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Mitsubishi Electric MR-J5D User Manual

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Mitsubishi Electric AC Servo System
MR-J5D
User's Manual
(Hardware)
-MR-J5D_-_G_
-MR-J5D_-_G_-_N1

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Summary of Contents for Mitsubishi Electric MR-J5D

  • Page 1 Mitsubishi Electric AC Servo System MR-J5D User's Manual (Hardware) -MR-J5D_-_G_ -MR-J5D_-_G_-_N1...

  • 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 [Transportation] CAUTION ● To prevent injury, transport the products correctly according to their mass. [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 20 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the converter unit/drive unit. ●...

  • 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 Signal (device) explanation ............. . . 62 Input device .
  • Page 9 Characteristics................135 Restrictions [G] .
  • Page 10 Safety sub-function control by input device ........... . 160 Safety sub-function control by network .

  • Page 11: Chapter 1 Introduction

    INTRODUCTION Wiring procedure Procedure Description Reference Installation Install the converter unit/drive unit. Page 17 INSTALLATION Connecting the power circuit Connect the power circuit. Page 42 Example power circuit connections Connecting I/O signals Page 48 Example I/O Connect I/O signals. signal connections Connecting to the servo Connect the drive unit and servo motor.

  • Page 12: Combination With Converter Units And Drive Units

    Combination with converter units and drive units Combination with power regeneration converter units and drive units Selection method Use the following conditions to select a power regeneration converter unit. By satisfying all the conditions, multiple drive units can be connected to one power regeneration converter unit. When connecting multiple drive units, arrange them in descending order of capacity per axis of the drive unit from the right side of the power regeneration converter unit.
  • Page 13 Use the following formula to calculate the running power and regenerative power of each servo motor from the servo motor speed and torque. Running power and regenerative power [W] = Servo motor speed [r/min] × Torque [N•m]/9.55 Calculate the total output power of the servo motors from the running power and regenerative power of each servo motor.

  • Page 14: Combination With Drive Units And Servo Motors

    Combination with drive units and servo motors By combining a servo motor with a larger capacity drive unit, the maximum torque can be increased to 400 % or 450 %. Rotary servo motor As long as the servo motor is compatible with the drive unit, any combination of the servo motor series and capacity is possible.
  • Page 15 HK-ST series The combinations of geared servo motors and drive units are the same as those listed in the following table. However, for geared servo motors, the maximum torque does not increase even when they are combined with a drive unit whose combination allows for increased torque as specified in the following table.

  • Page 16: 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 (L11/L21) of the drive unit satisfies the defined specifications. For the power supply specifications, refer to "Drive unit standard specifications"...

  • Page 17: I/O Signal Wiring

    • Check that the power to be supplied to the converter unit is not connected to the power outputs (U/V/W) of the drive unit. Otherwise, the drive unit and the servo motor will malfunction. Drive unit Servo motor • Check that the grounding terminal of the servo motor is connected to the grounding terminal of the CNP3_ connector of the drive unit.

  • Page 18: Surrounding Environment

    Surrounding environment Check the following items about the environment surrounding the converter unit, drive unit, 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 112 Cable flex life •...

  • Page 19: Chapter 2 Installation

    INSTALLATION Precautions • Mount the converter unit and drive unit on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. In addition, the converter unit and drive unit must be installed in a metal cabinet. •...

  • Page 20: Mounting Direction And Clearances

    Mounting direction and clearances Precautions • The converter unit and drive unit must be installed in the specified direction. • To prevent a malfunction, maintain the specified clearances between the converter unit/drive unit and cabinet walls or other equipment. • Circulate air so that the air at the top and bottom of the converter unit and drive unit does not stagnate. •...

  • Page 21: Mounting Hole Location Diagram

    2-M5 screw Approx. W3 2-M5 screw Converter unit Drive unit Drive unit/converter unit Variable dimensions [mm] MR-CV11K4     MR-CV18K4    MR-J5D (60 width)    MR-J5D (75 width) 2 INSTALLATION 2.1 Mounting direction and clearances...
  • Page 22 Variable dimensions [mm]    MR-CV30K4    MR-CV37K4    MR-CV45K4 MR-CV55K4       MR-CV75K4    MR-J5D (60 width)    MR-J5D (75 width) 2 INSTALLATION 2.1 Mounting direction and clearances...

  • Page 23: Keeping Out Foreign Materials

    In addition, shut off the main circuit power supply and control circuit power supply and wait at least 20 minutes before replacing the fan unit. List of applicable fan units Drive unit Model of fan unit to be replaced MR-J5D1-500G4 MR-J5D-FAN1 MR-J5D1-700G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3-200G4 MR-J5D2-500G4...

  • Page 24: 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 out the fan unit vertically. 2 INSTALLATION 2.4 Fan unit replacement procedure...

  • Page 25: Fan Unit Installation Procedure

    Fan unit installation procedure Insert the positioning part of the fan unit vertically while aligning it to the positioning part of the main unit case. Tighten the fan unit with screws. Use the same screws as those used for the fan unit before replacement. 2 INSTALLATION 2.4 Fan unit replacement procedure...

  • Page 26: Ip20 Compatible Terminal Block

    IP20 compatible terminal block Attach the side protection cover (optional) to the rightmost unit and lock the terminal block cover so that the terminal block conforms to IP20. The external dimensions before and after mounting the side protection cover do not change. Side protection cover Drive unit Side protection cover model...

  • Page 27: Side Protection Cover Installation Procedure

    Side protection cover installation procedure Set the lock of the terminal block cover to "OPEN". (Turn it counterclockwise.) Open the terminal block cover and insert the side protection cover along the slit on the right side of the terminal block. If the control circuit power supply is wired from the right side, pass the wire through the groove on the side cover to prevent it from getting caught.

  • Page 28: Restrictions When Using This Product At An Altitude Exceeding 1000 M And Up To 2000 M

    Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m Refer to "Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m" in the following manual for converter unit restrictions. MR-CV Power Regeneration Converter Unit User's Manual Altitude and ambient temperature As heat dissipation effects decrease in proportion to the decrease in air density (5 °C per 1000 m), use the product within the...

  • Page 29: Installing The Mounting Attachment

    Installing the mounting attachment The mounting attachment is required to mount the power regeneration converter unit to the cabinet. List of applicable mounting attachments Power regeneration Attachment for power regeneration Drive unit Attachment for drive units converter unit converter units MR-CV11K4 MR-ADCACN090 MR-J5D1_...

  • Page 30: Selection Of Attachment For Power Regeneration Converter Units

    Selection of attachment for power regeneration converter units Mounting attachment installation procedure The following shows how to install the mounting attachment to the power regeneration converter unit and then to the cabinet. It is also possible to install the mounting attachment to the cabinet first and then to the converter unit. At the removal, it is possible to remove both the mounting attachment and the converter unit or the converter unit alone.
  • Page 31 Install the power regeneration converter unit to the cabinet. • MR-CV11K4/MR-CV18K4 Mounting screw (4) Screw size: M5 Tightening torque: 3.24 [N•m] • MR-CV30K4/MR-CV37K4/MR-CV45K4/MR-CV55K4/MR-CV75K4 Mounting screw (4) Screw size: M5 Tightening torque: 3.24 [N•m] 2 INSTALLATION 2.7 Installing the mounting attachment...

  • Page 32: Selecting The Attachment For Drive Units

    Selecting the attachment for drive units Mounting attachment installation procedure The following shows how to install the mounting attachment to the drive unit and then to the cabinet. It is also possible to install the mounting attachment to the cabinet first and then to the drive unit. At the removal, it is possible to remove both the mounting attachment and the drive unit or the drive unit alone.

  • Page 33: Dimensions When Installing The Mounting Attachment

    Dimensions when installing the mounting attachment Power regeneration converter unit ■MR-CV11K4/MR-CV18K4 Approx. 80 Cooling fan exhaust φ6 mounting hole 255.5 16.2 25.6 32.4 258.5 Intake 72.8 Terminal assignment 73.5 L1 L2 L3 TE1 Screw size: M5 Tightening torque: 2.0 [N•m] TE2 Screw size: M6 Tightening torque: 3.0 [N•m] TE3 Screw size: M4...
  • Page 34 ■MR-CV30K4/MR-CV37K4/MR-CV45K4 Approx. 80 Cooling 2-φ6 mounting exhaust hole Intake 285.5 49 52 288.5 113.5 Terminal assignment L1 L2 L3 TE1 Screw size: M8 Tightening torque: 6.0 [N•m] TE2 Screw size: M6 Tightening torque: 3.0 [N•m] TE3 Screw size: M4 Tightening torque: 1.2 [N•m] Screw size: M8 Tightening torque: 6.0 [N•m] 2 INSTALLATION...
  • Page 35 ■MR-CV55K4/MR-CV75K4 2-M10 (for eyebolt) Approx. 80 Cooling 2-φ6 exhaust mounting hole TE2-1 TE2-2 Intake 285.5 288.5 223.5 Terminal assignment TE2-1 TE2-2 L1 L2 L3 Screw size: M8 Tightening torque: 6.0 [N•m] TE2-1 Screw size: M6 Tightening torque: 3.0 [N•m] TE2-2 Screw size: M6 Tightening torque: 3.0 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m]...
  • Page 36 Drive unit ■MR-J5D1-100G4 to MR-J5D1-350G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 15 30 4-M5 Screw (drawn with the cover removed) 288.5 285.5 43.5 Mounting hole location diagram Terminal assignment Terminal assignment Mounting screw CNP3A Screw size: M5...
  • Page 37 ■MR-J5D1-500G4/MR-J5D1-700G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 15 30 Cooling fan 4-M5 Screw (drawn with the cover removed) exhaust 288.5 285.5 Intake 43.5 Mounting hole location diagram Terminal assignment Terminal assignment Mounting screw CNP3A Screw size: M5...
  • Page 38 ■MR-J5D2-100G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 15 30 4-M5 Screw (drawn with the cover removed) 288.5 285.5 43.5 Mounting hole location diagram Terminal assignment Terminal assignment Mounting screw CNP3A CNP3B Screw size: M5 CNP3A/CNP3B Tightening torque: 3.24 [N•m]...
  • Page 39 ■MR-J5D2-200G4/MR-J5D2-350G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 15 30 Cooling fan 4-M5 Screw (drawn with the cover removed) exhaust 288.5 285.5 Intake 43.5 Mounting hole location diagram Terminal assignment Mounting screw CNP3A CNP3B Screw size: M5 CNP3A/CNP3B...
  • Page 40 ■MR-J5D2-500G4/MR-J5D2-700G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 75 Terminal block location diagram 4-M5 Screw Cooling fan (drawn with the cover removed) exhaust 288.5 285.5 Intake 58.5 Mounting hole location diagram Terminal assignment Mounting screw CNP3A CNP3B Screw size: M5 CNP3A/CNP3B Tightening torque: 3.24 [N•m]...
  • Page 41 ■MR-J5D3-100G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 15 30 4-M5 Screw (drawn with the cover removed) 288.5 285.5 43.5 Mounting hole location diagram Terminal assignment Mounting screw CNP3A CNP3B CNP3C CNP3A/CNP3B/ Screw size: M5 CNP3C Tightening torque: 3.24 [N•m]...
  • Page 42 ■MR-J5D3-200G4 CN40A CN40B CN1B CN1A φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 15 30 Cooling fan 4-M5 Screw (drawn with the cover removed) exhaust 288.5 285.5 Intake 43.5 Mounting hole location diagram Terminal assignment Mounting screw CNP3A CNP3B CNP3C CNP3A/CNP3B/...

  • Page 43: Chapter 3 Signals And Wiring

    SIGNALS AND WIRING Precautions • Insulate the conductive parts of the terminals. • Turn off the power and wait for 20 minutes or more until the charge light of the unit turns off. Checking the voltage between L+ and L- using the tester, etc. is recommended. •...

  • Page 44: 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 converter unit to configure a circuit that shuts off the power supply on the converter unit side because failure of the converter unit may cause smoke and fire if a magnetic contactor is not connected.
  • Page 45 When the magnetic contactor drive output is enabled Set the converter setting rotary switch of the power regeneration converter unit to "0" (factory setting). ■For crossover wiring of L11/L21 Ready for Drive unit Drive unit Emergency operation error error stop switch OFF/ON Power regeneration AC reactor...
  • Page 46 ■For branch wiring of L11/L21 For notes, refer to the notes in the following section. Page 43 For crossover wiring of L11/L21 Ready for Drive unit Drive unit Emergency operation error error stop switch OFF/ON Power regeneration AC reactor converter unit Drive unit Drive unit Dedicated...
  • Page 47 When the magnetic contactor drive output is disabled Set the converter setting rotary switch of the power regeneration converter unit to "1". ■For crossover wiring of L11/L21 For notes, refer to the notes in the following section. Page 43 For crossover wiring of L11/L21 Ready for Drive unit Drive unit...
  • Page 48 ■For branch wiring of L11/L21 For notes, refer to the notes in the following section. Page 43 For crossover wiring of L11/L21 Ready for Drive unit Drive unit Converter Emergency operation error error unit error stop switch OFF/ON Power regeneration AC reactor converter unit Drive unit...

  • Page 49: How To Use The Bus Bar

    How to use the bus bar • Screw the top and bottom bus bar alternately starting from the converter unit side. • Overlap and screw the bus bar on the TE2 terminal block of the drive unit. • If the number of drive units connected to the converter unit is an even number, there will be a gap between the TE2 terminal block of the drive unit at the far end and the bus bar by the thickness of the conductor.

  • Page 50: 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 drive unit. Doing so may cause a malfunction. • In the torque mode, EM2 functions the same as EM1. 3 SIGNALS AND WIRING 3.2 Example I/O signal connections...

  • Page 51: Mr-J5D1-_G

    MR-J5D1-_G_ Sink I/O interface 24 V DC 24 V DC DICOM DOCOM Main circuit power supply *3*4 Forced stop 2 Malfunction Forward rotation stroke end *9*13 Electromagnetic brake interlock Reverse rotation stroke end In-position Proximity dog TPR1 Touch probe1 10 m or less Encoder A-phase pulse TPR2 Touch probe2...
  • Page 52 Source I/O interface For notes, refer to the notes in the following section. Page 49 Sink I/O interface 24 V DC 24 V DC DICOM DOCOM Main circuit power supply *3*4 Forced stop 2 Malfunction Forward rotation stroke end *9*13 Electromagnetic brake interlock Reverse rotation stroke end In-position...

  • Page 53: Mr-J5D2-_G_/Mr-J5D3-_G

    MR-J5D2-_G_/MR-J5D3-_G_ Sink I/O interface 24 V DC 24 V DC DICOM DOCOM Main circuit power supply *3*4 Forced stop 2 CALM AND malfunction Forward rotation stroke end DI1-A for A-axis Electromagnetic brake interlock MBR-A Reverse rotation stroke end for A-axis DI2-A for A-axis Electromagnetic brake interlock...
  • Page 54 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the drive unit to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the drive unit may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 55 Source I/O interface For notes, refer to the notes in the following section. Page 51 Sink I/O interface 24 V DC 24 V DC DICOM DOCOM Main circuit power supply *3*4 Forced stop 2 CALM AND malfunction Forward rotation stroke end DI1-A for A-axis Electromagnetic brake interlock...

  • 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 84 DIMENSIONS L+/L- (Connection destination: Converter unit) Connect them with L+ and L- of the converter unit. Use the bus bar. L11/L21 (Connection destination: Control circuit power supply) Supply 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz power to L11 and L21.
  • Page 57 Timing chart (Startup and initial network communication) Drive unit (first unit) Control circuit power supply Drive unit (second unit) Control circuit power supply Power regeneration converter unit Control circuit power supply Ready-on command (from controller) 10 ms Servo-on command (from controller) Max.

  • Page 58: Wiring Cnp3

    Wiring CNP3_ • For the wire sizes, refer to the following. Page 121 Selection example of wires • When wiring, remove the power connectors from the drive unit. • Insert only one wire or ferrule into each wire insertion hole on each power connector. Use the supplied drive unit power connector for wiring CNP3_.
  • Page 59 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 56 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 60 ■Inserting wire Insert only one wire or ferrule into each wire insertion hole on each power connector. • For stranded wire connection Insert the open tool all the way into the clamp opening screwdriver insertion hole. Insert a properly stripped wire into the wire insertion hole. The recommended wire strip length is 12 mm ± 1 mm. Check the wire insertion depth so that the wire insulator is not caught by the spring and that the conductive part of the stripped wire is not exposed.

  • Page 61: 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 139 USING STO FUNCTION 3 SIGNALS AND WIRING 3.4 Connectors and pin assignments...

  • Page 62: Connectors And Pin Assignments

    Connectors and pin assignments 1-axis drive unit The front view and bottom view of the drive unit shown below are of MR-J5D1-_G_ drive unit with a rated capacity symbol of 350 or less. Refer to the following for the appearance and connector layout of the other drive units. Page 84 DIMENSIONS The frames of the CN2A and CN2AL connectors are connected to the protective earth terminal in the drive unit.
  • Page 63 Multi-axis drive unit The front view and bottom view of the drive unit shown below are of MR-J5D3-_G_ drive unit with a rated capacity symbol of 200 or less. Refer to the following for the appearance and connector layout of the other drive units. Page 84 DIMENSIONS The frames of the CN2A connector, CN2B connector, and CN2C connector are connected to the protective earth terminal in the drive unit.

  • Page 64: 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 77 Detailed explanation of interfaces The pin numbers in the connector pin No. column are default numbers. ...
  • Page 65 Input devices  and  in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings Device name Symbol Availability I/O signal Detailed explanation interface type  Page 63 EM2 (Forced stop 2) Forced stop 2 DI-1...
  • Page 66 ■LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) To operate a servo motor, turn on LSP/LSN. Turn LSP/LSN off to bring the servo motor to a stop and switch it to the servo-lock state. For information about areas such as the supported control modes, automatic on, and restrictions, refer to "Stroke limit function"...
  • Page 67 ■TPR1 (touch probe 1)/TPR2 (touch probe 2)/TPR3 (touch probe 3) Refer to the following table for drive units on which TPR1 to TPR3 are available.  and  in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings Drive unit TPR1...

  • Page 68: Output Device

    Output device Output device pins The following shows the output device pins and the servo parameters used for assigning devices. ■MR-J5D1-_G_ Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-15 [Pr. PD09] DO-1 CN3-16 [Pr. PD08] CN3-32 [Pr.
  • Page 69 Output devices  and  in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings : Devices that cannot be used Device name Symbol Availability I/O signal Detailed explanation interface type...
  • Page 70 Output device explanation ■ALM (Malfunction) If the protective circuit operates and shuts off the base circuit, ALM will turn off. If an alarm is not occurring, ALM will turn on in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis drive unit). For details, refer to "Alarm function"...
  • Page 71 ■ABSV (Absolute position erased) ABSV turns on when the absolute position is undetermined. Page 135 ABSOLUTE POSITION DETECTION SYSTEM ■MTTR (Tough drive in progress) MTTR is always off. ■CLDS (Fully closed loop control in progress) When the fully closed loop control is in progress, the CLDS is on. ■CVST (Converter stop) CVST turns on when the ready-on command is received.
  • Page 72 ■ZSP (Zero speed detection) If the servo motor speed is the zero speed or less, ZSP will turn on. The zero speed can be changed with [Pr. PC07]. The following shows an example when the initial value (50) is set in [Pr. PC07]. OFF level 70 r/min 20 r/min...

  • Page 73: 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 74: Power Supply

    Power supply Power supply explanations ■DICOM (Digital input I/F power supply) Input 24 V DC (24 V DC ± 10 %, 300 mA) for I/O interfaces. For sink interfaces, connect the positive terminal of the 24 V DC external power supply. For source interfaces, connect the negative terminal of the 24 V DC external power supply.

  • Page 75: Interface

    Interface Internal connection diagram Refer to the following for the CN8 connector. Page 139 USING STO FUNCTION 1-axis drive unit Drive unit Forced stop 24 V DC Approx. 6.2 kΩ DOCOM Approx. 4.3 kΩ *3*4 Approx. 6.2 kΩ Approx. 4.3 kΩ *2*4 Approx.
  • Page 76 *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 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *3 Signals can be assigned to these pins with servo parameters ([Pr.
  • Page 77 Multi-axis drive unit Drive unit 24 V DC DOCOM 24 V DC MBR-A DICOM Approx. 6.2 kΩ MBR-B Approx. 4.3 kΩ *3*4 DI1-A MBR-C Approx. 6.2 kΩ DI2-A CALM Approx. 4.3 kΩ DI3-A CINP Approx. 6.2 kΩ DI1-B *2*4 Approx. 6.2 kΩ DI2-B Analog monitor Approx.
  • Page 78 *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 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *3 Signals can be assigned to these pins with servo parameters ([Pr.

  • Page 79: 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 62 Signal (device) explanation Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal.
  • Page 80 Encoder output pulse DO-2 ■Differential line driver type • Interface Maximum output current: 35 mA Drive unit Drive unit Am26LS32 or 100 Ω equivalent (LB, LZ) (LB, LZ) 150 Ω High-speed (LBR, LZR) (LBR, LZR) photocoupler • Output pulse Servo motor CCW rotation π/2 400 μs or more ■Open-collector type...
  • Page 81 Analog output AO-1 Drive unit (MO2) Output voltage: ±10 V Maximum output current: 1 mA Resolution: 10 bits or its equivalent *1 The output voltage varies depending on the output contents. 3 SIGNALS AND WIRING 3.6 Interface...

  • Page 82: Source I/O Interface

    Source I/O interface For this drive unit, 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 83: 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 84 Multi-axis drive unit A-axis servo motor CALM MBR-A Drive unit 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 85: Grounding

    Grounding The drive unit supplies power to the servo motor by switching on and off a power transistor. Depending on the wiring and ground wire routing, the drive unit 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 86: Chapter 4 Dimensions

    DIMENSIONS 400 V class MR-J5D1-100G4 to MR-J5D1-350G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram 2-M5 Screw (drawn with the cover removed) 258.5 255.5 43.5 Mounting hole location diagram Mounting screw Terminal assignment CNP3A Screw size: M5 CNP3A...
  • Page 87 MR-J5D1-500G4/MR-J5D1-700G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram Cooling fan (drawn with the cover removed) 2-M5 Screw exhaust 258.5 255.5 Intake 43.5 Mounting hole location diagram Mounting screw Terminal assignment CNP3A Screw size: M5 CNP3A Tightening torque: 3.24 [N•m] CN2A...
  • Page 88 MR-J5D2-100G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram (drawn with the cover removed) 2-M5 Screw 258.5 255.5 43.5 Mounting hole location diagram Mounting screw Terminal assignment CNP3A CNP3B Screw size: M5 CNP3A, 3B Tightening torque: 3.24 [N•m] CN2A CN2B...
  • Page 89 MR-J5D2-200G4/MR-J5D2-350G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram Cooling fan (drawn with the cover removed) 2-M5 Screw exhaust 258.5 255.5 Intake 43.5 Mounting hole location diagram CNP3A CNP3B Mounting screw Terminal assignment Screw size: M5 CNP3A, 3B Tightening torque: 3.24 [N•m]...
  • Page 90 MR-J5D2-500G4/MR-J5D2-700G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 75 Terminal block location diagram Cooling fan (drawn with the cover removed) 2-M5 Screw exhaust 258.5 255.5 Intake 58.5 Mounting hole location diagram CNP3B Terminal assignment Mounting screw CNP3A Screw size: M5 CNP3A, 3B Tightening torque: 3.24 [N•m]...
  • Page 91 MR-J5D3-100G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram (drawn with the cover removed) 2-M5 Screw 258.5 255.5 43.5 Mounting hole location diagram CNP3C Mounting screw Terminal assignment CNP3B Screw size: M5 CNP3A, 3B, 3C Tightening torque: 3.24 [N•m] CNP3A CN2A...
  • Page 92 MR-J5D3-200G4 CN40B CN40A CN1A CN1B φ6 mounting hole Approx. 40 Approx. 60 Terminal block location diagram Cooling fan (drawn with the cover removed) 2-M5 Screw exhaust 258.5 255.5 Intake 43.5 Mounting hole location diagram Mounting screw Terminal assignment Screw size: M5 CNP3A, 3B, 3C CNP3B Tightening torque: 3.24 [N•m]...

  • Page 93: Connector

    Connector Precautions • Obtain the wiring instructions from the manufacturer and wire connectors appropriately. CN3 connector 15.6 2.15 22.65 52.5 SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 4 DIMENSIONS 4.2 Connector...

  • Page 94: Chapter 5 Characteristics

    CHARACTERISTICS Overload protection characteristics Outline An electronic thermal is built in the drive unit to protect the servo motor, drive unit and servo motor power wires from overloads. In this section, overload protection characteristics refer to the overload protection characteristics of drive units and servo motors.
  • Page 95 ■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 96: Power Supply Capacity And Generated Loss

    Power supply capacity and generated loss Power supply capacity Calculate the power supply capacity from the capacity of the converter unit. MR-CV Power Regeneration Converter Unit User's Manual Generated loss Amount of heat generated by the drive unit The following tables indicate the losses generated by drive units under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the harshest conditions with regard to the environment and operation pattern.
  • Page 97 Heat dissipation area for enclosed type cabinet For the heat dissipation area of the converter unit, refer to "Heat dissipation area for enclosed type cabinet" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual The enclosed type cabinet (hereafter called the cabinet) that stores the drive unit should be designed to ensure that its internal temperature rise is within +15 °C at an ambient temperature of 40 °C.

  • Page 98: Dynamic Brake Characteristics

    Dynamic brake characteristics • The coasting distance is a theoretically calculated value that does not consider running loads such as friction. Since the coasting distance changes depending on the load moment of inertia, perform a test operation to check the actual braking distance. If the braking distance is long, a moving part may crash into the stroke end.

  • Page 99: 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 100 Dynamic brake time constant The following shows dynamic brake time constant  that is necessary to calculate the equation (10.2). ■400 V class Servo motor Drive unit Waveform HK-KT053W MR-J5D_-100G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT13W MR-J5D_-100G4 1000...
  • Page 101 Servo motor Drive unit Waveform HK-KT634W MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT7M34W MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4...
  • Page 102 Servo motor Drive unit Waveform HK-KT1034W MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT634UW MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS...
  • Page 103 Servo motor Drive unit Waveform HK-KT1034UW MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT1534W MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000...
  • Page 104 Servo motor Drive unit Waveform HK-KT2034W MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT2024W MR-J5D_-200G4 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] MR-J5D_-350G4 1000 1500...
  • Page 105 Servo motor Drive unit Waveform HK-ST524W MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-ST1024W MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS...
  • Page 106 Servo motor Drive unit Waveform HK-ST1724W MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-ST2024AW MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 MR-J5D_-500G4...
  • Page 107 Servo motor Drive unit Waveform HK-ST3024W MR-J5D_-350G4 MR-J5D_-500G4 1000 1500 2000 2500 3000 3500 4000 Servo motor speed [r/min] MR-J5D_-700G4 1000 1500 2000 2500 3000 3500 4000 Servo motor speed [r/min] HK-ST2024W MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 MR-J5D_-500G4...
  • Page 108 Servo motor Drive unit Waveform HK-ST3524W MR-J5D_-350G4 MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-700G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-ST5024W MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-700G4 1000...
  • Page 109 Servo motor Drive unit Waveform HK-ST7024W MR-J5D_-700G4 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] HK-ST3534W MR-J5D_-350G4 MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-ST5034W MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-700G4 1000...
  • Page 110 Servo motor Drive unit Waveform HK-RT1034W MR-J5D_-100G4 MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-RT1534W MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 111 Servo motor Drive unit Waveform HK-RT2034W MR-J5D_-200G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-350G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-RT3534W MR-J5D_-350G4 MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 112 Servo motor Drive unit Waveform HK-RT5034W MR-J5D_-500G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5D_-700G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-RT7034W MR-J5D_-700G4 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 113 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 114: 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 115: Inrush Currents At Power-On Of Control Circuit

    Inrush currents at power-on of control circuit A molded-case circuit breaker and magnetic contactor may fail or malfunction due to an inrush current flowing through the drive unit's power lines (input lines) at power-on. Therefore, use products with the specifications described on the following page.

  • Page 116: Chapter 6 Options And Peripheral Equipment

    Purchase the cable and connector options indicated in this section for this drive unit. Use the cables provided by Mitsubishi Electric and Mitsubishi Electric System & Service Co., Ltd. When fabricating a cable, select a wire suitable for the application. As an example of selecting a power cable suitable for the application, the 2018 edition of NFPA 79 in North America demands the use of a listed, certified product that has a thermoset insulator and is compliant with the NEC standard RHH, RHW, RHW-2, XHH, XHHW, or XHHW-2.

  • Page 117: Combinations Of Cables/Connector Sets

    Combinations of cables/connector sets Ethernet cable Ethernet cable Controller Network To Converter unit Setup software MR Configurator2 To A-axis servo motor encoder To C-axis servo motor power supply *2*3 To B-axis servo motor encoder To B-axis servo motor To C-axis servo motor encoder To servo motor power supply *2*3 power supply...
  • Page 118 List of cables/connector sets Product name Model Description Remark  Drive unit power Supplied with the connector drive unit CNP3_ connector BVF 7.62HP/04/180MF4 SN BK BX LRP (Weidmüller) Applicable wire size: 0.5 mm to 10 mm (AWG 24 to 8) Not included with the drive unit.

  • Page 119: Mr-D05Udl3M-B Sto Cable

    MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Cable OD Application MR-D05UDL3M-B 5.7 mm Connection cable for the CN8 connector *1 Standard OD. The maximum OD is about 10 % greater for dimensions without tolerances. System architecture MR-D05UDL3M-B Top view of...

  • Page 120: Ethernet Cable

    Ethernet cable For Ethernet cables used for network wiring, refer to "Communication specifications" in the User's Manual (Communication Function). A commercially available product example is as follows. Product name Model Specifications Ethernet cable For indoor use SC-E5EW-S_M _: cable length (0.5 m, 1 to 100 m (unit: 1 m)) Double shielded cable (category For moving parts SC-E5EW-S_M-MV...

  • Page 121: Bus Bar

    Bus bar Use a bus bar to connect the L+/L- terminals between the converter unit and the drive unit, and between the drive units. The bus bar to be used is different depending on the width and arrangement of the power regeneration converter unit or the drive unit to be connected.

  • Page 122: Mr Configurator2

    MR Configurator2 Engineering tool MR Configurator2 (SW1DNC-MRC2-_) can be used with this drive unit. 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 drive unit.

  • Page 123: 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-J5D Safety Instructions and Precautions for AC Servos (IB(NA)-0300527). To comply with other standards, use wires that comply with each standard. Selection requirements for the wire size are as follows.
  • Page 124 Wire size selection examples Selection examples for the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) are indicated below. Refer to the following for selection examples for crossover wiring of the control circuit power supply. Page 123 For crossover wiring of the control circuit power supply ■400 V class *1*3 Drive unit...

  • Page 125: Molded-Case Circuit Breakers, Fuses

    Molded-case circuit breakers, fuses When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section. Precautions • Select the molded-case circuit breakers specified in this section. • Wire the molded-case circuit breaker and magnetic contactor as recommended. •...
  • Page 126 ■Molded-case circuit breaker Use a molded-case circuit breaker that has operation characteristics that will not be triggered by inrush current.  Number of connected converter units/drive units Voltage AC [V] Molded-case circuit 30 A frame 5A 30 A frame 10A 30 A frame 15A 30 A frame 30 A frame 30A...

  • Page 127: Selection Examples That Comply With Iec/En/Ul 61800-5-1 And Csa C22.2 No.274

    MR-J5D_-_G_ 30 A frame 5 A *1 To comply with the IEC/EN/UL/CSA standards, refer to the MR-J5D Safety Instructions and Precautions for AC Servos (IB(NA)- 0300527) for selection of molded-case circuit breakers and fuses. Selection examples that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274...

  • Page 128: Relay (Recommended)

    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 129 Techniques for noises radiated by the converter unit/drive unit that cause peripheral equipment to malfunction Noises produced by the converter unit/drive unit are classified into those radiated from the cables connected to the converter unit/drive unit 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 130 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 converter unit/drive unit or when the signal cables run near the converter unit/ drive unit.
  • Page 131 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 drive unit.
  • Page 132 ■Outside the cabinet • When using cable clamp fittings Inside the cabinet Outside the cabinet Cable clamp fitting Top view of Locate 5 mm to 10 mm away drive unit from the cabinet entrance. • When using a data line filter Inside the cabinet Outside the cabinet Data line filter...

  • Page 133: Noise Reduction Products

    Noise reduction products For the noise reduction products to be connected to the converter unit, refer to "Noise reduction products" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual Data line filter (recommended) Noise can be prevented by installing a data line filter onto cables such as the encoder cable. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
  • Page 134 Surge killer (recommended) Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the drive unit. 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 135 Cable clamp fitting Generally, connecting the grounding wire of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the ground plate as shown below. Install the ground plate near the drive unit for the encoder cable.

  • Page 136: Earth-Leakage Current Breaker

    Earth-leakage current breaker For details on how to select an earth-leakage circuit breaker, refer to "Earth-leakage current breaker" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual 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 137: Chapter 7 Absolute Position Detection System

    ABSOLUTE POSITION DETECTION SYSTEM Precautions • If [AL. 025 Absolute position erased] or [AL. 0E3 Absolute position counter warning] occurs, execute homing again. Outline Characteristics The encoder consists of a circuit designed to detect a position within one revolution and the number of revolutions. The absolute position detection system always detects and memorize the absolute position of the machine, regardless of whether the controller power is on/off.

  • Page 138: System Architecture

    System architecture The following shows the architecture of the absolute position detection system. When connecting the battery-less absolute position encoder Controller Drive unit CN2A/ CN2B/ CN1_ CN2C Servo motor Do not connect anything. Servo parameter setting [G] Set [Pr. PA03 Absolute position detection system] to "1" (enabled (absolute position detection system)). Homing After the absolute position detection system is enabled, [AL.

  • Page 139: Checking The Detected Absolute Position Data

    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 MR Configurator2 System architecture  Motor (machine) side pulse unit Acquires and displays values in the unit of the servo motor (machine) side pulses from the value drive unit of the specified axis.

  • Page 140: Configuration And Specifications

    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 141: Chapter 8 Using Sto Function

    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. To extend functional safety by setting [Pr. PSA01.0] to "1", refer to the following. Page 150 USING FUNCTIONAL SAFETY Precautions •...

  • Page 142: Residual Risks Of The Sto Function

    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 and servo motor.

  • Page 143: Specifications

    Magnetic contactor (8 ms) Base circuit (Energy supply to the servo motor) Maintenance This drive unit 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 144: Functional Safety I/O Signal Connector (Cn8) And Pin Assignments

    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. Functional safety I/O signal connector TOFB2 TOFCOM STO2 TOFB1 STOCOM STO1 Top view of drive unit Signal (device) explanation I/O device...

  • Page 145: How To Pull Out The Sto Cable

    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 146: Connection Example

    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 147: Connection Example For Cn8 Connector

    Connection example for CN8 connector This drive unit 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 148: External I/O Signal Connection Example Using An External Safety Relay Unit

    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 48 Example I/O signal connections 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 149: 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 142 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 150 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 151: Source I/O Interface

    Source I/O interface For this drive unit, 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 152: Chapter 9 Using Functional Safety

    USING FUNCTIONAL SAFETY Function block diagram The following are examples of the MR-J5D1-_G_. 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. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics.

  • Page 153: Safety Sub-Function Control By Network

    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. Drive unit Servo motor To L+ of the converter unit To L- of the converter unit Control circuit...

  • Page 154: System Architecture

    System architecture The following are examples of the MR-J5D1-_G_. Safety sub-function control by input device Safety programmable controller CN1B Network Safety signal CN1A Emergency stop Network switch Safety light curtain I/O signal Personal computer MR Configurator2 CN2A Servo motor 9 USING FUNCTIONAL SAFETY 9.2 System architecture...

  • Page 155: Safety Sub-Function Control By Network

    Safety sub-function control by network Emergency stop switch CC-Link IE TSN CN1B Network Safety light curtain CN1A CC-Link IE TSN Network Safety signal I/O signal Personal computer MR Configurator2 CN2A Servo motor 9 USING FUNCTIONAL SAFETY 9.2 System architecture...

  • Page 156: Specifications

    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. Functional safety I/O signal connector SDOB SDOCOM SDIB...

  • Page 157: Example I/O Signal Connections

    Example I/O signal connections This is only a connection example for CN8. Refer to the following for other connection examples. Page 48 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 158: Output Signal

    Output signal For source output interface 10 m or less If the polarity of the diode is reversed, the drive unit will malfunction. 24 V DC SDOCOM Load SDOA Load SDOB *1 Separate the external output wiring into two routes, SDOA and SDOB. *2 Supply 24 V DC ±...

  • Page 159: Connecting I/O Interfaces

    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 160: Wiring The Sbc Output

    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 161: Noise Reduction Techniques

    Noise reduction techniques This section provides information on measures that prevent the drive unit malfunctioning when it is installed next to peripheral devices that emit a large amount of noise. Ground shielded cables close to the drive unit. 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 162: Example Of Connection With Other Devices

    Example of connection with other devices The following are examples of the MR-J5D1-_G_. Safety sub-function control by input device This figure shows the connection that allows execution of safety sub-functions from the safety controller using the input device assigned to pins of the CN8 connector. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics.

  • Page 163: Safety Sub-Function Control By Network

    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. Drive unit MELSEC iQ-R series safety CPU R6SFM RD78G/ RJ71GN11-T2 NZ2GNSS2-16DTE/ NZ2GNSS2-8D CN1A P1/P2 P1/P2 CN1B...

  • Page 164: Chapter 10 Using A Fully Closed Loop System

    USING A FULLY CLOSED LOOP SYSTEM 10.1 Precautions • A fully closed loop system cannot be used for a 3-axis drive unit. If the fully closed loop system is enabled for a 3-axis drive unit, [AL. 037 Parameter error] occurs. •...

  • Page 165: Functions And Configuration

    10.2 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 drive unit. In addition, the semi closed loop control, fully closed loop control, or dual feedback control can be selected by the setting of [Pr.

  • Page 166: Function Block Diagram

    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. Electronic gear Controller Servo motor Servo motor-side (Servo motor-side) feedback pulses...

  • Page 167: Operation Mode And Load-Side Encoder Combinations

    "0" Standard control mode  Linear encoder Rotary servo motor manufactured by Mitsubishi Electric   A/B/Z-phase differential output rotary encoder *1 It can be used with a 1-axis drive unit. If a 2-axis drive unit is used, [AL. 070] occurs.

  • Page 168: System Architecture

    System architecture For linear encoders ■1-axis drive unit Controller Drive unit Position command control signal Load-side encoder signal CN2A (A/B/Z-phase pulse train interface or serial interface) CN2AL CNP3A Linear encoder compatible with A/B/Z-phase pulse train interface, linear encoder compatible with two-wire or four-wire type serial interface Servo motor encoder signal Linear encoder head...
  • Page 169 ■2-axis drive unit Controller Drive unit Position command control signal CN2A Load-side encoder signal CNP3A Linear encoder compatible with two-wire type serial interface 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 170 For rotary encoders ■1-axis drive unit Controller Drive unit Position command control signal CN2A CN2AL CNP3A Driving part Load-side encoder signal Servo motor Servo motor encoder signal A/B/Z-phase differential output encoder, two-wire type or four-wire type rotary encoder, or synchronous encoder *1 When using an HK-KT servo motor, an absolute position detection system can be supported without using batteries.

  • Page 171: Signals And Wiring

    10.3 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 172 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 a two-wire type encoder cable. • When using an A/B/Z-phase differential output rotary encoder, refer to "A/B/Z-phase differential output type encoder"...

  • Page 173: Startup

    10.4 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 174 Load-side encoder communication method selection 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 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 175 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 176 ■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 177 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 178: Checking Position Data Of The Load-Side Encoder

    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 179: Basic Functions

    10.5 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 180 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 181 • When the linear encoder home position (reference mark) exists in the homing direction The position obtained by moving the home position shift distance from the linear encoder home position (reference mark) is set as the home position. The following figure shows the operation of Homing method 34. The homing direction of Homing method 33 is opposite to that of Homing method 34.
  • Page 182 When the servo motor returns at the stroke end Homing direction Stroke end *1 Homing start position Forward rotation Linear servo motor speed 0 r/min Reverse Linear encoder home position rotation Homing automatically starts from this position. *1 This cannot be used with the software limit. •...

  • Page 183: Operation From Controller

    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 184 ■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 185: About Mr Configurator2

    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 186 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 187: Options And Peripheral Equipment

    10.6 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 188: Absolute Position Detection System

    10.7 Absolute position detection system Structure An absolute position linear encoder is required to configure an absolute position detection system under fully closed loop control using a linear encoder. In this case, an encoder battery need not be installed to the drive unit. When a battery backup type rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery to the drive unit.
  • Page 189 MEMO 10 USING A FULLY CLOSED LOOP SYSTEM 10.7 Absolute position detection system...

  • Page 190: Revisions

    First edition 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 191: Warranty

    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 192: Trademarks

    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. IB(NA)-0300548ENG-A...
  • Page 194 IB(NA)-0300548ENG-A(2106)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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