Page 1 General-Purpose AC Servo SSCNET /H Interface AC Servo MODEL MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2: Safety Instructions
Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 CAUTION Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.
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 (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor.
Page 6 CAUTION Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor.
Page 7 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Page 8 4. It is necessary for using a fully closed loop system. 5. It is necessary for using a functional safety unit MR-D30. 6. It is necessary for using an MR-J4-DU_B_(-RJ) drive unit and MR-CR55K_ converter unit. «Wiring» Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
Page 9 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-52 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 3 1.3 Servo amplifier standard specifications ................... 1-13 1.4 Combinations of servo amplifiers and servo motors ............... 1-19 1.5 Function list ............................1-21 1.6 Model designation ..........................
Page 11 3.7.2 When you do not use the forced stop deceleration function ............. 3-32 3.8 Interfaces ............................3-33 3.8.1 Internal connection diagram ...................... 3-33 3.8.2 Detailed explanation of interfaces ..................... 3-34 3.8.3 Source I/O interfaces ........................ 3-36 3.9 SSCNET III cable connection ......................3-37 3.10 Servo motor with an electromagnetic brake ..................
Page 12 6.2 One-touch tuning ..........................6- 3 6.2.1 One-touch tuning flowchart ......................6- 3 6.2.2 Display transition and operation procedure of one-touch tuning ..........6- 4 6.2.3 Caution for one-touch tuning ...................... 6- 8 6.3 Auto tuning ............................6- 9 6.3.1 Auto tuning mode ........................6- 9 6.3.2 Auto tuning mode basis ......................
Page 13 10.3.1 Dynamic brake operation ....................... 10- 8 10.3.2 Permissible load to motor inertia when the dynamic brake is used ........10-11 10.4 Cable bending life ........................10-12 10.5 Inrush currents at power-on of main circuit and control circuit ............ 10-13 11.
Page 14 12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6 12.1 Summary ............................12- 1 12.1.1 Features ..........................12- 1 12.1.2 Structure ..........................12- 2 12.1.3 Parameter setting ........................12- 2 12.1.4 Confirmation of absolute position detection data ..............12- 2 12.2 Battery ............................
Page 15 14.4.3 Dynamic brake characteristics ....................14-31 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ....... 14-32 15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-22 15.1 Functions and configuration ......................15- 1 15.1.1 Summary ..........................15- 1 15.1.2 Servo system with auxiliary equipment ..................
Page 16 App. 7 How to replace servo amplifier without magnetic pole detection ......... App.-39 App. 8 Two-wire type encoder cable for HG-MR/HG-KR ..............App.-40 App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service ............................. App.-42 App. 10 Analog monitor ........................App.-42 App.
Page 17 MEMO...
Page 18: Functions And Configuration
The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the previous MELSERVO-J3 series. MR-J4-_B_ servo amplifier is connected to controllers, including a servo system controller, on the high- speed synchronous network SSCNET III/H. The servo amplifier directly receives a command from a controller to drive a servo motor.
Page 19 2. The MR-J4FCCBL03M branch cable is necessary. 3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_B_ cannot be used. Use an MR-J4-_B_-RJ. 4. This is used with servo amplifiers with software version A3 or later.
Page 20: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. POINT The diagram shows for MR-J4-_B_-RJ as an example. MR-J4-_B_ servo amplifier does not have CN2L connector. (1) 200 V class (a) MR-J4-500B(-RJ) or less...
Page 21 Refer to section 1.3 for the power supply specifications. 3. Servo amplifiers MR-J4-70B(-RJ) or more have a cooling fan. 4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 22 Note 1. Refer to section 1.3 for the power supply specifications. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 23 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) (Note 5) External regenerative (Note 4, 6) Power factor improving resistor or DC reactor regenerative option External dynamic brake (optional) Servo amplifier Servo motor P4 (Note 2) Diode stack Thyristor MCCB (Note 1) Current...
Page 24 1. FUNCTIONS AND CONFIGURATION Note 1. Refer to section 1.3 for the power supply specifications. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 25 Note 1. Refer to section 1.3 for the power supply specification. 2. Servo amplifiers MR-J4-200B4(-RJ) or more have a cooling fan. 3. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 26 Note 1. Refer to section 1.3 for the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 27 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ) (Note 5) External Power factor regenerative resistor (Note 4, 6) improving DC reactor regenerative option External dynamic brake (optional) Servo amplifier Servo motor P4 (Note 2) Diode Thyristor stack MCCB (Note 1) Current Power...
Page 28 1. FUNCTIONS AND CONFIGURATION Note 1. Refer to section 1.3 for the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
Page 29 Note 1. The built-in regenerative resistor is not provided for MR-J4-10B1(-RJ). 2. Refer to section 1.3 for the power supply specifications. 3. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector. 1 - 12...
Page 30: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200 V class Model: MR-J4-_(-RJ) 100B 200B 350B 500B 700B 11KB 15KB 22KB Rated voltage 3-phase 170 V AC Output Rated current 11.0 17.0 28.0 37.0 68.0 87.0 126.0 3-phase or 1-phase 200 V AC to 240 V...
Page 31 4. Except for the terminal block. 5. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details. 6 The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
Page 32 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Model: MR-J4-_(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Rated voltage 3-phase 323 V AC Output Rated current 14.0 17.0 32.0 41.0 63.0 Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current 10.8...
Page 33 3. Except for the terminal block. 4. MR-J4-B4 servo amplifier is compatible only with two-wire type. MR-J4-B4-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details. 5. The communication cycle depends on the controller specifications and the number of axes connected.
Page 34 1. FUNCTIONS AND CONFIGURATION (3) 100 V class Model: MR-J4-_(-RJ) 10B1 20B1 40B1 Rated voltage 3-phase 170 V AC Output Rated current Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current Permissible voltage 1-phase 85 V AC to 132 V AC...
Page 35 3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-diagnose. 4. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
Page 36: Combinations Of Servo Amplifiers And Servo Motors
(1) 200 V class Rotary servo motor HG-JR Linear servo motor Servo amplifier Direct drive motor (When the (primary side) HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR maximum torque is 400%) MR-J4-10B(-RJ) MR-J4-20B(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20 LM-U2PBB-07M-1SS0 MR-J4-40B(-RJ) LM-H3P2A-07P-BSS0 TM-RFM004C20 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0...
Page 37 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Rotary servo motor HG-JR Servo amplifier Linear servo motor (primary side) HG-SR HG-JR (When the maximum torque is 400%) MR-J4-60B4(-RJ) MR-J4-100B4(-RJ) 1024 1034 1524 1534 MR-J4-200B4(-RJ) 2024 2034 1034 1534 MR-J4-350B4(-RJ) 3524...
Page 38: Function List
1. FUNCTIONS AND CONFIGURATION 1.5 Function list The following table lists the functions of this servo. For details of the functions, refer to each section of the detailed description field. Detailed Function Description explanation This realizes a high response and stable control following the ideal model. The two- degrees-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately.
Page 39 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Fully closed loop system can be configured using the load-side encoder. Fully closed loop system Chapter 16 This is used with servo amplifiers with software version A3 or later. Check the software version of the servo amplifier using MR Configurator2. Gain adjustment is performed just by one click on a certain button on MR Configurator2.
Page 40: Model Designation
Symbol Rated output [kW] Fully closed loop control four-wire type/ load-side encoder A/B/Z-phase input compatible/ Compatible with MR-D30 functional safety unit MR-J4-_B_ without a dynamic brake (Note 2) MR-J4-_B_-RJ without a dynamic brake (Note 2) MR-J4-_B_ without regenerative resistor (Note 1) 0.75 MR-J4-_B_-RJ without regenerative resistor (Note 1) Note1.
Page 41: Structure
This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ. Note 1. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear...
Page 42 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350B(-RJ) Detailed Name/Application The broken line area is the same as explanation MR-J4-200B(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Servo motor power supply connector (CNP3) Connect the servo motor.
Page 43 The servo amplifier is shown with the front cover open. The front cover cannot be removed. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B(-RJ) or less. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1 Main circuit terminal block (TE1) Section 3.3 Connect the input power supply.
Page 44 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor. Main circuit terminal block (TE1) Used to connect the input power supply, Section 3.1...
Page 45 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B(-RJ) or less. Power factor improving reactor terminal block (TE1- Used to connect a power factor improving DC reactor and a regenerative option. Main circuit terminal block (TE1-1) Section 3.1...
Page 46 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE1- Used to connect a power factor improving DC reactor and a regenerative option. Main circuit terminal block (TE1-1) Section 3.1...
Page 47 This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ. Note 1. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear...
Page 48 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350B4(-RJ) Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Control circuit power supply connector (CNP2) Connect the control circuit power supply and Section 3.1...
Page 49 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1 Main circuit terminal block (TE1) Section 3.3 Connect the input power supply.
Page 50 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor. Main circuit terminal block (TE1) Used to connect the input power supply, Section 3.1...
Page 51 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC reactor and a regenerative option. Main circuit terminal block (TE1-1) Section 3.1...
Page 52 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC reactor and a regenerative option. Main circuit terminal block (TE1-1) Section 3.1...
Page 53 This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ. Note 1. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear...
Page 54: Removal And Reinstallation Of The
In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. The following shows how to remove and reinstall the front cover of MR-J4-700B(-RJ) to MR-J4-22KB(-RJ) and MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ).
Page 55 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab 1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A). servo amplifier (2 places). Setting tab 3) Press the cover against the terminal box until the installing knobs click.
Page 56: Configuration Including Peripheral Equipment
1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 57 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the power supply specifications.
Page 58 4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 59 4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 60 4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 61 4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 62 4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 63 4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 64 4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 65 4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 66 4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 67 4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 68 4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Page 69 When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor. 4. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and Linear Encoder Instruction Manual for the compatible external encoders.
Page 70: Installation
2. INSTALLATION 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Page 71: Installation Direction And Clearances
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. For the MR-J4-500B(-RJ), the clearance between the left side and wall will be 25 mm or more.
Page 72: Keeping Out Of Foreign Materials
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. When you install the MR-J4-500B(-RJ) on the right side, the clearance between the left side and wall will be 25 mm or more.
Page 73: Encoder Cable Stress
2. INSTALLATION (3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.
Page 74 2. INSTALLATION (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M and MR-J3BUS_M-A cables (plastic).
Page 75: Inspection Items
2. INSTALLATION (7) Twisting If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur. (8) Disposal When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
Page 76: Parts Having Service Lives
2. INSTALLATION 2.6 Parts having service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
Page 77 2. INSTALLATION MEMO 2 - 8...
Page 78: Signals And Wiring
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Page 79 3. SIGNALS AND WIRING Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier Servo motor Servo amplifier Servo motor...
Page 80: Input Power Supply Circuit
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.
Page 81: Class
3. SIGNALS AND WIRING 3.1.1 200 V class (1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10B(-RJ) to MR-J4-350B(-RJ) (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB CNP1 (Note 7) (Note 11)
Page 82 3. SIGNALS AND WIRING (2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10B(-RJ) to MR-J4-70B(-RJ) POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's.
Page 83 3. SIGNALS AND WIRING (3) MR-J4-500B(-RJ) (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB (Note 7) (Note 11) 3-phase (Note 6) 200 V AC to Motor 240 V AC (Note 10) (Note 1) (Note 11) (Note 3)
Page 84 3. SIGNALS AND WIRING (4) MR-J4-700B(-RJ) (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB (Note 7) (Note 11) 3-phase (Note 6) Built-in 200 V AC to Motor regenerative 240 V AC resistor (Note 2) (Note 10) (Note 11)
Page 85 3. SIGNALS AND WIRING (5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) (Note 4) Malfunction (Note 14) EMG stop switch Cooling fan power supply (Note 15, 16) Servo amplifier Servo motor External dynamic MCCB (Note 7) brake (optional) (Note 11) 3-phase 200 V AC to Motor...
Page 86 3. SIGNALS AND WIRING Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
Page 87: Class
3. SIGNALS AND WIRING 3.1.2 400 V class (1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) (Note 4) Malfunction Emergency stop switch (Note 12) Step-down Servo amplifier Servo motor transformer CNP1 (Note 11) (Note 7) MCCB CNP3 (Note 6) Motor 3-phase 380 V AC to...
Page 88 3. SIGNALS AND WIRING (2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) (Note 4) Malfunction Emergency stop switch (Note 12) Step-down transformer Servo amplifier Servo motor (Note 7) MCCB (Note 11) 3-phase (Note 6) Built-in 380 V AC to Motor regenerative 480 V AC resistor (Note 2)
Page 89 3. SIGNALS AND WIRING (3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (Note 4) Malfunction (Note 14) (Note 12) Emergency stop switch Cooling fan Step-down power supply transformer (Note 16, 17) Servo amplifier Servo motor External (Note 7) dynamic brake MCCB (optional) (Note 11)
Page 90 4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B(-RJ) Servo Amplifier Instruction Manual.
Page 91: Class
3. SIGNALS AND WIRING 3.1.3 100 V class (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB CNP1 (Note 7) 1-phase (Note 11) 100 V AC to CNP3 (Note 6) 120 V AC Unassigned Motor Unassigned (Note 10) (Note 1) Unassigned CNP2...
Page 92: I/O Signal Connection Example
3. SIGNALS AND WIRING 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface Servo amplifier (Note 16) Short-circuit connector (Packed with the servo amplifier) (Note 12) 10 m or less 10 m or less 24 V DC (Note 10)
Page 93 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 94: For Source I/O Interface
3. SIGNALS AND WIRING 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. Servo amplifier (Note 16) Short-circuit connector (Packed with the servo amplifier) 10 m or less (Note 12) 10 m or less 24 V DC (Note 10) DOCOM (Note 15) (Note 12)
Page 95: Explanation Of Power Supply System
100 V class servo amplifiers. Refer to section 11.11 for details. (1) 200 V class/100 V class 1) MR-J4-500B(-RJ) or less and MR-J4-40B1(-RJ) or less When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory- wired) When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.
Page 96: Power-On Sequence
3. SIGNALS AND WIRING Connection target Symbol Description (application) Supply the following power to L11 and L21. Servo amplifier MR-J4-60B4(-RJ) to MR-J4-10B1 to MR-J4-10B(-RJ) to MR-J4-22KB4(-RJ) MR-J4-40B1 MR-J4-22KB(-RJ) Power 1-phase 200 V AC to L11/L21 Control circuit power 240 V AC, 50 Hz/60 Hz...
Page 97: Wiring Cnp1, Cnp2, And Cnp3
3.3.3 Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 11.9. MR-J4-500B(-RJ) or more and MR-J4-500B4(-RJ) or more do not have these connectors. Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.
Page 98 CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 39 mm or shorter (c) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) Servo amplifier (Note) CNP1 CNP2 CNP3 Note. A pin for preventing improper connection is inserted to N- of CNP1 connector. Table 3.3 Connector and applicable wire...
Page 99 3. SIGNALS AND WIRING (d) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ) Servo amplifier CNP1 CNP2 CNP3 Table 3.4 Connector and applicable wire Applicable wire Stripped Manufa Connector Receptacle assembly Open tool length [mm] cturer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.5 CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14...
Page 100 Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the CNP3 connector for MR-J4-200B(-RJ) and MR-J4- 350B(-RJ).
Page 101: Connectors And Pin Assignment
Screw Cable Screw Ground plate The servo amplifier front view shown is that of the MR-J4-20B-RJ or less. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers. CN5(USB connector) Refer to section 11.7 For the STO I/O signal connector, refer to section 13.2.
Page 102: Signal (Device) Explanations
Devices can be assigned for these signals with controller setting. For devices CN3-2 DI-1 that can be assigned, refer to the controller instruction manual. The following CN3-12 DI-1 devices can be assigned for MR-J4 compatible controller (R_MTCPU, CN3-19 DI-1 Q17_DSCPU, RD77MS_ and QD77MS_). 3 - 25...
Page 103: Output Device
3. SIGNALS AND WIRING 3.5.2 Output device (1) Output device pin The following shows the output device pins and parameters for assigning devices. Connector pin No. Parameter Initial device I/O division CN3-13 [Pr. PD07] CN3-15 [Pr. PD09] DO-1 CN3-9 [Pr. PD08] (2) Output device explanations Device Symbol...
Page 104: Output Signal
3. SIGNALS AND WIRING Device Symbol Function and application Limiting torque When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode. Warning When warning has occurred, WNG turns on.
Page 105: Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to chapter 8.) When SSCNET III/H communication brake occurs, forced stop deceleration will operate.
Page 106: Base Circuit Shut-Off Delay Time Function
3. SIGNALS AND WIRING 3.6.2 Base circuit shut-off delay time function The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off), alarm occurrence, or SSCNET III/H communication brake due to delay time of the electromagnetic brake.
Page 107: Vertical Axis Freefall Prevention Function
3. SIGNALS AND WIRING 3.6.3 Vertical axis freefall prevention function The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case. When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop.
Page 108: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forced stop deceleration function is not available. To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from the servo system controller.
Page 109 3. SIGNALS AND WIRING (2) When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed 0 r/min Base circuit (Energy supply to the servo motor) Servo amplifier No alarm Alarm No.
Page 110: Interfaces
3. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3. 4. This is for MR-J4-_B_-RJ servo amplifier. MR-J4-_B_ servo amplifier does not have CN2L connector. 5. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.
Page 111: Detailed Explanation Of Interfaces
3. SIGNALS AND WIRING 3.8.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
Page 112 3. SIGNALS AND WIRING (3) Encoder output pulses DO-2 (differential line driver type) (a) Interface Maximum output current: 35 mA Servo amplifier Servo amplifier 100 Ω Am26LS32 or equivalent (LB, LZ) (LB, LZ) 150 Ω High-speed photocoupler (LBR, LZR) (LBR, LZR) (b) Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of...
Page 113: Source I/O Interfaces
3. SIGNALS AND WIRING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 114: Sscnet Iii Cable Connection
3. SIGNALS AND WIRING 3.9 SSCNET III cable connection POINT Do not look directly at the light generated from CN1A/CN1B connector of the servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. (1) SSCNET III cable connection For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo amplifier of the previous axis.
Page 115 3. SIGNALS AND WIRING 3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause malfunctions.
Page 116: Servo Motor With An Electromagnetic Brake
3. SIGNALS AND WIRING 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) Contacts must be opened with the or MBR (Electromagnetic brake interlock) turns off.
Page 117: Timing Chart
3. SIGNALS AND WIRING (1) Connection diagram Servo amplifier (Note 2) Servo motor 24 V DC (Malfaunction) (Note 1) DOCOM 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch. 2.
Page 118 3. SIGNALS AND WIRING (b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2) POINT In the torque control mode, the forced stop deceleration function is not available. (Note 2) Model speed command 0 and equal to or less than zero speed Servo motor speed 0 r/min...
Page 119 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on POINT In the torque control mode, the forced stop deceleration function is not available. Forced stop deceleration Dynamic brake Dynamic brake The time until a voltage Servo motor speed drop is detected.
Page 120 3. SIGNALS AND WIRING (2) When you do not use the forced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr. PA04]. (a) Servo-on command (from controller) on/off It is the same as (1) (a) in this section. (b) Off/on of the forced stop command (from controller) or EM1 (Forced stop 1) Dynamic brake Dynamic brake...
Page 121: Grounding
3. SIGNALS AND WIRING (f) Ready-off command from controller It is the same as (1) (f) in this section. 3.11 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
Page 122: Startup
4. STARTUP 4. STARTUP Do not operate the switches with wet hands. Otherwise, it may cause an electric WARNING shock. Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off.
Page 123: Startup Procedure
4. STARTUP 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure Check whether the servo amplifier and servo motor are wired correctly using Wiring check visual inspection, DO forced output function (section 4.5.1), etc.
Page 124 4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring 1) The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specifications.
Page 125 4. STARTUP (c) When you use an option and auxiliary equipment 1) 200 V class a) When you use a regenerative option for 5 kW or less servo amplifiers The lead wire between P+ terminal and D terminal should not be connected. The regenerative option wire should be connected between P+ and C terminal.
Page 126 4. STARTUP c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. Brake unit, power regeneration converter should be connected to P+ terminal and N- terminal.
Page 127: Surrounding Environment
4. STARTUP 4.1.3 Surrounding environment (1) Cable routing (a) The wiring cables should not be stressed. (b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.) (c) The connector of the servo motor should not be stressed. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
Page 128 4. STARTUP (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. Operation/command Stopping condition Servo-off command The base circuit is shut off and the servo motor coasts.
Page 129: Switch Setting And Display Of The Servo Amplifier
4. STARTUP 4.3 Switch setting and display of the servo amplifier Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with switches on the servo amplifier. On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an alarm.
Page 130 4. STARTUP (2) Disabling control axis switch (SW2-2) Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo motor will be disabled-axis status and will not be recognized by the controller. 2 3 4 Control axis deactivation switch (3) Switches for setting control axis No.
Page 131 4. STARTUP (c) Switch combination list for the control axis No. setting POINT Set control axis Nos. for one system. For details of the control axis No., refer to the servo system controller user's manual. The following lists show the setting combinations of the auxiliary axis number setting switches and the axis selection rotary switch.
Page 132: Scrolling Display
4. STARTUP 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. After 1.6 s Status Blank After 0.2 s Status Axis No. (1 digit) (2 digits) "b" : Indicates ready-off and servo-off status. "C"...
Page 133 4. STARTUP 4.3.3 Status display of an axis (1) Display sequence Servo amplifier power on System check in progress Waiting for servo system controller power to switch on (SSCNET III/H communication) Servo system controller power on (SSCNET III/H communication begins) Initial data communication with the servo system controller (initialization communication)
Page 134: Test Operation Mode
4. STARTUP (2) Indication list Indication Status Description Initializing System check in progress Power of the servo amplifier was switched on at the condition that the power of the servo system controller is off. The control axis No. set to the auxiliary axis number setting switches (SW2-3 and SW2-4) and the axis selection rotary switch (SW1) do not match the one set to the servo system controller.
Page 135: Test Operation
4. STARTUP 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier. POINT If necessary, verify controller program by using motor-less operation. Refer to section 4.5.2 for the motor-less operation.
Page 136: Test Operation Mode In Mr Configurator2
4. STARTUP 4.5.1 Test operation mode in MR Configurator2 POINT When the test operation mode is selected with the test operation select switch (SW2-1), the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked. (1) Test operation mode (a) Jog operation Jog operation can be performed without using the servo system controller.
Page 137 4. STARTUP (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
Page 138 4. STARTUP (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW2-1. Set SW2-1 to "ON (up)". 1 2 3 4 2 3 4 Turning "ON (up)" SW2-1 during power-on will not start the test operation mode. 3) Turn on the servo amplifier.
Page 139: Motor-Less Operation In Controller
[AL. 70 Load-side encoder error 1] [AL. 71 Load-side encoder error 2] Note. The fully closed loop system is available for the MR-J4-_B_(-RJ) servo amplifiers of which software version is A3 or above. Check the software version using MR Configurator2.
Page 140 4. STARTUP (2) Operation procedure 1) Set the servo amplifier to the servo-off status. 2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode switch (SW2-1), and then turn on the power supply. Set SW2-1 to "OFF (down)".
Page 141 4. STARTUP MEMO 4 - 20...
Page 142: Parameters
5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation 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 143 5. PARAMETERS 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) Operation mode Initial Symbol Name Unit value PA01 **STY Operation mode 1000h PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000...
Page 144: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
5. PARAMETERS 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Operation mode Initial Symbol Name Unit value PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h suppression control II) PB03 TFBGN Torque feedback loop gain 18000...
Page 145 5. PARAMETERS Operation mode Initial Symbol Name Unit value PB46 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 Machine resonance suppression filter 5 4500 [Hz]...
Page 146 5. PARAMETERS Operation mode Initial Symbol Name Unit value PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting PC23 0000h PC24 RSBR Forced stop deceleration time constant [ms] PC25 For manufacturer setting PC26 **COP8 Function selection C-8 0000h (Note) PC27 **COP9 Function selection C-9...
Page 147 5. PARAMETERS 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) Operation mode Initial Symbol Name Unit value PD01 For manufacturer setting 0000h PD02 *DIA2 Input signal automatic on selection 2 0000h PD03 For manufacturer setting 0020h PD04 0021h PD05 0022h PD06 0000h PD07...
Page 148: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
5. PARAMETERS 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Operation mode Initial Symbol Name Unit value PE01 **FCT1 Fully closed loop function selection 1 0000h PE02 For manufacturer setting 0000h PE03 *FCT2 Fully closed loop function selection 2 0003h PE04 **FBN...
Page 149: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
5. PARAMETERS Operation mode Initial Symbol Name Unit value PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00 5.1.6 Extension setting 3 parameters ([Pr.
Page 150 5. PARAMETERS Operation mode Initial Symbol Name Unit value PF29 For manufacturer setting 0000h PF30 PF31 FRIC Machine diagnosis function - Friction judgement speed [r/min]/ [mm/s] PF32 For manufacturer setting PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38 0000h PF39...
Page 151 5. PARAMETERS Operation mode Initial Symbol Name Unit value PL19 For manufacturer setting PL20 PL21 PL22 PL23 0000h PL24 PL25 0000h PL26 0000h PL27 0000h PL28 0000h PL29 0000h PL30 0000h PL31 0000h PL32 0000h PL33 0000h PL34 0000h PL35 0000h PL36 0000h...
Page 152: Basic Setting Parameters ([Pr. Pa
6: DD motor control mode Setting other than above will result in [AL. 37 Parameter error]. The fully closed loop system is available for the MR-J4-_B_(-RJ) servo amplifiers of which software version is A3 or above. _ x _ _...
Page 153 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA02 **REG Regenerative option Refer to the "Name and Used to select the regenerative option. function" column. Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.
Page 154 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA03 *ABS Absolute position detection system Refer to the "Name and Set this parameter when using the absolute position detection system. function" column. Setting Initial Explanation digit value _ _ _ x Absolute position detection system selection 0: Disabled (used in incremental system) 1: Enabled (used in absolute position detection system)
Page 155 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA08 Auto tuning mode Refer to the "Name and Select the gain adjustment mode. function" column. Setting Initial Explanation digit value _ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2...
Page 156 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA09 Auto tuning response 1 to 40 Set a response of the auto tuning. Machine characteristic Machine characteristic Guideline for Guideline for Setting Setting machine machine value value Response Response resonance resonance...
Page 157 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA14 *POL Rotation direction selection/travel direction selection 0 to 1 This is used to select a rotation direction or travel direction. For the setting for the master-slave operation function, refer to section 17.2. Servo motor rotation direction/linear servo motor travel direction Setting...
Page 158 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA17 **MSR Servo motor series setting 0000h Refer to When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this "Name and [Pr. PA18] at a time. Refer to the following table for settings.
Page 159 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA17 **MSR 0000h Refer to Linear servo motor Linear servo motor Parameter "Name series (primary side) LM-K2P1A-01M-2SS1 1101h function" LM-K2P1C-03M-2SS1 1301h column. LM-K2P2A-02M-1SS1 2101h LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h LM-K2P2E-12M-1SS1 2501h LM-K2P3C-14M-1SS1 3301h...
Page 160 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA20 *TDS Tough drive setting Refer to the "Name and Alarms may not be avoided with the tough drive function depending on the situations of the function" column. power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-9, CN3-13 and CN3-15 with [Pr.
Page 161 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA22 **PCS Position control composition selection Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x For manufacturer setting _ _ x _ Super trace control selection 0: Disabled 2: Enabled...
Page 162 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA25 OTHOV One-touch tuning - Overshoot permissible level 0 to 100 This is used to set a permissible value of overshoot amount with a percentage to in-position range. However, setting "0" will be 50%. PA26 *AOP5 Function selection A-5...
Page 163: Gain/Filter Setting Parameters ([Pr. Pb
5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Setting Symbol Name and function value range [unit] PB01 FILT Adaptive tuning mode (adaptive filter II) Refer to the "Name and Set the adaptive filter tuning. function" column. Setting Initial Explanation digit...
Page 164 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB06 Load to motor inertia ratio/load to motor mass ratio 7.00 0.00 to Multiplier 300.00 This is used to set the load to motor inertia ratio or load to motor mass ratio. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr.
Page 165 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB11 Speed differential compensation 0 to 1000 This is used to set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection"...
Page 166 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB17 Shaft resonance suppression filter Refer to the "Name and This is used for setting the shaft resonance suppression filter. function" column. This is used to suppress a low-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)"...
Page 167 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Set the vibration frequency for vibration suppression control 1 to suppress low-frequency [Hz] machine vibration. 300.0 When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr.
Page 168 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB24 *MVS Slight vibration suppression control Refer to the "Name and Select the slight vibration suppression control and PI-PID switching control. function" column. Setting Initial Explanation digit value Slight vibration suppression control selection _ _ _ x 0: Disabled 1: Enabled...
Page 169 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB26 *CDP Gain switching function Refer to the "Name and Select the gain switching condition. function" column. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
Page 170 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] Position loop gain after gain switching 0.0 to PB30 PG2B [rad/s] 2000.0 Set the position loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. This parameter is enabled only when you select "Manual mode (_ _ _ 3)"...
Page 171 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB45 CNHF Command notch filter Refer to the "Name and Set the command notch filter. function" column. Setting Initial Explanation digit value _ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to frequency.
Page 172 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB45 CNHF Refer to the Table 5.6 Notch depth selection "Name and Setting Setting function" column. Depth [dB] Depth [dB] value value -40.0 -6.0 -24.1 -5.0 -18.1 -4.1 -14.5 -3.3 -12.0 -2.5...
Page 173 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB49 NHQ4 Notch shape selection 4 Refer to the "Name and Set the shape of the machine resonance suppression filter 4. function" column. Setting Initial Explanation digit value _ _ _ x Machine resonance suppression filter 4 selection 0: Disabled 1: Enabled...
Page 174 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 0.1 to [Hz] 300.0 Set the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.
Page 175 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 to 0.30 Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled.
Page 176: Extension Setting 2 Parameters ([Pr. Pe
5. PARAMETERS 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) Initial Setting Symbol Name and function value range [unit] PC01 Error excessive alarm level 0 to [rev]/ 1000 Set an error excessive alarm level. [mm] Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3 rev. (Note) Setting over 200 rev will be clamped with 200 rev.
Page 177 Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. Or [AL. 20 Encoder initial communication error 1] will occur. Setting "1" will trigger [AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4- _B_-RJ). PC05...
Page 178 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC09 MOD1 Analog monitor 1 output Refer to the "Name and Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 11 (3) for detection function" column. point of output selection.
Page 179 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC10 MOD2 Analog monitor 2 output Refer to the "Name and Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 11 (3) for detection function" column. point of output selection.
Page 180 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC20 *COP7 Function selection C-7 Refer to the "Name and This is used to select an undervoltage alarm detection method. function" column. Setting Initial Explanation digit value _ _ _ x [AL.
Page 181 _ _ _ Load-side encoder communication method 0: Two-wire type 1: Four-wire type When using an encoder of A/B/Z-phase differential output method, set "0". Setting "1" by using a servo amplifier other than MR-J4-_B_-RJ will trigger [AL. 37]. 5 - 40...
Page 182 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC27 **COP9 Function selection C-9 Refer to the "Name and This is used to select a polarity of the linear encoder or load-side encoder. function" column. Setting Initial Explanation digit value _ _ _ x...
Page 183 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC38 Error excessive warning level [rev]/ Set an error excessive warning level. [mm] 1000 To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection"...
Page 184 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD07 *DO1 Output device selection 1 Refer to the "Name and You can assign any output device to the CN3-13 pin. function" column. Setting Initial Explanation digit value _ _ x x Device selection Refer to table 5.8 for settings.
Page 185 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD11 *DIF Input filter setting Refer to the "Name and Select the input filter. function" column. Setting Initial Explanation digit value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting.
Page 186 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD14 *DOP3 Function selection D-3 Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x For manufacturer setting _ _ x _ Selection of output device at warning occurrence Select WNG (Warning) and ALM (Malfunction) output status at warning occurrence.
Page 187 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 Refer to the "Name and This parameter is used to select transmit data from master axis to slave axis. function"...
Page 188 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD31 Master-slave operation - Speed limit coefficient on slave 0 [%] 0 to 500 This parameter is used to set a internal speed limit value coefficient to speed limit command value received from master axis.
Page 189: Extension Setting 3 Parameters ([Pr. Pf
5. PARAMETERS 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Initial Setting Symbol Name and function value range [unit] PE01 **FCT1 Fully closed loop function selection 1 Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x Fully closed loop function selection 0: Always enabled...
Page 190 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PE08 Fully closed loop dual feedback filter 0 to [rad/s] 4500 This is used to set a dual feedback filter band. Refer to section 16.3.1 (7) for details. PE10 FCT3 Fully closed loop function selection 3 Refer to the...
Page 191 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PE46 LMFLT Lost motion filter setting [0.1ms] Set the time constant of the lost motion compensation filter in increments of 0.1 ms. 30000 If the time constant is 0, the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45].
Page 192: Extension Setting 3 Parameters ([Pr. Pf
5. PARAMETERS 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial Setting Symbol Name and function value range [unit] PF06 *FOP5 Function selection F-5 Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x Electronic dynamic brake selection 0: Automatic (enabled only for specified servo motors) 2: Disabled...
Page 193: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])
5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PF31 FRIC Machine diagnosis function - Friction judgement speed 0 to [r/min]/ Set a (linear) servo motor speed to divide a friction estimation area into high and low for the permiss [mm/s] -ible...
Page 194 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] Linear servo motor/DD motor function selection 2 Refer to the PL04 *LIT2 "Name and This is used to select a detection function and detection controller reset condition of [AL. 42 function"...
Page 195 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PL09 LPWM Magnetic pole detection voltage level 0 to 100 This is used to set a direct current exciting voltage level during the magnetic pole detection. If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic pole detection, decrease the setting value.
Page 196: Normal Gain Adjustment
6. NORMAL GAIN ADJUSTMENT 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly.
Page 197: Adjustment Using Mr Configurator2
6. NORMAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage Start Interpolation 2 gain adjustment mode 1 made for 2 or more (interpolation mode) axes? The load fluctuation is large during driving? One-touch tuning Handle the error Error handling Finished normally? Auto tuning mode 1 is possible? Adjustment OK?
Page 198: One-Touch Tuning Flowchart
6. NORMAL GAIN ADJUSTMENT 6.2 One-touch tuning POINT When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). Connect Mr Configurator2 and open the one-touch tuning window, and you can use the function. The following parameters are set automatically with one-touch tuning.
Page 199: Display Transition And Operation Procedure Of One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.2 Display transition and operation procedure of one-touch tuning (1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system.
Page 200 6. NORMAL GAIN ADJUSTMENT Response Machine characteristic mode Response Low mode Basic mode High mode Guideline of corresponding machine Low response Arm robot General machine tool conveyor Precision working machine Inserter Mounter Bonder High response 6 - 5...
Page 201 6. NORMAL GAIN ADJUSTMENT POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shorten the settling time and improve the response.
Page 202 6. NORMAL GAIN ADJUSTMENT (3) One-touch tuning execution During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code. (4) If an error occur If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated.
Page 203: Caution For One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT (7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear. Pushing "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button.
Page 204: Auto Tuning
6. NORMAL GAIN ADJUSTMENT (3) The tuning is not available during the following test operation mode. (a) Output signal (DO) forced output (b) Motor-less operation 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value.
Page 205: Auto Tuning Mode Basis
6. NORMAL GAIN ADJUSTMENT 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Load moment Automatic setting of inertia Encoder Loop gain Command Current PG1, PG2, control VG2, VIC Servo motor Current feedback Real-time Position/speed Set 0 or 1 to turn on.
Page 206: Adjustment Procedure By Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 207: Response Level Setting In Auto Tuning Mode
6. NORMAL GAIN ADJUSTMENT 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
Page 208: Manual Mode
6. NORMAL GAIN ADJUSTMENT 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
Page 209 6. NORMAL GAIN ADJUSTMENT (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 210 6. NORMAL GAIN ADJUSTMENT (b) Adjustment procedure Step Operation Description Brief-adjust with auto tuning. Refer to section 6.2.3. Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). Set the estimated value to the load to motor inertia ratio/load to motor mass ratio.
Page 211: Gain Adjustment Mode
6. NORMAL GAIN ADJUSTMENT 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the value increases the response level to the disturbance, but a too high value will increase vibration of the mechanical system.
Page 212 6. NORMAL GAIN ADJUSTMENT (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr.
Page 213 6. NORMAL GAIN ADJUSTMENT (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but a too high value will make overshoot liable to occur at settling. The droop pulses value is determined by the following expression.
Page 214: Special Adjustment Functions
Load to motor mass ratio Torque → Thrust (Servo motor) speed → (Linear servo motor) speed 7.1 Filter setting The following filters are available with MR-J4 servo amplifiers. Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46] control Machine Machine...
Page 215: Machine Resonance Suppression Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.1 Machine resonance suppression filter POINT The machine resonance suppression filter is a delay factor for the servo system. Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide. If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order.
Page 216 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Frequency Notch width...
Page 217 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter (a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 218: Adaptive Filter Ii
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.2 Adaptive filter II POINT The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.
Page 219 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set [Pr. PB01] to "_ _ _ 1".) Tuning ends automatically after the If assumption fails after tuning is executed at a large vibration or predetermined period of time.
Page 220: Shaft Resonance Suppression Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or setting [Pr.
Page 221: Low-Pass Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a default.
Page 222: Advanced Vibration Suppression Control Ii
7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate. Servo motor side Servo motor side Load side Load side...
Page 223 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
Page 224 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.
Page 225 7. SPECIAL ADJUSTMENT FUNCTIONS Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr. PB02]. Step 2 Set "Vibration suppression control - Vibration frequency"...
Page 226: Command Notch Filter
7. SPECIAL ADJUSTMENT FUNCTIONS (b) When vibration can be confirmed using monitor signal or external sensor Motor-side vibration External acceleration pickup signal, etc. (droop pulses) Position command frequency Vibration suppression control - Vibration frequency Vibration cycle [Hz] Vibration cycle [Hz] Vibration suppression control - Resonance frequency Set the same value.
Page 227 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side. [Pr. PB45] Notch depth Command notch filter setting frequency Depth Setting Setting...
Page 228: Gain Switching Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function.
Page 229: Function Block Diagram
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
Page 230: Parameter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.3 Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Page 231 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia PB06 Load to motor inertia PB29 GD2B Load to motor inertia ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass ratio ratio...
Page 232 7. SPECIAL ADJUSTMENT FUNCTIONS (c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching] Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr.
Page 233: Gain Switching Procedure
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by control command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to motor 4.00 [Multiplier] mass ratio...
Page 234 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Control command from controller After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Model loop gain → → Load to motor inertia ratio/load to motor 4.00 → 10.00 → 4.00 mass ratio Position loop gain →...
Page 235 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Command pulses Droop pulses Command pulses +CDL Droop pulses [pulse] -CDL After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Load to motor inertia ratio/load to motor 4.00 → 10.00 →...
Page 236 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
Page 237: Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.
Page 238 7. SPECIAL ADJUSTMENT FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is reset with vibration Filter...
Page 239: Instantaneous Power Failure Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
Page 240 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr.
Page 241 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. (a) When the bus voltage decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply [AL.
Page 242 7. SPECIAL ADJUSTMENT FUNCTIONS (b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply Control circuit power supply [Pr.
Page 243: Compliance With Semi-F47 Standard
SEMI-F47 standard with your equipment. The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test" of MR-J4 series. This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation.
Page 244 (instantaneous power failure voltage = rated voltage × 50%, instantaneous power failure time = 200 ms) Tolerance against Instantaneous maximum instantaneous Servo amplifier model output [W] power failure [W] (voltage drop between lines) MR-J4-10B(-RJ) MR-J4-20B(-RJ) MR-J4-40B(-RJ) 1400 MR-J4-60B(-RJ) 2100 MR-J4-70B(-RJ) 2625 1150...
Page 245 7. SPECIAL ADJUSTMENT FUNCTIONS Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output. Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output.
Page 246: Model Adaptive Control Disabled
7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. This is used with servo amplifiers with software version B4 or later.
Page 247: Lost Motion Compensation Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.6 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.
Page 248 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
Page 249 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated.
Page 250: Super Trace Control
7. SPECIAL ADJUSTMENT FUNCTIONS 7.7 Super trace control (1) Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/deceleration cannot be suppressed.
Page 251 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Adjustment procedure POINT In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition selection" in [Pr. PD13] to " _ 1 _ _". When you use the super trace control, it is recommended that the acceleration time constant up to the rated speed be set to 1 s or more.
Page 252: Troubleshooting
8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
Page 253: Alarm List
8. TROUBLESHOOTING 8.2 Alarm list Stop Alarm deactivation method Detail Cycling Name Detail name Alarm number (Note 4, reset reset power 10.1 Voltage drop in the control circuit power Undervoltage 10.2 Voltage drop in the main circuit power 12.1 RAM error 1 12.2 RAM error 2 Memory error 1 (RAM)
Page 254 8. TROUBLESHOOTING Stop Alarm deactivation method Detail Cycling Name Detail name Alarm number (Note 4, reset reset power Encoder normal communication - Receive data 20.1 error 1 Encoder normal communication - Receive data 20.2 error 2 Encoder normal communication - Receive data 20.3 error 3 Encoder normal communication - Transmission...
Page 255 8. TROUBLESHOOTING Stop Alarm deactivation method Detail Cycling Name Detail name Alarm number (Note 4, reset reset power Overcurrent detected at hardware detection 32.1 circuit (during operation) Overcurrent detected at software detection 32.2 function (during operation) Overcurrent Overcurrent detected at hardware detection 32.3 circuit (during a stop) Overcurrent detected at software detection...
Page 256 8. TROUBLESHOOTING Stop Alarm deactivation method Detail Cycling Name Detail name Alarm number (Note 4, reset reset power 50.1 Thermal overload error 1 during operation (Note 1) (Note 1) (Note 1) 50.2 Thermal overload error 2 during operation (Note 1) (Note 1) (Note 1) 50.3 Thermal overload error 4 during operation (Note 1) (Note 1) (Note 1)
Page 257 8. TROUBLESHOOTING Stop Alarm deactivation method Detail Cycling Name Detail name Alarm number (Note 4, reset reset power Load-side encoder communication - Receive 71.1 data error 1 Load-side encoder communication - Receive 71.2 data error 2 Load-side encoder communication - Receive 71.3 data error 3 Load-side encoder communication -...
Page 258: Warning List
8. TROUBLESHOOTING 8.3 Warning list Stop Detail method Name Detail name number (Note 2, Servo amplifier overheat 91.1 Main circuit device overheat warning warning (Note 1) 92.1 Encoder battery cable disconnection warning Battery cable disconnection warning 92.3 Battery degradation 95.1 STO1 off detection STO warning 95.2...
Page 259: Troubleshooting At Power On
An MR-J4-_B_(-RJ) servo Check if "J3 compatibility mode" Select "J4 mode" with "MR- servo system controller amplifier or MR-J4W_-_B is set using "MR-J4(W)-B mode J4(W)-B mode selection". and servo amplifier are servo amplifier which is selection" which came with MR...
Page 260: Outline Drawings
9. OUTLINE DRAWINGS 9.1 Servo amplifier POINT Only MR-J4-_B_-RJ are shown for dimensions. MR-J4-_B_ does not have CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_B_ are not different from those of MR-J4-_B_-RJ except CN2L, CN7 and CN9 connectors. 9 - 1...
Page 261 9. OUTLINE DRAWINGS (1) 200 V class (a) MR-J4-10B(-RJ)/MR-J4-20B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob With Approx. 69.3 MR-BAT6V1SET Approx. 38.5 Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 262 9. OUTLINE DRAWINGS (b) MR-J4-40B(-RJ)/MR-J4-60B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob With MR-BAT6V1SET Approx. 69.3 Approx. 38.5 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx. 40 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 263 9. OUTLINE DRAWINGS (c) MR-J4-70B(-RJ)/MR-J4-100B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust With Cooling fan MR-BAT6V1SET air intake Approx. 69.3 Approx. 38.5 Mass: 1.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 264 9. OUTLINE DRAWINGS (d) MR-J4-200B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust With MR-BAT6V1SET Cooling fan Approx. 69.3 air intake Approx. 38.5 Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 265 9. OUTLINE DRAWINGS (e) MR-J4-350B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust Cooling fan air intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.3 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 266 9. OUTLINE DRAWINGS (f) MR-J4-500B(-RJ) [Unit: mm] Approx. 25 Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Mass: 4.0 [kg] Mounting screw Terminal Screw size: M5 Screw size: M3.5 Tightening torque: 3.24 [N•m] Tightening torque: 0.8 [N•m] Approx.
Page 267 9. OUTLINE DRAWINGS (g) MR-J4-700B(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.2 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 268 9. OUTLINE DRAWINGS (h) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 57.9 224.2 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 269 9. OUTLINE DRAWINGS (i) MR-J4-22KB(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 25.5 22.8 188.5 Intake With 59.9 MR-BAT6V1SET 223.4 5 × 25.5 (= 127.5) 235.4 Mass: 18.2 [kg] Mounting screw Terminal...
Page 270 9. OUTLINE DRAWINGS (2) 400 V class (a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust With Cooling fan MR-BAT6V1SET air intake Approx. 69.3 Approx. 38.5 Mass: 1.7 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 271 9. OUTLINE DRAWINGS (b) MR-J4-200B4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust Cooling fan air intake With Approx. 69.3 MR-BAT6V1SET Approx. 38.5 Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 90...
Page 272 9. OUTLINE DRAWINGS (c) MR-J4-350B4(-RJ) [Unit: mm] 2-φ6 mounting hole Approx. 80 Approx. 28 Lock knob Cooling fan exhaust CNP1 CNP2 CNP3 With MR-BAT6V1SET Intake Mass: 3.6 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 105 Approx.
Page 273 9. OUTLINE DRAWINGS (d) MR-J4-500B4(-RJ) [Unit: mm] Approx. 28 Approx. 80 Approx. 200 Approx. 28 Cooling fan exhaust With Intake MR-BAT6V1SET Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 4.3 [kg] Mounting screw...
Page 274 9. OUTLINE DRAWINGS (e) MR-J4-700B4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.5 [kg] Mounting screw Terminal...
Page 275 9. OUTLINE DRAWINGS (f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 57.9 224.2 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 276 9. OUTLINE DRAWINGS (g) MR-J4-22KB4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 25.5 22.8 188.5 Intake With 59.9 MR-BAT6V1SET 223.4 5 × 25.5 (= 127.5) 235.4 Mass: 18.2 [kg] Mounting screw Terminal...
Page 277 9. OUTLINE DRAWINGS (3) 100 V class (a) MR-J4-10B1(-RJ)/MR-J4-20B1(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob With Approx. 69.3 MR-BAT6V1SET Approx. 38.5 Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 278 9. OUTLINE DRAWINGS (b) MR-J4-40B1(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob With Approx. 69.3 MR-BAT6V1SET Approx. 38.5 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx. 40 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 279: Connector
9. OUTLINE DRAWINGS 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 17.6 ± 0.2 17.6 ± 0.2 20.9 ± 0.2 20.9 ± 0.2 (2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector...
Page 280 9. OUTLINE DRAWINGS (b) Jack screw M2.6 type This is not available as option. [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector Shell kit 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4 (3) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm]...
Page 281 9. OUTLINE DRAWINGS MEMO 9 - 22...
Page 282: Characteristics
10. CHARACTERISTICS 10. CHARACTERISTICS POINT For the characteristics of the linear servo motor and the direct drive motor, refer to sections 14.4 and 15.4. 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.
Page 283 10. CHARACTERISTICS The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph of overload HG-JR protection HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR (When the maximum characteristics torque is 400%) Characteristics a Characteristics b Characteristics c Characteristics d...
Page 284 10. CHARACTERISTICS The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%] Characteristics a Characteristics b 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 3) Load ratio [%] (Note 1, 3) Load ratio [%]...
Page 285 10. CHARACTERISTICS 10000 1000 Operating Servo-lock (Note 1) Load ratio [%] Characteristics e Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Page 286: Power Supply Capacity And Generated Loss
Power supply Servo amplifier Servo motor heat dissipation in the cabinet capacity At rated output With servo-off when cooled [kVA] outside the cabinet] (Note 3) HG-MR053 HG-MR13 MR-J4-10B(-RJ) HG-KR053 HG-KR13 HG-MR23 MR-J4-20B(-RJ) HG-KR23 HG-MR43 MR-J4-40B(-RJ) HG-KR43 HG-SR52 MR-J4-60B(-RJ) HG-SR51 HG-JR53 HG-MR73...
Page 287 Servo amplifier Servo motor heat dissipation in the cabinet capacity At rated output With servo-off when cooled [kVA] outside the cabinet] (Note 3) HG-JR903 HG-JR11K1M 11.0 MR-J4-11KB(-RJ) HG-JR801 HG-JR12K1 11.5 HG-JR15K1M 13.0 MR-J4-15KB(-RJ) HG-JR15K1 12.8 HG-JR22K1M 17.0 MR-J4-22KB(-RJ) HG-JR20K1 16.0 HG-JR25K1 19.0...
Page 288 10. CHARACTERISTICS (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C. (With an approximately 5 °C safety margin, the system should operate within a maximum 55 °C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.
Page 289: Dynamic Brake Characteristics
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency. Servo motors for MR-J4 may have the different coasting distance from that of the previous model. The electronic dynamic brake operates in the initial state for the HG series servo motors of 600 W or smaller capacity.
Page 290 10. CHARACTERISTICS (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. (a) 200 V class 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min] Speed [r/min] HG-MR series HG-KR series 152 502 750 1000 1250 1500...
Page 291 10. CHARACTERISTICS 1000 1500 2000 Speed [r/min] HG-UR series (b) 400 V class 15K14 3524 25K14 12K14 2024 20K14 8014 5024 1024 6014 7024 1000 1500 2000 1524 Speed [r/min] 500 1000 1500 2000 2500 3000 Speed [r/min] HG-SR series HG-JR1000 r/min series 7034 9034...
Page 292: Permissible Load To Motor Inertia When The Dynamic Brake Is Used
10. CHARACTERISTICS 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
Page 293: Cable Bending Life
10. CHARACTERISTICS 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 × 10 5 × 10 1 × 10 5 ×...
Page 294: Inrush Currents At Power-On Of Main Circuit And Control Circuit
2500 kVA and the wiring length of 1 m. Even when you use a 1- phase 200 V AC power supply with MR-J4-10B(-RJ) to MR-J4-70B(-RJ), the inrush currents of the main circuit power supply is the same.
Page 295 Inrush currents (A Servo amplifier Main circuit power supply Control circuit power supply (L1 and L2) (L11 and L21) MR-J4-10B1(-RJ) 20 A to 30 A 38 A MR-J4-20B1(-RJ) (attenuated to approx. 0 A (attenuated to approx. 14 A in 10 ms)
Page 296: Options And Peripheral Equipment
11. OPTIONS AND PERIPHERAL EQUIPMENT 11. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 297: Combinations Of Cable/Connector Sets
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.1 Combinations of cable/connector sets For MR-J4-_B_ servo amplifier Safety logic unit Personal Servo system MR-J3-D05 computer controller CN10 Servo Servo 2) 3) 4) amplifier amplifier 1) (packed with the servo amplifier) (Note 2) (Note 1)
Page 298 11. OPTIONS AND PERIPHERAL EQUIPMENT For MR-J4-_B_-RJ servo amplifier Safety logic unit Personal Servo system MR-J3-D05 computer controller CN10 Servo Servo 2) 3) 4) amplifier amplifier 1) (packed with the servo amplifier) (Note 2) (Note 1) CNP1 (Note 2) CN1A...
Page 299 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Remark Servo amplifier Supplied power connector with 200 V class and 100 V class servo amplifiers CNP1 Connector: CNP2 Connector: CNP3 Connector: of 1 kW or 06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 less (JST) (JST) (JST) Applicable wire size: 0.8 mm...
Page 300 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Remark Connector: 10120-3000PE Connector set MR-CCN1 Shell kit: 10320-52F0-008 (3M or equivalent) Junction terminal PS7DW-20V14B-F block (Yoshida Electric Industry) (recommended) MR-J2HBUS_M Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary.
Page 301: Mr-D05Udl3M-B Sto Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.2 MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Application MR-D05UDL3M-B Connection cable for the CN8 connector (1) Configuration diagram Servo amplifier MR-D05UDL3M-B (2) Internal wiring diagram CN8 connector (Note) Yellow (with black dots)
Page 302: Sscnet Iii Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.3 SSCNET III cable POINT Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. Refer to appendix 10 for long distance cable over 50 m and ultra-long bending life cable.
Page 303 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions (a) MR-J3BUS015M [Unit: mm] Protective tube Approx. Approx. Approx. Approx. 13.4 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L). [Unit: mm] Protective tube (Note) Approx.
Page 304: Battery Cable/Junction Battery Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.4 Battery cable/junction battery cable (1) Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable length Cable model Bending life...
Page 305: Regenerative Options
MR-RB50 MR-RB5N MR-RB51 regenerative [40 Ω] [40 Ω] [13 Ω] [9 Ω] [6.7 Ω] [40 Ω] resistor [13 Ω] [9 Ω] [6.7 Ω] MR-J4-10B (-RJ) MR-J4-20B (-RJ) MR-J4-40B (-RJ) MR-J4-60B (-RJ) MR-J4-70B (-RJ) MR-J4-100B (-RJ) MR-J4-200B (-RJ) MR-J4-350B (-RJ)
Page 306 RB34-4 RB54-4 RB3U-4 RB5U-4 resistor [82 Ω] [120 Ω] [47 Ω] [47 Ω] [26 Ω] [26 Ω] [22 Ω] [22 Ω] MR-J4-60B4(-RJ) MR-J4-100B4(-RJ) MR-J4-200B4(-RJ) MR-J4-350B4(-RJ) MR-J4-500B4(-RJ) MR-J4-700B4(-RJ) (Note 2) Regenerative power [W] External Servo amplifier MR-RB5K-4 MR-RB6K-4 regenerative resistor [10 Ω] [10 Ω]...
Page 307: Selection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.2 Selection of regenerative option (1) Rotary servo motor and direct drive motor Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (a) Regenerative energy calculation tf (1 cycle) Time...
Page 308 The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Inverse Capacitor Inverse Capacitor Servo amplifier Servo amplifier efficiency [%] charging [J] efficiency [%] charging [J] MR-J4-10B(-RJ) MR-J4-60B4(-RJ) MR-J4-20B(-RJ) MR-J4-100B4(-RJ) MR-J4-40B(-RJ) MR-J4-200B4(-RJ) MR-J4-60B(-RJ) MR-J4-350B4(-RJ) MR-J4-70B(-RJ) MR-J4-500B4(-RJ) MR-J4-100B(-RJ) MR-J4-700B4(-RJ)
Page 309 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Linear servo motor (a) Thrust and energy calculation Liner servo motor Feed speed secondary-side (magnet) Load Positive direction Time Negative Liner servo motor direction primary-side (coil) Liner servo motor psa1 psd1 psa2 psd2 The following shows equations of the linear servo motor thrust and energy at the driving pattern above.
Page 310: Parameter Setting
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.3 Parameter setting Set [Pr. PA02] according to the option to be used. [Pr. PA02] Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
Page 311 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) MR-J4-500B(-RJ) or less/MR-J4-350B4(-RJ) or less Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 312 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-J4-500B4(-RJ)/MR-J4-700B(-RJ)/MR-J4-700B4(-RJ) Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 313 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)/MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (when using the supplied regenerative resistor) The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protect cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock.
Page 314 22KB4-PX/MR-J4-11KB4-RZ to MR-J4-22KB4-RZ (when using the regenerative option) The MR-J4-11KB-PX to MR-J4-22KB-PX, MR-J4-11KB-RZ to MR-J4-22KB-RZ, MR-J4-11KB4-PX to MR-J4-22KB4-PX, and MR-J4-11KB4-RZ to MR-J4-22KB4-RZ servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the regenerative option MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.
Page 315: Dimensions
11. OPTIONS AND PERIPHERAL EQUIPMENT When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. MR-RB5R/MR-RB9F/MR-RB9T/ MR-RB5K-4/MR-RB6K-4 Bottom 2 cooling fans (1.0 m /min or more, 92 mm × 92 mm) G4 G3 C Mounting screw 4-M3 11.2.5 Dimensions...
Page 316 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm] Terminal block Cooling fan mounting screw (2-M4 screw) Terminal screw size: M4 Tightening torque: 1.2 [N•m] 101.5 82.5 Mounting screw Screw size: M6 Air intake Tightening torque: 5.4 [N•m] Variable Regenerative Mass dimensions option...
Page 317 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) MR-RB032 [Unit: mm] TE1 terminal block φ6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 0.5 [kg] Approx.
Page 318 11. OPTIONS AND PERIPHERAL EQUIPMENT (6) MR-RB1H-4 [Unit: mm] Terminal φ6 mounting hole Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] Approx. 24 (7) GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω...
Page 319: Fr-Bu2-(H) Brake Unit
Permissible Resultant Applicable servo Brake unit Resistor unit connected continuous resistance [Ω] amplifier (Note 3) units power [kW] 200 V FR-BU2-15K FR-BR-15K 0.99 MR-J4-500B(-RJ) class (Note 1) 2 (parallel) 1.98 MR-J4-500B(-RJ) MR-J4-700B(-RJ) MR-J4-11KB(-RJ) MR-J4-15KB(-RJ) FR-BU2-30K FR-BR-30K 1.99 MR-J4-500B(-RJ) MR-J4-700B(-RJ) MR-J4-11KB(-RJ)
Page 320: Brake Unit Parameter Setting
Resultant Applicable servo Brake unit Resistor unit connected continuous resistance [Ω] amplifier (Note 3) units power [kW] 400 V FR-BU2-H30K FR-BR-H30K 1.99 MR-J4-500B4(-RJ) class MR-J4-700B4(-RJ) MR-J4-11KB4(-RJ) (Note 2) FR-BU2-H55K FR-BR-H55K 3.91 MR-J4-11KB4(-RJ) MR-J4-15KB4(-RJ) MR-J4-22KB4(-RJ) FR-BU2-H75K MT-BR5-H75K MR-J4-22KB4(-RJ) Note 1. Only when using servo motor HG-RR353/HG-UR352 2.
Page 321: Connection Example
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3.3 Connection example POINT EM2 has the same function as EM1 in the torque control mode. Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
Page 322 11. OPTIONS AND PERIPHERAL EQUIPMENT 2) 400 V class Emergency stop switch Step-down transformer Servo amplifier (Note 9) MCCB (Note 1) 24 V DC (Note 12) Power supply DOCOM FR-BR-H (Note 5) (Note 11) (Note 10) Main circuit power supply (Note 3) FR-BU2-H DICOM...
Page 323 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Page 324 11. OPTIONS AND PERIPHERAL EQUIPMENT Emergency stop switch Servo amplifier (Note 11) MCCB 24 V DC (Note 14) (Note 1) DOCOM Power supply FR-BR (Note 5) (Note 13) (Note 12) Main circuit power supply (Note 3) FR-BU2 (Note 10) DICOM (Note 9) 24 V DC (Note 14) (Note 4)
Page 325 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit (a) 200 V class Emergency stop switch Servo amplifier (Note 9) MCCB 24 V DC (Note 12) (Note 1) Power DOCOM supply (Note 11) MT-BR5 (Note 5) (Note 10) Main circuit power supply (Note 3)
Page 326 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Emergency stop switch Step-down Servo amplifier transformer (Note 8) MCCB (Note 1) 24 V DC (Note 11) Power supply DOCOM MT-BR5-H (Note 4) (Note 10) (Note 9) Main circuit power supply (Note 2) FR-BU2-H DICOM...
Page 327 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per one meter).
Page 328 (Note 1) Number of Servo amplifier Brake unit Crimp terminal (Manufacturer) Applicable connected tool units MR-J4-500B(-RJ) FR-BU2-15K FVD5.5-S4 (JST) 200 V class 8-4NS (JST) (Note 2) FR-BU2-30K FVD5.5-S4 (JST) MR-J4-700B(-RJ) FR-BU2-15K 8-4NS (JST) (Note 2) FR-BU2-30K FVD5.5-S4 (JST)
Page 329: Dimensions
11. OPTIONS AND PERIPHERAL EQUIPMENT (Note 1) Number of Servo amplifier Brake unit Crimp terminal (Manufacturer) Applicable connected tool units MR-J4-500B4(-RJ) FR-BU2-H30K FVD5.5-S4 (JST) 400 V class MR-J4-700B4(-RJ) FR-BU2-H30K FVD5.5-S4 (JST) MR-J4-11KB4(-RJ) FR-BU2-H30K FVD5.5-6 (JST) FR-BU2-H55K FVD5.5-6 (JST) MR-J4-15KB4(-RJ) FR-BU2-H55K FVD5.5-6 (JST)
Page 330 11. OPTIONS AND PERIPHERAL EQUIPMENT FR-BU2-30K/FR-BU2-H30K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 129.5 FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 11 - 35...
Page 331 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) FR-BR-(H) resistor unit [Unit: mm] 2-φC (Note) Control circuit (Note) terminal Main circuit terminal Approx. 35 Approx. 35 W1 ± 1 For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations. (Refer to the following diagram. ) Eyebolt W ±...
Page 332 The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5 kW to 22 kW. Nominal Power regeneration regenerative Servo amplifier converter power [kW] MR-J4-500B(-RJ) FR-RC-15K MR-J4-700B(-RJ) MR-J4-11KB(-RJ) FR-RC-30K MR-J4-15KB(-RJ) FR-RC-55K MR-J4-22KB(-RJ)
Page 333 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection example POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier (Note 7) Power factor improving reactor MCCB (Note 10) (Note 5) Power supply...
Page 334: Fr-Rc-(H) Power Regeneration Converter
11. OPTIONS AND PERIPHERAL EQUIPMENT Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate. 2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+ and C terminals.
Page 335 11. OPTIONS AND PERIPHERAL EQUIPMENT Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-H will not operate. 2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to P+ and C terminals.
Page 336: Fr-Cv-(H) Power Regeneration Common Converter
11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Mounting hole machining dimensions When the power regeneration converter is installed to an enclosed type cabinet, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box.
Page 337: Model Designation
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5.1 Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. Capacity Symbol Capacity [kW] 7.5K Symbol Voltage class None 200 V class 400 V class 11.5.2 Selection (1) 200 V class FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W...
Page 338 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) 400 V class FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW. The following shows the restrictions on using the FR-CV-H. (a) Up to two servo amplifiers can be connected to one FR-CV-H. (b) FR-CV-H capacity [W] ≥...
Page 339 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier Servo motor FR-CVL FR-CV (Note 7) MCCB R/L11 R2/L12 R2/L1 3-phase...
Page 340 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Servo amplifier Servo motor FR-CVL-H FR-CV-H (Note 7) MCCB R/L11 R2/L12 R2/L1 3-phase S2/L22 S/L21 380 V AC to S2/L2 480 V AC T/L31 T2/L32 T2/L3 P/L+ (Note 5) N/L- 24 V DC (Note 8) R/L11 Step-down S/L21...
Page 341 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Selection example of wires used for wiring POINT Selection conditions of wire size is as follows. 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair (a) Wire size 1) Between P and P4, and between N and N- The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.
Page 342 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Example of selecting the wire sizes 1) 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
Page 343 11. OPTIONS AND PERIPHERAL EQUIPMENT (5) Other precautions (a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR- HEL-(H)). (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them.
Page 344 11. OPTIONS AND PERIPHERAL EQUIPMENT Power regeneration common converter FR-CV-H_ Item Total of connectable servo amplifier [kW] 27.5 capacities Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Total capacity of applicable servo motors, 300% torque, 60 s Short-time rating Regenerative (Note 1)
Page 345: Junction Terminal Block Ps7Dw-20V14B-F (Recommended)
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.6 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET)
Page 346: Mr Configurator2
M3 × 6L 11.7 MR Configurator2 POINT The MR-J4-_B_-RJ servo amplifier is supported with software version 1.19V or later. MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
Page 347: System Configuration
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment Description ® ® Microsoft Windows 8.1 Enterprise Operating System ® ® Microsoft Windows 8.1 Pro Operating System...
Page 348: Precautions For Using Usb Communication Function
11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection with servo amplifier Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M connector (Option) 11.7.3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers Connect your personal computer with the following procedures.
Page 349: Battery
For absolute position data backup of MR-BT6VCASE Battery case MR-BAT6V1 multi-axis servo motor (2) Combinations of batteries and the servo amplifier Model MR-J4-_B_(-RJ) MR-BAT6V1SET MR-BAT6V1BJ MR-BT6VCASE 11.8.2 MR-BAT6V1SET battery POINT For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.8.5.
Page 350 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Battery mounting Connect as follows. Servo amplifier Encoder cable MR-BAT6V1SET Servo motor (3) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 351 11. OPTIONS AND PERIPHERAL EQUIPMENT (a) Battery installation and removal procedure 1) Installation procedure 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 352 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET. While pressing the locking part, open the cover. Cover Locking part Replace the battery with a new MR-BAT6V1.
Page 353: Mr-Bat6V1Bj Battery For Junction Battery Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.3 MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system and scale measurement function.
Page 354 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Battery mounting Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows. Servo amplifier MR-BT6VCBL03M Encoder cable MR-BAT6V1BJ Black: Connector for branch cable Orange: Connector for servo amplifier HG series servo motors (5) Transporting a servo motor and machine apart POINT Be sure to connect the connector for branch cable connection (black) when transporting a servo motor and machine apart.
Page 355 11. OPTIONS AND PERIPHERAL EQUIPMENT (6) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 356 11. OPTIONS AND PERIPHERAL EQUIPMENT 2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ. Servo amplifier MR-BT6VCBL03M Orange Orange Old MR-BAT6V1BJ New MR-BAT6V1BJ Black 3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, performing 3) without [AL.
Page 357: Mr-Bt6Vcase Battery Case
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.4 MR-BT6VCASE battery case POINT The battery unit consists of an MR-BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and year and month of manufacture of MR-BAT6V1 battery, refer to section 11.8.5. MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.
Page 358 Nos. Linear servo motors are not counted as the axis Nos. The MR-J4W_-_B servo amplifiers can be combined with MR-J4-_B_(-RJ) servo amplifiers. However, it cannot be used for MR-J4W2-0303B6. (a) When using 1-axis servo amplifier...
Page 359 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 360 11. OPTIONS AND PERIPHERAL EQUIPMENT (a) Assembling a battery unit Do not mount new and old batteries together. CAUTION When you replace a battery, replace all batteries at the same time. POINT Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case. 1) Required items Product name Model...
Page 361 11. OPTIONS AND PERIPHERAL EQUIPMENT b) Mounting MR-BAT6V1 Securely mount a MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect CON1 direction, the connector will break.
Page 362 11. OPTIONS AND PERIPHERAL EQUIPMENT c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
Page 363: Mr-Bat6V1 Battery
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.5 MR-BAT6V1 battery The MR-BAT6V1 battery is a battery for replacing MR-BAT6V1SET and a battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on a MR-BAT6V1 battery.
Page 364: Selection Example Of Wires
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.9 Selection example of wires POINT Refer to section 11.1.3 for SSCNET III cable. To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard.
Page 365 Table 11.1 Wire size selection example (HIV wire) Wire [mm ] (Note 1) Servo amplifier 4) U/V/W/ 1) L1/L2/L3/ 2) L11/L21 3) P+/C (Note 3) MR-J4-10B(-RJ) MR-J4-20B(-RJ) MR-J4-40B(-RJ) AWG 18 to 14 1.25 to 2 (Note 4) MR-J4-60B(-RJ) 2 (AWG 14) (AWG 16 to 14)
Page 366 Table 11.2 Wire size selection example (HIV wire) Wires [mm ] (Note 1) Servo amplifier 4) U/V/W/ 2) L11/L21 3) P+/C 1) L1/L2/L3/ (Note 3) MR-J4-60B4(-RJ)/ 1.25 to 2 MR-J4-100B4(-RJ) 2 (AWG 14) (AWG 16 to 14) 2 (AWG14) AWG 16 to 14 MR-J4-200B4(-RJ) (Note 4)
Page 367 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Selection example of crimp terminals (a) 200 V class Servo amplifier-side crimp terminals Symbol Applicable tool (Note 2) Crimp Manufacturer terminal Body Head Dice FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S FVD2-4 YNT-1614 FVD2-M3 FVD1.25-M3 YNT-2216 DH-122...
Page 368: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
S-N95 MR-J4-60B4(-RJ) 30 A frame 5 A 30 A frame 5 A S-N10 MR-J4-100B4(-RJ) 30 A frame 10 A 30 A frame 5 A S-T10 MR-J4-200B4(-RJ) 30 A frame 15 A 30 A frame 10 A MR-J4-350B4(-RJ) 30 A frame 20 A...
Page 369 MR-J4-500B(-RJ) MR-J4-700B(-RJ) MR-J4-11KB(-RJ) MR-J4-15KB(-RJ) MR-J4-22KB(-RJ) MR-J4-60B4(-RJ) MR-J4-100B4(-RJ) MR-J4-200B4(-RJ) MR-J4-350B4(-RJ) MR-J4-500B4(-RJ) 30 A frame 5 A MR-J4-700B4(-RJ) MR-J4-11KB4(-RJ) MR-J4-15KB4(-RJ) MR-J4-22KB4(-RJ) MR-J4-10B1(-RJ) MR-J4-20B1(-RJ) 30 A frame 5 A MR-J4-40B1(-RJ) Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to appendix 4.
Page 370: Power Factor Improving Dc Reactors
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.11 Power factor improving DC reactors The following shows the advantages of using power factor improving DC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to about 85%.
Page 371 11. OPTIONS AND PERIPHERAL EQUIPMENT Dimensions [mm] Power factor Terminal Mass Wire [mm Servo amplifier improving DC Dimensions size [kg] (Note 2) reactor (Note 1) MR-J4-10B(-RJ) FR-HEL-0.4K MR-J4-20B(-RJ) MR-J4-40B(-RJ) FR-HEL-0.75K Fig. 11.1 MR-J4-60B(-RJ) 2 (AWG 14) FR-HEL-1.5K MR-J4-70B(-RJ) MR-J4-100B(-RJ) FR-HEL-2.2K MR-J4-200B(-RJ) FR-HEL-3.7K MR-J4-350B(-RJ) FR-HEL-7.5K...
Page 372: Power Factor Improving Ac Reactors
2. When using the power factor improving DC reactor, remove the short bar across P3 and P4. Power factor Dimensions [mm] Terminal Mass Wire [mm Servo amplifier improving DC Dimensions size [kg] (Note) reactor MR-J4-60B4(-RJ) FR-HEL-H1.5K M3.5 2 (AWG 14) Fig. 11.4 MR-J4-100B4(-RJ) FR-HEL-H2.2K M3.5 2 (AWG 14) MR-J4-200B4(-RJ) FR-HEL-H3.7K 2 (AWG 14) MR-J4-350B4(-RJ) FR-HEL-H7.5K...
Page 373 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) 200 V class/100 V class Servo amplifier Terminal layout 3-phase 200 V class S Y T FR-HAL MCCB 4-d mounting hole (Varnish is removed from front right mounting 3-phase hole (face and back side).) (Note 1) 200 V AC to 240 V AC D or less...
Page 374 11. OPTIONS AND PERIPHERAL EQUIPMENT Power factor Dimensions [mm] Mass Terminal Servo amplifier improving AC Dimensions size [kg] D (Note) reactor MR-J4-10B(-RJ) MR-J4-20B(-RJ) FR-HAL-0.4K MR-J4-10B1(-RJ) MR-J4-40B(-RJ) FR-HAL-0.75K MR-J4-20B1(-RJ) MR-J4-60B(-RJ) Fig. 11.7 MR-J4-70B(-RJ) FR-HAL-1.5K MR-J4-40B1(-RJ) MR-J4-100B(-RJ) FR-HAL-2.2K (Note) MR-J4-200B(-RJ) FR-HAL-3.7K (Note) MR-J4-350B(-RJ) FR-HAL-7.5K...
Page 375: Relay (Recommended)
Fig. 11.12 Fig. 11.11 Note. Use this for grounding. Dimensions [mm] Power factor Mass Terminal Servo amplifier improving AC Dimensions size [kg] reactor (Note) MR-J4-60B4(-RJ) FR-HAL-H1.5K 59.6 M3.5 MR-J4-100B4(-RJ) FR-HAL-H2.2K Fig. 11.10 59.6 M3.5 MR-J4-200B4(-RJ) FR-HAL-H3.7K 70.6 M3.5 MR-J4-350B4(-RJ) FR-HAL-H7.5K...
Page 376: Noise Reduction Techniques
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.14 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 377 11. OPTIONS AND PERIPHERAL EQUIPMENT Sensor power supply Servo amplifier Instrument Receiver Sensor Servo motor Noise transmission Suppression techniques route When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 378 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Noise reduction techniques (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
Page 379 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an grounding plate as shown below.
Page 380 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
Page 381 Leakage current: 4 mA always required. White Blue Green When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring. MR-J4-350B(-RJ) or less/MR-J4-350B4(-RJ) or less/MR-J4- 40B1(-RJ) or less Terminal Servo amplifier block φ5 MCCB...
Page 382 11. OPTIONS AND PERIPHERAL EQUIPMENT (f) Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment.
Page 383: Earth-Leakage Current Breaker
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 384 0.1 to 0.6 0.75 to 3.5 0.15 11/15 Table 11.6 Earth-leakage current breaker selection example Rated sensitivity current of earth-leakage Servo amplifier current breaker [mA] MR-J4-10B(-RJ) to MR-J4-350B(-RJ) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ) MR-J4-500B(-RJ) MR-J4-500B4(-RJ) MR-J4-700B(-RJ) MR-J4-700B4(-RJ) MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)
Page 385 2 mm × 5 m 2 mm × 5 m Servo motor Servo amplifier MR-J4-40B HG-KR43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram. Ig1 = 20 • = 0.1 [mA] 1000 Ig2 = 20 •...
Page 386: Emc Filter (Recommended)
When using an EMC filter, always use one for each servo amplifier. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Mass Servo amplifier Rated voltage Leakage current [kg] Model Rated current [A] [VAC] [mA] MR-J4-10B(-RJ) to (Note) MR-J4-100B(-RJ) HF3010A-UN MR-J4-200B(-RJ) (Note) HF3010A-UN MR-J4-350B(-RJ) MR-J4-500B(-RJ) (Note) HF3040A-UN MR-J4-700B(-RJ)
Page 387 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class EMC filter Servo amplifier MCCB Power supply (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 × 7 3-M4 Approx. 41 258 ± 4 65 ± 4 273 ± 2 288 ±...
Page 388 11. OPTIONS AND PERIPHERAL EQUIPMENT HF3100A-UN [Unit: mm] 2-φ 6.5 2-6.5 × 8 380 ± 1 400 ± 5 TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 3 M4 Approx.67.5 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 11 - 93...
Page 389 11. OPTIONS AND PERIPHERAL EQUIPMENT TF3040C-TX/TF3060C-TX [Unit: mm] 8-R3.25 Length 8 (for M6) 3-M6 3-M6 Approx. 91.5 100 ± 1 100 ± 1 100 ± 1 390 ± 2 180 ± 2 Approx. 190 412 ± 5 438 ± 5 200 ±...
Page 390: External Dynamic Brake
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.17 External dynamic brake Use an external dynamic brake for a servo amplifier of MR-J4-11KB(-RJ) to MR- J4-22KB(-RJ) and MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ). Failure to do so will cause an accident because the servo motor dose not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.
Page 391 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection example (a) 200 V class Operation ready Servo amplifier Servo motor EMG stop switch (Note 4) MCCB (Note 3) Power 24 V DC (Note 6) supply DOCOM (Note 2, (Note 7) (Note 5) Main circuit power supply DICOM...
Page 392 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Operation ready Servo amplifier Servo motor Emergency stop switch (Note 8) Step-down (Note 4) transformer MCCB (Note 3) Power 24 V DC (Note 6) supply DOCOM (Note 2, (Note 7) (Note 5) Main circuit power supply DICOM...
Page 393 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Timing chart Coasting Coasting Servo motor speed Dynamic brake Dynamic brake Present Alarm Absent Base circuit DB (Dynamic brake interlock) Disabled Dynamic brake Enabled Short EMG stop switch Open a. Timing chart at alarm occurrence b.
Page 394 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] Terminal block Screw: M4 Screw: M3.5 Tightening torque: 1.2 [N•m] Tightening torque: 0.8 [N•m] (Note) Connection wire [mm Mass External dynamic brake [kg] U/V/W Except U/V/W DBU-11K 163.5 5.5 (AWG 10) 2 (AWG 14) DBU-15K/DBU-22K-R1 5.5 (AWG 10)
Page 395 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 2-φ7 mounting hole 73.75 Mass: 6.7 [kg] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] (Note) Connection wire [mm External dynamic brake U/V/W Except U/V/W DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
Page 396: Heat Sink Outside Mounting Attachment (Mr-J4Acn15K/Mr-J3Acn)
The environment outside the cabinet when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment. The heat sink outside mounting attachments are used for MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ) and MR- J4-11KB4(-RJ) to MR-J4-22KB4(-RJ).
Page 397 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Mounting method Attachment Servo amplifier Fit using the assembling screws. Attachment a. Assembling the heat sink outside mounting attachment Punched hole Cabinet Servo amplifier b. Mounting it to inside cabinet 11 - 102...
Page 398 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] 20.6 Panel Attachment Servo amplifier Servo amplifier Panel 108.3 Mounting hole Approx. 263.3 (2) MR-J3ACN (a) Panel cut dimensions [Unit: mm] [Unit : mm] 4-M10 Screw Punched hole 11 - 103...
Page 399 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) How to assemble the attachment for heat sink outside mounting attachment Attachment Screw (2 places) (c) Mounting method Attachment Punched hole Servo amplifier Servo Fit using the amplifier assembling screws. Cabinet Attachment a. Assembling the heat sink outside mounting b.
Page 400 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] Panel Servo amplifier Attachment Servo amplifier Panel Approx. 11.5 Mounting Approx. 260 hole Approx. 260 11 - 105...
Page 401 11. OPTIONS AND PERIPHERAL EQUIPMENT MEMO 11 - 106...
Page 402: Summary
12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. CAUTION If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery, the MR-BAT6V1 battery can become hot.
Page 403: Structure
12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.2 Structure The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each battery connection. Servo system controller Servo amplifier CN1A Battery Servo motor 12.1.3 Parameter setting Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. [Pr.
Page 404: Battery
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data Detecting the Detecting the Step-down number of position at circuit CYC0 revolutions one revolution (6 V 3.4 V) MR-BAT6V1SET...
Page 405: Using Mr-Bat6V1Bj Battery For Junction Battery Cable
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system. (1) Configuration diagram Servo system controller Servo amplifier...
Page 406: Using Mr-Bt6Vcase Battery Case
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.3 Using MR-BT6VCASE battery case POINT One MR-BT6VCASE holds absolute position data up to eight axes servo motors. Always install five MR-BAT6V1 batteries to an MR-BT6VCASE. (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data Detecting the...
Page 407 12. ABSOLUTE POSITION DETECTION SYSTEM MEMO 12 - 6...
Page 408: Introduction
13. USING STO FUNCTION 13. USING STO FUNCTION POINT In the torque control mode, the forced stop deceleration function is not available. 13.1 Introduction This section provides the cautions of the STO function. 13.1.1 Summary This servo amplifier complies with the following safety standards. ISO/EN ISO 13849-1 category 3 PL d IEC 61508 SIL 2 IEC/EN 61800-5-2 SIL 2...
Page 409: Residual Risks Of The Sto Function
13. USING STO FUNCTION 13.1.4 Residual risks of the STO function Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi is not liable for any damages or injuries caused by these risks.
Page 410: Specifications
13. USING STO FUNCTION 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) ISO/EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, Safety performance EN 62061 SIL CL2, EN 61800-5-2 SIL 2 Mean time to dangerous failure 100 years or more (Note) (MTTFd) Diagnostic converge (DC)
Page 411: Maintenance
13. USING STO FUNCTION 13.1.6 Maintenance This servo amplifier has alarms and warnings for maintenance that supports the Mitsubishi drive safety function. (Refer to chapter 8.) 13.2 STO I/O signal connector (CN8) and signal layouts 13.2.1 Signal layouts POINT The pin configurations of the connectors are as viewed from the cable connector wiring section.
Page 412: Signal (Device) Explanations
13. USING STO FUNCTION 13.2.2 Signal (device) explanations (1) I/O device Connector Signal name Description pin No. division STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1 STO1 CN8-4 Inputs STO state 1. DI-1 STO state (base shut-off): Open between STO1 and STOCOM. STO release state (in driving): Close between STO1 and STOCOM.
Page 413: Connection Example
13. USING STO FUNCTION 13.3 Connection example POINT Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2). Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.
Page 414: External I/O Signal Connection Example Using An Mr-J3-D05 Safety Logic Unit
13. USING STO FUNCTION 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. (1) Connection example 24 V RESA RESB MR-J3-D05...
Page 415 13. USING STO FUNCTION (2) Basic operation example The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05. The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
Page 416: External I/O Signal Connection Example Using An External Safety Relay Unit
13. USING STO FUNCTION 13.3.3 External I/O signal connection example using an external safety relay unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. This connection example complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d. For details, refer to the safety relay module user’s manual.
Page 417: External I/O Signal Connection Example Using A Motion Controller
13. USING STO FUNCTION 13.3.4 External I/O signal connection example using a motion controller POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and PC-Y0B after the servo motor stops.
Page 418: Detailed Description Of Interfaces
13. USING STO FUNCTION 13.4 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 13.2. Refer to this section and make connection with the external device. 13.4.1 Sink I/O interface (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
Page 419 13. USING STO FUNCTION (b) When outputting two STO states by using one TOFB Servo amplifier If polarity of diode is reversed, servo amplifier TOFB1 Load will malfunction. TOFCOM (Note) 24 V DC ± 10% 300 mA TOFB2 Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
Page 420: Source I/O Interface
13. USING STO FUNCTION 13.4.2 Source I/O interface In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 421 13. USING STO FUNCTION MEMO 13 - 14...
Page 422: Functions And Configuration
14. USING A LINEAR SERVO MOTOR 14. USING A LINEAR SERVO MOTOR When using the linear servo motor, read "Linear Servo Motor Instruction Manual" WARNING and "Linear Encoder Instruction Manual". 14.1 Functions and configuration 14.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy, high speed, and efficiency.
Page 423: Servo System With Auxiliary Equipment
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". (1) MR-J4-_B_ The configuration diagram is an example of MR-J4-20B. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders.
Page 424 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Page 425 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B-RJ or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to section 1.3.
Page 426 When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B-RJ or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 427: Signals And Wiring
14. USING A LINEAR SERVO MOTOR 14.2 Signals and wiring Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off.
Page 428 14. USING A LINEAR SERVO MOTOR Connecting a linear servo motor for different axis to the U, V, W, or CN2 may cause a malfunction. Do not modify the equipment. CAUTION The cables such as power wires deriving from the primary side cannot stand the long-term bending action.
Page 429: Operation And Functions
14. USING A LINEAR SERVO MOTOR 14.3 Operation and functions 14.3.1 Startup POINT When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". (1) Startup procedure Start up the linear servo in the following procedure. Installation and wiring Set the linear servo motor series and linear servo motor type.
Page 430 14. USING A LINEAR SERVO MOTOR (3) Settings of the linear encoder direction and the linear servo motor direction Set the first digit of [Pr. PC27] (Encoder pulse count polarity selection) so that the positive direction of the linear servo motor matches with the increasing direction of the linear encoder feedback. [Pr.
Page 431 14. USING A LINEAR SERVO MOTOR 3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, if the linear servo motor operates in the positive direction, the motor speed will be a positive value.
Page 432: Magnetic Pole Detection
14. USING A LINEAR SERVO MOTOR 14.3.2 Magnetic pole detection POINT Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic pole detection. Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection. When [Pr.
Page 433 14. USING A LINEAR SERVO MOTOR (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detection procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Magnetic pole detection 1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 434 14. USING A LINEAR SERVO MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection 1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Turn "On (up)"...
Page 435 14. USING A LINEAR SERVO MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole During the detection...
Page 436 14. USING A LINEAR SERVO MOTOR (3) Operation at the magnetic pole detection Note that the magnetic pole detection automatically starts simultaneously with the WARNING turning-on of the servo-on command. If the magnetic pole detection is not executed properly, the linear servo motor CAUTION may operates unexpectedly.
Page 437 14. USING A LINEAR SERVO MOTOR (a) For the incremental linear encoder POINT For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out.
Page 438 14. USING A LINEAR SERVO MOTOR 3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off) When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows. The linear servo motor moves to a magnetic pole detection start position upon servo-on, and the magnetic pole...
Page 439 14. USING A LINEAR SERVO MOTOR 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr. PL01] Magnetic pole detection disabled After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after each power-on is not required.
Page 440: Home Position Return
14. USING A LINEAR SERVO MOTOR 2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
Page 441 14. USING A LINEAR SERVO MOTOR The following shows the relation between the stop interval at the home position return and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter for the stop interval at the home position return, [Pr.PL01], is set to "_ 5 _ _" (16777216 pulses), the stop interval is 16.777 mm.
Page 442 14. USING A LINEAR SERVO MOTOR (b) When the linear encoder home position does not exist in the home position return direction If the home position return is performed from the position where the linear encoder does not exist in the home position return direction, a home position return error occurs on the controller.
Page 443 14. USING A LINEAR SERVO MOTOR (2) Absolute position linear encoder When an absolute linear encoder is used, the reference home position is the position per 1048576 pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position (absolute position data = 0).
Page 444: Test Operation Mode In Mr Configurator2
14. USING A LINEAR SERVO MOTOR 14.3.4 Test operation mode in MR Configurator2 The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use CAUTION the linear servo motor alone.
Page 445: Operation From Controller
14. USING A LINEAR SERVO MOTOR (b) Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
Page 446 Set content Setting item Simple motion module Motion controller R_MTCPU/Q17_DSCPU RD77MS_/QD77MS_ Command resolution Linear encoder resolution unit Servo amplifier setting MR-J4-B Linear Motor setting Automatic setting (Note) Initial Name Symbol value PA01 **STY...
Page 447: Function
14. USING A LINEAR SERVO MOTOR (b) Settings of the number of pulses (AP) and travel distance (AL) Controller Servo amplifier User Command [mm] Linear servo motor Position feedback [mm] Linear encoder Speed feedback Differ- entiation [mm/s] Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following conditions.
Page 448 14. USING A LINEAR SERVO MOTOR (a) Position deviation error detection Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection. [Pr. PL04] Position deviation error detection enabled When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if the deviation is more than the value of [Pr.
Page 449: Absolute Position Detection System
14. USING A LINEAR SERVO MOTOR (2) Auto tuning function The auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
Page 450: Characteristics
14. USING A LINEAR SERVO MOTOR 14.4 Characteristics 14.4.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig.
Page 451: Power Supply Capacity And Generated Loss
Servo amplifier-generated heat [W] Power supply Area required for Linear servo motor (Note 2) Servo amplifier capacity [kVA] heat dissipation (primary side) (Note 1) At rated output With servo-off LM-H3P2A-07P-BSS0 MR-J4-40B(-RJ) MR-J4-40B1(-RJ) LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 MR-J4-70B(-RJ) LM-H3P3C-36P-CSS0 LM-H3P3D-48P-CSS0 MR-J4-200B(-RJ) LM-H3P7A-24P-ASS0 MR-J4-70B(-RJ) LM-H3P7B-48P-ASS0 MR-J4-200B(-RJ) LM-H3P7C-72P-ASS0...
Page 452: Dynamic Brake Characteristics
14. USING A LINEAR SERVO MOTOR 14.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor mass ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 453: Permissible Load To Motor Mass Ratio When The Dynamic Brake Is Used
14. USING A LINEAR SERVO MOTOR 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the load to motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact your local sales office.
Page 454: Functions And Configuration
15. USING A DIRECT DRIVE MOTOR 15. USING A DIRECT DRIVE MOTOR When using the direct drive motor, read the "Direct Drive Motor Instruction CAUTION Manual". 15.1 Functions and configuration 15.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and efficiency.
Page 455: Servo System With Auxiliary Equipment
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _". The configuration diagram is an example of MR-J4-20B. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to section 1.8 depending on servo amplifiers you use.
Page 456: Signals And Wiring
When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 457: Operation And Functions
15. USING A DIRECT DRIVE MOTOR When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U, V, and W) to the power input of the direct drive motor (U, V, and W) directly.
Page 458: Startup Procedure
15. USING A DIRECT DRIVE MOTOR 15.3.1 Startup procedure Start up the direct drive servo in the following procedure. Perform this procedure once at startup. Installation and wiring Absolute position detection system Incremental system Absolute position detection system? Can you manually turn on the Z-phase pulse of the direct drive motor? Perform the magnetic pole detection.
Page 459: Magnetic Pole Detection
15. USING A DIRECT DRIVE MOTOR 15.3.2 Magnetic pole detection POINT The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor can be turned on manually. For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier.
Page 460 15. USING A DIRECT DRIVE MOTOR (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detection procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Magnetic pole detection Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again.
Page 461 15. USING A DIRECT DRIVE MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again. Turn "On (up)"...
Page 462 15. USING A DIRECT DRIVE MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole During the detection...
Page 463 15. USING A DIRECT DRIVE MOTOR (3) Operation at the magnetic pole detection Note that the magnetic pole detection automatically starts simultaneously with the WARNING turning-on of the servo-on command. If the magnetic pole detection is not executed properly, the direct drive motor may CAUTION operates unexpectedly.
Page 464 15. USING A DIRECT DRIVE MOTOR 2) Direct drive motor movement (when FLS and RLS are on) Center of direct drive motor rotation part (Note) RLS FLS (Note) Servo-on position (Magnetic pole detection start position) Magnetic pole detection completion position 10 degrees or less Note.
Page 465 15. USING A DIRECT DRIVE MOTOR 2) Execute the magnetic pole detection. (Refer to (3) (a) of this section.) 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr.
Page 466 15. USING A DIRECT DRIVE MOTOR 2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
Page 467: Operation From Controller
The following parameters will be enabled by cycling the servo amplifier power after the controller writes the parameters to the servo amplifier. Setting Setting item Motion controller Simple motion module R_MTCPU/Q17_DSCPU RD77MS_/QD77MS_ Amplifier setting MR-J4-B DD Motor setting Automatic setting (Note) Initial Name value Symbol PA01...
Page 468: Function
15. USING A DIRECT DRIVE MOTOR 15.3.4 Function (1) Servo control error detection function POINT For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3) If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function.
Page 469 15. USING A DIRECT DRIVE MOTOR (b) Speed deviation error detection Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04] Speed deviation error detection enabled When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if the deviation is more than the value of [Pr.
Page 470: Characteristics
15. USING A DIRECT DRIVE MOTOR 15.4 Characteristics 15.4.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct drive motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal relay protection curve shown in Fig.
Page 471 15. USING A DIRECT DRIVE MOTOR 1000 1000 Operating Operating Servo-lock Servo-lock (Note) Load ratio [%] (Note) Load ratio [%] TM-RFM002C20, TM-RFM004C20, TM-RFM048G20, TM-RFM072G20, TM-RFM006C20, TM-RFM006E20, TM-RFM120J10 TM-RFM012E20, TM-RFM018E20, TM-RFM012G20, TM-RFM040J10 10000 1000 Operating Servo-lock (Note) Load ratio [%] TM-RFM240J10 Note.
Page 472: Power Supply Capacity And Generated Loss
Table 15.1 Power supply capacity and generated loss per direct drive motor at rated output Servo amplifier-generated heat [W] Power supply Area required for Direct drive motor Servo amplifier capacity [kVA] heat dissipation [m At rated output With servo-off MR-J4-20B(-RJ) TM-RFM002C20 0.25 MR-J4-20B1(-RJ) MR-J4-40B(-RJ) TM-RFM004C20 0.38 MR-J4-40B1(-RJ) TM-RFM006C20 0.53...
Page 473: Dynamic Brake Characteristics
15. USING A DIRECT DRIVE MOTOR 15.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 474 15. USING A DIRECT DRIVE MOTOR (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 15.1. Speed [r/min] Speed [r/min] TM-RFM_C20 TM-RFM_E20 Speed [r/min] Speed [r/min] TM-RFM_G20 TM-RFM_J10 (2) Permissible load to motor inertia ratio when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table.
Page 475 15. USING A DIRECT DRIVE MOTOR MEMO 15 - 22...
Page 476: Functions And Configuration
Encoder Instruction Manual" is needed. Fully closed loop control system is available with position control mode. When fully closed loop control system is configured with MR-J4-_B_ servo amplifier, the following restrictions apply. However, these restrictions will not be applied for MR-J4-_B_-RJ servo amplifiers.
Page 477 16. FULLY CLOSED LOOP SYSTEM The following table shows the functions of each control mode. Control Description Feature Position is controlled according to the servo motor-side data. Since this control is insusceptible to machine influence (such as machine resonance), Advantage Semi closed loop control the gains of the servo amplifier can be raised and the settling time shortened.
Page 478: Selecting Procedure Of Control Mode
16. FULLY CLOSED LOOP SYSTEM 16.1.2 Selecting procedure of control mode (1) Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be selected as a control system. In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback control can be selected by the [Pr.
Page 479: System Configuration
16. FULLY CLOSED LOOP SYSTEM 16.1.3 System configuration (1) For a linear encoder (a) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H (Note) Position command Two-wire type serial interface compatible linear encoder control signal To the next servo amplifier...
Page 480 16. FULLY CLOSED LOOP SYSTEM (2) For a rotary encoder (a) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Servo motor encoder signal Drive part Position command control signal To the next servo amplifier (Note) (Note) Servo motor...
Page 481: Load-Side Encoder
(Refer to the "Linear Encoder Instruction Manual".) (b) MR-J4-_B_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder. Servo amplifier...
Page 482 Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used. (b) MR-J4-_B_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder.
Page 483: Mr-J4Fccbl03M Branch Cable
16. FULLY CLOSED LOOP SYSTEM 16.2.4 MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m (Note 1) (Note 2)
Page 484: Operation And Functions
16. FULLY CLOSED LOOP SYSTEM 16.3 Operation and functions 16.3.1 Startup (1) Startup procedure Start up the fully closed loop system in the following procedure. Completion of installation and wiring Adjustment and operation check in semi closed loop system Check that the servo equipment is normal.
Page 485 16. FULLY CLOSED LOOP SYSTEM (2) Selection of fully closed loop system By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table. Semi closed loop control/ Absolute position detection [Pr.
Page 486 When using an encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_B_-RJ will trigger [AL. 37]. (4) Setting of load-side encoder polarity Do not set an incorrect direction to "Encoder pulse count polarity selection"...
Page 487 16. FULLY CLOSED LOOP SYSTEM (5) Setting of feedback pulse electronic gear POINT If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal operation may occur.
Page 488 16. FULLY CLOSED LOOP SYSTEM (b) Setting example when using the rotary encoder for the load-side encoder of roll feeder Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 4194304 pulse/rev Drive part Pulley diameter...
Page 489 16. FULLY CLOSED LOOP SYSTEM (6) Confirmation of load-side encoder position data Check the load-side encoder mounting and parameter settings for any problems. POINT Depending on the check items, MR Configurator2 may be used. Refer to section 16.3.9 for the data displayed on the MR Configurator2. When checking the following items, the fully closed loop control mode must be set.
Page 490 16. FULLY CLOSED LOOP SYSTEM (7) Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc.
Page 491: Home Position Return
16. FULLY CLOSED LOOP SYSTEM 16.3.2 Home position return (1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
Page 492 16. FULLY CLOSED LOOP SYSTEM (b) About proximity dog type home position return using incremental linear encoder 1) When the linear encoder home position (reference mark) exists in the home position return direction When an incremental linear encoder is used, the home position is the position per servo motor revolution to the linear encoder home position (reference mark) passed through first after a home position return start.
Page 493 16. FULLY CLOSED LOOP SYSTEM POINT To execute a home position return securely, start a home position return after moving the axis to the opposite stroke end by jog operation, etc. of the controller. A home position return cannot be made if the incremental linear encoder does not have a linear encoder home position (reference mark).
Page 494: Operation From Controller
Off→on Q17_DSCPU QD77MS_ Command Load-side encoder resolution resolution unit Servo MR-J4-B fully closed loop servo amplifier setting MR-J4-B(-RJ) fully closed loop parameter control Motor setting Automatic setting Home position setting condition selection ([Pr. PC17]) Set the items as required. Fully closed loop selection ([Pr. PA01] and [Pr. PE01]) Fully closed loop selection 2 ([Pr.
Page 495 16. FULLY CLOSED LOOP SYSTEM (a) When using a linear encoder (unit setting: mm) Load-side encoder resolution unit User Control Servo amplifier Command [mm] Servo motor Linear encoder Position feedback [mm] Electronic gear Speed feedback Differentiation [r/min] Load-side encoder Servo motor speed resolution unit Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw revolution in the following conditions.
Page 496: Fully Closed Loop Control Error Detection Functions
16. FULLY CLOSED LOOP SYSTEM 16.3.4 Fully closed loop control error detection functions If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre- detect it and stop operation.
Page 497: Auto Tuning Function
16. FULLY CLOSED LOOP SYSTEM (b) Position deviation error detection Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection. [Pr. PE03] Position deviation error detection Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr.
Page 498: Absolute Position Detection System Under Fully Closed Loop System
16. FULLY CLOSED LOOP SYSTEM 16.3.8 Absolute position detection system under fully closed loop system An absolute type linear encoder is necessary to configure an absolute position detection system under fully closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the servo amplifier.
Page 499: About Mr Configurator2
16. FULLY CLOSED LOOP SYSTEM 16.3.9 About MR Configurator2 Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load- side encoder operate properly. This section explains the fully closed diagnosis screen. Click "Monitor start"...
Page 500 16. FULLY CLOSED LOOP SYSTEM Symbol Name Explanation Unit Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (Servo pulse pulses (before gear) motor encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear"...
Page 501 16. FULLY CLOSED LOOP SYSTEM MEMO 16 - 26...
Page 502: J3 Compatibility Mode
When you connect an amplifier with SSCNET III/H communication for the first controller communication by factory setting, the operation mode will be fixed to "J4 mode". For SSCNET communication, it will be fixed to "J3 compatibility mode". When you set the mode back to the factory setting, use the application "MR-J4(W)- B mode selection".
Page 503: Operation Modes Supported By J3 Compatibility Mode
In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3 series. By enabling the J3 extension function, control response will be equal to MR-J4 series using a controller compatible with SSCNET III.
Page 504 17. APPLICATION OF FUNCTIONS Compatible ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series J3 compatibility (Note 8) J4 mode mode Auto tuning mode 1 Auto tuning mode 2 2 gain adjustment mode 1...
Page 505 11. The operation mode will be identified automatically at the first controller communication. You can change the operation mode with the application "MR-J4(W)-B mode selection". 12. When MR-J4 is used as a replacement of MR-J3-_S, "Servo forced stop selection" in [Pr. PA04] will be "Disabled (_ 1 _ _)" in the initial setting. Change the setting as necessary.
Page 506: How To Switch J4 Mode/J3 Compatibility Mode
17.1.4 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4W_-_B servo amplifier and MR-J4-_B_(-RJ) servo amplifier. (1) Mode selection by the automatic identification of the servo amplifier J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.
Page 507: How To Use The J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS (2) Mode selection using the application software "MR-J4(W)-B mode selection" You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated application. J4 mode/J3 compatibilitymode Factory setting automatic identification Standard control...
Page 508: Cautions For Switching J4 Mode/J3 Compatibility Mode
When the operation mode mismatches, the servo amplifier will display [AL. 3E.1 Operation mode error]. Set the mode back to the factory setting or set correctly (J4 mode/J3 compatibility mode and operation mode) using the application "MR-J4(W)-B mode selection". 17.1.7 Cautions for the J3 compatibility mode The J3 compatibility mode are partly changed and has restrictions compared with MR-J3 series.
Page 509 17. APPLICATION OF FUNCTIONS (3) The J3 compatibility mode has a functional compatibility. However, the operation timing may differ. Check the operation timing on customer side to use. (4) The J3 compatibility mode is not compatible with high-response control set by [Pr. PA01 Operation mode].
Page 510: Change Of Specifications Of "J3 Compatibility Mode" Switching Process
17. APPLICATION OF FUNCTIONS 17.1.8 Change of specifications of "J3 compatibility mode" switching process (1) Detailed explanation of "J3 compatibility mode" switching (a) Operation when using a servo amplifier before change of specifications For the controllers in which "Not required" is described to controller reset in table 17.1, the mode will be switched to "J3 compatibility mode"...
Page 511 17. APPLICATION OF FUNCTIONS (b) Operation when using a servo amplifier after change of specifications For the controllers in which "Not required" is described to controller reset in table 17.3, the mode will be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for completing the connection not depending on the number of axes.
Page 512 You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is difficult to reset many times with your "Reset required" controller such as "QD74MH_".
Page 513 The J3 extension function of the amplifier differs from MR-J3-B in motion. The J3 extension function is for using functions of J4 mode with J3 compatibility mode. By enabling the J3 extension function, control response will be equal to MR-J4 series using a controller compatible with SSCNET III.
Page 514 17. APPLICATION OF FUNCTIONS Detailed Function Description explanation This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder will not operate on the following conditions.
Page 515 17. APPLICATION OF FUNCTIONS The following shows how to use the J3 extension function. (1) Settings of J3 extension function POINT To set the J3 extension function, connect a personal computer with MR Configurator2 of software version 1.25B or later to the servo amplifier with USB cable.
Page 516 17. APPLICATION OF FUNCTIONS 2) Select "MR-J3-B extension function" of model selection in the "New" window and click "OK". The "Extension function change" window will be displayed. 3) Click "Change to MR-J3-B extension function" in the "Extension function change" window and click "OK".
Page 517 17. APPLICATION OF FUNCTIONS (2) Extension control 2 parameters ([Pr. PX_ _ ]) Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. 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 518 17. APPLICATION OF FUNCTIONS compatibility mode Initial Symbol Name Unit value PX22 NHQ5 Notch shape selection 5 0000h PX23 XOP3 Function selection X-3 0000h PX24 FRIC Machine diagnosis function - Friction judgement speed [r/min]/[mm/s] PX25 *TDS Tough drive setting 0000h PX26 OSCL1 Vibration tough drive - Oscillation detection level...
Page 519 17. APPLICATION OF FUNCTIONS (3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list Initial Setting Symbol Name and function value range [unit] PX01 **J3EX J3 extension function Refer to the "Name and Select enabled or disabled of the J3 extension function. function"...
Page 520 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX04 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz] Set the vibration frequency for vibration suppression control 2 to suppress low-frequency 300.0 machine vibration. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.
Page 521 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 Set a damping of the vibration frequency for vibration suppression control 2 when the gain 0.30 switching is enabled.
Page 522 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX18 NHQ3 Notch shape selection 3 Refer to the "Name and Set the shape of the machine resonance suppression filter 3. function" column. Setting Initial Explanation digit value _ _ _ x Machine resonance suppression filter 3 selection...
Page 523 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX22 NHQ5 Notch shape selection 5 Refer to the "Name and Set the shape of the machine resonance suppression filter 5. function" column. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PX31], the machine resonance suppression filter 5 is not available.
Page 524 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX24 FRIC Machine diagnosis function - Friction judgement speed 0 to [r/min]/ permis- Set a (linear) servo motor speed that divides a friction estimation area into high and low during [mm/s] sible the friction estimation process of the machine diagnosis.
Page 525 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX27 *OSCL2 Vibration tough drive function selection Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x Oscillation detection alarm selection 0: [AL.
Page 526 17. APPLICATION OF FUNCTIONS Initial Setting Symbol Name and function value range [unit] PX36 LMCP Lost motion compensation positive-side compensation value selection [0.01%] Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation 30000 (CCW) in increments of 0.01% assuming the rated torque as 100%. This parameter is supported with software version B4 or later.
Page 527 17. APPLICATION OF FUNCTIONS (4) One-touch tuning POINT When executing the one-touch tuning, check the [Pr. PX13 One-touch tuning function selection] is "_ _ _ 1" (initial value). Table 17.5 List of parameters automatically set with one-touch tuning Parameter Symbol Name Parameter Symbol...
Page 528 17. APPLICATION OF FUNCTIONS (b) Display transition and operation procedure of one-touch tuning 1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system.
Page 529 17. APPLICATION OF FUNCTIONS 2) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PX14 One-touch tuning - Overshoot permissible level] will shorten the settling time and improve the response.
Page 530 17. APPLICATION OF FUNCTIONS 3) Stop of one-touch tuning During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code. 4) If an error occurs If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated.
Page 531 17. APPLICATION OF FUNCTIONS 7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 17.5 for the parameters which you can clear. Pushing "Return to value before tuning" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button.
Page 532 17. APPLICATION OF FUNCTIONS (5) Filter setting The following filters are available with the J3 extension function. Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PX17] control Machine Machine Machine Low-pass Command Command resonance resonance resonance filter filter pulse train suppression suppression suppression...
Page 533 17. APPLICATION OF FUNCTIONS 1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Frequency Notch width...
Page 534 17. APPLICATION OF FUNCTIONS 2) Parameter a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 535 17. APPLICATION OF FUNCTIONS (b) Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or setting [Pr.
Page 536 17. APPLICATION OF FUNCTIONS (c) Advanced vibration suppression control II POINT This is enabled when "Gain adjustment mode selection" is "Auto tuning mode 2 (_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08]. The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz.
Page 537 17. APPLICATION OF FUNCTIONS 1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate. Servo motor side Servo motor side Load side Load side...
Page 538 17. APPLICATION OF FUNCTIONS 3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PX03] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
Page 539 17. APPLICATION OF FUNCTIONS 4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.
Page 540 17. APPLICATION OF FUNCTIONS a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment. Vibration suppression control 2 - Vibration frequency (anti-resonance frequency) [Pr. PX04] Vibration suppression control 2 - Resonance frequency [Pr. PX05] Gain characteristics 1 Hz 300 Hz...
Page 541 17. APPLICATION OF FUNCTIONS (b) Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
Page 542 17. APPLICATION OF FUNCTIONS (c) Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Page 543 17. APPLICATION OF FUNCTIONS 2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia PB06 Load to motor inertia PB29 GD2B Load to motor inertia ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass ratio ratio...
Page 544 17. APPLICATION OF FUNCTIONS a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio/load to motor mass ratio, position loop gain, speed loop gain, and speed integral compensation to be switched.
Page 545 17. APPLICATION OF FUNCTIONS (d) Gain switching procedure This operation will be described by way of setting examples. 1) When you choose switching by control command from the controller a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to 4.00 [Multiplier] motor mass ratio...
Page 546 17. APPLICATION OF FUNCTIONS Parameter Symbol Name Setting value Unit PX10 VRF23B Vibration suppression control 2 - 0.05 Vibration frequency damping after gain switching PX11 VRF24B Vibration suppression control 2 - 0.05 Resonance frequency damping after gain switching b) Switching timing chart Control command from controller After-switching gain...
Page 547 17. APPLICATION OF FUNCTIONS 2) When you choose switching by droop pulses In this case, the vibration suppression control after gain switching and model loop gain after gain switching cannot be used. a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to...
Page 548 17. APPLICATION OF FUNCTIONS 3) When the gain switching time constant is disabled a) Gain switching time constant disabled was selected. The gain switching time constant is disabled with this setting. The time constant is enabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
Page 549 17. APPLICATION OF FUNCTIONS (7) Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PX25 Tough drive setting]. (Refer to (2) of this section.) This function makes the equipment continue operating even under the condition that an alarm occurs. The vibration tough drive function and instantaneous power failure tough drive function are available with the J3 extension function.
Page 550 17. APPLICATION OF FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compares it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is Filter Setting parameter...
Page 551 17. APPLICATION OF FUNCTIONS (b) Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the immunity to instantaneous power failures using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
Page 552 17. APPLICATION OF FUNCTIONS 1) Instantaneous power failure time of control circuit power supply > [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr.
Page 553 17. APPLICATION OF FUNCTIONS 2) Instantaneous power failure time of control circuit power supply < [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. a) When the bus voltage decreases lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply [AL.
Page 554 SEMI-F47 standard with your equipment. The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test" of MR-J4 series. This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation.
Page 555 2) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows. Table 17.6 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power] Servo amplifier Bus voltage which triggers alarm MR-J4-10B(-RJ) 158 V DC MR-J4-700B(-RJ) MR-J4-11KB(-RJ)
Page 556 (instantaneous power failure voltage = rated voltage × 50%, instantaneous power failure time = 200 ms) Tolerance against Instantaneous maximum instantaneous Servo amplifier model output [W] power failure [W] (voltage drop between lines) MR-J4-10B(-RJ) MR-J4-20B(-RJ) MR-J4-40B(-RJ) 1400 MR-J4-60B(-RJ) 2100 MR-J4-70B(-RJ) 2625 1150...
Page 557 17. APPLICATION OF FUNCTIONS (9) Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.
Page 558 17. APPLICATION OF FUNCTIONS 4) Lost motion compensation timing ([Pr. PX41]) You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
Page 559 17. APPLICATION OF FUNCTIONS 4) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated.
Page 560 17. APPLICATION OF FUNCTIONS 17.2 Master-slave operation function Configure the circuit so that all the master and slave axes for the same machine are stopped by the controller forced stop at the moment of a stop of a master or slave axis due to such as a servo alarm.
Page 561 17. APPLICATION OF FUNCTIONS (1) Summary The master-slave operation function transmits a master axis torque to slave axes using driver communication and the torque as a command drives slave axes by torque control. Transmission of torque data from the master axis to slave axes is via SSCNET III/H. Additional wiring is not required.
Page 562 Therefore, the first amplifier from the controller via SSCNET III/H cable should be master axis. Master axis Slave axis 1 Slave axis 2 Slave axis 3 Controller MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) [Driver communication] [Driver communication] [Driver communication]...
Page 563 17. APPLICATION OF FUNCTIONS (4) Rotation direction setting Rotation directions can be different among a controller command, master axis, and slave axes. To align the directions, set [Pr. PA14] referring (4) of this section. Not doing so can cause such as an overload due to a reverse direction torque against machine system rotation direction.
Page 564 When a linear encoder is used as a scale measurement encoder for this servo amplifier, "Linear Encoder Instruction Manual" is necessary. When the scale measurement function is used for MR-J4-_B_ servo amplifiers, the following restrictions apply. However, these restrictions will not be applied for MR-J4-_B_-RJ servo amplifiers.
Page 565 17. APPLICATION OF FUNCTIONS (2) System configuration (a) For a linear encoder 1) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Two-wire type serial interface compatible linear encoder Position command Control signal To the next servo amplifier Load-side encoder signal...
Page 566 17. APPLICATION OF FUNCTIONS (b) For a rotary encoder 1) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Drive part Servo motor encoder signal Position command Control signal To the next servo amplifier (Note) (Note) Servo motor Two-wire type rotary encoder...
Page 567 MR-J4-_B_ MR-J4-_B_-RJ Use a two-wire type encoder cable for MR-J4-_B_ servo amplifiers. Do not use MR-EKCBL30M-L, MR- EKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type. When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to appendix 9.
Page 568 17. APPLICATION OF FUNCTIONS 2) MR-J4-_B_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in 1) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder. Servo amplifier Encoder of rotary servo motor...
Page 569 17. APPLICATION OF FUNCTIONS (4) MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m (Note 1) (Note 2) MOTOR Plate...
Page 570 0: Two-wire type 1: Four-wire type When using an encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using an MR-J4-_B_ servo amplifier will trigger [AL. 37]. 17 - 69...
Page 571 17. APPLICATION OF FUNCTIONS Select a polarity of the scale measurement encoder with the following "Load-side encoder pulse count polarity selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgement function" of [Pr. PC27] as necessary. POINT "Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14 Rotation direction selection].
Page 572: App. 1 Peripheral Equipment Manufacturer (For Reference)
APPENDIX App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of February 2015. Manufacturer Reference NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. J.S.T. Mfg. Co., Ltd. Junkosha Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch SEIWA ELECTRIC Seiwa Electric Mfg.
Page 573 APPENDIX (a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following: attachment of a handling label, submission of the Shipper's Declaration for Dangerous Goods, and a 1.2 m drop test. (b) A battery handling label (size: 120 mm ×...
Page 574: App. 3 Symbol For The New Eu Battery Directive
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function) STO function (Refer to IEC 61800-5-2: 2007 4.2.2.2 STO.) MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier.
Page 575 Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.3 for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
Page 576 (Note 3) MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/MR-J4-60_(4)/ 14/14 14/14 MR-J4-70_/MR-J4-100_(4)/MR-J4-200_(4)/MR-J4-350_4 14/14 14/14 MR-J4-350_ 12/12 12/12 MR-J4-500_ (Note 1) 10: a/10: a 14: c/14: c 10: b/10: b MR-J4-700_ (Note 1) 8: b/8: b 12: a/12: a 8: b/8: b MR-J4-11K_ (Note 1) 6: d/4: f...
Page 577 Molded-case circuit breaker (240 V AC) Fuse (300 V) MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_ (T)/MR-J4-70_ (T)/ NF50-SVFU-5A (50 A frame 5 A) 10 A MR-J4W2-22B (T) MR-J4-60_ (S) /MR-J4-70_ (S) /MR-J4-100_/MR-J4W2-22B (S)/ MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/ NF50-SVFU-10A (50 A frame 10 A) 15 A MR-J4W3-444B (T) MR-J4-200_/MR-J4W2-44B (S) /MR-J4W2-1010B...
Page 578 (2004/108/EC), and Low-voltage directive (2006/95/EC). (a) EMC requirement MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires (max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m), use shielded wires and ground the shields.
Page 579 This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14. (a) Installation The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet.
Page 580 APPENDIX App. 4.2.5 Residual risk (1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. (2) Perform all risk assessments and safety level certification to the machine or the system as a whole. (3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum.
Page 581 Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. For MR-J4-500_, the clearance on the left side will be 25 mm or more. App. - 10...
Page 582 Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction. The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards. (1) 3-phase input for MR-J4 1-axis servo amplifier Servo amplifier (3-phase...
Page 583 The control circuit connectors described by rectangles are safely separated from the main circuits described by circles. The connected motors will be limited as follows. (1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) (2) Using a servo motor complied with IEC60034-1 and Mitsubishi Electric encoder (OBA, OSA) App. - 12...
Page 584 APPENDIX App. 4.5 Signal App. 4.5.1 Signal The following shows MR-J4-10B signals as a typical example. STO I/O signal connector DOCOM STO1 STOCOM DICOM TOFB1 STO2 TOFCOM TOFB2 DICOM App. 4.5.2 I/O device Input device Symbol Device Connector Pin No.
Page 585 For repair and parts replacement, contact your local sales office. App. 4.6.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws. Tightening torque [N•m] Servo amplifier MR-J4-10_(1)/MR-J4-20_(1)/ MR-J4-40_(1)/MR-J4-60_/ MR-J4-70_/MR-J4-100_/ MR-J4-200_/MR-J4-350_ MR-J4-500_ MR-J4-700_...
Page 586 (Note 2) Battery life 5 years from date of manufacture Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET. For details and other battery backup time, refer to chapter 12. 2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.
Page 587 APPENDIX App. 4.7 Transportation and storage Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Do not hold the front cover to transport the servo amplifier. Otherwise, it may drop.
Page 588 380 V AC to 480 V AC, voltage) 50 Hz/60 Hz 50 Hz/60 Hz 24 V DC, (required current capacity: MR-J4-_A, 500 mA; MR-J4-_B, 300 mA; MR-J4W2-_B, Interface (SELV) 350 mA; MR-J4W3-_B, 450 mA) Control method Sine-wave PWM control, current control method...
Page 589 73 ± 0.3 App. 4.9 Check list for user documentation MR-J4 installation checklist for manufacturer/installer The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items.
Page 590: App. 5 Mr-J3-D05 Safety Logic Unit
SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating. The delay time can be set with MR-J3-D05. The purpose of this function is as follows. This function is available by using an MR-J4 series servo amplifier with MR-J3-D05.
Page 591 (4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.
Page 592 APPENDIX (7) Perform all risk assessments and safety level certification to the machine or the system as a whole. It is recommended that a Certification Body final safety certification of the system be used. (8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as deemed necessary by the applicable safety standard.
Page 593 APPENDIX App. 5.7 Functions and configuration App. 5.7.1 Summary MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO function. App. 5.7.2 Specifications Safety logic unit model MR-J3-D05 Voltage 24 V DC Permissible Control circuit 24 V DC ±...
Page 594 APPENDIX App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier (1) System configuration diagram The following shows the connection targets of the STO switch and STO release switch. POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
Page 595 APPENDIX (2) Connection example 24 V DC RESA RESB MR-J3-D05 (Note) (Note) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- MR-J4_B_(-RJ) SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B-...
Page 596 APPENDIX App. 5.8 Signal App. 5.8.1 Connector/pin assignment (1) CN8A Device Symbol Pin No. Function/application division A-axis STO1 STO1A- Outputs STO1 to A-axis driving device. STO1A+ Outputs the same signal as A-axis STO2. STO state (base shutdown): Between STO1A+ and STO1A- is opened. STO release state (in driving): Between STO1A+ and STO1A- is closed.
Page 597 APPENDIX (4) CN10 Device Symbol Function/application division A-axis SDI2A+ Connect this device to a safety switch for A-axis driving device. DI-1 shutdown 2 SDI2A- Input the same signal as A-axis shutdown 1. STO state (base shutdown): Open between SDI2A+ and SDI2A-. STO release state (in driving): Close between SDI2A+ and SDI2A-.
Page 598 APPENDIX (b) Digital output interface DO-1 This is a circuit of collector output terminal of the output transistor. When the output transistor is turned on, collector terminal current will be applied for the output. A lamp, relay or photocoupler can be driven.
Page 599 APPENDIX App. 5.8.3 Wiring CN9 and CN10 connectors Handle with the tool with care when connecting wires. (1) Wire strip (a) Use wires with size of AWG 24 to 20 (0.22 mm to 0.5 mm ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm ±...
Page 600 APPENDIX 2) Connecting wires a) Confirm the model number of the housing, contact and tool to be used. b) Insert the tool diagonally into the receptacle assembly. c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
Page 601 APPENDIX (b) Using a screwdriver To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force. Be cautious when connecting. 1) Adjusting screw driver Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm Length: 120 mm or less Length: 120 mm or less Width: 2.3 mm...
Page 602 APPENDIX (3) Connector insertion Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged. (4) Compatible wire Compatible wire size is listed below.
Page 603 APPENDIX App. 5.9 LED display I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis. Definition Column A Column B Monitor LED for start/reset SRES Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on.
Page 604 APPENDIX App. 5.11 Troubleshooting When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action. Event Definition Cause Action Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
Page 605 APPENDIX App. 5.12 Dimensions [Unit: mm] 22.5 19.5 Approx. 22.5 Approx. 80 9.75 5 mounting hole Rating plate 9.75 2-M4 screw Mounting hole process drawing Mounting screw Pin assignment CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B STO2A- STO2A+...
Page 606 APPENDIX App. 5.13 Installation Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet. Cabinet Cabinet Cabinet 100 mm or longer 40 mm or 80 mm or longer 10 mm or longer for wiring...
Page 607 APPENDIX Product Model Description Connector MR-J3-D05 attachment connector Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8 (TE Connectivity) (TE Connectivity) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Cable length: 3 m (TE Connectivity) COMPLIANCE WITH THE MACHINERY DIRECTIVES The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery). App.
Page 608: App. 6 Ec Declaration Of Conformity
APPENDIX App. 6 EC declaration of conformity The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive. App. - 37...
Page 609 APPENDIX App. - 38...
Page 610: App. 7 How To Replace Servo Amplifier Without Magnetic Pole Detection
(2) Migration method of the magnetic pole information (a) How to read the magnetic pole information from the servo amplifier before the replacement 1) Open the project in MR Configurator2, select "MR-J4-B" for model, and select "Linear" for operation mode.
Page 611: App. 8 Two-Wire Type Encoder Cable For Hg-Mr/Hg-Kr
App. 8 Two-wire type encoder cable for HG-MR/HG-KR Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_B_ servo amplifiers. For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.
Page 612 APPENDIX App. 8.2 Connector set Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector MR-ECNM Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9 Shell kit: 36310-3200-008 (Molex) Connector pin: 170359-1 (3M) (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) MRR BAT P5 MR CONT...
Page 613: App. 10 Analog Monitor
APPENDIX App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable.
Page 614 APPENDIX (2) Setting POINT When you use a linear servo motor, replace the following left words to the right words. → (linear servo motor) speed (servo motor) speed → Positive direction CCW direction → Negaative direction CW direction → Thrust Torque The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2).
Page 615 APPENDIX Setting Setting Output item Description Output item Description value value Feedback position Feedback position CCW direction CCW direction 10 [V] 10 [V] (Note 1, 2, 3) (Note 1, 2, 3) (±10 V/1 Mpulse) (±10 V/10 Mpulse) 1 [Mpulse] 10 [Mpulse] 1 [Mpulse] 10 [Mpulse] -10 [V]...
Page 616 APPENDIX Note 1. Encoder pulse unit. 2. Available in position control mode 3. This cannot be used in the torque control mode. 4. This can be used with MR Configurator2 with software version 1.19V or later. 5. This cannot be used in the speed control mode. 6.
Page 617 APPENDIX (b) Fully closed loop control Speed Speed Current Droop pulses Bus voltage command command 2 command Current Servo Differ- encoder motor Speed entiation command Position Load-side Position Speed Current command encoder control control control Encoder inside temperature Current feedback Encoder Servo motor Differ-...
Page 618: App. 11 Special Specification
App. 11.1.1 Summary This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_B_(-RJ). App. 11.1.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 619 App. 11.2.1 Summary This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_B_(-RJ). App. 11.2.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 620: App. 12 Driving On/Off Of Main Circuit Power Supply With Dc Power Supply
APPENDIX App. 12 Driving on/off of main circuit power supply with DC power supply App. 12.1 Connection example The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3. Malfunction EMG stop switch Servo amplifier...
Page 621 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. Magnetic Magnetic Servo amplifier Servo amplifier contactor contactor MR-J4-10B(-RJ) MR-J4-60B4(-RJ) MR-J4-20B(-RJ) MR-J4-100B4(-RJ) SD-N11 MR-J4-40B(-RJ) MR-J4-200B4(-RJ) SD-N11...
Page 622 REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030106-A First edition Jun. 2012 SH(NA)030106-B 4. Additional instructions The sentences are added. (2) Wiring 4. Additional instructions The sentences are added. (3) Test run and adjustment COMPLIANCE WITH CE The reference is changed.
Page 623 The pin number is changed and Note is deleted. Appendix. 7.8.1 (2) CAUTION is deleted. Appendix. 7.8.2 The sentences are changed. Appendix. 7.12 The diagram is added. Appendix. 7.14 POINT is changed. Appendix. 8 TUV certificate of MR-J4 series is added.
Page 624 Section 13.4.2 (1) The diagram is changed. Feb. 2013 SH(NA)030106-D HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ servo amplifier are added. Safety Instructions 4 (1) Two items are added to CAUTION. Safety Instructions 4 (2) The diagram in CAUTION is changed.
Page 625 Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 4.1.2 (1) (b) 5) Newly added. Section 4.1.2 (1) (c) 1) The sentences are changed. Section 4.1.2 (1) (c) 2) The sentences are changed. Section 4.1.2 (1) (c) 4) Newly added. Section 4.1.2 (5) Newly added.
Page 626 The connection diagram is changed. Section 14.1.1 The software version of MR Configurator2 is changed. Section 14.1.2 (2) The connections of MR-J4-_B-RJ servo amplifiers are added. Section 14.2 The diagram in CAUTION is changed. Section 14.3.2 (1) The sentences of Note are changed.
Page 627 Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 16.2.3 (2) The composition is changed due to addition of MR-J4_B-RJ servo amplifier. Section 16.3.1 (1) The startup procedure is changed. Section 16.3.1 (3), (4) Newly added. Section 16.3.1 (6) The content of the table is added. Section 16.3.1 (7) The [Pr.
Page 628 Print Data *Manual Number Revision Aug. 2013 SH(NA)030106-E Section 11.3.3 (1) (a) Note 3 is changed. Section 11.3.3 (1) (b) Note 3 is changed. Section 11.3.3 (2) (a) Note 3 is changed. Section 11.4 POINT is added. Section 11.4 (2) Note 4 is changed.
Page 629 Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F Section 7.1.3 POINT is added. Section 7.3 The sentences are added. Section 7.3.1 (2) The content of the table is changed. Section 7.3.2 (1) Note is added. Section 7.3.2 (2) (a), (b) The sentences are changed and note is added.
Page 630 The content of the table is added. App. 10 (2) Note 7 is added. Mar. 2014 SH(NA)030106-G 100 V class MR-J4 series servo amplifiers are added. Section 1.2 (3) Newly added. Section 1.3 (1) Note 11 is added. Section 1.3 (3) Newly added.
Page 631 Print Data *Manual Number Revision Mar. 2014 SH(NA)030106-G Section 5.2.2 The sentences of [Pr. PB24] are added. Section 5.2.3 The content of [Pr. PC09] is added. Section 7.1.1 (1) Caution for the table is changed. Section 7.2.3 (1) The title is changed. Section 7.3.1 (2) Caution for the table is changed.
Page 632 Print Data *Manual Number Revision Jan. 2015 SH(NA)030106-H Section 3.1.2 The diagram is changed. Note is added. Section 3.3.2 POINT is changed. Section 3.3.3 (2) (a) The sentences are changed. Section 3.5.2 (2) The content of the table is changed. Section 3.10.1 CAUTION is added.
Page 633 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 634 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries.
Page 635 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 636 MODEL MR-J4-B INSTRUCTIONMANUAL MODEL 1CW805 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030106-J (1502) MEE Printed in Japan Specifications are subject to change without notice.
Page 638 Phone: +1 (847) 478-2100 Fax: +36 (0)1 / 431-9727 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

Mitsubishi Electric MR-J4 Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Startup

5 Parameters

6 Normal Gain Adjustment

7 Special Adjustment Functions

8 Troubleshooting

9 Outline Drawings

10 Characteristics

11 Options and Peripheral Equipment

13 Using Sto Function

12 Absolute Position Detection System

16 Fully Closed Loop System

17 Application of Functions

Appendix

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MR-J4