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Mitsubishi Electric MELSERVO-J3 Series Handbook

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Error Codes
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Current Alarm
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 ............................1-15 4.2 Instruction Manual ........................1-15 4.3 Replacement Tool for Replacing MR-J3 with MR-J4 ..............1-16 4.4 MITSUBISHI ELECTRIC FA Global Website ................1-16 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 ......................3-12 3.6.1 Setting requisite parameters upon replacement ..............
  • Page 12 5.2 Drive unit ............................5-41 5.2.1 Drive unit comparison of parameter details ................ 5-41 6. CHARACTERISTICS .......................... 5-43 6.1 Overload protection characteristics ..................... 5-43 6.2 Power supply capacity and generated loss ................. 5-46 6.2 Inrush currents at power-on of main circuit/control circuit ............5-48 7.
  • Page 13 2.2 Parameter conversion ......................... 6-50 2.2.1 Operation procedure of parameter conversion ..............6-50 2.2.2 MR-J3-_A_ parameter diversion procedure ............... 6-51 2.2.3 Parameter reading from the servo amplifier MR- J3-_A_ ........... 6-52 2.2.4 Converting the parameters of MR-J3-_A_ and writing them to the MR-J4-_A_ servo amplifier ........................
  • Page 14 5.1 MR-J3 series motors which are available with MR-J4-_A_ and MR-J4-_B_ ......6-113 5.2 MR-J3 series motors which are available with MR-J4W2-_B ........... 6-117 6. APPLICATION OF FUNCTIONS ...................... 6-119 6.1 J3 compatibility mode ........................ 6-119 6.1.1 J3 Outline of J3 compatibility mode .................. 6-119 6.1.2 Operation modes supported by J3 compatibility mode ............
  • Page 15 4.1.2 MR-J4 series power supply wire size ................. 8-19 4.1.3 MR-J3W series power supply wire size ................8-21 4.1.4 MR-J4W2-_B servo amplifier, power supply wire size ............8-23 4.2 Selection Example of Crimp Terminals ..................8-25 4.2.1 MR-J3 series crimp terminal ....................8-25 4.2.2 MR-J4 series crimp terminal ....................
  • Page 16 1. STARTUP ............................9- 2 1.1 Switching power on for the first time ..................... 9- 3 1.1.1 Startup procedure ........................ 9- 3 Appendix 1: Introduction to Renewal Tool Appendix 1- 1 to Appendix 1-17 1. SUMMARY........................... Appendix 1- 2 1.1 Servo amplifier replacement model ................Appendix 1- 2 1.2 Features ........................
  • Page 17 MEMO...

  • Page 18: Summary Of Mr-J3/Mr-J3W Replacement

    Part 1: Summary of MR-J3/MR-J3W Replacement Part 1 Summary of MR-J3/MR-J3W Replacement 1 - 1...

  • Page 19: Major Replacement Target Model

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

  • Page 20: Flow Of Replacement

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

  • Page 21: Configuration Diagram

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

  • Page 22: Changes From Mr-J3 Series To Mr-J4 Series

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.1.3 Changes from MR-J3 series to MR-J4 series POINT The following table summarizes the changes from MR-J3 series to MR-J4 series. For details, refer to the reference document/items. For large capacity models of 30 kW or more, Refer to "Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_"...
  • Page 23 Part 1: Summary of MR-J3/MR-J3W Replacement Reference Changes Check items Impact document/items Options Wire An HIV wire is recommended for MR-J4. Part 8, Chapter 4 peripheral Dynamic brakes Some dynamic brakes cannot be used for MR-J4. Part 8, Chapter 2 equipment EMC filter There is no change in recommended products.

  • Page 24: Changes From Mr-J3W Series To Mr-J4 Series

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.1.4 Changes from MR-J3W series to MR-J4 series POINT The following table summarizes the changes from MR-J3W series to MR-J4 series. For details, refer to the reference document/items. Reference Changes Check items Impact document/items Servo Connector Connector shape, pin arrangement, signal abbreviation,...
  • Page 25 Part 1: Summary of MR-J3/MR-J3W Replacement Reference Changes Check items Impact document/items Servo motor Mounting compatibility Some models have no mounting compatibility. Part 7, Section 1.1 Dimensions The total length may differ depending on models. Part 7, Section 2.1 Part 7, Section 2.2 Part 7, Section 2.3 Reducer The actual reduction ratio of HF-KP and HF-MP series G1...

  • Page 26: Review On Replacement

    Part 1: Summary of MR-J3/MR-J3W Replacement 3.2 Review on replacement 3.2.1 Checking the system prior to replacement Check the components of the system prior to replacement. Category Controller model Amplifier model "Reference items" in this document Remarks QD75P(D) 1) MR-J3 series ...
  • Page 27 Part 1: Summary of MR-J3/MR-J3W Replacement (b) SSCNET interface 200 V class Attachment Replacement model compatibility Model Check items (example) ( : Compatible) MR-J3-10B MR-J4-10B MR-J3-20B MR-J4-20B MR-J3-40B MR-J4-40B MR-J3-60B MR-J4-60B MR-J3-70B MR-J4-70B MR-J3-100B MR-J4-100B MR-J3-200B(N)(-RT) MR-J4-200B Refer to "Part 6: Common Reference MR-J3-350B MR-J4-350B Material".
  • Page 28 Part 1: Summary of MR-J3/MR-J3W Replacement (f) SSCNET 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) MR-J3-500B4 MR-J4-500B4 Refer to "Part 6: Common Reference MR-J3-700B4 MR-J4-700B4 Material".
  • Page 29 Part 1: Summary of MR-J3/MR-J3W Replacement (2) Models for replacement between MR-J3W series and MR-J4 series Shown below are the base replacement models with the assumption that both the servo amplifier and servo motor will be replaced as a set. (a) SSCNET interface 200 V class Attachment Replacement model...
  • Page 30 Part 1: Summary of MR-J3/MR-J3W Replacement (3) Servo amplifier and servo motor combination for the MR-J4 series For a review on the replacement of an existing motor with a new one, Refer to "Part 7: Review on Replacement of Motor". (a) 200 V/100 V class Rotary servo motor Servo amplifier...
  • Page 31 Part 1: Summary of MR-J3/MR-J3W Replacement (b) 400 V class Rotary servo motor Servo amplifier HG-SR HG-JR MR-J4-60_4 534 (Note) MR-J4-100_4 1024 1034 734 (Note) 1524 1034 (Note) MR-J4-200_4 2024 1534 2034 1534 (Note) MR-J4-350_4 3524 2034 (Note) 3534 3534 (Note) MR-J4-500_4 5024 5034...

  • Page 32: Attachment Compatibility Check

    3.2.6 Startup procedure check Refer to "Part 9: 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...

  • Page 33: 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 34 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 35: 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 36 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 37: Differences Between Mr-J3-_A_ And Mr-J4-_A

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3. DIFFERENCES BETWEEN MR-J3-_A_ AND MR-J4-_A_ 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) 200 V class Item MR-J3 series MR-J4 series Capacity range 0.1 kW to 22 kW/200 V 0.1 kW to 22 kW/200 V Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
  • Page 38 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (2) 400 V class Item MR-J3 series MR-J4 series Capacity range 0.6 kW to 22 kW/400 V 0.6 to 22 kW/400 V Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW) Internal regenerative resistor External (11kW to 22 kW) External (11kW to 22 kW)

  • Page 39: Comparison Of Standard Connection Diagrams

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.2 Comparison of Standard Connection Diagrams (1) Position control mode MR-J3-_A_ MR-J4-_A_ Example of connection to QD75D Example of connection to QD75D Servo amplifier Servo amplifier 24 V DC 24 V DC Positioning module Positioning module 24 V DC...
  • Page 40 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (3) Torque control mode MR-J3-_A_ MR-J4-_A_ Servo amplifier Servo amplifier 24 V DC DOCOM DIC OM 24 V DC Trouble DICOM DOCOM 10 m or less Zero speed detection DOC OM Malfunction Emergency stop Main circuit power supply...

  • Page 41: 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 42 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (3) Comparison of signals Signal abbreviations in parentheses are for MR-J4-_A_. (a) CN1 1) Position control mode MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1-1 P15R CN1-1...
  • Page 43 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2) Speed control mode MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1-1 P15R CN1-1 CN1-2 CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 CN1-7...
  • Page 44 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3) Torque control mode MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1-1 P15R CN1-1 CN1-2 CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 CN1-7...
  • Page 45 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ (b) CN3 1) For 7 kW or less MR-J3-_A_ MR-J4-_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN6-1 CN6-1 CN6-2 CN6-2 CN6-3 CN6-3 CN3-1 CN3-1 CN3-2 CN3-2...

  • Page 46: Comparison Of Peripheral Equipment

    Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 3.4 Comparison of Peripheral Equipment POINT Refer to "Part 8: Replacement of Optional Peripheral Equipment". 2 - 13...

  • Page 47: 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 48 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Precautions Name Name PC14 Analog monitor 1 output PC14 Analog monitor 1 output When the command pulse frequency is selected (±10 V/1 Mpulses/s → ±10 V/4 Mpulses/s) PC15 Analog monitor 2 output PC15 Analog monitor 2 output When the command pulse frequency is selected...

  • Page 49: 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 50 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 51 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial setting setting Parameter name Parameter name Abbreviation Abbreviation value value value value PC10 Internal speed command 6 PC10 Internal speed command 6 Internal speed limit 6 Internal speed limit 6 PC11 PC11...
  • Page 52 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 53: 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 Ratio of load inertia moment to servo motor inertia Load to motor inertia ratio/load to motor mass ratio PB06 PB06 7.00...
  • 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 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 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 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 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 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 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 PB18 Low-pass filter setting 3141 PB18 3141 Same as MR-J3 Set the low-pass filter. Low-pass filter setting Setting [Pr.
  • 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 Zero speed PC17 PC17 Same as MR-J3 Used to set the output range of the zero speed Zero speed detection (ZSP).
  • 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 PC20 PC20 Station number setting Same setting as MR-J3 Used to specify the station number for serial Station No.
  • 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 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 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 PC26 Function selection C-5 0000h PC26 Same as MR-J3 Select the [AL. 99 Stroke limit warning]. Function selection C-5 _ _ _ x: 0 0 0 x: [AL.
  • 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 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 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 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 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 Depen- The value PC37 Analog speed command offset PC37 Same as MR-J3 ding on differs Used to set the offset voltage of the analog speed servo depending Analog speed command offset...
  • Page 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 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 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 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 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 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 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 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 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 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 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 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 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 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 92 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value 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 93 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value 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 94 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD21 For manufacturer setting 0000h PD31 Function selection D-2 Do not change this value by any means. _ _ _ x: For manufacturer setting _ _ x _:...
  • Page 95 Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ MR-J3-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value PD24 0000h PD34 Function selection D-5 Function selection D-5 0 0 _ x: _ _ _ x: Setting of alarm code output Alarm code output Select output status of alarm codes.

  • Page 96: 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 97 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 98: 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 99: 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 100: Replacement Method

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 2.2 Replacement Method This section shows replacements using a QDS motion controller and an SSCNETIII/H stand-alone motion controller as examples. (1) For simultaneous replacement QDS motion controller + MR-J4-_B_ + HG motor Stand-alone motion controller + MR-J4-_B_ + HG motor QnUD(E)(H)CPU + QDS motion controller + Q3_DB SSCNET III/H stand-alone motion controller...
  • Page 101 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 102 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (4) For separate repair (Note) Replacement of Servo amplifier (MR-J3-_B_) Replacement of J3 series servo motor (HC/HA) SSCNET III servo system controller SSCNET III servo system controller MR-J3-_B_ MR-J3-_B_ MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ MR-J3-_B_ (J3 compatibility mode)

  • Page 103: Differences Between Mr-J3-_B_ And Mr-J4-_B

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3. DIFFERENCES BETWEEN MR-J3-_B_ AND MR-J4-_B_ 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) 200 V Class MR-J3-_B_ series MR-J4-_B_ series Item Capacity range 0.1 kW to 22 kW/200 V 0.1 kW to 22 kW/200 V Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
  • Page 104 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (1) 400 V Class Item MR-J3-_B_ series MR-J4-_B_ series Capacity range 0.6 kW to 22 kW/400 V 0.6 kW to 22 kW/400 V Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW) Internal regenerative resistor External (11kW to 22 kW) External (11kW to 22 kW)

  • Page 105: Comparison Of Networks

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.2 Comparison of Networks POINT Refer to "Part 6: Common Reference Material". 3.3 Comparison of Standard Connection Diagrams MR-J3-_B_ MR-J4-_B_ MR-J3-700B or less 10 m or less 10 m or less Servo amplifier Servo amplifier 24 V DC...

  • Page 106: 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 107 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 Setup software computer (Note 2) (SETUP221E) Power supply Molded-case No-fuse...
  • Page 108 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ (5) Comparison of signals Signals unique to MR-J4-_B_ are in parentheses. MR-J3-_B_ < 7 kW or less > MR-J4-_B_ Abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN3-1 CN3-1 CN3-2...

  • Page 109: Comparison Of Peripheral Equipment

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3.5 Comparison of Peripheral Equipment POINT Refer to "Part 8: Review on Replacement of Optional Peripheral Equipment". 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable.

  • Page 110: 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 111: 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 112 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 113 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 114: 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 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 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 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 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 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 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 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 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 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 PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00ABh Select a reference range and writing range of the parameter.
  • 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 PC07 Zero speed PC07 Same as MR-J3 Used to set the output range of the zero speed detection Zero speed (ZSP).
  • 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 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 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 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 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 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 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 PD02 For manufacturer setting 0000h PD02 Input signal automatic on selection 2 Do not change this value by any means. _ _ _ x _ _ _ x: (HEX)
  • 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 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 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 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 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 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 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 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 142 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 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 143 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MR-J3-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 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 144: Application Of Functions

    Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 4. APPLICATION OF FUNCTIONS POINT Refer to "Part 6 Common Reference Material" for the application of functions. ・ 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 145 Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ MEMO 3 - 48...

  • Page 146: 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 147: 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 148: 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 149 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Gradual replacement of MR-J3W-_B with MR-J4W2-_B POINT MR-J3W-_B cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement with MR-J4W2-_B and HG motor is necessary. Replacing the system, you can drive some J3 series servo motors with MR- J4W2-_B (J4 mode) and MR-J4W2-_B(J3 compatibility mode).
  • Page 150 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) Separate repair (a) Replacement of servo amplifier Replacing the system, you can drive some J3 series servo motors with MR-J4W2-_B (J4 mode) and MR-J4W2-_B(J3 compatibility mode). Refer to "Part 6 Common Reference Material" for the applicable motor.

  • Page 151: Differences Between Mr-J3W-_B And Mr-J4W2-_B

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3. DIFFERENCES BETWEEN MR-J3W-_B AND MR-J4W2-_B 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) MR-J3W-_B/MR-J4W2-_B 200 V class MR-J3W-_B series MR-J4W2-_B servo amplifier Item MR-J3W-22B 200 W (A axis)/200 W (B axis) MR-J4W2-22B 200 W (A axis)/200 W (B axis) MR-J3W-44B 400 W (A axis)/400 W (B axis) MR-J4W2-44B...
  • Page 152 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (2) MR-J3W-0303BN6/MR-J4W2-0303B6 48 V DC class /24 V DC class Item MR-J3W-0303BN6 servo amplifier MR-J4W2-0303B6 servo amplifier Capacity range 30 W (A-axis)/30 W (B-axis) 30 W (A-axis)/30 W (B-axis) Internal regenerative resistor Built-in 1.3 W Built-in 1.3 W Built-in (Electronic type) Dynamic brake...

  • Page 153: Configuration Including Auxiliary Equipment

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.2 Configuration including auxiliary equipment (1) MR-J3W-_B (Note 2) R S T Power supply Servo amplifier Personal Setup software computer (SETUP221E) Molded-case circuit breaker (MCCB) or fuse CNP1 Magnetic contactor I/O signal (MC) (Note 2) Regenerative Power factor...
  • Page 154 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 155 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) MR-J3W-0303BN6 Setup software Personal computer (SETUP221E) Main circuit power supply: 48 V DC 48 V DC 24 V DC I/O signal power supply power supply Servo system CN1A controller or Front axis Circuit servo amplifier CN1B protector...
  • Page 156 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) MR-J4W2-0303B6 Personal computer MR Configurator2 48 V DC main circuit power supply 48 V DC 24 V DC I/O signal power supply power supply Servo system controller or CN1A previous servo amplifier Circuit CN1B protector...

  • Page 157: Comparison Of Networks

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.3 Comparison of Networks POINT Refer to "Part 6: Common Reference Material". 3.4 Comparison of Standard Connection Diagrams (1) MR-J3W-_B/MR-J4W2-_B 200 V class MR-J3W-_B MR-J4W2-_B 10 m or less 10 m or less 10 m or less 10 m or less Servo amplifier...
  • Page 158 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (2) MR-J3W-0303BN6/MR-J4W2-0303B6 48 V DC/24 V DC class MR-J3W-0303BN6 MR-J4W2-0303B6 10 m or less 10 m or less 10 m or less 10 m or less Servo amplifier Main circuit Servo amplifier (1 axis 2 axis) power supply 24 V DC DOCOM...

  • Page 159: List Of Corresponding Connectors And Terminal Blocks

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.5 List of Corresponding Connectors and Terminal Blocks An example of connections with the peripheral equipment is shown below. Refer to the respective Instruction Manuals for details on the signals. 3.5.1 200 V class (1) Comparison of connectors MR-J3W-_B MR-J4W2-_B...
  • Page 160 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Comparison of signals MR-J3W-_B MR-J4W2-_B Abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment LG (Note 5) CN3-1 CN3-1 CN3-2 MO1 (Note 6) CN3-2 CN3-3 LA-A CN3-3 CN3-4 LB-A CN3-4 CN3-5...
  • Page 161 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (4) Main circuit terminal block MR-J3W-22B/MR-J3W-44B MR-J4W2-22B/MR-J4W2-44B CNP1 CNP1 CNP2 CNP2 CNP3A CNP3A CNP3B CNP3B PE ( Screw Size: M4 Screw Size: M4 Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m] MR-J3W-77B/MR-J3W-1010B MR-J4W2-77B/MR-J4W2-1010B CNP1 CNP1 CNP2...

  • Page 162: Dc/24 V Dc Class

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.5.2 48 V DC/24 V DC class (1) Comparison of connectors MR-J3W-0303BN6 MR-J4W2-0303B6 Personal Personal Setup software computer computer (SETUP221E) MR Configurator2 Main circuit power supply: 48 V DC 48 V DC main circuit power supply 48 V DC 24 V DC 48 V DC...
  • Page 163 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B (3) Comparison of signals MR-J3W-0303BN6 MR-J4W2-0303B6 Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN3-1 CN3-1 CN3-2 CN3-2 CN3-3 LA-A CN3-3 CN3-4 LB-A CN3-4 CN3-5 LA-B CN3-5 CN3-6 LB-B CN3-6...

  • Page 164: Comparison Of Peripheral Equipment

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.6 Comparison of Peripheral Equipment POINT Refer to "Part 8: Replacement of Optional Peripheral Equipment". 4 - 19...

  • Page 165: Comparison Of Parameters

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

  • Page 166: Setting Requisite Parameters Upon Replacement

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

  • Page 167: Parameter Comparison List

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7.2 Parameter comparison list POINT The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the parameter.
  • Page 168 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 169 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 170 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 171: Comparison Of Parameter Details

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 3.7.3 Comparison of parameter details POINT "x" in the "Setting digit" columns means which digit to set a value. MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PA01 Control mode 0000h PA01 Operation mode...
  • Page 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 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 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 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 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 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 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 Parameter writing inhibit PA19 Parameter write inhibit 000Bh PA19 00ABh Select a reference range and writing range of the Turn off the power and then on again, or reset the parameter.
  • Page 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 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 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 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 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 PB12 This parameter is not used. Do not change the value. PB12 Overshoot amount compensation Set a viscous friction torque or thrust to rated torque in percentage unit at servo motor rated speed.
  • 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 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 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 PB19 Vibration suppression control vibration frequency setting 100.0 PB19 Vibration suppression control 1 - Vibration frequency 100.0 This parameter cannot be used in the speed control Set the vibration frequency for vibration suppression mode.
  • Page 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 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 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 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 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 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 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 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 185 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC02 Electromagnetic brake sequence output PC02 Electromagnetic brake sequence output Used to set the delay time (Tb) between electronic brake Set a delay time between MBR (Electromagnetic brake interlock (MBR-A/MBR-B) and the base drive circuit is interlock) and the base drive circuit is shut-off.
  • Page 186 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value 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 187 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC09 Analog monitor 1 output 0000h PC09 Analog monitor 1 output Used to selection the signal provided to the analog Select a signal to output to MO1 (Analog monitor 1). monitor 1 (MO1) output.
  • Page 188 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC12 Analog monitor 2 offset PC12 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 Set the offset voltage of MO2 (Analog monitor 2).
  • Page 189 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC20 This parameter is not used. Do not change the value. 0000h PC20 Function selection C-7 Select the detection method of [AL. 10 Undervoltage]. _ _ _ x: For manufacturer setting _ _ x _ :...
  • Page 190 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value PC27 This parameter is not used. Do not change the value. 0000h PC27 Function selection C-9 This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
  • Page 191 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value 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 192 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value 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 193 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MR-J3W-_B MR-J4W2-_B Initial Initial Name and function Name and function value value 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 194: Application Of Functions

    Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 4. APPLICATION OF FUNCTIONS POINT Refer to "Part 6 Common Reference Material" for the application of functions. J3 compatibility mode MR-J4W2-_B servo amplifiers have two operation mode: "J4 mode" is for using all functions with full performance and "J3 compatibility mode" for using the conventional MR-J3-_B_ servo amplifiers.
  • Page 195 Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B MEMO 4 - 50...

  • Page 196: Part 5: Review On Replacement Of Mr-J3-Du_ With Mr-J4-Du_ 5- 1 To

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Part 5 Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5 - 1...

  • Page 197: Functions And Configuration

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 1. SUMMARY The following explains the changes when the large capacity of 200 V (30 kW to 37 kW)/400 V (30 kW to 55 kW) of MELSERVO-J3 is replaced with MR-J4-DU_.

  • Page 198: Combination Of Converter Unit, Drive Unit, And Servo Motor

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2.2 Combination of converter unit, drive unit, and servo motor POINT MR-J3-_A_/MR-J3-_B_ cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement withMR-J4-_A_/MR-J4- _B_ and an HG motor is necessary. When an "HA-LP motor "...
  • Page 199 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4 series (a) 200 V class Servo motor Converter unit Drive unit HG-JR_ 1000 r/min series 1500 r/min series MR-J4-DU30K_ 30K1 30K1M MR-CR55K MR-J4-DU37K_ 37K1 37K1M (b) 400 V class Servo motor Converter unit Drive unit...

  • Page 200: Configuration Including Peripheral Equipment

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2.3 Configuration including peripheral equipment (1) MR-J3-DU_ 3-phase AC power supply No-fuse Personal Setup software breaker (MCCB) computer (SETUP221E) ＋ Converter unit USB cable Magnetic contactor (MC) Drive unit (Note 3) Line noise filter (FR-BLF) (Note 1)
  • Page 201 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4-DU_ The diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The interface connection of MR-J4-DU_ is the same as that of MR-J4-_. Refer to each servo amplifier instruction manual. R S T (Note 2) Power supply Personal Molded-case...

  • Page 202: Installation

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3. INSTALLATION When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the converter unit and drive unit is not affected. Install the converter unit and drive unit on a perpendicular wall in the correct vertical direction.
  • Page 203 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4-DU_ (a) Installation POINT Make sure to connect a drive unit to the right side of a converter unit as shown in the diagram. 100 mm or more 80 mm converter unit Drive unit 30 mm...

  • Page 204: Magnetic Contactor Control Connector (Cnp1)

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3.2 Magnetic contactor control connector (CNP1) Always connect the magnetic contactor wiring connector to the converter unit. If CAUTION the connector is not connected, an electric shock may occur since CNP1-1 and L11 are always conducting.
  • Page 205 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ When the converter unit receives a start command from the drive unit, CNP1-2 and L21 are shorted, and the control circuit power is supplied to the magnetic contactor. When the control circuit power is supplied, the magnetic contactor is turned on, and the main circuit power is supplied to the converter unit.

  • Page 206: Signals And Wiring

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4. SIGNALS AND WIRING 4.1 Comparison of standard connection diagrams Insulate the connections of the power supply terminals. Otherwise, an electric WARNING shock may occur. Be sure to connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the power regeneration converter unit, in order to configure a circuit that shuts off the power supply by the magnetic contactor.
  • Page 207 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (1) 200 V class (a) MR-J3-DU_A/MR-J4-DU_A MR-J3-DU_A MR-J4-DU_A Converter unit Drive unit Optional Emergency stop Operation ready malfunction malfunction thermal Converter unit Drive unit (Note 6) switch OFF/ON External TE2-2 TE2-1 dynamic brake (Note 5) (Option)
  • Page 208 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B/MR-J4-DU_B MR-J3-DU_B MR-J4-DU_B Converter unit Drive unit Optional Emergency stop Operation ready malfunction malfunction thermal (Note 6) switch Converter unit Drive unit OFF/ON External TE2-2 TE2-1 dynamic brake (Note 5) (Option) MCCB Servo motor...
  • Page 209 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) 400 V class (a) MR-J3-DU_A4/MR-J4-DU_A4 MR-J3-DU_A4 MR-J4-DU_A4 (Note 5) Power Drive unit Converter unit Optional Emergency stop supply Operation ready malfunction thermal malfunction Converter unit Drive unit switch OFF/ON TE2-2 TE2-1 (Note 7) External...
  • Page 210 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B4/MR-J4-DU_B4 MR-J3-DU_B4 MR-J4-DU_B4 MCCB (Note 5) Power Converter unit Drive unit Optional Emergency stop supply Operation ready malfunction malfunction thermal switch OFF/ON (Note 7) Converter unit Drive unit External TE2-2 TE2-1 Resistance regeneration dynamic brake...

  • Page 211: When Magnetic Contactor Control Connector (Cnp1) Is Made Invalid

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4.1.2 When magnetic contactor control connector (CNP1) is made invalid POINT ●When making CNP1 invalid, set "0000" in [Pr. PA02]. (Refer to Part: 5). ●Always connect a protection coordination cable (MR-J3CDL05M). (For MR-J3- DU_, always connect a terminal connector (MR-J3-TM) as well.) When they are not connected properly, the servo-on may not be turned on.
  • Page 212 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (1) 200 V class (a) MR-J3-DU_A/MR-J4-DU_A MR-J3-DU_A MR-J4-DU_A Converter unit Drive unit Optional Operation ready Emergency stop malfunction malfunction thermal switch Converter unit Drive unit (Note 7) External TE2-2 TE2-1 dynamic brake (Note 6) (Option) MCCB...
  • Page 213 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B/MR-J4-DU_B MR-J3-DU_B MR-J4-DU_B (Note 7) Converter unit Converter unit Drive unit Drive unit Optional Operation ready Emergency stop malfunction malfunction thermal External TE2-1 TE2-2 switch dynamic brake (Note 6) (optional) MCCB Servo motor 3-phase...
  • Page 214 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) 400 V class (a) MR-J3-DU_A4/MR-J4-DU_A4 MR-J3-DU_A4 MR-J4-DU_A4 MCCB Converter unit Operation ready Drive unit Optional Emergency stop (Note 6) malfunction malfunction thermal switch Power supply Converter unit Drive unit TE2-2 TE2-1 (Note 8) (Note 3)
  • Page 215 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J3-DU_B4/MR-J4-DU_B4 MR-J3-DU_B4 MR-J4-DU_B4 MCCB (Note 6) Power Converter unit Drive unit Optional Operation ready Emergency stop supply malfunction malfunction thermal switch Converter unit Drive unit (Note 8) External TE2-2 TE2-1 dynamic brake (Note 3) (Note 7)

  • Page 216: Power-On Sequence

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4.2 Power-on sequence (1) MR-J3-DU_ A (a) Power-on procedure 1) Make sure to wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 217 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J4-DU_A_ (a) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in above section 4.1. Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 218 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) MR-J3-DU_B (a) Power-on procedure 1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 219 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ b) When control function of magnetic contactor is enabled and the status returns to ready-off The magnetic contactor of the converter unit turns off with servo-off, and the main circuit power supply shuts off. Servo motor 0 r/min speed...
  • Page 220 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ c) When using an external sequence to control the magnetic contactor When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut off the main circuit power supply. Servo motor 0 r/min speed...
  • Page 221 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (4) MR-J4-DU_B_ (a) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shownin above section 4.1. Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 222 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) When magnetic contactor drive output is enabled and the status returns to ready-off The magnetic contactor of the resistance regeneration converter unit is turned off with ready-off, and the main circuit power supply is shut off. Servo motor 0 r/min speed...
  • Page 223 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3) When magnetic contactor drive output is disabled When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut off the main circuit power supply. Servo motor 0 r/min speed Drive unit...

  • Page 224: List Of Corresponding Connectors And Terminal Blocks

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 4.3 List of corresponding connectors and terminal blocks (1) Converter unit (a) Connector comparison table For details on signals, refer to each servo amplifier instruction manual. MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 CN6 Do not connect anything CN6 Do not connect anything including.
  • Page 225 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) Drive unit (General-Purpose interface) (a) Connector comparison table For details on signals, refer to each servo amplifier instruction manual. MR-J3-DU_A_ MR-J4-DU_A_ (b) List of corresponding connectors and terminal blocks MR-J3-DU_A_ MR-J4-DU_A_ Precautions Connector...
  • Page 226 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (c) Comparison of signals Signal abbreviations in parentheses are for MR-J4-DU_A_. 1) CN1 This is the signal symbol in the positioning mode. For other signal names, refer to the instruction manual. MR-J3-_A_ MR-J4-_A_ Signal...
  • Page 227 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) CN2 MR-J3-DU_A_ MR-J4-DU_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN2-1 CN2-1 CN2-2 CN2-2 CN2-3 CN2-3 CN2-4 CN2-4 CN2-5 (THM1) CN2-5 THM2 CN2-6 (THM2) CN2-6 CN2-7...
  • Page 228 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5) CN8 When not using the STO function, attach the short-circuit connector supplied with the drive unit to CN8 (STO I/O signal connector). MR-J3-DU_A_ MR-J4-DU_A_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No.
  • Page 229 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) Drive unit (SSCNET interface) (a) Connector comparison table For details on signals, refer to each servo amplifier instruction manual. MR-J3-DU_B_ MR-J4-DU_B_ (b) List of connector and terminal block correspondence MR-J3-DU_B_ MR-J4-DU_B_ Precautions Connector...
  • Page 230 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (c) Comparison of signals Signal abbreviations in parentheses are for MR-J4-DU_B_. 1) CN2 MR-J3-DU_B_ MR-J4-DU_B_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN2-1 CN2-1 CN2-2 CN2-2 CN2-3...
  • Page 231 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 3) CN8 When not using the STO function, attach the short-circuit connector supplied with the drive unit to CN8 (STO I/O signal connector). MR-J3-DU_B_ MR-J4-DU_B_ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No.

  • Page 232: Converter Unit Parameter Comparison List

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

  • Page 233: Converter Unit Comparison Of Parameter Details

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5.1.2 Converter unit comparison of parameter details POINT Set a value to each "x" in the "Setting digit" columns. MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 Initial Initial Name and function Name and function value value PA01 Regenerative option 0000h...
  • Page 234 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 Initial Initial Name and function Name and function value value PA09 Alarm history clear 0000h PA09 Alarm history clear Used to clear the alarm history. Used to clear the alarm history. 0 0 0 x: _ _ _ x: Alarm history clear...
  • Page 235 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4 Initial Initial Name and function Name and function value value PA17 For manufacturer setting 0000h PA17 Function selection A-5 Do not change this value by any means. The [Pr. PA17 SEMI-F47 function selection] and [Pr. PA18 SEMI-F47 function - Instantaneous power failure detection time] settings of the converter unit must be the same as [Pr.

  • Page 236: Drive Unit

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5.2 Drive unit POINT Manufacturer setting parameters are not described here. Set a value to each "x" in the "Setting digit" columns. An incorrect setting may cause the regenerative option to burn out. When a regenerative option that is not available to use on a servo amplifier is selected, a [AL.37 parameter error] occurs.
  • Page 237 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) SSCNET interface 200 V/400 V class POINT When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter. Setting may not be made to some parameters and their ranges depending on the servo system controller model, drive unit software version, and MR Configurator2 software version.

  • Page 238: Characteristics

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 6. CHARACTERISTICS 6.1 Overload protection characteristics An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter unit and drive unit from overloads. [AL.
  • Page 239 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) For the MR-J4-DU_ The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph HG-SR HG-JR Characteristics A 7024 701M 5034 7034 11K1M Characteristics B 9034...
  • Page 240 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ The following graphs show overload protection characteristics. 10000 1000 1000 Operating Servo-lock Operating Servo-lock (Note 2) (Note 2) Load ratio [%] (Note 1, 3) Load ratio [%] (Note 1) Characteristics A Characteristics B Note 1.

  • Page 241: Power Supply Capacity And Generated Loss

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 6.2 Power supply capacity and generated loss (1) Generated heat of the converter unit/drive unit Table 5.1 and 5.2 indicates the generated loss and power supply capacity under rated load per combination of the resistance regeneration converter unit and drive unit.
  • Page 242 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) MR-J4-DU_ Table 5.2 Power supply capacity and generated heat per servo motor at rated output Power supply capacity Drive unit-generated heat [W] (Note) [kVA] Area At rated output required Power factor Power factor [Generated heat Converter unit...

  • Page 243: Inrush Currents At Power-On Of Main Circuit/Control Circuit

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 6.3 Inrush currents at power-on of main circuit/control circuit POINT The inrush current values can change depending on frequency of turning on/off the power and ambient temperature. Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors.

  • Page 244: Options And Peripheral Equipment

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7. OPTIONS AND PERIPHERAL EQUIPMENT 7.1 Comparison table of cable option combinations Cable option combinations Application MR-J3-DU_ MR-J4-DU_ Note Protection coordination Compatible MR-J3CDL05M cable Connector sets MR-J2CN1-A Compatible Terminal connector MR-J3-TM Not required Socket: GFKC 2.5/2-STF-7.62 Magnetic contactor wiring...

  • Page 245: Mr-J3Cdl05M (0.5 M) Protection Coordination Cable

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

  • Page 246: Selection Example Of Wires

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) When fabricating a cable Prepare MR-J2CN1-A connector set, the recommended wires, and fabricate the cable according to the wiring diagram in (2) in this section. Characteristics of one core Cable Core Length Number...
  • Page 247 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (1) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. Wire size selection example 2 (HIV wire) Wires [mm ] (Note 1, 3) Drive unit...

  • Page 248: Mr-J4 Series, Power Supply Wire Size

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.2.2 MR-J4 series, power supply wire size The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. Converter unit Drive unit Servo motor 4) Motor power supply lead Power factor improving...
  • Page 249 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) Selection example of crimp terminals The following shows the selection example of crimp terminals for terminal blocks of the drive unit and converter unit when you use wires mentioned in (1) in this section. Drive unit/converter unit-side crimp terminal Symbol Crimp terminal...

  • Page 250: Selection Of Molded-Case Circuit Breakers, Fuses, Magnetic Contactors (Example)

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.3 Selection of Molded-case circuit breakers, fuses, magnetic contactors (example) To prevent the converter unit and the drive unit from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. Always use one molded-case circuit breaker and one magnetic contactor with one CAUTION converter unit.
  • Page 251 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.

  • Page 252: Bu2-(H) Brake Unit

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

  • Page 253: Brake Unit Parameter Setting

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.4.2 Brake unit parameter setting Normally, changing the FR-BU2-(H) parameter is not required. Whether a parameter can be changed or not is listed below. Parameter Change possible/ Remark Name impossible Brake mode switchover Impossible Do not change the parameter.
  • Page 254 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (a) When magnetic contactor drive output is enabled Converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit TE2-2 (Note 5) CNP1 (Note 3) (Note 2) MCCB (Note 1) DICOM...
  • Page 255 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 6: Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 256 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) When magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Drive unit Converter unit TE2-2 (Note 5) (Note 2) MCCB (Note 1) (Note 3) Power supply...
  • Page 257 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 6: Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 258 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) Combination with MT-BR5-(H) resistor unit (a) When connecting a brake unit to a converter unit 1) When magnetic contactor drive output is enabled converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch...
  • Page 259 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 6: Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 260 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) When magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Converter unit Drive unit TE2-2 (Note 5) (Note 2) MCCB (Note 1) (Note 3) Power supply...
  • Page 261 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 6: Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 262 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) When connecting two brake units to a resistance regeneration converter unit POINT To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
  • Page 263 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 1) When magnetic contactor drive output is enabled Drive unit Converter unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit (Note 5) CNP1 TE2-2 (Note 2) MCCB (Note 3) (Note 1) Power...
  • Page 264 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 6: Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 265 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 2) When magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Converter unit Drive unit TE2-2 (Note 5) (Note 2) MCCB (Note 1) (Note 3) Power supply...
  • Page 266 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ Note 1. For the power supply specifications, refer to "Part 6: Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 267 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) Connection instructions Keep the wires between the converter unit and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter. The wires should not exceed 10 m even when the wires are twisted.
  • Page 268 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (b) Cables for connecting the converter unit and a distribution terminal block when connecting two sets of the brake unit Wire size Brake unit HIV wire [mm 200 V class FR-BU2-55K FR-BU2-H55K 400 V class FR-BU2-H75K...

  • Page 269: Dimensions

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.4.4 Dimensions (1) FR-BU2-(H) brake unit FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 (2) FR-BR-(H) resistor unit [Unit: mm] 2-φC (Note) (Note) Control circuit terminal Main circuit terminal Approx.
  • Page 270 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) MT-BR5-(H) resistor unit [Unit: mm] Approximate Resistor unit Resistance mass [kg] 200 V MT-BR5-55K 2.0 Ω class 400 V MT-BR5-H75K 6.5 Ω class 4φ15 mounting hole 5 - 75...

  • Page 271: Regenerative Option

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

  • Page 272: External Dynamic Brake

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.6 External dynamic brake Use an external dynamic brake for this drive unit. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.

  • Page 273: Mr-J4 Series

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.6.2 MR-J4 series The external dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated. For MR-J4-DU_A_ drive unit, assign DB to any of CN1-22 to CN1-25, CN1-49, CN1-13 and CN1-14 pins in [Pr.
  • Page 274 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (2) MR-J3-DU30K_/MR-J3-DU37K_/MR-J3-DU45K_4/MR-J3-DU55K_4 [Unit: mm] 2- 7 Installation hole Approx. 20 Approx. 200 Cooling fan Approx. 80 wind direction For mounting TE2-1 MR-J3BAT Approx. 200 (3) MR-J3-DU30K_4/MR-J3-DU37K_4 [Unit: mm] 2- 6 Installation hole Approx.

  • Page 275: Mr-J4 Series

    Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 7.7.2 MR-J4 series (1) MR-CR-55K_ [Unit: mm] Cooling 2-φ7 mounting hole exhaust Intake 175.5 178.5 (2) MR-J4-DU30K_/MR-J4-DU37K_/MR-J4-DU45K_4/MR-J4-DU55K_4 [Unit: mm] Approx. Cooling 2-φ7 mounting hole exhaust Intake With MR-BAT6V1SET 175.5 178.5 5 - 80...
  • Page 276 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ (3) MR-J4-DU30K_4/MR-J4-DU37K_4 [Unit: mm] Approx. Cooling 2-φ6 mounting hole exhaust Intake With MR-BAT6V1SET 175.5 178.5 5 - 81...
  • Page 277 Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ MEMO 5 - 82...

  • Page 278: Part 6: Common Reference Material 6- 1 To

    Part 6: Common Reference Material Part 6 Common Reference Material 6 - 1...

  • Page 279: Specification Differences

    Part 6: Common Reference Material Part 6: Common Reference Material 1. SPECIFICATION DIFFERENCES 1.1 Detailed Specification/Function Differences POINT Functions with difference are shown witph shading. (1) Comparison of MR-J3 series and MR-J4 series (General-purpose interface/SSCNET interface) 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 Capacity range...
  • Page 280 Part 6: 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 281: Servo Amplifier

    Part 6: 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_ CNP2 MR-J3-60_ MR-J4-60_ CNP2 CNP2 PE terminal CNP3 Screw size: M4 CNP3 CNP3 Screw size: M4 Tightening torque: 1.2 [N•m]...
  • Page 282 Part 6: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block Screw size: M3.5 Tightening torque: 0.8 [N•m] Screw size: M4 Screw size : M4 Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [ • (10.6 [lb•in]) Screw size : M3.5 (Note) Tightening torque: 0.8 [ •...
  • Page 283 Part 6: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block TE2-1 TE2-1 Screw size: M6 Tightening torque: 3.0 [N•m] TE2-1 TE2-2 Screw size: M10 (26.6 [lb•in]) Tightening torque: 12.0 [N•m] TE2-1 Screw size: M6 MR-J3-DU30K_ MR-J4-DU30K_ Screw size: M4 Tightening torque: 3.0 [N•m]...
  • Page 284 Part 6: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block N- P3 P4 L2 L3 L11 L21 Screw size: M4 Tightening torque: 1.2 [N•m] (10.6 [lb•in]) Screw size: M4 Tightening torque: 1.2 [N•m] Screw size: M3.5 (Note) Tightening torque: 0.8 [N•m] (7.08 [lb•in]) MR-J3-700_4 MR-J4-700_4...
  • Page 285 Part 6: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block CNP1 CNP 1 CNP1 MR-J3-10_1 MR-J4-10_1 CNP2 MR-J3-40_1 MR-J4-40_1 CNP 2 CNP2 PE terminal CNP3 CNP 3 CNP3 Screw size: M4 Screw size: M4 Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m] Note Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later.

  • Page 286: Comparison Of Encoder Signals (Cn2)

    Part 6: 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 287: Dynamic Brake: Coasting Distance

    Part 6: 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 288 Part 6: Common Reference Material Series MR-J3 Series Series MR-J4 Series HC-RP HG-RR 500 1000 1500 2000 2500 3000 1000 1500 2000 2500 3000 Servo motor speed [r/min] Speed [r/min] 時 定 数 τ HF-JP HG-JR [ms] 200 V 200 V 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 289 Part 6: Common Reference Material Series MR-J3 Series Series MR-J4 Series HG-SR 200 V 152 502 15K2 11K2 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] HA-LP 22K2 200 V 15K1M 22K1M 1000 1500 2000 HG-JR Speed[r/min] 200 V 701M 11K1M 1500 r/min...
  • Page 290 Part 6: Common Reference Material Series MR-J3 Series Series MR-J4 Series 15K1M 22K1M 15K1M HF-JP HG-JR 701M 11K1M 11K1M 200 V 200 V 500 1000 1500 2000 2500 3000 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] 11K1M4 11K1M4 15K1M4 HF-JP...
  • Page 291 Part 6: Common Reference Material Series MR-J3 Series Series MR-J4 Series HA-LP37K1M HA-LP30K1M HA-LP 200 V HG-JR30K1M 1500 r/min HG-JR37K1M 1000 1500 2000 HG-JR Speed [r/min] 200 V 1500 r/min HA-LP30K2 HA-LP37K2 HA-LP 1000 1500 2000 2500 200 V Speed [r/min] 2000 r/min 1000 1500...
  • Page 292 Part 6: Common Reference Material Series MR-J3 Series Series MR-J4 Series HA-LP37K1M4 HA-LP45K1M4 HA-LP50K1M4 HA-LP30K1M4 HA-LP 400 V 1500 r/min HG-JR45K1M4 HG-JR55K1M4 1000 1500 2000 Speed [r/min] HG-JR HG-JR30K1M4 400 V HA-LP45K24 1500 r/min HG-JR37K1M4 HA-LP55K24 HA-LP37K24 HA-LP30K24 HA-LP 1000 1500 2000 2500 400 V Speed [r/min] 2000 r/min...
  • Page 293 Part 6: 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 294 Part 6: Common Reference Material Series MR-J3W Series Series MR-J4W2-_B HF-JP 3000 r/min 1000 2000 3000 4000 5000 6000 HG-JR Speed [r/min] 3000 r/min 1000 2000 3000 4000 5000 6000 Speed [r/min] HC-LP series 1000 1500 2000 Speed [r/min] 0.0025 0.0025 0136 0136...
  • Page 295 Part 6: 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 296 Part 6: Common Reference Material (3) Electronic dynamic brake The electronic dynamic brake operates in the initial state for HG series servo motors with a 600 W or smaller capacity. The time constant " " for the electronic dynamic brake will be shorter than that for normal dynamic brake. Therefore, coasting distance will be shorter than in normal dynamic brake.

  • Page 297: Forced Stop Deceleration Function Selection

    Part 6: 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 298 Part 6: 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 299: Servo Setup Software: Setup Software (Setup221E) => Mr Configurator2

    Part 6: 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 300: Servo Amplifier Initializing Time

    Part 6: 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 301 Part 6: 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) (4) MR-J4W2-0303B6 servo amplifier Servo-on command accepted (4 s) Main circuit power supply...

  • Page 302: The Pulse Width Of The Encoder Z-Phase Pulse

    Part 6: 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 303: Overload Protection Characteristics

    Part 6: Common Reference Material 1.3 Overload protection characteristics POINT "Overload protection characteristics" may be different due to the replacement of the servo amplifier and the servo motor. Check "overload protection characteristics" of each model before considering replacement. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50 r/min or less (the other motors: 30 r/min or less) low-speed operation status, the servo amplifier may malfunction regardless of the...
  • Page 304 Part 6: Common Reference Material (1) MR-J4 servo amplifier/MR-J3 servo amplifier MR-J4 servo amplifier Rotary servo motor Graph of overload protection characteristics HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR Characteristics a 53 (Note) Characteristics b 73 (Note) Characteristics c 103 (Note) 153 (Note) 203 (Note) 353 (Note)
  • Page 305 Part 6: Common Reference Material MR-J3 servo amplifier Rotary servo motor Graph of overload protection characteristics HF-KP HF-MP HF-SP HC-UP HF-RP HC-LP HA-LP HF-JP Characteristics a Characteristics b Characteristics c Characteristics d 701M Characteristics e 11K1M 11K1M (Note) 11K2 15K1M (Note) 15K1 15K1M 15K2...
  • Page 306 Part 6: Common Reference Material The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock Load ratio [%] (Note 1) Load ratio [%] (Note 1, 2) Characteristics a Characteristics b 1000 1000 Operating Operating Servo-lock Servo-lock Load ratio [%] (Note 2) Load ratio [%] (Note 2) Characteristics c Characteristics d...
  • Page 307 Part 6: Common Reference Material 10000 1000 Operating Servo-lock Load ratio [%] Characteristics e Note 1. The operation time at the load ratio of 300% to 350% applies when the maximum torque of HG-KR servo motor and HF-KP servo motor is increased to 350% of rated torque. 2.
  • Page 308 Part 6: Common Reference Material (2) MR-J4W2-_B servo amplifier/MR-J3W series The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock Load ratio [%] (Note 1) Load ratio [%] (Note 1, 2) HG-KR053/HG-KR13 HG-KR23/HG-KR43/HG-KR73 HG-MR053/HG-MR13 HG-MR23/HG-MR43/HG-MR73 HG-SR51/HG-SR81/HG-SR52/HG-SR102 HG-UR72 HG-JR53/HG-JR73/HG-JR103 HF-KP053/HF-KP13 HF-KP23/HF-KP43/HF-KP73...
  • Page 309 Part 6: Common Reference Material (3) MR-J4W2-0303B6/MR-J3W-0303BN6 servo amplifier The following graphs show overload protection characteristics. 1000 Operation Servo-lock Load ratio [%] HG-AK0136/HG-AK0236/HG-AK0336 (4) MR-J4-DU_(-RJ)/MR-J3- DU_ drive unit The following graphs show overload protection characteristics. 10000 1000 Operating Servo-lock (Note) Load ratio [%] Note Load ratio 100% indicates the rated output of the drive unit.

  • Page 310: 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. 6 - 33...
  • Page 311 Part 6: 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 312: Servo Amplifier Dimensions/Attachment Differences

    Part 6: Common Reference Material 2. SERVO AMPLIFIER DIMENSIONS/ATTACHMENT DIFFERENCES 2.1 MR-J3 series => MR-J4 series Comparison Table of Servo Amplifier Dimensions/Installation Differences POINT Dimensions with differences are shown with shading. 2.1.1 General-Purpose Interface/SSCNET 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 313 Part 6: Common Reference Material (2) Comparison of dimensions MR-J3-10_/MR-J3-20_ MR-J4-10_/MR-J4-20_ φ6 mounting hole Approx.80 φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 CHARGE Approx. Approx.68 25.5 With Approx. 69.3 With MR-J3BAT MR-BAT6V1SET Approx. 38.5 MR-J3-40_/MR-J3-60_ MR-J4-40_/MR-J4-60_ mounting hole φ6 mounting hole Approx.
  • Page 314 Part 6: 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 MR-J3BAT Cooling fan Approx. air intake 69.3 Approx.
  • Page 315 Part 6: Common Reference Material MR-J3-500_ MR-J4-500_ 2- 6 Approx.80 mounting hole 131.5 68.5 Cooling fan Terminal layout exhaust Cooling fan (Terminal cover open) Approx. 25 Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust CAUTION CAUTION WARNING WARNING With MR-J3BAT CHARGE 20.5...
  • Page 316 Part 6: 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 317: General-Purpose Interface/Sscnet Interface 400 V Class (22 Kw Or Less)

    Part 6: Common Reference Material 2.1.2 General-Purpose Interface/SSCNET 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.
  • Page 318 Part 6: 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 319 Part 6: 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 320 Part 6: 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 321: General Purpose Interface/Sscnet Interface 200 V Class (30 Kw Or More)

    Part 6: Common Reference Material 2.1.3 General purpose interface/SSCNET interface 200 V class (30 kW or more) (1) Comparison of Dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions. The two are the same in height, width, mounting screw pitch, and screw size, and therefore compatible in mounting.
  • Page 322 Part 6: Common Reference Material MR-J3-CR55K MR-CR55K Cooling fan wind direction 2- 7 Installation hole Cooling 2-φ7 mounting hole Approx. 20 Approx. 200 exhaust Terminal block layout Approx. 80 (Terminal cover removed) 22.5 22.5 CHARGE TE2-1 TE2-2 TE2-2 TE2-2 TE1-1 TE1-2 Intake TE1-1...

  • Page 323: General Purpose Interface/Sscnet Interface 400 V Class (30 Kw Or More)

    Part 6: Common Reference Material 2.1.4 General purpose interface/SSCNET interface 400 V class (30 kW or more) (1) Comparison of Dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.The two are the same in height, width, mounting screw pitch, and screw size, and therefore compatible in mounting. When the servo amplifier is mounted so that the heat sink is inside the cabinet, the depth vary.
  • Page 324 Part 6: Common Reference Material MR-J3-DU45K_4 MR-J4-DU45K_4 Approx. 2- 7 Installation hole Approx. 20 Cooling 2-φ7 mounting hole Approx. 200 Cooling fan Approx. 80 exhaust Terminal block layout wind direction (Terminal cover removed) TE2-2 TE2-1 For mounting TE2-1 MR-J3BAT TE2-1 Intake With MR-BAT6V1SET 15.5...

  • Page 325: Sscnet Interface (Mr-J3W Series)

    Part 6: Common Reference Material 2.1.5 SSCNET interface (MR-J3W series) (1) Comparison of Dimensions The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.Note that the number of the mounting screws for 200W/400W has been changed. The width, the mounting screw pitch in vertical directions, and the number of the mounting screws for 750 W/1 kW have also been changed.

  • Page 326: Parameter Conversion

    Part 6: 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 327: Mr-J3-_A_ Parameter Diversion Procedure

    Part 6: 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 328 Part 6: 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 329 Part 6: 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. 6 - 52...
  • Page 330 Part 6: 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 331 Part 6: 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 332 Part 6: 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 333: Conversion Rules (Mr-J3-_A_ => Mr-J4-_A_)

    Part 6: 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 334 Part 6: 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 335 Part 6: 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 336 Part 6: 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 337: Parameters That Need To Be Checked After Parameter Conversion

    Part 6: 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 338: Mr-J3-_B_ And Mr-J3W-_B Parameter Diversion Procedure

    Part 6: 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 339: Changing Qd75Mh To Qd77Ms/Ld77Ms

    Part 6: 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 340 Part 6: 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 341: Changing Q17Nhcpu/Q17Ndcpu/Q170Mcpu To Q17Ndscpu/Q170Mscpu(-S1)

    Part 6: 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 342 Part 6: 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 343: Conversion Rules (Mr-J3-_B_ And Mr-J3W-_B => Mr-J4-_B_ And Mr-J4W2-_B)

    Part 6: 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 344 Part 6: 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 345 Part 6: 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 346: Parameters That Need To Be Checked After Parameter Conversion

    Part 6: 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 347 Part 6: 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 348: Common Points To Note

    Part 6: 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 349: Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

    Part 6: 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 350: Structure

    Part 6: 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 351 Part 6: 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 352: Precautions For Using Rs-422/Rs-232C/Usb Communication Function

    Part 6: 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 353: Communication Specifications

    Part 6: 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 354: Protocol

    Part 6: 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 355: Character Codes

    Part 6: 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 356: Error Codes

    Part 6: 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 357: Retry Processing

    Part 6: 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 358: Communication Procedure Example

    Part 6: 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 359: Command And Data No. List

    Part 6: 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 360 Part 6: 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 361 Part 6: 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 362 Part 6: 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 363 Part 6: 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 364 Part 6: 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 365: Writing Commands

    Part 6: 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 366 Part 6: 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 367: Detailed Explanations Of Commands

    Part 6: 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 368 Part 6: 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 369: Status Display Mode

    Part 6: 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 370: Parameter

    Part 6: 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 371 Part 6: 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 372 Part 6: 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 373 Part 6: 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 374: External I/O Signal Status (Dio Diagnosis)

    Part 6: 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 375 Part 6: 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 376 Part 6: 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 377: Input Device On/Off

    Part 6: 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 378: Disabling/Enabling I/O Devices (Dio)

    Part 6: 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 379: Input Devices On/Off (Test Operation)

    Part 6: 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 380: Test Operation Mode

    Part 6: 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 381 Part 6: 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 382 Part 6: 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 383 Part 6: 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 384: Output Signal Pin On/Off (Output Signal (Do) Forced Output)

    Part 6: 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 385: Alarm History

    Part 6: 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 386: Current Alarm

    Part 6: 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 387: Other Commands

    Part 6: 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 388 Part 6: 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 389: Hf-_P/Ha-_P/Hc-_P Motor Drive

    Part 6: 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". When you use a servo motor which is not supported, please contact your local sales office.
  • Page 390 Part 6: Common Reference Material Servo amplifier software version Servo motor model Servo amplifier model Servo motor series (Including servo motors J3 compatibility (Note) J4 mode with gear reducers/brakes) mode MR-J4-60A(-RJ) HF-SP51 MR-J4-60B(-RJ) A8 or later MR-J4-100A(-RJ) HF-SP81 MR-J4-100B(-RJ) A8 or later MR-J4-200A(-RJ) HF-SP121 HF-SP...
  • Page 391 Part 6: Common Reference Material Servo amplifier software version Servo motor model Servo amplifier model Servo motor series (Including servo motors J3 compatibility (Note) J4 mode with gear reducers/brakes) 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-LP11K2...
  • Page 392 Part 6: Common Reference Material (2) 400 Vclass The list for the servo motor/servo amplifier combination Servo amplifier software version Servo motor series Servo motor model Servo amplifier model J3 compatibility J4 mode mode MR-J4-11KA4(-RJ) HF-JP11K1M4 MR-J4-11KB4(-RJ) Unsupported HF-JP 1500 r/min series MR-J4-15KA4(-RJ) HF-JP15K1M4 MR-J4-15KB4(-RJ)
  • Page 393 Part 6: Common Reference Material Servo amplifier software version Servo motor series Servo motor model Servo amplifier model J3 compatibility J4 mode mode MR-J4-700A4(-RJ) HA-LP6014 MR-J4-700B4(-RJ) Unsupported MR-J4-11KA4(-RJ) HA-LP8014 Unsupported MR-J4-11KB4(-RJ) MR-J4-11KA4(-RJ) HA-LP12K14 Unsupported MR-J4-11KB4(-RJ) MR-J4-15KA4(-RJ) HA-LP15K14 HA-LP Unsupported MR-J4-15KB4(-RJ) Unsupported MR-J4-22KA4(-RJ) 1000 r/min series...

  • Page 394: Mr-J3 Series Motors Which Are Available With Mr-J4W2-_B

    Part 6: Common Reference Material 5.2 MR-J3 series motors which are available with MR-J4W2-_B POINT For the software version of the servo amplifier, refer to "3.1 Method for checking the software version". When you use a servo motor which is not supported, please contact your local sales office.

  • Page 395: Application Of Functions

    Part 6: 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 396: J3 Compatibility Mode Supported Function List

    Part 6: 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 397 Part 6: 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 398: Distinguishing J3 Compatibility Mode

    Part 6: Common Reference Material 6.1.4 Distinguishing J3 compatibility mode Following shows the status display of the servo amplifier axis of MR-J4-_B_ and MR-J4W2-_B. In the states of "Waiting for servo system controller power to switch on (SSCNET III/H communication)" and "Servo system controller power off", the decimal point on the first digit LED turns off in J4 mode, and blinks in J3 compatibility mode.

  • Page 399: How To Switch J4 Mode/J3 Compatibility Mode

    Part 6: Common Reference Material 6.1.5 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4-_B_(-RJ) servo amplifier and MR-J4W2-_B servo amplifier. (1) Mode selection by the automatic identification of the servo amplifier J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.

  • Page 400: How To Use The J3 Compatibility Mode

    Part 6: Common Reference Material 6.1.6 How to use the J3 compatibility mode (1) Setting of the controller To use in the J3 compatibility mode, select MR-J3 series in the system setting window. Operation mode in J3 compatibility mode System setting MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

  • Page 401: Cautions For Switching J4 Mode/J3 Compatibility Mode

    Part 6: Common Reference Material 6.1.7 Cautions for switching J4 mode/J3 compatibility mode The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a connected encoder. If a proper encoder is not connected at the first connection, the system will not start normally due to a mismatch with a set mode with the controller.

  • Page 402: Change Of Specifications Of "J3 Compatibility Mode" Switching Process

    Part 6: Common Reference Material 6.1.9 Change of specifications of "J3 compatibility mode" switching process (1) Detailed explanation of "J3 compatibility mode" switching (a) Operation when using a servo amplifier before change of specifications For the controllers in which "Not required" is described to controller reset in table 5.1, the mode will be switched to "J3 compatibility mode"...
  • Page 403 Part 6: 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 404 Part 6: 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 405: J3 Extension Function

    Part 6: Common Reference Material 6.1.10 J3 extension function POINT The J3 extension function is used with servo amplifiers with software version B0 or later. To enable the J3 extension function, MR Configurator2 with software version 1.25B or later is necessary. The J3 extension function of the amplifier differs from MR-J3-B in motion.
  • Page 406 Part 6: Common Reference Material The following shows functions used with the J3 extension function. Function Description Gain switching function You can switch gains during rotation/stop, and can use input devices to switch gains during operation. (Vibration suppression control 2 and model loop gain) Advanced vibration This function suppresses vibration at the arm end or residual vibration.

  • Page 407: Master-Slave Operation Function

    Part 6: 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 408 Part 6: 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 409 Part 6: 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 410 Part 6: 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 411: Scale Measurement Function

    Part 6: 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 412 Part 6: 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 413: Scale Measurement Encoder

    Part 6: 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 414 Part 6: 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 415 Part 6: 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 416: How To Use Scale Measurement Function

    Part 6: 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 417 Part 6: 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 418: Part 7: Review On Replacement Of Motor 7- 1 To

    Part 7: Review on Replacement of Motor Part 7 Review on Replacement of Motor 7 - 1...

  • Page 419: Servo Motor Replacement

    Part 7: Review on Replacement of Motor Part 7: Review on Replacement of Motor 1. SERVO MOTOR REPLACEMENT 1.1 Servo Motor Substitute Model and Compatibility POINT For details about the compatibility of servo motor dimensions, reducer specifications, moment of inertia, connector specifications, and torque characteristics, refer to "Chapter 2 COMPARISON OF SERVO MOTOR SPECIFICATIONS".
  • Page 420 Part 7: Review on Replacement of Motor (1) HF-KP motor series (With gears for general industrial machines with a reducer) Example of Compatibility Series Model Note replacement model (: Compatible) HF-KP053(B) HG-KR053(B) Small capacity, low HF-KP13(B) HG-KR13(B) inertia HF-KP23(B) HG-KR23(B) ...
  • Page 421 Part 7: Review on Replacement of Motor (2) HF-KP series (With reduction gear for precision application compliant) Compatibility Example of Series Model Note replacement model (: Compatible) HF-KP053(B)G5 1/5 HG-KR053(B)G5 1/5 HF-KP053(B)G5 1/11 HG-KR053(B)G5 1/11 HF-KP053(B)G5 1/21 HG-KR053(B)G5 1/21 HF-KP053(B)G5 1/33 HG-KR053(B)G5 1/33 HF-KP053(B)G5 1/45 HG-KR053(B)G5 1/45...
  • Page 422 Part 7: Review on Replacement of Motor (3) HF-MP series (With gears for general industrial machines) Compatibility Example of Series Model Note replacement model (: Compatible) HF-MP053(B) HG-MR053(B) Small capacity, HF-MP13(B) HG-MR13(B) ultralow inertia HF- HF-MP23(B) HG-MR23(B)  MP series HF-MP43(B) HG-MR43(B) Standard/With brake...
  • Page 423 Part 7: Review on Replacement of Motor (4) HF-MP series (With reduction gear for precision application compliant) Compatibility Example of Series Model Note replacement model (: Compatible) HF-MP053(B)G5 1/5 HG-KR053(B)G5 1/5 HF-MP053(B)G5 1/11 HG-KR053(B)G5 1/11 HF-MP053(B)G5 1/21 HG-KR053(B)G5 1/21 HF-MP053(B)G5 1/33 HG-KR053(B)G5 1/33 HF-MP053(B)G5 1/45 HG-KR053(B)G5 1/45...
  • Page 424 Part 7: Review on Replacement of Motor (5) HF-SP series (With gears for general industrial machines) Compatibility Example of Series Model Note replacement model (: Compatible) HF-SP51(B) HG-SR51(B) HF-SP81(B) HG-SR81(B) HF-SP121(B) HG-SR121(B) HF-SP201(B) HG-SR201(B) HF-SP301(B) HG-SR301(B) Medium capacity, HF-SP421(B) HG-SR421(B) medium inertia HF- HF-SP52(4)(B) HG-SR52(4)(B)
  • Page 425 Part 7: Review on Replacement of Motor (6) HF-SP series (With gears for general industrial machines/With flange-output type gear reducer for high precision applications, flange mounting) Compatibility Example of Series Model Note replacement model (: Compatible) HF-SP502(4)(B)G1(H) 1/6 HG-SR502(4)(B)G1(H) 1/6 HF-SP502(4)(B)G1(H) 1/11 HG-SR502(4)(B)G1(H) 1/11 HF-SP502(4)(B)G1(H) 1/17...
  • Page 426 Part 7: Review on Replacement of Motor (7) HF-SP series (With shaft-output type gear reducer for high precision applications) Compatibility Example of Series Model Note replacement model (: Compatible) HF-SP52(4)(B)G7 1/5 HG-SR52(4)(B)G7 1/5 HF-SP52(4)(B)G7 1/11 HG-SR52(4)(B)G7 1/11 HF-SP52(4)(B)G7 1/21 HG-SR52(4)(B)G7 1/21 HF-SP52(4)(B)G7 1/33 HG-SR52(4)(B)G7 1/33 HF-SP52(4)(B)G7 1/45...
  • Page 427 Part 7: Review on Replacement of Motor (8) HC-RP series Compatibility Example of Series model Note replacement model (: Compatible) HC-RP103(B) HG-RR103(B) HC-RP153(B) HG-RR153(B) Medium capacity, ultra-low inertia HC-RP203(B) HG-RR203(B)  HC-RP series HC-RP353(B) HG-RR353(B) HC-RP503(B) HG-RR503(B) RP103(B)G5 1/5 HG-SR102(B)G5 1/5 ◇...
  • Page 428 Part 7: Review on Replacement of Motor (9) HC-LP/HC-UP/HF-JP series Compatibility Example of Series model Note replacement model (: Compatible) The capacity of the LP52(B) ◇ HG-JR73(B) corresponding servo amplifier will be different if a model marked with is replaced. HG-JR73 is MR-J4-70_, HG-JR153 is MR-J4-200_, HG-JR153(B) ◆...
  • Page 429 Part 7: Review on Replacement of Motor (10) HA-LP series Compatibility Example of Series Model Note replacement model (: Compatible) HA-LP601(4)(B) HG-JR601(4)(B) HA-LP801(4)(B) HG-JR801(4)(B) HA-LP12K1(4)(B) HG-JR12K1(4)(B) LP15K1(4) HG-JR15K1(4) ◇ (Note 1) LP20K1(4) HG-JR20K1(4) ◇ LP25K1(4) ◇ ◆ HG-JR25K1(4) HA-LP30K1(4) ◇ HG-JR30K1(4) Large capacity, low HA-LP37K1(4) ◇...

  • Page 430: Comparison Of Servo Motor Specifications

    Part 7: Review on Replacement of Motor 2. COMPARISON OF SERVO MOTOR SPECIFICATIONS 2.1 Comparison of Servo Motor Mounting Dimensions POINT As for the dimensions not listed here, refer to the catalog or Instruction Manual. The symbols in the table mean as follows. (B): With brake The value in the parenthesis shows the value with brake.
  • Page 431 Part 7: Review on Replacement of Motor (1) HF-KP/HF-MP/HF-SP/HC-RP series [Unit: mm] Substitute models Target models Note Model Example of replacement model HF-KP053(B) HG-KR053(B) 66.4 (107.5) 66.4 (107) HF-MP053(B) HG-MR053(B) HF-KP13(B) HG-KR13(B) 82.4 (123.5) 82.4 (123) HF-MP13(B) HG-MR13(B) HF-KP23(B) HG-KR23(B) 76.6 (116.1) 76.6 (113.4) HF-MP23(B)
  • Page 432 Part 7: Review on Replacement of Motor (2) HC-LP/HC-UP/HF-JP series [Unit: mm] Substitute models Target models Note Model Example of replacement model HC-LP52(B) 144 (177) HG-JR73(B) 145.5 (191) HC-LP102(B) 164 (197) HG-JR153(B) 199.5 (245) HC-LP152(B) 191.5 (224.5) HG-JR353(B) 213 (251.5) (Note) HC-LP202(B) 198.5 (246.5)
  • Page 433 Part 7: Review on Replacement of Motor (3) HA-LP 1000 r/min series [Unit: mm] Substitute models Target models Note Model Example of replacement model HG-JR601(B) 299.5 (372) (Note) HG-JR6014(B) HA-LP601(B) 480 (550) HA-LP6014(B) HG-JR601R(B)-S_ 399 (472) HG-JR6014R(B)-S_ HG-JR801(B) 339.5 (412) (Note) HA-LP801(B) HG-JR8014(B)
  • Page 434 Part 7: Review on Replacement of Motor (4) HA-LP 1500 r/min series [Unit: mm] Substitute models Target models Note Model Example of replacement model HG-JR701M(B) 299.5 (372) (Note) HG-JR701M4(B) HA-LP701M(B) 480 (550) HA-LP701M4(B) HG-JR701MR(B)-S_ 399 (472) HG-JR701M4R(B)-S_ HG-JR11K1M(B) 339.5 (412) (Note) HA-LP11K1M(B) HG-JR11K1M4(B)
  • Page 435 Part 7: Review on Replacement of Motor (5) HA-LP 2000 r/min series [Unit: mm] Substitute models Target models Note Model Example of replacement model HG-SR502 178.5 (Note) HA-LP502 HG-SR502R-S_ HG-SR702 218.5 (Note) HA-LP702 HG-SR702R-S_ HG-JR11K1M(B) 339.5 (412) (Note) HG-JR11K1M4(B) HA-LP11K2(B) 480 (550) HA-LP11K24(B) HG-JR11K1MR(B)-S_(200)

  • Page 436: Detailed Comparison Of Servo Motor Mounting Dimensions

    Part 7: Review on Replacement of Motor 2.2 Detailed Comparison of Servo Motor Mounting Dimensions POINT As for the dimensions not listed here, refer to the catalog or Instruction Manual. Dimensions with differences are shown with shading. The symbols in the table mean as follows. (B): With brake (1) HF-KP/HF-MP/HF-SP/HC-RP series [Unit: mm]...
  • Page 437 Part 7: Review on Replacement of Motor (2) HC-LP/HC-UP/HF-JP series [Unit: mm] Substitute models Target models Example of Model replacement model (Note) HC-LP52(B) HG-JR73(B) HC-LP102(B) HG-JR153(B) HC-LP152(B) HG-JR353(B) HC-LP202(B) 114.3 13.5 HG-JR353(B) HC-LP302(B) 114.3 13.5 HG-JR503(B) HC-UP72(B) 114.3 13.5 HG-UR72(B) 114.3 13.5 HC-UP152(B)
  • Page 438 Part 7: Review on Replacement of Motor (3) HA-LP series [Unit: mm] Substitute models Target models Example of Model replacement model (Note) HA-LP601(B) HG-JR601(B) 14.5 13.5 HA-LP6014(B) HG-JR6014(B) HA-LP801(B) HG-JR801(B) 14.5 13.5 HA-LP8014(B) HG-JR8014(B) HA-LP12K1(B) HG-JR12K1(B) 14.5 13.5 HA-LP12K14(B) HG-JR12K14(B) HA-LP15K1 HG-JR15K1 HA-LP15K14...

  • Page 439: Comparison Of Mounting Dimensions For Geared Servo Motors

    Part 7: Review on Replacement of Motor 2.3 Comparison of Mounting Dimensions for Geared Servo Motors Servo motor series whose mounting dimensions of the reducer are the same before and after the replacement is omitted. POINT As for the dimensions not listed here, refer to the catalog or Instruction Manual. Dimensions with differences are shown with shading.
  • Page 440 Part 7: Review on Replacement of Motor (1) HC-RP_G5 series (With reduction gear for precision application compliant) [Unit: mm] HC-RP series (G5) HG-SR series (G5) Output (kW) Reduction ratio Reduction ratio 227.5 227.5 (265.5) (262) 227.5 239.5 1/11 1/11 135 115 (265.5) (274) 255.5...
  • Page 441 Part 7: Review on Replacement of Motor (2) HC-RP_G7 series (With reduction gear for precision application compliant) [Unit: mm] HC-RP series (G7) HG-SR series (G7) Output Reduction Reduction (kW) ratio ratio 227.5 227.5 105 85 (265.5) (262) 227.5 239.5 1/11 1/11 135 115 120 11 (265.5)

  • Page 442: Comparison Of Actual Reduction Ratios For Geared Servo Motors

    Part 7: Review on Replacement of Motor 2.4 Comparison of Actual Reduction Ratios for Geared Servo Motors POINT The HG-MR series does not support the geared model. The geared model is supported with the HG-KR series. Actual reduction ratios with differences are shown with shading. HF-KP_G1/HF-MP_G1(With gears for general industrial machines with a reducer) series Because the actual reduction ratio for some models is different when replacing HF-KP_G1 or HF-MP_G1 with HG-KR_G1, it is required that an electronic gear be set up.

  • Page 443: Comparison Of Moment Of Inertia

    Part 7: Review on Replacement of Motor 2.5 Comparison of Moment of Inertia POINT As for the motor specifications not listed here, refer to the catalog or Instruction Manual. If the load inertia moment ratio is exceeded, please ask the sales contact.
  • Page 444 Part 7: Review on Replacement of Motor (2) HF-KP series (With reduction gear for precision application compliant) Target product Substitute model Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio ×...
  • Page 445 Part 7: Review on Replacement of Motor (3) HF-MP series (With gears for general industrial machines) Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio ×...
  • Page 446 Part 7: Review on Replacement of Motor (4) HF-MP series (With reduction gear for precision application compliant) Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio ×...
  • Page 447 Part 7: Review on Replacement of Motor (5) HF-SP series Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio × 10 kg•m × 10 kg•m HF-SP51(B) 11.9 (14.0)
  • Page 448 Part 7: Review on Replacement of Motor (6) HF-SP series (For general industrial machine with a reducer) Target models Substitute models Moment of Moment of Load inertia Series Load inertia Example of replacement inertia J inertia J Model moment moment ratio model ratio ×...
  • Page 449 Part 7: Review on Replacement of Motor (7) HF-SP series (With reduction gear for precision application compliant) Target models Substitute models Moment of Moment of Load inertia Series Load inertia Example of replacement inertia J inertia J Model moment moment ratio model ratio ×...
  • Page 450 Part 7: Review on Replacement of Motor (8) HC-RP series Target models Substitute models Moment of Moment of Load inertia Series Load inertia Example of replacement inertia J inertia J Model moment moment ratio model ratio × 10 kg•m × 10 kg•m HC-RP103(B) 1.50 (1.85)
  • Page 451 Part 7: Review on Replacement of Motor (9) HC-LP/HC-UP/HF-JP series Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio × 10 kg•m × 10 kg•m HC-LP52(B) 3.10 (5.20)
  • Page 452 Part 7: Review on Replacement of Motor (10) HA-LP series Target models Substitute models Moment of Moment of Series Load inertia Example of Load inertia inertia J inertia J Model moment ratio replacement model moment ratio × 10 kg•m × 10 kg•m HA-LP601(B) HG-JR601(B)
  • Page 453 Part 7: Review on Replacement of Motor (11) HA-LP series (compatible product) Only flanges and shaft ends have compatibility in mounting. Please contact your local sales office egarding the servo motor model and its delivery, since it is developed upon receipt of order. Target product Replacement product Moment of...

  • Page 454: Comparison Of Servo Motor Connector Specifications

    Part 7: Review on Replacement of Motor 2.6 Comparison of Servo Motor Connector Specifications (1) HF-KP/HF-MP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-KP/HF-MP HG-KR/HG-MR Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector...
  • Page 455 Part 7: Review on Replacement of Motor (2) HF-SP motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-SP HG-SR HF-SP51(B)/HF-SP81(B)/ HG-SR51(B)/HG-SR81(B)/ Target models HF-SP52(4)(B) to HF-SP152(4)(B) HG-SR52(4)(B) to HG-SR152(4)(B) Motor appearance Power connector Power connector Electromagnetic brake Electromagnetic brake connector connector...
  • Page 456 Part 7: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-SP HG-SR HF-SP121(B) to HF-SP421(B)/ HG-SR121(B) to HG-SR421(B)/ Target models HF-SP202(4)(B) to HF-SP702(4)(B) HG-SR202(4)(B) to HG-SR702(4)(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 457 Part 7: Review on Replacement of Motor (3) HC-RP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-RP HG-RR Target models HC-RP103(B) to HC-RP203(B) HG-RR103(B) to HG-RR203(B) Motor appearance Power connector (with brake) Power connector (with brake) Encoder connector Encoder connector Power connector...
  • Page 458 Part 7: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-RP HG-RR Target models HC-RP353(B)/HC-RP503(B) HG-RR353(B)/HG-RR503(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P...
  • Page 459 Part 7: Review on Replacement of Motor (4) HC-LP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-LP HG-JR Target models HC-LP52(B)/LP102(B) 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...
  • Page 460 Part 7: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-LP HG-JR Target models HC-LP152(B) HG-JR353(B) Motor appearance Electromagnetic brake connector Power connector Power connector (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P MS3102A22-22P...
  • Page 461 Part 7: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-LP HG-JR HC-LP202(B)/HC-LP302(B) HG-JR353(B)/HG-JR503(B) Target models 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...
  • Page 462 Part 7: Review on Replacement of Motor (5) HC-UP series Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-UP HG-UR HC-UP72(B)/HC-UP152(B) HG-UR72(B)/HG-UR152(B) Target models Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector...
  • Page 463 Part 7: Review on Replacement of Motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HC-UP HG-UR HC-UP202(B) to HC-UP502(B) HG-UR202(B) to HG-UR502(B) Target models Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector...
  • Page 464 Part 7: Review on Replacement of Motor (6) HF-JP motor Servo amplifier series MR-J3 series MR-J4 series Servo motor series HF-JP HG-JR HF-JP53(4)(B) to HF-JP203(4)(B) HG-JR53(4)(B) to HG-JR203(4)(B) Target models Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector...