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Mitsubishi Electric MELSERVO-J4 Series Transition Handbook

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Table of Contents
Transition from MELSERVO-J3/J3W 
Series to J4 Series Handbook
Existing manufacturing assets are completely utilizable.
MELSERVO-J3/J3W to MELSERVO-J4
J3

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Table of Contents
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  Related Manuals for Mitsubishi Electric MELSERVO-J4 Series

  Summary of Contents for Mitsubishi Electric MELSERVO-J4 Series

  • Page 1 Transition from MELSERVO-J3/J3W  Series to J4 Series Handbook Existing manufacturing assets are completely utilizable. MELSERVO-J3/J3W to MELSERVO-J4...
  • Page 2 SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To ensure correct usage of the equipment, make sure to read through this Replacement Manual, the Instruction Manual, the Installation Guide, and the Appended Documents carefully before attempting to install, operate, maintain, or inspect the equipment.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (when 30 kW or more is used, 20 minutes or more) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is (when 30 kW or more is used, L+ and L-) safe with a voltage tester and others.
  • Page 4 3. Injury prevention CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. The cables must be connected to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that the polarity (+/-) is correct.
  • Page 5 CAUTION When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment.
  • Page 6 (3) Trial run/adjustment CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or personal injury. Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly.
  • Page 7 CAUTION Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch. Contacts must be opened with the ALM (malfunction) Contacts must be opened with off or the MBR (electromagnetic brake interlock) off. the EMG stop switch. Servo motor Electromagnetic 24VDC...
  • Page 8 Disposal of Waste When disposing of this product, the following two laws are applicable, and it is necessary to consider each law. In addition, because the following laws are effective only in Japan, local laws have priority outside Japan (overseas). We ask that the local laws be displayed on the final products or that a notice be issued as necessary.
  • Page 9 Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual number MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300175 (Packed with the servo amplifier) MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting Edition) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol.
  • Page 10: Table Of Contents

    4.1 Catalog ............................1-16 4.2 Instruction Manual ........................1-16 4.3 Replacement Tool for Replacing MR-J3 with MR-J4 ..............1-17 4.4 MITSUBISHI ELECTRIC FA Global Website ................1-17 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2- 1 to 2-68 1.
  • Page 11 3.2 Comparison of Networks ......................3- 9 3.3 Comparison of Standard Connection Diagrams ................3- 9 3.4 List of Corresponding Connectors and Terminal Blocks ............. 3-10 3.5 Comparison of Peripheral Equipment ..................3-13 3.6 Comparison of Parameters ......................3-13 3.6.1 Setting requisite parameters upon replacement ..............3-14 3.6.2 Parameter comparison list ....................
  • Page 12 5.2 Drive unit ............................5-41 5.2.1 Drive unit comparison of parameter details ................ 5-41 6. CHARACTERISTICS .......................... 5-43 6.1 Overload protection characteristics ..................... 5-43 6.2 Power supply capacity and generated loss ................. 5-46 6.3 Inrush currents at power-on of main circuit/control circuit ............5-48 7.
  • Page 13 4.1.1 Reading command comparison between MR-J3-_T_ and MR-J4-_A_-RJ ([Pr. PT01]: "1_ _ _") ......................6-88 4.1.2 Writing command comparison between MR-J3-_T_ and MR-J4-_A_-RJ ([Pr. PT01]: "1_ _ _") ......................6-95 Part 7: Common Reference Material 7- 1 to 7-156 1. SPECIFICATION DIFFERENCES ....................... 7- 2 1.1 Detailed Specification/Function Differences .................
  • Page 14 4.1 Structure ............................7-87 4.1.1 Configuration diagram ......................7-87 4.1.2 Precautions for using RS-422/RS-232C/USB communication function ......7-89 4.2 Communication specifications ..................... 7-90 4.2.1 Outline of communication ....................7-90 4.2.2 Parameter setting ....................... 7-90 4.3 Protocol ............................7-91 4.3.1 Transmission data configuration ..................7-91 4.3.2 Character codes .........................
  • Page 15 Part 8: Review on Replacement of Motor 8- 1 to 8-68 1. SERVO MOTOR REPLACEMENT ...................... 8- 2 1.1 Servo Motor Substitute Model and Compatibility ................. 8- 2 2. COMPARISON OF SERVO MOTOR SPECIFICATIONS ..............8-13 2.1 Comparison of Servo Motor Mounting Dimensions ..............8-13 2.2 Detailed Comparison of Servo Motor Mounting Dimensions ............
  • Page 16 5.3.4 When using MR-BT6VCASE battery case ................. 9-38 5.4 MR-J3W series Battery ........................ 9-39 5.4.1 MR-BTCASE battery case and MR-BAT battery ..............9-39 5.5 MR-J4W2-_B servo amplifier, battery ..................9-40 5.5.1 MR-BT6VCASE battery case ....................9-40 5.5.2 MR-BAT6V1 battery ......................9-46 5.5.3 MR-BAT6V1SET-A battery (MR-J4W2-0303B6 only) ............
  • Page 17 6.2.1 Servo motor side power supply conversion cable ..........Appendix 1-13 6.2.2 Servo motor side encoder conversion cable ............Appendix 1-14 6.2.3 Cable pulling direction ..................Appendix 1-15 6.2.4 Servo motor side conversion cable for the cooling fan ........Appendix 1-15 6.2.5 The control signal conversion cable for the servo amplifier side ......
  • Page 18: Summary Of Mr-J3/Mr-J3W Replacement

    Part 1: Summary of MR-J3/MR-J3W Replacement Part 1 Summary of MR-J3/MR-J3W Replacement 1 - 1...
  • Page 19: Major Replacement Target Model

    Part 1: Summary of MR-J3/MR-J3W Replacement This document describes the review items for replacing MR-J3/MR-J3W with MR-J4. Some equipment may require review on items not described in this document. Please review those items after viewing the Instruction Manual and the catalogs. Part 1: Summary of MR-J3/MR-J3W Replacement 1.
  • Page 20: Flow Of Replacement

    Part 1: Summary of MR-J3/MR-J3W Replacement 3. FLOW OF REPLACEMENT 3.1 Summary This section describes the flow of replacement when replacing a system using the MR-J3 series/MR-J3W series with a system using the MR-J4 series. 3.1.1 Flow of Review on Replacement Checking the system prior to replacement ...
  • Page 21: Configuration Diagram

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.1.2 Configuration diagram The following displays the review items when replacing MR-J3 series with MR-J4 series using MR-J3-100A or less as an example case. Options and Peripheral equipment R S T Power supply No-fuse breaker (NFB) or fuse Options and Peripheral equipment...
  • Page 22: Changes From Mr-J3 Series To Mr-J4 Series

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.1.3 Changes from MR-J3 series to MR-J4 series POINT The following table summarizes the changes from MR-J3 series to MR-J4 series. For details, refer to the reference document/items. For large capacity models of 30 kW or more, Refer to "Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_"...
  • Page 23 Part 1: Summary of MR-J3/MR-J3W Replacement Reference Changes Check items Impact document/items Options Wire An HIV wire is recommended for MR-J4. Part 9, Chapter 4 peripheral Dynamic brakes Some dynamic brakes cannot be used for MR-J4. Part 9, Chapter 2 equipment EMC filter There is no change in recommended products.
  • Page 24: Changes From Mr-J3W Series To Mr-J4 Series

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.1.4 Changes from MR-J3W series to MR-J4 series POINT The following table summarizes the changes from MR-J3W series to MR-J4 series. For details, refer to the reference document/items. Reference Changes Check items Impact document/items Servo Connector Connector shape, pin arrangement, signal abbreviation,...
  • Page 25 Part 1: Summary of MR-J3/MR-J3W Replacement Reference Changes Check items Impact document/items Servo motor Mounting compatibility Some models have no mounting compatibility. Part 8, Section 1.1 Dimensions The total length may differ depending on models. Part 8, Section 2.1 Part 8, Section 2.2 Part 8, Section 2.3 Reducer The actual reduction ratio of HF-KP and HF-MP series G1...
  • Page 26: Review On Replacement

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.2 Review on replacement 3.2.1 Checking the system prior to replacement Check the components of the system prior to replacement. Category Controller model Amplifier model "Reference items" in this document Remarks QD75P(D) 1) MR-J3 series ...
  • Page 27 Part 1: Summary of MR-J3/MR-J3W Replacement (b) SSCNET interface 200 V class Attachment Replacement model compatibility Model Check items (example) ( : Compatible) MR-J3-10B MR-J4-10B MR-J3-20B MR-J4-20B MR-J3-40B MR-J4-40B MR-J3-60B MR-J4-60B MR-J3-70B MR-J4-70B MR-J3-100B MR-J4-100B MR-J3-200B(N)(-RT) MR-J4-200B MR-J3-350B MR-J4-350B Refer to "Part 7: Common Reference Material". MR-J3-500B MR-J4-500B (Note)
  • Page 28 Part 1: Summary of MR-J3/MR-J3W Replacement (f) General-purpose interface 400 V class Attachment Replacement model compatibility Model Check items (example) ( : Compatible) MR-J3-60A4 MR-J4-60A4 MR-J3-100A4 MR-J4-100A4 MR-J3-200A4 MR-J4-200A4 MR-J3-350A4 MR-J4-350A4 (Note) MR-J3-500A4 MR-J4-500A4 MR-J3-700A4 MR-J4-700A4 Refer to "Part 7: Common Reference Material". MR-J3-11KA4 MR-J4-11KA4 (Note)
  • Page 29 Part 1: Summary of MR-J3/MR-J3W Replacement (i) General-purpose interface 400 V class (30 kW or more) Attachment Replacement model compatibility Model Check items (example) ( : Compatible) MR-J3-DU30KA4 MR-J4-DU30KA4 + MR-J3-CR55K4 + MR-CR55K4 MR-J3-DU37KA4 MR-J4-DU37KA4 + MR-J3-CR55K4 + MR-CR55K4 Refer to "Part 5: Review on Replacement of MR- J3-DU_ with MR-J4-DU_"...
  • Page 30 Part 1: Summary of MR-J3/MR-J3W Replacement (2) Models for replacement between MR-J3W series and MR-J4 series Shown below are the base replacement models with the assumption that both the servo amplifier and servo motor will be replaced as a set. (a) SSCNET interface 200 V class Attachment Replacement model...
  • Page 31 Part 1: Summary of MR-J3/MR-J3W Replacement (3) Servo amplifier and servo motor combination for the MR-J4 series For a review on the replacement of an existing motor with a new one, Refer to "Part 8: Review on Replacement of Motor". (a) 200 V/100 V class Rotary servo motor Servo amplifier...
  • Page 32 Part 1: Summary of MR-J3/MR-J3W Replacement (b) 400 V class Rotary servo motor Servo amplifier HG-SR HG-JR MR-J4-60_4(-RJ) 534 (Note) MR-J4-100_4(-RJ) 1024 1034 734 (Note) 1524 1034 (Note) MR-J4-200_4(-RJ) 2024 1534 2034 1534 (Note) MR-J4-350_4(-RJ) 3524 2034 (Note) 3534 3534 (Note) MR-J4-500_4(-RJ) 5024 5034...
  • Page 33: Attachment Compatibility Check

    3.2.6 Startup procedure check Refer to "Part 10: Startup Procedure Manual" in this document. 4. RELATED MATERIALS 4.1 Catalog (1) Mitsubishi Electric General-Purpose AC Servo MELSERVO-J4 (2) Motion Controller Q17nDSCPU/Q170MSCPU 4.2 Instruction Manual (1) MR-J4-_A(-RJ)/MR-J4-_A4(-RJ)/MR-J4-A1(-RJ) Servo Amplifier Instruction Manual (2) MR-J4-_B(-RJ) Servo Amplifier Instruction Manual...
  • Page 34: Replacement Tool For Replacing Mr-J3 With Mr-J4

    This tool is a reference for replacing the in-use MR-J3 series with the MR-J4 series. The replacement tool is available on the Mitsubishi Electric FA site. When an in-use rotary servo motor or servo amplifier is selected, a corresponding MR-J4 series product can be selected.
  • Page 35 Part 1: Summary of MR-J3/MR-J3W Replacement MEMO 1 - 18...
  • Page 36 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ Part 2 Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2 - 1...
  • Page 37: Case Study On Replacement Of Mr-J3-_A

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 1. SUMMARY This section describes the changes to be made when a system using MR-J3-_A_ is replaced with a system using MR-J4-_A_. 2.
  • Page 38 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (2) Separate repair of servo amplifiers and servo motors POINT An HG motor cannot be driven by MR-J3-_A_. When a servo motor is replaced with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_ simultaneously.
  • Page 39: Differences Between Mr-J3-_A_ And Mr-J4-_A

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3. DIFFERENCES BETWEEN MR-J3-_A_ AND MR-J4-_A_ 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) 200 V class Item MR-J3 series MR-J4 series Capacity range 0.1 kW to 22 kW/200 V 0.1 kW to 22 kW/200 V Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
  • Page 40 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (2) 400 V class Item MR-J3 series MR-J4 series Capacity range 0.6 kW to 22 kW/400 V 0.6 to 22 kW/400 V Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW) Internal regenerative resistor External (11 kW to 22 kW) External (11 kW to 22 kW)
  • Page 41 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (3) 100 V class Item MR-J3 series MR-J4 series Capacity range 0.1 to 0.4 kW/100 V 0.1 to 0.4 kW/100 V None (0.1 kW) None (0.1 kW) Internal regenerative resistor Built-in (0.2, 0.4 kW) Built-in (0.2, 0.4 kW) Built-in (0.1 to 0.4 kW) Dynamic brake...
  • Page 42: Comparison Of Standard Connection Diagrams

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.2 Comparison of Standard Connection Diagrams (1) Position control mode MR-J3-_A_ MR-J4-_A_ Example of connection to QD75D Example of connection to QD75D Servo amplifier Servo amplifier 24 V DC 24 V DC Positioning module Positioning module 24 V DC...
  • Page 43 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (3) Torque control mode MR-J3-_A_ MR-J4-_A_ Servo amplifier Servo amplifier 24 V DC DOCOM DIC OM 24 V DC Trouble DICOM DOCOM 10 m or less Zero speed detection DOC OM Malfunction Emergency stop Main circuit power supply...
  • Page 44: List Of Corresponding Connectors And Terminal Blocks

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.3 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table The following shows examples of connections with the peripheral equipment. For details of signals, refer to each servo amplifier instruction manual. MR-J3-_A_ MR-J4-_A_ R S T...
  • Page 45 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (3) Comparison of signals Signal abbreviations in parentheses are for MR-J4-_A_. (a) CN1 1) Position control mode MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1-1 P15R CN1-1...
  • Page 46 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2) Speed control mode MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1-1 P15R CN1-1 CN1-2 CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 CN1-7...
  • Page 47 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3) Torque control mode MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1-1 P15R CN1-1 CN1-2 CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 CN1-7...
  • Page 48 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (b) CN6 MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN6-1 CN6-1 CN6-2 CN6-2 CN6-3 CN6-3 (c) CN3 MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No.
  • Page 49: Comparison Of Peripheral Equipment

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.4 Comparison of Peripheral Equipment POINT Refer to "Part 9: Replacement of Optional Peripheral Equipment". 2 - 14...
  • Page 50: Comparison Of Parameters

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.5 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 51 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Precautions Name Name PC14 Analog monitor 1 output PC14 Analog monitor 1 output When the command pulse frequency is selected (±10 V/1 Mpulses/s → ±10 V/4 Mpulses/s) PC15 Analog monitor 2 output PC15 Analog monitor 2 output When the command pulse frequency is selected...
  • Page 52: Parameter Comparison List

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.5.2 Parameter comparison list MR-J3-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PA01 *STY Control mode 0000h PA01 *STY Operation mode 1000h PA02...
  • Page 53 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PB17 Automatic setting parameter PB17 Shaft resonance suppression filter 0000h PB18 Low-pass filter setting 3141 PB18...
  • Page 54 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PC10 Internal speed command 6 PC10 Internal speed command 6 Internal speed limit 6 Internal speed limit 6 PC11 PC11...
  • Page 55 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PD01 *DIA1 Input signal automatic ON 0000h PD01 *DIA1 Input signal automatic on 0000h selection 1 selection 1...
  • Page 56: Comparison Of Parameter Details

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.5.3 Comparison of parameter details POINT The symbols in the control mode column mean the following control modes. P: Position control mode S: Speed control mode T: Torque control mode Differences between the MR-J3 servo amplifier and the MR-J4 servo amplifier are described in "Name and function".
  • Page 57 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA02 Regenerative option 0000h PA02 Same setting as MR-J3 Turn off the power and then on again after setting the parameter to validate the parameter value.
  • Page 58 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA03 Absolute position detection system 0000h PA03 Same setting as MR-J3 Turn off the power and then on again after setting the parameter to validate the parameter value.
  • Page 59 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA05 Number of command input pulses per revolution PA05 Number of command input pulses per revolution 10000 Turn off the power and then on again after setting The servo motor rotates based on set command the parameter to validate the parameter value.
  • Page 60 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA08 Auto tuning mode 0001h PA08 Same setting as MR-J3 PA09 Auto tuning response Auto tuning mode Make gain adjustment using auto tuning.
  • Page 61 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA10 In-position range PA10 In-position range Set the range, where In-position (INP) is output, in Set an in-position range per command pulse. the command pulse unit before calculation of the To change it to the servo motor encoder pulse unit, electronic gear.
  • Page 62 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA13 Command pulse input form 0000h PA13 Command pulse input form Turn off the power and then on again after setting _ _ _ x: the parameter to validate the parameter value.
  • Page 63 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA14 Rotation direction selection PA14 Same as MR-J3 Turn off the power and then on again after setting Rotation direction selection the parameter to validate the parameter value.
  • Page 64 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA15 Encoder output pulse 4000 PA15 Set the encoder output pulses from the servo 4000 amplifier by using the number of output pulses per Turn off the power and then on again after setting revolution, dividing ratio, or electronic gear ratio.
  • Page 65 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00AAh Select a reference range and writing range of the Extension Basic setting Gain/Filter...
  • Page 66 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB02 Vibration suppression control tuning mode 0000h PB02 Vibration suppression control tuning mode 0000h (advanced vibration suppression control) (advanced vibration suppression control II) The vibration suppression is valid when the [Pr.
  • Page 67 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB03 Position command acceleration/deceleration time PB03 Same as MR-J3 constant (position smoothing) Position command acceleration/ Used to set the time constant of a low-pass filter in deceleration time constant (position smoothing) response to the position command.
  • Page 68 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Ratio of load inertia moment to servo motor inertia Load to motor inertia ratio PB06 PB06 7.00 moment Set the load to motor inertia ratio.
  • Page 69 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Speed loop gain PB09 PB09 Same setting as MR-J3 Used to set the gain of the speed loop. Set this parameter when vibration occurs on Speed loop gain machines of low rigidity or large backlash.
  • Page 70 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB14 Notch shape selection 1 0000h PB14 Notch shape selection 1 Used to selection the machine resonance Set the shape of the machine resonance suppression filter 1.
  • Page 71 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB17 Automatic setting parameter PB17 Shaft resonance suppression filter The value of this parameter is set according to a set Set the shaft resonance suppression filter.
  • Page 72 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB18 Low-pass filter setting 3141 PB18 3141 Same as MR-J3 Set the low-pass filter. Low-pass filter setting Setting [Pr.
  • Page 73 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB22 For manufacturer setting 0.00 PB22 Vibration suppression control 1 - Resonance 0.00 frequency damping Do not change this value by any means. Set a damping of the resonance frequency for vibration suppression control 1 to suppress low- frequency machine vibration.
  • Page 74 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB25 Function selection B-1 0000h PB25 Function selection B-1 Select the control systems for position command _ _ _ x: acceleration/deceleration time constant ([Pr.
  • Page 75 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB28 Gain changing time constant PB28 Same as MR-J3 Used to set the time constant at which the gains will Gain switching time constant change in response to the conditions set in [Pr.
  • Page 76 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB33 Gain changing vibration suppression control - 100.0 PB33 Vibration suppression control 1 - Vibration vibration frequency setting frequency after gain switching Set the vibration frequency for vibration suppression Set the vibration frequency for vibration suppression...
  • Page 77 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PB36 For manufacturer setting 0.00 PB36 Vibration suppression control 1 - Resonance 0.00 frequency damping after gain switching Do not change this value by any means.
  • Page 78 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC03 S-pattern acceleration/deceleration time constant PC03 Same as MR-J3 Used to smooth start/stop of the servo motor. S-pattern acceleration/deceleration time constant Set the time of the arc part for S-pattern Start/stop the servo motor smoothly.
  • Page 79 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC05 Internal speed command 1 PC05 Same as MR-J3 Used to set speed 1 of internal speed commands. Internal speed command 1 Set the speed 1 of internal speed commands.
  • Page 80 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC11 Internal speed command 7 PC11 Same as MR-J3 Used to set speed 7 of internal speed commands. Internal speed command 7 Set the speed 7 of internal speed commands.
  • Page 81 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC14 Analog monitor 1 output 0000h PC14 Analog monitor 1 output Used to selection the signal provided to the analog _ _ x x: monitor 1 (MO1) output.
  • Page 82 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Alarm history clear PC18 0000h PC18 Same as MR-J3 Used to clear the alarm history. Alarm history clear selection _ _ _ x: 0 0 0 x: Clear the alarm history.
  • Page 83 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC20 PC20 Station number setting Same setting as MR-J3 Used to specify the station number for serial Station No.
  • Page 84 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection C-2 0000h PC23 PC23 Same as MR-J3 Select the servo lock at speed control mode stop, Function selection C-2 the VC-VLA voltage averaging, and the speed limit _ _ _ x:...
  • Page 85 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC26 Function selection C-5 0000h PC26 Same as MR-J3 Select the [AL. 99 stroke limit warning] Function selection C-5 0 0 0 x: _ _ _ x: [AL.
  • Page 86 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PC32 Command pulse multiplying factor numerator 2 PC32 Command pulse multiplication numerator 2 Available when the [Pr. PA05] is set to "0". To enable the parameter, select "Electronic gear (0 _ _ _)"...
  • Page 87 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Status display selection Status display selection PC36 0000h PC36 _ _ x x: Select the status display to be provided at power-on. Status display selection at power-on 0 0 0 x: Select a status display shown at power-on.
  • Page 88 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Depen- The value PC37 Analog speed command offset PC37 Same as MR-J3 ding on differs Used to set the offset voltage of the analog speed servo depending Analog speed command offset...
  • Page 89 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD01 Input signal automatic ON selection 1 0000h PD01 Same as MR-J3 Select the input devices to be automatically turned Input signal automatic on selection 1 Select input devices to turn on them automatically.
  • Page 90 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD03 Input signal device selection 1 (CN1-15) 0002 PD03 Input device selection 1L Any input signal can be assigned to the CN1-15 pin. 0202h Any input device can be assigned to the CN1-15 pin.
  • Page 91 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD04 Input signal device selection 2 (CN1-16) 0021 PD05 Input device selection 2L Any input signal can be assigned to the CN1-16 pin. 2100h Any input device can be assigned to the CN1-16 pin.
  • Page 92 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD06 Input signal device selection 4 (CN1-18) 0008 PD09 Input device selection 4L Any input signal can be assigned to the CN1-18 pin. 0805h When "_ _ _ 1"...
  • Page 93 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD10 Input signal device selection 8 (CN1-43) 0000 PD17 Input device selection 8L 0A0Ah Any input signal can be assigned to the CN1-43 pin. Any input device can be assigned to the CN1-43 pin.
  • Page 94 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD13 Output signal device selection 1 (CN1-22) 0004h PD23 Output device selection 1 Any output signal can be assigned to the CN1-22 _ _ x x: pin.
  • Page 95 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD14 Output signal device selection 2 (CN1-23) 000Ch PD24 Same as MR-J3 Any output signal can be assigned to the CN1-23 Output device selection 2 pin.
  • Page 96 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD19 Input filter setting 0002h PD29 Input filter setting Select the input filter. Select a filter for the input signal. _ _ _ x: 0 0 0 x: Input signal filter selection...
  • Page 97 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD21 For manufacturer setting 0000h PD31 Function selection D-2 Do not change this value by any means. _ _ _ x: For manufacturer setting _ _ x _:...
  • Page 98 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD24 0000h PD34 Function selection D-5 Function selection D-5 0 0 _ x: _ _ _ x: Setting of alarm code output Alarm code output Select output status of alarm codes.
  • Page 99: Important Points For Replacement

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.6 Important Points for Replacement 1. SUMMARY This section describes the precautions for setting parameters for the replacement of MR-J3-_A_ with MR-J4- 2. Precautions We recommend that you use the parameter converter function (supported from version 1.12N or later) of MR Configurator2 for the replacement of MR-J3-_A_ with MR-J4-_A_.
  • Page 100 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (2) [Pr. PC16 Electromagnetic brake sequence output] MR-J3-_A_ and MR-J4-_A_ have different initial values for [Pr.PC16] (MR-J3-_A_: 100 ms, MR-J4-_A_: 0 ms). When MBR (Electromagnetic brake interlock) is assigned for [Pr. PD23] to [Pr. PD26] and [Pr. PD28], refer to the MR-J4-_A_ Servo Amplifier Instruction Manual and then set [Pr.PC16].
  • Page 101 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MEMO 2 - 66...
  • Page 102: Part 3: Review On Replacement Of Mr-J3-_B_ With Mr-J4-_B_ 3- 1 To

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ Part 3 Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3 - 1...
  • Page 103: Case Study On Replacement Of Mr-J3-_B

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 1. SUMMARY This document describes the changes that are applied to when replacing a system using the MR-J3-_B_ with a system using the MR-J4-_B_. 2.
  • Page 104: Replacement Method

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 2.2 Replacement Method This section shows replacements using a QDS motion controller and an SSCNETIII/H stand-alone motion controller as examples. (1) For simultaneous replacement QDS motion controller + MR-J4-_B_ + HG motor Stand-alone motion controller + MR-J4-_B_ + HG motor QnUD(E)(H)CPU + QDS motion controller + Q3_DB SSCNET III/H stand-alone motion controller...
  • Page 105 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ POINT MR-J3-_B_ cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement with MR-J4-_B_ and an HG motor is necessary. If the existing system is any of the combinations in the following table, it is recommended to replace both the servo amplifier and servo motor with an MR- J4-_B_ and HG motor at the same time.
  • Page 106 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (4) For separate repair (Note) Replacement of Servo amplifier (MR-J3-_B_) Replacement of J3 series servo motor (HC/HA) SSCNET III servo system controller SSCNET III servo system controller MR-J3-_B_ MR-J3-_B_ MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ MR-J3-_B_ (J3 compatibility mode)
  • Page 107: Differences Between Mr-J3-_B_ And Mr-J4-_B

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3. DIFFERENCES BETWEEN MR-J3-_B_ AND MR-J4-_B_ 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) 200 V Class MR-J3-_B_ series MR-J4-_B_ series Item Capacity range 0.1 kW to 22 kW/200 V 0.1 kW to 22 kW/200 V Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
  • Page 108 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (2) 400 V Class Item MR-J3-_B_ series MR-J4-_B_ series Capacity range 0.6 kW to 22 kW/400 V 0.6 kW to 22 kW/400 V Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW) Internal regenerative resistor External (11kW to 22 kW) External (11kW to 22 kW)
  • Page 109 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (3) 100 V Class MR-J3-_B_ series MR-J4-_B_ series Item Capacity range 0.1 to 0.4 kW/100 V 0.1 to 0.4 kW/100 V None (0.1 kW) None (0.1 kW) Internal regenerative resistor Built-in (0.2, 0.4 kW) Built-in (0.2, 0.4 kW) Built-in (0.1 to 0.4 kW) Dynamic brake...
  • Page 110: Comparison Of Networks

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.2 Comparison of Networks POINT Refer to "Part 7: Common Reference Material". 3.3 Comparison of Standard Connection Diagrams MR-J3-_B_ MR-J4-_B_ MR-J3-700B or less 10 m or less 10 m or less Servo amplifier Servo amplifier 24 V DC...
  • Page 111: List Of Corresponding Connectors And Terminal Blocks

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.4 List of Corresponding Connectors and Terminal Blocks An example of connections with the peripheral equipment is shown below. Refer to the respective Instruction Manuals for details on the signals. (1) Comparison of connectors (7 kW or less) MR-J3-_B_ MR-J4-_B_ Personal...
  • Page 112 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (3) Comparison of connectors (11 kW or more) MR-J3-_B_ MR-J4-_B_ (Note 3) R S T Personal Power supply computer Personal MR Configurator2 Setup software computer R S T (SETUP221E) (Note 2) Power supply No-fuse Molded-case...
  • Page 113 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (5) Comparison of signals Signals unique to MR-J4-_B_ are in parentheses. MR-J3-_B_ < 7 kW or less > MR-J4-_B_ Abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN3-1 CN3-1 CN3-2...
  • Page 114: Comparison Of Peripheral Equipment

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.5 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment". 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable.
  • Page 115: Setting Requisite Parameters Upon Replacement

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.6.1 Setting requisite parameters upon replacement The parameters shown in this section are a minimum number of parameters that need to be set for simultaneous replacement. Depending on the settings of the currently used amplifier, parameters other than these may need to be set.
  • Page 116: Parameter Comparison List

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.6.2 Parameter comparison list MR-J3-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial Parameter name setting Parameter name setting Abbreviation Abbreviation value value value value PA01 **STY For manufacturer setting 0000h PA01 **STY Operation mode 1000h...
  • Page 117 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PB24 *MVS Slight vibration suppression control 0000h PB24 *MVS Slight vibration suppression control 0000h selection PB25...
  • Page 118 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial Parameter name Parameter name setting setting Abbreviation Abbreviation value value value value PC21 *BPS Alarm history clear 0000h PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting...
  • Page 119: Comparison Of Parameter Details

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.6.3 Comparison of parameter details MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Control mode 0000h PA01 PA01 Operation mode Turn off the power and then on again after setting the Select an operation mode.
  • Page 120 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Regenerative option PA02 0000h PA02 Same as MR-J3 This parameter value and switch power off once, then switch it on again to make that parameter setting valid. Regenerative option Wrong setting may cause the regenerative option to Used to select the regenerative option.
  • Page 121 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PA03 Absolute position detection system 0000h PA03 Same as MR-J3 This parameter is made valid when power is switched off, Absolute position detection system then on after setting, or when the controller reset has Set this parameter when using the absolute position...
  • Page 122 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PA08 Auto tuning mode 0001h PA08 Same setting as MR-J3 This parameter cannot be used in the torque control Auto tuning response mode.
  • Page 123 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PA14 Rotation direction selection PA14 Rotation direction selection This parameter is made valid when power is switched off, This is used to select a rotation direction. then on after setting, or when the controller reset has For the setting for the master-slave operation function, been performed.
  • Page 124 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00ABh Basic Extension Select a reference range and writing range of the Gain/filter I/O setting [Pr.
  • Page 125 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB02 Vibration suppression control tuning mode 0000h PB02 Vibration suppression control tuning mode (advanced vibration suppression control II) (advanced vibration suppression control) This is used to set the vibration suppression control This parameter cannot be used in the speed control tuning.
  • Page 126 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB06 Load to motor inertia ratio PB06 7.00 Same setting as MR-J3 Used to set the ratio of the load inertia moment to the Load to motor inertia ratio servo motor shaft inertia moment.
  • Page 127 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB09 Speed loop gain PB09 Same as MR-J3 Used to set the gain of the speed loop. Speed loop gain Set this parameter when vibration occurs on machines of This is used to set the gain of the speed loop.
  • Page 128 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB14 Notch shape selection 1 0000h PB14 Same as MR-J3 Used to selection the machine resonance suppression Notch shape selection 1 filter 1.
  • Page 129 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB17 Automatic setting parameter PB17 Shaft resonance suppression filter The value of this parameter is set according to a set This is used for setting the shaft resonance suppression value of [Pr.
  • Page 130 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB19 Vibration suppression control vibration frequency setting 100.0 PB19 100.0 Same as MR-J3 This parameter cannot be used in the speed control Vibration suppression control 1 - Vibration frequency mode.
  • Page 131 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB24 Slight vibration suppression control selection 0000h PB24 Same as MR-J3 Select the slight vibration suppression control and PI-PID Slight vibration suppression control change.
  • Page 132 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB26 Gain changing selection 0000h PB26 Same setting as MR-J3 Select the gain changing condition. Gain switching function Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr.
  • Page 133 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB31 Gain changing speed loop gain PB31 Speed loop gain after gain switching Set the speed loop gain when the gain changing is valid. Set the speed loop gain when the gain switching is enabled.
  • Page 134 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB35 For manufacturer setting 0.00 PB35 Vibration suppression control 1 - Vibration frequency 0.00 damping after gain switching Do not change this value by any means. Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled.
  • Page 135 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PB45 Vibration suppression control filter 2 0000h PB45 Same as MR-J3 Used to set the vibration suppression control filter 2. Command notch filter By setting this parameter, machine end vibration, such as Set the command notch filter.
  • Page 136 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PC01 Error excessive alarm level PC01 Error excessive alarm level This parameter cannot be used in the speed control Set an error excessive alarm level.
  • Page 137 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PC04 Function selection C-1 0000h PC04 Same as MR-J3 Select the encoder cable communication system Function selection C-1 selection. Select the encoder cable communication method selection.
  • Page 138 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PC07 Zero speed PC07 Same as MR-J3 Used to set the output range of the zero speed detection Zero speed (ZSP).
  • Page 139 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PC12 Analog monitor 2 offset PC12 Same as MR-J3 Used to set the offset voltage of the analog monitor 2 Analog monitor 2 offset (MO2) output.
  • Page 140 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PC20 Function Selection C-7 0000h PC20 Function selection C-7 Set this function if undervoltage alarm occurs because of This is used to select an undervoltage alarm detection distorted power supply voltage waveform when using method.
  • Page 141 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PC24 For manufacturer setting 0000h PC24 Forced stop deceleration time constant Do not change this value by any means. This is used to set deceleration time constant when you use the forced stop deceleration function.
  • Page 142 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD02 For manufacturer setting 0000h PD02 Input signal automatic on selection 2 Do not change this value by any means. _ _ _ x _ _ _ x: (HEX)
  • Page 143 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD07 Output signal device selection 1 (CN3-13) 0005h PD07 Same setting as MR-J3 Any input signal can be assigned to the CN3-13 pin. Output device selection 1 As the initial value, MBR is assigned to the pin.
  • Page 144 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD09 Output signal device selection 3 (CN3-15) 0003h PD09 Same setting as MR-J3 Any input signal can be assigned to the CN3-15 pin. Output device selection 3 As the initial value, ALM is assigned to the pin.
  • Page 145 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD13 For manufacturer setting 0000h PD13 Function selection D-2 Do not change this value by any means. Select the INP (In-position) on condition. This parameter is supported with software version B4 or later.
  • Page 146 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD15 Driver communication setting 0000h PD15 Same setting as MR-J3 This parameter setting is used with servo amplifier with Driver communication setting software version C1 or later.
  • Page 147 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD17 Driver communication setting - Master - Transmit data 0000h PD17 Driver communication setting - Master - Transmit data selection 2 selection 2 This parameter setting is used with servo amplifier with...
  • Page 148: Application Of Functions

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value PD31 Master-slave operation - Speed limit coefficient on slave 0000h PD31 Master-slave operation - Speed limit coefficient on slave This parameter setting is used with servo amplifier with This parameter is used to set an internal speed limit software version C1 or later.
  • Page 149 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MEMO 3 - 48...
  • Page 150: Part 4: Replacement Of Mr-J3W-_B With Mr-J4W2-_B 4- 1 To

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B Part 4 Review on Replacement of MR-J3W-_B with MR-J4W2-_B 4 - 1...
  • Page 151: Case Study On Replacement Of Mr-J3W-_B

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 1. SUMMARY This section describes the changes to be made when a system using MR-J3W-_B is replaced with a system using MR-J4W2-_B. 2. CASE STUDY ON REPLACEMENT OF MR-J3W-_B 2.1 Review on Replacement Method SSCNETIII servo system controller...
  • Page 152: Replacement Method

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 2.3 Replacement Method This section shows replacements using a QDS motion controller and an SSCNETIII/H stand-alone motion controller as examples. (1) For simultaneous replacement SSCNET III/H servo system controller (Note1) + MR-J4W2-_B + J4 series servo motor QnUD(E)(H)CPU + SSCNET III/H servo system controller + Q3_DB MR-J4W2-_B J4 series...
  • Page 153 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Gradual replacement of MR-J3W-_B with MR-J4W2-_B POINT MR-J3W-_B cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement with MR-J4W2-_B and HG motor is necessary. Replacing the system, you can drive some J3 series servo motors with MR- J4W2-_B (J4 mode) and MR-J4W2-_B(J3 compatibility mode).
  • Page 154 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) Separate repair (a) Replacement of servo amplifier Replacing the system, you can drive some J3 series servo motors with MR-J4W2-_B (J4 mode) and MR-J4W2-_B(J3 compatibility mode). Refer to "Part 7 Common Reference Material" for the applicable motor.
  • Page 155: Differences Between Mr-J3W-_B And Mr-J4W2-_B

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3. DIFFERENCES BETWEEN MR-J3W-_B AND MR-J4W2-_B 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) MR-J3W-_B/MR-J4W2-_B 200 V class Item MR-J3W-_B series MR-J4W2-_B servo amplifier MR-J3W-22B 200 W (A axis)/200 W (B axis) MR-J4W2-22B 200 W (A axis)/200 W (B axis) MR-J3W-44B 400 W (A axis)/400 W (B axis) MR-J4W2-44B...
  • Page 156 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B Item MR-J3W-_B series MR-J4W2-_B servo amplifier Advanced vibration Provided Provided suppression control (Advanced vibration suppression control II) Adaptive filter II Provided Provided Notch filter Provided (2 pcs) Provided (5 pcs) Tough drive Unprovided Provided Drive recorder Unprovided...
  • Page 157: Configuration Including Auxiliary Equipment

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.2 Configuration including auxiliary equipment (1) MR-J3W-_B (Note 2) R S T Power supply Servo amplifier Personal Setup software computer (SETUP221E) Molded-case circuit breaker (MCCB) or fuse CNP1 Magnetic contactor I/O signal (MC) (Note 2) Regenerative Power factor...
  • Page 158 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (2) MR-J4W2-_B Personal computer MR Configurator2 (under the cover) R S T Power supply Molded-case circuit breaker (MCCB) or fuse CNP1 I/O signal Safety relay or MR-J3-D05 safety logic unit Magnetic CNP2 contactor D (Note 2) Servo system CN1A...
  • Page 159 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) MR-J3W-0303BN6 Personal Setup software computer (SETUP221E) Main circuit power supply: 48 V DC 48 V DC 24 V DC I/O signal power supply power supply Servo system CN1A controller or Front axis Circuit servo amplifier CN1B protector...
  • Page 160 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) MR-J4W2-0303B6 Personal computer MR Configurator2 48 V DC main circuit power supply 48 V DC 24 V DC I/O signal power supply power supply Servo system controller or CN1A previous servo amplifier Circuit CN1B protector...
  • Page 161: Comparison Of Networks

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.3 Comparison of Networks POINT Refer to "Part 7: Common Reference Material". 3.4 Comparison of Standard Connection Diagrams (1) MR-J3W-_B/MR-J4W2-_B 200 V class MR-J3W-_B MR-J4W2-_B 10 m or less 10 m or less 10 m or less 10 m or less Servo amplifier...
  • Page 162 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (2) MR-J3W-0303BN6/MR-J4W2-0303B6 48 V DC/24 V DC class MR-J3W-0303BN6 MR-J4W2-0303B6 10 m or less 10 m or less 10 m or less 10 m or less Servo amplifier Main circuit Servo amplifier (1 axis 2 axis) power supply 24 V DC DOCOM...
  • Page 163: List Of Corresponding Connectors And Terminal Blocks

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.5 List of Corresponding Connectors and Terminal Blocks An example of connections with the peripheral equipment is shown below. Refer to the respective Instruction Manuals for details on the signals. 3.5.1 200 V class (1) Comparison of connectors MR-J3W-_B MR-J4W2-_B...
  • Page 164 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Comparison of signals MR-J3W-_B MR-J4W2-_B Abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment LG (Note 5) CN3-1 CN3-1 CN3-2 MO1 (Note 6) CN3-2 CN3-3 LA-A CN3-3 CN3-4 LB-A CN3-4 CN3-5...
  • Page 165 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) Main circuit terminal block MR-J3W-22B/MR-J3W-44B MR-J4W2-22B/MR-J4W2-44B CNP1 CNP1 CNP2 CNP2 CNP3A CNP3A CNP3B CNP3B PE ( Screw Size: M4 Screw Size: M4 Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m] MR-J3W-77B/MR-J3W-1010B MR-J4W2-77B/MR-J4W2-1010B CNP1 CNP1 CNP2...
  • Page 166: Dc/24 V Dc Class

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.5.2 48 V DC/24 V DC class (1) Comparison of connectors MR-J3W-0303BN6 MR-J4W2-0303B6 Personal Setup software Personal computer computer (SETUP221E) MR Configurator2 Main circuit power supply: 48 V DC 48 V DC main circuit power supply 48 V DC 24 V DC 48 V DC...
  • Page 167 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Comparison of signals MR-J3W-0303BN6 MR-J4W2-0303B6 Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN3-1 CN3-1 CN3-2 CN3-2 CN3-3 LA-A CN3-3 CN3-4 LB-A CN3-4 CN3-5 LA-B CN3-5 CN3-6 LB-B CN3-6...
  • Page 168: Comparison Of Peripheral Equipment

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.6 Comparison of Peripheral Equipment POINT Refer to "Part 9: Replacement of Optional Peripheral Equipment". 4 - 19...
  • Page 169: Comparison Of Parameters

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwisethe operation may become unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 170: Setting Requisite Parameters Upon Replacement

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7.1 Setting requisite parameters upon replacement The parameters shown in this section are a minimum number of parameters that need to be set for simultaneous replacement. Depending on the settings of the currently used amplifier, parameters other than these may need to be set.
  • Page 171: Parameter Comparison List

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7.2 Parameter comparison list POINT The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the parameter.
  • Page 172 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B parameters MR-J4W2-_B parameters Customer Customer Factory Factory Symbol Parameter name Setting setting Symbol Parameter name Setting setting setting setting value value This parameter is not used. PB05 PB05 For manufacturer setting Do not change the value. Load to motor inertia Each Load to motor inertia...
  • Page 173 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B parameters MR-J4W2-_B parameters Customer Customer Factory Factory Symbol Parameter name Setting setting Symbol Parameter name Setting setting setting setting value value Gain changing vibration Vibration suppression Each Each suppression control control 1 - Vibration PB33 VRF1B 100.0...
  • Page 174 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B parameters MR-J4W2-_B parameters Customer Customer Factory Factory Symbol Parameter name Setting setting Symbol Parameter name Setting setting setting setting value value PC22 This parameter is not used. 0000h PC22 For manufacturer setting Do not change the value.
  • Page 175: Comparison Of Parameter Details

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7.3 Comparison of parameter details POINT "x" in the "Setting digit" columns means which digit to set a value. MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PA01 Control mode 0000h PA01 Operation mode...
  • Page 176 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PA03 Absolute position detection system 0000h PA03 Absolute position detection system Turn off the power and then on again, or reset the Set this parameter when using the absolute position controller after setting the parameter to validate the detection system.
  • Page 177 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PA08 Auto tuning mode 0001h PA08 Auto tuning mode This parameter cannot be used in the torque control Select a gain adjustment mode. mode.
  • Page 178 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value In-position range 1600 PA10 PA10 In-position range This parameter cannot be used in the speed control Set an in-position range per command pulse. mode and the torque control mode.
  • Page 179 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PA15 Encoder output pulses 4000 PA15 Encoder output pulses 4000 Encoder output pulses 2 Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, Turn off the power and then on again, or reset the dividing ratio, or electronic gear ratio.
  • Page 180 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value Parameter writing inhibit PA19 Parameter write inhibit 000Bh PA19 00ABh Select a reference range and writing range of the Turn off the power and then on again, or reset the parameter.
  • Page 181 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB02 Vibration suppression control tuning mode (advanced 0000h PB02 Vibration suppression control tuning mode (advanced vibration suppression control) vibration suppression control II) Used to set the tuning mode for the vibration This is used to set the vibration suppression control suppression control.
  • Page 182 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB07 Model loop gain PB07 Model loop gain 15.0 Set the response gain up to the target position. Set the response gain up to the target position. Increase the gain to improve track ability in response to Increasing the setting value will also increase the the command.
  • Page 183 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB12 This parameter is not used. Do not change the value. PB12 Overshoot amount compensation Set a dynamic friction torque to rated torque in percentage unit at servo motor rated speed.
  • Page 184 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB17 Automatic setting parameter PB17 Shaft resonance suppression filter The value of this parameter is set according to a set Set a shaft resonance suppression filter. value of [Pr.
  • Page 185 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB19 Vibration suppression control vibration frequency setting 100.0 PB19 Vibration suppression control 1 - Vibration frequency 100.0 This parameter cannot be used in the speed control Set the vibration frequency for vibration suppression mode.
  • Page 186 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB24 Slight vibration suppression control selection 0000h PB24 Slight vibration suppression control Select the slight vibration suppression control and PI-PID Select the slight vibration suppression control and PI-PID change.
  • Page 187 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB26 Gain changing selection 0000h PB26 Gain switching function Select the gain changing condition. Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr.
  • Page 188 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB32 Gain changing speed integral compensation 33.7 PB32 Speed integral compensation after gain switching Set the speed integral compensation when the gain Set the speed integral compensation when the gain changing is valid.
  • Page 189 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PB45 This parameter is not used. Do not change the value. 0000h PB45 Command notch filter Set the command notch filter. _ _ x x: Command notch filter setting frequency selection Refer to table 4.4 for the relation of setting values to...
  • Page 190 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC02 Electromagnetic brake sequence output PC02 Electromagnetic brake sequence output Used to set the delay time (Tb) between electronic brake Set a delay time between MBR (Electromagnetic brake interlock (MBR-A/MBR-B) and the base drive circuit is interlock) and the base drive circuit is shut-off.
  • Page 191 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC05 Function selection C-2 0000h PC05 Function selection C-2 Motor-less operation select. Set the motor-less operation, servo motor main circuit power supply, and [AL. 9B Error excessive warning]. 0 0 0 x: Motor-less operation select.
  • Page 192 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC09 Analog monitor 1 output 0000h PC09 Analog monitor 1 output Used to selection the signal provided to the analog Select a signal to output to MO1 (Analog monitor 1). monitor 1 (MO1) output.
  • Page 193 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC12 Analog monitor 2 offset PC12 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 Set the offset voltage of MO2 (Analog monitor 2).
  • Page 194 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC20 This parameter is not used. Do not change the value. 0000h PC20 Function selection C-7 Select the detection method of [AL. 10 Undervoltage]. _ _ _ x: For manufacturer setting _ _ x _ :...
  • Page 195 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC27 This parameter is not used. Do not change the value. 0000h PC27 Function selection C-9 This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
  • Page 196 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PD02 This parameter is not used. Do not change the value. 0000h PD02 Input signal automatic on selection 2 _ _ _ x _ _ _ x (BIN): (HEX) FLS (Upper stroke limit) selection...
  • Page 197 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PD07 0005h PD07 Output device selection 1 Output signal device selection 1 (CN3-12 for A-axis and You can assign any output device to pins CN3-12 and CN3-25 for B-axis) CN3-25.
  • Page 198 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PD08 This parameter is not used. Do not change the value. 0004h PD08 Output device selection 2 You can assign any output device to the CN3-24 pin for each axis.
  • Page 199 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PD11 This parameter is not used. Do not change the value. 0004h PD11 Input filter setting Select the input filter. _ _ _ x: Input signal filter selection Refer to the servo system controller instruction manual for the setting.
  • Page 200: Application Of Functions

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 4. APPLICATION OF FUNCTIONS POINT Refer to "Part 7 Common Reference Material" for the application of functions. J3 compatibility mode MR-J4W2-_B servo amplifiers have two operation mode: "J4 mode" is for using all functions with full performance and "J3 compatibility mode" for using the conventional MR-J3-_B_ servo amplifiers.
  • Page 201 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MEMO 4 - 52...
  • Page 202: Part 5: Review On Replacement Of Mr-J3-Du_ With Mr-J4-Du_ 5- 1 To

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Part 5 Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5 - 1...
  • Page 203: Functions And Configuration

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 1. SUMMARY The following explains the changes when the large capacity of 200 V (30 kW to 37 kW)/400 V (30 kW to 55 kW) of MELSERVO-J3 is replaced with MR-J4-DU_.
  • Page 204: Combination Of Converter Unit, Drive Unit, And Servo Motor

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2.2 Combination of converter unit, drive unit, and servo motor POINT MR-J3-_A_/MR-J3-_B_ cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement withMR-J4-_A_/MR-J4- _B_ and an HG motor is necessary. When an "HA-LP motor "...
  • Page 205 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4 series (a) 200 V class Servo motor Converter unit Drive unit HG-JR_ 1000 r/min series 1500 r/min series MR-J4-DU30K_ 30K1 30K1M MR-CR55K MR-J4-DU37K_ 37K1 37K1M (b) 400 V class Servo motor Converter unit Drive unit...
  • Page 206: Configuration Including Peripheral Equipment

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2.3 Configuration including peripheral equipment (1) MR-J3-DU_ 3-phase AC power supply No-fuse Personal Setup software breaker (MCCB) computer (SETUP221E) + Converter unit USB cable Magnetic contactor (MC) Drive unit (Note 3) Line noise filter (FR-BLF) (Note 1)
  • Page 207 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4-DU_ The diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The interface connection of MR-J4-DU_ is the same as that of MR-J4-_. Refer to each servo amplifier instruction manual. R S T (Note 2) Power supply Personal Molded-case...
  • Page 208: Installation

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3. INSTALLATION When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the converter unit and drive unit is not affected. Install the converter unit and drive unit on a perpendicular wall in the correct vertical direction.
  • Page 209 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4-DU_ (a) Installation POINT Make sure to connect a drive unit to the right side of a converter unit as shown in the diagram. 100 mm or more 80 mm converter unit Drive unit 30 mm...
  • Page 210: Magnetic Contactor Control Connector (Cnp1)

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3.2 Magnetic contactor control connector (CNP1) Always connect the magnetic contactor wiring connector to the converter unit. If CAUTION the connector is not connected, an electric shock may occur since CNP1-1 and L11 are always conducting.
  • Page 211 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ When the converter unit receives a start command from the drive unit, CNP1-2 and L21 are shorted, and the control circuit power is supplied to the magnetic contactor. When the control circuit power is supplied, the magnetic contactor is turned on, and the main circuit power is supplied to the converter unit.
  • Page 212: Signals And Wiring

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4. SIGNALS AND WIRING 4.1 Comparison of standard connection diagrams Insulate the connections of the power supply terminals. Otherwise, an electric WARNING shock may occur. Be sure to connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the power regeneration converter unit, in order to configure a circuit that shuts off the power supply by the magnetic contactor.
  • Page 213 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (1) 200 V class (a) MR-J3-DU_A/MR-J4-DU_A MR-J3-DU_A MR-J4-DU_A Converter unit Drive unit Optional Emergency stop Operation ready malfunction malfunction thermal switch Converter unit Drive unit (Note 6) OFF/ON External TE2-2 TE2-1 dynamic brake (Note 5) (Option)
  • Page 214 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B/MR-J4-DU_B MR-J3-DU_B MR-J4-DU_B Converter unit Drive unit Optional Emergency stop Operation ready malfunction malfunction thermal (Note 6) switch Converter unit Drive unit OFF/ON External TE2-2 TE2-1 dynamic brake (Note 5) (Option) MCCB Servo motor...
  • Page 215 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) 400 V class (a) MR-J3-DU_A4/MR-J4-DU_A4 MR-J3-DU_A4 MR-J4-DU_A4 (Note 5) Power Drive unit Converter unit Optional Emergency stop supply malfunction thermal Operation ready malfunction Converter unit Drive unit switch OFF/ON TE2-2 TE2-1 (Note 7) External...
  • Page 216 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B4/MR-J4-DU_B4 MR-J3-DU_B4 MR-J4-DU_B4 MCCB (Note 5) Power Converter unit Drive unit Optional Emergency stop supply Operation ready malfunction malfunction thermal switch OFF/ON (Note 7) Converter unit Drive unit External TE2-2 TE2-1 Resistance regeneration dynamic brake...
  • Page 217: When Magnetic Contactor Control Connector (Cnp1) Is Made Invalid

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4.1.2 When magnetic contactor control connector (CNP1) is made invalid POINT ●When making CNP1 invalid, set "0000" in [Pr. PA02]. (Refer to Part: 5). ●Always connect a protection coordination cable (MR-J3CDL05M). (For MR-J3- DU_, always connect a terminal connector (MR-J3-TM) as well.) When they are not connected properly, the servo-on may not be turned on.
  • Page 218 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (1) 200 V class (a) MR-J3-DU_A/MR-J4-DU_A MR-J3-DU_A MR-J4-DU_A Converter unit Drive unit Optional Operation ready Emergency stop malfunction malfunction thermal switch Converter unit Drive unit (Note 7) External TE2-2 TE2-1 dynamic brake (Note 6) (Option) MCCB...
  • Page 219 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B/MR-J4-DU_B MR-J3-DU_B MR-J4-DU_B (Note 7) Converter unit Converter unit Drive unit Drive unit Optional Operation ready Emergency stop malfunction malfunction thermal External TE2-1 TE2-2 switch dynamic brake (Note 6) (optional) MCCB Servo motor 3-phase...
  • Page 220 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) 400 V class (a) MR-J3-DU_A4/MR-J4-DU_A4 MR-J3-DU_A4 MR-J4-DU_A4 MCCB Converter unit Operation ready Drive unit Optional Emergency stop (Note 6) malfunction malfunction thermal switch Power supply Converter unit Drive unit TE2-2 TE2-1 (Note 8) (Note 3)
  • Page 221 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B4/MR-J4-DU_B4 MR-J3-DU_B4 MR-J4-DU_B4 MCCB (Note 6) Power Converter unit Drive unit Optional Operation ready Emergency stop supply malfunction malfunction thermal switch Converter unit Drive unit (Note 8) External TE2-2 TE2-1 dynamic brake (Note 3) Converter unit...
  • Page 222: Power-On Sequence

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4.2 Power-on sequence (1) MR-J3-DU_ A (a) Power-on procedure 1) Make sure to wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 223 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4-DU_A_ (a) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in above section 4.1. Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 224 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) MR-J3-DU_B (a) Power-on procedure 1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 225 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ b) When control function of magnetic contactor is enabled and the status returns to ready-off The magnetic contactor of the converter unit turns off with servo-off, and the main circuit power supply shuts off. Servo motor 0 r/min speed...
  • Page 226 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ c) When using an external sequence to control the magnetic contactor When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut off the main circuit power supply. Servo motor 0 r/min speed...
  • Page 227 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (4) MR-J4-DU_B_ (a) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shownin above section 4.1. Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 228 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) When magnetic contactor drive output is enabled and the status returns to ready-off The magnetic contactor of the resistance regeneration converter unit is turned off with ready-off, and the main circuit power supply is shut off. Servo motor 0 r/min speed...
  • Page 229 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3) When magnetic contactor drive output is disabled When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut off the main circuit power supply. Servo motor 0 r/min speed Drive unit...
  • Page 230: List Of Corresponding Connectors And Terminal Blocks

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4.3 List of corresponding connectors and terminal blocks (1) Converter unit (a) Connector comparison table For details on signals, refer to each servo amplifier instruction manual. MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 CN6 Do not connect anything CN6 Do not connect anything including.
  • Page 231 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) Drive unit (General-Purpose interface) (a) Connector comparison table For details on signals, refer to each servo amplifier instruction manual. MR-J3-DU_A_ MR-J4-DU_A_ (b) List of corresponding connectors and terminal blocks MR-J3-DU_A_ MR-J4-DU_A_ Precautions Connector...
  • Page 232 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (c) Comparison of signals Signal abbreviations in parentheses are for MR-J4-DU_A_. 1) CN1 This is the signal symbol in the positioning mode. For other signal names, refer to the instruction manual. MR-J3-_A_ MR-J4-_A_ Signal...
  • Page 233 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) CN2 MR-J3-DU_A_ MR-J4-DU_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN2-1 CN2-1 CN2-2 CN2-2 CN2-3 CN2-3 CN2-4 CN2-4 CN2-5 (THM1) CN2-5 THM2 CN2-6 (THM2) CN2-6 CN2-7...
  • Page 234 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5) CN8 When not using the STO function, attach the short-circuit connector supplied with the drive unit to CN8 (STO I/O signal connector). MR-J3-DU_A_ MR-J4-DU_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pi