Mitsubishi Electric Melservo MR-J5-G Series User Manual
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- User manual (216 pages)
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Summary of Contents for Mitsubishi Electric Melservo MR-J5-G Series
- Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Introduction) -MR-J5-_G_ -MR-J5W_-_G...
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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 Use this servo safely with preparation of the following related manuals as necessary if you use the servo for the first time. (1) MR-J5-G/MR-J5W-G User's Manual (Introduction) (this manual) The manual is necessary when installing the products, wiring, using options, and the like. -
Page 6: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE . - Page 7 Initialization procedure by MR Mode Change ........... 49 CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items .
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Page 8: Chapter 1 Specifications
SPECIFICATIONS Precautions • MR-J5-_G_-RJ will be available in the future. • The use of MR Configurator2 via network will be available in the future. Outline MR-J5_-_G_ operates in the Ethernet open network (communication speed of up to 1 Gbps). One MR-J5W_-_G servo amplifier can drive two or three servo motors. The footprint of one MR-J5W_-_G servo amplifier is considerably smaller than that of two or three MR-J5-_G_ servo amplifiers. - Page 9 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. ■MR-J5-_G_ M R - - 6 0 G Special specification Series Symbol Special specification Rated output None Standard Symbol Rated output [kW] Load-side encoder A/B/Z-phase input compatible CC-Link IE TSN interface 0.75...
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Page 10: Servo Amplifier Standard Specifications
Servo amplifier standard specifications MR-J5-_G_ Model: MR-J5- 100G 200G 350G Output Voltage 3-phase 0 V AC to 240 V AC Rated current [A] 11.0 17.0 Main circuit power Voltage/ At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase or 1-phase 3-phase supply input... - Page 11 *1 This value is applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. *2 When closely mounting the servo amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective load ratio.
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Page 12: Mr-J5W2-_G
MR-J5W2-_G Model: MR-J5W2- 1010G Output Voltage 3-phase 0 V AC to 240 V AC Rated current (each axis) [A] Main circuit power Voltage/ At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase 200 V AC to supply input Frequency 240 V AC, 50 Hz/60... -
Page 13: Mr-J5W3-_G
MR-J5W3-_G Model: MR-J5W3- 222G 444G Output Voltage 3-phase 0 V AC to 240 V AC Rated current (each axis) [A] Main circuit power Voltage/ At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz supply input Frequency At DC input... -
Page 14: Functional Safety
Functional safety • The functional safety is not available for MR-J5W_-_G servo amplifiers. Item Specifications Functional safety STO (IEC/EN 61800-5-2) Safety performance Standards certified by CB EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2 Response performance 8 ms or less (STO input off →... -
Page 15: Function Block Diagram
Function block diagram The following shows the function block diagram of this servo amplifier. MR-J5-_G_ Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Diode stack Dynamic brake Relay circuit MCCB Current Power detector supply Regenerative Charge light Cooling fan Electromagnetic brake... -
Page 16: Mr-J5W_-_G
MR-J5W_-_G The following is an example using MR-J5W3-_G. Regenerative option P+ C CNP1 CNP2 Diode Built-in stack regenerative A-axis Relay TRM (A) resistor servo motor MCCB Regenerative Power Current A-axis supply detector output Charge Dynamic light brake circuit A Cooling fan A-axis STO circuit Control... -
Page 17: Configuration Including Peripheral Equipment
Configuration including peripheral equipment • Do not connect these connectors to other than specified network. Otherwise, a malfunction may occur. • Equipment other than the servo amplifier and servo motor is optional or recommended products. The following is an example using MR-J5-20G-RJ. R S T Power supply CN1A... -
Page 18: Chapter 2 Function
FUNCTION Function list The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. Control mode Subcategory Function Description Detailed explanation CiA 402 control mode Cyclic synchronous position mode Operation is performed in the cyclic synchronous position Refer to "Control mode"... - Page 19 Position detection Subcategory Function Description Detailed explanation Control method Semi closed loop system Semi closed loop system can be configured using the motor encoder. Absolute position Absolute position detection system Once homing is performed, homing at every power-on is Refer to "Absolute position unnecessary.
- Page 20 Control function Subcategory Function Description Detailed explanation Vibration suppression Advanced vibration suppression This function suppresses vibration and residual vibration Refer to "Advanced vibration control II at an arm end. suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance suppression Decreases the gain of the specific frequency to suppress Refer to "Machine resonance...
- Page 21 Adjustment function Subcategory Function Description Detailed explanation Automatic adjustment Quick tuning Automatically adjusts the gain at servo-on in a short time Refer to "Quick tuning" in the without acceleration/deceleration operation of the servo following manual. motor. The response without overshoot can be received. MR-J5 User's Manual Therefore, gain adjustment can be omitted.
- Page 22 I/O, monitor Subcategory Function Description Detailed explanation DI/DO Input signal selection (device The input devices including LSP (forward rotation stroke Refer to "I/O device" in the selection) end) can be assigned to certain pins of the connector. following manual. MR-J5 User's Manual Output signal selection (device The output devices including MBR (Electromagnetic (Function)
- Page 23 Protective functions Subcategory Function Description Detailed explanation Alarm Alarm function When an error occurs during operation, the Refer to "Alarm function" in the corresponding alarm or warning is displayed. When an following manual. alarm occurs, ALM (Malfunction) turns off and stops the MR-J5 User's Manual servo motor.
- Page 24 Diagnostics Subcategory Function Description Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo status and Refer to "Drive recorder" in the records the state transition before and after an alarm for a following manual. fixed period of time. The recorded data can be checked MR-J5 User's Manual by the Waveform-Display button on the drive recorder (Function)
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Page 25: Security
Security To completely prevent unauthorized access to the system from external devices, user also must take measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by the unauthorized access. 2 FUNCTION 2.2 Security... -
Page 26: Chapter 3 Structure
STRUCTURE Parts identification MR-J5-350G or less The following figure is the MR-J5-10G-RJ. Inside of the display cover SFTY (14) (20) Side (15) (16) (10) (11) (17) (12) (13) (18) (19) Bottom Name Application Detailed explanation Display section The 3-digit, 7-segment LED display shows the servo status and Page 28 Switch setting and alarm number. - Page 27 Name Application Detailed explanation (10) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin assignment" in the following manual. MR-J5 User's Manual (Hardware) (11) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 25 CN2/CN2L (12) External encoder connector (CN2L)
- Page 28 MR-J5W_-_G (21) Inside of the display cover (10) (12) SFTY (13) (14) (22) Side (15) (16) (17) (18) (19) (20) (11) Name Application Detailed explanation Page 28 Switch setting and Display section The 3-digit, 7-segment LED display shows the servo status and alarm number.
- Page 29 Name Application Detailed explanation (16) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin assignment" in the following manual. MR-J5 User's Manual (Hardware) (17) A-axis encoder connector (CN2A) Connect the A-axis servo motor encoder or external encoder. Page 27 CN2_ (18) B-axis encoder connector (CN2B)
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Page 30: Switch Setting And Display Of The Servo Amplifier
Switch setting and display of the servo amplifier Switching to the test operation mode and setting network are enabled with switches on the servo amplifier. You can check the network communication status and alarm status on the display of servo amplifier. Switches Always use an insulated screw driver to operate the rotary switches (SW1/SW2) and DIP switches (SW3). -
Page 31: 7-Segment Led
Test operation select switch (SW3-1) To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the test operation select switch enables the test operation mode. In the test operation mode, the functions such as JOG operation, positioning operation, and machine analyzer are available with MR Configurator2. - Page 32 Alarm display When an alarm/warning occurs, alarm status is displayed following the network connection status. For example, the following shows when [AL. 032.2 Overcurrent] is occurring. ■1-axis servo amplifier Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s After 0.2 s After 0.8 s After 0.8 s...
- Page 33 When the network is not connected The network connection status is displayed for each axis. 1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier C-axis network status B-axis network status B-axis network status Network status A-axis network status A-axis network status The 7-segment LED display shows as follows during initialization.
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Page 34: Cn1A/Cn1B Connector Led
Other status display Display Status Description Test operation mode The test operation mode was set. CPU error A CPU watchdog error has occurred. This is for manufacturer setting. Initialization in process Indicates that parameters and others are being initialized. IP address setting in Indicates that the IP address is being set via network. -
Page 35: Display Led
Display LED The LED displays (RUN MS/ERR NS) indicate the network status of the servo amplifier. SFTY Description Off: Indicates that an alarm is occurring. On: Indicates that the servo amplifier is on. (green) Off: Indicates that no alarm or warning is occurring. Blinking: Indicates that a warning is occurring. -
Page 36: Chapter 4 Startup
STARTUP • MR-J5_-_G_ servo amplifiers can only be set with MR Configurator2 version 1.100E or later. • This chapter explains how to start up, by using MR Configurator2 with software version 1.100E. • Before starting operation, check the servo parameters. Depending on the machine, unexpected operation may occur. - Page 37 Start MR Configurator2 and create a new project. For the connection setting, select USB. Select a servo amplifier model. Selecting the parameter from the project tree opens the parameter setting screen. 4 STARTUP...
- Page 38 From the display selection tree on the parameter setting screen, select the group of servo parameter to be set. After changing the servo parameter, click "Selected Items Write" or "Axis Writing". 4 STARTUP...
- Page 39 The servo parameter with * and ** before the abbreviation is enabled by cycling the power or software reset. Click Software Reset of MR Configurator2 to perform the software reset. 4 STARTUP...
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Page 40: Switching Power On For The First Time
Switching power on for the first time • For the controller settings, refer to controller manuals. • For the gain adjustment, refer to the following. MR-J5 User's Manual (Adjustment) When switching the power on for the first time, make a startup according to the procedures shown below. Procedure Description Reference... -
Page 41: 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 abnormally, 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 42: Equipment Configuration Setting
Inputting the motor speed and acceleration/deceleration time constants, and clicking "Forward CCW" or "Reverse CW" enable the servo motor to operate. The servo motor operates only while the button is being clicked. Give a low-speed command at first and check the operation. After the test operation is complete, turn off the power and "OFF (down)"... -
Page 43: Operation By Controller Command
Operation by controller command Confirm that the servo motor operates correctly under the commands from the controller. Give a low-speed command at first and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check the input signal. -
Page 44: Instructions On Startup
Instructions on startup Instructions for power-on • In the absolute position detection system using a rotary servo motor, powering on the servo amplifier for the first time triggers [AL. 025 Absolute position erased]. Thus, the servo amplifier will not be brought into the servo-on state. Shut off the power once, and cycle the power to deactivate the alarm. -
Page 45: Duplicate Setting
Duplicate setting The parameter of the servo amplifier of which the setting is completed can be copied to the other 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. -
Page 46: Test Operation Mode
Test operation mode Setting the servo amplifier to the test operation mode enables the test operation while a personal computer and the servo amplifier are connected via a USB cable. Turn off the power. Turn "ON (up)" the test operation select switch (SW3-1). SFTY Set SW3-1 to "ON (up)". - Page 47 Positioning operation Positioning operation can be performed without the controller. Perform on the positioning operation 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 48 Program operation Combined positioning operation can be performed with multiple operation patterns, without using a controller. Perform this operation on 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...
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Page 49: Motor-Less Operation
Motor-less operation • The motor-less operation cannot be used in the linear servo motor control mode or DD motor control mode. Without connecting the servo motor to the servo amplifier, output signals can outputted and status display can be provided in response to the controller command, as if the servo motor is actually running. -
Page 50: Output Signal (Do) Forced Output
Output signal (DO) forced output Output signals can be switched on/off forcibly regardless of the servo status. Use this function for checking output signal wiring and others. Operate this function on the DO forced output screen of MR Configurator2. Clicking each signal on/off enables the operation of output signal on/off. After checking, click "Test Operation Mode Cancel" and terminate the output signal (DO) forced output. -
Page 51: Servo Amplifier Setting Initialization
Servo amplifier setting initialization Using the engineering tool (MR Mode Change packed with MR Configurator2) enables to initialize the setting of the servo amplifier. However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not initialized. -
Page 52: Chapter 5 Maintenance, Inspection And Parts Replacement
MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items Precautions • To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or modified products are not covered under warranty. • For repair and parts replacement, contact your local sales office. •... -
Page 53: Parts Having Life
Parts having life The life of the following parts is listed below. However, the life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their life. For parts replacement, please contact your local sales office. -
Page 54: Replacing Fan Unit
Replacing fan unit The internal circuits of the servo amplifier may be damaged by static electricity. Take the following precautions. • Ground human body and work bench. • Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand. The fan unit is composed of a cooling fan and its cover. -
Page 55: Chapter 6 Compliance With Global Standard
COMPLIANCE WITH GLOBAL STANDARD Compliance with global standards Refer to the following manual for the compliance with global standards. MELSERVO-J5 Series Safety Instructions and Precautions for AC Servos (IB(NA)0300391) Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods The Rev. - Page 56 ■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.
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Page 57: Symbol For The New Eu Battery Directive
• This mark is valid only in EU. This mark is in accordance with the directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused. -
Page 58: Status Of General-Purpose Ac Servo Products For Compliance With The China Rohs Directive
Status of general-purpose AC servo products for 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 59 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.
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Page 60: Revisions
First edition This manual confers no industrial property 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 61: 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 62: Trademarks
TRADEMARKS MELSERVO, CC-Link IE, and GOT are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/ or other countries. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies. - Page 64 SH(NA)-030294ENG-A(1907)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.