application pin No. division Analog monitor 1 CN3-2 This is used to output the data set in [Pr. PC09] to between MO1 and LG in Analog terms of voltage.
Page 492 18. MR-J4W2-0303B6 SERVO AMPLIFIER (b) Set content The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2). The setting can be changed by setting in [Pr. PC09] and [Pr.
Page 493 18. MR-J4W2-0303B6 SERVO AMPLIFIER Setting Setting Output item Description Output item Description value value Feedback position Bus voltage CCW direction 15 [V] 15 [V] (10 V ± 5 V/100 (10 V + 5 V/100 V) Mpulses) 10 [V] 10 [V]...
Page 494 18. MR-J4W2-0303B6 SERVO AMPLIFIER (c) Analog monitor block diagram Speed Droop Speed Current Bus voltage command pulses command 2 command Current Position command Differen- Speed detector tiation received from command Position Speed Current Servo motor servo system control control control...
Page 495: Alarm Occurrence Timing Chart
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.3.8 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION When alarms are occurring in both axes of A and B, shut off the main circuit power supply.
Page 496 18. MR-J4W2-0303B6 SERVO AMPLIFIER (b) When the forced stop deceleration function is not enabled When an all-axis stop alarm occurs, all axes will be the operation status below. When a corresponding axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the axis that any alarm is not occurring.
Page 497: Interfaces
18. MR-J4W2-0303B6 SERVO AMPLIFIER (2) When you do not use the forced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr. PA04]. The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shut- off occurs is the same as (1) (b) in this section.
Page 498 18. MR-J4W2-0303B6 SERVO AMPLIFIER (1) Internal connection diagram Servo amplifier (Note 4) 24 V DC (Note 4) DOCOM 24 V DC MBR-A DICOM Approx. 5.6 kΩ (Note 2) MBR-B DI1-A CALM DI2-A (Note 3) (Note 2) DI3-A (Note 1) DI1-B...
Page 499 18. MR-J4W2-0303B6 SERVO AMPLIFIER (2) Detailed description of interfaces (analog output) Servo amplifier (MO2) Output voltage: 10 V DC ± 5 V (Note) Maximum output current: 1 mA Resolution: 10 bits or equivalent Note. Output voltage range varies depending on the output contents.
Page 500: Grounding
18. MR-J4W2-0303B6 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 501: Startup
18. MR-J4W2-0303B6 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 502: Startup Procedure
18. MR-J4W2-0303B6 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 18.4.4.) Set the main circuit power supply selection (48 V DC or 24 V DC) to servo amplifier.
Page 503 18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.4.2 Troubleshooting when "24V 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 "24V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn off.
Page 504: Surrounding Environment
18. MR-J4W2-0303B6 SERVO AMPLIFIER 3) The noiseless grounding terminal of the servo motor should be connected to the E1 terminal and E2 terminal of the servo amplifier. Servo amplifier Servo motor E1/E2 4) The encoder of the A axis and B axis servo motors should be connected respectively to the CN2A and CN2B connectors of the servo amplifier.
Page 505: Switch Setting And Display Of The Servo Amplifier
The control axis setting switches of MR-J4W2-0303B6 servo amplifier are aligned vertically unlike other MR- J4 2-axis servo amplifiers; however, the use of each number switch is the same.
Page 506: Dimensions
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.6 Dimensions [Unit: mm] Approx. 80 CNP1 Approx. Approx. 51 27.4 With MR-BAT6V1SET-A Mass: 0.3 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 1.87 [N•m] Approx. Approx. 6 2-M5 screw Mounting hole process drawing...
Page 507: Characteristics
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.7 Characteristics The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers. Refer to the section of the detailed explanation field for details. Item Detailed explanation Cable bending life Section 10.4...
Page 508: Power Supply Capacity And Generated Loss
Note. Heat generated during regeneration is not included in the servo amplifier-generated heat. 18.7.3 Dynamic brake characteristics POINT The dynamic brake of MR-J4W2-0303B6 is an electronic type. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.
Page 509 18. MR-J4W2-0303B6 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 510: Inrush Currents At Power-On Of Main Circuit And Control Circuit
18. MR-J4W2-0303B6 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 and the servo motor may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.
Page 511: Options And Peripheral Equipment
18. MR-J4W2-0303B6 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 512: Cable/Connector Sets
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.8.1 Cable/connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.
Page 513 18. MR-J4W2-0303B6 SERVO AMPLIFIER Product name Model Description Remark CNP1 connector Supplied with servo amplifier DFMC 1,5/ 6-ST-3,5-LR or equivalent (Phoenix Contact) Applicable wire size: AWG 24 to 16 Insulator OD: to 2.9 mm SSCNET III MR-J3BUS_M Connector: PF-2D103 Connector: PF-2D103...
Page 514: Selection Example Of Wires
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.8.3 Selection example of wires POINT Refer to section 11.1.2 for SSCNET III cable. 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.
Page 515 18. MR-J4W2-0303B6 SERVO AMPLIFIER 18.8.4 Circuit protector Power supply specification Circuit protector (Note) Control circuit power supply (24 V DC) CP30-BA 1P 1-M 1A Main circuit power supply (48 V DC) CP30-BA 1P 1-M 5A Main circuit power supply (24 V DC) CP30-BA 1P 1-M 10A Note.
Page 516: Appendix
APPENDIX APPENDIX App. 1 Auxiliary 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 Contact information NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd.
Page 517 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 518 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 519 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 520 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 521 5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6. 6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6. 7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Page 522 DC power supply with reinforced insulation on I/O terminals. In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which can generate more than 1.2 A/2.4 A per axis.
Page 523 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 524 Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR when using a Type E Combination motor controller, refer to section 11.6.
Page 525 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 526 It may cause an electric shock due to charged capacitor of the servo amplifier. To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.
Page 527 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 528 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 529 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 530 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 531 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 532 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 533 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/ MR-J4W3-444B 3-phase or 3-phase 1-phase 3-phase 1-phase 200 V AC to...
Page 534 MR-J4-200_(4) MR-J4-350_ MR-J4-500_ MR-J4-700_ MR-J4-11K_(4)/MR-J4-15K_(4) 13.4 MR-J4-22K_(4) 18.2 MR-J4-60_4/MR-J4-100_4 MR-J4-350_4 MR-J4-500_4 MR-J4-700_4 MR-J4W2-0303B6 MR-J4W2-22B/MR-J4W2-44B MR-J4W2-77B/MR-J4W2-1010B MR-J4W3-222B/MR-J4W3-444B Note. The value in the parenthesis shows the value of MR-J4-_GF_. Screw Variable dimensions [mm] size Servo amplifier 90 ± 0.5 MR-J4-03A6 MR-J4-10_(1)/MR-J4-20_(1)/ 156 ± 0.5...
Page 535 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 536 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 537 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 538 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 539 APPENDIX App. 5.7.2 Specifications Safety logic unit model MR-J3-D05 Voltage 24 V DC Permissible Control circuit 24 V DC ± 10% voltage fluctuation power supply Power supply 0.5 (Note 1, 2) capacity Compatible system 2 systems (A-axis, B-axis independent) Shut-off input 4 points (2 points ×...
Page 540 APPENDIX App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier (1) System configuration diagram POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used. MR-J3-D05 Servo amplifier Power Magnetic supply EM2 (Forced stop 2) contactor MCCB STO cable STO switch MR-D05UDL3M-B CN10...
Page 541 APPENDIX (2) Connection example 24 V (Note 2) (Note 2) RESA RESB 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 SDO2A+ TOFCOM SDO2A-...
Page 542 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 543 APPENDIX (4) CN10 Device Symbol Pin No. Function/Application division A-axis shutdown 2 SDI2A+ Connect this device to a safety switch for A-axis driving device. DI-1 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 544 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. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.
Page 545 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: UL 1007) and strip the wires to make the stripped length 7.0 mm ±...
Page 546 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 547 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) Applicable screwdriver 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, Blade thickness: 0.25 mm Width: 2.5 mm, Blade thickness: 0.3 mm...
Page 548 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) Applicable wire Applicable wire size is listed below.
Page 549 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. MR-J3-D05 Definition Column Column SRES Monitor LED for start/reset SDI1 SDI2 SRES Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on.
Page 550 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 Definition 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 551 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 2-M4 screw Mounting hole process drawing Mounting screw Assignment CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B STO2A- STO2A+ STO2B- STO2B+...
Page 552 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 553 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 554 APPENDIX App. 6 EC declaration of conformity The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive. App. - 39...
Page 555 APPENDIX This certificate is valid until 2017-02-28. After March 2017, use the certificate shown on the previous page. App. - 40...
Page 556 APPENDIX App. - 41...
Page 557 APPENDIX App. 7 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. If the information before and after replacement are different, the servo motor may operate unexpectedly. When replacing the servo amplifier, carry out the magnetic pole detection again.
Page 558 APPENDIX 6) Cycle the power of the servo amplifier. 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 of the MR-J4W2-_B 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 559 APPENDIX App. 8.2 Connector set Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector MR-ECNM Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9 Shell kit: 36310-3200-008 (Molex) Connector pin: 170359-1 (3M) (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) MRR BAT P5 MR CONT...
Page 560: Service
APPENDIX App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable.
Page 561 APPENDIX App. 11 Recommended cable for servo amplifier power supply The following information is as of September 2015. For the latest information, contact the manufacturer. Manufacturer: Mitsubishi Electric System & Service <Sales office> FA PRODUCT DIVISION mail: oss-ip@melsc.jp (1) Specifications...
Page 562 APPENDIX (2) Dimensions [Unit: mm] 1) [SC-EMP01CBL_M-L] 2) [SC-ECP01CBL_M-L] 3) [SC-ERG01CBL_M-L] Amplifier side Power side Amplifier side Power side Amplifier side Regenerative option side L [m] L [m] L [m] 4) [SC-ERG02CBL01M-L] 5)/6) [SC-EPWS1CBL_M-*-L/ 7)/8)/9)/10) [SC-EPWS2CBL_M-L/ SC-EPWS1CBL_M-*-H] SC-EPWS2CBL_M-H] Amplifier side Amplifier side Motor side Amplifier side...
Page 563 APPENDIX App. 12 Special specification App. 12.1 Amplifier without dynamic brake App. 12.1.1 Summary This section explains servo amplifiers without dynamic brakes Items not given in this section will be the same as MR-J4W_-_B_. App. 12.1.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 564 APPENDIX App. 12.2 Special coating-specification product (IEC 60721-3-3 Class 3C2) App. 12.2.1 Summary This section explains servo amplifiers with a special coating specification. Items not given in this section will be the same as MR-J4W_-_B_. App. 12.2.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 565 APPENDIX App. 12.2.3 Specifications (1) 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 566 APPENDIX App. 13 Driving on/off of main circuit power supply with DC power supply App. 13.1 Connection example The following is common in 200 W or more MR-J4W_-_B servo amplifiers. For the signals and wiring that are not described in this section, refer to section 3.1. AND malfunction Emergency stop switch Servo amplifier...
Page 567 APPENDIX App. 13.2 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. (1) For MR-J4W2 Total output of rotary servo Total continuous thrust of linear Total output of direct drive Magnetic motors...
Page 568 APPENDIX App. 14 Optional data monitor function The optional data monitor function is used to monitor data in the servo amplifier with the servo system controller. In the optional data monitor function, data types of registered monitor and transient command can be set.
Page 569 APPENDIX Data type Description Overload alarm margin The margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] are displayed in percentage. Error excessive alarm margin The margin to the level which triggers the error excessive alarm is displayed in units of encoder pulses.
Page 570 APPENDIX Data type Description Home position [command unit] The home position is displayed. Main circuit bus voltage The voltage of main circuit converter (between P+ and N-) is displayed. Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in %. Effective load ratio The continuous effective load current is displayed.
Page 571 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. 15.1 Target models MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6) App. 15.2 Change of the compliance The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).
Page 572 APPENDIX App. 15.6 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 573 APPENDIX App. 16 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 574 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 575 REVISIONS *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision Mar. 2012 SH(NA)030105ENG-A First edition Jun. 2012 SH(NA)030105ENG-B 4. Additional instructions The sentences are added. (2) Wiring 4. Additional instructions The sentences are added. (3) Test run and adjustment COMPLIANCE WITH CE The reference is changed.
Page 576 Revision Date *Manual Number Revision Jun. 2012 SH(NA)030105ENG-B Section 8.1 The column of the fully closed loop control is added. [AL. 13.2], [AL. 1E.2], [AL. 1F.2], [AL. 21.4], [AL. 42.8], [AL. 42.9], [AL. 42.A], [AL. 70], [AL. 71], [AL. 72], and [AL. E8.2] are added. Section 8.2 The troubleshooting for the MR-J4W3 servo amplifiers with software version A2 or below.
Page 577 Revision Date *Manual Number Revision Sep. 2012 SH(NA)030105ENG-C Section 13.4.1 (1) The diagram is changed. Section 13.4.2 (1) The diagram is changed. Feb. 2013 SH(NA)030105ENG-D 4. Additional instructions The diagram is partially changed. COMPLIANCE WITH CE Deleted. MARKING COMPLIANCE WITH Deleted.
Page 578 Revision Date *Manual Number Revision Feb. 2013 SH(NA)030105ENG-D Section 13.2.2 (2) The table is partially changed. Section 13.2.2 (3) The sentences are partially changed. Section 14.2 The diagram is partially changed. Section 14.3.5 (2) (a) The table is partially changed. Section 15.2 The diagram is partially changed.
Page 579 Revision Date *Manual Number Revision Dec. 2013 SH(NA)030105ENG-F Section 3.10.1 (2) Partially changed. Section 3.10.2 (1) Partially changed. Section 4.5.2 (b) The table is partially changed. Chapter 5 PA20, PA22, PB24, PE10, PF06, PF25, and PF31 are partially changed. Section 6.2 POINT is added.
Page 580 Section 17.1.3 Partially changed. Section 17.1.9 Added. Section 17.2 Partially changed. App. 4 Partially changed. Apr. 2015 SH(NA)030105ENG-H Addition of MR-J4W2-0303B6 Chapter 1 POINT is added. Section 1.4 Partially added. Section 3.1 CAUTION is added. Section 3.3.3 Partially changed. Section 3.7.1 Partially changed.
Page 581 Revision Date *Manual Number Revision Sep. 2015 SH(NA)030105ENG-J Section 3.2.1 Partially changed. Section 3.7.1 Partially changed. Section 5.1.6 [Pr. PF18] is added. Section 5.2.2 Partially changed. Section 5.2.3 Partially changed. Section 5.2.6 [Pr. PF18] is added. The sentences are added to [Pr. PF25]. Section 7.2.3 Note is added.
Page 582 Revision Date *Manual Number Revision May 2016 SH(NA)030105ENG-K Section 5.2.6 PF18 is partially changed. Section 6.2 POINT is added. Section 6.2.2 Partially changed. Section 6.2.3 Partially changed. Section 7.1.2 Partially changed. Section 7.2.3 Partially changed. Section 8.2 Partially changed. Section 8.3 Partially changed.
Page 583 Revision Date *Manual Number Revision Mar. 2017 SH(NA)030105ENG-L Section 15.4.1 The diagram is added. Section 15.4.2 Partially added. Section 15.4.3 (1) The diagram is added. Section 15.4.3 (2) Partially added. Section 17.1 Partially changed. Section 17.1.9 (2) CAUTION is changed. Partially added. Section 17.1.9 (3) Partially added.
Page 584 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 585 MEMO...
Page 586 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 587 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 588 MODEL MR-J4W-B INSTRUCTIONMANUAL MODEL 1CW806 CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030105ENG-M(1710)MEE Printed in Japan Specifications are subject to change without notice.

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Mitsubishi Electric MR-J4W2-0303B6 Instruction Manual

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