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Mitsubishi Electric MELSERVO-J4 Series Transition Handbook

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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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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 pin No.
  • Page 235 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) Drive unit (SSCNET interface) (a) Connector comparison table For details on signals, refer to each servo amplifier instruction manual. MR-J3-DU_B_ MR-J4-DU_B_ (b) List of connector and terminal block correspondence MR-J3-DU_B_ MR-J4-DU_B_ Precautions Connector...
  • Page 236 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_B_. 1) CN2 MR-J3-DU_B_ MR-J4-DU_B_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN2-1 CN2-1 CN2-2 CN2-2 CN2-3...
  • Page 237 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3) 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_B_ MR-J4-DU_B_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No.

  • Page 238: Converter Unit Parameter Comparison List

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5. PARAMETER Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause CAUTION an unexpected condition, such as failing to start up the drive unit.

  • Page 239: Converter Unit Comparison Of Parameter Details

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5.1.2 Converter unit comparison of parameter details POINT Set a value to each "x" in the "Setting digit" columns. MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 Initial Initial Name and function Name and function value value PA01 Regenerative option 0000h...
  • Page 240 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 Initial Initial Name and function Name and function value value PA09 Alarm history clear 0000h PA09 Alarm history clear Used to clear the alarm history. Used to clear the alarm history. 0 0 0 x: _ _ _ x: Alarm history clear...
  • Page 241 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 Initial Initial Name and function Name and function value value PA17 For manufacturer setting 0000h PA17 Function selection A-5 Do not change this value by any means. The [Pr. PA17 SEMI-F47 function selection] and [Pr. PA18 SEMI-F47 function - Instantaneous power failure detection time] settings of the converter unit must be the same as [Pr.

  • Page 242: Drive Unit

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5.2 Drive unit POINT Manufacturer setting parameters are not described here. Set a value to each "x" in the "Setting digit" columns. An incorrect setting may cause the regenerative option to burn out. When a regenerative option that is not available to use on a servo amplifier is selected, a [AL.37 parameter error] occurs.
  • Page 243 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) SSCNET interface 200 V/400 V class POINT When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter. Setting may not be made to some parameters and their ranges depending on the servo system controller model, drive unit software version, and MR Configurator2 software version.

  • Page 244: Characteristics

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 6. CHARACTERISTICS 6.1 Overload protection characteristics An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter unit and drive unit from overloads. [AL.
  • Page 245 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) For the MR-J4-DU_ The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph HG-SR HG-JR Characteristics A 7024 701M 5034 7034 11K1M Characteristics B 9034...
  • Page 246 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ The following graphs show overload protection characteristics. 10000 1000 1000 Operating Servo-lock Operating Servo-lock (Note 2) (Note 2) Load ratio [%] (Note 1, 3) Load ratio [%] (Note 1) Characteristics A Characteristics B Note 1.

  • Page 247: Power Supply Capacity And Generated Loss

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 6.2 Power supply capacity and generated loss (1) Generated heat of the converter unit/drive unit Table 5.1 and 5.2 indicates the generated loss and power supply capacity under rated load per combination of the converter unit and drive unit.
  • Page 248 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J4-DU_ Table 5.2 Power supply capacity and generated heat per servo motor at rated output Power supply capacity Drive unit-generated heat [W] (Note) [kVA] Area At rated output required Power factor Power factor [Generated heat Converter unit...

  • Page 249: Inrush Currents At Power-On Of Main Circuit/Control Circuit

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 6.3 Inrush currents at power-on of main circuit/control circuit POINT 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 250: Options And Peripheral Equipment

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7. OPTIONS AND PERIPHERAL EQUIPMENT 7.1 Comparison table of cable option combinations Cable option combinations Compatibility Application MR-J3-DU_ MR-J4-DU_ Note (Note 4) When connected to an MR-J3ENSCBL_M-_ MR-ENECBL_M-H-MTH HG-JR motor, the ×...

  • Page 251: Mr-J3Cdl05M (0.5 M) Protection Coordination Cable

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.1.1 MR-J3CDL05M (0.5 m) Protection coordination cable Connect protection coordination cables correctly if they are fabricated.Otherwise, CAUTION the system may perform unexpected operation. POINT MR-J3CDL05M is for the MR-CR_ converter unit. MR-J3CDL05M cannot be used with the MR-CV_ power regeneration converter unit.

  • Page 252: Selection Example Of Wires

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) When fabricating a cable Prepare MR-J2CN1-A connector set, the recommended wires, and fabricate the cable according to the wiring diagram in (2) in this section. Characteristics of one core Cable Core Length Number...
  • Page 253 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (1) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. Wire size selection example 2 (HIV wire) Wires [mm ] (Note 1, 3) Drive unit...

  • Page 254: Mr-J4 Series, Power Supply Wire Size

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.2.2 MR-J4 series, power supply wire size The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. Converter unit Drive unit Servo motor 4) Motor power supply lead Power factor improving...
  • Page 255 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) Selection example of crimp terminals The following shows the selection example of crimp terminals for terminal blocks of the drive unit and converter unit when you use wires mentioned in (1) in this section. Drive unit/converter unit-side crimp terminal Symbol Crimp terminal...

  • Page 256: Selection Of Molded-Case Circuit Breakers, Fuses, Magnetic Contactors (Example)

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.3 Selection of Molded-case circuit breakers, fuses, magnetic contactors (example) To prevent the converter unit and the drive unit 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 CAUTION converter unit.
  • Page 257 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.

  • Page 258: Bu2-(H) Brake Unit

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.4 FR-BU2-(H) brake unit POINT EM2 of the drive unit is the signal having the same contents as EM1 of the drive unit in torque control mode. (J4 series) Use a 200 V class brake unit and a resistor unit with a 200 V class converter unit, and a 400 V class brake unit and a resistor unit with a 400 V class converter unit.

  • Page 259: Brake Unit Parameter Setting

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.4.2 Brake unit parameter setting Normally, changing the FR-BU2-(H) parameter is not required. Whether a parameter can be changed or not is listed below. Parameter Change possible/ Remark Name impossible Brake mode switchover Impossible Do not change the parameter.
  • Page 260 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (a) When magnetic contactor drive output is enabled Converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit TE2-2 (Note 5) CNP1 (Note 3) (Note 2) MCCB (Note 1) DICOM...
  • Page 261 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 7: Common Reference Material". 2. 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.
  • Page 262 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) When magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Drive unit Converter unit TE2-2 (Note 5) (Note 2) MCCB (Note 1) (Note 3) Power supply...
  • Page 263 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 7: Common Reference Material". 2. 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.
  • Page 264 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) Combination with MT-BR5-(H) resistor unit (a) When connecting a brake unit to a converter unit 1) When magnetic contactor drive output is enabled converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch...
  • Page 265 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 7: Common Reference Material". 2. 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.
  • Page 266 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) When magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Converter unit Drive unit TE2-2 (Note 5) (Note 2) MCCB (Note 1) (Note 3) Power supply...
  • Page 267 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 7: Common Reference Material". 2. 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.
  • Page 268 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) When connecting two brake units to a converter unit POINT To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
  • Page 269 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 1) When magnetic contactor drive output is enabled Drive unit Converter unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit (Note 5) CNP1 TE2-2 (Note 2) MCCB (Note 3) (Note 1) Power...
  • Page 270 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 7: Common Reference Material". 2. 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.
  • Page 271 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) When magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Converter unit Drive unit TE2-2 (Note 5) (Note 2) MCCB (Note 1) (Note 3) Power supply...
  • Page 272 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 7: Common Reference Material". 2. 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.
  • Page 273 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) Connection instructions Keep the wires between the converter unit 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 274 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) Cables for connecting the converter unit and a distribution terminal block when connecting two sets of the brake unit Wire size Brake unit HIV wire [mm 200 V class FR-BU2-55K FR-BU2-H55K 400 V class FR-BU2-H75K...

  • Page 275: Dimensions

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.4.4 Dimensions (1) FR-BU2-(H) brake unit FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 (2) FR-BR-(H) resistor unit [Unit: mm] 2-φC (Note) (Note) Control circuit terminal Main circuit terminal Approx.
  • Page 276 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) MT-BR5-(H) resistor unit [Unit: mm] Approximate Resistor unit Resistance mass [kg] 200 V MT-BR5-55K 2.0 Ω class 400 V MT-BR5-H75K 6.5 Ω class 4φ15 mounting hole 5 - 75...

  • Page 277: Regenerative Option

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.5 Regenerative option Do not use the converter unit and drive unit with the regenerative options other CAUTION than the combinations specified below. Otherwise, it may cause a fire. 7.5.1 Combination and regenerative power (1) MR-J3 series The regenerative power values in the table are the regenerative power of the resistor and are not the rated power.

  • Page 278: External Dynamic Brake

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.6 External dynamic brake Use an external dynamic brake for this drive unit. 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 279: Mr-J4 Series

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.6.2 MR-J4 series The external dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated. For MR-J4-DU_A_ drive unit, assign DB to any of CN1-22 to CN1-25, CN1-49, CN1-13 and CN1-14 pins in [Pr.

  • Page 280: Part 6: Review On Replacement Of Mr-J3-_T_(Dio Command/ Serial Communication Operation) With Mr-J4-_A_-Rj

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ Part 6 Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 6 - 1...
  • Page 281 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ POINT MR-D01 may not be required depending on how MR-J3-_T_ has been used (DIO commands and serial communication operation) and how MR-J3-D01 has been used (number of point tables, device selection status of external input and output signals, and position command data input method).

  • Page 282: Case Study On Replacement Of Mr-J3-_T_(Dio Command/Serial Communication Operation)

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 1. SUMMARY This document describes the changes that are applied to when replacing a system using the MR-J3- _T_(DIO command/Serial communication operation) with a system using the MR-J4-_A_-RJ. 2.
  • Page 283 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) MR-J3-_T_ (Serial communication operation) Controller RS-422 communication MR-J3-_T_ HF-_P/HC-_P/HA-_P motor Servo amplifier and Servo motor Simultaneous replacement? Simultaneous replacement with MR-J4-_A_-RJ and an HG motor Separate repair of a servo amplifier is available. (Note) Although heavier burdens including a longer construction period For the available servo motors, refer to need to be borne, once replaced the system can be operated for a...

  • Page 284: Replacement Method

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 2.2 Replacement Method (1) Simultaneous replacement with MR-J4-_A_ and an HG motor The currently used connectors or cables need to be replaced. The parameters of the existing system can be transferred with the parameter converter function of MR Configurator2.
  • Page 285 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) Separate repair of servo amplifiers and servo motors POINT MR-J3-_T_(DIO command/Serial communication operation) cannot drive an HG motor. When the servo motor is replaced withan HG motor, simultaneous replacement with MR-J4-_A_-RJ and an HG motor isnecessary.
  • Page 286 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (a) For replacement of servo amplifier Allows the J3 series servo motors to drive in MR-J4-_A_-RJ. Refer to "Part 7: Common Reference Material" for target motors. DIO command Serial communication operation Controller Controller...

  • Page 287: Differences Between Mr-J3-_T_(Dio Command/Serial Communication Operation) And Mr-J4

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3. DIFFERENCES BETWEEN MR-J3-_T_(DIO command/Serial communication operation) and MR-J4-_A_- 3.1 Function Comparison Table POINT Functions with difference are shown with shading. When MR-J3-_T_ on which MR-J3-D01 has been mounted is replaced, MR-D01 may not be required to be mounted on MR-J4-_A_-RJ depending on the number of point tables, input device selection status, and position command data input method.
  • Page 288 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 Manual pulse generator (only for MR-HDP01) Manual pulse generator (only for MR-HDP01) Open collector Open collector 10 Pulse input Pulse resolution: 1000 pulses/rev Pulse resolution: 1000 pulses/rev Maximum speed: Instantaneous maximum Maximum speed: Instantaneous maximum...
  • Page 289 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) 400 V class Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 Capacity range 0.6 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)
  • Page 290 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 [MR-J3-D01] [MR-J4-_A_-RJ] (Input) 2ch (Input) 2ch Analog torque limit, Override Analog torque limit, Override (Output) 12-bit or equivalent × 2ch (Output) 10-bit or equivalent ×...
  • Page 291 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (3) 100 V class Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 Capacity range 0.1 ro 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)
  • Page 292 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 [MR-J3-D01] [MR-J4-_A_-RJ] (Input) 2ch (Input) 2ch Analog torque limit, Override Analog torque limit, Override (Output) 12-bit or equivalent × 2ch (Output) 10-bit or equivalent ×...
  • Page 293 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (4) Extension I/O unit POINT The extension I/O units, MR-J3-D01 and MR-D01 have the same functions and performance. Therefore, the existing MR-J3-D01 can be used as it is. Extension I/O unit MR-J3-D01 MR-D01...

  • Page 294: Dio Command/Serial Communication Operation Specifications

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.1.1 DIO command/Serial communication operation specifications Item Description Servo amplifier model MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 (Note 2) Operational Positioning with specification of point table No. (255 points) specifications Set in the point table.
  • Page 295 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ Item Description Servo amplifier model MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 (Note 2) Returns to home position upon the encoder pulse count after touching the proximity dog. Count type Home position return direction selectable/home position shift amount settable/home position address settable/ automatic retract on dog back to home position/automatic stroke retract function...

  • Page 296: Function List

    High-resolution encoder used as a servo motor encoder. used as the encoder of the rotary servo motor compatible with the MELSERVO-J4 series. By merely setting the home position once, home Home position return is required only once, and Absolute position detection position return need not be done at each power not required at every power on.
  • Page 297 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ Function MR-J4-_A_-RJ (DIO command/Serial communication operation) The electronic gear is used to make adjustment Position commands can be multiplied by 1/864 to so that the servo amplifier setting matches the 33935.
  • Page 298 You can operate servo driving, parameter change, servo amplifier enables servo operation, monitor function, etc. using RS-422 parameter change, monitor function, etc. communication (Mitsubishi Electric general- Serial communication purpose AC servo protocol). Select "equivalent to MR-J3-T" with [Pr. PT01]. Refer to section 4.1 for details.

  • Page 299: Configuration Including Auxiliary Equipment

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.2 Configuration including auxiliary equipment (1) MR-J3-_T_ and MR-J3-D01 (DIO command) The diagram shows MR-J3-100T or less, for 3-phase or 1-phase 200 V to 230 V AC R S T (Note 3) Personal...
  • Page 300 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) MR-J3-_T_ (Serial communication operation) The diagram shows MR-J3-100T or less, for 3-phase or 1-phase 200 V to 230 V AC R S T (Note 3) Power supply Personal Setup software computer...
  • Page 301 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (3) MR-J4-_A_-RJ + MR-D01 The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ. Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker...
  • Page 302 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (4) MR-J4-_A_-RJ The following illustration is an example of MR-J4-20A-RJ. R S T (Note 2) Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) (Note 3) Magnetic Analog monitor contactor...

  • Page 303: Comparison Of Standard Connection Diagrams

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.3 Comparison of Standard Connection Diagrams (1) MR-J3-_T_ and MR-J3-D01/MR-J4-_A_-RJ and MR-D01 (DIO command) (a) Point table method MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 Servo amplifier (Note 7) (Note 2) MR-J3-_T 24 V DC (Note 4)
  • Page 304 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 8. Personal computers or parameter modules can also be connected 7. The pins with the same signal name are connected in the servo via the CN3 connector, enabling RS-422 communication.
  • Page 305 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (b) Point table method in the BCD input positioning operation POINT For notes, refer to (1) (a) of this section. 1) When using a digital switch MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 Servo amplifier (Note 7)
  • Page 306 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 2) When using a programmable controllers MR-J3-_T_ + MR-J3-D01 MR-J4-_A_-RJ + MR-D01 Servo amplifier (Note 7) MR-J3-_T (Note 2) 24 V DC (Note 4) Ready 24 V DC (Note 4, 11) DOCOM DICOM Trouble (Note 6)
  • Page 307 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) MR-J3-_T_/MR-J4-_A_-RJ (Serial communication operation) MR-J3-_T_ MR-J4-_A_-RJ Servo amplifier (Note 7) MR-J3-_T 24 V DC (Note 4, 14) (Note 2) DOCOM Ready 24 V DC (Note 4, 10) DOCOM (Note 2) (Note 9)
  • Page 308 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ 12. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.

  • Page 309: List Of Corresponding Connectors And Terminal Blocks

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.4 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.
  • Page 310 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) List of connector and terminal block correspondence MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 Precautions Connector name Connector No. Connector name Connector No. ① ① I/O signal connector I/O signal connector Newly required.
  • Page 311 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (3) Comparison of signals (a) Servo amplifier Signal abbreviations in parentheses are for MR-J4-_A_-RJ. MR-J3-_T_ MR-J4-_A_-RJ Abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN6-1 CN1-42 (Note1) (EM2)
  • Page 312 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (b) CN6 (MR-J4-_A_-RJ only) MR-J3-_T_ MR-J4-_A_-RJ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN6-1 CN6-2 CN6-3 (c) CN3 MR-J3-_A_ MR-J4-_A_-RJ Signal abbreviation Connector pin assignment...
  • Page 313 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (d) Extension I/O unit. 1) CN10: Point table method MR-J3-D01 MR- D01 Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN10-1 CN10-1 CN10-2 CN10-2...
  • Page 314 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 2) CN10: Point table method in the BCD input positioning operation Signal abbreviations in parentheses are for MR-J4-_A_-RJ. MR-J3-D01 MR- D01 Signal abbreviation Connector pin assignment Connector pin No. Connector pin No.
  • Page 315 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3) CN20 Signal abbreviations in parentheses are for MR-D01. MR-J3-D01 MR- D01 Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN20-1 CN20-1 CN20 CN20...

  • Page 316: Comparison Of Peripheral Equipment

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.5 Comparison of Peripheral Equipment POINT Refer to "Part 9: Replacement of Optional Peripheral Equipment". 3.5.1 MR-J3-_T_/MR-J4-_A_-RJ The following tables show the items that are newly required when MR-J3-_T_ is replaced with MR-J4-_A_- Prepare the items newly to use MR-J4-_A_-RJ.

  • Page 317: Comparison Of Parameters

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.6 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 318 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ (DIO command/Serial communication operation) Precautions Name Name PB06 Load to motor inertia ratio PB06 Load to motor inertia ratio The unit system is different. (0.1 times → 0.01 times) Check the setting value.
  • Page 319 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ (DIO command/Serial communication operation) Precautions Name Name PD01 Input signal automatic ON selection 1 PD01 Input signal automatic on selection 1 For details, refer to "section 3.6.3 PD03 Input signal automatic ON selection 3 PD41 Input signal automatic on selection 3...

  • Page 320: Parameter Comparison List

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.6.2 Parameter comparison list MR-J3-_T_ parameters MR-J4-_A_-RJ parameters Customer Customer Initial Initial setting Parameter name Parameter name setting Abbreviation Abbreviation value value value value PA01 *STY Control mode 0000h PT01 *CTY...
  • Page 321 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ parameters MR-J4-_A_-RJ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PB26 *CDP Gain changing selection 0000h PB26 *CDP Gain switching function 0000h...
  • Page 322 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ parameters MR-J4-_A_-RJ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PD01 *DIA1 Input signal automatic ON selection Input signal automatic on 0000h PD01...

  • Page 323: Comparison Of Parameter Details

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.6.3 Comparison of parameter details POINT Setting a value out of the setting range in each parameter will trigger [AL. 37 Parameter error]. MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value...
  • Page 324 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA02 Regenerative option 0000h PA02 Regenerative option This parameter is made valid when power is switched off, Select a regenerative option.
  • Page 325 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA04 Function selection A-1 0000h PT02 Function selection T-1 This parameter is made valid when power is switched off, _ _ _ x: then on after setting, or when the controller reset has Follow-up of SON (Servo-on) off/EM2 (Forced stop 2) off...
  • Page 326 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA05 Feeding function selection 0000h PT03 Feeding function selection This parameter is made valid when power is switched off, _ _ _ x: then on after setting, or when the controller reset has Feed length multiplication [STM]...
  • Page 327 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA06 Electronic gear numerator (command pulse multiplication PA06 Electronic gear numerator (command pulse multiplication numerator) numerator) PA07 Electronic gear denominator (command pulse...
  • Page 328 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA08 Auto tuning mode 0001h PA08 Auto tuning mode Make gain adjustment using auto tuning. _ _ _ x: Gain adjustment mode selection Select the gain adjustment mode.
  • Page 329 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA10 In-position range PA10 INP In-position range Set the range, where In position (INP) and Movement Set an in-position range per command.
  • Page 330 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA14 Rotation direction selection PA14 Rotation direction selection/travel direction selection This parameter is made valid when power is switched off, Select a rotation direction of the servo motor or travel then on after setting, or when the controller reset has direction of the linear servo motor for when turning on...
  • Page 331 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA15 Encoder output pulse 4000 PA15 Encoder output pulses 4000 This parameter is made valid when power is switched off, Set the encoder output pulses from the servo amplifier then on after setting, or when the controller reset has by using the number of output pulses per revolution,...
  • Page 332 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PA19 Parameter write inhibit 000Ch PA19 Parameter writing inhibit 00AAh This parameter is made valid when power is switched off, Select a reference range and writing range of the then on after setting, or when the controller reset has parameter.
  • Page 333 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ 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 vibration suppression control) suppression control II) The vibration suppression is valid when the [Pr.
  • Page 334 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PB06 Ratio of load inertia moment to servo motor inertia PB06 Load to motor inertia ratio/load to motor mass ratio 7.00 moment This is used to set the load to motor inertia ratio or load...
  • Page 335 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PB09 Speed loop gain PB09 Speed loop gain Set this parameter when vibration occurs on machines of This is used to set the gain of the speed loop.
  • Page 336 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial 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 suppression Set forms of the machine resonance suppression filter 1.
  • Page 337 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ 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 the shaft resonance suppression filter.
  • Page 338 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PB19 Vibration suppression control - vibration frequency 100.0 PB19 Vibration suppression control 1 – Vibration frequency 100.0 setting Set the vibration frequency for vibration suppression...
  • Page 339 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ 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 340 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ 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 for when the gain switching is enabled.
  • Page 341 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC02 Home position return type 0000h PT04 Home position return type Used to set the home position return system. _ _ _ x: 0 0 0 x: Home position return method...
  • Page 342 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC09 Stopper type home position return stopper time PT10 Stopper type home position return stopper time In stopper type home position return, used to set the time Set time from a moving part touches the stopper and from when the machine part is pressed against the...
  • Page 343 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC14 Backlash compensation PT14 Backlash compensation Used to set the backlash compensation made when the Set a backlash compensation for reversing command command direction is reversed.
  • Page 344 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC19 Encoder output pulse selection 0000h PC19 Encoder output pulse selection Use to select the, encoder output pulse direction and _ _ _ x: encoder output pulse setting.
  • Page 345 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC21 RS-422 communication function selection 0000h PC21 RS-422 communication function selection Select the communication I/F and select the RS-422 Select the details of RS-422 communication function.
  • Page 346 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC26 Function selection C-5 0000h PC26 Function selection C-5 Select the [AL. 99 Stroke limit warning]. _ _ _ x: [AL.
  • Page 347 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC31 Software limit + PT15 Software limit + (third least significant digit) Used to set the address increment side software stroke Software limit + (third most significant digit) PC32 PT16...
  • Page 348 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC36 Status display selection 0000h PC36 Status display selection Select the status display to be provided at power-on. _ _ x x: x x 0 0: Status display selection at power-on...
  • Page 349 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PC37 Position range output address+ PT19 Position range output address + (third least significant digit) Used to set the address increment side position range PC38 PT20...
  • Page 350 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD01 Input signal automatic ON selection 1 0000h PD01 Input signal automatic on selection 1 Select the input devices to be automatically turned ON.
  • Page 351 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD03 Input signal automatic ON selection 3 0000h PD41 Input signal automatic on selection 3 Select the input devices to be automatically turned ON.
  • Page 352 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD04 Input signal automatic ON selection 4 0000h PD42 Input signal automatic on selection 4 Select the input devices to be automatically turned ON.
  • Page 353 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD06 Input signal device selection 2 (CN6-2) 002Bh PD22 Input device selection 10H Any input device can be assigned to the CN6-2 pin. Any input device can be assigned to the CN1-45 pin.
  • Page 354 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD09 Output signal device selection 1 (CN6-14) 0002h PD28 Output device selection 6 Any output signal can be assigned to the CN6-14 pin. _ _ x x: Device selection 0 0 x x:...
  • Page 355 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD16 Input polarity selection 0000h PT29 Function selection T-3 Used to set the proximity dog input polarity. Set a polarity of DOG.
  • Page 356 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD20 Function selection D-1 0010h PD30 Function selection D-1 Select the stop processing at forward rotation stroke end _ _ _ x: (LSN)/reverse rotation stroke end (LSN) OFF and the Stop method selection for LSP (Forward rotation stroke...
  • Page 357 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD22 Function selection D-3 0000h PD32 Function selection D-3 Set the clear (CR). _ _ _ x CR (Clear) selection 0 0 0 x: This is used to set CR (Clear).
  • Page 358 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value PD24 Function selection D-5 0002h PD34 Function selection D-5 Select the output status of the warning (WNG). _ _ _ x Alarm code output 0 0 x 0:...
  • Page 359 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value Po02 MR-J3-D01 input signal device selection 2 (CN10-21, 26) 0302h Po02 MR-D01 input device selection 1 Any input signal can be assigned to the CN10-21, 26 pin.
  • Page 360 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value Po04 MR-J3-D01 input signal device selection 3 (CN10-29, 30) 2524h Po04 MR-D01 input device selection 3 Any input signal can be assigned to the CN10-29, 30 pin.
  • Page 361 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value Po08 MR-J3-D01 output signal device selection 1 (CN10-46, 2726h Po08 MR-D01 output device selection 1 Any output device can be assigned to the CN10-46 pin and CN10- Any output signal can be assigned to the CN10-46, 47 47 pin.
  • Page 362 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value Po10 Function selection O-1 2101h Po10 Function selection O-1 Select the positioning operation by point table selection Always set this parameter when using MR-D01.
  • Page 363 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value Po13 MR-J3-D01 analog monitor 1 output 0000h Po13 MR-D01 analog monitor 1 output selection Used to selection the signal provided to the analog Set a signal to output to Analog monitor 1.
  • Page 364 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J3-_T_ MR-J4-_A_-RJ Initial Initial Name and function Name and function value value Po15 MR-J3-D01 analog monitor 1 offset Po15 MR-D01 analog monitor 1 offset Used to set the offset voltage of the analog monitor This is used to set the offset voltage of MO1 (Analog (MO1).

  • Page 365: Important Points For Replacement

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 3.7 Important Points for Replacement 1. SUMMARY This section describes the precautions for setting parameters for the replacement of MR-J3-_T_ with MR-J4- _A_-RJ 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-_T_ with MR-J4-_A_-RJ.
  • Page 366 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (3) Input signal filter selection (_ _ _ x) of [Pr. PD29 Input filter setting] MR-J3-_T_ and MR-J4-_A_-RJ have different initial values for the input signal filter selection. Initial No./symbol/ Setting...
  • Page 367 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (4) Base circuit status selection for RES (Reset) on (_ _ x _) of [Pr. PD30 Function selection D-1] MR-J3-_T_ and MR-J4-_A_-RJ have different initial values for base circuit status selection for RES (Reset) on.

  • Page 368: Communication Function

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 4. COMMUNICATION FUNCTION You can operate servo driving, parameter change, monitor function, etc. using RS-422 communicatio with the servo amplifier. 4.1 Command and data No. list POINT Even if a command or data No.

  • Page 369: [Pr. Pt01]: "1

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Description Frame Frame Status display Status display length length Status display data value and [0] [1] [8] [C] Peak load ratio Peak load ratio processing information...

  • Page 370: [Pr. Pt01]: "1

    Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (2) Parameters (Command [0] [4]/[0] [5]/[0] [6]/[0] [7]/[0] [8]/[0] [9]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Frame Frame Description Description length length [0] [4] [0] [1] Parameter group read Parameter group read...
  • Page 371 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (3) External I/O signals (Command [1] [2]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Frame Frame Description Description length length [1] [2] [0] [0] [0] [1] Input device status Input device status...
  • Page 372 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (6) Status display at alarm occurrence (Command [3] [5]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Description Frame Frame Alarm occurrence sequence Alarm occurrence sequence length length Status display data value and...
  • Page 373 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (9) Others (Command [0] [0]/[0] [2]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Frame Frame Description Description length length [0] [0] [1] [2] Reading test operation mode Reading test operation mode 0000: Normal mode (not test operation mode) 0000: Normal mode (not test operation mode)
  • Page 374 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ 4.1.2 Writing command comparison between MR-J3-_T_ and MR-J4-_A_-RJ ([Pr. PT01]: "1_ _ _") (1) Status display (Command [8] [1]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Setting Frame Setting...
  • Page 375 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (5) Current alarm (Command [8] [2]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Setting Frame Setting Frame Description Description range length range length [8] [2] [0] [0] Alarm clear 1EA5...
  • Page 376 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ (8) Operation mode selection (Command [8] [B]) MR-J4-_A_-RJ MR-J3-_T_ [Pr. PT01]: "1_ _ _" Command Data No. Setting Frame Setting Frame Description Description range length range length [8] [B] [0] [0] Operation mode switching...
  • Page 377 Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ MEMO 6 - 98...
  • Page 378 Part 7: Common Reference Material Part 7 Common Reference Material 7 - 1...

  • Page 379: Specification Differences

    Part 7: Common Reference Material Part 7: Common Reference Material 1. SPECIFICATION DIFFERENCES 1.1 Detailed Specification/Function Differences POINT Functions with difference are shown witph shading. (1) Comparison of MR-J3 series and MR-J4 series (General-purpose interface/SSCNET interface/DIO, Serial communication) Item MR-J3 series MR-J4 series General-Purpose Interface (100 V class) 0.1 kW to 0.4 kW...
  • Page 380 Part 7: Common Reference Material Item MR-J3 series MR-J4 series General-Purpose Interface General-Purpose Interface DI: 9 points, DO: 6 points DI: 9 points, DO: 6 points SSCNET III Interface SSCNET III/H Interface DI: 3 points, DO: 3 points DI: 3 points, DO: 3 points The number of DIO points DIO, Serial communication DIO, Serial communication...

  • Page 381: Servo Amplifier

    Part 7: Common Reference Material 1.2 Servo amplifier 1.2.1 Main circuit terminal block Series Main circuit terminal block Series Main circuit terminal block CNP1 CNP1 CNP1 MR-J3-10_ MR-J4-10_(-RJ) CNP2 MR-J3-60_ MR-J4-60_(-RJ) CNP2 CNP2 PE terminal CNP3 Screw size: M4 Screw size: M4 CNP3 CNP3 Tightening torque: 1.2 [N•m]...
  • Page 382 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block Screw size: M3.5 Tightening torque: 0.8 [N•m] Screw size: M4 Screw size: M4 Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [ • (10.6 [lb•in]) Screw size: M3.5 (Note) Tightening torque: 0.8 [ •...
  • Page 383 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block TE2-1 TE2-1 Screw size : M6 Tightening torque: 3.0 [N•m] TE2-1 TE2-2 Screw size: M10 (26.6 [lb•in]) Tightening torque: 12.0 [N•m] TE2-1 Screw size: M6 MR-J3-DU30K_ MR-J4-DU30K_ Screw size : M4...
  • Page 384 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block N- P3 P4 L2 L3 L11 L21 Screw size: M4 Tightening torque: 1.2 [N•m] (10.6 [lb•in]) Screw size: M4 Tightening torque: 1.2 [N•m] Screw size: M3.5 (Note) Tightening torque: 0.8 [N•m] (7.08 [lb•in]) MR-J3-700_4 MR-J4-700_4(-RJ)
  • Page 385 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block CNP1 CNP 1 CNP1 MR-J3-10_1 MR-J4-10_1(-RJ) CNP2 MR-J3-40_1 MR-J4-40_1(-RJ) CNP 2 CNP2 PE terminal CNP3 CNP 3 CNP3 Screw size: M4 Screw size: M4 Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m] Note Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later.

  • Page 386: Comparison Of Encoder Signals (Cn2)

    Part 7: Common Reference Material 1.2.2 Comparison of encoder signals (CN2) MR-J3/J3W series Signal MR-J4 series symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note 1) CN2-2 CN2-2 CN2 (Note 2) CN2-7 CN2-7 (MX) THM2 CN2-3 CN2-3 CN2-9...

  • Page 387: Dynamic Brake: Coasting Distance

    Part 7: Common Reference Material 1.2.3 Dynamic brake: coasting distance (1) Dynamic brake time constant (a) Replacement of MR-J3 Series with MR-J4 Series Series MR-J3 Series Series MR-J4 Series HF-KP HG-KR 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min] Speed [r/min] HF-MP...
  • Page 388 Part 7: Common Reference Material Series MR-J3 Series Series MR-J4 Series HC-RP HG-RR 500 1000 1500 2000 2500 3000 1000 1500 2000 2500 3000 Servo motor speed [r/min] Speed [r/min] 時 定 数 τ HF-JP HG-JR [ms] 200 V 200 V 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 389 Part 7: Common Reference Material Series MR-J3 Series Series MR-J4 Series HG-SR 200 V 152 502 15K2 11K2 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] HA-LP 22K2 200 V 15K1M 22K1M 1000 1500 2000 HG-JR Speed[r/min] 200 V 701M 11K1M 1500 r/min...
  • Page 390 Part 7: Common Reference Material Series MR-J3 Series Series MR-J4 Series 11K1M4 11K1M4 15K1M4 HF-JP HG-JR 400 V 400 V 15K1M4 701M4 22K1M4 500 1000 1500 2000 2500 3000 Speed [r/min] 500 1000 1500 2000 2500 3000 Speed [r/min] HG-JR30K1 HA-LP30K1 HA-LP37K1 HG-JR37K1...
  • Page 391 Part 7: Common Reference Material Series MR-J3 Series Series MR-J4 Series HA-LP37K1M HA-LP30K1M HA-LP 200 V HG-JR30K1M 1500 r/min HG-JR37K1M 1000 1500 2000 HG-JR Speed [r/min] 200 V 1500 r/min HA-LP30K2 HA-LP37K2 HA-LP 1000 1500 2000 2500 200 V Speed [r/min] 2000 r/min 1000 1500...
  • Page 392 Part 7: Common Reference Material Series MR-J3 Series Series MR-J4 Series HA-LP37K1M4 HA-LP45K1M4 HA-LP50K1M4 HA-LP30K1M4 HA-LP 400 V 1500 r/min HG-JR45K1M4 HG-JR55K1M4 1000 1500 2000 Speed [r/min] HG-JR HG-JR30K1M4 400 V HA-LP45K24 1500 r/min HG-JR37K1M4 HA-LP55K24 HA-LP37K24 HA-LP30K24 HA-LP 1000 1500 2000 2500 400 V Speed [r/min] 2000 r/min...
  • Page 393 Part 7: Common Reference Material (b) Replacement of MR-J3W series with MR-J4W2-_B servo amplifier Series MR-J3W Series Series MR-J4W2-_B HF-KP HG-KR 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min] Speed [r/min] HF-MP HG-MR 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min]...
  • Page 394 Part 7: Common Reference Material Series MR-J3W Series Series MR-J4W2-_B HF-JP 3000 r/min 1000 2000 3000 4000 5000 6000 HG-JR Speed [r/min] 3000 r/min 1000 2000 3000 4000 5000 6000 Speed [r/min] HC-LP series 1000 1500 2000 Speed [r/min] 0.0025 0.0025 0136 0136...
  • Page 395 Part 7: Common Reference Material (2) Calculation of coasting distance The figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 5.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
  • Page 396 Part 7: Common Reference Material (3) Electronic dynamic brake The electronic dynamic brake operates in the initial state for HG series servo motors with a 600 W or smaller capacity. The time constant " " for the electronic dynamic brake will be shorter than that for normal dynamic brake. Therefore, coasting distance will be shorter than in normal dynamic brake.

  • Page 397: Forced Stop Deceleration Function Selection

    Part 7: Common Reference Material 1.2.4 Forced stop deceleration function selection (1) Parameter setting (a) For MR-J4-_A_series POINT With MR-J4-_A_, the deceleration to a stop function is enabled by the factory setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _". Initial Setting Abbre-...
  • Page 398 Part 7: Common Reference Material (b) For MR-J4-_B_series/MR-J4W2-_B servo amplifier POINT With MR-J4-_B_ and MR-J4W2-_B the deceleration to a stop function is enabled in the factory setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _". Initial Abbre- Setting...

  • Page 399: Servo Setup Software: Setup Software (Setup221E) => Mr Configurator2

    Part 7: Common Reference Material 1.2.5 Servo setup software: Setup software (SETUP221E) => MR Configurator2 Item MR-J3 series MR-J4 series → Setup software MR Configurator2 Servo setup software Model: MRZJW3-SETUP221E Model: SW1DNC-MRC2-E (1) MR Configurator2 (SW1DNC-MRC2-E) specification Item Description Project Create/read/save/delete project, system setting, and print Parameter Parameter setting, amplifier axis name setting, parameter converter (Note 1)

  • Page 400: Servo Amplifier Initializing Time

    Part 7: Common Reference Material 1.2.6 Servo amplifier initializing time This section explains the initializing time of the servo amplifier (the time taken between power-on and servo- on reception). The initializing time is 2 s at maximum for the MR-J3-_A_ servo amplifier, 2.5 s at maximum for the MR-J3-_T_ servo amplifier and 3 s at maximum for the MR-J3-_B_/MR-J3W-_B servo amplifier, but 3.5 s at maximum for the MR-J4-_A_/MR-J4-_B_/MR-J4W2-_B servo amplifier and 4 s at maximum for the MR-J4-_A_-RJ servo amplifier.
  • Page 401 Part 7: Common Reference Material (3) MR-J3-_B_/MR-J3W-_B series servo amplifier The initializing time is 3 s. SON accepted (3 s) Main circuit power Control circuit Base circuit 95 ms 10 ms 95 ms Servo-on command (from controller) (4) MR-J4W2-0303B6 servo amplifier Servo-on command accepted (4 s) Main circuit...
  • Page 402 Part 7: Common Reference Material (7) MR-J4-_A_-RJ SON (Servo-on) accepted (4 s to 5 s) Main circuit power supply Control circuit Base circuit 10 ms 10 ms 95 ms SON (Servo-on) 95 ms RES (Reset) 5 ms 10 ms 5 ms 10 ms 5 ms 10 ms...

  • Page 403: The Pulse Width Of The Encoder Z-Phase Pulse

    Part 7: Common Reference Material 1.2.7 The pulse width of the encoder Z-Phase pulse < Precautions > Always reset the home position upon replacement. < Amplifier replacement > MR-J3/MR-J3W series MR-J4 series 256/262144 pulses 256/262144 pulses (Example: At 10 r/min) (Example: At 10 r/min) At low speed...

  • Page 404: Overload Protection Characteristics

    Part 7: Common Reference Material 1.3 Overload protection characteristics POINT "Overload protection characteristics" may be different due to the replacement of the servo amplifier and the servo motor. Check "overload protection characteristics" of each model before considering replacement. 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 (the other motors: 30 r/min or less) low-speed operation status, the servo amplifier may malfunction regardless of the...
  • Page 405 Part 7: Common Reference Material (1) MR-J4 servo amplifier/MR-J3 servo amplifier MR-J4 servo amplifier Rotary servo motor Graph of overload protection characteristics HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR Characteristics a 53 (Note) Characteristics b 73 (Note) Characteristics c 103 (Note) 153 (Note) 203 (Note) 353 (Note)
  • Page 406 Part 7: Common Reference Material MR-J3 servo amplifier Rotary servo motor Graph of overload protection characteristics HF-KP HF-MP HF-SP HC-UP HF-RP HC-LP HA-LP HF-JP Characteristics a Characteristics b Characteristics c Characteristics d 701M Characteristics e 11K1M 11K1M (Note) 11K2 15K1M (Note) 15K1 15K1M 15K2...
  • Page 407 Part 7: Common Reference Material The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock Load ratio [%] (Note 1) Load ratio [%] (Note 1, 2) Characteristics a Characteristics b 1000 1000 Operating Operating Servo-lock Servo-lock Load ratio [%] (Note 2) Load ratio [%] (Note 2) Characteristics c Characteristics d...
  • Page 408 Part 7: Common Reference Material 10000 1000 Operating Servo-lock Load ratio [%] Characteristics e Note 1. The operation time at the load ratio of 300% to 350% applies when the maximum torque of HG-KR servo motor and HF-KP servo motor is increased to 350% of rated torque. 2.
  • Page 409 Part 7: Common Reference Material (2) MR-J4W2-_B servo amplifier/MR-J3W series The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock Load ratio [%] (Note 1) Load ratio [%] (Note 1, 2) HG-KR053/HG-KR13 HG-KR23/HG-KR43/HG-KR73 HG-MR053/HG-MR13 HG-MR23/HG-MR43/HG-MR73 HG-SR51/HG-SR81/HG-SR52/HG-SR102 HG-UR72 HG-JR53/HG-JR73/HG-JR103 HF-KP053/HF-KP13 HF-KP23/HF-KP43/HF-KP73...
  • Page 410 Part 7: Common Reference Material (3) MR-J4W2-0303B6/MR-J3W-0303BN6 servo amplifier The following graphs show overload protection characteristics. 1000 Operation Servo-lock Load ratio [%] HG-AK0136/HG-AK0236/HG-AK0336 (4) MR-J4-DU_(-RJ)/MR-J3- DU_ drive unit The following graphs show overload protection characteristics. 10000 1000 Operating Servo-lock (Note) Load ratio [%] Note.

  • Page 411: Comparison Of Networks

    50 m 50 m between stations Note. For cable of 30 m or shorter, contact your local sales office. Contact Mitsubishi Electric System & Service about ultra-high flex-life cables and long distance cables longer than 50 m. 7 - 34...
  • Page 412 Part 7: Common Reference Material (2) SSCNET III/H cable specifications POINT SSCNET III cables can be used as they are. Description SSCNET III/H cable model MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B SSCNET III/H cable length 0.15 m 0.3 m to 3 m 5 m to 20 m 30 m to 50 m Enforced covering cable: Enforced covering cable:...

  • Page 413: Servo Amplifier Dimensions/Attachment Differences

    Part 7: Common Reference Material 2. SERVO AMPLIFIER DIMENSIONS/ATTACHMENT DIFFERENCES 2.1 MR-J3 series => MR-J4 series Comparison Table of Servo Amplifier Dimensions/Installation Differences POINT Dimensions with differences are shown with shading. Only the dimensions of servo amplifiers are compared. For the dimensions of MR- J3-D01 and MR-D01, refer to section 2.1.3.
  • Page 414 Part 7: Common Reference Material (2) Comparison of dimensions MR-J3-10_/MR-J3-20_ MR-J4-10_/MR-J4-20_ Approx. 80 φ6 mounting hole φ6 mounting hole CNP1 Approx.80 CNP2 CNP1 CNP3 CNP2 CNP3 CHARGE Approx. Approx. 69.3 Approx.68 With 25.5 With M R-J3BAT MR-BAT6V1SET Approx. 38.5 MR-J3-40_/MR-J3-60_ MR-J4-40_/MR-J4-60_ Approx.
  • Page 415 Part 7: Common Reference Material MR-J3-200_N MR-J4-200_ 6 mounting hole Approx.80 φ6 mounting hole Exhaust Approx. 80 CNP1 Lock knob Exhaust CNP2 CNP3 Cooling fan Approx. Cooling fan Cooling fan air intake Approx.68 25.5 With MR-J3BAT Cooling fan Approx. air intake 69.3 Approx.
  • Page 416 Part 7: Common Reference Material MR-J3-500_ MR-J4-500_ 2- 6 Approx.80 mounting hole 131.5 68.5 Cooling fan Terminal layout exhaust Cooling fan (Terminal cover open) Approx. 25 Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust CAUTION CAUTION WARNING WARNING With MR-J3BAT CHARGE 20.5...
  • Page 417 Part 7: Common Reference Material MR-J3-11K_(-LR)/MR-J3-15K_(-LR)/MR-J3-22K_ MR-J4-11K_/MR-J4-15K_ Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 57.9 224.2 5 × 25.5 (= 127.5) 237.4 MR-J4-22K_ Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1...

  • Page 418: General-Purpose Interface/Sscnet Interface/Dio, Serial Communication 400 V Class (22 Kw Or Less)

    Part 7: Common Reference Material 2.1.2 General-Purpose Interface/SSCNET Interface/DIO, Serial communication 400 V class (22 kW or less) (1) Comparison of dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions. Dimensions of servo amplifiers of 2 kW or less, 5 kW, 7 kW, and 22 kW are the same and have compatibility in mounting.
  • Page 419 Part 7: Common Reference Material (2) Comparison of dimensions MR-J3-60_4/MR-J3-100_4 MR-J4-60_4/MR-J4-100_4 Approx. 80 φ6 mounting hole Approx. 80 6mounting hole Lock knob Exhaust CNP1 CNP2 CNP3 With Cooling fan MR-BAT6V1SET air intake 12 42 Approx. 69.3 Approx. 68 Approx. 25.5 Approx.
  • Page 420 Part 7: Common Reference Material MR-J3-500_4 MR-J4-500_4 Approx. 80 2- 6 mounting hole 131.5 68.5 Cooling fan Terminal layout wind direction (Terminal cover open) Approx. 28 Approx. 80 Cooling fan Approx. 200 Approx. 28 Cooling fan exhaust With MR-J3BAT CHARGE 20.5 3 places for ground...
  • Page 421 Part 7: Common Reference Material MR-J3-11K_4(-LR)/MR-J3-15K_4(-LR)/MR-J3-22K_4 MR-J4-11K_4/MR-J4-15K_4 Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 57.9 224.2 5 × 25.5 (= 127.5) 237.4 MR-J4-22K_4 Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1...

  • Page 422: Dimensions Of Mr-J3-D01/Mr-D01

    Part 7: Common Reference Material 2.1.3 Dimensions of MR-J3-D01/MR-D01 [Unit: mm] (80) 79.5 CN20 CN30 CN10 When an MR-D01 extension IO unit is connected to a servo amplifier Servo amplifier L [mm] 100 V/200 V 0.1 kW to 3.5 kW 200 V 5 kW/7 kW MR-J4-10A1-RJ to MR-J4-40A1-RJ 400 V 0.6 kW to 2 kW...

  • Page 423: General Purpose Interface/Sscnet Interface 200 V Class (30 Kw Or More)

    Part 7: Common Reference Material 2.1.4 General purpose interface/SSCNET interface 200 V class (30 kW or more) (1) Comparison of Dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions. The two are the same in height, width, mounting screw pitch, and screw size, and therefore compatible in mounting.
  • Page 424 Part 7: Common Reference Material MR-J3-CR55K MR-CR55K Cooling fan wind direction 2- 7 Installation hole Cooling 2-φ7 mounting hole Approx. 20 Approx. 200 exhaust Terminal block layout Approx. 80 (Terminal cover removed) 22.5 22.5 CHARGE TE2-1 TE2-2 TE2-2 TE2-2 TE1-1 TE1-2 Intake TE1-1...

  • Page 425: General Purpose Interface/Sscnet Interface 400 V Class (30 Kw Or More)

    Part 7: Common Reference Material 2.1.5 General purpose interface/SSCNET interface 400 V class (30 kW or more) (1) Comparison of Dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.The two are the same in height, width, mounting screw pitch, and screw size, and therefore compatible in mounting. When the servo amplifier is mounted so that the heat sink is inside the cabinet, the depth vary.
  • Page 426 Part 7: Common Reference Material MR-J3-DU45K_4 MR-J4-DU45K_4 Approx. 2- 7 Installation hole Approx. 20 Cooling 2-φ7 mounting hole Approx. 200 Cooling fan Approx. 80 exhaust Terminal block layout wind direction (Terminal cover removed) TE2-2 TE2-1 For mounting TE2-1 TE2-1 MR-J3BAT Intake With MR-BAT6V1SET 15.5...

  • Page 427: Sscnet Interface (Mr-J3W Series)

    Part 7: Common Reference Material 2.1.6 SSCNET interface (MR-J3W series) (1) Comparison of Dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.Note that the number of the mounting screws for 200 W/400 W has been changed. The width, the mounting screw pitch in vertical directions, and the number of the mounting screws for 750 W/1 kW have also been changed.

  • Page 428: Parameter Conversion

    Part 7: Common Reference Material 2.2 Parameter conversion 2.2.1 Operation procedure of parameter conversion The parameter converter function of MR Configurator2 allows the servo parameters of MR-J3-_A_/MR-J3- _T_(DIO, Serial communication) to be changed to the servo parameters of MR-J4-_A_/MR-J4-_A_-RJ. (Version 1.12N or later) POINT Parameters common to MR-J3-_A_/MR-J4-_A_ and MR-J3-_T_( DIO, Serial communication)/MR-J4-_A_-RJ are the conversion targets.

  • Page 429: Mr-J3-_A_/Mr-J3-_T_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.2.2 MR-J3-_A_/MR-J3-_T_ parameter diversion procedure POINT Parameter conversion: Set the parameter block within the readable range to read changes from the initial value. Parameter reading from the servo amplifier MR- J3-_A_/MR-J3-_T_ Start MR Configurator2(SW1DNC-MRC2-E) A connection with a PC-AT compatible personal computer is required. ･...
  • Page 430 Part 7: Common Reference Material 2.2.3 Parameter reading from the servo amplifier MR- J3-_A_/MR-J3-_T_ (1) Start MR Configurator2 (SW1DNC-MRC2-E). For MR Configurator2 (SW1DNC-MRC2-E) of version 1.09K or later, the "MR-J4-A(-RJ) standard" project is created at the first startup after installation. (2) Create a new project.
  • Page 431 Part 7: Common Reference Material (3) Read the servo parameters. Click [Parameters] in the menu to display the parameter list screen. Connect the MR- J3-_A_/MR-J3-_T_ servo amplifier to a personal computer and click the [Read] button. The following figure shows an example of when "MR-J3-A" is selected for Model. After reading the parameters is completed, select [Save As] to save the parameter file.
  • Page 432 Part 7: Common Reference Material 2.2.4 Converting the parameters of MR-J3-_A_/MR-J3-_T_ and writing them to the MR-J4-_A_(-RJ) servo amplifier (1) Start MR Configurator2 (SW1DNC-MRC2-E). (2) Create a new project. Select [Project] - [New] from the menu to display the New Project dialog box. Select "MR-J4-A(-RJ)" for Model.
  • Page 433 Part 7: Common Reference Material (3) Change MR-J3-_A_/MR-J3-_T_ parameters to MR-J4-_A_(-RJ) parameters. Select [Parameter] - [Parameter Converter] from the menu to display the parameter converter screen. Then click the [Open file] button and specify the user file that was saved with the operation in (3) of Section 2.2.3.
  • Page 434 Part 7: Common Reference Material (4) Write the changed parameters to the MR-J4-_A_(-RJ) servo amplifier. Select [Parameter] - [Parameter Setting] from the menu to display the parameter setting screen. Connect the MR-J4-_A_(-RJ) servo amplifier to a personal computer and click the [Single Axis Write] button.

  • Page 435: Conversion Rules (Mr-J3-_A_ => Mr-J4-_A_)

    Part 7: Common Reference Material 2.2.5 Conversion rules (MR-J3-_A_ => MR-J4-_A_) The following table shows the servo parameter conversion rules from MR-J3-_A_ to MR-J4- _A_. Servo parameters not specified in the following table will be set to the initial values. POINT Because the servo parameters of MR-J3-_A _ and those of MR-J4-_A_ are not completely interchangeable, the conversion rules may not be applied.
  • Page 436 Part 7: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target 01_ _ will be changed to _ _ 05. (MBR) PA04 Function selection A-1 _ _ _ X PD24 _ _ XX The setting value other than above will not be maintained.
  • Page 437 Part 7: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target PB11 Speed differential compensation PB11 The setting value will be maintained. Machine resonance suppression PB13 PB13 The setting value will be maintained. filter 1 PB14 Notch shape selection 1 _ XX_ PB14 _ XX_...
  • Page 438 Part 7: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target Internal speed command 2 PC06 PC06 The setting value will be maintained. Internal speed limit 2 Internal speed command 3 PC07 PC07 The setting value will be maintained. Internal speed limit 3 Internal speed command 4 PC08...
  • Page 439 Part 7: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ _ _ _ XXXX PD17 XXXX The setting value will be maintained. Input signal device selection 8 PD10 (CN1-43) _ _ XX_ _ _ _ PD18 _ _ XX The setting value will be maintained.

  • Page 440: Parameters That Need To Be Checked After Parameter Conversion

    Part 7: Common Reference Material 2.2.6 Parameters that need to be checked after parameter conversion Initial Setting Name Description value value Absolute position detection system selection When the setting before conversion is "_ _ _2: Enabled (absolute position detection system by communication)", PA03 Absolute position detection system this parameter can be set for MR-J4-_A_ with software...

  • Page 441: Conversion Rules (Mr-J3-_T_(Dio Command/ Serial Communication Operation) => Mr-J4

    Part 7: Common Reference Material 2.2.7 Conversion rules (MR-J3-_T_(DIO Command/ Serial communication operation) => MR-J4-_A_-RJ) The following table shows the servo parameter conversion rules from MR-J3-_T_(DIO Command/ Serial communication operation) to MR-J4- _A_-RJ. Servo parameters not specified in the following table will be set to the initial values. POINT This parameter can be set when MR-J4-_A_-RJ with software version A3 or later is used for the conversion from MR-J3-_T_.
  • Page 442 Part 7: Common Reference Material MR-J3-_T_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ _ X PT01 _ _ _ X The setting value will be maintained. When "HG series" is selected for servo motor series, the setting value will not be maintained.
  • Page 443 Part 7: Common Reference Material MR-J3-_T_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target Ratio of load inertia to servo motor PB06 PB06 One decimal place will be added. inertia PB07 Model loop gain PB07 One decimal place will be added. PB08 Position loop gain PB08 One decimal place will be added.
  • Page 444 Part 7: Common Reference Material MR-J3-_T_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target PC12 Jog speed PT13 The setting value will be maintained. S-pattern acceleration/deceleration PC13 PC03 The setting value will be maintained. time constants When "HG series" is selected for servo motor series, the setting value will be multiplied by 16.
  • Page 445 Part 7: Common Reference Material MR-J3-_T_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in table 7.1. If the setting value is not listed in table 7.1, the value will be converted to 0A _ _.
  • Page 446 Part 7: Common Reference Material MR-J3-_T_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be maintained. _ _ XX _ _ XX The setting value will be maintained MR-J3-D01 input signal device regardless of whether conversion of Po03 Po03 selection 2 (CN10-27，28)
  • Page 447 Part 7: Common Reference Material MR-J3-_T_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ _ 0 will be changed to _ _ 00 _ _ _ 1 will be changed to _ _ 01 _ _ _ 2 will be changed to _ _ 02 _ _ _ 3 will be changed to _ _ 03 _ _ _ 4 will be changed to _ _ 04 _ _ _ 5 will be changed to _ _ 0E...
  • Page 448 Part 7: Common Reference Material Table 7.1 Input conversion rule ([Pr. PD_ _]) MR-J3-_T_ → MR-J4-_A_-RJ Symbol _ _ 00 → 00 _ _ No assigned function _ _ 02 → 02_ _ _ _ 03 → 03_ _ _ _ 04 →...

  • Page 449: Parameters That Need To Be Checked After Parameter Conversion

    Part 7: Common Reference Material 2.2.8 Parameters that need to be checked after parameter conversion The following parameters may be required to be reviewed depending on your usage. Initial Setting Name Description value value Forced stop deceleration function selection To configure the same settings as those for MR-J3-_T_, PA04 Function selection A-1 2000h...

  • Page 450: Mr-J3-_B_ And Mr-J3W-_B Parameter Diversion Procedure

    Part 7: Common Reference Material 2.3 MR-J3-_B_ and MR-J3W-_B Parameter Diversion Procedure The parameter converter functions of GX Works2 and MT Developer2 convert the servo parameters of MR- J3-_B_ and MR-J3W-_B to those of MR-J4-_B_ MR-J4W2-_B and when the controller is changed. (GX Works2: 1.84N or later, MT Developer2: 1.41T or later) POINT Parameters common to MR-J3-_B_, MR-J3W-_B, MR-J4-_B_ and MR-J4W2-_B...

  • Page 451: Changing Qd75Mh To Qd77Ms/Ld77Ms

    Part 7: Common Reference Material 2.3.1 Changing QD75MH to QD77MS/LD77MS (1) Start GX Works2 and create a project. (2) Right-click [Intelligent Function Module] in the Navigation window and select [New Module] to add the simple motion module QD77MS/LD77MS. (3) Double-click [Simple Motion Module Setting] of the added simple motion module to start the simple motion module setting tool.
  • Page 452 Part 7: Common Reference Material (5) Specify the target module. Specify the model and the head XY address of the target module and then click the [OK] button. (6) Execute servo parameter conversion. Select the target servo amplifier setting and click the [OK] button. The servo parameters are converted as follows depending on the target servo amplifier setting.

  • Page 453: Changing Q17Nhcpu/Q17Ndcpu/Q170Mcpu To Q17Ndscpu/Q170Mscpu(-S1)

    Part 7: Common Reference Material 2.3.2 Changing Q17nHCPU/Q17nDCPU/Q170MCPU to Q17nDSCPU/Q170MSCPU(-S1) POINT "Conversion Target Servo Motor Series Setting" is available in MT Developer2 with software version 1.150G or later. (1) Start MT Developer2. (2) Select the source project. Click [Project] - [Divert File] - [Diversion of Other Format Project] from the menu to display the Diversion of Other Format Project window.
  • Page 454 Part 7: Common Reference Material (3) Execute file diversion. Select the CPU type, OS type, and Operation method in the CPU/OS selection, and click the [Diversion] button. (4) Execute servo parameter conversion. "Conversion target servo amplifier setting" and "conversion target servo motor series setting" and click the [OK] button.

  • Page 455: Conversion Rules (Mr-J3-_B_ And Mr-J3W-_B => Mr-J4-_B_ And Mr-J4W2-_B)

    Part 7: Common Reference Material 2.3.3 Conversion rules (MR-J3-_B_ and MR-J3W-_B => MR-J4-_B_ and MR-J4W2-_B) (1) Conversion rules (MR-J3-_B_ (standard) and MR-J3W-_B (standard) => MR-J4-_B_ (standard) and MR-J4W2-_B (standard)) The following table shows the servo parameter conversion rules from MR-J3-_B_ (standard) and MR- J3W-_B (standard) to MR-J4- _B_ (standard) and MR-J4W2-_B (standard).
  • Page 456 Part 7: Common Reference Material MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B Conversion rules Name Type Target Type Target When "Servo Motor for MR-J4" is selected in "Conversion Target Servo Motor Series Setting" on the MT Developer2 screen, the setting value will not be maintained. When "Servo Motor for MR-J3"...
  • Page 457 Part 7: Common Reference Material MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B Conversion rules Name Type Target Type Target When "Servo Motor for MR-J4" is selected in "Conversion Target Servo Motor Series Setting" on the MT Developer2 screen, the setting value will be converted as follows: When the setting value of PC03 is _ _ 1_, the setting value of PA15 is increased by 16 times.
  • Page 458 Part 7: Common Reference Material MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B Conversion rules Name Type Target Type Target PB30 Gain changing position loop gain PB30 One decimal place will be added. PB31 Gain changing speed loop gain PB31 The setting value will be maintained. Gain changing speed integral PB32 PB32...
  • Page 459 Part 7: Common Reference Material MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B Conversion rules Name Type Target Type Target When "Servo Motor for MR-J4" is selected in "Conversion Target Servo Motor Series Setting" on the MT Developer2 screen, the setting value will be converted as follows: The integral value of the calculation result of (PC14 ×...

  • Page 460: Parameters That Need To Be Checked After Parameter Conversion

    Part 7: Common Reference Material 2.3.4 Parameters that need to be checked after parameter conversion (1) MR-J3-_B_ and MR-J3W-_B => MR-J4-_B_ and MR-J4W2-_B Parameter Setting Name Initial value Description value Forced stop deceleration function selection PA04 Function selection A-1 2000h To configure the same settings as those for MR-J3-_B_, select "Forced stop deceleration function disabled (EM1)".
  • Page 461 Part 7: Common Reference Material (2) MR-J3W-_B => MR-J4W2-_B Parameter Setting Name Initial value Description value Although the initial values of the MR-J3-_B_ and MR-J3W- _B are different, the same operation is performed. PC01 Error excessive alarm level Also, the setting ranges are different. Check the setting values and change them as necessary.

  • Page 462: Common Points To Note

    Part 7: Common Reference Material 3. COMMON POINTS TO NOTE 3.1 Method for checking the software version 3.1.1 Checking with MR Configurator2 (SW1DNC-MRC2-E) Check the software version of the servo amplifier with MR Configurator2 (SW1DNC-MRC2-E). Start MR Configurator2. Select [Diagnosis] - [System Configuration] from the menu to display the servo amplifier software No.

  • Page 463: Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

    Part 7: Common Reference Material 4. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) POINT RS-422 serial communication function is supported by servo amplifier with software version A3 or later. The USB communication function (CN5 connector) and the RS-422 communication function (CN3 connector) are mutually exclusive functions. They cannot be used together.

  • Page 464: Structure

    Part 7: Common Reference Material 4.1 Structure 4.1.1 Configuration diagram (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable. Personal computer Servo amplifier 10 m or less RS-422/232C conversion cable To RS-232C DSV-CABV (Diatrend) connector (2) Multi-drop connection (a) Diagrammatic sketch...
  • Page 465 Part 7: Common Reference Material (b) Cable connection diagram Wire the cables as follows. (Note 3) 30 m or less (Note 1) (Note 1) (Note 1, 7) The first axis servo amplifier The second axis servo amplifier The n axis servo amplifier Connector for CN3 Connector for CN3 Connector for CN3...

  • Page 466: Precautions For Using Rs-422/Rs-232C/Usb Communication Function

    Part 7: Common Reference Material 4.1.2 Precautions for using RS-422/RS-232C/USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers Connect your personal computer with the following procedures. (a) When you use a personal computer with AC power supply 1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

  • Page 467: Communication Specifications

    Part 7: Common Reference Material 4.2 Communication specifications 4.2.1 Outline of communication Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal computer) is called a master station and the device (servo amplifier) which returns data in response to the command is called a slave station.

  • Page 468: Protocol

    Part 7: Common Reference Material 4.3 Protocol 4.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier using the parameters.

  • Page 469: Character Codes

    Part 7: Common Reference Material 4.3.2 Character codes (1) Control codes Personal computer terminal Hexadecimal Code key operation Description name (ASCII code) (general) start of head ctrl + A start of text ctrl + B end of text ctrl + C end of transmission ctrl + D (2) Codes for data...

  • Page 470: Error Codes

    Part 7: Common Reference Material 4.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. Receiving data from the master station, the slave station sends the error code corresponding to that data to the master station.

  • Page 471: Retry Processing

    Part 7: Common Reference Material 4.3.6 Retry processing When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (retry processing).

  • Page 472: Communication Procedure Example

    Part 7: Common Reference Material 4.3.8 Communication procedure example The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0. Data item Value Description Station No. Servo amplifier station 0 Command Reading command Data No.

  • Page 473: Command And Data No. List

    Part 7: Common Reference Material 4.4 Command and data No. list POINT Even if a command or data No. is the same between different model servo amplifiers, its description may differ. Commands of MR-J3-_A_ are available. The following commands are also available. Description MR-J3/-J4 Only MR-J4...
  • Page 474 Part 7: Common Reference Material MR-J3-_A_ MR-J4-_A_ Command Data No. Description Frame Frame Status display Status display length length Effective load ratio [0] [1] [8] [8] Status display data value and Effective load ratio processing information Peak load ratio [8] [9] Peak load ratio Instantaneous torque Instantaneous torque...
  • Page 475 Part 7: Common Reference Material (2) Parameters (command [0] [4]/[0] [5]/[1] [5]/[0] [6]/[1] [6]/[0] [7]/[1] [7]/[0] [8]/[0] [9]) MR-J3-_A_ MR-J4-_A_ Command Data No. Frame Frame Description Description length length [0] [4] [0] [1] Parameter group read Parameter group reading 0000: Basic setting parameter ([Pr. PA_ _ ]) 0000: Basic setting parameters ([Pr.
  • Page 476 Part 7: Common Reference Material (3) External I/O signals (command [1] [2]) MR-J3-_A_/ MR-J4-_A_ Command Data No. Frame length Description [1] [2] [0] [0] Input device status [4] [0] External input pin status [6] [0] Status of input device turned on by communication [8] [0] Output device status [C] [0]...
  • Page 477 Part 7: Common Reference Material (6) Status display at alarm occurrence (command [3] [5]) MR-J3-_A_ MR-J4-_A_ Command Data No. Description Frame Frame Status display Status display length length Cumulative feedback pulses Cumulative feedback pulses [3] [5] [8] [0] Status display data value and processing information Motor-side cumu.

  • Page 478: Writing Commands

    Part 7: Common Reference Material 4.4.2 Writing commands (1) Status display (command [8] [1]) MR-J3-_A_/MR-J4-_A_ Command Data No. Description Setting range Frame length [8] [1] [0] [0] Status display data deletion 1EA5 (2) Parameters (command [8] [4]/[9] [4]/[8] [5]) MR-J3-_A_ MR-J4-_A_ Command Data No.
  • Page 479 Part 7: Common Reference Material (5) Current alarm (command [8] [2]) MR-J3-_A_/MR-J4-_A_ Command Data No. Description Setting range Frame length [8] [2] [0] [0] Alarm clear 1EA5 (6) I/O device prohibition (command [9] [0]) MR-J3-_A_/MR-J4-_A_ Command Data No. Description Setting range Frame length [9] [0] [0] [0]...

  • Page 480: Detailed Explanations Of Commands

    Part 7: Common Reference Material 4.5 Detailed explanations of commands 4.5.1 Data processing When the master station transmits a command data No. or a command + data No. + data to a slave station, the servo amplifier returns a response or data in accordance with the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
  • Page 481 Part 7: Common Reference Material (2) Writing processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.

  • Page 482: Status Display Mode

    Part 7: Common Reference Material 4.5.2 Status display mode (1) Reading the status display name and unit The following shows how to read the status display name and unit. (a) Transmission Transmit the command [0] [1] and the data No. corresponding to the status display item to be read, [0] [0] to [0] [E] and [2] [0] to [2] [9].

  • Page 483: Parameter

    Part 7: Common Reference Material 4.5.3 Parameter (1) Specification of the parameter group To read or write the parameter settings, etc., the group of the parameters to be operated must be specified in advance. Write data to the servo amplifier as follows to specify the parameter group. Transmission Command Data No.
  • Page 484 Part 7: Common Reference Material (4) Reading the setting The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to (1) of this section.) (a) Transmission Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F]. (Refer of section 4.4.1.) The data No.
  • Page 485 Part 7: Common Reference Material (5) Reading the setting range The following shows how to read the parameter setting range. Specify a parameter group in advance. (Refer to (1) of this section.) (a) Transmission When reading an upper limit value, transmit the command [1] [6] and the data No. [0] [1] to [F] [F] corresponding to the parameter No.
  • Page 486 Part 7: Common Reference Material (6) Writing setting values POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEPROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.

  • Page 487: External I/O Signal Status (Dio Diagnosis)

    Part 7: Common Reference Material 4.5.4 External I/O signal status (DIO diagnosis) (1) Reading input device status The following shows how to read the status of the input devices. (a) Transmission Transmit command [1] [2] and data No. [0] [0]. Command Data No.
  • Page 488 Part 7: Common Reference Material (3) Reading the status of input devices switched on with communication The following shows how to read the on/off status of the input devices switched on with communication. (a) Transmission Transmit command [1] [2] and data No. [6] [0]. Command Data No.
  • Page 489 Part 7: Common Reference Material (b) Return The slave station returns the status of the output devices. b1b0 1: On 0: Off Command of each bit is transmitted to the master station as hexadecimal data. CN1 connector pin CN1 connector pin CN1 connector pin CN1 connector pin 14 (Note)

  • Page 490: Input Device On/Off

    Part 7: Common Reference Material 4.5.5 Input device on/off POINT The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.

  • Page 491: Disabling/Enabling I/O Devices (Dio)

    Part 7: Common Reference Material 4.5.6 Disabling/enabling I/O devices (DIO) You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals (devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end) cannot be disabled.

  • Page 492: Input Devices On/Off (Test Operation)

    Part 7: Common Reference Material 4.5.7 Input devices on/off (test operation) Each input devices can be turned on/off for test operation. However, when the device to be switched off is in the external input signal, also switch off the input signal. Transmit command [9] [2], data No.

  • Page 493: Test Operation Mode

    Part 7: Common Reference Material 4.5.8 Test operation mode POINT The test operation mode is used to check operation. Do not use it for actual operation. If communication stops for longer than 0.5 s during test operation, the servo amplifier decelerates to a stop, resulting in servo-lock. To prevent this, continue communication all the time by monitoring the status display, etc.
  • Page 494 Part 7: Common Reference Material (2) JOG operation Transmit the command, data No., and data as follows to execute JOG operation. Start Select the JOG operation in the test Command : [8] [B] operation mode. Data No. : [0] [0] Data : 0001 (JOG operation) Servo motor speed setting...
  • Page 495 Part 7: Common Reference Material (3) Positioning operation (a) Operation procedure Transmit the command, data No., and data as follows to execute positioning operation. Start Select the JOG operation in the test Command [8] [B] operation mode. Data No. [0] [0] Data 0002 (Positioning operation) Servo motor speed setting...
  • Page 496 Part 7: Common Reference Material (b) Temporary stop/restart/remaining distance clear Transmit the following command, data No., and data during positioning operation to make deceleration to a stop. Command Data No. Data [A] [0] [4] [1] STOP Transmit the following command, data No., and data during a temporary stop to restart. Command Data No.

  • Page 497: Output Signal Pin On/Off (Output Signal (Do) Forced Output)

    Part 7: Common Reference Material 4.5.9 Output signal pin on/off (output signal (DO) forced output) In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Using command [9] [0], disable the external output signals in advance. (1) Selecting output signal (DO) forced output in the test operation mode Transmit command + [8] [B] + data No.

  • Page 498: Alarm History

    Part 7: Common Reference Material 4.5.10 Alarm history (1) Alarm No. reading The following shows how to read alarm Nos. which occurred in the past. Alarm Nos. and occurrence times of No. 0 (last alarm) to No. 15 (sixteenth alarm in the past) are read. (a) Transmission Transmit command [3] [3] + data No.

  • Page 499: Current Alarm

    Part 7: Common Reference Material 4.5.11 Current alarm (1) Current alarm reading The following shows how to read the alarm No. which is occurring currently. (a) Transmission Transmit command [0] [2] and data No. [0] [0]. Command Data No. [0] [2] [0] [0] (b) Return The slave station returns the alarm currently occurring.

  • Page 500: Other Commands

    Part 7: Common Reference Material 4.5.12 Other commands (1) Servo motor-side pulse unit absolute position The following shows how to read the absolute position in the servo motor-side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Transmit command [0] [2] and data No.
  • Page 501 Part 7: Common Reference Material (3) Software version The following shows how to read the software version of the servo amplifier. (a) Transmission Transmit command [0] [2] and data No. [7] [0]. Command Data No. [0] [2] [7] [0] (b) Return The slave station returns the requested software version.

  • Page 502: Hf-_P/Ha-_P/Hc-_P Motor Drive

    Part 7: Common Reference Material 5. HF-_P/HA-_P/HC-_P MOTOR DRIVE 5.1 MR-J3 series servo motors which are available with MR-J4-_A_ and MR-J4-_B_ POINT For the software version of the servo amplifier, refer to "3.1 Method for checking the software version". When you use a servo motor which is not supported, please contact your local sales office.
  • Page 503 Part 7: Common Reference Material (1) 200 V class The list for the servo motor/servo amplifier combination Servo amplifier software version Servo motor model (Including servo motors with Servo motor series Servo amplifier model (Note 1) J3 compatibility J4 mode gear reducers/brakes) mode MR-J4-10A(-RJ)
  • Page 504 Part 7: Common Reference Material Servo motor model Servo amplifier software version Servo motor series (Including servo motors with Servo amplifier model (Note) J3 compatibility J4 mode gear reducers/brakes) mode MR-J4-60A(-RJ) HF-SP51 MR-J4-60B(-RJ) A8 or later MR-J4-100A(-RJ) HF-SP81 MR-J4-100B(-RJ) A8 or later MR-J4-200A(-RJ) HF-SP121 MR-J4-200B(-RJ)
  • Page 505 Part 7: Common Reference Material Servo motor model Servo amplifier software version Servo motor series (Including servo motors with Servo amplifier model (Note) J3 compatibility J4 mode gear reducers/brakes) mode MR-J4-500A(-RJ) HA-LP502 MR-J4-500B(-RJ) Unsupported A8 or later MR-J4-700A(-RJ) HA-LP702 MR-J4-700B(-RJ) Unsupported MR-J4-11KA(-RJ) HA-LP11K2...
  • Page 506 Part 7: Common Reference Material (2) 400 Vclass The list for the servo motor/servo amplifier combination Servo amplifier software version Servo motor series Servo motor model Servo amplifier model (Note 1) J3 compatibility J4 mode mode MR-J4-11KA4(-RJ) HF-JP11K1M4 MR-J4-11KB4(-RJ) Unsupported HF-JP Unsupported 1500 r/min series...
  • Page 507 Part 7: Common Reference Material Servo amplifier software version Servo motor series Servo motor model Servo amplifier model (Note) J3 compatibility J4 mode mode MR-J4-700A4(-RJ) HA-LP6014 Unsupported MR-J4-700B4(-RJ) MR-J4-11KA4(-RJ) HA-LP8014 Unsupported MR-J4-11KB4(-RJ) MR-J4-11KA4(-RJ) HA-LP12K14 Unsupported MR-J4-11KB4(-RJ) MR-J4-15KA4(-RJ) HA-LP15K14 Unsupported HA-LP MR-J4-15KB4(-RJ) Unsupported MR-J4-22KA4(-RJ)

  • Page 508: Mr-J3 Series Servo Motors Which Are Available With Mr-J4W_-_B

    Part 7: Common Reference Material 5.2 MR-J3 series servo motors which are available with MR-J4W_-_B POINT For the software version of the servo amplifier, refer to "3.1 Method for checking the software version". When you use a servo motor which is not supported, please contact your local sales office.
  • Page 509 Part 7: Common Reference Material Servo amplifier software version Servo motor series Servo motor model Servo amplifier model J3 compatibility J4 mode mode MR-J4W2-77B HF-JP53 MR-J4W2-1010B HF-JP MR-J4W2-77B Unsupported Unsupported 3000 r/min series HF-JP73 MR-J4W2-1010B HF-JP103 MR-J4W2-1010B MR-J4W2-77B HF-SP HF-SP51 MR-J4W2-1010B 1000 r/min series HF-SP81...

  • Page 510: Application Of Functions

    Part 7: Common Reference Material 6. APPLICATION OF FUNCTIONS This chapter explains application of using servo amplifier functions. POINT The J3 compatibility mode is compatible only with MR-J4-_B_(-RJ) and MR- J4W2-_B servo amplifiers. 6.1 J3 compatibility mode POINT J3 series servo motor driving in the J3 compatibility mode will be sequentially available.

  • Page 511: J3 Compatibility Mode Supported Function List

    Part 7: Common Reference Material 6.1.3 J3 compatibility mode supported function list The following shows functions which compatible with J4 mode and J3 compatibility mode. The letters such as "A0" described after mean servo amplifier software versions which compatible with each function.
  • Page 512 Part 7: Common Reference Material Compatible ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series (Note 5) J4 mode J3 compatibility mode Gain switching Slight vibration suppression control Overshoot amount compensation PI-PID switching control Feed forward Applied control Torque limit...

  • Page 513: Distinguishing J3 Compatibility Mode

    Part 7: Common Reference Material 6.1.4 Distinguishing J3 compatibility mode Following shows the status display of the servo amplifier axis of MR-J4-_B_ and MR-J4W2-_B. In the states of "Waiting for servo system controller power to switch on (SSCNET III/H communication)" and "Servo system controller power off", the decimal point on the first digit LED turns off in J4 mode, and blinks in J3 compatibility mode.

  • Page 514: How To Switch J4 Mode/J3 Compatibility Mode

    Part 7: Common Reference Material 6.1.5 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4-_B_(-RJ) servo amplifier and MR-J4W2-_B servo amplifier. (1) Mode selection by the automatic identification of the servo amplifier J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.

  • Page 515: How To Use The J3 Compatibility Mode

    Part 7: Common Reference Material 6.1.6 How to use the J3 compatibility mode (1) Setting of the controller To use in the J3 compatibility mode, select MR-J3 series in the system setting window. Operation mode in J3 compatibility mode System setting MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

  • Page 516: Cautions For Switching J4 Mode/J3 Compatibility Mode

    Part 7: Common Reference Material 6.1.7 Cautions for switching J4 mode/J3 compatibility mode The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a connected encoder. If a proper encoder is not connected at the first connection, the system will not start normally due to a mismatch with a set mode with the controller.

  • Page 517: Change Of Specifications Of "J3 Compatibility Mode" Switching Process

    Part 7: Common Reference Material 6.1.9 Change of specifications of "J3 compatibility mode" switching process (1) Detailed explanation of "J3 compatibility mode" switching (a) Operation when using a servo amplifier before change of specifications For the controllers in which "Not required" is described to controller reset in table 7.3, the mode will be switched to "J3 compatibility mode"...
  • Page 518 Part 7: Common Reference Material (b) Operation when using a servo amplifier after change of specifications For the controllers in which "Not required" is described to controller reset in table 7.5, the mode will be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for completing the connection not depending on the number of axes.
  • Page 519 Part 7: Common Reference Material (2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection". You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is difficult to reset many times with your "Reset required"...

  • Page 520: J3 Extension Function

    Part 7: Common Reference Material 6.1.10 J3 extension function POINT The J3 extension function is used with servo amplifiers with software version B0 or later. To enable the J3 extension function, MR Configurator2 with software version 1.25B or later is necessary. The J3 extension function of the amplifier differs from MR-J3-B in motion.
  • Page 521 Part 7: Common Reference Material The following shows functions used with the J3 extension function. Function Description Gain switching function You can switch gains during rotation/stop, and can use input devices to switch gains during operation. (Vibration suppression control 2 and model loop gain) Advanced vibration This function suppresses vibration at the arm end or residual vibration.

  • Page 522: Master-Slave Operation Function

    Part 7: Common Reference Material 6.2 Master-slave operation function Configure the circuit so that all the master and slave axes for the same machine are stopped by the controller forced stop at the moment of a stop of a master or slave axis due to such as a servo alarm.
  • Page 523 Part 7: Common Reference Material (1) Summary The master-slave operation function transmits a master axis torque to slave axes using driver communication and the torque as a command drives slave axes by torque control. Transmission of torque data from the master axis to slave axes is via SSCNET III/H. Additional wiring is not required.
  • Page 524 Part 7: Common Reference Material Eight master axes can be set at most per one system of SSCNET III/H. The maximum number of slave axes to each master axis is not limited. However, the total number of the master and slave axes should be the maximum number of the servo amplifiers at most.
  • Page 525 Part 7: Common Reference Material (4) Rotation direction setting Rotation directions can be different among a controller command, master axis, and slave axes. To align the directions, set [Pr. PA14] referring to (4) of this section. Not doing so can cause such as an overload due to a reverse direction torque against machine system rotation direction.

  • Page 526: Scale Measurement Function

    Part 7: Common Reference Material 6.3 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. POINT The scale measurement function is available for the servo amplifiers of software version A8 or later.
  • Page 527 Part 7: Common Reference Material (2) System configuration (a) For a rotary encoder 1) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Drive part Servo motor encoder signal Position command Control signal To the next servo amplifier (Note) (Note) Servo motor Two-wire type rotary encoder...

  • Page 528: Scale Measurement Encoder

    Part 7: Common Reference Material 6.3.2 Scale measurement encoder POINT Always use the scale measurement encoder cable introduced in this section. Using other products may cause a malfunction. For details of the scale measurement encoder specifications, performance and assurance, contact each encoder manufacturer. When a rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery to the servo amplifier.
  • Page 529 Part 7: Common Reference Material (2) Configuration diagram of encoder cable Configuration diagram for servo amplifier and scale measurement encoder is shown below. Cables vary depending on the scale measurement encoder. (a) Rotary encoder Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders. 1) MR-J4-_B_ servo amplifier MR-J4FCCBL03M branch cable Refer to (3) of this section.
  • Page 530 Part 7: Common Reference Material (3) 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 (Note 1) (Note 2) CN2_ MOTOR...

  • Page 531: How To Use Scale Measurement Function

    Part 7: Common Reference Material 6.3.3 How to use scale measurement function (1) Selection of scale measurement function The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and [Pr. PA22]. (a) Operation mode selection The scale measurement function can be used during semi closed loop system (standard control mode).
  • Page 532 Part 7: Common Reference Material (a) Parameter setting method 1) Select an encoder pulse count polarity. This parameter is used to set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
  • Page 533 Part 7: Common Reference Material MEMO 7 - 156...

  • Page 534: Part 8: Review On Replacement Of Motor 8- 1 To

    Part 8: Review on Replacement of Motor Part 8 Review on Replacement of Motor 8 - 1...

  • Page 535: Servo Motor Replacement

    Part 8: Review on Replacement of Motor Part 8: Review on Replacement of Motor 1. SERVO MOTOR REPLACEMENT 1.1 Servo Motor Substitute Model and Compatibility POINT For details about the compatibility of servo motor dimensions, reducer specifications, moment of inertia, connector specifications, and torque characteristics, refer to "Chapter 2 COMPARISON OF SERVO MOTOR SPECIFICATIONS".
  • Page 536 Part 8: Review on Replacement of Motor (1) HF-KP motor series (With gears for general industrial machines with a reducer) Example of Compatibility Series Model Note replacement model (: Compatible) HF-KP053(B) HG-KR053(B) Small capacity, low HF-KP13(B) HG-KR13(B) inertia HF-KP23(B) HG-KR23(B) ...
  • Page 537 Part 8: Review on Replacement of Motor (2) HF-KP series (With reduction gear for precision application compliant) Compatibility Example of Series Model Note replacement model (: Compatible) HF-KP053(B)G5 1/5 HG-KR053(B)G5 1/5 HF-KP053(B)G5 1/11 HG-KR053(B)G5 1/11 HF-KP053(B)G5 1/21 HG-KR053(B)G5 1/21 HF-KP053(B)G5 1/33 HG-KR053(B)G5 1/33 HF-KP053(B)G5 1/45 HG-KR053(B)G5 1/45...
  • Page 538 Part 8: Review on Replacement of Motor (3) HF-MP series (With gears for general industrial machines) Compatibility Example of Series Model Note replacement model (: Compatible) HF-MP053(B) HG-MR053(B) Small capacity, HF-MP13(B) HG-MR13(B) ultralow inertia HF- HF-MP23(B) HG-MR23(B)  MP series HF-MP43(B) HG-MR43(B) Standard/With brake...
  • Page 539 Part 8: Review on Replacement of Motor (4) HF-MP series (With reduction gear for precision application compliant) Compatibility Example of Series Model Note replacement model (: Compatible) HF-MP053(B)G5 1/5 HG-KR053(B)G5 1/5 HF-MP053(B)G5 1/11 HG-KR053(B)G5 1/11 HF-MP053(B)G5 1/21 HG-KR053(B)G5 1/21 HF-MP053(B)G5 1/33 HG-KR053(B)G5 1/33 HF-MP053(B)G5 1/45 HG-KR053(B)G5 1/45...
  • Page 540 Part 8: Review on Replacement of Motor (5) HF-SP series (With gears for general industrial machines) Compatibility Example of Series Model Note replacement model (: Compatible) HF-SP51(B) HG-SR51(B) HF-SP81(B) HG-SR81(B) HF-SP121(B) HG-SR121(B) HF-SP201(B) HG-SR201(B) HF-SP301(B) HG-SR301(B) Medium capacity, HF-SP421(B) HG-SR421(B) medium inertia HF- HF-SP52(4)(B) HG-SR52(4)(B)
  • Page 541 Part 8: Review on Replacement of Motor (6) HF-SP series (With gears for general industrial machines/With flange-output type gear reducer for high precision applications, flange mounting) Compatibility Example of Series Model Note replacement model (: Compatible) HF-SP502(4)(B)G1(H) 1/6 HG-SR502(4)(B)G1(H) 1/6 HF-SP502(4)(B)G1(H) 1/11 HG-SR502(4)(B)G1(H) 1/11 HF-SP502(4)(B)G1(H) 1/17...
  • Page 542 Part 8: Review on Replacement of Motor (7) HF-SP series (With shaft-output type gear reducer for high precision applications) Compatibility Example of Series Model Note replacement model (: Compatible) HF-SP52(4)(B)G7 1/5 HG-SR52(4)(B)G7 1/5 HF-SP52(4)(B)G7 1/11 HG-SR52(4)(B)G7 1/11 HF-SP52(4)(B)G7 1/21 HG-SR52(4)(B)G7 1/21 HF-SP52(4)(B)G7 1/33 HG-SR52(4)(B)G7 1/33 HF-SP52(4)(B)G7 1/45...
  • Page 543 Part 8: Review on Replacement of Motor (8) HC-RP series Compatibility Example of Series model Note replacement model (: Compatible) HC-RP103(B) HG-RR103(B) HC-RP153(B) HG-RR153(B) Medium capacity, ultra-low inertia HC-RP203(B) HG-RR203(B)  HC-RP series HC-RP353(B) HG-RR353(B) HC-RP503(B) HG-RR503(B) ◇ RP103(B)G5 1/5 HG-SR102(B)G5 1/5 ◇...
  • Page 544 Part 8: Review on Replacement of Motor (9) HC-LP/HC-UP/HF-JP series Compatibility Example of Series model Note replacement model (: Compatible) The capacity of the ◇ corresponding servo amplifier LP52(B) HG-JR73(B) will be different if a model marked with is replaced. HG-JR73 is MR-J4-70_(-RJ), HG-JR153 is ◇...
  • Page 545 Part 8: Review on Replacement of Motor (10) HA-LP series Compatibility Example of Series Model Note replacement model (: Compatible) HA-LP601(4)(B) HG-JR601(4)(B) HA-LP801(4)(B) HG-JR801(4)(B) HA-LP12K1(4)(B) HG-JR12K1(4)(B) ◇ LP15K1(4) HG-JR15K1(4) (Note 1) ◇ LP20K1(4) HG-JR20K1(4) ◇ LP25K1(4) ◆ HG-JR25K1(4) HA-LP30K1(4) ◇ HG-JR30K1(4) Large capacity, low HA-LP37K1(4) ◇...

  • Page 546: Comparison Of Servo Motor Specifications

    Part 8: Review on Replacement of Motor 2. COMPARISON OF SERVO MOTOR SPECIFICATIONS 2.1 Comparison of Servo Motor Mounting Dimensions POINT As for the dimensions not listed here, refer to the catalog or Instruction Manual. The symbols in the table mean as follows. (B): With brake The value in the parenthesis shows the value with brake.
  • Page 547 Part 8: Review on Replacement of Motor (1) HF-KP/HF-MP/HF-SP/HC-RP series [Unit: mm] Substitute models Target models Note Model Example of replacement model HF-KP053(B) HG-KR053(B) 66.4 (107.5) 66.4 (107) HF-MP053(B) HG-MR053(B) HF-KP13(B) HG-KR13(B) 82.4 (123.5) 82.4 (123) HF-MP13(B) HG-MR13(B) HF-KP23(B) HG-KR23(B) 76.6 (116.1) 76.6 (113.4) HF-MP23(B)
  • Page 548 Part 8: Review on Replacement of Motor (2) HC-LP/HC-UP/HF-JP series [Unit: mm] Substitute models Target models Note Model Example of replacement model HC-LP52(B) 144 (177) HG-JR73(B) 145.5 (191) HC-LP102(B) 164 (197) HG-JR153(B) 199.5 (245) HC-LP152(B) 191.5 (224.5) HG-JR353(B) 213 (251.5) (Note) HC-LP202(B) 198.5 (246.5)
  • Page 549 Part 8: Review on Replacement of Motor (3) HA-LP 1000 r/min series [Unit: mm] Substitute models Target models Note Model Example of replacement model HG-JR601(B) 299.5 (372) (Note) HG-JR6014(B) HA-LP601(B) 480 (550) HA-LP6014(B) HG-JR601R(B)-S_ 399 (472) HG-JR6014R(B)-S_ HG-JR801(B) 339.5 (412) (Note) HA-LP801(B) HG-JR8014(B)
  • Page 550 Part 8: Review on Replacement of Motor (4) HA-LP 1500 r/min series [Unit: mm] Substitute models Target models Note Model Example of replacement model HG-JR701M(B) 299.5 (372) (Note) HG-JR701M4(B) HA-LP701M(B) 480 (550) HA-LP701M4(B) HG-JR701MR(B)-S_ 399 (472) HG-JR701M4R(B)-S_ HG-JR11K1M(B) 339.5 (412) (Note) HA-LP11K1M(B) HG-JR11K1M4(B)
  • Page 551 Part 8: Review on Replacement of Motor (5) HA-LP 2000 r/min series [Unit: mm] Substitute models Target models Note Model Example of replacement model HG-SR502 178.5 (Note) HA-LP502 HG-SR502R-S_ HG-SR702 218.5 (Note) HA-LP702 HG-SR702R-S_ HG-JR11K1M(B) 339.5 (412) (Note) HG-JR11K1M4(B) HA-LP11K2(B) 480 (550) HA-LP11K24(B) HG-JR11K1MR(B)-S_(200)

  • Page 552: Detailed Comparison Of Servo Motor Mounting Dimensions

    Part 8: Review on Replacement of Motor 2.2 Detailed Comparison of Servo Motor Mounting Dimensions POINT As for the dimensions not listed here, refer to the catalog or Instruction Manual. Dimensions with differences are shown with shading. The symbols in the table mean as follows. (B): With brake (1) HF-KP/HF-MP/HF-SP/HC-RP series [Unit: mm]...
  • Page 553 Part 8: Review on Replacement of Motor (2) HC-LP/HC-UP/HF-JP series [Unit: mm] Substitute models Target models Example of Model replacement model (Note) HC-LP52(B) HG-JR73(B) HC-LP102(B) HG-JR153(B) HC-LP152(B) HG-JR353(B) HC-LP202(B) 114.3 13.5 HG-JR353(B) HC-LP302(B) 114.3 13.5 HG-JR503(B) HC-UP72(B) 114.3 13.5 HG-UR72(B) 114.3 13.5 HC-UP152(B)
  • Page 554 Part 8: Review on Replacement of Motor (3) HA-LP series [Unit: mm] Substitute models Target models Example of Model replacement model (Note) HA-LP601(B) HG-JR601(B) 14.5 13.5 HA-LP6014(B) HG-JR6014(B) HA-LP801(B) HG-JR801(B) 14.5 13.5 HA-LP8014(B) HG-JR8014(B) HA-LP12K1(B) HG-JR12K1(B) 14.5 13.5 HA-LP12K14(B) HG-JR12K14(B) HA-LP15K1 HG-JR15K1 HA-LP15K14...

  • Page 555: Comparison Of Mounting Dimensions For Geared Servo Motors

    Part 8: Review on Replacement of Motor 2.3 Comparison of Mounting Dimensions for Geared Servo Motors Servo motor series whose mounting dimensions of the reducer are the same before and after the replacement is omitted. POINT As for the dimensions not listed here, refer to the catalog or Instruction Manual. Dimensions with differences are shown with shading.
  • Page 556 Part 8: Review on Replacement of Motor (1) HC-RP_G5 series (With reduction gear for precision application compliant) [Unit: mm] HC-RP series (G5) HG-SR series (G5) Output (kW) Reduction ratio Reduction ratio 227.5 227.5 (265.5) (262) 227.5 239.5 1/11 1/11 135 115 (265.5) (274) 255.5...
  • Page 557 Part 8: Review on Replacement of Motor (2) HC-RP_G7 series (With reduction gear for precision application compliant) [Unit: mm] HC-RP series (G7) HG-SR series (G7) Output Reduction Reduction (kW) ratio ratio 227.5 227.5 105 85 (265.5) (262) 227.5 239.5 1/11 1/11 135 115 120 11 (265.5)

  • Page 558: Comparison Of Actual Reduction Ratios For Geared Servo Motors

    Part 8: Review on Replacement of Motor 2.4 Comparison of Actual Reduction Ratios for Geared Servo Motors POINT The HG-MR series does not support the geared model. The geared model is supported with the HG-KR series. Actual reduction ratios with differences are shown with shading. HF-KP_G1/HF-MP_G1(With gears for general industrial machines with a reducer) series Because the actual reduction ratio for some models is different when replacing HF-KP_G1 or HF-MP_G1 with HG-KR_G1, it is required that an electronic gear be set up.

  • Page 559: Comparison Of Moment Of Inertia

    Part 8: Review on Replacement of Motor 2.5 Comparison of Moment of Inertia POINT As for the motor specifications not listed here, refer to the catalog or Instruction Manual. If the load inertia moment ratio is exceeded, please ask the sales contact.
  • Page 560 Part 8: Review on Replacement of Motor (2) HF-KP series (With reduction gear for precision application compliant) Target product Substitute model Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio ×...
  • Page 561 Part 8: Review on Replacement of Motor (3) HF-MP series (With gears for general industrial machines) Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio ×...
  • Page 562 Part 8: Review on Replacement of Motor (4) HF-MP series (With reduction gear for precision application compliant) Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio ×...
  • Page 563 Part 8: Review on Replacement of Motor (5) HF-SP series Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio × 10 kg•m × 10 kg•m HF-SP51(B) 11.9 (14.0)
  • Page 564 Part 8: Review on Replacement of Motor (6) HF-SP series (For general industrial machine with a reducer) Target models Substitute models Moment of Moment of Load inertia Series Load inertia Example of replacement inertia J inertia J Model moment moment ratio model ratio ×...
  • Page 565 Part 8: Review on Replacement of Motor (7) HF-SP series (With reduction gear for precision application compliant) Target models Substitute models Moment of Moment of Load inertia Series Load inertia Example of replacement inertia J inertia J Model moment moment ratio model ratio ×...
  • Page 566 Part 8: Review on Replacement of Motor (8) HC-RP series Target models Substitute models Moment of Moment of Load inertia Series Load inertia Example of replacement inertia J inertia J Model moment moment ratio model ratio × 10 kg•m × 10 kg•m HC-RP103(B) 1.50 (1.85)
  • Page 567 Part 8: Review on Replacement of Motor (9) HC-LP/HC-UP/HF-JP series Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio × 10 kg•m × 10 kg•m HC-LP52(B) 3.10 (5.20)
  • Page 568 Part 8: Review on Replacement of Motor (10) HA-LP series Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio × 10 kg•m × 10 kg•m HA-LP601(B) HG-JR601(B)
  • Page 569 Part 8: Review on Replacement of Motor (11) HA-LP series (compatible product) Only flanges and shaft ends have compatibility in mounting. Please contact your local sales office egarding the servo motor model and its delivery, since it is developed upon receipt of order. Target product Replacement product Moment of...

  • Page 570: Comparison Of Servo Motor Connector Specifications

    Part 8: Review on Replacement of Motor 2.6 Comparison of Servo Motor Connector Specifications (1) HF-KP/HF-MP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-KP/HF-MP HG-KR/HG-MR Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector...
  • Page 571 Part 8: Review on Replacement of Motor (2) HF-SP motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-SP HG-SR HF-SP51(B)/HF-SP81(B)/ HG-SR51(B)/HG-SR81(B)/ Target models HF-SP52(4)(B) to HF-SP152(4)(B) HG-SR52(4)(B) toHG-SR152(4)(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 572 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-SP HG-SR HF-SP121(B) to HF-SP421(B)/ HG-SR121(B) to HG-SR421(B)/ Target models HF-SP202(4)(B) to HF-SP702(4)(B) HG-SR202(4)(B) to HG-SR702(4)(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 573 Part 8: Review on Replacement of Motor (3) HC-RP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-RP HG-RR Target models HC-RP103(B) to HC-RP203(B) HG-RR103(B) to HG-RR203(B) Motor appearance Power connector (with brake) Power connector (with brake) Encoder connector Encoder connector CE05-2A22-23P...
  • Page 574 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-RP HG-RR Target models HC-RP353(B)/HC-RP503(B) HG-RR353(B)/HG-RR503(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector CE05-2A24-10P CE05-2A24-10P Power connector Power connector...
  • Page 575 Part 8: Review on Replacement of Motor (4) HC-LP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-LP HG-JR Target models HC-LP52(B)/HC-LP102(B) HG-JR73(B)/HG-JR153(B) Motor appearance Power connector Power connector Electromagnetic brake connector (With electromagnetic brake) Encoder connector Encoder connector CE05-2A22-23P MS3102A18-10P...
  • Page 576 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-LP HG-JR Target models HC-LP152(B) HG-JR353(B) Motor appearance Electromagnetic brake connector Power connector (With electromagnetic brake) Power connector Encoder connector Encoder connector MS3102A22-22P CE05-2A22-23P Power connector Power connector...
  • Page 577 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-LP HG-JR Target models HC-LP202(B)/HC-LP302(B) HG-JR353(B)/HG-JR503(B) Motor appearance Power connector Electromagnetic brake connector Electromagnetic brake connector Power connector Encoder connector Encoder connector MS3102A22-22P CE05-2A24-10P Power connector Power connector...
  • Page 578 Part 8: Review on Replacement of Motor (5) HC-UP series Servo amplifier series MR-J3 series MR-J4 series HC-UP HG-UR Servo motor series HC-UP72(B)/HC-UP152(B) HG-UR72(B)/HG-UR152(B) Target models Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector CE05-2A22-23P CE05-2A22-23P...
  • Page 579 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-UP HG-UR HC-UP202(B) to HC-UP502(B) HG-UR202(B) to HG-UR502(B) Target models Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector CE05-2A24-10P CE05-2A24-10P...
  • Page 580 Part 8: Review on Replacement of Motor (6) HF-JP motor Servo amplifier series MR-J3 series MR-J4 series HF-JP HG-JR Servo motor series HF-JP53(4)(B) to HF-JP203(4)(B) HG-JR53(4)(B) to HG-JR203(4)(B) Target models Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector MS3102A18-10P...
  • Page 581 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HF-JP HG-JR Servo motor series HF-JP353(B)/HF-JP503(B) HG-JR353(B)/HG-JR503(B) Target models Motor appearance Electromagnetic brake connector Electromagnetic brake connector Power connector Power connector Encoder connector Encoder connector MS3102A22-22P MS3102A22-22P Power connector Power connector...
  • Page 582 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HF-JP HG-JR Servo motor series HF-JP3534(B)/HF-JP5034(B) HG-JR3534(B)/HG-JR5034(B) Target models Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector MS3102A18-10P MS3102A18-10P Power connector Power connector...
  • Page 583 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HF-JP HG-JR Servo motor series HF-JP703(4)(B)/HF-JP903(4)(B) HG-JR703(4)(B)/HG-JR903(4)(B) Target models Motor appearance Electromagnetic brake connector Electromagnetic brake connector Power connector Power connector Encoder connector Encoder connector MS3102A32-17P MS3102A32-17P Power connector Power connector...
  • Page 584 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HF-JP HG-JR Servo motor series HF-JP11K1M(4)(B)/HF-JP15K1M(4)(B) HG-JR11K1M(4)(B)/HG-JR15K1M(4)(B) Target models Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector MS3102A32-17P MS3102A32-17P Power connector Power connector...
  • Page 585 Part 8: Review on Replacement of Motor (7) HA-LP series Servo amplifier series MR-J3 series MR-J4 series HA-LP HG-SR Servo motor series HA-LP502 HG-SR502 Target models Encoder connector Power connector Motor appearance Power connector Encoder connector CE05-2A24-10P MS3102A22-22P Power connector Power connector Pin assignment Pin assignment...
  • Page 586 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HA-LP HG-SR Servo motor series HA-LP702 HG-SR702 Target models Encoder connector Power connector Motor appearance Power connector Encoder connector CE05-2A32-17P MS3102A32-17P Power connector Power connector Pin assignment Pin assignment Power connector Pin No.
  • Page 587 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HA-LP HG-JR Servo motor series HA-LP601(4)(B)/HA-LP701M(4)(B)/ HG-JR601(4)(B)/HG-JR701M(4)(B)/ Target models HA-LP11K2(4)(B) HG-JR11K1M(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Power supply terminal block Earth terminal M6 screw...
  • Page 588 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series HA-LP HG-JR Servo motor series HA-LP801(4)(B)/HA-LP12K1(4)(B)/ HG-JR801(4)(B)/HG-JR12K1(4)(B)/ Target models HA-LP11K1M(4)(B)/HA-LP15K1M(4)(B)/ HG-JR11K1M(4)(B)/HG-JR15K1M(4)(B) HA-LP15K2(4)(B)/HA-LP22K2(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Terminal block for cooling fan...
  • Page 589 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HA-LP HG-JR HA-LP15K1(4)/HA-LP20K1(4)/HA-LP22K1M(4)/ HG-JR15K1(4)/HG-JR20K1(4)/ Target models HA-LP30K1M4/HA-LP30K24/HA-LP37K24 HG-JR22K1M(4)/HG-JR30K1M4 Power supply terminal block Cooling fan connector Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block Power supply terminal block...
  • Page 590 Part 8: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HA-LP HG-JR HA-LP25K1(4) to HA-LP37K1(4)/ HA-LP30K1M/ HG-JR25K1(4) to HG-JR 37K1(4)/HG-JR22K1M/ Target models HA-LP37K1M(4)/HA-LP45K1M4/HA-LP50K1M4/ HG-JR 30K1M/HG-JR 37K1M(4)/HG-JR45K1M4/ HA-LP30K2/HA-LP37K2/HA-LP45K24/HA-LP55K24 HG-JR55K1M4 Power supply terminal block Encoder connector Cooling fan connector Encoder connector Power supply terminal block...

  • Page 591: Comparison Of Servo Motor Torque Characteristics

    Part 8: Review on Replacement of Motor 2.7 Comparison of Servo Motor Torque Characteristics (1) HF-KP series Same torque characteristics HF-KP053 → HG-KR053 HF-KP13 → HG-KR13 HF-KP23 → HG-KR23 HF-KP43 → HG-KR43 HF-KP73 → HG-KR73 Short-duration Short-duration Short-duration running range running range running range Short-duration...
  • Page 592 Part 8: Review on Replacement of Motor (3) HF-SP series 200 V class Same torque characteristics HF-SP51 → HG-SR51 HF-SP81 → HG-SR81 HF-SP121 → HG-SR121 HF-SP201 → HG-SR201 HF-SP301 → HG-SR301 Short-duration Short-duration Short-duration Short-duration Short-duration running range running range running range running range running range...
  • Page 593 Part 8: Review on Replacement of Motor (4) HF-SP series 400 V class Same torque characteristics HF-SP1524 → HG-SR1524 HF-SP2024 → HG-SR2024 HF-SP3524 → HG-SR3524 HF-SP524 → HG-SR524 HF-SP1024 → HG-SR1024 Short-duration Short-duration Short-duration Short-duration Short-duration running range running range running range running range running range...
  • Page 594 Part 8: Review on Replacement of Motor (6) HC-LP series ( : HG-JR， : HC-LP) ⇒ ⇒ LP52 HG-JR73 HC-LP102→HG-JR153 (Note 2) LP152 HG-JR353 Short-duration Short-duration running range running range Short-duration running range Continuous Continuous running range running range Continuous running range Speed (r/min) Speed (r/min)
  • Page 595 Part 8: Review on Replacement of Motor (8) HF-JP series Same torque characteristics HF-JP53 → HG-JR53 HF-JP103 → HG-JR103 HF-JP153 → HG-JR153 HF-JP203 → HG-JR203 HF-JP73 → HG-JR73 (Note 3) (Note 3) (Note 3) (Note 3) (Note3) Short-duration running range Short-duration Short-duration Short-duration...
  • Page 596 Part 8: Review on Replacement of Motor (9) HA-LP series ( : HG-JR/HG-SR， : HA-LP) POINT When servo motors are replaced with HG-JR_R_-S_ motors (compatible product), the torque characteristics differ. Please contact your local sales office. (a) HA-LP 1000 r/min series 200 V class ⇒...
  • Page 597 Part 8: Review on Replacement of Motor (b) HA-LP 1000 r/min series 400 Vclass ⇒ LP6014 HG-JR6014 ⇒ ⇒ LP8014 HG-JR8014 LP12K14 HG-JR12K14 Short-duration Short-duration running range running range Short-duration running range Continuous Continuous Continuous running range running range running range Speed (r/min) Speed (r/min) Speed (r/min)
  • Page 598 Part 8: Review on Replacement of Motor (c) HA-LP 1500 r/min series 200 V class HA-LP15K1M ⇒ HG-JR15K1M HA-LP11K1M ⇒ HG-JR11K1M HA-LP701M ⇒ HG-JR701M Short-duration Short-duration Short-duration running range running range running range Continuous Continuous Continuous running range running range running range Speed (r/min) Speed (r/min)
  • Page 599 Part 8: Review on Replacement of Motor (d) HA-LP 1500 r/min series 400 V class HA-LP701M4 ⇒ HG-JR701M4 HA-LP11K1M4 ⇒ HG-JR11K1M4 HA-LP15K1M4 ⇒ HG-JR15K1M4 Short-duration Short-duration Short-duration running range running range running range Continuous Continuous Continuous running range running range running range Speed (r/min) Speed (r/min)
  • Page 600 Part 8: Review on Replacement of Motor (e) HA-LP 2000 r/min series 200 V class HA-LP502 ⇒ HG-SR502 HA-LP702 ⇒ HG-SR702 HA-LP11K2 ⇒ HG-JR11K1M Short-duration Short-duration running range running range Short-duration running range Continuous Continuous Continuous running range running range running range Speed (r/min) Speed (r/min)
  • Page 601 Part 8: Review on Replacement of Motor (f) HA-LP 2000 r/min series 400 V class HA-LP22K24 ⇒ HG-JR15K1M4 (Note 3) HA-LP11K24 ⇒ HG-JR11K1M4 HA-LP15K24 ⇒ HG-JR11K1M4 (Note 3) Short-duration Short-duration running range running range Short-duration running range Continuous Continuous running range Continuous running range running range...

  • Page 602: Part 9: Review On Replacement Of Optional Peripheral Equipment 9- 1 To

    Part 9: Review on Replacement of Optional Peripheral Equipment Part 9 Review on Replacement of Optional Peripheral Equipment 9 - 1...

  • Page 603: Comparison Table Of Regenerative Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment Part 9: Review on Replacement of Optional Peripheral Equipment 1. COMPARISON TABLE OF REGENERATIVE OPTION COMBINATIONS POINT The MR-J4 series provides the new regenerative options shown in the table below. When an MR-J3/MR-J3W series regenerative resistor is used as it is with a motor combined, an alarm may occur.

  • Page 604: Regenerative Options 200 V Class /100 V Class

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1 Regenerative Options 200 V class /100 V class 1.1.1 Combination and regenerative power for the MR-J3/MR-J3W series List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in (Note 1) (Note 1) (Note 1)

  • Page 605: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1.2 Combination and regenerative power for MR-J4 series (replacement model) POINT Changed items are shown with shading. Parameter settings may be required depending on the regenerative option model. List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in regenerative...

  • Page 606: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1.3 External Form Comparison MR-J3/MR-J3W series MR-J4 series 350_ MR-RB30/MR-RB31/MR-RB34/MR-RB3B MR-RB30/MR-RB31/MR-RB34/MR-RB3N Cooling fan mounting Cooling fan mounting screw (2-M4 screw) screw (2-M4 screw) 101.5 82.5 101.5 82.5 Intake Air intake 350_ MR-RB50/MR-RB51 MR-RB50/MR-RB51/MR-RB5N Cooling fan mounting...

  • Page 607: Regenerative Options 400 V Class

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.2 Regenerative Options 400 V class 1.2.1 Combination and regenerative power for the MR-J3 series List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in regenerative (Note 1) (Note 1) (Note 1) (Note 1)

  • Page 608: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.2.2 Combination and regenerative power for MR-J4 series (replacement model) POINT Changed items are shown with shading. Parameter settings may be required depending on the regenerative option model. List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in (Note 1)

  • Page 609: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.2.3 External Form Comparison MR-J3 series MR-J4 series 700_4 MR-RB34-4 MR-RB3U-4 Cooling fan mounting screw (2-M4 screw) Cooling fan mounting screw (2-M4 screw) 101.5 82.5 101.5 82.5 Air intake Intake 200_4 MR-RB5G-4/MR-RB54-4 MR-RB5G-4/MR-RB54-4/MR-RB5U-4 500_4...
  • Page 610 Part 9: Review on Replacement of Optional Peripheral Equipment MR-J3 series MR-J4 series MR-RB5K-4/MR-RB6K-4 11K_4 MR-RB6B-4/MR-RB60-4/MR-RB6K-4 2- φ 10 mounting hole 15K_4 2- 10 mounting hole Cooling fan intake Air intake Screw for mounting cooling fan Cooling fan mounting screw 4-M3 screw 4-M3 screw 82.5...

  • Page 611: Comparison Table Of Dynamic Brake Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment 2. COMPARISON TABLE OF DYNAMIC BRAKE OPTION COMBINATIONS POINT When an MR-J4-22K(-RJ) servo amplifier and an HG-JR22K1M servo motor are combined, the coasting distance will be longer. Therefore, use a dynamic brake option, DBU-22K-R1.

  • Page 612: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 2.1 External Form Comparison MR-J3 series MR-J4 series 22K_ DBU-22K DBU-22K-R1 Mass External dynamic brake [kg] DBU-22K DBU-22K-R1 MR-J3 series MR-J4 series 30K_ DBU-37K/DBU55K_4 DBU-37K-R1/ DBU-55K-4-R5 37K_ 2-φ10 mounting hole [Unit: mm] 2-φ10 mounting hole [Unit: mm] 30K_4...

  • Page 613: Comparison Table Of Cable Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment 3. COMPARISON TABLE OF CABLE OPTION COMBINATIONS 3.1 Changes from MR-J3 series to MR-J4 series Cable option combinations Compatibility Application MR-J3 series MR-J4 series Note (Note 6) MR-J3ENCBL_M-A_-_ Use the same combination. _M: Cable length MR-J3JCBL03M-A_-L A_: Leading direction...
  • Page 614 Part 9: Review on Replacement of Optional Peripheral Equipment Compatibility Application MR-J3 series MR-J4 series Note (Note 6) Use the same combination. MR-BKS1CBL_M-A_-_ _M: Cable length Electromagnetic brake cable A_: Leading direction MR-BKS2CBL03M-A_-L -_: Bending life MR-BKCNS1 Use the same combination. MR-BKCNS1 MR-BKCNS2 The screw-type is added.

  • Page 615: Changes From Mr-J3W Series To Mr-J4W2-_B Servo Amplifier

    Part 9: Review on Replacement of Optional Peripheral Equipment 3.2 Changes from MR-J3W series to MR-J4W2-_B Servo amplifier Cable option combinations Compatibility MR-J4W2-B Application MR-J3W series Note Servo amplifier (Note 3) MR-J3ENCBL_M-A_-_ Use the same combination. MR-J3JCBL03M-A_-L _M: Cable length Encoder cable MR-EKCBL_M-_ A_: Leading direction...

  • Page 616: Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4. POWER SUPPLY WIRE SIZE 4.1 Selection of Power Supply Wire Size (Example) 4.1.1 MR-J3 series power supply wire size POINT Wires indicated in this section are separated wires. When using a cable for power line (U/V//W) between the servo amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
  • Page 617 Part 9: Review on Replacement of Optional Peripheral Equipment (1) Wires for power supply wiring POINT Use 600 V Grade heat-resistant polyvinyl chloride insulated wires (HIV wires) for HF-JP series servo motor. The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. In this case, the power supply wire used is a 600 V plastic one and the wiring distance is 30 m or less.
  • Page 618 Part 9: Review on Replacement of Optional Peripheral Equipment Wire size selection example 1 (IV wire) Recommended wire Power supply wire [mm ] (Note 1, 4) Servo amplifier 1) L1/L2/L3/ 2) L11/L21 3) U/V/W/ 4) P/C 5) B1/B2 6) BU/BV/BW 7) OHS1/OHS2 MR-J3-10_(1) MR-J3-20_(1)
  • Page 619 Part 9: Review on Replacement of Optional Peripheral Equipment Wire size selection example (HIV wire) Power supply wire [mm ] (Note 1, 4) Servo amplifier 1) L1/L2/L3/ 2) L11/L21 3) U/V/W/ 4) P/C 5) B1/B2 6) BU/BV/BW 7) OHS1/OHS2 MR-J3-10_(1) MR-J3-20_(1) MR-J3-40_(1) 1.25 (AWG16)

  • Page 620: Mr-J4 Series Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.1.2 MR-J4 series power supply wire size POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in the instruction manuals of the servo amplifier in use for wiring. To comply with other standards, use a wire that is complied with each standard.
  • Page 621 Part 9: Review on Replacement of Optional Peripheral Equipment (1) Example of selecting the wire sizes POINT Use the HIV wire for the replacement with MR-J4. For the power supply wire, use a 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire). The table below shows selection examples of power supply wire sizes.

  • Page 622: Mr-J3W Series Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.1.3 MR-J3W series power supply wire size POINT Wires indicated in this section are separated wires. To comply with the UL/CSA Standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard.
  • Page 623 Part 9: Review on Replacement of Optional Peripheral Equipment (2) DC 48 V/24 V class wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section. These sizes are common for the 600V Polyvinyl chloride insulated wire (IV wire) and for the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire).

  • Page 624: Mr-J4W2-_B Servo Amplifier, Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.1.4 MR-J4W2-_B servo amplifier, power supply wire size POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in instruction manual for wiring. To comply with other standards, use a wire that is complied with each standard.
  • Page 625 Part 9: Review on Replacement of Optional Peripheral Equipment (2) DC 48 V/24 V class wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section. 1) Main/control circuit power supply lead 24 V DC Servo amplifier power supply...

  • Page 626: Selection Example Of Crimp Terminals

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.2 Selection Example of Crimp Terminals 4.2.1 MR-J3 series crimp terminal Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Applicable tool Crimp terminal Manufacturer (Note 2) Body Head Dice FVD5.5-4 YNT-1210S 8-4NS YHT-8S (Note 1)

  • Page 627: Mr-J4 Series Crimp Terminal

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.2.2 MR-J4 series crimp terminal (1) Selection example of crimp terminals 200 V class/100 V class The table below shows selection examples of a crimp terminal for a servo amplifier terminal block. Recommended crimp terminals Servo amplifier-side crimp terminals Symbol...

  • Page 628: Selection Of Molded-Case Circuit Breaker, Fuse, And Magnetic Contactor (Example)

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3 Selection of Molded-Case Circuit Breaker, Fuse, and Magnetic Contactor (Example) 4.3.1 MR-J3 series, molded-case circuit breakers, fuses, and magnetic contactors Select a molded-case circuit breaker with a short shut-off time to prevent smoking and fire from the servo amplifier.

  • Page 629: Mr-J4 Series, Molded-Case Circuit Breakers, Fuses, And Magnetic Contactors (Recommended)

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3.2 MR-J4 series, molded-case circuit breakers, fuses, and magnetic contactors (recommended) (1) For main circuit power supply Select a molded-case circuit breaker with a short shut-off time to prevent smoking and fire from the servo amplifier. Always use one molded-case circuit breaker and one magnetic contactor with one CAUTION servo amplifier.
  • Page 630 Part 9: Review on Replacement of Optional Peripheral Equipment (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.

  • Page 631: Mr-J3W Series, No-Fuse Breakers, Fuses, Magnetic Contactors

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3.3 MR-J3W series, no-fuse breakers, fuses, magnetic contactors 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 632: Mr-J4W2-_B Servo Amplifier, No-Fuse Breakers, Fuses, Magnetic Contactors

    4. S-N18 can be used when auxiliary contact is not required. 5. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor. 6. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
  • Page 633 Part 9: Review on Replacement of Optional Peripheral Equipment (3) DC 24 V/DC 48 V class servo amplifier Servo amplifier Power supply specification Circuit protector (Note) Control circuit power supply (24 V DC) CP30-BA 1P 1-M 1A Main circuit power supply (48 V DC) CP30-BA 1P 1-M 5A MR-J4W2-0303BN6 Main circuit power supply (24 V DC)

  • Page 634: Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment 5. BATTERY POINT Refer to "Servo Amplifier Instruction Manual" for the replacement procedure of the battery. Disconnecting the encoder cable will erase the absolute position data. After disconnecting the encoder cable, always execute home position setting and then positioning operation.

  • Page 635: Mr-J3 Series Battery

    The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X (10), Y (11), Z (12). For October 2004, the Serial No. is like, "SERIAL_4X_ _ _ _ _ _ ". MELSERVO MR-J3BAT 3.6V,2000mAh SERIAL MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN The year and month of manufacture 9 - 34...

  • Page 636: Mr-J4 Series Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3 MR-J4 series Battery 5.3.1 Battery replacement procedure Model: MR-BAT6V1SET, MR-BAT6V1BJ, MR-BT6VCASE Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.

  • Page 637: When Using The Mr-Bat6V1Set Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment POINT Three types of batteries are used to construct the absolute position detection system: MR-BAT6V1SET battery, MR-BAT6V1BJ battery for junction battery cable, and MR-BT6VCASE battery case. The use of the MR-BAT6V1BJ battery for junction battery cable has the following characteristics distinctive from other batteries.

  • Page 638: When Using Mr-Bat6V1Bj Battery For Junction Battery Cable

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3.3 When using MR-BAT6V1BJ battery for junction battery cable (a) 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 (b) Battery manufacture year and month...
  • Page 639 Part 9: Review on Replacement of Optional Peripheral Equipment 5.3.4 When using MR-BT6VCASE battery case (a) Battery connection Servo amplifier Servo amplifier Servo amplifier Servo amplifier MR-BT6VCASE MR-BT6VCASE CN10 CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M MR-BT6V1CBL_M MR-BT6V1CBL_M Connection to a single unit of servo amplifier Connection to eight axes of servo amplifiers A single MR-BT6VCASE battery case can retain the absolute position data of up to eight axes of servo motors.
  • Page 640 Part 9: Review on Replacement of Optional Peripheral Equipment 5.4 MR-J3W series Battery 5.4.1 MR-BTCASE battery case and MR-BAT battery POINT Refer to "Servo Amplifier Instruction Manual" for battery transportation and the new EU Battery Directive. Always install eight MR-BAT batteries to an MR-BTCASE battery case. These are used to configure an absolute position detection system.
  • Page 641 Part 9: Review on Replacement of Optional Peripheral Equipment 5.5 MR-J4W2-_B servo amplifier, battery POINT Refer to "Servo Amplifier Instruction Manual" for battery transportation and the new EU Battery Directive. This battery is used to construct an absolute position detection system. Refer to "Servo Amplifier Instruction Manual"...
  • Page 642 Part 9: Review on Replacement of Optional Peripheral Equipment (3) Battery mounting POINT One battery unit can be connected to up to 8-axis servo motors. Servo motors in the incremental system are included as the axis Nos. The MR-J4W_-_B servo amplifiers can be combined with MR-J4-_B_(-RJ) servo amplifiers.
  • Page 643 Part 9: Review on Replacement of Optional Peripheral Equipment (4) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
  • Page 644 Part 9: Review on Replacement of Optional Peripheral Equipment (a) Assembling a battery unit Do not mount new and old batteries together. CAUTION When you replace a battery, replace all batteries at the same time. POINT Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case. 1) Required items Product name Model...
  • Page 645 Part 9: Review on Replacement of Optional Peripheral Equipment b) Mounting MR-BAT6V1 Securely mount an MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect direction, the connector will break.
  • Page 646 Part 9: Review on Replacement of Optional Peripheral Equipment c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
  • Page 647 Part 9: Review on Replacement of Optional Peripheral Equipment 5.5.2 MR-BAT6V1 battery The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET and a primary lithium battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on an MR-BAT6V1 battery.
  • Page 648 Part 9: Review on Replacement of Optional Peripheral Equipment 5.5.3 MR-BAT6V1SET-A battery (MR-J4W2-0303B6 only) POINT Use MR-BAT6V1SET-A for MR-J4W2-0303B6 servo amplifier. The MR- BAT6V1SET- A cannot be used for MR-J4W_-B servo amplifiers other than MR- J4W2-0303B6. (1) Parts identification and dimensions [Unit: mm] 27.4 Case...
  • Page 649 Part 9: Review on Replacement of Optional Peripheral Equipment (3) Battery replacement procedure (a) Installation procedure Insert the connector of the battery into CN4. Insert the battery along the rails. (b) Removal procedure Pulling out the connector of the battery without the lock release lever pressed CAUTION may damage the CN4 connector of the servo amplifier or the connector of the battery.
  • Page 650 Part 9: Review on Replacement of Optional Peripheral Equipment (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its life, replace the built-in MR-BAT6V1 battery. 1) While pressing the locking part, open the cover. Cover 2) Replace the battery with a new MR-BAT6V1 battery.
  • Page 651 Part 9: Review on Replacement of Optional Peripheral Equipment 6. EMC FILTER (RECOMMENDED) 6.1 MR-J3/MR-J3W/MR-J4 series EMC Filter (recommended) (100 V/200 V/400 V class) 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 652 Part 9: Review on Replacement of Optional Peripheral Equipment 6.1.1 Connection example (1) MR-J3/MR-J3W series EMC filter Servo amplifier (Note 1) Power supply (Note 2) Surge protector 1 (RAV-781BYZ-2) (OKAYA Electric Industries Co., Ltd.) (Note 2) Surge protector 2 (RAV-781BXZ-4) (OKAYA Electric Industries Co., Ltd.) Note 1.
  • Page 653 Part 9: Review on Replacement of Optional Peripheral Equipment 6.1.2 Dimensions (1) EMC filter HF3010A-UN/HF3010A-UN2 [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...
  • Page 654 Part 9: Review on Replacement of Optional Peripheral Equipment HF3100A-UN [Unit: mm] 2-φ6.5 2-6.5 × 8 380 ± 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 ±...
  • Page 655 Part 9: Review on Replacement of Optional Peripheral Equipment TF3040C-TX/TF3060C-TX [Unit: mm] 8-R3.25 Length 8 (for M6) 3-M6 3-M6 Approx. 91.5 100 ± 1 100 ± 1 100 ± 1 180 ± 2 390 ± 2 Approx. 190 412 ± 5 438 ±...
  • Page 656 Part 9: Review on Replacement of Optional Peripheral Equipment (2) Surge protector RAV-781BYZ-2 [Unit: mm] Black Black Black UL-1015AWG16 41 1.0 RAV-781BXZ-4 [Unit: mm] ① ② ③ ④ UL-1015AWG16 41 1.0 RSPD-250-U4 [Unit: mm] φ4.2 ± 0.5 Resin Lead Case 41 ±...
  • Page 657 Part 9: Review on Replacement of Optional Peripheral Equipment 7. POWER FACTOR IMPROVING AC REACTOR/POWER FACTOR IMPROVING DC REACTOR 7.1 MR-J3 series Power Factor Improving DC Reactor POINT For the 100V AC power supply type (MR-J3-_A1) and MR-J3W series, the power factor improving DC reactor cannot be used.
  • Page 658 Part 9: Review on Replacement of Optional Peripheral Equipment Rating plate Terminal box - screw size G Rating plate (Note 1) Terminal cover Screw size G Servo amplifier FR-BEL-(H) Servo amplifier FR-BEL-(H) (N ote 2) (Note 2) (No te 3 ) 5 m or less A or less B or less...
  • Page 659 Part 9: Review on Replacement of Optional Peripheral Equipment Terminal block (M3.5 screw) For thermal sensor Terminal screw Terminal cover Approx. W1 Mounting hole for M8 D or less W or less Dimensions [mm] Power factor improving Terminal Mass Drive unit DC reactor screw [kg (lb)]...
  • Page 660 Part 9: Review on Replacement of Optional Peripheral Equipment 7.2 MR-J3/MR-J3W series Power Factor Improving AC Reactor The power factor improving reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%.
  • Page 661 Part 9: Review on Replacement of Optional Peripheral Equipment MR-J3 series Power factor Dimensions [mm] Mounting Terminal Mass improving AC Servo amplifier screw size screw size [kg (lb)] reactor MR-J3-10_ MR-J3-10_1 FR-BAL-0.4K M3.5 -2.5 MR-J3-20_ MR-J3-20_1 FR-BAL-0.75K M3.5 -2.5 MR-J3-40_ MR-J3-40_1 MR-J3-60_ FR-BAL-1.5K...
  • Page 662 Part 9: Review on Replacement of Optional Peripheral Equipment 7.3 MR-J4 series Power factor improving DC reactors 200 V class POINT For the 100 V AC power supply type (MR-J4-_A1(-RJ)) and MR-J4W2 series, the power factor improving DC reactor cannot be used. The following shows the advantages of using power factor improving DC reactor.
  • Page 663 Part 9: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Outline Termin Mass Wire [mm Servo amplifier improving DC al size [kg] (Note 2) drawing reactor (Note 1) MR-J4-10_(-RJ) FR-HEL-0.4K MR-J4-20_(-RJ) MR-J4-40_(-RJ) FR-HEL-0.75K Fig. 9.3 MR-J4-60_(-RJ) 2 (AWG 14) FR-HEL-1.5K MR-J4-70_(-RJ) MR-J4-100_(-RJ)
  • Page 664 Part 9: Review on Replacement of Optional Peripheral Equipment 7.4 MR-J4 series Power factor improving DC reactors 400 V class 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 665 Part 9: Review on Replacement of Optional Peripheral Equipment Power factor Dimensions [mm] Outline Terminal Mass Wire [mm Servo amplifier improving DC drawing size [kg] (Note) reactor MR-J4-60_4(-RJ) FR-HEL-H1.5K M3.5 2 (AWG 14) Fig. 9.6 MR-J4-100_4(-RJ) FR-HEL-H2.2K M3.5 2 (AWG 14) MR-J4-200_4(-RJ) FR-HEL-H3.7K 2 (AWG 14)
  • Page 666 Part 9: Review on Replacement of Optional Peripheral Equipment 7.5 MR-J4 series Power factor improving AC reactors 200 V/100 V class 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 667 Part 9: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Outline Mass Terminal Servo amplifier improving AC size [kg] drawing reactor (Note) MR-J4-10_(-RJ) FR-HAL-0.4K MR-J4-20_(-RJ) MR-J4-40_(-RJ) FR-HAL-0.75K MR-J4-60_(-RJ) FR-HAL-1.5K Fig. 9.9 MR-J4-70_(-RJ) MR-J4-100_(-RJ) FR-HAL-2.2K (Note) MR-J4-200_(-RJ) FR-HAL-3.7K (Note) MR-J4-350_(-RJ) FR-HAL-7.5K...
  • Page 668 Part 9: Review on Replacement of Optional Peripheral Equipment 7.6 MR-J4 series Power factor improving AC reactors 400 V class 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 669 Part 9: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Outline Mass Terminal Servo amplifier improving AC drawing size [kg] reactor (Note) MR-J4-60_4(-RJ) FR-HAL-H1.5K 59.6 M3.5 MR-J4-100_4(-RJ) FR-HAL-H2.2K Fig. 9.15 59.6 M3.5 MR-J4-200_4(-RJ) FR-HAL-H3.7K 70.6 M3.5 MR-J4-350_4(-RJ) FR-HAL-H7.5K MR-J4-500_4(-RJ) FR-HAL-H11K...
  • Page 670 Part 9: Review on Replacement of Optional Peripheral Equipment 8. SETUP SOFTWARE (SETUP221E) 8.1 MR-J3/MR-J3W series Setup Software (SETUP221E) The Setup Software (MRZJW3-SETUP221E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. * MR Configurator2 (SW1DNC-MRC2-E) is available for the MR-J3/MR-J3W series.
  • Page 671 Part 9: Review on Replacement of Optional Peripheral Equipment 8.2 MR-J4 series MR Configurator2 MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 8.2.1 Specifications Item Description Project...
  • Page 672 Part 9: Review on Replacement of Optional Peripheral Equipment 8.3 System configuration 8.3.1 Components MR Configurator2 (SW1DNC-MRC2-E) the following components are required in addition to the servo amplifier and servo motor. Equipment Description (Note 1) Microsoft ® Windows ® 10 Home Operating System Microsoft ®...
  • Page 673 Part 9: Review on Replacement of Optional Peripheral Equipment 8.3.2 Connection with servo amplifier Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M connector (Option) 8.3.3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers Connect your personal computer with the following procedures.
  • Page 674 Part 9: Review on Replacement of Optional Peripheral Equipment 9. PANEL THROUGH ATTACHMENT POINT MR-J3ACN can be used only for MR-J4-22K_(4). Panel through attachment MR-J3 series MR-J4 series MR-J4-11K_(4)(-RJ) MR-J4ACN15K MR-J4-15K_(4)(-RJ) MR-J3ACN MR-J3-11K_(4) to MR-J3-22K_(4) MR-J4-22K_(4)(-RJ) 9.1 MR-J3 series (MR-J3ACN) Use the Panel through attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
  • Page 675 Part 9: Review on Replacement of Optional Peripheral Equipment (3) Fitting method Attachment Punched hole Servo amplifier Fit using the Servo assembling Control box amplifier screws. Attachment a. Assembling the panel through attachment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] Panel Servo...
  • Page 676 Part 9: Review on Replacement of Optional Peripheral Equipment 9.2 MR-J4 series (MR-J4ACN15K/MR-J3ACN) Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of heat generated in the cabinet.
  • Page 677 Part 9: Review on Replacement of Optional Peripheral Equipment (c) Mounting method Attachment Servo amplifier Fit using the assembling screws. Attachment a. Assembling the panel through attachment Punched hole Cabinet Servo amplifier b. Mounting it to inside cabinet 9 - 76...
  • Page 678 Part 9: Review on Replacement of Optional Peripheral Equipment (d) Mounting dimensional diagram [Unit: mm] 20.6 Panel Attachment Servo amplifier Servo amplifier Panel 108.3 Mounting hole Approx. 263.3 (2) MR-J3ACN (a) Panel cut dimensions [Unit : mm] 4-M10 Screw Punched hole (b) How to assemble the attachment for panel through attachment Attachment...
  • Page 679 Part 9: Review on Replacement of Optional Peripheral Equipment (c) Mounting method Attachment Punched hole Servo amplifier Servo Fit using the amplifier assembling screws. Cabinet Attachment a. Assembling the panel through attachment b. Mounting it to inside cabinet (d) Mounting dimensional diagram [Unit: mm] Panel Servo...
  • Page 680 Part 10: Startup Procedure Manual Part 10 Startup Procedure Manual 10 - 1...
  • Page 681 Part 10: Startup Procedure Manual Part 10: Startup Procedure Manual 1. STARTUP When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.
  • Page 682 Part 10: Startup Procedure Manual 1.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 1.1.1 Startup procedure Parameter settings check for the ・・・ Confirm the parameter settings of the currently used MR-J3/MR-J3W servo amplifier currently used model with the display or with the setup software and record them.
  • Page 683 Part 10: Startup Procedure Manual MEMO 10 - 4...
  • Page 684 【Appendix 1】 Introduction to Renewal Tool [Appendix 1] Introduction to Renewal Tool Mitsubishi Electric System & Service Co., Ltd. provides the related services. For details, please refer to the following address. Mitsubishi Electric System & Service Co., Ltd. http://www.melsc.co.jp/business/ OVERSEAS SERVICE SUPPORT SECTION Email: osb.webmaster@melsc.jp...

  • Page 685: Servo Amplifier Replacement Model

    (4) When using the control signal conversion cable "SC-J3WJ4WCTC03M", refer to the cable connection diagram in section 6.2.5. (5) Contact a Mitsubishi Electric. if the existing MR-J3 servo amplifier or servo motor is a special product. Appendix 1 - 2...

  • Page 686: Replacment Combination List

    【Appendix 1】 Introduction to Renewal Tool 3. REPLACMENT COMBINATION LIST 3.1 Servo amplifier replacement combination list (1) Replacement model and tool for replacing MR-J3 series with MR-J4 series (a) General-Purpose Interface/SSCNET Interface 200 V class Replacement Connector Attachment model Conversion cable Mounting attachment models (example) compatibility...

  • Page 687: Servo Motor Substitute Model And Compatibility

    【Appendix 1】 Introduction to Renewal Tool 3.2 Servo Motor Substitute Model and Compatibility POINT Refer to the website of Mitsubishi Electric System & Service for the latest details and models. The symbols in the table mean as follows. (B): With brake (4): 400 V specifications For notes, refer to App.
  • Page 688 6. Another encoder cable is required when the servo motor with a thermistor is replaced. 7. Refer to chapter 7 when replacing the servo motor not written in the table of combination. For optional products, contact Mitsubishi Electric Corporation. Appendix 1 - 5...

  • Page 689: Mounting Attachment

    【Appendix 1】 Introduction to Renewal Tool 4. RENEWAL TOOL PRODUCT LIST (1) Mounting attachment Replacement Model Application method Used for primary SC-J2SJ4BS04 MR-J4-_A_ servo amplifier capacity: 5 kW (200 V), 3.5 kW (400 V) Replacement and SC-J2SJ4BS06 MR-J4-_A_ servo amplifier capacity: 11 kW, 15 kW Simultaneous SC-J3WJ4WBS02 MR-J4W2-77B/MR-J4W2-1010B...
  • Page 690 【Appendix 1】 Introduction to Renewal Tool (2) Servo motor side conversion cable (For compatibility of servo motor connectors) Replacement Name Model Replacement servo motor model method HA-LP601(4)(B) HG-JR601(4)(B) → HA-LP701M(4)(B) HG-JR701M(4)(B) SC-J3J4ENM1C1M HA-LP11K2(4)(B) HG-JR11K1M(4)(B) (Note) Servo motor side HA-LP801(4)(B) HG-JR801(4)(B) encoder conversion HA-LP12K1(4)(B) HG-JR12K1(4)(B)
  • Page 691 【Appendix 1】 Introduction to Renewal Tool (3) Servo amplifier side conversion cable Replacement Name Model Application method Used for primary Servo amplifier side replacement and SC-J3WJ4WCTC03M For changing MR-J4W2-_B input/output signals conversion cable simultaneous replacement. Servo amplifier Servo amplifier side conversion cable existing cable Appendix 1 - 8...
  • Page 692 【Appendix 1】 Introduction to Renewal Tool 5. SPECIFICATIONS 5.1 Standard Specifications (1) Mounting attachment specifications Item Specifications Usage ambient 0°C to +55°C (non-freezing). temperature Storage ambient -20°C to +65°C (non-freezing). temperature Usage ambient humidity 90%RH or less (non-condensing). Environment Storage ambient humidity Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Ambience...
  • Page 693 【Appendix 1】 Introduction to Renewal Tool 6. DIMENSIONS 6.1 Mounting attachment General-purpose interface and SSCNET III interface are compatible in dimensions. (1) SC-J2SJ4BS04 (a) Mounting attachment alone Unit [mm] (b) Mounting attachment + Combination with servo amplifier Unit [mm] (Increased dimensions) Appendix 1 - 10...
  • Page 694 【Appendix 1】 Introduction to Renewal Tool (2) SC-J2SJ4BS06 (a) Mounting attachment alone Unit [mm] (b) Mounting attachment + Combination with servo amplifier Unit [mm] (Increased (Increased dimensions) dimensions) (Increased dimensions) Note. The mounting attachment cannot be used for mounting panel through attachments of MR-J3 servo amplifier. Appendix 1 - 11...
  • Page 695 【Appendix 1】 Introduction to Renewal Tool (3) SC-J3WJ4WBS02 (a) Mounting attachment alone Unit [mm] (b) Mounting attachment + Combination with servo amplifier Unit [mm] (Increased dimensions) Appendix 1 - 12...

  • Page 696: Conversion Cable

    【Appendix 1】 Introduction to Renewal Tool 6.2 Conversion cable 6.2.1 Servo motor side power supply conversion cable (1) SC-J3J4PW1C1M-_ Cable pulling direction: A1，A2 (Note) Unit [mm] Note. For the cable pulling directions, refer to section 6.2.3. (2) SC-SAJ3PW2KC1M-S2/ SC-HAJ3PW1C1M Unit [mm] Item Specifications Model...
  • Page 697 【Appendix 1】 Introduction to Renewal Tool (3) SC-J2SJ4PW3C1M-＿ Cable pulling direction: A1，A2 (Note) Unit [mm] Note. For the cable pulling directions, refer to section 6.2.3. 6.2.2 Servo motor side encoder conversion cable (1) SC-J3J4ENM1C1M Unit [mm] (2) SC-J3J4ENM1C1M-＿ Cable pulling direction: A2，A3，A4 (Note) Unit [mm] Note.
  • Page 698 【Appendix 1】 Introduction to Renewal Tool 6.2.3 Cable pulling direction (1) Pulling direction of the servo motor side power supply conversion cable Cable pulling direction (Diagram viewed from the front of the cable insertion hole) (2) Pulling direction of the servo motor side encoder conversion cable Cable pulling direction (Diagram viewed from the front of the cable insertion hole) 6.2.4 Servo motor side conversion cable for the cooling fan...
  • Page 699 【Appendix 1】 Introduction to Renewal Tool 6.2.5 The control signal conversion cable for the servo amplifier side POINT The following shows the names of the cable connection diagram signals. Servo amplifier side: The initial value of the parameters of MR-J4W2_B Existing control signal cable side: The initial value of the parameters of MR- J3W_B After checking the cable connection diagrams and "Part 4: Replacement of MR-...
  • Page 700 【Appendix 1】 Introduction to Renewal Tool Connection diagrams Note. After checking the cable connection diagrams, use the product according to your specification. Appendix 1 - 17...
  • Page 701 REVISIONS *The installation guide number is given on the bottom left of the back cover. Print date *Installation guide number Revision description Nov. 2016 L(NA)03127ENG-A First edition MR-J3W series is added. Aug. 2017 L(NA)03127ENG-B Safety Instructions Partially changed. MR-J3W series/MR-J4W2-_B servo amplifier are added. Part 1 Partially changed.
  • Page 702 Print date *Installation guide number Revision description Aug. 2017 L(NA)03127ENG-B Part 7 Section 5.4 Newly added. Part 7 Section 5.5 Newly added. Part 7 Section 6.1 The table is partially changed. Part 7 Chapter 7 Partially changed. Part 7 Section 8.3.1 The table is partially changed.
  • Page 703 Print date *Installation guide number Revision description May 2018 L(NA)03127ENG-C Part 6 Section 6.1 POINT is added. Part 6 Section 6.1.4 Newly added. Part 6 Section 6.1.10 POINT is added. Part 6 Section 6.3 POINT is added. Part 7 Part number is changed from 6 Part 7 Section 1.1 POINT is added.
  • Page 704 Print date *Installation guide number Revision description May 2019 L(NA)03127ENG-D Part 2 Section 3.1 (1)(2) The table is partially changed. Part 2 Section 3.1 (3) 100 V class are added. Part 2 Section 3.3 The table is partially changed. Part 2 Section 3.5.1 The table is partially changed.
  • Page 705 Print date *Installation guide number Revision description May 2019 L(NA)03127ENG-D Part 7 Section 1.2.3 Partially changed. Part 7 Section 1.2.6 (1)(2) Partially changed. Part 7 Section 1.2.6 (6)(7) Newly added. Part 7 Section 1.3 Partially added. Part 7 Section 2.1 POINT is added.
  • Page 706 This installation guide guarantees no industrial rights or implementation of any rights of any other kind, nor does it grant any licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial rights which may occur as a result of using the contents noted in this installation guide.
  • Page 707 MITSUBISHI ELECTRIC AUTOMATION, INC. MITSUBISHI ELECTRIC AUTOMATION MITSUBISHI ELECTRIC ASIA PTE. LTD. 500 Corporate Woods Parkway, Vernon Hills, (CHINA) LTD. 307, Alexandra Road, Mitsubishi Electric Building, IL 60061, U.S.A. 10F, Mitsubishi Electric Automation Center, Singapore 159943 Tel: 1-847-478-2100 Fax: 1-847-478-2253 No.1386 Hongqiao Road, Changning Dist r ict,...
  • Page 708 20 Waterford Office Park, 189 Witkoppen Road, Fourways, South Africa : +27-11-658-8101 China Mitsubishi Electric Automation (China) Ltd. : +86-21-2322-3030 Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China : +86-21-2322-3000 Taiwan SETSUYO ENTERPRISE CO., LTD. : +886-2-2299-2499 : +886-2-2299-2509 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan...

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