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Mitsubishi Electric MELSERVO-J3 Series Manual

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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-J3 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 until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • Page 4 3. 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 Dealing with overseas standards See the following relevant manuals concerning dealing with overseas standards. «About the manual» This Replacement Manual and the following Instruction Manuals are necessary when using this servo for the first time. Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual number...
  • Page 10: Table Of Contents

    4.1 Catalog ............................1-13 4.2 Instruction Manual ........................1-13 4.3 Replacement Tool for Replacing MR-J3 with MR-J4 ..............1-14 4.4 MITSUBISHI ELECTRIC FA Global Website ................1-14 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2- 1 to 2-64 1.
  • Page 11 3.2 Comparison of Networks ......................3- 8 3.3 Comparison of Standard Connection Diagrams ................3- 8 3.4 List of Corresponding Connectors and Terminal Blocks .............. 3- 9 3.5 Comparison of Peripheral Equipment ..................3-12 3.6 Comparison of Parameters ......................3-13 3.6.1 Setting requisite parameters upon replacement ..............
  • Page 12 2.1 MR-J3 series => MR-J4 series Comparison Table of Servo Amplifier Dimensions/ Installation Differences ........................ 5-25 2.1.1 General-Purpose Interface/SSCNET III Interface 200 V/100 V class (22 kW or less) ..5-25 2.1.2 General-Purpose Interface/SSCNET III Interface 400 V class (22 kW or less) ....5-30 2.2 Parameter conversion .........................
  • Page 13 4.5.11 Current alarm ........................5-94 4.5.12 Other commands ......................5-95 5. HF-_P/HA-_P/HC-_P MOTOR DRIVE ....................5-97 5.1 MR-J3 series motors which are available with MR-J4-_A_ and MR-J4-_B_ ......5-97 6. APPLICATION OF FUNCTIONS ...................... 5-100 6.1 J3 compatibility mode ........................ 5-100 6.1.1 J3 Outline of J3 compatibility mode ..................
  • Page 14 4.1 Selection of Power Supply Wire Size (Example) ................. 7-13 4.1.1 MR-J3 series power supply wire size ................. 7-13 4.1.2 MR-J4 series power supply wire size ................. 7-17 4.1.3 MR-J3W series power supply wire size ................7-19 4.1.4 MR-J4W2-_B servo amplifier, power supply wire size ............7-20 4.2 Selection Example of Crimp Terminals ..................
  • Page 15 Part 8: Startup Procedure Manual 8- 1 to 8- 4 1. STARTUP ............................8- 2 1.1 Switching power on for the first time ..................... 8- 3 1.1.1 Startup procedure ........................ 8- 3...
  • Page 16: Part 1: Summary Of Mr-J3/Mr-J3W Replacement 1- 1 To

    Part 1: Summary of MR-J3/MR-J3W Replacement Part 1 Summary of MR-J3/MR-J3W Replacement 1 - 1...
  • Page 17: 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 18: 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 19: 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. R S T Power supply No-fuse breaker (NFB) or fuse Options and Peripheral equipment Analog monitor...
  • Page 20: 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. Reference Changes Check items Impact document/items Servo Connector Connector shape, pin arrangement, signal abbreviation,...
  • Page 21 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 6, Section 1.1 Dimensions The total length may differ depending on models. Part 6, Section 2.1 Part 6, Section 2.2 Part 6, Section 2.3 Reducer The actual reduction ratio of HF-KP and HF-MP series G1...
  • Page 22: 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 23 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 6, Section 1.1 Dimensions The total length may differ depending on models. Part 6, Section 2.1 Part 6, Section 2.2 Part 6, Section 2.3 Reducer The actual reduction ratio of HF-KP and HF-MP series G1...
  • Page 24: 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)  Positioning module MR-J3_A_ A1SD75P(D) Positioning control...
  • Page 25 Part 1: Summary of MR-J3/MR-J3W Replacement (b) SSCNET III interface (200 V class) Attachment Replacement model Model compatibility 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 ...
  • Page 26 Part 1: Summary of MR-J3/MR-J3W Replacement (d) SSCNET III interface (400 V class) Attachment Replacement model Model compatibility Check items (example) (: Compatible) MR-J3-60B4 MR-J4-60B4  MR-J3-100B4 MR-J4-100B4  MR-J3-200B4 MR-J4-200B4  MR-J3-350B4 MR-J4-350B4 (Note 1) MR-J3-500B4 MR-J4-500B4  MR-J3-700B4 MR-J4-700B4 See "Part 5: Common Reference Material".
  • Page 27 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, see "Part 6: Review on Replacement of Motor". (a) 100 V/200 V class Rotary servo motor Servo amplifier HG-KR...
  • Page 28: Attachment Compatibility Check

    3.2.6 Startup procedure check See "Part 8: 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) MELSERVO-J4 Series MR-J4-_A(-RJ)/MR-J4-_A4(-RJ)/MR-J4-_A1(-RJ) Servo Amplifier Instruction Manual...
  • Page 29: 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 30 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 31: 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 32 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 33: 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 <Comparison of 200 V Class> Item MR-J3-_A_ MR-J4-_A_ 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) Internal regenerative resistor...
  • Page 34 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ <Comparison of 400 V Class> Item MR-J3-_A_ MR-J4-_A_ 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 (11kW to 22 kW) External (11kW to 22 kW)
  • Page 35: 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 24 V DC Servo amplifier Positioning module 24 V DC QD75D DICOM...
  • Page 36 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 DICOM 24 V DC Trouble DICOM DOCOM 10 m or less Zero speed detection DOCOM Malfunction RA 2 Emergency stop Main circuit power supply Limiting speed...
  • Page 37: 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 38 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (3) Comparison of signals (a) CN1 1) Position control mode MR-J3-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-1 P15R CN1-1 CN1-2 CN1-2 CN1-3 CN1-3...
  • Page 39 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2) Speed control mode MR-J3-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-1 CN1-1 P15R CN1-2 CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6...
  • Page 40 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3) Torque control mode MR-J3-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) 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...
  • Page 41 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (b) CN3 1) For 7 kW or less MR-J3-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN6-1 CN6-1 CN6-2 CN6-2 CN6-3 CN6-3 CN3-1 CN3-1 CN3-2...
  • Page 42: Comparison Of Peripheral Equipment

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.4 Comparison of Peripheral Equipment POINT See "Part 7: Replacement of Optional Peripheral Equipment". 2 - 13...
  • Page 43: 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 44 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Precautions Name Name When the command pulse frequency is selected PC14 Analog monitor 1 output PC14 Analog monitor 1 output (±10 V/1 Mpulses/s → ±10 V/4 Mpulses/s) When the command pulse frequency is selected PC15 Analog monitor 2 output PC15 Analog monitor 2 output...
  • Page 45: 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 46 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 47 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 PC10 Internal speed command 6 Internal speed command 6 Internal speed limit 6 Internal speed limit 6 PC11 PC11...
  • Page 48 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 49: 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 50 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 51 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 52 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 53 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 54 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 55 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 56 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/travel direction selection the parameter to validate the parameter value.
  • 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 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 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 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 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 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 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 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 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 Ratio of load inertia moment to servo motor inertia PB06 PB06 Load to motor inertia ratio/load to motor mass ratio 7.00 moment Set the load to motor inertia ratio or load to motor...
  • 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 Speed integral compensation 33.7 PB10 33.7 PB10 Same setting as MR-J3 Used to set the integral time constant of the speed Speed integral compensation loop.
  • 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 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 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 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 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 PB18 Low-pass filter setting 3141 PB18 3141 Same as MR-J3 Set the low-pass filter. Low-pass filter setting Setting [Pr.
  • 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 PB23 0000h PB23 Low-pass filter selection Same setting as MR-J3 Select the low-pass filter. Low-pass filter selection Shaft resonance suppression filter selection 0 0 x 0: _ _ _ x:...
  • 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 PB26 Gain changing selection PB26 Gain switching function Select the gain changing condition. Select the gain switching condition. Set conditions to enable the gain switching values 0 0 0 x: set in [Pr.
  • 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 Speed loop gain after gain switching PB31 Gain changing speed loop gain PB31 Set the speed loop gain when the gain switching is Set the speed loop gain when the gain changing is enabled.
  • 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 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.
  • 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 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 or linear servo motor...
  • 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 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 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 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 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 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 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 Zero speed PC17 PC17 Same as MR-J3 Used to set the output range of the zero speed Zero speed detection (ZSP).
  • 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 PC20 PC20 Station number setting Same setting as MR-J3 Used to specify the station number for serial Station No.
  • 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 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 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 PC26 Function selection C-5 0000h PC26 Same as MR-J3 Select the stroke limit warning (AL. 99). Function selection C-5 _ _ _ x: 0 0 0 x: [AL.
  • 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 PC32 Command pulse multiplying factor numerator 2 PC32 Commanded pulse multiplication numerator 2 Available when the [Pr. PA05] is set to "0". To enable the parameter, select "Electronic gear (0 _ _ _)"...
  • 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 Status display selection Status display selection PC36 0000h PC36 _ _ x x: Select the status display to be provided at power- Status display selection at power-on Select a status display shown at power-on.
  • 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 PC37 Analog speed command offset PC37 Depen- The value Same as MR-J3 Used to set the offset voltage of the analog speed ding on differs Analog speed command offset...
  • 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 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 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 PD03 0002 PD03 Input device selection 1L Input signal device selection 1 (CN1-15) 0202h Any input device can be assigned to the CN1-15 Any input signal can be assigned to the CN1-15 pin.
  • 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 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 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 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 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 PD08 Input signal device selection 6 (CN1-41) 0020 PD13 Input device selection 6L Any input signal can be assigned to the CN1-41 pin. 2006h Any input device can be assigned to the CN1-41 pin.
  • 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 PD11 Input signal device selection 9 (CN1-44) 0000 PD19 Input device selection 9L Any input signal can be assigned to the CN1-44 pin. 0B0Bh Any input device can be assigned to the CN1-44 pin.
  • 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 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 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 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 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 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 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 PD21 For manufacturer setting 0000h PD31 Function selection D-2 Do not change this value by any means. _ _ _ x: For manufacturer setting _ _ x _:...
  • 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 PD24 0000h PD34 Alarm code output Function selection D-5 Select output status of alarm codes. Select the alarm code and warning (WNG) outputs. Alarm codes are outputted to the pins CN1-22, CN1- Connector pins of CN1 Set value...
  • Page 92: 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 93 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 94: 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 95: 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 96: 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: Q170MSCPU(-S1)
  • Page 97 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. When an "HC-_P motor" shown below is used, "simultaneous replacement with MR-J4-_B_ and an HG motor"...
  • Page 98 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (4) For separate repair (Note 1) 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_...
  • Page 99: 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 < Comparison of 200 V Class > MR-J3-_B_ MR-J4-_B_ 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) Internal regenerative resistor...
  • Page 100 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ < Comparison of 400 V Class > Item MR-J3-_B_ MR-J4-_B_ 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 101: Comparison Of Networks

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.2 Comparison of Networks POINT See "Part 5: 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 DICOM...
  • Page 102: 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_ R S T...
  • Page 103 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_ Personal (Note 3) R S T computer Power supply MR Configurator2 Personal R S T computer (Note 2) Setup software Power supply (SETUP221E) Molded-case No-fuse...
  • Page 104 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (5) Comparison of signals MR-J3-_B_ < 7 kW or less > MR-J4-_B_ Abbreviation (Note 1) Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN3-1 CN3-1 CN3-2 CN3-2 CN3-3 DOCOM CN3-3...
  • Page 105: Comparison Of Peripheral Equipment

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.5 Comparison of Peripheral Equipment POINT See "Part 7: Review on Replacement of Optional Peripheral Equipment". 3 - 12...
  • Page 106: Comparison Of Parameters

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. If fixed values are written in the digits of a parameter, do not change these CAUTION values.
  • Page 107: 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 108: 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 109 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 setting Parameter name setting Abbreviation Abbreviation value value value value PB24 *MVS Slight vibration suppression control 0000h PB24 *MVS Slight vibration suppression control 0000h selection PB25...
  • Page 110 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 111: 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 112 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 113 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 Absolute position detection system off, then on after setting, or when the controller reset has Set this parameter when using the absolute position...
  • Page 114 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 115 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/travel direction selection This parameter is made valid when power is switched This is used to select a rotation direction or travel off, then on after setting, or when the controller reset has direction.
  • Page 116 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 PA15 Encoder output pulse 4000 PA15 Encoder output pulses 4000 This parameter is made valid when power is switched Set the encoder output pulses from the servo amplifier off, then on after setting, or when the controller reset has by using the number of output pulses per revolution,...
  • Page 117 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 Select a reference range and writing range of the parameter.
  • Page 118 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 119 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/load to motor mass ratio servo motor shaft inertia moment.
  • 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 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 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 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 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 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 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 PB18 Low-pass filter setting 3141 PB18 3141 Same setting as MR-J3 Set the low-pass filter. Low-pass filter setting Setting [Pr. PB023] (low-pass filter selection) to "_ _ 0 _" Set the low-pass filter.
  • 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 PB23 Low-pass filter selection 0000h PB23 Same setting as MR-J3 Select the low-pass filter. Low-pass filter selection Select the shaft resonance suppression filter and low- 0 0 x 0: pass filter.
  • 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 PB25 For manufacturer setting 0000h PB25 Function selection B-1 Do not change this value by any means. Select enabled/disabled of model adaptive control. This parameter is supported with software version B4 or later.
  • 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 PB29 Gain changing load to motor inertia ratio PB29 7.00 Same as MR-J3 Used to set the load to motor inertia ratio when gain Load to motor inertia ratio/load to motor mass ratio after changing is valid.
  • 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 PB34 Gain changing vibration suppression control resonance 100.0 PB34 Vibration suppression control 1 - Resonance frequency frequency setting after gain switching This parameter cannot be used in the speed control Set the resonance frequency for vibration suppression mode.
  • 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 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 Set the command notch filter.
  • 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 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 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 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 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 PC07 Zero speed PC07 Same as MR-J3 Used to set the output range of the zero speed detection Zero speed (ZSP).
  • 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 PC11 Analog monitor 1 offset PC11 Same as MR-J3 Used to set the offset voltage of the analog monitor 1 Analog monitor 1 offset (MO1) output.
  • 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 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 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 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 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 PD02 For manufacturer setting 0000h PD02 Input signal automatic on selection 2 Do not change this value by any means. _ _ _ x _ _ _ x: (HEX)
  • 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 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 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 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 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 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 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 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 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 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 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 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 142: Application Of Functions

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 4. APPLICATION OF FUNCTIONS POINT Refer to "Part 5 Common Reference Material" for the application of functions. 1) J3 compatibility mode MR-J4-_B_(-RJ) servo amplifiers have two operation mode: "J4 mode" is for using all functions with full performance and "J3 compatibility mode"...
  • Page 143 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MEMO 3 - 50...
  • Page 144: 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 145: 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 146: 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 147 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. J3 series servo motor driving with MR-J4W2-_B servo amplifiers (J3 compatibility mode) will be sequentially available.
  • Page 148 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) Separate repair (a) Replacement of servo amplifier J3 series servo motor driving with MR-J4W2-_B servo amplifiers (J3 compatibility mode) will be sequentially available. For the target models, schedule, etc., contact your local sales office. SSCNETIII servo system controller...
  • Page 149: 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 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 400 W (A axis)/400 W (B axis) Capacity range...
  • Page 150: 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 MR Configurator (SETUP221E) Molded-case circuit breaker (MCCB) or fuse CNP1 Magnetic contactor I/O signal (MC) Regenerative (Note 2)
  • Page 151 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 152: Comparison Of Networks

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.3 Comparison of Networks POINT See "Part 5: Common Reference Material". 3.4 Comparison of Standard Connection Diagrams MR-J3W-_B MR-J4W2-_B 10m or less 10m or less 10 m or less 10 m or less Servo amplifier (1 axis/2 axis) Main circuit...
  • Page 153: 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. (1) Comparison of connectors MR-J3W-_B MR-J4W2-_B Personal...
  • Page 154 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Comparison of signals MR-J3W-_B MR-J4W2-_B Abbreviation (Note 1) Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment LG (Note 5) CN3-1 CN3-1 MO1 (Note 6) CN3-2 CN3-2 CN3-3 LA-A CN3-3 CN3-4 LB-A...
  • Page 155: Main Circuit Terminal Block

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.6 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 156: Mr-J3W-_B => Mr-J4W2-_B Comparison Table Of Servo Amplifier Dimensions/Installation Differences

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7 MR-J3W-_B => MR-J4W2-_B Comparison Table of Servo Amplifier Dimensions/Installation Differences 3.7.1 MR-J3W-_B => MR-J4W2-_B Comparison Table of Servo Amplifier Dimensions/Installation Differences The mounting dimensions and clearance between mounting screws differ in some models. Comparison of dimensions [Unit: mm] Clearance between mounting Height...
  • Page 157: Comparison Of Parameters

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.9 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 158: Setting Requisite Parameters Upon Replacement

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.9.1 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 159: Parameter Comparison List

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.9.2 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 160 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 For manufacturer setting PB05 Do not change the value. Load to motor inertia Each Each...
  • Page 161 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 Vibration suppression Gain changing vibration Each Each control 1 - Vibration PB33 VRF1B suppression control...
  • Page 162 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 163: Comparison Of Parameter Details

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.9.3 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 164 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 Function selection A-1 PA04 Function selection A-1 0000h PA04 Select a forced stop input and forced stop deceleration Turn off the power and then on again, or reset the function.
  • Page 165 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 PA09 Auto tuning response PA09 Auto tuning response If the machine hunts or generates large gear sound, Set a response of the auto tuning. decrease the set value.
  • Page 166 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, dividing Turn off the power and then on again, or reset the ratio, or electronic gear ratio.
  • Page 167 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 PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00ABh Turn off the power and then on again, or reset the Select a reference range and writing range of the controller after setting the parameter to validate the parameter.
  • Page 168 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 169 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 170 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 PB13 Machine resonance suppression filter 1 4500 PB13 Machine resonance suppression filter 1 4500 Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance suppression filter 1.
  • Page 171 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 172 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 PB20 Vibration suppression control resonance frequency 100.0 PB20 Vibration suppression control 1 - Resonance frequency 100.0 setting Set the resonance frequency for vibration suppression This parameter cannot be used in the speed control control 1 to suppress low-frequency machine vibration.
  • Page 173 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 174 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 175 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 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 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 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 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 MBR-B) and the base drive circuit interlock (MBR-A/ interlock) and the base drive circuit is shut-off.
  • 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 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 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 PC10 Analog monitor 2 output 0001h PC10 _ _ x x: Used to selection the signal provided to the analog monitor For manufacturer setting 2 (MO2) output.
  • 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 Function selection C-7 PC20 This parameter is not used. Do not change the value. 0000h PC20 Select the detection method of [AL. 10 Undervoltage].
  • 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 PC27 This parameter is not used. Do not change the value. 0000h PC27 Function selection C-9 _ _ _ x: Selection of encoder pulse count polarity 0: Encoder pulse increasing direction in the servo motor CCW or positive direction 1: Encoder pulse decreasing direction in the servo motor...
  • 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 PD02 This parameter is not used. Do not change the value. 0000h PD02 Input signal automatic on selection 2 _ _ _ x _ _ _ x: (HEX) FLS (Upper stroke limit) selection...
  • 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 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 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 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 185: Application Of Functions

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 4. APPLICATION OF FUNCTIONS POINT Refer to "Part 5 Common Reference Material" for the application of functions. 1) 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 186: Part 5: Common Reference Material 5- 1 To

    Part 5: Common Reference Material Part 5 Common Reference Material 5 - 1...
  • Page 187: Specification Differences

    Part 5: Common Reference Material Part 5: Common Reference Material 1. SPECIFICATION DIFFERENCES 1.1 Detailed Specification/Function Differences (1) Comparison of MR-J3 series and MR-J4 series (General-purpose interface/SSCNETIII interface) Item MR-J3 series MR-J4 series (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW (200 V class) 0.1 kW to 22 kW (200 V class) 0.1 kW to 22 kW...
  • Page 188 Part 5: Common Reference Material Item MR-J3 series MR-J4 series Number of internal speed commands 7 points 7 points (General-Purpose Interface) Setup software (SETUP221E) Parameter setting method MR Configurator2 MR Configurator2 Push button (General-Purpose Interface) Push button (General-Purpose Interface) Setup software communication function HF-_P series (18-bit ABS) HG series (22-bit ABS)
  • Page 189: Servo Amplifier

    Part 5: 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_ PE terminal MR-J3-60_ MR-J4-60_ CNP2 CNP2 CNP2 Screw size: M4 Tightening torque: 1.2 [N•m] CNP3 CNP3 •...
  • Page 190 Part 5: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block Terminal screw: M4 Tightening torque: 1.2 [N•m] (10.6 [lb•in]) TE2 Screw size: M3.5 Tightening torque: 0.8 [N•m] Terminal screw: M3.5 (Note) Tightening torque: 0.8 [N•m] TE1 Screw size: M4 (7.08 [lb•in]) Tightening torque: 1.2 [N•m]...
  • Page 191 Part 5: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block CNP1 CNP1 MR-J3-60_4 MR-J4-60_4 MR-J3-200_4 MR-J4-200_4 PE terminal CNP2 CNP2 Screw size: M4 Tightening torque: 1.2 [N•m] CNP3 CNP3 Screw size: M4 (10.6 [lb in]) Tightening torque: 1.2 [N•m] CNP1 Terminal screw: M4...
  • Page 192 Part 5: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block TE1-1 L2 L3 TE1-2 P3 P4 /U/V/ /P/C/ MR-J3-11K_4 (-LR), MR-J4-11K_4, MR-J3-11K_(4) Screw size MR-J3-15K_4 MR-J4-15K_4 Screw size: M6 TE1-1 Tightening torque Tightening torque: 3.0 [N•m] MR-J3-15K_(4) (-LR) [(lb:in)] [N•m]...
  • Page 193: Comparison Of Encoder Signals (Cn2)

    Part 5: 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 194: Dynamic Brake: Coasting Distance

    Part 5: 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 195 Part 5: 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 回転速度[r/min]...
  • Page 196 Part 5: Common Reference Material Series MR-J3 Series Series MR-J4 Series HG-SR 200 V 152 502 15K2 時 11K2 定 500 1000 1500 2000 2500 3000 数 Speed [r/min] Speed [r/min] τ 22K2 HA-LP [ms] 200 V 15K1M 1000 1500 2000 HG-JR 22K1M...
  • Page 197 Part 5: Common Reference Material Series MR-J3 Series Series MR-J4 Series 15K1M 時 定 数 15K1M 22K1M τ HF-JP HG-JR 701M [ms] 11K1M 11K1M 200V 200V 1000 1500 2000 2500 3000 500 1000 1500 2000 2500 3000 Speed [r/min] 回転速度[r/min] Speed [r/min] 11K1M4 時...
  • Page 198 Part 5: 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 199 Part 5: 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] 5 - 14...
  • Page 200 Part 5: 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 201 Part 5: 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 "τ" 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 202: Forced Stop Deceleration Function Selection

    Part 5: 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 203 Part 5: 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 204: Servo Setup Software: Setup Software (Setup221E) => Mr Configurator2

    Part 5: 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 205: Servo Amplifier Initializing Time

    Part 5: 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, 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.
  • Page 206 Part 5: Common Reference Material (3) MR-J3-_B_/MR-J3W-_B series servo amplifier The initializing time is 3 s. SON accepted (3s) Main circuit power Control circuit Base circuit 95ms 10ms 95ms Servo-on command (from controller) 5 - 21...
  • Page 207: The Pulse Width Of The Encoder Z-Phase Pulse

    Part 5: 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 208: 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. 5 - 23...
  • Page 209 Part 5: 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 210: Servo Amplifier Dimensions/Attachment Differences

    Part 5: 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 2.1.1 General-Purpose Interface/SSCNET III Interface 200 V/100 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.
  • Page 211 Part 5: Common Reference Material (2) Comparison of dimensions MR-J3-10_/MR-J3-20_ MR-J4-10_/MR-J4-20_ mounting hole Approx.80 φ6 mounting hole Approx. 80 Lock knob (Note) CNP1 (Note) CNP2 CNP3 CHARGE With Approx.68 Approx. 69.3 Approx. MR-BAT6V1SET 25.5 With MR-J3BAT Approx. 38.5 MR-J3-40_/MR-J3-60_ MR-J4-40_/MR-J4-60_ mounting hole φ6 mounting hole Approx.
  • Page 212 Part 5: Common Reference Material MR-J3-200_N MR-J4-200_ 6 mounting hole Approx.80 φ6 mounting hole Exhaust Approx. 80 Lock knob CNP1 Exhaust CNP2 CNP3 Cooling fan Approx. Cooling fan Cooling fan air intake Approx.68 25.5 With Cooling fan With MR-J3BAT MR-BAT6V1SET air intake Approx.
  • Page 213 Part 5: 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 CAUTIO N CAUTION WARNING WARNING With MR-J3BAT CHARGE...
  • Page 214 Part 5: 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 215: General-Purpose Interface/Sscnet Iii Interface 400 V Class (22 Kw Or Less)

    Part 5: Common Reference Material 2.1.2 General-Purpose Interface/SSCNET III Interface 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. Note that the width and horizontal mounting screw pitch have been changed for servo amplifiers of 3.5 kW.
  • Page 216 Part 5: 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 217 Part 5: 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 218 Part 5: 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 219: Parameter Conversion

    Part 5: 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_ to be changed to the servo parameters of MR-J4-_A_. (version 1.12N or later) POINT Parameters common to MR-J3-_A_ and MR-J4-_A_ are the conversion targets.
  • Page 220: Mr-J3-_A_ Parameter Diversion Procedure

    Part 5: Common Reference Material 2.2.2 MR-J3-_A_ 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_ ••• A connection with a PC-AT compatible personal computer is required. Start MR Configurator2(SW1DNC-MRC2-E) USB communication (MR-J3USBCBL3M) Create a new project.
  • Page 221 Part 5: Common Reference Material 2.2.3 Parameter reading from the servo amplifier MR- J3-_A_ (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 222 Part 5: Common Reference Material (3) Read the servo parameters. Click [Parameters] in the menu to display the parameter list screen. Connect the MR- J3-_A_ amplifier to a personal computer and click the [Read] button. After reading the parameters is completed, select [Save As] to save the parameter file. 5 - 37...
  • Page 223 Part 5: Common Reference Material 2.2.4 Converting the parameters of MR-J3-_A_ and writing them to the MR-J4-_A_ 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" for Model.
  • Page 224 Part 5: Common Reference Material (3) Change MR-J3-_A_ parameters to MR-J4-_A_ 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 225 Part 5: Common Reference Material (4) Write the changed parameters to the MR-J4-_A_servo amplifier. Select [Parameter] - [Parameter Setting] from the menu to display the parameter setting screen. Connect the MR-J4-_A_servo amplifier to a personal computer and click the [Single Axis Write] button. The parameter values will be written to the MR-J4-_A_servo amplifier.
  • Page 226: Conversion Rules (Mr-J3-_A_ => Mr-J4-_A_)

    Part 5: 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- _B_. 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 227 Part 5: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target (1) When the setting value of PC19 is _ _ 1 _, the value increases by 16 times. PA15 Encoder output pulse PA15 (2) When the setting value of PC19 is other than _ _ 1 _, the setting value will be maintained.
  • Page 228 Part 5: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target PC02 Deceleration time constant PC02 The setting value will be maintained. S-pattern acceleration/deceleration PC03 PC03 The setting value will be maintained. time constant PC04 Torque command time constant PC04 The setting value will be maintained.
  • Page 229 Part 5: Common Reference Material MR-J3-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target Input signal automatic ON PD01 _ XXX PD01 _ XXX The setting value will be maintained. selection 1 _ _ _ _ XXXX PD03 XXXX The setting value will be maintained. Input signal device selection 1 PD03 (CN1-15)
  • Page 230: Parameters That Need To Be Checked After Parameter Conversion

    Part 5: Common Reference Material 2.2.6 Parameters that need to be checked after parameter conversion Parameter 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 231: Mr-J3-_B_ And Mr-J3W-_B Parameter Diversion Procedure

    Part 5: 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 232: Changing Qd75Mh To Qd77Ms/Ld77Ms

    Part 5: 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 233 Part 5: 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 234: Changing Q17Nhcpu/Q17Ndcpu/Q170Mcpu To Q17Ndscpu/Q170Mscpu(-S1)

    Part 5: Common Reference Material 2.3.2 Changing Q17nHCPU/Q17nDCPU/Q170MCPU to Q17nDSCPU/Q170MSCPU(-S1) (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. Click the [Browse] button and select a source project. To divert an MT Developer2 project, click [Project] - [Divert File] - [Utilize MT Developer file format Project] from the menu.
  • Page 235 Part 5: 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. 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 236: Conversion Rules (Mr-J3-_B_ And Mr-J3W-_B => Mr-J4-_B_ And Mr-J4W2-_B)

    Part 5: 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 237 Part 5: Common Reference Material MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B Conversion rules Name Type Target Type Target PB04 Feed forward gain PB04 The setting value will be maintained. Ratio of load inertia moment to PB06 PB06 One decimal place will be added. servo motor inertia moment PB07 Model loop gain PB07 One decimal place will be added.
  • Page 238 Part 5: Common Reference Material MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B Conversion rules Name Type Target Type Target The lower four digits of the calculation result of PC14 × 160000 + PC13 × 16 will be set. However, Analog monitor feedback position PC13 PC13 when the calculation result is - output standard data Low 99999999 or smaller, -9999 will be...
  • Page 239: Parameters That Need To Be Checked After Parameter Conversion

    Part 5: 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 0_ _ _h To configure the same settings as those for MR-J3-_B_, select "Forced stop deceleration function disabled (EM1)".
  • Page 240 Part 5: Common Reference Material Parameter Setting Name Initial value Description value Master-slave operation - Speed limit adjusted value on slave Master-slave operation - Speed limit Use MR-J4-_B_ with the software version A8 or later to PD32 adjusted value on slave use this function.
  • Page 241: Common Points To Note

    Part 5: 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 242: Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

    Part 5: 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 243: Structure

    Part 5: 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 244 Part 5: 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 245: Precautions For Using Rs-422/Rs-232C/Usb Communication Function

    Part 5: 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 246: Communication Specifications

    Part 5: 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 247: Protocol

    Part 5: 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 248: Character Codes

    Part 5: 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 249: Error Codes

    Part 5: 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 250: Retry Processing

    Part 5: 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 251: Communication Procedure Example

    Part 5: 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 252: Command And Data No. List

    Part 5: 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 253 Part 5: Common Reference Material MR-J3-_A_ MR-J4-_A_ Command Data No. Description Frame Frame Status display Status display length length Motor-side/load-side speed [0] [1] [1] [F] Status display symbol and unit deviation Internal temperature of encoder [2] [0] Settling time [2] [1] Oscillation detection frequency [2] [2] Number of tough operations...
  • Page 254 Part 5: 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 255 Part 5: 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 256 Part 5: Common Reference Material (5) Current alarm (Command [0][2]) MR-J3-_A_/ MR-J4-_A_ Command Data No. Frame length Description [0] [2] [0] [0] Current alarm No. (6) Status display at alarm occurrence (command [3] [5]) MR-J3-_A_ MR-J4-_A_ Command Data No. Description Frame Frame Status display...
  • Page 257 Part 5: Common Reference Material (7) Test operation mode (command [0] [0]) MR-J3-_A_/MR-J4-_A_ Command Data No. Frame Description length [0] [0] [1] [2] Test operation mode reading 0000: Normal mode (not test operation mode) 0001: JOG operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output (8) Software version (command [0] [2])
  • Page 258: Writing Commands

    Part 5: 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 259 Part 5: 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 260: Detailed Explanations Of Commands

    Part 5: 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 261 Part 5: 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 262: Status Display Mode

    Part 5: 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 263: Parameter

    Part 5: 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 264 Part 5: 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 265 Part 5: 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 266 Part 5: 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 267: External I/O Signal Status (Dio Diagnosis)

    Part 5: 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 268 Part 5: 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 269 Part 5: 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 270: Input Device On/Off

    Part 5: 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 271: Disabling/Enabling I/O Devices (Dio)

    Part 5: 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 272: Input Devices On/Off (Test Operation)

    Part 5: 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 273: Test Operation Mode

    Part 5: 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 274 Part 5: 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 275 Part 5: 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 276 Part 5: 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 277: Output Signal Pin On/Off (Output Signal (Do) Forced Output)

    Part 5: 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 278: Alarm History

    Part 5: 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 279: Current Alarm

    Part 5: 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 280: Other Commands

    Part 5: 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 281 Part 5: 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 282: Hf-_P/Ha-_P/Hc-_P Motor Drive

    Part 5: Common Reference Material 5. HF-_P/HA-_P/HC-_P MOTOR DRIVE 5.1 MR-J3 series 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". (1) 200 V class List of MR-J3 series servo motor ( 200 V class) Servo amplifier software version Servo amplifier model...
  • Page 283 Part 5: Common Reference Material Servo amplifier software version Servo amplifier model Servo motor series Servo motor model J3 compatibility (Note) J4 mode 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) A8 or later HF-SP 1000r/min series MR-J4-200A(-RJ)
  • Page 284 Part 5: Common Reference Material Servo amplifier software version Servo amplifier model Servo motor series Servo motor model (Note) J3 compatibility J4 mode mode MR-J4-500A(-RJ) HA-LP502 Unsupported MR-J4-500B(-RJ) A8 or later MR-J4-700A(-RJ) HA-LP702 Unsupported MR-J4-700B(-RJ) MR-J4-11KA(-RJ) HA-LP HA-LP11K2 Unsupported MR-J4-11KB(-RJ) 2000r/min series MR-J4-15KA(-RJ) HA-LP15K2...
  • Page 285: Application Of Functions

    Part 5: 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 286: J3 Compatibility Mode Supported Function List

    Part 5: 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 287 Part 5: 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 288: How To Switch J4 Mode/J3 Compatibility Mode

    Part 5: Common Reference Material 6.1.4 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 compatibility mode with the MR-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 289: How To Use The J3 Compatibility Mode

    Part 5: Common Reference Material 6.1.5 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 290: Cautions For Switching J4 Mode/J3 Compatibility Mode

    Part 5: Common Reference Material 6.1.6 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 291: Change Of Specifications Of "J3 Compatibility Mode" Switching Process

    Part 5: Common Reference Material 6.1.8 Change of specifications of "J3 compatibility mode" switching process (1) Detailed explanation of "J3 compatibility mode" switching (a) Operation when using a servo amplifier before change of specifications For the controllers in which "Not required" is described to controller reset in table 5.1, the mode will be switched to "J3 compatibility mode"...
  • Page 292 Part 5: 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 5.3, the mode will be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for completing the connection not depending on the number of axes.
  • Page 293 Part 5: 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 294: Extension Function

    Part 5: Common Reference Material 6.1.9 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 295 Part 5: Common Reference Material The following shows functions used with the J3 extension function. Detailed Function Description explanation Gain switching function Section You can switch gains during rotation/stop, and can use input devices to switch gains (Vibration suppression control during operation.
  • Page 296 Part 5: Common Reference Material The following shows how to use the J3 extension function. (1) Settings of J3 extension function POINT To set the J3 extension function, connect a personal computer with MR Configurator2 of software version 1.25B or later to the servo amplifier with USB cable.
  • Page 297 Part 5: Common Reference Material 2) Select "MR-J3-B extension function" of model selection in the "New" window and click "OK". The "Extension function change" window will be displayed. 3) Click "Change to MR-J3-B extension function" in the "Extension function change" window and click "OK".
  • Page 298 Part 5: Common Reference Material (2) Extension control 2 parameters ([Pr. PX_ _ ]) Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.
  • Page 299 Part 5: Common Reference Material compatibility Each axis/ mode Initial Symbol Name Unit value (: Enabled) Common Standard PX22 NHQ5 Notch shape selection 5 0000h Each axis PX23 XOP3 Function selection X-3 (Note) 0000h PX24 FRIC Machine diagnosis function - Friction judgement speed [r/min]/ Each axis [mm/s]...
  • Page 300 Part 5: Common Reference Material (3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list Initial Setting Each/ Symbol Name and function value range common [unit] PX01 **J3EX J3 extension function Refer to Name and Common function column. Select enabled or disabled of the J3 extension function. Setting Initial Explanation...
  • Page 301 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX04 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 Each [Hz] axis Set the vibration frequency for vibration suppression control 2 to suppress low- 300.0 frequency machine vibration.
  • Page 302 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 Each axis Set a damping of the vibration frequency for vibration suppression control 2 when 0.30 the gain switching is enabled.
  • Page 303 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX18 NHQ3 Notch shape selection 3 Refer to Name and Each function column. axis Set the shape of the machine resonance suppression filter 3. Setting Initial Explanation...
  • Page 304 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX22 NHQ5 Notch shape selection 5 Refer to Name and Each function column. axis Set the shape of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)"...
  • Page 305 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX24 FRIC Machine diagnosis function - Friction judgment speed 0 to Each [r/min]/ permissi axis Set a servo motor speed that divides a friction estimation area into high and low [mm/s] during the friction estimation process of the machine diagnosis.
  • Page 306 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX26 OSCL1 Vibration tough drive - Oscillation detection level Each axis Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled.
  • Page 307 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX30 Drive recorder switching time setting Common Set the drive recorder switching time. 32767 When a USB communication is cut during using a graph function, the function will be changed to the drive recorder function after the setting time of this parameter.
  • Page 308 Part 5: Common Reference Material Initial Setting Each/ Symbol Name and function value range common [unit] PX40 *LMOP Lost motion compensation function selection Refer to the "Name and (Note) Select the lost motion compensation function. function" column. This parameter is supported with software version B4 or later. Setting Initial Explanation...
  • Page 309 Part 5: Common Reference Material (4) One-touch tuning POINT After the one-touch tuning is completed, "Gain adjustment mode selection" in [Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment mode selection"...
  • Page 310 Part 5: Common Reference Material The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response]. Table 5.5 List of parameters automatically set with one-touch tuning Parameter Symbol...
  • Page 311 Part 5: Common Reference Material 2) Amplifier command method Make one-touch tuning as follows. Start Start a system referring to MR-J4-_B_ Servo Amplifier Instruction Manual MR-J4W2-_B Servo Startup of the system Amplifier Instruction Manual. Move the moving part to the center of a movable range. Movement to tuning start position Start one-touch tuning of MR Configurator2, and select "Amplifier command method".
  • Page 312 Part 5: Common Reference Material (b) Display transition and operation procedure of one-touch tuning 1) Command method selection Select a command method from two methods in the one-touch tuning window of MR Configurator2. 5 - 127...
  • Page 313 Part 5: Common Reference Material a) User command method It is recommended to input commands meeting the following conditions to the servo amplifier. If one-touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier, the one-touch tuning error may occur. One cycle time Travel distance Forward...
  • Page 314 Part 5: Common Reference Material b) Amplifier command method Input a permissible travel distance. In the amplifier command method, the servo motor will be operated in a range between "current value ± permissible travel distance". Input the permissible travel distance as large as possible within a range that the movable part does not collide against the machine.
  • Page 315 Part 5: Common Reference Material 2) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Table 5.6 Response mode explanations Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system.
  • Page 316 Part 5: Common Reference Material 3) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PX14 One-touch tuning overshoot permissible level] will shorten the settling time and improve the response.
  • Page 317 Part 5: Common Reference Material After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. To return to the state in which control is performed by commands from the controller, reset the controller or cycle the power. During processing of one-touch tuning, the progress will be displayed as follows.
  • Page 318 Part 5: Common Reference Material After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition, settling time and overshoot amount will be displayed in "Adjustment result". 4) Stop of one-touch tuning During one-touch tuning, clicking the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C000"...
  • Page 319 Part 5: Common Reference Material 5) If an error occurs If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning again, stop the servo motor once.
  • Page 320 Part 5: Common Reference Material Display Name Error detail Corrective action example C006 Amplifier command start One-touch tuning was attempted to start in Execute the one-touch tuning in the amplifier error the amplifier command method under the command method while the servo motor is following speed condition.
  • Page 321 Part 5: Common Reference Material 6) If an alarm occurs If an alarm occurs during tuning, one-touch tuning will be forcibly terminated. Remove the cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier command method again, return the moving part to the tuning start position. 7) If a warning occurs If a warning which continues the motor driving occurs during one-touch tuning by the user command method, the tuning will be continued.
  • Page 322 Part 5: Common Reference Material (c) Caution for one-touch tuning 1) Caution common for user command method and amplifier command method a) The tuning is not available in the torque control mode. b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring.
  • Page 323 Part 5: Common Reference Material (5) Filter setting The following filters are available with the J3 extension function. Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PX17] control Machine Machine Machine Low-pass Command Command resonance resonance resonance filter filter pulse train suppression suppression suppression...
  • Page 324 Part 5: Common Reference Material 1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Frequency Notch width...
  • Page 325 Part 5: Common Reference Material 2) Parameter a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
  • Page 326 Part 5: Common Reference Material (b) Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection"...
  • Page 327 Part 5: Common Reference Material (c) Advanced vibration suppression control II POINT This is enabled when "Gain adjustment mode selection" is "Auto tuning mode 2 (_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08]. The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz.
  • Page 328 Part 5: Common Reference Material 1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate. Servo motor side Servo motor side Load side Load side...
  • Page 329 Part 5: Common Reference Material 3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PX03] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
  • Page 330 Part 5: Common Reference Material 4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.
  • Page 331 Part 5: Common Reference Material a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment. Vibration suppression control 2 - Vibration frequency (anti-resonance frequency) [Pr. PX04] Vibration suppression control 2 - Resonance frequency [Pr.
  • Page 332 Part 5: Common Reference Material (b) Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
  • Page 333 Part 5: Common Reference Material (c) Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
  • Page 334 Part 5: Common Reference Material 2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia PB06 Load to motor inertia PB29 GD2B Load to motor inertia ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass ratio...
  • Page 335 Part 5: Common Reference Material a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio/load to motor mass ratio, model loop gain, position loop gain, speed loop gain, and speed integral compensation to be switched.
  • Page 336 Part 5: Common Reference Material (d) Gain switching procedure This operation will be described by way of setting examples. 1) When you choose switching by control command from the controller a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier]...
  • Page 337 Part 5: Common Reference Material b) Switching timing chart Control command from controller After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Model loop gain → → Load to motor inertia ratio/load to motor 4.00 → 10.00 → 4.00 mass ratio Position loop gain...
  • Page 338 Part 5: Common Reference Material b) Switching timing chart Command pulses Droop pulses Command pulses +CDL Droop pulses [pulse] -CDL After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Load to motor inertia ratio/load to motor 4.00 → 10.00 →...
  • Page 339 Part 5: Common Reference Material b) Gain return time constant disabled was selected. The gain switching time constant is enabled. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
  • Page 340 Part 5: Common Reference Material The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compares it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is Filter Setting parameter...
  • Page 341 Part 5: Common Reference Material (b) Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
  • Page 342 Part 5: Common Reference Material 1) Instantaneous power failure time of control circuit power supply > [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr.
  • Page 343 Part 5: Common Reference Material 2) Instantaneous power failure time of control circuit power supply < [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. a) When the bus voltage decreases lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply [AL.
  • Page 344 Part 5: Common Reference Material b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply ON (energization) Control circuit...
  • Page 345 Part 5: Common Reference Material (8) Compliance with SEMI-F47 standard POINT The control circuit power supply of the MR-J4-_B_(-RJ) servo amplifier can be possible to comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation.
  • Page 346 Part 5: Common Reference Material 3) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit power] occurs. (b) Requirements conditions of SEMI-F47 standard Table 5.9 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard.
  • Page 347 Part 5: Common Reference Material Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output. Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output.
  • Page 348 Part 5: Common Reference Material (a) Parameter setting Setting [Pr. PX36] to [Pr. PX42] enables the lost motion compensation function. 1) Lost motion compensation function selection ([Pr. PX40]) Select the lost motion compensation function. [Pr. PX40] Lost motion compensation selection 0: Lost motion compensation disabled 1: Lost motion compensation enabled Unit setting of lost motion compensation non-sensitive band...
  • Page 349 Part 5: Common Reference Material (b) Adjustment procedure of the lost motion compensation function 1) Measuring the load current Measure the load currents during the forward direction feed and reverse direction feed with MR Configurator2. 2) Setting the lost motion compensation Calculate the friction torque from the measurement result of (9) (b) 1) of this section and set a value twice the friction torque in [Pr.
  • Page 350 Part 5: Common Reference Material 6) Adjusting the lost motion compensation non-sensitive band When the lost motion is compensated twice around a quadrant change point, set [Pr. PX42 Lost motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not compensated twice.
  • Page 351: Master-Slave Operation Function

    Part 5: 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 352 Part 5: 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 353 Part 5: 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 354 Part 5: 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 355: Scale Measurement Function

    Part 5: 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 356 Part 5: 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 357: Scale Measurement Encoder

    Part 5: 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 358 Part 5: 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 359 Part 5: 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 360: How To Use Scale Measurement Function

    Part 5: 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 361 Part 5: 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 362 Part 6: Review on Replacement of Motor Part 6 Review on Replacement of Motor 6 - 1...
  • Page 363: Servo Motor Replacement

    Part 6: Review on Replacement of Motor Part 6: Review on Replacement of Motor 1. SERVO MOTOR REPLACEMENT 1.1 Servo Motor Substitute Model and Compatibility POINT Compatibility here means the attachment compatibility. For details about the compatibility of servo motor dimensions, reducer specifications, moment of inertia, connector specifications, and torque characteristics, see "2 COMPARISON OF SERVO MOTOR SPECIFICATIONS".
  • Page 364 Part 6: Review on Replacement of Motor 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 HF-KP13(B)G5 1/5 HG-KR13(B)G5 1/5 HF-KP13(B)G5 1/11 HG-KR13(B)G5 1/11 HF-KP13(B)G5 1/21...
  • Page 365 Part 6: Review on Replacement of Motor (2) HF-MP motor Example of Compatibility Series Model Note replacement model (: Compatible) HF-MP053(B) HG-MR053(B) Small capacity, ultralow inertia HF- HF-MP13(B) HG-MR13(B) MP series HF-MP23(B) HG-MR23(B)  Standard/With brake HF-MP43(B) HG-MR43(B) (B): With brake HF-MP73(B) HG-MR73(B) HF-MP053(B)G1 1/5...
  • Page 366 Part 6: Review on Replacement of Motor 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 HF-MP13(B)G5 1/5 HG-KR13(B)G5 1/5 HF-MP13(B)G5 1/11 HG-KR13(B)G5 1/11 HF-MP13(B)G5 1/21...
  • Page 367 Part 6: Review on Replacement of Motor (3) HF-SP motor Example of Compatibility Series Model Note replacement model (: Compatible) HF-SP51(B) HG-SR51(B) HF-SP81(B) HG-SR81(B) HF-SP121(B) HG-SR121(B) Medium capacity, HF-SP201(B) HG-SR201(B) medium inertia HF- • The total length of the HF-SP301(B) HG-SR301(B) SP series motor will be shorter, so...
  • Page 368 Part 6: Review on Replacement of Motor 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 Medium capacity, HF-SP502(4)(B)G1(H) 1/17 HG-SR502(4)(B)G1(H) 1/17 medium inertia HF- HF-SP502(4)(B)G1(H) 1/29 HG-SR502(4)(B)G1(H) 1/29 SP series with HF-SP502(4)(B)G1(H) 1/35 HG-SR502(4)(B)G1(H) 1/35 •...
  • Page 369 Part 6: Review on Replacement of Motor 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 HG-SR52(4)(B)G7 1/45 HF-SP102(4)(B)G7 1/5 HG-SR102(4)(B)G7 1/5 HF-SP102(4)(B)G7 1/11 HG-SR102(4)(B)G7 1/11 HF-SP102(4)(B)G7 1/21...
  • Page 370 Part 6: Review on Replacement of Motor (4) HC-RP motor Example of Compatibility Series model Note replacement model (: Compatible) HC-RP103(B) HG-RR103(B) Medium capacity, HC-RP153(B) HG-RR153(B) ultra-low inertia HC-RP series HC-RP203(B) HG-RR203(B)  HC-RP353(B) HG-RR353(B) (B): With brake HC-RP503(B) HG-RR503(B) RP103(B)G5 1/5 HG-SR102(B)G5 1/5 ◇...
  • Page 371 Part 6: Review on Replacement of Motor (5) HC-LP/UP, HF-JP motor Example of Compatibility Series model Note replacement model (: Compatible) • The capacity of the corresponding servo LP52(B) HG-JR73(B) ◇ amplifier will be different if a model marked with is replaced.
  • Page 372 Part 6: Review on Replacement of Motor (6) HA-LP motor Example of Compatibility 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) (Note 1) Large capacity, low LP15K1(4) HG-JR15K1(4) ◇ inertia LP20K1(4) HG-JR20K1(4) ◇ HA-LP LP25K1(4) HG-JR25K1(4) ◇...
  • Page 373: Comparison Of Servo Motor Specifications

    Part 6: Review on Replacement of Motor 2. COMPARISON OF SERVO MOTOR SPECIFICATIONS 2.1 Comparison of Servo Motor Mounting Dimensions [Unit: mm] Target product Replacement product Note Model 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)
  • Page 374 Part 6: Review on Replacement of Motor [Unit: mm] Target product Replacement product Note Model 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 2) HC-LP202(B) 198.5 (246.5) HG-JR353(B) 213 (251.5) HC-LP302(B) 248.5 (296.5)
  • Page 375 Part 6: Review on Replacement of Motor [Unit: mm] Target product Replacement product Note Model Model HG-JR601(B) 299.5 (372) (Note 2) 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 2) HA-LP801(B) HG-JR8014(B) 495 (610) HA-LP8014(B) HG-JR801R(B)-S_ 354 (427) HG-JR8014R(B)-S_...
  • Page 376 Part 6: Review on Replacement of Motor [Unit: mm] Target product Replacement product Note Model Model HG-JR701M(B) 299.5 (372) (Note 2) 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 2) HG-JR11K1M4(B) HA-LP11K1M(B) 495 (610) HA-LP11K1M4(B) HG-JR11K1MR(B)-S_(250) 354 (427) HG-JR11K1M4R(B)-S_(250)
  • Page 377 Part 6: Review on Replacement of Motor [Unit: mm] Target product Replacement product Note Model Model HG-SR502 178.5 (Note 2) HA-LP502 HG-SR502R-S_ HG-SR702 218.5 (Note 2) HA-LP702 HG-SR702R-S_ HG-JR11K1M(B) 339.5 (412) (Note 2) HG-JR11K1M4(B) HA-LP11K2(B) 480 (550) HA-LP11K24(B) HG-JR11K1MR(B)-S_(200) 439 (512) HG-JR11K1M4R(B)-S_(200) HG-JR11K1M(B) 339.5 (412)
  • Page 378: Detailed Comparison Of Servo Motor Mounting Dimensions

    Part 6: Review on Replacement of Motor 2.2 Detailed Comparison of Servo Motor Mounting Dimensions [Unit: mm] Target product Replacement product Model Model HF-KP23(B) HG-KR23(B) HF-MP23(B) HG-MR23(B) HF-KP43(B) HG-KR43(B) HF-MP43(B) HG-MR43(B) HF-KP73(B) HG-KR73(B) HF-MP73(B) HG-MR73(B) HC-LP52(B) HG-JR73(B) HC-LP102(B) HG-JR153(B) HC-LP152(B) HG-JR353(B) HC-LP202(B) 114.3...
  • Page 379: Comparison Of Mounting Dimensions For Geared Servo Motors (For High Precision Applications: Hc-Rp_G5 → Hg-Sr_G5)

    Part 6: Review on Replacement of Motor 2.3 Comparison of Mounting Dimensions for Geared Servo Motors (For high precision applications: HC-RP_G5 → HG-SR_G5) [Unit: mm] HC-RP series (G5) HG-SR series (G5) Output Reduction Reduction (kW) ratio ratio 227.5 227.5 (265.5) (262) 227.5 239.5...
  • Page 380 Part 6: Review on Replacement of Motor (For high precision applications: HC-RP_G7 → HG-SR_G7) [Unit: mm] HC-RP series (G7) HG-SR series (G7) Output Reduction Reduction (kW) ratio ratio 227.5 227.5 (265.5) (262) 227.5 239.5 1/11 1/11 135 115 (265.5) (274) 255.5 239.5 1/21...
  • Page 381: Comparison Of Actual Reduction Ratios For Geared Servo Motors

    Part 6: Review on Replacement of Motor 2.4 Comparison of Actual Reduction Ratios for Geared Servo Motors Because the actual reduction ratio for some models is different when replacing HF-KP or HF-MP_G1 with HG-KR_G1, it is required that an electronic gear be set up. POINT The HG-MR series does not support the geared model.
  • Page 382: Comparison Of Moment Of Inertia

    Part 6: Review on Replacement of Motor 2.5 Comparison of Moment of Inertia (1) HF-KP motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia Model Model inertia J inertia J moment ratio moment ratio × 10 kg•m ×...
  • Page 383 Part 6: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HF-KP053(B)G5 1/5 0.120 (0.122) HG-KR053(B)G5 1/5 0.113 (0.115) HF-KP053(B)G5 1/11...
  • Page 384 Part 6: Review on Replacement of Motor (2) HF-MP motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m 35 times HF-MP053(B) 0.019 (0.025) HG-MR053(B)
  • Page 385 Part 6: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HF-MP053(B)G5 1/5 0.087 (0.093) HG-KR053(B)G5 1/5 0.113 (0.115) HF-MP053(B)G5 1/11...
  • Page 386 Part 6: Review on Replacement of Motor (3) HF-SP motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HF-SP51(B) 11.9 (14.0) HG-SR51(B) 11.6 (13.8)
  • Page 387 Part 6: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HF-SP52(4)(B)G1(H) 1/6 7.10 (9.30) HG-SR52(4)(B)G1(H) 1/6 8.08 (10.3) HF-SP52(4)(B)G1(H) 1/11...
  • Page 388 Part 6: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m 6.75 (8.95) 7.91 (10.1) HF-SP52(4)(B)G5 1/5 HG-SR52(4)(B)G5 1/5 6.66 (8.86)
  • Page 389 Part 6: Review on Replacement of Motor (4) HC-RP motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-RP103(B) 1.50 (1.85) HG-RR103(B) 1.50 (1.85)
  • Page 390 Part 6: Review on Replacement of Motor (5) HC-LP/-UP, HF-JP motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m Medium HC-LP52(B) 3.10 (5.20)
  • Page 391 Part 6: Review on Replacement of Motor (6) HA-LP motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HA-LP601(B) HG-JR601(B) 105 (113) 176 (196)
  • Page 392 Part 6: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load moment Load moment inertia J inertia J Model Model inertia ratio inertia ratio × 10 kg•m × 10 kg•m HA-LP601(B) HG-JR601R(B)-S_ 105 (113) 198 (218) HA-LP6014(B) HG-JR6014R(B) -S_...
  • Page 393: Comparison Of Servo Motor Connector Specifications

    Part 6: Review on Replacement of Motor 2.6 Comparison of Servo Motor Connector Specifications (1) HF-KP/-MP motor MR-J3 series (HF-KP/MP) MR-J4 series (HG-KR/MR) Motor appearance Power connector Power connector Electromagnetic brake Electromagnetic brake connector connector Encoder connector Encoder connector Power connector Power connector Pin assignment Pin assignment...
  • Page 394 Part 6: Review on Replacement of Motor (2) HF-SP motor MR-J3 series (HF-SP) MR-J4 series (HG-SR) : HF-SP51(B), HF-SP81(B), : HG-SR51(B), HG-SR81(B), Target models Target models HF-SP52(4)(B) to HF-SP152(4)(B) HG-SR52(4)(B) to HG-SR152(4)(B) Motor appearance Power connector Power connector Electromagnetic brake Electromagnetic brake connector connector...
  • Page 395 Part 6: Review on Replacement of Motor MR-J3 series (HF-SP) MR-J4 series (HG-SR) : HF-SP121(B) to HF-SP421(B) : HG-SR121(B) to HG-SR421(B) Target models 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 Electromagnetic brake connector connector Encoder connector...
  • Page 396 Part 6: Review on Replacement of Motor (3) HC-RP motor MR-J3 series (HC-RP) MR-J4 series (HG-RR) : HC-RP103(B), HC-RP203(B) : HG-RR103(B) to HG-RR203(B) Target models Target models Motor appearance Power connector Power connector (with brake) (with brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P...
  • Page 397 Part 6: Review on Replacement of Motor MR-J3 series (HC-RP) MR-J4 series (HG-RR) : HC-RP353(B), HC-RP503(B) : HG-RR353(B), HG-RR503(B) Target models Target models Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic Brake) Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P...
  • Page 398 Part 6: Review on Replacement of Motor (4) HC-LP motor MR-J3 series (HC-LP) MR-J4 series (HG-JR) Target models: HC-LP52(B), LP102(B) Target models: HG-JR73(B), JR153(B) Motor appearance Power connector Power connector Electromagnetic brake connector (With electromagnetic brake) Encoder connector Encoder connector Power connector CE05-2A22-23P Power connector...
  • Page 399 Part 6: Review on Replacement of Motor MR-J3 series (HC-LP) MR-J4 series (HG-JR) Target models: HC-LP152(B) Target models: HG-JR353(B) Motor appearance Electromagnetic brake connector Power connector (With electromagnetic brake) Power connector Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P MS3102A22-22P Power connector Pin assignment...
  • Page 400 Part 6: Review on Replacement of Motor MR-J3 series (HC-LP) MR-J4 series (HG-JR) Target models: HC-LP202(B), LP302(B) Target models: HG-JR353(B), JR503(B) Motor appearance Electromagnetic brake connector Power connector Power connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P MS3102A22-22P Power connector...
  • Page 401 Part 6: Review on Replacement of Motor (5) HC-UP motor MR-J3 series (HC-UP) MR-J4 series (HG-UR) Target models: HC-UP72(B), HC-UP152(B) Target models: HG-UR72(B), HG-UR152(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P...
  • Page 402 Part 6: Review on Replacement of Motor MR-J3 series (HC-UP) MR-J4 series (HG-UR) Target models: HC-UP202(B) to HC-UP502(B) Target models: HG-UR202(B) to HG-UR502(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P...
  • Page 403 Part 6: Review on Replacement of Motor (6) HF-JP motor MR-J3 series (HF-JP) MR-J4 series (HG-JR) Target models: HF-JP53(4)(B) to HF-JP203(4)(B) Target models: HG-JR53(4)(B) to HG-JR203(4)(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector...
  • Page 404 Part 6: Review on Replacement of Motor MR-J3 series (HF-JP) MR-J4 series (HG-JR) Target models: HF-JP353(B), HF-JP503(B) Target models: HG-JR353(B), HG-JR503(B) Motor appearance Electromagnetic brake connector Electromagnetic brake connector Power connector Power connector Encoder connector Encoder connector Power connector Power connector MS3102A22-22P MS3102A22-22P Power connector...
  • Page 405 Part 6: Review on Replacement of Motor MR-J3 series (HF-JP) MR-J4 series (HG-JR) Target models: HF-JP3534(B), HF-JP5034(B) Target models: HG-JR3534(B), HG-JR5034(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector MS3102A18-10P MS3102A18-10P Power connector...
  • Page 406 Part 6: Review on Replacement of Motor MR-J3 series (HF-JP) MR-J4 series (HG-JR) Target models: HF-JP703(4)(B), HF-JP903(4)(B) Target models: HG-JR703(4)(B), HG-JR903(4)(B) Motor appearance Electromagnetic brake Electromagnetic brake connector connector Power connector Power connector Encoder connector Encoder connector Power connector Power connector MS3102A32-17P MS3102A32-17P Power connector...
  • Page 407 Part 6: Review on Replacement of Motor MR-J3 series (HF-JP) MR-J4 series (HG-JR) Target models: HF-JP11K1M(4)(B), Target models: HG-JR11K1M(4)(B), HF-JP15K1M(4)(B) HG-JR15K1M(4)(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector MS3102A32-17P MS3102A32-17P Power connector...
  • Page 408 Part 6: Review on Replacement of Motor (7) HA-LP motor MR-J3 series (HA-LP) MR-J4 series (HG-SR) Target models: HA-LP502 Target models: HG-SR502 Encoder connector Power connector Motor appearance Power connector Encoder connector Power connector Power connector CE05-2A24-10P MS3102A22-22P Power connector Pin assignment Power connector Pin No.
  • Page 409 Part 6: Review on Replacement of Motor MR-J3 series (HA-LP) MR-J4 series (HG-SR) Target models: HA-LP702 Target models: HG-SR702 Encoder connector Power connector Motor appearance Power connector Encoder connector Power connector CE05-2A32-17P Power connector MS3102A32-17P Power connector Power connector Pin assignment Pin assignment Power connector Pin No.
  • Page 410 Part 6: Review on Replacement of Motor MR-J3 series (HA-LP) MR-J4 series (HG-JR) Target models: HA-LP601(4)(B), LP701M(4)(B) Target models: HG-JR601(4)(B), JR701M(4)(B) 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 Earth terminal Terminal block for thermal M6 screw...
  • Page 411 Part 6: Review on Replacement of Motor MR-J3 series (HA-LP) MR-J4 series (HG-JR) Target models: HA-LP801(4)(B), LP12K1(4)(B) Target models: HG-JR801(4)(B), JR12K1(4)(B) HA-LP11K1M(4)(B), LP15K1M(4)(B) HG-JR11K1M(4)(B), R15K1M(4)(B) HA-LP15K2(4)(B), LP22K2(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Earth terminal...
  • Page 412 Part 6: Review on Replacement of Motor MR-J3 series (HA-LP) MR-J4 series (HG-JR) Target models: HA-LP15K1(4), LP20K1(4) Target models: HG-JR15K1(4), JR20K1(4) HA-LP22K1M(4), LP30K24 HG-JR22K1M(4) Power supply terminal block Cooling fan connector Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block Earth terminal U/V/W terminals, M8 screw...
  • Page 413 Part 6: Review on Replacement of Motor MR-J3 series (HA-LP) MR-J4 series (HG-JR) Target models: HA-LP30K2 Target models: HG-JR22K1M Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block Earth terminal U/V/W terminals, M10 screw M6 screw...
  • Page 414: Comparison Of Servo Motor Torque Characteristics

    Part 6: Review on Replacement of Motor 2.7 Comparison of Servo Motor Torque Characteristics ◆ Comparison of torque characteristics between the HG-KR and HF-KP series Same torque characteristics HF-KP053 → HG-KR053 HF-KP13 → HG-KR13 HF-KP23 → HG-KR23 HF-KP43 → HG-KR43 HF-KP73 →...
  • Page 415 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HF-SP series Same torque characteristics 200 V class HF-SP51 → HG-SR51 HF-SP81 → HG-SR81 HF-SP121 → HG-SR121 HF-SP201 → HG-SR201 HF-SP301 → HG-SR301 Short-duration running range Short-duration Short-duration...
  • Page 416 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HF-SP series Same torque characteristics 400 V class HF-SP524 → HG-SR524 HF-SP1024 → HG-SR1024 HF-SP1524 → HG-SR1524 HF-SP2024 → HG-SR2024 HF-SP3524 → HG-SR3524 Short-duration Short-duration Short-duration Short-duration...
  • Page 417 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HC-LP series ( : HG-JR, : HC-LP) HC-LP152→HG-JR353 HC-LP102→HG-JR153 LFS102 HG-JR153 LFS152 HG-JR353 LP52 HG-JR73 ⇒ ⇒ ⇒ (Note 2) Short-duration Short-duration running range Short-duration running range running range...
  • Page 418 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-UR and HC-UP series Same torque characteristics HC-UP72 → HG-UR72 HC-UP152 → HG-UR152 HC-UP202 → HG-UR202 HC-UP352 → HG-UR352 HC-UP502 → HG-UR502 Short-duration Short-duration Short-duration Short-duration Short-duration running range running range...
  • Page 419 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LP series ( : HG-JR, : 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. •HA-LP 1000 r/min series, 200 V class Short-duration Short-duration...
  • Page 420 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LP series ( : HG-JR, : HA-LP) •HA-LP 1000 r/min series, 400V class Short-duration Short-duration Short-duration running range running range running range Continuous Continuous Continuous running range running range...
  • Page 421 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LP series ( : HG-JR, : HA-LP) •HA-LP 1500 r/min series, 200 V class Short-duration Short-duration Short-duration Short-duration running range running range running range running range Continuous Continuous...
  • Page 422 Part 6: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR, SR and HA-LP series : HG-JR, SR : HA-LP) •HA-LP 2000 r/min series, 200 V class Short-duration Short-duration running range running range Short-duration running range Continuous Continuous Continuous...
  • Page 423 Part 6: Review on Replacement of Motor MEMO 6 - 62...
  • Page 424 Part 7: Review on Replacement of Optional Peripheral Equipment Part 7 Review on Replacement of Optional Peripheral Equipment 7 - 1...
  • Page 425: Comparison Table Of Regenerative Option Combinations

    Part 7: Review on Replacement of Optional Peripheral Equipment Part 7: 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 426: Regenerative Options (200 V Class /100 V Class)

    Part 7: 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 427: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 7: Review on Replacement of Optional Peripheral Equipment 1.1.2 Combination and regenerative power for MR-J4 series (replacement model) List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in regenerative (Note 1) (Note 1) (Note 1) Servo amplifier model resistor [40Ω] [40Ω]...
  • Page 428: External Form Comparison

    Part 7: 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-RB3N Cooling fan mounting Cooling fan mounting screw (2-M4 screw) screw (2-M4 screw) 101.5 82.5 101.5 82.5 Air intake Air intake 350_ MR-RB50 MR-RB5N...
  • Page 429: Regenerative Options (400 V Class)

    Part 7: 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 430: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 7: Review on Replacement of Optional Peripheral Equipment 1.2.2 Combination and regenerative power for MR-J4 series (replacement model) List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
  • Page 431: External Form Comparison

    Part 7: 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 Cooling fan mounting screw (2-M4 screw) screw (2-M4 screw) 101.5 82.5 101.5 82.5 Air intake Air intake 200_4 MR-RB5G-4/MR-RB54-4 MR-RB5G-4/MR-RB54-4/MR-RB5U-4...
  • Page 432: Comparison Table Of Dynamic Brake Option Combinations

    Part 7: Review on Replacement of Optional Peripheral Equipment 2. COMPARISON TABLE OF DYNAMIC BRAKE OPTION COMBINATIONS POINT When an MR-J4-22K 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 433: Comparison Table Of Cable Option Combinations

    Part 7: 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) 〇 MR-J3ENCBL_M-A_-_ ← Use the same combination. 〇...
  • Page 434 Part 7: Review on Replacement of Optional Peripheral Equipment Compatibility Application MR-J3 series MR-J4 series Note (Note 2) CNP1 54928-0670 06JFAT-SAXGDK-H7.5 (Note 1) Servo amplifier power connector CNP2 54927-0520 05JFAT-SAXGDK-H5.0 (Note 1) (1 kW or less) CNP3 54928-0370 03JFAT-SAXGDK-H7.5 (Note 1) 721-207/026-000 CNP1 06JFAT-SAXGFK-XL...
  • Page 435: Changes From Mr-J3W Series To Mr-J4W2-_B Servo Amplifier

    Part 7: Review on Replacement of Optional Peripheral Equipment 3.2 Changes from MR-J3W series to MR-J4W2-_B Servo amplifier Cable option combinations Compatibility Application MR-J3W series MR-J4W2-B Servo amplifier Note (: Compatible) MR-J3ENCBL_M-A_-_ ← 〇 Use the same combination. MR-J3JCBL03M-A_-L ← 〇...
  • Page 436: Power Supply Wire Size

    Part 7: 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 437 Part 7: 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 438 Part 7: 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 439 Part 7: 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 440: Mr-J4 Series Power Supply Wire Size

    Part 7: 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 441 Part 7: 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 442: Mr-J3W Series Power Supply Wire Size

    Part 7: 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 443: Mr-J4W2-_B Servo Amplifier, Power Supply Wire Size

    Part 7: 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 444: Selection Example Of Crimp Terminals

    Part 7: 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 445: Mr-J4 Series Crimp Terminal

    Part 7: Review on Replacement of Optional Peripheral Equipment 4.2.2 MR-J4 series crimp terminal (1) Selection example of crimp terminals (200 V/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 446: Selection Of Molded-Case Circuit Breaker, Fuse, And Magnetic Contactor (Example)

    Part 7: 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 447: Mr-J4 Series, Molded-Case Circuit Breakers, Fuses, And Magnetic Contactors (Recommended)

    Part 7: 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. CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
  • Page 448: Mr-J3W Series, No-Fuse Breakers, Fuses, Magnetic Contactors

    Part 7: 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 449: 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 450: Battery

    Part 7: 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 451: 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 7 - 28...
  • Page 452: Mr-J4 Series Battery

    Part 7: 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 453: When Using The Mr-Bat6V1Set Battery

    Part 7: 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 454: When Using Mr-Bat6V1Bj Battery For Junction Battery Cable

    Part 7: 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 455: When Using Mr-Bt6Vcase Battery Case

    Part 7: 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 MR-BT6V2CBL_M MR-BT6V2CBL_M CN10 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 456: Mr-J3W Series Battery

    Part 7: 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 457: Mr-J4W2-_B Servo Amplifier, Battery

    Part 7: 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 458 Part 7: 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 459 Part 7: 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 460 Part 7: 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 461 Part 7: 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 CON1 direction, the connector will break.
  • Page 462 Part 7: 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 463: Mr-Bat6V1 Battery

    Part 7: 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 464: Emc Filter (Recommended)

    Part 7: 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 465: Connection Example

    Part 7: 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 466: Dimensions

    Part 7: Review on Replacement of Optional Peripheral Equipment 6.1.2 Dimensions 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] Dimensions [mm] Model HF3030A-UN R3.25 length: 8...
  • Page 467 Part 7: Review on Replacement of Optional Peripheral Equipment HF3100A-UN [Unit: mm] 2- 6.5 2-6.5 380 1 400 5 TF3005C-TX/TF3020C-TX/TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 M4 M4 3-M4 Approx. 67.5 100 ± 1 100 ± 1 ± 3 290 ± 2 150 ±...
  • Page 468 Part 7: Review on Replacement of Optional Peripheral Equipment TF3040C-TX/F3060C-TX [Unit: mm] 3-M6 3-M6 Dimensions [mm] Model TF3040C-TX R3.25 length 8 (190) (91.5) (M6) TF3060C-TX 7 - 45...
  • Page 469 Part 7: Review on Replacement of Optional Peripheral Equipment 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 ± 1 7 - 46...
  • Page 470: Power Factor Improving Ac Reactor/Power Factor Improving Dc Reactor

    Part 7: 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 471 Part 7: 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 (Note 2) FR-BEL-(H) (Note 2) (Note 3) 5m or less A or less B or less 5m or less...
  • Page 472: Mr-J3/Mr-J3W Series Power Factor Improving Ac Reactor

    Part 7: 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 473 Part 7: Review on Replacement of Optional Peripheral Equipment MR-J3 series Power factor Dimensions [mm] Mounting Terminal Mass Servo amplifier improving AC screw size screw size [kg (lb)] reactor MR-J3-10A/20A/10A1 FR-BAL-0.4K M3.5 -2.5 MR-J3-40A/20A1 FR-BAL-0.75K M3.5 -2.5 MR-J3-60A/70A/40A1 FR-BAL-1.5K M3.5 -2.5 MR-J3-100A FR-BAL-2.2K...
  • Page 474: Mr-J4 Series Power Factor Improving Dc Reactors (200 V Class)

    Part 7: 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) 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 475 Part 7: 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_, FR-HEL-0.4K MR-J4-20_ MR-J4-40_ FR-HEL-0.75K Fig. 7.3 MR-J4-60_, 2 (AWG 14) FR-HEL-1.5K MR-J4-70_ MR-J4-100_...
  • Page 476: Mr-J4 Series Power Factor Improving Dc Reactors (400 V Class)

    Part 7: 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 477 Part 7: 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 FR-HEL-H1.5K M3.5 2 (AWG 14) Fig. 7.6 MR-J4-100_4 FR-HEL-H2.2K M3.5 2 (AWG 14) MR-J4-200_4 FR-HEL-H3.7K 2 (AWG 14)
  • Page 478: Mr-J4 Series Power Factor Improving Ac Reactors (200 V/100 V Class)

    Part 7: 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 479 Part 7: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Outline Mass Termin Servo amplifier improving AC al size [kg] drawing reactor (Note) MR-J4-10_, MR-J4-20_ FR-HAL-0.4K MR-J4-40_ FR-HAL-0.75K MR-J4-60_, MR-J4-70_ FR-HAL-1.5K Fig. 7.9 MR-J4-100_ FR-HAL-2.2K (Note) MR-J4-200_ FR-HAL-3.7K (Note) MR-J4-350_...
  • Page 480: Mr-J4 Series Power Factor Improving Ac Reactors (400 V Class)

    Part 7: 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 481 Part 7: 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 FR-HAL-H1.5K 59.6 M3.5 MR-J4-100_4 FR-HAL-H2.2K Fig. 7.15 59.6 M3.5 MR-J4-200_4 FR-HAL-H3.7K 70.6 M3.5 MR-J4-350_4 FR-HAL-H7.5K MR-J4-500_4 FR-HAL-H11K...
  • Page 482: Setup Software (Setup221E)

    Part 7: 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 483: Mr-J4 Series Mr Configurator2

    Part 7: 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 484: System Configuration

    Part 7: 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 485: Connection With Servo Amplifier

    Part 7: 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 486: Panel Through Attachment

    Part 7: 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-J3-11K_(4) MR-J3ACN MR-J4-22KA(4)(-RJ) to MR-J3-22K_(4) 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 487 Part 7: 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 488: Mr-J4 Series (Mr-J4Acn15K/Mr-J3Acn)

    Part 7: 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 489 Part 7: 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 7 - 66...
  • Page 490 Part 7: 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 491 Part 7: Review on Replacement of Optional Peripheral Equipment (c) Mounting method Attachment Punched hole Servo amplifier Servo Fit using the amplifier assembling Cabinet screws. Attachment a. Assembling the panel through attachment b. Mounting it to inside cabinet (d) Mounting dimensional diagram [Unit: mm] Panel Servo...
  • Page 492 Part 8: Startup Procedure Manual Part 8 Startup Procedure Manual 8 - 1...
  • Page 493 Part 8: Startup Procedure Manual Part 8: 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 494 Part 8: 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 495 Part 8: Startup Procedure Manual MEMO 8 - 4...
  • Page 496 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. Part 1 MR-J3W series/MR-J4W2-_B servo amplifier is added.
  • Page 497 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 498 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 499 L(NA)03127ENG-B...
  • Page 500 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...