Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual
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Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

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Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Hardware)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5-_A_

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Summary of Contents for Mitsubishi Electric MELSERVO-J5 MR-J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Hardware) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5-_A_...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...

  • Page 6: U.s. Customary Units

    U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 8 Power supply ................85 Interface .
  • Page 9 MR-D05UDL3M-B STO cable ............. . 159 Ethernet cable [G] [WG] .
  • Page 10 LED display ................246 Rotary switch settings .
  • Page 11 Maintenance ................289 Functional safety I/O signal connector (CN8) and pin assignments .
  • Page 12 10.4 Basic functions ............... . 337 Homing [G] [WG] .
  • Page 13 Operation mode and load-side encoder combinations ......... . . 417 System Architecture.

  • Page 14: Chapter 1 Introduction

    INTRODUCTION Wiring procedure Procedure Description Reference Installation Page 26 INSTALLATION Install a servo amplifier. Connecting the power circuit Page 33 Example power Connect the power circuit. circuit connections Connecting I/O signals Page 40 Example I/O Connect I/O signals. signal connections Connecting to the servo Rotary Servo Motor Connect the servo amplifier to a servo motor.

  • Page 15: Servo Amplifier/Motor Combinations

    Servo amplifier/motor combinations By combining a servo motor with a larger capacity servo amplifier, the maximum torque can be increased to 400 % or 450 %. Rotary servo motor HK-KT series The combinations of geared servo motors and servo amplifiers are the same as those listed in the following tables. However, for geared servo motors, the maximum torque does not increase even when they are combined with a servo amplifier whose combination allows for increased torque as specified in the following tables.
  • Page 16 ■Multi-axis servo amplifier As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor. : Standard torque : Increased torque Rotary servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_...
  • Page 17 HK-ST series The combinations of geared servo motors and servo amplifiers are the same as those listed in the following tables. However, for geared servo motors, the maximum torque does not increase even when they are combined with a servo amplifier whose combination allows for increased torque as specified in the following tables.

  • Page 18: Linear Servo Motor

    Linear servo motor Set [Pr. PA17] and [Pr. PA18.0-3] according to the linear servo motor to be used. LM-H3 series ■1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 200_ 350_ (magnet) LM-H3P2A-07P-BSS0 LM-H3S20-288-BSS0  ...
  • Page 19 LM-U2 series ■1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 200_ 350_ 500_ (magnet)        LM-U2PAB-05M-0SS0 LM-U2SA0-240-0SS0 LM-U2SA0-300-0SS0 LM-U2PAD-10M-0SS0        LM-U2SA0-420-0SS0  ...
  • Page 20 LM-F series ■1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 100_ 200_ 350_ 500_ 700_ (magnet)           LM-FP2B-06M-1SS0 LM-FS20-480-1SS0 LM-FS20-576-1SS0      ...
  • Page 21 LM-AJ series ■1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side (magnet)   LM-AJP1B-07K-JSS0 LM-AJS10-080-JSS0 LM-AJS10-200-JSS0 LM-AJP1D-14K-JSS0   LM-AJS10-400-JSS0 LM-AJP2B-12S-JSS0 LM-AJS20-080-JSS0   LM-AJS20-200-JSS0   LM-AJP2D-23T-JSS0 LM-AJS20-400-JSS0   LM-AJP3B-17N-JSS0 LM-AJS30-080-JSS0 LM-AJS30-200-JSS0 LM-AJP3D-35R-JSS0 ...

  • Page 22: Direct Drive Motor

    Direct drive motor TM-RFM series ■1-axis servo amplifier : Standard torque Direct drive motor Servo amplifier MR-J5-_ 100_ 350_ 500_        TM-RFM002C20 TM-RFM004C20            ...
  • Page 23 TM-RG2M series/TM-RU2M series ■1-axis servo amplifier : Standard torque : Increased torque Direct drive motor Servo amplifier MR-J5-_ TM-RG2M002C30   TM-RU2M002C30   TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30   TM-RU2M009G30 ■Multi-axis servo amplifier As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.

  • Page 24: Wiring Check

    Wiring check Before switching on the main circuit and control circuit power supplies, check the following items. Power supply system wiring Power supply system wiring • Check that the power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier satisfies the defined specifications.
  • Page 25 Connecting the servo amplifier to the servo motor • Check that the phases (U/V/W) of the servo amplifier power outputs and the phases (U/V/W) of the servo motor power inputs match with each other. ■MR-J5-_G_/MR-J5-_A_ Servo amplifier Servo motor ■MR-J5W_-_G_ Servo amplifier A-axis servo motor CNP3A...

  • Page 26: I/O Signal Wiring

    Using options or peripheral equipment ■Regenerative option • Check that the lead wire between terminal P+ and terminal D has been removed. • Check that the wire of the regenerative option is connected to terminal P+ and terminal C. • Check that twisted wires have been used for connecting the regenerative option to the servo amplifier. Page 168 Connection of regenerative option ■Simple converter Page 175 Example of configuration including peripheral equipment...

  • Page 27: Surrounding Environment

    Surrounding environment Check the following items about the environment surrounding the servo amplifier and servo motor. Handling cables • Check that the wiring cables have not been stressed. • Check that the encoder cable has been used within its flex life. Page 150 Cable flex life •...

  • Page 28: Chapter 2 Installation

    INSTALLATION Precautions • Install the servo amplifier and regenerative resistor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. In addition, the servo amplifier must be installed in a metal cabinet. •...
  • Page 29 Installation clearances for the servo amplifier [G] [A] ■Installation of one servo amplifier Cabinet Cabinet 40 mm or more Wiring allowance Servo amplifier 80 mm or more 10 mm 10 mm or more or more Bottom 40 mm or more ■Installation of two or more servo amplifiers Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions.
  • Page 30 Precautions • For the availability of close mounting, refer to "Servo amplifier standard specifications" in the User's Manual (Introduction). • When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left.

  • Page 31: Keeping Out Foreign Materials

    Other precautions When using heat generating equipment such as the regenerative option, install it with full consideration of heat generation so that the servo amplifier is not affected. Mount the servo amplifier on a perpendicular wall in the correct vertical direction. Keeping out foreign materials When drilling the cabinet for assembly, prevent drill chips and wire fragments from entering the servo amplifier.

  • Page 32: Fan Unit Removal Procedure

    Fan unit removal procedure Remove the screws that fixed the fan unit. Keep the removed screws for installation of the new fan unit. Pull up the cover of the fan unit using a precision screwdriver. Pull out the fan unit vertically. 2 INSTALLATION 2.4 Fan unit replacement procedure...

  • Page 33: Fan Unit Installation Procedure

    Fan unit installation procedure Insert the positioning part of the fan unit vertically, align it to the positioning part of the main unit case, and tighten with screws. Use the same screws as those used for the fan unit before replacement. Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m Altitude and ambient temperature...

  • Page 34: Chapter 3 Signals And Wiring

    SIGNALS AND WIRING Precautions • When using a linear servo motor, the terms shown below should be read as follows. Load to motor inertia ratio → Load to motor mass ratio Torque → Thrust • Insulate the conductive parts of the terminals. •...

  • Page 35: Example Power Circuit Connections

    Example power circuit connections Precautions • Connect a magnetic contactor between a power supply and the main circuit power supply (L1/L2/L3) of a servo amplifier to configure a circuit that shuts off the power supply on the servo amplifier side because failure of the servo amplifier may cause smoke and fire if a magnetic contactor is not connected.

  • Page 36: 200 V Class

    200 V class For 3-phase 200 V AC to 240 V AC power supply [G] [A] Servo motor overheat Malfunction protection Emergency stop switch Servo amplifier Servo motor CNP1 MCCB CNP3 3-phase 200 V AC to Motor 240 V AC CNP2 Encoder 3 SIGNALS AND WIRING...
  • Page 37 *1 P3 and P4 are connected from the factory. If using a power factor improving DC reactor, remove the short-circuit bar between P3 and P4, then connect the power factor improving DC reactor. Additionally, the power factor improving DC reactor and a power factor improving AC reactor cannot be used together.
  • Page 38 For 3-phase 200 V AC to 240 V AC power supply [WG] Servo motor overheat protection malfunction Emergency stop switch Servo amplifier A-axis servo motor CNP1 MCCB CNP3A Power Motor supply CN2A Encoder CNP2 PE ( B-axis servo motor CNP3B Motor CN2B Encoder...
  • Page 39 *1 The servo amplifier is shipped from the factory with P+ and D already connected. If using a regenerative option, refer to the following. Page 160 Regenerative option *2 Option cables are recommended for servo motor power cables and encoder cables. For selecting cables, refer to "Cable/connector sets" in the following manual.

  • Page 40: Using Servo Amplifier With Dc Power Supply Input

    Using servo amplifier with DC power supply input Connection example Refer to the following for the signals and wiring not described in this section. Page 34 200 V class ■MR-J5-10_ to MR-J5-100_/MR-J5W2-22G_/MR-J5W2-44G_/MR-J5W3-222G_ Servo motor overheat Malfunction protection Emergency stop switch *3*4 Servo amplifier 24 V DC...
  • Page 41 ■MR-J5-200_/MR-J5-350_/MR-J5-500_/MR-J5-700_/MR-J5W2-77G_/MR-J5W2-1010G_/MR- J5W3-444G_ Servo motor overheat Malfunction protection Emergency stop switch Servo amplifier *3*4 24 V DC MCCB AC/DC 3-phase or 1-phase converter 200 V AC to (283 V DC to 240 V AC 340 V DC) *1 For the power supply specifications, refer to "Servo amplifier standard specifications" in User's Manual (Introduction). *2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less (160 ms or less for 5 kW or more).

  • Page 42: Example I/O Signal Connections

    Example I/O signal connections Precautions • Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. • In the torque mode, EM2 functions the same as EM1. MR-J5-_G_ Sink I/O interface Servo amplifier...
  • Page 43 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 44 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 40 Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply *9*14 24 V DC Forced stop 2 DOCOM Electromagnetic brake Forward rotation stroke end...

  • Page 45: Mr-J5-_A

    MR-J5-_A_ Position control mode ■Sink I/O interface Servo amplifier 24 V DC 10 m or less Positioning module RD75D/LD75D/QD75D 24 V DC DICOM DOCOM CLEARCOM DOCOM Malfunction CLEAR RDYCOM Zero speed detection READY Limiting torque PULSE F+ PULSE F- In-position PULSE R+ PULSE R- Encoder A-phase pulse...
  • Page 46 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 47 ■Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 43 Sink I/O interface Servo amplifier *4*14 24 V DC 10 m or less Positioning module *4*14 RD75D/LD75D/QD75D 24 V DC DICOM DOCOM CLEAR DOCOM Malfunction CLEARCOM...
  • Page 48 Speed control mode ■Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply 24 V DC *3*5 Forced stop 2 DOCOM Servo-on DOCOM Reset Speed selection 1 Malfunction Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque...
  • Page 49 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 50 ■Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 46 Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply *4*12 24 V DC *3*5 Forced stop 2 DOCOM Servo-on DOCOM...
  • Page 51 Torque control mode ■Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply 24 V DC Forced stop 2 DOCOM Servo-on DOCOM Reset Speed selection 1 Malfunction Speed selection 2 Zero speed detection Forward rotation selection Reverse rotation selection Limiting speed...
  • Page 52 ■Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 49 Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply *4*10 24 V DC Forced stop 2 DOCOM Servo-on DOCOM...

  • Page 53: Mr-J5W_-_G

    MR-J5W_-_G_ Precautions • In the torque control mode, EM2 functions the same as EM1. Sink I/O interface 10 m or less 10 m or less Main circuit power supply Servo amplifier 24 V DC 24 V DC DICOM DOCOM *3*4 Forced stop 2 AND malfunction CALM...
  • Page 54 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 55 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 51 Sink I/O interface 10 m or less 10 m or less Main circuit power supply Servo amplifier 24 V DC 24 V DC DICOM DOCOM *3*4...

  • Page 56: Explanation Of Power Supply System

    Explanation of power supply system Explanation of signals • For the layout of connectors and terminal blocks, refer to the following. Page 102 DIMENSIONS • If using the MR-J5 servo amplifier with the DC power supply input, refer to the following. Page 38 Using servo amplifier with DC power supply input L1/L2/L3 (Connection destination: Main circuit power supply) Supply the following power to L1, L2, and L3.
  • Page 57 U/V/W (Connection destination: Servo motor power supply) Connect the servo motor power supply inputs (U/V/W) directly to the motor. Do not connect devices such as magnetic contactors between the motor and servo amplifier as this will lead to abnormal operation or malfunction. N- (Connects to: Simple converters and multifunction regeneration converters) This terminal is used to connect a simple converter or a multifunction regeneration converter.

  • Page 58: Power-On Procedure [G] [Wg]

    Power-on procedure [G] [WG] Signals such as output signals may be unstable at power-on. Power-on procedure Wire the power supply using a magnetic contactor between the power supply and the main circuit power supply (L1/L2/ L3) of a servo amplifier by referring to the following section. Switch off the magnetic contactor as soon as an alarm occurs.

  • Page 59: Power-On Procedure [A]

    Power-on procedure [A] The voltage of analog monitor output, the output signal, or others may be unstable at power-on. Power-on procedure Wire the power supply using a magnetic contactor between the power supply and the main circuit power supply (L1/L2/ L3) of a servo amplifier by referring to the following section.

  • Page 60: Wiring Cnp1, Cnp2, And Cnp3

    Wiring CNP1, CNP2, and CNP3 • For the wire sizes, refer to the following. Page 197 Selection example of wires • When wiring, remove the power connectors from the servo amplifier. • Insert only one wire or ferrule into each wire insertion hole on each power connector. To wire to CNP1, CNP2 and CNP3, use the servo amplifier power connectors that came with the amplifier.
  • Page 61 ■MR-J5-500_/MR-J5-700_ CNP1A CNP1B CNP2 CNP3 Connector Receptacle assembly Applicable wire Stripped length Open tool Manufacturer [mm] Size Insulator OD CNP1A 03JFAT-SAXGDK-P15 (LA) AWG 18 to 8 7.6 mm or less J-FAT-OT-P CNP1B 03JFAT-SAYGDK-P15 (LB) CNP2 05JFAT-SAXGDK-H5.0 (LA) AWG 18 to 14 3.9 mm or less J-FAT-OT (N) CNP3...
  • Page 62 ■MR-J5W2-77G_/MR-J5W2-1010G_ CNP1 CNP2 CNP3A CNP3B Connector Receptacle assembly Applicable wire Stripped length Open tool Manufacturer [mm] Size Insulator OD CNP1 06JFAT-SAXGFK-XL (LB) AWG 16 to 10 4.7 mm or less 11.5 J-FAT-OT-EXL CNP2 05JFAT-SAXGDK-H5.0 (LA) AWG 18 to 14 3.9 mm or less CNP3A 04JFAT-SAGG-G-KK AWG 18 to 14...
  • Page 63 Connecting wires ■Fabricating the wire insulator Refer to the following for the stripped length of the wire insulator. Set the appropriate length based on the wire type and fabrication condition. Page 58 Connector Insulator Core Stripped length Twist the core wires lightly and straighten them as follows. Loose and bent strands Twist and straighten the strands.

  • Page 64: Connectors And Pin Assignments

    Connectors and pin assignments Precautions • The pin assignments of the connectors are as viewed from the cable connector wiring section. • For information on the functional safety I/O signal connector (CN8), refer to the following page: Page 287 USING STO FUNCTION •...

  • Page 65: Connectors And Pin Assignments [G]

    Connectors and pin assignments [G] The front view of the servo amplifier shown below is of MR-J5-_G-RJ_ servo amplifiers with a rated capacity symbol of 60 or less. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 102 DIMENSIONS The frames of the CN2 connector, CN2L connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.

  • Page 66: Connectors And Pin Assignments [A]

    Connectors and pin assignments [A] The front view of the servo amplifier shown below is of MR-J5-_A-RJ_ servo amplifiers with a rated capacity symbol of 60 or less. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 102 DIMENSIONS The frames of the CN2 connector, CN2L connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
  • Page 67 Initial assignment of CN3 connector pins Pin No. I/O signal in each control mode Related servo parameter  P15R P15R P15R P15R P15R P15R    -/VC VC/VLA VLA/-         PP/- -/PP ...
  • Page 68 *1 I: input signal, O: output signal *2 P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control switching mode, S/T: Speed/ torque control switching mode, T/P: Torque/position control switching mode *3 Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. This pin can be used only on the MR-J5-_A_-RJ_.

  • Page 69: Connectors And Pin Assignments [Wg]

    Connectors and pin assignments [WG] The front view of the servo amplifier shown below is of MR-J5W3-_G_ servo amplifiers with a rated capacity symbol of 222. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 102 DIMENSIONS The frames of the CN2A connector, CN2B connector, CN2C connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.

  • Page 70: Signal (Device) Explanation

    Signal (device) explanation For the I/O interfaces (symbols in the column "I/O signal interface type" in the table), refer to the following. Page 93 Detailed explanation of interfaces The pin numbers in the connector pin No. column are default numbers. ...
  • Page 71 ■MR-J5W3-_G_ Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type CN3-1 [Pr. PD03] (C-axis) LSP-C Impossible DI-1 CN3-2 [Pr. PD04] (C-axis) LSN-C CN3-7 [Pr. PD03] (A-axis) LSP-A CN3-8 [Pr. PD04] (A-axis) LSN-A CN3-9 [Pr. PD05] (A-axis) DOG-A Possible CN3-10...
  • Page 72 Input devices Device name Symbol Model I/O signal Detailed explanation interface type [WG]     Page 71 EM2 (Forced stop 2) Forced stop 2 DI-1 Forced stop 1     DI-1 Page 71 EM1 (Forced stop 1) ...
  • Page 73 Input device explanation ■EM2 (Forced stop 2) Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands. Turn on EM2 (short between commons) in the forced stop state to deactivate that state. When not using EM2, set [Pr. PA04.3] to "2". EM2 and EM1 are mutually exclusive.
  • Page 74 ■CDP (Gain switching) Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and individual gain values. When both CDP and CDP2 are on, the setting of CDP2 is prioritized. ■CDP2 (Gain switching 2) Turn on CDP2 to use the values of [Pr.
  • Page 75 Input device explanation [A] ■SON (Servo-on) If SON is turned on, the base circuit will be powered on and the servo amplifier will become in the operation-ready state (servo-on state). Once SON is turned off, the base circuit is shut off and the servo motor shaft coasts. To change SON to "Automatic on"...
  • Page 76 ■RS1 (Forward rotation selection)/RS2 (Reverse rotation selection) Select a servo motor torque generation direction. The following shows the torque generation directions. Input device Torque generation direction 0 (off) 0 (off) Torque is not generated. 0 (off) 1 (on) Forward rotation in power running mode/reverse rotation in regenerative mode 1 (on) 0 (off)
  • Page 77 ■LOP (Control switching) • Position/speed control switching mode This is used to select the position control mode or the speed control mode in the position/speed control switching mode. Control mode 0 (off) Position control mode 1 (on) Speed control mode •...

  • Page 78: Output Device

    Output device Output device pins The following shows the output device pins and the servo parameters used for assigning devices. ■MR-J5-_G_ Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-13 [Pr. PD07] DO-1 CN3-9 [Pr. PD08] CN3-15 [Pr.
  • Page 79 Device name Symbol Model I/O signal Detailed explanation interface type Zero speed detection     DO-1 [G] [WG]: Page 79 ZSP (Zero speed detection) [A]: Page 80 ZSP (Zero speed detection)     Limiting torque DO-1 [G] [WG]: Page 79 TLC (Limiting torque) [A]:...
  • Page 80 ■WNG (Warning) WNG turns on when a warning occurs. If a warning is not occurring, WNG will turn off in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis servo amplifier). ■BWNG (Battery warning) If [AL.
  • Page 81 Output device explanation [G] [WG] ■MBR (Electromagnetic brake interlock) MBR is off in the servo-off state or at an alarm occurrence. If using the device, set an operation delay time of the electromagnetic brake in [Pr. PC02]. For details. refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function) ■VLC (Limiting speed) If the speed reaches the speed limit value in the torque mode, VLC will turn on.
  • Page 82 Output device explanation [A] ■MBR (Electromagnetic brake interlock) MBR is off in the servo-off state or at an alarm occurrence. If using the device, set an operation delay time of the electromagnetic brake in [Pr. PC16]. For details. refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function) ■VLC (Limiting speed) In the torque mode, VLC will turn on if the speed reaches the value limited with any of [Pr.
  • Page 83 ■ALMWNG (Malfunction/Warning) When an alarm occurs, ALMWNG turns off. When a warning occurs (except for [AL. 09F Battery warning]), ALMWNG turns on and off repeatedly approximately every 1 s. When neither an alarm nor a warning is occurring, ALMWNG will turn on in 2.5 s to 3.5 s after power-on. ■BW9F (AL9F warning) When [AL.

  • Page 84: Input Signal

    Input signal List of supported input signals Device name Symbol Model I/O signal Detailed interface type explanation     Page 82 Analog torque AI-1 limit TLA (Analog torque limit)     Page 82 TC Analog torque AI-1 command (Analog torque...
  • Page 85 ■VLA (Analog speed limit) Apply 0 V DC to ±10 V DC between VLA and LG. At ±10 V, the servo motor speed is the value set in [Pr. PC12]. MR-J5 User's Manual (Function) If a value equal to or larger than the maximum speed is input to VLA, the value is clamped at the maximum speed. When changing the speed to the permissible speed, change the setting value in [Pr.

  • Page 86: Output Signal

    Output signal Output signal explanation ■LA/LAR (Encoder A-phase pulse (differential line driver))/LB/LBR (Encoder B-phase pulse (differential line driver)) These devices output encoder output pulses set in [Pr. PA15] and [Pr. PA16] in the differential line driver type. When the servo motor rotates in the CCW direction, the encoder B-phase pulse lags the encoder A-phase pulse by a phase of 90 degrees.

  • Page 87: Power Supply

    Power supply Power supply explanations ■DICOM (Digital I/F power supply input) Input 24 V DC (24 V DC ± 10 %) for I/O interface. The power supply capacity varies depending on the number of I/O interface points to be used. It is 300 mA for the MR-J5-_G_, and it is 500 mA for the MR-J5-_A_. For sink interfaces, connect the positive terminal of the 24 V DC external power supply.

  • Page 88: Interface

    Interface Internal connection diagram [G] Refer to the following for the CN8 connector. Page 287 USING STO FUNCTION Servo amplifier Forced stop 24 V DC Approx. 6.2 kΩ DOCOM Approx. 6.2 kΩ Approx. 4.3 kΩ TPR1 Approx. 4.3 kΩ TPR2 DICOM 24 V DC Isolated...

  • Page 89: Internal Connection Diagram [A]

    *1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply. *2 The signal cannot be used in the velocity mode and torque mode. *3 This diagram shows a sink I/O interface.
  • Page 90 Servo amplifier 24 V DC Approx. 6.2 kΩ SON SON SON DOCOM SP2 SP2 DOCOM ST1 RS2 ST2 RS1 RES RES Approx. 6.2 kΩ Approx. 4.3 kΩ *7*8 DICOM 24 V DC *7*8 DICOM Approx. 100 Ω Approx. 1.2 kΩ Approx.
  • Page 91 *1 P: Position control mode, S: Speed control mode, T: Torque control mode *2 This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows. DOCOM DOCOM 24 V DC 24 V DC DICOM DICOM DOCOM...

  • Page 92: Internal Connection Diagram [Wg]

    Internal connection diagram [WG] Refer to the following for the CN8 connector. Page 287 USING STO FUNCTION 3 SIGNALS AND WIRING 3.6 Interface...
  • Page 93 Servo amplifier 24 V DC DOCOM 24 V DC MBR-A DICOM Approx. 5.6 kΩ MBR-B DI1-A MBR-C CALM DI2-A DI3-A DI1-B DI2-B Analog monitor DI3-B DI1-C DC ± 10 V DC ± 10 V DI2-C Approx. 5.6 kΩ DI3-C LA-A LAR-A LB-A LBR-A...
  • Page 94 *1 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *2 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following. Page 97 Source I/O interface *3 The diagram is for 3-axis servo amplifiers. *4 In the initial setting, CINP (AND in-position) is assigned to this pin.

  • Page 95: Detailed Explanation Of Interfaces

    Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 68 Signal (device) explanation Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal.
  • Page 96 Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.
  • Page 97 ■Open-collector type • Interface Servo amplifier Max. input pulse 24 V DC frequency 200 kpulses/s Approx. 1.2 kΩ 2 m or less PP, NP DOCOM *1 A photocoupler is used as the pulse train input interface. Therefore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line.
  • Page 98 ■Open-collector type • Interface Maximum output current: 35 mA 5 V DC to 24 V Servo amplifier Servo amplifier Photocoupler Analog input AI-1 Input impedance 10 kΩ to 12 kΩ Servo amplifier DC + 15 V P15R Upper limit setting: 2 kΩ etc.

  • Page 99: Source I/O Interface

    Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
  • Page 100 Pulse train input interface DI-2 [A] Transmit a pulse train signal in the open-collector type. • Interface Servo amplifier Max. input pulse frequency 200 kpulses/s Approx. 20 mA ≤ 1.0 V Approx. 1.2 kΩ ≤ 100 μA Approx. 20 mA ≤...

  • Page 101: Servo Motor With An Electromagnetic Brake

    Servo motor with an electromagnetic brake Precautions • For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, and for selecting the surge absorber for the electromagnetic brake, refer to "Characteristics of electromagnetic brake" in the following manual.
  • Page 102 Connection diagram [WG] A-axis servo motor CALM MBR-A Servo amplifier 24 V DC 24 V DC for DOCOM electromagnetic brake DICOM CALM 24 V DC MBR-A MBR-B B-axis servo motor MBR-B MBR-C C-axis servo motor MBR-C *1 Do not use the 24 V DC interface power supply for the electromagnetic brake. *2 Configure a circuit which interlocks with an emergency stop switch to shut off.

  • Page 103: Grounding

    Grounding The servo amplifier supplies power to the servo motor by switching on and off a power transistor. Depending on the wiring and ground wire routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and ground it.

  • Page 104: Chapter 4 Dimensions

    DIMENSIONS MR-J5-_G_ The following are examples of the MR-J5-_G-RJ servo amplifiers. MR-J5-10G_/MR-J5-20G_/MR-J5-40G_ Approx. 40 φ6 mounting Approx. 6 hole Approx. 80 2-M5 screw Locking tab Terminal assignment CNP1 CNP2 CNP3 CNP1 CN1A CN1B CNP2 CNP3 CN2L Screw size: M4 Tightening torque: 1.2 [N•m] Grounding terminal Mounting hole location diagram Mounting screw...

  • Page 105: Mr-J5-70G_/Mr-J5-100G

    MR-J5-70G_/MR-J5-100G_ φ6 mounting hole Approx. 80 Approx. 60 Locking tab Exhaust Cooling fan CNP1 CN1A CN1B CNP2 CNP3 CN2L 3-M5 screw Intake Grounding terminal Approx. 12 42 ± 0.3 Approx. 6 Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...

  • Page 106: Mr-J5-500G

    MR-J5-500G_ Approx. 80 Approx. 105 Approx. Approx. 93 ± 0.5 φ6 mounting Cooling 4-M5 screw hole Exhaust Locking tab CN1A CNP1A CN1B CNP1B CNP2 CNP3 CN2L Intake Grounding terminal Mounting hole location diagram Terminal assignment Mounting screw CNP1A CNP1B CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...

  • Page 107: Mr-J5-_A

    MR-J5-_A_ The following are examples of the MR-J5-_A-RJ servo amplifiers. MR-J5-10A_/MR-J5-20A_/MR-J5-40A_ Approx. 40 φ6 mounting Approx. 6 Approx. 80 hole 2-M5 screw Locking tab Terminal assignment CNP1 CNP2 CNP3 CNP1 CNP2 CNP3 CN2L Screw size: M4 Tightening torque: 1.2 [N•m] Grounding terminal Mounting hole location diagram Mounting screw...

  • Page 108: Mr-J5-70A_/Mr-J5-100A

    MR-J5-70A_/MR-J5-100A_ φ6 mounting Approx. 80 hole Approx. 60 Locking tab Exhaust Cooling fan CNP1 CNP2 CNP3 CN2L 3-M5 screw Intake Grounding terminal 42 ± 0.3 Approx. 12 Approx. 6 Terminal assignment Mounting hole location diagram CNP1 CNP2 CNP3 Mounting screw Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...

  • Page 109: Mr-J5-500A

    MR-J5-500A_ Approx. 80 Approx. 105 Approx. Approx. 93 ± 0.5 φ6 mounting Cooling 4-M5 screw hole Exhaust Locking tab CNP1A CNP1B CNP2 CNP3 CN2L Intake Grounding terminal Mounting hole location diagram Terminal assignment Mounting screw CNP1A CNP1B CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m] Tightening torque: 1.2 [N•m]...

  • Page 110: Mr-J5W_-_G

    MR-J5W_-_G_ MR-J5W2-22G_/MR-J5W2-44G_ Approx. 80 φ6 mounting Approx. 60 hole Cooling Locking tab Exhaust CNP1 CN1A CN1B CNP2 CNP3A CNP3B CN2A CN2B Intake 2-M5 screw Grounding terminal Approx. 6 Locking tab Mounting hole location diagram Terminal assignment Mounting screw CNP1 CNP2 CNP3A Screw size: M5 Screw size: M4...

  • Page 111: Mr-J5W3-222G_/Mr-J5W3-444G

    MR-J5W3-222G_/MR-J5W3-444G_ Approx. 80 φ6 mounting hole Approx. 75 Cooling Locking tab Exhaust CNP1 CN1A CN1B CNP2 CNP3A CNP3B CNP3C CN2A CN2B 3-M5 screw CN2C Intake Grounding terminal Approx. 6 63 ± 0.5 Locking tab Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3A...

  • Page 112: Connector

    Connector Precautions • Obtain the wiring instructions from the manufacturer and wire connectors appropriately. CN3 connector [G] Miniature delta ribbon (MDR) system (3M) ■One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10120-3000PE 10320-52F0-008 22.0...

  • Page 113: Cn3 Connector [A]

    CN3 connector [A] Miniature delta ribbon (MDR) system (3M) ■One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 ■Jack screw M2.6 type This connector is not available as an option. [Unit: mm] Logo or others are indicated here.

  • Page 114: Cn3_Connector [Wg]

    CN3_connector [WG] Miniature delta ribbon (MDR) system (3M) ■One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10126-3000PE 10326-52F0-008 25.8 37.2 14.0 10.0 12.0 ■Jack screw M2.6 type This connector is not available as an option. [Unit: mm] Logo or others are indicated here.

  • Page 115: Scr Connector System (3M)

    SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 4 DIMENSIONS 4.4 Connector...

  • Page 116: Chapter 5 Characteristics

    CHARACTERISTICS For the characteristics of the linear servo motor and the direct drive motor, refer to the following. Page 354 Characteristics Page 388 Characteristics Overload protection characteristics Precautions Servo amplifiers running firmware version A7 or later have improved overload protection for rotary servo motors. Overload protection is triggered in a shorter period of time compared to servo amplifiers running version A6 or earlier so depending on the operation pattern, overload warnings and alarms will easily occur.
  • Page 117 Graph of overload protection characteristics The following table lists servo motors and corresponding graphs of overload protection characteristics. The overload protection characteristics depend on the servo motor. Rotary servo motor Graph of overload protection characteristics HK-KT HK-ST  Page 116 Characteristic a 053W 13UW 1M3W...
  • Page 118 ■Characteristic a 1000 : In operation : In servo-lock Load ratio (rated current ratio of rotary servo motor) [%] ■Characteristic b 1000 : In operation : In servo-lock Load ratio (rated current ratio of rotary servo motor) [%] ■Characteristic c 1000 : In operation : In servo-lock...

  • Page 119: Power Supply Capacity And Generated Loss

    Power supply capacity and generated loss Power supply capacity The following table indicates power supply capacities of servo amplifiers. When the servo motor runs at less than the rated speed, the power supply capacity is smaller than the value in the table. 1-axis servo amplifier Rotary servo motor Servo amplifier...
  • Page 120 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-KT series (Standard voltage: 200 V) HK-KT203W MR-J5-200_ MR-J5-350_ HK-KT202W MR-J5-200_ MR-J5-350_ HK-KT series (Standard voltage: 400 V) HK-KT434W MR-J5-20_ MR-J5-40_ MR-J5-60_ HK-KT634W MR-J5-40_ MR-J5-60_ MR-J5-70_ HK-KT7M34W MR-J5-40_ MR-J5-60_ MR-J5-70_ HK-KT1034W MR-J5-60_ MR-J5-70_ MR-J5-100_...
  • Page 121 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-ST series (Standard voltage: 400 V) HK-ST524W MR-J5-40_ MR-J5-60_ MR-J5-70_ HK-ST1024W MR-J5-60_ MR-J5-70_ MR-J5-100_ HK-ST1724W MR-J5-100_ MR-J5-200_ MR-J5-350_ HK-ST2024AW MR-J5-100_ MR-J5-200_ MR-J5-350_ HK-ST series (Standard voltage: 400 V) HK-ST3024W MR-J5-200_ MR-J5-350_ HK-ST2024W MR-J5-200_ MR-J5-350_...
  • Page 122 Multi-axis servo amplifiers Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-KT series (Standard voltage: 200 V) HK-KT053W MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ HK-KT13W MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ HK-KT1M3W MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ HK-KT13UW MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ HK-KT series (Standard voltage: 200 V) HK-KT23W MR-J5W2-22G_ MR-J5W2-44G_...
  • Page 123 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-KT series (Standard voltage: 400 V) HK-KT434W MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ HK-KT634W MR-J5W2-44G_ MR-J5W2-77G_ MR-J5W2-1010G_ MR-J5W3-444G_ HK-KT7M34W MR-J5W2-44G_ MR-J5W2-77G_ MR-J5W2-1010G_ MR-J5W3-444G_ HK-KT1034W MR-J5W2-77G_ MR-J5W2-1010G_ HK-KT1534W MR-J5W2-77G_ MR-J5W2-1010G_ HK-KT2034W MR-J5W2-1010G_ HK-KT2024W MR-J5W2-1010G_ HK-ST series (Standard voltage: 200 V) HK-ST52W MR-J5W2-77G_...

  • Page 124: Generated Loss

    Generated loss Servo amplifier generated heat The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions. The actual amount of generated heat depends on the frequency of operation and will be between the "At rated output"...

  • Page 125: Using Servo Amplifier With Dc Power Supply Input

    Heat dissipation area for enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) that stores the servo amplifier should be designed to ensure that its internal temperature rise is within +15 °C at an ambient temperature of 40 °C. Calculate the necessary heat dissipation area of the cabinet with the equation below (10.1) while allowing a margin of approximately 5 °C for a maximum ambient temperature of 60 °C.

  • Page 126: Dynamic Brake Characteristics

    Dynamic brake characteristics • The coasting distance is a theoretically calculated value that does not consider factors such as friction. If the braking distance is not longer than the calculated value, a moving part may crash into the stroke end. Install an anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

  • Page 127: Dynamic Brake Operation

    Dynamic brake operation Calculation of coasting distance The following figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use the equation (10.2) to calculate the approximate coasting distance to a stop. The dynamic brake time constant  varies with the servo motor and machine operation speeds.
  • Page 128 Dynamic brake time constant The following shows dynamic brake time constant  that is necessary to calculate the equation (10.2). Motor Amplifier Waveform HK-KT053W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT13W MR-J5-10_ MR-J5-20_ MR-J5-40_...
  • Page 129 Motor Amplifier Waveform HK-KT23W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT43W MR-J5-40_ MR-J5-60_ MR-J5W2-44G_ MR-J5W3-444G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5W2-1010G_ 2000 4000...
  • Page 130 Motor Amplifier Waveform HK-KT63W MR-J5-70_ MR-J5W2-77G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 22.5 21.5 20.5 19.5 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT23UW MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22G_ MR-J5W2-44G_...
  • Page 131 Motor Amplifier Waveform HK-KT43UW MR-J5-40_ MR-J5-60_ MR-J5W2-44G_ MR-J5W3-444G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ MR-J5W2-1010G_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 132 Motor Amplifier Waveform HK-KT7M3W MR-J5-70_ MR-J5W2-77G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 34.5 33.5 32.5 31.5 30.5 29.5 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 133 Motor Amplifier Waveform HK-KT103W MR-J5-100_ MR-J5W2-1010G_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 134 Motor Amplifier Waveform HK-KT7M3UW MR-J5-70_ MR-J5W2-77G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 135 Motor Amplifier Waveform HK-KT103UW MR-J5-100_ 41.5 MR-J5W2-1010G_ 40.5 39.5 38.5 37.5 36.5 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT153W MR-J5-200_ MR-J5-350_ 2000 4000 6000 8000...
  • Page 136 Motor Amplifier Waveform HK-KT202W MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] HK-KT434W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W3-222G_ MR-J5W3-444G_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 137 Motor Amplifier Waveform HK-KT634W MR-J5-40_ MR-J5-60_ MR-J5W2-44G_ MR-J5W3-444G_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5W2-1010G_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 138 Motor Amplifier Waveform HK-KT7M34W MR-J5-40_ MR-J5-60_ MR-J5W2-44G_ MR-J5W3-444G_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5W2-1010G_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 139 Motor Amplifier Waveform HK-KT1034W MR-J5-60_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 140 Motor Amplifier Waveform HK-KT1534W MR-J5-70_ MR-J5W2-77G_ 24.5 23.5 22.5 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 33.8 33.6 33.4 33.2 32.8 32.6 32.4 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-200_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 141 Motor Amplifier Waveform HK-KT2034W MR-J5-100_ MR-J5W2-1010G_ 34.8 34.6 34.4 34.2 33.8 33.6 33.4 33.2 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 Servo motor speed [r/min] HK-KT2024W MR-J5-100_ MR-J5W2-1010G_ 12.5 12.4 12.3 12.2 12.1 11.9 11.8 11.7...
  • Page 142 Motor Amplifier Waveform HK-ST52W MR-J5-60_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 143 Motor Amplifier Waveform HK-ST102W MR-J5-100_ MR-J5W2-1010G_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST172W MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST202AW MR-J5-200_ MR-J5-350_ 1000 2000...
  • Page 144 Motor Amplifier Waveform HK-ST302W MR-J5-350_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] HK-ST202W MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST352W MR-J5-350_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 145 Motor Amplifier Waveform HK-ST502W MR-J5-500_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-700_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST702W MR-J5-700_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 146 Motor Amplifier Waveform HK-ST524W MR-J5-40_ MR-J5-60_ MR-J5W2-44G_ MR-J5W3-444G_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 1000 1500 2000 2500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 147 Motor Amplifier Waveform HK-ST1024W MR-J5-60_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77G_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010G_ 1000 1500 2000 2500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 148 Motor Amplifier Waveform HK-ST1724W MR-J5-100_ MR-J5W2-1010G_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] HK-ST2024AW MR-J5-100_ MR-J5W2-1010G_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] 5 CHARACTERISTICS...
  • Page 149 Motor Amplifier Waveform HK-ST3024W MR-J5-200_ MR-J5-350_ 1000 1200 1400 Servo motor speed [r/min] HK-ST2024W MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] HK-ST3524W MR-J5-200_ MR-J5-350_ 1000 1500 2000 Servo motor speed [r/min] HK-ST5024W MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 150 Motor Amplifier Waveform HK-ST7024W MR-J5-500_ 1000 1500 2000 Servo motor speed [r/min] MR-J5-700_ 1000 1500 2000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 151 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If the ratio exceeds the value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum speed of the servo motor.

  • Page 152: Cable Flex Life

    Cable flex life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life factors in conductor and insulation breakage. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration.

  • Page 153: Inrush Currents At Power-On Of Main Circuit And Control Circuit

    Inrush currents at power-on of main circuit and control circuit Since large inrush currents flow in the power supplies, use molded-case circuit breakers and magnetic contactors. Page 199 Molded-case circuit breakers, fuses, magnetic contactors When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.

  • Page 154: Chapter 6 Options And Peripheral Equipment

    OPTIONS AND PERIPHERAL EQUIPMENT Precautions • HIV wires are recommended to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous generation servo amplifiers. • To prevent an electric shock or a fire, correctly wire options and peripheral equipment, etc. in the correct combination. Cable/connector sets The IP rating indicated for cables and connectors is their protection against ingress of dust and water drops when they are connected to a servo amplifier or servo motor.

  • Page 155: Combinations Of Cable/Connector Sets

    Combinations of cable/connector sets MR-J5-_G_ Controller Servo amplifier Servo amplifier Setup software Ethernet cable MR Configurator2 CN1A CN1A CNP1 CNP1 CN1B CN1B (10) Network CNP2 CNP2 (1) (11) Safety logic unit MR-J3-D05 CNP3 CNP3 CN10 To servo motor CN2L Junction terminal block CN2L power supply PS7DW-20V14B-F...
  • Page 156 MR-J5W_-_G_ Controller Servo amplifier Servo amplifier Setup software Ethernet cable MR-Configurator2 CN1A CN1A CNP1 CNP1 CN1B CN1B Network CNP2 Safety logic unit CNP2 MR-J3-D05 (1) (11) CNP3A CNP3A CN10 CN2A CN2A CNP3B CNP3B CN2B CN2B CNP3C CNP3C CN2C CN2C Junction terminal block MR-TB26A To C-axis servo motor power supply...
  • Page 157 List of cable/connector sets Product name Model Description Remark Servo amplifier  Supplied with 1-axis power connector servo amplifiers of 1 kW or less CNP1 connector CNP2 connector CNP3 connector 06JFAT-SAXGDK-K7.5 05JFAT-SAXGDK-K5.0 03JFAT-SAXGDK-K7.5 (LA) (JST) (LA) (JST) (LA) (JST) Applicable wire size: Applicable wire size: Applicable wire size: 0.8 mm...
  • Page 158 Product name Model Description Remark Servo amplifier  Supplied with multi- power connector axis servo amplifiers of 400 W or less CNP1 connector CNP2 connector CNP3 connector 06JFAT-SAXGDK-K7.5 05JFAT-SAXGDK-K5.0 04JFAT-SAGG-G-KK (LB) (JST) (LA) (JST) (JST) Applicable wire size: Applicable wire size: Applicable wire size: 0.8 mm to 2.1 mm...
  • Page 159 Product name Model Description Remark Junction terminal MR-J2HBUS_M For MR-J5-_G_ block cable Cable length: 0.5 m, 1 m, 5 m (a) MR-J2HBUS_M (b) PS7DW-20V14B-F (Toho Technology Corp. Kyoto factory) Junction terminal block PS7DW-20V14B-F is not available as an option. To use the junction terminal block, option MR-J2HBUS_M is required.
  • Page 160 Product name Model Description Remark Monitor cable MR-J3CN6CBL1M For MR-J5W_-_G_ 3 (red) 2 (white) 1 (black) CN6 connector Housing: 51004-0300 Contact: 50011-8100 (Molex) (10) MR-ACN6CBL1M For MR-J5-_G_ 3 (red) For MR-J5-_A_ 2 (white) 1 (black) CN6 connector Housing: SHR-03V-S Contact: SSH-003T-P0.2-H (JST) (11) Daisy chain power MR-J5CNP12-J1...

  • Page 161: Ethernet Cable [G] [Wg]

    Contact SC-E5EW(-L) Mitsubishi Electric System & Service Co., Please consult your local Mitsubishi Electric representative. Ltd. *1 The SC-E5EW cable is for in-cabinet and indoor uses. The SC-E5EW-L cable is for outdoor use. For cables other than SC-E5EW(-L), refer to the CC-Link Partner Association website (https://www.cc-link.org/en/).

  • Page 162: Regenerative Option

    Regenerative option Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. 200 V class Servo amplifier Regenerative power [W] Built-in regenerative RB032 RB12 RB14 RB30 RB3N RB31 RB34 RB50 RB5N RB51 resistor [40 Ω] [40 Ω] [26 Ω]...

  • Page 163: Selection Of The Regenerative Option [G] [A]

    Selection of the regenerative option [G] [A] A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. Rotary servo motor ■Regenerative energy calculation Servo motor Feed speed of moving part Forward...
  • Page 164 *1*2 Regenerative Torque T applied to servo motor [N•m] Energy E [J] power /η + J ) • N 0.1047 • • N • T • t psa1 9.55 • 10 psa1 = 0.1047 • N • T • t •...
  • Page 165 For linear servo motors ■Thrust and energy calculation Linear servo motor Linear servo motor feed speed secondary side (magnet) Load Positive direction Time Negative Linear servo motor direction primary side (coil) Linear servo motor psa1 psd1 psa2 psd2 The following shows formulas of the linear servo motor thrust and energy at the operation pattern above. Section Thrust F of linear servo motor [N] Energy E [J]...

  • Page 166: Selection Of The Regenerative Option [Wg]

    Selection of the regenerative option [WG] A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. Rotary servo motor ■Regenerative energy calculation Servo motor Feed speed of moving part Forward...
  • Page 167 *1*2 Regenerative Torque T applied to servo motor [N•m] Energy E [J] power /η + J ) • N 0.1047 • • N • T • t psa1 9.55 • 10 psa1 = 0.1047 • N • T • t •...
  • Page 168 ■Calculation of regenerative energy per cycle As an example, calculate the regenerative energy in the following operation pattern with MR-J5W3-_G_ servo amplifier. (10) (11) Servo motor speed tf (one cycle) tf (one cycle) A-axis Time B-axis Time C-axis Time Calculate the energy at each timing in one cycle. Energy is a positive value in power running and a negative value in regeneration.
  • Page 169 For linear servo motors ■Thrust and energy calculation Linear servo motor Linear servo motor feed speed secondary side (magnet) Load Positive direction Time Negative Linear servo motor direction primary side (coil) Linear servo motor psa1 psd1 psa2 psd2 The following shows formulas of the linear servo motor thrust and energy at the operation pattern above. Section Thrust F of linear servo motor [N] Energy E [J]...

  • Page 170: Servo Parameter Setting

    Servo parameter setting Set [Pr. PA02] according to the regenerative option to be used. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-A User's Manual (Parameters) Connection of regenerative option If using the MR-RB50, MR-RB51, or MR-RB5N, a cooling fan is required for cooling. The cooling fan should be prepared by the customer.

  • Page 171: Dimensions

    Dimensions MR-RB032 [Unit: mm] φ6 mounting hole Approx. 20 Mass: 0.5 [kg] • Terminal TE1 Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
  • Page 172 MR-RB12/MR-RB14 [Unit: mm] φ6 mounting hole Approx. 20 Mass: 1.1 [kg] • Terminal TE1 Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
  • Page 173 MR-RB30/MR-RB3N/MR-RB31/MR-RB34 [Unit: mm] Screw for mounting cooling fan (2-M4 screw) 101.5 82.5 Intake • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg] MR-RB30 MR-RB31 MR-RB34 MR-RB3N...
  • Page 174 MR-RB50/MR-RB5N/MR-RB51 [Unit: mm] Screw for mounting cooling fan (2-M3 screw) opposite side 82.5 7×14 slotted hole Intake Approx. 30 • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg] MR-RB50...

  • Page 175: Mr-Cm Simple Converter

    MR-CM simple converter Combination of simple converter and servo amplifier Selection method Select a servo amplifier for connection that meets the following conditions. • Connectable servo amplifier models MR-J5-10_ to MR-J5-200_, MR-J5W2-22G_ to MR-J5W2-1010G_, MR-J5W3-222G_/MR-J5W3-444G_ • The sum of rated capacities of connected servo amplifiers [kW] ≤ 3 kW (MR-CM3K rated output) For multi-axis servo amplifiers, the calculation uses the sum of the rated capacities of all axes as the rated capacity of one servo amplifier.
  • Page 176 Environment Item Operation Transportation Storage Ambient temperature 0 ˚C to 60 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) Class 1K4 (IEC 60721-3-1) Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) Ambience...

  • Page 177: External Interface

    External interface Example of configuration including peripheral equipment For mounting CNP1 and CNP2 to the servo amplifier, use daisy chain power connectors. Do not use the connector set supplied with the servo amplifier. Page 155 List of cable/connector sets ■Restrictions •...
  • Page 178 Parts identification ■200 V class Name/Application Main circuit power connector (CNP1) Connect the input power supply. PN bus connection connector (CNP2) Connect to P4/N- pin of next-axis servo amplifier. Overheat detection connector (CN10) If overheating is detected, between terminals changes to "OPEN". Protective earth PE terminal ■Pin assignment •...
  • Page 179 • CN10 Pin number diagram viewed from Wiring side Pin No. Signal name Description Main circuit overheat protection contact 1  Unassigned Main circuit overheat protection contact 2 To wire to CNP1, CNP2, and CN10, use the supplied connectors. Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufacturer...

  • Page 180: Signals And Wiring

    Signals and wiring 200 V class Servo motor overheat Malfunction protection Emergency stop switch Simple converter CN10 24 V DC (100 V AC compatible) To next-axis servo amplifier Servo amplifier CNP1 24 V DC CNP1 MCCB DOCOM 3-phase CNP2 200 V AC to 240 V AC Main circuit power supply...
  • Page 181 *1 Use daisy chain power connectors for CNP1 and CNP2. Do not use the connector set supplied with the servo amplifier. Page 155 List of cable/connector sets *2 Connect P+ and D terminals. (factory-wired). *3 Do not remove dummy pins or wires attached to CNP2 connectors. *4 If overheating of the simple converter is detected, the state between TH1 and TH2 is open.

  • Page 182: Dimensions

    Dimensions [Unit: mm] Approx. 40 φ6 mounting hole Approx. 80 Approx. 6 2-M5 screw CNP1 CNP2 CN10 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter...

  • Page 183: Peripheral Equipment

    Molded-case circuit breaker Semiconductor fuse (700 V) Magnetic contactor Frame, rated current Voltage BUSSMANN: 170M series AC [V] Mitsubishi Electric: NF125-SVU Less than 2 125 A frame 15A 170M1409 (16 A) S-T21 CM3K 2 kW or 125 A frame 20A...

  • Page 184: Mounting Direction And Clearances

    Surge protector Install a surge protector that meets the EMC measures of the servo amplifier to be connected onto the primary (input) side of the simple converter. PSPD series (manufactured by Okaya Electric Industries) or LT-CS-WS series (manufactured by Soshin Electric) I/O wires The input/output wire size of the simple converter is determined by the sum of the rated input currents of the connected servo...

  • Page 185: Xc Multifunction Regeneration Converter

    FR-XC multifunction regeneration converter For information on the FR-XC multifunction regeneration converter, refer to the FR-XC Instruction Manual (IB(NA)0600668ENG). Precautions • Turn on switch 1 (common bus mode) of the FR-XC function selection switch (SW2). • Do not apply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Doing so will cause the servo amplifier and FR-XC to malfunction.
  • Page 186 ■Dedicated stand-alone reactor Pair the applicable FR-XC multifunction regeneration converter with the appropriate dedicated stand-alone reactor as shown in the table below. Multifunction regeneration converter Dedicated stand-alone reactor FR-XC-7.5K FR-XCL-7.5K FR-XC-11K FR-XCL-11K FR-XC-15K FR-XCL-15K FR-XC-22K FR-XCL-22K FR-XC-30K FR-XCL-30K FR-XC-37K FR-XCL-37K FR-XC-55K FR-XCL-55K FR-XC-H7.5K...
  • Page 187 Calculate the running power and regenerative power from the servo motor speed and torque with the following formulas. • For rotary servo motors Running power and regenerative power [W] = Servo motor speed [r/min] × Torque [N•m]/9.55 • For linear servo motors Running power and regenerative power [W] = Servo motor speed [m/s] ×...

  • Page 188: Connection Diagram

    Connection diagram 200 V class *11*12 Servo amplifier Servo motor FR-XCL FR-XC MCCB R2/L12 R/L1 R2/L12 3-phase S2/L22 S/L2 200 V AC S2/L22 to 240 V AC T/L3 T2/L32 T2/L32 R/L1 S/L2 T/L3 24 V DC R1/L11 24 V DC S1/L21 DOCOM Controller...

  • Page 189: Wiring And Peripheral Options

    Wiring and peripheral options Wire size Selection conditions of wire size are as follows. Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair ■Between P/+ to P4 and N/- to N- The table below shows the wire sizes used for connecting the FR-XC and servo amplifier.
  • Page 190 Wire size selection example (between P/+ and P4, between N/- and N-) When connecting multiple servo amplifiers to the FR-XC, junction terminal blocks must be used for the wiring to terminals P4 and N- on the servo amplifiers. Connect the servo amplifiers in order with the largest capacity first. ■200 V class Wire as short as possible.
  • Page 191 Fuses (between P/+ and P4, between N/- and N-) The table below lists the recommended fuses to install between the FR-XC and servo amplifier(s). Servo amplifier capacity [kW] 200 V class Fuse rating [A] Model 6.900CPGR10.38 0020 6.900CPGR10.38 0020 6.900CPGR10.38 0025 6.900CPGR10.38 0025 0.75 6.900CPGR10.38 0030...

  • Page 192: Ps7Dw-20V14B-F Junction Terminal Block (Recommended) [G]

    PS7DW-20V14B-F junction terminal block (recommended) [G] Usage Use the junction terminal block (PS7DW-20V14B-F) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET) MR-J2HBUS_M For MR-J2HBUS_M, ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN- ESET).
  • Page 193 Dimensions of junction terminal block [Unit: mm] 44.11 7.62 φ4.5 TB.E (φ6) M3 × 5L 1.42 M3 × 6L 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 PS7DW-20V14B-F junction terminal block (recommended) [G]...

  • Page 194: Mr-Tb50 Junction Terminal Block [A]

    MR-TB50 junction terminal block [A] Usage Use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2M-CN1TBL_M) as a set. Servo amplifier Junction terminal block MR-TB50 Cable clamp Junction terminal block cable (MR-J2M-CN1TBL_M) Ground the junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN- ESET).
  • Page 195 Junction terminal block cable MR-J2M-CN1TBL_M ■Model explanations Model: Symbol Cable length [m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 MR-TB50 junction terminal block [A]...

  • Page 196: Mr-Tb26A Junction Terminal Block [Wg]

    MR-TB26A junction terminal block [WG] Usage Use the junction terminal block (MR-TB26A) with the junction terminal block cable (MR-TBNATBL_M) as a set. To use a junction terminal block, mount it to the DIN rail. Cable length 05: 0.5 m 1: 1 m The terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector of a servo amplifier.
  • Page 197 Dimensions [Unit: mm] *1 Values in parentheses are the sizes when installed with a 35 mm DIN rail. 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.7 MR-TB26A junction terminal block [WG]...

  • Page 198: Mr Configurator2

    MR Configurator2 Engineering tool MR Configurator2 (SW1DNC-MRC2-_) can be used with this servo amplifier. For the engineering tool specifications and system configuration, refer to the installation guide of the engineering tool. Precautions for using USB communication function and Ethernet communication function Note the following to prevent an electric shock or malfunction of the servo amplifier.

  • Page 199: Selection Example Of Wires

    Selection example of wires To comply with the IEC/EN/UL/CSA standard for wiring, use the wires described in the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391). To comply with other standards, use wires that comply with each standard. Selection conditions of wire size are as follows. Construction requirements: Single wire set in midair Wiring length: 30 m or less The following shows the wires used for wiring.
  • Page 200 Wire size selection examples Use 600 V Grade heat-resistant polyvinyl chloride insulated wires (HIV wires) for wiring. The following shows the wire size selection examples. ■200 V class Servo amplifier Wire [mm (1) L1/L2/L3/ (2) L11/L21 (3) P/C (4) U/V/W/E MR-J5-10_ 2 (AWG 14): a 1.25 to 2 (AWG 16 to 14)

  • Page 201: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

    *2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. *3 Use a molded-case circuit breaker that has operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
  • Page 202 A Type E combination motor controller can also be used instead of a molded-case circuit breaker. The Type E combination motor controller is the product combined with the motor circuit breaker, the short-circuit indicator unit UT-TU, and the line side terminal adapter UT-CV3.
  • Page 203 80 ms or less. *3 The molded-case circuit breaker is the same regardless of whether a power factor improving AC reactor is used. *4 Use a molded-case circuit breaker that has operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
  • Page 204 100 A frame 75 A 60 A frame 60 A *1 Use a molded-case circuit breaker that has operation characteristics equal to or higher than Mitsubishi Electric general-purpose products. *2 Use the 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 205 *1 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. *2 Use a molded-case circuit breaker that has operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
  • Page 206 Driving on/off of main circuit power supply with DC power supply [G] [A] Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Servo amplifier Magnetic contactor MR-J5-10_ to MR-J5-100_ SD-T12...

  • Page 207: Main Circuit Wiring (Connecting Multiple Servo Amplifiers To One Molded-Case Circuit Breaker)

    Main circuit wiring (connecting multiple servo amplifiers to one molded-case circuit breaker) When connecting multiple servo amplifiers to one molded-case circuit breaker for reasons such as the ease of installing a molded-case circuit breaker (MCCB) into a cabinet or the cost efficiency, check that the following requirements are satisfied before starting the servo system.
  • Page 208 MR-J5W2-1010G_ ■Molded-case circuit breakers (MCCB) and magnetic contactors (MC) The following tables show lists of rated currents for the Mitsubishi Electric UL 489 Listed molded-case circuit breakers and for magnetic contactors. • List of rated currents for molded-case circuit breakers (MCCB)

  • Page 209: Example Settings That Comply With Iec/En/Ul 61800-5-1 And Csa C22.2 No.274

    Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 The molded-case circuit breakers, semiconductor fuses, and recommended wire gauges in the tables are selections based on the rated I/O of the servo amplifier. If the servo motor connected to the amplifier has a lower capacity than those shown in the table, molded-case circuit breakers and semiconductor fuses with lower ratings can be used.
  • Page 210 Recommended wire Servo amplifier 75 °C Stranded wire [AWG] L1/L2/L3 L11/L21 P+/C U/V/W/E MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5-70_ MR-J5-100_ MR-J5-200_ (3-phase power supply input) MR-J5-200_ (1-phase power supply input) MR-J5-350_ MR-J5-500_ MR-J5-700_ MR-J5W2-22G_ MR-J5W2-44G_ MR-J5W2-1010G_ MR-J5W2-77G_ MR-J5W3-222G_ MR-J5W3-444G_ *1 If a servo motor with a capacity lower than the servo amplifier rating is connected, cable sizes based on that motor can be used. Molded-case circuit breaker/Semiconductor fuse (simple converter) Simple converter Total servo amplifier capacity...

  • Page 211: Power Factor Improving Dc Reactor

    6.11 Power factor improving DC reactor Advantages • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. • The input power factor is improved to about 85 %. •...
  • Page 212 4-d mounting hole (Varnish is removed only from bottom right (face and back side)) D or less P P1 Servo amplifier FR-HEL 5 m or less W ± 2 Servo amplifier Power factor Dimensions [mm] Terminal Mass Wire [mm improving size [kg] DC reactor...

  • Page 213: Power Factor Improving Ac Reactor

    6.12 Power factor improving AC reactor Advantages • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. • The input power factor is improved to about 80 %. Restrictions When using power factor improving AC reactors for two servo amplifiers or more, connect a power factor improving AC reactor to each servo amplifier.
  • Page 214 200 V class [G] [A] Servo amplifier 3-phase 200 V class Terminal assignment FR-HAL S Y T MCCB 4-d mounting hole 3-phase (Varnish is removed only from bottom right 200 V AC to 240 V AC (face and back side)) D or less Servo amplifier 1-phase 200 V class...
  • Page 215 Terminal assignment S Y T 4-d mounting hole (Varnish is removed only from bottom right (face and back side)) D or less Servo amplifier 3-phase 200 V class FR-HAL MCCB 3-phase 200 V AC to 240 V AC W ± 2 Servo amplifier Power factor Dimensions [mm]...

  • Page 216: Relay (Recommended)

    6.13 Relay (recommended) The following relays should be used with each interface. Interface Selection example Digital input signal (interface DI-1) To prevent loose connections, use a relay for small signal (twin contacts). Relay used for digital input command signals (Ex.) Omron: type G2A, type MY Digital output signal (interface DO-1) Small relay with 12 V DC or 24 V DC of rated current 40 mA or less Relay used for digital output signals...
  • Page 217 ■Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input/output), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 218 Noise transmission Suppression techniques route (1), (2), (3) A malfunction due to noise transmitted through the air may occur in devices which handle weak signals and are susceptible to noise, such as measuring instruments, receivers and sensors. In addition, a malfunction may also occur when their signal cables are stored in a cabinet together with the servo amplifier or when the signal cables run near the servo amplifier.
  • Page 219 ■Noise reduction techniques for the network cable Take measures against noise for both ends of the network cable. If using the network cable in an environment with excessive noise, directly connect the shield of the cable to the ground plate with cable clamp fittings at a place 200 mm to 300 mm or less from the servo amplifier.
  • Page 220 • Outside the cabinet When using cable clamp fittings Inside the cabinet Outside the cabinet Servo amplifier Cable clamp fitting Locate 5 mm to 10 mm away from the cabinet entrance. When using a data line filter Inside the cabinet Outside the cabinet Servo amplifier Data line filter...
  • Page 221 ■Surge killer (recommended) Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo amplifier. Use the following surge killer or equivalent. Relay Surge killer Surge killer 20 cm or less CR-50500 (Okaya Electric Industries) Rated C [μF R [Ω...
  • Page 222 • Dimensions [Unit: mm] Grounding plate Clamp fitting 2-φ5 hole 17.5 Mounting hole L or less M4 screw *1 Screw hole for grounding. Connect it to the ground plate of the cabinet. Model Accessory fittings AERSBAN-DSET Clamp A: 2 pcs. ...
  • Page 223 ■Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noise radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It is especially effective for noise between 0.5 MHz and 5 MHz band.
  • Page 224 ■Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surges from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K, and TND20V-102K manufactured by Nippon Chemi-Con are recommended.

  • Page 225: Earth-Leakage Current Breaker

    6.15 Earth-leakage current breaker Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor, which runs on AC power. Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.
  • Page 226 A-axis Cable Noise filter Cable Servo B-axis amplifier Cable C-axis Earth-leakage current breaker Type Mitsubishi Electric products Models provided with harmonic and surge reduction NV-SP techniques NV-SW NV-CP NV-CW NV-HW General models BV-C1 NV-L Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the servo amplifier Page 225 Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit...
  • Page 227 ■Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit • 200 V class 5.5 14 38 100 60 150 Wire size [mm²] ■Servo motor leakage current example (Igm) Servo motor output [kW] Leakage current [mA] 0.05 to 1 1.2 to 2 3 to 3.5...

  • Page 228: Selection Example

    Selection example This section shows examples of selecting an earth-leakage current breaker under the following conditions. MR-J5-_G_ or MR-J5-_A_ 2 mm × 5 m 2 mm × 5 m Servo amplifier Servo motor MR-J5-40G HK-KT43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram.
  • Page 229 MR-J5W_-_G_ 2 mm × 5 m Cable A-axis servo motor HK-KT23 2 mm × 5 m Cable Servo amplifier B-axis servo motor HK-KT23 MR-J5W3-222G Cable C-axis servo motor HK-KT23 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram. Ig1 = 20 •...

  • Page 230: Emc Filter (Recommended)

    6.16 EMC filter (recommended) When connecting multiple servo amplifiers to one EMC filter, refer to "EMC Installation Guidelines". It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have a large leakage current.
  • Page 231 Connection example ■For 3-phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB 3-phase 200 V AC to 240 V AC Surge protector *1 When a surge protector is used. ■For 1-phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB...
  • Page 232 Dimensions ■EMC filter Contact the manufacturer for external dimensions of the HF3040C-SZB, HF3100C-SZL, and HF3150C-SZL. • FSB-10-254-HU/FSB-20-254-HU/FSB-30-254-HU [Unit: mm] Terminal block cover 87.5 2-φ5.5 Protective earth (PE) Mounting hole 3-M4 Output 3-M4 Input Protective earth (PE) Mounting plate • FSB-40-324-HU [Unit: mm] 2-φ5.5 Mounting hole...
  • Page 233 • HF3010C-SZB/HF3020C-SZB/HF3030C-SZB [Unit: mm] R2.2 5 × 6 210 ± 2 φ4.5 78 ± 4 220 ± 4 • HF3030C-SZL/HF3060C-SZL [Unit: mm] R2.2 5 × 6 φ4.5 210 ± 2 78 ± 4 220 ± 4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended)
  • Page 234 ■Surge protector (recommended) For details on surge protectors, refer to "EMC Installation Guidelines". • RSPD series (Okaya Electric Industries) [Unit: mm] φ4.2 ± 0.5 Resin Lead Case 41 ± 1 • LT-CS-WS series (Soshin Electric) Operation status display Grounding wire Vinyl wire 22.5 6 OPTIONS AND PERIPHERAL EQUIPMENT...

  • Page 235: Mr-J3-D05 Safety Logic Unit

    6.17 MR-J3-D05 safety logic unit Contents of the package Open the package and check the contents. Packed articles Quantity MR-J3-D05 safety logic unit CN9 connector (1-1871940-4 TE Connectivity) CN10 connector (1-1871940-8 TE Connectivity) MR-J3-D05 safety logic unit installation guide Terms related to safety Stop function for IEC/EN 61800-5-2 ■STO function (Refer to IEC/EN 61800-5-2: 2016 4.2.2.2 STO.) This is a function of MR-J5 series servo amplifiers.

  • Page 236: Precautions

    Residual risks Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG functions. Mitsubishi Electric is not liable for any accidents such as damage and injuries caused by these risks.

  • Page 237: Block Diagram And Timing Chart

    Block diagram and timing chart Function block diagram A-axis circuit +24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+ Safety logic TIMER1 DC-DC power supply B-axis circuit TIMER2 SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A- SW1 SW2 Operation sequence Power supply 15 ms or longer A-axis shut-off 1 and 2...

  • Page 238: Functions And Configuration

    Functions and configuration Outline The MR-J3-D05 has two systems of output for the SS1 function (delay time) and the STO function each. Specifications Safety logic unit model MR-J3-D05 Control circuit Voltage DC 24 V power supply Permissible voltage fluctuation 24 V DC ±10 % *1*2 Required current capacity [A] Supported system...
  • Page 239 When using MR-J3-D05 for MR-J5 series servo amplifiers ■System configuration example The connection destinations of the STO switch and STO release switch are shown in the following figure. MR-D05UDL_M (STO cable) cannot be used. MR-J3-D05 Servo amplifier Power Magnetic supply EM2 (Forced stop 2) contactor MCCB...
  • Page 240 ■Connection example 24 V MR-J3-D05 RESA RESB STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- Servo amplifier SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B- Servo amplifier SDO1B+ CN8B...

  • Page 241: Signal

    Signal Connectors and pin assignment ■CN8A Device name Symbol Pin No. Function and usage I/O signal interface type A-axis STO1 STO1A- Outputs STO1 to the A-axis drive system. STO1A+ Outputs the same signal as A-axis STO2. STO state (base circuit shut-off): Between STO1A+ and STO1A- becomes open. STO release state (driving): Between STO1A+ and STO1A- becomes closed.
  • Page 242 ■CN10 Device name Symbol Pin No. Function and usage I/O signal interface type A-axis shut-off 2 SDI2A+ Inputs Safety switch to the A-axis drive system. DI-1 SDI2A- Input the same signal as A-axis shut-off 1. STO state (base circuit shut-off): Open between SDI2A+ and SDI2A-. STO release state (driving): Close between SDI2A+ and SDI2A-.
  • Page 243 Interface For the MR-J3-D05, source type I/O interfaces can be used. ■Sink I/O interface (CN9, CN10 connectors) • Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal. Transmit signals from a sink (open- collector) type transistor output, relay switch, etc.
  • Page 244 ■Source I/O interface (CN9, CN10 connectors) • Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc. MR-J3-D05 SRESA-, etc.
  • Page 245 Connecting wires Check the model numbers of the housing, contact, and tool to be used. Insert the tool diagonally in relation to the terminal block. Insert the tool until it touches the surface of the terminal block. The tool becomes perpendicular to the terminal block at this point.
  • Page 246 • Connecting wires with a screwdriver If using a screwdriver when connecting wires, do not insert the screwdriver with too much force. Doing so may damage the housing or spring. Be careful when working. Applicable screwdrivers Screwdriver shape φ2.3 mm Screwdriver shape φ2.5 mm Shaft diameter: 2.3 mm ±...
  • Page 247 ■Other precautions • Fix a cable tie at a distance of A x 1.5 or more from the connector end surface. A × 1.5 or more • Prevent the wire from being pulled excessively after the connecter is inserted in the servo amplifier. Wiring FG Bottom face Lead wire...
  • Page 248 LED display The LEDs show I/O statuses and faults for the A-axis and B-axis and whether power is being supplied. MR-J3-D05 SRES SDI1 SDI2 SDO1 SDO2 FAULT POWER Description Column A Column B SRES Shut-off release monitor LED A-axis B-axis Off: Shut-off release is off.
  • Page 249 Troubleshooting If the power does not turn on or if the FAULT LED is on, take corrective actions according to the following table. Event Description Cause Action The power does not Even when the power is turned on, The 24 V DC power supply has Replace the 24 V DC power supply.
  • Page 250 Dimensions [Unit: mm] 22.5 19.5 Approx. 22.5 Approx. 80 9.75 φ5 mounting hole 9.75 Rating plate 2-M4 screw Mounting hole process drawing Pin assignment Mounting screw CN10 CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B SRESA+ SRESA- STO2A-...
  • Page 251 Installation Install the MR-J3-D05 in the specified orientation. Leave clearance between the MR-J3-D05 and the cabinet or other equipment. Cabinet Cabinet Cabinet 40 mm or 100 mm or longer 80 mm or longer longer 10 mm or for wiring longer 10 mm or 30 mm or 10 mm...
  • Page 252 Combinations of cables and connectors MR-D05UDL_M (STO cable) cannot be used. MR-J3-D05 Servo amplifier Servo amplifier CN10 MR-J3-D05 attachment connector Product Model Description name Connector Supplied with the MR-J3-D05 CN9 connector: 1-1871940-4 (TE Connectivity) CN10 connector: 1-1871940-8 (TE Connectivity) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Cable length: 3 m...
  • Page 253 6.18 J5-CHP07-10P cabinet-mounting attachment Using the cabinet-mounting attachment to install the servo amplifier into a cabinet enables you to tighten the installation screw with the screwdriver held horizontally. Compatible models • MR-J5-10_ to MR-J5-350_ • MR-J5W2-22G_ to MR-J5W2-1010G_ • MR-J5W3-222G_ and MR-J5W3-444G_ •...
  • Page 254 Fitting method Install the attachment onto the servo amplifier before installing the servo amplifier into the cabinet. *1 Use one of the flat head screws included with the attachment. (Tightening torque: 1.2 [N•m]) Installation precautions Ensure that the attachment is installed perfectly straight so that it does not protrude beyond the side of the module. If the attachment is not straight, the hole in the bracket may not alight with the screw hole.
  • Page 255 Components Components are listed in the following table. Packed articles Quantity Cabinet-mounting attachment Flat head screw (M4) Installation dimensions Exterior dimensions at installation The following are examples of the MR-J5-10A servo amplifiers. [Unit: mm] φ6 mounting hole *1 12 mm for the MR-J5-70_ and MR-J5-100_. 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment...
  • Page 256 Installation hole dimensions ■MR-J5-10_/MR-J5-20_/MR-J5-40_/MR-J5-60_/MR-CM3K [Unit: mm] Approx. 40 Approx. 6 2-M5 SCREW ■MR-J5-70_/MR-J5-100_ [Unit: mm] Approx. 60 3-M5 screw Approx. 12 42 ± 0.3 Approx. 6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment...
  • Page 257 ■MR-J5-200_/MR-J5-350_ [Unit: mm] Approx. 90 3-M5 screw Approx.6 78 ± 0.3 Approx. 6 ■MR-J5W2-22G_/MR-J5W2-44G_ [Unit: mm] Approx. 60 2-M5 SCREW Approx. 6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment...
  • Page 258 ■MR-J5W2-77G_/MR-J5W2-1010G_ [Unit: mm] Approx. 85 3-M5 screw Approx.6 73 ± 0.3 ■MR-J5W3-222G_/MR-J5W3-444G_ [Unit: mm] Approx. 75 3-M5 screw Approx.6 63 ± 0.5 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment...
  • Page 259 6.19 J5-CHP08 grounding terminal attachment Using the grounding terminal attachment allows wiring of the grounding terminal on the front of the servo amplifier. It also allows the cable to be secured to the front of the servo amplifier. Precautions Ensure that the cable does not apply excessive stress to the attachment. Compatible models •...
  • Page 260 Dimensions [Unit: mm] 19.5 φ6 mounting hole 109.3 View when installed *1 The recommended screw tightening torque is 1.5 ± 0.1 N•m. Main circuit cable clamp Protective earth (PE) Motor power cable clamp 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment...
  • Page 261 Components Components are listed in the following table. The attachment, cable clamp, and screws do not come pre-installed. Packed articles Quantity Grounding terminal attachment Cable clamp (manufactured by: Takeuchi Industry Co., Ltd. ALC-7/bundle diameter φ6.5 mm to 7.5 mm) Flat head screw (M4) ALC series aluminum clamps (manufactured by Takeuchi Industry Co., Ltd.) can also be used.
  • Page 262 ■MR-J5-60_ [Unit: mm] φ6 mounting hole CNP1 CNP2 CNP3 CN2L 109.3 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment...
  • Page 263 ■MR-J5-70_/MR-J5-100_ [Unit: mm] φ6 mounting hole CNP1 CNP2 CNP3 CN2L 109.3 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment...
  • Page 264 ■MR-J5-200_/MR-J5-350_ [Unit: mm] φ6 mounting hole CNP1 CNP2 CNP3 CN2L 109.3 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment...
  • Page 265 ABSOLUTE POSITION DETECTION SYSTEM Precautions • If [AL. 025 Absolute position erased] or [AL. 0E3 Absolute position counter warning] occurs, execute homing again. • For the replacement procedure of the battery, refer to the following. Page 398 Battery • Disconnection of the encoder cable or replacement of the battery while the control circuit power supply is off causes the encoder to erase the absolute position data.
  • Page 266 System architecture The following shows the architecture of the absolute position detection system. When connecting the battery-less absolute position encoder Controller Servo amplifier CN1_ Servo motor Do not connect anything. When connecting the battery backup type absolute position encoder For each battery connection, refer to the following. Page 398 Battery Controller Servo amplifier...
  • Page 267 Checking the detected absolute position data Absolute position data can be checked with MR Configurator2. Choose "Monitor" and "ABS Data Display" to open the absolute position data display screen. Item Screen operation Motor (machine) side pulse unit value Acquires and displays values in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis.
  • Page 268 Rotary servo motor manufactured by 8000 [r/min] Mitsubishi Electric (only when the acceleration/deceleration time until 8000 r/min is 0.2 s or longer) *1 Maximum speed available when the shaft is rotated by external force at the time of power failure. Also, if power is switched on when the servo motor is rotated by an external force at a speed of 3000 r/min or higher, position mismatch may occur.
  • Page 269 Home position ± 32767 rev Maximum speed at power failure Direct drive motor manufactured by [r/min] Mitsubishi Electric (only when acceleration/deceleration time until 500 r/min is 0.1 s or longer) Battery backup time Direct drive motor manufactured by Approximately 5000 hours (when the equipment power is off, and the Mitsubishi Electric ambient temperature is 20 ˚C)
  • Page 270 Home position ± 32767 rev Maximum speed at power failure Direct drive motor manufactured by [r/min] Mitsubishi Electric (only when acceleration/deceleration time until 500 r/min is 0.1 s or longer) Battery backup time Direct drive motor manufactured by Approximately 10000 hours/2 axes or less, 7000 hours/3 axes, or 5000...
  • Page 271 Absolute position detection system by DIO [A] The absolute position detection system by DIO establishes the absolute position between the controller and servo amplifier, by transferring the absolute position information from the servo amplifier to the controller using the DIO signal. Standard connection example Servo amplifier 24 V DC...
  • Page 272 Signal explanation When the absolute value data is transferred, the signals of connector CN3 change as follows. On completion of data transfer, the signal returns to the previous status. Other signals do not change. Signal name Symbol Function and application Control connector signal...
  • Page 273 Startup procedure Battery installation (when using a direct drive motor) Refer to the following. Page 398 Battery Servo parameter setting Set [Pr. PA03.0] to "1" and cycle the power. Canceling [AL. 025 Absolute position erased] After the encoder cable is connected, [AL. 025] occurs at initial power-on. Cycle the power to deactivate the alarm. Confirmation of absolute position data transfer When SON is turned on, the absolute position data is transferred to the programmable controllers.
  • Page 274 Absolute position data transfer protocol The following shows the data transfer procedure. After switching on ABSM, turn on SON. When ABSM is off, turning on SON does not switch on the base circuit. Data transfer procedure Each time SON is turned on, such as when the power is switched on, the current position data in the servo amplifier is read to the programmable controllers.
  • Page 275 Transfer method The following shows the procedure for turning on the base circuit again from when the base circuit is in off status because the SON and EM2 are off, or alarm occurred. In the absolute position detection system, every time SON signal is turned on, turn on ABSM to read the current position in the servo amplifier to the controller.
  • Page 276 • Detailed explanation of absolute position data transfer Servo-on in programmable controller SON (Servo-on) During ABS transfer ABSM (ABS transfer mode) ABSR (ABS request) ABST (ABS transmission data ready) ABSB0 (ABS transmission data bit 0) Lower 2 Upper 2 bits of bits ABSB1 (ABS transmission data bit 1) checksum...
  • Page 277 • Checksum The checksum is the code which is used by the programmable controller to check for errors in the received absolute position data. The 6-bit checksum is transmitted following the 32-bit absolute value data. Calculate the sum of the received absolute position data using the sequence program and compare it with the checksum code sent from the servo.
  • Page 278 ■Transmission error In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. 0E5] when a time-out error occurs. [AL. 0E5 ABS time-out warning] is canceled when ABSM changes from off to on. • ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units + checksum) If the ABS request signal from the programmable controller is not turned on within 5 s after ABST is turned on, this will be treated as a transmission error and [Al.
  • Page 279 • ABS transfer mode finish-time time-out check If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for absolute position data transmission) is turned on, this will be treated as a transmission error and [AL. 0E5] occurs. ABSM (ABS transfer mode) Does not turn OFF ABSR (ABS request)
  • Page 280 • SON-off, RES-on, and EM2-off check during the ABS transfer If the ABS transfer mode is turned on, and after the transfer starts, if SON-off, RES-on, or EM2-off before the 19th ABST is on, this will be treated as a transmission error and [AL. 0E5] occurs. SON (Servo-on) ABSM (ABS transfer mode) ABSR (ABS request)
  • Page 281 ■Alarm cancellation If an alarm occurs, detect ALM and turn off SON. While an alarm is occurring, ABSM is not received. After removing the alarm factor, cancel the alarm and then turn on ABSM. During reset, ABSM is received. SON (Servo-on) RES (Reset) During ABS transfer ABSM (ABS transfer mode)
  • Page 282 ■During forced stop release • When power is switched on in a forced stop status Even if forced stop is canceled during absolute position data transfer, there is no problem with the transfer. If forced stop is canceled during the absolute position data transfer, the base circuit turns on 200 ms to 450 ms after the cancellation. If ABSM is off, RD is turned on 5 ms after the base circuit turns on.
  • Page 283 • If forced stop is activated during servo-on ABSM can be received during forced stop. However, the base circuit and RD turn on after the forced stop is canceled. SON (Servo-on) RES (Reset) ABSM (ABS transfer mode) During ABS transfer ABSR (ABS request) ABST (ABS transmission data ready) ABSB0 (ABS transmission data bit 0)
  • Page 284 Homing ■Dog type homing Set the creep speed of homing in advance to prevent shock from hitting the machine. On detection of a zero pulse, CR (homing) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position absolute position data.
  • Page 285 ■Data set type homing Move the machine to the position where the home position is to be set by performing the manual operation such as JOG operation. When CR is on for longer than 20 ms, the stop position is stored into the non-volatile memory as the home position absolute position data.
  • Page 286 Using a servo motor with an electromagnetic brake The following shows the timing chart at power on/off and SON on/off. Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When MBR is set for the CN3-23 pin, turning ABSM on will change the CN3-23 pin to ABSB1 (ABS transmission data bit 1). Therefore, configure an external sequence to generate the electromagnetic brake torque at ABSM or MBR off.
  • Page 287 Absolute position data transfer errors The off period of outputted ABS transmission data ready from the servo amplifier is checked. When the off period of ABS transmission data ready is 1 s or longer, this will be treated as a transmission error and as such, perform ABS communication error.
  • Page 288 After the ABS request signal turns on, check the time it takes to turn off (ABS transfer time). [AL. 0E5 ABS time-out warning] occurrence in the servo amplifier is detected. If the ABS request time is longer than 1 s, this will be treated as an error in ABSR or ABST and as such, perform ABS communication error.
  • Page 289 USING STO FUNCTION Precautions • In the torque mode, the forced stop deceleration function cannot be used. Introduction This section provides the cautions of the STO function. For information on implementing functional safety, refer to the following page. Page 300 USING FUNCTIONAL SAFETY [G] [WG] Precautions •...
  • Page 290 Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries caused by these risks. • The STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically disconnect electricity from the motor.
  • Page 291 Magnetic contactor (8 ms) Base circuit (Energy supply to the servo motor) Maintenance This servo amplifier has alarms and warnings for maintenance compatible with the Mitsubishi Electric Drive Safety function. MR-J5 User's Manual (Troubleshooting) 8 USING STO FUNCTION 8.1 Introduction...
  • Page 292 Functional safety I/O signal connector (CN8) and pin assignments Pin assignment The pin assignments of the connectors are as viewed from the cable connector wiring section. Servo amplifier Functional safety I/O signal connector STO1 STOCOM TOFB1 STO2 TOFB2 TOFCOM Signal (device) explanation I/O device Signal Connector pin...
  • Page 293 Signals and STO status The following table shows the status of TOFB and STO for when STO1 and STO2 are ON (closed) or OFF (open) while the power is turned on in an operation with no alarms or warnings. Input signal Status STO1 STO2...
  • Page 294 Connection example Precautions for compliance with stop category 1 (IEC/EN 60204- • Before turning off STO (STO1 and STO2), stop the servo motor in the servo-off state or by turning off EM2 (Forced stop 2) (delay by SS1). Configure an external sequence that has the timings shown below by using an external device.
  • Page 295 Connection example for CN8 connector This servo amplifier is equipped with the connector (CN8) which enables the STO function. When this connector is used with a certified external safety relay, power to the motor can be safely removed and unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and have forcibly guided contacts or mirror contacts for the purpose of error detection.
  • Page 296 Connection example 24 V MR-J3-D05 RESA RESB STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- Servo amplifier SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B- Servo amplifier SDO1B+ CN8B...
  • Page 297 Basic operation example STOA is connected to the servo amplifier via MR-J3-D05. STOB is connected to the servo amplifier via MR-J3-D05. A-axis shutdown 1 and 2 Energizing (close) B-axis shutdown 1 and 2 Shut-off (open) Stop EM2 input Shut off delay Operation Normal (close) STO shut-off...
  • Page 298 External I/O signal connection example using an external safety relay unit This connection is for source interfaces. For the other I/O signals, refer to the following connection examples. Page 40 MR-J5-_G_ Page 43 MR-J5-_A_ Page 51 MR-J5W_-_G_ This connection example complies with the requirements up to ISO/EN ISO 13849-1:2015 category 3 PL e and IEC/EN 62061 SIL CL 3.
  • Page 299 Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 290 Functional safety I/O signal connector (CN8) and pin assignments Sink I/O interface Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal.
  • Page 300 Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.
  • Page 301 Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
  • Page 302 USING FUNCTIONAL SAFETY [G] [WG] Function block diagram The following are examples of the MR-J5-_G_-RJ. Safety sub-function control by input device This figure shows a function block configured to allow input devices assigned to the CN8 connector pins to execute safety sub-functions.
  • Page 303 Safety sub-function control by network This figure shows a function block configured to allow safety sub-functions to be executed via CC-Link IE TSN Network. Wiring can be reduced using this method. Servo amplifier Servo motor MCCB Power supply Gate circuit Control circuit 24 V DC power supply...
  • Page 304 System Architecture The following are examples of the MR-J5-_G_-RJ. Safety sub-function control by input device CN1A Controller or servo amplifier CN1B Controller or servo amplifier Personal computer MR Configurator2 Analog monitor Safety signal Safety programmable controller Junction terminal block Emergency stop switch CN2L Servo motor...
  • Page 305 Safety sub-function control by network Safety signal CN1A CC-Link IE TSN network CN1B CC-Link IE TSN network Personal Emergency stop computer switch MR Configurator2 Safety light curtain Analog monitor Safety signal Junction terminal block CN2L Servo motor 9 USING FUNCTIONAL SAFETY [G] [WG] 9.2 System Architecture...
  • Page 306 Specifications For information on safety sub-function specifications, refer to "Functional safety" in the User's Manual (Introduction). Connectors and pin assignments The pin assignments of the connectors are as viewed from the cable connector wiring section. Servo amplifier Functional safety I/O signal connector SDIA SDICOM SDOA...
  • Page 307 Example I/O signal connections This is only a connection example for CN8. Refer to the following for other connection examples. Page 40 Example I/O signal connections Input signal There is a delay of up to 5 ms from input to output. For source input interface 10 m or less 24 V DC...
  • Page 308 Connecting I/O interfaces Refer to this section before connecting I/O interfaces to external devices. Source input This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc. SDICOM 24 V DC, 5 mA SDIA...
  • Page 309 Wiring the SBC output This function only guarantees that the power supply for the mechanical brake is correct. It cannot detect brake wear. Check the mechanical brake periodically to ensure it is functioning correctly. To use SBCS (SBC output), connect it to the electromagnetic brake of the servo motor. Wire the system so that the electromagnetic brake activates when SBCS (SBC output) turns off.
  • Page 310 Noise reduction techniques This section provides information on measures that prevent the servo amplifier malfunctioning when it is installed next to peripheral devices that emit a large amount of noise. Ground shielded cables close to the servo amplifier. Ensure that the part of the cable before the grounding point does not induce electromagnetic noise to the section of the cable after the grounding point.
  • Page 311 Example of connection with other devices The following are examples of the MR-J5-_G_-RJ. Safety sub-function control by input device This figure shows connection that allows execution of safety sub-functions using input devices assigned to CN8 connector pins from the safety controller. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics.
  • Page 312 Safety sub-function control by network This figure shows connection that allows execution of safety sub-functions via CC-Link IE TSN Network. Wiring can be reduced using this method. MELSEC iQ-R series safety CPU R6SFM RD78G/ RJ71GN11-T2 NZ2GNSS2-16DTE/ NZ2GNSS2-8D CN1A P1/P2 P1/P2 CN1B CC-Link IE TSN network Servo...
  • Page 313 USING A LINEAR SERVO MOTOR 10.1 Functions and configuration Outline The following shows the differences between the linear servo motor and the rotary servo motor. Category Item Differences Remark Linear servo motor Rotary servo motor Servo motor Magnetic pole detection Required Not required (adjusted Automatically executed at the first servo-on...
  • Page 314 Configuration including peripheral equipment LM-H3 series/LM-F series/LM-U2 series/LM-K2 series R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor Safety relay Line noise filter (FR-BSF01) Junction terminal block Power factor SCALE improving DC reactor (FR-HEL) CN2L...
  • Page 315 LM-AJ series R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor Safety relay Line noise filter (FR-BSF01) Junction terminal block Power factor improving DC reactor (FR-HEL) Protective circuit CN2L for the thermal protector Regenerative Linear...
  • Page 316 10.2 Startup [G] [WG] When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode). Startup procedure Start up the linear servo system with the following procedure. Installation and wiring Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction What is the type of the linear encoder?
  • Page 317 Setting Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. Setting of linear encoder direction and linear servo motor direction Set [Pr.
  • Page 318 ■Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure. In servo-off status, move the linear servo motor in the positive direction manually. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2. The servo motor speed is a positive value when [Pr.
  • Page 319 Magnetic pole detection Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01.0] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods.
  • Page 320 Magnetic pole detection procedure When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
  • Page 321 ■Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Turn "ON (up)"...
  • Page 322 *1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection must be 0.5 mm or less.
  • Page 323 ■Setting procedure Detect the magnetic poles, then increase the setting value of [Pr. PL09 Magnetic pole detection - Voltage level] until [AL. 050 Overload 1], [AL. 051 Overload 2], [AL. 033 Overvoltage], [AL. 0E1 Overload warning 1], and [AL. 0EC Overload warning 2] occur.
  • Page 324 • [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection] Setting value Load to motor mass ratio/load to motor inertia ratio 10 times or less 10 multiplier 20 multiplier 30 multiplier 40 multiplier 50 multiplier 60 multiplier 70 multiplier 80 multiplier 90 multiplier...
  • Page 325 • Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on) Servo-on position (Magnetic pole detection start position) Magnetic pole detection completion position *1 When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off during the magnetic pole detection, the operation of the magnetic pole detection is carried on to the opposite direction.
  • Page 326 ■For absolute position linear encoder The magnetic pole detection is required in the following cases. • When the system is set up (at initial startup of equipment) • After a servo amplifier is replaced • After a linear servo motor (primary-side or secondary-side) is replaced •...
  • Page 327 How to replace servo amplifier without magnetic pole detection When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed, write the magnetic pole information from the servo amplifier before replacement to the one after replacement by using MR Configurator2.
  • Page 328 10.3 Startup [A] When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode). Startup procedure Start up the linear servo system with the following procedure. Installation and wiring Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction What is the type of the linear encoder?
  • Page 329 Setting Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. Setting of linear encoder direction and linear servo motor direction Set [Pr.
  • Page 330 ■Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure. In servo-off status, move the linear servo motor in the positive direction manually. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2. The servo motor speed is a positive value when [Pr.
  • Page 331 Magnetic pole detection Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01] is set to the initial value, perform magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods.
  • Page 332 Magnetic pole detection procedure ■Magnetic pole detection by position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 333 ■Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 334 Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection]. Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection 0: Enabled...
  • Page 335 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection - Voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 336 Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection], the load to motor mass ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio]. If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 337 Operation at magnetic pole detection Precautions • After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator2. • When the absolute position linear encoder is used, if a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.
  • Page 338 • Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows. The linear servo motor moves to the magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
  • Page 339 10.4 Basic functions Homing [G] [WG] Precautions • The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing. • For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction.
  • Page 340 Homing setting method ■Incremental linear encoder • Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start.
  • Page 341 ■Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting].
  • Page 342 Homing operation Precautions • To execute homing securely, move the linear servo motor to the opposite stroke end with the JOG operation from the controller or by other means, then start homing. • Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution. ■Incremental linear encoder •...
  • Page 343 Homing methods -11 and -43 The following figure shows the operation of Homing method -11. The operation of Homing method -43 is opposite to that of Homing method -11. Homing direction Creep speed Home position shift distance 0 r/min Servo motor speed Creep speed Machine position Home position...
  • Page 344 • When the linear encoder home position does not exist in the homing direction If the homing is performed from the position where the linear encoder home position does not exist in the homing direction, an error may occur. If an error occurs, change the homing method or move the linear servo motor to the stroke end on the opposite side of the homing direction with operations such as the JOG operation from the controller, then start homing.
  • Page 345 ■Absolute position linear encoder When using an absolute position linear encoder, the data set type homing can also be carried out. • For proximity dog type homing For a proximity dog type homing, the nearest reference home position after proximity dog off is the home position. The linear encoder home position can be set in any position.
  • Page 346 Homing setting method ■Incremental linear encoder • Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start.
  • Page 347 ■Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting].
  • Page 348 Homing operation Precautions • To execute homing securely, move the linear servo motor to the opposite stroke end with the JOG operation from the controller or by other means, then start homing. • Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution. ■Incremental linear encoder •...
  • Page 349 • Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual Example: When the Z-phase is recognized at startup Home position signal A recognized as ON position...
  • Page 350 • For data set type homing For data set type homing, when CR (Clear) is turned on, the position control counter is cleared and the current position is stored in the non-volatile memory (backup memory) as home position data. Linear servo motor speed 0 mm/s CR (Clear)
  • Page 351 Linear servo control error detection function If the linear servo control becomes unstable for some reason, the linear servo motor may not operate properly. To detect this state and to stop operation, the linear servo control error detection function is used as a protective function. The linear servo control error detection function has three types of detection methods: the position deviation, speed deviation, and thrust deviation.
  • Page 352 ■Speed deviation error detection Set [Pr. PL04.0] to "2" to enable the speed deviation error detection. Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection 2: Speed deviation error detection enabled If the difference between the model feedback speed (3) and the feedback speed (4) in the figure is equal to or more than the value of [Pr.
  • Page 353 About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Linear Diagnosis screen. (11) (10) Symbol Name Explanation Unit Cumulative feedback pulses...
  • Page 354 Symbol Name Explanation Unit (10) Magnetic Pole Information The magnetic pole information can be displayed and set.   (11) Parameter Setting (Electronic The servo parameters for the electronic gear ([Pr. PA06] and [Pr. PA07]) can be displayed and set. gear) 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions...
  • Page 355 10.5 Adjustment Auto tuning function Although the auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor, the calculation method of the load to motor mass ratio (J ratio) is different. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
  • Page 356 10.6 Characteristics Overload protection characteristics LM-H3 series/LM-K2 series 1000 : In operation : In servo-lock Load ratio LM-U2 series 1000 : In operation : In servo-lock Load ratio 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics...
  • Page 357 LM-F series (natural cooling) 1000 : In operation : In servo-lock Load ratio LM-F series (liquid cooling) 1000 : In operation : In servo-lock Load ratio 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics...
  • Page 358 LM-AJ series 1000 : In operation : In servo-lock Load ratio 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics...
  • Page 359 Power supply capacity and generated loss [G] [A] Linear servo motor Servo amplifier Power supply Servo amplifier-generated heat [W] Area required for (primary side) capacity [kVA] heat dissipation At rated output At servo-off LM-H3P2A-07P-BSS0 MR-J5-40_ LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 MR-J5-70_ LM-H3P3C-36P-CSS0 LM-H3P3D-48P-CSS0 MR-J5-200_ LM-H3P7A-24P-ASS0 MR-J5-70_...
  • Page 360 Power supply capacity and generated loss [WG] Calculate the generated loss and the power supply capacity of the servo amplifier under rated load by referring to this section. The calculated value will vary depending on the number of connected linear servo motors and the capacities of the linear servo motors.
  • Page 361 Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from the following tables. ■Amount of heat generated by one servo amplifier at rated output Servo amplifier Servo amplifier-generated heat [W] At servo-off (C) At rated output MR-J5W2-22G_...
  • Page 362 Dynamic brake characteristics The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below. Lmax = V0 • (0.03 + M • (A + B • V02)) Lmax: Coasting distance of the machine [m] V0: Speed when the brake is activated [m/s] M: Full mass of the moving part [kg]...
  • Page 363 Permissible load to motor mass ratio when the dynamic brake is used Linear servo motor (primary side) Permissible load to motor mass ratio [Multiplier] LM-H3 series LM-U2 series LM-F series LM-K2 series LM-AJP1B-07K-JSS0 LM-AJP1D-14K-JSS0 LM-AJP2B-12S-JSS0 LM-AJP2D-23T-JSS0 LM-AJP3B-17N-JSS0 LM-AJP3D-35R-JSS0 LM-AJP4B-22M-JSS0 LM-AJP4D-45N-JSS0 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics...
  • Page 364 10.7 Absolute position detection system When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required. Operating conditions of absolute position detection system • Use an absolute position type linear encoder. •...
  • Page 365 USING A DIRECT DRIVE MOTOR 11.1 Functions and configuration Outline The following shows the differences between the direct drive motor and the rotary servo motor. Category Item Differences Remark Direct drive motor Rotary servo motor Servo motor Magnetic pole detection Required Not required (adjusted Automatically executed at the first servo-on...
  • Page 366 Configuration including peripheral equipment R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor Safety relay Line noise filter (FR-BSF01) Junction terminal block Power factor improving DC reactor (FR-HEL) CN2L Absolute position storage unit Regenerative Battery unit...
  • Page 367 When using a direct drive motor, set [Pr. PA01.1 Operation mode selection] to "6" (Direct drive motor control mode). After power-on, the Z-phase mark of the direct drive motor manufactured by Mitsubishi Electric must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation or more, install the direct drive motor in a position where the Z-phase mark can pass over the connector area.
  • Page 368 • The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually. For this operation, connect the direct drive motor encoder and the servo amplifier, and turn on the control circuit power supply of the servo amplifier.
  • Page 369 Magnetic pole detection procedure When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
  • Page 370 ■Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Turn "ON (up)"...
  • Page 371 *1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection must be 0.5 mm or less.
  • Page 372 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection - Voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 373 Setting of response performance and load to motor inertia ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection] and set the load to motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 374 Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude].
  • Page 375 ■For incremental system For the incremental system, the magnetic pole detection is required every time the power is turned on or the software is reset. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out.
  • Page 376 • When the system is set up (at initial startup of equipment) • When the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) •...
  • Page 377 Turn on the Z-phase pulse of the direct drive Manually turn on the Z-phase pulse of the direct motor by using the JOG operation of the controller. drive motor manufactured by Mitsubishi Electric. *1, *2 Change the setting to disable the magnetic pole detection.
  • Page 378 *3 If the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or JOG operation.
  • Page 379 Magnetic pole detection procedure ■Magnetic pole detection by position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 380 ■Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 381 Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection]. Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection 0: Enabled...
  • Page 382 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection - Voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 383 Setting of response performance and load to motor inertia ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection], the load to motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 384 Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude].
  • Page 385 ■For incremental system For the incremental system, the magnetic pole detection is required every time the power is turned on or the software is reset. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out.
  • Page 386 • When the system is set up (at initial startup of equipment) • When the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) •...
  • Page 387 11.4 Basic functions Operation from controller For the system using the incremental linear encoder, the magnetic pole detection is automatically performed at the first servo- on after the power-on. Before performing the positioning operation, check that the servo amplifier is in servo-on status. Servo control error detection function If the servo control becomes unstable for some reason, the direct drive motor may not operate properly.
  • Page 388 ■Position deviation error detection Set [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] to "1" to enable the position deviation error detection. Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection 1: Position deviation error detection enabled If the difference between the model feedback position (1) and the feedback position (2) in the figure is equal to or more than the value of [Pr.
  • Page 389 Servo control error reset by controller reset [G] [WG] Servo parameter Description PL04.3 [AL. 042 Servo control error] detection controller reset condition selection 0: Reset disabled (reset by powering off/on or software reset enabled) 1: Reset enabled Initial value: 0 (reset disabled) When [Pr.
  • Page 390 11.5 Characteristics Overload protection characteristics Direct drive motor Graph of overload protection characteristics Page 389 Characteristic a TM-RFM002C20 TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM018E20 TM-RFM012G20 TM-RFM040J10 Page 389 Characteristic b TM-RFM048G20 TM-RFM072G20 TM-RFM120J10 Page 390 Characteristic c TM-RFM240J10 TM-RG2M002C30 Page 390 Characteristic d TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30...
  • Page 391 Characteristic a 1000 : In operation : In servo-lock Load ratio Characteristic b 1000 : In operation : In servo-lock Load ratio 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics...
  • Page 392 Characteristic c 10000 : In operation : In servo-lock 1000 Load ratio Characteristic d 1000 : In operation : In servo-lock Load ratio 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics...
  • Page 393 Power supply capacity and generated loss Direct drive motor Servo amplifier Power supply Servo amplifier-generated heat [W] Area required for capacity [kVA] heat dissipation At rated output At servo-off TM-RG2M002C30 MR-J5-20_ 0.25 TM-RU2M002C30 TM-RG2M004E30 MR-J5-20_ TM-RU2M004E30 TM-RG2M004E30 MR-J5-40_ TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30 TM-RFM002C20 MR-J5-20_...
  • Page 394 Power supply capacity and generated loss [WG] Calculate the generated loss and the power supply capacity of the servo amplifier under rated load by referring to this section. The calculated value will vary depending on the number of connected direct drive motors and the capacities of the direct drive motors.
  • Page 395 Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from the following tables. ■Amount of heat generated by one servo amplifier at rated output Servo amplifier Servo amplifier-generated heat [W] At servo-off (C) At rated output MR-J5W2-22G_...
  • Page 396 Dynamic brake characteristics TM-RFM_C20 Speed [r/min] TM-RFM_E20 Speed [r/min] TM-RFM_G20 Speed [r/min] TM-RFM_J10 Speed [r/min] 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics...
  • Page 397 TM-RG2M002C30, TM-RU2M002C30 Speed [r/min] TM-RG2M004E30, TM-RU2M004E30 Speed [r/min] TM-RG2M009G30, TM-RU2M009G30 Speed [r/min] 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics...
  • Page 398 Page 263 ABSOLUTE POSITION DETECTION SYSTEM Precautions • To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric, batteries and the absolute position storage unit (MR-BTAS01) are required. • Refer to the following for the encoder cable and the absolute position storage unit.
  • Page 399 Precautions • To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric, batteries and the absolute position storage unit (MR-BTAS01) are required. • Refer to the following for the encoder cable and the absolute position storage unit.
  • Page 400 11.8 Battery • Unlock and then pull out the battery or other option that is connected to the CN4 connector. • For battery transportation and the new EU Battery Directive, refer to "COMPLIANCE WITH GLOBAL STANDARDS" in User's Manual (Introduction). Use a battery when connecting a direct drive motor to configure an absolute position detection system.
  • Page 401 Battery connection Connect as follows. Servo amplifier Encoder cable Direct drive motor MR-BAT6V1SET Absolute position storage unit Battery replacement procedure Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL.
  • Page 402 ■Battery installation and removal procedure • Fitting method Install a battery, and insert the plug into the CN4 connector. • Removal procedure Precautions • Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.
  • Page 403 Replacement procedure of the built-in battery When the MR-BAT6V1SET reaches the end of its service life, replace the built-in MR-BAT6V1 battery. While pressing the locking part, open the cover. Cover Locking part Replace the battery with a new MR-BAT6V1 battery. MR-BAT6V1 Press the cover until it is fixed with the projection of the locking part to close the cover.
  • Page 404 MR-BAT6V1SET-A battery • For the specifications and the year and month of manufacture of the built-in MR-BAT6V1 battery, refer to the following. Page 411 MR-BAT6V1 battery Parts identification and dimensions [Unit: mm] 27.4 Connector for servo amplifier Case Mass: 55 [g] (including the MR-BAT6V1 battery) Battery connection Connect as follows.
  • Page 405 Battery replacement procedure Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL. 09F.1 Low battery]. However, the absolute position data will not be erased. ■Precautions Turn off the power and wait for 15 minutes or more until the charge light of the servo amplifier turns off.
  • Page 406 Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its service life, replace the built-in MR-BAT6V1 battery. While pressing the locking part, open the cover. Cover Replace the battery with a new MR-BAT6V1 battery. Press the cover until it is fixed with the projection of the locking part to close the cover.
  • Page 407 MR-BT6VCASE battery case The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. For the specifications and the production year and month of the MR-BAT6V1 battery, refer to the following. Page 411 MR-BAT6V1 battery MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. No batteries are included in the battery case.
  • Page 408 Battery connection ■When using 1-axis servo amplifier Servo amplifier MR-BT6VCASE CN10 MR-BT6V1CBL_M ■When using up to 4-axis servo amplifiers Servo amplifier Servo amplifier Servo amplifier (First) (Second) (Last) MR-BT6VCASE CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M MR-BT6V1CBL_M 11 USING A DIRECT DRIVE MOTOR 11.8 Battery...
  • Page 409 Battery replacement procedure Replacing batteries with the control circuit power supply off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life. Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL.
  • Page 410 • Disassembly and assembly of the battery case MR-BT6VCASE Disassembly of the case MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled. Remove the two screws using a Phillips head screwdriver. Screw Remove the cover. Cover Parts identification BAT1...
  • Page 411 Mounting MR-BAT6V1 Securely mount an MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on the BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect direction, the connector will break.
  • Page 412 Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. Be careful not to trap the lead wires when installing the screws and re-installing the cover. Screw Precautions for removal of battery The connector attached to the MR-BAT6V1 battery has the lock release lever.
  • Page 413 MR-BAT6V1 battery The MR-BAT6V1 lithium primary battery is for MR-BAT6V1SET-A and MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month the MR-BAT6V1 battery was manufactured is indicated on the battery label. 2CR17335A WK17 Plate 11-04 1650 mAh The year and month of manufacture Item Description...
  • Page 414 Battery cable and junction battery cable Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available. Cable model Cable length Flex life Application/remark...
  • Page 415 USING A FULLY CLOSED LOOP SYSTEM 12.1 Precautions • A fully closed loop system cannot be used for a 3-axis servo amplifier. If the fully closed loop system is enabled for a 3-axis servo amplifier, [AL. 037 Parameter error] occurs. •...
  • Page 416 12.2 Functions and configuration Outline Either a semi closed loop system or a fully closed loop system can be selected as a control method for this servo amplifier. In addition, the semi closed loop control, fully closed loop control, or dual feedback control can be selected by the setting of [Pr.
  • Page 417 Function block diagram Fully closed loop system block diagram A fully closed loop system block diagram is shown below. For a fully closed loop system, the position is controlled in the units of the load-side encoder. ■MR-J5-_G_/MR-J5W_-_G_ Electronic gear Controller Servo motor Servo motor-side (Servo motor-side)
  • Page 418 Dual feedback filter equivalent block diagram The following shows a dual feedback filter equivalent block diagram for dual feedback control. Servo motor Position control unit High-pass filter Linear encoder Low-pass filter ω Dual feedback filter Fully closed loop Semi closed loop control control Operation status...
  • Page 419 Linear encoder  [AL. 037.2]    Rotary servo motor manufactured by Mitsubishi Electric [AL. 037.2] Direct drive motor manufactured by Mitsubishi Electric [AL. 01A.3] [AL. 037.2] [AL. 01A.3]  A/B/Z-phase differential output rotary encoder [AL.
  • Page 420 System Architecture For linear encoders ■Servo amplifier without CN2L Controller Servo amplifier Position command control signal Linear encoder compatible with two-wire type serial interface Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table *1 When using an absolute position linear encoder, an absolute position detection system can be supported. In that case, batteries are unnecessary.
  • Page 421 For rotary encoders ■Servo amplifier without CN2L Controller Servo amplifier Position command control signal Servo motor encoder signal Driving part Servo motor Load-side encoder signal Two-wire type rotary encoder *1 Use two-wire type encoder cables. Four-wire type encoder cables cannot be used. *2 When using an HK-KT servo motor, an absolute position detection system can be supported without using batteries.
  • Page 422 12.3 Signals and wiring • Be sure to use the load side encoder cables specified in this section. Using products other than those specified may cause a malfunction. • Contact the manufacturer of the load-side encoder being used for information on specifications, performance, and guarantees.
  • Page 423 Encoder cable configuration diagram for rotary encoders • When using a rotary encoder as the load-side encoder, use an HK-KT servo motor as the encoder. • Use two-wire type encoder cables. • When using an A/B/Z-phase differential output rotary encoder, refer to "A/B/Z-phase differential output linear encoder"...
  • Page 424 12.4 Startup Servo parameter setting Selecting a fully closed loop system With the settings of [Pr. PA01], [Pr. PE01], and the controller control command, a control method can be selected as described in the following table. [Pr. PA01.4 Fully closed [Pr.
  • Page 425 Load-side encoder communication method selection [G] [WG] The communication method differs depending on the load-side encoder type. For details on each load-side encoder communication method, refer to "External encoder connector" in the "User's Manual (Introduction)" and "Compatible linear encoder list" in the "MR-J5 Partner's Encoder User's Manual". Select a cable to be connected to the CN2L connector with [Pr.
  • Page 426 Setting the polarity of the load-side encoder [G] [WG] Precautions • Do not set the incorrect direction in [Pr. PC27.0 Encoder pulse count polarity selection]. If the correct direction is not set, the encoder will not operate correctly, possibly causing a collision that results in an accident or damage to other devices.
  • Page 427 Setting the polarity of the load-side encoder [A] Precautions • Do not set the incorrect direction in [Pr. PC45.0 Encoder pulse count polarity selection]. If the correct direction is not set, the encoder will not operate correctly, possibly causing a collision that results in an accident or damage to other devices.
  • Page 428 Setting the feedback pulse electronic gear Precautions If an incorrect value is set for the feedback pulse electronic gear ([Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] or [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator]), [AL. 037 Parameter error] may occur and prevent normal operation.
  • Page 429 ■Example settings when using a rotary encoder as the load-side encoder of a roll feeder • Conditions Servo motor resolution: 67108864 pulses/rev Servo motor-side pulley diameter: 30 mm Rotary encoder side pulley diameter: 20 mm Rotary encoder resolution: 67108864 pulses/rev Driving part Pulley diameter d2 = 20 mm...
  • Page 430 Setting the fully closed loop dual feedback filter Use auto tuning or a similar mode to adjust the gain in the same way as when using semi closed loop control while [Pr. PE08 Fully closed loop dual feedback filter] is being set to the initial value (setting value = 10). Adjust the dual feedback filter while observing the servo operation waveforms with the graph function or a similar function of MR Configurator2.
  • Page 431 Checking position data of the load-side encoder Precautions Depending on the check items, MR Configurator2 may be used. Refer to "Help" of MR Configurator2 for the data displayed on the MR Configurator2. Check the load-side encoder mounting and parameter settings for any problems. Check item Confirmation method and description Reading the position data of the load-...
  • Page 432 12.5 Basic functions Homing Homing is performed based on the load-side encoder feedback data regardless of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. The types and methods of homing are basically the same as in semi closed loop control. •...
  • Page 433 Reference home position ■Absolute position linear encoder The reference home position for an absolute position linear encoder is every position per servo motor revolution starting from the linear encoder home position (absolute position data = 0). In the case of Method -1 (dog type homing), the nearest position after the proximity dog signal turned off is the home position. The linear encoder home position can be set to any position.
  • Page 434 • When the linear encoder home position (reference mark) exists in the homing direction Set one linear encoder home position in the full stroke, and set it in the proximity dog signal detection position. Homing direction Homing speed Creep speed Servo motor speed 0 r/min Proximity dog signal...
  • Page 435 Operation from controller The positioning operation from the controller is basically the same as in semi closed loop control. Fully closed loop control error detection function If fully closed loop control becomes unstable for some reason, the servo motor-side speed may increase abnormally. To detect this state and to stop operation, the fully closed loop control error detection function is used as a protective function.
  • Page 436 ■Position deviation error detection Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "2" (position deviation error detection) to enable the position deviation error detection. Servo parameter Description PE03.0 Fully closed loop control error - Detection function selection 2: Position deviation error detection PE03.1 Position deviation error - Detection method selection...
  • Page 437 About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Fully Closed Loop Diagnosis screen. Symbol Name Explanation Unit Servo motor-side cumulative...
  • Page 438 Symbol Name Explanation Unit Z-phase pass status When the fully closed loop system is disabled, the Z-phase pass status of the servo motor encoder is  displayed. When the fully closed loop system is enabled or when switching between semi closed loop control and fully closed loop control is enabled, Z-phase pass status of the load-side encoder is displayed.
  • Page 439 12.6 Options and peripheral equipment MR-J4FCCBL03M branch cable Use an MR-J4FCCBL03M branch cable to connect a rotary encoder and load-side encoder to the CN2 connector. When fabricating a branch cable by using an MR-J3THMCN2 connector set, refer to "Fabricating a branch cable for a fully closed loop system"...
  • Page 440 • Use an absolute position type encoder for the load-side encoder. Using an incremental type encoder triggers [AL. 037 Parameter error]. • When using the Mitsubishi Electric direct drive motor for the load-side encoder, the Z-phase must be passed through before homing.
  • Page 441 MEMO 12 USING A FULLY CLOSED LOOP SYSTEM 12.7 Absolute position detection system...
  • Page 442 Section 6.19, Chapter 9 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 443 WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 444 TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030298ENG-D...
  • Page 446 SH(NA)-030298ENG-D(2007)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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