Page 1 General-Purpose AC Servo SSCNET /H Interface AC Servo MODEL MR-J4-_B(-RJ) MR-J4-_B4(-RJ) MR-J4-_B1(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2: Safety Instructions
Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover when transporting the servo amplifier.
Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor.
Page 6 CAUTION Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor.
Page 7 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Page 8 «About the manuals» 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 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113 MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110...
Page 9 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-50 1.1 Summary............................1- 1 1.2 Function block diagram........................1- 3 1.3 Servo amplifier standard specifications ................... 1-11 1.4 Combinations of servo amplifiers and servo motors ............... 1-17 1.5 Function list............................1-19 1.6 Model designation..........................
Page 11 3.7.2 When you do not use the forced stop deceleration function............. 3-30 3.8 Interfaces ............................3-31 3.8.1 Internal connection diagram...................... 3-31 3.8.2 Detailed explanation of interfaces..................... 3-32 3.8.3 Source I/O interfaces ........................ 3-34 3.9 SSCNET III cable connection ......................3-35 3.10 Servo motor with an electromagnetic brake ..................
Page 12 6.2 One-touch tuning ..........................6- 3 6.2.1 One-touch tuning flowchart ......................6- 3 6.2.2 Display transition and operation procedure of one-touch tuning ..........6- 4 6.2.3 Caution for one-touch tuning...................... 6- 8 6.3 Auto tuning............................6- 9 6.3.1 Auto tuning mode ........................6- 9 6.3.2 Auto tuning mode basis......................
Page 13 11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-90 11.1 Cable/connector sets ........................11- 1 11.1.1 Combinations of cable/connector sets................... 11- 2 11.1.2 MR-D05UDL3M-B STO cable....................11- 5 11.1.3 SSCNET III cable ........................11- 6 11.2 Regenerative options........................11- 8 11.2.1 Combination and regenerative power ..................
Page 14 13. USING STO FUNCTION 13- 1 to 13-14 13.1 Introduction ........................... 13- 1 13.1.1 Summary ..........................13- 1 13.1.2 Terms related to safety ......................13- 1 13.1.3 Cautions ..........................13- 1 13.1.4 Residual risks of the STO function..................13- 2 13.1.5 Specifications .........................
Page 15 15.3.3 Operation from controller ...................... 15-14 15.3.4 Function..........................15-15 15.4 Characteristics ..........................15-17 15.4.1 Overload protection characteristics ..................15-17 15.4.2 Power supply capacity and generated loss ................15-19 15.4.3 Dynamic brake characteristics ....................15-20 16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-26 16.1 Functions and configuration ......................
Page 16 App. 7 How to replace servo amplifier without magnetic pole detection......... App.-39 App. 8 Two-wire type encoder cable for HG-MR/HG-KR..............App.-40 App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service ............................. App.-42 App. 10 Analog monitor ........................App.-42...
Page 17 MEMO...
Page 18 MR Configurator2 installed to perform the parameter setting, test operation, gain adjustment, and others. In MELSERVO-J4 series, servo amplifiers with CN2L connector is also available as MR-J4-_B_-RJ. By using CN2L connector, an A/B/Z-phase differential output method external encoder can be connected to the servo amplifier.
Page 19 1. FUNCTIONS AND CONFIGURATION Table 1.1 Connectors to connect from external encoders External encoder Connector Operation communication mode MR-J4-_B_ MR-J4-_B_-RJ method Two-wire type CN2 (Note 1) CN2 (Note 1) Four-wire type Linear servo A/B/Z-phase motor system differential output CN2L (Note 6) method Two-wire type (Note 2, 3, 4)
Page 20: Functions And Configuration
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. POINT The diagram shows for MR-J4-_B_-RJ as an example. MR-J4-_B_ servo amplifier does not have CN2L connector. (1) 200 V class (a) MR-J4-500B(-RJ) or less (Note 6) Power factor improving Regenerative...
Page 21 1. FUNCTIONS AND CONFIGURATION Note 1. The built-in regenerative resistor is not provided for MR-J4-10B(-RJ). 2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the power supply specifications. 3.
Page 22 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-700B(-RJ) (Note 4) Power factor improving Regenerative DC reactor option Servo amplifier (Note 2) Servo motor Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Regene- Power encoder rative supply CHARGE lamp Cooling fan Control Electromagnetic 24 V DC...
Page 23 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) (Note 5) External regenerative (Note 4) Power factor improving resistor or DC reactor regenerative option External dynamic brake (optional) Servo amplifier Servo motor P4 (Note 2) Diode Thyristor stack MCCB (Note 1) Current Power Regene- encoder rative...
Page 24 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) 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...
Page 25 1. FUNCTIONS AND CONFIGURATION (b) 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 circuit...
Page 26 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ) (Note 5) External Power factor regenerative resistor (Note 4) 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 27 1. FUNCTIONS AND CONFIGURATION (3) 100 V class Regenerative option Servo amplifier Servo motor Dynamic brake (Note 1) circuit MCCB Charge (Note 2) lamp Current Power Regene- encoder supply Relay rative TR Diode stack Control Electromagnetic circuit brake 24 V DC power supply circuit...
Page 28: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200 V class Model: MR-J4-_(-RJ) 100B 200B 350B 500B 700B 11KB 15KB 22KB Rated voltage 3-phase 170 V AC Output Rated current 11.0 17.0 28.0 37.0 68.0 87.0 126.0 3-phase or 1-phase 200 V AC to 240 V Voltage/Frequency 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz AC, 50 Hz/60 Hz...
Page 29 1. FUNCTIONS AND CONFIGURATION Note 1. 0.3 A is the value 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 amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at 75% or smaller effective load ratio.
Page 30 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Model: MR-J4-_(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Rated voltage 3-phase 323 V AC Output Rated current 14.0 17.0 32.0 41.0 63.0 Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current 10.8 14.4...
Page 31 1. FUNCTIONS AND CONFIGURATION Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-diagnose.
Page 32 1. FUNCTIONS AND CONFIGURATION (3) 100 V class Model: MR-J4-_(-RJ) 10B1 20B1 40B1 Rated voltage 3-phase 170 V AC Output Rated current Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current (Note 11) Permissible voltage 1-phase 85 V AC to 132 V AC Main circuit fluctuation...
Page 33 1. FUNCTIONS AND CONFIGURATION Note 1. 0.3 A is the value 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 amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at 75% or smaller effective load ratio.
Page 34: Combinations Of Servo Amplifiers And Servo Motors
1. FUNCTIONS AND CONFIGURATION 1.4 Combinations of servo amplifiers and servo motors (1) 200 V class Rotary servo motor HG-JR Linear servo motor Servo amplifier Direct drive motor (When the (primary side) HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR maximum torque is 400%) MR-J4-10B(-RJ) MR-J4-20B(-RJ)
Page 35 1. FUNCTIONS AND CONFIGURATION (3) 100 V class Rotary servo motor Servo amplifier HG-KR HG-MR MR-J4-10B1(-RJ) MR-J4-20B1(-RJ) MR-J4-40B1(-RJ) 1 - 18...
Page 36: Function List
This servo is used as a torque control servo. High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary High-resolution encoder servo motor compatible with the MELSERVO-J4 series. Absolute position detection Merely setting a home position once makes home position return unnecessary at...
Page 37 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged [Pr. PA20] in the capacitor in case that an instantaneous power failure occurs during operation. SEMI-F47 function (Note) [Pr. PE25] Use a 3-phase for the input power supply of the servo amplifier.
Page 38: Model Designation
1. FUNCTIONS AND CONFIGURATION 1.6 Model designation (1) Rating plate The following shows an example of rating plate for explanation of each item. AC SERVO SER.S21001001 Serial number MODEL MR-J4-10B Model POWER : 100W Capacity INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable power supply OUTPUT : 3PH170V 0-360Hz 1.1A...
Page 39: Structure
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) 200 V class (a) MR-J4-200B(-RJ) or less The diagram is for MR-J4-10B-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) Section 4.3 Used to set the axis No.
Page 40 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350B(-RJ) Detailed Name/Application The broken line area is the same as explanation MR-J4-200B(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Servo motor power supply connector (CNP3) Connect the servo motor.
Page 41 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500B(-RJ) POINT The servo amplifier is shown with the front cover open. The front cover cannot be removed. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B(-RJ) or less. Control circuit terminal block (TE2) Section 3.1 Used to connect the control circuit power supply.
Page 42 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700B(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Page 43 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B(-RJ) or less. Power factor improving reactor terminal block (TE1- Used to connect a power factor improving DC reactor and a regenerative option.
Page 44 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KB(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE1- Used to connect a power factor improving DC reactor and a regenerative option.
Page 45 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (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) Section 4.3 Used to set the axis No.
Page 46 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350B4(-RJ) Detailed The broken line area is the same as Name/Application explanation MR-J4-200B4(-RJ) or less. Main circuit power supply connector (CNP1) Section 3.2 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Control circuit power supply connector (CNP2) Connect the control circuit power supply and Section 3.2 regenerative option.
Page 47 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. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Control circuit terminal block (TE2) Section 3.2 Used to connect the control circuit power supply.
Page 48 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. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Page 49 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. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC...
Page 50 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. Detailed Name/Application The broken line area is the same as explanation MR-J4-200B4(-RJ) or less. Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC...
Page 51 1. FUNCTIONS AND CONFIGURATION (3) 100 V class The diagram is for MR-J4-10B1-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) Section 4.3 Used to set the axis No. of servo amplifier. Control axis setting switch (SW2) The test operation switch, the control axis deactivation setting switch, and the auxiliary axis...
Page 52: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage CAUTION between P+ and N- is safe with a voltage tester and others.
Page 53 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab 1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A). servo amplifier (2 places). Setting tab 3) Press the cover against the terminal box until the installing knobs click.
Page 54: Configuration Including Peripheral Equipment
1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 55 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350B(-RJ) R S T (Note 2) Power supply Molded-case circuit breaker Personal (MCCB) computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Junction terminal block Line noise filter To safety relay or MR-J3-D05 (FR-BSF01) safety logic unit Servo system controller or CN1A...
Page 56 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500B(-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 Line noise filter To safety relay or MR-J3-D05 (FR-BLF) safety logic unit Servo system controller or CN1A...
Page 57 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700B(-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) To safety relay or MR-J3-D05 safety logic unit Line noise Servo system controller or filter CN1A...
Page 58 1. FUNCTIONS AND CONFIGURATION (e) MR-J4-11KB(-RJ)/MR-J4-15KB(-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 contactor safety logic unit (MC) Servo system controller or CN1A (Note 1) previous servo amplifier...
Page 59 1. FUNCTIONS AND CONFIGURATION (f) MR-J4-22KB(-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) To safety relay or MR-J3-D05 safety logic unit Line noise Servo system controller or filter CN1A...
Page 60 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) 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 61 1. FUNCTIONS AND CONFIGURATION (b) 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 62 1. FUNCTIONS AND CONFIGURATION (c) 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 63 1. FUNCTIONS AND CONFIGURATION (d) 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 contactor MR-J3-D05 safety logic unit (MC) Servo system controller (Note 1) CN1A or previous servo...
Page 64 1. FUNCTIONS AND CONFIGURATION (e) 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 CN1A (Note 1) or previous servo...
Page 65 1. FUNCTIONS AND CONFIGURATION (f) 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 66 1. FUNCTIONS AND CONFIGURATION (3) 100 V class The diagram is for MR-J4-20B1-RJ. (Note 2) Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 (Note 3) Magnetic contactor (MC) (Note1) Power factor (Note 1) Junction terminal improving AC block reactor (FR-HAL) Line noise...
Page 67 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 50...
Page 68: Installation
2. INSTALLATION 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Page 69: Installation Direction And Clearances
2. INSTALLATION 2.1 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. (1) Installation clearances of the servo amplifier (a) Installation of one servo amplifier Cabinet...
Page 70: Keep Out Foreign Materials
2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting. When mounting the servo amplifiers closely, do not install the servo amplifier whose depth is larger than that of the left side servo amplifier since CNP1, CNP2, and CNP3 connectors cannot be disconnected.
Page 71: Encoder Cable Stress
2. INSTALLATION (3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.
Page 72 2. INSTALLATION (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M and MR-J3BUS_M-A cables (plastic).
Page 73: Inspection Items
2. INSTALLATION (7) Twisting If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur. (8) Disposal When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
Page 74: Parts Having Service Lives
2. INSTALLATION 2.6 Parts having service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
Page 75 2. INSTALLATION MEMO 2 - 8...
Page 76: 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 77 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 78: Input Power Supply Circuit
3. SIGNALS AND WIRING 3.1 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 79: Class
3. SIGNALS AND WIRING 3.1.1 200 V class (1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10B(-RJ) to MR-J4-350B(-RJ) (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB CNP1 (Note 7) (Note 11) CNP3 3-phase (Note 6)
Page 80 3. SIGNALS AND WIRING (2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10B(-RJ) to MR-J4-70B(-RJ) POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.
Page 81 3. SIGNALS AND WIRING (3) MR-J4-500B(-RJ) (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB (Note 7) (Note 11) 3-phase (Note 6) 200 V AC to Motor 240 V AC (Note 10) (Note 1) (Note 11) (Note 3) Encoder Encoder cable...
Page 82 3. SIGNALS AND WIRING (4) MR-J4-700B(-RJ) (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB (Note 7) (Note 11) 3-phase (Note 6) Built-in 200 V AC to Motor regenerative 240 V AC resistor (Note 2) (Note 10) (Note 11) (Note 3) Encoder Encoder...
Page 83 3. SIGNALS AND WIRING (5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) (Note 4) Malfunction (Note 14) Cooling fan EMG stop switch power supply Servo amplifier External Servo motor dynamic MCCB (Note 7) brake (optional) (Note 11) 3-phase 200 V AC to Motor 240 V AC MCCB (Note 6) (Note 10)
Page 84: Class
3. SIGNALS AND WIRING 3.1.2 400 V class (1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) (Note 4) Malfunction Emergency stop switch (Note 12) Step-down Servo amplifier Servo motor transformer CNP1 (Note 11) (Note 7) MCCB CNP3 (Note 6) Motor 3-phase 380 V AC to 480 V AC (Note 10) (Note 1)
Page 85 3. SIGNALS AND WIRING (2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) (Note 4) Malfunction Emergency stop switch (Note 12) Step-down transformer Servo amplifier Servo motor (Note 7) MCCB (Note 11) 3-phase (Note 6) Built-in 380 V AC to Motor regenerative 480 V AC resistor (Note 2) (Note 10) (Note 11) (Note 3)
Page 86 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 to Motor 480 V AC...
Page 87: Class
3. SIGNALS AND WIRING 3.1.3 100 V class (Note 4) Malfunction EMG stop switch Servo amplifier Servo motor MCCB CNP1 (Note 7) 1-phase (Note 11) 100 V AC to CNP3 (Note 6) 120 V AC Unassigned Motor Unassigned (Note 10) (Note 1) Unassigned CNP2...
Page 88: I/O Signal Connection Example
3. SIGNALS AND WIRING 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface Servo amplifier (Note 16) Short-circuit connector (Packed with the servo amplifier) (Note 12) 10 m or less 10 m or less 24 V DC (Note 10)
Page 89 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 90: For Source I/O Interface
3. SIGNALS AND WIRING 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. Servo amplifier (Note 16) Short-circuit connector (Packed with the servo amplifier) 10 m or less (Note 12) 10 m or less 24 V DC (Note 10) DOCOM (Note 15) (Note 12)
Page 91: Explanation Of Power Supply System
3. SIGNALS AND WIRING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS. Connection target Symbol Description (application) Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Page 92: Power-On Sequence
3. SIGNALS AND WIRING Connection target Symbol Description (application) Supply the following power to L11 and L21. Servo amplifier MR-J4-60B4(-RJ) to MR-J4-10B1 to MR-J4-10B(-RJ) to MR-J4-22KB4(-RJ) MR-J4-40B1 MR-J4-22KB(-RJ) Power 1-phase 200 V AC to L11/L21 Control circuit power 240 V AC, 50 Hz/60 Hz L11/L21 supply 1-phase 380 V AC to...
Page 93: Wiring Cnp1, Cnp2, And Cnp3
3. SIGNALS AND WIRING (2) Timing chart Servo-on command accepted (Note 1) (3 s to 4 s) Main circuit power supply Control circuit Base circuit 95 ms (Note 2) 10 ms 95 ms Servo-on command (from controller) Note 1. This range will be "5 s to 6 s" for the linear servo system and fully closed loop system. 2.
Page 94 3. SIGNALS AND WIRING (b) MR-J4-200B(-RJ)/MR-J4-350B(-RJ) MR-J4-200B(-RJ) MR-J4-350B(-RJ) Servo amplifier Servo amplifier CNP1 CNP1 CNP3 CNP2 CNP2 CNP3 Table 3.2 Connector and applicable wire Applicable wire Stripped Manufa Connector Receptacle assembly Open tool length [mm] cturer Size Insulator OD CNP1 06JFAT-SAXGFK-XL AWG 16 to 10 47 mm or shorter...
Page 95 3. SIGNALS AND WIRING (d) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ) Servo amplifier CNP1 CNP2 CNP3 Table 3.4 Connector and applicable wire Applicable wire Stripped Manufa Connector Receptacle assembly Open tool length [mm] cturer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.5 AWG 18 to 14 39 mm or shorter J-FAT-OT CNP2...
Page 96 3. SIGNALS AND WIRING You can also use a ferrule to connect with the connectors. The following shows references to select ferrules according to wire sizes. Ferrule model (Phoenix Contact) Crimping tool Servo amplifier Wire size (Phoenix Contact) For one For two MR-J4-10B(-RJ) to AWG 16...
Page 97: Connectors And Pin Assignment
3. SIGNALS AND WIRING 3.4 Connectors and pin assignment POINT The pin assignment of the connectors are as viewed from the cable connector wiring section. For the STO I/O signal connector (CN8), refer to chapter 13. For the CN3 connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell.
Page 98: Signal (Device) Explanations
3. SIGNALS AND WIRING 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2. The pin numbers in the connector pin No. column are those in the initial status. 3.5.1 Input device Connector Device Symbol...
Page 99: Output Device
3. SIGNALS AND WIRING 3.5.2 Output device (1) Output device pin The following shows the output device pins and parameters for assigning devices. Connector pin No. Parameter Initial device I/O division CN3-13 [Pr. PD07] CN3-15 [Pr. PD09] DO-1 CN3-9 [Pr. PD08] (2) Output device explanations Device Symbol...
Page 100: Output Signal
3. SIGNALS AND WIRING Device Symbol Function and application Limiting torque When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode. Warning When warning has occurred, WNG turns on.
Page 101: Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to section 8.1.) When SSCNET III/H communication brake occurs, forced stop deceleration will operate.
Page 102: Base Circuit Shut-Off Delay Time Function
3. SIGNALS AND WIRING 3.6.2 Base circuit shut-off delay time function The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off), alarm occurrence, or SSCNET III/H communication brake due to delay time of the electromagnetic brake.
Page 103: Vertical Axis Freefall Prevention Function
3. SIGNALS AND WIRING 3.6.3 Vertical axis freefall prevention function The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case. When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop.
Page 104: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forced stop deceleration function is not available. To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from the servo system controller.
Page 105 3. SIGNALS AND WIRING (2) When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed 0 r/min Base circuit (Energy supply to the servo motor) Servo amplifier No alarm Alarm No.
Page 106: Interfaces
3. SIGNALS AND WIRING 3.8 Interfaces 3.8.1 Internal connection diagram POINT Refer to section 13.3.1 for the CN8 connector. Servo amplifier (Note 5) Forced stop 2 24 V DC Approximately 6.2 k DOCOM (Note 3) (Note 2) (Note 1) (Note 3) Approximately 6.2 k DICOM...
Page 107: Detailed Explanation Of Interfaces
3. SIGNALS AND WIRING 3.8.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
Page 108 3. SIGNALS AND WIRING (3) Encoder output pulses DO-2 (differential line driver type) (a) Interface Maximum output current: 35 mA Servo amplifier Servo amplifier 100 Ω Am26LS32 or equivalent (LB, LZ) (LB, LZ) 150 Ω High-speed photocoupler (LBR, LZR) (LBR, LZR) (b) Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of...
Page 109: Source I/O Interfaces
3. SIGNALS AND WIRING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 110: Sscnet Iii Cable Connection
3. SIGNALS AND WIRING 3.9 SSCNET III cable connection POINT Do not look directly at the light generated from CN1A/CN1B connector of the servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. (1) SSCNET III cable connection For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo amplifier of the previous axis.
Page 111 3. SIGNALS AND WIRING 3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause malfunctions.
Page 112: Servo Motor With An Electromagnetic Brake
3. SIGNALS AND WIRING 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) Contacts must be opened with the or MBR (Electromagnetic brake interlock) turns off.
Page 113: Timing Chart
3. SIGNALS AND WIRING 3.10.2 Timing chart (1) When you use the forced stop deceleration function POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. (a) Servo-on command (from controller) on/off When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast.
Page 114 3. SIGNALS AND WIRING (b) Forced stop 2 on/off POINT In the torque control mode, the forced stop deceleration function is not available. (Note 2) Model speed command 0 and equal to or less than zero speed Servo motor speed 0 r/min Base circuit (Energy supply to...
Page 115 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on POINT In the torque control mode, the forced stop deceleration function is not available. Forced stop deceleration Dynamic brake Dynamic brake The time until a voltage Servo motor speed drop is detected.
Page 116 3. SIGNALS AND WIRING (2) When you do not use the forced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr. PA04]. (a) Servo-on command (from controller) on/off It is the same as (1) (a) in this section. (b) Off/on of the forced stop command (from controller) or EM1 (Forced stop) Dynamic brake Dynamic brake...
Page 117: Grounding
3. SIGNALS AND WIRING (f) Ready-off command from controller It is the same as (1) (f) in this section. 3.11 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
Page 118: Startup
4. STARTUP 4. STARTUP Do not operate the switches with wet hands. Otherwise, it may cause an electric WARNING shock. Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off.
Page 119: Startup Procedure
4. STARTUP 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure Wiring check Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc.
Page 120: Wiring Check
4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring 1) The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specifications.
Page 121 4. STARTUP (c) When you use an option and auxiliary equipment 1) 200 V class a) When you use a regenerative option for 5 kW or less servo amplifiers The lead wire between P+ terminal and D terminal should not be connected. The regenerative option wire should be connected between P+ and C terminal.
Page 122 4. STARTUP c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. Brake unit, power regeneration converter should be connected to P+ terminal and N- terminal.
Page 123: Surrounding Environment
4. STARTUP 4.1.3 Surrounding environment (1) Cable routing (a) The wiring cables should not be stressed. (b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.) (c) The connector of the servo motor should not be stressed. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
Page 124 4. STARTUP (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. Operation/command Stopping condition Servo-off command The base circuit is shut off and the servo motor coasts.
Page 125: Switch Setting And Display Of The Servo Amplifier
4. STARTUP 4.3 Switch setting and display of the servo amplifier Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with switches on the servo amplifier. On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an alarm.
Page 126 4. STARTUP (2) Disabling control axis switch (SW2-2) Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo motor will be disabled-axis status and will not be recognized by the controller. 2 3 4 Control axis deactivation switch (3) Switches for setting control axis No.
Page 127 4. STARTUP (c) Switch combination list for the control axis No. setting The following lists show the setting combinations of the auxiliary axis number setting switches and the axis selection rotary switch. Axis Axis Auxiliary axis number selection Control Auxiliary axis number selection Control setting switch...
Page 128: Scrolling Display
4. STARTUP 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. After 1.6 s Status Blank After 0.2 s Status Axis No. (1 digit) (2 digits) "b" : Indicates ready-off and servo-off status. "C"...
Page 129: Status Display Of An Axis
4. STARTUP 4.3.3 Status display of an axis (1) Display sequence Servo amplifier power on System check in progress Waiting for servo system controller power to switch on (SSCNET III/H communication) Servo system controller power on (SSCNET III/H communication begins) Initial data communication with the servo system controller (initialization communication)
Page 130: Test Operation Mode
4. STARTUP (2) Indication list Indication Status Description Initializing System check in progress Power of the servo amplifier was switched on at the condition that the power of the servo system controller is off. The control axis No. set to the auxiliary axis number setting switches (SW2-3 and SW2-4) and the axis selection rotary switch (SW1) do not match the one set to the servo system controller.
Page 131: Test Operation
4. STARTUP 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier. POINT If necessary, verify controller program by using motor-less operation. Refer to section 4.5.2 for the motor-less operation.
Page 132: Test Operation Mode In Mr Configurator2
4. STARTUP 4.5.1 Test operation mode in MR Configurator2 POINT When the test operation mode is selected with the test operation select switch (SW2-1), the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked. (1) Test operation mode (a) Jog operation Jog operation can be performed without using the servo system controller.
Page 133 4. STARTUP (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
Page 134 4. STARTUP (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW2-1. Set SW2-1 to "ON (up)". 1 2 3 4 2 3 4 Turning "ON (up)" SW2-1 during power-on will not start the test operation mode. 3) Turn on the servo amplifier.
Page 135: Motor-Less Operation In Controller
4. STARTUP 4.5.2 Motor-less operation in controller POINT Use motor-less operation which is available by making the servo system controller parameter setting. Connect the servo system controller to the servo amplifier before the motor-less operation. The motor-less operation using a controller is available with rotary servo motors only.
Page 136 4. STARTUP (2) Operation procedure 1) Set the servo amplifier to the servo-off status. 2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode switch (SW2-1), and then turn on the power supply. Set SW2-1 to "OFF (down)".
Page 137 4. STARTUP MEMO 4 - 20...
Page 138: 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 139 5. PARAMETERS 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) Operation mode Initial Symbol Name Unit value PA01 **STY Operation mode 1000h PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000...
Page 140 5. PARAMETERS 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Operation mode Initial Symbol Name Unit value PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h suppression control II) PB03 TFBGN Torque feedback loop gain 18000...
Page 141 5. PARAMETERS Operation mode Initial Symbol Name Unit value PB46 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 Machine resonance suppression filter 5 4500 [Hz]...
Page 142 5. PARAMETERS Operation mode Initial Symbol Name Unit value PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting PC23 0000h PC24 RSBR Forced stop deceleration time constant [ms] PC25 For manufacturer setting PC26 **COP8 Function selection C-8 0000h (Note) PC27 **COP9 Function selection C-9...
Page 143 5. PARAMETERS 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) Operation mode Initial Symbol Name Unit value PD01 For manufacturer setting 0000h PD02 *DIA2 Input signal automatic on selection 2 0000h PD03 For manufacturer setting 0020h PD04 0021h PD05 0022h PD06 0000h PD07...
Page 144 5. PARAMETERS 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Operation mode Initial Symbol Name Unit value PE01 **FCT1 Fully closed loop function selection 1 0000h PE02 For manufacturer setting 0000h PE03 *FCT2 Fully closed loop function selection 2 0003h PE04 **FBN...
Page 145 5. PARAMETERS Operation mode Initial Symbol Name Unit value PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00 5.1.6 Extension setting 3 parameters ([Pr.
Page 146 5. PARAMETERS Operation mode Initial Symbol Name Unit value PF29 For manufacturer setting 0000h PF30 PF31 FRIC Machine diagnosis function - Friction judgement speed [r/min]/ [mm/s] PF32 For manufacturer setting PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38 0000h PF39...
Page 147 5. PARAMETERS Operation mode Initial Symbol Name Unit value PL19 For manufacturer setting PL20 PL21 PL22 PL23 0000h PL24 PL25 0000h PL26 0000h PL27 0000h PL28 0000h PL29 0000h PL30 0000h PL31 0000h PL32 0000h PL33 0000h PL34 0000h PL35 0000h PL36 0000h...
Page 148: Basic Setting Parameters ([Pr. Pa
5. PARAMETERS 5.2 Detailed list of parameters POINT Set a value to each "x" in the "Setting digit" columns. 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) Initial Setting Symbol Name and function value range [unit] PA01 **STY Operation mode Refer to Name and function Select a operation mode.
Page 149 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 150 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA03 *ABS Absolute position detection system Refer to Name and function Set this parameter when using the absolute position detection system. The parameter is not column. available in the speed control mode and torque control mode. Setting Initial Explanation...
Page 151 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA08 Auto tuning mode Refer to Name and function Select the gain adjustment mode. column. Setting Initial Explanation digit value _ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode...
Page 152 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA09 Auto tuning response 1 to 40 Set a response of the auto tuning. Machine characteristic Machine characteristic Guideline for Guideline for Setting Setting machine machine value value Response Response resonance resonance...
Page 153 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA14 *POL Rotation direction selection/travel direction selection 0 to 1 This is used to select a rotation direction or travel direction. For the setting for the master-slave operation function, refer to section 17.2. Servo motor rotation direction/linear servo motor travel Setting direction...
Page 154 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA17 **MSR Servo motor series setting 0000h Refer to Name When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. function Refer to the following table for settings.
Page 155 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA17 **MSR 0000h Refer to Name Linear servo motor Servo motor model Parameter series (primary side) function LM-K2P1A-01M-2SS1 1101h column. LM-K2P1C-03M-2SS1 1301h LM-K2P2A-02M-1SS1 2101h LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h LM-K2P2E-12M-1SS1 2501h LM-K2P3C-14M-1SS1 3301h...
Page 156 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA20 *TDS Tough drive setting Refer to Name and function Alarms may not be avoided with the tough drive function depending on the situations of the column. power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-9, CN3-13 and CN3-15 with [Pr.
Page 157 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA22 **PCS Position control composition selection Refer to Name and function Setting Initial Explanation column. digit value _ _ _ x For manufacturer setting _ _ x _ _ x _ _ Scale measurement mode selection x _ _ _ 0: Disabled...
Page 158 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA25 OTHOV One-touch tuning - Overshoot permissible level 0 to 100 This is used to set a permissible value of overshoot amount with a percentage to in-position range. However, setting "0" will be 50%. PA26 *AOP Function selection A-5...
Page 159: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Setting Symbol Name and function value range [unit] PB01 FILT Adaptive tuning mode (adaptive filter II) Refer to Name and function Set the adaptive filter tuning. column. Setting Initial Explanation digit value...
Page 160 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB06 Load to motor inertia ratio/load to motor mass ratio 7.00 0.00 to Multiplier 300.00 This is used to set the load to motor inertia ratio or load to motor mass ratio. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr.
Page 161 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB11 Speed differential compensation 0 to 1000 This is used to set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection"...
Page 162 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB17 Shaft resonance suppression filter Refer to Name and function This is used for setting the shaft resonance suppression filter. column. This is used to suppress a low-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)"...
Page 163 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Set the vibration frequency for vibration suppression control 1 to suppress low-frequency [Hz] machine vibration. 300.0 When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr.
Page 164 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB24 *MVS Slight vibration suppression control Refer to Name and function Select the slight vibration suppression control and PI-PID switching control. column. Setting Initial Explanation digit value Slight vibration suppression control selection _ _ _ x 0: Disabled 1: Enabled...
Page 165 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] Position loop gain after gain switching PB30 PG2B 0.0 to [rad/s] 2000.0 Set the position loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. This parameter is enabled only when you select "Manual mode (_ _ _ 3)"...
Page 166 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PB45 CNHF Command notch filter Refer to Name and function Set the command notch filter. column. Setting Initial Explanation digit value _ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to frequency.
Page 167 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB45 CNHF Refer to Name Table 5.6 Notch depth selection and function Setting Setting column. Depth [dB] Depth [dB] value value -40.0 -6.0 -24.1 -5.0 -18.1 -4.1 -14.5 -3.3 -12.0 -2.5 -10.1...
Page 168 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB49 NHQ4 Notch shape selection 4 Refer to Name and function Set the shape of the machine resonance suppression filter 4. column. Setting Initial Explanation digit value _ _ _ x Machine resonance suppression filter 4 selection 0: Disabled 1: Enabled...
Page 169 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 0.1 to [Hz] 300.0 Set the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.
Page 170 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 to 0.30 Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled.
Page 171: Extension Setting Parameters ([Pr. Pc_ _ ])
5. PARAMETERS 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) Initial Setting Symbol Name and function value range [unit] PC01 Error excessive alarm level 0 to [rev]/ 1000 Set an error excessive alarm level. [mm] Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3 rev. (Note) Setting over 200 rev will be clamped with 200 rev.
Page 172 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC04 **COP1 Function selection C-1 Refer to Name and function Select the encoder cable communication method selection. column. Setting Initial Explanation digit value _ _ _ x For manufacturer setting _ _ x _ _ x _ _ x _ _ _...
Page 173 5. PARAMETERS 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 11 (3) for detection column. point of output selection.
Page 174 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 11 (3) for detection column. point of output selection.
Page 175 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC20 *COP7 Function selection C-7 Refer to Name and function This is used to select an undervoltage alarm detection method. column. Setting Initial Explanation digit value [AL. 10 Undervoltage] detection method selection _ _ _ x This is set when FR-RC-(H) or FR-CV-(H) is used and if [AL.
Page 176 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC26 **COP8 Function selection C-8 Refer to Name and function Used to select the communication method of the encoder cable to be connected to the CN2L column. connector of MR-J4-_B_-RJ. Setting Initial Explanation...
Page 177: I/O Setting Parameters ([Pr. Pd_ _ ])
5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC31 RSUP1 Vertical axis freefall prevention compensation amount -25000 [0.0001 Set the compensation amount of the vertical axis freefall prevention function. rev]/ 25000 Set it per servo motor rotation amount or linear servo motor travel distance. [0.01mm] When a positive value is set, compensation is performed to the address increasing direction.
Page 178 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD07 *DO1 Output device selection 1 Refer to Name and function You can assign any output device to the CN3-13 pin. column. Setting Initial Explanation digit value _ _ x x Device selection Refer to table 5.8 for settings.
Page 179 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD11 *DIF Input filter setting Refer to Name and function Select the input filter. column. Setting Initial Explanation digit value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting.
Page 180 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD15 *IDCS Driver communication setting Refer to Name and function This parameter is supported with software version A8 or later. Check the software version column. using MR Configurator2. This parameter is used to select master/slave axis for the driver communication. This is available only when the deceleration to a stop function is disabled.
Page 181 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1 0 to 32 This parameter is supported with software version A8 or later. Check the software version using MR Configurator2.
Page 182: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
5. PARAMETERS 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Initial Setting Symbol Name and function value range [unit] PE01 **FCT1 Fully closed loop function selection 1 Refer to Name and function Setting Initial column. Explanation digit value _ _ _ x Fully closed loop function selection 0: Always enabled 1: Switching with the control command of controller...
Page 183 5. PARAMETERS Initial Setting value Symbol Name and function range [unit] PE08 Fully closed loop dual feedback filter 0 to [rad/s] 4500 This is used to set a dual feedback filter band. Refer to section 16.3.1 (7) for details. PE10 FCT3 Fully closed loop function selection 3 Refer to Name...
Page 184: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
5. PARAMETERS 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial Setting Symbol Name and function value range [unit] PF06 *FOP5 Function selection F-5 Refer to Name and function Setting Initial column. Explanation digit value _ _ _ x Electronic dynamic brake selection 0: Automatic (enabled only for specified servo motors) 2: Disabled...
Page 185: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ])
5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PF31 FRIC Machine diagnosis function - Friction judgement speed 0 to [r/min]/ Set a (linear) servo motor speed to divide a friction estimation area into high and low for the permiss friction estimation process of the machine diagnosis.
Page 186 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] Linear servo motor/DD motor function selection 2 Refer to Name PL04 *LIT2 and function This is used to select a detection function and detection controller reset condition of [AL. 42 column.
Page 187 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PL09 LPWM Magnetic pole detection voltage level 0 to 100 This is used to set a direct current exciting voltage level during the magnetic pole detection. If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic pole detection, decrease the setting value.
Page 188: Different Adjustment Methods
6. NORMAL GAIN ADJUSTMENT 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly.
Page 189: Adjustment Using Mr Configurator2
6. NORMAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage Start Interpolation 2 gain adjustment mode 1 made for 2 or more (interpolation mode) axes? The load fluctuation is large during driving? One-touch tuning Handle the error Error handling Finished normally? Auto tuning mode 1 is possible? Adjustment OK?
Page 190: One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2 One-touch tuning POINT When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). Connect Mr Configurator2 and open the one-touch tuning window, and you can use the function. The following parameters are set automatically with one-touch tuning.
Page 191: Display Transition And Operation Procedure Of One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.2 Display transition and operation procedure of one-touch tuning (1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system.
Page 192 6. NORMAL GAIN ADJUSTMENT Response Machine characteristic mode Response Low mode Basic mode High mode Guideline of corresponding machine Low response Arm robot General machine tool conveyor Precision working machine Inserter Mounter Bonder High response 6 - 5...
Page 193 6. NORMAL GAIN ADJUSTMENT POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shorten the settling time and improve the response.
Page 194 6. NORMAL GAIN ADJUSTMENT (3) One-touch tuning execution During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code. (4) If an error occur If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated.
Page 195: Caution For One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT (7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear. Pushing "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button.
Page 196: Auto Tuning
6. NORMAL GAIN ADJUSTMENT (3) The tuning is not available during the following test operation mode. (a) Output signal (DO) forced output (b) Motor-less operation 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value.
Page 197: Auto Tuning Mode Basis
6. NORMAL GAIN ADJUSTMENT 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Load moment Automatic setting of inertia Encoder Loop gain Command Current PG1, PG2, control VG2, VIC Servo motor Current feedback Real-time Position/speed Set 0 or 1 to turn on.
Page 198: Adjustment Procedure By Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 199: Response Level Setting In Auto Tuning Mode
6. NORMAL GAIN ADJUSTMENT 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
Page 200: Manual Mode
6. NORMAL GAIN ADJUSTMENT 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
Page 201 6. NORMAL GAIN ADJUSTMENT (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 202 6. NORMAL GAIN ADJUSTMENT (b) Adjustment procedure Step Operation Description Brief-adjust with auto tuning. Refer to section 6.2.3. Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). Set the estimated value to the load to motor inertia ratio/load to motor mass ratio.
Page 203: Gain Adjustment Mode
6. NORMAL GAIN ADJUSTMENT 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the value increases the response level to the disturbance, but a too high value will increase vibration of the mechanical system.
Page 204 6. NORMAL GAIN ADJUSTMENT (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr.
Page 205 6. NORMAL GAIN ADJUSTMENT (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but a too high value will make overshoot liable to occur at settling. The droop pulses value is determined by the following expression.
Page 206: Filter Setting
7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. When you use a linear servo motor, replace the following left words to the right words.
Page 207: Machine Resonance Suppression Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.1 Machine resonance suppression filter POINT The machine resonance suppression filter is a delay factor for the servo system. Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide. If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order.
Page 208 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Frequency Notch width...
Page 209 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter (a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 210: Adaptive Filter Ii
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.2 Adaptive filter II POINT The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.
Page 211 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set [Pr. PB01] to "_ _ _ 1".) Tuning ends automatically after the If assumption fails after tuning is executed at a large vibration or predetermined period of time.
Page 212: Shaft Resonance Suppression Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or setting [Pr.
Page 213: Low-Pass Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a default.
Page 214 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate. Servo motor side Servo motor side Load side Load side...
Page 215 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
Page 216 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.
Page 217 7. SPECIAL ADJUSTMENT FUNCTIONS Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr. PB02]. Step 2 Set "Vibration suppression control - Vibration frequency"...
Page 218: Command Notch Filter
7. SPECIAL ADJUSTMENT FUNCTIONS (b) When vibration can be confirmed using monitor signal or external sensor Motor-side vibration External acceleration pickup signal, etc. (droop pulses) Position command frequency Vibration suppression control - Vibration frequency Vibration cycle [Hz] Vibration cycle [Hz] Vibration suppression control - Resonance frequency Set the same value.
Page 219 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side. [Pr. PB45] Notch depth Command notch filter setting frequency Depth Setting Setting...
Page 220: Gain Switching Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function.
Page 221: Function Block Diagram
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
Page 222: Parameter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.3 Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Page 223 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia PB06 Load to motor inertia PB29 GD2B Load to motor inertia ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass ratio ratio...
Page 224 7. SPECIAL ADJUSTMENT FUNCTIONS (c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching] Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr.
Page 225: Gain Switching Procedure
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by control command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio/load to motor 4.00 [Multiplier] mass ratio...
Page 226 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Control command from controller After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms → → Model loop gain Load to motor inertia ratio/load to motor → → 4.00 10.00 4.00 mass ratio →...
Page 227 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Command pulses Droop pulses Command pulses +CDL Droop pulses [pulse] -CDL After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Load to motor inertia ratio/load to motor → → → 4.00 10.00 4.00...
Page 228: Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.
Page 229 7. SPECIAL ADJUSTMENT FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is reset with vibration Filter...
Page 230: Instantaneous Power Failure Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
Page 231 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. (a) When the bus voltage decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply [AL.
Page 232 7. SPECIAL ADJUSTMENT FUNCTIONS (b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply Control circuit power supply [Pr.
Page 233: Compliance With Semi-F47 Standard
7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Compliance with SEMI-F47 standard POINT The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47 standard. 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 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Requirements conditions of SEMI-F47 standard Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard. Table 7.2 Requirements conditions of SEMI-F47 standard Permissible time of Instantaneous power instantaneous power failure voltage failure [s] Rated voltage ×...
Page 235 7. SPECIAL ADJUSTMENT FUNCTIONS Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output. Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output.
Page 236: Alarm And Warning List
8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
Page 237 8. TROUBLESHOOTING Alarm reset Stop Detail method Name Detail name number (Note 4, Encoder initial communication - Receive data 16.1 error 1 Encoder initial communication - Receive data 16.2 error 2 Encoder initial communication - Receive data 16.3 error 3 Encoder initial communication - Transmission 16.5 data error 1...
Page 238 8. TROUBLESHOOTING Alarm reset Stop method Detail Name Detail name number (Note 4, 21.1 Encoder data error 1 21.2 Encoder data update error 21.3 Encoder data waveform error Encoder normal 21.4 Encoder non-signal error communication error 2 21.5 Encoder hardware error 1 21.6 Encoder hardware error 2 21.9...
Page 239 8. TROUBLESHOOTING Alarm reset Stop method Detail Name Detail name number (Note 4, Overcurrent detected at hardware detection 32.1 circuit (during operation) Overcurrent detected at software detection 32.2 function (during operation) Overcurrent Overcurrent detected at hardware detection 32.3 circuit (during a stop) Overcurrent detected at software detection 32.4 function (during a stop)
Page 240 8. TROUBLESHOOTING Alarm reset Stop method Detail Name Detail name number (Note 4, 51.1 Thermal overload error 3 during operation (Note 1) (Note 1) (Note 1) Overload 2 (Note 1) 51.2 Thermal overload error 3 during a stop (Note 1) (Note 1) (Note 1) 52.1 Excess droop pulse 1 52.3...
Page 241 8. TROUBLESHOOTING Alarm reset Stop method Detail Name Detail name number (Note 4, Load-side encoder communication - Receive 71.1 data error 1 Load-side encoder communication - Receive 71.2 data error 2 Load-side encoder communication - Receive 71.3 data error 3 Load-side encoder communication...
Page 242 8. TROUBLESHOOTING Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence. 2. In some controller communication status, the alarm factor may not be removed. 3. The alarm can be canceled by setting as follows: For the fully closed loop control: set [Pr.
Page 243: Troubleshooting
8. TROUBLESHOOTING Stop Detail method Name Detail name number (Note 2, Servo amplifier overheat 91.1 Main circuit device overheat warning warning (Note 1) 92.1 Encoder battery cable disconnection warning Battery cable disconnection warning 92.3 Battery degradation 95.1 STO1 off detection STO warning 95.2 STO2 off detection...
Page 244: Troubleshooting At Power On
8. TROUBLESHOOTING 8.2 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 245 8. TROUBLESHOOTING MEMO 8 - 10...
Page 246: Outline Drawings
9. OUTLINE DRAWINGS 9. OUTLINE DRAWINGS 9.1 Servo amplifier POINT Only MR-J4-_B_-RJ are shown for dimensions. MR-J4-_B_ does not have CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_B_ are not different from those of MR-J4-_B_-RJ except CN2L, CN7 and CN9 connectors. 9 - 1...
Page 247 9. OUTLINE DRAWINGS (1) 200 V class (a) MR-J4-10B(-RJ)/MR-J4-20B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 With Approx. 69.3 MR-BAT6V1SET Approx. 38.5 Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 248 9. OUTLINE DRAWINGS (b) MR-J4-40B(-RJ)/MR-J4-60B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 With MR-BAT6V1SET Approx. 69.3 Approx. 38.5 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx. 40 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 249 9. OUTLINE DRAWINGS (c) MR-J4-70B(-RJ)/MR-J4-100B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan air intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 1.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 250 9. OUTLINE DRAWINGS (d) MR-J4-200B(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Exhaust CNP1 CNP2 CNP3 Cooling fan air intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 251 9. OUTLINE DRAWINGS (e) MR-J4-350B(-RJ) [Unit: mm] Approx. 80 Mounting hole Exhaust CNP1 CNP3 CNP2 Cooling fan air intake Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 2.3 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx.
Page 252 9. OUTLINE DRAWINGS (f) MR-J4-500B(-RJ) [Unit: mm] Approx. 25 Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Mass: 4.0 [kg] Mounting screw Terminal Screw size: M5 Screw size: M3.5 Tightening torque: 3.24 [N•m] Tightening torque: 0.8 [N•m] Approx.
Page 253 9. OUTLINE DRAWINGS (g) MR-J4-700B(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.2 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] N- P3 P4...
Page 254 9. OUTLINE DRAWINGS (h) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 57.9 224.2 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] TE1-1...
Page 255 9. OUTLINE DRAWINGS (i) MR-J4-22KB(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 25.5 22.8 Intake 188.5 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...
Page 256 9. OUTLINE DRAWINGS (2) 400 V class (a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob 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.
Page 257 9. OUTLINE DRAWINGS (b) MR-J4-200B4(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan air 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 258 9. OUTLINE DRAWINGS (c) MR-J4-350B4(-RJ) [Unit: mm] 2-φ6 mounting hole Approx. 80 Approx. 28 Lock knob Cooling fan exhaust CNP1 CNP2 CNP3 With MR-BAT6V1SET Intake Mass: 3.6 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 105 Approx.
Page 259 9. OUTLINE DRAWINGS (d) MR-J4-500B4(-RJ) [Unit: mm] Approx. 28 Approx. 80 Approx. 200 Approx. 28 Cooling fan exhaust With Intake MR-BAT6V1SET Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 4.3 [kg] Mounting screw Terminal Screw size: M5 N- P3 P4...
Page 260 9. OUTLINE DRAWINGS (e) MR-J4-700B4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ6 mounting hole Cooling fan exhaust With MR-BAT6V1SET Intake Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.5 [kg] Mounting screw Terminal Screw size: M5 N- P3 P4 Tightening torque: 3.24 [N•m]...
Page 261 9. OUTLINE DRAWINGS (f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) [Unit: mm] Approx. 80 2-φ6 mounting hole Approx. 28 10.5 Cooling fan exhaust 24.2 TE1-1 TE1-2 Intake 25.5 22.8 With MR-BAT6V1SET 57.9 224.2 5 × 25.5 (= 127.5) 237.4 Mass: 13.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] TE1-1...
Page 262 9. OUTLINE DRAWINGS (g) MR-J4-22KB4(-RJ) [Unit: mm] Approx. 80 Approx. 28 2-φ12 mounting hole Cooling fan exhaust TE1-1 32.7 TE1-2 25.5 22.8 Intake 188.5 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...
Page 263 9. OUTLINE DRAWINGS (3) 100 V class (a) MR-J4-10B1(-RJ)/MR-J4-20B1(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 264 9. OUTLINE DRAWINGS (b) MR-J4-40B1(-RJ) [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 Approx. 69.3 Approx. 38.5 With MR-BAT6V1SET Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3 Approx. 40 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 265 9. OUTLINE DRAWINGS 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 17.6 ± 0.2 17.6 ± 0.2 20.9 ± 0.2 20.9 ± 0.2 (2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector...
Page 266 9. OUTLINE DRAWINGS (b) Jack screw M2.6 type This is not available as option. [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector Shell kit 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4 (3) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm]...
Page 267 9. OUTLINE DRAWINGS MEMO 9 - 22...
Page 268: Overload Protection Characteristics
10. CHARACTERISTICS 10. CHARACTERISTICS POINT For the characteristics of the linear servo motor and the direct drive motor, refer to sections 14.4 and 15.4. 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.
Page 269 10. CHARACTERISTICS The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%] Characteristics a Characteristics b 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 3) (Note 1, 3) Load ratio [%] Load ratio [%]...
Page 270 10. CHARACTERISTICS 10000 1000 Operating Servo-lock (Note 1) Load ratio [%] Characteristics e Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Page 271: Power Supply Capacity And Generated Loss
10. CHARACTERISTICS 10.2 Power supply capacity and generated loss (1) Amount of heat generated by the servo amplifier 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 272 10. CHARACTERISTICS (Note 2) Servo amplifier-generated heat [W] At rated output (Note 1) Area required for [Generated heat Power supply Servo amplifier Servo motor heat dissipation in the cabinet capacity At rated output With servo-off when cooled [kVA] outside the cabinet] (Note 3) HG-JR903 MR-J4-11KB(-RJ)
Page 273 10. CHARACTERISTICS (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C. (With an approximately 5 °C safety margin, the system should operate within a maximum 55 °C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.
Page 274: Dynamic Brake Characteristics
10. CHARACTERISTICS 10.3 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 275 10. CHARACTERISTICS (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. (a) 200 V class 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed [r/min] Speed [r/min] HG-MR series HG-KR series 152 502 750 1000 1250 1500...
Page 276 10. CHARACTERISTICS (b) 400 V class 11K1M4 3524 22K1M4 15K1M4 2024 5024 1024 7024 1524 500 1000 1500 2000 2500 3000 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] HG-SR series HG-JR1500r/min series 7034 9034 1034 3534 5034 2034 1534 1000 2000 3000 4000 5000 6000...
Page 277: Permissible Load To Motor Inertia When The Dynamic Brake Is Used
10. CHARACTERISTICS 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
Page 278: Cable Bending Life
10. CHARACTERISTICS 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 × 10 5 × 10 1 × 10 5 ×...
Page 279: Inrush Currents At Power-On Of Main Circuit And Control Circuit
10. CHARACTERISTICS 10.5 Inrush currents at power-on of main circuit and control circuit POINT The inrush current values can change depending on frequency of turning on/off the power and ambient temperature. Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors.
Page 280 10. CHARACTERISTICS (3) 100 V class The following shows the inrush currents (reference data) that will flow when 120 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. Inrush currents (A Servo amplifier Main circuit power supply Control circuit power supply...
Page 281 10. CHARACTERISTICS MEMO 10 - 14...
Page 282: Cable/Connector Sets
11. Options and peripheral devices 11. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 283: Combinations Of Cable/Connector Sets
11. Options and peripheral devices 11.1.1 Combinations of cable/connector sets For MR-J4-_B_ servo amplifier Safety logic unit Personal Servo system MR-J3-D05 computer controller CN10 Servo Servo 2) 3) 4) amplifier amplifier 1) (packed with the servo amplifier) (Note 2) (Note 1) CNP1 (Note 2) CN1A...
Page 284 11. Options and peripheral devices For MR-J4-_B_-RJ servo amplifier Safety logic unit Personal Servo system MR-J3-D05 computer controller CN10 Servo Servo 2) 3) 4) amplifier amplifier 1) (packed with the servo amplifier) (Note 2) (Note 1) CNP1 (Note 2) CN1A CN1A CNP2 2) 3) 4)
Page 285 11. Options and peripheral devices Product name Model Description Application Servo amplifier Supplied power connector with 200 V class and 100 V class servo amplifiers CNP1 Connector: CNP2 Connector: CNP3 Connector: of 1 kW or 06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 less (JST) (JST) (JST) Applicable wire size: 0.8 mm...
Page 286: Mr-D05Udl3M-B Sto Cable
11. Options and peripheral devices Product name Model Description Application Connector: 10120-3000PE Connector set MR-CCN1 Shell kit: 10320-52F0-008 (3M or equivalent) Junction terminal PS7DW-20V14B-F block (Yoshida Electric Industry) (recommended) MR-J2HBUS_M Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary.
Page 287: Sscnet Iii Cable
11. Options and peripheral devices 11.1.3 SSCNET III cable POINT Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. Refer to appendix 10 for long distance cable over 50 m and ultra-long bending life cable.
Page 288 11. Options and peripheral devices (3) Dimensions (a) MR-J3BUS015M [Unit: mm] Protective tube Approx. Approx. Approx. Approx. 13.4 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L). [Unit: mm] Protective tube (Note) Approx.
Page 289: Regenerative Options
11. Options and peripheral devices 11.2 Regenerative options Do not use servo amplifiers with regenerative options other than the combinations CAUTION specified below. Otherwise, it may cause a fire. 11.2.1 Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. (1) 200 V class Regenerative power [W] Servo...
Page 290 11. Options and peripheral devices (2) 400 V class Regenerative power [W] (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) Built-in Servo amplifier RB1H-4 regenerative RB3M-4 RB3G-4 RB5G-4 RB34-4 RB54-4 RB3U-4 RB5U-4 [82 Ω] resistor [120 Ω] [47 Ω]...
Page 291: Selection Of Regenerative Option
11. Options and peripheral devices 11.2.2 Selection of regenerative option (1) Rotary servo motor and direct drive motor Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (a) Regenerative energy calculation tf (1 cycle) Time...
Page 292 11. Options and peripheral devices (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 293 11. Options and peripheral devices (2) Linear servo motor (a) Thrust and energy calculation Liner servo motor Feed speed secondary-side (magnet) Load Positive direction Time Negative Liner servo motor direction primary-side (coil) Liner servo motor psa1 psd1 psa2 psd2 The following shows equations of the linear servo motor thrust and energy at the driving pattern above.
Page 294: Parameter Setting
11. Options and peripheral devices 11.2.3 Parameter setting Set [Pr. PA02] according to the option to be used. [Pr. PA02] Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
Page 295 11. Options and peripheral devices (1) MR-J4-500B(-RJ) or less/MR-J4-350B4(-RJ) or less Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 296 11. Options and peripheral devices (2) MR-J4-500B4(-RJ)/MR-J4-700B(-RJ)/MR-J4-700B4(-RJ) Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 297 11. Options and peripheral devices (3) MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)/MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (when using the supplied regenerative resistor) Note the followings for supplied regenerative resistors of 11 kW to 22 kW servo amplifiers because they do not have protect covers. Touching the resistor will cause a burn because the surface of the parts is a CAUTION resistive element and very high temperature.
Page 298 11. Options and peripheral devices (4) MR-J4-11KB-PX to MR-J4-22KB-PX/MR-J4-11KB-RZ to MR-J4-22KB-RZ/MR-J4-11KB4-PX to MR-J4- 22KB4-PX/MR-J4-11KB4-RZ to MR-J4-22KB4-RZ (when using the regenerative option) The MR-J4-11KB-PX to MR-J4-22KB-PX, MR-J4-11KB-RZ to MR-J4-22KB-RZ, MR-J4-11KB4-PX to MR-J4-22KB4-PX, and MR-J4-11KB4-RZ to MR-J4-22KB4-RZ servo amplifiers are not supplied with regenerative resistors.
Page 299: Dimensions
11. Options and peripheral devices When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. MR-RB5R/MR-RB9F/MR-RB9T/ MR-RB5K-4/MR-RB6K-4 Bottom 2 cooling fans (1.0 m /min or more, 92 mm × 92 mm) G4 G3 C Mounting screw 4-M3 11.2.5 Dimensions...
Page 300 11. Options and peripheral devices (2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm] Terminal block Cooling fan mounting screw (2-M4 screw) Terminal screw size: M4 Tightening torque: 1.2 [N•m] 101.5 82.5 Mounting screw Screw size: M6 Air intake Tightening torque: 5.4 [N•m] Variable Regenerative Mass dimensions option...
Page 301 11. Options and peripheral devices (4) MR-RB032 [Unit: mm] TE1 terminal block φ6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 0.5 [kg] Approx.
Page 302 11. Options and peripheral devices (6) MR-RB1H-4 [Unit: mm] Terminal φ6 mounting hole Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] Approx. 24 (7) GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω...
Page 303: Fr-Bu2-(H) Brake Unit
11. Options and peripheral devices 11.3 FR-BU2-(H) brake unit POINT Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier.
Page 304: Brake Unit Parameter Setting
11. Options and peripheral devices Number of Permissible Resultant Applicable servo Brake unit Resistor unit connected continuous resistance [Ω] amplifier (Note 3) units power [kW] 400 V FR-BU2-H30K FR-BR-H30K 1.99 MR-J4-500B4(-RJ) class MR-J4-700B4(-RJ) MR-J4-11KB4(-RJ) (Note 2) FR-BU2-H55K FR-BR-H55K 3.91 MR-J4-11KB4(-RJ) MR-J4-15KB4(-RJ) MR-J4-22KB4(-RJ) FR-BU2-H75K...
Page 305 11. Options and peripheral devices 11.3.3 Connection example POINT EM2 has the same function as EM1 in the torque control mode. Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
Page 306 11. Options and peripheral devices 2) 400 V class Emergency stop switch Step-down transformer Servo amplifier (Note 9) MCCB (Note 1) 24 V DC (Note 12) Power supply DOCOM FR-BR-H (Note 5) (Note 11) (Note 10) Main circuit power supply (Note 3) FR-BU2-H DICOM...
Page 307 11. Options and peripheral devices (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Page 308 11. Options and peripheral devices Emergency stop switch Servo amplifier (Note 11) MCCB 24 V DC (Note 14) (Note 1) DOCOM Power supply FR-BR (Note 5) (Note 13) (Note 12) Main circuit power supply (Note 3) FR-BU2 (Note 10) DICOM (Note 9) 24 V DC (Note 14) (Note 4)
Page 309 11. Options and peripheral devices (2) Combination with MT-BR5-(H) resistor unit (a) 200 V class Emergency stop switch Servo amplifier (Note 9) MCCB 24 V DC (Note 12) (Note 1) Power DOCOM supply (Note 11) MT-BR5 (Note 5) (Note 10) Main circuit power supply (Note 3)
Page 310 11. Options and peripheral devices (b) 400 V class 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...
Page 311 11. Options and peripheral devices (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per one meter).
Page 312 11. Options and peripheral devices 2) Control circuit terminal POINT Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. Insulator SD SD Core Jumper Terminal block...
Page 313: Dimensions
11. Options and peripheral devices (Note 1) Number of Servo amplifier Brake unit Crimp terminal (Manufacturer) Applicable connected units tool 400 V MR-J4-500B4(-RJ) FR-BU2-H30K FVD5.5-S4 (JST) class MR-J4-700B4(-RJ) FR-BU2-H30K FVD5.5-S4 (JST) MR-J4-11KB4(-RJ) FR-BU2-H30K FVD5.5-6 (JST) FR-BU2-H55K FVD5.5-6 (JST) MR-J4-15KB4(-RJ) FR-BU2-H55K FVD5.5-6 (JST) MR-J4-22KB4(-RJ) FR-BU2-H55K...
Page 314 11. Options and peripheral devices FR-BU2-30K/FR-BU2-H30K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 129.5 FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 11 - 33...
Page 315 11. Options and peripheral devices (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 316: Fr-Rc-(H) Power Regeneration Converter
11. Options and peripheral devices 11.4 FR-RC-(H) power regeneration converter POINT When using the FR-RC-(H) power regeneration converter, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). When using the FR-RC-(H) power regeneration converter, refer to "Power Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
Page 317 11. Options and peripheral devices (2) Connection example POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier (Note 7) Power factor improving reactor MCCB (Note 10) (Note 5) Power supply...
Page 318 11. Options and peripheral devices Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate. 2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+ and C terminals.
Page 319 11. Options and peripheral devices 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 320: Fr-Cv-(H) Power Regeneration Common Converter
11. Options and peripheral devices (4) Mounting hole machining dimensions When the power regeneration converter is installed to an enclosed type cabinet, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box.
Page 321: Model Designation
11. Options and peripheral devices 11.5.1 Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. Capacity Symbol Capacity [kW] 7.5K Symbol Voltage class None 200 V class 400 V class 11.5.2 Selection (1) 200 V class FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W...
Page 322 11. Options and peripheral devices (2) 400 V class FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW. The following shows the restrictions on using the FR-CV-H. (a) Up to two servo amplifiers can be connected to one FR-CV-H. (b) FR-CV-H capacity [W] ≥...
Page 323 11. Options and peripheral devices (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier Servo motor FR-CVL FR-CV (Note 7) MCCB R2/L12 R/L11 R2/L1 3-phase...
Page 324 11. Options and peripheral devices (b) 400 V class Servo amplifier Servo motor FR-CVL-H FR-CV-H (Note 7) MCCB R/L11 R2/L12 R2/L1 3-phase S2/L22 S/L21 380 V AC to S2/L2 480 V AC T/L31 T2/L32 T2/L3 P/L+ (Note 5) N/L- 24 V DC (Note 8) R/L11 Step-down S/L21...
Page 325 11. Options and peripheral devices (4) Selection example of wires used for wiring POINT Selection conditions of wire size is as follows. 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair (a) Wire size 1) Between P and P4, and between N and N- The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.
Page 326 11. Options and peripheral devices (b) Example of selecting the wire sizes 1) 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
Page 327 11. Options and peripheral devices (5) Other precautions (a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR- HEL-(H)). (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them.
Page 328 11. Options and peripheral devices Power regeneration common converter FR-CV-H_ Item Total of connectable servo amplifier [kW] 27.5 capacities Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Total capacity of applicable servo motors, 300% torque, 60 s Short-time rating Regenerative (Note 1)
Page 329: Junction Terminal Block Ps7Dw-20V14B-F (Recommended)
11. Options and peripheral devices 11.6 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET)
Page 330: Mr Configurator2
11. Options and peripheral devices (3) Dimensions of junction terminal block [Unit: mm] 44.11 7.62 φ4.5 TB.E (φ6) M3 × 5L 1.42 M3 × 6L 11.7 MR Configurator2 POINT The MR-J4-_B_-RJ servo amplifier is supported with software version 1.19V or later.
Page 331: System Configuration
11. Options and peripheral devices 11.7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment Description ® ® Microsoft Windows 8 Enterprise Operating System ® ® Microsoft Windows 8 Pro Operating System...
Page 332: Precautions For Using Usb Communication Function
11. Options and peripheral devices (2) Connection with servo amplifier Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M connector (Option) 11.7.3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers Connect your personal computer with the following procedures.
Page 333: Battery
11. Options and peripheral devices 11.8 Battery POINT Refer to appendix 2 and 3 for battery transportation and the new EU Battery Directive. The MR-BAT6V1BJ battery for junction battery cable is only for the HG series servo motors. It cannot be used with direct drive motors. Do not use the MR-BAT6V1BJ battery for junction battery cable in the fully closed loop system and scale measurement function.
Page 334: Selection Example Of Wires
11. Options and peripheral devices (3) DIMENSIONS [Unit: mm] 34.8 69.3 Rating plate Mass: 66 [g] 11.9 Selection example of wires POINT Refer to section 11.1.3 for SSCNET III cable. To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring.
Page 335 11. Options and peripheral devices (1) Example of selecting the wire sizes Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example. (a) 200 V class Table 11.1 Wire size selection example (HIV wire) Wire [mm ] (Note 1) Servo amplifier...
Page 336 11. Options and peripheral devices (b) 400 V class Table 11.2 Wire size selection example (HIV wire) Wires [mm ] (Note 1) Servo amplifier 4) U/V/W/ 2) L11/L21 3) P+/C 1) L1/L2/L3/ (Note 3) MR-J4-60B4(-RJ)/ 1.25 to 2 MR-J4-100B4(-RJ) 2 (AWG 14) (AWG 16 to 14) 2 (AWG14) AWG 16 to 14...
Page 337 11. Options and peripheral devices (2) Selection example of crimp terminals (a) 200 V class Servo amplifier-side crimp terminals Symbol Applicable tool (Note 2) Crimp Manufacturer terminal Body Head Dice FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S FVD2-4 YNT-1614 FVD2-M3 FVD1.25-M3 YNT-2216 DH-122...
Page 338: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors (Recommended)
11. Options and peripheral devices 11.10 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 339 11. Options and peripheral devices (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
Page 340: Power Factor Improving Dc Reactors
11. Options and peripheral devices 11.11 Power factor improving DC reactors The following shows the advantages of using power factor improving DC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to about 85%.
Page 341 11. Options and peripheral devices Power factor Dimensions [mm] Terminal Mass Wire [mm Servo amplifier improving DC Dimensions size [kg] (Note 2) reactor (Note 1) MR-J4-10B(-RJ) FR-HEL-0.4K MR-J4-20B(-RJ) MR-J4-40B(-RJ) FR-HEL-0.75K Fig. 11.1 2 (AWG 14) MR-J4-60B(-RJ) FR-HEL-1.5K MR-J4-70B(-RJ) MR-J4-100B(-RJ) FR-HEL-2.2K MR-J4-200B(-RJ) FR-HEL-3.7K MR-J4-350B(-RJ)
Page 342: Power Factor Improving Ac Reactors
11. Options and peripheral devices 4-d mounting hole (Note 1) D or less (D3) Servo amplifier FR-HEL-H (Note 2) 5 m or less W ± 2.5 D1 ± 1 Fig. 11.6 Note 1. Use this for grounding. 2. When using the power factor improving DC reactor, remove the short bar across P3 and P4. Power factor Dimensions [mm] Terminal...
Page 343 11. Options and peripheral devices (1) 200 V class/100 V class Servo amplifier Terminal layout 3-phase 200 V class S Y T FR-HAL MCCB 4-d mounting hole (Varnish is removed from front right mounting 3-phase hole (face and back side).) (Note 1) 200 V AC to 240 V AC D or less...
Page 344 11. Options and peripheral devices Power factor Dimensions [mm] Mass Terminal Servo amplifier improving AC Dimensions size [kg] D (Note) reactor MR-J4-10B(-RJ) MR-J4-20B(-RJ) FR-HAL-0.4K MR-J4-10B1(-RJ) MR-J4-40B(-RJ) FR-HAL-0.75K MR-J4-20B1(-RJ) MR-J4-60B(-RJ) Fig. 11.7 MR-J4-70B(-RJ) FR-HAL-1.5K MR-J4-40B1(-RJ) MR-J4-100B(-RJ) FR-HAL-2.2K (Note) MR-J4-200B(-RJ) FR-HAL-3.7K (Note) MR-J4-350B(-RJ) FR-HAL-7.5K MR-J4-500B(-RJ)
Page 345: Relay (Recommended)
11. Options and peripheral devices R X S R X S 4-d mounting hole (Note) 4-d mounting hole (Note) (φ6 groove) (φ8 groove) D or less D or less W ± 0.5 W ± 0.5 Fig. 11.12 Fig. 11.11 Note. Use this for grounding. Power factor Dimensions [mm] Mass...
Page 346: Noise Reduction Techniques
11. Options and peripheral devices 11.14 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 347 11. Options and peripheral devices 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 348 11. Options and peripheral devices (2) Noise reduction techniques (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
Page 349 11. Options and peripheral devices (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 350 11. Options and peripheral devices (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 351 11. Options and peripheral devices (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 is designed for the input only.
Page 352 11. Options and peripheral devices (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 353: Earth-Leakage Current Breaker
11. Options and peripheral devices 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 354 11. Options and peripheral devices Table 11.4 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.05 to 1 1.2 to 2 3 to 3.5 4.2 to 5 9 to 11 Table 11.5 Servo amplifier leakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.1 to 0.6...
Page 355 11. Options and peripheral devices (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 motor Servo amplifier MR-J4-40B HG-KR43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram.
Page 356: Emc Filter (Recommended)
11. Options and peripheral devices 11.16 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. When using an EMC filter, always use one for each servo amplifier. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Mass...
Page 357 11. Options and peripheral devices (b) 400 V class EMC filter Servo amplifier MCCB Power supply (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 × 7 3-M4 Approx. 41 258 ± 4 65 ± 4 273 ± 2 288 ±...
Page 358 11. Options and peripheral devices HF3100A-UN [Unit: mm] 2-φ 6.5 2-6.5 × 8 380 ± 1 400 ± 5 TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 3 M4 Approx.67.5 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 11 - 77...
Page 359 11. Options and peripheral devices TF3040C-TX/TF3060C-TX [Unit: mm] 8-R3.25 Length 8 (for M6) 3-M6 3-M6 Approx. 91.5 100 ± 1 100 ± 1 100 ± 1 390 ± 2 180 ± 2 Approx. 190 412 ± 5 438 ± 5 200 ±...
Page 360: External Dynamic Brake
11. Options and peripheral devices 11.17 External dynamic brake Use an external dynamic brake for a servo amplifier of MR-J4-11KB(-RJ) to MR- J4-22KB(-RJ) and MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ). Failure to do so will cause an accident because the servo motor dose not stop immediately but coasts CAUTION at an alarm occurrence for which the servo motor does not decelerate to stop.
Page 361 11. Options and peripheral devices (2) Connection example (a) 200 V class Operation ready Servo amplifier Servo motor EMG stop switch (Note 4) MCCB (Note 3) Power 24 V DC (Note 6) supply DOCOM (Note 7) (Note 2) (Note 5) Main circuit power supply DICOM...
Page 362 11. Options and peripheral devices (b) 400 V class Operation ready Servo amplifier Servo motor Emergency stop switch (Note 8) Step-down (Note 4) transformer MCCB (Note 3) Power 24 V DC (Note 6) supply DOCOM (Note 2) (Note 7) (Note 5) Main circuit power supply DICOM...
Page 363 11. Options and peripheral devices (3) Timing chart Coasting Coasting Servo motor speed Dynamic brake Dynamic brake Present Alarm Absent Base circuit DB (Dynamic brake interlock) Invalid Dynamic brake Valid Short EMG stop switch Open a. Timing chart at alarm occurrence b.
Page 364 11. Options and peripheral devices (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] Terminal block Screw: M4 Screw: M3.5 Tightening torque: 1.2 [N•m] Tightening torque: 0.8 [N•m] Mass (Note) Connection wire [mm External dynamic brake [kg] U/V/W Except U/V/W DBU-11K 163.5 5.5 (AWG 10) 2 (AWG 14) DBU-15K/DBU-22K-R1 5.5 (AWG 10)
Page 365 11. Options and peripheral devices (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 2-φ7 mounting hole 73.75 Mass: 6.7 [kg] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] (Note) Connection wire [mm External dynamic brake U/V/W Except U/V/W DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
Page 366: Heat Sink Outside Mounting Attachment (Mr-J4Acn15K/Mr-J3Acn)
11. Options and peripheral devices 11.18 Heat sink outside mounting attachment (MR-J4ACN15K/MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of heat generated in the cabinet.
Page 367 11. Options and peripheral devices (c) Mounting method Attachment Servo amplifier Fit using the assembling screws. Attachment a. Assembling the heat sink outside mounting attachment Punched hole Cabinet Servo amplifier b. Mounting it to inside cabinet 11 - 86...
Page 368 11. Options and peripheral devices (d) Mounting dimensional diagram [Unit: mm] 20.6 Panel Attachment Servo amplifier Servo amplifier Panel 108.3 Mounting hole Approx. 263.3 (2) MR-J3ACN (a) Panel cut dimensions [Unit: mm] [Unit : mm] 4-M10 Screw Punched hole 11 - 87...
Page 369 11. Options and peripheral devices (b) How to assemble the attachment for heat sink outside mounting attachment Attachment Screw (2 places) (c) Mounting method Attachment Punched hole Servo amplifier Servo Fit using the amplifier assembling screws. Cabinet Attachment a. Assembling the heat sink outside mounting b.
Page 370 11. Options and peripheral devices (d) Mounting dimensional diagram [Unit: mm] Panel Servo amplifier Servo amplifier Attachment Panel Approx. 11.5 Mounting Approx. 260 hole Approx. 260 11 - 89...
Page 371 11. Options and peripheral devices MEMO 11 - 90...
Page 372: Summary
12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. Refer to appendix 2 and 3 for battery transportation and the new EU Battery CAUTION Directive.
Page 373: Structure
12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.2 Structure The following shows a configuration of the absolute position detection system. For the battery connection, refer to (2) (b) of section 12.2.1 for the MR-BAT6V1SET battery. For the battery connection, refer to (2) (b) of section 12.2.2 for the MR-BAT6V1BJ battery for junction battery cable.
Page 374: Battery
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data Detecting the Detecting the Step-down number of position at circuit revolutions one revolution CYC0 (6 V 3.4 V) MR-BAT6V1SET...
Page 375 12. ABSOLUTE POSITION DETECTION SYSTEM Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. 2.
Page 376 12. ABSOLUTE POSITION DETECTION SYSTEM (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Page 377 12. ABSOLUTE POSITION DETECTION SYSTEM (b) Replacement procedure of the battery in the MR-BAT6V1SET When the MR-BAT6V1SET battery reaches the end of its life, replace the MR-BAT6V1 battery in the MR-BAT6V1SET. While pressing the locking part, open the cover. Cover Locking part Replace the battery with a new MR-BAT6V1 battery.
Page 378: Using Mr-Bat6V1Bj Battery For Junction Battery Cable
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data Detecting the Detecting the Step-down number of position at circuit CYC0 revolutions one revolution (6 V 3.4 V)
Page 379 12. ABSOLUTE POSITION DETECTION SYSTEM (b) Battery mounting POINT Even if the connector for branch cable connection (black) is not connected to the MR-BT6VCBL03M junction battery cable, an alarm will not occur. Check that they are connected securely. When you transport a servo amplifier and machine apart, disconnect only CN2 and CN4 of the servo amplifier.
Page 380 12. ABSOLUTE POSITION DETECTION SYSTEM The MR-BAT6V1BJ battery for junction battery cable can be replaced with the control circuit power supply off. (a) Battery installation and removal procedure The battery installation and removal procedure to the servo amplifier are the same as for the MR- BAT6V1SET battery.
Page 381 12. ABSOLUTE POSITION DETECTION SYSTEM 3) Disconnect the connector for servo amplifier connection (orange) of the old MR-BAT6V1BJ battery for junction battery cable. When the control circuit power supply is on, performing 3) without [AL. 9F.1 Low battery] will trigger [AL. 9F.1]. Servo amplifier MR-BT6VCBL03M Orange...
Page 382: Using Sto Function
13. USING STO FUNCTION 13. USING STO FUNCTION POINT In the torque control mode, the forced stop deceleration function is not available. 13.1 Introduction This section provides the cautions of the STO function. 13.1.1 Summary This servo amplifier complies with the following safety standards. ISO/EN ISO 13849-1 category 3 PL d IEC 61508 SIL 2 IEC/EN 61800-5-2 SIL 2...
Page 383: Residual Risks Of The Sto Function
13. USING STO FUNCTION 13.1.4 Residual risks of the STO function Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi is not liable for any damages or injuries caused by these risks.
Page 384: Specifications
13. USING STO FUNCTION 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) ISO/EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, Safety performance EN 62061 SIL CL2, EN 61800-5-2 SIL 2 Mean time to dangerous failure 100 years or more (Note) (MTTFd) Diagnostic converge (DC)
Page 385: Maintenance
13. USING STO FUNCTION 13.1.6 Maintenance This servo amplifier has alarms and warnings for maintenance that supports the Mitsubishi drive safety function. (Refer to chapter 8.) 13.2 STO I/O signal connector (CN8) and signal layouts 13.2.1 Signal layouts POINT The pin configurations of the connectors are as viewed from the cable connector wiring section.
Page 386: Signal (Device) Explanations
13. USING STO FUNCTION 13.2.2 Signal (device) explanations (1) I/O device Connector Signal name Description pin No. division STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1 STO1 CN8-4 Inputs STO state 1. DI-1 STO state (base shut-off): Open between STO1 and STOCOM. STO release state (in driving): Close between STO1 and STOCOM.
Page 387: Connection Example
13. USING STO FUNCTION 13.3 Connection example POINT Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2). Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.
Page 388: External I/O Signal Connection Example Using An Mr-J3-D05 Safety Logic Unit
13. USING STO FUNCTION 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. (1) Connection example 24 V RESA RESB MR-J3-D05...
Page 389 13. USING STO FUNCTION (2) Basic operation example The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05. The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
Page 390: External I/O Signal Connection Example Using An External Safety Relay Unit
13. USING STO FUNCTION 13.3.3 External I/O signal connection example using an external safety relay unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. This connection example complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d. For details, refer to the safety relay module user’s manual.
Page 391: External I/O Signal Connection Example Using A Motion Controller
13. USING STO FUNCTION 13.3.4 External I/O signal connection example using a motion controller POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and PC-Y0B after the servo motor stops.
Page 392: Detailed Description Of Interfaces
13. USING STO FUNCTION 13.4 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 13.2. Refer to this section and make connection with the external device. 13.4.1 Sink I/O interface (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
Page 393 13. USING STO FUNCTION (b) When outputting two STO states by using one TOFB Servo amplifier If polarity of diode is reversed, servo amplifier TOFB1 Load will malfunction. TOFCOM (Note) 24 V DC ± 10% 300 mA TOFB2 Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
Page 394: Source I/O Interface
13. USING STO FUNCTION 13.4.2 Source I/O interface In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 395 13. USING STO FUNCTION MEMO 13 - 14...
Page 396: Using A Linear Servo Motor 14- 1 To
14. USING A LINEAR SERVO MOTOR 14. USING A LINEAR SERVO MOTOR When using the linear servo motor, read "Linear Servo Motor Instruction Manual" WARNING and "Linear Encoder Instruction Manual". 14.1 Functions and configuration 14.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy, high speed, and efficiency.
Page 397 14. USING A LINEAR SERVO MOTOR 14.1.2 Servo system with auxiliary equipment Connecting a linear servo motor for different axis to the U, V, W, or CN2 may CAUTION cause a malfunction. POINT Equipment other than the servo amplifier and linear servo motor are optional or recommended products.
Page 398 14. USING A LINEAR SERVO MOTOR (2) When using serial linear encoder with MR-J4-_B_-RJ The following configuration diagram shows an example for using a linear servo motor with MR-J4-10B- R S T (Note 2) Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2...
Page 399 14. USING A LINEAR SERVO MOTOR (3) When using A/B/Z-phase differential output linear encoder with MR-J4-_B_-RJ The following configuration diagram shows an example for using a linear servo motor with MR-J4-10B- R S T (Note 2) Power supply Molded-case Personal circuit breaker computer (MCCB)
Page 400: Signals And Wiring
14. USING A LINEAR SERVO MOTOR 14.2 Signals and wiring Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off.
Page 401 14. USING A LINEAR SERVO MOTOR Connecting a linear servo motor for different axis to the U, V, W, or CN2 may cause a malfunction. Do not modify the equipment. CAUTION The cables such as power wires deriving from the primary side cannot stand the long-term bending action.
Page 402: Operation And Functions
14. USING A LINEAR SERVO MOTOR 14.3 Operation and functions 14.3.1 Startup POINT When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". (1) Startup procedure Start up the linear servo in the following procedure. Installation and wiring Set the linear servo motor series and linear servo motor type.
Page 403 14. USING A LINEAR SERVO MOTOR (3) Settings of the linear encoder direction and the linear servo motor direction Set the first digit of [Pr. PC27] (Encoder pulse count polarity selection) so that the positive direction of the linear servo motor matches with the increasing direction of the linear encoder feedback. [Pr.
Page 404 14. USING A LINEAR SERVO MOTOR 3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, if the linear servo motor operates in the positive direction, the motor speed will be a positive value.
Page 405: Magnetic Pole Detection
14. USING A LINEAR SERVO MOTOR 14.3.2 Magnetic pole detection Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection. When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on.
Page 406 14. USING A LINEAR SERVO MOTOR (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detection procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Magnetic pole detection 1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 407 14. USING A LINEAR SERVO MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection 1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Turn "On (up)"...
Page 408 14. USING A LINEAR SERVO MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole detection During the...
Page 409 14. USING A LINEAR SERVO MOTOR (3) Operation at the magnetic pole detection Note that the magnetic pole detection automatically starts simultaneously with the WARNING turning-on of the servo-on command. If the magnetic pole detection is not executed properly, the linear servo motor CAUTION may operates unexpectedly.
Page 410 14. USING A LINEAR SERVO MOTOR (a) For the incremental linear encoder POINT For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out.
Page 411 14. USING A LINEAR SERVO MOTOR 3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off) When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows. The linear servo motor moves to a magnetic pole detection start position upon servo-on, and the magnetic pole...
Page 412 14. USING A LINEAR SERVO MOTOR 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr. PL01] Magnetic pole detection disabled After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after each power-on is not required.
Page 413: Home Position Return
14. USING A LINEAR SERVO MOTOR 2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
Page 414 14. USING A LINEAR SERVO MOTOR The following shows the relation between the stop interval at the home position return and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter for the stop interval at the home position return, [Pr.PL01], is set to "_ 5 _ _" (16777216 pulses), the stop interval is 16.777 mm.
Page 415 14. USING A LINEAR SERVO MOTOR (b) When the linear encoder home position does not exist in the home position return direction If the home position return is performed from the position where the linear encoder does not exist in the home position return direction, a home position return error occurs on the controller.
Page 416 14. USING A LINEAR SERVO MOTOR (2) Absolute position linear encoder When an absolute linear encoder is used, the reference home position is the position per 1048576 pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position (absolute position data = 0).
Page 417 14. USING A LINEAR SERVO MOTOR 14.3.4 Test operation mode in MR Configurator2 The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use CAUTION the linear servo motor alone.
Page 418: Operation From Controller
14. USING A LINEAR SERVO MOTOR (b) Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
Page 419 14. USING A LINEAR SERVO MOTOR (1) Operation method For the system using the incremental linear encoder, the magnetic pole detection is automatically performed at the first servo-on after the power-on. For this reason, when performing the positioning operation, create the sequence which surely confirms the servo-on status as the inter lock condition of the positioning command.
Page 420: Function
14. USING A LINEAR SERVO MOTOR (b) Settings of the number of pulses (AP) and travel distance (AL) Controller Servo amplifier User Command [mm] Linear servo motor Position feedback [mm] Linear encoder Speed feedback Differ- entiation [mm/s] Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following conditions.
Page 421 14. USING A LINEAR SERVO MOTOR (a) Position deviation error detection Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection. [Pr. PL04] Position deviation error detection enabled When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if the deviation is more than the value of [Pr.
Page 422: Absolute Position Detection System
14. USING A LINEAR SERVO MOTOR (2) Auto tuning function The auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
Page 423: Characteristics
14. USING A LINEAR SERVO MOTOR 14.4 Characteristics 14.4.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig.
Page 424: Power Supply Capacity And Generated Loss
14. USING A LINEAR SERVO MOTOR 14.4.2 Power supply capacity and generated loss Table 14.1 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 425: Dynamic Brake Characteristics
14. USING A LINEAR SERVO MOTOR 14.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor mass ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 426 14. USING A LINEAR SERVO MOTOR 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the load to motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact your local sales office.
Page 427 14. USING A LINEAR SERVO MOTOR MEMO 14 - 32...
Page 428: Functions And Configuration
15. USING A DIRECT DRIVE MOTOR 15. USING A DIRECT DRIVE MOTOR When using the direct drive motor, read the "Direct Drive Motor Instruction CAUTION Manual". 15.1 Functions and configuration 15.1.1 Summary The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and efficiency.
Page 429 15. USING A DIRECT DRIVE MOTOR 15.1.2 Servo system with auxiliary equipment Connecting a direct drive motor for different axis to the U, V, W, or CN2 may CAUTION cause a malfunction. POINT Equipment other than the servo amplifier and direct drive motor are optional or recommended products.
Page 430: Signals And Wiring
15. USING A DIRECT DRIVE MOTOR 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 431: Operation And Functions
15. USING A DIRECT DRIVE MOTOR When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U, V, and W) to the power input of the direct drive motor (U, V, and W) directly.
Page 432 15. USING A DIRECT DRIVE MOTOR 15.3.1 Startup procedure Start up the direct drive servo in the following procedure. Perform this procedure once at startup. Installation and wiring Absolute position detection system Incremental system Absolute position detection system? Can you manually turn on the Z-phase pulse of the direct drive motor? Perform the magnetic pole detection.
Page 433: Magnetic Pole Detection
15. USING A DIRECT DRIVE MOTOR 15.3.2 Magnetic pole detection POINT The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor can be turned on manually. For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier.
Page 434 15. USING A DIRECT DRIVE MOTOR (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detection procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Magnetic pole detection Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again.
Page 435 15. USING A DIRECT DRIVE MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again. Turn "On (up)"...
Page 436 15. USING A DIRECT DRIVE MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole During the detection...
Page 437 15. USING A DIRECT DRIVE MOTOR (3) Operation at the magnetic pole detection Note that the magnetic pole detection automatically starts simultaneously with the WARNING turning-on of the servo-on command. If the magnetic pole detection is not executed properly, the direct drive motor may CAUTION operates unexpectedly.
Page 438 15. USING A DIRECT DRIVE MOTOR 2) Direct drive motor movement (when FLS and RLS are on) Center of direct drive motor rotation part (Note) RLS FLS (Note) Servo-on position (Magnetic pole detection start position) Magnetic pole detection completion position 10 degrees or less Note.
Page 439 15. USING A DIRECT DRIVE MOTOR 2) Execute the magnetic pole detection. (Refer to (2) (a) 1), 2) of this section.) 3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled).
Page 440 15. USING A DIRECT DRIVE MOTOR 2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
Page 441: Operation From Controller
15. USING A DIRECT DRIVE MOTOR 15.3.3 Operation from controller To configure the absolute position detection system by using the direct drive motor, the battery unit (MR- BAT6V1SET) and the absolute position storage unit MR-BTAS01 are required. (1) Operation method For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after the power-on.
Page 442: Function
15. USING A DIRECT DRIVE MOTOR 15.3.4 Function (1) Servo control error detection function POINT For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3) If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function.
Page 443 15. USING A DIRECT DRIVE MOTOR (b) Speed deviation error detection Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04] Speed deviation error detection enabled When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if the deviation is more than the value of [Pr.
Page 444: Characteristics
15. USING A DIRECT DRIVE MOTOR 15.4 Characteristics 15.4.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct drive motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal relay protection curve shown in Fig.
Page 445 15. USING A DIRECT DRIVE MOTOR 1000 1000 Operating Operating Servo-lock Servo-lock (Note) Load ratio [%] (Note) Load ratio [%] TM-RFM002C20, TM-RFM004C20, TM-RFM048G20, TM-RFM072G20, TM-RFM006C20, TM-RFM006E20, TM-RFM120J10 TM-RFM012E20, TM-RFM018E20, TM-RFM012G20, TM-RFM040J10 10000 1000 Operating Servo-lock (Note) Load ratio [%] TM-RFM240J10 Note.
Page 446: Power Supply Capacity And Generated Loss
15. USING A DIRECT DRIVE MOTOR 15.4.2 Power supply capacity and generated loss Table 15.1 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 447: Dynamic Brake Characteristics
15. USING A DIRECT DRIVE MOTOR 15.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 448 15. USING A DIRECT DRIVE MOTOR (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 15.1. Speed [r/min] Speed [r/min] TM-RFM_C20 TM-RFM_E20 Speed [r/min] Speed [r/min] TM-RFM_G20 TM-RFM_J10 (2) Permissible load to motor inertia ratio when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table.
Page 449 15. USING A DIRECT DRIVE MOTOR MEMO 15 - 22...
Page 450: Functions And Configuration
16. FULLY CLOSED LOOP SYSTEM 16. FULLY CLOSED LOOP SYSTEM POINT The fully closed loop system is available for the servo amplifiers of which software version is A3 or above. When fully closed loop control system is used with this servo amplifier, "Linear Encoder Instruction Manual"...
Page 451 16. FULLY CLOSED LOOP SYSTEM The following table shows the functions of each control mode. Control Description Feature Position is controlled according to the servo motor-side data. Since this control is insusceptible to machine influence (such as machine resonance), Advantage Semi closed loop control the gains of the servo amplifier can be raised and the settling time shortened.
Page 452: Selecting Procedure Of Control Mode
16. FULLY CLOSED LOOP SYSTEM 16.1.2 Selecting procedure of control mode (1) Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be selected as a control system. In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback control can be selected by the [Pr.
Page 453: System Configuration
16. FULLY CLOSED LOOP SYSTEM 16.1.3 System configuration (1) For a linear encoder (a) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H (Note) Position command Two-wire type serial interface compatible linear encoder control signal To the next servo amplifier Load-side encoder signal Servo motor encoder signal Linear encoder head...
Page 454 16. FULLY CLOSED LOOP SYSTEM (2) For a rotary encoder (a) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Servo motor encoder signal Drive part Position command control signal To the next servo amplifier (Note) (Note) Servo motor Two-wire type rotary encoder HG-KR, Load-side encoder signal HG-MR servo motor (4194304 pulses/rev)
Page 455: Load-Side Encoder
16. FULLY CLOSED LOOP SYSTEM 16.2 Load-side encoder POINT Always use the load-side encoder cable introduced in this section. Using other products may cause a malfunction. For details of the load-side encoder specifications, performance and assurance, contact each encoder manufacturer. 16.2.1 Linear encoder Refer to "Linear Encoder Instruction Manual"...
Page 456 16. FULLY CLOSED LOOP SYSTEM (2) Rotary encoder (a) MR-J4-_B_ servo amplifier Refer to "Linear Encoder Instruction Manual" for encoder cables for rotary encoder. MR-J4FCCBL03M branch cable (Refer to section 16.2.4) Servo amplifier (Note) MOTOR Encoder of rotary servo motor SCALE Servo motor HG-KR...
Page 457: Mr-J4Fccbl03M Branch Cable
16. FULLY CLOSED LOOP SYSTEM 16.2.4 MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m (Note 1) (Note 2)
Page 458: Operation And Functions
16. FULLY CLOSED LOOP SYSTEM 16.3 Operation and functions 16.3.1 Startup (1) Startup procedure Start up the fully closed loop system in the following procedure. Completion of installation and wiring Adjustment and operation check in semi closed loop system Check that the servo Positioning operation check using MR Configurator2 equipment is normal.
Page 459 16. FULLY CLOSED LOOP SYSTEM (2) Selection of fully closed loop system By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table. Semi closed loop control/ Absolute position detection [Pr.
Page 460 16. FULLY CLOSED LOOP SYSTEM (3) Selection of load-side encoder communication method The communication method changes depending on the load-side encoder type. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the communication method for each load-side encoder. Select the cable to be connected to CN2L connector in [Pr. PC04]. [Pr.
Page 461 16. FULLY CLOSED LOOP SYSTEM (5) Setting of feedback pulse electronic gear POINT If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal operation may occur.
Page 462 16. FULLY CLOSED LOOP SYSTEM (b) Setting example when using the rotary encoder for the load-side encoder of roll feeder Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 4194304 pulse/rev Drive part Pulley diameter...
Page 463 16. FULLY CLOSED LOOP SYSTEM (6) Confirmation of load-side encoder position data Check the load-side encoder mounting and parameter settings for any problems. POINT Depending on the check items, MR Configurator2 may be used. Refer to section 16.3.9 for the data displayed on the MR Configurator2. When checking the following items, the fully closed loop control mode must be set.
Page 464 16. FULLY CLOSED LOOP SYSTEM (7) Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc.
Page 465: Home Position Return
16. FULLY CLOSED LOOP SYSTEM 16.3.2 Home position return (1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, the scale home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal...
Page 466 16. FULLY CLOSED LOOP SYSTEM (b) About proximity dog type home position return using incremental linear encoder 1) When the linear encoder home position (reference mark) exists in the home position return direction When an incremental linear encoder is used, the home position is the position per servo motor revolution to the linear encoder home position (reference mark) passed through first after a home position return start.
Page 467 16. FULLY CLOSED LOOP SYSTEM POINT To execute a home position return securely, start a home position return after moving the axis to the opposite stroke end by jog operation, etc. of the controller. A home position return cannot be made if the incremental linear encoder does not have a linear encoder home position (reference mark).
Page 468: Operation From Controller
16. FULLY CLOSED LOOP SYSTEM 16.3.3 Operation from controller The fully closed loop control compatible servo amplifier can be used with any of the following controllers. Category Model Remarks Motion controller Q17nDSCPU Speed control (II) instructions (VVF and VVR) cannot be used.
Page 469 16. FULLY CLOSED LOOP SYSTEM (a) When using a linear encoder (unit setting: mm) Load-side encoder resolution unit User Control Servo amplifier Command [mm] Servo motor Linear encoder Position feedback [mm] Electronic gear Speed feedback Differentiation [r/min] Load-side encoder Servo motor speed resolution unit Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw revolution in the following conditions.
Page 470: Fully Closed Loop Control Error Detection Functions
16. FULLY CLOSED LOOP SYSTEM 16.3.4 Fully closed loop control error detection functions If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre- detect it and stop operation.
Page 471: Auto Tuning Function
16. FULLY CLOSED LOOP SYSTEM (b) Position deviation error detection Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection. [Pr. PE03] Position deviation error detection Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr.
Page 472: Absolute Position Detection System Under Fully Closed Loop System
16. FULLY CLOSED LOOP SYSTEM 16.3.8 Absolute position detection system under fully closed loop system An absolute type linear encoder is necessary to configure an absolute position detection system under fully closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the servo amplifier.
Page 473: About Mr Configurator2
16. FULLY CLOSED LOOP SYSTEM 16.3.9 About MR Configurator2 Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load- side encoder operate properly. This section explains the fully closed diagnosis screen. Click "Monitor start"...
Page 474 16. FULLY CLOSED LOOP SYSTEM Symbol Name Explanation Unit Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (Servo pulse pulses (before gear) motor encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear"...
Page 475 16. FULLY CLOSED LOOP SYSTEM MEMO 16 - 26...
Page 476: J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS 17. APPLICATION OF FUNCTIONS This chapter explains application of using servo amplifier functions. 17.1 J3 compatibility mode POINT The J3 compatibility mode is compatible only with HG series servo motors. The fully closed loop control in the J3 compatibility mode is available for the servo amplifiers with software version A3 or later.
Page 477: Operation Modes Supported By J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS 17.1.2 Operation modes supported by J3 compatibility mode The J3 compatibility mode supports the following operation modes. Operation mode in J3 compatibility mode Model of MR-J3-_B Model of MR-J3-_BS Model of MR-J3W-_B MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3-_BS MR-J3W-_B...
Page 478 17. APPLICATION OF FUNCTIONS Corresponding ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series J3 compatibility (Note 8) J4 mode mode Auto tuning mode 1 Auto tuning mode 2 2 gain adjustment mode 1 Auto tuning (interpolation mode) 2 gain adjustment mode 2...
Page 479 17. APPLICATION OF FUNCTIONS Corresponding ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series J3 compatibility (Note 8) J4 mode mode Semi closed loop control two-wire type/four-wire type selection MR-J3-_S MR-J3-_B-RJ006 Serial interface compatible linear encoder Encoder MR-J3-_B-RJ004...
Page 480: How To Switch J4 Mode/J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS 17.1.4 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4W_-_B servo amplifier and MR-J4-_B_(-RJ) servo amplifier. (1) Mode selection by the automatic identification of the servo amplifier J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.
Page 481: How To Use The J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS (2) Mode selection using the application software "MR-J4(W)-B mode selection" You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated application. J4 mode/J3 compatibilitymode Factory setting automatic identification Standard control Fixed to the J4 mode (Standard control (rotary servo J4 mode (rotary servo motor)
Page 482: Cautions For Switching J4 Mode/J3 Compatibility Mode
17. APPLICATION OF FUNCTIONS (3) Setting of MR Configurator2 To use in the J3 compatibility mode, make the system setting as follows. Operation mode in J3 compatibility mode System setting MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B. MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed.
Page 483: Change Of Specifications Of "J3 Compatibility Mode" Switching Process
17. APPLICATION OF FUNCTIONS (5) For MR-J3 series, a linear encoder was connected to the CN2L connector. For J4 (J3 compatibility mode), it is connected to the CN2 connector. Therefore, set the two-wire/four-wire type of the linear encoder in the J3 compatibility mode with [Pr. PC26], not with [Pr. PC04]. (6) When you use a linear servo motor, select linear servo motor with [Pr.
Page 484 17. APPLICATION OF FUNCTIONS (b) Operation when using a servo amplifier after change of specifications For the controllers in which "Not required" is described to controller reset in table 17.3, the mode will be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for completing the connection not depending on the number of axes.
Page 485 17. APPLICATION OF FUNCTIONS (2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection". You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is difficult to reset many times with your "Reset required"...
Page 486: Master-Slave Operation Function
17. APPLICATION OF FUNCTIONS 17.2 Master-slave operation function Configure the circuit so that all the master and slave axes for the same machine are stopped by the controller forced stop at the moment of a stop of a master or slave axis due to such as a servo alarm.
Page 487 17. APPLICATION OF FUNCTIONS (1) Summary The master-slave operation function transmits a master axis torque to slave axes using driver communication and the torque as a command drives slave axes by torque control. Transmission of torque data from the master axis to slave axes is via SSCNET III/H. Additional wiring is not required.
Page 488 17. APPLICATION OF FUNCTIONS Eight master axes can be set at most per one system of SSCNET III/H. The maximum number of slave axes to each master axis is not limited. However, the total number of the master and slave axes should be the maximum number of the servo amplifiers at most.
Page 489 17. APPLICATION OF FUNCTIONS (4) Rotation direction setting Rotation directions can be different among a controller command, master axis, and slave axes. To align the directions, set [Pr. PA14] referring (4) of this section. Not doing so can cause such as an overload due to a reverse direction torque against machine system rotation direction.
Page 490: Scale Measurement Function
17. APPLICATION OF FUNCTIONS 17.3 Scale measurement function The scale measurement function transmits position information of a scale measurement encoder to the controller by connecting the scale measurement encoder in semi closed loop control. POINT The scale measurement function is available for the servo amplifiers of software version A8 or later.
Page 491 17. APPLICATION OF FUNCTIONS (2) System configuration (a) For a linear encoder 1) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Two-wire type serial interface compatible linear encoder Position command Control signal To the next servo amplifier Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor...
Page 492 17. APPLICATION OF FUNCTIONS (b) For a rotary encoder 1) MR-J4-_B_ servo amplifier Servo amplifier SSCNET III/H controller SSCNET III/H Drive part Servo motor encoder signal Position command Control signal To the next servo amplifier (Note) (Note) Servo motor Two-wire type rotary encoder Load-side encoder signal HG-KR, HG-MR servo motor (4194304 pulses/rev) Note.
Page 493: Scale Measurement Encoder
17. APPLICATION OF FUNCTIONS 17.3.2 Scale measurement encoder POINT Always use the scale measurement encoder cable introduced in this section. Using other products may cause a malfunction. For details of the scale measurement encoder specifications, performance and assurance, contact each encoder manufacturer. An absolute type linear encoder is necessary to configure an absolute position detection system under scale measurement function using a linear encoder.
Page 494 17. APPLICATION OF FUNCTIONS 2) MR-J4-_B_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in 1) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder. Servo amplifier Encoder of rotary servo motor Linear encoder CN2L Scale...
Page 495 17. APPLICATION OF FUNCTIONS (4) MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual". 0.3 m (Note 1) (Note 2) MOTOR Plate...
Page 496: How To Use Scale Measurement Function
17. APPLICATION OF FUNCTIONS 17.3.3 How to use scale measurement function (1) Selection of scale measurement function The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and [Pr. PA22]. (a) Operation mode selection The scale measurement function can be used during semi closed loop system (standard control mode).
Page 497 17. APPLICATION OF FUNCTIONS (a) Parameter setting method 1) Select a encoder pulse count polarity. This parameter is used to set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
Page 498 APPENDIX App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of March 2014. Manufacturer Reference NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. J.S.T. Mfg. Co., Ltd. Junkosha Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch SEIWA ELECTRIC Seiwa Electric Mfg.
Page 499 APPENDIX (a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following: attachment of a handling label, submission of the Shipper's Declaration for Dangerous Goods, and a 1.2 m drop test. (b) A battery handling label (size: 120 mm ×...
Page 500: App. 3 Symbol For The New Eu Battery Directive
Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.
Page 501 Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to each instruction manual 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 502 APPENDIX Table: Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Manufacturer Applicable tool Crimp terminal (Note 2) Body Head Dice FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S FVD2-4 YNT-1614 DH-122 FVD14-6 YF-1 YNE-38 DH-112 FVD5.5-6 YNT-1210S DH-123 FVD22-6 YF-1 YNE-38 DH-113 DH-124 FVD38-6...
Page 503 APPENDIX (b) Selection example of MCCB and fuse When a servo amplifier is protected by T class fuses or circuit breaker having an interrupting rating not less than 300 A effective value and 240 V maximum, use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following table.
Page 504 (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 505 APPENDIX (d) Over-temperature protection for motor Motor Over temperature sensing is not provided by the drive. (e) Capacitor discharge It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals immediately after power off. (f) Branch circuit protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes.
Page 506 APPENDIX (6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.). (7) Keep the required clearance/creepage distance depending on voltage you use. App. 4.2.6 Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country- specific waste disposal regulations.
Page 507 APPENDIX App. 4.4 Electrical Installation and configuration diagram Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or WARNING damages to the product before starting the installation or wiring. The installation complies with IEC/EN 60204-1. The voltage supply to machines CAUTION must be 20 ms of tolerance against instantaneous power failures as specified in IEC/EN 60204-1.
Page 508 APPENDIX (2) 1-phase input for MR-J4 1-axis servo amplifier Servo amplifier (1-phase MCCB L2 L3 230 V AC) or fuse (Note 2) Power (Note 1) supply MCCB Controller (3-phase (Note 2) or fuse 400 V AC) Encoder cable Transformer U/V/W/PE (star-connected) Cabinet side Machine side...
Page 509 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. 4.5 Signal App. 4.5.1 Signal The following shows MR-J4-10B signals as a typical example.
Page 510 APPENDIX App. 4.6 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 511 APPENDIX App. 4.6.2 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 512 APPENDIX App. 4.7 Transportation and storage Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Do not hold the front cover to transport the servo amplifier. Otherwise, it may drop.
Page 513 APPENDIX App. 4.8 Technical data App. 4.8.1 MR-J4 servo amplifier (1) 200 V class/100 V class MR-J4-10_/MR-J4-20_/ MR-J4-100_/MR-J4-200_/ MR-J4-40_/MR-J4-60_/ MR-J4-350_/MR-J4-500_/ MR-J4-10_1/ Item MR-J4-70_/MR-J4W2-22B/ MR-J4-700_/MR-J4W2-1010B/ MR-J4-20_1/ MR-J4W2-44B/MR-J4W2-77B/ MR-J4-11K_/MR-J4-15K_/ MR-J4-40_1 MR-J4W3-222B/MR-J4W3-444B MR-J4-22K_ 3-phase or 1-phase 200 V AC to 1-phase 100 V AC to 3-phase 200 V AC to 240 V AC, Main circuit (line voltage) 240 V AC,...
Page 514 APPENDIX App. 4.8.2 Servo amplifier dimensions Variable dimension table [mm] Servo amplifier Mass [kg] MR-J4-10_(1)/MR-J4-20_(1) MR-J4-40_(1)/MR-J4-60_ Front Side MR-J4-70_/MR-J4-100_ MR-J4-200_ MR-J4-350_ MR-J4-500_ MR-J4-700_ MR-J4-11K_/MR-J4-15K_ 13.4 MR-J4-22K_ 18.2 MR-J4W2-22B/MR-J4W2-44B MR-J4W2-77B/MR-J4W2-1010B MR-J4W3-222B/MR-J4W3-444B MR-J4-60_4/MR-J4-100_4 MR-J4-200_4 MR-J4-350_4 MR-J4-500_4 MR-J4-700_4 MR-J4-11K_4/MR-J4-15K_4 13.4 MR-J4-22K_4 18.2 App. 4.8.3 Mounting hole Screw Variable dimensions [mm] Servo amplifier...
Page 515 APPENDIX App. 4.9 Check list for user documentation MR-J4 installation checklist for manufacturer/installer The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items. Maintain and keep this checklist with related documents of machines to use this for periodic inspection. 1.
Page 516: App. 5 Mr-J3-D05 Safety Logic Unit
APPENDIX App. 5 MR-J3-D05 Safety logic unit App. 5.1 Contents of the package Open packing, and confirm the content of packing. Contents Quantity MR-J3-D05 Safety logic unit Connector for CN9 1-1871940-4 (TE Connectivity) Connector for CN10 1-1871940-8 (TE Connectivity) MR-J3-D05 Safety Logic Unit Installation Guide App.
Page 517 (4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.
Page 518 APPENDIX (7) Perform all risk assessments and safety level certification to the machine or the system as a whole. It is recommended that a Certification Body final safety certification of the system be used. (8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as deemed necessary by the applicable safety standard.
Page 519 APPENDIX App. 5.7 Functions and configuration App. 5.7.1 Summary MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO function. App. 5.7.2 Specifications Safety logic unit model MR-J3-D05 Voltage 24 V DC Permissible Control circuit 24 V DC ±...
Page 520 APPENDIX App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier (1) System configuration diagram The following shows the connection targets of the STO switch and STO release switch. POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used. MR-J3-D05 MR-J4_B_(-RJ) Power...
Page 521 APPENDIX (2) Connection example 24 V DC RESA RESB MR-J3-D05 (Note) (Note) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- MR-J4_B_(-RJ) SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B-...
Page 522 APPENDIX App. 5.8 Signal App. 5.8.1 Connector/pin assignment (1) CN8A Device Symbol Pin No. Function/application division A-axis STO1 STO1A- Outputs STO1 to A-axis driving device. STO1A+ Outputs the same signal as A-axis STO2. STO state (base shutdown): Between STO1A+ and STO1A- is opened. STO release state (in driving): Between STO1A+ and STO1A- is closed.
Page 523 APPENDIX (4) CN10 Device Symbol Function/application division A-axis SDI2A+ Connect this device to a safety switch for A-axis driving device. DI-1 shutdown 2 SDI2A- Input the same signal as A-axis shutdown 1. STO state (base shutdown): Open between SDI2A+ and SDI2A-. STO release state (in driving): Close between SDI2A+ and SDI2A-.
Page 524 APPENDIX (b) Digital output interface DO-1 This is a circuit of collector output terminal of the output transistor. When the output transistor is turned on, collector terminal current will be applied for the output. A lamp, relay or photocoupler can be driven.
Page 525 APPENDIX App. 5.8.3 Wiring CN9 and CN10 connectors Handle with the tool with care when connecting wires. (1) Wire strip (a) Use wires with size of AWG 24 to 20 (0.22 mm to 0.5 mm ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm ±...
Page 526 APPENDIX 2) Connecting wires a) Confirm the model number of the housing, contact and tool to be used. b) Insert the tool diagonally into the receptacle assembly. c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
Page 527 APPENDIX (b) Using a screwdriver To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force. Be cautious when connecting. 1) Adjusting screw driver Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm Length: 120 mm or less Length: 120 mm or less Width: 2.3 mm...
Page 528 APPENDIX (3) Connector insertion Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged. (4) Compatible wire Compatible wire size is listed below.
Page 529 APPENDIX App. 5.9 LED display I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis. Definition Column A Column B Monitor LED for start/reset SRES Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on.
Page 530 APPENDIX App. 5.11 Troubleshooting When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action. Event Definition Cause Action Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
Page 531 APPENDIX App. 5.12 Dimensions [Unit: mm] 22.5 19.5 Approx. 22.5 Approx. 80 9.75 5 mounting hole Rating plate 9.75 2-M4 screw Mounting hole process drawing Mounting screw Pin assignment CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B STO2A- STO2A+...
Page 532 APPENDIX App. 5.13 Installation Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet. Cabinet Cabinet Cabinet 100 mm or longer 40 mm or 80 mm or longer 10 mm or longer for wiring...
Page 533 APPENDIX Product Model Description Connector MR-J3-D05 attachment connector Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8 (TE Connectivity) (TE Connectivity) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Cable length: 3 m (TE Connectivity) COMPLIANCE WITH THE MACHINERY DIRECTIVES The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery). App.
Page 534: App. 6 Ec Declaration Of Conformity
APPENDIX App. 6 EC declaration of conformity The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive. App. - 37...
Page 535 APPENDIX App. - 38...
Page 536: App. 7 How To Replace Servo Amplifier Without Magnetic Pole Detection
APPENDIX App. 7 How to replace servo amplifier without magnetic pole detection Be sure to write the magnetic pole information of the servo amplifier before the replacement to the servo amplifier after the replacement. If the information before CAUTION and after replacement are not the same, the servo motor may operate unexpectedly.
Page 537: App. 8 Two-Wire Type Encoder Cable For Hg-Mr/Hg-Kr
APPENDIX App. 8 Two-wire type encoder cable for HG-MR/HG-KR Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_B_ servo amplifiers. For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type. Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MR- ECNM connector set.
Page 538 APPENDIX App. 8.2 Connector set Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector MR-ECNM Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9 Shell kit: 36310-3200-008 (Molex) Connector pin: 170359-1 (3M) (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) MRR BAT P5 MR CONT...
Page 539: App. 10 Analog Monitor
APPENDIX App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable.
Page 540 APPENDIX (2) Setting POINT When you use a linear servo motor, replace the following left words to the right words. → (linear servo motor) speed (servo motor) speed → Positive direction CCW direction → Negaative direction CW direction → Thrust Torque The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2).
Page 541 APPENDIX Setting Setting Output item Description Output item Description value value Feedback position Feedback position CCW direction CCW direction 10 [V] 10 [V] (Note 1, 2, 3) (Note 1, 2, 3) (±10 V/1 Mpulse) (±10 V/10 Mpulse) 1 [Mpulse] 10 [Mpulse] 1 [Mpulse] 10 [Mpulse] -10 [V]...
Page 542 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 543 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 control control control encoder Encoder inside temperature Current feedback Encoder Servo motor Differ-...
Page 544: App. 11 Special Specification
APPENDIX App. 11 Special specification App. 11.1 Amplifiers without dynamic brake App. 11.1.1 Summary This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_B_(-RJ). App. 11.1.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 545 APPENDIX App. 11.2 Without regenerative resistor App. 11.2.1 Summary This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_B_(-RJ). App. 11.2.2 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Page 546 REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030106-A First edition Jun. 2012 SH(NA)030106-B 4. Additional instructions The sentences are added. (2) Wiring 4. Additional instructions The sentences are added. (3) Test run and adjustment COMPLIANCE WITH CE The reference is changed.
Page 547 Print Data *Manual Number Revision Jun. 2012 SH(NA)030106-B Section 7.3.1 The sentences are added to POINT. Section 8.1 The column of the fully closed loop control is added. [AL. 1E.2], [AL. 1F.2], [AL. 42.8], [AL. 42.9], [AL. 42.A], [AL. 70], [AL. 71], [AL. 72], and [AL.
Page 548 Print Data *Manual Number Revision Jun. 2012 SH(NA)030106-B Appendix. 10.1 The diagram is changed. Appendix. 13 Added. Sep. 2012 SH(NA)030106-C Section 3.2.1 The diagram is changed. Section 3.2.2 The diagram is changed. Section 3.10.2 (1) (b) The diagram is changed. Section 13.3.1 The sentences are changed.
Page 549 Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 4.1.2 (1) (b) 5) Newly added. Section 4.1.2 (1) (c) 1) The sentences are changed. Section 4.1.2 (1) (c) 2) The sentences are changed. Section 4.1.2 (1) (c) 4) Newly added. Section 4.1.2 (5) Newly added.
Page 550 Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 11.3.4 (2) FR-BR-55K is added. Section 11.3.4 (3) Newly added. Section 11.4 (1) FR-RC-55K is added. Section 11.4 (2) The connection diagram is changed. Note 9 is added. Section 11.4 (3), (4) FR-RC-55K is added.
Page 551 Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 16.2.3 (2) The composition is changed due to addition of MR-J4_B-RJ servo amplifier. Section 16.3.1 (1) The startup procedure is changed. Section 16.3.1 (3), (4) Newly added. Section 16.3.1 (6) The content of the table is added. Section 16.3.1 (7) The [Pr.
Page 552 Print Data *Manual Number Revision Aug. 2013 SH(NA)030106-E Section 11.3.3 (1) (a) Note 3 is changed. Section 11.3.3 (1) (b) Note 3 is changed. Section 11.3.3 (2) (a) Note 3 is changed. Section 11.4 POINT is added. Section 11.4 (2) Note 4 is changed.
Page 553 Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F Section 7.1.3 POINT is added. Section 7.3 The sentences are added. Section 7.3.1 (2) The content of the table is changed. Section 7.3.2 (1) Note is added. Section 7.3.2 (2) (a), (b) The sentences are changed and note is added.
Page 554 Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F Section 11.16 The sentences are added. Section 11.16 (1) The content of the table is added. Section 11.16 (2) (b) Newly added. Section 11.16 (3) (a) The content is added. Section 11.17 POINT is added.
Page 555 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 556 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries.
Page 557 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 558 MODEL MR-J4-B INSTRUCTIONMANUAL MODEL 1CW805 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030106-G (1403) MEE Printed in Japan Specifications are subject to change without notice.

Mitsubishi Electric MELSERVO-J4 series Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Startup

6 Normal Gain Adjustment

7 Special Adjustment Functions

5 Parameter

8 Troubleshooting

9 Outline Drawings

11 Options and Peripheral Equipment

13 Using Sto Function

14 USING a LINEAR SERVO MOTOR 14- 1 to

15 Using a Direct Drive Motor

17 Application of Functions

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MELSERVO-J4 series