Page 1 General-Purpose AC Servo Multi-network Interface AC Servo MODEL MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL The following servo amplifiers will be on sale soon. MR-J4-_TM1 The following servo amplifiers will be available in the future. MR-J4-11KTM(4) to MR-J4-22KTM(4)
Page 2 Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 CAUTION Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.
Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor.
Page 6 CAUTION Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor.
Page 7 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Page 8 «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 MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL (EtherCAT) SH(NA)030208 MELSERVO-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol.
Page 9 MEMO A - 8...
Page 10 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-42 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 2 1.3 Servo amplifier standard specifications .................... 1- 8 1.4 Combinations of servo amplifiers and servo motors ............... 1-14 1.5 Function list ............................1-16 1.6 Model designation ..........................
Page 11 3.7 Alarm occurrence timing chart ......................3-27 3.7.1 When you use the forced stop deceleration function ..............3-27 3.7.2 When you do not use the forced stop deceleration function ............. 3-28 3.8 Interfaces ............................3-29 3.8.1 Internal connection diagram ...................... 3-29 3.8.2 Detailed explanation of interfaces .....................
Page 12 6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-18 6.1 Different adjustment methods ......................6- 1 6.1.1 Adjustment on a single servo amplifier ..................6- 1 6.1.2 Adjustment using MR Configurator2 ..................6- 2 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 ..........
Page 13 9. OUTLINE DRAWINGS 9- 1 to 9-14 9.1 Servo amplifier ..........................9- 1 9.2 Connector ............................9-13 10. CHARACTERISTICS 10- 1 to 10-14 10.1 Overload protection characteristics ....................10- 1 10.2 Power supply capacity and generated loss .................. 10- 5 10.3 Dynamic brake characteristics ......................
Page 14 11.14 Noise reduction techniques ....................... 11-74 11.15 Earth-leakage current breaker ....................11-82 11.16 EMC filter (recommended) ......................11-85 11.17 External dynamic brake ......................11-89 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ............11-95 12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 4 12.1 Summary ............................
Page 15 14.3.7 Absolute position detection system ..................14-26 14.4 Characteristics ..........................14-27 14.4.1 Overload protection characteristics ..................14-27 14.4.2 Power supply capacity and generated loss ................14-28 14.4.3 Dynamic brake characteristics ....................14-29 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ....... 14-30 15.
Page 16 App. 5 MR-J3-D05 Safety logic unit ....................App.-22 App. 6 EC declaration of conformity ....................App.-40 App. 7 How to replace servo amplifier without magnetic pole detection ......... App.-42 App. 8 Analog monitor ........................App.-43 App. 9 Special specification ......................App.-47 App.
Page 17 MEMO...
Page 18 Note 1. The MR-J4THCBL03M branch cable is necessary. 2. Connect a thermistor to CN2. The following shows compatible networks. Prepare a network module designed for Mitsubishi Electric MELSERVO (Anybus CompactCom M40) manufactured by HMS Industrial Networks according to the network you use.
Page 19 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) 200 V class (a) MR-J4-500TM or less (Note 4) Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Dynamic Diode (Note 1) brake...
Page 20 1. FUNCTIONS AND CONFIGURATION Note 1. The built-in regenerative resistor is not provided for MR-J4-10TM. 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 21 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-700TM (Note 2) Power factor improving Regenerative DC reactor option Servo amplifier 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 circuit brake...
Page 22 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) MR-J4-350TM4 or less (Note 3) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan...
Page 23 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-500TM4/MR-J4-700TM4 (Note 2) Power factor Regenerative improving option DC reactor Servo amplifier Servo motor Dynamic Diode brake stack Relay circuit MCCB (Note 1) Current Power Regene- detector supply rative Charge lamp Cooling fan Control Electromagnetic circuit 24 V DC brake...
Page 24 1. FUNCTIONS AND CONFIGURATION (3) 100 V class (Coming soon) Regenerative option Servo amplifier Servo motor (Note 1) Dynamic brake circuit MCCB Charge (Note 2) lamp Current Power Regene- encoder supply Relay rative TR Diode stack Control Electromagnetic circuit 24 V DC brake power supply...
Page 25 1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200 V class Model: MR-J4-_ 10TM 20TM 40TM 60TM 70TM 100TM 200TM 350TM 500TM 700TM Rated voltage 3-phase 170 V AC Rated current 11.0 17.0 28.0 37.0 Output Output frequency Less than 590 Hz Output frequency ±0.01%...
Page 26 1. FUNCTIONS AND CONFIGURATION Model: MR-J4-_ 10TM 20TM 40TM 60TM 70TM 100TM 200TM 350TM 500TM 700TM Standards certified by EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2 SIL 3 CB (Note 10) Response performance 8 ms or less (STO input off →...
Page 27 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Model: MR-J4-_ 60TM4 100TM4 200TM4 350TM4 500TM4 700TM4 Rated voltage 3-phase 323 V AC Rated current 14.0 17.0 Output Output frequency Less than 590 Hz Output frequency ±0.01% accuracy Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current 10.8 14.4...
Page 28 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 29 1. FUNCTIONS AND CONFIGURATION (3) 100 V class (Coming soon) Model: MR-J4-_ 10TM1 20TM1 40TM1 Rated voltage 3-phase 170 V AC Rated current Output Output frequency Less than 590 Hz Output frequency ±0.01% accuracy Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current Permissible voltage 1-phase 85 V AC to 132 V AC...
Page 30 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, operate it at an ambient temperature of 0 ˚C to 45 ˚C or at 75% or smaller effective load ratio.
Page 31 1. FUNCTIONS AND CONFIGURATION 1.4 Combinations of servo amplifiers and servo motors POINT The MR-J4-11KTM(4) to MR-J4-22KTM(4) will be available in the future. When you use it with the 1-phase 200 V AC input, an HG-JR series servo motor cannot be used on the assumption that the maximum torque is 400%. When you use the MR-J4-100TM or MR-J4-200TM with the 1-phase 200 V AC input, contact your local sales office for the torque characteristics of the HG-UR series, HG-RR series, and HG-JR series servo motors.
Page 32 1. FUNCTIONS AND CONFIGURATION (2) 400 V class Rotary servo motor HG-JR Servo amplifier Linear servo motor (primary side) HG-SR HG-JR (When the maximum torque is 400%) MR-J4-60TM4 MR-J4-100TM4 1024 1034 1524 1534 MR-J4-200TM4 2024 2034 1034 1534 MR-J4-350TM4 3524 3534 2034 MR-J4-500TM4...
Page 33 1. FUNCTIONS AND CONFIGURATION 1.5 Function list POINT For the control modes, refer to "MR-J4-_TM_ Servo Amplifier Instruction Manual (EtherCAT)". The following table lists the functions of this servo. For details of the functions, refer to each section of the detailed description field.
Page 34 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Output signal can be forced on/off independently of the servo status. Output signal (DO) forced Section 4.5.1 output (1) (d) Use this function for checking output signal wiring, etc. [Pr. PA11] Torque limit Servo motor torque can be limited to any value.
Page 35 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 Serial number SER.A45001001 MR-J4-10TM MODEL Model Capacity POWER :100W Applicable power supply INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Rated output current OUTPUT: 3PH170V 0-360Hz 1.1A Standard, Manual number...
Page 36 1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) 200 V class (a) MR-J4-200TM or less The diagram is for MR-J4-10TM. Detailed Name/Application explanation Display The 3-digit, 7-segment LED shows the servo status and the alarm number. Axis selection rotary switch (SW2/SW3) Section 4.3 Used to set the axis No.
Page 37 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350TM Detailed Name/Application The broken line area is the same as explanation MR-J4-200TM or less. Main circuit power connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Servo motor power output connector (CNP3) Connect the servo motor.
Page 38 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500TM 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-J4-200TM or less. Control circuit terminal block (TE2) Used to connect the control circuit power supply.
Page 39 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700TM 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-J4-200TM or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Page 40 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) MR-J4-200TM4 or less The diagram is for MR-J4-60TM4. Detailed Name/Application explanation Display The 3-digit, 7-segment LED shows the servo status and the alarm number. Axis selection rotary switch (SW2/SW3) Section 4.3 Used to set the axis No.
Page 41 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350TM4 Detailed Name/Application The broken line area is the same as explanation MR-J4-200TM4 or less. Main circuit power connector (CNP1) Section 3.1 Connect the input power supply. Section 3.3 Rating plate Section 1.6 Control circuit power connector (CNP2) Connect the control circuit power supply and Section 3.1 regenerative option.
Page 42 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500TM4 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-J4-200TM4 or less. Control circuit terminal block (TE2) Used to connect the control circuit power supply.
Page 43 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700TM4 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-J4-200TM4 or less. Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Page 44 1. FUNCTIONS AND CONFIGURATION (3) 100 V class (Coming soon) The diagram is for MR-J4-10TM1. Detailed Name/Application explanation Display The 3-digit, 7-segment LED shows the servo status and the alarm number. Axis selection rotary switch (SW2/SW3) Section 4.3 Used to set the axis No. of servo amplifier. Mode select switch (SW1) Set the test operation mode.
Page 45 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 46 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 47 1. FUNCTIONS AND CONFIGURATION 1.7.3 Installation and removal of network module Before installing or removing network module, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage WARNING between P+ and N- is safe with a voltage tester and others.
Page 48 1. FUNCTIONS AND CONFIGURATION (1) Installation of network module 1) Remove the slot cover with a flat-blade screwdriver, etc. Make sure to store the removed cover. 2) Press the network module against the board on the right side so as to align with the guide in the servo amplifier, and insert it along the board.
Page 49 1. FUNCTIONS AND CONFIGURATION (2) Removal of network module 1) Loosen two screws fixing the network module approximately 5 mm using the #8 Torx screwdriver. 5 mm Fixing screw (Torx screw) 2) Hook the slot cover included at product shipment on the loosened screws as shown in the diagram.
Page 50 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 51 1. FUNCTIONS AND CONFIGURATION (1) 200 V class (a) MR-J4-200TM or less The diagram is for MR-J4-20TM. R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Network module dependence (Note 6) Line noise filter (FR-BSF01)
Page 52 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350TM R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Network module dependence (Note 6) Line noise filter (FR-BSF01) To safety relay or MR-J3-D05 safety logic unit Junction terminal block...
Page 53 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500TM R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Network module dependence (Note 6) Line noise filter (FR-BLF) To safety relay or MR-J3-D05 safety logic unit Junction terminal block...
Page 54 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700TM R S T (Note 2) Power supply Molded-case circuit breaker Personal (MCCB) computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Network module dependence (Note 6) Line noise To safety relay or MR-J3-D05 filter safety logic unit (FR-BLF)
Page 55 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) MR-J4-200TM4 or less The diagram is for MR-J4-60TM4 and MR-J4-100TM4. R S T (Note 2) Power supply Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Magnetic contactor (MC) (Note 1) Network module dependence (Note 6) Line noise filter...
Page 56 1. FUNCTIONS AND CONFIGURATION (b) MR-J4-350TM4 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Line noise Network module dependence (Note 6) filter (FR-BSF01) To safety relay or MR-J3-D05 safety logic unit D (Note 5) Junction terminal...
Page 57 1. FUNCTIONS AND CONFIGURATION (c) MR-J4-500TM4 R S T (Note 2) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Power factor improving DC reactor Line noise (FR-HEL-H) Network module dependence (Note 6) filter (FR-BSF01) To safety relay or MR-J3-D05...
Page 58 1. FUNCTIONS AND CONFIGURATION (d) MR-J4-700TM4 R S T (Note 2) Power supply Molded-case circuit breaker Personal (MCCB) computer MR Configurator2 (Note 3) Magnetic contactor (MC) (Note 1) Network module dependence (Note 6) Line noise To safety relay or MR-J3-D05 filter safety logic unit (FR-BLF)
Page 59 1. FUNCTIONS AND CONFIGURATION (3) 100 V class (Coming soon) The diagram is for MR-J4-20TM1. (Note 2) Power supply Personal computer Molded-case MR Configurator2 circuit breaker (MCCB) (Note 3) Magnetic contactor (MC) Network module dependence (Note 6) (Note 1) (Note 1) Power factor improving AC reactor...
Page 60 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 61 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 62 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 63 2. INSTALLATION 2.2 Keeping out of foreign materials (1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or a cooling fan installed on the ceiling.
Page 64 2. INSTALLATION (3) Check that the connector is securely connected to the servo amplifier. (4) Check that the wires are not coming out from the connector. (5) Check for dust accumulation on the servo amplifier. (6) Check for unusual noise generated from the servo amplifier. 2.5 Parts having service lives Service lives of the following parts are listed below.
Page 65 2. INSTALLATION 2.6 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m over sea level (1) Effective load ratio and regenerative load ratio Heat dissipation effects decrease in proportion to decreasing air density, and hence use the servo amplifiers with the effective load ratio and the regenerative load ratio within the following range.
Page 66 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 67 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 68 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 69 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-J4-10TM to MR-J4-350TM (Note 4) Malfunction Emergency stop switch Servo amplifier Servo motor MCCB CNP1 (Note 7) (Note 11) CNP3 3-phase (Note 6)
Page 70 3. SIGNALS AND WIRING (2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10TM to MR-J4-200TM (Note 4) Malfunction Emergency stop switch Servo amplifier Servo motor (Note 7) MCCB CNP1 1-phase (Note 11) 200 V AC to CNP3 (Note 6) 240 V AC...
Page 71 3. SIGNALS AND WIRING (3) MR-J4-500TM (Note 4) Malfunction Emergency 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 72 3. SIGNALS AND WIRING (4) MR-J4-700TM (Note 4) Malfunction Emergency 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 73 3. SIGNALS AND WIRING 3.1.2 400 V class (1) MR-J4-60TM4 to MR-J4-350TM4 (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 74 3. SIGNALS AND WIRING (2) MR-J4-500TM4/MR-J4-700TM4 (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 75 3. SIGNALS AND WIRING 3.1.3 100 V class (Coming soon) (Note 4) Malfunction Emergency 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...
Page 76 3. SIGNALS AND WIRING 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque mode. 3.2.1 For sink I/O interface Servo amplifier 10 m or less 10 m or less (Note 8) (Note 12) (Note 12) (Note 10) Main circuit...
Page 77 3. SIGNALS AND WIRING 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. Servo amplifier 10 m or less 10 m or less (Note 8) (Note 12) (Note 12) (Note 10) Main circuit (Note 3) 24 V DC power supply Forced stop 2 DOCOM...
Page 78 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. The MR-J4-11KTM(4) to MR-J4-22KTM(4) will be available in the future. When using the servo amplifier with the DC power supply input, refer to appendix 1.
Page 79 3. SIGNALS AND WIRING Connection target Symbol Description (application) Supply the following power to L11 and L21. Servo amplifier MR-J4-10TM to MR-J4-60TM4 to MR-J4-10TM1 to MR-J4-22KTM MR-J4-22KTM4 MR-J4-40TM1 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 80 3. SIGNALS AND WIRING (2) Timing chart Servo-on command accepted (Note 1) (3 s to 4 s + network initial communication time) Main circuit power supply Control circuit Base circuit 95 ms (Note 2) 10 ms 95 ms Servo-on command (from controller) Note 1.
Page 81 3. SIGNALS AND WIRING (b) MR-J4-200TM/MR-J4-350TM MR-J4-200TM MR-J4-350TM Servo amplifier Servo amplifier CNP1 CNP1 CNP2 CNP3 CNP3 CNP2 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 82 3. SIGNALS AND WIRING (d) MR-J4-10TM1 to MR-J4-40TM1 Servo amplifier CNP1 CNP2 CNP3 Table 3.4 Connector and applicable wire Applicable wire Stripped Manufa Connector Receptacle assembly Open tool length [mm] cturer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.5 CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 39 mm or shorter J-FAT-OT CNP3...
Page 83 3. SIGNALS AND WIRING You can also use a ferrule to connect with the connectors. When using a ferrule, select a ferrule and crimping tool listed in the table below. Ferrule model (Phoenix Contact) Crimping tool Servo amplifier Wire size For one For two (Phoenix Contact)
Page 84 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 85 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 (1) Input device pin The following shows the input device pins and parameters for setting devices.
Page 86 3. SIGNALS AND WIRING Connector Device Symbol Function and application pin No. division Forward rotation CN3-2 To start the operation, turn on LSP and LSN. Turn it off to bring the servo motor DI-1 stroke end to a slow stop and make it servo-locked. Reverse rotation CN3-12 (Note) Input device...
Page 87 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 88 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 mode. Warning When warning has occurred, WNG turns on.
Page 89 3. SIGNALS AND WIRING 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to chapter 8.) When network communication is shut-off, forced stop deceleration will operate. (Refer to section 3.7.1 (3).) In the torque mode, the forced stop deceleration function is not available.
Page 90 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 network communication shut-off due to delay time of the electromagnetic brake.
Page 91 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 92 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 mode, the forced stop deceleration function is not available. To deactivate the alarm, cycle the control circuit power, give the error reset command from the controller, or perform network communication reset.
Page 93 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 94 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 1) Forced stop 2 Approximately 24 V DC 6.2 kΩ DOCOM (Note 3) (Note 2) Approximately 6.2 kΩ DOG 19 (Note 3) Approximately...
Page 95 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 96 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 97 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 98 3. SIGNALS AND WIRING 3.9 Servo motor with an electromagnetic brake 3.9.1 Safety precautions Configure an electromagnetic brake circuit so that it is activated also by an external Emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the Emergency stop switch.
Page 99 3. SIGNALS AND WIRING (1) Connection diagram Servo amplifier (Note 2) Servo motor 24 V DC (Malfaunction) (Note 1) DOCOM 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch. 2.
Page 100 3. SIGNALS AND WIRING (b) Off/on of the sudden stop command (from controller) or EM2 (Forced stop 2) POINT In the torque mode, the forced stop deceleration function is not available. (Note 2) Model speed command 0 and equal to or less than zero speed Servo motor speed 0 r/min...
Page 101 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on POINT In the torque 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 102 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 sudden stop command (from controller) or EM1 (Forced stop 1) Dynamic brake Dynamic brake...
Page 103 3. SIGNALS AND WIRING (f) Ready-off command from controller It is the same as (1) (f) in this section. 3.10 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 104 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 105 4. STARTUP 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure Check whether the servo amplifier and servo motor are wired correctly using visual inspection, Wiring check DO forced output function (section 4.5.1), etc.
Page 106 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 107 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 108 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 109 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 110 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 3.9 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 111 4. STARTUP 4.3 Switch setting and display of the servo amplifier Switching to the test operation mode 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 controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an alarm.
Page 112 4. STARTUP 4.3.2 Scrolling display Axis number will be displayed in hexadecimal. For 100h or more, last two digits will be displayed. (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...
Page 113 4. STARTUP 4.3.3 Status display of an axis (1) Display sequence Servo amplifier power on System check in progress Waiting for controller power to switch on (Network communication) Controller power on (Network communication begins) Initial data communication with the controller (initialization communication) When an alarm No.
Page 114 4. STARTUP (2) Indication list Indication Status Description Initializing System check in progress Initializing No connection with the controller Initializing During initial communication with the controller Initializing standby Communication disconnection with the controller (Note 1) b # # Ready-off The ready-off signal from the controller was received. (Note 1) d # # Servo-on The ready-off signal from the controller was received.
Page 115 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 116 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 (SW1-1), the Network communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked. For the EtherCAT, turning on the test operation select switch (SW1-1) with the following parameter settings triggers [AL.
Page 117 4. STARTUP (b) Positioning operation Positioning operation can be performed without using the 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 controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
Page 118 4. STARTUP (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW1-1. Set SW1-1 to "ON (up)". Turning "ON (up)" SW1-1 during power-on will not start the test operation mode. 3) Turn on the servo amplifier. When initialization is completed, the decimal point on the first digit will flicker. After 1.6 s Flickering After 0.2 s...
Page 119 4. STARTUP 4.5.2 Motor-less operation in controller POINT Connect the controller to the servo amplifier before the motor-less operation. The motor-less operation using a controller is available with rotary servo motors only. It will be available with linear servo motors and direct drive motors in the future.
Page 120 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 (SW1-1), and then turn on the power supply. Set SW2-1 to "OFF (down)".
Page 121 4. STARTUP MEMO 4 - 18...
Page 122 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 123 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 124 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 For manufacturer setting 18000 PB04...
Page 125 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 126 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 PC27 **COP9 Function selection C-9 0000h...
Page 127 5. PARAMETERS Operation mode Initial Symbol Name Unit value PC70 INP2R In-position 2 output range [pulse] PC71 INP2F In-position 2 output filtering time [ms] PC72 SA2R Speed reached 2 output range 20.00 [r/min]/ [mm/s] PC73 SA2F Speed reached 2 output filtering time [ms] PC74 For manufacturer setting...
Page 128 5. PARAMETERS 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) Operation mode Initial Symbol Name Unit value PD01 *DIA1 Input signal automatic on selection 1 0000h PD02 For manufacturer setting 0000h PD03 *DI1 Input device selection 1 000Ah PD04 *DI2 Input device selection 2 000Bh PD05...
Page 129 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 130 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 131 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 132 5. PARAMETERS 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h PL02 **LIM Linear encoder resolution - Numerator 1000 [µm] PL03 **LID Linear encoder resolution - Denominator 1000 [µm] PL04 *LIT2...
Page 133 5. PARAMETERS Operation mode Initial Symbol Name Unit value PL46 For manufacturer setting 0000h PL47 0000h PL48 0000h 5.1.8 Positioning control parameters ([Pr. PT_ _ ]) Operation mode Initial Symbol Name Unit value PT01 For manufacturer setting 0300h PT02 0001h PT03 0000h PT04...
Page 134 5. PARAMETERS Operation mode Initial Symbol Name Unit value PT32 For manufacturer setting 0000h PT33 0000h PT34 0000h PT35 0000h PT36 0000h PT37 PT38 0000h PT39 PT40 PT41 Home position return inhibit function selection 0000h PT42 For manufacturer setting PT43 PT44 0000h PT45...
Page 135 5. PARAMETERS 5.1.9 Network setting parameters ([Pr. PN_ _ ]) Operation mode Initial Symbol Name Unit value PN01 **NADR Node address setting 0000h PN02 For manufacturer setting PN03 0000h PN04 0000h PN05 0000h PN06 0000h PN07 0000h PN08 0000h PN09 0000h PN10 0000h...
Page 136 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 No./ Setting Function value symbol/name digit [unit] PA01 _ _ _ x Control mode selection **STY Select a control mode.
Page 137 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA02 _ _ x x Regenerative option **REG Select a regenerative option. Regenerative Incorrect setting may cause the regenerative option to burn. option If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.
Page 138 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA04 _ _ _ x For manufacturer setting *AOP1 _ _ x _ Function _ x _ _ Servo forced stop selection selection A-1 0: Enabled (The forced stop input EM2 or EM1 is used.) 1: Disabled (The forced stop input EM2 and EM1 are not used.) Refer to table 5.2 for details.
Page 139 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA08 _ _ _ x Gain adjustment mode selection Select the gain adjustment mode. Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode) mode 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2...
Page 140 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA09 Set the auto tuning response. Machine characteristic Machine characteristic Auto tuning Guideline for Guideline for response Setting Setting machine machine value value Response Response resonance resonance frequency [Hz] frequency [Hz] 67.1 Middle response...
Page 141 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA11 You can limit the torque or thrust generated by the servo motor. 1000.0 When you output the torque or thrust with analog monitor output, the larger value of [Pr. PA11 Forward rotation torque limit/positive direction thrust limit] or [Pr. PA12 Forward Reverse rotation torque limit/negative direction thrust limit] will be the maximum rotation...
Page 142 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA14 Select a rotation direction or travel direction. *POL Servo motor rotation direction/linear servo motor Rotation travel direction Setting direction value Positioning address Positioning address selection/trave increase decrease l direction selection CCW or positive CW or negative direction...
Page 143 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA17 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and 0000h [Pr. PA18]. Set this and [Pr. PA18] at a time. **MSR Refer to the following table for settings. Servo motor series setting Parameter...
Page 144 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA19 Select a reference range and writing range of the parameter. 00ABh *BLK Refer to table 5.4 for settings. Parameter writing inhibit Table 5.4 [Pr. PA19] setting value and reading/writing range Setting PA19 operation...
Page 145 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA21 _ _ _ x One-touch tuning function selection *AOP3 0: Disabled Function 1: Enabled selection A-3 When the digit is "0", the one-touch tuning with MR Configurator2 will be disabled. _ _ x _ For manufacturer setting _ x _ _ x _ _ _...
Page 146 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PA25 Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range. OTHOV Note that setting "0" will be 50%. One-touch tuning - Overshoot Setting range: 0 to 100 permissible level...
Page 147 5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial No./ Setting Function value symbol/name digit [unit] PB01 _ _ _ x Filter tuning mode selection FILT Set the adaptive filter tuning. Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to tuning mode section 7.1.2 for details.
Page 148 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB04 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed will be almost 0. When the super trace control is enabled, constant speed and uniform Feed forward acceleration/deceleration droop pulses will be almost 0.
Page 149 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB09 Set the gain of the speed loop. [rad/s] Set this parameter when vibration occurs on machines of low rigidity or with large backlash. Increasing the setting value will also increase the response level but will Speed loop be liable to generate vibration and/or noise.
Page 150 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB16 Set forms of the machine resonance suppression filter 2. NHQ2 _ _ _ x Machine resonance suppression filter 2 selection Notch shape 0: Disabled selection 2 1: Enabled _ _ x _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB...
Page 151 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB18 Set the low-pass filter. 3141 [rad/s] The following shows a relation of a required parameter to this parameter. Low-pass filter setting Setting range: 100 to 18000 [Pr. PB23] [Pr. PB18] _ _ 0 _ (Initial value) Automatic setting _ _ 1 _...
Page 152 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB24 _ _ _ x Slight vibration suppression control selection *MVS Select the slight vibration suppression control. Slight 0: Disabled vibration 1: Enabled suppression To enable the slight vibration suppression control, set "Gain adjustment mode control selection"...
Page 153 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB29 Set a load to motor inertia ratio/load to motor mass ratio for when gain switching is 7.00 enabled. [times] GD2B This parameter is enabled only when "Gain adjustment mode selection" is set to Load to motor "Manual mode (_ _ _ 3)"...
Page 154 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB35 Set a damping of the vibration frequency for vibration suppression control 1 when 0.00 the gain switching is enabled. VRF13B This parameter will be enabled only when the following conditions are fulfilled. Vibration suppression "Gain adjustment mode selection"...
Page 155 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB45 Set the command notch filter. CNHF _ _ x x Command notch filter setting frequency selection Command Refer to table 5.6 for the relation of setting values to frequency. notch filter _ x _ _ Notch depth selection Refer to table 5.7 for details.
Page 156 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500 [Hz] To enable the setting value, set "Machine resonance suppression filter 3 selection" to "Enabled (_ _ _ 1)" in [Pr. PB47]. Machine resonance suppression...
Page 157 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB51 Set forms of the machine resonance suppression filter 5. NHQ5 When "Robust filter selection" is set to "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5 is not available. Notch shape selection 5 _ _ _ x Machine resonance suppression filter 5 selection...
Page 158 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB56 Set the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. [Hz] VRF21B When a value less than 0.1 Hz is set, the value will be the same as that of [Pr. Vibration PB52].
Page 159 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PB60 Set the model loop gain for when the gain switching is enabled. [rad/s] PG1B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. PB07].
Page 160 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC03 _ _ _ x Encoder output pulse phase selection *ENRS Select an encoder pulse direction. Encoder 0: Increasing A-phase 90° in CCW or positive direction output pulse 1: Increasing A-phase 90° in CW or negative direction selection Servo motor rotation direction/linear servo motor Setting...
Page 161 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC05 _ _ _ x Motor-less operation selection **COP2 Set the motor-less operation. The operation cannot be used in the linear servo motor control mode, fully closed loop control mode, and DD motor control mode. Function selection C-2 0: Disabled...
Page 162 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC09 _ _ x x Analog monitor 1 output selection MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 8 (3) for detection point of output selection. Analog monitor 1 Refer to table 5.8 for settings.
Page 163 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC10 _ _ x x Analog monitor 2 output selection MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 8 (3) for detection point of output selection. Analog monitor 2 Refer to [Pr.
Page 164 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC20 _ _ _ x [AL. 10 Undervoltage] detection method selection *COP7 Set this parameter when [AL. 10 undervoltage] occurs due to distorted power supply voltage waveform while using FR-RC-(H) or FR-CV-(H). Function selection C-7 0: [AL.
Page 165 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC26 _ _ _ x For manufacturer setting **COP8 _ _ x _ Function _ x _ _ selection C-8 x _ _ _ Load-side encoder cable communication method selection Select an encoder cable to be connected to the CN2L connector.
Page 166 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC38 Set an error excessive warning level. The setting unit can be changed with "Error excessive alarm/error excessive warning [rev]/ level unit selection" in [Pr. PC06]. Error [mm] excessive Set this per rev. for rotary servo motors and direct drive motors. Setting over 200 rev warning level will be clamped with 200 rev.
Page 167 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC67 Set a following error output level. 0000h FEWL [pulse] Upper and lower are a set. Following When the state in which droop pulses ≥ the parameter setting value continues for error output the time set in [Pr.
Page 168 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PC69 Set the time until the following error output turns on. [ms] FEWF When the state in which droop pulses ≥ [Pr. PC67/Pr. PC 68 Following error output level] continues for the time set in the parameter setting value, "Statusword (6041h) Following bit13 Following error"...
Page 169 5. PARAMETERS 5.2.4 I/O setting parameters ([Pr. PD_ _ ]) Initial No./ Setting Function value symbol/name digit [unit] PD01 Select input devices to turn on automatically. *DIA1 _ _ _ x For manufacturer setting Input signal _ _ x _ automatic on _ x _ _ _ _ _ x (BIN): For manufacturer setting...
Page 170 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PD03 Any input device can be assigned to the CN3-2 pin. *DI1 _ _ x x Device selection Input device Refer to table 5.9 for settings. selection 1 _ x _ _ For manufacturer setting x _ _ _ Table 5.9 Selectable input devices Setting...
Page 171 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PD07 _ _ x x Device selection *DO1 Any output device can be assigned to the CN3-13 pin. As the initial value, MBR (Electromagnetic brake interlock) is assigned to the pin. Output device selection 1 Refer to table 5.10 for settings.
Page 172 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PD12 _ _ _ x For manufacturer setting *DOP1 _ _ x _ Function _ x _ _ selection D-1 x _ _ _ Servo motor thermistor enabled/disabled selection 0: Enabled 1: Disabled The setting in this digit will be disabled when you use a servo motor without thermistor.
Page 173 5. PARAMETERS 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Initial No./ Setting Function value symbol/name digit [unit] PE01 _ _ _ x Fully closed loop function selection **FCT1 Select the fully closed loop function. Fully closed 0: Always enabled loop function 1: Switching by fully closed loop selection command from controller (C_CLD) and selection 1...
Page 174 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PE04 Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control. **FBN Set the electronic gear so that the number of servo motor encoder pulses for one Fully closed servo motor revolution is converted to the resolution of the load-side encoder.
Page 175 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PE34 Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control. **FBN2 Set the electronic gear so that the number of servo motor encoder pulses for one Fully closed servo motor revolution is converted to the resolution of the load-side encoder.
Page 176 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PE44 Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. LMCP [0.01%] Lost motion compensation Setting range: 0 to 30000 positive-side...
Page 177 5. PARAMETERS 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial No./ Setting Function value symbol/name digit [unit] PF06 _ _ _ x Electronic dynamic brake selection *FOP5 0: Enabled only for specified servo motors Function 2: Disabled selection F-5 Refer to the following table for the specified servo motors.
Page 178 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PF24 _ _ _ x Oscillation detection alarm selection *OSCL2 Select whether to generate an alarm or a warning when an oscillation continues at a filter readjustment sensitivity level of [Pr. PF23]. Vibration tough drive The setting is always enabled regardless of the vibration tough drive in [Pr.
Page 179 5. PARAMETERS 5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Initial No./ Setting Function value symbol/name digit [unit] PL01 _ _ _ x Linear servo motor/DD motor magnetic pole detection selection **LIT1 The setting value "0" will be enabled only with absolute position linear encoders. Linear servo 0: Magnetic pole detection disabled motor/DD...
Page 180 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PL04 _ _ _ x [AL. 42 Servo control error] detection function selection *LIT2 Refer to the following table. Linear servo Setting Thrust/torque Speed deviation Position deviation motor/DD value deviation error (Note) error (Note) error (Note) motor...
Page 181 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PL09 Set a direct current exciting voltage level during the magnetic pole detection. LPWM If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic pole detection, decrease the setting value.
Page 182 5. PARAMETERS 5.2.8 Positioning control parameters ([Pr. PT_ _ ]) Initial No./ Setting Function value symbol/name digit [unit] PT05 Set a servo motor speed at home position return. The fractional portion of the 100.00 parameter will be rounded down. [r/min]/ [mm/s] Home position...
Page 183 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT15 Set an address increasing side of the software stroke limit. 0000h LMPL Upper and lower are a set. [pulse] Software limit Set the setting address in hexadecimal. (lower four Setting address: digits) Upper four...
Page 184 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT26 _ _ _ x Electronic gear fraction clear selection *TOP2 0: Disabled Function 1: Enabled selection T-2 Selecting "Enabled" will clear a fraction of the previous command by the electronic gear at start of the profile mode.
Page 185 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT29 Set the DOG polarity. *TOP3 _ _ _ x _ _ _ x (BIN): DOG (Proximity dog) polarity selection Function (HEX) 0: Dog detection with off selection T-3 1: Dog detection with on This function will be enabled in the profile mode and cyclic synchronous mode.
Page 186 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT45 Set the home position return method. Refer to the following table for details. Home Setting a value other than the setting value will trigger [AL. 37]. position return type This parameter corresponds to "Homing method (6098h)".
Page 187 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT49 Set an acceleration time from 0 r/min or 0 mm/s to the rated speed for the command. [ms] Profile mode Acceleration Set an acceleration time constant for the position mode and velocity mode. Setting time constant a value exceeding 20000 ms in the position mode will trigger [AL.
Page 188 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT51 This enables to start/stop the servo motor or linear servo motor smoothly. [ms] Set the time of the arc part for S-pattern acceleration/deceleration. S-pattern Setting "0" will make it linear acceleration/deceleration. acceleration/d eceleration Acceleration time...
Page 189 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT53 Set the rate of change of the torque command per second. However, setting "0.0" will disable the torque slope. [%/s] Torque slope This function will be enabled in the profile torque mode. This parameter corresponds to "Torque slope (6087h)".
Page 190 5. PARAMETERS Initial No./ Setting Function value symbol/name digit [unit] PT65 Set a speed of the profile speed command. 100.00 [r/min]/ The fractional portion of the parameter will be rounded down. [mm/s] Profile speed This function will be enabled in the profile position mode. command This parameter corresponds to "Profile velocity (6081h)".
Page 191 5. PARAMETERS 5.3 Software limit The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end. Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be disabled in the velocity mode, torque mode, and homing mode.
Page 192 6. NORMAL GAIN ADJUSTMENT 6. NORMAL GAIN ADJUSTMENT POINT In the torque 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 193 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 194 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 195 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 196 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 197 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 198 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 199 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 200 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 201 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 202 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 203 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 204 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 205 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 206 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 207 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 208 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 209 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 210 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 211 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 212 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 213 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 214 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 215 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 216 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 217 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 218 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 219 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 220 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 221 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 222 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 223 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 224 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 225 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]. Control command from [Pr.
Page 226 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 227 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 228 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 229 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 230 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Control command from controller After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Model loop gain → → Load to motor inertia ratio/load to motor 4.00 → 10.00 → 4.00 mass ratio Position loop gain →...
Page 231 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Command pulses Droop pulses Command pulses +CDL Droop pulses [pulse] -CDL After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms Load to motor inertia ratio/load to motor 4.00 → 10.00 →...
Page 232 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
Page 233 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 234 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 235 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 236 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr.
Page 237 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 238 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 ON (Energization) Control circuit OFF (Power failure)
Page 239 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 240 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 241 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 242 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. (1) Summary The servo amplifier has a model adaptive control.
Page 243 7. SPECIAL ADJUSTMENT FUNCTIONS 7.6 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.
Page 244 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
Page 245 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated.
Page 246 7. SPECIAL ADJUSTMENT FUNCTIONS 7.7 Super trace control (1) Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/deceleration cannot be suppressed.
Page 247 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Adjustment procedure POINT In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition selection" in [Pr. PD13] to " _ 1 _ _". When you use the super trace control, it is recommended that the acceleration time constant up to the rated speed be set to 1 s or more.
Page 248 8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT This chapter explains the details of alarms and warnings exclusively for the MR- J4-_TM_. For any other alarms and warnings, refer to the descriptions of the MR-J4-_A_ and MR-J4-_B_ in "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)". As soon as an alarm occurs, make the servo-off status and interrupt the main circuit power.
Page 249 8. TROUBLESHOOTING 8.2 Alarm list Alarm deactivation Stop method Detail Name Detail name (Note 4, 10.1 Voltage drop in the control circuit power Undervoltage 10.2 Voltage drop in the main circuit power 12.1 RAM error 1 12.2 RAM error 2 Memory error 1 (RAM) 12.3 RAM error 3...
Page 250 8. TROUBLESHOOTING Alarm deactivation Stop method Detail Name Detail name (Note 4, Encoder normal communication - Receive data 20.1 error 1 Encoder normal communication - Receive data 20.2 error 2 Encoder normal communication - Receive data 20.3 error 3 Encoder normal communication - Transmission 20.5 data error 1 Encoder normal...
Page 251 8. TROUBLESHOOTING Alarm deactivation Stop method Detail Name Detail name (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 252 8. TROUBLESHOOTING Alarm deactivation Stop method Detail Name Detail name (Note 4, 52.1 Excess droop pulse 1 52.3 Excess droop pulse 2 Error excessive 52.4 Error excessive during 0 torque limit 52.5 Excess droop pulse 3 Oscillation detection 54.1 Oscillation detection error 56.2 Over speed during forced stop Forced stop error...
Page 253 8. TROUBLESHOOTING Alarm deactivation Stop method Detail Name Detail name (Note 4, 72.1 Load-side encoder data error 1 72.2 Load-side encoder data update error 72.3 Load-side encoder data waveform error Load-side encoder normal 72.4 Load-side encoder non-signal error communication error 2 72.5 Load-side encoder hardware error 1 72.6...
Page 254 8. TROUBLESHOOTING 8.3 Warning list Stop Detail method Name Detail name (Note 2, 90.1 Home position return incomplete Home position return 90.2 Home position return abnormal termination incomplete warning 90.5 Z-phase unpassed Servo amplifier overheat 91.1 Main circuit device overheat warning warning (Note 1) 92.1 Encoder battery cable disconnection warning...
Page 255 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, F4.4 Target position setting range error warning Acceleration time constant setting range error F4.6 Positioning warning warning Deceleration time constant setting range error F4.7 warning Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence. 2.
Page 256 8. TROUBLESHOOTING 8.4 Remedies for alarms When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation. Otherwise, it may cause injury. If [AL. 25 Absolute position erased] occurs, perform the home position setting CAUTION again.
Page 257 8. TROUBLESHOOTING Alarm No.: 69 Name: Command error The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is activated. The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when the Alarm content software limit was activated.
Page 258 8. TROUBLESHOOTING Alarm No.: 69 Name: Command error The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is activated. The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when the Alarm content software limit was activated.
Page 259 8. TROUBLESHOOTING Alarm No.: 84 Name: Network module initialization error The network module is not connected. Alarm content An error occurred at initialization of the network module. Detail Detail name Cause Check method Check result Action Target 84.1 Network (1) The network module Check if the network It is not connected Connect it correctly.
Page 260 8. TROUBLESHOOTING Alarm No.: 84 Name: Network module initialization error The network module is not connected. Alarm content An error occurred at initialization of the network module. Detail Detail name Cause Check method Check result Action Target 84.2 Network (1) The network module Check if the network It is not connected Connect it correctly.
Page 261 8. TROUBLESHOOTING Alarm No.: 85 Name: Network module error The network module was disconnected. Alarm content An error occurred in the network module. (Refer to section 8.7.) Detail Detail name Cause Check method Check result Action Target 85.1 Network (1) The network module Check if the network It is not connected Connect it correctly.
Page 262 8. TROUBLESHOOTING Alarm No.: 86 Name: Network communication error An error occurred in the network module. Alarm content An error occurred in the network communication. Detail Detail name Cause Check method Check result Action Target 86.1 Network (1) The network module Check if the network It is not connected Connect it correctly.
Page 263 8. TROUBLESHOOTING 8.5 Remedies for warnings If [AL. E3 Absolute position counter warning] occurs, always make the home CAUTION position setting again. Otherwise, it may cause an unexpected operation. POINT This section explains remedies for warnings exclusively for the MR-J4-_TM_. Refer to the descriptions of MR-J4-_A_ and MR-J4-_B_ in "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"...
Page 264 8. TROUBLESHOOTING 8.6 Troubleshooting at power on When a system error occurs at power on of the 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. Display Description Cause...
Page 265 8. TROUBLESHOOTING 8.7 Network module error codes If [AL. 85 Network module error] occurs, a network module error code will be displayed in "Alarm Display" of MR Configurator2. For details of the network module error codes, refer to "Exception Codes" of "Anybus CompactCom 40 Software Design Guide (Doc.Id.
Page 266 9. OUTLINE DRAWINGS 9. OUTLINE DRAWINGS 9.1 Servo amplifier (1) 200 V class (a) MR-J4-10TM to MR-J4-60TM [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 With MR-BAT6V1SET-A Approx. 51 Approx. 28.4 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 267 9. OUTLINE DRAWINGS (b) MR-J4-70TM/MR-J4-100TM [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 With MR-BAT6V1SET-A Cooling fan air intake Approx. 51 Approx. 28.4 Mass: 1.4 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 268 9. OUTLINE DRAWINGS (c) MR-J4-200TM [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan Approx. 51 air intake Approx. 28.4 With MR-BAT6V1SET-A Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 269 9. OUTLINE DRAWINGS (d) MR-J4-350TM [Unit: mm] Mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP3 CNP2 Approx. 51 Cooling fan air intake Approx. 28.4 With MR-BAT6V1SET-A Mass: 2.3 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 270 9. OUTLINE DRAWINGS (e) MR-J4-500TM [Unit: mm] Approx. 25 Approx. 80 φ6 mounting hole 37.5 Cooling fan exhaust With MR-BAT6V1SET-A 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 271 9. OUTLINE DRAWINGS (f) MR-J4-700TM [Unit: mm] Approx. 80 2-φ6 mounting hole 37.5 Cooling fan exhaust Intake Built-in regenerative resistor With MR-BAT6V1SET-A 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 Approx.
Page 272 9. OUTLINE DRAWINGS (2) 400 V class (a) MR-J4-60TM4/MR-J4-100TM4 [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 With Approx. 51 MR-BAT6V1SET-A Approx. 28.4 Mass: 1.7 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 273 9. OUTLINE DRAWINGS (b) MR-J4-200TM4 [Unit: mm] Approx. 80 φ6 mounting hole Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan Approx. 51 air intake Approx. 28.4 With MR-BAT6V1SET-A Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
Page 274 9. OUTLINE DRAWINGS (c) MR-J4-350TM4 [Unit: mm] Approx. 80 2-φ6 mounting hole 37.5 Cooling fan Lock knob exhaust CNP1 CNP2 CNP3 With MR-BAT6V1SET-A Intake Mass: 3.6 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 105 Approx.
Page 275 9. OUTLINE DRAWINGS (d) MR-J4-500TM4 [Unit: mm] Approx. 80 2-φ6 mounting hole 37.5 Cooling fan exhaust Intake With MR-BAT6V1SET-A Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 4.3 [kg] Mounting screw Terminal Screw size: M5 N- P3 P4 L11 L21 Tightening torque: 3.24 [N•m]...
Page 276 9. OUTLINE DRAWINGS (e) MR-J4-700TM4 [Unit: mm] Approx. 80 2-φ6 mounting hole 37.5 Cooling fan exhaust Intake Built-in regenerative resistor With MR-BAT6V1SET-A lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Mass: 6.5 [kg] Mounting screw Terminal Screw size: M5 N- P3 P4 Tightening torque: 3.24 [N•m] Approx.
Page 277 9. OUTLINE DRAWINGS (3) 100 V class (Coming soon) [Unit: mm] Approx. 80 φ6 mounting hole Lock knob CNP1 CNP2 CNP3 With MR-BAT6V1SET-A Approx. 51 Approx. 28.4 Mass: 1.0 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 CNP2 CNP3...
Page 278 9. OUTLINE DRAWINGS 9.2 Connector (1) 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 Shell kit 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 (b) Jack screw M2.6 type This is not available as option.
Page 279 9. OUTLINE DRAWINGS (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 9 - 14...
Page 280 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. The MR-J4-11KTM(4) to MR-J4-22KTM(4) will be available in the future. 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 281 10. CHARACTERISTICS The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph of overload HG-JR protection HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR (When the maximum characteristics torque is 400%) Characteristics a Characteristics b Characteristics c Characteristics d...
Page 282 10. CHARACTERISTICS The following graphs show overload protection characteristics. 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%] Characteristics a Characteristics b 1000 1000 Operating Operating Servo-lock Servo-lock (Note 1, 3) Load ratio [%] (Note 1, 3) Load ratio [%]...
Page 283 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 284 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 285 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 HG-JR11K1M...
Page 286 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 287 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 288 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 Servo motor speed [r/min] Servo motor speed [r/min] HG-MR series HG-KR series 152 502...
Page 289 10. CHARACTERISTICS 1000 1500 2000 Servo motor speed [r/min] HG-UR series (b) 400 V class 15K14 3524 25K14 12K14 2024 20K14 8014 5024 1024 6014 7024 1000 1500 2000 1524 Servo motor speed [r/min] 500 1000 1500 2000 2500 3000 Servo motor speed [r/min] HG-SR series HG-JR1000 r/min series...
Page 290 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 291 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 292 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 293 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 294 11. OPTIONS AND PERIPHERAL EQUIPMENT 11. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 295 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.1 Combinations of cable/connector sets Safety logic unit Personal MR-J3-D05 computer CN10 1) (packed with the servo amplifier) Servo amplifier Servo amplifier CNP1 (Note 1) CNP2 (Note 2) (Note 2) Battery CNP3 CN2L Battery unit MR-BT6VCASE and MR-BAT6V1 battery To 24 V DC power supply...
Page 296 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Remark Servo amplifier Supplied power connector with 200 V class and 100 V class servo amplifiers CNP1 Connector: CNP2 Connector: CNP3 Connector: of 1 kW or 06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 less (JST) (JST) (JST) Applicable wire size: 0.8 mm...
Page 297 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Remark STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection cable for (TE Connectivity) the CN8 connector Short-circuit Supplied connector with servo amplifier Battery cable MR-BT6V1CBL_M Housing: PAP-02V-0 Connector: 10114-3000PE connection Cable length: Contact: SPHD-001G0-P0.5 Shell kit: 10314-52F0-008 with battery...
Page 298 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.3 Battery cable/junction battery cable (1) Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable length Cable model Bending life...
Page 299 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 300 11. OPTIONS AND PERIPHERAL EQUIPMENT (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 resistor [82 Ω] [120 Ω] [47 Ω] [47 Ω]...
Page 301 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.2 Selection of regenerative option (1) Rotary servo motor and direct drive motor Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (a) Regenerative energy calculation tf (1 cycle) Time...
Page 302 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Inverse Capacitor Inverse Capacitor Servo amplifier Servo amplifier efficiency [%]...
Page 303 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Linear servo motor (a) Thrust and energy calculation Linear servo motor Feed speed secondary-side (magnet) Load Positive direction Time Negative Linear servo motor direction primary-side (coil) Linear servo motor psa1 psd1 psa2 psd2 The following shows equations of the linear servo motor thrust and energy at the driving pattern above.
Page 304 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.3 Parameter setting Set [Pr. PA02] according to the option to be used. [Pr. PA02] Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
Page 305 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) MR-J4-500TM or less/MR-J4-350TM4 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 306 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-J4-500TM4/MR-J4-700TM/MR-J4-700TMT4 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 307 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) MR-J4-11KTM to MR-J4-22KTM/MR-J4-11KTM4 to MR-J4-22KTM4 (when using the supplied regenerative resistor) The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protect cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock.
Page 308 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) MR-J4-11KTM-PX to MR-J4-22KTM-PX/MR-J4-11KTM4-PX to MR-J4-22KTM4-PX (when using the regenerative option) The MR-J4-11KTM-PX to MR-J4-22KTM-PX and MR-J4-11KTM4-PX to MR-J4-22KTM4-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the regenerative option MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.
Page 309 11. OPTIONS AND PERIPHERAL EQUIPMENT When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. MR-RB5R/MR-RB9F/MR-RB9T/ MR-RB5K-4/MR-RB6K-4 Bottom 2 cooling fans (1.0 m /min or more, 92 mm × 92 mm) G4 G3 C Mounting screw 4-M3 11.2.5 Dimensions...
Page 310 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm] Terminal block Cooling fan mounting screw (2-M4 screw) Terminal screw size: M4 Tightening torque: 1.2 [N•m] 101.5 82.5 Mounting screw Screw size: M6 Air intake Tightening torque: 5.4 [N•m] Variable Regenerative Mass dimensions option...
Page 311 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) MR-RB032 [Unit: mm] TE1 terminal block φ6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 0.5 [kg] Approx.
Page 312 11. OPTIONS AND PERIPHERAL EQUIPMENT (6) MR-RB1H-4 [Unit: mm] Terminal φ6 mounting hole Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] Approx. 24 (7) GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω...
Page 313 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 314 11. OPTIONS AND PERIPHERAL EQUIPMENT 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-J4-500TM4 class MR-J4-700TM4 MR-J4-11KTM4 (Note 2) FR-BU2-H55K FR-BR-H55K 3.91 MR-J4-11KTM4 MR-J4-15KTM4 MR-J4-22KTM4 FR-BU2-H75K...
Page 315 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3.3 Connection example POINT EM2 has the same function as EM1 in the torque 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 316 11. OPTIONS AND PERIPHERAL EQUIPMENT 2) 400 V class Emergency stop switch Step-down transformer Servo amplifier (Note 9) MCCB (Note 1) 24 V DC (Note 12) Power supply DOCOM FR-BR-H (Note 5) (Note 11) (Note 10) Main circuit power supply (Note 3) FR-BU2-H DICOM...
Page 317 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Page 318 11. OPTIONS AND PERIPHERAL EQUIPMENT Emergency stop switch Servo amplifier (Note 11) MCCB 24 V DC (Note 14) (Note 1) DOCOM Power supply FR-BR (Note 5) (Note 13) (Note 12) Main circuit power supply (Note 3) FR-BU2 (Note 10) DICOM (Note 9) 24 V DC (Note 14) (Note 4)
Page 319 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit (a) 200 V class Emergency stop switch Servo amplifier (Note 9) MCCB 24 V DC (Note 12) (Note 1) Power DOCOM supply (Note 11) MT-BR5 (Note 5) (Note 10) Main circuit power supply (Note 3)
Page 320 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Emergency stop switch Step-down Servo amplifier transformer (Note 8) MCCB (Note 1) 24 V DC (Note 11) Power supply DOCOM MT-BR5-H (Note 4) (Note 10) (Note 9) Main circuit power supply (Note 2) FR-BU2-H DICOM...
Page 321 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per one meter).
Page 322 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 323 11. OPTIONS AND PERIPHERAL EQUIPMENT (Note 1) Number of Servo amplifier Brake unit Crimp terminal (Manufacturer) Applicable connected tool units MR-J4-500TM4 FR-BU2-H30K FVD5.5-S4 (JST) 400 V class MR-J4-700TM4 FR-BU2-H30K FVD5.5-S4 (JST) MR-J4-11KTM4 FR-BU2-H30K FVD5.5-6 (JST) FR-BU2-H55K FVD5.5-6 (JST) MR-J4-15KTM4 FR-BU2-H55K FVD5.5-6 (JST) MR-J4-22KTM4 FR-BU2-H55K...
Page 324 11. OPTIONS AND PERIPHERAL EQUIPMENT FR-BU2-30K/FR-BU2-H30K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 129.5 FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 11 - 31...
Page 325 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) FR-BR-(H) resistor unit [Unit: mm] 2-φC (Note) Control circuit (Note) terminal Main circuit terminal Approx. 35 Approx. 35 W1 ± 1 For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations. (Refer to the following diagram. ) Eyebolt W ±...
Page 326 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 327 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection example POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier (Note 7) Power factor improving reactor MCCB (Note 10) (Note 5) Power supply...
Page 328 11. OPTIONS AND PERIPHERAL EQUIPMENT Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate. 2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+ and C terminals.
Page 329 11. OPTIONS AND PERIPHERAL EQUIPMENT Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-H will not operate. 2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to P+ and C terminals.
Page 330 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Mounting hole machining dimensions When the power regeneration converter is installed to an enclosed type cabinet, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box.
Page 331 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5.1 Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. Capacity Symbol Capacity [kW] 7.5K Symbol Voltage class None 200 V class 400 V class 11.5.2 Selection (1) 200 V class FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W...
Page 332 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) 400 V class FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW. The following shows the restrictions on using the FR-CV-H. (a) Up to two servo amplifiers can be connected to one FR-CV-H. (b) FR-CV-H capacity [W] ≥...
Page 333 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class Servo amplifier (Note 9) Servo motor FR-CVL FR-CV (Note 7) MCCB R2/L12 R/L11...
Page 334 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Servo amplifier (Note 9) 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 T2/L32 T/L31 T2/L3 P/L+ (Note 5) N/L- 24 V DC (Note 8) R/L11...
Page 335 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Selection example of wires used for wiring POINT Selection conditions of wire size is as follows. 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair (a) Wire size 1) Between P and P4, and between N and N- The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.
Page 336 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Example of selecting the wire sizes 1) 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
Page 337 11. OPTIONS AND PERIPHERAL EQUIPMENT (5) Other precautions (a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR- HEL-(H)). (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them.
Page 338 11. OPTIONS AND PERIPHERAL EQUIPMENT Power regeneration common converter FR-CV-H_ Item Total of connectable servo amplifier [kW] 27.5 capacities Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Total capacity of applicable servo motors, 300% torque, 60 s Short-time rating Regenerative (Note 1)
Page 339 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.6 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7W-20V14B-F(Toho Technology Corp. Yoshida Terminal Block Division)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp...
Page 340 11. OPTIONS AND PERIPHERAL EQUIPMENT (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-_TM_ servo amplifier is supported with software version 1.45X or later.
Page 341 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment Description ® ® Microsoft Windows 8.1 Enterprise Operating System ® ® Microsoft Windows 8.1 Pro Operating System...
Page 342 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection with servo amplifier Personal computer USB cable Servo amplifier 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 343 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8 Battery POINT Refer to appendix 2 and 3 for battery transportation and the new EU Battery Directive. This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction of the absolute position detection system.
Page 344 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Battery mounting Connect as follows. Servo amplifier Encoder cable MR-BAT6V1SET-A Servo motor (3) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 345 11. OPTIONS AND PERIPHERAL EQUIPMENT (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Page 346 11. OPTIONS AND PERIPHERAL EQUIPMENT 2) Removal procedure Pulling out the connector of the battery without the lock release lever pressed CAUTION may damage the CN4 connector of the servo amplifier or the connector of the battery. While pressing the lock release lever, pull out the connector.
Page 347 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET-A. While pressing the locking part, open the cover. Cover Replace the battery with a new MR-BAT6V1 battery. Press the cover until it is fixed with the projection of the locking part to close the cover.
Page 348 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.3 MR-BT6VCASE battery case POINT The battery unit consists of an MR-BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and year and month of manufacture of MR-BAT6V1 battery, refer to section 11.8.4. MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.
Page 349 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Battery mounting POINT One battery unit can be connected to up to 8-axis servo motors. However, when using direct drive motors, the number of axes of the direct drive motors should be up to 4 axes. Servo motors and direct drive motors in the incremental system are included as the axis Nos.
Page 350 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and WARNING N- with a voltage tester or others.
Page 351 11. OPTIONS AND PERIPHERAL EQUIPMENT (a) Assembling a battery unit Do not mount new and old batteries together. CAUTION When you replace a battery, replace all batteries at the same time. POINT Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case. 1) Required items Product name Model...
Page 352 11. OPTIONS AND PERIPHERAL EQUIPMENT b) Mounting MR-BAT6V1 Securely mount a MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect CON1 direction, the connector will break.
Page 353 11. OPTIONS AND PERIPHERAL EQUIPMENT c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
Page 354 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.8.4 MR-BAT6V1 battery The MR-BAT6V1 battery is a battery for replacing MR-BAT6V1SET-A and a battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on a MR-BAT6V1 battery.
Page 355 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.9 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. For the selection example when the servo amplifier is used with the DC power supply input, refer to app.
Page 356 11. OPTIONS AND PERIPHERAL EQUIPMENT (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 357 11. OPTIONS AND PERIPHERAL EQUIPMENT (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-J4-60TM4/ 1.25 to 2 MR-J4-100TM4 2 (AWG 14) (AWG 16 to 14) 2 (AWG14) AWG 16 to 14...
Page 358 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Selection example of crimp terminals (a) 200 V class Servo amplifier-side crimp terminals Symbol Applicable tool (Note 2) Crimp Manufacturer terminal Body Head Dice FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S FVD2-4 YNT-1614 FVD2-M3 FVD1.25-M3 YNT-2216 DH-122...
Page 359 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) For main circuit power supply When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section. Molded-case circuit breaker (Note 1, 4) Fuse Magnetic Frame, rated current contactor Servo amplifier Voltage AC...
Page 360 11. OPTIONS AND PERIPHERAL EQUIPMENT (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 361 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.11 Power factor improving DC reactors The following shows the advantages of using power factor improving DC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to about 85%.
Page 362 11. OPTIONS AND PERIPHERAL EQUIPMENT Dimensions [mm] Power factor Terminal Mass Wire [mm Servo amplifier improving DC Dimensions size [kg] (Note 2) reactor (Note 1) MR-J4-10TM FR-HEL-0.4K MR-J4-20TM MR-J4-40TM FR-HEL-0.75K Fig. 11.1 MR-J4-60TM 2 (AWG 14) FR-HEL-1.5K MR-J4-70TM MR-J4-100TM FR-HEL-2.2K MR-J4-200TM FR-HEL-3.7K MR-J4-350TM...
Page 363 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 364 11. OPTIONS AND PERIPHERAL EQUIPMENT (1) 200 V class/100 V class Servo amplifier Terminal layout 3-phase 200 V class S Y T FR-HAL MCCB 4-d mounting hole (Varnish is removed from front right mounting 3-phase hole (face and back side).) (Note 1) 200 V AC to 240 V AC D or less...
Page 365 11. OPTIONS AND PERIPHERAL EQUIPMENT Power factor Dimensions [mm] Mass Terminal Servo amplifier improving AC Dimensions size [kg] D (Note) reactor MR-J4-10TM MR-J4-20TM FR-HAL-0.4K MR-J4-10TM1 MR-J4-40TM FR-HAL-0.75K MR-J4-20TM1 MR-J4-60TM MR-J4-70TM FR-HAL-1.5K MR-J4-40TM1 MR-J4-100TM FR-HAL-2.2K (3-phase power Fig. 11.7 (Note) supply input) MR-J4-100TM (1-phase power supply input)
Page 366 11. OPTIONS AND PERIPHERAL EQUIPMENT 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. Dimensions [mm] Power factor Mass...
Page 367 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.14 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 368 11. OPTIONS AND PERIPHERAL EQUIPMENT Sensor power supply Servo amplifier Instrument Receiver Sensor Servo motor Noise transmission Suppression techniques route When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 369 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Noise reduction techniques for the network cable POINT Take measures against noise for both ends of the network cable. When using it in an environment with excessive noise, directly connect the shield of the network cable to the ground plate with cable clamp fittings at a place 200 mm to 300 mm or less from the servo amplifier.
Page 370 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Noise reduction techniques (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
Page 371 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an grounding plate as shown below.
Page 372 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
Page 373 11. OPTIONS AND PERIPHERAL EQUIPMENT (e) Radio noise filter (FR-BIF-(H)) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input only.
Page 374 11. OPTIONS AND PERIPHERAL EQUIPMENT (f) Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment.
Page 375 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 376 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 6 to 7 8 to 11 12 to 15 20 to 25 Table 11.5 Servo amplifier leakage current example (Iga) Servo amplifier capacity [kW]...
Page 377 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions. 2 mm × 5 m 2 mm × 5 m Servo motor Servo amplifier MR-J4-40TM HG-KR43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram.
Page 378 11. OPTIONS AND PERIPHERAL EQUIPMENT 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 379 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class EMC filter Servo amplifier MCCB Power supply (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 × 7 3-M4 Approx. 41 258 ± 4 65 ± 4 273 ± 2 288 ±...
Page 380 11. OPTIONS AND PERIPHERAL EQUIPMENT HF3100A-UN [Unit: mm] 2-φ 6.5 2-6.5 × 8 380 ± 1 400 ± 5 TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 3 M4 Approx.67.5 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 11 - 87...
Page 381 11. OPTIONS AND PERIPHERAL EQUIPMENT TF3040C-TX/TF3060C-TX [Unit: mm] 8-R3.25 Length 8 (for M6) 3-M6 3-M6 Approx. 91.5 100 ± 1 100 ± 1 100 ± 1 390 ± 2 180 ± 2 Approx. 190 412 ± 5 438 ± 5 200 ±...
Page 382 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.17 External dynamic brake Use an external dynamic brake for a servo amplifier of MR-J4-11KTM to MR-J4- 22KTM and MR-J4-11KTM4 to MR-J4-22KTM4. Failure to do so will cause an accident because the servo motor dose not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.
Page 383 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection example (a) 200 V class Operation ready Servo amplifier Servo motor Emergency stop switch (Note 4) MCCB (Note 3) Power 24 V DC (Note 6) supply DOCOM (Note 2, (Note 7) (Note 5) Main circuit power supply DICOM...
Page 384 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) 400 V class Operation ready Servo amplifier Servo motor Emergency stop switch (Note 8) Step-down (Note 4) transformer MCCB (Note 3) Power 24 V DC (Note 6) supply DOCOM (Note 2, (Note 7) (Note 5) Main circuit power supply DICOM...
Page 385 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Timing chart Coasting Coasting Servo motor speed Dynamic brake Dynamic brake Present Alarm Absent Base circuit DB (Dynamic brake interlock) Disabled Dynamic brake Enabled Short Emergency stop switch Open a. Timing chart at alarm occurrence b.
Page 386 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] Terminal block Screw: M4 Screw: M3.5 Tightening torque: 1.2 [N•m] Tightening torque: 0.8 [N•m] (Note) Connection wire [mm Mass External dynamic brake [kg] U/V/W Except U/V/W DBU-11K 163.5 5.5 (AWG 10) 2 (AWG 14) DBU-15K/DBU-22K-R1 5.5 (AWG 10)
Page 387 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 2-φ7 mounting hole 73.75 Mass: 6.7 [kg] Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m] (Note) Connection wire [mm External dynamic brake U/V/W Except U/V/W DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
Page 388 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) Use the panel through 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 389 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Mounting method Attachment Servo amplifier Fit using the assembling screws. Attachment a. Assembling the panel through attachment Punched hole Cabinet Servo amplifier b. Mounting it to inside cabinet 11 - 96...
Page 390 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] 20.6 Panel Attachment Servo amplifier Servo amplifier Panel 108.3 Mounting hole Approx. 263.3 (2) MR-J3ACN (a) Panel cut dimensions [Unit: mm] [Unit : mm] 4-M10 Screw Punched hole 11 - 97...
Page 391 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) How to assemble the attachment for panel through 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 panel through attachment b.
Page 392 11. OPTIONS AND PERIPHERAL EQUIPMENT (d) Mounting dimensional diagram [Unit: mm] Panel Servo amplifier Servo amplifier Attachment Panel Approx. 11.5 Mounting Approx. 260 hole Approx. 260 11 - 99...
Page 393 11. OPTIONS AND PERIPHERAL EQUIPMENT MEMO 11 - 100...
Page 394 12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. CAUTION If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery, the MR-BAT6V1 battery can become hot.
Page 395 12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.2 Structure The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each battery connection. Controller Servo amplifier Network module SLOT Battery Servo motor 12.1.3 Parameter setting Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. [Pr.
Page 396 12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using MR-BAT6V1SET-A battery (1) Configuration diagram Controller Servo amplifier Command Home position data position EEP-ROM memory Current position Backup at power off Detecting the ecting the number of Step-down position within revolutions one revolution circuit (6 V →...
Page 397 12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.2 Using MR-BT6VCASE battery case POINT One MR-BT6VCASE holds absolute position data up to eight axes servo motors. Always install five MR-BAT6V1 batteries to an MR-BT6VCASE. (1) Configuration diagram Controller Servo amplifier Command Home position data position EEP-ROM memory Current...
Page 398 13. USING STO FUNCTION 13. USING STO FUNCTION POINT In the torque 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 e IEC 61508 SIL 3 IEC/EN 61800-5-2 SIL 3...
Page 399 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 400 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 e, IEC 61508 SIL 3, Safety performance (Note 2) EN 62061 SIL CL3, EN 61800-5-2 SIL 3 Mean time to dangerous failure 100 years or more (Note 1) (MTTFd) Diagnostic converge (DC)
Page 401 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 402 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 403 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 404 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 405 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 406 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 407 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 408 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 409 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 410 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 411 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 412 14. USING A LINEAR SERVO 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 413 14. USING A LINEAR SERVO MOTOR (2) When using A/B/Z-phase differential output linear encoder The configuration diagram is an example of MR-J4-20TM. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders.
Page 414 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 415 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 416 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 417 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 418 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 419 14. USING A LINEAR SERVO MOTOR 14.3.2 Magnetic pole detection POINT Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic pole detection. Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection. When [Pr.
Page 420 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 LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Page 421 14. USING A LINEAR SERVO MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection 1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power. Turn "On (up)"...
Page 422 14. USING A LINEAR SERVO MOTOR (c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. Magnetic pole During the detection...
Page 423 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 424 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 425 14. USING A LINEAR SERVO MOTOR 3) Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN 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 426 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 427 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 428 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 429 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 home position does not exist in the home position return direction, an error may occur depending on the home position return type.
Page 430 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 431 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 432 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 433 14. USING A LINEAR SERVO MOTOR 14.3.6 Function (1) Linear servo control error detection function POINT For the linear servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3) If the linear servo control gets unstable for some reasons, the linear servo motor may not operate properly.
Page 434 14. USING A LINEAR SERVO MOTOR (c) Thrust deviation error detection level Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection. [Pr. PL04] Thrust deviation error detection enabled When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 14.1, if the deviation is more than the value of [Pr.
Page 435 14. USING A LINEAR SERVO MOTOR (3) Machine analyzer function POINT Make sure to perform the machine analyzer function after the magnetic pole detection. If the magnetic pole detection is not performed, the machine analyze function may not operate properly. The stop position at the completion of the machine analyzer function can be any position.
Page 436 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 437 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 438 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 439 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 440 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 441 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 442 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 443 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 444 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 445 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 446 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 LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again.
Page 447 15. USING A DIRECT DRIVE MOTOR (b) Magnetic pole detection by the minute position detection method Magnetic pole detection Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again. Turn "On (up)"...
Page 448 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 449 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 450 15. USING A DIRECT DRIVE MOTOR 1) Timing chart Servo-on command 95 ms Base circuit RD (Ready) 15 s or less Magnetic pole detection time (Note) Note. The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on. 2) Direct drive motor movement (when LSP or LSN are on) Center of direct drive motor rotation part (Note) LSN...
Page 451 15. USING A DIRECT DRIVE MOTOR (b) Absolute position detection system POINT When the absolute position detection system is used, the magnetic pole detection is required when the power is turned on with the following timing. When the system is set up (at the first startup of equipment) When the Z-phase pulse of the direct drive motor is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.)
Page 452 15. USING A DIRECT DRIVE MOTOR (5) Setting of the magnetic pole detection voltage level by the position detection method For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
Page 453 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 and the absolute position storage unit MR-BTAS01 are required. For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after the power-on.
Page 454 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 455 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 456 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 457 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 458 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 459 15. USING A DIRECT DRIVE MOTOR (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 15.1. Direct drive motor speed [r/min] Direct drive motor speed [r/min] TM-RFM_C20 TM-RFM_E20 Direct drive motor speed [r/min] Direct drive motor speed [r/min] TM-RFM_G20 TM-RFM_J10...
Page 460 16. FULLY CLOSED LOOP SYSTEM 16. FULLY CLOSED LOOP SYSTEM POINT When fully closed loop control system is used with this servo amplifier, "Linear Encoder Instruction Manual" is needed. Fully closed loop control system is available with position mode. 16.1 Functions and configuration 16.1.1 Function block diagram A fully closed loop control block diagram is shown below.
Page 461 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 462 16. FULLY CLOSED LOOP SYSTEM 16.1.3 System configuration (1) For a linear encoder Servo amplifier Controller Position command (Note) control signal A/B/Z-phase pulse train interface compatible linear encoder or two-wire/four-wire type serial interface compatible linear encoder Load-side encoder signal (A/B/Z-phase pulse train interface CN2L or serial interface) Servo motor encoder signal...
Page 463 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 464 16. FULLY CLOSED LOOP SYSTEM 16.3 Operation and functions 16.3.1 Startup (1) Startup procedure Start up the fully closed loop system in the following procedure. Completion of installation and wiring Adjustment and operation check in semi closed loop system Check that the servo equipment is normal.
Page 465 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 466 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. PC26]. [Pr.
Page 467 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 468 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 469 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 470 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 471 16. FULLY CLOSED LOOP SYSTEM 16.3.2 Home position return (1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
Page 472 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 473 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. If the incremental linear encoder does not have a linear encoder home position (reference mark), only the home position return type without using Z-phase can be performed.
Page 474 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 475 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 476 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 477 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 478 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 479 16. FULLY CLOSED LOOP SYSTEM MEMO 16 - 20...
Page 480 APPENDIX App. 1 When using the servo amplifier with the DC power supply input App. 1.1 Connection example CAUTION Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3. (1) MR-J4-10TM to MR-J4-100TM Malfunction Emergency stop switch...
Page 481 APPENDIX (2) MR-J4-200TM to MR-J4-22KTM Malfunction Emergency stop switch Servo amplifier (Note 1) 24 V DC (Note 7, 8) MCCB MC (Note 3) AC/DC 3-phase or 1-phase Converter 200 V AC to 240 V AC (283 V DC to 340 V DC) (Note 10) (Note 4) Main circuit power supply...
Page 482 APPENDIX App. 1.3 Selection example of wires POINT Selection conditions of wire size are as follows. Construction condition: Single wire set in midair Wiring length: 30 m or shorter The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. (1) Example of selecting the wire sizes Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring.
Page 483 APPENDIX App. 1.4 Molded-case circuit breakers, fuses, magnetic contactors (1) For main circuit power supply To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
Page 484 APPENDIX (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, N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit.
Page 485 APPENDIX (b) Battery unit (assembled battery) Lithium Mass of Model Option model Type Remark content battery Assembled batteries with more than Assembled two grams of lithium content must be MR-J2M-BT battery 4.55 g 112 g handled as dangerous goods (Class (Seven) 9) regardless of packaging requirements.
Page 486 APPENDIX (b) Transportation of lithium metal batteries packed with or contained in equipment 1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969. Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements. 2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.
Page 487 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 488 Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.3 for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
Page 489 APPENDIX (1) Peripheral device and power wiring The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No.14. (a) Power Wiring (local wiring and crimping tool) Use only copper wires or copper bus bars for wiring. The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C.
Page 490 APPENDIX (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers.
Page 491 DC power supply. (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 492 APPENDIX (3) USA/Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14. (a) Installation The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet.
Page 493 APPENDIX App. 4.2.5 Residual risk (1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. (2) Perform all risk assessments and safety level certification to the machine or the system as a whole. (3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum.
Page 494 APPENDIX App. 4.3 Mounting/dismounting Installation direction and clearances The devices must be installed in the specified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2. Note the followings for supplied regenerative resistors of 11 kW to 22 kW servo CAUTION amplifiers because they do not have protect covers.
Page 495 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 must be 20 ms or more of tolerance against instantaneous power failure as CAUTION specified in IEC/EN 60204-1.
Page 496 The connectors described by rectangles are safely separated from the main circuits described by circles. The connected motors will be limited as follows. (1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) (2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA) App. 4.5 Signals App. 4.5.1 Signal The following shows MR-J4-10TM signals as a typical example.
Page 497 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. App. 4.6.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws.
Page 498 APPENDIX App. 4.6.2 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 499 APPENDIX App. 4.8 Technical data App. 4.8.1 MR-J4 servo amplifier MR-J4-60TM4/ MR-J4-10TM/ MR-J4-100TM4/ MR-J4-350TM/ MR-J4-20TM/ MR-J4-200TM4/ MR-J4-500TM/ MR-J4-40TM/ MR-J4-10TM1/ MR-J4-350TM4/ MR-J4-700TM/ Item MR-J4-60TM/ MR-J4-20TM1/ MR-J4-500TM4/ MR-J4-11KTM/ MR-J4-70TM/ MR-J4-40TM1 MR-J4-700TM4/ MR-J4-15KTM/ MR-J4-100TM/ MR-J4-11KTM4/ MR-J4-22KTM MR-J4-200TM MR-J4-15KTM4/ MR-J4-22KTM4 3-phase or 1-phase Main circuit 3-phase 200 V AC to 1-phase 100 V AC to 3-phase 380 V AC to...
Page 500 APPENDIX App. 4.8.3 Mounting hole Screw Variable dimensions [mm] size Servo amplifier MR-J4-10TM(1)/MR-J4-20TM(1)/ 156 ± 0.5 MR-J4-40TM(1)/MR-J4-60TM MR-J4-70TM/MR-J4-100TM 156 ± 0.5 42 ± 0.3 MR-J4-200TM(4)/MR-J4-350TM 156 ± 0.5 78 ± 0.3 MR-J4-500TM 235 ± 0.5 93 ± 0.5 93 ± 0.5 MR-J4-700TM 285 ±...
Page 501 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 502 (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 503 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 504 APPENDIX App. 5.7.2 Specifications Safety logic unit model MR-J3-D05 Voltage 24 V DC Permissible Control circuit 24 V DC ± 10% voltage fluctuation power supply Power supply 0.5 (Note 1, 2) capacity Compatible system 2 systems (A-axis, B-axis independent) Shut-off input 4 points (2 point ×...
Page 505 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_TM_ Power...
Page 506 APPENDIX (2) Connection example 24 V DC RESA RESB MR-J3-D05 (Note) (Note) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- MR-J4_TM_ 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 507 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 508 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 509 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 510 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 511 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 512 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 513 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 514 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 515 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 516 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 517 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 518 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) App. - 39...
Page 519 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. - 40...
Page 520 APPENDIX App. - 41...
Page 521 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 522 APPENDIX App. 8 Analog monitor POINT A voltage of analog monitor output may be irregular at power-on. The servo status can be output to two channels in terms of voltage. (1) Setting Change the following digits of [Pr. PC09] and [Pr. PC10]. [Pr.
Page 523 APPENDIX (2) Setting POINT When you use a linear servo motor, replace the following left words to the right words. → 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 524 APPENDIX Setting Setting Output item Description Output item Description value value Bus voltage (Note 4) Speed command 2 CCW direction 8 [V] (Note 3) 8 [V] Maximum speed Maximum speed 400 [V] -8 [V] CW direction Load-side droop pulses Load-side droop pulses CCW direction CCW direction 10 [V]...
Page 525 APPENDIX (3) Analog monitor block diagram (a) Semi closed loop control Speed Speed Current Droop pulses Bus voltage command command 2 command Current Differen- encoder Speed tiation Position command command Position Speed Current Servo motor received from a control control control controller Encoder inside...
Page 526 APPENDIX App. 9 Special specification POINT The MR-J4-11KTM(4) to MR-J4-22KTM(4) will be available in the future. App. 9.1 Amplifiers without dynamic brake App. 9.1.1 Summary This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4_TM_.
Page 527 APPENDIX App. 9.1.3 Specifications Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Take safety measures such as making another circuit for an emergency stop, alarm occurrence, and power shut-off. The following servo motors may function an electronic dynamic brake at an alarm occurrence. Series Servo motor HG-KR...
Page 528 APPENDIX App. 10 Driving on/off of main circuit power supply with DC power supply App. 10.1 Connection example The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3. Malfunction Emergency stop switch Servo amplifier...
Page 529 APPENDIX App. 10.2 Magnetic contactor Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Magnetic Magnetic Servo amplifier Servo amplifier contactor contactor MR-J4-10TM MR-J4-60TM4 MR-J4-20TM MR-J4-100TM4...
Page 530 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 531 MEMO...
Page 532 348 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 533 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 534 MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030193-A (1507) MEE Printed in Japan Specifications are subject to change without notice.

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Mitsubishi Electric MELSERVO-J4 MR-J4 TM Instruction Manual

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