MR-J4-_B SERVO aMPLIFIER INSTRUCTION

General-Purpose AC Servo
SSCNET
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MODEL
MR-J4-_B
MR-J4-_B SERVO AMPLIFIER INSTRUCTION MANUAL
MODEL MR-J4-B INSTRUCTIONMANUAL
MODEL
CODE
1CW805
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030106-A (1203) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
SERVO AMPLIFIER
INSTRUCTION MANUAL
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1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher
functions compared to the previous MELSERVO-J3 series.
MR-J4-B servo amplifier is connected to controllers, including a servo system controller, on the high-speed
synchronous network SSCNET III/H. The servo amplifier directly receives a command from a controller to
drive a servo motor.
MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) highresolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and
more accurate control is enabled as compared to MELSERVO-J3 series.
MR-J4-B servo amplifier operates MELSERVO-J4 series compatible rotary servo motors, linear servo
motors, and direct drive motors as standard.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the
preventive maintenance support function detects an error in the machine parts. This function provides strong
support for the machine maintenance and inspection.
SSCNET III/H achieves high-speed communication of 150 Mbps full duplex with high noise immunity due to
the SSCNET III optical cables. Large amounts of data are exchanged in real-time between the controller and
the servo amplifier. Servo monitor information is stored in the upper information system and is used for
control.
On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.
This allows you to create a large system.
MR-J4-B servo amplifier supports the Safe Torque Off (STO) function for safety. When the MR-J4W_-B
servo amplifier is connected to a SSCNET III/H-compatible motion controller, in addition to the STO function,
the servo amplifier also supports the Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS),
Safely-Limited Speed (SLS), Safe Brake Control (SBC), and Safe Speed Monitor (SSM) functions.
The MR-J4W_-B servo amplifier has a USB communication interface. Therefore, you can connect the servo
amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test
operation, gain adjustment, and others.
1- 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J4-500B or less
Powerຊ⋡ᨵၿ
factor improving
DC reactor
DCࣜ࢔ࢡࢺࣝ
Servo
amplifier P3
ࢧ࣮࣎࢔ࣥࣉ
MCCB
(Note
2)
(ὀ2)
Power
㟁※
supply
MC
Diode
ࢲ࢖࣮࢜ࢻ
stack
ࢫࢱࢵࢡ
Regenerative
ᅇ⏕
࢜ࣉࢩࣙࣥ
option
(Note 4)
P4 (ὀ4)
P+
C
D
Servo
motor
ࢧ࣮࣮࣎ࣔࢱ
NDynamic
ࢲ࢖ࢼ࣑ࢵࢡ
brake
ࣈ࣮ࣞ࢟ᅇ㊰
circuit
Relay
࣮ࣜࣞ
L1
U
L2
+
U
L3
Current
㟁ὶ
detector
᳨ฟჾ
Regeneᅇ⏕
CHARGE rative
TR
CHARGE
TR
lamp
ࣛࣥࣉ
U
U
U
V
V
W
W
Cooling
fan
෭༷ࣇ࢓ࣥ
(Note
3)
(ὀ3)
+
STO
switch
ࢫ࢖ࢵࢳ
CN8
L21
Control
circuit
ไᚚᅇ㊰
power
㟁※
supply
RA
24V DC
DC24V
STO
ᅇ㊰
circuit
Voltage
㟁ᅽ᳨ฟ
detection
Base
࣮࣋ࢫ
࢔ࣥࣉ
amplifier
Position
఩⨨ᣦ௧
command
ධຊ
input
Overcurrent
㐣㟁ὶ
detection
ಖㆤ
Current
㟁ὶ᳨ฟ
detection
Virtual
௬᝿
encoder
࢚ࣥࢥ࣮ࢲ
Model
position
ࣔࢹࣝ
control
఩⨨ไᚚ
B1
B
B2
CN2
L11
M
Electro㟁☢
magnetic
ࣈ࣮ࣞ࢟
brake
Encoder
࢚ࣥࢥ࣮ࢲ
㝆ᅽ
ᅇ㊰
Model
speed
ࣔࢹࣝ
control
Step-down
circuit
㏿ᗘไᚚ
Virtual
௬᝿
motor
࣮ࣔࢱ
Model
ࣔࢹࣝ఩⨨
position
Actual
position
ᐇ఩⨨
control
ไᚚ
ࣔࢹࣝ㏿ᗘ
Model
speed
CN1A
CN1B
ࢥࣥࢺ࣮ࣟࣛ
Controller
ࡲࡓࡣ
or
servo
ࢧ࣮࣎࢔ࣥࣉ
amplifier
Servo
ࢧ࣮࣎࢔ࣥࣉ
ࡲࡓࡣ
amplifier
࢟ࣕࢵࣉ
or cap
Model torque
ࣔࢹࣝࢺࣝࢡ
Actual
speed
ᐇ㏿ᗘ
control
Option battery
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
(for absolute position
(⤯ᑐ఩⨨᳨ฟࢩࢫࢸ࣒
ࡢሙྜ)
detection system)
Current
㟁ὶไᚚ
control
ไᚚ
I/F
ࢥࣥࢺ࣮ࣟࣝ
control
CN4
MR-BAT6V1SET
USB
D/A
CN5
Personal
ࣃ࣮ࢯࢼࣝ
computer
ࢥࣥࣆ࣮ࣗࢱ
USB
CN3
Analog
࢔ࢼࣟࢢࣔࢽࢱ
monitor
(2ࢳࣕࣥࢿࣝ)
(2 channels)
Digital I/O
ࢹࢪࢱࣝI/O
control
ไᚚ
Note 1. The built-in regenerative resistor is not provided for the MR-J4-10B.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For the power supply specifications, refer to section 1.3.
3. Servo amplifiers MR-J4-70B or greater have a cooling fan.
4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
1- 2
1. FUNCTIONS AND CONFIGURATION
(2) MR-J4-700B
Power factor
improving
ຊ⋡ᨵၿ
DC
reactor
DC
ࣜ࢔ࢡࢺࣝ
MCCB
(Note
1)
(ὀ1)
Power
㟁※
supply
Servo
amplifier P3
ࢧ࣮࣎࢔ࣥࣉ
Diode
stack
MC L1
Regenerative
ᅇ⏕
option
࢜ࣉࢩࣙࣥ
ὀ2) 2)
P4 ((Note
C
P+
Servo
motor
ࢧ࣮࣮࣎ࣔࢱ
NDynamic
ࢲ࢖ࢼ࣑ࢵࢡ
brake
ࣈ࣮ࣞ࢟ᅇ㊰
circuit
Relay
࣮ࣜࣞ
U
L2
+
U
U
L3
Current
㟁ὶ
detector
᳨ฟჾ
Regeneᅇ⏕
CHARGE
rativeTR
TR
ࣛࣥࣉ
CHARGE
lamp
U
U
V
V
W
W
M
Cooling
fan
෭༷ࣇ࢓ࣥ
+
STO
ࢫ࢖ࢵࢳ
switch
CN8
L21
Control
circuit
ไᚚᅇ㊰
power
㟁※
supply
RA
24V DC
DC24V
STO
ᅇ㊰
circuit
B1
B
Electro-
㟁☢
magnetic
ࣈ࣮ࣞ࢟
brake
B2
Voltage
㟁ᅽ᳨ฟ
detection
Base
࣮࣋ࢫ
࢔ࣥࣉ
amplifier
Overcurrent
㐣㟁ὶ
detection
ಖㆤ
Current
㟁ὶ᳨ฟ
detection
CN2
L11
Encoder
࢚ࣥࢥ࣮ࢲ
Virtual
௬᝿
encoder
࢚ࣥࢥ࣮ࢲ
Position
఩⨨ᣦ௧
command
input
ධຊ
Model
position
ࣔࢹࣝ
control
఩⨨ไᚚ
Model
speed
ࣔࢹࣝ
control
㝆ᅽ
ᅇ㊰
㏿ᗘไᚚ
Virtual
௬᝿
motor
࣮ࣔࢱ
Step-down
circuit
Model
ࣔࢹࣝ఩⨨
position
Actual
position
ᐇ఩⨨
control
ไᚚ
Model
ࣔࢹࣝ㏿ᗘ
speed
CN1A
CN1B
ࢥࣥࢺ࣮ࣟࣛ
ࡲࡓࡣ
ࢧ࣮࣎࢔ࣥࣉ
ࢧ࣮࣎࢔ࣥࣉ
ࡲࡓࡣ
࢟ࣕࢵࣉ
Model torque
ࣔࢹࣝࢺࣝࢡ
Option
battery
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
(⤯ᑐ఩⨨᳨ฟࢩࢫࢸ࣒
(for
absolute position
ࡢሙྜ) system)
detection
Current
㟁ὶไᚚ
control
Actual speed
ᐇ㏿ᗘ
control
ไᚚ
I/F
ࢥࣥࢺ࣮ࣟࣝ
CN4
MR-BAT6V1SET
USB
D/A
CN5
ࣃ࣮ࢯࢼࣝ
ࢥࣥࣆ࣮ࣗࢱ
USB
CN3
࢔ࢼࣟࢢࣔࢽࢱ
(2ࢳࣕࣥࢿࣝ)
ࢹࢪࢱࣝI/O
ไᚚ
Note 1. Refer to section 1.3 for the power supply specification.
2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
1- 3
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Model MR-J4Output
Rated voltage
Rated current
Power
supply/Freque
ncy
Rated current
[A]
10B
20B
40B
60B
1.1
1.5
2.8
3.2
3-phase or 1-phase 200 V AC to 240 V AC,
50 Hz /60 Hz
[A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply
[kVA]
capacity
Inrush current
[A]
Power
supply/Freque
ncy
Rated current
[A]
Permissible
voltage
Control circuit
fluctuation
power supply
Permissible frequency
fluctuation
Power
[W]
consumption
Inrush current
[A]
Voltage/Frequ
ency
Interface
power supply Power supply
[A]
capacity
Load-side encoder interface
(Note 5)
Control
method
Dynamic brake
Fully closed loop control
Communication
USB
function
Main circuit
power supply
input
0.9
1.5
2.6
3.2 (Note
6)
3.8
200B
350B
500B
700B
11.0
17.0
28.0
37.0
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
5.0
3-phase or 1-phase 170 V AC to 264V AC
10.5
16.0
21.7
28.9
3-phase 170 V AC to 264 V AC
Within ±5%
Refer to section 10.2.
Refer to section 10.5.
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
0.2
0.3
1-phase 170 V AC to 264V AC
Within ±5%
30
45
20 to 30
30
24 V DC ± 10%
(Note 1) 0.3 (including CN8
connector signals)
Mitsubishi high-speed serial
communication
Sine-wave PWM control, current
control method
Built-in
Available in the future.
Connection to a personal computer or others (MR Configurator2-compatible)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection,
encoder error protection, regenerative error protection, undervoltage protection, instantaneous
power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, linear servo control error
protection
Protective
functions
Safety
function
STO (IEC/EN 61800-5-2)
Standards certified by CB
(Note 7)
Safety
Response
performa
performance
nce
(Note 3)
Test pulse input (STO)
Compliance
to standards
70B
100B
3-phase 170 V AC
5.8
6.0
CE marking
UL standard
Structure (IP rating)
EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL
2
8 ms or less (STO input off ĺ energy shut off)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL 508C
Natural cooling,
open (IP20)
Close mounting (Note 2)
Force cooling,
open (IP20)
3RVVLEOH
1- 4
Force cooling,
open (IP20)
(Note 4)
,PSRVVLEOH
1. FUNCTIONS AND CONFIGURATION
Model MR-J4-
10B
Ambient
temperature
Environment
Ambient
humidity
Oper
ation
Stora
ge
Oper
ation
Stora
ge
60B
70B
100B
200B
350B
500B
700B
-20 ÛC to 65 ÛC (non-freezing)
90% RH or less (non-condensing)
Altitude
Vibration
[kg]
40B
0 ÛC to 55 ÛC (non-freezing)
Ambience
Mass
20B
0.8
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Max. 1000 m
above sea level
2
5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)
0.8
1.0
1.0
1.4
1.4
2.1
2.3
4.0
6.2
Note 1. 0.3A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ÛC to 45 ÛC or at
75% or smaller effective load ratio.
3. This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to
the servo amplifier at a constant period while input signals of the servo amplifier are on.
4. Except for the terminal block.
5. It is not compatible with pulse train interface (ABZ-phase output type).
6. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
7. Available in the future.
1- 5
1. FUNCTIONS AND CONFIGURATION
1.4 Combinations of servo amplifiers and servo motors
Servo amplifier
MR-J4-10B
MR-J4-20B
MR-J4-40B
Rotary servo motor
HG-KR053, HG-KR13
HG-MR053, HG-MR13
HG-KR23
HG-MR23
HG-KR43
HG-MR43
MR-J4-60B
HG-SR51, HG-SR52
MR-J4-70B
HG-KR73
HG-MR73
MR-J4-100B
MR-J4-200B
HG-SR81, HG-SR102
HG-SR121, HG-SR201,
HG-SR152, HG-SR202
MR-J4-350B
HG-SR301, HG-SR352
MR-J4-500B
HG-SR421, HG-SR502
MR-J4-700B
HG-SR702
Linear servo motor (primary
side)
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0
Direct drive motor
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM012G20
TM-RFM040J10
TM-RFM018E20
LM-H3P3D-48P-CSS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-FP2B-06M-1SS0
LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0
LM-H3P7D-96P-ASS0
LM-K2P2C-07M-1SS1
LM-K2P3C-14M-1SS1
LM-U2P2C-60M-2SS0
LM-FP2D-12M-1SS0
LM-FP4B-12M-1SS0
LM-K2P2E-12M-1SS1
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0
LM-FP2F-18M-1SS0
LM-FP4D-24M-1SS0
1- 6
TM-RFM048G20
TM-RFM072G20
TM-RFM120J10
TM-RFM240J10
1. FUNCTIONS AND CONFIGURATION
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function
Position control mode
Speed control mode
Torque control mode
High-resolution encoder
Absolute position detection
system
Gain switching function
Advanced vibration
suppression control II
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Auto tuning
Brake unit
Power regenerative converter
Regenerative option
Alarm history clear
Output signal selection
(device settings)
Output signal (DO) forced
output
Test operation mode
Analog monitor output
MR Configurator2
Fully closed loop system
(Available in the future.)
One-touch tuning
Tough drive function
Description
This servo is used as a position control servo.
This servo is used as a speed control servo.
This servo is used as a torque control servo.
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary
servo motor compatible with the MELSERVO-J4 series.
Merely setting a home position once makes home position return unnecessary at
every power-on.
You can switch between gains during rotation and gains during stop or can use an
input device to switch gains during operation.
This function suppresses vibration at the arm end or residual vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
a MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
load to motor inertia ratio is high for such as roll send axes.
Suppresses vibration of ±1 pulse produced at a servo motor stop.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies. Higher in performance than MR-J3 series servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Can be used for the 5 kW or more servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Can be used for the 5 kW or more servo amplifier.
Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.
Alarm history is cleared.
The pins that output the output devices, including ALM (Malfunction) and DB
(Dynamic brake interlock), can be assigned to certain pins of the CN3 connectors.
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check and others.
Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation
MR Configurator2 is necessary for this function.
Servo status is output in terms of voltage in real time.
Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
Fully closed system can be configured using the load-side encoder.
Gain adjustment is performed just by one click on a certain button on MR
Configurator2.
MR Configurator2 is necessary for this function.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
1- 7
Detailed
explanation
Chapter 12
Section 7.
Section 7.
Section 7.2
Section 7.
[Pr. PE41]
[Pr. PB24]
Section 6.3
Section 11.3
Section 11.4
Section 11.2
[Pr. PC21]
[Pr. PD07] to
[Pr. PD09]
Section 4..1
(1) (d)
Section 4.
[Pr. PC09],
[Pr. PC10]
[Pr.
PC09]
Section 11.7
Chapter 16
Section 6.
Section 7.
1. FUNCTIONS AND CONFIGURATION
Function
Drive recorder function
STO function
Servo amplifier life diagnostic
function
Power monitoring function
Machine diagnostic function
Detailed
explanation
Description
This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data
on the drive recorder window on MR Configurator2 by clicking the "Graph" button.
However, the drive recorder will not operate on the following conditions.
[Pr. PA23]
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
This function is a safety function that complies with IEC/EN 61800-5-2. You can create
a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off times of the
inrush relay. This function gives an indication of the replacement time for parts of the
servo amplifier including a capacitor and a relay before they malfunction.
MR Configurator2 is necessary for this function.
This function calculates the power running energy and the regenerative power from
the data in the servo amplifier such as speed and current. For the SSCNET III/H
system, MR Configurator2 can display the data, including the power consumption.
Since the servo amplifier can send the data to a motion controller, you can analyze
the data and display the data on a display.
From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
machine parts, including a ball screw and bearing.
MR Configurator2 is necessary for this function.
1.6 Model designation
(1) Rating plate
AC SERVO
SER.S21001001
MODEL MR-J4-10B
POWER : 100W
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz
OUTPUT: 3PH170V 0-360Hz 1.1A
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175
Max. Surrounding Air Temp.: 55°C
IP20
TOKYO 100-8310, JAPAN 䚷
MADE IN JAPAN
Serial
number
〇㐀␒ྕ
Model
ᙧྡ
Capacity
ᐜ㔞
Applicable
㐺