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Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

Cc-link ie field network interface servo amplifier instruction manual (motion mode)
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General-Purpose AC Servo
CC-Link IE Field Network Interface
Servo Amplifier Instruction Manual
(Motion Mode)
-MR-J4-_GF_
-MR-J4-_GF_-RJ

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  Summary of Contents for Mitsubishi Electric MELSERVO-J4 Series

  • Page 1 General-Purpose AC Servo CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode) -MR-J4-_GF_ -MR-J4-_GF_-RJ...
  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (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 4 [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.
  • Page 5 [To prevent injury, note the following] CAUTION ● Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. ● Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. ●...
  • Page 6 [Additional instructions] The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. [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. ●...
  • Page 7 [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. ●...
  • Page 8 [Usage] CAUTION ● Provide an external emergency stop circuit to stop the operation and shut the power off immediately. ● For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. ●...
  • Page 9 [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 10: Disposal Of Waste

    DISPOSAL OF WASTE • Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM LIFE The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
  • Page 11: About The Manuals

    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. Relevant manuals Manual name Manual No. MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) SH(NA)030221ENG MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (CC-Link IE Field Network Basic) SH(NA)030273ENG...
  • Page 12: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 DISPOSAL OF WASTE .
  • Page 13 Forced stop deceleration function............109 Forced stop deceleration function .
  • Page 14 Basic setting parameters ([Pr. PA_ _ ]) ............183 Gain/filter setting parameters ([Pr.
  • Page 15 Explanation for the lists ..............280 Alarm list .
  • Page 16 11.9 Selection example of wires............. . . 400 11.10 Molded-case circuit breakers, fuses, magnetic contactors .
  • Page 17 Home position return ..............481 Test operation mode in MR Configurator2.
  • Page 18 Scale measurement encoder............. . . 538 How to use scale measurement function.
  • Page 19 Appendix 8 Two-wire type encoder cable for HG-MR/HG-KR ........606 Configuration diagram .
  • Page 20: Chapter 1 Functions And Configuration

    In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and more accurate control is enabled as compared to MELSERVO-J3 series. MR-J4-_GF_ servo amplifier operates MELSERVO-J4 series compatible rotary servo motors, linear servo motors, and direct drive motors as standard.
  • Page 21: Function Block Diagram

    Function block diagram The function block diagram of this servo is shown below. The diagram shows for MR-J4-_GF_-RJ as an example. MR-J4-_GF_ servo amplifier does not have CN2L connector. 1 FUNCTIONS AND CONFIGURATION 1.2 Function block diagram...
  • Page 22 200 V class ■MR-J4-500GF(-RJ) or less Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Dynamic Diode brake stack Relay circuit MCCB Power Current Regene- detector supply rative CHARGE Cooling fan lamp Control Electromagnetic 24 V DC circuit brake power supply...
  • Page 23 *1 The built-in regenerative resistor is not provided for MR-J4-10GF(-RJ). *2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to the following for the power supply specifications. Page 30 Servo amplifier standard specifications *3 Servo amplifiers MR-J4-70GF(-RJ) or more have a cooling fan.
  • Page 24 ■MR-J4-700GF(-RJ) Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Dynamic Diode brake stack Relay circuit MCCB Power Current Regene- detector supply rative CHARGE lamp Cooling fan Control Electromagnetic 24 V DC circuit brake power supply circuit switch Base Voltage Current...
  • Page 25 ■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)/MR-J4-22KGF(-RJ) External regenerative Power factor improving resistor or DC reactor regenerative option External dynamic brake *4*6 (optional) Servo amplifier Servo motor Diode Thyristor stack MCCB Power Current Regene- detector supply rative CHARGE Cooling fan lamp Control Electromagnetic 24 V DC circuit brake power...
  • Page 26 *1 Refer to the following for the power supply specifications. Page 30 Servo amplifier standard specifications *2 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR- J3 servo amplifiers.
  • Page 27 400 V class ■MR-J4-350GF4(-RJ) or less Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Dynamic Diode brake stack Relay circuit MCCB Power Current Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic 24 V DC circuit brake power supply...
  • Page 28 ■MR-J4-500GF4(-RJ)/MR-J4-700GF4(-RJ) Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Dynamic Diode brake stack Relay circuit MCCB Power Current Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic 24 V DC circuit brake power supply circuit switch Base Voltage Current...
  • Page 29 ■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)/MR-J4-22KGF4(-RJ) External regenerative resistor Power factor improving DC reactor regenerative option External dynamic brake *4*6 (optional) Servo amplifier Servo motor Diode Thyristor stack MCCB Power Current Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic circuit 24 V DC brake power supply...
  • Page 30 *1 Refer to the following for the power supply specification. Page 30 Servo amplifier standard specifications *2 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR- J3 servo amplifiers.
  • Page 31 100 V class Regenerative option Servo amplifier Servo motor Dynamic brake circuit MCCB Charge lamp Regene- Power Current rative detector supply Relay Diode stack Control Electromagnetic circuit 24 V DC brake power supply circuit switch Base Voltage Current Overcurrent protection amplifier detection detection...
  • Page 32: Servo Amplifier Standard Specifications

    0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms Fully closed loop control Compatible Scale measurement function Compatible Load-side encoder interface Mitsubishi Electric serial interface Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor...
  • Page 33 Model: MR-J4-_(-RJ) 10GF 20GF 40GF 60GF 70GF 100GF 200GF 350GF 500GF 700GF 11KGF 15KGF 22KGF Safety Standards certified by EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2 performance Response performance 8 ms or less (STO input off  energy shut off) Test pulse input (STO) Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms...
  • Page 34 0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms Fully closed loop control Compatible Scale measurement function Compatible Load-side encoder interface Mitsubishi Electric serial interface Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor...
  • Page 35 Model: MR-J4-_(-RJ) 60GF4 100GF4 200GF4 350GF4 500GF4 700GF4 11KGF4 15KGF4 22KGF4 Operation 0  to 55  (non-freezing) Environment Ambient temperature -20  to 65  (non-freezing) Storage Ambient Operation 5 %RH to 90 %RH (non-condensing) humidity Storage Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust Altitude 2000 m or less above sea level Vibration resistance...
  • Page 36 0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms Fully closed loop control Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric serial interface Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor...
  • Page 37 Model: MR-J4-_(-RJ) 10GF1 20GF1 40GF1 Operation 0  to 55  (non-freezing) Environment Ambient temperature -20  to 65  (non-freezing) Storage Ambient Operation 5 %RH to 90 %RH (non-condensing) humidity Storage Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level Vibration resistance...
  • Page 38: Combinations Of Servo Amplifiers And Servo Motors

    Combinations of servo amplifiers and servo motors • When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot be achieved with HG-JR series servo motor. • When you use the MR-J4-100GF(-RJ) or MR-J4-200GF(-RJ) with the 1-phase 200 V AC input, contact your local sales office for the torque characteristics of the HG-UR series and HG-RR series servo motors.
  • Page 39 Servo amplifier Rotary servo motor Linear servo motor Direct drive motor (primary side) HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR        MR-J4-22KGF(-RJ) 20K1 25K1 22K1M *1 This is available with servo amplifiers with software version A1 or later. *2 This is available with servo amplifiers with software version A5 or later.
  • Page 40: Function List

     High-resolution encoder High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary servo motor compatible with the MELSERVO-J4 series. Page 447 Absolute position detection system Merely setting a home position once makes home position return unnecessary at every power-on.
  • Page 41 Function Description Detailed explanation Power regeneration converter Used when the regenerative option cannot provide enough regenerative power. Page 366 Can be used for the 5 kW or more servo amplifier. FR-RC-(H) power regeneration converter Page 335 Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.
  • Page 42 Function Description Detailed explanation STO function This function is a functional safety that complies with IEC/EN 61800-5-2. You can create a safety Page 453 system for the equipment easily. USING STO FUNCTION  Servo amplifier life diagnosis You can check the cumulative energization time and the number of on/off times of the inrush relay. function This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.
  • Page 43: Model Designation

    Model designation Rating plate The following shows an example of rating plate for explanation of each item. AC SERVO SER.A5X001001 Serial number MR-J4-10GF MODEL Model Capacity POWER :100W Applicable power supply INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Rated output current OUTPUT: 3PH170V 0-360Hz 1.1A Standard, Manual number STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175...
  • Page 44: Structure

    Structure Parts identification CAUTION • When the servo amplifier is used for CC-Link IE Field Network, use the CN1A connector and CN1B connector. Do not connect these connectors to other than CC-Link IE Field Network. Otherwise, a malfunction may occur. •...
  • Page 45 Name/Application Detailed explanation Page 384 Battery (11) Battery holder Used to house the battery for absolute position data backup. (12) Protective earth (PE) terminal Page 83 Connection example of power circuit (13) Main circuit power connector (CNP1) Page 98 Explanation of power supply Used to connect the input power supply.
  • Page 46 ■MR-J4-350GF(-RJ) The diagram shows MR-J4-350GF-RJ. The broken line area is the same as MR-J4-200GF(-RJ) or less. Side Name/Application Detailed explanation Page 83 Connection example of power Main circuit power connector (CNP1) Connect the input power supply. circuit Page 98 Explanation of power supply system Page 41 Model designation Rating plate...
  • Page 47 ■MR-J4-500GF(-RJ) The servo amplifier is shown with the front cover open. The front cover cannot be removed. The diagram shows MR-J4-500GF-RJ. The broken line area is the same as MR-J4-200GF(-RJ) or less. Side *1 Lines for slots around the battery holder are omitted from the illustration. Name/Application Detailed explanation Page 83 Connection example of power...
  • Page 48 Name/Application Detailed explanation Protective earth (PE) terminal Page 83 Connection example of power circuit Page 98 Explanation of power supply system ■MR-J4-700GF(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram shows MR-J4-700GF-RJ.
  • Page 49 ■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ. The broken line area is the same as MR-J4-200GF(-RJ) or less.
  • Page 50 ■MR-J4-22KGF(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram shows MR-J4-22KGF-RJ. The broken line area is the same as MR-J4-200GF(-RJ) or less.
  • Page 51 400 V class ■MR-J4-200GF4(-RJ) or less The diagram shows MR-J4-60GF4-RJ. (20) (19) (17) (13) (15) Inside of the display cover (16) (18) (14) Side (10) (11) (12) Bottom Name/Application Detailed explanation Page 134 Switch setting and display of Display The 3-digit, 7-segment LED shows the servo status and the alarm number. the servo amplifier Station number setting rotary switch (SW2/SW3) Set the station number of the servo amplifier.
  • Page 52 Name/Application Detailed explanation (17) Charge lamp  When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. *1*2 Page 104 Connectors and pin (18) External encoder connector (CN2L) Used to connect the external encoder. Refer to the following for the compatible external encoders. assignment Page 18 Summary "Linear Encoder Instruction Manual"...
  • Page 53 ■MR-J4-500GF4(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram shows MR-J4-500GF4-RJ. The broken line area is the same as MR-J4-200GF4(-RJ) or less.
  • Page 54 ■MR-J4-700GF4(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram shows MR-J4-700GF4-RJ. The broken line area is the same as MR-J4-200GF4(-RJ) or less.
  • Page 55 ■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram is for MR-J4-11KGF4-RJ and MR-J4-15KGF4-RJ. The broken line area is the same as MR-J4-200GF4(-RJ) or less.
  • Page 56 ■MR-J4-22KGF4(-RJ) The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover The diagram shows MR-J4-22KGF4-RJ. The broken line area is the same as MR-J4-200GF4(-RJ) or less.
  • Page 57 100 V class The diagram shows MR-J4-10GF1-RJ. (20) (19) (13) (15) Inside of the display cover (16) (17) (18) (10) (14) Side (11) (12) Bottom Name/Application Detailed explanation Page 134 Switch setting and display of Display The 3-digit, 7-segment LED shows the servo status and the alarm number. the servo amplifier Station number setting rotary switch (SW2/SW3) Used to set the station number of the servo amplifier.
  • Page 58 Name/Application Detailed explanation (18) External encoder connector (CN2L) Page 104 Connectors and pin Used to connect the external encoder. Refer to the following for the compatible external encoders. assignment Page 18 Summary "Linear Encoder Instruction Manual" (19) Optional unit connector 1 (CN7) ...
  • Page 59: Removal And Reinstallation Of The Front Cover

    Removal and reinstallation of the front cover WARNING • Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. 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 60 Reinstallation of the front cover Front cover setting tab 1) Insert the front cover setting tabs into the sockets of servo amplifier (2 2) Push down the cover, supporting at point A). places). Setting tab 3) Press the cover against the terminal box until the installing knobs click. 1 FUNCTIONS AND CONFIGURATION 1.7 Structure...
  • Page 61: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment CAUTION • Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. • The CN1A and CN1B connectors are designed for CC-Link IE Field Network only. Do not connect these connectors to other than CC-Link IE Field Network. Doing so may cause a malfunction.
  • Page 62 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to the following for the power supply specifications.
  • Page 63 ■MR-J4-350GF(-RJ) The diagram shows MR-J4-350GF-RJ. R S T Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 Magnetic contactor (MC) Safety relay or MR-J3-D05 safety logic unit Line noise Junction filter terminal (FR-BSF01) block Servo system CN1A controller or servo amplifier Servo system CN1B...
  • Page 64 ■MR-J4-500GF(-RJ) The diagram shows MR-J4-500GF-RJ. R S T Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 Magnetic contactor (MC) Safety relay or MR-J3-D05 safety logic unit Line noise filter Junction (FR-BLF) terminal block CN1A Servo system controller or servo amplifier CN1B Servo system controller or servo amplifier...
  • Page 65 ■MR-J4-700GF(-RJ) The diagram shows MR-J4-700GF-RJ. R S T Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) Magnetic Safety relay or contactor MR-J3-D05 safety (MC) logic unit Junction terminal block Line noise filter CN1A Servo system controller (FR-BLF) or servo amplifier CN1B Servo system controller or servo amplifier...
  • Page 66 ■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ) The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ. R S T Personal computer Power supply MR Configurator2 Molded-case circuit breaker (MCCB) Safety relay or MR-J3-D05 safety logic unit Magnetic contactor Junction (MC) terminal block CN1A Servo system controller or servo amplifier Line noise filter CN1B...
  • Page 67 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 Refer to the following for the power supply specifications. Page 30 Servo amplifier standard specifications *3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration.
  • Page 68 ■MR-J4-22KGF(-RJ) The diagram shows MR-J4-22KGF-RJ. R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 MR Configurator2 Magnetic contactor Safety relay or (MC) MR-J3-D05 safety logic unit Junction terminal Line noise block filter (FR-BLF) CN1A Servo system controller or servo amplifier CN1B Servo system controller...
  • Page 69 400 V class ■MR-J4-200GF4(-RJ) or less The diagram is for MR-J4-60GF4-RJ and MR-J4-100GF4-RJ. R S T Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) Magnetic Safety relay or contactor MR-J3-D05 safety (MC) logic unit Junction terminal block Line noise filter (FR-BSF01) CN1A...
  • Page 70 ■MR-J4-350GF4(-RJ) The diagram shows MR-J4-350GF4-RJ. R S T R S T Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 Magnetic contactor (MC) Safety relay or MR-J3-D05 safety logic unit Line noise filter Junction (FR-BSF01) terminal block Servo system CN1A controller or servo amplifier...
  • Page 71 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 Refer to the following for the power supply specification. Page 30 Servo amplifier standard specifications *3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration.
  • Page 72 ■MR-J4-500GF4(-RJ) The diagram shows MR-J4-500GF4-RJ. R S T Power supply Molded-case circuit breaker Personal (MCCB) computer MR Configurator2 Magnetic contactor (MC) Safety relay or MR-J3-D05 Power factor safety logic unit improving DC reactor Junction (FR-HEL-H) Line noise terminal filter block (FR-BSF01) Servo system CN1A...
  • Page 73 ■MR-J4-700GF4(-RJ) The diagram shows MR-J4-700GF4-RJ. R S T Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) Magnetic Safety relay or contactor MR-J3-D05 safety (MC) logic unit Junction terminal block Line noise filter CN1A Servo system controller (FR-BLF) or servo amplifier CN1B Servo system controller or servo amplifier...
  • Page 74 ■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ) The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ. R S T Personal computer Power supply MR Configurator2 Molded-case circuit breaker (MCCB) Safety relay or MR-J3-D05 safety logic unit Magnetic contactor Junction (MC) terminal block CN1A Servo system controller or servo amplifier Line noise filter CN1B...
  • Page 75 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 Refer to the following for the power supply specification. Page 30 Servo amplifier standard specifications *3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration.
  • Page 76 ■MR-J4-22KGF4(-RJ) The diagram shows MR-J4-22KGF4-RJ. R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor Safety relay or (MC) MR-J3-D05 safety logic unit Junction terminal Line noise block filter (FR-BLF) CN1A Servo system controller or servo amplifier CN1B Servo system controller or servo amplifier...
  • Page 77 100 V class The diagram shows MR-J4-20GF1-RJ. Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) Magnetic Safety relay or contactor MR-J3-D05 (MC) safety logic unit Power factor improving AC reactor Junction (FR-HAL) terminal block Line noise filter (FR-BSF01) CN1A Servo system controller or servo amplifier...
  • Page 78: Chapter 2 Installation

    INSTALLATION WARNING • To prevent electric shock, ground each equipment securely. CAUTION • Stacking in excess of the specified number of product packages is not allowed. • Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. •...
  • Page 79: Installation Direction And Clearances

    Installation direction and clearances CAUTION • The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. • Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. Installation clearances of the servo amplifier ■Installation of one servo amplifier Cabinet...
  • Page 80 ■Installation of two or more servo amplifiers • Close mounting is possible depending on the capacity of the servo amplifier. Refer to the following for availability of close mounting. Page 30 Servo amplifier standard specifications • When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left.
  • Page 81: Keeping Out Of Foreign Materials

    Keeping out of foreign materials • When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier. • 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 82: Parts Having Service Life

    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. For parts replacement, please contact your local sales office.
  • Page 83: Level

    Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level Effective load ratio and regenerative load ratio Heat dissipation effects decrease in proportion to decreasing air density, and hence use the servo amplifiers with the effective load ratio and the regenerative load ratio within the following range.
  • Page 84: Chapter 3 Signals And Wiring

    SIGNALS AND WIRING WARNING • Any person who is involved in wiring should be fully competent to do the work. • Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
  • Page 85: Connection Example Of Power Circuit

    When you use a linear servo motor, replace the following left words to the right words. Load to motor inertia ratio  Load mass Torque  Thrust Connection example of power circuit CAUTION • Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply.
  • Page 86 200 V class For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10GF(-RJ) to MR-J4-350GF(- Malfunction Emergency stop switch Servo amplifier Servo motor MCCB CNP1 CNP3 3-phase 200 V AC to Motor 240 V AC CNP2 Encoder Encoder cable Main circuit power supply...
  • Page 87 For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10GF(-RJ) to MR-J4-200GF(- Malfunction Emergency stop switch Servo amplifier Servo motor MCCB CNP1 1-phase 200 V AC to CNP3 240 V AC Motor CNP2 Encoder Encoder cable Main circuit power supply Forced stop 2 24 V DC DOCOM...
  • Page 88 MR-J4-500GF(-RJ) Malfunction Emergency stop switch Servo amplifier Servo motor MCCB 3-phase 200 V AC to Motor 240 V AC Encoder Encoder cable Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction DICOM 24 V DC Short-circuit connector (Packed with the servo amplifier) *1 Between P3 and P4 is connected by default.
  • Page 89 MR-J4-700GF(-RJ) Malfunction Emergency stop switch Servo amplifier Servo motor MCCB 3-phase Built-in 200 V AC to Motor regenerative 240 V AC resistor Encoder cable Encoder Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction DICOM 24 V DC Short-circuit connector (Packed with the servo amplifier) *1 Between P3 and P4 is connected by default.
  • Page 90 MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)/MR-J4-22KGF(-RJ) Malfunction Emergency stop switch Cooling fan power supply External Servo amplifier Servo motor dynamic brake MCCB *15*16 (optional) 3-phase 200 V AC Motor 240 V AC MCCB Encoder Encoder cable Cooling fan Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction...
  • Page 91 *1 Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously. Page 407 Power factor improving DC reactors *2 When using the regenerative option, refer to the following.
  • Page 92 400 V class MR-J4-60GF4(-RJ) to MR-J4-350GF4(-RJ) Malfunction Emergency stop switch Step-down transformer Servo amplifier Servo motor CNP1 MCCB CNP3 Motor 3-phase 380 V AC to 480 V AC CNP2 Encoder Encoder cable Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction DICOM...
  • Page 93 MR-J4-500GF4(-RJ)/MR-J4-700GF4(-RJ) Malfunction Emergency stop switch Step-down transformer Servo amplifier Servo motor MCCB 3-phase Built-in 380 V AC to Motor regenerative 480 V AC resistor Encoder Encoder cable Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction DICOM 24 V DC Short-circuit connector (Packed with the servo amplifier)
  • Page 94 MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ) Malfunction Cooling fan Emergency stop switch Step-down power supply transformer External Servo amplifier Servo motor dynamic brake MCCB *16*17 (optional) 3-phase 380 V AC Motor 480 V AC MCCB Encoder Encoder cable Cooling fan Main circuit power supply 24 V DC Forced stop 2 DOCOM...
  • Page 95 *1 Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously. Page 407 Power factor improving DC reactors *2 When using the regenerative option, refer to the following.
  • Page 96 100 V class Malfunction Emergency stop switch Servo amplifier Servo motor MCCB CNP1 1-phase 100 V AC CNP3 Unassigned 120 V AC Motor Unassigned Unassigned CNP2 Encoder Encoder cable Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction DICOM 24 V DC...
  • Page 97: I/O Signal Connection Example

    • EM2 has the same function as EM1 in the torque mode. • When the servo amplifier is used in the motion mode, use the switching hub DT135TX (Mitsubishi Electric System & Service) to branch a CC-Link IE Field Network.
  • Page 98 *1 To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
  • Page 99: For Source I/O Interface

    For source I/O interface For notes, refer to the following. Page 95 For sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply 24 V DC Forced stop 2 DOCOM Electromagnetic brake Forward rotation stroke end 13 MBR interlock Reverse rotation stroke end...
  • Page 100: Explanation Of Power Supply System

    Explanation of power supply system Signal explanations • For the layout of connector and terminal block, refer to the following. Page 292 DIMENSIONS • When using the MR-J4-_GF-RJ servo amplifier with the DC power supply input, refer to the following. Page 563 When using the servo amplifier with the DC power supply input Symbol Connection target...
  • Page 101 Symbol Connection target Description (application) U/V/W Servo motor power Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a input magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Power regeneration This terminal is used for a power regeneration converter, power regeneration common converter and brake unit.
  • Page 102: Power-On Sequence

    Power-on sequence The output signal, etc. may be unstable at power-on. Power-on procedure Always wire the power supply as shown in the following section 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. Page 83 Connection example of power circuit Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply.
  • Page 103: Wiring Cnp1, Cnp2, And Cnp3

    Wiring CNP1, CNP2, and CNP3 • For the wire sizes used for wiring, refer to the following. Page 400 Selection example of wires • When wiring, remove the power connectors from the servo amplifier. • Insert only one wire or ferrule to each wire insertion hole. •...
  • Page 104 ■MR-J4-60GF4(-RJ) to MR-J4-350GF4(-RJ) Servo amplifier CNP1 CNP2 CNP3 *1 A pin for preventing improper connection is inserted to N- of CNP1 connector. Connector Receptacle assembly Applicable wire Stripped length Open tool Manufacturer [mm] Size Insulator OD CNP1 06JFAT-SAXGDK-HT10.5 AWG 16 to 14 3.9 mm or shorter J-FAT-OT-XL CNP2...
  • Page 105 Cable connection procedure ■Fabrication on cable insulator Refer to the following for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Page 101 Connector Insulator Core Stripped length Twist strands lightly and straighten them as follows.
  • Page 106: Connectors And Pin Assignment

    Connectors and pin assignment • The pin assignment of the connectors is as viewed from the cable connector wiring section. • For the STO I/O signal connector (CN8), refer to the following. Page 453 USING STO FUNCTION • For the CN3 connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell.
  • Page 107: Signal (Device) Explanations

    Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to the following. Page 116 Detailed explanation of interfaces The pin numbers in the connector pin No. column are those in the initial status. Input device Input device pin The following shows the input device pins and parameters for setting devices.
  • Page 108 Device Symbol Connect Function and application or pin division Forward rotation stroke CN3-2 To start the operation, turn on LSP and LSN. Turn it off to bring the servo motor to a slow stop DI-1 and make it servo-locked. Reverse rotation stroke CN3-12 Input device Operation...
  • Page 109: Output Device

    Output device Output device pin The following shows the output device pins and parameters for assigning devices. Connector pin No. Parameter Initial device I/O division CN3-13 [Pr. PD07] DO-1 CN3-9 [Pr. PD08] CN3-15 [Pr. PD09] Output device explanations Device Symbol Function and application Electromagnetic brake When using the device, set operation delay time of the electromagnetic brake in [Pr.
  • Page 110: Output Signal

    Device Symbol Function and application Warning When warning has occurred, WNG turns on. When a warning is not occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s. Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, turning on the power will turn off BWNG after 2.5 s to 3.5 s.
  • Page 111: Forced Stop Deceleration Function

    Forced stop deceleration function • When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. Page 280 TROUBLESHOOTING • When network communication is shut-off, forced stop deceleration will operate. Page 114 When network communication is shut-off •...
  • Page 112 Timing chart When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates.
  • Page 113: Base Circuit Shut-Off Delay Time Function

    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 network communication shut-off due to delay time of the electromagnetic brake. Set the time from MBR (Electromagnetic brake interlock) off to base circuit shut-off with [Pr.
  • Page 114: Vertical Axis Freefall Prevention Function

    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 115: Alarm Occurrence Timing Chart

    Alarm occurrence timing chart CAUTION • 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. In the torque mode, the forced stop deceleration function is not available. To deactivate the alarm, cycle the control circuit power, give the error reset command from the controller, or perform network communication reset.
  • Page 116: When You Do Not Use The Forced Stop Deceleration Function

    When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed 0 r/min Base circuit (Energy supply to the servo motor) Servo amplifier No alarm Alarm No.
  • Page 117: Interfaces

    Interfaces Internal connection diagram Refer to the following for the CN8 connector. Page 458 Connection example for CN8 connector Servo amplifier Forced stop 2 Approximately 24 V DC 6.2 k DOCOM Approximately 6.2 k DOG 19 Approximately 4.3 k TPR1 Approximately 4.3 k TPR2...
  • Page 118: Detailed Explanation Of Interfaces

    *1 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one. *2 The signal cannot be used in the velocity mode and torque mode. *3 This diagram shows sink I/O interface.
  • Page 119 Encoder output pulses DO-2 (differential line driver type) ■Interface Maximum output current: 35 mA Servo amplifier Servo amplifier Am26LS32 or equivalent (LB, LZ) (LB, LZ) High-speed (LBR, LZR) (LBR, LZR) photocoupler ■Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of [Pr.
  • Page 120: Source I/O Interface

    Source I/O interface In this servo amplifier, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc. Servo amplifier For transistor EM2,...
  • Page 121: Servo Motor With An Electromagnetic Brake

    Servo motor with an electromagnetic brake Safety precautions CAUTION • Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the Emergency stop switch. brake interlock) turns off.
  • Page 122: Timing Chart

    Timing chart When you use the forced stop deceleration function To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. ■Servo-on command (from controller) on/off Keep the ready-on command (from controller) on while the servo-on command (from controller) is off. When the ready-off command (from controller) is off, Tb [Pr.
  • Page 123 ■Off/on of the quick stop command (from controller) or EM2 (Forced stop 2) • In the torque mode, the forced stop deceleration function is not available. • Keep the ready-on command (from controller) on while the quick stop command (from controller) or the EM2 (Forced stop 2) is off.
  • Page 124 ■Alarm occurrence • When the forced stop deceleration function is enabled Alarm occurrence Model speed command 0 Servo motor speed and equal to or less than zero speed 0 r/min Controller command is Tb [Pr. PC02 Electromagnetic not received. brake sequence output] Base circuit (Energy supply to the servo motor)
  • Page 125 • When the forced stop deceleration function is disabled The operation status is the same as in the following. Page 114 When the forced stop deceleration function is not enabled • When network communication shut-off occurs The dynamic brake may operate depending on the communication shut-off status. Network communication shut-off occurrence Model speed command 0 Servo motor speed...
  • Page 126 ■Main circuit power supply off with control circuit power supply on In the torque mode, the forced stop deceleration function is not available. Forced stop deceleration Dynamic brake Dynamic brake The time until a voltage Servo motor speed + Electromagnetic brake drop is detected.
  • Page 127 When you do not use the forced stop deceleration function To disable the function, set "0 _ _ _" in [Pr. PA04]. ■Servo-on command (from controller) on/off It is the same as the following section. Page 120 Servo-on command (from controller) on/off ■Off/on of the sudden stop command (from controller) or EM1 (Forced stop 1) Dynamic brake Dynamic brake...
  • Page 128: Grounding

    3.10 Grounding WARNING • Ground the servo amplifier and servo motor securely. • 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. 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 129: Chapter 4 Startup

    STARTUP WARNING • 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. • Do not operate the switches with wet hands. Otherwise, it may cause an electric shock. CAUTION •...
  • Page 130: Wiring Check

    Test operation of the servo motor alone by commands For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly. Test operation with the servo motor and machine connected After connecting the servo motor with the machine, check machine motions with sending operation commands from the controller.
  • Page 131 When you use an option and peripheral equipment (200 V class) ■When you use a regenerative option for 5 kW or less servo amplifiers • The lead wire between P+ terminal and D terminal should not be connected. • The regenerative option wire should be connected between P+ and C terminal. •...
  • Page 132: Surrounding Environment

    ■When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers • For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.
  • Page 133: Settings Of Gx Works

    Settings of GX Works To use GX Works2 or GX Works3, make settings as indicated in this section. Station-specific mode setting Make "Station-specific mode setting" in the "CC IE Field Configuration" window according to the operation mode to be used. Precautions for "Detect Now"...
  • Page 134: Startup

    Startup Confirm that the servo motor operates properly before connecting with a machine. Power on When the main and control circuit power supplies are turned on, "b01" (for the first station) 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. 25 Absolute position erased] and the servo-on cannot be ready.
  • Page 135 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 the following for the servo motor with an electromagnetic brake.
  • Page 136: Switch Setting And Display Of The Servo Amplifier

    Switch setting and display of the servo amplifier Switching to the test operation mode and setting station No. are enabled with switches on the servo amplifier. On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the controller at power-on, and the station number, and diagnose a malfunction at occurrence of an alarm.
  • Page 137: Scrolling Display

    Scrolling display Station number will be displayed in hexadecimal. Normal display When there is no alarm, the station No. is displayed. Status Station No. (1 digit) (2 digits) "b" : Indicates ready-off and servo-off status. "C" : Indicates ready-on and servo-off status. "d"...
  • Page 138: Status Display Of A Station

    Status display of a station Display sequence Servo amplifier power on System check in progress Waiting for controller power to switch on (Network communication) Controller power on (Network communication begins) Initial data communication with the controller (initialization communication) When an alarm No. or warning No. is displayed Example: When [AL.
  • Page 139: Cc-Link Ie Field Status Display Led

    Indication list Indication Status Description Initializing System check in progress Initializing No connection with the controller Initializing During initial communication with the controller Initializing standby Communication disconnection with the controller Ready-off The ready-off command from the controller was received. b # # Servo-on The servo-on command from the controller was received.
  • Page 140: Test Operation

    Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to the following for the power on and off methods of the servo amplifier. Page 132 Startup If necessary, verify controller program by using motor-less operation. Refer to the following for the motor-less operation.
  • Page 141: Test Operation Mode

    Test operation mode CAUTION • The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use the servo motor alone. • If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it. The content described in this section indicates that the servo amplifier and a personal computer are directly connected.
  • Page 142 ■Positioning operation Positioning operation can be performed without using the 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 controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
  • Page 143 Operation procedure Turn off the power. Turn "ON (up)" SW1-1. Set SW1-1 to "ON (up)". Turning "ON (up)" SW1-1 during power-on will not start the test operation mode. Turn on the servo amplifier. When initialization is completed, the decimal point on the first digit will blink. After 1.6 s Blinking After 0.2 s...
  • Page 144: Motor-Less Operation In Controller

    Motor-less operation in controller • Connect the controller to the servo amplifier before the motor-less operation. • The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor control mode. Motor-less operation Without connecting the servo motor to the servo amplifier, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running.
  • Page 145: Home Position Return Mode

    Home position return mode Before performing the home position return, make sure that the limit switch operates. Check the home position return direction. An incorrect setting will cause a reverse running. Check the input polarity of the proximity dog. Otherwise, it may cause an unexpected operation. In the following cases, make sure that the Z-phase has been passed through once before performing a home position return.
  • Page 146 Method No. Home position return type Rotation Description direction Dogless Z-phase reference Forward rotation The position specified by the first Z-phase signal, or the position of the first Z- phase signal shifted by the home position shift distance is used as the home Reverse rotation position.
  • Page 147 Parameters for home position return To perform the home position return, set each parameter as follows. • Select the home position return type and home position return direction with [Pr. PT45 Home position return type]. Setting Home position return direction Home position return type value Address increasing direction...
  • Page 148 • Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity selection of [Pr. PT29 Function selection T-3]. Setting "0" detects a proximity dog when DOG (Proximity dog) is switched off. Setting "1" detects a proximity dog when DOG (Proximity dog) is switched on.
  • Page 149: Cia 402-Type Homing Method

    CiA 402-type homing method Home position return type in CiA 402 type The following shows the CiA 402-type home position return. ■Method 3 and 4: Homing on positive home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position.
  • Page 150 ■Method 7, 8, 11, 12: Homing on home switch and index pulse These types include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the operation of the dog type last Z-phase reference home position return.
  • Page 151 ■Method 33 and 34: Homing on index pulse These home position return types set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z-phase reference home position return except that the creep speed is applied at the start. Index Pulse ■Method 35 and 37: Homing on current position These home position return types set the current position as a home position.
  • Page 152 Operation example of the CiA 402-type Homing method The following shows an operation example of the home position return in the CiA 402-type Homing method. ■Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3.
  • Page 153 ■Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that of Homing method 4.
  • Page 154 ■Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 155 ■Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The operation direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 156 ■Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position Deceleration time constant...
  • Page 157 ■Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The operation direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position shift distance Acceleration time...
  • Page 158 ■Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position Deceleration time constant...
  • Page 159 ■Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The operation direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position shift distance Acceleration time...
  • Page 160 ■Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to that of Homing method 34. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time Deceleration time...
  • Page 161: Operation Example Of Manufacturer-Specific Homing Method

    Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific home position return. Method -1 and -33 (Dog type home position return) The following figure shows the operation of Homing method -1. The operation direction of Homing method -33 is opposite to that of Homing method -1.
  • Page 162 Method -2 and -34 (Count type home position return) For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog. Then, the first Z-phase is set as the home position.
  • Page 163 Method -4 and -36 (stopper type home position return) Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough. The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to that of Homing method -4.
  • Page 164 Method -6 and -38 (dog type rear end reference home position return) This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error calculated by the following expression.
  • Page 165 Method -7 and -39 (count type front end reference home position return) This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error calculated by the following expression.
  • Page 166 Method -8 and -40 (dog cradle type home position return) The following figure shows the operation of Homing method -8. The operation direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time...
  • Page 167 Method -9 and -41 (dog type last Z-phase reference home position return) The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 168 Method -10 and -42 (dog type front end reference home position return) The following figure shows the operation of Homing method -10. The operation direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 169 Method -11 and -43 (dogless Z-phase reference home position return) The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to that of Homing method -11. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time...
  • Page 170: Chapter 5 Parameters

    PARAMETERS CAUTION • 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 171: Basic Setting Parameters ([Pr. Pa_ _ ])

    Basic setting parameters ([Pr. PA_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin. PA01 **STY Operation mode 1000h           PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h ...
  • Page 172: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])

    Gain/filter setting parameters ([Pr. PB_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin. Adaptive tuning mode (adaptive filter )      PB01 FILT 0000h      PB02 VRFT Vibration suppression control tuning mode (advanced 0000h vibration suppression control ) PB03...
  • Page 173 Symbol Name Initial Unit Operation mode value Standard Full. Lin.       PB37 For manufacturer setting 1600 PB38 0.00 PB39 0.00 PB40 0.00 PB41 0000h PB42 0000h PB43 0000h PB44 0.00      PB45 CNHF Command notch filter...
  • Page 174: Extension Setting Parameters ([Pr. Pc_ _ ])

    Extension setting parameters ([Pr. PC_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin.     PC01 Error excessive alarm level [rev]/[mm]     PC02 Electromagnetic brake sequence output [ms]    ...
  • Page 175 Symbol Name Initial Unit Operation mode value Standard Full. Lin.       PC39 For manufacturer setting 0000h PC40 0000h PC41 0000h PC42 0000h PC43 0000h PC44 0000h PC45 0000h PC46 0000h PC47 0000h PC48 0000h PC49 0000h PC50 0000h...
  • Page 176: I/O Setting Parameters ([Pr. Pd_ _ ])

    I/O setting parameters ([Pr. PD_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin.      PD01 *DIA1 Input signal automatic on selection 1 0000h       PD02 For manufacturer setting 0000h ...
  • Page 177: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    Extension setting 2 parameters ([Pr. PE_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin. PE01 **FCT1 Fully closed loop function selection 1 0000h            PE02 For manufacturer setting 0000h PE03 *FCT2...
  • Page 178 Symbol Name Initial Unit Operation mode value Standard Full. Lin.     PE45 LMCN Lost motion compensation negative-side compensation [0.01%] value selection PE46 LMFLT Lost motion filter setting [0.1 ms]         PE47 Torque offset [0.01%]...
  • Page 179: Extension Setting 3 Parameters ([Pr. Pf_ _ ])

    Extension setting 3 parameters ([Pr. PF_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin. PF01  For manufacturer setting 0000h      PF02 0000h PF03 0000h PF04 PF05 0000h     ...
  • Page 180 Symbol Name Initial Unit Operation mode value Standard Full. Lin.       PF47 For manufacturer setting 0000h PF48 0000h PF49 PF50 PF51 0000h PF52 0000h PF53 PF54 PF55 PF56 PF57 0000h PF58 0000h PF59 0000h PF60 0000h PF61 0000h...
  • Page 181: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])

    Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin. PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h          PL02 **LIM Linear encoder resolution - Numerator 1000...
  • Page 182: Positioning Control Parameters ([Pr. Pt_ _ ])

    Positioning control parameters ([Pr. PT_ _ ]) Symbol Name Initial Unit Operation mode value Standard Full. Lin.       PT01 For manufacturer setting 0300h PT02 0001h PT03 0000h PT04 0000h     PT05 Home position return speed 100.00 [r/min]/[mm/s] PT06...
  • Page 183 Symbol Name Initial Unit Operation mode value Standard Full. Lin.       PT46 For manufacturer setting 0000h PT47 0000h PT48 0000h PT49 PT50 PT51 PT52 PT53 PT54      PT55 *TOP8 Function selection T-8 0000h ...
  • Page 184: Network Setting Parameters ([Pr. Pn_ _])

    Network setting parameters ([Pr. PN_ _]) Symbol Name Initial Unit Operation mode value Standard Full. Lin.       PN01 For manufacturer setting     PN02 CERT Communication error detection time [ms]    ...
  • Page 185: Detailed List Of Parameters

    Detailed list of parameters Set a value to each "x" in the "Setting digit" columns. Basic setting parameters ([Pr. PA_ _ ]) No./symbol/ Setting Function Initial name digit value [unit] PA01 _ _ _ x Control mode selection **STY Select a control mode. Operation mode 0: Automatic selection 8: Positioning mode (indexer method)
  • Page 186 No./symbol/ Setting Function Initial name digit value [unit] PA02 _ _ x x Regenerative option **REG Select a regenerative option. Regenerative option Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs. 00: Regenerative option is not used.
  • Page 187 No./symbol/ Setting Function Initial name digit value [unit] PA04 _ _ _ x For manufacturer setting *AOP1 _ _ x _ Function selection _ x _ _ Servo forced stop selection 0: Enabled (The forced stop input EM2 or EM1 is used.) 1: Disabled (The forced stop input EM2 and EM1 are not used.) Refer to the following table for details.
  • Page 188 No./symbol/ Setting Function Initial name digit value [unit] PA09 Set the auto tuning response. Setting Machine characteristic Setting Machine characteristic Auto tuning value value response Guideline for Guideline for Response Response machine resonance machine resonance frequency [Hz] frequency [Hz] Middle 67.1 response response...
  • Page 189 No./symbol/ Setting Function Initial name digit value [unit]  PA14 Select a rotation direction or travel direction. *POL The torque polarity can be changed with the combination of this parameter and [Pr. PC29 Torque POL Rotation direction reflection selection]. selection/travel •...
  • Page 190 No./symbol/ Setting Function Initial name digit value [unit]  PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. *ENR2 Set a denominator of the electronic gear when selecting "A-phase/B-phase pulse electronic gear setting (_ _ Encoder output 3 _)"...
  • Page 191 No./symbol/ Setting Function Initial name digit value [unit]  PA17 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and [Pr. PA18]. Set this and 0000h **MSR [Pr. PA18] at a time. Servo motor series Refer to the following table for settings.
  • Page 192 No./symbol/ Setting Function Initial name digit value [unit]  PA19 Select a reference range and writing range of the parameter. 00ABh *BLK Refer to the following table for settings. Parameter writing inhibit PA19 Setting operation      ...
  • Page 193 No./symbol/ Setting Function Initial name digit value [unit] PA21 _ _ _ x One-touch tuning function selection *AOP3 0: Disabled Function selection 1: Enabled When the digit is "0", the one-touch tuning with MR Configurator2 will be disabled. _ _ x _ For manufacturer setting _ x _ _ x _ _ _...
  • Page 194: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])

    Gain/filter setting parameters ([Pr. PB_ _ ]) No./symbol/ Setting Function Initial name digit value [unit] PB01 _ _ _ x Filter tuning mode selection FILT Set the adaptive tuning. Adaptive tuning Select the adjustment mode of the machine resonance suppression filter 1. Page 250 Adaptive filter II mode (adaptive filter )
  • Page 195 No./symbol/ Setting Function Initial name digit value [unit]  PB07 Set the response gain to the target position. 15.0 Increasing the setting value will also increase the response level to the position command but will be liable to [rad/s] Model loop gain generate vibration and noise.
  • Page 196 No./symbol/ Setting Function Initial name digit value [unit] PB14 Set forms of the machine resonance suppression filter 1. NHQ1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by Notch shape adaptive tuning.
  • Page 197 No./symbol/ Setting Function Initial name digit value [unit] PB17 Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. Shaft resonance When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the value will be calculated suppression filter automatically from the servo motor you use and load to motor inertia ratio.
  • Page 198 No./symbol/ Setting Function Initial name digit value [unit]  PB20 Set the resonance frequency for vibration suppression control 1 to suppress low-frequency machine 100.0 [Hz] VRF12 vibration. Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. suppression control PB02], this parameter will be set automatically.
  • Page 199 No./symbol/ Setting Function Initial name digit value [unit] PB26 Select a gain switching condition. *CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60]. Gain switching _ _ _ x Gain switching selection function 0: Disabled...
  • Page 200 No./symbol/ Setting Function Initial name digit value [unit]  PB34 Set the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. 0.0 [Hz] VRF12B When a value less than 0.1 Hz is set, the value will be the same as that of [Pr. PB20]. Vibration This parameter will be enabled only when the following conditions are fulfilled.
  • Page 201 No./symbol/ Setting Function Initial name digit value [unit] PB45 Set the command notch filter. CNHF _ _ x x Command notch filter setting frequency selection Command notch Refer to the following table (command notch filter setting frequency selection) for the relation of setting values filter to frequency.
  • Page 202 No./symbol/ Setting Function Initial name digit value [unit]  PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500 [Hz] To enable the setting value, set "Machine resonance suppression filter 3 selection" to "Enabled (_ _ _ 1)" in Machine resonance [Pr.
  • Page 203 No./symbol/ Setting Function Initial name digit value [unit]  PB52 Set the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration. 100.0 [Hz] VRF21 When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. Vibration PB02], this parameter will be set automatically.
  • Page 204: Extension Setting Parameters ([Pr. Pc_ _ ])

    No./symbol/ Setting Function Initial name digit value [unit]  PB59 Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is 0.00 VRF24B enabled. Vibration This parameter will be enabled only when the following conditions are fulfilled. suppression control •...
  • Page 205 No./symbol/ Setting Function Initial name digit value [unit] PC03 _ _ _ x Encoder output pulse phase selection *ENRS Select an encoder pulse direction. Encoder output 0: Increasing A-phase 90 in CCW or positive direction pulse selection 1: Increasing A-phase 90 in CW or negative direction Setting Servo motor rotation direction/linear servo motor travel direction value...
  • Page 206 No./symbol/ Setting Function Initial name digit value [unit] PC06 _ _ _ x In-position range unit selection *COP3 Select a unit of in-position range. Function selection 0: Command input pulse unit 1: Servo motor encoder pulse unit _ _ x _ For manufacturer setting _ x _ _ x _ _ _...
  • Page 207 No./symbol/ Setting Function Initial name digit value [unit] PC09 _ _ x x Analog monitor 1 output selection MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to the following for detection point of output Analog monitor 1 selection.
  • Page 208 No./symbol/ Setting Function Initial name digit value [unit] PC17 _ _ _ x For manufacturer setting **COP4 _ _ x _ Linear scale multipoint Z-phase input function selection Function selection When two or more reference marks exist during the full stroke of the linear encoder, set "1". 0: Disabled 1: Enabled The setting of this digit is used by servo amplifier with software version A1 or later.
  • Page 209 No./symbol/ Setting Function Initial name digit value [unit]  PC24 Set a deceleration time constant for the forced stop deceleration function. 100 [ms] RSBR Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be 100 ms. Forced stop deceleration time Dynamic brake...
  • Page 210 No./symbol/ Setting Function Initial name digit value [unit] PC29 _ _ _ x For manufacturer setting *COPB _ _ x _ Function selection _ x _ _ x _ _ _ Torque POL reflection selection The torque polarity can be changed with the combination of this parameter and [Pr. PA14 Rotation direction selection/travel direction selection].
  • Page 211: I/O Setting Parameters ([Pr. Pd_ _ ])

    No./symbol/ Setting Function Initial name digit value [unit]  PC69 Set the time until the following error output turns on. 10 [ms] When the state in which droop pulses  [Pr. PC67/Pr. PC 68 Following error output level] continues for the FEWF Following error time set in the parameter setting value, "Statusword bit 13 Following error"...
  • Page 212 No./symbol/ Setting Function Initial name digit value [unit] PD03 Any input device can be assigned to the CN3-2 pin. *DI1 _ _ x x Device selection Input device Refer to the following table for settings. selection 1 _ x _ _ For manufacturer setting x _ _ _ Setting value...
  • Page 213 No./symbol/ Setting Function Initial name digit value [unit] PD08 _ _ x x Device selection *DO2 Any output device can be assigned to the CN3-9 pin. INP (In-position) is assigned as the initial value. Output device Refer to the table in [Pr. PD07] for settings. selection 2 _ x _ _ For manufacturer setting...
  • Page 214: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    No./symbol/ Setting Function Initial name digit value [unit] PD37 _ _ _ x Touch probe higher precision selection Latches the rising of TPR2 correctly, and detects it accurate to 2 s. *TPOP Touch probe 0: Disabled function selection 1: Enabled When "Enabled"...
  • Page 215 No./symbol/ Setting Function Initial name digit value [unit] PE03 _ _ _ x Fully closed loop control error detection function selection *FCT2 0: Disabled Fully closed loop 1: Speed deviation error detection function selection 2 2: Position deviation error detection 3: Speed deviation error/position deviation error detection Refer to the following table for settings.
  • Page 216 No./symbol/ Setting Function Initial name digit value [unit] PE10 _ _ _ x For manufacturer setting FCT3 _ _ x _ Fully closed loop control - Position deviation error detection level - Unit selection Fully closed loop 0: 1 kpulse unit function selection 3 1: 1 pulse unit The setting of this digit is used by servo amplifier with software version A1 or later.
  • Page 217: Extension Setting 3 Parameters ([Pr. Pf_ _ ])

    No./symbol/ Setting Function Initial name digit value [unit]  PE49 Set the lost motion compensation timing in increments of 0.1 ms. 0 [0.1 ms] LMCD The timing to perform the lost motion compensation function can be delayed for the set time. Lost motion Setting range: 0 to 30000 compensation...
  • Page 218 No./symbol/ Setting Function Initial name digit value [unit]  PF20 As the compensation coefficient 2 for friction failure prediction, set a compensation coefficient for 0 [0.1%] compensating the friction torque at rated speed. When the friction failure prediction warning selection is set to Friction failure the automatic threshold setting, the value will be calculated automatically from the estimated friction torque at prediction -...
  • Page 219 No./symbol/ Setting Function Initial name digit value [unit] PF34 _ _ _ x Friction failure prediction warning selection *MFP 0: Disabled Machine diagnosis 1: Enabled (Automatic threshold setting) function selection 2: Enabled (Manual threshold setting) 3: Threshold reset When "2" is set to this digit, if the friction torque exceeds the set threshold, [AL. F7.2 Friction failure prediction warning] will occur.
  • Page 220: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])

    No./symbol/ Setting Function Initial name digit value [unit]  PF41 Set a servo motor total travel distance required for determining the threshold used in the friction failure 0 [rev]/[m] FPMT prediction function and the servo motor total travel distance failure prediction function. The setting unit can be Failure prediction - changed with "Failure prediction - Servo motor total travel distance unit selection"...
  • Page 221 No./symbol/ Setting Function Initial name digit value [unit]  PL02 Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03]. 1000 [m] **LIM Set a numerator to [Pr. PL02]. Linear encoder This is enabled only for linear servo motors. resolution - Setting range: 1 to 65535 Numerator...
  • Page 222 No./symbol/ Setting Function Initial name digit value [unit]  PL09 Set a direct current exciting voltage level during the magnetic pole detection. 30 [%] LPWM If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic pole detection, Magnetic pole decrease the setting value.
  • Page 223: Positioning Control Parameters ([Pr. Pt_ _ ])

    Positioning control parameters ([Pr. PT_ _ ]) No./symbol/ Setting Function Initial name digit value [unit] PT05  Set a servo motor speed at home position return. The fractional portion of the parameter will be rounded 100.00 down. [r/min]/[mm/ Home position Setting range: 0.00 to instantaneous permissible speed return speed ...
  • Page 224 No./symbol/ Setting Function Initial name digit value [unit] PT29 Set the DOG polarity. *TOP3 _ _ _ x _ _ _ x (BIN): DOG (Proximity dog) polarity selection Function selection (HEX) 0: Dog detection with off 1: Dog detection with on This setting is applied to both the input by a servo amplifier and by a controller.
  • Page 225 No./symbol/ Setting Function Initial name digit value [unit]  PT45 Set the home position return method. Refer to the following table for details. Home position Setting a value other than the setting values in the following tables will trigger [AL. 37]. return type Setting Home position...
  • Page 226 No./symbol/ Setting Function Initial name digit value [unit]  PT57 Set the deceleration time constant at the home position return. Set a deceleration time from the rated speed 0 [ms] to 0 r/min or 0 mm/s. Home position The parameter will be enabled when you select "Using [Pr. PT56] for acceleration time constant, and [Pr. return deceleration PT57] for deceleration time constant (_ _ _ 1)"...
  • Page 227: Network Setting Parameters ([Pr. Pn_ _ ])

    Network setting parameters ([Pr. PN_ _ ]) No./symbol/ Setting Function Initial name digit value [unit] PN02  Set the time until the detection of [AL. 8D.1 CC-Link IE communication error 1] or [AL. 8D.6 CC-Link IE 0 [ms] CERT communication error 3]. When the parameter is set to "0", the detection time varies depending on the setting Communication value of [Pr.
  • Page 228: Software Limit

    Software limit The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end. Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be disabled in the velocity mode, torque mode, and homing mode.
  • Page 229: Chapter 6 Normal Gain Adjustment

    NORMAL GAIN ADJUSTMENT • In the torque 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. In addition, make gain adjustment with a safety margin considering characteristic differences of each machine.
  • Page 230: Adjustment Using Mr Configurator2

    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? Auto tuning mode 2...
  • Page 231: One-Touch Tuning

    One-touch tuning • When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). • Refer to the following for one-touch tuning via a network. Page 235 One-touch tuning via a network Connect MR Configurator2 and open the one-touch tuning window, and you can use the function.
  • Page 232: One-Touch Tuning Flowchart

    One-touch tuning flowchart Make one-touch tuning as follows. Startup of the system Start a system referring to the following. Page 127 STARTUP Operation Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the servo motor is not operating.) One-touch tuning start Start one-touch tuning of MR Configurator2.
  • Page 233: Display Transition And Operation Procedure Of One-Touch Tuning

    Display transition and operation procedure of one-touch tuning Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system.
  • Page 234 One-touch tuning execution For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shorten the settling time and improve the response. After the response mode is selected in the following section, pushing the start button during driving will start one-touch tuning.
  • Page 235 If an error occurs If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the following error code will be displayed in status. Check the cause of tuning error. Error Name Description Action code  C000 Tuning canceled The stop button was pushed during one-touch tuning.
  • Page 236: Caution For One-Touch Tuning

    Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to the following for the parameters which you can clear. Page 229 One-touch tuning Pushing "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button.
  • Page 237: One-Touch Tuning Via A Network

    One-touch tuning via a network One-touch tuning via a network is available with servo amplifiers with software version A3 or later. Using One-touch tuning mode (2D50h) allows one-touch tuning from a controller. When a simple motion module RD77GF is used, the one-touch tuning is available with the servo transient transmission function.
  • Page 238 Procedure of one-touch tuning via a network Perform one-touch tuning via a network in the following procedure. Startup of the system Refer to the following to start the system. Page 127 STARTUP Operation Rotate the servo motor with a controller. (One-touch tuning cannot be performed if the servo motor is not operating.) One-touch tuning execution Write a value corresponding to the response mode (High mode, basic mode, or Low mode) to perform in One-touch tuning mode (2D50h) during servo motor driving to perform one-touch tuning.
  • Page 239: Auto Tuning

    Auto tuning 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 240: Auto Tuning Mode Basis

    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. auto tuning section feedback Load to motor...
  • Page 241: Adjustment Procedure By Auto Tuning

    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. The adjustment procedure is as follows.
  • Page 242: Response Level Setting In Auto Tuning Mode

    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 and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
  • Page 243 [Pr. PA09] Setting value Machine characteristic Reference (setting value of MR-J3) Response Guideline for machine resonance frequency [Hz] Increasing the setting  value also increases  the response level.   10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9 37.0...
  • Page 244: Manual Mode

    Manual mode If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually. 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. PB51] may be used to suppress machine resonance. Page 247 Machine resonance suppression filter Page 250 Adaptive filter II For speed control...
  • Page 245 ■Parameter adjustment • [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 246 ■Parameter adjustment • [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 247: Gain Adjustment Mode

    2 gain adjustment mode The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command trackability.
  • Page 248 Adjustment procedure of 2 gain adjustment mode Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain adjustment mode. Step Operation Description Set to the auto tuning mode. Select the auto tuning mode 1. During operation, increase the response level setting value in [Pr.
  • Page 249: Chapter 7 Special Adjustment Functions

    SPECIAL ADJUSTMENT FUNCTIONS • 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 the following chapter. Page 227 NORMAL GAIN ADJUSTMENT •...
  • Page 250 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 frequency (notch frequency) at which the gain is decreased, and the notch depth and width.
  • Page 251 ■Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. How to set the machine resonance suppression filter 4 ([Pr.
  • Page 252: Adaptive Filter Ii

    Adaptive filter II • The machine resonance frequency which adaptive filter  (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 253 Adaptive tuning procedure Adaptive tuning Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set [Pr. PB01] to "_ _ _ 1".) Tuning ends automatically after the If assumption fails after tuning is executed at a large vibration or predetermined period of time.
  • Page 254: Shaft Resonance Suppression Filter

    Shaft resonance suppression filter 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 255: Low-Pass Filter

    Low-pass filter 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. The filter frequency of the low- pass filter is automatically adjusted to the value in the following equation.
  • Page 256: Advanced Vibration Suppression Control Ii

    Advanced vibration suppression control II • The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is "Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)". •...
  • Page 257 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 reached?
  • Page 258 Vibration suppression control manual mode • 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 259: Command Notch Filter

    • When vibration can be confirmed using monitor signal or external sensor Motor-side vibration External acceleration pickup signal, etc. (droop pulses) Position command frequency Vibration suppression control - Vibration frequency Vibration cycle [Hz] Vibration cycle [Hz] Vibration suppression control - Resonance frequency Set the same value.
  • Page 260 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 Setting...
  • Page 261: Gain Switching Function

    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. Applications The following shows when you use the function. •...
  • Page 262: Function Block Diagram

    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]. Control command from [Pr. PB26] controller (C_CDP) and Input device CDP (Gain switching).
  • Page 263: Parameter

    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. Parameter for setting gain switching condition Parameter Symbol Name...
  • Page 264 Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/ PB06 Load to motor inertia ratio/load PB29 GD2B Load to motor inertia ratio/load load to motor mass ratio to motor mass ratio to motor mass ratio after gain switching Model loop gain...
  • Page 265 ■Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]), and [Pr. PB60 Model loop gain after gain switching] The gain switching vibration suppression control and gain switching model loop gain are used only with control command from the controller.
  • Page 266: Gain Switching Procedure

    Gain switching procedure This operation will be described by way of setting examples. When you choose switching by control command from the controller ■Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier] PB07...
  • Page 267 ■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 → → 4.00 10.00 4.00 motor mass ratio → → Position loop gain →...
  • Page 268 ■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 → → → 4.00 10.00 4.00 10.00 motor mass ratio →...
  • Page 269: Tough Drive Function

    Tough drive function Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting].  Page 183 Basic setting parameters ([Pr. PA_ _ ]) 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 270 The following shows the function block diagram of the vibration tough drive function. This function compares the detected machine resonance frequency with the setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2], and resets the setting value closer to the detected machine resonance frequency.
  • Page 271: Instantaneous Power Failure Tough Drive Function

    Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
  • Page 272 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. PF25 SEMI-F47 function - Instantaneous power failure detection time].
  • Page 273 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 decreases. ■When the bus voltage decreases to the undervoltage level or lower within instantaneous power failure time of control circuit power supply [AL.
  • Page 274 ■When the bus voltage does not decrease to the undervoltage level or lower within instantaneous power failure time of control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply ON (Energization) Control circuit OFF (Power failure) power supply...
  • Page 275: Compliance With Semi-F47 Standard

    Compliance with SEMI-F47 standard • The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation. •...
  • Page 276 Calculation of tolerance against instantaneous power failure The following shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage  50%" and instantaneous power failure time is 200 ms. Servo amplifier Instantaneous maximum output [W] Tolerance against instantaneous power failure [W] (voltage drop between lines) MR-J4-10GF(-RJ) MR-J4-20GF(-RJ)
  • Page 277: Model Adaptive Control Disabled

    Model adaptive control disabled • Change the parameters while the servo motor stops. • When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. Summary The servo amplifier has a model adaptive control.
  • Page 278: Lost Motion Compensation Function

    Lost motion compensation function The lost motion compensation function is enabled only in the position mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.
  • Page 279 ■Lost motion filter setting ([Pr. PE46]) Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set in this parameter, the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues. Adjustment procedure of the lost motion compensation function The following shows the adjustment procedure of the lost motion compensation function.
  • Page 280 ■Adjusting the lost motion compensation non-sensitive band When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost motion compensation non- sensitive band]. Increase the setting value so that the lost motion is not compensated twice. Setting [Pr. PE50] may change the compensation timing.
  • Page 281: Super Trace Control

    Super trace control Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/ deceleration cannot be suppressed.
  • Page 282: Chapter 8 Troubleshooting

    TROUBLESHOOTING • Refer to the following for details of alarms and warnings. MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) • As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power. • [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
  • Page 283: Alarm List

    Alarm list Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power Undervoltage 10.1 Voltage drop in the control circuit power       10.2 Voltage drop in the main circuit power Switch setting error 11.1 Axis number setting error/Station number setting error ...
  • Page 284 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power    Board error 17.1 Board error 1    17.3 Board error 2    17.4 Board error 3    17.5 Board error 4 17.6...
  • Page 285 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power Initial magnetic pole detection 27.1 Initial magnetic pole detection - Abnormal termination    error    27.2 Initial magnetic pole detection - Time out error 27.3 Initial magnetic pole detection - Limit switch error ...
  • Page 286 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power    Inrush current suppression 3A.1 Inrush current suppression error circuit error    Parameter setting error for 3D.1 Parameter combination error for driver driver communication communication on slave 3D.2...
  • Page 287 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power Functional safety unit 65.1 Functional safety unit communication error 1    connection error    65.2 Functional safety unit communication error 2 65.3 Functional safety unit communication error 3 ...
  • Page 288 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power    Load-side encoder initial 70.7 Load-side encoder initial communication - communication error 1 Transmission data error 3    70.8 Load-side encoder initial communication - Incompatible encoder 70.A Load-side encoder initial communication - Process...
  • Page 289 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power Parameter setting error 7A.1 Parameter verification error (safety observation    (safety observation function) function)    7A.2 Parameter setting range error (safety observation function) 7A.3 Parameter combination error (safety observation...
  • Page 290 Name Detail Detail name Stop Alarm deactivation method Alarm Cycling *2*3 reset reset power    USB communication error/ 8E.4 USB communication command error/serial serial communication error/ communication command error Modbus RTU communication    8E.5 USB communication data number error/serial error communication data number error 8E.6...
  • Page 291: Warning List

    Warning list Name Detail No. Detail name Stop *2*3 method Home position return incomplete warning 90.1 Home position return incomplete   90.2 Home position return abnormal termination 90.5 Z-phase unpassed   Servo amplifier overheat warning 91.1 Main circuit device overheat warning ...
  • Page 292 Name Detail No. Detail name Stop *2*3 method  Absolute position counter warning E3.1 Multi-revolution counter travel distance excess warning E3.2 Absolute position counter warning   E3.4 Absolute positioning counter EEP-ROM writing frequency warning  E3.5 Encoder absolute positioning counter warning ...
  • Page 293: Troubleshooting At Power On

    Troubleshooting at power on When an error occurs at the power supply of the controller or servo amplifier, improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this section. Displ Description Cause...
  • Page 294: Chapter 9 Dimensions

    DIMENSIONS Only MR-J4-_GF_-RJ is shown for dimensions. MR-J4-_GF_ does not have CN2L, CN7, and CN9 connectors. The dimensions of MR-J4-_GF_ are the same as those of MR-J4-_GF_-RJ except CN2L, CN7, and CN9 connectors. 9 DIMENSIONS...
  • Page 295: Servo Amplifier

    Servo amplifier 200 V class ■MR-J4-10GF(-RJ) to MR-J4-60GF(-RJ) [Unit: mm] Approx. 80 φ6 mounting hole Lock knob CNP1 CNP2 CNP3 With MR-BAT6V1SET-A Approx. 51 Approx. 28.4 Mass: 1.0 [kg] Mounting screw Screw size: M5 Terminal Tightening torque: 3.24 [N•m] CNP1 Approx.
  • Page 296 ■MR-J4-70GF(-RJ)/MR-J4-100GF(-RJ) [Unit: mm] Approx. 80 φ6 mounting hole Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan intake Approx. 51 Approx. 28.4 With MR-BAT6V1SET-A Mass: 1.4 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 60 CNP2 3-M5 screw CNP3 Screw size: M4...
  • Page 297 ■MR-J4-200GF(-RJ) [Unit: mm] Approx. 80 φ6 mounting hole Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan intake Approx. 51 Approx. 28.4 With MR-BAT6V1SET-A Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 90 CNP2 3-M5 screw CNP3 Approx.
  • Page 298 ■MR-J4-350GF(-RJ) [Unit: mm] Approx. 80 Mounting hole Exhaust Lock knob CNP1 CNP3 CNP2 Cooling fan Approx. 51 intake Approx. 28.4 With MR-BAT6V1SET-A Mass: 2.3 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 90 CNP3 CNP2 φ13 hole 3-M5 screw Mounting hole dimension...
  • Page 299 ■MR-J4-500GF(-RJ) [Unit: mm] Approx. 25 Approx. 80 φ6 mounting hole 37.5 Cooling fan exhaust With MR-BAT6V1SET-A Intake Mass: 4.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] Screw size: M3.5 Approx. 105 Tightening torque: 0.8 [N•m] Approx. 6 93 ±...
  • Page 300 ■MR-J4-700GF(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole 37.5 Cooling fan exhaust With Intake MR-BAT6V1SET-A Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.2 [kg] Mounting screw Screw size: M5 Terminal Tightening torque: 3.24 [N•m] Approx.
  • Page 301 ■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 37.5 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 25.5 22.8 Intake With 224.2 57.9 MR-BAT6V1SET-A 237.4 5 × 25.5 (= 127.5) Mass: 13.4 [kg] Mounting screw Screw size: M5 Terminal Tightening torque: 3.24 [N•m] Approx.
  • Page 302 ■MR-J4-22KGF(-RJ) [Unit: mm] Approx. 80 2- 12 mounting hole Approx. 37.5 Cooling fan exhaust TE1-1 32.7 TE1-2 188.5 25.5 22.8 Intake With 59.9 223.4 MR-BAT6V1SET-A 235.4 5 × 25.5 (= 127.5) Mass: 18.2 [kg] Mounting screw Screw size: M10 Terminal Tightening torque: 26.5 [N•m] TE1-1 L1 L2 L3...
  • Page 303 400 V class ■MR-J4-60GF4(-RJ)/MR-J4-100GF4(-RJ) [Unit: mm] Approx. 80 6 mounting hole Lock knob CNP1 CNP2 CNP3 Approx. 51 Approx. 28.4 With MR-BAT6V1SET-A Mass: 1.7 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 60 CNP2 3-M5 screw CNP3 42 ±...
  • Page 304 ■MR-J4-200GF4(-RJ) [Unit: mm] Approx. 80 6 mounting hole Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan intake Approx. 51 Approx. 28.4 With MR-BAT6V1SET-A Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 90 CNP2 3-M5 screw CNP3 Approx.
  • Page 305 ■MR-J4-350GF4(-RJ) [Unit: mm] Approx. 80 2- 6 mounting hole 37.5 Cooling fan Lock knob exhaust CNP1 CNP2 CNP3 With MR-BAT6V1SET-A Intake Mass: 3.6 [kg] Mounting screw Screw size: M5 Terminal CNP1 Tightening torque: 3.24 [N•m] Approx. 105 Approx. 6 Approx. 6 93 ±...
  • Page 306 ■MR-J4-500GF4(-RJ) [Unit: mm] Approx. 80 2- 6 mounting hole 37.5 Cooling fan exhaust Intake With MR-BAT6V1SET-A Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 4.3 [kg] Mounting screw Screw size: M5 Terminal Tightening torque: 3.24 [N•m] N- P3 P4 L11 L21 Approx.
  • Page 307 ■MR-J4-700GF4(-RJ) [Unit: mm] Approx. 80 2- 6 mounting hole 37.5 Cooling fan exhaust With Intake MR-BAT6V1SET-A Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.5 [kg] Mounting screw Screw size: M5 Terminal Tightening torque: 3.24 [N•m] Approx.
  • Page 308 ■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ) [Unit: mm] Approx. 80 2- 6 mounting hole Approx. 37.5 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 25.5 22.8 Intake With 224.2 57.9 MR-BAT6V1SET-A 237.4 5 × 25.5 (= 127.5) Mass: 13.4 [kg] Mounting screw Screw size: M5 Terminal Tightening torque: 3.24 [N•m] Approx.
  • Page 309 ■MR-J4-22KGF4(-RJ) [Unit: mm] Approx. 80 2- 12 mounting hole Approx. 37.5 Cooling fan exhaust TE1-1 32.7 TE1-2 188.5 25.5 22.8 Intake With 59.9 223.4 MR-BAT6V1SET-A 235.4 5 × 25.5 (= 127.5) Mass: 18.2 [kg] Mounting screw Screw size: M10 Terminal Tightening torque: 26.5 [N•m] TE1-1 L1 L2 L3...
  • Page 310 100 V class [Unit: mm] Approx. 80 φ6 Mounting hole CNP1 CNP2 CNP3 With Approx. 51 MR-BAT6V1SET-A Approx. 28.4 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 50 Approx. 6 2-M5 screw CNP2 CNP3 Screw size: M4 Tightening torque: 1.2 [N•m]...
  • Page 311: Connector

    Connector Miniature delta ribbon (MDR) system (3M) ■One-touch lock type [Unit: mm] Logo, etc., are indicated here. 12.7 Connector Shell kit Each type of dimension 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 ■Jack screw M2.6 type This is not available as option. [Unit: mm] Logo, etc., are indicated here.
  • Page 312 SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 9 DIMENSIONS 9.2 Connector...
  • Page 313: Chapter 10 Characteristics

    CHARACTERISTICS For the characteristics of the linear servo motor and the direct drive motor, refer to the following. Page 489 Characteristics Page 508 Characteristics 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 314 Rotary servo motor Graph of overload protection characteristics HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR     Characteristics d 5024 3534 7024 6014 701M4 5034 7034      8014 Characteristics e 12K14 15K14 20K14 25K14 11K1M4 15K1M4 22K1M4 9034...
  • Page 315 Electronic thermal protection characteristics The following graphs show overload protection characteristics. ■Characteristics a 1000 Operating Servo-lock Load ratio [%] *1*2 ■Characteristics b 1000 Operating Servo-lock Load ratio [%] *1*2*3 ■Characteristics c 1000 Operating Servo-lock Load ratio [%] *1*3 10 CHARACTERISTICS 10.1 Overload protection characteristics...
  • Page 316 ■Characteristics d 1000 Operating Servo-lock Load ratio [%] *1*3 ■Characteristics e 10000 1000 Operating Servo-lock Load ratio [%] *1 If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
  • Page 317: Power Supply Capacity And Generated Loss

    10.2 Power supply capacity and generated loss Amount of heat generated by the servo amplifier The following table indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation.
  • Page 318 Servo amplifier Servo motor Power supply Servo amplifier-generated heat [W] Area required capacity [kVA] for heat At rated output At rated output With servo-off dissipation [m [Generated heat in the cabinet when cooled outside the cabinet]  MR-J4-500GF(-RJ) HG-SR502 HG-SR421 HG-RR353 HG-RR503 HG-UR352...
  • Page 319 Servo amplifier Servo motor Power supply Servo amplifier-generated heat [W] Area required capacity [kVA] for heat At rated output At rated output With servo-off dissipation [m [Generated heat in the cabinet when cooled outside the cabinet]  MR-J4-10GF1(-RJ) HG-MR053 HG-MR13 HG-KR053 HG-KR13 MR-J4-20GF1(-RJ)
  • Page 320: Dynamic Brake Characteristics

    10.3 Dynamic brake characteristics CAUTION • 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 the braking distance is not longer than the calculated value, a moving part may crash into the stroke end, which is very dangerous. Install the anti- crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
  • Page 321 For servo amplifier of 7 kW or less, there is internal relay delay time of about 10 ms. For the servo amplifier of 11 kW to 22 kW, there is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
  • Page 322 • HG-JR1000 r/min series 15K1 25K1 20K1 12K1 1000 1500 2000 Servo motor speed [r/min] • HG-JR1500 r/min series 15K1M 22K1M 701M 11K1M 500 1000 1500 2000 2500 3000 Servo motor speed [r/min] • HG-JR3000 r/min series 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] •...
  • Page 323 ■400 V class • HG-SR series 3524 2024 5024 1024 7024 1524 500 1000 1500 2000 2500 3000 Servo motor speed [r/min] • HG-JR1000 r/min series 15K14 25K14 12K14 20K14 8014 6014 1000 1500 2000 Servo motor speed [r/min] • HG-JR1500 r/min series 11K1M4 15K1M4 701M4...
  • Page 324: Permissible Load To Motor Inertia When The Dynamic Brake Is Used

    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 dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum speed of the servo motor.
  • Page 325 Servo motor Permissible load to motor inertia ratio [multiplier] HG-JR503 15 (30) HG-JR703 11 (30) HG-JR903 18 (30) HG-JR701M HG-JR11K1M 10 (30) HG-JR15K1M HG-JR22K1M 20 (30) HG-JR601 HG-JR801 HG-JR12K1 20 (30) HG-JR15K1 17 (30) HG-JR20K1 26 (30) HG-JR25K1 21 (30) HG-JR534 30 (30) HG-JR734...
  • Page 326: Cable Bending Life

    10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 × 10 5 × 10 1 × 10 5 × 10 a: Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable...
  • Page 327: Inrush Currents At Power-On Of Main Circuit And Control Circuit

    10.5 Inrush currents at power-on of main circuit and control circuit For a servo amplifier of 600 W or less, the inrush current values can change depending on frequency of turning on/off the power and ambient temperature. Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors. Page 404 Molded-case circuit breakers, fuses, magnetic contactors When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.
  • Page 328 100 V class The following shows the inrush currents (reference data) that will flow when 120 V AC is applied at the power supply capacity. Servo amplifier Inrush currents (A Main circuit power supply (L1/L2) Control circuit power supply (L11/L21) MR-J4-10GF1(-RJ) 38 A (attenuated to approx.
  • Page 329: Chapter 11 Options And Peripheral Equipment

    OPTIONS AND PERIPHERAL EQUIPMENT WARNING • 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 voltage between P+ and N- is safe with a voltage tester and others. 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 330: Combinations Of Cable/Connector Sets

    Combinations of cable/connector sets For MR-J4-_GF_ servo amplifier Safety logic unit Personal MR-J3-D05 computer CN10 (packed with the servo amplifier) Servo amplifier Servo amplifier CNP1 CNP2 CN1A CN1A CNP3 CN1B MR-BAT6V1SET-A battery/ MR-BAT6V1BJ battery for junction battery cable Battery unit CC-Link IE compatible MR-BT6VCASE and simple motion module or others...
  • Page 331 For MR-J4-_GF_-RJ servo amplifier Safety logic unit Personal MR-J3-D05 computer CN10 (packed with the servo amplifier) Servo amplifier Servo amplifier CNP1 CNP2 CN1A CN1A CNP3 CN1B MR-BAT6V1SET-A battery/ CN2L MR-BAT6V1BJ battery for junction battery cable Battery unit CC-Link IE compatible MR-BT6VCASE and simple motion module or others MR-BAT6V1 battery...
  • Page 332 Product name Model Description Remark  Servo amplifier Supplied with power connector 100 V class and 200 V CNP3 connector: class servo CNP2 connector: 03JFAT-SAXGDK-H7.5 amplifiers of 1 05JFAT-SAXGDK-H5.0 (JST) CNP1 connector: kW or less (JST) Applicable wire size: 0.8 06JFAT-SAXGDK-H7.5 Applicable wire size: 0.8 to 2.1 mm...
  • Page 333 Product name Model Description Remark   Junction terminal PS7DW-20V14B-F block (Toho Technology Corp. (recommended) Kyoto factory) MR-J2HBUS_M Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary. Page 379 Junction terminal block PS7DW-20V14B-F (recommended) STO cable MR-D05UDL3M-B Connection...
  • Page 334: Mr-D05Udl3M-B Sto Cable

    MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Application MR-D05UDL3M-B Connection cable for the CN8 connector Configuration diagram Servo amplifier MR-D05UDL3M-B Internal wiring diagram CN8 connector Yellow (with black dots) STOCOM Yellow (with red dots) STO1...
  • Page 335: Battery Cable/Junction Battery Cable

    Battery cable/junction battery cable 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 model Cable length Bending life Application/remark 0.3 m...
  • Page 336: Ethernet Cable

    Ethernet cable When the servo amplifier is used in the motion mode, use the switching hub DT135TX (Mitsubishi Electric System & Service) to branch a CC-Link IE Field Network. For the wiring of CC-Link IE Field Network and CC-Link IE Field Network Basic, use a cable which meets the following standards.
  • Page 337: Regenerative Options

    11.2 Regenerative options CAUTION • Do not use servo amplifiers with regenerative options other than the combinations specified below. Otherwise, it may cause a fire. Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. 200 V class Servo amplifier Regenerative power [W]...
  • Page 338 400 V class Servo amplifier Regenerative power [W] Built-in MR-RB1H- MR-RB3M- MR-RB3G- MR-RB5G- MR-RB34- MR-RB54- MR-RB3U- MR-RB5U- 4 [82 ] 4 [120 ] 4 [47 ] 4 [47 ] 4 [26 ] 4 [26 ] 4 [22 ] 4 [22 ] regenerative resistor ...
  • Page 339: Selection Of The Regenerative Option

    Selection of the regenerative option A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. Rotary servo motor ■Regenerative energy calculation Servo motor Feed speed of moving part Forward...
  • Page 340 *1*2 Regenerative Torque applied to servo motor [N•m] Energy E [J] power /η + J ) • N 0.1047 • • N • T • t psa1 9.55 • 10 psa1 = 0.1047 • N • T • t • η + J ) •...
  • Page 341 ■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. Servo amplifier Inverse efficiency [%] Capacitor charging [J] MR-J4-10GF(-RJ) MR-J4-20GF(-RJ) MR-J4-40GF(-RJ) MR-J4-60GF(-RJ) MR-J4-70GF(-RJ)
  • Page 342 Linear servo motor ■Thrust and energy calculation Linear servo motor Feed speed secondary-side (magnet) Load Positive direction Time Linear servo motor Negative primary-side (coil) direction Linear servo motor psa1 psd1 psa2 psd2 The following shows equations of the linear servo motor thrust and energy at the driving pattern above. Section Thrust F of linear servo motor [N] Energy E [J]...
  • Page 343: Parameter Setting

    Parameter setting Set [Pr. PA02] according to the option to be used. [Pr. PA02] Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
  • Page 344 MR-J4-500GF(-RJ) or less/MR-J4-350GF4(-RJ) or less Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally. Always remove the lead from across P+ to D.
  • Page 345 MR-J4-500GF4(-RJ)/MR-J4-700GF(-RJ)/MR-J4-700GF4(-RJ) Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
  • Page 346 MR-J4-11KGF(-RJ) to MR-J4-22KGF(-RJ)/MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ) (when using the supplied regenerative resistor) CAUTION • The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.
  • Page 347 MR-J4-11KGF-PX to MR-J4-22KGF-PX, MR-J4-11KGF-RZ to MR-J4-22KGF-RZ, MR-J4- 11KGF4-PX to MR-J4-22KGF4-PX, and MR-J4-11KGF4-RZ to MR-J4-22KGF4-RZ (when using the regenerative option) The MR-J4-11KGF-PX to MR-J4-22KGF-PX, MR-J4-11KGF-RZ to MR-J4-22KGF-RZ, MR-J4-11KGF4-PX to MR-J4- 22KGF4-PX, and MR-J4-11KGF4-RZ to MR-J4-22KGF4-RZ servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the regenerative option MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.
  • Page 348: Dimensions

    Dimensions MR-RB12 [Unit: mm] 6 mounting hole Approx. 20 Mass: 1.1 [kg] • TE1 terminal Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.2 Regenerative options...
  • Page 349 MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U- [Unit: mm] Cooling fan mounting screw (2-M4 screw) 101.5 82.5 Air intake • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg] MR-RB30 MR-RB31 MR-RB32 MR-RB3N...
  • Page 350 MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4 [Unit: mm] Cooling fan mounting screw (2-M3 screw) On opposite side 7 × 14 82.5 slotted hole intake Approx. 30 • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg]...
  • Page 351 MR-RB032 [Unit: mm] 6 mounting hole Approx. 20 Mass: 0.5 [kg] • TE1 terminal Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.2 Regenerative options...
  • Page 352 MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4 [Unit: mm] 2- 10 mounting hole Cooling fan intake Cooling fan mounting screw (4-M3 screw) 82.5 82.5 • TE1 terminal block Screw size: M5 Tightening torque: 2.0 [N•m] • Mounting screw Screw size: M8 Tightening torque: 13.2 [N•m] Regenerative option Mass [kg] MR-RB5R MR-RB9F...
  • Page 353 MR-RB1H-4 [Unit: mm] 6 mounting hole Approx. 24 Mass: 1.1 [kg] • TE1 terminal Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.2 Regenerative options...
  • Page 354 GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω (standard accessories) [Unit: mm] Approx. C Approx. 2.4 Approx. A Approx. 330 Approx. 47 Regenerative resistor Variable dimensions Mounting screw size Tightening torque Mass [kg] [N•m] GRZG400-0.8 13.2 GRZG400-0.6 GRZG400-0.5 GRZG400-2.5 GRZG400-2.0 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.2 Regenerative options...
  • Page 355: Fr-Bu2-(H) Brake Unit

    11.3 FR-BU2-(H) brake unit • Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier. Combination of different voltage class units cannot be used.
  • Page 356: Brake Unit Parameter Setting

    Brake unit parameter setting Whether a parameter can be changed or not is listed below. Parameter Change Remark possible/ Name impossible Brake mode switchover Impossible Do not change the parameter. Monitor display data selection Possible Refer to the FR-BU2 Instruction Manual. Input terminal function selection 1 Impossible Do not change the parameter.
  • Page 357: Connection Example

    Connection example • EM2 has the same function as EM1 in the torque mode. • Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. Combination with FR-BR-(H) resistor unit ■When connecting a brake unit to a servo amplifier •...
  • Page 358 • 400 V class Emergency stop switch Step-down transformer Servo amplifier MCCB Power 24 V DC supply DOCOM FR-BR-H Main circuit power supply FR-BU2-H DICOM 24 V DC DICOM *1 For the power supply specifications, refer to the following. Page 30 Servo amplifier standard specifications *2 For the servo amplifier of 5 kW and 7 kW, be sure to disconnect the lead wire of built-in regenerative resistor, which is connected to P+ and C terminals.
  • Page 359 ■When connecting two brake units to a servo amplifier • To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction. • Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units. •...
  • Page 360 Emergency stop switch Servo amplifier MCCB 24 V DC Power DOCOM supply FR-BR Main circuit power supply FR-BU2 DICOM 24 V DC DICOM Terminal block FR-BR FR-BU2 *1 For the power supply specifications, refer to the following. Page 30 Servo amplifier standard specifications *2 When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).
  • Page 361 Combination with MT-BR5-(H) resistor unit ■200 V class Emergency stop switch Servo amplifier MCCB 24 V DC Power supply DOCOM MT-BR5 Main circuit power supply FR-BU2 DICOM 24 V DC DICOM *1 For the power supply specifications, refer to the following. Page 30 Servo amplifier standard specifications *2 Do not connect a supplied regenerative resistor to the P+ and C terminals.
  • Page 362 ■400 V class Emergency stop switch Step-down Servo amplifier transformer MCCB Power 24 V DC supply DOCOM MT-BR5-H Main circuit power supply FR-BU2-H DICOM 24 V DC DICOM *1 For power supply specifications, refer to the following. Page 30 Servo amplifier standard specifications *2 Between P3 and P4 is connected by default.
  • Page 363 Precautions for wiring Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter. The wires should not exceed 10 m even when the wires are twisted.
  • Page 364 ■Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit Brake unit Wire size HIV wire [mm FR-BU2-15K Crimp terminals for P+ and N- terminals of servo amplifier ■Recommended crimp terminals Some crimp terminals may not be mounted depending on the size.
  • Page 365: Dimensions

    Dimensions FR-BU2-(H) brake unit ■FR-BU2-15K [Unit: mm] 5 hole (Screw size: M4) Rating plate 18.5 132.5 ■FR-BU2-30K/FR-BU2-H30K [Unit: mm] 2- 5 hole (Screw size: M4) Rating plate 18.5 129.5 ■FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2- 5 hole (Screw size: M4) Rating plate 18.5 142.5 11 OPTIONS AND PERIPHERAL EQUIPMENT...
  • Page 366 FR-BR-(H) resistor unit [Unit: mm] 2- C Control circuit terminal Main circuit terminal Approx. 35 Approx. 35 W1 ± 1 For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations. (Refer to the following diagram. ) Eyebolt W ± 5 *1 Ventilation ports are provided on both sides and the top. The bottom is open. Resistor unit Approximate mass [kg]...
  • Page 367 MT-BR5-(H) resistor unit [Unit: mm] 4 15 mounting hole Resistor unit Resistance Approximate mass [kg] 2.0  200 V class MT-BR5-55K 6.5  400 V class MT-BR5-H75K 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.3 FR-BU2-(H) brake unit...
  • Page 368: Fr-Rc-(H) Power Regeneration Converter

    11.4 FR-RC-(H) power regeneration converter • When using the FR-RC-(H) power regeneration converter, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). • When using the FR-RC-(H) power regeneration converter, refer to "Power Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
  • Page 369 ■200 V class Servo amplifier Power factor improving reactor MCCB Power supply 24 V DC Forced stop 1 DOCOM Malfunction DICOM 24 V DC P3 P4 5 m or less Ready RDY output R/L1 Alarm output S/L2 T/L3 Phase detection terminals Power regeneration converter FR-RC...
  • Page 370 ■400 V class Servo amplifier Power factor improving AC reactor MCCB Power supply CN3 24 V DC Forced stop 1 DOCOM Malfunction DICOM 24 V DC Step-down transformer P3 P4 5 m or shorter Lady RDY output Alarm output R/L1 S/L2 T/L3 Phase detection...
  • Page 371 Dimensions Mounting foot (removable) 2- D hole Mounting foot (movable) Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension [Unit: mm] Power regeneration converter Approximate mass [kg] FR-RC-15K FR-RC-30K FR-RC-55K FR-RC-H15K FR-RC-H30K FR-RC-H55K Mounting hole machining dimensions The following shows mounting hole dimensions for mounting the heat generation area of the power regeneration converter outside a cabinet as measures against heat generation when the converter is mounted in an enclosed type cabinet.
  • Page 372: Fr-Cv-(H) Power Regeneration Common Converter

    11.5 FR-CV-(H) power regeneration common converter • For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV Installation Guide (IB(NA)0600075). • Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H).
  • Page 373: Selection

    Selection 200 V class FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W to 22 kW. The following shows the restrictions on using the FR-CV. • Up to six servo amplifiers can be connected to one FR-CV. •...
  • Page 374 400 V class FR-CV-H power regeneration common converter can be used for the servo amplifier of 600 W to 22 kW. The following shows the restrictions on using the FR-CV-H. • Up to six servo amplifiers can be connected to one FR-CV-H. •...
  • Page 375 Connection diagram In this configuration, only the STO function is supported. The forced stop deceleration function is not available. ■200 V class When using the servo amplifier of 7 kW or less, be sure to disconnect the wiring of built-in regenerative resistor (3.5 kW or less: P+ and D, 7 kW: P+ and C).
  • Page 376 ■400 V class When using the servo amplifier of 7 kW or less, be sure to disconnect the wiring of built-in regenerative resistor (3.5 kW or less: P+ and D, 5 kW/7 kW: P+ and C). Servo amplifier Servo motor FR-CVL-H FR-CV-H MCCB...
  • Page 377 Selection example of wires used for wiring • Selection conditions of wire size are as follows. Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair ■Wire size • Between P and P4, and between N and N- The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.
  • Page 378 ■Example of selecting the wire sizes • 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities. Wire as short as possible.
  • Page 379 Other precautions • When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR-HEL-(H)). • The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them.
  • Page 380 Item Power regeneration common converter FR-CV-H_ 7.5K Total of connectable servo amplifier capacities 3.75 18.5 27.5 [kW] Maximum servo amplifier capacity [kW] Output Total of connectable servo motor rated currents [A] Regenerative Short-time Total capacity of applicable servo motors, 300% torque, 60 s braking torque rating Continuous...
  • Page 381: Junction Terminal Block Ps7Dw-20V14B-F (Recommended)

    11.6 Junction terminal block PS7DW-20V14B-F (recommended) Usage Always use the junction terminal block (PS7DW-20V14B-F (Toho Technology Corp. Kyoto factory)) with the option cable (MR- J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET) MR-J2HBUS_M...
  • Page 382 Dimensions of junction terminal block [Unit: mm] 44.11 7.62 TB.E ( 6) M3 × 5L 1.42 M3 × 6L 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.6 Junction terminal block PS7DW-20V14B-F (recommended)
  • Page 383: Mr Configurator2

    11.7 MR Configurator2 The MR-J4-_GF_ servo amplifier is supported with software version 1.49B or later. MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. Specifications Item Description...
  • Page 384: System Requirements

    System requirements Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment Description   *1*2*3*4*5 Personal computer Microsoft Windows 10 Home   Microsoft Windows 10 Pro   Microsoft Windows 10 Enterprise...
  • Page 385: Precautions For Using Usb Communication Function

    Connection with servo amplifier Personal computer USB cable Servo amplifier To USB MR-J3USBCBL3M connector (Option) Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. Power connection of personal computers Connect your personal computer with the following procedures.
  • Page 386: Battery

    11.8 Battery Refer to the following for battery transportation and the new EU Battery Directive. Page 569 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods Page 571 Symbol for the new EU Battery Directive This battery is used to construct an absolute position detection system.
  • Page 387: Mr-Bat6V1Set-A Battery

    MR-BAT6V1SET-A battery For the specifications and year and month of manufacture of the built-in MR-BAT6V1 battery, refer to the following. Page 399 MR-BAT6V1 battery Parts identification and dimensions [Unit: mm] 27.4 Connector for servo amplifier Case Mass: 55 [g] (including MR-BAT6V1 battery) Battery mounting Connect as follows.
  • Page 388 Battery replacement procedure WARNING • 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 N- with a voltage tester or others. 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 389 For the servo amplifier with a battery holder on the front Install a battery, and route the battery cable along the right side of the battery. When connecting the encoder cable to CN2 or CN2L connector, prevent the battery cable from being pinched. Install a battery, and connect the plug to the CN4 connector.
  • Page 390 Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MR-BAT6V1SET-A. While pressing the locking part, open the cover. Cover Replace the battery with a new MR-BAT6V1 battery. Press the cover until it is fixed with the projection of the locking part to close the cover.
  • Page 391: Mr-Bat6V1Bj Battery For Junction Battery Cable

    MR-BAT6V1BJ battery for junction battery cable • MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. • MR-BAT6V1BJ cannot be used for fully closed loop system. • When MR-BAT6V1BJ is mounted on the MR-J4-500GF(-RJ), the front cover does not open. For this reason, carry out wiring to the terminal block before mounting MR-BAT6V1BJ.
  • Page 392 Battery mounting Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows. Servo amplifier MR-BT6VCBL03M Encoder cable MR-BAT6V1BJ Black: Connector for branch cable Orange: Connector for servo amplifier HG series servo motors Transporting a servo motor and machine apart Be sure to connect the black connector to the MR-BT6VCBL03M junction battery cable when transporting a servo motor and machine apart.
  • Page 393 Battery replacement procedure WARNING • 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 N- with a voltage tester or others. 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 394 ■Procedures of replacing MR-BAT6V1BJ Replace the battery with the following procedure regardless of on/off of the control circuit power supply. When it is replaced with other procedures, the absolute position data will be erased. Remove the black connector of the old MR-BAT6V1BJ. Servo amplifier MR-BT6VCBL03M Orange...
  • Page 395: Mr-Bt6Vcase Battery Case

    MR-BT6VCASE battery case • 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 the following. Page 399 MR-BAT6V1 battery MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does not have any batteries.
  • Page 396 Battery mounting 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 397 Battery replacement procedure WARNING • 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 N- with a voltage tester or others. 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 398 • Disassembly and assembly of the battery case MR-BT6VCASE Disassembly of the case MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled. Remove the two screws using a Phillips screwdriver. Screws Remove the cover. Cover Parts identification BAT1 BAT2...
  • Page 399 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 direction, the connector will break.
  • Page 400 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. When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts. Screws Precautions for removal of battery The connector attached to the MR-BAT6V1 battery has the lock release lever.
  • Page 401: Mr-Bat6V1 Battery

    MR-BAT6V1 battery The MR-BAT6V1 battery is a lithium primary battery to be replaced in MR-BAT6V1SET-A and inserted in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 battery are described to the rating plate put on an MR-BAT6V1 battery. 2CR17335A WK17 Rating plate 11-04...
  • Page 402: Selection Example Of Wires

    11.9 Selection example of wires • To comply with the IEC/EN/UL/CSA standard, use the wires shown in the following section for wiring. To comply with other standards, use a wire that is complied with each standard. Page 572 Compliance with global standards •...
  • Page 403 Example of selecting the wire sizes Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example. ■200 V class Servo amplifier Wire [mm 1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/ MR-J4-10GF(-RJ) 2 (AWG 14)
  • Page 404 ■400 V class Servo amplifier Wire [mm 1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/ MR-J4-60GF4(-RJ) 2 (AWG 14) 1.25 to 2 2 (AWG 14) AWG 16 to 14 MR-J4-100GF4(-RJ) (AWG 16 to 14) MR-J4-200GF4(-RJ) MR-J4-350GF4(-RJ) MR-J4-500GF4(-RJ) 2 (AWG 14): b 1.25 (AWG 16): a 2 (AWG 14): b 3.5 (AWG 12): a...
  • Page 405 Selection example of crimp terminals ■200 V class Symbol Servo amplifier-side crimp terminals Crimp terminal Applicable tool Manufacturer Body Head Dice FVD5.5-4 YNT-1210S     8-4NS YHT-8S FVD2-4 YNT-1614     FVD2-M3   FVD1.25-M3 YNT-2216 FVD14-6 YF-1 YNE-38...
  • Page 406: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

    11.10 Molded-case circuit breakers, fuses, magnetic contactors CAUTION • To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. • Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. For the selection when the MR-J4-_GF-RJ servo amplifier is used with the DC power supply input, refer to the following.
  • Page 407 *1*3 Servo amplifier Molded-case circuit breaker Fuse Magnetic contactor Frame, rated current Voltage AC [V] Class Current [A] Voltage AC Power factor Power factor improving improving reactor is not reactor is used used MR-J4-60GF4(-RJ) 30 A frame 5 A 30 A frame 5 A S-N10 S-T10 MR-J4-100GF4(-RJ)
  • Page 408 For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker, fuse, etc.) to protect the branch circuit. Servo amplifier Molded-case circuit breaker Fuse (Class T)
  • Page 409: Power Factor Improving Dc Reactors

    11.11 Power factor improving DC reactors The following shows the advantages of using power factor improving DC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. •...
  • Page 410 4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) D or less Servo amplifier P P1 FR-HEL 5 m or less W ± 2 Servo amplifier Power factor Dimensions [mm] Terminal Mass Wire [mm improving size [kg]...
  • Page 411 400 V class 4-d mounting hole D or less (D3) P P1 Servo amplifier FR-HEL-H 5 m or less W ± 2.5 D1 ± 1 Servo amplifier Power factor Dimensions [mm] Terminal Mass Wire [mm improving size [kg] DC reactor MR-J4-60GF4(-RJ) FR-HEL-H1.5K M3.5...
  • Page 412 4-d mounting hole D or less (D3) P P1 Servo amplifier FR-HEL-H 5 m or less W ± 2.5 D1 ± 1 Servo amplifier Power factor Dimensions [mm] Terminal Mass Wire improving size [kg] DC reactor MR-J4-200GF4(-RJ) FR-HEL-H3.7K 2 (AWG 14) MR-J4-350GF4(-RJ) FR-HEL-H7.5K 2 (AWG 14)
  • Page 413 4-d mounting hole D or less (D3) Servo amplifier FR-HEL-H 5 m or less W ± 2.5 D1 ± 1 Servo amplifier Power factor Dimensions [mm] Terminal Mass Wire [mm improving size [kg] DC reactor MR-J4-700GF4(-RJ) FR-HEL-H15K 5.5 (AWG 10) MR-J4-11KGF4(-RJ) 8 (AWG 8) MR-J4-15KGF4(-RJ)
  • Page 414: Power Factor Improving Ac Reactors

    11.12 Power factor improving AC reactors The following shows the advantages of using power factor improving AC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. •...
  • Page 415 *1 Use this for grounding. *2 W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K. *3 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. *4 Maximum dimensions. The dimension varies depending on the input/output lines. Terminal layout S Y T 4-d mounting hole...
  • Page 416 4-d mounting hole Servo amplifier D or less 3-phase 200 V class FR-HAL MCCB 3-phase 200 V AC to 240 V AC D1 ± 2 Servo amplifier Power factor Dimensions [mm] Terminal Mass [kg] improving size AC reactor MR-J4-22KGF(-RJ) FR-HAL-30K *1 Use this for grounding.
  • Page 417 400 V class 4-d mounting hole ( 5 groove) S Y T Servo amplifier 3-phase D or less 400 V class FR-HAL-H MCCB 3-phase 380 V AC to 480 V AC W ± 0.5 Servo amplifier Power factor Dimensions [mm] Terminal Mass [kg] improving...
  • Page 418: Relay (Recommended)

    R X S 4-d mounting hole ( 8 groove) D or less Servo amplifier 3-phase 400 V class FR-HAL-H MCCB 3-phase 380 V AC to 480 V AC W ± 0.5 Servo amplifier Power factor Dimensions [mm] Terminal Mass [kg] improving size AC reactor...
  • Page 419 ■Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
  • Page 420 Noise transmission Suppression techniques route 1) 2) 3) 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 421 When using cable clamp fittings Servo amplifier Cable clamp fitting 200 mm to 300 mm or less When using a data line filter Servo amplifier Data line filter 80 mm or less • For outside the cabinet When using cable clamp fittings Servo amplifier Inside the Outside the...
  • Page 422 Noise reduction products ■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. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.
  • Page 423 ■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. Install the grounding plate near the servo amplifier for the encoder cable.
  • Page 424 ■Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
  • Page 425 ■Radio noise filter (FR-BIF(-H)) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF(-H) is designed for the input only. 100 V class/200 V class: FR-BIF 400 V class: FR-BIF-H Connection diagram Dimensions [Unit: mm]...
  • Page 426 ■Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by Nippon Chemi-Con, are recommended.
  • Page 427: Earth-Leakage Current Breaker

    Rated sensitivity current  10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA]    (11.1) Cable Noise filter Cable Servo amplifier Earth-leakage current breaker Type Mitsubishi Electric products Models provided with harmonic and surge reduction NV-SP techniques NV-SW NV-CP NV-CW NV-HW...
  • Page 428 ■Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit • 100 V class/200 V class 5.5 14 38100 3.5 8 60150 Cable size [mm ] "Ig1" of 100 V class servo amplifiers is 1/2 of 200 V class servo amplifiers. •...
  • Page 429 Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions. 2 mm × 5 m 2 mm × 5 m Servo motor Servo amplifier MR-J4-40GF HG-KR43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram.
  • Page 430: Emc Filter (Recommended)

    11.16 EMC filter (recommended) When connecting multiple servo amplifiers to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines". It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current.
  • Page 431 Connection example Servo amplifier EMC filter MCCB Power supply Surge protector *1 Refer to the following for the power supply specifications. Page 30 Servo amplifier standard specifications *2 The example is when a surge protector is connected. 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.16 EMC filter (recommended)
  • Page 432 Dimensions ■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/HF3040A-UN [Unit: mm] 6-R3.25 length: 8 3-M5 3-M5 70 ± 2 85 ± 1 85 ±...
  • Page 433 HF3100A-UN [Unit: mm] 2-6.5 × 8 2-φ6.5 380 ± 1 400 ± 5 TF3005C-TX/TF3020C-TX/TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 M4 M4 3-M4 Approx. 67.5 100 ± 1 100 ± 1 ± 3 290 ± 2 150 ± 2 308 ± 5 Approx.
  • Page 434 TF3040C-TX/TF3060C-TX [Unit: mm] 8-R3.25 Length 8 (for M6) 3-M6 3-M6 Approx. 91.5 100 ± 1 100 ± 1 100 ± 1 390 ± 2 180 ± 2 Approx. 190 412 ± 5 438 ± 5 200 ± 5 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.16 EMC filter (recommended)
  • Page 435 FTB-100-355-L/FTB-80-355-L [Unit: mm] 3-M8 (option-S: hexagon socket head cap screw) 3-M8 (option-S: hexagon socket head cap screw) Input Output Model plate M6 (option-S: hexagon socket head cap screw) M6 (option-S: hexagon Protective earth (PE) socket head cap screw) Terminal block cover Terminal block cover Protective earth (PE) Mounting hole...
  • Page 436 ■Surge protector RSPD-250-U4/RSPD-500-U4 [Unit: mm] 4.2 ± 0.5 Resin Lead Case 41 ± 1 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.16 EMC filter (recommended)
  • Page 437: External Dynamic Brake

    11.17 External dynamic brake CAUTION • Use an external dynamic brake for a servo amplifier of MR-J4-11KGF(-RJ) to MR-J4-22KGF(-RJ) and MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ). Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.
  • Page 438 Connection example ■200 V class Operation ready Servo amplifier Servo motor Emergency stop switch MCCB Power supply 24 V DC DOCOM *2*8 Main circuit power supply DICOM 24 V DC DICOM 13 U Dynamick brake interlock External dynamic brake *1 Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open. Therefore, configure up an external sequence to prevent servo-on.
  • Page 439 ■400 V class Operation ready Servo amplifier Servo motor Emergency stop switch Step-down transformer MCCB Power 24 V DC supply DOCOM *2*10 Main circuit power supply DICOM 24 V DC DICOM 13 U Dynamic brake interlock External dynamic brake *1 Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open. Therefore, configure an external sequence to prevent servo-on.
  • Page 440 Timing chart • Timing chart at alarm occurrence Coasting Servo motor speed Dynamic brake Present Alarm Absent Base circuit DB (Dynamic brake interlock) Disabled Dynamic brake Enabled Short Emergency stop switch Open • Timing chart at emergency stop switch enabled Coasting Servo motor speed Dynamic brake...
  • Page 441 • Timing chart when both of the main and control circuit power are off Coasting Dynamic brake Servo motor speed Electro magnetic brake interlock 7 ms Base circuit 10 ms MBR (Electromagnetic brake interlock) OFF (Valid) Electro magnetic 15 ms to 60 ms brake operation delay time ALM (Malfunction)
  • Page 442 Dimensions ■DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] External dynamic brake Mass Connection wire [mm [kg] U/V/W Except U/V/W DBU-11K 163.5 5.5 (AWG 10) 2 (AWG 14) DBU-15K/DBU-22K-R1 5.5 (AWG 10) 2 (AWG 14) *1 Selection conditions of wire size are as follows.
  • Page 443 ■DBU-11K-4/DBU-22K-4 [Unit: mm] 2- 7 mounting hole 73.75 Mass: 6.7 [kg] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] External dynamic brake Connection wire [mm U/V/W Except U/V/W DBU-11K-4 5.5 (AWG 10) 2 (AWG 14) DBU-22K-4 5.5 (AWG 10) 2 (AWG 14)
  • Page 444: Panel Through Attachment (Mr-J4Acn15K/Mr-J3Acn)

    11.18 Panel through attachment (MR-J4ACN15K/MR- J3ACN) By using the panel through attachment, you can mount the servo amplifier with its heat generation area exposed outside the cabinet to dissipate the heat, enabling smaller cabinets. In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet.
  • Page 445 ■Mounting method • Assembling the panel through attachment Attachment Servo amplifier Fit using the assembling screws. Attachment • Installation to the inside cabinet Opening Cabinet Servo amplifier 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
  • Page 446 ■Mounting dimensional diagram [Unit: mm] 20.6 Panel Attachment Servo amplifier Servo amplifier Panel 108.3 Mounting hole Approx. 263.3 MR-J3ACN ■Panel cut dimensions [Unit : mm] 4-M10 Screw Opening ■How to assemble the panel through attachment Attachment Screw (2 places) 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
  • Page 447 ■Mounting method • Assembling the panel through attachment Attachment Servo Fit using the amplifier assembling screws. Attachment • Installation to the inside cabinet Opening Servo amplifier Cabinet 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
  • Page 448 ■Mounting dimensional diagram [Unit: mm] Panel Servo amplifier Servo amplifier Attachment Panel Approx. 11.5 Mounting Approx. 260 hole Approx. 260 11 OPTIONS AND PERIPHERAL EQUIPMENT 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
  • Page 449: Chapter 12 Absolute Position Detection System

    ABSOLUTE POSITION DETECTION SYSTEM CAUTION • If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] occurs, be sure to make perform home position setting again. Otherwise, it may cause an unexpected operation. • If [AL. 25], [AL. 92], or [AL. 9F] occurs due to a failure, such as short circuit of the battery, the MR-BAT6V1 battery may be hot. Use the MR-BAT6V1 battery with a case to prevent getting burnt.
  • Page 450: Structure

    Structure The following shows the structure of the absolute position detection system. Refer to the following for each battery connection. Page 384 Battery Controller Servo amplifier CN1A Battery Servo motor Parameter setting Absolute position detection system selection Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. [Pr.
  • Page 451: Confirmation Of Absolute Position Detection Data

    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 ABSOLUTE POSITION DETECTION SYSTEM 12.1 Summary...
  • Page 452: Battery

    12.2 Battery Using MR-BAT6V1SET-A battery Configuration diagram Controller Servo amplifier Command Home position data position EEP-ROM memory Current position Backup at power off Detecting the ecting the number of position within Step-down revolutions one revolution circuit (6 V 3.4 V) MR-BAT6V1SET-A Servo motor Cumulative revolution counter...
  • Page 453: Using Mr-Bat6V1Bj Battery For Junction Battery Cable

    Using MR-BAT6V1BJ battery for junction battery cable • MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. • MR-BAT6V1BJ cannot be used for fully closed loop system. Configuration diagram Controller Servo amplifier Command Home position data position...
  • Page 454: Using Mr-Bt6Vcase Battery Case

    Using MR-BT6VCASE battery case • One MR-BT6VCASE can hold the absolute position data of up to 8-axis servo motors. • Always install five MR-BAT6V1 batteries to an MR-BT6VCASE. Configuration diagram Controller Servo amplifier Command Home position data position EEP-ROM memory Current position Backup at...
  • Page 455: Chapter 13 Using Sto Function

    USING STO FUNCTION In the torque mode, the forced stop deceleration function cannot be used. 13.1 Introduction This section provides the cautions of the STO function. Summary This servo amplifier complies with the following safety standards. • ISO/EN ISO 13849-1 category 3 PL e •...
  • Page 456: 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. • The STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically disconnect electricity from the motor.
  • Page 457: Maintenance

    Function block diagram (STO function) Base power supply for upper arm Shut-off signal (STO1) Shut- Monitor signal (TOFB1) Base power supply for Power lower arm module Shut-off signal (STO2) Shut- Monitor signal (TOFB2) Servo motor Operation sequence (STO function) Servo motor speed 0 r/min EM2 (Forced stop 2) STO1...
  • Page 458: Sto I/O Signal Connector (Cn8) And Pin Assignment

    13.2 STO I/O signal connector (CN8) and pin assignment Pin assignment The pin assignment of the connectors is as viewed from the cable connector wiring section. Servo amplifier STO I/O signal connector STO1 STOCOM TOFB1 STO2 TOFB2 TOFCOM Signal (device) explanations I/O device Signal Connector pin...
  • Page 459: How To Pull Out The Sto Cable

    Signals and STO state The following table shows the TOFB and STO states when the power is on in normal state and STO1 and STO2 are on (closed) or off (opened). Input signal State STO1 STO2 Between TOFB1 and TOFCOM Between TOFB2 and TOFCOM Between TOFB1 and TOFB2 (Monitoring STO1 state)
  • Page 460: Connection Example

    13.3 Connection example • 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 461: External I/O Signal Connection Example Using An Mr-J3-D05 Safety Logic Unit

    External I/O signal connection example using an MR-J3-D05 safety logic unit This connection is for source interface. For the other I/O signals, refer to the connection examples in the following section. Page 97 For source I/O interface 13 USING STO FUNCTION 13.3 Connection example...
  • Page 462 Connection example 24 V RESA RESB MR-J3-D05 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- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B- Servo amplifier SDO1B+ CN8B...
  • Page 463 Basic operation example STOA is connected to the servo amplifier via MR-J3-D05. STOB is connected to the servo amplifier via MR-J3-D05. A-axis shutdown 1 and 2 Energizing (close) B-axis shutdown 1 and 2 Shut-off (open) Stop EM2 input Shut off delay Operation Normal (close) STO shut-off...
  • Page 464: External I/O Signal Connection Example Using An External Safety Relay Unit

    External I/O signal connection example using an external safety relay unit This connection is for source interface. For the other I/O signals, refer to the connection examples in the following section. Page 97 For source I/O interface 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 465: Detailed Explanation Of Interfaces

    13.4 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in the following section. Refer to this section and make connection with the external device. Page 456 STO I/O signal connector (CN8) and pin assignment Sink I/O interface Digital input interface DI-1 This is an input circuit in which photocoupler cathode side is input terminal.
  • Page 466: Source I/O Interface

    Source I/O interface In this servo amplifier, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from source (open- collector) type transistor output, relay switch, etc. Servo amplifier STO1 STO2...
  • Page 467: Chapter 14 Using A Linear Servo Motor

    USING A LINEAR SERVO MOTOR WARNING • When using the linear servo motor, read "Linear Servo Motor Instruction Manual" and "Linear Encoder Instruction Manual". The linear servo motor is available for servo amplifiers with software version A1 or later. 14.1 Functions and configuration Summary The following shows the differences between the linear servo motor and the rotary servo motor.
  • Page 468: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment CAUTION • Connecting a linear servo motor for different axis to the U, V, W, or CN2 may cause a malfunction. • Equipment other than the servo amplifier and linear servo motor are optional or recommended products. •...
  • Page 469 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200GF or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
  • Page 470 When using serial linear encoder with MR-J4-_GF_-RJ The configuration diagram is an example of MR-J4-20GF-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to the following depending on servo amplifiers you use.
  • Page 471 When using A/B/Z-phase differential output linear encoder with MR-J4-_GF_-RJ The configuration diagram is an example of MR-J4-20GF-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to the following depending on servo amplifiers you use.
  • Page 472: Signals And Wiring

    14.2 Signals and wiring WARNING • 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 473: Operation And Functions

    14.3 Operation and functions Startup When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". Startup procedure Start up the linear servo system in the following procedure. Installation and wiring Set the linear servo motor series and linear servo motor type. (Refer to (2) in this section.) Set the linear encoder direction and the linear servo motor direction.
  • Page 474 Setting of linear encoder direction and 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 the increasing direction of the linear encoder feedback. [Pr.
  • Page 475: Magnetic Pole Detection

    Linear encoder resolution setting • To enable the parameter values, cycle the power after setting. • If an incorrect value is set for [Pr. PL02]/[Pr. PL03], the linear servo motor may not operate properly, or [AL. 27]/[AL. 42] may occur during the positioning operation/the magnetic pole detection. Set the ratio of the electronic gear to the linear encoder resolution with [Pr.
  • Page 476 Magnetic pole detection method with MR Configurator2 The following shows the magnetic pole detection procedure with MR Configurator2. ■Magnetic pole detection by the position detection method Magnetic pole detection 1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
  • Page 477 ■Magnetic pole detection by the minute position detection method Magnetic pole detection 1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Turn "On (up)" the test operation select switch (SW1-1) of the servo amplifier, and then cycle the power of the servo amplifier.
  • Page 478 ■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 follows. Magnetic pole detection During the completion...
  • Page 479 Operation at the magnetic pole detection WARNING • Note that the magnetic pole detection automatically starts simultaneously with the turning-on of the servo-on command. CAUTION • If the magnetic pole detection is not executed properly, the linear servo motor may operate unexpectedly. •...
  • Page 480 ■For the incremental linear encoder 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 481 • Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows. The linear servo motor moves to a magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
  • Page 482 Magnetic pole detection method setting In the following cases, set the magnetic pole detection method to the minute position detection method. • When a shortened travel distance at the magnetic pole detection is required • When the magnetic pole detection by the position detection method is not completed properly Set the magnetic pole detection method by using the first digit of [Pr.
  • Page 483: Home Position Return

    Home position return The incremental linear encoder and the absolute position linear encoder have different reference home positions at the home position return. Incremental linear encoder CAUTION • If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear encoder is large, the linear servo motor may crash into the stroke end, which is very dangerous.
  • Page 484 In the case of a dog type home position return, after the proximity dog signal rear end is detected, the nearest home position reference position shifted by the home position shift distance is used as the home position. Set one linear encoder home position in the full stroke, and set it in the proximity dog signal detection position. When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled (_ _ 1 _)"...
  • Page 485 Absolute position linear encoder 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. PL01]) with reference to the linear encoder home position (absolute position data = 0). In the case of a proximity dog type home position return, the nearest reference home position after proximity dog off is the home position.
  • Page 486: Test Operation Mode In Mr Configurator2

    Test operation mode in MR Configurator2 CAUTION • The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use the linear servo motor alone. •...
  • Page 487 ■Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. Perform on the DO forced output screen of MR Configurator2. ■Program operation Positioning operation can be performed in two or more operation patterns combined, without using the controller. Use this operation with the forced stop reset.
  • Page 488: Operation From Controller

    Operation from controller For the system using the incremental linear encoder, the magnetic pole detection is automatically performed at the first servo- on after the power-on. For this reason, when performing the positioning operation, create the sequence which surely confirms the servo-on status as the inter lock condition of the positioning command.
  • Page 489 ■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 "Outline of linear servo control error detection function", if the deviation is more than the value of [Pr.
  • Page 490: Absolute Position Detection System

    Auto tuning function 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. • The linear servo motor speed is 150 mm/s or higher. •...
  • Page 491: Characteristics

    14.4 Characteristics Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in the following figures.
  • Page 492: Power Supply Capacity And Generated Loss

    Power supply capacity and generated loss The following table indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation.
  • Page 493: Dynamic Brake Characteristics

    Dynamic brake characteristics CAUTION • 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 moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
  • Page 494: Permissible Load To Motor Mass Ratio When The Dynamic Brake Is Used

    Linear servo motor (primary side) Coefficient A Coefficient B 2.49  10 1.02  10 LM-K2P2A-02M-1SS1 6.85  10 2.80  10 LM-K2P2C-07M-1SS1 5.53  10 1.14  10 LM-K2P2E-12M-1SS1 2.92  10 1.16  10 LM-K2P3C-14M-1SS1 2.53  10 5.52 ...
  • Page 495: Chapter 15 Using A Direct Drive Motor

    USING A DIRECT DRIVE MOTOR CAUTION • When using the direct drive motor, read the "Direct Drive Motor Instruction Manual". For the software version of the servo amplifier that is compatible with the direct drive servo system, refer to the following.
  • Page 496: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment CAUTION • Connecting a direct drive motor for different axis to the U, V, W, or CN2 may cause a malfunction. • Equipment other than the servo amplifier and direct drive motor are optional or recommended products. •...
  • Page 497 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200GF(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
  • Page 498: Signals And Wiring

    15.2 Signals and wiring WARNING • 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 499 This chapter does not describe the following items. For details of the items, refer to each section of the detailed explanation field. Item Detailed explanation Page 83 Connection example of power circuit Connection example of power circuit Page 98 Explanation of power supply system Explanation of power supply system Page 105 Signal (device) explanations Signal (device) explanations...
  • Page 500: Operation And Functions

    15.3 Operation and functions • When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _". • For the test operation, refer to the following. Page 138 Test operation • The Z-phase pulse of the direct drive motor must be turned on after power-on. When the machine configuration does not allow one or more revolution of the direct drive motor, install the direct drive motor so that the Z-phase pulse can be turned on.
  • Page 501: Magnetic Pole Detection

    *1 Use MR Configurator2. *2 In the absolute position detection system, be sure to turn on the Z-phase pulse of the direct drive motor while the servo amplifier power is on, and then cycle the power of the servo amplifier. Cycling the power confirms the absolute position. Without this operation, the absolute position will not be regained properly, and a warning occurs at the controller.
  • Page 502 Magnetic pole detection method with MR Configurator2 The following shows the magnetic pole detection procedure with MR Configurator2. ■Magnetic pole detection by the position detection method Magnetic pole detection Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again.
  • Page 503 ■Magnetic pole detection by the minute position detection method Magnetic pole detection Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again. Turn "On (up)"...
  • Page 504 ■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 follows. Magnetic pole During the detection magnetic...
  • Page 505 ■Incremental system For the incremental system, 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. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the magnetic pole detection.
  • Page 506 ■Absolute position detection system The magnetic pole detection will be required with the following timings. • When the system is set up (at the first startup of equipment) • When the Z-phase pulse of the direct drive motor is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) •...
  • Page 507: Operation From Controller

    Setting of the magnetic pole detection voltage level by the position detection method For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 508: Function

    Function Servo control error detection function 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 509 ■Torque deviation error detection Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection. [Pr. PL04] Torque deviation error detection enabled When you compare the command torque ( 5)) and the feedback torque ( 6)) in "Outline of servo control error detection function", if the deviation is more than the value of [Pr.
  • Page 510: Characteristics

    15.4 Characteristics 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 relay protection curve shown in the following figures.
  • Page 511: Power Supply Capacity And Generated Loss

    Power supply capacity and generated loss The following table indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation.
  • Page 512 Dynamic brake operation ■Calculation of coasting distance The following shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 15.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant  varies with the direct drive motor and machine operation speeds.
  • Page 513 Direct drive motor speed [r/min] Direct drive motor speed [r/min] TM-RG2M002C30 TM-RG2M004E30 TM-RU2M002C30 TM-RU2M004E30 Direct drive motor speed [r/min] TM-RG2M009G30 TM-RU2M009G30 15 USING A DIRECT DRIVE MOTOR 15.4 Characteristics...
  • Page 514 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 to motor inertia ratio is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
  • Page 515: Chapter 16 Fully Closed Loop System

    FULLY CLOSED LOOP SYSTEM The fully closed loop system is available for servo amplifiers with software version A1 or later. When fully closed loop control system is used with this servo amplifier, "Linear Encoder Instruction Manual" is needed. Fully closed loop control system is available with position mode. When fully closed loop system is configured with MR-J4-_GF_ servo amplifier, the following restrictions will be applied.
  • Page 516: Selecting Procedure Of Control Mode

    The following table shows the functions of each control mode. Control Description Semi closed loop control Feature Position is controlled according to the servo motor-side data. Advantage Since this control is insusceptible to machine influence (such as machine resonance), the gains of the servo amplifier can be raised and the settling time shortened.
  • Page 517 Dual feedback filter equivalent block diagram A dual feedback filter equivalent block diagram on the dual feedback control is shown below. Servo motor Position control unit High-pass filter Linear encoder Low-pass filter Dual feedback filter Operation status Control status Fully closed Semi closed Servo motor during a stop Fully closed loop...
  • Page 518: System Configuration

    System configuration For a linear encoder ■MR-J4-_GF_ servo amplifier Servo amplifier CC-Link IE compatible simple motion module CC-Link IE Position command Two-wire type serial interface compatible linear encoder control signal Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table *1 Applicable for the absolute position detection system when an absolute position linear encoder is used.
  • Page 519 For a rotary encoder ■MR-J4-_GF_ servo amplifier Servo amplifier CC-Link IE compatible simple motion module Servo motor encoder signal CC-Link IE Drive part Position command control signal Servo motor Load-side encoder signal Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) *1 Use a two-wire type encoder cable.
  • Page 520: Load-Side Encoder

    16.2 Load-side encoder • 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. Linear encoder Refer to "Linear Encoder Instruction Manual" for usable linear encoders. Rotary encoder When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder.
  • Page 521 Rotary encoder Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders. ■MR-J4-_GF_ servo amplifier MR-J4FCCBL03M branch cable (Refer to section 16.2.4) Servo amplifier MOTOR Encoder of rotary servo motor SCALE Servo motor HG-KR Load-side HG-MR encoder Encoder cable (Refer to the "Servo Motor Instruction Manual (Vol.
  • Page 522: Mr-J4Fccbl03M Branch Cable

    MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m MOTOR Plate Plate THM2 THM2 THM1 THM1...
  • Page 523: Operation And Functions

    16.3 Operation and functions Startup 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 Positioning operation check using MR Configurator2 equipment is normal.
  • Page 524 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. [Pr. PA01] [Pr. PE01] Semi closed loop control/ Command unit Control system Absolute fully closed loop control...
  • Page 525 Selection of load-side encoder communication method The communication method changes depending on the load-side encoder type. Refer to the following and "Linear Encoder Instruction Manual" for the communication method for each load-side encoder. Page 18 Summary Select the cable to be connected to CN2L connector in [Pr. PC26]. [Pr.
  • Page 526 Setting of feedback pulse electronic gear 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. Also, it may cause [AL. 42.8 Fully closed loop control error by position deviation] during the positioning operation.
  • Page 527 ■Setting example when using the rotary encoder for the load-side encoder of roll feeder Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 4194304 pulses/rev Drive part Pulley diameter d2 = 20 mm...
  • Page 528 Confirmation of load-side encoder position data Check the load-side encoder mounting and parameter settings for any problems. Depending on the check items, MR Configurator2 may be used. Refer to the following for the data displayed on the MR Configurator2. Page 533 About MR Configurator2 When checking the following items, the fully closed loop control mode must be set.
  • Page 529 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 530: Home Position Return

    Home position return 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 531: Operation From Controller

    • When the linear encoder home position does not exist in the home position return direction • To execute a home position return securely, start a home position return after moving the axis to the opposite stroke end by jog operation, etc. of the controller. •...
  • Page 532: Fully Closed Loop Control Error Detection Functions

    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. The fully closed loop control error detection function has two different detection methods, speed deviation and position deviation, and errors are detected only when the corresponding functions are enabled by setting [Pr.
  • Page 533: Auto Tuning Function

    ■Detecting multiple deviation errors When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error detection method, refer to the following. Page 530 Speed deviation error detection Page 530 Position deviation error detection [Pr. PE03] Setting Speed deviation Position deviation...
  • Page 534: Absolute Position Detection System Under Fully Closed Loop System

    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. When a rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery to the servo amplifier.
  • Page 535: About Mr Configurator2

    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" to constantly read the monitor display items from the servo amplifier. Then, click "Monitor stop"...
  • Page 536 Symbol Name Explanation Unit Polarity For address increasing direction in the servo motor CCW, it is indicated as "+" and for address  decreasing direction in the servo motor CCW, as "-".  Z phase pass status If the fully closed loop system is "Disabled", the Z-phase pass status of the servo motor encoder is displayed.
  • Page 537: Chapter 17 Application Of Functions

    APPLICATION OF FUNCTIONS This chapter explains application of using servo amplifier functions. 17.1 Scale measurement function The scale measurement function transmits position information of a scale measurement encoder to the controller by connecting the scale measurement encoder in semi closed loop control. The scale measurement function is available for servo amplifiers with software version A1 or later.
  • Page 538 System configuration ■For a linear encoder • MR-J4-_GF_ servo amplifier Servo amplifier CC-Link IE compatible simple motion module CC-Link IE Position command Two-wire type serial interface compatible linear encoder control signal Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table •...
  • Page 539 ■For a rotary encoder • MR-J4-_GF_ servo amplifier Servo amplifier CC-Link IE compatible simple motion module Servo motor encoder signal CC-Link IE Drive part Position command control signal Servo motor Load-side encoder signal Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) *1 Use a two-wire type encoder cable.
  • Page 540: Scale Measurement Encoder

    Scale measurement encoder • 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. Linear encoder Refer to "Linear Encoder Instruction Manual"...
  • Page 541 • MR-J4-_GF_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in "MR-J4-_GF_ servo amplifier" for MR-J4-_GF_-RJ servo amplifier. You can also use a four-wire type linear encoder. Servo amplifier Encoder of rotary servo motor Linear encoder CN2L Scale...
  • Page 542 MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m MOTOR Plate Plate THM2 THM2 THM1 THM1 THM1 THM1 THM2...
  • Page 543: How To Use Scale Measurement Function

    How to use scale measurement function Selection of scale measurement function The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and [Pr. PA22]. ■Operation mode selection The scale measurement function can be used during semi closed loop system (standard control mode). Set [Pr. PA01] to "_ _ 0 _".
  • Page 544 ■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. Set this as necessary. [Pr.
  • Page 545: Controller Setting Of The Scale Measurement Function

    Controller setting of the scale measurement function When a simple motion module RD77GF is used, the scale function is available in the servo cyclic transmission function or servo transient transmission function. To use the simple motion module, set the objects 2D36h and 2D37h to any receive PDO, and the objects 2D35h, 2D38h, and 2D3Ch to any receive SDO.
  • Page 546: Touch Probe

    Method for calculating a scale measurement encoder position The scale measurement encoder position is calculated as follows: Scale position = (2D37h (Scale ABS counter)  2D38h (Scale measurement encoder resolution)) + 2D36h (Scale cycle counter) 17.2 Touch probe The touch probe function is available to latch the current position by sensor input. With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and TPR2 (touch probe 2) can be memorized and stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe function (60B8h).
  • Page 547 ■Details of Touch probe function (60B8h) Definition 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: Single trigger mode 1: Continuous trigger mode 0: Set input of touch probe 1 as a trigger 1: Set 0 point of the encoder as a trigger (Unsupported) (reserved) The value at reading is undefined.
  • Page 548 Timing chart 60B8h Bit 0 Touch probe function Enable Touch Probe 1 60B8h Bit 1 Trigger first event 60B8h Bit 4 Enable Sampling at positive edge 60B8h Bit 5 Enable Sampling at negative edge 60B9h Bit 0 Touch probe status Touch Probe 1 is enabled 60B9h Bit 1 Touch Probe 1 positive edge stored...
  • Page 549 High-precision touch probe TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch function with precision of 55 s. On the other hand, the high-precision touch probe latches precisely startup of TPR2 (touch probe 2) with precision of 2 s. To use the high-precision touch probe, set [Pr.
  • Page 550: Backup/Restoration Function

    17.3 Backup/restoration function • Do not use the backup/restoration function with the following conditions. Function Non-functioning situation Backup At communication shut-off During servo motor operation Restoration At communication shut-off At servo-on • After a restore is executed, wait for 40 s or more, and then cycle the power of the servo amplifier. When the restore is executed with the absolute position detection system, a home position return must be performed after the setting.
  • Page 551: Parameter Object

    17.4 Parameter object Definition of parameter objects When a simple motion module RD77GF is used, use the servo parameter change function to change the parameter of the servo amplifier by writing values to the following objects. Since the changed setting is deleted at power supply shut-off, resetting is required at the next startup.
  • Page 552: Enabling Parameters

    Enabling parameters The parameters whose symbols are preceded by "*" are enabled by the following operations. Refer to the following for "*" of the parameter symbols. Page 168 PARAMETERS Store Parameters Write "65766173h" (= reverse order of the ASCII code of "save") to the corresponding sub object of Store Parameters (1010h) to store the parameter setting in the EEP-ROM of the servo amplifier.
  • Page 553: Machine Diagnosis Function

    17.5 Machine diagnosis function Function summary The failure prediction function is used with servo amplifiers with software version A3 or later. This is available with MR Configurator2 with software version 1.60N or later. The machine diagnosis function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and detects an error in the machine parts, including a ball screw and bearing.
  • Page 554 Start Start the system. (Refer to chapter 4.) [Pr. PF31] setting (When your operation pattern is under rated speed, set 1/2 of the maximum speed.) Friction estimation function Which function do you use? Friction failure prediction function Set [Pr. PF41 Failure prediction - Servo motor total travel distance] and Drive the servo motor.
  • Page 555 Vibration estimation function/vibration failure prediction function Use the vibration estimation function or the vibration failure prediction function with the following procedure. In the vibration failure prediction function, a threshold that outputs a warning can be automatically calculated in the servo amplifier with "Automatic threshold setting", or set by using parameters with "Manual threshold setting".
  • Page 556: Friction Vibration Estimation Function

    Total travel distance failure prediction function Use the total travel distance failure prediction function with the following procedure. Start Start the system. (Refer to chapter 4.) Set "Servo motor total travel distance failure prediction warning selection (_ x _ _)" in [Pr.
  • Page 557 Friction estimation function Speed [Pr. PF31] Zero speed Forward rotation Servo motor speed 0 r/min Time Reverse rotation Zero speed [Pr. PF31] To perform friction estimation, the servo motor must be rotated at zero speed or higher, and operated for 150 s both in the high and low-speed sections.
  • Page 558: Failure Prediction Function

    Failure prediction function • When the vibration failure prediction function is enabled, a vibration failure warning may occur if the gains of the servo amplifier are changed. To enable the vibration failure prediction function, enable it after the gains of the servo amplifier are adjusted. •...
  • Page 559 The friction failure prediction function can be used with the following procedure. ■Friction failure prediction warning setting To enable the friction failure prediction warning, set "Friction failure prediction warning selection (_ _ _ x)" in [Pr. PF34] to "_ _ _ 1 (automatic threshold setting)"...
  • Page 560 ■Execution of friction failure prediction When upper and lower limit thresholds are inputted to the servo amplifier as indicated in the following section, the servo amplifier starts friction failure prediction. During friction failure prediction, if the dynamic friction (at rated speed) estimated by the friction estimation function exceeds the upper or lower limit threshold, [AL.
  • Page 561 Vibration failure prediction function The vibration failure prediction function predicts a failure of the equipment from the increase in the vibration level estimated by the vibration estimation function. If a failure of the equipment is predicted from the vibration level, [AL. F7.1 Vibration failure prediction warning] will occur.
  • Page 562 ■Execution of vibration failure prediction When a threshold is inputted to the servo amplifier as indicated in the following section, the servo amplifier starts vibration failure prediction. During vibration failure prediction, if the vibration level during servo motor operation, which is estimated by the vibration estimation function, exceeds the threshold, [AL.
  • Page 563 ■Execution of total travel distance failure prediction When a threshold is inputted to the servo amplifier as indicated in the following section, the servo amplifier starts total travel distance failure prediction. After the occurrence of [AL. F7.3 Total travel distance failure prediction warning], if "_ 0 _ _ (disabled)"...
  • Page 564 Index Object Name Data Type Access Description 2C2Eh Vibration based fault prediction prepare Vibration failure prediction - Preparation progress status The threshold creation progress used for vibration failure prediction is displayed in %. The creation of a threshold for vibration failure prediction will be completed at 100%. 2C2Fh Motor total distance Motor total travel distance...
  • Page 565: Appendices

    APPENDICES Appendix 1 When using the servo amplifier with the DC power supply input The DC power supply input is available only with the MR-J4-_GF-RJ servo amplifiers. Connection example CAUTION • Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur. For the signal and wirings not given in this section, refer to the following.
  • Page 566 MR-J4-10GF-RJ to MR-J4-100GF-RJ Malfunction Emergency stop switch Servo amplifier *7*8 24 V DC MCCB AC/DC 3-phase or 1-phase Converter (283 V DC to 200 V AC to 240 V AC 340 V DC) Main circuit power supply 24 V DC Forced stop 2 DOCOM Malfunction...
  • Page 567 MR-J4-200GF-RJ to MR-J4-22KGF-RJ Malfunction Emergency stop switch Servo amplifier *7*8 24 V DC MCCB AC/DC 3-phase or 1-phase Converter (283 V DC to 200 V AC to 240 V AC 340 V DC) Main circuit power supply 24 V DC Forced stop 2 DOCOM DOCOM...
  • Page 568: Power Supply Capacity

    Power supply capacity The power supply capacity is the same as that for the AC power supply input. Page 315 Power supply capacity and generated loss Selection example of wires Selection conditions of wire size are as follows. Construction condition: Single wire set in midair Wiring length: 30 m or shorter The following diagram shows the wires used for wiring.
  • Page 569: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

    Molded-case circuit breakers, fuses, magnetic contactors For main circuit power supply CAUTION • To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. • Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
  • Page 570 For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3/ N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit. Servo amplifier Fuse (Class T) Fuse (Class K5) Current [A]...
  • Page 571: Of Dangerous Goods

    Appendix 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization (IMO).
  • Page 572 ■Transportation of lithium metal batteries packed with or contained in equipment • For batteries packed with equipment, follow the necessary requirements of UN3091 PI969. Batteries are classified into either Section /Section  depending on the lithium content/packaging requirements. • For batteries contained in equipment, follow the necessary requirements of UN3091 PI970. Batteries are classified into either Section /Section ...
  • Page 573: Appendix 3 Symbol For The New Eu Battery Directive

    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 . Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.
  • Page 574: Appendix 4 Compliance With Global Standards

     Page 30 Servo amplifier standard specifications 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 575 ■Peripheral device and power wiring The following are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14. • Local wiring and crimping tool The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 /60 . 75 /60 ...
  • Page 576 • Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded- case circuit breaker than ones in the table.
  • Page 577 • 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 578 • Short-circuit current rating (SCCR) 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 (25 kA or 50 kA) when using a Type E Combination motor controller, refer to the following.
  • Page 579 Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-specific waste disposal regulations. (Example: European Waste 16 02 14) Lithium battery transportation To transport lithium batteries, take actions to comply with the instructions and regulations such as the United Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization (IMO).
  • Page 580: Installation Direction And Clearances

    Installation direction and clearances CAUTION • The devices must be installed in the specified direction. Not doing so may cause a malfunction. • Mount the servo amplifier on a cabinet which meets IP54 in the correct direction to maintain pollution degree 2. •...
  • Page 581 The connected motors will be limited as follows. • HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) • Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA) 3-phase input for MR-J4 1-axis servo amplifier Servo amplifier...
  • Page 582: Signal

    Signal Signal The following shows MR-J4-10B signals as a typical example. STO I/O signal connector DOCOM STO1 STOCOM DICOM TOFB1 STO2 TOFCOM TOFB2 DICOM I/O device ■Input device Symbol Device Connector Pin No. Forced stop 2 STOCOM Common terminal for input signals STO1/STO2 STO1 STO1 state input STO2...
  • Page 583: Maintenance And Service

    Maintenance and service WARNING • To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office. Inspection items It is recommended that the following points periodically be checked. • Check for loose terminal block screws. Retighten any loose screws. (Except for MR-J4-03A6 and MR-J4W2-0303B6) Servo amplifier Tightening torque [N•m] ...
  • Page 584: Transportation And Storage

    Transportation and storage CAUTION • Transport the products correctly according to their mass. • Stacking in excess of the limited number of product packages is not allowed. • For detailed information on transportation and handling of the battery, refer to the following. Page 569 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods Page 571 Symbol for the new EU Battery Directive •...
  • Page 585: Technical Data

    Technical data MR-J4 servo amplifier Item MR-J4-10_/ MR-J4-350_/ MR-J4-10_1/ MR-J4-60_4/ MR-J4-03A6/ MR-J4-20_/ MR-J4-500_/ MR-J4-20_1/ MR-J4-100_4/ MR-J4W2-0303B6 MR-J4-40_/ MR-J4-700_/ MR-J4-40_1 MR-J4-200_4/ MR-J4-60_/ MR-J4W2-1010B/ MR-J4-350_4/ MR-J4-70_/ MR-J4-11K_/ MR-J4-500_4/ MR-J4-100_/ MR-J4-15K_/ MR-J4-700_4/ MR-J4-200_/ MR-J4-22K_ MR-J4-11K_4/ MR-J4W2-22B/ MR-J4-15K_4/ MR-J4W2-44B/ MR-J4-22K_4 MR-J4W2-77B/ MR-J4W3-222B/ MR-J4W3-444B Power Main circuit 3-phase or 1-phase 200 3-phase 200 V AC to...
  • Page 586 Dimensions/mounting hole process drawing Front Side Servo amplifier Variable dimensions [mm] Mass [kg] MR-J4-03A6 MR-J4-10_(1)/MR-J4-20_(1) 40 (50) 135 (155) 0.8 (1.0) MR-J4-40_(1)/MR-J4-60_ 40 (50) 170 (155) MR-J4-70_/MR-J4-100_ MR-J4-200_(4) MR-J4-350_ MR-J4-500_ MR-J4-700_ MR-J4-11K_(4)/MR-J4-15K_(4) 13.4 MR-J4-22K_(4) 18.2 MR-J4-60_4/MR-J4-100_4 MR-J4-350_4 MR-J4-500_4 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...
  • Page 587: Check List For User Documentation

    Servo amplifier Variable dimensions [mm] Screw size   90  0.5   MR-J4-03A6 156  0.5     MR-J4-10_(1)/MR-J4-20_(1)/ MR-J4-40_(1)/MR-J4-60_ 156  0.5 42  0.3 MR-J4-70_/MR-J4-100_    156  0.5 78  0.3 ...
  • Page 588: Appendix 5 Mr-J3-D05 Safety Logic Unit

    Appendix 5 MR-J3-D05 Safety logic unit 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 Terms related to safety Stop function for IEC/EN 61800-5-2 ■STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)
  • Page 589: Cautions

    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. • The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this delay time is the full responsibility of the company and/or individuals responsible for installation and commissioning of the safety related system.
  • Page 590: Block Diagram And Timing Chart

    Block diagram and timing chart Function block diagram A-axis circuit +24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+ Safety logic TIMER1 DCDC power B-axis circuit TIMER2 SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A- SW1 SW2 Operation sequence Power supply 15 ms or longer A-axis shutdown...
  • Page 591: Functions And Configuration

    Functions and configuration Summary MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO function. Specifications Safety logic unit model MR-J3-D05 Control circuit Voltage 24 V DC power supply 24 V DC  10% Permissible voltage fluctuation *1*2 Power supply capacity [A]...
  • Page 592 When using MR-J3-D05 with an MR-J4 series servo amplifier ■System configuration diagram The following shows the connection targets of the STO switch and STO release switch. MR-D05UDL_M (STO cable) for MR-J3 series cannot be used. MR-J3-D05 MR-J4_GF_(-RJ) Power Magnetic supply EM2 (Forced stop 2) contactor MCCB...
  • Page 593 ■Connection example 24 V DC RESA RESB MR-J3-D05 STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- MR-J4_GF_(-RJ) SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B- MR-J4_GF_(-RJ) SDO1B+ CN8B...
  • Page 594: Signal

    Signal Connector/pin assignment ■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. A-axis STO2 STO2A- Outputs STO2 to A-axis driving device.
  • Page 595 Device Symbol Pin No. Function/application division B-axis shutdown 2 SDI2B+ Connect this device to a safety switch for B-axis driving device. DI-1 SDI2B- Input the same signal as B-axis shutdown 1. STO state (base shutdown): Open between SDI2B+ and SDI2B-. STO release state (in driving): Close between SDI2B+ and SDI2B-.
  • Page 596 ■Source I/O interfaces (CN9, CN10 connector) • Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc. MR-J3-D05 SRESA-, etc. Approx. 5.4 k Switch SRESA+, etc.
  • Page 597 Connecting wires Confirm the model number of the housing, contact and tool to be used. Insert the tool diagonally into the receptacle assembly. Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
  • Page 598 • Using a screwdriver To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force. Be cautious when connecting. Applicable screwdriver Screwdriver diameter:  2.3 mm Screwdriver diameter:  2.5 mm Diameter: 2.3 mm  0.05 mm Diameter: 2.5 mm ...
  • Page 599 ■Others • Fix a cable tie keeping a distance of "A" × 1.5 or longer from the end of the connector. A × 1.5 or more • Be sure that wires are not pulled excessively when the connector is inserted. Wiring FG Bottom face Lead wire...
  • Page 600: Led Display

    LED display I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis. MR-J3-D05 SRES SDI1 SDI2 SDO1 SDO2 FAULT POWER Definition Column A Column B SRES Monitor LED for start/reset A-axis B-axis Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on.
  • Page 601: Rotary Switch Setting

    Rotary switch setting Rotary switch is used to shut off the power after control stop by SS1 function. Set the delay time from when the STO shut off switch is pressed until when STO output is performed. Set the same setting for SW1 and SW2.
  • Page 602: Dimensions

    Dimensions 22.5 19.5 Approx. 22.5 Approx. 80 9.75 5 mounting hole Rating plate 9.75 2-M4 screw Mounting hole process drawing Pin assignment Mounting screw CN10 CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B SRESA+ SRESA- STO2A- STO2A+ STO2B- STO2B+ SRESB+ SRESB-...
  • Page 603: Installation

    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 longer...
  • Page 604: Appendix 6 Ec Declaration Of Conformity

    Appendix 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. APPX Appendix 6 EC declaration of conformity...
  • Page 605 APPX Appendix 6 EC declaration of conformity...
  • Page 606: Appendix 7 How To Replace Servo Amplifier Without Magnetic Pole Detection

    Appendix 7 How to replace servo amplifier without magnetic pole detection CAUTION • Be sure to write the magnetic pole information of the servo amplifier before the 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 607 Migration method of the magnetic pole information ■How to read the magnetic pole information from the servo amplifier before the replacement Open the project in MR Configurator2, select "MR-J4-GF(-RJ)" for model, and select "Linear" for operation mode. Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".
  • Page 608: Appendix 8 Two-Wire Type Encoder Cable For Hg-Mr/Hg-Kr

    Appendix 8 Two-wire type encoder cable for HG-MR/ HG-KR Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_GF_ 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 609: Internal Wiring Diagram

    Internal wiring diagram Servo amplifier-side Servo motor-side connector connector Plate *1 Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. APPX Appendix 8 Two-wire type encoder cable for HG-MR/HG-KR...
  • Page 610: Appendix 9 Analog Monitor

    Appendix 9 Analog monitor A voltage of analog monitor output may be irregular at power-on. The servo status can be output to two channels in terms of voltage. Setting Change the following digits of [Pr. PC09] and [Pr. PC10]. [Pr. PC09] Analog monitor 1 output selection (the signal provided to the output across MO1 and LG) [Pr.
  • Page 611: Details Of The Setting

    Details of the setting When you use a linear servo motor, replace the following left words to the right words. CCW direction  Positive direction CW direction  Negative direction Torque  Thrust The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2).
  • Page 612 Setting value Output item Description Speed command CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *1*3*5*6 Servo motor-side droop pulses CCW direction (10 V/100 pulses) 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *1*3*5*6 Servo motor-side droop pulses CCW direction (10 V/1000 pulses)
  • Page 613 Setting value Output item Description *3*5*6 Load-side droop pulses CCW direction (10 V/100 pulses) 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *3*5*6 Load-side droop pulses CCW direction (10 V/1000 pulses) 10 [V] 1000 [pulse] 1000 [pulse] -10 [V] CW direction *3*5*6 Load-side droop pulses...
  • Page 614 Setting value Output item Description Servo motor-side/load-side speed deviation CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Internal temperature of encoder 10 [V] (10 V/128 ) -128 [°C] 128 [°C] -10 [V] *1 Encoder pulse unit. *2 Available in position mode *3 This cannot be used in the torque mode.
  • Page 615: Analog Monitor Block Diagram

    Analog monitor block diagram Semi closed loop control Speed Speed Current Droop pulses Bus voltage command command 2 command Current Differen- Speed encoder Position tiation command command Position Speed Current Servo motor received from a control control control controller Internal temperature of encoder Current feedback...
  • Page 616: Maximum Current Command (Maximum Torque) For Analog Monitor ±8 V

    Maximum current command (maximum torque) for analog monitor ±8 V Values of the maximum current command (maximum torque) when the analog monitor is ±8 V are listed. The current command (torque) outputs the maximum current command (maximum torque) at ±8 V. The maximum current command (maximum torque) may not match the rated current/maximum current ratio since it is created from the torque current in the servo amplifier.
  • Page 617 Servo motor Servo amplifier/drive unit Maximum current command (maximum torque) [%] HG-JR HG-JR701M MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 1500 r/min series HG-JR11K1M MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) HG-JR15K1M MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) HG-JR22K1M MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) HG-JR30K1M MR-J4-DU30K_(-RJ) HG-JR37K1M MR-J4-DU37K_(-RJ) HG-JR HG-JR53 MR-J4-60_(-RJ) 3000 r/min series MR-J4-100_(-RJ) HG-JR73 MR-J4-70_(-RJ) MR-J4-200_(-RJ) HG-JR103 MR-J4-100_(-RJ) MR-J4-200_(-RJ) HG-JR153 MR-J4-200_(-RJ) MR-J4-350_(-RJ)
  • Page 618 Servo motor Servo amplifier/drive unit Maximum current command (maximum torque) [%] HG-JR HG-JR534 MR-J4-60_4(-RJ) 3000 r/min series MR-J4-100_4(-RJ) HG-JR734 MR-J4-100_4(-RJ) MR-J4-200_4(-RJ) HG-JR1034 MR-J4-100_4(-RJ) MR-J4-200_4(-RJ) HG-JR1534 MR-J4-200_4(-RJ) MR-J4-350_4(-RJ) HG-JR2034 MR-J4-200_4(-RJ) MR-J4-350_4(-RJ) HG-JR3534 MR-J4-350_4(-RJ) MR-J4-500_4(-RJ) HG-JR5034 MR-J4-500_4(-RJ) MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR7034 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR9034 MR-J4-11K_4(-RJ)/MR-J4-DU900_4(-RJ) ■24 V/48 V class Servo motor Servo amplifier/drive unit...
  • Page 619 Servo motor with functional safety ■200 V/100 V class Servo motor Servo amplifier/drive unit Maximum current command (maximum torque) [%] HG-KR series HG-KR053W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) HG-KR13W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) HG-KR23W0C MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) HG-KR43W0C MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) HG-KR73W0C MR-J4-70_(-RJ) HG-SR HG-SR51W0C MR-J4-60_(-RJ) 1000 r/min series HG-SR81W0C MR-J4-100_(-RJ) HG-SR121W0C MR-J4-200_(-RJ) HG-SR201W0C...
  • Page 620 ■400 V class Servo motor Servo amplifier/drive unit Maximum current command (maximum torque) [%] HG-SR HG-SR524W0C MR-J4-60_4(-RJ) 2000 r/min series HG-SR1024W0C MR-J4-100_4(-RJ) HG-SR1524W0C MR-J4-200_4(-RJ) HG-SR2024W0C MR-J4-200_4(-RJ) HG-SR3524W0C MR-J4-350_4(-RJ) HG-SR5024W0C MR-J4-500_4(-RJ) HG-SR7024W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) HG-JR HG-JR701M4W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 1500 r/min series HG-JR11K1M4W0C MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) HG-JR15K1M4W0C MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) HG-JR22K1M4W0C...
  • Page 621 Linear servo motor (primary side) ■200 V class Linear servo motor (primary side) Servo amplifier/drive unit Maximum current command (maximum torque) [%] LM-H3 series LM-H3P2A-07P-BSS0 MR-J4-40_(-RJ) LM-H3P3A-12P-CSS0 MR-J4-40_(-RJ) LM-H3P3B-24P-CSS0 MR-J4-70_(-RJ) LM-H3P3C-36P-CSS0 MR-J4-70_(-RJ) LM-H3P3D-48P-CSS0 MR-J4-200_(-RJ) LM-H3P7A-24P-ASS0 MR-J4-70_(-RJ) LM-H3P7B-48P-ASS0 MR-J4-200_(-RJ) LM-H3P7C-72P-ASS0 MR-J4-200_(-RJ) LM-H3P7D-96P-ASS0 MR-J4-350_(-RJ) LM-F series...
  • Page 622 Linear servo motor (primary side) Servo amplifier/drive unit Maximum current command (maximum torque) [%] LM-U2 series LM-U2PAB-05M-0SS0 MR-J4-20_(-RJ) LM-U2PAD-10M-0SS0 MR-J4-40_(-RJ) LM-U2PAF-15M-0SS0 MR-J4-40_(-RJ) LM-U2PBB-07M-1SS0 MR-J4-20_(-RJ) LM-U2PBD-15M-1SS0 MR-J4-60_(-RJ) LM-U2PBF-22M-1SS0 MR-J4-70_(-RJ) LM-U2P2B-40M-2SS0 MR-J4-200_(-RJ) LM-U2P2C-60M-2SS0 MR-J4-350_(-RJ) LM-U2P2D-80M-2SS0 MR-J4-500_(-RJ) ■400 V class Linear servo motor (primary side) Servo amplifier/drive unit Maximum current command (maximum torque) [%]...
  • Page 623: Appendix 10Special Specification

    Appendix 10 Special specification Amplifiers without dynamic brake Summary This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_GF_(-RJ). Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - J 4 - G F 4 Special specifications...
  • Page 624: Without Regenerative Resistor

    Without regenerative resistor Summary This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_GF_(-RJ). Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - J 4 - G F 4 Special specifications...
  • Page 625: Special Coating-Specification Product (Iec 60721-3-3 Class 3C2)

    Special coating-specification product (IEC 60721-3-3 Class 3C2) Summary This section explains servo amplifiers with a special coating specification. Items not given in this section will be the same as MR-J4-_GF_(-RJ). Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - J 4 - G F 4 Special specifications...
  • Page 626 Specifications ■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 627: Appendix 11 Driving On/Off Of Main Circuit Power Supply With Dc Power Supply

    Appendix 11 Driving on/off of main circuit power supply with DC power supply Connection example The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in this section, refer to the following. Page 84 200 V class Page 90 400 V class Malfunction...
  • Page 628: Magnetic Contactor

    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. Servo amplifier Magnetic contactor MR-J4-10GF(-RJ) SD-N11 SD-T12 MR-J4-20GF(-RJ) MR-J4-40GF(-RJ) MR-J4-60GF(-RJ) MR-J4-70GF(-RJ) MR-J4-100GF(-RJ) MR-J4-200GF(-RJ) SD-N21 SD-T21...
  • Page 629: Appendix 12List Of Registration Objects

    Appendix 12 List of registration objects When you use a linear servo motor, replace the following left words to the right words. CCW direction  Positive direction CW direction  Negative direction Torque  Thrust Servo cyclic transmission function The servo cyclic transmission function is used to monitor data in the servo amplifier with the servo system controller. In the servo cyclic transmission function, data types of registered monitor objects can be set.
  • Page 630 Index Sub Index Data Type Access Data type Description 2B17 Temperature of motor thermistor The thermistor temperature is displayed for the servo motor with a thermistor. For the servo motor without thermistor, "9999" is displayed. For the servo motor with a thermistor, refer to each servo motor instruction manual.
  • Page 631: Servo Transient Transmission Function

    Servo transient transmission function The servo transient transmission function is used to monitor data in the servo amplifier with the servo system controller. In the servo transient transmission function, the following data can be monitored by setting Index, Sub Index, and Data Type for each command.
  • Page 632 Index Sub Index Data Type Access Data type Description 2B0Bh Instantaneous torque The instantaneous torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%. 2B26h Settling time The time (Settling time) after command is completed until INP (In-position) turns on is displayed.
  • Page 633 Index Sub Index Data Type Access Data type Description 2C24h Friction torque at rated speed in Kinetic friction at reverse rotation torque is displayed in negative direction increments of 0.1%. 2C25h Oscillation frequency during motor Vibration frequency during stop/servo-lock is displayed in stop increments of 1 Hz.
  • Page 634: Appendix 13Status Of General-Purpose Ac Servo Products For Compliance With The China Rohs Directive

    Appendix 13 Status of general-purpose AC servo products for compliance with the China RoHS directive Summary The China RoHS directive: (Management Methods for Controlling Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: (Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products).
  • Page 635 Status of our products for compliance with the China RoHS directive The following table shows the content of six hazardous substances in our products and Environment-Friendly Use Period marks. The table is created based on the standard SJ/T11364. Part name Hazardous substance (name/threshold/standard) Environ Remark...
  • Page 636 Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive.
  • Page 637: Appendix 14Encoder Output Pulse Setting Method

    Appendix 14 Encoder output pulse setting method For details of "Encoder output pulse setting selection" in [Pr. PC03], refer to the following table. Setting value Servo motor/direct drive motor Linear servo motor _ _ 0 _ Set the output pulses per revolution with [Pr. PA15 Encoder output Set the dividing ratio to the travel distance of the linear servo motor (Output pulse pulses].
  • Page 638 MEMO APPX Appendix 14 Encoder output pulse setting method...
  • Page 639: Revisions

    REVISIONS *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Description February 2016 SH(NA)-030218ENG-A First edition May 2016 SH(NA)-030218ENG-B Section 5.2.2 [Pr. PB52], [Pr. PB53], [Pr. PB54], and [Pr. PB55] are partially changed. App.
  • Page 640 Revision Date *Manual Number Description December 2016 SH(NA)-030218ENG-C Section 11.5.2 (5) The ambient humidity is changed. Section 11.7.1 Partially changed. Section 11.8.3 (3) The ambient humidity is changed. Section 11.8.5 The ambient humidity is changed. Section 11.10 (1) Partially added. Section 11.14 (1) Partially changed.
  • Page 641 Revision Date *Manual Number Description May 2018 SH(NA)-030218ENG-E Chapter 4 Partially added. Section 4.1 Partially added. Section 4.2 Partially added. Section 4.3 Partially changed. Section 4.6 The illustration is partially changed. Section 5.2 Partially added and partially changed. Chapter 6 POINT is partially added.
  • Page 642 Japanese manual number: SH-030217-E 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 643: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 644: Trademarks

    TRADEMARKS MELSERVO, CC-Link IE, and GOT are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/ or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries.
  • Page 646 SH(NA)-030218ENG-E(1805)MEE MODEL: MR-J4-GF-(RJ)INSTRUCTIONMANUALMOTIONMODE MODEL CODE: 1CW861 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.