Mitsubishi Electric MELSERVO-J2S Series Transition Handbook

Mitsubishi Electric MELSERVO-J2S Series Transition Handbook

Servo amplifiers & motors
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Transition from MELSERVO-J2-Super/
J2M Series to J4 Series Handbook
Complete Support for Upgrading Your
MELSERVO-J2S/J2M to MELSERVO-J4

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Summary of Contents for Mitsubishi Electric MELSERVO-J2S Series

  • Page 1 Transition from MELSERVO-J2-Super/ J2M Series to J4 Series Handbook Complete Support for Upgrading Your MELSERVO-J2S/J2M to MELSERVO-J4...
  • Page 2 SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To ensure correct usage of the equipment, make sure to read through this Replacement Manual, the Instruction Manual, the Installation Guide, and the Appended Documents carefully before attempting to install, operate, maintain, or inspect the equipment.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (when 30 kW or more is used, 20 minutes or more) until the charge lamp turns off. Then, confirm that the voltage between P+ (P) and N- (N) (when 30 kW or more is used, L+ and L-) is safe with a voltage tester and others.
  • Page 4 3. Injury prevention CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. The cables must be connected to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that the polarity (+/-) is correct.
  • Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the output side of the servo amplifier. Because installation of these items may cause the servo motor to malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor power supply.
  • Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not disassemble, repair, or modify the equipment. CAUTION Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart.
  • Page 7 (6) Maintenance, inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.
  • Page 8 Disposal of Waste When disposing of this product, the following two laws are applicable, and it is necessary to consider each law. In addition, because the following laws are effective only in Japan, local laws have priority outside Japan (overseas). We ask that the local laws be displayed on the final products or that a notice be issued as necessary.
  • Page 9 Dealing with overseas standards Refer to the following relevant manuals concerning dealing with overseas standards. «About the manual» This Replacement Manual and the following Instruction Manuals are necessary when using this servo for the first time. Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual number...
  • Page 10: Table Of Contents

    4.3 Replacement Manual ........................1-13 4.4 Renewal Tool ..........................1-13 4.5 Replacement Tool for Replacing MR-J2S series with MR-J4 series ........... 1-13 4.6 MITSUBISHI ELECTRIC FA Global Website ................1-13 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 2-1 to 2-46 1.
  • Page 11 3.3 Comparison of Networks ....................... 3-8 3.3.1 Comparison of servo system network specifications ............3-8 3.4 Comparison of Standard Connection Diagrams ................3-10 3.5 List of Corresponding Connectors and Terminal Blocks ............. 3-11 3.6 Comparison of Peripheral Equipment ..................3-14 3.7 Comparison of Parameters ......................
  • Page 12 5.3 Selection of No-Fuse Breakers, Fuses, and Magnetic Contactors (example) ......5-37 5.3.1 MR-J2S-series, no-fuse breakers and magnetic contactors (recommended) ....5-37 5.3.2 MR-J4-series, no-fuse breakers, fuses, and magnetic contactors (recommended) ... 5-37 5.4 FR-BU2-(H) Brake Unit ........................ 5-39 5.4.1 Selection ..........................5-39 5.4.2 Parameter setting of brake units ..................
  • Page 13 2.1.2 General-purpose interface/SSCNET interface 100 V class (0.4 kW or less) ..... 7-22 2.1.3 Built-in positioning function/program supported 200 V class (7 kW or less) ...... 7-23 2.1.4 Built-in positioning function/program supported 100 V class (0.4 kW or less) ....7-23 2.1.5 General-purpose interface drive unit/SSCNET interface drive unit 200 V class (30 kW or more) ........................
  • Page 14 1.1.1 Combination and regenerative power for the MR-J2S series ..........9-3 1.1.2 Combination and regenerative power for the MR-J2M series ..........9-3 1.1.3 Combination and regenerative power for MR-J4 series (replacement model) ..... 9-4 1.2 External Form Comparison ......................9-5 1.3 Regenerative Options (400 V class) ....................
  • Page 15 7.8 MR-J4-Series Power Factor Improving AC Reactor (400 V class) ..........9-47 8. SETUP SOFTWARE .......................... 9-49 8.1 MR-J2S Series Setup Software ....................9-49 8.1.1 Specifications ........................9-49 8.2 MR-J4-Series MR Configurator2 ....................9-49 8.2.1 Specifications ........................9-49 8.3 System Requirements ......................... 9-50 8.3.1 Components ........................
  • Page 16 13.4.2 MR-J3CDL05M (0.5 m) Protection Coordination Cable ........Appendix 1-54 13.5 Regenerative Options ....................Appendix 1-55 13.5.1 Combination and regenerative power ............... Appendix 1-55 13.5.2 Regenerative option selection ................Appendix 1-59 13.5.3 Parameter setting ....................Appendix 1-61 13.5.4 Connecting regenerative options ..............Appendix 1-62 13.6 External Dynamic Brake ....................
  • Page 17 8.1 Renewal Kit ........................Appendix 2-90 8.2 Conversion Cable ...................... Appendix 2-107 8.2.1 Conversion cable on the servo amplifier side ........... Appendix 2-107 8.2.2 Power supply conversion cable on the motor side ........... Appendix 2-109 8.2.3 Encoder conversion cable on the motor side ........... Appendix 2-110 8.2.4 Conversion cable for the cooling fan on the motor side ........
  • Page 18: Part 1: Summary Of Mr-J2S/Mr-J2M Replacement 1-1 To

    Part 1: Summary of MR-J2S/MR-J2M Replacement Part 1 Summary of MR-J2S/ MR-J2M Replacement 1 - 1...
  • Page 19: Major Replacement Target Model

    Part 1: Summary of MR-J2S/MR-J2M Replacement This document describes the review items for replacing MR-J2S with MR-J4 and MR-J2M with MR-J4. Some equipment may require review on items not described in this document. Please review those items after viewing the Instruction Manual and the catalogs.
  • Page 20: Flow Of Replacement

    Part 1: Summary of MR-J2S/MR-J2M Replacement 3. FLOW OF REPLACEMENT 3.1 Summary This section describes the flow of replacement when replacing a system using the MR-J2S/MR-J2M series with a system using the MR-J4 series. 3.2 Flow of Review on Replacement ・・・Check the components of the system prior to replacement.
  • Page 21 Part 1: Summary of MR-J2S/MR-J2M Replacement The following displays the review items when replacing MR-J2S series with MR-J4 series using MR-J2S-60A as an example case. Options and Peripheral equipment Power supply Molded-case circuit breaker Options and (NFB) Peripheral equipment or Fuse Servo amplifier MITSUBISHI Command device...
  • Page 22 Part 1: Summary of MR-J2S/MR-J2M Replacement Changes from MR-J2S series to MR-J4 series POINT The following table summarizes the changes from MR-J2S series to MR-J4 series. For details, refer to the reference document/items. Changes Check items Impact Reference document/items Servo Connector Connector shape, pin arrangement, signal abbreviation, and Part 2, Section 3.4...
  • Page 23 Part 1: Summary of MR-J2S/MR-J2M Replacement Changes Check items Impact Reference document/items Options and Regenerative option Some regenerative options cannot be used for MR-J4. Part 9, Chapter 1 peripheral Setup software Setup software (SETUP161E) cannot be used for MR-J4. Part 9, Chapter 8 equipment (SETUP161E) Use MR Configurator2.
  • Page 24: Review On Replacement

    Part 1: Summary of MR-J2S/MR-J2M Replacement 3.3 Review on Replacement 3.3.1 Checking the system prior to replacement Check the components of the system prior to replacement. Servo amplifier Category Controller model "Reference items" in this document Remarks model Positioning module QD75P(D) MR-J2S-_A_ (1) MR-J2S series...
  • Page 25: Determination Of Base Replacement Model

    Note 1. These replacement models do not have compatibility in mounting. Use the mounting plate holes of Renewal Tool manufactured by Mitsubishi Electric System & Service Co., Ltd. The servo amplifier capacity may vary depending on the servo motor to be replaced. Refer to Part 8 Section 1.1.
  • Page 26 Note. These replacement models do not have compatibility in mounting. Use the mounting plate holes of the mounting plate manufactured by Mitsubishi Electric System & Service Co., Ltd. The servo amplifier capacity may vary depending on the servo motor to be replaced. Refer to Part 8 Section 1.1.
  • Page 27 Note 1. These replacement models do not have compatibility in mounting. Use the mounting plate holes of Renewal Tool manufactured by Mitsubishi Electric System & Service Co., Ltd. The servo amplifier capacity may vary depending on the servo motor to be replaced. Refer to Part 8 Section 1.1.
  • Page 28 Part 1: Summary of MR-J2S/MR-J2M Replacement (3) Servo amplifier and servo motor combination for the MR-J4 series Refer to "Part 8: Review on Replacement of Motor" when replacing the servo motor with the one that has already been installed. (Refer to "[Appendix 2] Introduction to Renewal Tool" if using an existing cable and servo motor.) (a) 100 V/200 V class Rotary servo motor Servo amplifier...
  • Page 29: Mounting Compatibility Check

    3.3.6 Startup procedure check Refer to "Part 10: Startup Procedure Manual" in this document. 4. RELATED MATERIALS 4.1 Catalog (1) Mitsubishi Electric General-Purpose AC Servo MELSERVO-J4 (2) Motion Controller Q17nDSCPU/Q170MSCPU Simple Motion Module QD77MS/QD77GF 4.2 Instruction Manual (1) MELSERVO-J4 Series MR-J4-_A(-RJ)/MR-J4-_A4(-RJ)/MR-J4-_A1(-RJ) Servo Amplifier Instruction...
  • Page 30: Replacement Manual

    When an in-use rotary servo motor or servo amplifier is selected, a corresponding MR-J4 series product can be selected. Note: For details, contact your local sales office. 4.6 MITSUBISHI ELECTRIC FA Global Website http://www.mitsubishielectric.com/fa/ Servo motor series model, servo amplifier model, regenerative...
  • Page 31 Part 1: Summary of MR-J2S/MR-J2M Replacement MEMO 1 - 14...
  • Page 32: Part 2: Review On Replacement Of Mr-J2S-_A_ With Mr-J4-_A_ 2-1 To

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ Part 2 Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 2 - 1...
  • Page 33: Case Study On Replacement Of Mr-J2S-_A

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 1. SUMMARY This section describes the changes to be made when a system using MR-J2S-_A_ is replaced with a system using MR-J4-_A_. 2.
  • Page 34 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (2) Separate repair of servo amplifier/servo motor POINT An HG motor cannot be driven by MR-J2S-_A_. When a servo motor is replaced with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_ simultaneously.
  • Page 35: Differences Between Mr-J2S-_A_ And Mr-J4-_A

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3. DIFFERENCES BETWEEN MR-J2S-_A_ AND MR-J4-_A_ 3.1 Function Comparison Table Reference Item MR-J2S-_A_ series MR-J4-_A_ Compatibility material/items Control mode Position control mode (pulse command) Speed control mode (analog command) ← ○ Torque control mode (analog command) Maximum input Open-collector pulse: 200 kpulses/s...
  • Page 36: Function List

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.2 Function List function MR-J2S-_A_ MR-J4-_A_ Reference document/items MR-J4-_A_ Servo Amplifier Encoder resolution 131072 pulses/rev 4194304 pulses/rev Instruction Manual, Section 1.3 Absolute position detection MR-J4-_A_ Servo Amplifier ○ [Pr. 1] ○ [Pr. PA03] system Instruction Manual, Chapter 12 MR-J4-_A_ Servo Amplifier...
  • Page 37: Comparison Of Standard Connection Diagrams

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.3 Comparison of Standard Connection Diagrams (1) Position control mode MR-J2S-_A_ MR-J4-_A_ Example of connection to A1SD75P_ Example of connection to QD75D Positioning module Servo amplifier Servo amplifier A1SD75P 10 m or lower 24 V DC Positioning module 24 V DC...
  • Page 38 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (3) Torque control mode MR-J2S-_A_ MR-J4-_A_ Servo amplifier Servo amplifier 24 V DC DOCOM DOCOM 10 m or less Malfunction Malfunction Speed selection 1 Main circuit power supply Zero speed detection Zero speed Forced stop 2 detection...
  • Page 39: List Of Corresponding Connectors And Terminal Blocks

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.4 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. For details on signals, refer to each servo amplifier instruction manual. MR-J2S-_A_ MR-J4-_A_ Personal...
  • Page 40 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (3) Comparison of signals (a) CN1A/CN1B 1) Position control mode Signal MR-J2S-_A_ MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1-35 CN1A-3 CN1-10...
  • Page 41 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 2) Speed control mode Signal MR-J2S-_A_ MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1A-3 CN1A CN1A-4 P15R CN1-1 CN1A-5 CN1-8 CN1A-6 CN1-4...
  • Page 42 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3) Torque control mode Signal MR-J2S-_A_ MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1A CN1A-3 CN1A-4 P15R CN1-1 CN1A-5 CN1-8 CN1A-6 CN1-4...
  • Page 43 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (b) CN3 1) For 7 kW or less MR-J2S-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN3-3 CN6-1 CN3-4 CN6-2 CN3-14 CN6-3 CN3-13 CN3-1 CN3-1...
  • Page 44: Comparison Of Peripheral Equipment

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (c) CN4 (11 kW to 22 kW only) MR-J2S-_A_ MR-J4-_A_ Signal symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN4-1 CN6-3 CN4-2 CN6-2 CN4-4 CN6-1 3.5 Comparison of Peripheral Equipment POINT Refer to "Part 9: Replacement of Optional Peripheral Equipment".
  • Page 45: Comparison Of Parameters

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 46 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (2) Position control mode Parameter Name Initial Setting Description number value value PA01 Operation mode 1 0 0 0h _ _ _ 0h Select the servo amplifier control mode. Select the position control mode. PA06 Electronic gear numerator When using an electronic gear, it is necessary to change the...
  • Page 47: Parameter Comparison List

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.6.2 Parameter comparison list POINT Manufacturer setting parameters are not described here. MR-J2S-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Control mode,...
  • Page 48 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Zero speed PC17 Zero speed Analog speed command - Maximum speed Analog speed command - Maximum speed PC12 Analog speed limit maximum speed...
  • Page 49 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value PD09 *DI4L Input device selection 4L 0805h *DI7 Input signal selection 7 (CN1B-9) 0994h PD10 *DI4H Input device selection 4H...
  • Page 50: Comparison Of Parameter Details

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.6.3 Comparison of parameter details POINT The symbols in the control mode column mean the following control modes: P: Position control mode S: Speed control mode T: Torque control mode MR-J2S-_A_ MR-J4-_A_ Control Initial...
  • Page 51 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 1 0002h PD29 Input filter setting 0004h Select a value for the input filter, pin CN1B-19 function, If an external input signal causes chattering due to and absolute position detection system.
  • Page 52 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Auto Tuning 7 kW or PA09 Auto tuning response less: Select a response level, etc. when performing auto Set a response of the auto tuning.
  • Page 53 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value In-position range PA10 In-position range Used to set the range where INP (positioning completion) Used to set an in-position range per command pulse is output by the command pulse unit before an electronic unit.
  • Page 54 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Internal speed command 1 PC05 Internal speed command 1 This is used to set speed 1 of internal speed commands. This is used to set speed 1 of internal speed commands.
  • Page 55 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value S-pattern acceleration/deceleration time constant PC03 S-pattern acceleration/deceleration time constant This is used to smooth start/stop of the servo motor. This is used to smooth start/stop of the servo motor.
  • Page 56 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Serial communication function selection - Alarm history 0000h PC18 Alarm history clear selection 0000h clear Used to clear the alarm history. Used to select the serial communication baud rate and various conditions for communication, and to clear the alarm...
  • Page 57 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Status display selection 0000h PC36 Status display selection 0000h This is used to select a status display shown at power- Status display selection at power-on Refer to the comparison table below for the setting method.
  • Page 58 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Parameter writing inhibit 0000h PA19 Parameter writing inhibit 00AAh Used to select the reference range and writing range of Used to select the reference range and writing range parameters.
  • Page 59 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 3 (command pulse selection) 0000h PA13 Command pulse input form 0100h Used to select the input form of pulse train input signals. Command pulse input form 0: Forward/reverse rotation Command pulse input form...
  • Page 60 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 4 0000h PD30 Function selection D-1 0000h Used to select a stop method when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are turned off, and to select VC/VLA voltage Stop method when LSP...
  • Page 61 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Analog torque command maximum output PC13 Analog torque command maximum output 100.0 Used to set the output torque at an analog torque Set the same value as for MR-J2S-_A_.
  • Page 62 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Differs Differs Analog speed command offset PC37 Analog speed command offset depending depending on the on the Used to set the offset voltage of VC (Analog speed Used to set the offset voltage of VC (Analog speed servo...
  • Page 63 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Position loop gain 2 7 kW or PB08 Position loop gain 37.0 less: Used to set the gain of the position loop. Used to set the gain of the position loop.
  • Page 64 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Input signal automatic ON selection 0000h PD01 Input signal automatic on selection 1 0000h Used to set SON (servo-on), LSP (forward rotation stroke Used to set input devices to be turned on end), and LSN (reverse rotation stroke end) automatic automatically.
  • Page 65 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Input signal selection 2 (CN1B-5) 0111h PD03 Input device selection 1L 0202h When LOP (control switching) is assigned to pin CN1B-5 Any input device can be assigned to pin CN1-15.
  • Page 66 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Input signal selection 4 (CN1A-8) 0665h PD13 Input device selection 6L 2006h Any input signal can be assigned to pin CN1A-8. Any input device can be assigned to pin CN1-41.
  • Page 67 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Output signal selection 1 0000h PD34 Alarm code output Used to select the connector pins for outputting an alarm This is used to select if output alarm codes.
  • Page 68 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 6 0000h PD30 Function selection D-1 0000h Used to select the operation method when RES (Reset) Used to select the base circuit status when RES is ON.
  • Page 69 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 9 0000h PA14 Select servo motor rotation direction relative to the input pulse train. Used to select the command pulse rotation direction, encoder output pulse direction, and encoder pulse output Servo motor rotation direction Setting...
  • Page 70 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Machine resonance suppression filter 1 0000h PB01 Adaptive tuning mode (adaptive filter II) 0000h Select the machine resonance suppression filter. Used to set the adaptive filter tuning.
  • Page 71 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Machine resonance suppression filter 2 0000h PB16 Used to set the shape of the machine resonance 0000h suppression filter 2.
  • Page 72 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Low-pass filter/adaptive vibration suppression control 0000h PB23 Low-pass filter selection 0000h Select the low-pass filter/adaptive vibration suppression control.
  • Page 73 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Position loop gain 2 changing ratio PB30 Gain switching position loop gain Used to set the changing ratio for position loop gain 2 When a value smaller than 1.0 rad/s is set, the value when the gain switching is enabled.
  • Page 74 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Gain switching condition PB27 Gain switching condition Used to set the values for the gain switching conditions Used to set the values for the gain switching (command frequency, droop pulses, and servo motor conditions (command frequency, droop pulses, and...
  • Page 75 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Internal speed command 5 PC09 Internal speed command 5 Used to set speed 5 of internal speed commands. This is used to set speed 5 of internal speed commands.
  • Page 76: Important Points For Replacement (Command Pulse Logic Settings)

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.7 Important Points for Replacement (Command Pulse Logic Settings) When carrying out positioning in the forward and reserve rotation pulse train setting for the MR-J4-_A_ servo amplifier, it is necessary to adjust the command pulse logic of the positioning module to that of the servo amplifier.
  • Page 77 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ [Reference] Pr. PA13, Command input pulse train form Forward rotation Reverse rotation Setting Pulse train form (positive direction) (negative direction) value command command Forward rotation pulse train (positive direction pulse train) _ _ 10h Reverse rotation pulse train (negative direction pulse train)
  • Page 78: Part 3: Review On Replacement Of Mr-J2S-_B_ With Mr-J4-_B_ 3-1 To

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ Part 3 Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3 - 1...
  • Page 79 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 1. SUMMARY This document describes the changes that are applied to when replacing a system using the MR-J2S-_B_ with a system using the MR-J4-_B_. Versions of A-series motion controller OS that support MR-J2S-_B_ Controller setting OS model...
  • Page 80: Case Study On Replacement Of Mr-J2S-_B

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 2. CASE STUDY ON REPLACEMENT OF MR-J2S-_B_ 2.1 Review on Replacement Method A171SHCPUN A172SHCPUN A173UHCPU A273UHCPU SSCNET SSCNET Ⅲ Q172CPUN Q173CPUN QD75M_ A1SD75M_ (QnHCPU + Q3_B) Simultaneous system replacement J2S-_B_ Only the controller and the servo amplifier are replaced.
  • Page 81: Replacement Method

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 2.2 Replacement Method This section shows replacements using a QDS motion controller and an SSCNETIII/H-compatible stand- alone motion controller as examples. For replacements using modules other than the above, refer to the following manuals. Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook (1) For simultaneous replacement QDS motion controller + MR-J4-_B_ + HG motor...
  • Page 82 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ POINT If the existing system is any of the combinations in the following table, it is recommended to replace both the servo amplifier and servo motor with an MR- J4-_B_ and HG motor at the same time. When an HG motor is adopted, the capacity of the servo amplifier needs to be changed.
  • Page 83 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ (3) Gradual replacement of MR-J2S-_B_ with MR-J4-_B_ Refer to "[Appendix 1] Summary of MR-J4-_B_-RJ020 + MR-J4-T20". 1: Current system 2: Only one axis replaced 3: Replacement of a servo amplifier 4: Replacement of a controller (Note1) and a motor for all axes (Note 1) (Note 2)
  • Page 84: Differences Between Mr-J2S-_B_ And Mr-J4-_B

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3. DIFFERENCES BETWEEN MR-J2S-_B_ AND MR-J4-_B_ 3.1 Function Comparison Table Item MR-J2S-_B_ MR-J4-_B_ Compatibility Reference material/items Control mode • Position control mode • Position control mode MR-J4-_B_ servo amplifier • Speed control mode •...
  • Page 85: Comparison Of Networks

    "MR-J4(W)-B Change mode" or "MR Mode Change". The application "MR-J4(W)-B Change mode" or "MR Mode Change" are available with MR Configurator2 Version 1.12N and later. When a version older than 1.12N is used, download an update version from the MITSUBISHI ELECTRIC FA Global Website.
  • Page 86 (Note) life Note. For cable of 30 m or shorter, contact your local sales office. Contact Mitsubishi Electric System & Service about ultra-high flex-life cables and long distance cables longer than 50 m. (2) SSCNET III/H cable specifications Description SSCNET III/H cable model...
  • Page 87: Comparison Of Standard Connection Diagrams

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.4 Comparison of Standard Connection Diagrams MR-J2S-_B_ MR-J4-_B_ MR-J2S-700B or models with less capacity Servo amplifier Servo amplifier Short-circuit connector 10 m or lower (Packed with the servo amplifier) Electromagnetic brake interlock 10 m or less Make sure to connect when using forced stop (EM1),...
  • Page 88: List Of Corresponding Connectors And Terminal Blocks

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.5 List of Corresponding Connectors and Terminal Blocks (1) Comparison of connectors An example of connections with the peripheral equipment is shown below. Refer to the respective Instruction Manuals for details on the signals. MR-J2S-_B_ MR-J4-_B_ Molded-case...
  • Page 89 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ (2) List of connector and terminal block correspondence MR-J2S-_B_ MR-J4-_B_ Precautions Must switch to SSCNET III/H cable Bus cable connector [CN1A] SSCNET III/H cable connector [CN1A] (option). Must switch to SSCNET III/H cable Bus cable-connecting connector [CN1B] SSCNET III/H cable connector...
  • Page 90 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ <11 kW or more> MR-J4-_B_ Abbreviation Connector pin assignment Connector pin No. (Note 1) Connector pin No. Connector pin assignment CON2 CON2-1 CN3-3 (DOCOM) CON2-2 CN3-20 (Note 2) (EM2) CON2-3 CN3-13 CON2-4 (Note 3)
  • Page 91: Comparison Of Peripheral Equipment

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.6 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment". 3 - 14...
  • Page 92: Comparison Of Parameters

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. Note If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 93: Setting Requisite Parameters Upon Replacement

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7.1 Setting requisite parameters upon replacement The parameters shown in this section are a minimum number of parameters that need to be set for simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other than these may need to be set.
  • Page 94: Parameter Comparison List

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7.2 Parameter comparison list POINT Parameters for manufacturer setting are not described here. MR-J2S-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial Parameter name Parameter name setting setting Abbreviation Abbreviation value value value value Amplifier setting...
  • Page 95 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial Parameter name Parameter name setting setting Abbreviation Abbreviation value value value value Electromagnetic Brake Sequence Electromagnetic Brake Sequence PC02 Output Output Analog monitor 1 PC09 MOD1 Analog monitor 1 output...
  • Page 96: Comparison Of Parameter Details

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7.3 Comparison of parameter details MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Amplifier setting 0000 PA03 Absolute position detection system 0000h Used to select absolute position detection system. This parameter is set when using the absolute position detection system.
  • Page 97 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value No corresponding parameter Number of feedback pulses Set the number of pulses per revolution according to controller side command. Information on the servo motor such as number of feedback pulses, current location, droop pulses, and position within one-revolution can be obtained by the value converted to the number of feedback pulses for...
  • Page 98 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Auto Tuning PA08 Auto tuning mode 0001h 0001 Used to select the auto tuning gain adjustment mode. Used to select the gain adjustment mode. Setting Initial Explanation...
  • Page 99 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Servo response 7 kW or PA09 Auto tuning response Used to select a response of the auto tuning. less: Set a response of the auto tuning.
  • Page 100 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 7.00 Load to motor inertia ratio PB06 Load to motor inertia ratio (Load inertia ratio) Used to set load to motor inertia ratio. Used to set the load inertia (moment of inertia) ratio to the This parameter can be set either automatically or servo motor shaft inertia moment.
  • Page 101 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Machine resonance suppression filter 1 (notch filter) 0000h PB13 Machine resonance suppression filter 1 4500 Used to select the machine resonance suppression filter. Used to set the notch frequency of machine resonance suppression filter 1.
  • Page 102 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Analog monitor output 0001 PC09 Analog monitor 1 output 0000h Used to select the signals output to analog monitor 1 (MO1) Used to select the signal to be output to the Analog and analog monitor 2 (MO2).
  • Page 103 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 23 Optional function 1 0000h PA04 Function selection A-1 2000h Servo forced stop function can be disabled. This is used to select the forced stop input and forced stop deceleration function.
  • Page 104 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 25 Low-pass filter/adaptive vibration suppression control 0000h PB23 Low-pass filter selection 0000h Used to select the low-pass filter/adaptive vibration Used to select the shaft resonance suppression filter.
  • Page 105 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 32 Optional function 5 0000 PB24 Slight vibration suppression control 0000h Used to select the PI-PID control switching. Used to select the PI-PID switching. Setting Initial Explanation...
  • Page 106 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 0000 Parameter writing inhibit PA19 Parameter writing inhibit 00ABh Used to select the reference range and writing range of Setting Setting MR Configurator...
  • Page 107 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Position loop gain 2 changing ratio PB30 Position loop gain after gain switching Used to set the changing ratio for position loop gain 2 when Used to set the position loop gain when gain switching is the gain switching is enabled.
  • Page 108: Important Points For Replacement

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.8 Important Points for Replacement (1) When the intermediate connection axis network is OFF, the network of the subsequent axis is not connected Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET III/H communication is interrupted.
  • Page 109 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MEMO 3 - 32...
  • Page 110 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Part 4 Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 4 - 1...
  • Page 111: Part 4: Review On Replacement Of Mr-J2S-_Cp_/Cl_ With Mr-J4-_A_-Rj

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 1. SUMMARY This section describes the changes to be made when a system using MR-J2S-_CP_/CL_ is replaced with a system using MR-J4-_A_-RJ. 2.
  • Page 112 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (2) Separate repair of servo amplifier/servo motor POINT MR-J2S-_CP_/CL_ cannot drive an HG motor. When a servo motor is replaced with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_RJ + HG simultaneously.
  • Page 113: Differences

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3. DIFFERENCES 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) Comparison between MR-J2S-_CP_/CL_ and MR-J4-_A_-RJ MR-J2S-_CP_/CL_ series MR-J4-_A_-RJ series Item (7 kW or less, 100 V/200 V class) (7 kW or less, 100 V/200 V class) (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW...
  • Page 114 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (2) Positioning function comparison Model Item MR-J2S-_CP_ MR-J2S-_CL_ MR-J4-_A_-RJ Point table up to 31 up to 255 up to 16 programs up to 256 programs Program end (120 steps) (640 steps) RS-422 communication ○...
  • Page 115 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Type Item MR-J2S-_CP_ MR-J2S-_CL_ MR-J4-_A_-RJ Absolute position detection ○ ○ ○ Backlash compensation ○ ○ ○ Overtravel prevention with external limit switch ○ ○ ○ Software stroke limit ○ ○ ○ ○...
  • Page 116: Function List

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.2 Function List (1) Function List Control mode (Note) function Description Positioning mode Select the predefined 255 point tables, and operate them according to the setting values. ○ × (Point table method) Use external input signals or communication functions to select point tables.
  • Page 117 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Control mode (Note) function Description External I/O signal display The on/off statuses of external I/O signals are displayed on the display. ○ ○ If the motor does not stop even when the VC (analog speed command) or VLA (analog VC automatic offset ○...
  • Page 118: Comparison Of Standard Connection Diagrams

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.3 Comparison of Standard Connection Diagrams (1) Point table method (MR-J2S-_CP_) MR-J2S-_CP_ MR-J4-_A_-RJ Servo amplifier Servo amplifier 24 V DC DOCOM Proximity dog Home position DOCOM return completed 10 m or shorter 10 m or lower Malfunction Main circuit...
  • Page 119 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (2) Program method (MR-J2S-_CL_) MR-J2S-_CL_ MR-J4-_A_-RJ Servo amplifier Servo amplifier 24 V DC DOCOM Proximity dog Home position return Servo-on completed DOCOM 10 m or shorter 10 m or lower 10 m or lower Malfunction Main circuit power supply...
  • Page 120: List Of Corresponding Connectors And Terminal Blocks

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.4 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. For details on signals, refer to each servo amplifier instruction manual. MR-J2S-_CP_/CL_ MR-J4-_A_-RJ R S T...
  • Page 121 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (3) Comparison of signals (a) CN1A/CN1B 1) Point table method (MR-J2S-_CP_) MR-J2S-_CP_ MR-J4-_A_-RJ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note 1) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1-35 (Note 2)
  • Page 122 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 2) Program method (MR-J2S-_CL_) MR-J2S-_CL_ MR-J4-_A_-RJ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note 1) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1-35 (Note 2) CN1A-3 CN1-10 (Note 2) CN1A-4 P15R CN1-1...
  • Page 123: Comparison Of Peripheral Equipment

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (b) CN3 (MR-J2S-_CP_/CL_) MR-J2S-_CP_/CL_ Signal MR-J4-_A_-RJ abbreviati Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment on (Note) CN3-3 CN6-1 CN3-4 CN6-2 CN3-14 CN6-3 CN3-13 CN3-1 CN3-1 CN3-5 CN3-3 CN3-9 CN3-5...
  • Page 124: Comparison Of Parameters

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 125 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (b) When continuing to use the HC-_FS/HA-_FS motor: Parameter Initial Setting Name Description number value value PA04 Function selection A-1 2 0 0 0h 0 0 0 0h Forced stop deceleration function selection To configure the same settings as for MR-J2S-_CP_/MR-J2S- _CL_, select "Forced stop deceleration function disabled (EM1)".
  • Page 126: Parameter Comparison List

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.6.2 Parameter comparison list POINT Manufacturer setting parameters are not described here. The parameters with [CP] can be used only for MR-J2S-_CP_, while the parameters with [CL] can be used only for MR-J2S-_CL_. The parameters without [CP] or [CL] are the parameters that can be used for both MR-J2S-_CP_ and MR-J2S-_CL_.
  • Page 127 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Parameters for MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Serial communication time-out selection PF04 RS-422 communication time-out selection Feed forward gain PB04 Feed forward gain (Note)
  • Page 128 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Parameters for MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Function selection 6 (Handle the base circuit when Function selection D-1 (Select the base *OP6 0000h...
  • Page 129: Comparison Of Parameter Details

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.6.3 Comparison of parameter details POINT Backslash (\) in initial value fields indicate that the function is not supported. MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Command method and regenerative option selection 0000h...
  • Page 130 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Feeding function selection 0000h 0000h PA14 Rotation direction selection Select the feed length multiplication and manual pulse Select the rotation direction of the servo motor generator multiplication.
  • Page 131 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Auto Tuning 0105h 0105h PA09 Auto tuning response Select a response level, etc., when performing auto tuning. Set a response of the auto tuning.
  • Page 132 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Position loop gain 1 PB07 Model loop gain 15.0 Used to set the gain of the position loop 1. Used to adjust the response gain till the set position.
  • Page 133 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Serial communication function selection - Alarm history 0000h 0000h PC21 RS-422 communication function selection 0000h clear Used to select the communication speed. Adjust Used to select the serial communication baud rate and the speed to that of the transmitting side (master various conditions for communication, and to clear the...
  • Page 134 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Status display selection 0000h PC36 Status display selection 0000h This is used to select a status display shown at power- Status display selection at power-on Refer to the comparison table below for the setting method.
  • Page 135 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Status display selection 0000h PC36 Status display selection 0000h This is used to select a status display shown at power- Status display selection at power-on Refer to the comparison table below for the setting method.
  • Page 136 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Parameter writing inhibit 0000h 0000h PA19 Parameter writing inhibit 00AAh Used to select the reference range and writing range of Used to select the reference range and writing parameters.
  • Page 137 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Encoder output pulses 4000 4000 PA15 Encoder output pulse 4000 Used to set the encoder pulses (A-phase and B-phase) Used to set the encoder pulses (A-phase and B- phase) output by the servo amplifier.
  • Page 138 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Backlash compensation PT14 Backlash compensation Set the backlash compensation that is compensated Set the backlash compensation that is when the command direction is reversed.
  • Page 139 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Speed integral compensation. PB10 Speed integral compensation 33.7 Used to set the integral time constant of the speed loop. Used to set the integral time constant of the speed loop.
  • Page 140 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Home position return position data PT08 Home position return position data Set the current position of the time when the home Set the current position of the time when the position return is completed.
  • Page 141 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Software limit + PT15 Software limit + Set the address increasing side of the software stroke Set the address increasing side of the software PT16 limit.
  • Page 142 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Position range output address - PT21 Position range output address - Set the address decreasing side of the position range Set the address decreasing side of the position range PT22 output address.
  • Page 143 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Function selection A 0000h 0000h PD33 Function selection D-4 0000h Setting Select the alarm code and torque limit rotation Function digit direction.
  • Page 144 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value 0000h 0000h PB01 Adaptive tuning mode (adaptive filter II) 0000h Machine resonance suppression filter 1 Used to set the adaptive filter tuning. Select the Select the machine resonance suppression filter.
  • Page 145 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Machine resonance suppression filter 2 0000h 0000h PB15 Machine resonance suppression filter 2 4500 Used to set the machine resonance suppression filter. Used to set the notch frequency of machine resonance suppression filter 2.
  • Page 146 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value 0000h 0000h PB23 Low-pass filter selection 0000h Low-pass filter/adaptive vibration suppression control Select the low-pass filter/adaptive vibration suppression control.
  • Page 147 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value PB29 Load to motor inertia ratio after gain switching 7.00 Load to motor inertia ratio 2 Used to set the load to motor inertia ratio when gain Used to set the load to motor inertia ratio when switching is enabled.
  • Page 148 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Gain switching condition PB27 Gain switching condition Used to set the values for the gain switching conditions Used to set the values for the gain switching (command frequency, droop pulses, and servo motor speed) conditions (command frequency, droop...
  • Page 149: Comparison Of Communication Commands

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.7 Comparison of Communication Commands [Communication command comparison between MR-J2S-_CP_ series and MR-J4-_A_-RJ series] Table 4.1 compares the read commands between the MR-J2S-_CP_ series and MR-J4-_A_-RJ series ([Pr. PT01]: when setting "2 _ _ _"), and table 4.2 compares the write commands. The functions added in the MR- J4-A-RJ series are not included here.
  • Page 150 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (3) External I/O signal (command [ 1 ] [2]) Description Frame Command Data No. MR-J4-_A_-RJ length MR-J2S-_CP_ [Pr. PT01]: when setting "2 _ _ _" [1] [2] [0] [0] Input Device Status Input Device Status [4] [0] External Input Pin Status...
  • Page 151 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (6) Point table (command [4] [0]/[5] [0]/[5] [4]/[5] [8]/[6] [0]/[6] [4]) Description Frame Command Data No. MR-J4-_A_-RJ length MR-J2S-_CP_ [Pr. PT01]: when setting "2 _ _ _" [4] [0] [0] [1] Reading the position data for each point table Reading the position data for each point table [1] [F]...
  • Page 152 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ [Table 4.2] Compares the write commands between MR-J2S-_CP_ and MR-J4-_A_-RJ ([Pr. PT01]: when setting "2 _ _ _"). (1) Status Display (command [8] [1]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No.
  • Page 153 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (6) Point table (command [C] [0]/[C] [6]/[C] [7]/[C] [8]/[C] [A]/[C] [B]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No. length Description Setting range Description Setting range [C] [0] [0] [1] Writing the position data...
  • Page 154 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (7) I/O device inhibition (command [9] [0]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [0] [0] [0] Turn off the input 1EA5 Turn off the input devices...
  • Page 155 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (9) Data for test operation mode (command [9] [2]/[A] [0]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [2] [0] [0] Input Signal During Test...
  • Page 156 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ [Communication command comparison between MR-J2S-_CL _ series and MR-J4-_A_-RJ series] Table 4.3 compares the read commands between the MR-J2S-_CL_series and MR-J4-_A_-RJ series ([Pr. PT01]: when setting "3 _ _ _"), and table 4.4 compares the write commands. The functions added in the MR- J4-_A_-RJ series are not included here.
  • Page 157 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (3) External I/O signal (command [1] [2]) Description Frame Command Data No. MR-J4-_A_-RJ length MR-J2S-_CL_ [Pr. PT01]: when setting "3 _ _ _" [1] [2] [0] [0] Input Device Status Input Device Status [4] [0] External Input Pin Status External Input Pin Status...
  • Page 158 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ [Table 4.4] Compares the write commands between MR-J2S-_CL_and MR-J4-_A_-RJ ([Pr. PT01]: when setting "3 _ _ _"). (1) Status Display (command [8] [1]) MR-J4-_A_-RJ MR-J2S-_CL_ Frame [Pr. PT01]: when setting "3 _ _ _" Command Data No.
  • Page 159 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (6) I/O device inhibition (command [9] [0]) MR-J4-_A_-RJ MR-J2S-_CL_ Frame [Pr. PT01]: when setting "3 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [0] [0] [0] Turn off the input devices 1EA5 Turn off the input devices...
  • Page 160 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (8) Data for test operation mode (command [9] [2]/ [A] [0]) MR-J4-_A_-RJ MR-J2S-_CL_ Frame [Pr. PT01]: when setting "3 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [2] [0] [0] Input Signal During Test...
  • Page 161 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MEMO 4 - 52...
  • Page 162: Part 5: Review On Replacement Of Mr-J2S-30 Kw Or Higher Capacity Models With Mr-J4-Du_ 5-1 To

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Part 5 Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ MR-J4-_DU_ 5 - 1...
  • Page 163: Functions And Configuration

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1. FUNCTIONS AND CONFIGURATION 1.1 Differences Between MR-J2S-30 kW or Higher Capacity Models and MR-J4-DU_ MR-J2S-30 kW or more Item MR-J4-DU_ series...
  • Page 164: Combination Of Converter Unit, Drive Unit, And Servo Motor

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.2 Combination of Converter Unit, Drive Unit, and Servo Motor POINT MR-J2S-_A_/B_ cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement with MR-J4-_A_/B_ and an HG motor is necessary.
  • Page 165: Configuration With Peripheral Equipment

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.3 Configuration with Peripheral Equipment (1) MR-J2S series 3-phase AC power supply No-Fuse breaker (NFB) Personal Setup computer software (SETUP161E) Magnetic contactor (Note 2) Communication Servo amplifier Converter unit cable Line noise filter...
  • Page 166 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) MR-J4-DU_ This diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The way to interface MR-J4-DU_ is the same as MR-J4-_. Refer to each servo amplifier instruction manual. R S T (Note 2) Power supply Personal...
  • Page 167: Installation

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.4 Installation Mounting direction and distance Install the converter unit and servo amplifier accurately and vertically on a perpendicular wall. Otherwise a malfunction may be caused. Secure the prescribed distance between the converter unit/servo amplifier and the inner surface of the cabinet or other devices.
  • Page 168 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) MR-J4-DU_ (a) Installation POINT Make sure to install a drive unit on the right of a converter unit as shown in the diagram. Longer than 100 mm Longer Converter unit Drive unit...
  • Page 169: Magnetic Contactor Control Connector (Cnp1) [Exclusively For Mr-J4-Du_]

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.5 Magnetic Contactor Control Connector (CNP1) [Exclusively for MR-J4-DU_] Connect a magnetic contactor wiring connector to the converter unit. CNP1-1 and Note L11 are always in conduction. Leaving the connector disconnected can cause an electric shock.
  • Page 170 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ When the drive unit sends the converter unit a start up command, the converter unit shorts CNP1-2 and L21, powering the control circuit of the magnetic contactor. This turns on the magnetic contactor and powers up the main circuit of the converter unit.
  • Page 171: Signals And Wiring

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2. SIGNALS AND WIRING 2.1 Comparison of Standard Connection Diagrams Insulate the connections of the power supply terminals. Failure to do so may WARNING cause electric shock. Always connect a magnetic contactor between the main circuit power supply and L1/L2/L3 of the converter unit in order to configure a power supply shut-off on the power supply side of the converter unit.
  • Page 172 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (1) General-purpose interface 200 V class MR-J2S-_KA MR-J4-DU_A When magnetic contactor drive output is enabled (factory setting) Converter unit Drive unit Optional Emergency stop 3-phase malfunction thermal Operation ready malfunction...
  • Page 173 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) SSCNET interface 200 V class MR-J2S-_KB MR-J4-DU_B When magnetic contactor drive output is enabled (factory setting) 3-phase Converter unit Drive unit Optional Emergency stop 200 to 220 V AC/50 Hz Operation ready malfunction malfunction...
  • Page 174 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) General-purpose interface 400 V class MR-J2S-_KA4 MR-J4-DU_A4 When magnetic contactor drive output is enabled (factory setting) Converter unit Drive unit Optional Emergency stop 3-phase Operation ready malfunction thermal malfunction...
  • Page 175 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (4) SSCNET interface 400 V class MR-J2S-_KB4 MR-J4-DU_B4 When magnetic contactor drive output is enabled (factory setting) Converter unit Drive unit Optional Emergency stop 3-phase Operation ready malfunction thermal malfunction...
  • Page 176: Power-On Sequence

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2.2 Power-on Sequence (1) MR-J2S-30 kW or more (a) Power-on sequence 1) For the power supply wiring, make sure to use a magnetic contactor in the main circuit power supply as shown in Section 2.1.
  • Page 177 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) MR-J4-DU_A_ (a) Power-on procedure 1) For the power supply wiring, make sure to use a magnetic contactor (L1/L2/L3) in the main circuit power supply as shown in Section 2.1. Configure so that the magnetic contactor is turned off at the same time as an alarm is generated in the external sequence.
  • Page 178 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) MR-J4-DU_B_ (a) Power-on procedure 1) For the power supply wiring, make sure to use a magnetic contactor (L1/L2/L3) in the main circuit power supply as shown in Section 2.1. Configure the circuit so that the magnetic contactor is turned off at the same time as an alarm is generated in the external sequence.
  • Page 179 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2) When the magnetic contactor driving output is enabled and the ready-on is turned off Turning off the ready-on switches off the magnetic contactor of the convertor unit and shuts off the main circuit power supply.
  • Page 180 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 3) When the magnetic contactor driving output is off When an alarm occurs, turn off the magnetic contactor by using the external sequence and shut off the main circuit power supply. Servo motor 0 r/min speed...
  • Page 181: List Of Corresponding Connectors And Terminal Blocks

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2.3 List of Corresponding Connectors and Terminal Blocks (1) Converter unit (a) Connector comparison table For the details of signals, refer to each servo amplifier instruction manual. MR-HP30K,MR-HP55KA4 MR-CR55K,MR-CR55K4 TE2-1...
  • Page 182 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Drive unit (General-purpose interface) (a) Connector comparison table For the details of signals, refer to each servo amplifier instruction manual. MR-J2S-_KA_ MR-J4-DU_A_ TE2-1 CN40A TE2-2 TE2-1 TE2-2 CON1...
  • Page 183 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (c) Comparison of signals 1) CN1A/CN1B Refer to Section 3.4 of "Part 2: Replacement of MR-J2S-_A_ with MR-J4-_A_". 2) CN3 MR-J2S-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No.
  • Page 184 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) Drive unit (SSCNET interface) (a) Connector comparison table For the details of signals, refer to each servo amplifier instruction manual. MR-J2S-_KB_ MR-J4-DU_B_ TE2-1 CN40A TE2-2 TE2-1 TE2-2 CN1A...
  • Page 185 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (c) Comparison of signals MR-J2S-_B_ MR-J4-_B_ Abbreviation Connector pin assignment Connector pin No. (Note 3) Connector pin No. Connector pin assignment CON2 CON2-1 CN3-3 (DOCOM) CON2-2 CN3-20 (Note 1) (EM2) CON2-3...
  • Page 186: Parameters

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 3. PARAMETERS 3.1 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. Note If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 187 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ MR-HP30K,MR-HP55KA4 MR-CR55K,MR-CR55K4 Initial Initial Name and function Name and function value value PA02 Magnetic contactor drive output selection 0001h Magnetic contactor driving output selection Select magnetic contactor driving output. 0: Disabled 1: Enabled Status display selection...
  • Page 188 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Drive unit POINT Manufacturer setting parameters are not described here. (a) General-purpose interface 200 V class Here are described settings of drive unit specific parameters. Settings of the other parameters are the same as MR-J4-_A_.
  • Page 189 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (c) General-purpose interface 400 V class Here are described settings of drive unit specific parameters. Settings of the other parameters are the same as MR-J4-_A_. Refer to Chapter 5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". MR-J2S-_A4 MR-J4-_A4 Initial...
  • Page 190 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Here are described settings of drive unit specific parameters. Settings of the other parameters are the same as MR-J4-_B_. Refer to Chapter 5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
  • Page 191: Characteristics

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 4. CHARACTERISTICS 4.1 Capacity of Power Source Facility and Generation Loss (1) Calorific values of converter units and drive units Table 5.1 and Table 5.2 shows heat losses at rated load and power supply capacity for a set of a converter unit and drive unit.
  • Page 192: Inrush Current When Turning On The Main Circuit/Control Circuit Power Supply

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 4.2 Inrush Current When Turning On the Main Circuit/Control Circuit Power Supply POINT Inrush current values are changeable depending on the frequency of turning on/off the power supplies and ambient temperature. An inrush current flow in the units at power-on.
  • Page 193: Options And Peripheral Equipment

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5. OPTIONS AND PERIPHERAL EQUIPMENT 5.1 Comparison Table of Cable Option Combinations Cable option combinations Application MR-J2S series MR-J4 series Note Connector shape will be changed. MR-J2HBUS_M Protection coordination cable MR-J3CDL05M...
  • Page 194: Wire Selection Example

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Fabrication of a protection coordination cable Fabricate a cable according to the internal wiring diagram of the section (1) using an MR-J2CN1-A connector set and recommended wires shown below. Characteristics of a core Cable insulator...
  • Page 195: Mr-J2S-Series Power Supply Wire Size

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.2.1 MR-J2S-series power supply wire size The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section. 3) Motor power supply lead Converter unit Servo amplifier Servo motor...
  • Page 196: Mr-J4-Series, Power Supply Wire Size

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.2.2 MR-J4-series, power supply wire size The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. Converter unit Drive unit Servo motor 4) Motor power supply lead...
  • Page 197 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Selection example of crimp terminals The table below shows selection examples of crimp terminals for a terminal block of a drive unit or converter unit when the wires described in (1) of this section are used. Drive unit/converter unit side crimp terminal Symbol Applicable tool...
  • Page 198: Selection Of No-Fuse Breakers, Fuses, And Magnetic Contactors (Example)

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.3 Selection of No-Fuse Breakers, Fuses, and Magnetic Contactors (example) 5.3.1 MR-J2S-series, no-fuse breakers and magnetic contactors (recommended) Always use one molded-case circuit breaker/one magnetic contactor with one servo amplifier. Molded-case circuit breaker Current Magnetic...
  • Page 199 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
  • Page 200: Bu2-(H) Brake Unit

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.4 FR-BU2-(H) Brake Unit POINT In torque control mode, EM2 signals of a drive unit are the same as its EM1 signals. Use a 200 V class brake unit and resistor unit for a 200 V class converter unit as well as a 400 V class brake unit and resistor unit for a 400 V class converter unit.
  • Page 201: Parameter Setting Of Brake Units

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.4.2 Parameter setting of brake units Normally, it is unnecessary to change the FR-BU2-(H) parameters. The table below shows permission for changing each parameter. Parameter Permission Remarks Number Name...
  • Page 202 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (a) When the magnetic contactor drive output is enabled Converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit TE2-2 (Note 5) CNP1 (Note 3)
  • Page 203 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 204 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (b) When the magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Drive unit Converter unit TE2-2 (Note 5) (Note 2) MCCB (Note 1)
  • Page 205 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 206 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Use of the MT-BR5-(H) resistor unit (a) When connecting one converter unit to one brake unit 1) When the magnetic contactor drive output is enabled converter unit Drive unit Emergency stop...
  • Page 207 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 208 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2) When the magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Converter unit Drive unit TE2-2 (Note 5) (Note 2) MCCB (Note 1)
  • Page 209 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 210 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (b) When connecting one converter unit to two brake units POINT When connecting two brake units in parallel, use FR-BU2-(H) for both. Otherwise an alarm or malfunction may occur. Make sure to connect the master and slave terminals (MSG, SD) of one brake unit to those of the other respectively.
  • Page 211 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1) When the magnetic contactor drive output is enabled Converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit (Note 5) CNP1 TE2-2 (Note 2)
  • Page 212 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 213 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2) When the magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Drive unit Converter unit TE2-2 (Note 5) (Note 2) MCCB (Note 1)
  • Page 214 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
  • Page 215 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) Wiring precautions Use as short wires as possible between a converter unit and brake unit and between a resistor unit and a brake unit. If using a wire of 5 m or longer, be sure to use a twist wire (with 5 or more twists in 1 m). Make sure that a wire is 10 m or shorter even when it is a twisted wire.
  • Page 216 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (b) Wires between a converter unit and terminal blocks when two brake units are used. Cable gauge Brake unit HIV wire [mm 200 V class FR-BU2-55K 400 V class FR-BU2-H55K FR-BU2-H75K...
  • Page 217: Dimensions

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.4.4 Dimensions (1) FR-BU2-(H) brake unit FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 (2) FR-BR-(H) resistor unit [Unit: mm] 2- φ C (Note) (Note) Control circuit terminal...
  • Page 218: Comparison Of Peripheral Equipment

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) MT-BR5-(H) resistor unit [Unit: mm] Approximate Resistor unit Resistance mass [kg] 200 V class MT-BR5-55K 2.0 Ω 400 V class MT-BR5-H75K 6.5 Ω 4φ15 mounting hole 5.5 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment".
  • Page 219 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ MEMO 5 - 58...
  • Page 220: Part 6: Review On Replacement Of Mr-J2M With Mr-J4

    Part 6: Review on Replacement of MR-J2M with MR-J4 Part 6 Review on Replacement of MR-J2M with MR-J4 6 - 1...
  • Page 221: Case Study On Replacement Of Mr-J2M

    Part 6: Review on Replacement of MR-J2M with MR-J4 Part 6: Review on Replacement of MR-J2M with MR-J4 1. SUMMARY This document describes the changes that are applied to when replacing a system using the MR-J2M series with a system using the MR-J4 series. The functions and performance of the MR-J4 series are greatly improved from the MR-J2M series.
  • Page 222: Differences Between Mr-J2M-A And Mr-J4-_A

    Part 6: Review on Replacement of MR-J2M with MR-J4 3. DIFFERENCES BETWEEN MR-J2M-A AND MR-J4-_A_ 3.1 Function Comparison Table 3.1.1 General Item MR-J2M series MR-J4 series Reference document/items Regenerative MR-J4-_A_ Servo Amplifier External option Built-in (200 W or more) resistor Instruction Manual, Section 11.2 MR-J4-_A_ Servo Amplifier Dynamic brake...
  • Page 223: Comparison Of Standard Connection Diagrams

    Part 6: Review on Replacement of MR-J2M with MR-J4 3.2 Comparison of Standard Connection Diagrams MR-J2M-A MR-J4-_A_ MR-J2M-P8A Servo amplifier CN1A 24 V DC Symbol Slot 1 Slot 2 Slot 3 Slot 4 DOCOM RD□ DOCOM 10 m or less INP□...
  • Page 224: List Of Corresponding Connectors And Terminal Blocks

    Part 6: Review on Replacement of MR-J2M with MR-J4 3.3 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. Refer to the respective Installation Guides and Instruction Manuals for details on signals. MR-J2M-A MR-J4-_A_ Personal...
  • Page 225 Part 6: Review on Replacement of MR-J2M with MR-J4 (3) Comparison of signals MR-J2M-A MR-J4-_A_ Signal symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1A-50 CN1-3 CN1A-46 CN1-28 CN1A-21 CN1B-50 CN1-30 CN1B-46 CN1-34 CN1B-21 CN1A-20 (Slot 1) CN1A-18 (Slot 2) CN1A-16 (Slot 3) CN1A-14 (Slot 4)
  • Page 226 Part 6: Review on Replacement of MR-J2M with MR-J4 MR-J2M-A MR-J4-_A_ Signal symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1A-35 (Slot 1) CN1A-8 (Slot 2) CN1A-30 (Slot 3) CN1A-3 (Slot 4) CN1-22 CN1B-35 (Slot 5) CN1-24 CN1B-8 (Slot 6) CN1B-30 (Slot 7)
  • Page 227: Comparison Of Peripheral Equipment

    Part 6: Review on Replacement of MR-J2M with MR-J4 3.4 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment". 3.5 Comparison of Parameters The correspondence of the MR-J2M series and MR-J4 series parameter numbers is shown below. Refer to the respective Instruction Manuals for detailed specifications of each parameter.
  • Page 228 Part 6: Review on Replacement of MR-J2M with MR-J4 (2) Drive unit MR-J2M-_DU MR-J2M-A MR-J4-_A_ (Drive unit MR-J2M-_DU) Note Name Name Absolute position detection Absolute position detection system PA03 system The setting value must be changed based on machine PA09 Auto tuning response resonance frequency.
  • Page 229 Part 6: Review on Replacement of MR-J2M with MR-J4 MR-J2M-A MR-J4-_A_ (Drive unit MR-J2M-_DU) Note Name Name Rotation direction selection PA14 Rotation direction selection Encoder output pulse phase Encoder output pulse phase selection selection PC19 Encoder output pulse setting selection Encoder output pulse setting selection Position command...
  • Page 230: Differences Between Mr-J2M-B And Mr-J4-_B

    Part 6: Review on Replacement of MR-J2M with MR-J4 4. DIFFERENCES BETWEEN MR-J2M-B AND MR-J4-_B_ POINT Before replacement, note that the dimensions, peripheral circuits, and optional peripheral devices for the MR-J2M servo amplifier are different from those for the MR-J4 servo amplifier. "QDS motion controller"...
  • Page 231: Replacement Method

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.2 Replacement Method (1) For simultaneous replacement QDS motion controller + MR-J4-_B_ + HG motor Stand-alone motion controller + MR-J4-_B_ + HG motor QnUD(E)(H)CPU + QDS motion controller + Q3_DB SSCNET III/H-compatible stand-alone motion controller: Q170MSCPU(-S1) MR-J4-_B_ MR-J4-_B_...
  • Page 232: Function Comparison Table

    Change". The application "MR-J4(W)-B Change mode" or "MR Mode Change" are available with MR Configurator2 Version 1.12N and later. When a version older than 1.12N is used, download an update version from the MITSUBISHI ELECTRIC FA Global Website. 6 - 13...
  • Page 233: Comparison Of Standard Connection Diagrams

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.4 Comparison of Standard Connection Diagrams MR-J2M-B MR-J4-_B_ Servo amplifier Interface unit Short-circuit connector 24VDC (Packed with the servo amplifier) 13 MBR Forced stop 10 m or less Analog monitor 10 m or less 14 MO2 24 V DC Max.
  • Page 234: List Of Corresponding Connectors And Terminal Blocks

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.5 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. Refer to the respective Installation Guides and Instruction Manuals for details on signals. MR-J2M-B MR-J4-_B_ Personal...
  • Page 235: Comparison Of Peripheral Equipment

    Part 6: Review on Replacement of MR-J2M with MR-J4 (3) Comparison of signals MR-J2M-B MR-J4-_B_ Signal symbol Connector Connector Connector pin assignment Connector pin assignment pin No. Pin number CN3-20 CN3-20 (EM2) CN3-13 CN3-13* CN3-4 CN3-4 CN3-14 CN3-14 CN3-7 CN3-5 CN3-8 (DICOM) CN3-10...
  • Page 236: Comparison Of Parameters

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.7 Comparison of Parameters The correspondence of the MR-J2M series and MR-J4 series parameter numbers is shown below. Refer to the respective Instruction Manuals for detailed specifications of each parameter. 4.7.1 Parameter comparison list POINT Parameters for manufacturer setting are not described here.
  • Page 237 Part 6: Review on Replacement of MR-J2M with MR-J4 (2) Drive unit MR-J2M-_DU MR-J2M-B MR-J4-_B_ (Drive unit MR-J2M-_DU) Note Name Name Absolute position detection Absolute position detection PA03 selection system selection Regenerative option The setting must be changed according to option Regenerative resistor PA02 selection...
  • Page 238 Part 6: Review on Replacement of MR-J2M with MR-J4 MR-J2M-B MR-J4-_B_ (Drive unit MR-J2M-_DU) Note Name Name PI-PID switching position droop No corresponding parameter Speed differential Speed differential compensation PB11 compensation Encoder output pulses PA15 Encoder output pulse Max. output frequency is different. DRU parameter writing inhibit PA19 Parameter writing inhibit...
  • Page 239 Part 6: Review on Replacement of MR-J2M with MR-J4 MEMO 6 - 20...
  • Page 240: Part 7: Common Reference Material 7-1 To

    Part 7: Common Reference Material Part 7 Common Reference Material 7 - 1...
  • Page 241: Specification Differences

    Part 7: Common Reference Material Part 7: Common Reference Material 1. SPECIFICATION DIFFERENCES 1.1 Detailed Specification/Function Differences (1) Comparison of MR-J2S series and MR-J4 series (General-purpose interface/SSCNET interface) Item MR-J2S-_A_/MR-J2S-_B_ MR-J4-_A_/MR-J4-_B_ (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW Capacity range (200 V class) 0.1 kW to 37 kW (200 V class) 0.1 kW to 37 kW...
  • Page 242 Part 7: Common Reference Material Item MR-J2S-_A_/MR-J2S-_B_ MR-J4-_A_/MR-J4-_B_ Servo motor HC-_FS series (17-bit ABS) HG series (22-bit ABS) (Encoder resolution) HA-_FS series (17-bit ABS) HC-KFS 300% HG-KR 350% (with a gear reducer: 300%) HC-MFS 300% HG-MR 300% HC-SFS 300% HG-SR 300% Motor maximum torque HA-LFS 250%,300% HG-JR 300%...
  • Page 243 Part 7: Common Reference Material (2) Comparison of MR-J2S series and MR-J4 series (Built-in positioning function/program supported) MR-J2S-_CP_/ MR-J2S-_CL_ MR-J4-_A_-RJ Item (7 kW or less, 100 V/200 V class) (7 kW or less, 100 V/200 V class) (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW Capacity range (200 V class) 0.1 kW to 7 kW...
  • Page 244 Part 7: Common Reference Material (3) Comparison of MR-J2M series and MR-J4 series (General-purpose interface / SSCNET interface) Item MR-J2M-A/ MR-J2M-B MR-J4-_A_/ MR-J4-_B_ Capacity range 0.1 to 0.75 kW / 200 V 0.1 to 0.75 kW / 200 V (to 0.75 kW / 200 V) Regenerative resistor External option Built-in (200 W or more)
  • Page 245: Servo Amplifier

    Part 7: Common Reference Material 1.2 Servo amplifier If using the existing cables and servo motor, refer to "[Appendix 2] Introduction to Renewal Tool". 1.2.1 Main circuit terminal block Series Main circuit terminal block Series Main circuit terminal block • For 3-phase 200 V AC to 230 V AC or 1-phase 230 V AC Terminal screw: M4 Tightening torque: 1.2 [N•m] MR-J2S-10_...
  • Page 246 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block TE1-1 L2 L3 PE terminal TE1-2 P3 P4 L11 L21 TE1-1 Screw size: M6 Terminal screw: M6 MR-J2S-11K_, MR-J4-11K_(-RJ), Tightening torque: 3.0 [N•m] Tightening torque: 3.0 [N•m] Terminal screw: M6 Tightening torque: 6.0 [N•m] MR-J2S-15K_...
  • Page 247 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block N- P3 P4 PE terminal L11 L21 Built-in regenerative resistor Terminal screw: M4 Screw for securing lead terminal Tightening torque: 1.2 [N•m] L2 L3 Screw size: M3.5 Tightening torque: 0.8 [N•m] MR-J2S-500_4 MR-J4-500_4(-RJ)
  • Page 248: Comparison Of Encoder Signals (Cn2)

    Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block Terminal screw: M10 TE2-1 TE2-2 TE1-1 Screw size: M10 Tightening torque: 12.0 [N•m] Tightening torque: 12.0 [N•m] TE1-2 Screw size: M10 Terminal screw: M10 Tightening torque: 12.0 [N•m] Tightening torque: 12.0 [N•m] TE2-1 Screw size: M6 MR-HP30KA,...
  • Page 249: Dynamic Brake: Coasting Distance

    Part 7: Common Reference Material 1.2.3 Dynamic brake: coasting distance (1) Dynamic brake time constant Series Dynamic brake time constant Series Dynamic brake time constant HC-KFS HG-KR Speed [r/min] Speed [r/min] HC-MFS HG-MR Speed [r/min] Speed [r/min] HC-UFS HG-UR 2000 r/min Speed [r/min] Speed [r/min] HC-UFS...
  • Page 250 Part 7: Common Reference Material Series Dynamic brake time constant Series Dynamic brake time constant HC-SFS HG-SR 2000 r/min 2000 r/min Speed [r/min] Speed [r/min] HC-SFS HG-SR 3000 r/min 2000 r/min Speed [r/min] Speed [r/min] HC-SFS HG-SR 400 V 400 V Speed [r/min] Speed [r/min] HG-JR...
  • Page 251 Part 7: Common Reference Material Series Dynamic brake time constant Series Dynamic brake time constant Speed [r/min] HG-JR HA-LFS HG-JR, HA-JR1500 r/min series 200 V 200 V 1500 r/min 2000 r/min 3000 r/min Speed [r/min] Speed [r/min] HG-JR, HA-JR3000 r/min series HA-LFS HG-JR 400 V...
  • Page 252 Part 7: Common Reference Material Series Dynamic brake time constant Series Dynamic brake time constant HA-LFS HG-JR 200 V Speed [r/min] 200 V Large Large capacity capacity 2000 r/min Speed [r/min] Speed [r/min] HA-LFS HG-JR 400 V Speed [r/min] 400 V Large Large capacity...
  • Page 253 Part 7: Common Reference Material (2) Calculation of coasting distance The figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 7.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
  • Page 254 Part 7: Common Reference Material (3) Electronic dynamic brake The electronic dynamic brake operates in the initial state for HG series servo motors with a 500 W or smaller capacity. The time constant "τ" for the electronic dynamic brake will be shorter than that for normal dynamic brake. Therefore, coasting distance will be shorter than in normal dynamic brake.
  • Page 255: Forced Stop Deceleration Function Selection

    Part 7: Common Reference Material 1.2.4 Forced stop deceleration function selection (1) Parameter setting (for MR-J4-_A_series) POINT With MR-J4-_A_, the deceleration to a stop function is enabled by the factory setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _". Initial Abbrevi- Setting...
  • Page 256: Dc Power Supply For Interface: Built-In ⇒ Outside Supply Requisite

    Part 7: Common Reference Material (2) Parameter setting (for MR-J4-_B_series) POINT With MR-J4-_B_, the deceleration to a stop function is enabled in the factory setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _". Initial Abbrevi- Setting...
  • Page 257: Servo Setup Software: Setup Software (Setup161E) ⇒ Mr Configurator2

    Part 7: Common Reference Material 1.2.6 Servo setup software: Setup software (SETUP161E) ⇒ MR Configurator2 Item MR-J2S series MR-J4 series → Setup software (SETUP161E) MR Configurator2 Servo setup software Model: MRZJW3-SETUP161E Model: SW1DNC-MRC2-E (1) MR Configurator2 (SW1DNC-MRC2-E) specification Item Description Project Create/read/save/delete project, system setting, and print Parameter...
  • Page 258: Servo Amplifier Initializing Time

    Part 7: Common Reference Material 1.2.8 Servo amplifier initializing time This section explains the initializing time of the servo amplifier (the time taken between power-on and servo- on reception). The initializing time is 2 s at maximum for the MR-J2S-_A_servo amplifier, but 3.5 s at maximum for the MR-J4-_A_servo amplifier.
  • Page 259 Part 7: Common Reference Material (3) MR-J2S-_B_ series servo amplifier The initializing time is 3 to 4 s. Servo-on command accepted (Note) (3 s to 4s) Main circuit power supply Control circuit Base circuit 95 ms 10 ms 95 ms Servo-on command (from controller) (4) MR-J2M-P8B series servo amplifier...
  • Page 260: The Pulse Width Of The Encoder Z-Phase Pulse

    Part 7: Common Reference Material 1.2.9 The pulse width of the encoder Z-Phase pulse Note that the pulse width and start-up timing of the encoder Z-phase pulse signal (OP) output from the servo amplifier are different between the MR-J2S / MR-J2M series and the MR-J4 series. <Precautions>...
  • Page 261: Servo Amplifier Dimensions/Attachment Differences

    Part 7: Common Reference Material 2. SERVO AMPLIFIER DIMENSIONS/ATTACHMENT DIFFERENCES 2.1 MR-J2S ⇒ MR-J4 Comparison Table of Servo Amplifier Dimensions/Installation Differences 2.1.1 General-purpose interface/SSCNET interface 200 V class (22 kW or less) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J4 series are the same or smaller than the MR-J2S series basically.
  • Page 262: Built-In Positioning Function/Program Supported 200 V Class (7 Kw Or Less)

    Part 7: Common Reference Material 2.1.3 Built-in positioning function/program supported 200 V class (7 kW or less) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J4 series are the same or smaller than the MR-J2S series basically. The depth is larger for the 400 W and 600 W capacities.
  • Page 263 Part 7: Common Reference Material Comparison of 200 V/100 V class dimensions MR-J2S series dimensions MR-J4 series dimensions MR-J2S-10_, MR-J2S-20_ MR-J4-10_, MR-J4-20_ φ6 mounting Terminal layout diagram hole (Upper part of body with φ6 mounting hole terminal opened) Rating plate (Note) terminal Variable dimensions...
  • Page 264 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-200_ MR-J4-200_ 2-φ6 mounting hole Terminal layout diagram φ6 mounting hole Exhaust terminal Blowing direction of cooling fan MR-BAT6V1SET Cooling fan mounted intakes air Servo amplifier Mass [kg] MR-J2S-200A MR-J2S-350A MR-J2S-350_ MR-J4-350_...
  • Page 265 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-700_ MR-J4-700_ Cooling fan 2-φ6 mounting hole hole exhausts air (70) Terminal layout diagram M ITSU BIS HI MI TSUBI SHI O PEN OPE N MR-BAT6V1SET mounted OPEN Intake Built-in regenerative resistor Screw for securing lead terminal Screw size: M4...
  • Page 266: General-Purpose Interface Drive Unit/Sscnet Interface Drive Unit 200 V Class (30 Kw Or More)

    Part 7: Common Reference Material 2.1.5 General-purpose interface drive unit/SSCNET interface drive unit 200 V class (30 kW or more) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J4 series are the same or smaller than the MR-J2S series basically. The depth will increase when a heat sink is placed in a cabinet.
  • Page 267 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-30K_, MR-J2S-37K_ MR-J4-DU30K_, MR-J4-DU37K_ Cooling fan exhausts air 2-φ12 mounting hole Cooling Safety cover 2-φ7 mounting hole exhausts Intake MR-BAT6V1SET Intake mounted Variable Mass dimensions Servo amplifier [kg] MR-J2S-30KA4/B4 290 380 MR-J2S-30KA/B MR-J2S-37KA/B...
  • Page 268: General-Purpose Interface/Sscnet Interface 400 V Class (22 Kw Or Less)

    Part 7: Common Reference Material 2.1.6 General-purpose interface/SSCNET interface 400 V class (22 kW or less) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J3 series are the same or smaller than the MR-J2S series. The 5 kW capacity types are interchangeable.
  • Page 269 Part 7: Common Reference Material Comparison of 400 V class dimensions MR-J2S series dimensions MR-J4 series dimensions MR-J2S-60_4, MR-J2S-100_4 MR-J4-60_4, MR-J4-100_4 φ6 mounting hole MR-BAT6V1SET mounted Servo amplifier Mass [kg] MR-J2S-60A4/B4 MR-J2S-100A4/B4 MR-J2S-200A4/B4 MR-J2S-200_4 MR-J4-200_4 φ6 mounting hole Exhaust Cooling fan intakes air Servo amplifier Mass [kg]...
  • Page 270 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-500_4 MR-J4-500_4 Servo amplifier Mass [kg] MR-J2S-350A4/B4 MR-J2S-500A4/B4 MR-J2S-700_4 MR-J4-700_4 2-φ6 mounting hole Terminal layout diagram Blowing direction of cooling fan Servo amplifier Mass [kg] MR-J2S-700A4/B4 MR-J2S-11K_4, MR-J2S-15K_4 MR-J4-11K_4, MR-J4-15K_4 Servo amplifier Mass [kg] MR-J2S-11KA4/B4...
  • Page 271: General-Purpose Interface Drive Unit/Sscnet Interface Drive Unit 400 V Class (30 Kw Or More)

    Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-22K_4 MR-J4-22K_4 Blowing direction of cooling fan 2-φ12 mounting hole Cooling fan 2-φ12 mounting hole exhausts air MR-BAT6V1SET Intake mounted 2.1.7 General-purpose interface drive unit/SSCNET interface drive unit 400 V class (30 kW or more) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions.
  • Page 272 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-30K_4 MR-J4-DU30K_4 Cooling fan exhausts air 2-φ6 mounting hole 2-φ12 mounting hole Cooling Safety cover (Note) exhausts Intake Intake MR-BAT6V1SET mounted Variable Mass dimensions Servo amplifier [kg] MR-J2S-30KA4/B4 MR-J2S-30KA/B MR-J2S-37KA/B MR-J2S-37KA4/B4 MR-J2S-45KA4/B4...
  • Page 273 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-45K_4, MR-J2S-55K_4 MR-J4-DU45K_4, MR-J4-DU55K_4 Cooling fan exhausts air 2-φ12 mounting hole Safety cover Cooling 2-φ7 mounting hole exhausts Intake Intake MR-BAT6V1SET mounted Variable dimensions Mass Servo amplifier [kg] MR-J2S-30KA4/B4 290 380 MR-J2S-30KA/B MR-J2S-37KA/B...
  • Page 274: Mr-J2M-_ ⇒ Mr-J4-_ Comparison Table Of Servo Amplifier Dimensions/Installation Differences

    Part 7: Common Reference Material 2.2 MR-J2M-_ ⇒ MR-J4-_ Comparison Table of Servo Amplifier Dimensions/Installation Differences The following table shows comparison of the MR-J2M series and MR-J4 series dimensions. The width of the MR-J4 series is the same or smaller than the MR-J2M series. The depth is larger for the 400 W and 750 W capacities.
  • Page 275 Part 7: Common Reference Material Comparison between the MR-J2M and the MR-J4 series Series Dimensions MR-J2M-BU4 + MR-J2M-P8A + MR-J2M-_DU MR-J2M-BU4 + MR-J2M-P8B + MR-J2M-_DU Name plate When four MR-J4-10_ units are closely mounted * When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
  • Page 276 Part 7: Common Reference Material Series Dimensions MR-J2M-BU6 + MR-J2M-P8A + MR-J2M-_DU MR-J2M-BU6 + MR-J2M-P8B + MR-J2M-_DU Name plate When six MR-J4-10_ units are closely mounted * When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
  • Page 277 Part 7: Common Reference Material Series Dimensions MR-J2M-BU8 + MR-J2M-P8A + MR-J2M-_DU MR-J2M-BU8 + MR-J2M-P8B + MR-J2M-_DU Name plate When eight MR- J4-10_ units are closely mounted * When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
  • Page 278: Mr-J2S-_A_/Mr-J2S-_Cp_/Mr-J2S-_Cl_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.3 MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ Parameter Diversion Procedure 2.3.1 Operation procedure of parameter conversion The parameter converter function of MR Configurator2 allows the servo parameters of MR-J2S-_A_/MR-J2S- _CP_/MR-J2S-_CL_ to be changed to the servo parameters of MR-J4-_A_(-RJ). (Conversion of MR-J2S-_A_: version 1.12N or more; conversion of MR-J2S-_CP_/CL_: version 1.25B or more) Parameter converter function (MR Configurator2)
  • Page 279: Mr-J2S-_A_/Mr-J2S-_Cp_/Mr-J2S-_Cl_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.3.2 MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ parameter diversion procedure • Parameter reading from the servo amplifier MR-J2S-_A_/ MR-J2S-_CP_/ MR-J2S-_CL_ • • • A connection with a PC-AT compatible personal computer is required. Start setup software (MRZJW3-SETUP161E). RS-232C connection (MR-CPCATCBL3M) Set the system settings.
  • Page 280 Part 7: Common Reference Material 2.3.3 Parameter reading from the servo amplifier MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ (1) Start the setup software (MRZJW3-SETUP161E). (2) Set the system settings. Click [System] in the menu to display the system settings dialog box. Set the Model Selection, Baud Rate Selection, Comm Port Selection, Capacity selection, and Station number selection.
  • Page 281 Part 7: Common Reference Material (3) Read the servo parameters. Click [Parameters] in the menu to display the parameter list screen. Connect the MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ servo amplifier to a personal computer and click the [Read All] button. Change the setting value of [Pr. PA19 Parameter writing inhibit] to "000E" and click the [Write] button. Then turn off/on the power of the servo amplifier.
  • Page 282 Part 7: Common Reference Material 2.3.4 Converting the parameters of MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ and writing them to the MR- J4-_A_(-RJ) servo amplifier (1) Start MR Configurator2 (SW1DNC-MRC2-E). (2) Create a new project. Select [Project] - [New] from the menu to display the New Project dialog box. Select "MR-J4-A(-RJ)" for Model.
  • Page 283 Part 7: Common Reference Material (3) Change MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ parameters to MR-J4-_A_(-RJ) parameters. Select [Parameter] - [Parameter Converter] from the menu to display the parameter converter screen. Then click the [Open file] button and specify the user file that was saved with the setup software (MRZJW3-SETUP161E) with the operation in (3) of Section 2.3.3.
  • Page 284 Part 7: Common Reference Material Click [Update Project]. 7 - 45...
  • Page 285 Part 7: Common Reference Material (4) Write the changed parameters to the MR-J4-_A_(-RJ) servo amplifier. Select [Parameter] - [Parameter Setting] from the menu to display the parameter setting screen. Connect the MR-J4-_A_(-RJ) servo amplifier to a personal computer and click the [Single Axis Write] button.
  • Page 286: Conversion Rules

    Part 7: Common Reference Material 2.3.5 Conversion rules POINT The conversion rules in this section give due consideration to compatibility. However, the servo parameter system of MR-J2S-_A_/ MR-J2S-_CP_/MR-J2S- _CL_ and that of MR-J4-_A_ are so different that the rules may not sufficiently apply to cases of special operation (including special specifications).
  • Page 287 Part 7: Common Reference Material (1) Conversion with the renewal tool POINT I/O signal assignment can be converted with MR Configurator2 of version 1.53F or later. I/O signal assignment cannot be converted with the parameter converter function because the renewal tool is not available for MR-J2S-_CL_. When MR-J2S series servo amplifiers are replaced with MR-J4 series servo amplifiers using the renewal tool, the parameters related to I/O signal assignment can be converted according to the control signal connection of the renewal tool when the conversion of I/O signal assignment with the parameter...
  • Page 288 Part 7: Common Reference Material (2) Parameters that need to be checked after parameter conversion Parameter Initial Setting Name Description number value value Forced stop deceleration function selection To configure the same settings as those for MR-J2S- PA04 Function selection A-1 2000h 0_ _ _h _A_/MR-J2S-_CP_/MR-J2S-_CL_, select "Forced stop...
  • Page 289 Part 7: Common Reference Material (3) Parameter that needs be set when the MR-J2S-_CP_ is replaced with the MR-J4-_A_-RJ The following parameter needs to be set after the MR-J2S-_CP_ is replaced with the MR-J4-_A_-RJ. Parameter Initial Setting Name Description number value value PA01...
  • Page 290 Part 7: Common Reference Material (6) Conversion rules (MR-J2S-_A_ => MR-J4-_A_) The following table shows the parameter conversion rules from MR-J2S-_A_ to MR-J4-_A_. Parameters not specified in the following table will be set to their initial values. MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target...
  • Page 291 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ 4_ _ will be changed to _ _ _ 3. _ X_ _ PA08 _ _ _ X Otherwise, the setting value will be maintained. _ _ _ 1 will be changed to 8.
  • Page 292 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target S-pattern acceleration/deceleration time PC03 The setting value will be maintained. constant Torque command time constant PC04 The setting value will be maintained. Station number setting PC20 The setting value will be maintained.
  • Page 293 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ _ _ 0 will be changed to _ _ _ 0. _ _ _ X PD01 _ _ _ X _ _ _ 1 will be changed to _ _ _ 4. Otherwise, the initial value will be set.
  • Page 294 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 0, this parameter will be converted.
  • Page 295 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 1, this parameter will be converted.
  • Page 296 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 2, this parameter will be converted.
  • Page 297 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 3, this parameter will be converted.
  • Page 298 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 4, this parameter will be converted.
  • Page 299 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 5, this parameter will be converted.
  • Page 300 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target BWNG (battery warning) signal assignment will be converted. (1) When the setting value of No. 49 is _ 1 _ _ PD28 _ _ XX (CN1A-19), the setting value of PD28 will be converted to _ _ 09 (CN1-49 pin setting).
  • Page 301 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target Function selection 6 _ X_ _ PD30 _ _ X_ The setting value will be maintained. The hexadecimal number is converted to _ _ _ X PA14 decimal.
  • Page 302 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ _ 00 will be changed to 4500. _ _ 01 will be changed to 4500. _ _ 02 will be changed to 2250. _ _ 03 will be changed to 1500. _ _ 04 will be changed to 1125.
  • Page 303 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target Internal speed command PC09 The setting value will be maintained. 5/internal speed limit 5 Internal speed command PC10 The setting value will be maintained. 6/internal speed limit 6 Internal speed command PC11 The setting value will be maintained.
  • Page 304 Part 7: Common Reference Material Table 1 Input conversion rules (for the least significant digit) _ _ _0 will be changed to _ _00. _ _ _1 will be changed to _ _02. _ _ _2 will be changed to _ _03. _ _ _3 will be changed to _ _04.
  • Page 305 Part 7: Common Reference Material (7) Conversion rules (MR-J2S-_CP_ => MR-J4-_A_-RJ) The following table shows the parameter conversion rules from MR-J2S-_CP_ to MR-J4-_A_-RJ. Parameters not specified in the following table will be set to their initial values. MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target...
  • Page 306 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target Home position return speed PT05 The setting value will be maintained. Creep speed PT06 The setting value will be maintained. Home position shift distance PT07 The setting value will be maintained. Rough match output range PT12 The setting value will be maintained.
  • Page 307 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target A value obtained by multiplying the setting value by 32 will be set. Backlash compensation PT14 The above value will be clamped at 65535. To use the HC/HA series servo motors without being replaced, refer to (5) in Section 2.3.5.
  • Page 308 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to _ _ _ 0. _ _ XX PB01 _ _ _ X Otherwise, _ _ _ 2 will be set. _ _ 0 0 will be changed to 4500.
  • Page 309 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to 4500. _ _ 0 1 will be changed to 4500. _ _ 0 2 will be changed to 2250. _ _ 0 3 will be changed to 1500.
  • Page 310 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in Table 1 (as input). However, a setting value other than those in Table 1 will be converted to 2B _ _. When conversion of I/O signal assignment is enabled, this parameter will be converted For manufacturer setting...
  • Page 311 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in Table 1 (as input). However, a setting value other than those in Table 1 will be converted to 39 _ _. When conversion of I/O signal assignment is enabled, this parameter will be converted _ _ XX...
  • Page 312 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted to the _ _ _ X X _ _ _ manufacturer setting value. Do not change the setting value. The setting value will be converted to the manufacturer setting value.
  • Page 313 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in Table 2 (as output). However, a setting value other than those in Table 2 will be converted to _ _04. When conversion of I/O signal assignment is enabled, this parameter will be converted _ _ XX...
  • Page 314 Part 7: Common Reference Material Table 1 Input conversion rules (MR-J2S-_CP_ → MR-J4-_A_-RJ) _ _ X X → X X _ _ or X X _ _ → X X _ _ 00 will not be changed. 01 will be changed to 0C. 02 will not be changed.
  • Page 315 Part 7: Common Reference Material (8) Conversion rules (MR-J2S-_CL_ => MR-J4-_A_-RJ) The following table shows the parameter conversion rules from MR-J2S-_CL_ to MR-J4-_A_-RJ. Parameters not specified in the following table will be set to their initial values. MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target...
  • Page 316 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ _ X _ _ _ X The setting value will be maintained. PT04 Home position return type _ _ X _ _ _ X _ The setting value will be maintained. _ X _ _ PT29 _ _ _ X The setting value will be maintained.
  • Page 317 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target (1) When the setting value of No. 58 is 1 32 times the setting value of No. 27 will be Encoder output pulses set. (2) When the setting value of No. 58 is other PA15 than 1 the setting value of No.
  • Page 318 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to _ _ _ 0. _ _ XX PB01 _ _ _ X Otherwise, _ _ _ 2 will be set. _ _ 0 0 will be changed to 4500.
  • Page 319 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to 4500. _ _ 0 1 will be changed to 4500. _ _ 0 2 will be changed to 2250. _ _ 0 3 will be changed to 1500.
  • Page 320 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target Program input polarity selection _ X _ _ PT29 _ _ X _ The setting value will be maintained. The setting value will be converted to the _ _ _ X X _ _ _ manufacturer setting value.
  • Page 321: Mr-J2S-_B_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.4 MR-J2S-_B_ Parameter Diversion Procedure The parameter converter functions of GX Works2 and MT Developer2 convert the servo parameters of MR- J2S-_B_ to those of MR-J4-_B_ when the controller is changed. (GX Works2: 1.84N or later, MT Developer2: 1.41T or later) (Target model) •...
  • Page 322: Changing Qd75M To Qd77Ms/Ld77Ms

    Part 7: Common Reference Material 2.4.1 Changing QD75M to QD77MS/LD77MS (1) Start GX Works2 and create a project. (2) Right-click [Intelligent Function Module] in the Navigation window and select [New Module] to add the simple motion module QD77MS/LD77MS. (3) Double-click [Simple Motion Module Setting] of the added simple motion module to start the simple motion module setting tool.
  • Page 323 Part 7: Common Reference Material (5) Specify the target module. Specify the model and the head XY address of the target module, then click the [OK] button. 7 - 84...
  • Page 324 Part 7: Common Reference Material (6) Execute servo parameter conversion. Select the target servo amplifier setting and click the [OK] button. The servo parameters are converted as follows depending on the target servo amplifier setting. When "SSCNET III / H" is selected, MR-J2S-_B_ is converted to MR-J4-_B_. When "SSCNET III"...
  • Page 325: Changing The Motion Controller A Series/Q17Ncpu To Q17Ndscpu/Q170Mscpu(-S1)

    Part 7: Common Reference Material 2.4.2 Changing the motion controller A series/Q17nCPU to Q17nDSCPU/Q170MSCPU(-S1) (1) Start MT Developer2. (2) Select the source project. Click [Project] - [Divert File] - [Diversion of Other Format Project] from the menu to display the Diversion of Other Format Project dialog box.
  • Page 326 Part 7: Common Reference Material (3) Execute file diversion. Select the CPU type, OS type, and Operation method in the CPU/OS selection, and click the [Diversion] button. (4) Execute servo parameter conversion. Select the target servo amplifier setting and click the [OK] button. The servo parameters are converted as follows depending on the target servo amplifier setting.
  • Page 327: Conversion Rules (Mr-J2S-_B_ => Mr-J4-_B_)

    Part 7: Common Reference Material 2.4.3 Conversion rules (MR-J2S-_B_ => MR-J4-_B_) POINT The conversion rules in the above table give due consideration to compatibility. However, the servo parameter system of MR-J2S-_B_ and that of MR-J4-_B_ are so different that the rules may not sufficiently apply to cases of special operation (including special specifications).
  • Page 328 Part 7: Common Reference Material (2) Parameters that need to be set when the HC/HA series servo motor is used without being replaced 1) When the model of a servo amplifier after replacement is MR-J4-_B_ Parameter Initial Setting Name Description number value value...
  • Page 329 Part 7: Common Reference Material (3) Conversion rules (MR-J2S-_B_ => MR-J4-_B_) The following table shows the servo parameter conversion rules from MR-J2S-_B_ (standard) to MR-J4- _B_ standard. Servo parameters not specified in the following table will be set to the initial values. MR-J2S-_B_ MR-J4-_B_ Conversion rules...
  • Page 330 Part 7: Common Reference Material MR-J2S-_B_ MR-J4-_B_ Conversion rules Name Type Target Type Target _ _ 00 will be changed to _ _ _ 0. _ _ XX PB01 _ _ _ X Otherwise, _ _ _ 2 will be set. _ _ 00 will be changed to 4500.
  • Page 331 Part 7: Common Reference Material MR-J2S-_B_ MR-J4-_B_ Conversion rules Name Type Target Type Target _ 9_ _ will be changed to _ _ _ 8. _ A _ _ will be changed to _ _ _ 9. _ X_ _ PC09 _ _ _ X _ B _ _ will be changed to _ _ _ D.
  • Page 332 Part 7: Common Reference Material MR-J2S-_B_ MR-J4-_B_ Conversion rule Name Type Target Type Target _ _ 00 will be changed to 4500. _ _ 01 will be changed to 4500. _ _ 02 will be changed to 2250. _ _ 03 will be changed to 1500. _ _ 04 will be changed to 1125.
  • Page 333: Common Points To Note

    Part 7: Common Reference Material 3. COMMON POINTS TO NOTE 3.1 Points to Note When Replacing a Battery POINT The MR-BAT and A6BAT battery for MR-J2S and the MR-J2M-BT battery unit for MR-J2M cannot be used due to different battery voltage specifications. The battery replacement procedures for MR-J2S/J2M and for MR-J4 are different.
  • Page 334: Servo Amplifier Battery Mounting Method

    Part 7: Common Reference Material 3.1.1 Servo amplifier battery mounting method POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
  • Page 335: Disassembly Method

    Part 7: Common Reference Material 3.1.2 Disassembly method Pulling out the connector of the battery without the lock release lever pressed CAUTION may damage the CN4 connector of the servo amplifier or the connector of the battery. While pressing the lock release lever, pull out the connector.
  • Page 336: Hc-_Fs /Ha-_Fs Motor Drive

    Part 7: Common Reference Material 4. HC-_FS /HA-_FS MOTOR DRIVE 4.1 Parameter setting (1) MR-J4-_A_ When driving the HC-_FS /HA-_FS series servo motor with MR-J4-_A_, configure [Pr. PC22] at "_ 1 _ _" and select the encoder setting compatible with MR-J2S. If there is an error in the setting, [AL.16: Encoder initial communication error 1] or [AL.20: Encoder normal communication error 1] occurs.
  • Page 337: Corresponding Software Version

    Part 7: Common Reference Material 4.2 Corresponding Software Version Standard software corresponding version Servo motor model (Note) Servo motor series name Servo amplifier model (Including models with General-purpose gear reducers/brakes) SSCNET interface interface HC-KFS053 MR-J4-10_(-RJ) A8 or later HC-KFS13 MR-J4-10_(-RJ) A4 or later A8 or later HC-KFS series...
  • Page 338 Part 7: Common Reference Material Standard software corresponding version (Note) Servo motor model Servo motor series name Servo amplifier model (Including models with General-purpose SSCNET interface gear reducers/brakes) interface HC-SFS53 MR-J4-60_(-RJ) A8 or later HC-SFS103 MR-J4-100_(-RJ) A8 or later HC-SFS HC-SFS153 MR-J4-200_(-RJ) A8 or later...
  • Page 339 Part 7: Common Reference Material Standard software Servo motor model Supported version (Note) Converter Servo motor series name Servo amplifier model (Including models with General- unit model SSCNET gear reducers/brakes) purpose interface interface HA-LFS30K1 MR-J4-DU30K_(-RJ) Not compatible MR-CR55K HA-LFS37K1 MR-J4-DU37K_(-RJ) Not compatible HA-LFS HA-LFS25K14...
  • Page 340: Method For Checking The Software Version

    Part 7: Common Reference Material 4.2.1 Method for checking the software version Start MR Configurator2 (SW1DNC-MRC2-E). Click [Diagnosis] - [System Configuration] from the menu to display the servo amplifier software version number. Servo amplifier software version number: BCD- ↓ ↓ Software version number software version 7 - 101...
  • Page 341: Overload Protection Characteristics (Important Points For Combining The Drive Unit Mr-J4-Du55K_4 And Ha-Lfs Motor)

    Part 7: Common Reference Material 4.3 Overload protection characteristics (Important Points for Combining the drive unit MR-J4-DU55K_4 and HA-LFS motor) When using the drive unit MR-J4-DU55K_4 in combination with the HA-LFS motor, the overload protection characteristics are as shown in the diagram. For MR-J2S-55K_4, please check your operation pattern, since the overload protection curve (broken line) of the overload ratio over 200% at the servo-lock is added.
  • Page 342: Part 8: Review On Replacement Of Motor 8-1 To

    Part 8: Review on Replacement of Motor Part 8 Review on Replacement of Motor 8 - 1...
  • Page 343: Servo Motor Replacement

    Part 8: Review on Replacement of Motor Part 8: Review on Replacement of Motor 1. SERVO MOTOR REPLACEMENT 1.1 Servo Motor Substitute Model and Compatibility POINT Compatibility here means the mounting compatibility. For details about the compatibility of servo motor dimensions, reducer specifications, moment of inertia, connector specifications, and torque characteristics, refer to "2 COMPARISON OF SERVO MOTOR SPECIFICATIONS".
  • Page 344 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-KFS053(B)G5 1/5 HG-KR053(B)G5 1/5 HC-KFS053(B)G5 1/11 HG-KR053(B)G5 1/11 HC-KFS053(B)G5 1/21 HG-KR053(B)G5 1/21 HC-KFS053(B)G5 1/33 HG-KR053(B)G5 1/33 HC-KFS053(B)G5 1/45 HG-KR053(B)G5 1/45 HC-KFS13(B)G5 1/5 HG-KR13(B)G5 1/5 HC-KFS13(B)G5 1/11 HG-KR13(B)G5 1/11 HC-KFS13(B)G5 1/21...
  • Page 345 Part 8: Review on Replacement of Motor (2) HC-MFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) Small capacity, HC-MFS053(B) HG-MR053(B) ultra-low inertia HC-MFS13(B) HG-MR13(B) HC-MFS series HC-MFS23(B) HG-MR23(B) ○ Standard/With brake HC-MFS43(B) HG-MR43(B) (B): With brake HC-MFS73(B) HG-MR73(B) HC-MFS053(B)G1 1/5...
  • Page 346 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-MFS053(B)G5 1/5 HG-KR053(B)G5 1/5 HC-MFS053(B)G5 1/11 HG-KR053(B)G5 1/11 HC-MFS053(B)G5 1/21 HG-KR053(B)G5 1/21 HC-MFS053(B)G5 1/33 HG-KR053(B)G5 1/33 HC-MFS053(B)G5 1/45 HG-KR053(B)G5 1/45 HC-MFS13(B)G5 1/5 HG-KR13(B)G5 1/5 HC-MFS13(B)G5 1/11 HG-KR13(B)G5 1/11 HC-MFS13(B)G5 1/21...
  • Page 347 Part 8: Review on Replacement of Motor (3) HC-SFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-SFS81(B) HG-SR81(B) HC-SFS121(B) HG-SR121(B) HC-SFS201(B) HG-SR201(B) HC-SFS301(B) HG-SR301(B) • The total length of the HC-SFS52(4)(B) HG-SR52(4)(B) Medium capacity, motor will be shorter, so HC-SFS102(4)(B) HG-SR102(4)(B) medium inertia...
  • Page 348 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-SFS352(4)(B)G1(H) 1/43 HG-SR352(4)(B)G1(H) 1/43 Medium capacity, HC-SFS352(4)(B)G1(H) 1/59 HG-SR352(4)(B)G1(H) 1/59 medium inertia HC-SFS502(4)(B)G1(H) 1/11 HG-SR502(4)(B)G1(H) 1/11 HC-SFS series with HC-SFS502(4)(B)G1(H) 1/17 HG-SR502(4)(B)G1(H) 1/17 •...
  • Page 349 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-SFS102(4)(B)G5 1/21 HG-SR102(4)(B)G5 1/21 HC-SFS102(4)(B)G5 1/33 HG-SR102(4)(B)G5 1/33 HC-SFS102(4)(B)G5 1/45 HG-SR102(4)(B)G5 1/45 HC-SFS152(4)(B)G5 1/5 HG-SR152(4)(B)G5 1/5 HC-SFS152(4)(B)G5 1/11 HG-SR152(4)(B)G5 1/11 Medium capacity, HC-SFS152(4)(B)G5 1/21 HG-SR152(4)(B)G5 1/21 medium inertia HC-SFS152(4)(B)G5 1/33...
  • Page 350 Part 8: Review on Replacement of Motor (4) HC-RFS/-LFS/-UFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-RFS103(B) HG-RR103(B) Medium capacity, HC-RFS153(B) HG-RR153(B) ultra-low inertia HC-RFS series HC-RFS203(B) HG-RR203(B) ○ HC-RFS353(B) HG-RR353(B) (B): With brake HC-RFS503(B) HG-RR503(B) HC-RFS103(B)G2 1/5 ◇...
  • Page 351 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-RFS103(B)G7 1/5 ◇ HG-SR102(B)G7 1/5 HC-RFS103(B)G7 1/11 ◇ HG-SR102(B)G7 1/11 HC-RFS103(B)G7 1/21 ◇ HG-SR102(B)G7 1/21 • The HG-RR series does HC-RFS103(B)G7 1/33 ◇ HG-SR102(B)G7 1/33 not support the geared HC-RFS103(B)G7 1/45 ◇...
  • Page 352 Part 8: Review on Replacement of Motor (5) HA-LFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) HA-LFS601(4)(B) HG-JR601(4)(B) HA-LFS801(4)(B) HG-JR801(4)(B) HA-LFS12K1(4)(B) HG-JR12K1(4)(B) HA-LFS15K1(4) HG-JR15K1(4) (Note 1) HA-LFS20K1(4) HG-JR20K1(4) Large capacity, low HA-LFS25K1(4) HG-JR25K1(4) inertia HA-LFS 1000 HA-LFS30K1(4) HG-JR30K1(4) r/min series...
  • Page 353: Comparison Of Servo Motor Specifications

    Part 8: Review on Replacement of Motor 2. COMPARISON OF SERVO MOTOR SPECIFICATIONS 2.1 Comparison of Servo Motor Mounting Dimensions Target product Replacement product Note Model Model HC-KFS053(B) HG-KR053(B) 81.5(109.5) 66.4(107) HG-MR053(B) ◇ HC-MFS053(B) (◇ part: Note 2) HC-KFS13(B) HG-KR13(B) 96.5(124.5) 82.4(123) HC-MFS13(B)
  • Page 354 Part 8: Review on Replacement of Motor Target product Replacement product Note Model Model HC-LFS52(B) 145.5(178.5) HG-JR73(B) 145.5(191) HC-LFS102(B) 165.5(198.5) HG-JR153(B) 199.5(245) HC-LFS152(B) 193(226) HG-JR353(B) 213(251.5) (Note 2) HC-LFS202(B) 200(248) HG-JR353(B) 213(251.5) HC-LFS302(B) 250(298) HG-JR503(B) 267(305.5) HC-UFS13(B) 70(100) HG-KR13(B) 82.4(123) HC-UFS23(B) 77(111) HG-KR23(B)
  • Page 355 Part 8: Review on Replacement of Motor Target product Replacement product Note Model Model HG-JR701M(B) 299.5(372) (Note 2) HG-JR701M4(B) HA-LFS701M(B) 480(550) HA-LFS701M4(B) HG-JR701MR(B)-S_ 399(472) HG-JR701M4R(B)-S_ HG-JR11K1M(B) 339.5(412) (Note 2) HG-JR11K1M4(B) HA-LFS11K1M(B) 495(610) HA-LFS11K1M4(B) HG-JR11K1MR(B)-S_(☐250) 354(427) HG-JR11K1M4R(B)-S_(☐250) HG-JR15K1M(B) 439.5(512) (Note 2) HG-JR15K1M4(B) HA-LFS15K1M(B) 555(670)
  • Page 356 Part 8: Review on Replacement of Motor Target product Replacement product Note Model Model HG-SR502 178.5 (Note 2) HA-LFS502 HG-SR502R-S_ HG-SR702 218.5 (Note 2) HA-LFS702 HG-SR702R-S_ HG-JR11K1M(B) 339.5(412) (Note 2) HG-JR11K1M4(B) HA-LFS11K2(B) 480(550) HG-JR11K1MR(B)-S_(☐200) HA-LFS11K24(B) 439(512) HG-JR11K1M4R(B)-S_(☐200) HG-JR11K1M(B) 339.5(412) (Note 2) HG-JR11K1M4(B) HA-LFS15K2(B) 495(610)
  • Page 357: Detailed Comparison Of Servo Motor Mounting Dimensions

    Part 8: Review on Replacement of Motor 2.2 Detailed Comparison of Servo Motor Mounting Dimensions Z (4 pcs. unless otherwise specified) Target product Replacement product Model Model HC-MFS053(B) 22.5 2-4.5 HG-MR053(B) 21.5 2-4.5 HC-MFS13(B) 22.5 2-4.5 HG-MR13(B) 21.5 2-4.5 HC-KFS23(B) HG-KR23(B) HC-MFS23(B) HG-MR23(B)
  • Page 358 Part 8: Review on Replacement of Motor Z (4 pcs. unless otherwise specified) Target product Replacement product Model Model HA-LFS701M(B) HG-JR701M(B) 14.5 13.5 HA-LFS701M4(B) HG-JR701M4(B) HA-LFS11K1M(B) HG-JR11K1M(B) 14.5 13.5 HA-LFS11K1M4(B) HG-JR11K1M4(B) HA-LFS15K1M(B) HG-JR15K1M(B) 14.5 13.5 HA-LFS15K1M4(B) HG-JR15K1M4(B) HA-LFS22K1M HG-JR22K1M HA-LFS22K1M4 HG-JR22K1M4 HA-LFS30K1M HG-JR30K1M...
  • Page 359: Comparison Of Mounting Dimensions For Geared Servo Motors

    Part 8: Review on Replacement of Motor 2.3 Comparison of Mounting Dimensions for Geared Servo Motors For high precision applications: HC-KFS, HC-MFS_G2 to HG-KR_G7 HC-KFS and HC-MFS series (G2) HG-KR series (G7) Output Reduction Reduction ratio ratio 105.9 40 3.4 (146.5) (158) 130.4...
  • Page 360 Part 8: Review on Replacement of Motor For high precision applications: HC-SFS_G2 to HG-SR_G7 0.5 kW to 1.5 kW HC-SFS_G2 front view Front view B Front view A HC-SFS series (G2) HG-SR series (G7) Output Reduction Front Reduction (kW) ratio view ratio 213.5...
  • Page 361 Part 8: Review on Replacement of Motor For high precision applications: HC-SFS_G2 to HG-SR_G7 2.0 kW to 7.0 kW HC-SFS_G2 front view Front view B Front view A HC-SFS series (G2) HG-SR series (G7) Output Reduction Front Reduction (kW) ratio view ratio 267.5...
  • Page 362 Part 8: Review on Replacement of Motor For high precision applications: HC-RFS_G2 to HG-SR_G7 HC-RFS_G2 front view Front view B Front view A HC-RFS series (G2) HG-SR series (G7) Output Front Reduction Reduction (kW) view ratio ratio 227.5 160 130 140 105 85 (339) (262)
  • Page 363 Part 8: Review on Replacement of Motor For high precision applications: HC-RFS_G5 to HG-SR_G5 HC-RFS series (G5) HG-SR series (G5) Output Reduction Reduction (kW) ratio ratio 227.5 (267) (262) 239.5 1/11 1/11 135 115 (267) (274) 239.5 1/21 135 115 1/21 135 115 (295)
  • Page 364 Part 8: Review on Replacement of Motor For high precision applications: HC-RFS_G7 to HG-SR_G7 HC-RFS series (G7) HG-SR series (G7) Output Reduction Reduction (kW) ratio ratio 227.5 105 85 (267) (262) 239.5 1/11 1/11 135 115 120 11 (267) (274) 239.5 1/21 135 115 120...
  • Page 365: Comparison Of Geared Servo Motors

    Part 8: Review on Replacement of Motor 2.4 Comparison of Geared Servo Motors POINT Geared servo motors are not included in the HG-MR, HG-RR series. 2.4.1 Comparison of actual reduction ratios for geared servo motors Because the actual reduction ratio for some models is different when replacing HC-KFS or MFS_G1 with HG-KR_G1, it is required that an electronic gear be set up.
  • Page 366: Comparison Of Moment Of Inertia

    Part 8: Review on Replacement of Motor 2.5 Comparison of Moment of Inertia (1) HC-KFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m ×...
  • Page 367 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-KFS053(B)G5 1/5 0.121(0.124) HG-KR053(B)G5 1/5 0.113(0.115) HC-KFS053(B)G5 1/11 0.113(0.116)
  • Page 368 Part 8: Review on Replacement of Motor (2) HC-MFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m 35 times HC-MFS053(B) 0.019(0.022) HG-MR053(B)
  • Page 369 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-MFS053(B)G5 1/5 0.087(0.090) HG-KR053(B)G5 1/5 0.113(0.115) HC-MFS053(B)G5 1/11 0.079(0.082)
  • Page 370 Part 8: Review on Replacement of Motor (3) HC-SFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m 17 times HC-SFS81(B) 20.0(22.0) HG-SR81(B)
  • Page 371 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m Medium capacity, 106.5(116.5) 105(114) HC-SFS352(4)(B)G1(H) 1/43 HG-SR352(4)(B)G1(H) 1/43 medium inertia...
  • Page 372 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-SFS52(4)(B)G5 1/5 7.25(9.25) HG-SR52(4)(B)G5 1/5 7.91(10.1) HC-SFS52(4)(B)G5 1/11 7.16(9.16)
  • Page 373 Part 8: Review on Replacement of Motor (4) HC-RFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-RFS103(B) 1.5(1.85) HG-RR103(B) 1.50(1.85)
  • Page 374 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-RFS103(B)G7 1/5 2.37(2.72) HG-SR102(B)G7 1/5 12.3(14.5) HC-RFS103(B)G7 1/11 2.25(2.60)
  • Page 375 Part 8: Review on Replacement of Motor (6) HA-LFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia Model inertia J Model inertia J moment ratio moment ratio × 10 kg•m × 10 kg•m HA-LFS601(B) HG-JR601(B) 105(113) 176(196)
  • Page 376 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load moment Load moment inertia J inertia J Model Model inertia ratio inertia ratio × 10 kg•m × 10 kg•m HA-LFS601(B) HG-JR601R(B)-S_ 105(113) 198(218) HA-LFS6014(B) HG-JR6014R(B) -S_ HA-LFS801(B)
  • Page 377: Comparison Of Servo Motor Connector Specifications

    Part 8: Review on Replacement of Motor 2.6 Comparison of Servo Motor Connector Specifications (1) HC-KFS/-MFS/-UFS motor MR-J2S series (HC-KFS/MFS/UFS) MR-J4 series (HG-KR/MR) Motor appearance Power connector Electromagnetic brake Power connector connector (With electromagnetic brake) Encoder connector Encoder connector Power supply lead 4-AWG19 0.3 m Power connector 5557-04R-210 (Receptacle) 5556PBT (Female terminal)
  • Page 378 Part 8: Review on Replacement of Motor (2) HC-SFS motor MR-J2S series (HC-SFS) MR-J4 series (HG-SR) Target models: HC-SFS81(B) Target models: HG-SR81(B) HC-SFS52(4)(B) to HC-SFS152(4)(B) HG-SR52(4)(B) to HG-SR152(4)(B) HC-SFS53(B) to HC-SFS153(B) Motor appearance Power connector Power connector (With electromagnetic brake) Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 379 Part 8: Review on Replacement of Motor MR-J2S series (HC-SFS) MR-J4 series (HG-SR) HC-SFS121(B) to HC-SFS301(B) Target models: HG-SR121(B) to HG-SR301(B) Target models: HG-SR202(4)(B) to HG-SR702(4)(B) HC-SFS202(4)(B) to HC-SFS702(4)(B) HC-SFS203(B), HC-SFS353(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 380 Part 8: Review on Replacement of Motor (3) HC-RFS motor MR-J2S series (HC-RFS) MR-J4 series (HG-RR) Target models: HC-RFS103(B), RFS153(B),RFS203(B) Target model: HG-RR103(B), RR153(B), RR203(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P...
  • Page 381 Part 8: Review on Replacement of Motor MR-J2S series (HC-RFS) MR-J4 series (HG-RR) Target models: HC-RFS353(B), RFS503(B) Target models: HG-RR353(B), RR503(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P Power connector...
  • Page 382 Part 8: Review on Replacement of Motor (4) HC-LFS motor MR-J2S series (HC-LFS) MR-J4 series (HG-JR) Target models: HC-LFS52(B), LFS102(B) Target models: HG-JR73(B), JR153(B) Motor appearance Power connector Power connector Electromagnetic brake (With electromagnetic brake) Encoder connector Encoder connector Power connector CE05-2A22-23P Power connector MS3102A18-10P...
  • Page 383 Part 8: Review on Replacement of Motor MR-J2S series (HC-LFS) MR-J4 series (HG-JR) Target models: HC-LFS152(B) Target models: HG-JR353(B) Motor appearance Electromagnetic brake connector Power connector Power connector (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P MS3102A22-22P Power connector Pin assignment...
  • Page 384 Part 8: Review on Replacement of Motor MR-J2S series (HC-LFS) MR-J4 series (HG-JR) Target models: HC-LFS202(B), LFS302(B) Target models: HG-JR353(B), JR503(B) Motor appearance Power connector Electromagnetic brake connector Electromagnetic brake connector Power connector Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P MS3102A22-22P Power connector...
  • Page 385 Part 8: Review on Replacement of Motor (5) HC-UFS motor MR-J2S series (HC-UFS) MR-J4 series (HG-UR) Target models: HC-UFS72(B), UFS152(B) Target model: HG-UR72(B), UR152(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P...
  • Page 386 Part 8: Review on Replacement of Motor MR-J2S series (HC-UFS) MR-J4 series (HG-UR) Target models: HC-UFS202(B), UFS352(B),UFS502(B) Target models: HG-UR202(B), UR352(B), UR502(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P...
  • Page 387 Part 8: Review on Replacement of Motor (6) HA-LFS motor MR-J2S series (HA-LFS) MR-J4 series (HG-UR) Target models: HA-LFS502 Target models: HG-SR502 Encoder connector Power connector Motor appearance Power connector Encoder connector Power connector CE05-2A24-10P Power connector MS3102A22-22P Power connector Pin assignment Pin number Signal name Power connector...
  • Page 388 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-SR) Target models: HA-LFS702 Target models: HG-SR702 Encoder connector Power connector Motor appearance Power connector Encoder connector Power connector Power connector CE05-2A32-17P MS3102A32-17P Power connector Power connector Power connector Pin assignment Pin assignment Pin number Signal name...
  • Page 389 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS601(4)(B), LFS701M(4)(B) Target models: HG-JR601(4)(B), JR701M(4)(B) HA-LFS11K2(4)(B) HG-JR11K1M(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Earth terminal Terminal block for thermal M6 screw...
  • Page 390 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS801(4)(B), LFS12K1(4)(B) Target models: HG-JR801(4)(B), JR12K1(4)(B) HA-LFS11K1M(4)(B), LFS15K1M(4)(B) HG-JR11K1M(4)(B), JR15K1M(4)(B) HA-LFS15K2(4)(B), LFS22K2(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Terminal block for cooling fan...
  • Page 391 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS15K1(4), LFS20K1(4) Target models: HG-JR15K1(4), JR20K1(4) HA-LFS22K1M(4), LFS30K1M4 HG-JR22K1M(4), JR30K1M4 HA-LFS30K24, LFS37K24 Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block...
  • Page 392 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS30K1M Target model: HG-JR22K1M HA-LFS30K2, LFS37K2 HG-JR30K1M Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block Earth terminal U, V, W terminals, M10 screw M6 screw...
  • Page 393 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS25K1(4), LFS30K1(4), LFS37K1(4) Target models: HG-JR25K1(4), JR30K1(4), JR37K1(4) HA-LFS37K1M(4), LFS45K1M4,LFS50K1M4 HG-JR37K1M(4),JR45K1M4,JR55K1M4 HA-LFS45K24,LFS55K24 Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block...
  • Page 394: Comparison Of Servo Motor Torque Characteristics

    Part 8: Review on Replacement of Motor 2.7 Comparison of Servo Motor Torque Characteristics ◆ Comparison of torque characteristics between the HG-KR and HC-KFS series ( : HG-KR, : HC-KFS) • HC-KFS series, 200 V class (Note 2) HC-KFS053⇒HG-KR053 HC-KFS13⇒HG-KR13 HC-KFS23⇒HG-KR23 Short-duration Short-duration...
  • Page 395 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-KR and HC-KFS series ( : HG-KR, : HC-KFS) • HC-KFS series, 100 V class HC-KFS053⇒HG-KR053 HC-KFS13⇒HG-KR13 Short-duration Short-duration running range running range Continuous Continuous running range running range 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 396 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-MR and HC-MFS series ( : HG-MR, : HC-MFS) ・HC-MFS series, 200 V class (Note 2) HC-MFS053⇒HG-MR053 HC-MFS23⇒HG-MR23 HC-MFS13⇒HG-MR13 Short-duration Short-duration running range running range Short-duration running range Continuous Continuous...
  • Page 397 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HC-SFS series ( : HG-SR, : HC-SFS) • HC-SFS 1000 r/min, 2000 r/min series, 200 V class (Note 3) HC-SFS81⇒HG-SR81 HC-SFS121⇒HG-SR121 HC-SFS201⇒HG-SR201 Short-duration Short-duration running range Short-duration running range...
  • Page 398 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HC-SFS series ( : HG-SR, : HC-SFS) • HC-SFS 3000 r/min series, 200 V class (Note 2) HC-SFS53⇒HG-SR52 HC-SFS103⇒HG-SR102 HC-SFS153⇒HG-SR152 Short-duration running range Short-duration running range Short-duration running range Continuous running range Continuous running range...
  • Page 399 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HC-SFS series ( : HG-SR, : HC-SFS) • HC-SFS: 2000 r/min series, 400 V class HC-SFS1524⇒HG-SR1524 (Note 2) (Note 2) (Note 2) HC-SFS1524⇒HG-SR1524 HC-SFS524⇒HG-SR524 HC-SFS1024⇒HG-SR1024 Short-duration Short-duration...
  • Page 400 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-RR and HC-RFS series ( : HG-SR, : HC-RFS) HC-RFS103⇒HG-RR103 HC-RFS153⇒HG-RR153 HC-RFS203⇒HG-RR203 Short-duration Short-duration running range running range Short-duration running range Continuous Continuous Continuous running range running range running range 1000 2000 3000 4000...
  • Page 401 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-KR and HC-UFS series ( : HG-KR, :HC-UFS) HC-UFS13⇒HG-KR13 HC-UFS23⇒HG-KR23 HC-UFS43⇒HG-KR43 Short-duration Short-duration Short-duration running range running range running range Continuous Continuous Continuous running range running range running range 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 402 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-UR and HC-UFS series ( : HG-UR, :HC-UFS) (Note 2) HC-UFS72⇒HG-UR72 HC-UFS152⇒HG-UR152 HC-UFS202⇒HG-UR202 Short-duration Short-duration running range Short-duration running range running range Continuous Continuous Continuous running range running range running range 1000...
  • Page 403 Part 8: Review on Replacement of Motor POINT When servo motors are replaced with HG-JR_R_-S_ motors (compatible product), the torque characteristics differ. Please contact your local sales office. ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) •...
  • Page 404 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 1000 r/min series, 400 V class (Note 2) (Note 2) (Note 2) HA-LFS6014⇒HG-JR6014 HA-LFS8014⇒HG-JR8014 HA-LFS12K14⇒HG-JR12K14 Short-duration Short-duration Short-duration...
  • Page 405 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 1500 r/min series, 200 V class (Note 2) HA-LFS701M⇒HG-JR701M HA-LFS11K1M⇒HG-JR11K1M HA-LFS15K1M⇒HG-JR15K1M Short-duration running range Short-duration Short-duration running range running range...
  • Page 406 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 1500 r/min series, 400 V class (Note 2) (Note 2) (Note 2) HA-LFS701M4⇒HG-JR701M4 HA-LFS11K1M4⇒HG-JR11K1M4 HA-LFS15K1M4⇒HG-JR15K1M4 Short-duration Short-duration Short-duration...
  • Page 407 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR, SR and HA-LFS series ( : HG-JR/SR, : HA-LFS) • HA-LFS: 2000 r/min series, 200 V class HA-LFS502⇒HG-SR502 HA-LFS702⇒HG-SR702 HA-LFS11K2⇒HG-JR11K1M Short-duration Short-duration running range running range Short-duration running range Continuous...
  • Page 408 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 2000 r/min series, 400 V class (Note 2) (Note 2, 3) (Note 2, 3) HA-LFS22K24⇒HG-JR15K1M4 HA-LFS11K24⇒HG-JR11K1M4 HA-LFS15K24⇒HG-JR11K1M4 Short-duration...
  • Page 409 Part 8: Review on Replacement of Motor MEMO 8 - 68...
  • Page 410: Part 9: Review On Replacement Of Optional Peripheral Equipment 9-1 To

    Part 9: Review on Replacement of Optional Peripheral Equipment Part 9 Review on Replacement of Optional Peripheral Equipment 9 - 1...
  • Page 411: Comparison Table Of Regenerative Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment Part 9: Review on Replacement of Optional Peripheral Equipment 1. COMPARISON TABLE OF REGENERATIVE OPTION COMBINATIONS POINT The MR-J4 series provides the new regenerative options shown in the table below. When an MR-J2S series regenerative resistor is used as it is with a servo motor combined, an alarm may occur.
  • Page 412: Regenerative Options (200 V/100 V)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1 Regenerative Options (200 V/100 V) 1.1.1 Combination and regenerative power for the MR-J2S series List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in Servo amplifier regenerative (Note 1) (Note 1) (Note 1)
  • Page 413: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1.3 Combination and regenerative power for MR-J4 series (replacement model) List of regenerative options Built-in Permissible regenerative power of regenerative option [W] MR-RB regenerative (Note 1) (Note 1) (Note 1) Servo amplifier model resistor [40 Ω] [40 Ω]...
  • Page 414: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.2 External Form Comparison MR-J2S MR-J4 350_ MR-RB30 MR-RB31/MR-RB3N 500_ Screw for mounting Screw for mounting cooling fan cooling fan (2-M4 screw) (2-M4 screw) 101.5 82.5 101.5 82.5 Intake Intake 350_ MR-RB50 MR-RB51/MR-RB5N 500_...
  • Page 415: Regenerative Options (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.3 Regenerative Options (400 V class) 1.3.1 Combination and regenerative power for the MR-J2S series List of regenerative options Built-in Permissible regenerative power of regenerative option [W] MR-RB regenerative Servo amplifier (Note 1) (Note 1) (Note 1)
  • Page 416: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.3.2 Combination and regenerative power for MR-J4 series (replacement model) List of regenerative options Built-in Permissible regenerative power of regenerative option [W] MR-RB Servo amplifier regenerative (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
  • Page 417: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.4 External Form Comparison MR-J2S MR-J4 60_4 MR-RB1L-4 MR-RB1H-4 100_4 φ6 mounting hole φ6 mounting hole (24) (24) MR-RB3M-4 Screw for mounting cooling fan (2-M4 screw) 101.5 82.5 Intake 60_4 MR-RB3H-4/MR-RB3G-4/MR-RB34-4 MR-RB3G-4/MR-RB34-4/MR-RB3U-4 200_4 Screw for mounting...
  • Page 418 Part 9: Review on Replacement of Optional Peripheral Equipment MR-J2S MR-J4 200_4 MR-RB5H-4/MR-RB5G-4/MR-RB54-4 MR-RB5G-4/MR-RB54-4/MR-RB5U-4 500_4 Screw for mounting cooling fan Screw for mounting cooling fan (2-M3 screw) (2-M3 screw) 700_4 Positioned on opposite side Positioned on opposite side 82.5 82.5 7×14 7×14 slotted...
  • Page 419: Comparison Table Of Dynamic Brake Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment 2. COMPARISON TABLE OF DYNAMIC BRAKE OPTION COMBINATIONS POINT When an MR-J4-22K servo amplifier and an HG-JR22K1M servo motor are combined, the coasting distance will be longer. Therefore, use a dynamic brake option, DBU-22K-R1.
  • Page 420: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 2.1 External Form Comparison MR-J2S MR-J4 22K_ DBU-22K DBU-22K-R1 Mass Dynamic brakes [kg] DBU-22K DBU-22K-R1 MR-J2S MR-J4 30K_ DBU-37K/DBU-55K-4 DBU-37K-R1/DBU-55K-4-R5 37K_ [Unit: mm] [Unit: mm] 2-φ10 mounting hole 2-φ10 mounting hole 30K_4 37K_4 45K_4...
  • Page 421: Comparison Table Of Cable Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment 3. COMPARISON TABLE OF CABLE OPTION COMBINATIONS Cable option combinations Application MR-J2S series MR-J4 series Note Connector shape will be changed. MR-J3ENCBL_M-A_-_ Cable must be changed. MR-JCCBL_M-_ MR-J3JCBL03M-A_-L _M: Cable length MR-EKCBL_M-_ A_: Leading direction -_: Bending life...
  • Page 422: Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4. POWER SUPPLY WIRE SIZE POINT When using the existing cables, refer to "[Appendix 2] Introduction to Renewal Tool". 4.1 Selection of Power Supply Wire Size (Example) 4.1.1 MR-J2S-series power supply wire size The following diagram shows the wires used for wiring.
  • Page 423 Part 9: Review on Replacement of Optional Peripheral Equipment In this case, the power supply wire used is a 600 V plastic one and the wiring distance is 30 m or less. When the wiring distance exceeds 30 m, select another wire size in consideration of the voltage drop. The alphabet letters (a, b, c) on the table correspond to crimp terminals used when wiring a servo amplifier.
  • Page 424: Mr-J4-Series Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.1.2 MR-J4-series power supply wire size POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in the instruction manuals of the servo amplifier in use for wiring. To comply with other standards, use a wire that is complied with each standard.
  • Page 425 Part 9: Review on Replacement of Optional Peripheral Equipment Example of selecting the wire sizes For the power supply wire, use a 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire). The table below shows selection examples of power supply wire sizes. Wire size selection example (HIV wire) Recommended wire Power supply wire [mm...
  • Page 426 Part 9: Review on Replacement of Optional Peripheral Equipment Wire size selection example (HIV wire) Recommended wire Power supply wire [mm ] (Note 1) Servo amplifier 4) U/V/W/ 1) L1/L2/L3/ 2) L11/L21 3) P+/C (Note 3) MR-J4-60_4(-RJ)/ 1.25 to 2 MR-J4-100_4(-RJ) 2 (AWG 14) (AWG 16 to 14)
  • Page 427: Selection Example Of Crimp Terminals

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.2 Selection Example of Crimp Terminals 4.2.1 MR-J2S-series crimp terminal (1) Selection example of crimp terminals (100 V/200 V class) Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Applicable tool Crimp terminal Manufacturer Body Head...
  • Page 428: Mr-J4-Series Crimp Terminal

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.2.2 MR-J4-series crimp terminal (1) Selection example of crimp terminals (200 V/100 V class) The table below shows selection examples of a crimp terminal for a servo amplifier terminal block. Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Applicable tool...
  • Page 429: Selection Of Molded-Case Circuit Breaker, Fuse, And Magnetic Contactor (Example)

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3 Selection of Molded-Case Circuit Breaker, Fuse, and Magnetic Contactor (Example) 4.3.1 MR-J2S series, molded-case circuit breakers, fuses, and magnetic contactors Select a molded-case circuit breaker with a short shut-off time to prevent smoking and fire from the servo amplifier.
  • Page 430: Mr-J4 Series, Molded-Case Circuit Breakers, Fuses, And Magnetic Contactors

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3.2 MR-J4 series, molded-case circuit breakers, fuses, and magnetic contactors (recommended) (1) For main circuit power supply Select a molded-case circuit breaker with a short shut-off time to prevent smoking and fire from the servo amplifier. CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
  • Page 431 Part 9: Review on Replacement of Optional Peripheral Equipment (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
  • Page 432: Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment 5. BATTERY POINT MR-BAT and A6BAT batteries for MR-J2S, or the MR-J2M-BT battery unit for MR-J2M, cannot be used because their battery voltage specifications are different from those of the MR-J4 series. 5.1 MR-J2S-Series Battery 5.1.1 Battery replacement procedure Model: MR-BAT or A6BAT...
  • Page 433: Mr-J4-Series Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3 MR-J4-Series Battery 5.3.1 Battery replacement procedure Model: MR-BAT6V1SET, MR-BAT6V1BJ, MR-BT6VCASE Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer (when 30 kW or more is used, 20 minutes or more) until the charge lamp turns off.
  • Page 434: When Using The Mr-Bat6V1Set Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment POINT Three types of batteries are used to construct the absolute position detection system: MR-BAT6V1SET battery, MR-BAT6V1BJ battery for junction battery cable, and MR-BT6VCASE battery case. The use of the MR-BAT6V1BJ battery for junction battery cable has the following characteristics distinctive from other batteries.
  • Page 435: When Using Mr-Bat6V1Bj Battery For Junction Battery Cable

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3.3 When using MR-BAT6V1BJ battery for junction battery cable (a) Battery connection Connect according to the following figure in combination with the MR-BT6VCBL03M junction battery cable. Servo amplifier MR-BT6VCBL03M Encoder cable MR-BAT6V1BJ Black: Connector for branch cable Orange: Connector for servo amplifier...
  • Page 436: When Using Mr-Bt6Vcase Battery Case

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3.4 When using MR-BT6VCASE battery case (a) Battery connection Servo amplifier Servo amplifier Servo amplifier Servo amplifier MR-BT6VCASE MR-BT6VCASE CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M CN10 MR-BT6V1CBL_M MR-BT6V1CBL_M Connection to a single unit Connecti