Page 1 General-Purpose AC Servo General-Purpose Interface/SSCNET /H Interface MODEL MR-J4-_A4(-RJ) MR-J4_B4(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2 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 or inspection, 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 3. To prevent injury, note the following CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
Page 5 CAUTION When you disinfect or protect wooden packing from insects, take measures except by fumigation. Fumigating the servo amplifier or packing the servo amplifier with fumigated wooden packing can cause a malfunction of the servo amplifier due to halogen materials (such as fluorine, chlorine, bromine, and iodine) which are contained in fumigant.
Page 6 (4) Usage CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition. Do not disassemble, repair, or modify the equipment. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart.
Page 7 You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual No. MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos (packed with the IB(NA)0300197 servo amplifier) MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol.
Page 8 This Instruction Manual does not describe the following items. These items are the same as those for MR- J4-_A(-RJ) or MR-J4-_B(-RJ) servo amplifier. For details of the items, refer to each chapter/section of the detailed explanation field. Model Item Detailed explanation MR-J4-_A4(-RJ) Normal gain adjustment MR-J4-_A(-RJ) Servo Amplifier Instruction Manual...
Page 9 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-40 1.1 Function block diagram........................1- 2 1.1.1 For MR-J4-_A4(-RJ)........................1- 2 1.1.2 For MR-J4-_B4(-RJ)........................1- 6 1.2 Servo amplifier standard specifications .................... 1-10 1.2.1 For MR-J4-_A4(-RJ)........................1-10 1.2.2 For MR-J4-_B4(-RJ)........................1-12 1.3 Combinations of servo amplifiers and servo motors.................
Page 11 6.2.2 Troubleshooting at power on...................... 6-15 7. DIMENSIONS 7- 1 to 7-16 7.1 MR-J4-_A4(-RJ)..........................7- 2 7.2 MR-J4-_B4(-RJ)..........................7- 9 8. CHARACTERISTICS 8- 1 to 8- 8 8.1 Overload protection characteristics ....................8- 1 8.2 Power supply capacity and generated loss ..................8- 3 8.3 Dynamic brake characteristics......................
Page 12 APPENDIX App.- 1 to App.-22 App. 1 Compliance with global standards................... App.- 1 App. 2 Analog monitor ........................App.-14 App. 3 Compliance with SEMI-F47 standard..................App.-22...
Page 13 MEMO...
Page 14: Functions And Configuration
Removal and reinstallation of the front cover MR-J4-_B(-RJ) Servo Amplifier Instruction Manual section 1.7.2 In MELSERVO-J4 series, servo amplifiers with CN2L connector are also available as MR-J4-_A4-RJ and MR-J4-_B4-RJ. By using CN2L connector, an A/B/Z-phase differential output type external encoder can be connected to the servo amplifier.
Page 15: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.1 Function block diagram The function block diagram of this servo is shown below. 1.1.1 For MR-J4-_A4(-RJ) POINT The diagram shows for MR-J4-A4-RJ as an example. MR-J4-_A4 servo amplifier does not have CN2L connector. 1 - 2...
Page 16 1. FUNCTIONS AND CONFIGURATION (1) MR-J4-350A4(-RJ) or less (Note 5) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor P4 (Note 3) Dynamic Diode brake Relay stack circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan (Note 2)
Page 17 1. FUNCTIONS AND CONFIGURATION (2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ) (Note 4) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor P4 (Note 2) Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic 24 V DC...
Page 18 1. FUNCTIONS AND CONFIGURATION (3) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ) (Note 5) External Power factor regenerative resistor (Note 4) improving regenerative option DC reactor External dynamic brake (optional) Servo amplifier P3 Servo motor P4 (Note 2) Diode Thyristor stack MCCB (Note 1) Current Power Regene- detector supply...
Page 19: For Mr-J4-_B4(-Rj)
1. FUNCTIONS AND CONFIGURATION 1.1.2 For MR-J4-_B4(-RJ) POINT The diagram shows for MR-J4-B4-RJ as an example. MR-J4-_B4 servo amplifier does not have CN2L connector. 1 - 6...
Page 20 1. FUNCTIONS AND CONFIGURATION (1) MR-J4-350B4(-RJ) or less (Note 5) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor P4 (Note 3) Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan (Note 2)
Page 21 1. FUNCTIONS AND CONFIGURATION (2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) (Note 4) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor P4 (Note 2) Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic 24 V DC...
Page 22 1. FUNCTIONS AND CONFIGURATION (3) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ) (Note 5) External Power factor regenerative resistor (Note 4) improving DC reactor regenerative option External dynamic brake (optional) Servo amplifier Servo motor P4 (Note 2) Diode Thyristor stack MCCB (Note 1) Current Power Regene- detector supply rative...
Page 23: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications 1.2.1 For MR-J4-_A4(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4 Model: MR-J4- (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) Rated voltage 3-phase 323 V AC Output Rated current 14.0 17.0 32.0...
Page 24 1. FUNCTIONS AND CONFIGURATION 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4 Model: MR-J4- (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) Standards certified by EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2 Response performance 8 ms or less (STO input off →...
Page 25: For Mr-J4-_B4(-Rj)
1. FUNCTIONS AND CONFIGURATION 1.2.2 For MR-J4-_B4(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Model: MR-J4- (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) 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...
Page 26: Combinations Of Servo Amplifiers And Servo Motors
1. FUNCTIONS AND CONFIGURATION 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Model: MR-J4- (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) Ambient Operation 0 ˚C to 55 ˚C (non-freezing) temperature Storage -20 ˚C to 65 ˚C (non-freezing) Operation Ambient 90 %RH or less (non-condensing)
Page 27: Model Designation
1. FUNCTIONS AND CONFIGURATION 1.4 Model designation (1) Rating plate AC SERVO SER.A31001001 Serial number MODEL MR-J4-60A4 Model Capacity POWER : 600W Applicable power supply INPUT : 3AC380-480V 1.4A 50/60Hz Rated output power OUTPUT : 3PH323V 0-360Hz 1.5A Standard, Manual number STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300197 Max.
Page 28 1. FUNCTIONS AND CONFIGURATION (a) For MR-J4-200A4(-RJ) or less The diagram is for MR-J4-60A4-RJ. Detailed Name/Application explanation Display MR-J4-_A The 5-digit, seven-segment LED shows the servo section 4.5 status and the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations.
Page 29 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350A4(-RJ) Detailed Name/Application The broken line area is the same as explanation MR-J4-200A4(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.1 Connect the input power supply. Rating plate Section 1.4 Control circuit power supply connector (CNP2) Connect the control circuit power supply and regenerative option.
Page 30 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500A4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual". The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less.
Page 31 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700A4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual". The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less.
Page 32 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual". The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less.
Page 33 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KA4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual". The broken line area is the same as Detailed Name/Application MR-J4-200A4(-RJ) or less.
Page 34 1. FUNCTIONS AND CONFIGURATION (2) For MR-J4-_B4(-RJ) "MR-J4-_B" means "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual". (a) MR-J4-200B4(-RJ) or less The diagram is for MR-J4-60B4-RJ. Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and the alarm number. Axis selection rotary switch (SW1) MR-J4-_B Used to set the axis No.
Page 35 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 3.2 Connect the input power supply. Rating plate Section 1.4 Control circuit power supply connector (CNP2) Connect the control circuit power supply and regenerative option.
Page 36 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500B4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual". Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less.
Page 37 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700B4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual". Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less.
Page 38 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual". Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less.
Page 39 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KB4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual". Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less.
Page 40: Configuration Including Peripheral Equipment
1. FUNCTIONS AND CONFIGURATION 1.6 Configuration including peripheral equipment Connecting a servo motor for different 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 41 1. FUNCTIONS AND CONFIGURATION Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. 2.
Page 42 1. FUNCTIONS AND CONFIGURATION (2) MR-J4-350A4(-RJ) R S T (Note 2) Power supply Personal Molded-case computer circuit breaker MR Configurator2 (MCCB) (Note 3) Magnetic contactor (MC) Analog monitor (Note 1) Personal computer and others To safety relay or MR-J3-D05 safety logic unit Line noise filter (FR-BSF01)
Page 43 1. FUNCTIONS AND CONFIGURATION (3) MR-J4-500A4(-RJ) R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Power factor Analog monitor improving DC reactor Personal computer and others (FR-HEL-H) To safety relay or Line noise filter MR-J3-D05 safety...
Page 44 1. FUNCTIONS AND CONFIGURATION (4) MR-J4-700A4(-RJ) R S T (Note 2) Power supply Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Analog monitor Magnetic contactor Personal computer and others (MC) To safety relay or (Note 1) MR-J3-D05 safety logic unit Line noise filter (FR-BLF)
Page 45 1. FUNCTIONS AND CONFIGURATION (5) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ) Personal computer R S T MR Configurator2 (Note 2) Power supply Molded-case circuit breaker (MCCB) Analog monitor Personal computer and others (Note 3) To safety relay or Magnetic MR-J3-D05 safety contactor logic unit (MC) (Note 1) Junction terminal block Line noise filter...
Page 46 1. FUNCTIONS AND CONFIGURATION (6) MR-J4-22KA4(-RJ) Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Analog monitor Personal computer and others To safety relay or (Note 3) MR-J3-D05 safety Magnetic logic unit contactor (MC) (Note 1) Junction terminal block Line noise filter...
Page 47: For Mr-J4-_B4(-Rj)
1. FUNCTIONS AND CONFIGURATION 1.6.2 For MR-J4-_B4(-RJ) (1) MR-J4-200B4(-RJ) or less The diagram is for MR-J4-60B4-RJ and MR-J4-100B4-RJ. R S T (Note 2) Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Junction terminal block To safety relay or...
Page 48 1. FUNCTIONS AND CONFIGURATION (2) MR-J4-350B4(-RJ) R S T (Note 2) Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Junction terminal block To safety relay or MR-J3-D05 safety Line noise filter logic unit (FR-BSF01) Servo system controller...
Page 49 1. FUNCTIONS AND CONFIGURATION (3) MR-J4-500B4(-RJ) R S T (Note 2) Power supply Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Magnetic contactor Junction terminal (MC) block (Note 1) Power factor improving DC To safety relay or reactor MR-J3-D05 safety (FR-HEL-H) logic unit...
Page 50 1. FUNCTIONS AND CONFIGURATION (4) MR-J4-700B4(-RJ) Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Junction terminal block (Note 3) Magnetic To safety relay or MR-J3-D05 safety contactor (MC) logic unit Servo system controller (Note 1) CN1A or previous servo...
Page 51 1. FUNCTIONS AND CONFIGURATION (5) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ) Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Junction terminal block (Note 3) To safety relay or Magnetic MR-J3-D05 safety contactor logic unit (MC) Servo system controller (Note 1) CN1A or previous servo...
Page 52 1. FUNCTIONS AND CONFIGURATION (6) MR-J4-22K4B(-RJ) Personal computer MR Configurator2 R S T (Note 2) Power supply Molded-case circuit breaker Junction terminal (MCCB) block To safety relay or MR-J3-D05 safety logic unit Servo system controller (Note 3) CN1A or previous servo Magnetic amplifier CN1B contactor...
Page 53 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 40...
Page 54: 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 them 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 55: Installation Direction And Clearances
2. INSTALLATION The items in the following table are the same as those for MR-J4-_A(-RJ) or MR-J4-_B(-RJ) servo amplifier. For details of the items, refer to each chapter/section of the detailed explanation field. Model Item Detailed explanation MR-J4-_A4(-RJ) Keep out foreign materials MR-J4-_A(-RJ) Servo Amplifier Instruction Manual section 2.2 Encoder cable stress...
Page 56 2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. Cabinet 100 mm or more 10 mm or more...
Page 57 2. INSTALLATION MEMO 2 - 4...
Page 58: 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 59 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 60: Mr-J4-_A4(-Rj)
3. SIGNALS AND WIRING 3.1 MR-J4-_A4(-RJ) 3.1.1 Input power supply circuit Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply.
Page 61 3. SIGNALS AND WIRING (1) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ) Malfunction Emergency stop switch (Note 11) Step-down Servo amplifier Servo motor transformer CNP1 (Note 10) (Note 6) MCCB CNP3 (Note 5) Motor 3-phase 380 V AC or 480 V AC (Note 9) (Note 1) CNP2 (Note 2)
Page 62 3. SIGNALS AND WIRING (2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ) Malfunction Emergency stop switch (Note 11) Step-down transformer Servo amplifier Servo motor (Note 6) MCCB (Note 10) 3-phase (Note 5) Built-in 380 V AC or Motor regenerative 480 V AC resistor (Note 2) (Note 9) (Note 10) (Note 3) Encoder...
Page 63 3. SIGNALS AND WIRING (3) MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ) Malfunction (Note 13) Cooling fan Emergency stop switch (Note 11) power supply Step-down External transformer Servo amplifier Servo motor dynamic brake (Note 6) (optional) MCCB (Note 15) 3-phase (Note 10) 380 V AC or Motor 480 V AC MCCB...
Page 64: Explanation Of Power Supply System
3. SIGNALS AND WIRING 3.1.2 Explanation of power supply system (1) Signal explanations POINT For the layout of connector and terminal block, refer to chapter 7 DIMENSIONS. Connection target Symbol Description (application) Supply the following power to L1, L2, and L3. Servo amplifier MR-J4-60A4(-RJ) to MR-J4-22KA4(-RJ) Main circuit power...
Page 65 3. SIGNALS AND WIRING (2) Power-on sequence POINT A voltage, output signal, etc. of analog monitor output may be irregular at power- (a) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, and L3).
Page 66 3. SIGNALS AND WIRING (3) Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 9.6. MR-J4-500A4(-RJ) or more do not have these connectors. Use the servo amplifier power supply connector for wiring CNP1, CNP2, and CNP3. (a) Connector Servo amplifier (Note)
Page 67 3. SIGNALS AND WIRING (b) Cable connection procedure 1) Fabrication on cable insulator Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Insulator Core Stripped length...
Page 68: Mr-J4-_B4(-Rj)
3. SIGNALS AND WIRING 3.2 MR-J4-_B4(-RJ) 3.2.1 Input power supply circuit Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply.
Page 69 3. SIGNALS AND WIRING (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 or 480 V AC (Note 10) (Note 1) CNP2...
Page 70 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 or Motor regenerative 480 V AC resistor (Note 2) (Note 10) (Note 11) (Note 3)
Page 71 3. SIGNALS AND WIRING (3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (Note 4) Malfunction (Note 14) (Note 12) Cooling fan Emergency stop switch Step-down power supply transformer External Servo amplifier Servo motor dynamic brake (Note 7) (optional) MCCB (Note 16) (Note 11) 3-phase 380 V AC or Motor 480 V AC...
Page 72: Explanation Of Power Supply System
3. SIGNALS AND WIRING 3.2.2 Explanation of power supply system (1) Signal explanations POINT For the layout of connector and terminal block, refer to chapter 7 DIMENSIONS. Connection target Symbol Description (application) Supply the following power to L1, L2, and L3. Servo amplifier MR-J4-60B4(-RJ) to MR-J4-22KB4(-RJ) Main circuit power...
Page 73 3. SIGNALS AND WIRING (2) Power-on sequence POINT A voltage, output signal, etc. of analog monitor output may be irregular at power- (a) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, and L3).
Page 74 3. SIGNALS AND WIRING (3) Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 9.6. MR-J4-500B4(-RJ) or more do not have these connectors. Use the servo amplifier power supply connector for wiring CNP1, CNP2, and CNP3. (a) Connector Servo amplifier (Note)
Page 75 3. SIGNALS AND WIRING (b) Cable connection procedure 1) Fabrication on cable insulator Refer to table 3.2 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Insulator Core Stripped length...
Page 76: Startup (Wiring Check)
4. STARTUP (WIRING CHECK) 4. STARTUP (WIRING CHECK) 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 CAUTION while power is on or for some time after power-off.
Page 77: Power Supply System Wiring
4. STARTUP (WIRING CHECK) 4.1 Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (1) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specifications.
Page 78: I/O Signal Wiring
4. STARTUP (WIRING CHECK) (b) When you use a regenerative option for 5 kW or more servo amplifiers The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal. A twisted cable should be used when wiring is over 5 m and under 10 m.
Page 79 4. STARTUP (WIRING CHECK) MEMO 4 - 4...
Page 80: 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 81 5. PARAMETERS Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PA25 OTHOV One-touch tuning - Overshoot permissible level MR-J4-_A PA26 *AOP5 Function selection A-5 0000h PA27 For manufacturer setting 0000h PA28 0000h PA29 0000h PA30 0000h PA31 0000h PA32 0000h...
Page 82 5. PARAMETERS Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain [Hz] MR-J4-_A switching PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after 0.00 gain switching PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping...
Page 83 5. PARAMETERS Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PC09 Internal speed command 5 [r/min]/ MR-J4-_A [mm/s] Internal speed limit 5 PC10 Internal speed command 6 [r/min]/ [mm/s] Internal speed limit 6 PC11 Internal speed command 7 [r/min]/ [mm/s] Internal speed limit 7...
Page 84 5. PARAMETERS Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PC55 For manufacturer setting PC56 PC57 0000h PC58 PC59 0000h PC60 *COPD Function selection C-D 0000h MR-J4-_A PC61 For manufacturer setting 0000h PC62 0000h PC63 0000h PC64 0000h PC65 0000h...
Page 85 5. PARAMETERS Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PD24 *DO2 Output device selection 2 000Ch MR-J4-_A PD25 *DO3 Output device selection 3 0004h PD26 *DO4 Output device selection 4 0007h PD27 For manufacturer setting 0003h PD28 *DO6 Output device selection 6...
Page 86 5. PARAMETERS Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PE23 For manufacturer setting 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - MR-J4-_A Numerator...
Page 87 5. PARAMETERS (6) Extension setting 3 parameters ([Pr. PF_ _ ]) Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PF01 For manufacturer setting 0000h PF02 0000h PF03 0000h PF04 PF05 PF06 0000h PF07 PF08 PF09 *FOP5 Function selection F-5 0000h MR-J4-_A PF10...
Page 88 5. PARAMETERS (7) Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Operation Control mode mode Initial Detailed Symbol Name Unit value explanation PL01 *LIT1 Linear servo motor function selection 1 0301h MR-J4-_A PL02 *LIM Linear encoder resolution - Numerator 1000 [µm] PL03...
Page 89: Detailed List Of Parameters
5. PARAMETERS 5.1.2 Detailed list of parameters POINT "x" in the "Setting digit" columns means which digit to set a value. (1) Basic setting parameters ([Pr. PA_ _ ]) Initial Control No./symbol/ Setting mode Function value name digit [unit] PA01 _ _ _ x Control mode selection *STY Select a control mode.
Page 90 5. PARAMETERS Control Initial No./symbol/ Setting Function value mode name digit [unit] PA18 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h Set this and [Pr. PA17] at a time. *MTY Refer to the table of [Pr. PA17] for settings. Servo motor type setting 5 - 11...
Page 91 5. PARAMETERS (2) Extension setting parameters ([Pr. PC_ _ ]) Control Initial No./symbol/ Setting Function value mode name digit [unit] PC14 _ _ x x Analog monitor 1 output selection MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 3.1 (3) for detection point of output selection.
Page 92 5. PARAMETERS Control Initial No./symbol/ Setting Function value mode name digit [unit] PC15 _ _ x x Analog monitor 2 output selection MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 3.1 (3) for detection point of output selection. Analog monitor 2 Refer to [Pr.
Page 93: Mr-J4-_B4(-Rj)
5. PARAMETERS 5.2 MR-J4-_B4(-RJ) 5.2.1 Parameter list POINT When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter. Setting may not be made to some parameters and their ranges depending on the servo system controller model, servo amplifier software version, and MR Configurator2 software version.
Page 94 5. PARAMETERS Operation mode Detailed Initial Symbol Name Unit explanation value PA24 AOP4 Function selection A-4 0000h MR-J4-_B PA25 OTHOV One-touch tuning - Overshoot permissible level PA26 *AOP5 Function selection A-5 0000h PA27 For manufacturer setting 0000h PA28 0000h PA29 0000h PA30 0000h...
Page 95 5. PARAMETERS Operation mode Detailed Initial Symbol Name Unit explanation value PB31 VG2B Speed loop gain after gain switching [rad/s] MR-J4-_B PB32 VICB Speed integral compensation after gain switching [ms] PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain [Hz] switching PB34 VRF12B Vibration suppression control 1 - Resonance frequency after...
Page 96 5. PARAMETERS (3) Extension setting parameters ([Pr. PC_ _ ]) Operation mode Detailed Initial Symbol Name Unit explanation value PC01 Error excessive alarm level [rev]/ MR-J4-_B [mm] PC02 Electromagnetic brake sequence output [ms] PC03 *ENRS Encoder output pulse selection 0000h PC04 **COP1 Function selection C-1 0000h...
Page 97 5. PARAMETERS Operation mode Detailed Initial Symbol Name Unit explanation value PC47 For manufacturer setting 0000h PC48 0000h PC49 0000h PC50 0000h PC51 0000h PC52 0000h PC53 0000h PC54 0000h PC55 0000h PC56 0000h PC57 0000h PC58 0000h PC59 0000h PC60 0000h PC61...
Page 98 5. PARAMETERS Operation mode Detailed Initial Symbol Name Unit explanation value PD27 For manufacturer setting 0000h PD28 0000h PD29 0000h PD30 PD31 PD32 PD33 0000h PD34 0000h PD35 0000h PD36 0000h PD37 0000h PD38 0000h PD39 0000h PD40 0000h PD41 0000h PD42 0000h...
Page 99 5. PARAMETERS Operation mode Detailed Initial Symbol Name Unit explanation value PE21 For manufacturer setting 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 -...
Page 100 5. PARAMETERS (6) Extension setting 3 parameters ([Pr. PF_ _ ]) Operation mode Detailed Initial Symbol Name Unit explanation value PF01 For manufacturer setting 0000h PF02 0000h PF03 0000h PF04 PF05 0000h PF06 *FOP5 Function selection F-5 0000h MR-J4-_B PF07 For manufacturer setting 0000h PF08...
Page 101 5. PARAMETERS (7) Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Operation mode Detailed Initial Symbol Name Unit explanation value PL01 **LIT1 Linear servo motor function selection 1 0301h MR-J4-_B PL02 **LIM Linear encoder resolution - Numerator 1000 [µm] PL03 **LID...
Page 102: Detailed List Of Parameters
5. PARAMETERS 5.2.2 Detailed list of parameters POINT "x" in the "Setting digit" columns means which digit to set a value. (1) Basic setting parameters ([Pr. PA_ _ ]) Initial Setting Symbol Name and function value range [unit] PA01 **STY Operation mode Refer to Name and function...
Page 103 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA02 **REG Regenerative option Refer to Name and function Used to select the regenerative option. 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 104 5. PARAMETERS (2) Extension setting parameters ([Pr. PC_ _ ]) Initial Setting Symbol Name and function value range [unit] PC09 MOD1 Analog monitor 1 output Refer to Name and function Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 3.2 (3) for detection column.
Page 105 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC10 MOD2 Analog monitor 2 output Refer to Name and function Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 3.2 (3) for detection column. point of output selection.
Page 106: Troubleshooting
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off.
Page 107 6. TROUBLESHOOTING Operation Alarm code Alarm deactivation mode Stop method Detail Name Detail name display (Note 2, (Bit 2) (Bit 1) (Bit 0) 161 or Encoder initial communication - less Receive data error 1 Encoder initial communication - 16.2 Receive data error 2 Encoder initial communication - 16.3 Receive data error 3...
Page 108 6. TROUBLESHOOTING Operation Alarm code Alarm deactivation mode Stop method Detail Name Detail name display (Note 2, (Bit 2) (Bit 1) (Bit 0) Ground fault detected by hardware 24.1 detection circuit Main circuit error Ground fault detected by software 24.2 detection function Absolute position Servo motor encoder - Absolute...
Page 109 6. TROUBLESHOOTING Operation Alarm code Alarm deactivation mode Stop method Detail Name Detail name display (Note 2, (Bit 2) (Bit 1) (Bit 0) Servo control error by position 42.1 deviation (Note 4) (Note 4) Servo control error by speed Servo control error 42.2 deviation (Note 4) (Note 4)
Page 110 6. TROUBLESHOOTING Operation Alarm code Alarm deactivation mode Stop method Detail Name Detail name display (Note 2, (Bit 2) (Bit 1) (Bit 0) Load-side encoder initial communication - Receive data error 70.1 Load-side encoder initial communication - Receive data error 70.2 Load-side encoder initial communication - Receive data error...
Page 111 6. TROUBLESHOOTING Operation Alarm code Alarm deactivation mode Stop method Detail Name Detail name display (Note 2, (Bit 2) (Bit 1) (Bit 0) USB communication receive 8E.1 error/serial communication receive error USB communication checksum 8E.2 error/serial communication checksum error USB communication USB communication character error/serial 8E.3...
Page 112 6. TROUBLESHOOTING Operation mode Stop method Detail Name Detail name display (Note 2, Servo amplifier Main circuit device overheat overheat warning 91.1 warning (Note 1) Encoder battery cable Battery cable 92.1 disconnection warning disconnection warning 92.3 Battery degradation ABS data transfer requirement ABS data transfer 93.1 warning during magnetic pole...
Page 113 6. TROUBLESHOOTING Operation mode Stop method Detail Name Detail name display (Note 2, Output watt excess ED.1 Output watt excess warning warning Instantaneous power failure tough F0.1 drive warning Tough drive warning F0.3 Vibration tough drive warning Drive recorder - Area writing time- F2.1 out warning Drive recorder -...
Page 114: Mr-J4-_B4(-Rj)
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off.
Page 115 6. TROUBLESHOOTING Operation Alarm reset mode Stop method Detail Name Detail name display (Note 4, 17.1 Board error 1 17.3 Board error 2 17.4 Board error 3 Board error 17.5 Board error 4 17.6 Board error 5 17.8 Board error 6 (Note 6) 19.1 FLASH-ROM error 1 Memory error 3...
Page 116 6. TROUBLESHOOTING Operation Alarm reset mode Stop method Detail Name Detail name display (Note 4, 30.1 Regeneration heat error (Note 1) (Note 1) (Note 1) Regenerative error 30.2 Regeneration signal error (Note 1) (Note 1) (Note 1) (Note 1) 30.3 Regeneration feedback signal error (Note 1) (Note 1) (Note 1) Overspeed...
Page 117 6. TROUBLESHOOTING Operation Alarm reset mode Stop method Detail Name Detail name display (Note 4, 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 118 6. TROUBLESHOOTING Operation Alarm reset mode Stop method Detail Name Detail name display (Note 4, Load-side encoder communication - Receive data 71.1 error 1 Load-side encoder communication - Receive data 71.2 error 2 Load-side encoder communication - Receive data 71.3 error 3 Load-side encoder communication - Transmission 71.5...
Page 119 6. TROUBLESHOOTING Operation mode Stop Detail method Name Detail name display (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 STO2 off detection...
Page 120 6. TROUBLESHOOTING 6.2.2 Troubleshooting at power on When the servo system does not boot and system error occurs at power on of the servo system controller, improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this section.
Page 121 6. TROUBLESHOOTING MEMO 6 - 16...
Page 122 7. DIMENSIONS 7. DIMENSIONS POINT The dimensions shown are for MR-J4-_A4-RJ and MR-J4-_B4-RJ. MR-J4-_A4 and MR-J4-_B4 servo amplifiers do not have CN2L and CN7 connectors. The dimensions for MR-J4-_A4 and MR-J4-_B4 servo amplifiers are the same as those for MR-J4-_A4-RJ and MR-J4-_B4-RJ servo amplifiers except these connectors.
Page 123 7. DIMENSIONS 7.1 MR-J4-_A4(-RJ) (a) MR-J4-60A4(-RJ)/MR-J4-100A4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 1.7 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 60 CNP2 3-M5 screw CNP3...
Page 124 7. DIMENSIONS (b) MR-J4-200A4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 125 7. DIMENSIONS (c) MR-J4-350A4(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole 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 126 7. DIMENSIONS (d) MR-J4-500A4(-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 Terminal Screw size: M5 N- P3 P4 L11 L21...
Page 127 7. DIMENSIONS (e) MR-J4-700A4(-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 Screw size: M5 Tightening torque: 3.24 [N•m] N- P3 P4 Approx.
Page 128 7. DIMENSIONS (f) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-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 224.2 57.9 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] TE1-1 L2 L3...
Page 129 7. DIMENSIONS (g) MR-J4-22KA4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 Intake 188.5 22.8 With 223.4 59.9 127.5 MR-BAT6V1SET 235.4 Mass: 18.2 [kg] Mounting screw Terminal Screw size: M10 Tightening torque: 3.24 [N•m] TE1-1 L2 L3 Approx.
Page 130 7. DIMENSIONS 7.2 MR-J4-_B4(-RJ) (a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 1.7 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 60 CNP2 3-M5 screw CNP3...
Page 131 7. DIMENSIONS (b) MR-J4-200B4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 132 7. DIMENSIONS (c) MR-J4-350B4(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole 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 133 7. DIMENSIONS (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 Terminal Screw size: M5 N- P3 P4 L11 L21...
Page 134 7. DIMENSIONS (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 Screw size: M5 N- P3 P4 Tightening torque: 3.24 [N•m] Approx.
Page 135 7. DIMENSIONS (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] TE1-1 L1 L2 L3...
Page 136 7. DIMENSIONS (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 Screw size: M10 TE1-1 L1 L2 L3 Tightening torque: 26.5 [N•m]...
Page 137 7. DIMENSIONS MEMO 7 - 16...
Page 138: Characteristics
8. CHARACTERISTICS 8. CHARACTERISTICS The items in the following table are the same as those for MR-J4-_A(-RJ) or MR-J4-_B(-RJ) servo amplifier. For details of the items, refer to each chapter/section of the detailed explanation field. Model Item Detailed explanation MR-J4-_A4(-RJ) Cable bending life MR-J4-_A(-RJ) Servo Amplifier Instruction Manual section 10.4...
Page 139 8. CHARACTERISTICS The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 2) Load ratio [%] (Note 1, 2) Load ratio [%] Characteristics b Characteristics a 1000 10000 Operating 1000 Operating Servo-lock Servo-lock (Note 1, 2) Load ratio [%] (Note 1) Load ratio [%] Characteristics c Characteristics d...
Page 140: Power Supply Capacity And Generated Loss
8. CHARACTERISTICS 8.2 Power supply capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 8.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.
Page 141 8. 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 8.1.
Page 142: Dynamic Brake Characteristics
8. CHARACTERISTICS 8.3 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 143: Permissible Load To Motor Inertia When The Dynamic Brake Is Used
8. CHARACTERISTICS • ··············································································································· (8.2) : Maximum coasting distance [mm] : Machine's fast feed speed [mm/min] : Moment of inertia of the servo motor [× 10 kg•m : Load moment of inertia converted into equivalent value on servo motor shaft [× 10 kg•m τ: Dynamic brake time constant ················································································································...
Page 144: Inrush Currents At Power-On Of Main Circuit And Control Circuit
8. CHARACTERISTICS Permissible load to motor inertia Permissible load to motor inertia Servo motor Servo motor ratio [multiplier (×1)] ratio [multiplier (×1)] HG-SR524 5 (15) HG-JR534 HG-SR1024 HG-JR734 5 (17) 30 (30) HG-SR1524 HG-JR1034 HG-SR2024 HG-JR1534 HG-SR3524 HG-JR2034 5 (15) HG-SR5024 HG-JR3534 20 (30) (Note)
Page 145 8. CHARACTERISTICS MEMO 8 - 8...
Page 146: Options And Peripheral Equipment
9. OPTIONS AND PERIPHERAL EQUIPMENT 9. 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 147: Cable/Connector Sets
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.1 Cable/connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.
Page 148 9. OPTIONS AND PERIPHERAL EQUIPMENT For MR-J4-_A4-RJ servo amplifier Operation panel Personal computer Servo amplifier Controller 1) (packed with the servo amplifier) (Note 1) CNP1 Safety logic unit MR-J3-D05 (Note 2) CNP2 CN10 CNP3 CN2L Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo motor power supply, electromagnetic brake, and encoder.
Page 149 9. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Application Servo amplifier Supplied power connector with servo amplifiers of 3.5 kW or less CNP1 connector: CNP2 connector: CNP3 connector: 06JFAT-SAXGDK- 05JFAT-SAXGDK- 03JFAT-SAXGDK- HT10.5 HT7.5 HT10.5 (JST) (JST) (JST) Applicable wire size: 1.25 mm to 2.1 mm (AWG 16 to 14) Insulator OD: to 3.9 mm...
Page 150: Combinations Of Cable/Connector Sets
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.1.2 Combinations of cable/connector sets For MR-J4-_B4 servo amplifier Safety logic unit Servo system MR-J3-D05 Personal computer controller CN10 2)3)4) Servo amplifier Servo amplifier 1) (packed with the servo amplifier) (Note 2) (Note 1) CNP1 (Note 2) CN1A CN1A...
Page 151 9. OPTIONS AND PERIPHERAL EQUIPMENT For MR-J4-_B4-RJ servo amplifier Safety logic unit Servo system MR-J3-D05 Personal computer controller CN10 2) 3) 4) Servo amplifier Servo amplifier 1) (packed with the servo amplifier) (Note 2) (Note 1) CNP1 (Note 2) CN1A CN1A CNP2 2) 3) 4)
Page 152 9. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Application Servo amplifier Supplied power connector with servo amplifiers of 3.5 kW or less CNP1 connector: CNP2 connector CNP3 connector: 06JFAT-SAXGDK- 05JFAT-SAXGDK- 03JFAT-SAXGDK- HT10.5 HT7.5 HT10.5 (JST) (JST) (JST) Applicable wire size: 1.25 mm to 2.1 mm (AWG 16 to 14) Insulator OD: to 3.9 mm...
Page 153: Regenerative Option
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.2 Regenerative option Do not use servo amplifiers with regenerative options other than the combinations CAUTION specified below. Otherwise, it may cause a fire. 9.2.1 Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power [W] (Note 1) (Note 1)
Page 154: Selection Of Regenerative Option
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.2.2 Selection of regenerative option (1) For rotary servo 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 155 9. OPTIONS AND PERIPHERAL EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode 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 [%]...
Page 156: Parameter Setting
9. OPTIONS AND PERIPHERAL EQUIPMENT The following shows equations of the linear servo motor thrust and energy at the driving pattern above. Section Travel direction of linear servo motor Energy E [J] = (M ) • V/t = V/2 • F •...
Page 157: Selection Of Regenerative Option
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.2.4 Selection of regenerative option POINT MR-RB3M-4, MR-RB3G-4, MR-RB5G-4, MR-RB34-4, MR-RB54-4, MR-RB5K-4, or MR-RB6K-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. For the wire sizes used for wiring, refer to section 9.6. The regenerative option generates heat of 100 ˚C higher than the ambient temperature.
Page 158 9. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)/MR-J4-500B4(-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 159 9. OPTIONS AND PERIPHERAL EQUIPMENT (3) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)/MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR- J4-22KB4(-RJ) (when using the supplied regenerative resistor) When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.
Page 160 9. OPTIONS AND PERIPHERAL EQUIPMENT (4) MR-J4-11K_4-PX to MR-J4-22K_4-PX, and MR-J4-11K_4-RZ to MR-J4-22K_4-RZ (when using the regenerative option) The MR-J4-11KA4-PX to MR-J4-22KA4-PX, MR-J4-11KB4-PX to MR-J4-22KB4-PX, MR-J4-11KA4-RZ to MR-J4-22KA4-RZ, 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 MR-RB5K-4 or MR- RB6K-4 regenerative option.
Page 161: Dimensions
9. OPTIONS AND PERIPHERAL EQUIPMENT When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. MR-RB5K-4/MR-RB6K-4 Bottom Cooling fan × 2 (92 mm × 92 mm, minimum air flow: 1.0 m G4 G3 C Mounting screw 4-M3 9.2.5 Dimensions (1) MR-RB1H-4...
Page 162 9. OPTIONS AND PERIPHERAL EQUIPMENT (2) 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] Mass: 2.9 [kg] (3) MR-RB54-4/MR-RB5G-4/MR-RB5U-4 [Unit: mm] Terminal block...
Page 163 9. OPTIONS AND PERIPHERAL EQUIPMENT (4) MR-RB5K-4/MR-RB6K-4 [Unit: mm] Terminal 2-φ10 mounting hole Terminal screw size: M5 Tightening torque: 2.0 [N•m] Mounting screw Screw size: M8 Tightening torque: 13.2 [N•m] Regenerative Mass option [kg] MR-RB5K-4 MR-RB6K-4 Cooling fan intake Screw for mounting cooling fan 4-M3 screw 82.5 82.5...
Page 164: Bu2-H Brake Unit
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.3 FR-BU2-H brake unit POINT When a brake unit and a resistor unit are installed horizontally or diagonally, the heat dissipation effect diminishes. Install them on a flat surface vertically. The temperature of the resistor unit case will be higher than the ambient temperature by 100 ˚C or over.
Page 165: Selection
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Number of Permissible Resultant Applicable servo Brake unit Resistor unit connected continuous resistance amplifier (Note 2) units power [kW] [Ω] FR-BU2-H30K FR-BR-H30K 1.99...
Page 166: Connection Example
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.3.3 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 167 9. OPTIONS AND PERIPHERAL EQUIPMENT (b) For MR-J4-_B4(-RJ) 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 (Note 4)
Page 168 9. OPTIONS AND PERIPHERAL EQUIPMENT (2) Combination of FR-BU2-H brake unit and MT-BR5-H resistor unit (a) For MR-J4-_A4(-RJ) Emergency stop switch Step-down transformer Servo amplifier (Note 8) 24 V DC (Note 11) MCCB (Note 1) DOCOM Power supply DOCOM (Note 10) MT-BR5-H (Note 4) (Note 9)
Page 169 9. OPTIONS AND PERIPHERAL EQUIPMENT (b) For MR-J4-_B4(-RJ) Emergency stop switch Step-down transformer Servo amplifier (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 (Note 3)
Page 170 9. OPTIONS AND PERIPHERAL EQUIPMENT (3) Connection instructions 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 171 9. OPTIONS AND PERIPHERAL EQUIPMENT (5) Crimp terminals for P+ and N- terminals of servo amplifier (a) Recommended crimp terminals POINT Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones. Number of (Note 1) Servo amplifier...
Page 172: Dimensions
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.3.4 Dimensions (1) FR-BU2-H brake unit [Unit: mm] FR-BU2-H30K 2-φ5 hole (Screw size: M4) Rating plate 18.5 129.5 FR-BU2-H55K, FR-BU2-H75K 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 9 - 27...
Page 173 9. 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 W ± 5 Note. Ventilation ports are provided on both sides and the top. The bottom is open. Approximate Resistor unit mass [kg]...
Page 174 9. OPTIONS AND PERIPHERAL EQUIPMENT 9.4 FR-RC-H power regenerative converter POINT When using FR-RC-H, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop When using FR-RC-H with MR-J4-_A4(-RJ), set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_ _ _ 1". When using it with MR-J4-_B4(-RJ), set [Pr.
Page 175: Rc-H Power Regenerative Converter
9. 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) For MR-J4-_A4(-RJ) Servo amplifier (Note 7) Power factor improving AC reactor MCCB FR-HAL-H (Note 5) Power supply...
Page 176 9. 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 177 9. 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 178 9. OPTIONS AND PERIPHERAL EQUIPMENT (4) Mounting hole machining dimensions When the power regenerative 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 179: Cv-H Power Regenerative Common Converter
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.5 FR-CV-H power regenerative common converter POINT For details of the power regenerative common converter FR-CV-H, refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, and L3) of the servo amplifier.
Page 180 9. OPTIONS AND PERIPHERAL EQUIPMENT When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H). Power regenerative common Dedicated stand-alone converter reactor FR-CV-H22K(-AT) FR-CVL-H22K FR-CV-H30K(-AT) FR-CVL-H30K FR-CV-H37K FR-CVL-H37K FR-CV-H55K FR-CVL-H55K (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available.
Page 181 9. OPTIONS AND PERIPHERAL EQUIPMENT (b) For MR-J4-_B4(-RJ) 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 182 9. OPTIONS AND PERIPHERAL EQUIPMENT (4) Selection example of wires used for wiring POINT Selection conditions of wire size is as follows. Wire type: HIV wire (600 V grade heat-resistant polyvinyl chloride insulated wire) Construction condition: One wire is constructed in the air. (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)
Page 183 9. OPTIONS AND PERIPHERAL EQUIPMENT (5) Other precautions (a) Always use the dedicated stand-alone reactor (FR-CVL-H) as the power factor improving reactor. 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 184: Selection Example Of Wires
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.6 Selection example of wires POINT To comply with the UL/CSA standard, use the wires shown in appendix 1 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection conditions of wire size is as follows.
Page 185 9. OPTIONS AND PERIPHERAL EQUIPMENT (1) When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Wire size selection examples for HIV wires are indicated below. Table 9.1 Wire size selection example (HIV wire) Wires [mm ] (Note 1) Servo amplifier 4) U/V/W/ 2) L11/L21...
Page 186: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors (Recommended)
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.7 Molded-case circuit breakers, fuses, magnetic contactors (recommended) (1) For main circuit power supply Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Page 187 9. OPTIONS AND PERIPHERAL EQUIPMENT 4-d mounting hole (Note 1) 4-d mounting hole (Note 1) D or less D or less (D3) (D3) P P1 P P1 W ± 2.5 D1 ± 1 W ± 2.5 D1 ± 1 Fig. 9.1 Fig.
Page 188 9. OPTIONS AND PERIPHERAL EQUIPMENT Power factor Dimensions [mm] Termina Mass Wire [mm Servo amplifier Dimensions improving DC l size [kg] (Note) reactor MR-J4-60_4(-RJ) FR-HEL-H1.5K M3.5 2 (AWG 14) Fig. 9.1 MR-J4-100_4(-RJ) FR-HEL-H2.2K M3.5 2 (AWG 14) MR-J4-200_4(-RJ) FR-HEL-H3.7K 2 (AWG 14) MR-J4-350_4(-RJ) FR-HEL-H7.5K Fig.
Page 189: Power Factor Improving Ac Reactor
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.9 Power factor improving AC reactor The following shows the advantages of using power factor improving AC 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 80%.
Page 190: Noise Reduction Techniques
9. OPTIONS AND PERIPHERAL EQUIPMENT Dimensions [mm] Power factor Mass Termina Servo amplifier improving AC Dimensions l size [kg] reactor (Note) MR-J4-60_4(-RJ) FR-HAL-H1.5K 59.6 M3.5 MR-J4-100_4(-RJ) FR-HAL-H2.2K Fig. 9.4 59.6 M3.5 MR-J4-200_4(-RJ) FR-HAL-H3.7K 70.6 M3.5 MR-J4-350_4(-RJ) FR-HAL-H7.5K MR-J4-500_4(-RJ) FR-HAL-H11K Fig. 9.5 MR-J4-700_4(-RJ)/ FR-HAL-H15K MR-J4-11K_4(-RJ)
Page 191 9. OPTIONS AND PERIPHERAL EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
Page 192 9. 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 193 9. 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, and GRFC-13 by Kitagawa Industries are available as data line filters.
Page 194 9. 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 195 9. 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 196 9. OPTIONS AND PERIPHERAL EQUIPMENT (e) Radio noise filter (FR-BIF-H) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF-H is designed for the input only.
Page 197 9. 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 198: Earth-Leakage Current Breaker
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.11 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 199 9. OPTIONS AND PERIPHERAL EQUIPMENT Table 9.2 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.5 to 1 1.5 to 2 9 to 11 Table 9.3 Servo amplifier leakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.75 to 3.5 0.15...
Page 200 9. OPTIONS AND PERIPHERAL EQUIPMENT (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions. 2 mm × 5 m 2 mm × 5 m Servo amplifier Servo motor MR-J4-60A4 HG-SR524 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (9.1) from the diagram.
Page 201: Emc Filter (Recommended)
9. OPTIONS AND PERIPHERAL EQUIPMENT 9.12 EMC filter (recommended) It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Servo amplifier Mass [kg]...
Page 202 9. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions (a) EMC filter TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 6-R3.25 length: 8 3-M4 3-M4 ± ± Approx.6.75 ± ± ± 2 Approx. 160 ± ± ± 9 - 57...
Page 203 9. OPTIONS AND PERIPHERAL EQUIPMENT TF3040C-TX/TF3060C-TX [Unit: mm] 3-M6 3-M6 Approx. L D ± 1 D ± 1 D ± 1 C ± 2 K ± 2 Approx. J B ± 5 A ± 5 H ± 5 Dimensions [mm] Model TF3040C-TX R3.25 Length...
Page 204: Using A Linear Servo Motor
10. USING A LINEAR SERVO MOTOR 10. USING A LINEAR SERVO MOTOR When using the linear servo motor, read "Linear Servo Motor Instruction Manual" WARNING and "Linear Encoder Instruction Manual". The items in the following table are the same as those for MR-J4-_A(-RJ) or MR-J4-_B(-RJ) servo amplifier. For details of the items, refer to each chapter/section of the detailed explanation field.
Page 205: Signals And Wiring
10. USING A LINEAR SERVO MOTOR 10.1 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 206 10. USING A LINEAR SERVO MOTOR Connecting a linear servo motor of the wrong 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 207: Characteristics
10. USING A LINEAR SERVO MOTOR 10.2 Characteristics 10.2.1 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 208: Power Supply Capacity And Generated Loss
10. USING A LINEAR SERVO MOTOR 10.2.2 Power supply capacity and generated loss Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.
Page 209: Dynamic Brake Characteristics
10. USING A LINEAR SERVO MOTOR 10.2.3 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 210: Permissible Load To Motor Mass Ratio When The Dynamic Brake Is Used
10. USING A LINEAR SERVO MOTOR 10.2.4 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 ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.
Page 211 10. USING A LINEAR SERVO MOTOR MEMO 10 - 8...
Page 212 Here, professional engineers should meet the all conditions below. (1) A person who took a proper engineering training Please note if you can take proper engineering training at your local Mitsubishi Electric office. Contact your local sales office for schedules and locations.
Page 213 Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.2 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 214 APPENDIX Table: Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Manufacturer Applicable tool Crimp terminal (Note) Body Head Dice FVD5.5-4 YNT-1210S FVD2-4 YNT-1614 DH-122 FVD14-6 YF-1 YNE-38 DH-112 FVD5.5-6 YNT-1210S FVD2-6 YNT-1614 DH-121 FVD8-6 YF-1 YNE-38 DH-111 DH-122 FVD14-8 YF-1 YNE-38 DH-112 FVD5.5-8...
Page 215 (b) For Declaration of Conformity (DoC) Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in compliance with the necessary requirements and standards (2006/42/EC, 2004/108/EC and 2006/95/EC). For the copy of Declaration of Conformity, contact your local sales office.
Page 216 APPENDIX (b) Short-circuit current rating (SCCR) Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500 Volts Maximum. (c) Overload protection characteristics The MR-J4 servo amplifiers have servo motor overload protective function. (It is set on the basis (full load current) of 120% rated current of the servo amplifier.) (d) Over-temperature protection for motor Motor Over temperature sensing is not provided by the drive.
Page 217 APPENDIX App. 1.2.5 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 218 APPENDIX App. 1.3 Mounting/dismounting Installation direction and clearances The devices must be installed in the specified direction. Not doing so may cause a malfunction. CAUTION Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2. Cabinet Cabinet 40 mm...
Page 219 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. - 8...
Page 220 APPENDIX App. 1.5 Signal App. 1.5.1 Signal The following shows MR-J4-60B4 signals as a typical example. Refer to section 3.4 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual" for other servo amplifiers. STO I/O signal connector DOCOM DICOM STO1...
Page 221 APPENDIX App. 1.6 Maintenance and service To avoid an electric shock, only qualified personnel should attempt inspections. WARNING For repair and parts replacement, contact your local sales office. Do not perform insulation resistance test on the servo amplifier. Otherwise, it may CAUTION cause a malfunction.
Page 222 APPENDIX App. 1.6.2 Parts having service lives Service lives of the following parts are listed below. However, the service life vary depending or operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
Page 223 APPENDIX App. 1.7 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 224 APPENDIX App. 1.8 Technical data App. 1.8.1 MR-J4 servo amplifier MR-J4-60_4/MR-J4-100_4/MR-J4-200_4/MR-J4-350_4/MR-J4-500_4/ Item MR-J4-700_4/MR-J4-11K_4/MR-J4-15K_4/MR-J4-22K_4 Main circuit (line voltage) 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Power Control circuit (line 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz supply voltage) Interface (SELV)
Page 225 APPENDIX App. 1.9 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. Maintain and keep this checklist with related documents of machines to use this for periodic inspection. 1.
Page 226 APPENDIX (2) Setting POINT When you use a linear servo motor, replace the following left words to the right words. (servo motor) speed [r/min] →(linear servo motor) speed [mm/s] CCW direction →Positive direction CW direction →Negative direction Torque [N•m] →Thrust[N] 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 227 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 Mpulses) (±10 V/10 Mpulses) 1 [Mpulse] 10 [Mpulse] 1 [Mpulse] 10 [Mpulse] -10 [V]...
Page 228 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 229 APPENDIX (2) Setting POINT When you use a linear servo motor, replace the following left words to the right words. (servo motor) speed [r/min] →(linear servo motor) speed [mm/s] CCW direction →Positive direction CW direction →Negative direction Torque [N•m] →Thrust[N] 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 230 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 Mpulses) (±10 V/10 Mpulses) 1 [Mpulse] 10 [Mpulse] 1 [Mpulse] 10 [Mpulse] -10 [V]...
Page 231 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 232 APPENDIX (b) Fully closed loop control Speed Speed Current Droop pulses Bus voltage command command 2 command Current Servo Differ- Speed encoder motor entiation command Position Load-side Position Speed Current command encoder control control control Encoder inside temperature Current feedback Encoder Servo motor Differ-...
Page 233 APPENDIX App. 3 Compliance with SEMI-F47 standard POINT The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation.
Page 234 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 235 Mitsubishi Electric Automation Inc. : +1-847-478-2100 500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA : +1-847-478-0327 Germany Mitsubishi Electric Europe B.V. German Branch : +49-2102-486-0 Gothaer Strasse 8, D-40880 Ratingen, Germany : +49-2102-486-1120 Italy Mitsubishi Electric Europe B.V. Italian Branch...
Page 236 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 237 SH(NA)030119-A...
Page 238 MR-J4-A4 MR-J4-B4 MODEL INSTRUCTIONMANUAL MODEL 1CW812 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030119-A (1302) MEE Printed in Japan Specifications subject to change without notice.

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