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Mitsubishi Electric Melservo MR-J5-A User Manual
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Mitsubishi Electric Melservo MR-J5-A User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5-A
User's Manual
(Introduction)
-MR-J5-_A_

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Summary of Contents for Mitsubishi Electric Melservo MR-J5-A

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-A User's Manual (Introduction) -MR-J5-_A_...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

  • Page 4: Disposal Of Waste

    [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

  • Page 5: About The Manual

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

  • Page 6: U.s. Customary Units

    Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr.

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE .
  • Page 8 CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items ............... . 64 Periodic inspection .

  • Page 9: Chapter 1 Specifications

    SPECIFICATIONS Outline MR-J5-_A_ is a servo amplifier that is used with pulse train commands/analog voltage commands. Model designation Rating plate The following shows an example of the rating plate for explanation of each item. Serial number Model Capacity Applicable power supply Rated output Standard, manual number Ambient temperature...

  • Page 10: Servo Amplifier/Motor Combinations

    Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - - 6 0 A Special specification Series Symbol Special specification Rated output None Standard Symbol Rated output [kW] Compatible with load-side encoder A/B/Z-phase input/high-resolution analog input MR-J5-_A without the dynamic brake MR-J5-_A-RJ without the dynamic brake...

  • Page 11: Servo Amplifier Standard Specifications

    Servo amplifier standard specifications Model: MR-J5- 100A 200A 350A 500A 700A Output Voltage 3-phase 0 V AC to 240 V AC Rated current [A] 11.0 17.0 28.0 37.0 Main circuit power Voltage/ At AC 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/ 3-phase or 1- 3-phase 200 V AC to 240 V supply input...
  • Page 12 MR-J5-_A Mitsubishi Electric high-speed serial communication encoder interface MR-J5-_A-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection,...
  • Page 13 Environment Item Operation Transportation Storage Ambient 0 ˚C to 60 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) temperature Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) Class 1K4 (IEC 60721-3-1) Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) Ambience...

  • Page 14: Function Block Diagram

    Function block diagram The following shows the function block diagram of this servo amplifier. Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Diode Dynamic stack Relay brake circuit MCCB Current Power detector Regenerative supply Charge light Cooling fan Control circuit 24 V DC...

  • Page 15: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment Equipment other than the servo amplifier and servo motor is optional or a recommended product. The following is an example using MR-J5-20A-RJ. R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor...

  • Page 16: Special Specifications

    Special specifications Servo amplifiers without the dynamic brake (-ED/-RU) Summary This section describes the servo amplifiers without the dynamic brake. Items not described in this section are the same as the MR-J5-_A-(RJ). Specifications The built-in dynamic brakes of the servo amplifiers with capacity of 7 kW or less are removed. Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power supply shut-off.

  • Page 17: Chapter 2 Function

    FUNCTION Function list The function list of this servo amplifier is shown in the following table. For details of the functions, refer to each section indicated in the detailed explanation field. Control mode Functions Detailed functions Description Supported Detailed explanation firmware version Pulse/analog/DI...
  • Page 18 Position detection Functions Detailed functions Description Supported Detailed explanation firmware version  Control method Semi closed loop system This function uses the servo motor encoder to configure semi closed loop systems. Fully closed loop system This function uses the load-side encoder to Refer to "USING A FULLY configure fully closed loop systems.
  • Page 19 Control function Functions Detailed functions Description Supported Detailed explanation firmware version Vibration Advanced vibration suppression This function suppresses vibration and residual Refer to "Advanced vibration suppression control II vibration at an arm end. suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance suppression...
  • Page 20 Adjustment function Functions Detailed functions Description Supported Detailed explanation firmware version Automatic Quick tuning This function automatically adjusts the gain at Refer to "Quick tuning" in the adjustment servo-on in a short time without acceleration/ following manual. deceleration operation of the servo motor. MR-J5 User's Manual Response without overshoot is possible, saving (Adjustment)
  • Page 21 I/O, monitor Functions Detailed functions Description Supported Detailed explanation firmware version DI/DO Input signal selection (device This function assigns input devices such as LSP Refer to "Assigning I/O selection) (Forward rotation stroke end) to certain pins of devices" in the following the connector.
  • Page 22 Engineering tool Functions Detailed functions Description Supported Detailed explanation firmware version Page 44 STARTUP Setup software MR Configurator2 This function performs settings (such as servo parameter settings), test operation, and monitoring with a personal computer. Protective functions Functions Detailed functions Description Supported Detailed explanation...
  • Page 23 Functional safety Functions Detailed functions Description Supported Detailed explanation firmware version Single servo STO function This servo amplifier supports the STO function Refer to "USING STO amplifier function for functional safety as per IEC/EN 61800-5-2. FUNCTION" in the following This allows a safety system to be easily manual.
  • Page 24 Diagnostics Functions Detailed functions Description Supported Detailed explanation firmware version Drive data diagnosis Drive recorder This function continuously monitors the servo Refer to "Drive recorder" in status and records the state transition before the following manual. and after an alarm for a fixed period of time. The MR-J5 User's Manual recorded data can be checked by the (Function)

  • Page 25: Security

    Security To completely prevent unauthorized access to the system from external devices, the user also must take safety measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access. 2 FUNCTION 2.2 Security...

  • Page 26: Chapter 3 Structure

    STRUCTURE Parts identification MR-J5-_A_ The diagram shows MR-J5-10A-RJ. Inside of the display cover SFTY (11) (17) Side (12) (13) (14) (10) (16) (15) Bottom Name Application Detailed explanation Page 26 Switch setting and Display section The 5-digit, 7-segment LED display shows the servo status and alarm number.
  • Page 27 Name Application Detailed explanation I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin assignments" in the following manual. MR-J5 User's Manual (Hardware) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 25 External encoder connector Page 25 External encoder External encoder connector (CN2L)

  • Page 28: Switch Setting And Display Of The Servo Amplifier

    Switch setting and display of the servo amplifier Outline The MR-J5-_A_ servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 push buttons) for servo amplifier status display, alarm display, servo parameter setting, etc. Push the "MODE" and "SET" buttons at the same time for 3 s or longer to switch to the one-touch tuning mode. 5-digit, 7-segment LED Displays the data.
  • Page 29 Display mode transition Initial screen Functions Reference Page 38 Parameter Basic setting servo parameters The basic setting parameters can be displayed and set. mode Gain/filter servo parameters The gain/filter parameters can be displayed and set. Extension setting servo The extension setting parameters can be parameters displayed and set.

  • Page 30: Status Display

    Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press "UP" or "DOWN" to change display data as desired. When the servo status is selected, the corresponding symbol is displayed. Press "SET" to display its data. Only at power-on, the symbol of the status display selected with [Pr.
  • Page 31 Status display list Status display Symbol Unit Description Control Operation mode mode Semi Fully closed closed      Cumulative pulse The feedback pulses from a servo feedback pulses motor encoder are counted and displayed. The values in excess of ±99999 can be counted.
  • Page 32 Status display Symbol Unit Description Control Operation mode mode Semi Fully closed closed      Regenerative load The ratio of regenerative power to ratio permissible regenerative power is displayed in %.      Effective load ratio The continuous effective load current is displayed.
  • Page 33 Status display Symbol Unit Description Control Operation mode mode Semi Fully closed closed Number of tough times The number of times the tough      drive operations drive function has activated is displayed.     ...
  • Page 34 Status display Symbol Unit Description Control Operation mode mode Semi Fully closed closed      Load-side encoder pulse The Z-phase counter of the load- information 1 (1 side encoder is displayed in the pulse unit) encoder pulse unit. For an incremental linear encoder, the Z-phase counter is displayed.
  • Page 35 Status display Symbol Unit Description Control Operation mode mode Semi Fully closed closed Motor-side encoder If an incremental linear encoder is      information 2 used as the motor-side encoder, "0" is displayed. If an absolute position linear encoder is used as the motor-side encoder, "0"...
  • Page 36 Changing the status display screen The status display on the servo amplifier at power-on can be changed with [Pr. PC36]. For each control mode, the status display in the initial status changes as follows. Control mode Displayed items Position Cumulative feedback pulses Position/speed Cumulative feedback pulses/servo motor speed Speed...

  • Page 37: Diagnostic Mode

    Diagnostic mode Name Display Description Sequence Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred. Ready Indicates that initialization is completed, and the servo amplifier is in servo-on state and ready to operate. Drive recorder enabled/disabled The drive recorder is enabled.
  • Page 38 Name Display Description Analog command input 1 The analog command input 1 offset voltage can be adjusted automatically. automatic offset VC (Analog speed command)/VLA (Analog speed limit) is set as the initial value. Zero-adjustment of the offset voltage is performed automatically when the offset voltage of the internal and external analog circuits of the servo amplifier causes the servo motor to operate slowly, even though VC (Analog speed command) or VLA (Analog speed limit) is set to 0 V.

  • Page 39: Alarm Mode

    Alarm mode The current alarm, past alarm history, and servo parameter error are displayed. The lower 3 digits on the display indicate the alarm No. that has occurred or the servo parameter No. in error. Name Display Description Current alarm Indicates no occurrence of an alarm.

  • Page 40: Parameter Mode

    Functions at alarm occurrence • The current alarm is displayed in any mode. • Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the fifth digit remains blinking. •...
  • Page 41 Operation method ■Servo parameter in hexadecimal The operation method example is shown below when [Pr. PD03 Input device selection 1L] is set to "00022002". Press "MODE" to switch to the basic setting parameter screen. The servo parameter number is displayed. Press "UP"...

  • Page 42: External I/O Signal Display

    When the value of the servo parameter is negative, a minus is displayed in the first digit. The example for in the case of "- 1234567890" is displayed. Press the "MODE" button once. Press the "MODE" button once. Press the "MODE" button once. External I/O signal display The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

  • Page 43: Output Signal (Do) Forced Output

    Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Execute this operation under the servo off status (SON (servo-on) has been turned off). Precautions •...
  • Page 44 Mode switching The display screen after power-on is shown. Select JOG operation or motor-less operation in the following procedure. Press "MODE" to display the diagnostic screen. Press "UP" four times. Press the "SET" button for 2 s or more. When this screen appears, JOG operation can be performed. The decimal point of the last digit blinks.
  • Page 45 Positioning operation Positioning operation can be performed when there is no command from the controller. Operate the motor using the Positioning Mode screen of MR Configurator2. Refer to the following for details. Page 59 Positioning operation The status display can be checked in the display section during positioning operation. Press "MODE" in the positioning operation-ready status to call the status display screen.

  • Page 46: Chapter 4 Startup

    STARTUP • MR-J5-_A_ servo amplifiers can be set with MR Configurator2 with software version 1.100E or later. • This chapter explains how to start up the servo amplifier by using MR Configurator2 with software version 1.100E. • Before starting operation, check each servo parameter. Depending on the machine, an unexpected operation may occur.
  • Page 47 Selecting "Parameter" from the project tree opens the "Parameter Setting" screen. Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings. 4 STARTUP...
  • Page 48 After changing the servo parameter, click "Selected Items Write" or "Axis Writing". Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset. 4 STARTUP...

  • Page 49: Turning On Servo Amplifier For The First Time

    Turning on servo amplifier for the first time • For the controller settings, refer to the relevant controller manual. • For the gain adjustment, refer to the following. MR-J5 User's Manual (Adjustment) When turning on the servo amplifier for the first time, follow the steps below. Procedure Description Reference...

  • Page 50: Test Operation Of The Servo Motor Alone In Test Operation Mode

    Test operation of the servo motor alone in test operation mode • If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2). Check that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly.

  • Page 51: Equipment Configuration Setting

    Equipment configuration setting Set the servo parameters for each function according to the equipment configuration. Refer to the following for details. MR-J5 User's Manual (Function) Item Description Rotation/travel direction selection To change the rotation/travel direction (POL), change the servo parameter. Stroke limit function Limit switches can be used to limit travel intervals of the servo motor.

  • Page 52: Operation By Controller Command

    Operation by controller command Perform operation for each operation mode in accordance with the instructions shown in this chapter. Position control mode ■Instructions for power-on Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the following instructions on power-on.
  • Page 53 Speed control mode ■Instructions for power-on Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the following instructions on power-on. Page 54 Instructions for power-on Turn off SON (Servo-on). Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.
  • Page 54 Torque control mode ■Instructions for power-on Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the following instructions on power-on. Page 54 Instructions for power-on Turn off SON (Servo-on). Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.
  • Page 55 Checking the operation status After the operation by controller command, confirm that the servo motor can be operated properly in accordance with the following procedure. Display the Display All window in MR Configurator2. Confirm that there is no error in the items such as servo motor speed and load ratio.

  • Page 56: Instructions On Startup

    Instructions on startup Instructions for power-on • When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm.
  • Page 57 Startup sequence Fault Investigation Possible cause Reference Page 28 Status Operation of the servo The servo motor does Check the cumulative command 1. The wiring is incorrect. motor alone by not operate. pulses on the status display. • For the open collector pulse display command train input, 24 V DC power is...
  • Page 58 Investigating the cause of a position mismatch Controller Servo amplifier Machine (a) Output pulse counter Servo motor Electronic gear [Pr. PA05], [Pr. PA06], (d) Machine stop [Pr. PA07], [Pr. PA21] position M (b) Cumulative Cause B Cause A command pulses SON (Servo-on) input LSP/LSN (Stroke end) input Encoder...

  • Page 59: Duplicate Setting

    Duplicate setting Servo amplifier parameters for which setting has been completed can be copied to another servo amplifier. Use this function when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up multiple devices with the same configuration. Restrictions ■The following data is not duplicated.

  • Page 60: Motor Driving By Test Operation

    Motor driving by test operation JOG operation The JOG operation can be performed when there is no command from the controller. The motor can be operated at the specified speed. Operate the motor using the JOG Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed and acceleration/deceleration time constants for JOG operation.
  • Page 61 Positioning operation Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr.
  • Page 62 Program operation Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2. Open the Program Operation screen of MR Configurator2. Item Screen operation Program display...

  • Page 63: Motor-Less Operation

    Motor-less operation • The motor-less operation cannot be used in the linear servo motor control mode or direct drive motor control mode. Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running.

  • Page 64: Output Signal (Do) Forced Output

    Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2. Each output signal can be turned on/off by clicking the ON/OFF button next to its name.

  • Page 65: Servo Amplifier Setting Initialization

    Servo amplifier setting initialization Servo amplifier settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2). However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not initialized.

  • Page 66: Chapter 5 Maintenance, Inspection And Parts Replacement

    MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items • Do not disassemble, repair, or modify the product. • For repair and parts replacement, contact your local sales office. • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the servo amplifier. Periodic inspection Perform the following inspections.

  • Page 67: Parts With A Service Life

    Parts with a service life The service life of the following parts is listed below. In addition, the service life varies depending on the operating methods and environment. If any fault is found in a part, it is necessary to replace it immediately regardless of its service life. For parts replacement, please contact your local sales office.

  • Page 68: Replacing Fan Unit

    Replacing fan unit The internal circuits of the servo amplifier may be damaged by static electricity. Take the following precautions. • Ensure that the work bench and your body are grounded. • Do not directly touch conductive areas such as the connector pins and electrical parts. The fan unit is composed of a cooling fan and its cover.

  • Page 69: Chapter 6 Compliance With Global Standards

    COMPLIANCE WITH GLOBAL STANDARDS Compliance with global standards Refer to the following manual for information about compliance with global standards. Safety Instructions and Precautions for MR-J5 AC Servos (IB(NA)0300391) Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods Rev.
  • Page 70 ■Transportation precaution for customers For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric is also required.

  • Page 71: Symbol For The New Eu Battery Directive

    • This mark is valid only in EU. This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused.

  • Page 72: Compliance With China Compulsory Certification (Ccc)

    Some products are required to comply with China Compulsory Certification (hereinafter referred to as CCC) if exported, distributed, or sold to China. An outline of CCC is explained in this section. Mitsubishi Electric servo products are not subject to CCC.

  • Page 73: Compliance With The China Rohs Directive

    Compliance with the China RoHS directive Outline The China RoHS directive: (Management Methods for Controlling Pollution by Electronic 电子信息产品污染控制管理办法 Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: (Management Methods for the Restriction of the Use of 电器电子产品有害物质限制使用管理办法...
  • Page 74 Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive.
  • Page 75 MEMO 6 COMPLIANCE WITH GLOBAL STANDARDS 6.5 Compliance with the China RoHS directive...

  • Page 76: Revisions

    Section 1.3, Section 1.7, Section 6.4 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 77: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 78: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030296ENG-C...
  • Page 80 SH(NA)-030296ENG-C(2007)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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