Mitsubishi Electric MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) SERVO AMPLIFIER Instruction Manual

General-Purpose AC Servo

General-Purpose Interface

MODEL

MR-J4-_A_(-RJ)

MR-J4-03A6(-RJ)

SERVO AMPLIFIER

INSTRUCTION MANUAL

S

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.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence according to conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 1

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. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get an electric shock.

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.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire.

Always connect a magnetic contactor between the power supply and the main circuit power supply

(L1/L2/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. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/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. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

When using the regenerative resistor, switch power off with the alarm signal.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

A - 2

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.

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 the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of product packages is not allowed.

Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction

Manual.

Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.

The equipment must be installed in the specified direction.

Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet or other equipment.

Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause injury, malfunction, etc.

Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.

When you keep or use the equipment, please fulfill the following environment.

Item

Ambient temperature

Ambient

Operation

Storage

Operation

Environment

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

5 %RH to 90 %RH (non-condensing)

Ambience

Altitude

Vibration resistance

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

2000 m or less above sea level (Contact your local sales office for the altitude for options.)

5.9 m/s 2 , at 10 Hz to 55 Hz (X, Y, Z axes)

When the product has been stored for an extended period of time, contact your local sales office.

When handling the servo motor, be careful with the sharp edges of the servo motor.

The servo amplifier must be installed in a metal cabinet.

A - 3

CAUTION

When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment.

Additionally, disinfect and protect wood from insects before packing the products.

To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.

Otherwise, the cables and connectors may be disconnected during operation.

Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side.

To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W

The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

Servo amplifier or MR-D01


24 V DC 24 V DC

DOCOM

(DOCOMD)

DOCOM

(DOCOMD)

Control output signal

For sink output interface

RA


For source output interface

RA

When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier.

To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

A - 4

(3) Test run and adjustment

CAUTION

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to stop the operation and shut the power off immediately.

For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident.

Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier.

Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.

Use the servo amplifier with the specified servo motor.

Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may cause an electric shock, fire, injury, etc.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.

To ensure safety, install a stopper on the machine side.

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

A - 5

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.

If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B 24 V DC

Electromagnetic brake

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.

If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.

Otherwise, it may cause smoke, fire, or an electric shock.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

After an earthquake or other natural disasters, ensure safety by checking the conditions of the installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.

When using the servo amplifier that has not been energized for an extended period of time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 6

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.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

Home position setting in the absolute position detection system

STO function of the servo amplifier

The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard.

Refer to app. 12 for schedule.

When using the STO function of the servo amplifier, refer to chapter 13.

For the MR-J3-D05 safety logic unit, refer to app. 5.

Compliance with global standards

For the compliance with global standards, refer to app. 4.

A - 7

«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.

When using the MR-J4-03A6(-RJ), refer to chapter 18.

Relevant manuals

Manual name Manual No.

MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) (Note 5) SH(NA)030143ENG

MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU Protocol)

(Note 7)

MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual (Note 6)

SH(NA)030175ENG

SH(NA)030153ENG

MELSERVO MR-J4 Servo Amplifier Instruction Manual (Troubleshooting)

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1)

MELSERVO Linear Servo Motor Instruction Manual (Note 2)

SH(NA)030109ENG

SH(NA)030113ENG

SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual (Note 3)

MELSERVO Linear Encoder Instruction Manual (Note 2, 4)

MELSERVO EMC Installation Guidelines

MELSERVO Parameter Unit MR-PRU03 Instruction Manual (MR-J4)

MELSERVO MR-D30 Instruction Manual (Note 8)

SH(NA)030112ENG

SH(NA)030111ENG

IB(NA)67310ENG

SH(NA)030186ENG

SH(NA)030132ENG

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using an MR-J4-_A_-RJ servo amplifier in the positioning mode.

6. It is necessary for using an MR-CV_ power regeneration converter unit, MR-CR_ resistance regeneration converter unit, and MR-J4-DU_A_(-RJ) drive unit.

7. It is necessary for using the Modbus RTU communication function.

8. It is necessary for using an MR-D30 functional safety unit.

«Wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

1 [mm]

1 [N•m]

1 [(× 10 -4 kg•m 2

1 [N]

N [°C] × 9/5 + 32

0.03937 [inch]

141.6 [oz•inch]

0.2248 [lbf]

N [°F]

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-56

1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function block diagram ..................................................................................................................... 1- 3

1.3 Servo amplifier standard specifications ........................................................................................... 1-11

1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1-18

1.5 Function list ...................................................................................................................................... 1-21

1.6 Model designation ............................................................................................................................ 1-24

1.7 Structure .......................................................................................................................................... 1-25

1.7.1 Parts identification ..................................................................................................................... 1-25

1.7.2 Removal and reinstallation of the front cover ............................................................................ 1-40

1.8 Configuration including peripheral equipment ................................................................................. 1-42

2. INSTALLATION 2- 1 to 2- 8

2.1 Installation direction and clearances ................................................................................................. 2- 2

2.2 Keeping out of foreign materials ....................................................................................................... 2- 4

2.3 Encoder cable stress ........................................................................................................................ 2- 4

2.4 Inspection items ................................................................................................................................ 2- 5

2.5 Parts having service life .................................................................................................................... 2- 6

2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level ................................................................................................................................. 2- 7

3. SIGNALS AND WIRING 3- 1 to 3-76

3.1 Input power supply circuit ................................................................................................................. 3- 2

3.1.1 200 V class ................................................................................................................................. 3- 3

3.1.2 400 V class ................................................................................................................................. 3- 8

3.1.3 100 V class ................................................................................................................................ 3-11

3.2 I/O signal connection example ......................................................................................................... 3-12

3.2.1 Position control mode ................................................................................................................ 3-12

3.2.2 Speed control mode .................................................................................................................. 3-15

3.2.3 Torque control mode ................................................................................................................. 3-18

3.3 Explanation of power supply system ............................................................................................... 3-21

3.3.1 Signal explanations ................................................................................................................... 3-21

3.3.2 Power-on sequence .................................................................................................................. 3-22

3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-23

3.4 Connectors and pin assignment ...................................................................................................... 3-27

3.5 Signal (device) explanations ............................................................................................................ 3-30

3.6 Detailed explanation of signals ........................................................................................................ 3-40

3.6.1 Position control mode ................................................................................................................ 3-40

3.6.2 Speed control mode .................................................................................................................. 3-45

3.6.3 Torque control mode ................................................................................................................. 3-47

3.6.4 Position/speed control switching mode ..................................................................................... 3-50

3.6.5 Speed/torque control switching mode ....................................................................................... 3-52

3.6.6 Torque/position control switching mode .................................................................................... 3-54

3.7 Forced stop deceleration function .................................................................................................... 3-55

3.7.1 Forced stop deceleration function ............................................................................................. 3-55

3.7.2 Base circuit shut-off delay time function ................................................................................... 3-57

1

3.7.3 Vertical axis freefall prevention function ................................................................................... 3-58

3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-58

3.8 Alarm occurrence timing chart ......................................................................................................... 3-59

3.8.1 When you use the forced stop deceleration function ................................................................ 3-59

3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-60

3.9 Interfaces ......................................................................................................................................... 3-61

3.9.1 Internal connection diagram ...................................................................................................... 3-61

3.9.2 Detailed explanation of interfaces ............................................................................................. 3-63

3.9.3 Source I/O interfaces ................................................................................................................ 3-67

3.10 Servo motor with an electromagnetic brake .................................................................................. 3-69

3.10.1 Safety precautions .................................................................................................................. 3-69

3.10.2 Timing chart............................................................................................................................. 3-71

3.11 Grounding ...................................................................................................................................... 3-76

4. STARTUP 4- 1 to 4-44

4.1 Switching power on for the first time ................................................................................................. 4- 2

4.1.2 Wiring check ............................................................................................................................... 4- 3

4.1.3 Surrounding environment ........................................................................................................... 4- 6

4.2 Startup in position control mode ....................................................................................................... 4- 6

4.2.1 Power on and off procedures ..................................................................................................... 4- 6

4.2.2 Stop ............................................................................................................................................ 4- 7

4.2.3 Test operation ............................................................................................................................ 4- 8

4.2.4 Parameter setting ....................................................................................................................... 4- 9

4.2.5 Actual operation ......................................................................................................................... 4- 9

4.2.6 Trouble at start-up ...................................................................................................................... 4- 9

4.3 Startup in speed control mode ......................................................................................................... 4-12

4.3.1 Power on and off procedures .................................................................................................... 4-12

4.3.2 Stop ........................................................................................................................................... 4-13

4.3.3 Test operation ........................................................................................................................... 4-14

4.3.4 Parameter setting ...................................................................................................................... 4-15

4.3.5 Actual operation ........................................................................................................................ 4-15

4.3.6 Trouble at start-up ..................................................................................................................... 4-15

4.4 Startup in torque control mode ........................................................................................................ 4-17

4.4.1 Power on and off procedures .................................................................................................... 4-17

4.4.2 Stop ........................................................................................................................................... 4-17

4.4.3 Test operation ........................................................................................................................... 4-18

4.4.4 Parameter setting ...................................................................................................................... 4-19

4.4.5 Actual operation ........................................................................................................................ 4-19

4.4.6 Trouble at start-up ..................................................................................................................... 4-20

4.5 Display and operation sections ........................................................................................................ 4-21

4.5.1 Summary ................................................................................................................................... 4-21

4.5.2 Display flowchart ....................................................................................................................... 4-22

4.5.3 Status display mode .................................................................................................................. 4-23

4.5.5 Alarm mode ............................................................................................................................... 4-32

4.5.7 External I/O signal display ......................................................................................................... 4-35

4.5.8 Output signal (DO) forced output .............................................................................................. 4-38

4.5.9 Test operation mode ................................................................................................................. 4-39

2

5. PARAMETERS 5- 1 to 5-76

5.1 Parameter list .................................................................................................................................... 5- 2

5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 2

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 3

5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 5

5.1.4 I/O setting parameters ([Pr. PD_ _ ]).......................................................................................... 5- 7

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 8

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-10

5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11

5.1.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 5-12

5.2 Detailed list of parameters ............................................................................................................... 5-13

5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-13

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-26

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-40

5.2.4 I/O setting parameters ([Pr. PD_ _ ])......................................................................................... 5-54

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-62

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-65

5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-68

5.2.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 5-71

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-32

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- 5

6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 8

6.2.3 Caution for one-touch tuning ..................................................................................................... 6-22

6.3 Auto tuning ....................................................................................................................................... 6-23

6.3.1 Auto tuning mode ...................................................................................................................... 6-23

6.3.2 Auto tuning mode basis ............................................................................................................. 6-24

6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-25

6.3.4 Response level setting in auto tuning mode ............................................................................. 6-26

6.4 Manual mode ................................................................................................................................... 6-27

6.5 2 gain adjustment mode................................................................................................................... 6-30

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-40

7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter........................................................................................ 7- 2

7.1.2 Adaptive filter II ........................................................................................................................... 7- 5

7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 8

7.1.4 Low-pass filter ............................................................................................................................ 7- 9

7.1.5 Advanced vibration suppression control II ................................................................................. 7- 9

7.1.6 Command notch filter ................................................................................................................ 7-14

7.2 Gain switching function .................................................................................................................... 7-16

7.2.1 Applications ............................................................................................................................... 7-16

7.2.2 Function block diagram ............................................................................................................. 7-17

3

7.2.4 Gain switching procedure .......................................................................................................... 7-21

7.3 Tough drive function ........................................................................................................................ 7-25

7.3.1 Vibration tough drive function .................................................................................................... 7-25

7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-27

7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-31

7.5 Model adaptive control disabled ...................................................................................................... 7-34

7.6 Lost motion compensation function ................................................................................................. 7-35

7.7 Super trace control ........................................................................................................................... 7-38

8. TROUBLESHOOTING 8- 1 to 8-14

8.1 Explanation for the lists ..................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2

8.3 Warning list ...................................................................................................................................... 8-11

9. DIMENSIONS 9- 1 to 9-22

9.1 Servo amplifier .................................................................................................................................. 9- 1

9.2 Connector ........................................................................................................................................ 9-20

10. CHARACTERISTICS 10- 1 to 10-16

10.1 Overload protection characteristics .............................................................................................. 10- 1

10.2 Power supply capacity and generated loss .................................................................................. 10- 5

10.3 Dynamic brake characteristics ...................................................................................................... 10- 8

10.3.1 Dynamic brake operation ....................................................................................................... 10- 9

10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-12

10.4 Cable bending life ........................................................................................................................ 10-13

10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-14

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-120

11.1 Cable/connector sets .................................................................................................................... 11- 1

11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2

11.1.2 MR-D05UDL3M-B STO cable ................................................................................................ 11- 6

11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 7

11.2 Regenerative options .................................................................................................................... 11- 8

11.2.1 Combination and regenerative power .................................................................................... 11- 8

11.2.2 Selection of regenerative option ........................................................................................... 11-10

11.2.3 Parameter setting .................................................................................................................. 11-14

11.2.4 Connection of regenerative option ........................................................................................ 11-14

11.3 FR-BU2-(H) Brake unit ................................................................................................................ 11-23

11.3.2 Brake unit parameter setting ................................................................................................. 11-24

11.3.3 Connection example ............................................................................................................. 11-25

11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-37

11.5 FR-CV-(H) power regeneration common converter ..................................................................... 11-42

11.5.1 Model designation ................................................................................................................. 11-42

11.5.2 Selection example ................................................................................................................. 11-43

4

11.6 Junction terminal block MR-TB50 ................................................................................................ 11-51

11.7.1 Specifications ........................................................................................................................ 11-54

11.7.3 Precautions for using USB communication function ............................................................. 11-56

11.8.1 Selection of battery ............................................................................................................... 11-57

11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-58

11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-62

11.8.4 MR-BAT6V1SET-A battery ................................................................................................... 11-66

11.8.5 MR-BT6VCASE battery case ................................................................................................ 11-70

11.8.6 MR-BAT6V1 battery .............................................................................................................. 11-76

11.9 Selection example of wires .......................................................................................................... 11-77

11.10 Molded-case circuit breakers, fuses, magnetic contactors ........................................................ 11-81

11.11 Power factor improving DC reactors .......................................................................................... 11-84

11.12 Power factor improving AC reactors .......................................................................................... 11-88

11.13 Relays (recommended) ............................................................................................................. 11-91

11.14 Noise reduction techniques ....................................................................................................... 11-92

11.15 Earth-leakage current breaker ................................................................................................... 11-99

11.16 EMC filter (recommended) ....................................................................................................... 11-102

11.17 External dynamic brake ........................................................................................................... 11-109

11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-116

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-30

12.1.1 Features ................................................................................................................................. 12- 1

12.1.4 Parameter setting ................................................................................................................... 12- 3

12.1.5 Confirmation of absolute position detection data ................................................................... 12- 3

12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery ............................................. 12- 4

12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 5

12.2.3 Using MR-BT6VCASE battery case ....................................................................................... 12- 6

12.3 Standard connection example ...................................................................................................... 12- 7

12.5 Startup procedure ......................................................................................................................... 12- 9

12.6 Absolute position data transfer protocol ...................................................................................... 12-10

12.6.1 Data transfer procedure ........................................................................................................ 12-10

12.6.2 Transfer method .................................................................................................................... 12-11

12.6.3 Home position setting ............................................................................................................ 12-20

12.6.4 Use of servo motor with an electromagnetic brake ............................................................... 12-22

12.6.5 How to process the absolute position data at detection of stroke end ................................. 12-23

12.7 Absolute position data transfer errors .......................................................................................... 12-23

12.8 Communication-based absolute position transfer system ........................................................... 12-26

12.8.1 Serial communication command ........................................................................................... 12-26

12.8.2 Absolute position data transfer protocol ................................................................................ 12-26

5

13. USING STO FUNCTION 13- 1 to 13-14

13.1 Introduction ................................................................................................................................... 13- 1

13.1.1 Summary ................................................................................................................................ 13- 1

13.1.2 Terms related to safety .......................................................................................................... 13- 1

13.1.3 Cautions ................................................................................................................................. 13- 1

13.1.4 Residual risks of the STO function ......................................................................................... 13- 2

13.1.5 Specifications ......................................................................................................................... 13- 3

13.2 STO I/O signal connector (CN8) and signal layouts ..................................................................... 13- 4

13.2.1 Signal layouts ......................................................................................................................... 13- 4

13.2.2 Signal (device) explanations .................................................................................................. 13- 5

13.2.3 How to pull out the STO cable ............................................................................................... 13- 5

13.3 Connection example ..................................................................................................................... 13- 6

13.3.1 Connection example for CN8 connector ................................................................................ 13- 6

13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7

13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13-10

13.4 Detailed description of interfaces ................................................................................................. 13-11

13.4.1 Sink I/O interface ................................................................................................................... 13-11

13.4.2 Source I/O interface .............................................................................................................. 13-12

14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14- 1 to 14-40

14.1 Structure ....................................................................................................................................... 14- 2

14.1.1 Configuration diagram ............................................................................................................ 14- 2

14.1.2 Precautions for using RS-422/RS-232C/USB communication function ................................. 14- 4

14.2 Communication specifications ...................................................................................................... 14- 5

14.2.1 Outline of communication ....................................................................................................... 14- 5

14.2.2 Parameter setting ................................................................................................................... 14- 5

14.3 Protocol ......................................................................................................................................... 14- 6

14.3.1 Transmission data configuration ............................................................................................ 14- 6

14.3.2 Character codes ..................................................................................................................... 14- 7

14.3.4 Checksum .............................................................................................................................. 14- 8

14.3.6 Retry processing .................................................................................................................... 14- 9

14.3.7 Initialization............................................................................................................................. 14- 9

14.3.8 Communication procedure example ..................................................................................... 14-10

14.4 Command and data No. list ......................................................................................................... 14-11

14.4.1 Reading command ................................................................................................................ 14-11

14.4.2 Writing commands ................................................................................................................ 14-17

14.5 Detailed explanations of commands ............................................................................................ 14-19

14.5.1 Data processing .................................................................................................................... 14-19

14.5.2 Status display mode .............................................................................................................. 14-21

14.5.4 External I/O signal status (DIO diagnosis) ............................................................................ 14-26

14.5.5 Input device on/off ................................................................................................................. 14-29

14.5.6 Disabling/enabling I/O devices (DIO) .................................................................................... 14-30

14.5.7 Input devices on/off (test operation) ...................................................................................... 14-31

14.5.8 Test operation mode ............................................................................................................. 14-32

6

14.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................. 14-36

14.5.10 Alarm history ....................................................................................................................... 14-37

14.5.11 Current alarm ...................................................................................................................... 14-38

15. USING A LINEAR SERVO MOTOR 15- 1 to 15-32

15.1 Functions and configuration .......................................................................................................... 15- 1

15.1.1 Summary ................................................................................................................................ 15- 1

15.1.2 Configuration including peripheral equipment ........................................................................ 15- 2

15.2 Signals and wiring ......................................................................................................................... 15- 6

15.3 Operation and functions ................................................................................................................ 15- 7

15.3.1 Startup .................................................................................................................................... 15- 7

15.3.2 Magnetic pole detection ........................................................................................................ 15-11

15.3.3 Home position return ............................................................................................................. 15-18

15.3.4 Test operation mode in MR Configurator2 ............................................................................ 15-23

15.3.6 Absolute position detection system ....................................................................................... 15-27

15.4 Characteristics ............................................................................................................................. 15-28

15.4.1 Overload protection characteristics ....................................................................................... 15-28

15.4.2 Power supply capacity and generated loss ........................................................................... 15-29

15.4.3 Dynamic brake characteristics .............................................................................................. 15-30

15.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 15-31

16. USING A DIRECT DRIVE MOTOR 16- 1 to 16-20


16.1.1 Summary ................................................................................................................................ 16- 1

16.1.2 Configuration including peripheral equipment ........................................................................ 16- 2

16.2 Signals and wiring ......................................................................................................................... 16- 3

16.3 Operation and functions ................................................................................................................ 16- 4

16.3.1 Startup procedure .................................................................................................................. 16- 5

16.3.2 Magnetic pole detection ......................................................................................................... 16- 6

16.4 Absolute position detection system ............................................................................................. 16-14





17. FULLY CLOSED LOOP SYSTEM 17- 1 to 17-24


17.1.1 Function block diagram .......................................................................................................... 17- 2

17.1.2 Selecting procedure of control mode ..................................................................................... 17- 3

17.2 Load-side encoder ........................................................................................................................ 17- 6

17.2.1 Linear encoder ....................................................................................................................... 17- 6

17.2.3 Configuration diagram of encoder cable ................................................................................ 17- 7

17.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 17- 9

7

17.3 Operation and functions ............................................................................................................... 17-10

17.3.1 Startup ................................................................................................................................... 17-10

17.3.2 Home position return ............................................................................................................. 17-17

17.3.3 Fully closed loop control error detection functions ................................................................ 17-20

17.3.4 Auto tuning function .............................................................................................................. 17-21

17.3.5 Machine analyzer function .................................................................................................... 17-21

17.3.6 Test operation mode ............................................................................................................. 17-21

17.3.7 Absolute position detection system under fully closed loop system ..................................... 17-22

17.3.8 About MR Configurator2 ....................................................................................................... 17-23

18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18- 1 to 18-84


18.1.1 Summary ................................................................................................................................ 18- 1

18.1.2 Function block diagram .......................................................................................................... 18- 2

18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3

18.1.4 Combinations of servo amplifiers and servo motors .............................................................. 18- 4

18.1.5 Function list ............................................................................................................................ 18- 5

18.1.6 Model definition ...................................................................................................................... 18- 8

18.1.7 Parts identification .................................................................................................................. 18- 9

18.1.8 Configuration including peripheral equipment ....................................................................... 18-10

18.2 Installation .................................................................................................................................... 18-11

18.2.1 Installation direction and clearances ..................................................................................... 18-12

18.2.2 Installation by DIN rail ........................................................................................................... 18-14

18.3 Signals and wiring ........................................................................................................................ 18-16

18.3.1 Input power supply circuit ...................................................................................................... 18-17

18.3.2 Explanation of power supply system ..................................................................................... 18-19

18.3.3 Selection of main circuit power supply/control circuit power supply ..................................... 18-22

18.3.4 Power-on sequence .............................................................................................................. 18-22

18.3.5 I/O signal connection example .............................................................................................. 18-23

18.3.6 Connectors and pin assignment............................................................................................ 18-31

18.3.7 Signal (device) explanations ................................................................................................. 18-34

18.3.8 Alarm occurrence timing chart .............................................................................................. 18-38

18.3.9 Interfaces (Internal connection diagram) .............................................................................. 18-40

18.3.10 Grounding ........................................................................................................................... 18-42

18.4 Startup ......................................................................................................................................... 18-43

18.4.1 Startup procedure ................................................................................................................. 18-44

18.4.2 Troubleshooting when "24 V ERROR" lamp turns on ........................................................... 18-45

18.4.4 Surrounding environment ...................................................................................................... 18-47

18.5 Display and operation sections .................................................................................................... 18-47

18.5.1 Summary ............................................................................................................................... 18-47

18.5.2 Display flowchart ................................................................................................................... 18-48

18.5.3 Status display mode .............................................................................................................. 18-49

18.5.5 Diagnostic mode ................................................................................................................... 18-58

18.5.6 Alarm mode ........................................................................................................................... 18-61

18.5.7 Parameter mode ................................................................................................................... 18-63

18.5.8 External I/O signal display ..................................................................................................... 18-68

18.5.9 Output signal (DO) forced output .......................................................................................... 18-71

18.5.10 Test operation mode ........................................................................................................... 18-72

8

18.6 Dimensions .................................................................................................................................. 18-74





18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-78

18.8 Options and peripheral equipment ............................................................................................... 18-79

18.8.1 Cable/connector sets ............................................................................................................ 18-79

18.8.2 Combinations of cable/connector sets .................................................................................. 18-80

18.8.3 Selection example of wires ................................................................................................... 18-81

18.8.4 Circuit protector ..................................................................................................................... 18-81

18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol) ..................... 18-82

19. MR-D01 EXTENSION I/O UNIT 19- 1 to 19-48

19.1 Function block diagram ................................................................................................................. 19- 2

19.2 Structure ....................................................................................................................................... 19- 4

19.2.1 Parts identification .................................................................................................................. 19- 4

19.2.2 Installation and removal of the MR-D01 extension I/O unit ................................................... 19- 5

19.3 Configuration including peripheral equipment .............................................................................. 19- 9

19.4 Installation direction and clearances ............................................................................................ 19-11

19.5 Signals and wiring ........................................................................................................................ 19-13

19.5.1 I/O Signal Connection Example ............................................................................................ 19-14

19.5.2 Connectors and pin assignment............................................................................................ 19-29

19.5.3 Signal (device) explanations ................................................................................................. 19-31

19.5.4 Interface ................................................................................................................................ 19-37

19.6 Monitor display with MR Configurator2 ........................................................................................ 19-41

19.7 Dimensions .................................................................................................................................. 19-43

19.7.1 MR-D01 extension I/O unit .................................................................................................... 19-43

19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier ................................ 19-43

19.8 Options peripheral equipment ...................................................................................................... 19-44

19.8.1 Combinations of cable/connector sets .................................................................................. 19-44

19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended) ............................................. 19-45

19.8.3 MR-TB50 (Junction terminal block) ....................................................................................... 19-47

APPENDIX App.- 1 to App.-74

App. 1 Peripheral equipment manufacturer (for reference) .............................................................. App.- 1

App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the

Transport of Dangerous Goods ............................................................................................. App.- 1

App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 4

App. 4 Compliance with global standards ........................................................................................ App.- 5

App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-21

App. 6 EC declaration of conformity ................................................................................................ App.-39

App. 7 Analog monitor ..................................................................................................................... App.-42

App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-56

App. 9 How to replace servo amplifier without magnetic pole detection ......................................... App.-57

App. 10 Special specification ............................................................................................................. App.-59

App. 11 Driving on/off of main circuit power supply with DC power supply ...................................... App.-63

App. 12 STO function with SIL 3 certification .................................................................................... App.-65

App. 13 When using the servo amplifier with the DC power supply input ......................................... App.-67

9

App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive .......... App.-72

App. 15 Encoder output pulse setting method................................................................................... App.-74

10

1. FUNCTIONS AND CONFIGURATION


POINT

In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with

48 V DC and 24 V DC power supplies are available as MR-J4-03A6(-RJ). Refer to chapter 18 for details of MR-J4-03A6(-RJ) servo amplifiers.

1.1 Summary

The Mitsubishi Electric MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the previous MELSERVO-J3 series.

The 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 the MELSERVO-J3 series.

The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

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.

The MR-J4-_A_ servo amplifier supports the STO (Safe Torque Off) function. By combining with optional

MR-J3-D05, the servo amplifier supports SS1 (Safe Stop 1) function.

The 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.

In the MELSERVO-J4 series, servo amplifiers with the CN2L connector are also available as MR-J4-_A_-RJ.

By using the CN2L connector, an A/B/Z-phase differential output method external encoder can be connected to the servo amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well.

The following table indicates the communication method of the external encoder compatible with the MR-J4-

_A_ and MR-J4-_A_-RJ servo amplifiers.

1 - 1


Table 1.1 Connectors to connect external encoders

Operation mode

Linear servo motor system

External encoder communication method

Two-wire type

Four-wire type

A/B/Z-phase differential output method

Connector

MR-J4-_A_ MR-J4-_A_-RJ

CN2

(Note 1, 4)

CN2

(Note 1)

CN2L

(Note 5)

Two-wire type

CN2

(Note 2, 3, 4)

Fully closed loop system

Four-wire type

A/B/Z-phase differential output method

CN2L

Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type,

MR-J4-_A_ cannot be used. Use an MR-J4-_A_-RJ.

4. This is used with software version A5 or later.

5. Connect a thermistor to CN2.

1 - 2


1.2 Function block diagram

The function block diagram of this servo is shown below.

POINT

The diagram shows MR-J4-_A_-RJ as an example. The MR-J4-_A_ servo amplifier does not have the CN2L connector.

(1) 200 V class

(a) MR-J4-500A(-RJ) or less

(Note 6)

Power factor improving

DC reactor

Regenerative option

(Note 2)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 4)

Relay

P+ C

(Note 1)

D N-

Dynamic brake circuit

+

Regenerative

TR

Current encoder

+

Cooling fan

(Note 3)

Control circuit power

CHARGE lamp

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

U

V

W

U

V

W

Servo motor

M

RA

24 V DC

B1

B


B2

Encoder

Position command input Model position control

Model speed control

Virtual motor

Virtual encoder Stepdown circuit

Model position Model speed Model torque

Battery

(for absolute position detection system)

Actual position control

Actual speed control

Current control

(Note 5)

External encoder

A/D

CN1

I/F

USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

Analog

(two channel)

DI/O control

Servo-on

Input command pulse.

Start

Malfunction, etc

Personal computer

USB

1 - 3

Controller

RS-422/

RS-485

Analog monitor

(two channel)


Note 1. The built-in regenerative resistor is not provided for MR-J4-10A(-RJ).

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-J4-70A(-RJ) or more have a cooling fan.

4. The 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 the MR-J3 servo amplifiers.

5. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.

6. 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.

1 - 4


(b) MR-J4-700A(-RJ)

(Note 4)


DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 2)

Relay

P+ C N-


Current encoder

+

Regenerative

TR

+

CHARGE lamp

Cooling fan

Control circuit power STO circuit

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

RA B1

24 V DC B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor




Current control

A/D

CN1

I/F

Stepdown circuit

Battery


USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

(Note 3)

External encoder

Analog

(two channel)

DI/O control

Servo-on


Start

Malfunction, etc

Personal computer

USB

Controller

RS-422/

RS-485

Analog monitor

(two channel)

Note 1. For the power supply specifications, refer to section 1.3.

2. The 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 - 5


(c) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)

(Note 5)


DC reactor

External regenerative resistor or regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 2)

Thyristor

P+ C N-

+

Regenerative

TR

Current encoder

Cooling fan

CHARGE lamp

+ Control circuit power STO circuit

Base amplifier

Voltage detection


Current detection

U

V

W

(Note 4, 6)

External dynamic brake (optional)

Servo motor

U

V

W

M

RA B1

24 V DC B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor


Stepdown circuit

Battery




Current control

(Note 3)

External encoder

A/D

CN1

I/F

USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

Analog

(two channel)

DI/O control

Servo-on


Start

Malfunction, etc

Personal computer

USB

Controller

RS-422/

RS-485

Analog monitor

(two channel)


2. The 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 the MR-J3 servo amplifiers.


4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.



6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

1 - 6


(2) 400 V class

(a) MR-J4-350A4(-RJ) or less

(Note 5)


DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 3)

Relay

P+ C D N-


+

+

Cooling fan

(Note 2)

Regenerative

TR

Charge lamp

Control circuit power supply

STO circuit

Current detector

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

Stepdown circuit

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual motor

Virtual encoder




Current control

Battery

(For absolute position detection system)

External encoder

(Note 4)

A/D

CN1

I/F

USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

Analog

(2 channels)

DI/O control

•Servo-on

•Input command pulse.

•Start

•Malfunction, etc

Personal computer

USB

Controller

RS-422/

RS-485

Analog monitor

(2 channels)

Note 1. Refer to section 1.3 for the power supply specification.

2. Servo amplifiers MR-J4-200A4(-RJ) or more have a cooling fan.

3. 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.

4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.



1 - 7


(b) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)

(Note 4)


DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 2)

Relay

P+ C N-


Current detector

+


+

Regenerative

TR

Charge lamp

Cooling fan

STO circuit

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

Stepdown circuit

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual motor

Virtual encoder




Current control

Battery


External encoder

(Note 3)

A/D

CN1

I/F

USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

Analog

(2 channels)

DI/O control

•Servo-on


•Start

•Malfunction, etc

Personal computer

USB

Controller

RS-422/

RS-485

Analog monitor

(2 channels)







1 - 8


(c) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)

(Note 5)


DC reactor

External regenerative resistor or regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier P3

MC

L1

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 2)

Thyristor

P+ C N-

+


+

Regenerative

TR

Charge lamp

Cooling fan

Current detector

STO circuit

Base amplifier

Voltage detection


Current detection

U

V

W

(Note 4, 6)

External dynamic brake

(optional)

Servo motor

U

V

W

M

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor


Stepdown circuit

Battery




Current control

External encoder

(Note 3)

A/D

CN1

I/F

USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

Analog

(2 channels)

DI/O control

•Servo-on


•Start

•Malfunction, etc

Personal computer

USB

Controller

RS-422/

RS-485

Analog monitor

(2 channels)





4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.




1 - 9


(3) 100 V class

Regenerative option

Servo amplifier

(Note 2)

Power supply

MCCB MC

L1

L2

U

Relay

STO switch

L11

L21

Diode stack

+ Control circuit power

+

+

P+ C

(Note 1)

D N-

Charge lamp

Regenerative

TR


Current encoder

STO circuit

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor


Stepdown circuit

Battery




Current control

External encoder

(Note 3)

A/D

CN1

I/F

USB

CN5

RS-422/

RS-485

CN3

D/A

CN6

Analog

(two channel)

DI/O control

•Servo-on


•Start

•Malfunction, etc

Personal computer

USB

Controller

RS-422/

RS-485

Analog monitor

(two channel)

Note 1. The built-in regenerative resistor is not provided for MR-J4-10A1(-RJ).

2. Refer to section 1.3 for the power supply specifications.


1 - 10


1.3 Servo amplifier standard specifications

(1) 200 V class

Rated voltage

Output

10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA

3-phase 170 V AC

At AC input

Voltage/

Frequency

At DC input

(Note 17)

Rated current

(Note 11)

Main circuit power supply input

Permissible voltage fluctuation

At AC input

At DC input

(Note 17)

Permissible frequency fluctuation

Power supply capacity

Inrush current

[kVA]

Voltage/

Frequency

Rated current

[A]

At AC input

At DC input

(Note 17)

[A]

Control circuit power supply input


At AC input

At DC input

(Note 17)


Power consumption [W]

Inrush current [A]

Interface power supply

Control method

Voltage

Current capacity [A]

Fully closed loop control

Load-side encoder interface (Note 10)

Communication function

Encoder output pulses

Analog monitor

3-phase or 1-phase

200 V AC to 240 V AC, 50 Hz/60 Hz

3.2

3-phase or 1-phase

170 V AC to 264 V AC

Refer to section 10.2.


1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

0.2

3-phase or 1phase 200 V

AC to 240 V

AC, 50 Hz/60

Hz (Note 14)

283 V DC to 340 V DC

3-phase or 1phase 170 V

AC to 264 V

AC (Note 14)


Within ±5%


1-phase 170 V AC to 264 V AC


Within ±5%



30


24 V DC ± 10%

0.5 (including the CN8 connector signals) (Note 1)

Sine-wave PWM control, current control method

0.3

45

Built-in

Compatible (Note 9)

Mitsubishi Electric high-speed serial communication

External option

(Note 8, 12)

USB: Connection to a personal computer or others (MR Configurator2-compatible)

RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7, 13)

Compatible (A/B/Z-phase pulse)

Two channels

1 - 11


Position control mode

Speed control mode

Max. input pulse frequency

Positioning feedback pulse

Command pulse multiplying factor

In-position range setting

Error excessive

Torque limit

Speed control range

Analog speed command input

Speed fluctuation ratio

Torque control mode

Positioning mode

Torque limit

Analog torque command input

Speed limit

Protective functions

Functional safety

Standards certified by

CB (Note 15)

Response performance

Safety performance

Test pulse input (STO)

(Note 3)

Mean time to dangerous failure (MTTFd)

Diagnostic coverage

(DC)

Average probability of dangerous failures per hour (PFH)

10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA

4 Mpulses/s (for differential receiver) (Note 6), 200 kpulses/s (for open collector)

Encoder resolution (resolution per servo motor revolution): 22 bits

Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000

0 pulse to ±65535 pulses (command pulse unit)

±3 revolutions

Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)

Analog speed command 1: 2000, Internal speed command 1: 5000

0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)

±0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: ±10%)

±0.2% or less (ambient temperature: 25 °C ± 10 °C) when using analog speed command


0 V DC to ±8 V DC/maximum torque (input impedance 10 k Ω to 12 k Ω )

Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.

The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.

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, and linear servo control fault protection

STO (IEC/EN 61800-5-2)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2

8 ms or less (STO input off → energy shut off)

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

MTTFd ≥ 100 [years] (314a)

DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]

Natural cooling, open (IP20)

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL 508C

Force cooling, open (IP20) Force cooling, open (IP20) (Note 4)

Possible Impossible


CE marking

UL standard

Structure (IP rating)

Close mounting

(Note 2)

3-phase power supply input

1-phase power supply input

Environment

Ambient temperature

Ambient humidity

Operation

Storage

Operation

Storage

Ambience

Altitude


Mass

Possible Impossible





2000 m or less above sea level (Note 16)

5.9 m/s 2 , at 10 Hz to 55 Hz (directions of X, Y and Z axes)

13.4 18.2

1 - 12


Note 1. 0.5 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 amplifiers, operate them at the ambient temperature of 0 ˚ C to 45 ˚ C or at 75% or smaller effective load ratio.

3. 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.

4. Except for the terminal block.

5. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor.

6. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4

Mpulses/s or lower, change the setting in [Pr. PA13].

7. RS-422 communication is supported by servo amplifier with software version A3.

8. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.

9. For the compatible version for the fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier with MR Configurator2.

10. The MR-J4-_A servo amplifier is compatible only with the two-wire type.

The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

11. This value is applicable when a 3-phase power supply is used.


13. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later.

14. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.

15. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.

16. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

17. The DC power supply input is available only with MR-J4-_A-RJ servo amplifiers. For the connection example of the power circuit when a DC input is used, refer to app. 13.

1 - 13


(2) 400 V class

60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

Output




Speed control mode

Torque control mode

Rated voltage 3-phase 323 V AC

Rated 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0

Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6





Inrush current

Voltage/Frequency

[kVA]

[A]



0.1


0.2




Inrush current

Voltage

Current capacity

Control method

Dynamic brake




[A]

[A]


Analog monitor






Error excessive

Torque limit

Speed control range



Torque limit


Speed limit

30

24 V DC ± 10%

0.5 (including CN8 connector signals) (Note 1)


Built-in

Compatible

External option (Note 6, 7)


USB: connection to a personal computer or others (MR Configurator2-compatible)

RS-422/RS-485: 1: n communication (up to 32 axes) (Note 8)

45



Two channels





±3 revolutions



Analog speed command 1: 2000, internal speed command 1: 5000


±0.01% or less (load fluctuation 0 % to 100%), 0% (power fluctuation ±10%), ±0.2% or less (ambient temperature 25 ± 10 °C) when using analog speed command


Positioning mode


Functional safety





STO (IEC/EN 61800-5-2)

1 - 14


60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

Standards certified by CB

(Note 9)




(Note 2)




Safety performance

Compliance with standards


Diagnostic coverage (DC)

Average probability of dangerous failures per hour

(PFH)

CE marking

UL standard


Environment

Ambient temperature

Ambient humidity

Ambience

Altitude


DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]

Storage

Operation

Storage

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL 508C

Operation

Natural cooling, open

(IP20)

Force cooling, open

(IP20)

Force cooling, open (IP20) (Note 3)

Impossible





2000 m or less above sea level (Note 10)

5.9 m/s 2 , at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass 13.4 18.2


I/O points.


3. Except for the terminal block.



5. MR-J4-_A4 servo amplifier is compatible only with two-wire type. MR-J4-_A4-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

6. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.





1 - 15


(3) 100 V class

Model: MR-J4-_(-RJ)

Output




Rated voltage

Rated current

Voltage/Frequency

Rated current


[A]

[A]



Inrush current

Voltage/Frequency

[kVA]

[A]

Rated current


[A]



Inrush current

Voltage

[A]


Control method

Dynamic brake





Analog monitor





Speed control mode


Error excessive

Torque limit

Speed control range



Functional safety

10A1

1.1

3.0

20A1

3-phase 170 V AC

1.5


5.0


Within ±5%




0.4


Within ±5%

30


24 V DC ± 10%

0.5

(including the CN8 connector signals) (Note 1)


Built-in

Compatible (Note 5)


40A1

2.8

9.0

USB: Connection to a personal computer or others (MR Configurator2-compatible)

RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7)


Two channels





±3 revolutions


Analog speed command 1: 2000, Internal speed command 1: 5000


±0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: ±10%)

±0.2% or less (ambient temperature: 25 °C ± 10 °C) when using analog speed command


Torque control mode

Positioning mode

Torque limit


Speed limit







STO (IEC/EN 61800-5-2)

1 - 16


Model: MR-J4-_(-RJ) 10A1 20A1 40A1

Standards certified by

CB (Note 8)



Safety performance


(Note 3)


Diagnostic coverage

(DC)






DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]


CE marking

UL standard


Close mounting (Note 2)

Ambient temperature

Ambient humidity

Operation

Storage

Operation

Storage

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL 508C


Possible




Environment

Ambience


2000 m or less above sea level (Note 9) Altitude

Vibration resistance 5.9 m/s 2 , at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [kg] 0.8 1.0


I/O points.

2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 °C to 45 °C or at 75% or smaller effective load ratio.




5. For the compatible version for the fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier with MR Configurator2.

6. The MR-J4-_A servo amplifier is compatible only with the two-wire type.

The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.




1 - 17


1.4 Combinations of servo amplifiers and servo motors

POINT

When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot be achieved with HG-JR series servo motor.

When you use the MR-J4-100A or MR-J4-200A 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.

1 - 18


(1) 200 V class

Servo amplifier

Rotary servo motor

Linear servo motor

(primary side) (Note 1)

Direct drive motor (Note 1)

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

MR-J4-20A(-RJ)

MR-J4-40A(-RJ)

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

MR-J4-350A(-RJ)

MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

MR-J4-22KA(-RJ)

13 13

23 23

43 43

121

201

152

202

152

103

153

73 (Note 3)

103 (Note 3)

153

203

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

51

52

LM-H3P3B-24P-CSS0

LM-H3P3C-36P-CSS0

73 73 72 73 LM-H3P7A-24P-ASS0

LM-K2P2A-02M-1SS1

LM-U2PBF-22M-1SS0

81

102

53 (Note 3)

103

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

TM-RFM002C20

TM-RG2M002C30 (Note 2)

TM-RU2M002C30 (Note 2)

TM-RG2M004E30 (Note 2)

TM-RU2M004E30 (Note 2)

TM-RFM004C20

TM-RG2M004E30 (Note 2, 4)

TM-RU2M004E30 (Note 2, 4)

TM-RG2M009G30 (Note 2)

TM-RU2M009G30 (Note 2)

301

352

421

502

352

502

702

353

503

153 (Note 3)

353

353 (Note 3)

503

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

TM-RFM048G20

TM-RFM072G20

TM-RFM120J10

TM-RFM240J10

503 (Note 3)

601

701M

703

801

12K1

11K1M

903

15K1

15K1M

20K1

25K1

22K1M

LM-FP4F-36M-1SS0

LM-FP4F-48M-1SS0

Note 1. This is available with servo amplifiers with software version A5 or later.

2. This is available with servo amplifiers with software version C8 or later.

3. The combination increases the maximum torque of the servo motor to 400%.

4. The combination increases the rated torque and the maximum torque.

1 - 19


(2) 400 V class

Servo amplifier

Rotary servo motor Linear servo motor

MR-J4-60A4(-RJ) 524 534

MR-J4-100A4(-RJ)

1024

534 (Note 2)

734

1034

MR-J4-200A4(-RJ)

1524

2024

734 (Note 2)

1034 (Note 2)

1534

2034

MR-J4-350A4(-RJ)

3524

1534 (Note 2)

2034 (Note 2)

3534

MR-J4-500A4(-RJ)

MR-J4-700A4(-RJ)

5024

7024

3534 (Note 2)

5034

5034 (Note 2)

6014

701M4

7034

MR-J4-11KA4(-RJ) 8014

12K14

11K1M4

9034

MR-J4-15KA4(-RJ) 15K14

15K1M4

25K14

22K1M4


2. The combination is for increasing the maximum torque of the servo motor to 400%.

(3) 100 V class

Rotary servo motor Linear servo motor

Servo amplifier

MR-J4-10A1(-RJ) 053

13

MR-J4-20A1(-RJ)

053

13

LM-U2PAB-05M-0SS0

LM-U2PBB-07M-1SS0

23 23

MR-J4-40A1(-RJ) LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0


2. This is available with servo amplifiers with software version C8 or later.

3. The combination increases the rated torque and the maximum torque.

Direct drive motor (Note 1)

TM-RFM002C20

TM-RG2M002C30 (Note 2)

TM-RU2M002C30 (Note 2)

TM-RG2M004E30 (Note 2)

TM-RU2M004E30 (Note 2)

TM-RFM004C20

TM-RG2M004E30 (Note 2, 3)

TM-RU2M004E30 (Note 2, 3)

TM-RG2M009G30 (Note 2)

TM-RU2M009G30 (Note 2)

1 - 20


1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.

Model adaptive control


Speed control mode

Torque control mode

Positioning mode

This servo amplifier is used as a position control servo.

This servo amplifier is used as a speed control servo.

This servo amplifier is used as a torque control servo.

Used when you use an MR-J4-_A_-RJ servo amplifier in the positioning mode under the point table/program/indexer method.

The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version

B3 or later.

Position/speed control change mode

Speed/torque control change mode

Torque/position control change mode

High-resolution encoder

Absolute position detection system

Gain switching function

Using an input device, control can be switched between position control and speed control.

Using an input device, control can be switched between speed control and torque control.

Using an input device, control can be switched between torque control and position control.

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 gains during rotation and during stop, and can use an input device to switch gains during operation.

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

This function suppresses vibration at the arm end or residual vibration.

This is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the 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 an 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 axis.

Section 7.1.5

Section 7.1.1

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]

Slight vibration suppression control

Suppresses vibration of ±1 pulse produced at a servo motor stop.

Section 3.6.5

Section 3.6.6

Chapter 12

Section 7.2

[Pr. PB24]

Section 3.2.1

Section 3.6.1

Section 4.2

Section 3.2.2

Section 3.6.2

Section 4.3

Section 3.2.3

Section 3.6.3

Section 4.4

MR-J4-_A_-

RJ Servo

Amplifier

Instruction

Manual

(Positioning

Mode)

Section 3.6.4

Electronic gear

This realizes a high response and stable control following the ideal model. The twodegrees-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately. Additionally, this function can be disabled. Refer to section 7.5 for disabling this function. This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier with MR Configurator2.

Input pulses can be multiplied by 1/10 to 4000.

[Pr. PA06]

[Pr. PA07]

S-pattern acceleration/ deceleration time constant

Speed can be increased and decreased smoothly. [Pr. PC03]

1 - 21


Auto tuning

Brake unit

Power regeneration converter

Regenerative option

Alarm history clear

Input signal selection (device settings)

Output signal selection

(device settings)

Output signal (DO) forced output

Restart after instantaneous power failure

Command pulse selection

Torque limit

Speed limit

Status display

External I/O signal display

Automatic VC offset

Alarm code output

Test operation mode

Analog monitor output

MR Configurator2

Linear servo system

Direct drive servo system


One-touch tuning

SEMI-F47 function

Tough drive function

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

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 large regenerative power generated.

Alarm history is cleared.

ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to any pins.

Section 6.3

Section 11.3

Section 11.4

Section 11.2

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN1 connector.

[Pr. PC18]

[Pr. PD03] to

[Pr. PD22]

[Pr. PD23] to

[Pr. PD26]

[Pr. PD28]

[Pr. PD47]

Output signal can be forced on/off independently of the servo status.

Use this function for checking output signal wiring, etc.

If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal.

(available in the future)

Command pulse train form can be selected from among three different types.

Section 4.5.8

Servo motor torque can be limited to any value.

Servo motor speed can be limited to any value.

[Pr. PA13]

Section 3.6.1

(5)

[Pr. PA11]

[Pr. PA12]

Section 3.6.3

(3)

[Pr. PC05] to

[Pr. PC11]

Servo status is shown on the 5-digit, 7-segment LED display

On/off statuses of external I/O signals are shown on the display.

Section 4.5

Section 4.5.7

Voltage is automatically offset to stop the servo motor if it does not come to a stop when VC (Analog speed command) or VLA (Analog speed limit) is 0 V.

Section 4.5.4

If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8

Jog operation, positioning operation, motor-less operation, DO forced output, and program operation can be used.

MR Configurator2 is required to perform positioning operation or program operation.

Section 4.5.9

Servo status is output in terms of voltage in real time.

[Pr. PC14],

[Pr. PC15]

Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Linear servo system can be configured using a linear servo motor and linear encoder.

Refer to section 1.4 for the software version of a servo amplifier that is compatible.

The direct drive servo system can be configured to drive a direct drive motor.

Refer to section 1.4 for the software version of a servo amplifier that is compatible.

Fully closed loop system can be configured using the load-side encoder.

This is used with servo amplifiers with software version A5 or later. Check the software version of the servo amplifier with MR Configurator2.

Gain adjustment is performed just by one click on a certain button on MR

Configurator2 or operation section.

Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation.

Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100

V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

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.

Section 11.7

Chapter 15

Chapter 16

Chapter 17

Section 6.2

[Pr. PA20]

[Pr. PE25]

Section 7.4

Section 7.3

1 - 22


Drive recorder function

STO function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Lost motion compensation function

Super trace control

Mark detection

Current position latch function

Interrupt positioning function

MR-D01 extension I/O unit

Modbus RTU communication function

High-resolution analog input

(VC)

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.

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 functional safety 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.


This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.

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.


This function improves the response delay occurred when the machine moving direction is reversed. This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier with MR Configurator2.

This function sets constant and uniform acceleration/deceleration droop pulses to almost 0. This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier with MR Configurator2.

When the mark detection signal is turned on, the current position is latched. The latched data can be read with communication commands.

When MSD (Mark detection) turns on, this function converts the remaining distance to the travel distance set in [Pr. PT30] and [Pr. PT31] (Mark sensor stop travel distance).

This is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.

MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4-

_A_-RJ servo amplifiers.

MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.

MR-D01 cannot be used with MR-J4-03A6(-RJ) servo amplifiers.

MR-J4-_A_-

RJ Servo

Amplifier

Instruction

Manual

(Positioning

Mode)

Chapter 19

MR-J4-_A_-

RJ Servo

Amplifier

Instruction

Manual

(Positioning

Mode)

The Modbus protocol uses dedicated message frames for the serial communication between a master and slaves. The dedicated message frames have functions for reading and writing data, and you can write parameters from servo amplifiers and check the operation status of the servo amplifiers by using this function. When the indexer method is used, there are functional restrictions.

This function is supported by MR-J4-_A_-RJ servo amplifiers with a capacity of 100 W or more manufactured in November, 2014 or later.

This function will be available with MR-J4-03A6-RJ servo amplifiers in the future.

The analog input resolution can be increased to 16 bits. This function is available with servo amplifiers manufactured in November 2014 or later.

This is not available with MR-J4-03A6-RJ servo amplifiers.

[Pr. PA23]

Chapter 13

Section 7.6

Section 7.7

MR-J4-_A_-

RJ Servo

Amplifier

Instruction

Manual

(Modbus RTU

Protocol)

[Pr. PC60]

1 - 23


1.6 Model designation

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

AC SERVO

SER.A45001001

MODEL MR-J4-10A

POWER : 100W

INPUT

OUTPUT

: 3AC/AC200-240V 0.9A/1.5A 50/60Hz

: 3PH170V 0-360Hz 1.1A

STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175

Max. Surrounding Air Temp.: 55°C

IP20

KCC-REI-MEK-TC300A621G51 DATE: 2014-05

TOKYO 100-8310, JAPAN MADE IN JAPAN

Serial number

Model

Capacity

Applicable power supply

Rated output current

Standard, Manual number

Ambient temperature

IP rating

KC certification number, the year and month of manufacture

Country of origin

(2) Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R J 4 6 0 A 4 R J

Series

Rated output

Symbol Rated output [kW]

10 0.1

100

200

350

500

700

20

40

60

70

11K

15K

22K

0.2

0.4

0.6

0.75

1

2

3.5

5

7

11

15

22

Special specification

Symbol

None Standard

-RJ

Fully closed loop control four-wire type/ load-side encoder A/B/Z-phase input compatible

Positioning mode compatible

-ED

-RU

-PX


MR-J4-_A_ without a dynamic brake (Note 2)

MR-J4-_A_-RJ without a dynamic brake (Note 2)

MR-J4-_A_ without regenerative resistor (Note 1)

MR-J4-_A_-RJ without regenerative resistor (Note 1) -RZ

-EB

-KS

MR-J4-_A_ with a special coating specification (3C2) (Note 3)

MR-J4-_A_-RJ with a special coating specification (3C2) (Note 3)

Power supply

Symbol Power supply

1

4



General-purpose interface

Note 1. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.

Refer to app. 10.2 for details.

2. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to app. 10.1 for details.

3. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 10.3 for details.

1 - 24


(8)

(16)

(17)

(9)

(13)

Side

(3)

(4)

(12)

(5)

(6)

1.7 Structure

1.7.1 Parts identification

(1) 200 V class


The diagram is for MR-J4-10A-RJ.

(14)

(7)

(15)

(1)

(2)

Detailed

(1)

Display

The 5-digit, 7-segment LED shows the servo status and the alarm number.

Operation section

Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.

Section 4.5

MODE UP DOWN SET

Inside of the display cover

(10) (11)

(19)

(18)

MODE UP DOWN SET

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(Note

2)

Used to set data.

Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.

Used to change the display or data in each mode.

Used to change the mode.

Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.

USB communication connector (CN5)

Connect with the personal computer.

Analog monitor connector (CN6)

Outputs the analog monitor.

RS-422/RS-485 communication connector (CN3)

Connect with the RS-422/RS-485 communication controller, parameter unit, etc.

STO input signal connector (CN8)

Used to connect the MR-J3-D05 safety logic unit and external safety relay.

I/O signal connector (CN1)

Used to connect digital I/O signals.

Encoder connector (CN2)

Used to connect the servo motor encoder or external encoder. Refer to table 1.1 for the compatible external encoders.

(9)

(12)

Battery connector (CN4)

Used to connect the battery for absolute position data backup.

(10)

Battery holder

Install the battery for absolute position data backup.

(11) Protective earth (PE) terminal

Main circuit power connector (CNP1)

Connect the input power supply.

Section 4.5

Section

11.7

Section 3.2

Chapter 14

Chapter 13

App. 5

Section 3.2

Section 3.4

Section 3.4

"Servo Motor

Instruction

Manual (Vol.

3)"

Chapter 12

Section

12.2

Section 3.1

Section 3.3

(14)

(15)

(16)

(17)

(Note

1, 2)

(18)

(19)

Control circuit power connector (CNP2)

Connect the control circuit power supply and regenerative option.

Servo motor power output connector (CNP3)

Connect the servo motor.

Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

External encoder connector (CN2L)

Refer to table 1.1 for the compatible external encoders.

Section 3.1

Section 3.3

Optional unit connector (CN7)

Connect the optional unit. It is available with MR-J4-_A-RJ servo amplifiers manufactured in November 2014 or later.

The MR-J4-_A servo amplifier does not have this connector.


Connect the optional unit. It is available with MR-J4-_A-RJ servo amplifiers manufactured in November 2014 or later.

The MR-J4-_A servo amplifier does not have this connector.

Section 3.4

"Linear

Encoder

Instruction

Manual"

1 - 25


Note 1. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.

2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed loop system in this manual.

1 - 26


(b) MR-J4-350A(-RJ)

The broken line area is the same as

MR-J4-200A(-RJ) or less.

(1)

(3)

(2)

Side

(4)

(5)

Detailed

(1)



Section 3.1

Section 3.3

Section 1.6

(3)

(4)

(5)

Servo motor power connector (CNP3)




Charge lamp

When the main circuit is charged, this will light up.

While this lamp is lit, do not reconnect the cables.


(7)

Section 3.1

Section 3.3

Battery holder


Section 3.1

Section 3.3

Section

12.2

(7)

(6)

1 - 27


(c) MR-J4-500A(-RJ)

POINT

The servo amplifier is shown with the front cover open. The front cover cannot be removed.

(1)

(2)

(3)

(Note)

(4)

Side

(5)

Detailed



(1)

(2)

(3)

(5)

(6)

(7)

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

Main circuit terminal block (TE1)


Battery holder


Section 3.1

Section 3.3

Section

12.2

Section 1.6

Regenerative option/power factor improving reactor terminal block (TE3)

Used to connect a regenerative option or a power factor improving DC reactor.

Servo motor power supply terminal block (TE4)


Charge lamp



Section 3.1

Section 3.3


Section 3.1

Section 3.3

(6)

(7)

(8)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 28

(1)

(2)


(d) MR-J4-700A(-RJ)

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

(7)

(6)

(5)

(Note)



Detailed

(1)

(2)

(3)

Power factor improving reactor terminal block (TE3)

Used to connect the DC reactor.


Used to connect the input power supply, regenerative option, and servo motor.




(5)

Battery holder


Section 3.1

Section 3.3

Section

12.2

Section 1.6

(7)

Charge lamp



(4)

(3)


1 - 29


(3)

(4)

(1)

(5)

(Note)

(2)

(e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)

POINT


(7)

(6)



Detailed

(1)

(2)

(3)

Power factor improving reactor terminal block (TE1-

2)

Used to connect a power factor improving DC reactor and a regenerative option.

Main circuit terminal block (TE1-1)

Used to connect the input power supply and servo motor.




(5)

Battery holder


Section 3.1

Section 3.3

Section

12.2

Section 1.6

(7)

Charge lamp




1 - 30


(f) MR-J4-22KA(-RJ)

POINT


(7)

(5)

(Note)

(6)

(2)

(3)



Detailed

(1)

(2)

(3)

Power factor improving reactor terminal block (TE1-

2)







(5)

Battery holder


Section 3.1

Section 3.3

Section

12.2

Section 1.6

(7)

Charge lamp



(1)

(4)


1 - 31


(2) 400 V class

(a) For MR-J4-200A4(-RJ) or less

The diagram is for MR-J4-60A4-RJ.

Detailed

(14)

(7)

(8)

(15)

(17)

(9)

(13)

Side

(3)

(16)

(4)

(12)

(5)

(6)

(1)

(2)

(10)

MODE UP DOWN SET

(11)

(1)

Display

The 5-digit, seven-segment LED shows the servo status and the alarm number.

Operation section

Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the

"MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.

MODE UP DOWN SET


(19)

(18)

(2)

Used to set data. Push this button together with the "MODE" button for

3 s or more to switch to the one-touch tuning mode.


Used to change the mode. Push this button together wish the "SET" button for 3 s or more to switch to the one-touch tuning mode.

Section 4.5

Section

11.7

Section 3.2

(5)

(6)




Used to connect MR-J3-D05 safety logic unit and external safety relay.

Chapter 14

(8)

(Note

2)

(9)






(13) Rating plate

(14)



Chapter 13

App. 5

Section 3.2

Section 3.4

Section 3.4

"Servo

Motor

Instruction

Manual

(Vol. 3)"

Chapter 12

Section

12.2

Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

(16)

(17)

(Note

1)

(18)

(19)

Charge lamp

When the main circuit is charged, this will light.



Used to connect the external encoder. Refer to table 1.1 for the compatible external encoders.


Connect the optional unit. It is available with MR-J4-

_A4-RJ servo amplifiers manufactured in November

2014 or later. MR-J4-_A4 servo amplifier does not have this connector.


Connect the optional unit. It is available with MR-

J4-_A4-RJ servo amplifiers manufactured in

November 2014 or later. The MR-J4-_A4 servo amplifier does not have this connector.

Section 3.4

"Linear

Encoder

Instruction

Manual"

1 - 32


Note 1. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.


1 - 33


(1)

(7)

(3)

(2)

Side

(4)

(5)

(b) MR-J4-350A4(-RJ)


MR-J4-200A4(-RJ) or less.

Detailed

(1)



(2) Rating plate

(3)

(4)

(5)

(6)





Charge lamp



Protective earth (PE) terminal

Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

Section 3.1

Section 3.3

(7)

Battery holder


Section 12.2

(6)

1 - 34


(c) MR-J4-500A4(-RJ)

POINT


(6)

(3)

(Note)

(4)

(5)

(1)



Detailed

(1)

(2)

(3)




Used to connect the input power supply, regenerative option and servo motor.

Battery holder


(4) Rating plate

(5)

Power factor improving reactor terminal block

(TE3)

Used to connect a power factor improving DC reactor.

(6)

(7)

Charge lamp



Protective earth (PE) terminal

Section 3.1

Section 3.3

Section 12.2

Section 1.6

Section 3.1

Section 3.3

Section 3.1

Section 3.3

(2)

(7)


1 - 35


(d) MR-J4-700A4(-RJ)

POINT


(7)

(6)

(5)

(Note)



Detailed

(1)

(2)

(3)


(TE3)

Used to connect the DC reactor.


Used to connect the input power supply, regenerative option, and servo motor.




Battery holder

(5) Install the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp



Section 3.1

Section 3.3

Section 12.2

Section 1.6

(1)

(2)

(4)

(3)


1 - 36


(5)

(Note)

(2)

(3)

(4)

(1)

(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)

POINT


(7)

(6)



Detailed

(1)

(2)

(3)


(TE1-2)







Battery holder


(6) Rating plate

(7)

Charge lamp



Section 3.1

Section 3.3

Section 12.2

Section 1.6


1 - 37


(f) MR-J4-22KA4(-RJ)

POINT


(7)

(5)

(Note)

(6)

(2)

(3)



Detailed

(1)

(2)

(3)


(TE1-2)







Battery holder


(6) Rating plate

(7)

Charge lamp



Section 3.1

Section 3.3

Section 12.2

Section 1.6

(1)

(4)


1 - 38


(3) 100 V class

The diagram is for MR-J4-10A1-RJ.

(3)

(4)

(12)

(5)

(6)

(14)

(7)

(16)

(17)

(9)

(13)

Side

(15)

(8)

(1)

(2)

(1)

Display


Operation section

Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.

Section 4.5

MODE UP DOWN SET


(10) (11)

(19)

(18)

MODE UP DOWN SET

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(Note

2)

Used to set data.




Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.


Connect with the personal computer.

Analog monitor connector (CN6)

Outputs the analog monitor.




Used to connect the MR-J3-D05 safety logic unit and external safety relay.


Used to connect digital I/O signals.



Section 4.5

Section

11.7

Section 3.2

Chapter 14

Chapter 13

App. 5

Section 3.2

Section 3.4

Section 3.4

"Servo

Motor

Instruction

Manual

(Vol. 3)"

(9)

(12)



(10)

Battery holder





Chapter 12

Section

12.2

Section 3.1

Section 3.3

(14)

(15)

(16)

(17)

(Note

1, 2)





Charge lamp



Refer to table 1.1 for the compatible external encoders.

(18)


Connect the optional unit. It is available with MR-J4-_A1-RJ servo amplifiers manufactured in November 2014 or later.

The MR-J4-_A1 servo amplifier does not have this connector.

(19)


Connect the optional unit. It is available with MR-J4-_A1-RJ servo amplifiers manufactured in November 2014 or later.

The MR-J4-_A1 servo amplifier does not have this connector.

Note 1. This is for the MR-J4-_A1-RJ servo amplifier. The MR-J4-_A1 servo amplifier does not have the CN2L connector.

Section 3.1

Section 3.3

Section 3.4

"Linear

Encoder

Instruction

Manual"


1 - 39


1.7.2 Removal and reinstallation of the front cover

WARNING

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 between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

The following shows how to remove and reinstall the front cover of MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) and MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ).

The diagram shows MR-J4-700A.

(1) Removal of the front cover

A)

A)

1) Hold the ends of lower side of the front cover with both hands.

2) Pull up the cover, supporting at point A).

3) Pull out the front cover to remove.

1 - 40


(2) Reinstallation of the front cover

Front cover setting tab A)

A)

1) Insert the front cover setting tabs into the sockets of the servo amplifier (2 places).

2) Push down the cover, supporting at point A).

Setting tab

3) Press the cover against the terminal box until the setting tabs click.

1 - 41


1.8 Configuration including peripheral equipment

CAUTION


POINT

Equipment other than the servo amplifier and servo motor are optional or recommended products.

When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, refer to app. 13.

1 - 42


(1) 200 V class


The diagram shows MR-J4-20A-RJ.

R S T

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

D (Note 5)

U

V

W

Power factor improving DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor

To RS-422/RS-485 communication controller, parameter unit, etc.

To safety relay or

MR-J3-D05 safety logic unit

CN1

Junction terminal block

CN2

CN2L ( Note 4)

CN4

Battery

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.


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. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an

MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

1 - 43


(b) MR-J4-350A(-RJ)

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

U

V

W

D (Note 5)

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L (Note 4)

CN4 Battery

Servo motor



2. For the power supply specifications, refer to section 1.3.


4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using


1 - 44


(c) MR-J4-500A(-RJ)

R S T

(Note 2)

Power supply


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L11

L21


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

D (Note 5)

U

V

W

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1

CN2

CN2L

(Note 4)

CN4

Battery


Servo motor







1 - 45


(d) MR-J4-700A(-RJ)

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)


(FR-HEL)

P4

L21

L11

P3

L3

L2

L1

U V W

(Note 5)

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L

(Note 4)

CN4

Battery

Servo motor







5. When using the regenerative option, refer to section 11.2.

1 - 46


(e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L21

L11

L3

L2

L1

U V W


(FR-HEL)

P3

P4

(Note 5)

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L

(Note 4)

CN4

Battery

Servo motor








1 - 47


(f) MR-J4-22KA(-RJ)

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL)

P3

L21

L11

P4

U V W

(Note 5)

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L

(Note 4)

CN4

Battery

Servo motor








1 - 48


(2) 400 V class

(a) MR-J4-200A4(-RJ) or less

The diagram is for MR-J4-60A4-RJ and MR-J4-100A4-RJ.

(Note 2)

Power supply

R S T


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

CN6

Analog monitor

CN3

CN8


To safety relay or


Line noise filter

(FR-BSF01)


(FR-HEL-H)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D (Note 5)

U

V

W

CN1

CN2

CN2L (Note 4)

CN4

Battery


Servo motor



2. Refer to section 1.3 for the power supply specification.


4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4-

RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.

Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

1 - 49


(b) MR-J4-350A4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL-H)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D (Note 5)

U

V

W

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L (Note 4)

CN4

Battery

Servo motor








1 - 50


(c) MR-J4-500A4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL-H)

P3

P4

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1

CN2

CN2L (Note 4)

CN4

Battery


L3

L2

L1

L21

L11

U V W

(Note 5)

P+ C

Regenerative option

Servo motor









1 - 51


(d) MR-J4-700A4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)


(FR-HEL-H)

P4

L21

L11

P3

L3

L2

L1

U V W

(Note 5)

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L (Note 4)

CN4

Battery

Servo motor









1 - 52


(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL-H)

P3

P4

L21

L11

U V W

(Note 5)

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L (Note 4)

CN4

Battery

Servo motor









1 - 53


(f) MR-J4-22KA4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL-H)

P3

L21

L11

P4

U V W

(Note 5)

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L (Note 4)

CN4

Battery

Servo motor









1 - 54


(3) 100 V class

The diagram shows MR-J4-20A1-RJ.

(Note 2)

Power supply


(MCCB)

(Note 3)

Magnetic contactor

(MC)

Power factor improving AC reactor

(FR-HAL)

Line noise filter

(FR-BSF01)

(Note 1)

L1

L2

(Note 1)

D (Note 5)

U

V

W

Regenerative option

P+

C

L11

L21

CN5

MR Configurator2

Personal computer

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

CN2L ( Note 4)

CN4

Battery

Servo motor

Note 1. The power factor improving DC reactor cannot be used.

2. For power supply specifications, refer to section 1.3.


4. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and

Linear Encoder Instruction Manual for the compatible external encoders.

1 - 55


MEMO

1 - 56

2. INSTALLATION

2. INSTALLATION

WARNING

To prevent electric shock, ground each equipment securely.

CAUTION



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.


Use the equipment within the specified environment. For the environment, refer to section 1.3.

Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.


Do not drop or apply heavy impact on the servo amplifiers and the servo motors.

Otherwise, injury, malfunction, etc. may occur.

Do not install or operate the servo amplifier which have been damaged or have any parts missing.

When the equipment has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

The servo amplifier must be installed in the metal cabinet.

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

POINT

When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class/600 W or lower 200 V class servo amplifier, pull out CN3 and CN8 connectors beforehand.

2 - 1

2. INSTALLATION

2.1 Installation direction and clearances

CAUTION

The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.

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 Cabinet

40 mm or more

Servo amplifier

Wiring allowance

80 mm or more

10 mm or more

(Note 2)

10 mm or more Top

Bottom

40 mm or more

(Note 1)

Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.

2. When mounting MR-J4-500A(-RJ), maintain a minimum clearance of 25 mm on the left side.

2 - 2

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 closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left. Otherwise, the CNP1, CNP2, and

CNP3 connectors cannot be removed.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within

0 °C to 45 °C or use the servo amplifier with 75% or less of the effective load ratio.

Cabinet Cabinet

100 mm or more

10 mm or more

(Note 2)

1 mm

100 mm or more

1 mm

30 mm or more

30 mm or more

30 mm or more

Top

Bottom

40 mm or more

(Note 1)

40 mm or more

Leaving clearance Mounting closely


2. When mounting MR-J4-500A(-RJ), maintain a minimum clearance of 25 mm between the MR-J4-500A(-RJ) and a servo amplifier mounted on the left side.

(2) Others

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected.

Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2 - 3

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.

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.

2.3 Encoder cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range.

Use the power supply and brake wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor moves, the bending radius should be made as large as possible. Refer to section 10.4 for the bending life.

2 - 4

2. INSTALLATION

2.4 Inspection items

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

To avoid an electric shock, only qualified personnel should attempt inspections.

For repair and parts replacement, contact your local sales office.

CAUTION

Do not perform insulation resistance test on the servo amplifier. Otherwise, it may cause a malfunction.

Do not disassemble and/or repair the equipment on customer side.

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions especially when the servo motor is movable.

(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.

(7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

2 - 5

2. INSTALLATION

2.5 Parts having service life

Service life of the following parts is listed below. However, the service life vary depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your sales representative.

Part name Life guideline

Smoothing capacitor

Relay

Cooling fan

Absolute position battery

10 years

Number of power-on and forced stop by EM1

(Forced stop 1) times: 100,000 times

Number of on and off for STO: 1,000,000 times

10,000 hours to 30,000 hours (2 years to 3 years)


(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of

40 °C or less).

(2) Relays

Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of their life when the power has been turned on and forced stop by EM1 (Forced stop 1) has occurred

100,000 times in total, or when the STO has been turned on and off 1,000,000 times while the servo motor is stopped under servo-off state. However, the life of relays may depend on the power supply capacity.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore, the cooling fan must be replaced in a few years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced.

The life indicates under the yearly average ambient temperature of 40 °C, free from corrosive gas, flammable gas, oil mist, dust and dirt.

2 - 6

2. INSTALLATION

2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level

(1) Effective load ratio and regenerative load ratio

As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the effective load ratio and regenerative load ratio shown in the following figure.

[%]

100

95

0

0 1000

Altitude

2000 [m]

When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 °C to 45 °C or at 75% or smaller effective load ratio. (Refer to section 2.1.)

(2) Input voltage

Generally, a withstand voltage decreases as increasing altitude; however, there is no restriction on the withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)

(3) Parts having service life

(a) Smoothing capacitor

The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 30 °C or less).

(b) Relay

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)

(c) Servo amplifier cooling fan

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)

2 - 7

2. INSTALLATION

MEMO

2 - 8

3. SIGNALS AND WIRING


WARNING

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. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.





Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.



24 V DC 24 V DC

DOCOM

(DOCOMD)

DOCOM

(DOCOMD)



RA



RA

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.

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF

(-H)) with the power line of the servo motor.


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/W) to the servo motor power input

(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W

3 - 1


CAUTION


Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

POINT

When you use a linear servo motor, replace the following words in the left to the words in the right.

Load to motor inertia ratio → Load to motor mass ratio

(Servo motor) speed → (Linear servo motor) speed

3.1 Input power supply circuit

CAUTION

Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/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. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit of the specification, the servo amplifier will break down.

The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply.


The N- terminal is not a neutral point of the power supply. Incorrect wiring will cause a burst, damage, etc.

POINT

EM2 has the same function as EM1 in the torque control mode.

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's.

When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.


Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

3 - 2


3.1.1 200 V class

(1) Using 3-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-350A(-RJ)

Malfunction

RA1

OFF

ON

MC

3-phase

200 V AC to

240 V AC

MCCB

(Note 9)

MC

Emergency stop switch

(Note 6)

MC

(Note 1)

L2

Servo amplifier

CNP1

L1

(Note 10)

CNP3

U

L3 V

NW

P3

P4

SK

(Note 5)

U

V

W

Servo motor

Motor

M

(Note 2)

CNP2

P+

C

D

L11

L21

(Note 10)

CN2

(Note 3)

Encoder cable

Encoder

(Note 4)

Forced stop 2

Servo-on

(Note 7)

Main circuit power supply

24 V DC (Note 11)

(Note 8)

Short-circuit connector

(Packed with the servo amplifier)

CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

24 V DC (Note 11)

ALM

RA1

Malfunction

(Note 4)

Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual

(Vol. 3)".

4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".

6. 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. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.

8. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to section 11.10.)

10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

3 - 3


(2) Using 1-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-200A(-RJ)

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's.

When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.

Malfunction

RA1

OFF

ON

MC

MC

SK


Servo motor

1-phase

200 V AC to

240 V AC

(Note 4)

MCCB

(Note 9)

Forced stop 2

Servo-on

(Note 6)

MC

(Note 1)

(Note 2)

(Note 7)


24 V DC (Note 11)

(Note 8)



CN1

EM2

SON

DICOM

CN8

CNP2

P+

C

D

L11

L21

L2

Servo amplifier

CNP1

L1

(Note 10)

CNP3

U

L3 V

NW

P3

P4

(Note 10)

CN2

CN1

DOCOM

ALM

(Note 5)

(Note 3)

Encoder cable

24 V DC (Note 11)

RA1

U

V

W

Motor

M

Encoder

Malfunction

(Note 4)



(Vol. 3)".






9. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to section 11.10.)



3 - 4


(3) MR-J4-500A(-RJ)

Malfunction

RA1

3-phase

200 V AC to

240 V AC

MCCB

OFF

ON

MC


Servo amplifier

(Note 6)

MC

(Note 10)

L1

L2

L3

N-

U

V

W

(Note 9)

L11

L21

MC

SK

(Note 5)

(Note 1)

(Note 2)

(Note 4)

Forced stop 2

Servo-on

(Note 7)


24 V DC (Note 11)

(Note 8)



D

CN1

EM2

SON

DICOM

CN8

P3

P4

P+

C

(Note 10)

CN2

(Note 3)

Encoder cable

Servo motor

U

V

W

Motor

M

Encoder

CN1

DOCOM

24 V DC (Note 11)

ALM

RA1

Malfunction

(Note 4)



(Vol. 3)".









3 - 5


(4) MR-J4-700A(-RJ)

Malfunction

RA1

3-phase

200 V AC to

240 V AC

MCCB

(Note 9)

OFF

ON

MC


Servo amplifier

(Note 6)

MC

(Note 2)

L1

L2

L3

(Note 10)

Built-in regenerative resistor

U

V

P+ W

C

L11

L21

MC

SK

(Note 5)

(Note 1)

N-

P3

P4

(Note 10)

CN2

(Note 3)

Encoder cable

Servo motor

U

V

W

Motor

M

Encoder

(Note 4)

Forced stop 2

Servo-on

(Note 7)


24 V DC (Note 11)

(Note 8)



CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

24 V DC (Note 11)

ALM

RA1

Malfunction

(Note 4)




(Vol. 3)".









3 - 6


(5) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)

Malfunction

RA1

OFF

ON

MC


3-phase

200 V AC to

240 V AC

MCCB

(Note 9)

(Note 6)

MC

Servo amplifier

L1

L2

L3

P+

C

Regenerative resistor

(Note 2)

L11

L21

(Note 10)

U

V

W

(Note 1)

N-

P3

P4

MC

SK

(Note 14, 15)


(optional)

(Note 5)

(Note 10)

CN2

(Note 3)

Encoder cable

U

V

W

Servo motor

(Note 13) Cooling fan power supply

Motor

M

Encoder

Cooling fan

BU

BV

BW

(Note 12)

MCCB

(Note 4)

Forced stop 2

Servo-on

(Note 7)


24 V DC (Note 11)

(Note 8)



CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

ALM

24 V DC (Note 11)

RA1

Malfunction

(Note 4)


When


(Vol. 3)".

This

5. connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".







12. For the servo motor with a cooling fan.

13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".

14. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring of the external dynamic brake, refer to section 11.17.


3 - 7


3.1.2 400 V class

(1) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)

Malfunction

RA1

3-phase

380 V AC to

480 V AC

(Note 11)

Step-down transformer

MCCB

(Note 9)

OFF

ON

MC


(Note 6)

MC

(Note 1)

(Note 2)

CNP2

P+

C

D

L11

L21

N-

L1

Servo amplifier

CNP1

(Note 10)

CNP3

U

L2 V

L3 W

P3

P4

(Note 10)

CN2

MC

SK

(Note 5)

(Note 3)

Encoder cable

(Note 4)

Forced stop 2

Servo-on

(Note 7)


24 V DC (Note 12)

(Note 8)



CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

ALM

Servo motor

U

V

W

Motor

M

Encoder

24 V DC (Note 12)

RA1

Malfunction

(Note 4)


11.2.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor

Instruction Manual (Vol. 3)".







10. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

11. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class.

12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience.

However, they can be configured by one.

3 - 8


(2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)

Malfunction

RA1

3-phase

380 V AC to

480 V AC

(Note 11)


MCCB

(Note 9)

OFF


Servo amplifier

(Note 6)

MC

ON

MC

(Note 2)

L1

L2

L3

(Note 10)


U

V

P+ W

C

L11

L21

MC

SK

(Note 5)

(Note 1)

N-

P3

P4

(Note 10)

CN2

(Note 3)

Encoder cable

Servo motor

U

V

W

Motor

M

Encoder

(Note 4)

Forced stop 2

Servo-on

(Note 7)

Main circuit power supply CN1

EM2

SON

DICOM

24 V DC (Note 12)

(Note 8)



CN8

CN1 24 V DC (Note 12)

DOCOM

ALM

RA1

Malfunction

(Note 4)













12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience.

However, they can be configured by one.

3 - 9


(3) MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ)

Malfunction

RA1

OFF

3-phase

380 V AC to

480 V AC

(Note 11)


MCCB

(Note 9)


Servo amplifier

(Note 6)

MC

ON

MC

L1

L2

L3

P+

C

Regenerative

(Note 10)

U

V

W

L11

L21

(Note 1)

N-

P3

P4

MC

SK

(Note 15, 16)


(optional)

(Note 5)

(Note 10)

CN2 (Note 3)

Encoder cable

U

V

W

Servo motor

Motor

M

Encoder

(Note 13)

Cooling fan power supply

BU

BV

Cooling fan

BW

(Note 12)

MCCB

(Note 4)

Forced stop 2

Servo-on

(Note 7)


24 V DC (Note 14)

(Note 8)



CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

ALM

24 V DC (Note 14)

RA1

Malfunction

(Note 4)




(Vol. 3)".









12. For the servo motor with a cooling fan.

13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".


15. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring of the external dynamic brake, refer to section 11.17.


3 - 10


3.1.3 100 V class

Malfunction

RA1

1-phase

100 V AC to

120 V AC

MCCB

(Note 9)

OFF

ON

MC


(Note 6)

MC

Servo amplifier

CNP1

L1

Unassigned

(Note 10)

CNP3

U

L2 V

NW

Unassigned

Unassigned

(Note 2)

CNP2

P+

C

D

L11

L21

(Note 10)

CN2

MC

SK

(Note 5)

(Note 3)

Encoder cable

(Note 4)

Forced stop 2

Servo-on

(Note 7)


24 V DC (Note 11)

(Note 8)



CN1

EM2

SON

DICOM

CN8

U

V

W

Servo motor

Motor

M

Encoder

CN1

DOCOM

24 V DC (Note 11)

ALM

RA1

Malfunction

(Note 4)

Note 1. The power factor improving DC reactor cannot be used.


(Vol. 3)".






9. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker. (Refer to section 11.10.)



3 - 11


3.2 I/O signal connection example

3.2.1 Position control mode

(1) Sink I/O interface

Positioning module

RD75D/LD75D/QD75D

CLEARCOM 14

CLEAR

RDYCOM

PG0

PG0 COM

13

12

READY

PULSE F+

PULSE F-

PULSE R+

11

15

16

17

PULSE R- 18

9

10

(Note 11)

(Note 3, 5) Forced stop 2

Servo-on

(Note 5)

Reset

Proportion control

External torque limit selection

Forward rotation stroke end

Reverse rotation stroke end

Upper limit setting

Analog torque limit

+10 V/maximum torque

(Note 4)

24 V DC

10 m or less (Note 8)

10 m or less

(Note 13)


EM2

SON

RES

PC

(Note 4) 24 V DC

2 m or less

TL

LSP

LSN

DICOM

P15R

TLA

LG

SD

RD

PP

PG

NP

NG

LZ

LZR

LG

SD

DICOM

DOCOM

CR

Servo amplifier

(Note 7)

CN1

(Note 7)

CN1

47

DOCOM

20

46

41

49

10

11

35

36

8

9

3

Plate

48

23 ZSP

25 TLC

24

4

5

6

7

ALM

INP

LA

LAR

LB

LBR

(Note 4)

24 V DC

(Note 2)

RA1

RA2

RA3

RA4

10 m or less

34

33

Plate

(Note 7)

CN1

42

15

19

17

18

43

(Note 7)

CN6

3

1

2

2 m or less

MO1

LG

MO2

44

21

1

2 m or less

27

28

Plate

LG

OP

SD

Malfunction

(Note 6)

Zero speed detection

Limiting torque

In-position

(Note 12)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Control common

Control common

Encoder Z-phase pulse

(open collector)

DC ± 10 V

DC ± 10 V

Analog monitor 1

Analog monitor 2

(Note 16)

(Note 9)

MR Configurator2

Personal computer

(Note 10)

USB cable

(option)

CN5

+

CN8

(Note 12)



(Note 1)

3 - 12


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA 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. Refer to section

3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact) occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

7. The pins with the same signal name are connected in the servo amplifier.

8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector type.

9. Use SW1DNC-MRC2-_. (Refer to section 11.7.)

10. Controller or parameter units can also be connected via the CN3 connector, enabling RS-422/RS-485 communication. Note that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.

RS-422/RS-485 compatible controller

MR-PRU03 parameter unit or

PRU03

10BASE-T cable, etc. (EIA568-compliant)

Servo amplifier

CN3

11. This connection is not required for RD75D, LD75D and QD75D. However, to enhance noise tolerance, it is recommended to connect LG of servo amplifier and control common depending on the positioning module.



14. Plus and minus of the power of source interface are the opposite of those of sink interface.

15. CLEAR and CLEARCOM of source interface are interchanged to sink interface.

16. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked.

3 - 13


(2) Source I/O interface

POINT

For notes, refer to (1) in this section.

Positioning module

RD75D/LD75D/QD75D

(Note 15)


Servo-on

(Note 5)

Reset

Proportion control




Upper limit setting

Analog torque limit


(Note 9)

MR Configurator2

Personal computer

(Note 4, 14)

24 V DC

CLEAR

CLEARCOM

PG0

PG0 COM

13

14

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

12

11

15

16

17

PULSE R- 18

9

10

(Note 11)


DICOM

DOCOM

CR

10 m or less

(Note 13)


(Note 4, 14) 24 V DC

EM2

SON

RES

PC

TL

LSP

LSN

DICOM

P15R

TLA

LG

SD

2 m or less

NG

LZ

LZR

LG

SD

RD

PP

PG

NP

Servo amplifier

(Note 7)

CN1

(Note 7)

CN1

47

DOCOM

20

48 ALM

46

41

23 ZSP

(Note 4, 14)

24 V DC

(Note 2)

49

10

11

35

36

8

9

3

Plate

25 TLC

24

4

5

6

7

INP

LA

LAR

LB

LBR

10 m or less

34

33

Plate

LG

OP

SD

2 m or less

(Note 7)

CN1

42

15

19

17

(Note 7)

CN6

3

18

43

44

21

1

2

1

27

28

Plate

MO1

LG

MO2

2 m or less


Limiting torque

In-position





Control common

Control common


(open collector)

DC ± 10 V

DC ± 10 V

Analog monitor 1

Analog monitor 2

(Note 16)

(Note 10)

USB cable

(option)

CN5

(Note 12)



CN8

(Note 1)

3 - 14


3.2.2 Speed control mode

(1) Sink I/O interface

Servo amplifier

(Note 7)

CN1

46 DOCOM

(Note 4)

24 V DC


Servo-on

Reset

Speed selection 1

Speed selection 2

(Note 5)

Forward rotation start

Reverse rotation start



Upper limit setting

Analog speed command

±10 V/rated speed

Upper limit setting

(Note 8) Analog torque limit


(Note 9)

MR Configurator2

+

Personal computer

10 m or less

(Note 12)


(Note 4)

24 V DC

EM2

SON

RES

SP1

SP2

ST1

ST2

LSP

LSN

DICOM

DICOM

18

43

44

20

21

(Note 7)

CN1

42

15

19

41

16

17

P15R

VC

LG

1

2

28

TLA

SD

27

Plate

47

48

23

25

24

49

6

7

4

5

8

9

34

33

Plate

DOCOM

ALM

ZSP

TLC

SA

RD

LG

OP

SD

LZ

LZR

LA

LAR

LB

LBR

2 m or less

(Note 10)

USB cable

(option)

CN5

(Note 2)

RA1

RA2

RA3

RA4

RA5

10 m or less

2 m or less

(Note 7)

CN6

3 MO1

1 LG

2 MO2

Malfunction

(Note 6)


Limiting torque

Speed reached

Ready

(



(





Control common


(open collector)

DC ± 10 V

DC ± 10 V

Analog monitor 1

Analog monitor 2

CN8

2 m or less

(Note 11)



(Note 1)

3 - 15






3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals and output signals.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)


8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1

(5).)





PRU03


Servo amplifier

CN3




3 - 16



POINT


Servo amplifier

(Note 7)

CN1

46 DOCOM

(Note 4, 13)

24 V DC


Servo-on

(Note 5)

Reset

Speed selection 1

Speed selection 2





Upper limit setting


±10 V/rated speed

Upper limit setting



10 m or less

(Note 12)


EM2

SON

RES

SP1

SP2

ST1

ST2

LSP

LSN

(Note 4, 13)

24 V DC

DICOM

DICOM

18

43

44

20

21

(Note 7)

CN1

42

15

19

41

16

17

P15R

VC

LG

1

2

28

TLA 27

SD Plate

(Note 9)

MR Configurator2

Personal computer

2 m or less

(Note 10)

USB cable

(option)

47

48

23

25

24

49

8

9

4

5

6

7

34

33

Plate

DOCOM

ALM

ZSP

TLC

SA

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

SD

(Note 2)

RA1

2 m or less

(Note 7)

CN6

3 MO1

1 LG

2 MO2

RA2

RA3

RA4

RA5

10 m or less

Malfunction

(Note 6)


Limiting torque

Speed reached

Ready







Control common


(open collector)

DC ± 10 V

Analog monitor 1

Analog monitor 2

2 m or less

(Note 11)



(Note 1)

3 - 17


3.2.3 Torque control mode

POINT


(1) For sink I/O interface

(Note 3) Forced stop 2

Servo-on

Reset

Speed selection 1

Speed selection 2

Forward rotation selection

Reverse rotation selection

Upper limit setting

Analog torque command

±8 V/maximum torque

Upper limit setting

Analog speed limit

0 to ±10 V/rated speed

(Note 7)

MR Configurator2

+

Personal computer

Servo amplifier

(Note 6)

CN1

46 DOCOM

47 DOCOM

10 m or less

(Note 10)


EM2

SON

RES

SP1

SP2

RS1

RS2

(Note 4)

24 V DC

DICOM

DICOM

16

18

17

20

21

(Note 6)

CN1

42

15

19

41

P15R

TC

LG

1

27

28

48

23

25

49

8

9

4

5

6

7

ALM

ZSP

VLC

RD

LZ

LZR

LA

LAR

LB

LBR

2 m or less

VLA

SD

2

Plate

34

33

Plate

(Note 4)

24 V DC

(Note 2)

RA1

RA2

RA3

RA4

10 m or less

LG

OP

SD

2 m or less

Malfunction

(Note 5)


Limiting speed

Ready







Control common


(open collector)

(Note 8)

USB cable

(option)

CN5

(Note 6)

CN6

3 MO1

1 LG

2 MO2

CN8

2 m or less

DC ± 10 V

Analog monitor 1

DC ± 10 V

Analog monitor 2

(Note 9)



(Note 1)

3 - 18






3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals and output signals.






PRU03


Servo amplifier

CN3




3 - 19


(2) For source I/O interface

POINT


Servo amplifier

(Note 6)

CN1

46

DOCOM

(Note 4, 11)

24 V DC


Servo-on

Reset

Speed selection 1

Speed selection 2



Upper limit setting



Upper limit setting

Analog speed limit


10 m or less

(Note 10)


EM2

SON

RES

SP1

SP2

RS1

RS2

(Note 4, 11)

24 V DC

DICOM

DICOM

(Note 6)

CN1

42

15

19

41

16

18

17

20

21

P15R

TC

LG

VLA

1

27

28

2

SD Plate

(Note 7)

MR Configurator2

Personal computer

2 m or less

(Note 8)

USB cable

(option)

47

48

23

25

49

8

9

4

5

6

7

34

33

Plate

DOCOM

ALM

ZSP

VLC

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

SD

(Note 6)

CN6

3 MO1

1 LG

2 MO2

(Note 2)

RA1

10 m or less

2 m or less

RA2

RA3

RA4

Malfunction

(Note 5)


Limiting speed

Ready







Control common


(open collector)

DC ± 10 V

DC ± 10 V

Analog monitor 1

Analog monitor 2

2 m or less

(Note 9)



(Note 1)

3 - 20


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.


Symbol

Connection target

(application)

Description

L1/L2/L3

P3/P4



DC reactor

Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

Power

(-RJ) to

MR-J4-200A

(-RJ)

MR-J4-350A

(-RJ) to

MR-J4-22KA

(-RJ)

MR-J4-60A4

(-RJ) to

MR-J4-22KA4

(-RJ)

MR-J4-10A1 to

MR-J4-40A1

3-phase 200 V AC to

240 V AC, 50 Hz/60 Hz

1-phase 200 V AC to

240 V AC, 50 Hz/60 Hz

3-phase 380 V AC to

480 V AC, 50 Hz/60 Hz

1-phase 100 V AC to

120 V AC, 50 Hz/60 Hz

L1/L2/L3

L1/L3

L1/L2/L3

L1/L2

When not using the power factor improving DC reactor, connect P3 and P4 (factory-wired).

When using the power factor improving DC reactor, disconnect P3 and P4, and connect the power factor improving DC reactor to P3 and P4. Additionally, the power factor improving DC reactor cannot be used for the 100 V class servo amplifiers.

Refer to section 11.11 for details.

(1) 200 V class/100 V class

1) MR-J4-500A(-RJ) or less and MR-J4-40A1(-RJ) or less

When using a servo amplifier built-in regenerative resistor, connect P+ and D (factorywired).

When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.

2) MR-J4-700A(-RJ) to MR-J4-22KA(-RJ)

MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) do not have D.

When using a servo amplifier built-in regenerative resistor, connect P+ and C (factorywired).

When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.

1) MR-J4-350A4(-RJ) or less

When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factorywired)

When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.

2) MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ)

MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ) do not have D.

When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factorywired)

When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.


3 - 21


Symbol

L11/L21

U/V/W

N-

Connection target

(application)

Description


Servo motor power input


Power regeneration common converter

Brake unit

Supply the following power to L11 and L21.

Power

1-phase 200 V AC to

240 V AC, 50 Hz/60 Hz

1-phase 380 V AC to

480 V AC, 50 Hz/60 Hz

1-phase 100 V AC to

120 V AC, 50 Hz/60 Hz

MR-J4-22KA(-RJ)

MR-J4-60A4(-RJ) to

MR-J4-22KA4(-RJ)

MR-J4-10A1 to

MR-J4-40A1

L11/L21

L11/L21

L11/L21

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

This terminal is used for a power regeneration converter, power regeneration common converter and brake unit.

Refer to section 11.3 to 11.5 for details.

Protective earth (PE)

Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the cabinet for grounding.

3.3.2 Power-on sequence

POINT

The voltage of analog monitor output, output signal, etc. may be unstable at power-on.

(1) Power-on procedure

1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in above section 3.1. Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)

4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.

3 - 22


(2) Timing chart

SON (Servo-on) accepted

(Note)

(2.5 s to 3.5 s)

Main circuit


ON

OFF

Base circuit

SON (Servo-on)

ON

OFF

ON

OFF

RES (Reset)

RD (Ready)

ON

OFF

ON

OFF

ALM

(Malfunction)

No alarm (ON)

Alarm (OFF)

5 ms

2.5 s to 3.5 s

10 ms

95 ms

10 ms 5 ms

10 ms 95 ms

10 ms 5 ms 10 ms

Note. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.

3.3.3 Wiring CNP1, CNP2, and CNP3

POINT

For the wire sizes used for wiring, refer to section 11.9.

When wiring, remove the power connectors from the servo amplifier.

Insert only one wire or ferrule to each wire insertion hole.

MR-J4-500A(-RJ) or more and MR-J4-500A4(-RJ) or more do not have these connectors.

Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.

(1) Connector

(a) MR-J4-10A(-RJ) to MR-J4-100A(-RJ)

Servo amplifier

CNP1

CNP2

CNP3

Table 3.1 Connector and applicable wire

Applicable wire Stripped

CNP1 06JFAT-SAXGDK-H7.5



AWG 18 to 14 3.9 mm or shorter 9

Open tool

Manufac turer

J-FAT-OT (N) or

J-FAT-OT

JST

3 - 23


(b) MR-J4-200A(-RJ)/MR-J4-350A(-RJ)

MR-J4-200A(-RJ)

Servo amplifier

CNP1

CNP2

CNP3

CNP1

CNP3

CNP2

MR-J4-350A(-RJ)

Servo amplifier



CNP1 06JFAT-SAXGFK-XL

CNP3 03JFAT-SAXGFK-XL

AWG 16 to 10

CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14

4.7 mm or shorter

3.9 mm or shorter

11.5

9

Open tool

Manufac turer

J-FAT-OT-EXL JST

(c) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)

Servo amplifier

(Note)

CNP1

CNP2

CNP3

Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.



CNP1 06JFAT-SAXGDK-HT10.5



AWG 16 to 14 3.9 mm or shorter 10

Open tool

Manufac turer

J-FAT-OT-XL JST

3 - 24


(d) MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ)

Servo amplifier

CNP1

CNP2

CNP3



Open tool

Manufac turer


CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14


3.9 mm or shorter 9

J-FAT-OT (N) or

J-FAT-OT

(2) Cable connection procedure

(a) Fabrication on cable insulator

Refer to table 3.1 to 3.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.

JST

Insulator

Core

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten the strands.

3 - 25


You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.

Servo amplifier

MR-J4-10A(-RJ) to

MR-J4-100A(-RJ)

MR-J4-200A(-RJ) to

MR-J4-350A(-RJ)

MR-J4-60A4(-RJ) to

MR-J4-350A4(-RJ)

MR-J4-10A1(-RJ) to

MR-J4-40A1(-RJ)

Wire size

AWG 16

AWG 14

AWG 16

AWG 14

AWG 12

AWG 16

AWG 14

AWG 16

AWG 14

Ferrule model (Phoenix Contact)

For one For two

AI1.5-10BK AI-TWIN2×1.5-10BK

AI2.5-10BU

AI1.5-10BK

AI2.5-10BU

AI4-10GY

AI1.5-10BK

AI2.5-10BU

AI1.5-10BK

AI2.5-10BU

AI-TWIN2×1.5-10BK

AI-TWIN2×2.5-10BU

AI-TWIN2×1.5-10BK

AI-TWIN2×1.5-10BK

Crimp terminal

(Phoenix Contact)

CRIMPFOX-ZA3

(b) Inserting wire

Insert only one wire or ferrule to each wire insertion hole.

Insert the open tool as follows and push it down to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth, and make sure that the cable insulator will not be caught by the spring and that the conductive part of the stripped wire will not be exposed.

Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.

In addition, make sure that no conductor wire sticks out of the connector.

The following shows a connection example of the CNP3 connector for MR-J4-200A(-RJ) and MR-J4-

350A(-RJ).

1) Push down the open tool.

3) Release the open tool to fix the wire.

2) Insert the wire.

3 - 26


3.4 Connectors and pin assignment

POINT

The pin assignment of the connectors is as viewed from the cable connector wiring section.

For the STO I/O signal connector (CN8), refer to chapter 13.

For the CN1 connector, securely connect the external conductive portion of the shielded cable to the ground plate and fix it to the connector shell.

Screw

Cable

Screw

Ground plate

PP (CN1-10 pin)/NP (CN1-35 pin) and PP2 (CN1-37 pin)/NP2 (CN1-38 pin) are exclusive. They cannot be used together.

3 - 27


The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.

CN5 (USB connector) refer to section 11.7.

CN6

3

MO1

2

MO2

1

LG

CN3 (RS-422/RS-485 connector) refer to chapter 14.

CN1

CN8

For the STO I/O signal connector, refer to section 13.2.

(Note 2) CN2

2

LG

1

P5

4

MRR

6

THM2 8

MXR

3

MR

5

THM1 7

MX

10

9

BAT

The 3M make connector is shown.

(Note 1, 2) CN2L

(For using serial encoder)

2

LG 4

MRR2

1

P5 3

MR2

6

5

8

MXR2

10

7

MX2

9

BAT

(Note 1, 2) CN2L

(for using A/B/Z-phase pulse encoder)

2

LG 4

PAR

1

P5 3

PA

6

PBR 8

PZR

5

PB 7

PZ

10

PSEL

9

CN4

(Battery connector) refer to section 11.8.

The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier.

19

21

15

17

23

25

9

11

13

5

7

1

3

14

16

10

12

6

8

2

4

22

24

18

20

46

48

50

40

42

44

34

36

38

30

32

26

28

39

41

35

37

31

33

27

29

47

49

43

45

Note 1. The MR-J4-_A_-RJ servo amplifiers have CN2L connectors. This CN2L is a connector of 3M.

When using any other connector, refer to each servo motor instruction manual.

2. Refer to table 1.1 for connections of external encoders.

The device assignment of the CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices will be changed using those parameters.

3 - 28


Pin No.

1

(Note 1)

I/O

(Note 2) I/O signals in control modes

P P/S S S/T T T/P

P15R P15R P15R P15R P15R P15R

Related parameter

3 LG LG LG LG LG LG

4 O LA LA LA LA LA LA

5 O LAR LAR LAR LAR LAR LAR

6 O LB LB LB LB LB LB

7 O LBR LBR LBR LBR LBR LBR

8 O LZ LZ LZ LZ LZ LZ

9 O LZR LZR LZR LZR LZR LZR

(Note 6) (Note 6)

12 OPC -/OPC

13 O (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) (Note 4)

19 I RES RES RES RES RES RES

20 DICOM DICOM DICOM DICOM DICOM DICOM

21 DICOM DICOM DICOM DICOM DICOM DICOM

23 O ZSP ZSP ZSP ZSP ZSP ZSP

26

PD47 (Note 5)

14 O (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) (Note 4)

15 I SON SON SON SON SON SON

16 I

PD47 (Note 5)

PD03/PD04

PD05/PD06

RS2 PD07/PD08

RS1 PD09/PD10

PD11/PD12

PD23

PD24

PD25

PD26

(Note 3)

TLA

(Note 3)

TLA/TC

TC TC/TLA

28 LG LG LG LG LG LG

29


31

32

33 O OP OP OP OP OP OP


35 I

I

I

NP

PP2

NP2

NP/-

PP2/-

NP2/-

(Note 6)

(Note 7)

(Note 7)

(Note 6)

(Note 7)

(Note 7)

(Note 6)

(Note 7)

(Note 7)

-/NP

-/PP2

-/NP2

PD45/PD46 (Note 5)

PD43/PD44 (Note 5) (Note 8) 37

(Note 8) 38

39

40

PD45/PD46 (Note 5)

SP1 PD13/PD14

42 I EM2 EM2 EM2 EM2 EM2 EM2

43 I LSP LSP LSP LSP/- -/LSP PD17/PD18

44 I LSN LSN LSN LSN/- -/LSN

45 I LOP LOP LOP LOP LOP LOP

46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM


48 O ALM ALM ALM ALM ALM ALM

49 O RD RD RD RD RD RD

50

PD19/PD20

PD21/PD22

PD28

Note 1. I: Input signal, O: Output signal

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22].

4. Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary.

5. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.

6. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. Also, this is available with servo amplifiers with software version B3 or later.

7. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD43] to [Pr. PD46] as necessary.

8. These pins are available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software version B7 or later.

3 - 29


3.5 Signal (device) explanations

The pin numbers in the connector pin No. column are those in the initial status.

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the control mode field of the table shows the followings.

P: Position control mode

S: Speed control mode

T: Torque control mode

" " and " " of the table shows the followings.

: Usable device by default.

: Usable device by setting the following parameters.

[Pr. PA04], [Pr. PD03] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]

(1) I/O device

(a) Input device

Device Symbol pin No.

Function and application

I/O division

Control mode

P S T

Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands.

Turn EM2 on (short between commons) in the forced stop state to reset that state.

The following shows the setting of [Pr. PA04].

[Pr. PA04] setting

EM2/EM1

Deceleration method

EM2 or EM1 is off Alarm occurred

DI-1

Forced stop 1

Servo-on

Reset

0 _ _ _

2 _ _ _

EM1

EM2

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.



EM2 and EM1 are mutually exclusive.


EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1.

When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop.

Turn EM1 on (short between commons) in the forced stop state to reset that state.

SON CN1-15 Turn SON on to power on the base circuit and make the servo amplifier ready to operate. (servo-on status)

Turn it off to shut off the base circuit and coast the servo motor.

Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals connected) automatically in the servo amplifier.

RES CN1-19 Turn on RES for more than 50 ms to reset the alarm.

Some alarms cannot be deactivated by RES (Reset). Refer to chapter 8.

Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30].

This device is not designed to make a stop. Do not turn it on during operation.

DI-1

DI-1

DI-1

3 - 30



I/O division

Control mode

P S T



Reverse rotation start sudden stop and make it servo-locked.

Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.

LSN CN1-44 Operation

CCW direction

CW direction

Negative direction

DI-1

Note. 0: Off

1: On

Set [Pr. PD01] as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier.

[Pr. PD01]

Status

_ 4 _ _

Automatic on

_ 8 _ _

_ C _ _

Automatic on

Automatic on

Automatic on

When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs, and

WNG (Warning) turns on. When using WNG, enable it by the setting of [Pr.

PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. However, [Pr. PD47] is not available with MR-J4-03A6(-RJ) servo amplifiers.

In the torque control mode, this device cannot be used during normal operation. It can be used during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode. Also, when the magnetic pole detection in the torque control mode is completed, this signal will be disabled.

External torque limit selection Reverse torque limit], and turning on it will enable TLA (Analog torque limit). For details, refer to section 3.6.1 (5).

Internal torque limit selection


ST1

TL1 with [Pr. PD03] to [Pr. PD22]. For details, refer to section 3.6.1 (5).

CN1-17 This is used to start the servo motor.

The following shows the directions.

ST2

DI-1

DI-1

DI-1

ST2

Note. 0: Off

1: On

CN1-18 If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the [Pr. PC02] setting and servo-locked.

When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked after deceleration to a stop.

3 - 31




I/O division

Control mode

P S T

DI-1 Forward rotation selection

RS1 CN1-18 This is used to select a servo motor torque generation directions.

The following shows the torque generation directions.

Torque generation direction

RS1

RS2 CN1-17

0 0 Torque is not generated.

Forward rotation in power rotation in regenerative mode

Reverse rotation in power

Speed selection

1

Speed selection

2

Speed selection

3

1 1 rotation in regenerative mode

Torque is not generated.

Note. 0: Off

1: On

SP1 CN1-41 1. For speed control mode

This is used to select the command speed for operation.

SP2 CN1-16

(Note) Input device

Speed command

SP3

DI-1

DI-1

DI-1

0 0 0 VC (Analog speed command)

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Pr. PC05 Internal speed command 1







Note. 0: Off

1: On

2. For the torque control mode

This is used to select the limit speed for operation. device

1

1

1

1

0

0

0

0

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

VLA (Analog speed limit)

Pr. PC05 Internal speed limit 1







Note. 0: Off

1: On

3 - 32


Gain switching CDP


Note. 0: Off

1: On

Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.

I/O division

DI-1

Control mode

P S T

Proportion control PC

Clear

Electronic gear selection 1


CR

CN1-17 Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even for a pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion

(stop), switching on the PC (Proportion control) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.

When the shaft is to be locked for a long time, switch on the PC

(Proportion control) and TL (External torque limit selection) at the same time to make the torque less than the rated by TLA (Analog torque limit).

Do not use PC (Proportional control) in the torque control. Doing so may cause the operation to be performed at a speed exceeding the speed limit value.

CN1-41 Turn CR on to clear the position control counter droop pulses on its leading edge. The pulse width should be 10 ms or longer.

The delay amount set in [Pr. PB03 Position command acceleration/deceleration time constant] is also cleared. When " _ _ _ 1 " is set to [Pr. PD32], the pulses are always cleared while CR is on.

DI-1

DI-1

CM2

0 1

DI-1 electronic gear numerators set in the parameters.

CM1 and CM2 cannot be used in the absolute position detection system.

DI-1

3 - 33



I/O division

Control mode

P S T

Control switching LOP CN1-45 «Position/speed control change mode»

This is used to select the control mode in the position/speed control switching mode.

(Note)

Function and application.

Note. 0: Off

1: On

«Speed/torque control change mode»

This is used to select the control mode in the speed/torque control switching mode.

(Note)

Note. 0: Off

1: On

«Torque/position control change mode»

This is used to select the control mode in the torque/position control switching mode.

LOP

Second acceleration/dece leration selection

Note. 0: Off

1: On

STAB2 The device allows selection of the acceleration/deceleration time constant at servo motor rotation in the speed control mode or torque control mode.

The s-pattern acceleration time constant and deceleration time constant is always uniform.

ABS transfer mode

ABS request

Fully closed loop selection

Motor-side/loadside position deviation counter clear

(Note) STAB2 Acceleration/deceleration time constant

0

1

Pr. PC01 Acceleration time constant

Pr. PC02 Deceleration time constant

Pr. PC30 Acceleration time constant 2

Pr. PC31 Deceleration time constant 2

Note. 0: Off

1: On

ABSM CN1-17 This is an ABS transfer mode request device.

When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, CN1-17 pin will become ABSM. (Refer to chapter 12.)

ABSR CN1-18 This is an ABS request device.

When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, CN1-18 pin will become ABSR. (Refer to chapter 12.)

CLD

MECR

This is used when the semi closed loop control/fully closed loop control switching is enabled with [Pr. PE01].

Turn off CLD to select the semi closed loop control, and turn on CLD to select the fully closed loop control.

This device is not available with MR-J4-03A6(-RJ) servo amplifiers.

Turn on MECR to clear the motor-side/load-side position deviation counter to zero.

- It operates during the fully closed loop control.

- It does not affect the position control droop pulses.

- Turning on this device during the semi closed loop control does not affect the operation.

- Turning on this device while the fully closed loop control error detection function is disabled in [Pr. PE03] does not affect the operation.


DI-1

DI-1

DI-1

DI-1

DI-1

3 - 34


(b) Output device

Malfunction

Dynamic brake interlock

Ready

Speed reached

Limiting speed

Limiting torque


ALM CN1-48 When an alarm occurs, ALM will turn off.

When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.

When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.

DB

RD

When using the signal, enable it by setting [Pr. PD23] to [Pr. PD26], [Pr.

PD28], and [Pr. PD47]. DB turns off when the dynamic brake needs to operate. When using the external dynamic brake on the servo amplifier of

11 kW or more, this device is required. (Refer to section 11.17.)

For the servo amplifier of 7 kW or less, it is not necessary to use this device.

The external dynamic brake cannot be used with 11 kW or more servo amplifier for compliance with SEMI-F47 standard. Do not assign DB

(Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr.

PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on

RD.

I/O division

Control mode

P S T

DO-1

DO-1

DO-1

DO-1

SA

CN1-24 will turn on. The in-position range can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during low-speed rotation.

INP turns on when servo-on turns on.

When the servo motor speed reaches the following range, SA will turn on.

Set speed ± ((Set speed × 0.05) + 20) r/min

When the preset speed is 20 r/min or less, SA always turns on.

SA does not turn on even when the SON (Servo-on) is turned off or the servo motor speed by the external force reaches the preset speed while both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.

VLC CN1-25 VLC turns on when speed reaches a value limited with any of [Pr. PC05

Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog speed limit).

This turns off when SON (Servo-on) turns off.

TLC TLC turns on when a generated torque reaches a value set with any of [Pr.

PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA

(Analog torque limit).

DO-1

DO-1

DO-1

3 - 35




ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50 r/min) or less.

Zero speed can be changed with [Pr. PC17].

I/O division

Control mode

P S T

DO-1

Forward rotation direction

OFF level

70 r/min

ON level

50 r/min

Servo motor speed

0 r/min

Reverse rotation direction

ZSP

(Zero speed detection)

ON level

-50 r/min

OFF level

-70 r/min

ON

OFF

1)

2)

3)

4)

20 r/min

(Hysteresis width)

[Pr. PC17]

[Pr. PC17]

20 r/min

(Hysteresis width)

Electromagnetic brake interlock

MBR

Warning WNG

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the servo motor is accelerated to 70 r/min again (at

2)).

ZSP will turn on when the servo motor is decelerated again to 50 r/min (at

3)), and will turn off when the servo motor speed has reached -70 r/min (at

4)).

The range from the point when the servo motor speed has reached on level, and ZSP turns on, to the point when it is accelerated again and has reached off level is called hysteresis width.

Hysteresis width is 20 r/min for this servo amplifier.

When using the device, set operation delay time of the electromagnetic brake in [Pr. PC16].

When a servo-off status or alarm occurs, MBR will turn off.

When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off in 2.5 s to 3.5 s after power-on.

Battery warning

Alarm code

BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL.

9F Battery warning] has occurred. When the battery warning is not occurring, BWNG will turn off in 2.5 s to 3.5 s after power-on.

ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34].

This signal is outputted when an alarm occurs.

When an alarm is not occurring, respective ordinary signals are outputted.

CDPS

DO-1

DO-1

DO-1

DO-1

When [Pr. PD34] is set to "_ _ _ 1", setting the following will trigger [AL. 37

Parameter error].

"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system

(CN1-22)

MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24 pin.

CDPS turns on during gain switching. DO-1 Variable gain selection

Absolute position undetermined

ABS transmission data bit 0

ABSV ABSV turns on when the absolute position is undetermined. DO-1


ABS transmission data ready

ABSB0 (CN1-22) This is used to output ABS transmission data bit 0. When "Enabled

(absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr.

PA03], the CN1-22 pin will become ABSB0 only during ABS transfer mode.

(Refer to chapter 12.)

ABSB1 (CN1-23) This is used to output ABS transmission data bit 1. When "Enabled


PA03], the CN1-23 pin will become ABSB1 only during ABS transfer mode.


ABST (CN1-25) This is used to output ABS transmission data ready. When "Enabled


PA03], CN1-25 pin will become ABST only during ABS transfer mode.


DO-1

DO-1

DO-1

3 - 36


During tough drive

MTTR


MTTR turns on when the instantaneous power failure tough drive operates while the tough drive function selection is enabled with [Pr. PA20].


CLDS turns on during fully closed loop control.


I/O division

Control mode

P S T

DO-1

DO-1 During fully closed loop control

(2) Input signal

CLDS limit

Device Symbol

Analog torque limit



Analog speed

Forward rotation pulse train

Reverse rotation pulse train

TC

PP

NP

PP2

NP2

PG

NG pin No.

CN1-10

CN1-35

CN1-37

CN1-38

CN1-11

CN1-36


I/O division limit selection) with [Pr. PD03] to [Pr. PD22].

When TLA is enabled, torque is limited in the full servo motor output torque range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive terminal of the power supply to TLA. The maximum torque is generated at

+10 V. (Refer to section 3.6.1 (5).)

If a value equal to or larger than the maximum torque is inputted to TLA, the value is clamped at the maximum torque.

Resolution: 10 bits

This is used to control torque in the full servo motor output torque range.

Apply 0 V to ±8 V DC between TC and LG. The maximum torque is generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be changed with [Pr. PC13].

If a value equal to or larger than the maximum torque is inputted to TC, the value is clamped at the maximum torque.

Analog input

Analog input

Analog input provided at ±10 V. (Refer to section 3.6.2 (1).)

If a value equal to or larger than the permissible speed is inputted to VC, the value is clamped at the permissible speed.

Resolution: 14 bits or equivalent

For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to

"_ _ 1 _" increases the analog input resolution to 16 bits. This function is available with servo amplifiers manufactured in November 2014 or later.

Analog input provided at ±10 V. (Refer to section 3.6.3 (3).)

If a value equal to or larger than the permissible speed is inputted to VLA, the value is clamped at the permissible speed.

This is used to enter a command pulse train.

1) For open-collector type

The maximum input frequency is 200 kpulses/s. For A-phase/B-phase pulse train, 200 kpulses/s will be the frequency after multiplication by four. a) Sink input interface

Input the forward rotation pulse train between PP and DOCOM.

Input the reverse rotation pulse train between NP and DOCOM. b) Source input interface

Input the forward rotation pulse train between PP2 and PG.

Input the reverse rotation pulse train between NP2 and NG.

2) For differential receiver type (max. input frequency: 4 Mpulses/s)

The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase pulse train, 4 Mpulses/s will be the frequency after multiplication by four.

Input the forward rotation pulse train between PG and PP.

Input the reverse rotation pulse train between NG and NP.

The command input pulse train form, pulse train logic, and command input pulse train filter are changed in [Pr. PA13].

When the command pulse train is over 1 Mpulse/s and lower than 4

Mpulse/s, set [Pr. PA13] to "_ 0 _ _".

DI-2

Control mode

P S T

3 - 37


(3) Output signal

Encoder Aphase pulse


Encoder Bphase pulse


Encoder Zphase pulse


LA

LAR

LB

LBR

LZ

LZR

CN1-4

CN1-5

CN1-6

CN1-7


The encoder output pulses set in [Pr. PA15] are outputted in the differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of π /2.

The relation between rotation direction and phase difference of the Aphase and B-phase pulses can be changed with [Pr. PC19].

I/O division

DO-2

Control mode

P S T

CN1-8

CN1-9

The encoder zero-point signal is outputted in the differential line driver type. One pulse is outputted per servo motor revolution. This turns on when the zero-point position is reached. (negative logic)

The minimum pulse width is about 400 μ s. For home position return using this pulse, set the creep speed to 100 r/min or less.

CN1-33 The encoder zero-point signal is outputted in the open-collector type.

DO-2

DO-2 Encoder Zphase pulse

OP

(open-collector)

Analog monitor 1 MO1

Analog monitor 2 MO2

CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in terms of voltage.

Output voltage: ±10 V


Analog output

CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in terms of voltage.

Output voltage: ±10 V


Analog output

(4) Communication

RS-422/RS-485

I/F


SDP CN3-5 These are terminals for RS-422/RS-485 communication.

SDN CN3-4

I/O division

Control mode

P S T

3 - 38


(5) Power supply


Digital I/F power supply input

Power input for open-collector sink interface

Digital I/F common

15 V DC power supply

Control common

Shield

DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 500 mA) to I/O interface. The power supply

CN1-21 capacity changes depending on the number of I/O interface points to be used.

For sink interface, connect + of 24 V DC external power supply.

For source interface, connect - of 24 V DC external power supply.

OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface, supply this terminal with the positive (+) power of 24 V DC.

Supply + of 24 V DC to this terminal when using CN1-10 pin and CN1-35 pin by DI. CN1-10 pin and CN1-35 pin are available for MR-J4-_A_-RJ servo amplifiers manufactured in November 2014 or later.

DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier. This

CN1-47 is separated from LG.

For sink interface, connect - of 24 V DC external power supply.

For source interface, connect + of 24 V DC external power supply.

P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power for TC, TLA, VC, or VLA. Permissible current: 30 mA

LG This is a common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1,

MO2, and P15R. Pins are connected internally.

CN1-3

CN1-28

CN1-30

CN1-34

CN3-1

CN3-7

CN6-1

SD Plate Connect the external conductive portion of the shielded cable.

I/O division

Control mode

P S T

3 - 39


3.6 Detailed explanation of signals

3.6.1 Position control mode

POINT

Adjust the logic of a positioning module and command pulse as follows.

MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning module

Signal type

Command pulse logic setting

Positioning module

Pr. 23 setting

MR-J4-_A_(-RJ) servo amplifier [Pr. PA13] setting

Positive logic Positive logic (_ _ 0 _)

Open-collector type

Negative logic Negative logic (_ _ 1 _)

Positive logic (Note) Negative logic (_ _ 1 _)

Differential line driver type

Negative logic (Note) Positive logic (_ _ 0 _)

Note. For MELSEC iQ-R series, MELSEC-Q series and MELSEC-L series, the logic means N-side waveform. Therefore, reverse the input pulse logic of the servo amplifier.

MELSEC-F series positioning module

Signal type

Command pulse logic setting

Positioning module (fixed)

MR-J4-_A_(-RJ) servo amplifier

[Pr. PA13] setting

Open-collector

Differential line driver

Negative logic Negative logic (_ _ 1 _)

(1) Pulse train input

(a) Input pulse waveform selection

You can input command pulses in any of three different forms, and can choose positive or negative logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details.

(b) Connection and waveform

1) Open-collector type

Connect as follows.

Servo amplifier Servo amplifier

24 V DC

OPC

(Note)

DOCOM

PP

NP

Approx.

1.2 k Ω

Approx.

1.2 k Ω

SD

(Note)

Approx. 20 mA

V

CES

≤ 1.0 V

I

CEO

≤ 100 μ A

(Note)

Approx. 20 mA

V

CES

≤ 1.0 V

I

CEO

≤ 100 μ A

24 V DC ± 10%

500 mA

PG

PP2

NG

NP2

SD

Approx.

1.2 k Ω

Approx.

1.2 k Ω

For sink input interface

Note. Pulse train input interface is comprised of a photocoupler.

For source input interface

If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.

3 - 40


The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13].

(ON) (OFF) (ON) (OFF) (ON) (OFF)


(transistor)


(transistor) (OFF) (ON) (OFF) (ON) (OFF) (ON)

Forward rotation command Reverse rotation command

2) Differential line driver type

Connect as follows.

(Note)

Servo amplifier

PP

Approximately

100 Ω

PG

NP

Approximately

100 Ω

NG

SD



The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG, NP, and NG are based on LG.


PP

PG


NP

NG

Forward rotation Reverse rotation

3 - 41


(2) INP (In-position)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as the in-position range.

SON (Servo-on)

ON

OFF

Alarm

Alarm

No alarm

In-position range

Droop pulses

INP (In-position)

ON

OFF

(3) RD (Ready)

SON (Servo-on)

ON

OFF

Alarm

RD (Ready)

Alarm

No alarm

ON

OFF

100 ms or shorter

10 ms or shorter 10 ms or shorter

(4) Electronic gear switching

The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters.

As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.

(Note) Input device

CM2 CM1

Electronic gear numerator

0 0

0 1

1 0

1 1

Note. 0: Off

1: On

3 - 42


(5) Torque limit

CAUTION

If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] is set properly. Improper settings may cause an unexpected operation such as an overshoot.

(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between the limit value and servo motor torque is as follows.

CW direction

Maximum torque CCW direction

100 0

Torque limit value in [Pr. PA12]

100 [%]


A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.

Therefore, use this function at the voltage of 0.05 V or more.

Maximum torque

Servo amplifier

±5%

0

0 0.05

TLA applied voltage [V]

TLA applied voltage vs. torque limit value

2 k Ω

2 k Ω

24 V DC

Japan resistor

RRS10 or equivalent

TL

DICOM

(Note)

P15R

TLA

LG

SD

Connection example

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.

PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).

When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select

[Pr. PC35 Internal torque limit 2/internal thrust limit 2].

However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.

PA11] and [Pr. PA12] value will be enabled.

3 - 43


Input device (Note 1)

TL1 TL

0 0

Limit value status

Enabled torque limit value

CCW power running/CW regeneration

CW power running/CCW regeneration

Pr. PA11 Pr .PA12

Pr. PA11 Pr. PA12

0 1

TLA (Note 2) TLA (Note 3)

1 0

Pr. PC35

1 1

Pr. PC35

TLA

TLA

>

<

>

<

Pr. PA11

Pr. PA12

Pr. PA11

Pr. PA12

Pr. PC35

Pr. PC35

Pr. PA11

Pr. PC35 (Note 2)

Pr. PC35 (Note 2)

TLA (Note 2)

Pr. PA12

Pr. PC35 (Note 3)

Pr. PC35 (Note 3)

TLA (Note 3)

Note 1. 0: Off

1: On

2. When "_ 2 _ _" is set in [Pr. PD33], the value set in [Pr. PA11] is applied. [Pr. PD33] is available with servo amplifiers with software version B3 or later.

3. When "_ 1 _ _" is set in [Pr. PD33], the value set in [Pr. PA12] is applied. [Pr. PD33] is available with servo amplifiers with software version B3 or later.

(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit, reverse rotation torque limit or analog torque limit.

3 - 44


3.6.2 Speed control mode

(1) Speed setting

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage and the servo motor speed is as follows.

Rated speed is achieved at ±10 V with initial setting. The speed at ±10 V can be changed with [Pr.

PC12].

Rated speed [r/min]

CW

-10

Speed

[r/min]

CCW direction

0 +10

VC applied voltage [V] direction

Rated speed [r/min]

Forward rotation

(CCW)

Reverse rotation

(CW)

The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2

(Reverse rotation start) combination.

(Note 1) Input device (Note 2) Rotation direction

ST2 ST1

Polarity: +

VC (Analog speed command)

0 V Polarity: -

Internal speed command

0 0

0 1

1 0

1 1

Stop

(servo-lock)

CCW

CW

Stop

(servo-lock)

Stop

(servo-lock)

Stop

(no servo-lock)

Stop

(servo-lock)

Stop

(servo-lock)

Stop

(servo-lock)

CW CCW

CCW

Stop

(servo-lock)

CW

Stop

(servo-lock)

Note 1. 0: Off

1: On

2. If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

Normally, connect as follows.

Servo amplifier

2 k Ω

24 V DC

2 k Ω

Japan resistor

RRS10 or equivalent

ST1

ST2

DICOM

P15R

VC

LG

SD

(Note)


3 - 45


(b) SP1 (Speed selection 1), SP2 (Speed selection 2), and speed command value

Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.

(Note) Input device

SP2 SP1

0

0

1

1

0

1

0

1

Speed command value





Note. 0: Off

1: On

To select VC (Analog speed command) and a speed command value of internal speed commands 1 to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].

(Note) Input device

SP3 SP2 SP1

Speed command value

1

1

1

1

0

0

0

0

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1









Note. 0: Off

1: On

You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration time constant in [Pr. PC01] or [Pr. PC02].

When the internal speed commands are used to command a speed, the speed does not vary with the ambient temperature.

(2) SA (Speed reached)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command or analog speed command.

Set speed selection

Internal speed command 1


ST1 or ST2

Servo motor speed

ON

OFF

(3) Torque limit

As in section 3.6.1 (5)

3 - 46


3.6.3 Torque control mode

(1) Torque limit

(a) Torque command and torque

The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo motor.

The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13].

Maximum torque

CCW direction

-8

Torque

-0.05

+0.05

+8

TC applied voltage [V]

CW direction Maximum torque

Forward rotation

(CCW)

Reverse rotation

(CW)

Generated torque command values will vary about 5% relative to the voltage depending on products.

The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit value. In such a case, increase the speed limit value.

The following table indicates the torque generation directions determined by RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.

(Note) Input device

RS2 RS1

Polarity: +


CCW

(Forward rotation in

0 1 power running mode/reverse rotation in regenerative mode)

CW

(Reverse rotation in

1 0 power running mode/forward rotation in regenerative mode)


Rotation direction

TC (Analog torque command)

0 V


Polarity: -


CW

(Reverse rotation in power running mode/forward rotation in regenerative mode)

CCW

(Forward rotation in power running mode/reverse rotation in regenerative mode)


Note. 0: Off

1: On


24 V DC

-8 V to 8 V

Servo amplifier

RS1

RS2

DICOM

TC

LG

SD

(Note)


3 - 47


(b) Analog torque command offset

Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage as follows.

Maximum torque

Torque

[Pr. PC38] offset range

-9999 mV to 9999 mV

0 8 (-8)

TC applied voltage [V]

(2) Torque limit

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between limit value and servo motor torque is as in section 3.6.1 (5).

Note that TLA (Analog torque limit) is unavailable.

(3) Speed limit

(a) Speed limit value and speed

The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between

VLA (Analog speed limit) applied voltage and the servo motor speed is as follows. The speed limit direction and torque command direction are the same direction.

When the servo motor speed reaches the speed limit value, torque control may become unstable.

Make the set value more than 100 r/min greater than the desired speed limit value.

Speed

[r/min]

Rated speed [r/min]

0 +10/-10

VLA applied voltage [V]

Forward rotation

(CCW)

Reverse rotation

(CW)

The following table indicates the limit direction according to RS1 (Forward rotation selection) and

RS2 (Reverse rotation selection) combination.

(Note) Input device TC

(Analog torque command)

RS1 RS2 Voltage polarity

Torque command direction

CCW

CW

CW

CCW

Note. 0: Off

1: On

Speed limit direction


Polarity: +

CCW

CW

CW

CCW

Polarity: -

CCW

CW

CW

CCW

Internal speed limit

CCW

CW

CW

CCW

3 - 48



Servo amplifier

2 k Ω

24 V DC

2 k Ω

Japan resistor

RRS10 or equivalent

SP1

SP2

DICOM

P15R

VLA

LG

SD

(Note)


(b) Speed limit value selection

Select any of the speed settings by the internal speed limits 1 to 7 and by VLA (Analog speed limit) using SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) as follows.

(Note) Input device

SP3 SP2 SP1

0

1

1

0

0

0

1

1

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

Speed limit









Note. 0: Off

1: On

When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the ambient temperature.

(c) VLC (Limiting speed)

VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7 or analog speed limit.

3 - 49


3.6.4 Position/speed control switching mode

Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not available in the absolute position detection system.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact. The following shows a relation between LOP and control modes.

(Note)

LOP

Control mode

1

Note. 0: Off

1: On

Speed control mode

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped. When position control mode is switched to speed control mode, droop pulses will be reset.

If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed regardless of the speed. The following shows a switching timing chart.


Speed control mode


Servo motor speed

Zero speed level

ZSP


ON

OFF

LOP

(Control switching)

ON

OFF

(Note) (Note)

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not switched.

(2) Torque limit in position control mode


3 - 50


(3) Speed setting in speed control mode

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as section 3.6.2 (1) (a).


Servo amplifier

2 k Ω

24 V DC

2 k Ω

Japan resistor

RRS10 or equivalent

ST1

ST2

DICOM

P15R

VC

LG

SD

(Note)


(b) Speed command value selection

Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.

(Note) Input device

SP2 SP1

0

0

1

1

0

1

0

1

Speed command value





Note. 0: Off

1: On

To select VC (Analog speed command) and a speed command value of internal speed commands 1 to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].

(Note) Input device

SP3 SP2 SP1

0

1

1

0

0

0

1

1

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

Speed command value









Note. 0: Off

1: On

You can change the speed during rotation. Acceleration/deceleration is performed with the setting values of [Pr. PC01] and [Pr. PC02].

When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary with the ambient temperature.

3 - 51


(c) SA (Speed reached)


3.6.5 Speed/torque control switching mode

Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode.


Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact. The following shows a relation between LOP and control modes.

(Note)

LOP

Control mode

0

1

Speed control mode

Torque control mode

Note. 0: Off

1: On

The control mode may be switched at any time. The following shows a switching timing chart.

Speed control mode

Torque control mode

Speed control mode

LOP

(Control switching)

ON

OFF

Servo motor speed

TC


10 V

0 V

Load torque

Forward rotation in driving mode

(Note)

Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off as soon as a mode is switched to the speed control, the servo motor comes to a stop according to the deceleration time constant. A shock may occur at switching control

(2) Speed setting in speed control mode

As in section 3.6.2 (1) modes.

(3) Torque limit in speed control mode


(4) Speed limit in torque control mode

(a) Speed limit value and speed

The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA

(Analog speed limit).

A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section

3.6.3 (3) (a).

3 - 52



2 k Ω

2 k Ω

24 V DC

Japan resistor

RRS10 or equivalent

Servo amplifier

SP1

DICOM

P15R

VLA

LG

SD

(Note)


(b) Speed limit value selection

Select any of the speed settings by the internal speed limit 1 and by VLA (Analog speed limit) using

SP1 (Speed selection 1) as follows.

(Note) Input device

SP1

0

1

Speed command value



Note. 0: Off

1: On

You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration time constant in [Pr. PC01] or [Pr. PC02].

When the internal speed limit 1 is used to command a speed, the speed does not vary with the ambient temperature.

(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)

(5) Torque control in torque control mode


(6) Torque limit in torque control mode


3 - 53


3.6.6 Torque/position control switching mode

Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.


Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact. The following shows a relation between LOP and control modes.

(Note)

LOP

Control mode

0 Torque control mode

Note. 0: Off

1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped. When position control mode is switched to torque control mode, droop pulses will be reset.

If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed regardless of the speed. The following shows a switching timing chart.


Torque control mode


Servo motor speed

Zero speed level

TC


10 V

0 V

ZSP


ON

OFF

LOP

(Control switching)

ON

OFF

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not switched.

(2) Speed limit in torque control mode


(3) Torque control in torque control mode


(4) Torque limit in torque control mode


(5) Torque limit in position control mode


3 - 54


3.7 Forced stop deceleration function

POINT

When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to chapter 8.)

In the torque control mode, the forced stop deceleration function is not available.

Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.

Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. If SON (Servo-on) is off, forced stop deceleration, base circuit shut-off delay time, and vertical axis freefall prevention do not function.

3.7.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.

During this sequence, the display shows [AL. E6 Servo forced stop warning].

During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The servo amplifier life may be shortened.

(1) Connection diagram

Servo amplifier

24 V DC

(Note)

Forced stop 2

DICOM

EM2

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section

3.9.3.

3 - 55


(2) Timing chart

POINT

When LSP/LSN is turned on during a forced stop deceleration, the motor will stop depending on the setting of [Pr. PD30] as follows.

[Pr. PD30]

_ _ _ 0

_ _ _ 1

Stop system

Switching to sudden stop

Continuing forced stop deceleration

When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC51 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates.

EM2 (Forced stop 2)

ON

OFF (Enabled)

Ordinary operation

Forced stop deceleration

Dynamic brake

+


Rated speed

Servo motor speed

0 r/min

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

SON (Servo-on)

ON

OFF

ON

OFF (Enabled)

ON

OFF

Command

Deceleration time

[Pr. PC51]

Zero speed

([Pr. PC17])

3 - 56


3.7.2 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) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and shut-off of the base circuit.

(1) Timing chart

When EM2 (Forced stop 2) turns off or an alarm occurs during driving, the servo motor will decelerate based on the deceleration time constant. MBR (Electromagnetic brake interlock) will turn off, and then after the delay time set in [Pr. PC16], the servo amplifier will be base circuit shut-off status.

EM2 (Forced stop 2)

ON

OFF (Enabled)

Servo motor speed

0 r/min

Base circuit


MBR



SON (Servo-on)

ON

OFF

ON

OFF (Enabled)

Release

Activate

ON

OFF

[Pr. PC16]

(2) Adjustment

While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.

3 - 57


3.7.3 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. However, those functions may not avoid dropping axis a few μ m due to the backlash of the servo motor electromagnetic brake.

The vertical axis freefall prevention function is enabled with the following conditions.

Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].

The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop

2) or by an alarm occurrence.

The base circuit shut-off delay time function is enabled.

EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less.

(1) Timing chart

EM2 (Forced stop 2)

ON

OFF (Enabled)

Position Travel distance

Set the base circuit shut-off delay time.

([Pr. PC16])

Base circuit


MBR



SON (Servo-on)

ON

OFF

ON

OFF (Enabled)

Release

Activate

ON

OFF

(2) Adjustment

Set the freefall prevention compensation amount in [Pr. PC54].

While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.7.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking distance until the servo motor stops will be longer than that of normal forced stop deceleration without the dynamic brake.

(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.

3 - 58


3.8 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting operation.

POINT


To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window, or cycle the RES (Reset) However, the alarm cannot be deactivated unless its cause is removed.

3.8.1 When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.

(1) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

Model speed command 0 and equal to or less than zero speed (Note)

0 r/min

Command is not received.

Base circuit


Servo amplifier display

MBR


ALM (Malfunction)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm Alarm No.

Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3 - 59


(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



MBR


ALM (Malfunction)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm Alarm No.

Operation delay time of the electromagnetic brake

3.8.2 When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

The operation status during an alarm is the same as section 3.8.1 (2).

3 - 60


3.9 Interfaces

3.9.1 Internal connection diagram

POINT

Refer to section 13.3.1 for the CN8 connector.

Servo amplifier

CN1

46

(Note 1)

P S

DOCOM

T

(Note 3)

(Note 5)

24 V DC

(Note 2)

(Note 1)

P

SON SON SON 15

SP2 SP2 16

PC ST1 RS2 17

TL ST2 RS1 18

RES RES RES 19

CR SP1

LSP

LSN

EM2

LSP

LSN

SP1 41

42

43

44

LOP

OPC

S

LOP

T

LOP

CN1

45

12

20

PP

PP2

PG

NP

DICOM

DICOM 21

10

37

NP2

NG

11

35

38

36

Approx.

6.2 k Ω

Approx.

6.2 k Ω

Approx. 1.2 k Ω

Approx. 1.2 k Ω

Approx. 100 Ω

Approx.

1.2 k Ω

Approx. 100 Ω

Approx.

1.2 k Ω

(Note 1)

P S

VC VLA

TLA TLA TC

P15R

LG

LG

LG

SD

T CN1

2

27

1

3

28

30

Case

15 V DC

Isolated

47

22

23

24

25

48

49

13

14

DOCOM

INP SA

ZSP ZSP ZSP

INP SA

TLC TLC TLC

RD

ALM

RD

(Note 1)

CN6 P S

RD

(Note 7, 8)

(Note 7, 8)

(Note 1)

CN1 P

4

5

8

9

6

7

33

34

(Note 1)

S

LA

LAR

LB

LBR

LZ

LZR

OP

LG

CN3 P

5

4

3

6

7

S

SDP

SDN

RDP

RDN

LG

T

T

T

3 MO1

(Note 5)

24 V DC

RA

RA

(Note 3)

Differential line driver output

(35 mA or less)

Open-collector output

RS-422/RS-485

Analog monitor

±10 V DC

±10 V DC

USB

(Note 1)

P S

D-

D+

GND

T CN5

2

3

5

2 MO2

1 LG

(Note 1)

CN2 P

7

8

3

4

2

S

MX

MXR

MR

MRR

LG

T

Servo motor

Encoder

E

M

External encoder

Encoder

(Note 4, 6) CN2L

7

8

3

4

2

P S

MX2

MXR2

MR2

MRR2

LG

T

3 - 61


Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode

2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.

24 V DC

DOCOM

OPC

PP

DICOM

DOCOM

PP2

PG

NP

NP2

NG

10

37

11

35

46

12

20

47

38

36

24 V DC

DOCOM

OPC

PP

DICOM

DOCOM

PP2

PG

NP

NP2

NG

10

37

11

35

46

12

20

47

38

36

For sink input interface For source input interface


4. This is for MR-J4-_A_RJ servo amplifier. The MR-J4-_A_ servo amplifier does not have the CN2L connector.


6. Refer to table 1.1 for connections of external encoders.



3 - 62


3.9.2 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 the input terminal. Transmit signals from sink

(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to section 3.9.3 for source input.

For transistor

Approximately

5 mA

Switch

Servo amplifier

EM2, etc.

Approximately

6.2 k Ω

TR

DICOM

V

CES

I

CEO

1.0 V

100 µA

24 V DC ± 10%

500 mA

The following is for when CN1-10 pin and CN1-35 pin are used as digital input interfaces.

Servo amplifier

24 V DC ± 10%

300 mA

OPC

Approx. 1.2 k Ω

10 m or less

Approx. 20 mA CN1-10, CN1-35

V

CES

≤ 1.0 V

I

CEO

≤ 100 μ A

DOCOM

SD

3 - 63


(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal.

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.

(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier.

The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.

Servo amplifier

ALM etc.

Load

If polarity of diode is reversed, servo amplifier will malfunction.

DOCOM

(Note) 24 V DC ± 10%

500 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.

(3) Pulse train input interface DI-2

Give a pulse train signal in the differential line driver type or open-collector type.

(a) Differential line driver type

1) Interface

Servo amplifier

(Note 1)

10 m or less

Max. input pulse frequency 4 Mpulses/s

(Note 2)

PP (NP)

Approximately

PG (NG)

100 Ω

SD Am26LS31 or equivalent

V

V

OH

V

OL

: 2.5 V

: 0.5 V

Note 1. Pulse train input interface is comprised of a photocoupler.


2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".

2) Input pulse condition tc tHL

PP PG

0.9

0.1

tc tLH tF tLH = tHL < 50 ns tc > 75 ns tF > 3 µs

NP NG

3 - 64


(b) Open-collector type

1) Interface

(Note)

24 V DC

2 m or less

OPC

Servo amplifier

Max. input pulse frequency 200 kpulses/s

Approximately

1.2 k Ω

PP, NP

DOCOM

SD



2) Input pulse condition

PP

0.9

0.1

tc tHL tc tLH tF tLH = tHL < 0.2 s tc > 2 s tF > 3 s

NP

(4) Encoder output pulse DO-2

(a) Open-collector type

Interface

Maximum sink current: 35 mA

5 V DC to 24 V DC

Servo amplifier

OP

LG

SD

Servo amplifier

OP

LG

SD

Photocoupler

3 - 65


(b) Differential line driver type

1) Interface

Maximum output current: 35 mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

150 Ω

LAR

(LBR, LZR)

SD

LG

Servo amplifier

LA

(LB, LZ)

LAR

(LBR, LZR)

SD

2) Output pulse

100 Ω

High-speed photocoupler

LA

Servo motor CCW rotation

LAR

LB

T

LBR

/2

LZ

LZR

OP

400 s or more

Time cycle (T) is determined by the settings of

[Pr. PA15] and [Pr. PC19].

(5) Analog input

Input impedance

10 k Ω to 12 k Ω

2 k Ω

Upper limit setting

2 k Ω

P15R

Servo amplifier

+15 V DC

VC etc.

LG

Approx.

10 k Ω

SD

3 - 66


(6) Analog output

Servo amplifier

MO1

(MO2)

LG

Output voltage: ±10 V (Note 1, 2)



Note 1. Output voltage range varies depending on the monitored signal.

2. For MR-J4-03A6(-RJ) servo amplifiers, the output voltage becomes 5 V ± 4 V.

3.9.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used.


This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals using source (open-collector) type transistor output, relay switch, etc. Additionally, the CN1-10 and CN1-35 pins cannot be used for source inputs.

For transistor

TR Switch

Servo amplifier

EM2 etc.

Approximately

6.2 k Ω

DICOM

Approximately

5 mA

I

V

CES

CEO

1.0 V

100 µA

24 V DC ± 10%

500 mA

The following shows when the CN1-37 pin and the CN1-38 pin are used as digital input interface:

Servo amplifier

Switch

Switch

24 V DC ± 10%

500 mA

PG

PP2 Approximately

(CN1-37) 1.2 k Ω

NG

NP2 Approximately

(CN1-38) 1.2 k Ω

SD

3 - 67



This is a circuit in which the emitter side of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the output terminal to a load.

A maximum of 2.6 V voltage drop occurs in the servo amplifier.

Servo amplifier

ALM etc.

Load


DOCOM

(Note) 24 V DC ± 10%

500 mA


(3) Pulse train input interface DI-2

Give a pulse train signal in the open-collector type.

1) Interface

Servo amplifier

Max. input pulse frequency 200 kpulses/s

(Note)

PG

Approx. 20 mA

V

CES

≤ 1.0 V

I

CEO

≤ 100 μ A

PP2

Approx.

1.2 k Ω

(Note)

NG

Approx. 20 mA

V

CES

≤ 1.0 V

I

CEO

≤ 100 μ A NP2

Approx.

1.2 k Ω

24 V DC ± 10%

500 mA

SD



2) Input pulse condition tc tHL

PP2

0.9

0.1

tc tLH tLH = tHL < 0.2 µs tc > 2 µs tF > 3 µs tF

NP2

3 - 68


3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B

U

24 V DC

CAUTION


The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly.

Do not use the 24 V DC interface power supply for the electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

Otherwise, it may cause a malfunction.

When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for operating the electromagnetic brake. Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torque of the electromagnetic brake. This can result in delay of the deceleration to a stop from a set value.

POINT

Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge absorber for the electromagnetic brake.

Note the following when the servo motor with an electromagnetic brake is used.

1) The electromagnetic brake will operate when the power (24 V DC) turns off.

2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis system, use MBR (Electromagnetic brake interlock).

3) Turn off SON (Servo-on) after the servo motor stopped.

3 - 69



Servo amplifier

(Note 2)

24 V DC

DOCOM

MBR

RA1

24 V DC

MBR

RA1

ALM

(Malfunction)

(Note 1)

B1

U

B2

Servo motor

B

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

(2) Setting

(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr.

PD47].

(b) In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR

(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2 (1).

3 - 70


3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT


(a) SON (Servo-on) on/off

When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not drop down for a vertical axis system, etc.

Tb [Pr. PC16 Electromagnetic brake sequence output]

Servo motor speed 0 r/min

Base circuit

ON

OFF

MBR


(Note 1)

ON

OFF

SON (Servo-on)

ON

OFF

Approx. 95 ms

Approx. 95 ms

(Note 3)


Position command

(Note 4)


0 r/min

Release

Activate Release delay time and external relay, etc. (Note 2)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".

3. Give a position command after the electromagnetic brake is released.

4. This is in position control mode.

3 - 71


(b) Forced stop 2 on/off

POINT


Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. If SON (Servo-on) is turned off earlier than EM2 (Forced stop 2), the servo amplifier operates in the same way as (1) (a) in this section.

Servo motor speed

0 r/min

Model speed command 0 and equal to or less than zero speed (Note 2)


Base circuit


EM2 (Forced stop 2)

ON

OFF

ON

OFF

MBR


(Note 1)

ON

OFF

ALM (Malfunction)

ON (no alarm)

OFF (alarm)


SON (Servo-on)

Release

Activate

ON

OFF




2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3 - 72


(c) Alarm occurrence

1) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

0 r/min


Model speed command 0 and equal to or less than zero speed (Note)


Base circuit



MBR


ALM (Malfunction)


SON (Servo-on)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

Release

Activate

ON

OFF

No alarm Alarm No.


Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

2) When the forced stop deceleration function is disabled

The operation status is the same as section 3.8.1 (2).

(d) Both main and control circuit power supplies off

Servo motor speed

Approx. 10 ms

Dynamic brake

Dynamic brake

+ Electromagnetic brake


0 r/min

(Note 1)

Base circuit

ON

OFF

MBR


(Note 2)

ON

OFF


Alarm

[AL. 10 Undervoltage]

No alarm

Alarm

Main circuit

Control circuit Power supply

ON

OFF

Note 1. Variable according to the operation status.


3 - 73


(e) Main circuit power supply off during control circuit power supply on

POINT


Servo motor speed


Base circuit


0 r/min

The time until a voltage drop is detected.


Dynamic brake

Dynamic brake



Approx. 10 ms

ON

OFF (Note 2)

ON

OFF

MBR


(Note 1)

ON

OFF

ALM (Malfunction)

ON (no alarm)

OFF (alarm)




2. Variable according to the operation status.

(2) When you do not use the forced stop deceleration function

POINT


(a) SON (Servo-on) on/off

It is the same as (1) (a) in this section.

(b) EM1 (Forced stop 1) on/off

Servo motor speed

Dynamic brake

Dynamic brake

+ Electromagnetic brake Electromagnetic brake has released.


Base circuit

0 r/min

ON

OFF

Approx. 10 ms Approx. 210 ms

MBR


(Note)

ON

OFF


Approx. 210 ms

EM1 (Forced stop)

ON (Disabled)

OFF (Enabled)

Note. ON: Electromagnetic brake is not activated.


3 - 74


(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.2.

(d) Both main and control circuit power supplies off

It is the same as (1) (d) in this section.

(e) Main circuit power supply off during control circuit power supply on

Approx. 10 ms

Dynamic brake

Dynamic brake



Servo motor speed

Base circuit

0 r/min

ON

OFF

MBR


Alarm

(Note 2)

ON

OFF

[AL. 10 Undervoltage]

No alarm

Alarm


ON

OFF

(Note 1)


Note 1. Variable according to the operation status.


3 - 75


3.11 Grounding

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.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to "EMC Installation Guidelines".

Cabinet

Servo amplifier

Servo motor

MCCB MC

CN2

(Note)

Power supply

L1

L2

L3

L11

L21

Encoder

U

V

W

U

V

W

M

CN1

Ensure to connect the wire to the PE terminal of the servo amplifier.

Do not connect the wire directly to the grounding of the cabinet.


Outer box

Note. For the power supply specifications, refer to section 1.3.

3 - 76

4. STARTUP

4. STARTUP

WARNING

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

CAUTION

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 the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.


POINT



Torque → Thrust

(Servo motor) speed → (Linear servo motor) speed

4 - 1

4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check

Surrounding environment check

Parameter setting

Test operation of the servo motor alone in test operation mode

Test operation of the servo motor alone by commands

Test operation with the servo motor and machine connected

Gain adjustment

Actual operation

Stop

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.8), etc. (Refer to section 4.1.2.)

Check the surrounding environment of the servo amplifier and servo motor.

(Refer to section 4.1.3.)

Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4, and 4.4.4.)

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

After connecting the servo motor with the machine, check machine motions with sending operation commands from the controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation. Other conditions that stops the servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.

4 - 2

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/L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

2) Between P3 and P4 should be connected.

Servo amplifier

P3

(Note)

P4

Note. The 100 V class servo amplifiers do not have P3 and P4.

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).

Servo amplifier

U

U

Servo motor

V

V

M

W

W

2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W).

Otherwise, the servo amplifier and servo motor will malfunction.

Servo amplifier

L1 U

L2 V

L3 W

U

Servo motor

V

W

M

3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.

Servo amplifier Servo motor

M

4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.

4 - 3

4. STARTUP

(c) When option and auxiliary equipment are used

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 should be connected to P+ terminal and C terminal.

Twisted wires should be used. (Refer to section 11.2.4.) b) When you use a regenerative option for 7 kW or more servo amplifiers

For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.


Twisted wires should be used. (Refer to section 11.2.4.) c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers

For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should not be connected.

For 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 or power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.)

Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3) d) When you use a power regeneration common converter

For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should not be connected.

For 7 kW servo amplifiers, the lead wires of the built-in regenerative resistor connected to

P+ terminal and C terminal should not be connected.

The wire of power regeneration common converter should be connected to P4 terminal and

N- terminal. (Refer to section 11.5.) e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to section 11.11.)


DC reactor

Servo amplifier

P3

(Note)

P4

Note. Always disconnect between P3 and P4 terminals.

2) 400 V class a) When you use a regenerative option for 3.5 kW or less servo amplifiers



Twisted wires should be used. (Refer to section 11.2.4.)

4 - 4

4. STARTUP b) When you use a regenerative option 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.


Twisted wires should be used. (Refer to section 11.2.4.) 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 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. (Refer to section 11.3 and 11.4.)

Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3) d) When you use a power regeneration common converter for 11 kW or more servo amplifiers

Power regeneration common converter should be connected to P4 terminal and N- terminal.

(Refer to section 11.5.) e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to section 11.11.)


DC reactor

Servo amplifier

P3

(Note)

P4

Note. Always disconnect between P3 and P4.

3) 100 V class



Twisted wires should be used. (Refer to section 11.2.4.)

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN1 connector. You can use this function to check the wiring. In this case, switch on the control circuit power supply only.

Refer to section 3.2 for details of I/O signal connection.

(b) 24 V DC or higher voltage is not applied to the pins of the CN1 connector.

(c) Plate and DOCOM of the CN1 connector is not shorted.

Servo amplifier

CN1

DOCOM

Plate

4 - 5

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.

4.2 Startup in position control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the position control mode.

4.2.1 Power on and off procedures

(1) Power-on

Switch power on in the following procedure. Always follow this procedure at power-on.

1) Switch off SON (Servo-on).

2) Make sure that a command pulse train is not input.

3) Switch on the main circuit power supply and control circuit power supply.

When main circuit power/control circuit power is switched on, the display shows "C (Cumulative feedback pulses)", and in 2 s later, shows data.

In the absolute position detection system, first power-on results in [AL. 25 Absolute position erased] and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again.

Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Power-off

1) Make sure that a command pulse train is not input.


3) Switch off the main circuit power supply and control circuit power supply.

4 - 6

4. STARTUP

4.2.2 Stop

Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.

Switch of SON (Servo-on).

Alarm occurrence

EM2 (Forced stop 2) off

STO (STO1, STO2) off

The base circuit is shut off and the servo motor coasts.

The servo motor decelerates to a stop with the command. With some alarms, however, the dynamic brake operates to bring the servo motor to a stop. (Refer to chapter 8. (Note))

The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode.

Refer to section 3.5 for EM1.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

LSP (Forward rotation stroke end) of LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the

(Reverse rotation stroke end) off opposite direction.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual

(Troubleshooting)" for details of alarms and warnings.

4 - 7

4. STARTUP

4.2.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.

Refer to section 4.2.1 for the power on and off methods of the servo amplifier.

Test operation of the servo motor alone in JOG operation of test operation mode

In this step, confirm that the servo amplifier and servo motor operate normally.

With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 4.5.9 for the test operation mode.


In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the controller.

Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is put in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation

Test operation with the servo motor and machine connected stroke end).

3) When a pulse train is input from the controller, the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller.



2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3) When a pulse train is input from the controller, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, command pulse frequency, load ratio, etc.

4) Then, check automatic operation with the program of the controller.

4 - 8

4. STARTUP

4.2.4 Parameter setting

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1].

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

In the position control mode, the servo amplifier can be used by merely changing the basic setting parameters ([Pr. PA _ _ ]) mainly.

As necessary, set other parameters.

4.2.5 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. Perform a home position return as necessary.

4.2.6 Trouble at start-up

CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable.

POINT

Using the optional MR Configurator2, you can refer to reason for rotation failure, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

(1) Troubleshooting

No. Start-up sequence Fault Investigation Possible cause Reference

The 5-digit,

7-segment LED is not lit.

The 5-digit,

7-segment LED blinks.

Alarm occurs.

Not improved even if CN1, CN2 and CN3 connectors are disconnected.

Improved when CN1 connector is disconnected.


1. Power supply voltage fault

2. The servo amplifier is malfunctioning.

Power supply of CN1 cabling is shorted.

1. Power supply of encoder cabling is shorted.

2. Encoder is malfunctioning.



Refer to chapter 8 and remove cause. Chapter 8

(Note)

4 - 9

4. STARTUP


2 Switch on SON

(Servo-on). pulse.

(Test operation)

5 Cyclic operation

Alarm occurs.

Servo motor shaft is not servo-locked.

(Servo motor shaft is free.)

Servo motor does not rotate.

Servo motor run in reverse direction. fluctuations) are large at low speed.

Large load inertia moment causes the servo motor shaft to oscillate side to side.

Position shift occurs

Refer to chapter 8 and remove cause.

1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication (section 4.5.7) to see if SON (Servo-on) is on.

Check the cumulative command pulse on the status display

(section 4.5.3).

1. SON (Servo-on) is not input.

(wiring mistake)

2. 24 V DC power is not supplied to DICOM.

1. Wiring mistake

(a) For open collector pulse train input, 24 V DC power is not supplied to OPC.

(b) LSP and LSN are not on.

2. Pulse is not input from the controller.

Chapter 8

(Note)

Section

4.5.7

Section

4.5.3

Mistake in setting of [Pr. PA13]. Chapter 5

1. Mistake in wiring to controller.

2. Mistake in setting of [Pr.

PA14].

Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

Gain adjustment fault

2. Repeat acceleration and deceleration three times or more to complete auto tuning.

If the servo motor may be run with safety, repeat acceleration and deceleration three times or more to complete auto tuning.


Chapter 6

Chapter 6

Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor

Pulse counting error, etc. due to noise. position.


(2) in this section


4 - 10

4. STARTUP

(2) How to find the cause of position shift

Controller

(a) Output pulse

counter

Q

P

Servo amplifier

Electronic gear

[Pr. PA05], [Pr. PA06],

[Pr. PA07], [Pr. PA21]

(b) Cumulative command pulses

Cause A

SON (Servo-on) input

LSP/LSN (Stroke end) input

Cause C

C

(c) Cumulative feedback pulses

Machine

Servo motor

M

L

(d) Machine stop position M

Cause B

Encoder

When a position shift occurs, check (a) output pulse counter display Q, (b) cumulative command pulse

P, (c) cumulative feedback pulse C, and (d) machine stop position M in the above diagram.

Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that noise entered the wiring between the controller and servo amplifier, causing command input pulses to be miscounted.

In a normal status without position shift, there are the following relationships.

1) Q = P (Output counter = Cumulative command pulses)

2) When [Pr. PA21] is "0 _ _ _"

P •

CMX [Pr. PA06]

CDV [Pr. PA07]

= C (Cumulative command pulses × Electronic gear = Cumulative feedback pulses)

3) When [Pr. PA21] is "1 _ _ _"

P •

4194304

FBP [Pr. PA05]

= C

4) When [Pr. PA21] is "2 _ _ _"

P •

CMX [Pr. PA06]

CDV [Pr. PA07]

× 16 = C

5) C • = M (Cumulative feedback pulses × Travel distance per pulse = Machine position)

4 - 11

4. STARTUP

Check for a position mismatch in the following sequence.

1) When Q P

Noise entered the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be miscounted. (Cause A)

Make the following check or take the following measures.

Check how the shielding is done.

Change the open collector type to the differential line driver type.

Run wiring away from the power circuit.

Install a data line filter. (Refer to section 11.14 (2) (a).)

Change the [Pr. PA13 Command pulse input form] setting.

2) When P •

CMX

CDV

≠ C

During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C)

3) When C • Δℓ ≠ M

Mechanical slip occurred between the servo motor and machine. (Cause B)

4.3 Startup in speed control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the speed control mode.


(1) Power-on



2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.


When main circuit power/control circuit power is switched on, the display shows "r (Servo motor speed)", and in 2 s later, shows data.

(2) Power-off

1) Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start).



4 - 12

4. STARTUP

4.3.2 Stop


If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop.

Refer to section 3.10 for the servo motor with an electromagnetic brake.

Switch of SON (Servo-on).

Alarm occurrence




The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode.


STO (STO1, STO2) off

LSP (Forward rotation stroke end) of LSN

(Reverse rotation stroke end) off

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

It will bring the motor to a sudden stop and make it servo-locked. It can be run in the opposite direction.

Simultaneous on or off of ST1 (Forward rotation start) and ST2 (Reverse rotation

The servo motor is decelerated to a stop. start)



4 - 13

4. STARTUP











2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation

Test operation with the servo motor and machine connected stroke end).

3) When VC (Analog speed command) is input from the controller and ST1

(Forward rotation start) or ST2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.




2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3) When VC (Analog speed command) is input from the controller and ST1

(Forward rotation start) or ST2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.


4 - 14

4. STARTUP


POINT


MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters

([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.



Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.


CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable.

POINT




The 5-digit,


The 5-digit,


Alarm occurs.

Not improved even if CN1, CN2, and CN3 connectors are disconnected.










Refer to chapter 8 and remove cause. Chapter 8

(Note)

4 - 15

4. STARTUP

No. Start-up sequence Fault Investigation Possible cause

2 Switch on SON

(Servo-on).

Alarm occurs. Refer to chapter 8 and remove cause.

3 Switch on ST1

(Forward rotation start) or ST2

(Reverse rotation start).

Servo motor shaft is not servo-locked.



4 Gain adjustment Rotation ripples (speed fluctuations) are large at low speed.

1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication (section 4.5.7) to see if SON (Servo-on) is on.

Call the status display (section

4.5.3) and check the input voltage of VC (Analog speed command).

Call the external I/O signal display (section 4.5.7) and check the on/off status of the input signal.

Check the internal speed commands 1 to 7 ([Pr. PC05] to

[Pr. PC11]).

Check the forward rotation torque limit ([Pr. PA11]) and the reverse rotation torque limit ([Pr.

PA12]).

When TLA (Analog torque limit) is usable, check the input voltage on the status display.

Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration three times or more to complete auto tuning.


(wiring mistake)


Analog speed command is 0 V.

LSP, LSN, ST1, and ST2 are off.

Set value is 0.

Torque limit level is too low as compared to the load torque.

Torque limit level is too low as compared to the load torque.


Large load inertia moment causes the servo motor shaft to

If the servo motor may be run with safety, repeat acceleration and deceleration three times or

Gain adjustment fault oscillate side to side. more to complete auto tuning.



Reference

Chapter 8

(Note)

Section

4.5.7

Section

4.5.3

Section

4.5.7

Section

5.2.3

Section

5.2.1

Section

4.5.3

Chapter 6

Chapter 6

4 - 16

4. STARTUP

4.4 Startup in torque control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the torque control mode.


(1) Power-on



2) Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.


Data is displayed in 2 s after "U" (Analog torque command) is displayed.

(2) Power-off

1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).



4.4.2 Stop


If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.

Switch off SON (Servo-on).

Alarm occurrence




This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode.


STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

Simultaneous on or off of RS1 (Forward rotation selection) and RS2 (Reverse rotation

The servo motor coasts. selection)



4 - 17

4. STARTUP










1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on status, RD (Ready) switches on.

2) When TC (Analog speed command) is input from the controller and RS1

Test operation with the servo motor and machine connected

(Forward rotation start) or RS2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low torque command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.



1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on status, RD (Ready) switches on.

2) When TC (Analog speed command) is input from the controller and RS1

(Forward rotation start) or RS2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low torque command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.


4 - 18

4. STARTUP


POINT


MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters

([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.



Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.

4 - 19

4. STARTUP


CAUTION

Never adjust or change the parameter values extremely as it will make unstable movement.

POINT




1 Power on The 5-digit,


Not improved even if CN1, CN2, and CN3 connectors are disconnected.



The 5-digit,









Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8

(Note)

2 Switch on SON

(Servo-on).

3 Switch on RS1

(Forward rotation start) or RS2

(Reverse rotation start).

Alarm occurs.



Refer to chapter 8 and remove cause.


Call the status display (section

4.5.3) and check the input voltage of TC (Analog torque command).



(wiring mistake)


Analog torque command is 0 V.

RS1 and RS2 are off.

Chapter 8

(Note)

Section

4.5.7

Section

4.5.3

Section

4.5.7

Check the internal speed limit 1 to 7 ([Pr. PC05] to [Pr. PC11]).

Check the analog torque command maximum output ([Pr.

PC13]) value.

Set value is 0.

Torque command level is too low as compared to the load torque.

Section

5.2.3

Section

5.2.3

Check the forward rotation torque limit ([Pr. PA11]) and the reverse rotation torque limit ([Pr.

Set value is 0.

PA12]).



Section

5.2.1

4 - 20

4. STARTUP

4.5 Display and operation sections

4.5.1 Summary

The MR-J4-_A_(-RJ) servo amplifier has the display section (5-digit, 7-segment LED) and operation section

(4 pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the


The operation section and display data are described below.

5-digit, 7-segment LED Displays data.

MODE UP DOWN SET

MODE

UP

DOWN

SET

Display mode change

Low/High switching

Push this button together with the "SET" button for


Display/data scrolling


Display/data determination

Data clear


Decimal LED Displays the decimal points, alarm presence/absence, etc.

Lit to indicate the decimal point.

Decimal

Lit to indicate a negative when "-"

(negative) cannot be displayed.

Blinks to indicate alarm occurrence.

Blinks to indicate the test operation mode.

4 - 21

4. STARTUP

4.5.2 Display flowchart

Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the description of the corresponding display mode.

To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr. PA19 Parameter writing inhibit].

Display mode transition Initial screen Function Reference

Status display

Servo status display.

"C" appears at power-on.

(Note)

Section

4.5.3

One-touch tuning

One-touch tuning

Select this when performing the one-touch tuning.

Section 6.2

Diagnosis

Alarms

Sequence display, external signal display, output signal (DO) forced output, test operation, software version display, VC automatic offset, servo motor series ID display, servo motor type ID display, servo motor encoder ID display, drive recorder enabled/disabled display.

Current alarm display, alarm history display, parameter error number display.

Section

4.5.4

Section

4.5.5

Section

4.5.6

Button

MODE

Basic setting parameters

Gain/filter parameters

Display and setting of basic setting parameters.

Display and setting of gain/filter parameters.

Extension setting parameters

I/O setting parameters

Display and setting of extension setting parameters.

Display and setting of I/O setting parameters.

Extension setting 2 parameters

Display and setting of extension setting 2 parameters.



Linear/DD motor setting parameter

Display and setting of linear/DD motor setting parameters.

Note. When the axis name is set to the servo amplifier with MR Configurator2, the axis name is displayed and the servo status is then displayed.

4 - 22

4. STARTUP

4.5.3 Status display mode

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or

"DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s.

(1) Display transition

After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.

(a) Standard control mode/DD motor control mode

Unit total power consumption 2

(increment of 100 kWh)

Cumulative feedback pulses

Within one-revolution position

(1000 pulses unit)

Servo motor speed/

Linear servo motor speed

ABS counter

Load to motor inertia ratio Droop pulses

Cumulative command pulses

Command pulse frequency

Analog speed command voltage

Analog speed limit voltage

UP

Analog torque limit voltage

Analog torque command voltage

DOWN

Regenerative load ratio

Bus voltage

Internal temperature of encoder

Settling time

Oscillation detection frequency

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution position (1 pulse unit)

Number of tough drives

Unit power consumption 1

(increment of 1 W)


(increment of 1 kW)


(increment of 1 Wh)




4 - 23

4. STARTUP

(b) Fully closed loop control mode

Load-side encoder information 2

(Note)




Load-side encoder cumulative feedback pulses

Load-side encoder droop pulses


(1 pulse unit)


(100000 pulses unit)



Note. The displays in the frames are the standard control modes in one cycle with some displays omitted.

4 - 24

4. STARTUP

(c) Linear servo motor control mode

Electrical angle high

(Note)




Z-phase counter low

Z-phase counter high

Electrical angle low



Note. The displays in the frames are the standard control modes in one cycle with some displays omitted.

4 - 25

4. STARTUP

(2) Display examples

The following table shows the display examples.

Item State

Displayed data


Forward rotation at 2500 r/min

Servo motor speed

Reverse rotation at 3000 r/min

Reverse rotation is indicated by "- ".

Load to motor inertia ratio 7.00 times

11252 rev

ABS counter

-12566 rev

Lit

Negative value is indicated by the lit decimal points in the upper four digits.

4 - 26

4. STARTUP

(3) Status display list

The following table lists the servo statuses that may be shown. Refer to app. 7.3 for the measurement point.

Status display Symbol Unit Description

Cumulative feedback pulses C pulse

Feedback pulses from the servo motor encoder are counted and displayed.

The values in excess of ±99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits.

Press the "SET" button to reset the display value to zero.

The value of minus is indicated by the lit decimal points in the upper four digits.

Servo motor speed/


Droop pulses



E

P n pulse pulse kpulse/s

The number of droop pulses in the deviation counter is displayed.

The decimal points in the upper four digits are lit for reverse rotation pulses.


The number of pulses displayed is in the encoder pulse unit.

Position command input pulses are counted and displayed.

As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it may not match the indication of the cumulative feedback pulses.



When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit.

The frequency of position command input pulses is counted and displayed.

The value displayed is not multiplied by the electronic gear (CMX/CDV).





1) Torque control mode

F V

Input voltage of VLA (Analog speed limit) voltage is displayed.

2) Speed control mode

Input voltage of VC (Analog speed command) voltage is displayed

1) Position control mode and speed control mode

Voltage of TLA (Analog torque limit) voltage is displayed.



Peak load ratio


L

J b

T

%

%

%

%

Voltage of TC (Analog torque command) voltage is displayed.

The ratio of regenerative power to permissible regenerative power is displayed in %.

The continuous effective load current is displayed.

The effective value in the past 15 s is displayed relative to the rated current of

100%.

The maximum occurrence torque is displayed.

The highest value in the past 15 s is displayed relative to the rated current of

100%.

The instantaneous occurrence torque is displayed.

The value of torque being occurred is displayed in real time considering a rated torque as 100%.

Position within one revolution is displayed in encoder pulses.

The values in excess of ±99999 can be counted. However, the counter shows


(1 pulse unit)


(1000 pulses unit)

ABS counter

Cy2

LS

1000 pulses rev five digits.

When the servo motor rotates in the CCW direction, the value is added.

The within one-revolution position is displayed in 1000 pulse increments of the encoder.


The travel distance from the home position is displayed as multi-revolution counter value of the absolution position encoder in the absolution position detection system.

4 - 27

4. STARTUP

Status display

Load to motor inertia ratio

Bus voltage


Settling time


Number of tough operations

Symbol dC Multiplier

Pn

Unit

V

Description

The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

The voltage of main circuit converter (between P+ and N-) is displayed.

ETh

ST

°C ms

Inside temperature of encoder detected by the encoder is displayed.

Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed. oF

Td

Hz times

Frequency at the time of oscillation detection is displayed.

The number of tough drive functions activated is displayed.

Unit power consumption is displayed by increment of 1 W. Positive value indicate


(increment of 1 W) the actual value since the servo amplifier display is five digits.


(increment of 1 kW)

Unit total power consumption

1 (increment of 1 Wh)


2 (increment of 100 kWh)

Unit total power consumption is displayed by increment of 1 Wh. Positive value is cumulated during power running and negative value during regeneration. The

TPC1 Wh values in excess of ±99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits.

Wh

Unit total power consumption is displayed by increment of 100 kWh. Positive value is cumulated during power running and negative value during regeneration.

Feedback pulses from the load-side encoder are counted and displayed.

The values in excess of ±99999 can be counted. However, the counter shows

Load-side encoder



The value of minus is indicated by the lit decimal points in the upper four digits.

Droop pulses of the deviation counter between a load-side encoder and a command are displayed. When the count exceeds ±99999, it starts from 0.

Load-side encoder

Droop pulses


(1 pulse unit)



The display shows the average droop pulses of 128 samplings at the rate of 444

[ μ s].

The Z-phase counter of a load-side encoder is displayed in the encoder pulse unit.

FCY1 pulse

For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position linear encoder, the encoder absolute position is displayed.

When the count exceeds 99999, it starts from 0.

FCY2

100000 pulses

The Z-phase counter of a load-side encoder is displayed by increments of

100000 pulses.



When an incremental linear encoder is used as the load-side encoder, the display shows 0.


Z-phase counter low

Z-phase counter high

FCY1

FCY2 pulse

100000 pulses

When a rotary encoder is used as the load-side encoder, the display shows the value of the multi-revolution counter.

The Z-phase counter is displayed in the encoder pulse unit.



The Z-phase counter is displayed by increments of 100000 pulses.



4 - 28

4. STARTUP

Status display

Electrical angle low


Symbol

ECY1

ECY2

Unit pulse

100000 pulses

Description

The servo motor electrical angle is displayed.

The servo motor electrical angle is displayed by increments of 100000 pulses.

(4) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing

[Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.

Control mode Status display

Position

Position/speed

Speed

Speed/torque

Torque

Torque/position


Cumulative feedback pulses/servo motor speed

Servo motor speed

Servo motor speed/analog torque command voltage


Analog torque command voltage/cumulative feedback pulses

4 - 29

4. STARTUP

4.5.4 Diagnostic mode

Name Display Description

Not ready

Indicates that the servo amplifier is being initialized or an alarm has occurred.

Sequence

Drive recorder enabled/disabled display



Refer to section 4.5.7.

Ready

Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.

Drive recorder enabled

When an alarm occurs in the status, the drive recorder will operate and write the status of occurrence.


The drive recorder will not operate on the following conditions.

1. You are using the graph function of MR

Configurator2.


3. [Pr. PF21] is set to "-1".

This Indicates the on/off status of external I/O signal.

The upper segments correspond to the input signals and the lower segments to the output signals.

This allows digital output signal to be switched on/off forcibly.

For details, refer to section 4.5.8.

Test operation mode

JOG operation

Positioning operation

Motor-less operation

Machine analyzer operation

For manufacturer

JOG operation can be performed when there is no command from an external controller.

For details, refer to section 4.5.9 (2).

Positioning operation can be performed when there is no command from an external controller.

MR Configurator2 is required to perform positioning operation.


Without connecting the servo motor, output signals or status display monitoring can be provided in response to the input device as if the servo motor is actually running.


Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured.

MR Configurator2 is required to perform machine analyzer operation.


This is for manufacturer.

For manufacturer


4 - 30

4. STARTUP


Indicates the version of the software.

Software version – Lower

Software version - Upper

Indicates the system number of the software.

Automatic VC offset

Servo motor series ID

Servo motor type ID

Servo motor encoder ID

For manufacturer

If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC (Analog speed command) or VLA (Analog speed limit) of 0 V, this function automatically makes zeroadjustment of offset voltages.

When using this function, enable the function in the following procedure. When it is enabled, [Pr. PC37] value changes to the automatically adjusted offset voltage.

1) Push "SET" once.

2) Set the number in the first digit to 1 with

"UP".

3) Push "SET".

This function cannot be used if the input voltage of VC or VLA is - +0.4 V or less, or +

0.4 V or more. (Note)

Push the "SET" button to show the series ID of the servo motor currently connected.

For indication details, refer to the Servo Motor

Instruction Manual (Vol. 3).

Push the "SET" button to show the type ID of the servo motor currently connected.



Push the "SET" button to show the encoder

ID of the servo motor currently connected.





For manufacturer

Note. Even if Automatic VC offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To completely stop the servo motor, switch off ST1 or ST2.

4 - 31

4. STARTUP

4.5.5 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 3 digits on the display indicate the alarm number that has occurred or the parameter number in error.


Indicates no occurrence of an alarm.

Current alarm

Indicates the occurrence of [AL. 33.1 Main circuit voltage error].

Blinks at alarm occurrence.

Alarm history

Indicates that the last alarm is [AL. 50.1

Thermal overload error 1 during operation].

Indicates the second last alarm is [AL. 33.1

Main circuit voltage error].

Indicates the third last alarm is [AL. 10.1

Voltage drop in the control circuit power].

Indicates that there is no tenth alarm in the past.

Indicates that there is no eleventh alarm in the past.

Indicates that there is no twelfth alarm in the past.

Parameter error No.

Indicates that there is no sixteenth alarm in the past.

This indicates no occurrence of [AL. 37

Parameter error].

The data content error of [Pr. PA12 Reverse rotation torque limit].

4 - 32

4. STARTUP

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the fourth digit remains blinking.

(3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the alarms that can be cleared.)

(a) Switch power off, then on.

(b) Push the "SET" button on the current alarm screen.

(c) Turn on RES (Reset).

(4) Use [Pr. PC18] to clear the alarm history.

(5) Push "UP" or "DOWN" to move to the next history.

4.5.6 Parameter mode

(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pushing the "UP" or

"DOWN" button changes the display as shown below.

To status display mode

From an alarm mode




MODE




Linear/DD motor setting parameter

[Pr. PA01]

[Pr. PA02]

[Pr. PB01]

[Pr. PB02]

[Pr. PC01]

[Pr. PC02]

[Pr. PD01]

[Pr. PD02]

[Pr. PE01]

[Pr. PE02]

[Pr. PF01]

[Pr. PF02]

[Pr. PL01]

[Pr. PL02]

UP

DOWN

[Pr. PA31]

[Pr. PA32]

[Pr. PB63]

[Pr. PB64]

[Pr. PC79]

[Pr. PC80]

[Pr. PD47]

[Pr. PD48]

[Pr. PE63]

[Pr. PE64]

[Pr. PF47]

[Pr. PF48]

[Pr. PL47]

[Pr. PL48]

4 - 33

4. STARTUP

(2) Operation example

(a) Parameters of 5 or less digits

The following example shows the operation procedure performed after power-on to change the control mode to the speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to the basic setting parameter screen.

…… The parameter number is displayed.

Press "UP" or "DOWN" to change the number.

Press "SET" twice.

…… The set value of the specified parameter number blinks.

Press "UP" twice.

…… During blinking, the set value can be changed.

Use "UP" or "DOWN".

(_ _ _ 2: Speed control mode)

Press "SET" to enter.

To shift to the next parameter, press the "UP" or "DOWN" button.

When changing the [Pr. PA01] setting, change its set value, then switch power off once and switch it on again to enable the new value.

(b) Parameters of 6 or more digits

The following example gives the operation procedure to change the electronic gear numerator to

"123456" with [Pr. PA06 Electronic gear numerator].

Press "MODE" to switch to the basic setting parameter screen.

Press "UP" or "DOWN" to select [Pr. PA06].

Press "SET" once.

Setting of upper 1 digit Setting of lower 4 digits

Press "MODE" once.

Press "SET" once.

…… The display blinks.

……

Change the setting with the

"UP" or "DOWN" button.

Press "SET" once.

…… Enter the setting.

…

Press "MODE" once.

4 - 34

4. STARTUP

4.5.7 External I/O signal display

POINT

The I/O signal settings can be changed using the I/O setting parameters [Pr.

PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].

The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation

Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.

Press "UP" twice.

…… External I/O signal display screen

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.

CN1-10 (Note 1)/

CN1-37 (Note 2)

CN1-42 CN1-45

CN1-35 (Note 1)/

CN1-38 (Note 2)

CN1-18 CN1-17 CN1-16 CN1-41 CN1-19 CN1-15 CN1-44 CN1-43

Input signals

Always lit

Output signals

CN1-14

(Note 1)

CN1-13

(Note 1)

CN1-33 CN1-48 CN1-22 CN1-25 CN1-23 CN1-24 CN1-49

Light on: on

Light off: off

Note 1. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.

2. This is available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software version B7 or later.

The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.

The signals corresponding to the pins in the respective control modes are indicated below.

4 - 35

4. STARTUP

(a) Control modes and I/O signals

Connector Pin No.

Signal input/output

(Note 1) I/O

(Note 2) Symbols of I/O signals in control modes

Related parameter

P P/S S S/T T T/P

10

13

14

I

O

O

PP

(Note 3)

(Note 3)

PP/-

(Note 3)

(Note 3)

(Note 5)

(Note 3)

(Note 3)

(Note 5)

(Note 3)

(Note 3)

(Note 5)

(Note 3)

(Note 3)

-/PP

(Note 3)

(Note 3)

PD43/PD44 (Note 4)

PD47 (Note 4)

PD47 (Note 4)

15 I SON SON SON SON SON SON PD03/PD04

16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06

17 I PC

18 I TL

19 I RES RES RES RES RES RES PD11/PD12

INP/SA PD23

23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24

CN1 24 O INP INP/SA SA SA/- -/INP PD25


35 I NP NP/- (Note 5) (Note 5) (Note 5) -/NP PD45/PD46 (Note 4)

37

(Note 7)

38

(Note 7)

I

I

PP2

NP2

PP2/-

NP2/-

(Note 6)

(Note 6)

(Note 6)

(Note 6)

(Note 6)

(Note 6)

-/PP2

-/NP2

PD43/PD44 (Note 4)

PD45/PD46 (Note 4)

41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14



44 I LSN LSN LSN LSN/- -/LSN PD19/PD20

45 I LOP LOP LOP LOP LOP LOP PD21/PD22


49 O RD RD RD RD RD RD PD28

Note 1. I: input signal, O: output signal

2. P: position control mode, S: speed control mode, T: torque control mode

P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode



5. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with

[Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. Also, this is available with servo amplifiers with software version B3 or later.


7. These pins are available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software version B7 or later.

(b) Symbol and signal names

Symbol Application Symbol Application

SON Servo-on

LSP Forward rotation stroke end

LSN Reverse rotation stroke end

CR Clear

SP1 Speed selection 1

SP2

PC

Speed selection 2

Proportion control

ST2

RS2

TL




RES Reset

EM2 Forced stop 2

LOP Control switching

VLC

RD

Limiting speed

Ready

ZSP Zero speed detection

INP In-position

SA Speed reached

ALM Malfunction

OP Encoder Z-phase pulse (open collector)

4 - 36

4. STARTUP

(3) Display data at initial values

(a) Position control mode

PC (CN1-17)

NP (CN1-35)/

NP2 (CN1-38)

TL (CN1-18)

LOP (CN1-45)

PP (CN1-10)/

PP2 (CN1-37)

EM2 (CN1-42)

Input signal

Output signals

OP (CN1-33)

ALM (CN1-48)

(b) Speed control mode

SP2 (CN1-16)

ST1 (CN1-17)

ST2 (CN1-18)

LOP (CN1-45)

EM2 (CN1-42)

Input signal

Output signals

OP (CN1-33)

ALM (CN1-48)

(c) Torque control mode

SP2 (CN1-16)

RS2 (CN1-17)

RS1 (CN1-18)

LOP (CN1-45)

EM2 (CN1-42)

Input signal

Output signals

OP (CN1-33)

ALM (CN1-48)

4 - 37

CR (CN1-41)

RES (CN1-19)

SON (CN1-15)

LSN (CN1-44)

LSP (CN1-43)

Light on: on

Light off: off

RD (CN1-49)

INP (CN1-24)

ZSP (CN1-23)

TLC (CN1-25)

INP (CN1-22)

SP1 (CN1-41)

RES (CN1-19)

SON (CN1-15)

LSN (CN1-44)

LSP (CN1-43)

RD (CN1-49)

SA (CN1-24)

ZSP (CN1-23)

TLC (CN1-25)

SA (CN1-22)

Light on: on

Light off: off

SP1 (CN1-41)

RES (CN1-19)

SON (CN1-15)

Light on: on

Light off: off

RD (CN1-49)

ZSP (CN1-23)

VLC (CN1-25)

4. STARTUP

4.5.8 Output signal (DO) forced output

POINT

When the servo system is used in a vertical lift application, turning on MBR

(Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off the

SON (Servo-on).

Operation

Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.

Press the "UP" button three times.

CN1

14

CN1

13

(Note) (Note)

CN1

33

CN1

48

CN1

22

CN1

25

CN1

23

CN1

24

CN1

49

Press the "SET" button for 2 s or more.

…… Switch on/off the signal below the lit segment.

Always lit (The leftmost digit is always lit only for MR-J4-_A_

-RJ servo amplifiers with software version B3 or later.)

…… Indicates on/off of output signal. Definitions of on/off are the same as those for the external I/O signals. (Light on: on, light off: off)

Press the "MODE" button once.

…… The lit LED moves to the upper LED of CN1-24.

Press the "UP" button once.

…… CN1-24 switches on.

(Between CN1-24 and DOCOM are connected.)

Press the "DOWN" button once.

…… CN1-24 switches off.


Note. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.

4 - 38

4. STARTUP

4.5.9 Test operation mode

CAUTION

The test operation mode is designed for checking servo operation. Do not use it for actual operation.

If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.

POINT

The test operation mode cannot be used in the absolute position detection system by DIO ([Pr. PA03: _ _ _ 1]).


Test operation cannot be performed if SON (Servo-on) is not turned off.

(1) Mode switching

Call the display screen shown after power-on. Select JOG operation or motor-less operation in the following procedure. Using the "MODE" button, show the diagnostic screen.

Press "UP" four times.

Press "SET" for longer than 2 s.

……

When this screen appears,

JOG operation can be performed.

Blinks in the test operation mode.

4 - 39

4. STARTUP

(2) JOG operation

POINT

When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".

JOG operation can be performed when there is no command from the controller.

(a) Operation

The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops rotating by releasing the button. The operation condition can be changed using MR Configurator2.

The initial operation condition and setting range for operation are listed below.

Item

Speed [r/min]

Acceleration/deceleration time constant [ms]

Initial setting

200

1000

Setting range

0 to instantaneous permissible speed

0 to 50000

The following table shows how to use the buttons.

Button Description

"UP"

"DOWN"

Press to start CCW rotation.

Release to stop.

Press to start CW rotation.

Release to stop.

If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor decelerates to a stop.

(b) Status display

Press the "MODE" button in the JOG operation-ready status to call the status display screen. When the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed during the JOG operation. Every time the "MODE" button is pushed, the next status display screen appears. When one cycle of the screen display is complete, it returns to the jog operation-ready status screen. Refer to section 4.5.3 for details of status display. Note that the status display screen cannot be changed by the "UP" or "DOWN" button during the JOG operation.

(c) Termination of JOG operation

To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next screen, and then hold down the "SET" button for 2 s or longer.

4 - 40

4. STARTUP

(3) Positioning operation

POINT


Turn on EM2 (forced stop 2) when performing positioning operation.

Positioning operation can be performed when there is no command from a controller.

(a) Operation m) a) b) c) d) e) f) h) i) j) k) a) Motor speed [r/min]

Enter the servo motor speed into the "Motor speed" input field. b) Acceleration/deceleration time constant [ms]

Enter the acceleration/deceleration time constant into the "Accel./decel. time constant" input field. c) Travel distance [pulse]

Enter the travel distance into the "Travel distance" input field. d) LSP/LSN are automatically turned on

When setting the external stroke signal to automatic on, click the check box to enable it. When it is not selected, turn on LSP and LSN externally. e) Move till Z-phase signal

Travel is made until the travel distance is reached and the first Z-phase signal in the travelling direction turns on.

4 - 41 l) n) g)

4. STARTUP f) Travel distance unit selection

Select with the option buttons whether the travel distance set in c) is in the command pulse unit or in the encoder pulse unit.

When the command input pulse unit is selected, the value, which is the set travel distance multiplied by the electronic gear, will be the command value. When the encoder pulse unit is selected, the travel distance is not multiplied by the electronic gear. g) Enable repeat operation

To perform repeat operation, click the check. The initial setting and setting range for the repeat operation are listed below.

Item Initial setting

Repeat pattern

Dwell time [s]

Number of operations

[times]

Fwd. rot. (CCW) to rev. rot. (CW)

2.0

1

Setting range

Fwd. rot. (CCW) to rev. rot. (CW)

Fwd. rot. (CCW) to fwd. rot. (CCW)

Rev. rot. (CW) to fwd. rot. (CCW)

Rev. rot. (CW) to rev. rot. (CW)

0.1 to 50.0

1 to 9999

To perform continuous operation with the repeat pattern and dwell time settings, which are set by referring to the above table, click the check box of "Make the aging function enabled". h) Forward/reverse the servo motor

Click "Forward" to rotate the servo motor in the forward rotation direction.

Click "Reverse" to rotate the servo motor in the reverse rotation direction. i) Pause the servo motor

Click "Pause" during servo motor rotation to temporarily stop the servo motor.

"Pause" is enabled during servo motor rotation. j) Stop the servo motor

Click "Stop" during servo motor rotation to stop the servo motor. k) Forced stop

Click "Forced stop" during servo motor rotation to make a sudden stop.

"Forced stop" is enabled during servo motor rotation. l) Operation status

The operation status during the repeat operation, and the number of operations are displayed m) Axis No.

Axis No. in operation is displayed. n) Termination of positioning operation window

Click "X" to cancel the positioning operation mode and close the window.

(b) Status display

The status display can be monitored during positioning operation.

4 - 42

4. STARTUP

(4) Motor-less operation

Without connecting the servo motor, output signals or status display can be provided in response to the input device as if the servo motor is actually running. This operation can be used to check the sequence of a controller or the like.

(a) Start of motor-less operation

After setting "_ _ _ 1" in [Pr. PC60], cycle the power. After that, perform external operation as in ordinary operation.

(b) Termination of motor-less operation

To terminate the motor-less operation, set [Pr. PC60] to "_ _ _ 0" and then turn the power off.

(5) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using a controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on or servo-off and whether a controller is connected or not.

Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of MR

Configurator2.

Forced stop Click "Forced stop".

(6) 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.

4 - 43

4. STARTUP

MEMO

4 - 44

5. PARAMETERS

5. PARAMETERS

CAUTION

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting

Setting a value out of the range

Changing the fixed values in the digits of a parameter

POINT

The following parameters are not available with MR-J4-03A6(-RJ) servo amplifiers.

[Pr. PA02 Regenerative option]

[Pr. PA17 Servo motor series setting]

[Pr. PA18 Servo motor type setting]

[Pr. PA26 Function selection A-5]

[Pr. PC44 Function selection C-9]

[Pr. PC45 Function selection C-A]

[Pr. PD47 Output device selection 7]

[Pr. PE03 Fully closed loop function selection 2]

[Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 -

Numerator]


Denominator]

[Pr. PE06 Fully closed loop control - Speed deviation error detection level]

[Pr. PE07 Fully closed loop control - Position deviation error detection level]

[Pr. PE08 Fully closed loop dual feedback filter]

[Pr. PE10 Fully closed loop function selection 3]


Numerator]


Denominator]

[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]

[Pr. PF34 RS-422 communication function selection 3]

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6(-RJ) servo amplifiers.

5 - 1

5. PARAMETERS

5.1 Parameter list

POINT

To enable a parameter whose symbol is preceded by *, cycle the power after setting it.

Abbreviations of operation modes indicate the followings.

Standard: Semi closed loop system use of the rotary servo motor

Full.: Fully closed loop system use of the rotary servo motor

Lin.: Linear servo motor use

DD: Direct drive motor use

For MR-J4-03A6(-RJ) servo amplifiers, the operation mode is available only in standard (semi closed loop system).

The symbols in the control mode column mean as follows.




For servo amplifier with software version B3 or later, the parameter initial values for the manufacturer setting are partially changed.

Setting an out of range value to each parameter will trigger [AL. 37 Parameter error].

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation mode

Control mode

No. Symbol Name

Initial value

Unit

PA03 *ABS Absolute position detection system

PA04 *AOP1 Function selection A-1

PA05 *FBP Number of command input pulses per revolution

PA06 CMX Electronic gear numerator (command pulse multiplication numerator)

PA07 CDV Electronic gear denominator (command pulse multiplication denominator)

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response

PA11

PA12

TLP Forward rotation torque limit/positive direction thrust limit

TLN Reverse rotation torque limit/negative direction thrust limit

PA13 *PLSS Command pulse input form

PA14 *POL Rotation direction selection/travel direction selection

PA15 *ENR Encoder output pulses

PA16 *ENR2 Encoder output pulses 2

PA17 *MSR Servo motor series setting

PA18 *MTY Servo motor type setting

PA20 *TDS Tough drive setting


PA22 *PCS Position control composition selection

PA23 DRAT Drive recorder arbitrary alarm trigger setting

1000h

0000h

0000h

2000h

10000

1

1

0001h

16

100 [pulse]

100.0 [%]

100.0 [%]

0100h

0

4000 [pulse/rev]

1

0000h

0000h

00AAh

0000h

0001h

0000h

0000h

5 - 2

5. PARAMETERS

No. Symbol Name

PA24 AOP4 Function selection A-4

PA25 OTHOV One-touch tuning - Overshoot permissible level


PA27 For manufacturer setting

PA28

PA29

PA30

PA31

PA32

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Operation mode

Control mode

Initial value

Unit

0000h

0

0000h

[%]

0000h

0000h

0000h

0000h

0000h

0000h

Operation mode

Control mode

No. Symbol Name

Initial value

Unit

PB01 FILT Adaptive tuning mode (adaptive filter II) vibration suppression control II)

PB03 PST Position command acceleration/deceleration time constant

(position smoothing)

PB05 For setting

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model loop gain

PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain

PB10 VIC Speed integral compensation

PB11 VDC Speed differential compensation

PB12 OVA Overshoot amount compensation

PB13 NH1 Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1



PB17 NHF Shaft resonance suppression filter

PB18 LPF Low-pass filter setting

PB19 VRF11 Vibration suppression control 1 - Vibration frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping damping

PB23 VFBF Low-pass filter selection

PB24 *MVS Slight vibration suppression control

PB25 *BOP1 Function selection B-1

PB26 *CDP Gain switching function

PB27 CDL Gain switching condition

PB28 CDT Gain switching time constant

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

0000h

0000h

0 [ms]

0

500

[%]

7.00

15.0

37.0

[Multiplier]

[rad/s]

[rad/s]

823

33.7

980

[rad/s]

[ms]

0 [%]

4500 [Hz]

0000h

4500 [Hz]

0000h

0000h

3141

100.0

[rad/s]

[Hz]

100.0 [Hz]

0.00

0.00

0000h

0000h

0000h

0000h

10 [kpulse/s]/

[pulse]/

[r/min]

1 [ms]

7.00 [Multiplier]

5 - 3

5. PARAMETERS

Operation mode

Control mode

No. Symbol Name

Initial value

Unit

PB30 PG2B Position loop gain after gain switching

PB31 VG2B Speed loop gain after gain switching

PB32 VICB Speed integral compensation after gain switching

PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain switching

PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain switching damping after gain switching

PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping after gain switching

PB37 For manufacturer setting

PB38

PB39

PB40

PB41

PB42

PB43

PB44







PB52 VRF21 Vibration suppression control 2 - Vibration frequency

PB53 VRF22 Vibration suppression control 2 - Resonance frequency damping damping

PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching damping after gain switching damping after gain switching

PB60 PG1B Model loop gain after gain switching

PB61 For manufacturer setting

PB62

PB63

PB64

0.0 [rad/s]

0 [rad/s]

0.0 [ms]

0.0 [Hz]

0.0 [Hz]

0.00

0.00

1600

0.00

0.00

0.00

0000h

0000h

0000h

0.00

0000h

4500 [Hz]

0000h

4500 [Hz]

0000h

4500 [Hz]

0000h

100.0 [Hz]

100.0 [Hz]

0.00

0.00

0.0 [Hz]

0.0 [Hz]

0.00

0.00

0.0

0.0

[rad/s]

0000h

0000h

0000h

5 - 4

5. PARAMETERS

5.1.3 Extension setting parameters ([Pr. PC_ _ ])

No. Symbol Name

PC01

PC02

STA Acceleration time constant

STB Deceleration time constant

PC04 TQC Torque command time constant/thrust command time constant

PC05 SC1 Internal speed command 1

Internal speed limit 1

PC06

PC07

SC2 Internal speed command 2



PC08

PC09






SC6 Internal speed command 6 PC10

PC11




PC12 VCM Analog speed command - Maximum speed

Analog speed limit - Maximum speed

PC13 TLC Analog torque/thrust command maximum output

PC14 MOD1 Analog monitor 1 output

PC15 MOD2 Analog monitor 2 output

PC16 MBR Electromagnetic brake sequence output

PC18 *BPS Alarm history clear

PC19 *ENRS Encoder output pulse selection

PC20 *SNO Station No. setting

PC21 *SOP RS-422 communication function selection

PC22 *COP1 Function selection C-1



PC25 For setting




PC29 For setting

PC30 STA2 Acceleration time constant 2

PC31 STB2 Deceleration time constant 2

PC32 CMX2 Command input pulse multiplication numerator 2



PC35 TL2 Internal torque limit 2/internal thrust limit 2

PC36 *DMD Status display selection

PC37 VCO Analog speed command offset

Analog speed limit offset

Operation mode

Control mode

Initial value

Unit

0 [ms]

0 [ms]

0 [ms]

0 [ms]

100 [r/min]/

[mm/s]

500

1000

[r/min]/

[mm/s]

[r/min]/

[mm/s]

200 [r/min]/

[mm/s]

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

1

1

1

100.0

0000h

0

300

500

[r/min]/

[mm/s]

[r/min]/

[mm/s]

800 [r/min]/

[mm/s]

0

100.0

0000h

0001h

[r/min]/

[mm/s]

[%]

0 [ms]

50 [r/min]/

0000h

[mm/s]

[station]

[ms]

[ms]

[%]

[mV]

5 - 5

5. PARAMETERS

No. Symbol Name

PC38 TPO Analog torque command offset

Analog torque limit offset

PC39 MO1 Analog monitor 1 offset

PC40 MO2 Analog monitor 2 offset

PC41 For manufacturer setting

PC42

PC43 ERZ Error excessive alarm detection level


PC45 *COPA Function selection C-A


PC47

PC48

PC49

PC50

PC51 RSBR Forced stop deceleration time constant


PC53

PC54 RSUP1 Vertical axis freefall prevention compensation amount


PC56

PC57

PC58

PC59

PC60 *COPD Function selection C-D


PC62

PC63

PC64

PC65

PC66

PC67

PC68

PC69

PC70

PC71

PC72

PC73 ERW Error excessive warning level


PC75

PC76

PC77

PC78

PC79

PC80

Operation mode

Control mode

Initial value

Unit

0 [mV]

0

0

0

[mV]

[mV]

0

0 [rev]/[mm]

0000h

0000h

0

0

0

0

0000h

100 [ms]

0

0

0 [0.0001 rev]/

[0.01 mm]

0

100

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0

0040h

0000h

0

0000h

[rev]/[mm]

0000h

0000h

0000h

0000h

0000h

0000h

5 - 6

5. PARAMETERS

5.1.4 I/O setting parameters ([Pr. PD_ _ ])

No. Symbol Name

PD01 *DIA1 Input signal automatic on selection 1

PD02 For setting

PD03 *DI1L Input device selection 1L

PD04 *DI1H Input device selection 1H











PD15 For manufacturer setting

PD16







PD23 *DO1 Output device selection 1




PD27 For setting


PD29 *DIF Input filter setting

PD30 *DOP1 Function selection D-1




PD34 DOP5 Function selection D-5

PD35 For manufacturer setting

PD36

PD37

PD38

PD39

PD40

PD41

PD42






PD48 For setting

5 - 7

Operation mode

Control mode

Initial value

Unit

0000h

0000h

0202h

0202h

2100h

2021h

0704h

0707h

0805h

0808h

0303h

3803h

2006h

3920h

0000h

0000h

0A0Ah

0A00h

0B0Bh

0B00h

2323h

2B23h

0004h

000Ch

0004h

0007h

0003h

0002h

0004h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0000h

0000h

0000h

3A00h

0000h

3B00h

0000h

0000h

5. PARAMETERS

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Operation mode

Control mode

No. Symbol Name

Initial value

Unit

PE01 *FCT1 Fully closed loop function selection 1

PE02 For setting

PE03 *FCT2 Fully closed loop function selection 2

PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 -

Numerator

PE05 *FBD Fully closed loop control - Feedback pulse electronic gear 1 -

Denominator

PE06 BC1 Fully closed loop control - Speed deviation error detection level

PE07 BC2 Fully closed loop control - Position deviation error detection level

PE08 DUF Fully closed loop dual feedback filter

PE09 For setting

PE10 FCT3 Fully closed loop function selection 3

PE11 For manufacturer setting

PE12

PE13

PE14

PE15

PE16

PE17

PE18

PE19

PE20

PE21

PE22

PE23

PE24

PE25

PE26

PE27

PE28

PE29

PE30

PE31

PE32

PE33

PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 -

Numerator

PE35 *FBD2 Fully closed loop control - Feedback pulse electronic gear 2 -

Denominator


PE37

PE38

PE39

PE40

PE41 EOP3 Function selection E-3

0000h

0000h

0003h

1

1

400 [r/min]

100 [kpulse]

10

0000h

0000h

0000h

[rad/s]

0000h

0000h

0111h

20

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

1

1

0.0

0.00

0.00

20

0000h

0000h

5 - 8

5. PARAMETERS

Operation mode

Control mode

No. Symbol Name

Initial value

Unit


PE43

PE44 LMCP Lost motion compensation positive-side compensation value selection

PE45 LMCN Lost motion compensation negative-side compensation value selection

PE46 LMFLT Lost motion filter setting

PE48

PE49

PE50

*LMOP Lost motion compensation function selection

LMCD

LMCT

Lost motion compensation timing

Lost motion compensation non-sensitive band


PE52

PE53

PE54

PE55

PE56

PE57

PE58

PE59

PE60

PE61

PE62

PE63

PE64

0

0.0

0 [0.01%]

0 [0.01%]

0 [0.1 ms]

0 [0.01%]

0000h

0

0

[0.1 ms]

[pulse]/

[kpulse]

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0.00

0.00

0.00

0.00

5 - 9

5. PARAMETERS

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Operation mode

Control mode

No. Symbol Name

Initial value

Unit

PF01 For manufacturer setting

PF02

PF03

PF04

PF05

PF06

PF07

PF08

PF09 *FOP5 Function selection F-5


PF11

PF12

PF13

PF14


PF17

PF18 *STOD STO diagnosis error detection time


PF20

PF21 DRT Drive recorder switching time setting

PF22 For setting

PF23 OSCL1 Vibration tough drive - Oscillation detection level

PF24 *OSCL2 Vibration tough drive function selection

PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time


PF27

PF28

PF29

PF30

PF31 FRIC Machine diagnosis function - Friction judgment speed


PF33

PF34 *SOP3 RS-422 communication function selection 3


PF36

PF37

PF38

PF39

PF40

PF41

PF42

PF43

PF44

PF45

PF46

PF47

PF48

0

0

0

0000h

0

0 [r/min]/

[mm/s]

50

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0000h

1

1

0000h

0000h

0000h

10000

100

100

2000 [ms]

0000h

10

0

0000h

[s]

0000h

0

200

[s]

50 [%]

0000h

200 [ms]

5 - 10

5. PARAMETERS

5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation mode

Control mode

No. Symbol Name

Initial value

Unit

PL01 *LIT1 Linear servo motor/DD motor function selection 1

PL02 *LIM Linear encoder resolution - Numerator

PL03 *LID Linear encoder resolution - Denominator


PL05 LB1 Position deviation error detection level

PL06 LB2 Speed deviation error detection level

PL07 LB3 Torque/thrust deviation error detection level


PL09 LPWM Magnetic pole detection voltage level

PL10 For manufacturer setting

PL11

PL12

PL13

PL14

PL15

PL16

PL17 LTSTS Magnetic pole detection - Minute position detection method -

Function selection

PL18 IDLV Magnetic pole detection - Minute position detection method -

Identification signal amplitude

PL19 For manufacturer setting

PL20

PL21

PL22

PL23

PL24

PL25

PL26

PL27

PL28

PL29

PL30

PL31

PL32

PL33

PL34

PL35

PL36

PL37

PL38

PL39

PL40

PL41

PL42

PL43

PL44

PL45

PL46

PL47

PL48

0301h

1000

1000

0003h

0

[µm]

[µm]

[mm]/

[0.01 rev]

0

100

0010h

30

5

[r/min]/

[mm/s]

[%]

[%]

100

500

0000h

0000h

20

0

0000h

0 [%]

0

0

0

0

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

5 - 11

5. PARAMETERS

5.1.8 Option setting parameters ([Pr. Po_ _ ])

No. Symbol Name

Po01 For setting

Po02 *ODI1 MR-D01 input device selection 1






Po08 *ODO1 MR-D01 output device selection 1

Po09 *ODO2 MR-D01 output device selection 2

Po10 *OOP1 Function selection O-1



Po13 *OMOD1 MR-D01 analog monitor 1 output selection

Po14 *OMOD2 MR-D01 analog monitor 2 output selection

Po15 OMO1 MR-D01 analog monitor 1 offset

Po16 OMO2 MR-D01 analog monitor 2 offset

Po17 For manufacturer setting

Po18

Po19

Po20

Po21 OVCO MR-D01 override offset

Po22 OTLO MR-D01 override offset


Po24

Po25

Po26




Po30

Po31

Po32

Operation mode

Control mode

Initial value

Unit

0000h

0302h

0905h

2524h

2026h

0427h

0807h

2726h

0423h

2001h

0000h

0000h

0000h

0000h

0

0

0000h

0000h

0000h

0000h

0 [mV]

0 [mV]

[mV]

[mV]

0000h

0000h

0000h

0000h

2D2Ch

002Eh

0000h

0000h

0000h

0000h

5 - 12

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_ _ ])

No./symbol/ name

Setting digit

PA01

*STY

Operation mode

Function

_ _ _ x Control mode selection

Select a control mode.

0: Position control mode

1: Position control mode and speed control mode

2: Speed control mode

3: Speed control mode and torque control mode

4: Torque control mode

5: Torque control mode and position control mode

_ _ x _ Operation mode selection

0: Standard control mode

1: Fully closed loop control mode

4: Linear servo motor control mode

6: DD motor control mode

Setting other than above will trigger [AL. 37 Parameter error]. The linear servo system, direct drive servo system and fully closed loop system are available for the

MR-J4-_A_(-RJ) servo amplifiers of which software version is A5 or later.

For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.

_ x _ _ For manufacturer setting x _ _ _

Initial value

[unit]

0h

Control mode

P S T

0h

0h

1h

5 - 13

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PA02

*REG

Regenerative option

_ _ x x Regenerative option

Select the regenerative option.

Incorrect setting may cause the regenerative option to burn.

If a selected regenerative option is not for use with the servo amplifier, [AL. 37

Parameter error] occurs.

00: Regenerative option is not used.

For the servo amplifier of 100 W, a regenerative resistor is not used.

For the servo amplifier of 0.2 kW to 7 kW, the built-in regenerative resistor is used.

The supplied regenerative resistor or a regenerative option is used with the servo amplifier of 11 kW to 22 kW.

01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)

When you use FR-RC-(H) or FR-CV-(H), select "Mode 2 (_ _ _ 1)" of

"Undervoltage alarm detection mode selection" in [Pr. PC27].

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30

06: MR-RB50 (Cooling fan is required.)

08: MR-RB31

09: MR-RB51 (Cooling fan is required.)

0B: MR-RB3N

0C: MR-RB5N (Cooling fan is required.)

80: MR-RB1H-4

81: MR-RB3M-4 (Cooling fan is required.)

82: MR-RB3G-4 (Cooling fan is required.)


84: MR-RB34-4 (Cooling fan is required.)


91: MR-RB3U-4 (Cooling fan is required.)


FA: When the supplied regenerative resistor or a regenerative option used with the servo amplifier of 11 kW to 22 kW is cooled by a cooling fan to increase regenerative ability.



Initial value

[unit]

00h

Control mode

P S T

0h

0h

5 - 14

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

0h PA03

*ABS


PA04

*AOP1

Function selection A-1

PA05

*FBP

Number of command input pulses per revolution

_ _ _ x Absolute position detection system selection

Set this digit when using the absolute position detection system in the position control mode.

0: Disabled (incremental system)

1: Enabled (absolute position detection system by DIO)

2: Enabled (absolute position detection system by communication) (available for the software version A3 or later)

The absolute position detection system cannot be used when an incremental type linear encoder is used or the semi closed loop/fully closed loop switching is enabled.

Enabling the absolute position system will trigger [AL. 37].

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ Forced stop deceleration function selection

0: Forced stop deceleration function disabled (with EM1)

2: Forced stop deceleration function enabled (with EM2)

Refer to table 5.1 for details.

Table 5.1 Deceleration method

Setting value

0 _ _ _

2 _ _ _

EM2/EM1

EM1

EM2

Deceleration method

EM2 or EM1 is off Alarm occurred





The servo motor rotates based on set command input pulses.

To enable the parameter value, set "Electronic gear selection" to "Number of command input pulses per revolution (1 _ _ _)" of in [Pr. PA21]. "1 _ _ _" cannot be set in [Pr. PA21] in the Linear servo motor control mode.

Setting range: 1000 to 1000000

10000

Control mode

P S T

0h

0h

0h

0h

0h

0h

2h

5 - 15

5. PARAMETERS

No./symbol/ name

PA06

CMX

Electronic gear numerator

(command pulse multiplication numerator)

Setting digit

Function

Set the numerator of the electronic gear.

To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _

_)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6(-RJ) servo amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and

"J2S electronic gear setting value compatibility mode (3 _ _ _)" cannot be selected.

The following shows a standard of the setting range of the electronic gear.

1

10

<

CMX

CDV

< 4000

If the set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

Number of command input pulses per revolution ([Pr. PA05] "1000" to "1000000")

Initial value

[unit]

1

Command pulse train

Electronic gear selection

(x _ _ _) ([Pr. PA21])

"0" (initial value)

"1"

"2"

"3" (Note)

X16

X32

Pt

FBP

Electronic gear

([Pr. PA06]/[Pr. PA07])

CMX

CDV

-

+

CMX

CDV

CMX

CDV

Deviation counter

Pt (servo motor resolution): 4194304 pulses/rev

Servo motor

M

Encoder

PA07

CDV

Electronic gear denominator

(command pulse multiplication denominator)

Note. This parameter is available with servo amplifiers with software version B3 or later.

Always set the electronic gear with servo-off state to prevent unexpected operation due to improper setting.


Set the denominator of the electronic gear.

To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _

_)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6(-RJ) servo amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and

"J2S electronic gear setting value compatibility mode (3 _ _ _)" cannot be selected.


1

Control mode

5 - 16

5. PARAMETERS

No./symbol/ name

Setting digit

PA08

ATU

Auto tuning mode

_ _ _ x Gain adjustment mode selection

Select the gain adjustment mode.

Function

0: 2 gain adjustment mode 1 (interpolation mode)

1: Auto tuning mode 1

2: Auto tuning mode 2

3: Manual mode

4: 2 gain adjustment mode 2

Refer to table 5.2 for details.


_ x _ _ x _ _ _

Table 5.2 Gain adjustment mode selection

Setting value

Gain adjustment mode

Automatically adjusted parameter

_ _ _ 0 2 gain adjustment mode 1

(interpolation mode)

[Pr. PB06 Load to motor inertia ratio]

[Pr. PB08 Position loop gain]

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]

[Pr. PB07 Model loop gain]




_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]




_ _ _ 3 Manual mode

_ _ _ 4 2 gain adjustment mode 2




Initial value

[unit]

1h

Control mode

P S T

0h

0h

0h

5 - 17

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

16

Control mode

P S T

PA09

RSP

Auto tuning response

Set a response of the auto tuning.

Machine characteristic

Setting

Guideline for

Setting


Guideline for

PA10

INP

In-position range

PA11

TLP

Forward rotation torque limit/positive direction thrust limit

PA12

TLN

Reverse rotation torque limit/negative direction thrust limit

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18 frequency [Hz] frequency [Hz]

67.1

75.6

85.2

95.9

108.0

121.7

137.1

154.4

173.9

195.9

220.6

248.5

279.9

315.3

355.1

400.0

446.6

501.2

571.5

642.7


Set an in-position range per command pulse.

To change it to the servo motor encoder pulse unit, set [Pr. PC24].


You can limit the torque or thrust generated by the servo motor. Set the parameter referring to section 3.6.1 (5).

When you output torque or thrust as analog monitor output, the larger value of [Pr.

PA11 Forward rotation torque limit/positive direction thrust limit value] or [Pr. PA12

Reverse rotation torque limit/negative direction thrust limit value] will be the maximum output voltage (8 V).

Set the parameter on the assumption that the maximum torque or thrust is 100.0

[%]. The parameter is for limiting the torque of the servo motor in the CCW power running or CW regeneration, or limiting the thrust of the linear servo motor in the positive direction power running or negative direction regeneration. Set this parameter to "0.0" to generate no torque or thrust.

Setting range: 0.0 to 100.0

You can limit the torque or thrust generated by the servo motor. Set the parameter referring to section 3.6.1 (5).

When you output torque or thrust with analog monitor output, the larger value of [Pr.

PA11 Forward rotation torque limit/positive direction thrust limit value] or [Pr. PA12

Reverse rotation torque limit/negative direction thrust limit value] will be the maximum output voltage (8 V).

Set the parameter on the assumption that the maximum torque or thrust is 100.0

[%]. The parameter is for limiting the torque of the servo motor in the CW power running or CCW regeneration, or limiting the thrust of the linear servo motor in the positive direction power running or negative direction regeneration. Set this parameter to "0.0" to generate no torque or thrust.


100

[pulse]

100.0

[%]

100.0

[%]

5 - 18

5. PARAMETERS

No./symbol/ name

Setting digit

PA13

*PLSS

Command pulse input form

Function

_ _ _ x Command input pulse train form selection

0: Forward/reverse rotation pulse train

1: Signed pulse train

2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after multiplying by four.)

Refer to table 5.3 for settings.

_ _ x _ Pulse train logic selection

0: Positive logic

1: Negative logic

Choose the right parameter to match the logic of the command pulse train received from a connected controller. Refer to POINT of section 3.6.1 for logic of MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series/MELSEC-F series.


_ x _ _ Command input pulse train filter selection

Selecting proper filter enables to enhance noise tolerance.

0: Command input pulse train is 4 Mpulses/s or less.

1: Command input pulse train is 1 Mpulse/s or less.

2: Command input pulse train is 500 kpulses/s or less.

3: Command input pulse train is 200 kpulses/s or less (available for the software version A5 or later)

1 Mpulse/s or lower commands are supported by "1". When inputting commands over 1 Mpulse/s and 4 Mpulses/s or lower, set "0".

Incorrect setting may cause the following malfunctions.

Setting a value higher than actual command will lower noise tolerance.

Setting a value lower than actual command will cause a position mismatch. x _ _ _ For manufacturer setting

Initial value

[unit]

0h

Control mode

P S T

0h

1h

0h

5 - 19

5. PARAMETERS

No./symbol/ name

Setting digit

PA13

*PLSS

Command pulse input form

Setting value

_ _ 1 0

_ _ 1 1

Function

Table 5.3 Command input pulse train form selection

Pulse train form

Forward rotation

(positive direction) command

Reverse rotation

(negative direction) command


(positive direction pulse train)


(negative direction pulse train)

PP

NP

PP

Signed pulse train

NP

L

H

Initial value

[unit]

Control mode

P S T

_ _ 1 2

_ _ 0 0

_ _ 0 1

A-phase pulse train

B-phase pulse train

PP

NP


(positive direction pulse train)


(negative direction pulse train)

PP

NP

Signed pulse train

PP

NP

H

L

_ _ 0 2

A-phase pulse train

B-phase pulse train

PP

NP

Arrows in the table indicate the timing of importing pulse trains. A-phase and B-phase pulse trains are imported after they have been multiplied by 4.

5 - 20

5. PARAMETERS

No./symbol/ name

Setting digit

PA14

*POL

Rotation direction selection/ travel direction selection

Function

Select command input pulses of the rotation direction or the travel direction of the rotary servo motor, the linear servo motor and the direct drive motor.

Servo motor rotation direction/

Setting linear servo motor travel direction value When forward rotation pulse is input

When reverse rotation pulse is input

0

1

CCW or positive direction CW or negative direction

CW or negative direction CCW or positive direction

The following shows the servo motor rotation directions.

Initial value

[unit]

0

Control mode

P S T

Forward rotation (CCW)

PA15

*ENR


PA16

*ENR2


2

Reverse rotation (CW)

The positive/negative directions of the linear servo motor are as follows.

Secondary side

Negative direction Negative direction

Secondary side

Positive direction

Primary side

Primary side

Positive direction

Positive direction

Table

Secondary side

Negative direction

Primary side

LM-H3/LM-F series

Setting range: 0, 1

LM-U2 series LM-K2 series

Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4)

To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19].

Refer to app. 15 for details.

The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.


Set a denominator of the electronic gear for the A/B-phase pulse output.

To set a denominator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.

PC19].


The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.


4000

[pulse/ rev]

1

5 - 21

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

Control mode

P S T

PA17

*MSR

Servo motor series setting

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18].

Set this and [Pr. PA18] at a time.

Refer to the following table for settings.

This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.

Parameter

Linear servo motor Linear servo motor series (primary side)

[Pr. PA17] [Pr. PA18] setting setting

LM-F

LM-K2

0000h

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-H3P3B-24P-CSS0

LM-H3P3C-36P-CSS0

LM-K2P2E-12M-1SS1

LM-K2P3C-14M-1SS1

LM-K2P3E-24M-1SS1

2101h

3101h

3201h

3301h

3401h

LM-H3P7A-24P-ASS0

LM-H3P7B-48P-ASS0

LM-H3P7C-72P-ASS0

LM-H3P7D-96P-ASS0

LM-U2PAB-05M-0SS0

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

LM-U2PBB-07M-1SS0

7101h

7201h

7301h

7401h

A201h

A401h

A601h

B201h

LM-U2PBF-22M-1SS0

LM-U2P2B-40M-2SS0

LM-U2P2C-60M-2SS0

LM-U2P2D-80M-2SS0

B401h

2601h

2201h

2301h

2401h

LM-FP2B-06M-1SS0

(natural cooling)

LM-FP2D-12M-1SS0

(natural cooling)

LM-FP2F-18M-1SS0

(natural cooling)

LM-FP4B-12M-1SS0

(natural cooling)

LM-FP4D-24M-1SS0

(natural cooling)

LM-FP4F-36M-1SS0

(natural cooling)

LM-FP4H-48M-1SS0

(natural cooling)

LM-FP5H-60M-1SS0

(natural cooling)

LM-FP2B-06M-1SS0

(liquid cooling)

LM-FP2D-12M-1SS0

(liquid cooling)

LM-FP2F-18M-1SS0

(liquid cooling)

LM-FP4B-12M-1SS0

(liquid cooling)

LM-FP4D-24M-1SS0

(liquid cooling)

2201h

2401h

2601h

4201h

4401h

4601h

00B2h

4801h

5801h

2202h

2402h

2602h

4202h

4402h

LM-FP4F-36M-1SS0

(liquid cooling)

LM-FP4H-48M-1SS0

(liquid cooling)

4602h

4802h

LM-FP5H-60M-1SS0

(liquid cooling)

5802h

LM-K2P1A-01M-2SS1 1101h

LM-K2P1C-03M-2SS1

LM-K2P2A-02M-1SS1

1301h

2101h

2301h

2501h

3301h

3501h

5 - 22

5. PARAMETERS

No./symbol/ name

PA18

*MTY

Servo motor type setting

PA19

*BLK

Parameter writing inhibit

Setting digit

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18].

Set this and [Pr. PA17] at a time.

Refer to the table of [Pr. PA17] for settings.


Select a reference range and writing range of the parameter.


Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with

MR-J4-03A6(-RJ) servo amplifiers.

Table 5.4 [Pr. PA19] setting value and reading/writing range

PA19

Setting operation

Reading

PA PB PC PD PE PF PL

Other than below

000Ah

00AAh

Writing

Reading

Only

Only

Reading

Reading

00AAh

(initial value)

100Bh

100Ch

10AAh

10ABh

Function

Writing

Reading

Reading

Only

Reading

Only

Reading

Only

Reading

Only

Initial value

[unit]

0000h

Control mode

P S T

5 - 23

5. PARAMETERS

No./symbol/ name

PA20

*TDS

Tough drive setting

PA21

*AOP3


PA22

*PCS

Position control composition selection

Setting digit

Function

Initial value

[unit]

Control mode

P S T

Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation.

You can assign MTTR (During tough drive) to the pins CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 with [Pr.

PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. For MR-J4-03A6(-RJ) servo amplifiers, MTTR (during tough drive) cannot be assigned.

0h

0h


_ _ x _ Vibration tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceed the value of the oscillation level set in [Pr. PF23].

To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough drive function selection].


_ x _ _ SEMI-F47 function selection

0: Disabled

1: Enabled

Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. In [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time], set the time period until the occurrence of [AL. 10.1 Voltage drop in the control circuit power].

For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set. x _ _ _ For manufacturer setting

0h

0h

1h _ _ _ x One-touch tuning function selection

0: Disabled

1: Enabled

When the digit is "0", the one-touch tuning is not available.


_ x _ _

0h

0h

0h x _ _ _ Electronic gear selection

0: Electronic gear ([Pr. PA06] and [Pr. PA07])

1: Number of command input pulses per revolution ([Pr. PA05])

2: J3 electronic gear setting value compatibility mode

(Electronic gear ([Pr. PA06] and [Pr. PA07] × 16))

The electronic gear setting value can be used set with MR-J3.

3: J2S electronic gear setting value compatibility mode

(Electronic gear ([Pr. PA06] and [Pr. PA07] × 32))

The electronic gear setting value can be used set with MR-J2S.

(available for the software version B3 or later)

For MR-J4-03A6(-RJ) servo amplifiers, "2" and "3" cannot be selected for this digit.

_ _ _ x For manufacturer setting 0h

0h _ _ x _ Super trace control selection

0: Disabled

2: Enabled

This parameter setting is used with servo amplifier with software version B4 or later.


0h

0h

5 - 24

5. PARAMETERS

No./symbol/ name

Setting digit

PA23

DRAT

Drive recorder arbitrary alarm trigger setting

Function

_ _ x x Alarm detail No. setting

Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function.

When these digits are "0 0", only the arbitrary alarm No. setting will be enabled. x x _ _ Alarm No. setting

Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function.

When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.

Initial value

[unit]

00h

Control mode

P S T

00h

PA24

AOP4


PA25

OTHOV

One-touch tuning -

Overshoot permissible level

PA26

*AOP5


To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".

To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".

0h _ _ _ x Vibration suppression mode selection

0: Standard mode

1: 3 inertia mode

2: Low response mode

When you select the standard mode or low response mode, "Vibration suppression control 2" is not available.

When you select the 3 inertia mode, the feed forward gain is not available.

Before changing the control mode during the 3 inertia mode or low response mode, stop the motor.


_ x _ _ x _ _ _

Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range.

Setting "0" will be 50%.


0h

0h

0h

0

[%]

_ _ _ x Torque limit function selection at instantaneous power failure (instantaneous power failure tough drive selection)

0: Disabled

1: Enabled

When an instantaneous power failure occurs during operation, the torque at acceleration is limited to save electric energy charged in the capacitor in the servo amplifier and the time until [AL. 10.2 Voltage drop in the main circuit power] occurs is extended with the instantaneous power failure tough drive function. Consequently, you can set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. The torque limit function at instantaneous power failure is enabled when "SEMI-F47 function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)".

This parameter setting is used with servo amplifier with software version A6 or later.



_ x _ _ x _ _ _

0h

0h

0h

0h

5 - 25

5. PARAMETERS

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

No./symbol/ name

Setting digit

Function

PB01

FILT

Adaptive tuning mode

(adaptive filter II)

PB02

VRFT

Vibration suppression control tuning mode

(advanced vibration suppression control II)

_ _ _ x Filter tuning mode selection

Set the adaptive tuning.

Select the adjustment mode of the machine resonance suppression filter 1. Refer to section 7.1.2 for details.

0: Disabled

1: Automatic setting (Do not use this in the torque control mode.)

2: Manual setting


_ x _ _ x _ _ _ Tuning accuracy selection

0: Standard

1: High accuracy

The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

This digit is available with servo amplifier with software version C5 or later.

_ _ _ x Vibration suppression control 1 tuning mode selection

Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5 for details.

0: Disabled

1: Automatic setting

2: Manual setting

_ _ x _ Vibration suppression control 2 tuning mode selection

Select the tuning mode of the vibration suppression control 2. To enable the setting of this digit, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details.

0: Disabled


2: Manual setting


Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

5 - 26

5. PARAMETERS

No./symbol/ name

Setting digit

PB03

PST

Position command acceleration/ deceleration time constant

(position smoothing)

Function

Set the constant of a primary delay to the position command.

You can select a control method from "Primary delay" or "Linear acceleration/deceleration" of "Position acceleration/deceleration filter type selection" in [Pr. PB25]. When the linear acceleration/deceleration is selected, the setting range is 0 ms to 10 ms. Setting of longer than 10 ms will be recognized as 10 ms.

When the linear acceleration/deceleration is selected, do not set the "Control mode selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the servo motor or linear servo motor to make a sudden stop at the time of position control mode switching or restart.

(Example) When a command is given from a synchronizing encoder, synchronous operation will start smoothly even if it start during line operation.

Initial value

[unit]

0

[ms]

Control mode

P S T

Synchronizing encoder

Start

Servo amplifier

Servo motor

PB04

FFC

Feed forward gain

Without time constant setting

Servo motor speed

Start

ON

OFF

With time constant setting t


Set the feed forward gain.

When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. When the super trace control is enabled, constant speed and uniform acceleration/deceleration droop pulses will be almost 0. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.


0

[%]

5 - 27

5. PARAMETERS

No./symbol/

PB07

PG1

Model loop gain name

PB06

GD2

Load to motor inertia ratio/ load to motor mass ratio

Setting digit

Function

Set the load to motor inertia ratio or load to motor mass ratio.

Setting a value considerably different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic setting, the value will vary between 0.00 and 100.00.


Pr. PA08 This parameter

Automatic setting _ _ _ 0 (2 gain adjustment mode 1

(interpolation mode))

_ _ _ 1: (Auto tuning mode 1)


_ _ _ 3 (Manual mode)

_ _ _ 4: (2 gain adjustment mode 2)

Manual setting

Set the response gain up to the target position.

Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise.

For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.


This parameter

Manual setting

Pr. PA08

_ _ _ 0 (2 gain adjustment mode 1






Automatic setting

Manual setting

Initial value

[unit]

7.00

[Multiplier]

Control mode

P S T

15.0

[rad/s]

5 - 28

5. PARAMETERS

No./symbol/

PB09

VG2

Speed loop gain name

PB08

PG2

Position loop gain

PB10

VIC

Speed integral compensation

PB11

VDC

Speed differential compensation

PB12

OVA

Overshoot amount compensation

PB13

NH1

Machine resonance suppression filter 1

Setting digit

Function

Set the gain of the position loop.

Set this parameter to increase the position response to level load disturbance.

Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.


This parameter

Automatic setting

Pr. PA08

_ _ _ 0 (2 gain adjustment mode 1






Manual setting

Automatic setting

Set the gain of the speed loop.

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.


Set the integral time constant of the speed loop.

Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.


Set the differential compensation.

To enable the setting value, turn on PC (proportional control).


Set a viscous friction torque in percentage to the rated torque at servo motor rated speed. Or, set a percentage of viscous friction force against the continuous thrust at linear servo motor rated speed.

When the response level is low or when the torque/thrust is limited, the efficiency of the parameter may be lower.


Set the notch frequency of the machine resonance suppression filter 1.

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.

PB01], this parameter will be adjusted automatically by adaptive tuning.

When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled.


Initial value

[unit]

37.0

[rad/s]

823

[rad/s]

33.7

[ms]

980

0

[%]

4500

[Hz]

Control mode

P S T

5 - 29

5. PARAMETERS

No./symbol/ name

PB14

NHQ1

Notch shape selection 1

PB15

NH2


PB16

NHQ2


Setting digit

Function

Initial value

[unit]

Control mode

P S T

Set the shape of the machine resonance suppression filter 1.

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning.

When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled.

_ _ _ x For manufacturer setting 0h

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

0h

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting

0h

0h

4500

[Hz]


To enable the setting value, set "Machine resonance suppression filter 2 selection" to "Enabled (_ _ _ 1)" in [Pr. PB16].



_ _ _ x Machine resonance suppression filter 2 selection

0: Disabled

1: Enabled

0h


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


0h

0h

0h

5 - 30

5. PARAMETERS

PB18

LPF

Low-pass filter setting

No./symbol/ name

PB17

NHF


Setting digit

Function

Initial value

[unit]

Control mode

P S T

Set the shaft resonance suppression filter.

This is used to suppress a low-frequency machine vibration.

When "Shaft resonance suppression filter selection" is set to "Automatic setting (_ _ _ 0)" in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia ratio. It will not be automatically calculated for the linear servo motor. When "Manual setting (_ _ _ 1)" is selected, the value set in this parameter will be used.

When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this parameter will be disabled.

When "Machine resonance suppression filter 4 selection" is "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance suppression filter is not available.

_ _ x x Shaft resonance suppression filter setting frequency selection 00h


Set the value closest to the frequency you need.

_ x _ _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

0h x _ _ _ For manufacturer setting

Table 5.5 Shaft resonance suppression filter setting frequency selection

0h value

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

Setting value

Frequency [Hz]

_ _ 1 0

_ _ 1 1

562

529

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

500

473

450

428

409

391

375

360

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

346

333

321

310

300

290

Set the low-pass filter.

The following shows a relation of a required parameter to this parameter.


[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting

_ _ 1 _

_ _ 2 _

Setting value enabled

Setting value disabled

3141

[rad/s]

5 - 31

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PB19

VRF11

Vibration suppression control 1 -

Vibration frequency

PB20

VRF12


Resonance frequency

PB21

VRF13


Vibration frequency damping

PB22

VRF14


Resonance frequency damping

PB23

VFBF

Low-pass filter selection

Set the vibration frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When

"Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.

Refer to section 7.1.5 for details.


Set the resonance frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.



The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.



Set a damping of the vibration frequency for vibration suppression control 1 to suppress low-frequency machine vibration.





Set a damping of the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration.





_ _ _ x Shaft resonance suppression filter selection

Select the shaft resonance suppression filter.


1: Manual setting

2: Disabled

When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance suppression filter is not available.

_ _ x _ Low-pass filter selection

Select the low-pass filter.


1: Manual setting

2: Disabled


Initial value

[unit]

100.0

[Hz]

100.0

[Hz]

0.00

0.00

0h

0h

Control mode

P S T

0h

0h

5 - 32

5. PARAMETERS

No./symbol/ name

PB24

*MVS


PB25

*BOP1

Function selection B-1

PB26

*CDP


PB27

CDL

Gain switching condition

PB28

CDT

Gain switching time constant

Setting digit

Function

Initial value

[unit]

Control mode

P S T

_ _ _ x Slight vibration suppression control selection

Select the slight vibration suppression control.

0: Disabled

1: Enabled

To enable the slight vibration suppression control, set "Gain adjustment mode selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression control cannot be used in the speed control mode.


_ x _ _

0h

0h

0h x _ _ _

_ _ _ x Model adaptive control selection

0: Enabled (model adaptive control)

2: Disabled (PID control)

This parameter is available with servo amplifiers with software version B4 or later.

_ _ x _ Position acceleration/deceleration filter type selection

Select the position acceleration/deceleration filter type.

0: Primary delay

1: Linear acceleration/deceleration

When you select "Linear acceleration/deceleration", do not switch the control mode.

Doing so will cause the servo motor to make a sudden stop at the time of control mode switching.

_ x _ _ For manufacturer setting 0h x _ _ _

Select the gain switching condition.

0h

Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].

_ _ _ x Gain switching selection 0h

0: Disabled

1: Input device (gain switching (CDP))

2: Command frequency

3: Droop pulses

4: Servo motor speed/linear servo motor speed

_ _ x _ Gain switching condition selection

0: Gain after switching is enabled with gain switching condition or more

1: Gain after switching is enabled with gain switching condition or less

0h

0h _ x _ _ Gain switching time constant disabling condition selection

0: Switching time constant enabled

1: Switching time constant disabled

2: Return time constant disabled


This parameter is used by servo amplifier with software version B4 or later. x _ _ _ For manufacturer setting

This is used to set the value of gain switching (command frequency, droop pulses, and servo motor speed/linear servo motor speed) selected in [Pr. PB26].

The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.)

The unit "r/min" will be "mm/s" for linear servo motors.


This is used to set the time constant until the gains switch in response to the conditions set in [Pr. PB26] and [Pr. PB27].


0h

0h

0h

0h

10

[kpulse/s]

/[pulse]

/[r/min]

1

[ms]

5 - 33

5. PARAMETERS

No./symbol/ name

PB29

GD2B

Load to motor inertia ratio/ load to motor mass ratio after gain switching

PB30

PG2B

Position loop gain after gain switching

PB31

VG2B

Speed loop gain after gain switching

PB32

VICB

Speed integral compensation after gain switching

PB33

VRF1B


Vibration frequency after gain switching

PB34

VRF2B


Resonance frequency after gain switching

Setting digit

Function

This is used to set the load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled.

This parameter is enabled only when "Gain adjustment mode selection" is "Manual mode (_ _ _ 3)" in [Pr. PA08].


Set the position loop gain when the gain switching is enabled.

When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].



Set the speed loop gain when the gain switching is enabled.

When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].



Set the speed integral compensation when the gain changing is enabled.

When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].



Set the vibration frequency of the vibration suppression control 1 for when the gain switching is enabled.

When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].

This parameter is enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".

"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".

"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_

_ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.


Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled.


This parameter will be enabled only when the following conditions are fulfilled.




_ _ 1)".



Initial value

[unit]

7.00

[Multiplier]

Control mode

P S T

0.0

[rad/s]

0

[rad/s]

0.0

[ms]

0.0

[Hz]

0.0

[Hz]

5 - 34

5. PARAMETERS

No./symbol/ name

Setting digit

PB35

VRF3B


Vibration frequency damping after gain switching

PB36

VRF4B


Resonance frequency damping after gain switching

Function

Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled.





_ _ 1)".



Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled.





_ _ 1)".



Initial value

[unit]

0.00

Control mode

P S T

0.00

5 - 35

5. PARAMETERS

No./symbol/ name

PB45

CNHF

Command notch filter

Setting digit

Function

Set the command notch filter.

_ _ x x Command notch filter setting frequency selection

Refer to table 5.6 for the relation of setting values to frequency.

_ x _ _ Notch depth selection

Refer to table 5.7 for details. x _ _ _ For manufacturer setting

Table 5.6 Command notch filter setting frequency selection

_ _ 0 D

_ _ 0 E

_ _ 0 F

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F value

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

107

102

97

93

90

86

83

80

173

160

150

140

132

125

118

112

77

75

72

Disabled

2250

1125

750

562

450

375

321

281

250

225

204

187

_ _ 2 A

_ _ 2 B

_ _ 2 C

_ _ 2 D

_ _ 2 E

_ _ 2 F

_ _ 3 0

_ _ 3 1

_ _ 3 2

_ _ 3 3

_ _ 3 4

_ _ 3 5

_ _ 3 6

_ _ 3 7

_ _ 3 8

_ _ 3 9

Setting value

Frequency [Hz]

_ _ 2 0

_ _ 2 1

70

66

_ _ 2 2

_ _ 2 3

_ _ 2 4

_ _ 2 5

_ _ 2 6

_ _ 2 7

_ _ 2 8

_ _ 2 9

62

59

56

53

51

48

46

45

_ _ 3 A

_ _ 3 B

_ _ 3 C

_ _ 3 D

_ _ 3 E

_ _ 3 F

21.6

20.8

20.1

19.4

18.8

18.2

31.3

29.6

28.1

26.8

25.6

24.5

23.4

22.5

43

41

40

38

37

36

35.2

33.1

Table 5.7 Notch depth selection

Initial value

[unit]

00h

0h

0h

_ _ 4 A

_ _ 4 B

_ _ 4 C

_ _ 4 D

_ _ 4 E

_ _ 4 F

_ _ 5 0

_ _ 5 1

_ _ 5 2

_ _ 5 3

_ _ 5 4

_ _ 5 5

_ _ 5 6

_ _ 5 7

_ _ 5 8

_ _ 5 9

Setting value

Frequency [Hz]

_ _ 4 0

_ _ 4 1

17.6

16.5

_ _ 4 2

_ _ 4 3

_ _ 4 4

_ _ 4 5

_ _ 4 6

_ _ 4 7

_ _ 4 8

_ _ 4 9

15.6

14.8

14.1

13.4

12.8

12.2

11.7

11.3

_ _ 5 A

_ _ 5 B

_ _ 5 C

_ _ 5 D

_ _ 5 E

_ _ 5 F

5.4

5.2

5.0

4.9

4.7

4.5

7.8

7.4

7.0

6.7

6.4

6.1

5.9

5.6

10.8

10.4

10

9.7

9.4

9.1

8.8

8.3 value

Depth [dB]

_ 0 _ _

_ 1 _ _

-40.0

-24.1

_ 2 _ _

_ 3 _ _

_ 4 _ _

_ 5 _ _

-18.1

-14.5

-12.0

-10.1

_ 6 _ _

_ 7 _ _

-8.5

-7.2

Setting value

_ 8 _ _

_ 9 _ _

_ A _ _

_ B _ _

_ C _ _

_ D _ _

_ E _ _

_ F _ _

Depth [dB]

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6

Control mode

P S T

5 - 36

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PB46

NH3


PB47

NHQ3


PB48

NH4


PB49

NHQ4


PB50

NH5







0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4







0: Disabled

1: Enabled

When the setting of this digit is "Enabled", [Pr. PB17 Shaft resonance suppression filter] is not available.


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4





Initial value

[unit]

4500

[Hz]

Control mode

P S T

0h

0h

0h

0h

4500

[Hz]

0h

0h

0h

0h

4500

[Hz]

5 - 37

5. PARAMETERS

No./symbol/ name

PB51

NHQ5


PB52

VRF21


Vibration frequency

PB53

VRF22


Resonance frequency

PB54

VRF23


Vibration frequency damping

PB55

VRF24



Setting digit

Function

Initial value

[unit]

Control mode

P S T


When "Robust filter selection" is "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5 is not available.

0h _ _ _ x Machine resonance suppression filter 5 selection

0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

0h

0h _ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4


Set the vibration frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.

When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When

"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.

To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24].

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.


Set the resonance frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.



To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24].

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.


Set a damping of the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration.



To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details.


Set a damping of the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration.



To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details.


0h

100.0

[Hz]

100.0

[Hz]

0.00

0.00

5 - 38

5. PARAMETERS

No./symbol/ name

Setting digit

PB56

VRF21B


Vibration frequency after gain switching

PB57

VRF22B



PB58

VRF23B


Vibration frequency damping after gain switching

PB59

VRF24B



Function

Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled.




"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".

"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ 2 _)".


_ _ 1)".



Set the resonance frequency for vibration suppression control 2 when the gain switching is enabled.







_ _ 1)".



Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled.






_ _ 1)".



Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is enabled.






_ _ 1)".



Initial value

[unit]

0.0

[Hz]

Control mode

P S T

0.0

[Hz]

0.00

0.00

5 - 39

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PB60

PG1B

Model loop gain after gain switching

Set the model loop gain when the gain switching is enabled.

When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].




_ _ 1)".



5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial value

[unit]

0.0

[rad/s]

Control mode

P S T

No./symbol/ name

Setting digit

PC01

STA

Acceleration time constant

Function

Set the acceleration time required to reach the rated speed from 0 r/min or 0 mm/s for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.

PC11 Internal speed command 7].

Speed

Rated speed

If the preset speed command is lower than the rated speed, acceleration/ deceleration time will be shorter.

Initial value

[unit]

0

[ms]

Control mode

P S T

PC02

STB

Deceleration time constant

0 r/min

(0 mm/s)

[Pr. PC01] setting [Pr. PC02] setting

Time

For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to increase the speed from 0 r/min to 1000 r/min in 1 second.


Set the deceleration time required to reach 0 r/min or 0 mm/s from the rated speed for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.



0

[ms]

5 - 40

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC03

STC


Start/stop the servo motor or linear servo motor smoothly.

Set the time of the arc part for S-pattern acceleration/deceleration.

Setting "0" will make it linear acceleration/deceleration.

Speed command

Initial value

[unit]

0

[ms]

Control mode

P S T

PC04

TQC

Torque/thrust command time constant

0 r/min

(0 mm/s)

STC STC STC

Time

STA

STC

STB

STA: Acceleration time constant ([Pr. PC01])

STB: Deceleration time constant ([Pr. PC02])

STC: S-pattern acceleration/deceleration time constant ([Pr. PC03])

Long setting of STA (acceleration time constant) or STB (deceleration time constant) may produce an error in the time of the arc part for the setting of the S-pattern acceleration/deceleration time constant.

The upper limit value of the actual arc part time is limited by

2000000

STA

for acceleration or by

2000000

STB

for deceleration.

(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc part times are as follows.

Acceleration: 100 ms

2000000

20000

= 100 [ms] < 200 [ms]

Therefore, it will be limited to 100 ms.

Deceleration: 200 ms

2000000

5000

= 400 [ms] > 200 [ms]

Therefore, it will be 200 ms as you set.


Set the constant of a primary delay filter for the torque/thrust command.

Torque command (Thrust command)

0

[ms]

Torque

(Thrust)

After filtering

PC05

SC1



TQC

TQC: Torque/thrust command time constant


Set the speed 1 of internal speed commands.

Setting range: 0 to instantaneous permissible speed

Set the speed 1 of internal speed limits.


TQC

5 - 41

Time

100

[r/min]/

[mm/s]

5. PARAMETERS

No./symbol/ name

PC06

SC2



PC07

SC3



PC08

SC4



PC09

SC5



PC10

SC6



PC11

SC7



PC12

VCM

Analog speed command -

Maximum speed

Analog speed limit -

Maximum speed

Setting digit

Function







Set speed 3 of internal speed limits.


















Set the speed of servo motor or linear servo motor at the maximum voltage (10 V) input to VC (Analog speed command).

When "0" is set, the rated speed of the connected servo motor or linear servo motor is used.

When you input a command value of the permissible speed or more to VC, the value is clamped at the permissible speed.


Set the speed of servo motor or linear servo motor at the maximum voltage (10 V) input to VLA (Analog speed limit).

When "0" is set, the rated speed of the connected servo motor or linear servo motor is used.

When you input a limit value of the permissible speed or more to VLA, the value is clamped at the permissible speed.


Initial value

[unit]

500

[r/min]/

[mm/s]

1000

[r/min]/

[mm/s]

200

[r/min]/

[mm/s]

300

[r/min]/

[mm/s]

500

[r/min]/

[mm/s]

800

[r/min]/

[mm/s]

0

[r/min]/

[mm/s]

Control mode

P S T

5 - 42

5. PARAMETERS

No./symbol/ name

Setting digit

PC13

TLC

Analog torque/thrust command maximum output

Function

Set the output torque/thrust at the analog torque/thrust command voltage (TC = ±8

V) of +8 V on the assumption that the maximum torque/thrust is 100.0%.

For example, set 50.0.

The maximum torque or thrust ×

50.0

100.0

is outputted.

When you input a command value of the maximum torque/thrust or more to TC, the value is clamped at the maximum torque/thrust.


Initial value

[unit]

100.0

[%]

Control mode

P S T

5 - 43

5. PARAMETERS

No./symbol/ name

PC14

MOD1

Analog monitor 1 output

Setting digit

Function

Initial value

[unit]

Control mode

P S T

_ _ x x Analog monitor 1 output selection

Select a signal to output to MO1 (Analog monitor 1). Refer to app. 7.3 for detection point of output selection.

Refer to table 5.8 or table 5.9 for settings.


Table 5.8 Analog monitor setting value (MR-J4-_A_(-RJ) 100 W or more)

00h

0h

0h

Setting value

Item

Operation mode (Note 1)

_ _ 0 0 (Linear) servo motor speed

(±8 V/max. speed)

_ _ 0 1 Torque or thrust

(±8 V/max. torque or max. thrust) (Note 3)


(+8 V/max. speed)


(+8 V/max. torque or max. thrust) (Note 3)

_ _ 0 4 Current command (±8 V/max. current command)

_ _ 0 5 Command pulse frequency (±10 V/±4 Mpulses/s)

_ _ 0 6 Servo motor-side droop pulses (±10 V/100 pulses)

(Note 2)


(Note 2)


(Note 2)


(Note 2)

_ _ 0 A Feedback position (±10 V/1 Mpulse) (Note 2)

_ _ 0 B Feedback position (±10 V/10 Mpulses) (Note 2)

_ _ 0 C Feedback position (±10 V/100 Mpulses) (Note 2)

_ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,

400 V class: +8 V/800 V)

_ _ 0 E Speed command 2 (±8 V/max. speed)

_ _ 1 0 Load-side droop pulses (±10 V/100 pulses) (Note 2)




_ _ 1 4 Load-side droop pulses (±10 V/1 Mpulse) (Note 2)

_ _ 1 5 Servo motor-side/load-side position deviation

(±10 V/100000 pulses)

_ _ 1 6 Servo motor-side/load-side speed deviation

(±8 V/max. speed)

_ _ 1 7 Internal temperature of encoder (±10 V/±128 °C)

Note 1. Items with are available for each operation mode.





2. Encoder pulse unit

3. The larger value of [Pr. PA11] or [Pr. PA12] will be the maximum torque or the maximum thrust.

5 - 44

5. PARAMETERS

No./symbol/ name

PC14

MOD1


Setting digit

Function

Initial value

[unit]

Table 5.9 Analog monitor setting value (MR-J4-03A6(-RJ))

Setting value

Item

_ _ 0 0 Servo motor speed (5 V ± 3 V/max. speed)

_ _ 0 1 Torque (5 V ± 3 V/max. torque) (Note 2)

_ _ 0 2 Servo motor speed (5 V + 3 V/max. speed)

_ _ 0 3 Torque (5 V + 3 V/max. torque) (Note 2)

_ _ 0 4 Current command (5 V ± 3 V/max. current command)

_ _ 0 5 Command pulse frequency (5 V ± 4 V/±4 Mpulses/s)

_ _ 0 6 Servo motor-side droop pulses (5 V ± 4 V/100 pulses)

(Note 1)

_ _ 0 7 Servo motor-side droop pulses (5 V ± 4 V/1000 pulses)

(Note 1)

_ _ 0 8 Servo motor-side droop pulses (5 V ± 4 V/10000 pulses) (Note 1)

_ _ 0 9 Servo motor-side droop pulses

(5 V ± 4 V/100000 pulses) (Note 1)

_ _ 0 A Feedback position (5 V ± 4 V/1 Mpulses) (Note 1)

_ _ 0 B Feedback position (5 V ± 4 V/10 Mpulses) (Note 1)

_ _ 0 C Feedback position (5 V ± 4 V/100 Mpulses) (Note 1)

_ _ 0 D Bus voltage (5 V + 4 V/100 V)

_ _ 0 E Speed command 2 (5 V ± 3 V/max. speed)

_ _ 1 7 Internal temperature of encoder (5 V ± 4 V/±128 °C)

Control mode

P S T

PC15

MOD2


PC16

MBR

Electromagnetic brake sequence output

PC17

ZSP

Zero speed

PC18

*BPS

Alarm history clear

Note 1. Encoder pulse unit

2. The larger value of [Pr. PA11] or [Pr. PA12] will be the maximum torque.


Select a signal to output to MO2 (Analog monitor 2). Refer to app. 7.3 for detection point of output selection.

Refer to [Pr. PC14] for settings.


Set the delay time between MBR (Electromagnetic brake interlock) and the base drive circuit is shut-off. For the timing chart of when the servo motor with an electromagnetic brake is used, refer to section 3.10.2.


Set the output range of ZSP (Zero speed detection).

ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s.


_ _ _ x Alarm history clear selection

Clear the alarm history.

0: Disabled

1: Enabled

When "Enabled" is set, the alarm history will be cleared at the next power-on. Once the alarm history is cleared, the setting becomes disabled automatically.


_ x _ _ x _ _ _

01h

0h

0h

0

[ms]

50

[r/min]/

[mm/s]

0h

0h

0h

0h

5 - 45

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

0h

Control mode

P S T

PC19

*ENRS

Encoder output pulse selection

_ _ _ x Encoder output pulse phase selection

Select the encoder pulse direction.

0: A-phase 90° shift in CCW or positive direction

1: A-phase 90° shift in CW or negative direction

Setting value

Servo motor rotation direction/ linear servo motor travel direction

CCW or positive direction CW or negative direction

A-phase

0

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

_ _ x _ Encoder output pulse setting selection


When you select "1", the setting of [Pr. PA16 Encoder output pulses 2] will be disabled. When you select "2", the settings of [Pr. PA15 Encoder output pulses] and

[Pr. PA16 Encoder output pulses 2] will be disabled. When you select the setting, do not change the settings in [Pr. PA06] and [Pr. PA07] after the power-on.

0: Output pulse setting

When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.

1: Dividing ratio setting

2: The same output pulse setting as the command pulse

3: A-phase/B-phase pulse electronic gear setting

4: A/B-phase pulse through output setting

_ x _ _ Selection of the encoders for encoder output pulse

Select an encoder for servo amplifier output.

0: Servo motor encoder

1: Load-side encoder

When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.

This is only for the fully closed loop system.

If "1" is set other than in the fully closed loop system, [AL. 37 Parameter error] will occur.

PC20

*SNO

Station No. setting x _ _ _ For manufacturer setting

Set a station No. of the servo amplifier for RS-422 and USB communication.

Always set one station to one axis of the servo amplifier. Setting one station number to two or more stations will disable a normal communication.


PC21

*SOP

RS-422 communication function selection

Select the details of RS-422 communication function.


_ _ x _ RS-422 communication baud rate selection

When using the parameter unit, set "1 _ _ _" in [Pr. PF34].

0: 9600 [bps]

1: 19200 [bps]

2: 38400 [bps]

3: 57600 [bps]

4: 115200 [bps]

_ x _ _ RS-422 communication response delay time selection

0: Disabled

1: Enabled (responding after 800 μ s or longer delay time) x _ _ _ For manufacturer setting

0h

0h

0h

0

[Station]

0h

0h

0h

0h

5 - 46

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC22

*COP1

Function selection C-1

PC23

*COP2



_ _ x _

_ x _ _ x _ _ _ Encoder cable communication method selection

Select the encoder cable communication method.

0: Two-wire type

1: Four-wire type

When using an encoder of A/B/Z-phase differential output method, set "0".

Incorrect setting will result in [AL. 16 Encoder initial communication error 1] or [AL.

20 Encoder normal communication error 1]. Setting "1" will trigger [AL. 37] while

"Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4-

_A_-RJ).

For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set. Also, it does not comply with encoders of

A/B/Z-phase differential output method.

_ _ _ x Servo-lock selection at speed control stop

Select the servo-lock selection at speed control stop.

In the speed control mode, the servo motor shaft can be locked to prevent the shaft from being moved by an external force.

0: Enabled (servo-lock)

The operation to maintain the stop position is performed.

1: Disabled (no servo-lock)

The stop position is not maintained.

The control to make the speed 0 r/min or 0 mm/s is performed.


_ x _ _ VC/VLA voltage averaging selection

Select the VC/VLA voltage average.

Set the filtering time when VC (Analog speed command) or VLA (Analog speed limit) is imported.

Set "0" to vary the speed to voltage fluctuation in real time. Increase the set value to vary the speed slower to voltage fluctuation. value

Filtering time [ms]

Initial value

[unit]

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

0h

PC24

*COP3

Function selection C-3 x _ _ _ Speed limit selection at torque control

Select the speed limit selection at torque control.

0: Enabled

1: Disabled

Do not use this function except when configuring an external speed loop.

_ _ _ x In-position range unit selection

Select a unit of in-position range.

0: Command input pulse unit

1: Servo motor encoder pulse unit


_ x _ _ x _ _ _ Error excessive alarm/error excessive warning level unit selection

Select units for error excessive alarm level setting with [Pr. PC43] and for error excessive warning level setting with [Pr. PC73].

0: Per 1 rev or 1 mm

1: Per 0.1 rev or 0.1 mm

2: Per 0.01 rev or 0.01 mm

3: Per 0.001 rev or 0.001 mm

0h

0h

0h

0h

5 - 47

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC26

*COP5


PC27

*COP6


PC28

*COP7


PC30

STA2


2

PC31

STB2


2

_ _ _ x [AL. 99 Stroke limit warning] selection

Enable or disable [AL. 99 Stroke limit warning].

0: Enabled

1: Disabled


_ x _ _ x _ _ _

_ _ _ x [AL. 10 Undervoltage] detection method selection

Set this parameter when [AL. 10 undervoltage] occurs due to power supply voltage distortion while using FR-RC-(H) or FR-CV-(H).

0: When [AL. 10] does not occur

1: When [AL. 10] occurs

This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.

When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, set

"1".

DC power supply is available with MR-J4-_A-RJ servo amplifiers with software version C2 or later.

_ _ x _ Main circuit power supply selection

Select a voltage to be connected to the main circuit power supply with an MR-J4-

03A6(-RJ) servo amplifier.

0: 48 V DC

1: 24 V DC

When using 24 V DC for the main circuit power supply, set "1" to this digit.

This digit is not available with MR-J4-_A_(-RJ) 100 W or more servo amplifiers. The characteristics of the servo motor vary depending on whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".

_ x _ _ Undervoltage alarm selection

Select the alarm and warning for when the bus voltage drops to the undervoltage alarm level.

0: [AL. 10.2] regardless of servo motor speed

1: [AL. E9.1] at servo motor speed 50 r/min (50 mm/s) or less, [AL. 10.2] at over 50 r/min (50 mm/s) x _ _ _ For manufacturer setting


_ _ x _

_ x _ _ x _ _ _ Linear scale multipoint Z-phase input function selection

When two or more reference marks exist during the full stroke of the linear encoder, set "1".

0: Disabled

1: Enabled

This parameter setting is available with servo amplifiers with software version A5 or later.


To enable the parameter, turn on STAB2 (Speed acceleration/deceleration selection).

Set the acceleration time required to reach the rated speed from 0 r/min or 0 mm/s for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.



To enable the parameter, turn on STAB2 (Speed acceleration/deceleration selection).

Set the deceleration time required to reach 0 r/min or 0 mm/s from the rated speed for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.



Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0

[ms]

0

[ms]

5 - 48

5. PARAMETERS

No./symbol/ name

Setting digit

PC32

CMX2

Commanded pulse multiplication numerator 2

PC33

CMX3


PC34

CMX4


PC35

TL2

Internal torque limit

2/internal thrust limit 2

Function

To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" of "Electronic gear selection" in [Pr. PA21].






Set the parameter on the assumption that the maximum torque or thrust is 100.0%.

The parameter is for limiting the torque of the servo motor or the thrust of the linear servo motor.

No torque or thrust is generated when this parameter is set to "0.0".

When TL1 (Internal torque limit selection) is turned on, Internal torque limits 1 and 2 are compared and the lower value will be enabled.

Set the parameter referring to section 3.6.1 (5).


Initial value

[unit]

1

Control mode

P S T

1

1

100.0

[%]

5 - 49

5. PARAMETERS

No./symbol/ name

PC36

*DMD

Status display selection

Setting digit

Function

_ _ x x Status display selection at power-on

Select a status display shown at power-on. Setting "21" to "27" will trigger [AL. 37] in the mode other than the positioning mode.

00: Cumulative feedback pulses


02: Droop pulses

03: Cumulative command pulses

04: Command pulse frequency

05: Analog speed command voltage (Note 1)

06: Analog torque command voltage (Note 2)

07: Regenerative load ratio

08: Effective load ratio

09: Peak load ratio

0A: Instantaneous torque/thrust

0B: Within one-revolution position/within virtual one-revolution position (1 pulse unit)

0C: Within one-revolution position/within virtual one-revolution position (1000 pulses unit)

0D: ABS counter/virtual ABS counter

0E: Load to motor inertia ratio/load to motor mass ratio

0F: Bus voltage

10: Internal temperature of encoder

11: Settling time

12: Oscillation detection frequency

13: Number of tough operations

14: Unit power consumption (increment of 1 W)

15: Unit power consumption (increment of 1 kW)

16: Unit total power consumption (increment of 1 Wh)

17: Unit total power consumption (increment of 100 kWh)

18: Load-side cumulative feedback pulses (Note 3, 5)

19: Load-side droop pulses (Note 3, 5)

1A: Load-side encoder information 1 (1 pulse unit) (Note 3, 5)

1B: Load-side encoder information 1 (100000 pulses unit) (Note 3, 5)

1C: Load-side encoder ABS counter (Note 3, 5)

1D: Z-phase counter (1 pulse unit) (Note 4, 5)

1E: Z-phase counter (100000 pulses unit) (Note 4, 5)

1F: Electrical angle (1 pulse unit) (Note 4, 5)

20: Electrical angle (100000 pulses unit) (Note 4, 5)

Note 1. It is for the speed control mode. It will be the analog speed limit voltage in the torque control mode.

2. It is for the torque control mode. It will be the analog torque limit voltage in the speed control mode and position control mode.

3. Setting "18 to 1C" will trigger [AL. 37] in the mode other than the fully closed loop control mode.

4. Setting "1D to 20" will trigger [AL. 37] in the mode other than the linear servo motor control mode.

5. This is not available with the MR-J4-03A6(-RJ) servo amplifier.

_ x _ _ Status display at power-on in corresponding control mode

0: Depends on the control mode

Control mode Status display at power-on

Position Cumulative feedback pulses

Position/speed Cumulative feedback pulses/servo motor speed

(linear servo motor speed)

Speed Servo motor speed (linear servo motor speed)

Initial value

[unit]

00h

0h

Control mode

P S T

Torque speed)/analog torque (thrust) command voltage

Analog torque (thrust) command voltage

Torque/position Analog torque (thrust) command voltage/cumulative feedback pulses

1: Depends on the last 2 digits settings of the parameter x _ _ _ For manufacturer setting 0h

5 - 50

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

Control mode

P S T

PC37

VCO

Analog speed command offset/

Analog speed limit offset

Set the offset voltage of VC (Analog speed command).

For example, if CCW rotation or positive direction travel is provided by switching on

ST1 (Forward rotation start) while applying 0 V to VC, set a negative value.

When automatic VC offset is used, the automatically offset value is set to this parameter. (Refer to section 4.5.4.)

The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VC and LG is 0 V.

Setting range: -9999 to 9999

Set the offset voltage of VLA (Analog speed limit).

For example, if CCW rotation or positive direction travel is provided by switching on

RS1 (Forward rotation selection) while applying 0 V to VLA, set a negative value.

When automatic VC offset is used, the automatically offset value is set to this parameter. (Refer to section 4.5.4.)

The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VLA and LG is 0 V.


Set the offset voltage of TC (Analog torque command). PC38

TPO

Analog torque command offset/

Analog torque limit offset

PC39

MO1

Analog monitor 1 offset

PC40

MO2

Analog monitor 2 offset

PC43

ERZ

Error excessive alarm level

PC44

*COP9



Set the offset voltage of TLA (Analog torque limit).


Set the offset voltage of MO1 (Analog monitor 1).


Set the offset voltage of MO2 (Analog monitor 2).


Set an error excessive alarm level.

You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24].

Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "3 rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for linear servo motors. Setting "0" will be 100 mm.



_ _ x _

_ x _ _ x _ _ _ Load-side encoder cable communication method selection

Select the communication method of the encoder cable to be connected to the CN2L connector of MR-J4-_A_-RJ.

0: Two-wire type

1: Four-wire type

When using a load-side encoder of A/B/Z-phase differential output method, set "0".

Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37].


The value differs depending on the servo amplifiers.

[mV]

0

[mV]

0

[mV]

0

[mV]

0

[rev]/

[mm]

0h

0h

0h

0h

5 - 51

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC45

*COPA

Function selection C-A

_ _ _ X Encoder pulse count polarity selection

Select a polarity of the linear encoder or load-side encoder.

0: Encoder pulse increases in the servo motor CCW or positive direction.

1: Encoder pulse decreases in the servo motor CCW or positive direction.


_ _ X _ For manufacturer setting

_ X _ _ Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function

Select the non-signal detection status for the pulse train signal from the A/B/Z-phase input interface encoder used as a linear encoder or load-side encoder.

This function is enabled only when you use an A/B/Z-phase input interface encoder.


Detection of

Alarm status

Setting disconnection value Z-phase-side nonsignal


Linear servo system

0 Enabled

[AL. 71.6]

(Z-phase)

[AL. 20.6]

(Z-phase)

Initial value

[unit]

Control mode

P S T

0h

0h

0h

PC51

RSBR

Forced stop deceleration time constant

X _ _ _ For manufacturer setting

Set deceleration time constant when you use the forced stop deceleration function.

Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be

100 ms.

Rated speed

Servo motor speed

(Linear servo motor speed)


Dynamic brake deceleration

0h

100

[ms]

0 r/min

(0 mm/s)

[Pr. PC51]

[Precautions]

If the servo motor torque or linear servo motor thrust is saturated at the maximum value during forced stop deceleration because the set time is too short, the time to stop will be longer than the set time constant.

[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set value.

After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or if the control circuit power supply is cut, dynamic braking will start regardless of the deceleration time constant setting.


5 - 52

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC54

RSUP1

Vertical axis freefall prevention compensation amount

PC60

*COPD

Function selection C-D

PC73

ERW

Error excessive warning level

Set the compensation amount of the vertical axis freefall prevention function.

Set it per servo motor rotation amount or linear servo motor travel distance.

When setting a positive value, the servo motor or linear servo motor moves in the direction set with [Pr. PA14] for the forward rotation pulse input. When setting a negative value, the servo motor or linear servo motor moves in the direction set with

[Pr. PA14] for the reverse rotation pulse input.

For example, if a positive compensation amount is set when the [Pr. PA14 Rotation direction selection/travel direction selection] setting is "1", compensation will be performed to the CW direction.

The vertical axis freefall prevention function is performed when all of the following conditions are met.

1) Position control mode

2) The value of the parameter is other than "0".

3) The forced stop deceleration function is enabled.

4) Alarm occurs or EM2 turns off when the (linear) servo motor speed is zero speed or less.

5) MBR (Electromagnetic brake interlock) is enabled with [Pr. PD23] to [Pr. PD26],

[Pr. PD28], and [Pr. PD47], and the base circuit shut-off delay time is set in [Pr.

PC16].


_ _ _ x Motor-less operation selection

This is used to select the motor-less operation. This is not used in the linear servo motor control mode, fully closed loop control, and DD motor control mode.

0: Disabled

1: Enabled

_ _ x _ High-resolution analog input selection

Select the resolution of VC (analog speed command).

When you change parameters, perform offset adjustment with [Pr. PC37 Analog speed command offset]. The offset adjustment can be performed by executing VC automatic offset. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ,

MR-J4-_A_-RU, and MR-J4-_A_-RZ will trigger [AL. 37].

0: Disabled

1: Enabled

This digit is available with servo amplifiers manufactured in November 2014 or later.


_ x _ _ For manufacturer setting x _ _ _ [AL. 9B Error excessive warning] selection

0: [AL. 9B Error excessive warning] disabled

1: [AL. 9B Error excessive warning] enabled

This digit is available with servo amplifier with software version B4 or later.

Set an error excessive warning level.

To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr. PC60].

You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24].

Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "1 rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for linear servo motors. Setting "0" will be 50 mm.

When an error reaches the set value, [AL. 9B Error excessive warning] will occur.

When the error decreases lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning signal is 100 [ms].

Set as follows.: [Pr. PC73 Error excessive warning level] < [Pr. PC43 Error excessive alarm level] When you set as follows, [AL. 52 Error excessive] will occur earlier than the warning.: [Pr. PC73 Error excessive warning level] ≥ [Pr. PC43 Error excessive alarm level]

This parameter is used by servo amplifier with software version B4 or later.


Initial value

[unit]

0

[0.0001 rev]/

[0.01 mm]

Control mode

P S T

0h

0h

0h

0h

0

[rev]/

[mm]

5 - 53

5. PARAMETERS

5.2.4 I/O setting parameters ([Pr. PD_ _ ])

No./symbol/ name

Setting digit

Function

PD01

*DIA1

Input signal automatic on selection 1

Select input devices to turn on them automatically.

_ _ _ x

(HEX)

_ _ _ x (BIN): For manufacturer setting

_ _ x _ (BIN): For manufacturer setting

_ x _ _ (BIN): SON (Servo-on)

0: Disabled (Use for an external input signal.)

1: Enabled (automatic on) x _ _ _ (BIN): For manufacturer setting

_ _ x _

(HEX)

_ _ _ x (BIN): PC (Proportional control)


1: Enabled (automatic on)

_ _ x _ (BIN): TL (External torque/external thrust limit selection)


1: Enabled (automatic on)

_ x _ _ (BIN): For manufacturer setting x _ _ _ (BIN): For manufacturer setting

_ x _ _

(HEX)

_ _ _ x (BIN): For manufacturer setting

_ _ x _ (BIN): For manufacturer setting

_ x _ _ (BIN): LSP (Forward rotation stroke end)


1: Enabled (automatic on) x _ _ _ (BIN): LSN (Reverse rotation stroke end)


1: Enabled (automatic on) x _ _ _ For manufacturer setting

Convert the setting value into hexadecimal as follows.

0

SON (Servo-on)

Signal name

Initial value

BIN HEX

0

0

0

0

0

Signal name

PC (Proportional control)

TL (External torque/external thrust limit selection)

Initial value

BIN HEX

0

0

0

0

0

Signal name

LSP (Forward rotation stroke end)

LSN (Reverse rotation stroke end)

BIN 0: Use for an external input signal.

BIN 1: Automatic on

Initial value

BIN HEX

0

0

0

0

0

Initial value

[unit]

0h

0h

0h

0h

Control mode

P S T

When you perform a magnetic pole detection without using LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), setting [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ 1 _ _" allows you to disable LSP and LSN.

5 - 54

5. PARAMETERS

No./symbol/ name

Setting digit

PD03

*DI1L

Input device selection 1L

PD04

*DI1H

Input device selection 1H

PD05

*DI2L


PD06

*DI2H


Function

Any input device can be assigned to the CN1-15 pin.

_ _ x x Position control mode - Device selection

Refer to table 5.10. x x _ _ Speed control mode - Device selection

Refer to table 5.10.

Table 5.10 Selectable input devices

Setting Input device (Note 1)

Initial value

[unit]

02h

Control mode

P S T

02h

SON

RES

07

08

0A LSP

TL1

LSP LSP (Note 3)

LSN

CDP

(Note 4)

0E

(Note 4)

0F

CLD

MECR

20

21

22

23 LOP (Note 2) LOP (Note 2) LOP (Note 2)

CM1

CM2

26


The diagonal lines indicate manufacturer settings. Never change the setting.

2. When assigning LOP (Control switching), assign it to the same pin in all control modes.

3. In the torque control mode, this device cannot be used during normal operation. It can be used during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode. Also, when the magnetic pole detection in the torque control mode is completed, this signal will be disabled.

4. It cannot be set with MR-J4-03A6(-RJ) servo amplifiers.


02h _ _ x x Torque control mode - Device selection

Refer to table 5.10 in [Pr. PD03] for settings. x x _ _ For manufacturer setting



Refer to table 5.10 in [Pr. PD03] for settings.

02h

00h

21h x x _ _ Speed control mode - Device selection



_ _ x x Torque control mode - Device selection


21h

20h

5 - 55

5. PARAMETERS

No./symbol/ name

PD07

*DI3L


PD08

*DI3H


PD09

*DI4L


PD10

*DI4H


PD11

*DI5L


PD12

*DI5H


PD13

*DI6L


PD14

*DI6H


PD17

*DI8L


PD18

*DI8H


PD19

*DI9L


Setting digit

Function

Initial value

[unit]

Control mode

P S T


When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-17 pin will become ABSM (ABS transfer mode).

04h _ _ x x Position control mode - Device selection

Refer to table 5.10 in [Pr. PD03] for settings. x x _ _ Speed control mode - Device selection



07h



07h x x _ _ For manufacturer setting


07h

When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-18 pin will become ABSR (ABS transfer request).




08h





08h

08h








03h

38h

06h

03h







20h

20h

39h

0Ah








0Ah

00h





0Ah

0Bh

0Bh

5 - 56

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PD20

*DI9H


PD21

*DI10L


PD22

*DI10H


PD23

*DO1

Output device selection 1











_ _ x x Device selection

Any output device can be assigned to the CN1-22 pin.

When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in

[Pr. PA03], the CN1-22 pin will become ABSB0 (ABS send data bit 0) only during

ABS transfer mode.



Table 5.11 Selectable output devices

Setting value

_ _ 0 0

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

(Note 2)

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

P

Always off

RD

ALM

INP

MBR

Output device (Note 1)

S T

DB DB DB

TLC

WNG

BWNG

Always off

RD

ALM

SA

MBR

TLC

WNG

BWNG

Always off

RD

ALM

Always off

MBR

VLC

WNG

BWNG

_ _ 0 A Always off

_ _ 0 B Always off

_ _ 0 C ZSP

(Note 2)

_ _ 0 D

_ _ 0 F

(Note 2)

_ _ 1 0

_ _ 1 1

SA

Always off

ZSP

Always off

VLC

ZSP

MTTR MTTR MTTR

CDPS

CLDS

ABSV

Always off

Always off

Always off

Always off

Always off

Always off


2. It cannot be set with MR-J4-03A6(-RJ) servo amplifiers.

Initial value

[unit]

Control mode

P S T

00h

0Bh

23h

23h

23h

2Bh

04h

0h

0h

5 - 57

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PD24

*DO2


PD25

*DO3


PD26

*DO4


PD28

*DO6


PD29

*DIF

Input filter setting




[Pr. PA03], the CN1-23 pin will become ABSB1 (ABS send data bit 1) only during

ABS transfer mode.










[Pr. PA03], the CN1-25 pin will become ABST (ABS send data ready) only during

ABS transfer mode.







Select a filter for the input signal.

_ _ _ x Input signal filter selection

If external input signal causes chattering due to noise, etc., input filter is used to suppress it.

0: None

1: 0.888 [ms]

2: 1.777 [ms]

3: 2.666 [ms]

4: 3.555 [ms]

_ _ x _ RES (Reset) dedicated filter selection

0: Disabled

1: Enabled (50 [ms])

_ x _ _ CR (Clear) dedicated filter selection

0: Disabled

1: Enabled (50 [ms]) x _ _ _ For manufacturer setting

Initial value

[unit]

0Ch

Control mode

P S T

0h

0h

04h

0h

0h

07h

0h

0h

02h

0h

0h

4h

0h

0h

0h

5 - 58

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PD30

*DOP1

Function selection D-1

PD31

*DOP2


PD32

*DOP3


PD33

*DOP4


_ _ _ x Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off

Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off. Setting "2" or "3" will trigger [AL. 37] in the mode other than the positioning mode.

0: Quick stop

1: Slow stop

_ _ x _ Base circuit status selection for RES (Reset) on

0: Base circuit shut-off

1: No base circuit shut-off

_ x _ _ For manufacturer setting x _ _ _ Enabled/disabled selection for a thermistor of servo motor or linear servo motor

0: Enabled

1: Disabled

The setting in this digit will be disabled when using a servo motor or linear servo motor without thermistor.

This parameter is used by servo amplifier with software version A5 or later.


_ _ x _

_ x _ _ INP (In-position) on condition selection

Select a condition that INP (In-position) is turned on.

0: Droop pulses are within the in-position range.

1: The command pulse frequency is 0, and droop pulses are within the in-position range.

When the position command is not inputted for about 1 ms, the command pulse frequency is decided as 0.

This parameter is used by servo amplifier with software version B4 or later. x _ _ _ For manufacturer setting

_ _ _ x CR (Clear) selection

Set CR (Clear).

0: Deleting droop pulses at the leading edge of turning on of CR

1: Continuous deleting of droop pulses while CR is on

2: Disabled (available for the software version B3 or later)


_ x _ _ x _ _ _


_ _ x _

_ x _ _ Rotation direction selection to enable torque limit/travel direction selection to enable thrust limit

Select a direction which enables internal torque limit 2 or external torque limit.

Refer to section 3.6.1 (5) for details.

0: Both of "CCW or positive direction" and "CW or negative direction" are enabled.

1: Enabled with "CCW or positive direction"

2: Enabled with "CW or negative direction"

This parameter setting is used with servo amplifier with software version B3 or later. x _ _ _ For manufacturer setting

Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

5 - 59

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PD34

*DOP5


_ _ _ x Alarm code output

Select output status of alarm codes.

Alarm codes are outputted to the pins CN1-22, CN1-23, and CN1-24.

0: Disabled

1: Enabled

For details of the alarm codes, refer to chapter 8.

When "1" is set for this digit, setting the following will trigger [AL. 37 Parameter error].

"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system by DIO is selected.

MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24 pin.

_ _ x _ Selection of output device at warning occurrence

Select ALM (Malfunction) output status at warning occurrence.

Setting value

Device status

0

WNG

ALM

ON

OFF

ON

OFF

Warning occurrence

Initial value

[unit]

0h

Control mode

P S T

0h

1

WNG

ALM

ON

OFF

ON

OFF

Warning occurrence

PD43

*DI11L


PD44

*DI11H



0h

0h

Any input device can be assigned to the CN1-10 pin/CN1-37 pin.

Setting "00" will assign PP/PP2 (forward rotation pulse).

The parameter is available for the following MR-J4-_A_-RJ servo amplifiers.

1) For 100 W or more

CN1-10 pin: Servo amplifiers with software version B3 or later

CN1-37 pin: Servo amplifiers manufactured in January 2015 or later with software version B7 or later

2) For 30 W

CN1-10 pin/CN1-37 pin: Any software version and production month


The setting is disabled. x x _ _ Speed control mode - Device selection


00h


Setting "00" will assign PP/PP2 (forward rotation pulse).





2) For 30 W




00h

3Ah

5 - 60

5. PARAMETERS

No./symbol/ name

PD45

*DI12L


PD46

*DI12H


PD47

*DO7


Setting digit

Function

Initial value

[unit]

Control mode

P S T


Setting "00" will assign NP/NP2 (reverse rotation pulse).





2) For 30 W



The setting is disabled. x x _ _ Speed control mode - Device selection


00h


Setting "00" will assign NP/NP2 (reverse rotation pulse/manual pulse generator).





2) For 30 W




00h

3Bh

Any output device can be assigned to the CN1-13 pin and CN1-14 pin.

This parameter is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.




Refer to table 5.11 in [Pr. PD23] for settings. x x _ _ Device selection



00h

00h

5 - 61

5. PARAMETERS

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

No./symbol/ name

Setting digit

Function

Initial value

[unit]

Control mode

P S T

PE01

*FCT1

Fully closed loop function selection 1

_ _ _ x Fully closed loop function selection

The fully closed loop function is selected.

0: Always enabled

1: Switching with CLD (Fully closed loop control selection) the fully closed loop control selection (CLD)

Control method

0h

PE03

*FCT2


Setting value

Off

On

Speed deviation error

Semi closed loop control


With command Command 0

To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of "operation mode selection" in [Pr. PA01].

Selecting the "switching with CLD (Fully closed loop control selection)" will trigger

[AL. 37] while "absolute position detection system selection" is "Enabled (absolute position detection system by DIO) (_ _ _ 1)" in [Pr. PA03] .



_ x _ _ x _ _ _

_ _ x x Fully closed loop control error detection function selection

Select the fully closed loop control error detection function.


: Error detection enabled -: Error detection disabled

Position deviation error off

0h

0h

0h

03h

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 2 0

-

-

-

-

-

-

-

- -

- - -

- - -

-

-

-

-

-

-

-

-

-

_ _ 2 1

_ _ 2 2

_ _ 2 3

-

_ x _ _ For manufacturer setting

- - -

-

-

PE04

*FBN

Fully closed loop control -

Feedback pulse electronic gear

1 - Numerator x _ _ _ Fully closed loop control error reset selection

0: Reset disabled (reset by powering off/on enabled)

1: Reset enabled


Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control.

Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load-side encoder.



0h

0h

1

5 - 62

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

1

Control mode

P S T

PE34

*FBN2


Feedback pulse electronic gear 2 -

Numerator

PE35

*FBD2



Denominator

PE05

*FBD



Denominator

PE06

BC1


Speed deviation error detection level

PE07

BC2


Position deviation error detection level

PE08

DUF

Fully closed loop dual feedback filter

PE10

FCT3


Set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control.




Set [AL. 42.9 Fully closed loop control error by speed deviation] of the fully closed loop control error detection. When the speed deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur.



Set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed loop control error detection. When the position deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur.



Set a dual feedback filter band.





_ _ x _ Fully closed loop control - Position deviation error detection level - Unit selection

0: 1 kpulse unit

1: 1 pulse unit



Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control.





Set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control.





400

[r/min]

100

[kpulse]

10

[rad/s]

0h

0h

0h

0h

1

1

5 - 63

5. PARAMETERS

No./symbol/ name

PE41

EOP3

Function selection E-3

PE44

LMCP

Lost motion compensation positive-side compensation value selection

PE45

LMCN

Lost motion compensation negative-side compensation value selection

PE46

LMFLT

Lost motion filter setting

PE47

TOF

Torque offset

PE48

*LMOP

Lost motion compensation function selection

PE49

LMCD

Lost motion compensation timing

Setting digit

Function

Initial value

[unit]

0h

Control mode

P S T

_ _ _ x Robust filter selection

0: Disabled

1: Enabled

When you select "Enabled" of this digit, the machine resonance suppression filter 5 set in [Pr. PB51] is not available.


_ x _ _ x _ _ _

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%.



Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%.



Set the time constant of the lost motion compensation filter in increments of 0.1 ms.

If the time constant is "0", the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45]. If the time constant is other than "0", the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue.



Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque of the servo motor as 100%.

The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors. Set 0.00%.

The torque offset set with this parameter will be enabled in the position control mode, speed control mode, and torque control mode. Input commands assuming torque offset for the torque control mode.



_ _ _ x Lost motion compensation selection

0: Disabled

1: Enabled


_ _ x _ Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit



Set the lost motion compensation timing in increments of 0.1 ms.

You can delay the timing to perform the lost motion compensation for the set time.



0h

[0.01%]

0h

0h

0

0

[0.01%]

0

[0.1 ms]

0

[0.01%]

0h

0h

0h

0h

0

[0.1 ms]

5 - 64

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PE50

LMCT

Lost motion compensation non-sensitive band

Set the lost motion compensation non-sensitive band. When the fluctuation of the droop pulse is the setting value or less, the speed will be 0. Setting can be changed in [Pr. PE48]. Set the parameter per encoder unit.



5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial value

[unit]

0

[pulse]/

[kpulse]

Control mode

P S T

No./symbol/ name

PF09

*FOP5

Function selection F-5

PF15

DBT

Electronic dynamic brake operating time

PF18

*STOD

STO diagnosis error detection time

Setting digit

Function

Initial value

[unit]

Control mode

P S T

_ _ _ x Electronic dynamic brake selection

0: Automatic (enabled only for specified servo motors)

2: Disabled

Refer to the following table for the specified servo motors.

Series

0h


_ x _ _ x _ _ _

Set an operating time for the electronic dynamic brake.


Set the time from when an error occurs in the STO input signal or STO circuit until the detection of [AL. 68.1 Mismatched STO signal error].

When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not performed.

The following shows safety levels at the time of parameter setting. value

0 Execute output

Safety level

1 to 60 Execute

Not execute

EN ISO 13849-1 Category 3 PL d,

IEC 61508 SIL 2,

EN 62061 SIL CL2

EN ISO 13849-1 Category 3 PL e,

IEC 61508 SIL 3, EN 62061 SIL CL3


IEC 61508 SIL 2, EN 62061 SIL CL2

0

[s]

0h

0h

0h

2000

[ms]

When the short-circuit connector is connected to the CN8 connector, set "0" in the parameter. When MR-D30 functional safety unit is used, the parameter is not available. For safety levels at the time of using MR-D30, refer to "MR-D30 Instruction

Manual".

This parameter is available with servo amplifiers with software version C1 or later.


5 - 65

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PF21

DRT

Drive recorder switching time setting

PF23

OSCL1

Vibration tough drive -

Oscillation detection level

PF24

*OSCL2

Vibration tough drive function selection

PF25

CVAT

SEMI-F47 function -

Instantaneous power failure detection time

Set a drive recorder switching time.

When a USB communication is cut during using a graph function or a graph function is terminated, the function will be changed to the drive recorder function after the settling time of this parameter.

When a value from "1" to "32767" is set, it will switch after the setting value.

When "0" is set, it will switch after 600 s.

When "-1" is set, the drive recorder function is disabled.


Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled.

However, setting "0" will be 50%.

Example: When you set "50" to the parameter, the filter will be readjusted at the time of 50% or more oscillation level.


_ _ _ x Oscillation detection alarm selection

Select alarm or warning when an oscillation continues at a filter readjustment sensitivity level of [Pr. PF23].

The digit is continuously enabled regardless of the vibration tough drive in [Pr.

PA20].

0: [AL. 54 Oscillation detection] will occur at oscillation detection.

1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.

2: Oscillation detection function disabled


_ x _ _ x _ _ _

Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence.

This parameter setting range differs depending on the software version of the servo amplifier as follows.

Software version C0 or earlier: Setting range 30 ms to 200 ms

Software version C1 or later: Setting range 30 ms to 500 ms

To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 ms). However, when the instantaneous power failure time exceeds 200 ms, and the instantaneous power failure voltage is less than 70% of the rated input voltage, the power may be normally turned off even if a value larger than 200 ms is set in the parameter.

To disable the parameter, set "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20].



Initial value

[unit]

0

[s]

50

[%]

0h

Control mode

P S T

0h

0h

0h

200

[ms]

5 - 66

5. PARAMETERS

No./symbol/ name

PF31

FRIC

Machine diagnosis function -

Friction judgment speed

Setting digit

Function

Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis.

Setting "0" will set a value half of the rated speed.

When your operation pattern is under the rated speed, we recommend that you set a half value of the maximum speed.

Initial value

[unit]

0

[r/min]/

[mm/s]

Control mode

P S T

Forward rotation direction

(Positive direction)

Maximum speed in operation

[Pr. PF31] setting

Servo motor speed

(Linear servo motor speed)


(Negative direction)

0 r/min

(0 mm/s)

Operation pattern

PF34

*SOP3

RS-422 communication function selection 3

Setting range: 0 to permissible speed


_ _ x _

_ x _ _ x _ _ _ MR-PRU03 selection

Select this if using an MR-PRU03.

0: Disabled

1: Enabled

This parameter setting is used with servo amplifier with software version B3 or later.


0h

0h

0h

0h

5 - 67

5. PARAMETERS

PL02

*LIM

Linear encoder resolution -

Numerator

PL03

*LID

Linear encoder resolution -

Denominator

PL04

*LIT2

Linear servo motor/DD motor function selection 2

5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

POINT

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6(-RJ) servo amplifiers.

No./symbol/ name

PL01

*LIT1


Setting digit

Function

Initial value

[unit]

Control mode

P S T

_ _ _ x Linear servo motor/DD motor magnetic pole detection selection

The setting value "0" will be enabled only with absolute position linear encoders.

0: Magnetic pole detection disabled

1: Magnetic pole detection at first servo-on

5: Magnetic pole detection at every servo-on


_ x _ _ Stop interval selection at the home position return

Set a stop interval of the home position returning.

The digit is enabled only for linear servo motors.

0: 2 13 (= 8192) pulses

1: 2 17 (= 131072) pulses

2: 2 18 (= 262144) pulses

3: 2 20 (= 1048576) pulses

4: 2 22 (= 4194304) pulses

5: 2 24 (= 16777216) pulses

6: 2 26 (= 67108864) pulses x _ _ _ For manufacturer setting

Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03].

Set the numerator in [Pr. PL02].

This is enabled only for linear servo motors.


Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03].

Set the denominator in [Pr. PL03].

This is enabled only for linear servo motors.


_ _ _ x [AL. 42 Servo control error] detection function selection

Refer to the following table.

Setting Torque/thrust value deviation error (Note)

Speed deviation error (Note)

Position deviation error (Note)

0

1

Disabled

2

3

Disabled

Enabled

4

6

Disabled

7

Enabled

1h

0h

3h

0h

1000

[ μ m]

1000

[µm]

3h

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Note. Refer to chapter 15 and 16 for details of each deviation error.


_ x _ _ x _ _ _ [AL. 42 Servo control error] detection function controller reset condition selection

0: Reset disabled (reset by powering off/on enabled)

1: Reset enabled

0h

0h

0h

5 - 68

5. PARAMETERS

No./symbol/ name

PL05

LB1

Position deviation error detection level

PL06

LB2

Speed deviation error detection level

PL07

LB3

Torque/thrust deviation error detection level

PL08

*LIT3


PL09

LPWM

Magnetic pole detection voltage level

Setting digit

Function

Set the position deviation error detection level of the servo control error detection.

When the deviation between a model feedback position and actual feedback position is larger than the setting value, [AL. 42 Servo control error] will occur.

However, when "0" is set, the level vary depending on the operation mode in [Pr.

PA01].

Linear servo motor: 50 mm

Direct drive motor: 0.09 rev


Set the speed deviation error detection level of the servo control error detection.

When the deviation between a model feedback speed and actual feedback speed is larger than the setting value, [AL. 42 Servo control error] will occur.

However, when "0" is set, the level vary depending on the operation mode in [Pr.

PA01].

Linear servo motor: 1000 mm/s

Direct drive motor: 100 r/min


Set the torque/thrust deviation error detection level of the servo control error detection.

When the deviation between a current command and current feedback is larger than the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.


_ _ _ x Magnetic pole detection method selection

0: Position detection method

4: Minute position detection method


_ x _ _ Magnetic pole detection - Stroke limit enabled/disabled selection

0: Enabled

1: Disabled x _ _ _ For manufacturer setting

Set a direct current exciting voltage level during the magnetic pole detection.

If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic pole detection, decrease the setting value.

If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole detection, increase the setting value.


Initial value

[unit]

0

[mm]/

[0.01 rev]

0

[mm/s]/

[r/min]

100

[%]

0h

1h

0h

0h

30

[%]

Control mode

P S T

5 - 69

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PL18

IDLV

Magnetic pole detection -

Minute position detection method -

Identification signal amplitude

PL17

LTSTS

Magnetic pole detection -

Minute position detection method -

Function selection

_ _ _ x Response selection

Set a response of the minute position detection method.

When reducing a travel distance at the magnetic pole detection, increase the setting value.


_ _ x _ Load to motor mass ratio/load to motor inertia ratio selection

Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used at the minute position detection method. Set a closest value to the actual load.



Table 5.12 Response of minute position detection method at magnetic pole detection

_ _ _ 0

_ _ _ 1

_ _ _ 2

_ _ _ 3

_ _ _ 4

_ _ _ 5

Low response _ _ _ 8

_ _ _ 9

_ _ _ A

_ _ _ B

_ _ _ C

_ _ _ D

Response

Middle response

_ _ _ 6

_ _ _ 7 Middle response

_ _ _ E

_ _ _ F High response

Table 5.13 Load to motor mass ratio/load to motor inertia ratio

Setting value

_ _ 0 _

_ _ 1 _

_ _ 2 _

_ _ 3 _

_ _ 4 _

_ _ 5 _

_ _ 6 _

_ _ 7 _

Load to motor mass ratio/load to motor inertia ratio

10 times or less

10 times

20 times

30 times

40 times

50 times

60 times

70 times

Setting value

_ _ 8 _

_ _ 9 _

_ _ A _

_ _ B _

_ _ C _

_ _ D _

_ _ E _

_ _ F _

Load to motor mass ratio/load to motor inertia ratio

80 times

90 times

100 times

110 times

120 times

130 times

140 times

150 times or more

Set an identification signal amplitude used in the minute position detection method.

This parameter is enabled only when the magnetic pole detection is the minute position detection method.

Setting "0" will be 100% amplitude.


Initial value

[unit]

0h

0h

Control mode

P S T

0h

0h

0

[%]

5 - 70

5. PARAMETERS

5.2.8 Option setting parameters ([Pr. Po_ _ ])

No./symbol/ name

Setting digit

Function

Po02

*ODI1

MR-D01 input device selection 1

Any input device can be assigned to the CN10-21 pin and CN10-26 pin.

_ _ x x CN10-21 selection

Select an input signal function of the CN10-21 pin.


This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. x x _ _ CN10-26 selection



This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.

Table 5.14 Selectable input devices

Setting value P

Input device (Note)

S T

02 SON SON SON

03 RES RES RES

04 PC PC

05 TL TL

06 CR

07 ST1 ST1

08 ST2

09 TL1 TL1

0A LSP LSP RS2

0B LSN LSN RS1

0D CDP CDP

0E CLD

0F MECR

20 SP1 SP1

21 SP2 SP2

22 SP3 SP3

23 LOP LOP LOP

24 CM1

25 CM2

Po03

*ODI2


Note. P: Position control mode, S: Speed control mode, T: Torque control mode





Refer to table 5.14 in [Pr. Po02] for setting values.





Initial value

[unit]

02h

03h

05h

09h

Control mode

P S T

5 - 71

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Po04

*ODI3


Po05

*ODI4


Po06

*ODI5


Po07

*ODI6


































Initial value

[unit]

24h

Control mode

P S T

25h

26h

20h

27h

04h

07h

08h

5 - 72

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Po08

*ODO1

MR-D01 output device selection 1



Select an output signal function of the CN10-46 pin.






Table 5.15 Selectable output devices

Setting value

Output device (Note)

P S T

00 Always off Always off Always off

Initial value

[unit]

26h

27h

ALM ALM ALM

INP SA

MBR MBR MBR

TLC TLC VLC

SA Always off

Always off VLC

ZSP ZSP ZSP

Always off

Always off

Always off

Always off

Always off

Always off

Po09

*ODO9

MR-D01 output device selection 2

Note. P: Position control mode, S: Speed control mode, T: Torque control mode





Refer to table 5.15 in [Pr. Po08] for settings.



Refer to table 5.15 in [Pr. Po08] for settings.


23h

04h

Control mode

P S T

5 - 73

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Po11

*OOP2

Function selection O-2

Po12

*OOP3

Function selection O-3

Select the input devices of the analog speed command, analog speed limit and torque limit.


_ _ x _ Override input CN1-2/CN20-2 switching selection

0: CN1-2 pin enabled


Setting "1" when no MR-D01 has been connected will trigger [AL. 37].


_ x _ _ Torque limit CN1-27/CN20-12 switching selection



Setting "1" when no MR-D01 has been connected will trigger [AL. 37].

This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. x _ _ _ For manufacturer setting

Select an alarm code output setting and an M code output setting.

_ _ _ x MR-D01 alarm code output

0: Disabled

1: Enabled

Selecting "1" in this digit will output an alarm code when an alarm occurs.

This parameter setting is available with servo amplifiers with software version B7 or later.



_ x _ _ x _ _ _

Initial value

[unit]

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

0h

5 - 74

5. PARAMETERS

No./symbol/ name

Po13

*OMOD1

MR-D01 analog monitor 1 output selection

Setting digit

Function

Set a signal to output to Analog monitor 1.





Table 5.16 Analog monitor setting value

Setting value

Item

Operation mode (Note 1)

Initial value

[unit]

00h

Control mode

P S T

0h

0h


(±8 V/max. speed)


(±8 V/max. torque or max. thrust) (Note 3)


(+8 V/max. speed)


(+8 V/max. torque or max. thrust) (Note 3)

_ _ 0 4 Current command (±8 V/max. current command)

_ _ 0 5 Command pulse frequency (±10 V/±4 Mpulses/s)


(Note 2)


(Note 2)


(Note 2)


(Note 2)

_ _ 0 A Feedback position (±10 V/1 Mpulses) (Note 2)

_ _ 0 B Feedback position (±10 V/10 Mpulses) (Note 2)

_ _ 0 C Feedback position (±10 V/100 Mpulses) (Note 2)

_ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,

400 V class: +8 V/800 V)

_ _ 0 E Speed command 2 (±8 V/max. speed)





_ _ 1 4 Load-side droop pulses (±10 V/1 M pulses) (Note 2)

_ _ 1 5 Servo motor-side/load-side position deviation

(±10 V/100000 pulses)

_ _ 1 6 Servo motor-side/load-side speed deviation

(±8 V/max. speed)

_ _ 1 7 Internal temperature of encoder (±10 V/±128 °C)

Note 1. Items with are available for each operation mode.





3. 8 V is outputted at the maximum torque. However, when [Pr. PA11] and [Pr. PA12] are set to limit torque, 8 V is output at the torque highly limited.

5 - 75

5. PARAMETERS

No./symbol/ name

Setting digit

Function

Po14

OMOD2

MR-D01 analog monitor 2 output selection

Po15

OMO1

MR-D01 analog monitor 1 offset

Po16

OMO2

MR-D01 analog monitor 2 offset

Po21

OVCO

MR-D01 analog speed command offset/Analog speed limit offset

Po22

OTLO

MR-D01 analog torque limit offset

Po27

*ODI7


Po28

*ODI8


Set a signal to output to Analog monitor 2.


Select a signal to output to MO2 (Analog monitor 2).

Refer to [Pr. Po13] for settings.



This is used to set the offset voltage of MO1 (Analog monitor 1).






This is used to set the offset voltage of the analog speed command offset and

Analog speed limit offset.



This is used to set the offset voltage of the analog torque limit.















This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. x x _ _ For manufacturer setting

Initial value

[unit]

00h

Control mode

P S T

0h

0h

0

[mV]

0

[mV]

0

[mV]

0

[mV]

2Ch

2Dh

2Eh

00h

5 - 76

6. NORMAL GAIN ADJUSTMENT


POINT

In the torque control mode, you do not need to make gain adjustment.

Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly. In addition, make gain adjustment with a safety margin considering characteristic differences of each machine. It is recommended that generated torque during operation is under

90% of the maximum torque of the servo motor.



Torque

(Servo motor) speed

→

→

Thrust

(Linear servo motor) speed

For the vibration suppression control tuning mode, the setting range of [Pr.

PB07] is limited. For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, execute "Auto tuning mode 2" and "Manual mode" in this order.

(1) Gain adjustment mode explanation

Gain adjustment mode [Pr. PA08] setting

Estimation of load to motor inertia ratio

Automatically set parameters

Manually set parameters

Auto tuning mode 1

(initial value)

_ _ _ 1 Always estimated RSP ([Pr. PA09])

Auto tuning mode 2

Manual mode

_ _ _ 2

_ _ _ 3

Fixed to [Pr. PB06] value

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

RSP ([Pr. PA09])

2 gain adjustment mode 1


_ _ _ 0 Always estimated GD2 ([Pr. PB06])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG1 ([Pr. PB07])

RSP ([Pr. PA09])

2 gain adjustment mode 2 _ _ _ 4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

RSP ([Pr. PA09])

6 - 1


(2) Adjustment sequence and mode usage

Start

Interpolation made for 2 or more axes?

No

The load fluctuation is large during driving?

No

One-touch tuning

Yes

Yes

Finished normally?

Yes

No

Adjustment OK?

Yes

No



Handle the error

Yes

Error handling is possible?

No

Auto tuning mode 1

Yes

Adjustment OK?

No

Auto tuning mode 2

Yes

Adjustment OK?

No


Yes

Adjustment OK?

No

Manual mode

End

6.1.2 Adjustment using MR Configurator2

This section explains the functions and adjustment using the servo amplifier with MR Configurator2.

Function Description Adjustment

Machine analyzer With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from a personal computer to the servo and measuring the machine response.

You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter.

6 - 2


6.2 One-touch tuning

POINT

After the one-touch tuning is completed, "Gain adjustment mode selection" in

[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.

PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)".

When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value).

At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2 gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia ratio] will be estimated.

The amplifier command method can be used with the servo amplifier with software version C1 or later and MR Configurator2 with software version 1.45X or later.

When the one-touch tuning is executed in the amplifier command method, MR

Configurator2 is required.

For MR-J4-03A6(-RJ) servo amplifier, one-touch tuning by the amplifier command method is not available.

The one-touch tuning includes two methods: the user command method and the amplifier command method.

(1) User command method

You can execute the one-touch tuning with MR Configurator2 or push buttons. The user command method performs one-touch tuning by inputting commands from outside the servo amplifier.

(2) Amplifier command method

You can execute the one-touch tuning with MR Configurator2. In the amplifier command method, when you simply input a travel distance (permissible travel distance) that collision against the equipment does not occur during servo motor driving, a command for the optimum tuning will be generated inside the servo amplifier to perform one-touch tuning.

Movable range

Permissible travel distance

Permissible travel distance

Limit switch Limit switch

Moving part

Servo motor

Tuning start position

Movable range at tuning

6 - 3


The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].

Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol

PA08 ATU

Name

Auto tuning mode

PA09

PB01

RSP Auto tuning response

FILT Adaptive tuning mode (adaptive filter II)

Vibration suppression control tuning

Parameter Symbol

PB15 NH2

Name


PB16

PB17

PB18

NHQ2 Notch shape selection 2

NHF Shaft resonance suppression filter

LPF Low-pass filter setting control II)

PB06

PB07

PB08

PB09

PB10

PB12

PB13

PB14

Position command acceleration/ smoothing)

GD2 Load to motor inertia ratio

PG1 Model loop gain

PG2 Position loop gain

VG2 Speed loop gain

VIC Speed integral compensation

OVA Overshoot amount compensation

NH1 Machine resonance suppression filter 1


PB23

PB46

PB47

PB48

PB49

PB51

PE41

VFBF Low-pass filter selection






EOP3 Function selection E-3

6 - 4


6.2.1 One-touch tuning flowchart

(1) User command method

(a) When you use MR Configurator2

Make one-touch tuning as follows.

Start

Startup of the system

Start a system referring to chapter 4.

Operation

One-touch tuning start, mode selection

Response mode selection

One-touch tuning execution

One-touch tuning in progress

One-touch tuning completion

Tuning result check

Rotate the servo motor by a controller. (In the user command method, the one-touch tuning cannot be executed if the servo motor is not operating.)

Start one-touch tuning of MR Configurator2, and select "User command method".

Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning window of MR Configurator2.

Click "Start" during servo motor driving to execute one-touch tuning.

Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2.

When one-touch tuning is completed normally, the parameters described in table 6.1 will be set automatically.

When the tuning is not completed normally, the tuning error will be displayed. (Refer to section

6.2.2 (1) (e).)

Check the tuning result.

When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)

End

6 - 5


(b) When you use push buttons


Start


Operation






Tuning result check


Rotate the servo motor by a controller. (In the user command method, the one-touch tuning cannot be executed if the servo motor is not operating.)

Push the "MODE" button during motor driving to switch to the initial screen ("AUTO.") of the one-touch tuning.

Push the "SET" button for 2 s or more during displaying "AUTO" to switch to the response mode selection ("AUTO.").

Push the "UP" or "DOWN" button to select a response mode from "AUTO.H" (High mode),

"AUTO." (Basic mode), or "AUTO.L" (Low mode).

Push the "SET" button to start one-touch tuning. Push the "SET" button during servo motor driving.

Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % on the display (five-digit, seven-segment LED).

When one-touch tuning is completed normally, the parameters described in table 6.1 will be set automatically.


6.2.2 (1) (e) and section 6.2.2 (2) (d).)


When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (2) (g).)

End

6 - 6


(2) Amplifier command method


Start



Movement to tuning start position


Input of permissible travel distance

Move the moving part to the center of a movable range.

Start one-touch tuning of MR Configurator2, and select "Amplifier command method".

In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move the moving part at one-touch tuning.





Tuning result check

Servo amplifier power cycling

Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning window of MR Configurator2.

While the servo motor is stopped, click "Start" to start one-touch tuning. After the tuning is started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo motor rotation will cause an error. After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller.

Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2.

One-touch tuning will be completed automatically after the tuning. When one-touch tuning is completed normally, the parameters described in table 6.1 will be updated automatically.


6.2.2 (1) (e).)


When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)

After executing the one-touch tuning, cycling the power of the servo amplifier returns to the state in which control is performed from the controller.

End

6 - 7


6.2.2 Display transition and operation procedure of one-touch tuning

(1) When you use MR Configurator2

(a) Command method selection

Select a command method from two methods in the one-touch tuning window of MR Configurator2.

1)

2)

6 - 8


1) User command method

It is recommended to input commands meeting the following conditions to the servo amplifier. If one-touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier, the one-touch tuning error may occur.

One cycle time

Travel distance

Servo motor speed

Forward rotation

0 r/min

Reverse rotation



Dwell time

Fig. 6.1 Recommended command for one-touch tuning in the user command method

Item Description

Travel distance

Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error

"C004".

Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min may cause the one-touch tuning error "C005".



Dwell time

Set the time to reach 2000 r/min (mm/s) to 5 s or less.

Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque.

The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.

Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".

One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".

6 - 9


2) Amplifier command method

Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier command method, the servo motor will be operated in a range between "current value ± permissible travel distance". Input the permissible travel distance as large as possible within a range that the movable part does not collide against the machine. Inputting a small permissible travel distance decreases the possibility that the moving part will collide against the machine.

However, the estimation accuracy of the load to motor inertia ratio may be lower, resulting in improper tuning.

Also, executing the one-touch tuning in the amplifier command method will generate a command for the following optimum tuning inside the servo amplifier to start the tuning.

Servo motor speed (Note)

Travel distance (Note)

Dwell time (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


(Note)


(Note)

Note. It will be automatically generated in the servo amplifier.

Fig. 6.2 Command generated by one-touch tuning in the amplifier command method

Item Description

Travel distance

An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible travel distance with MR Configurator2.

Servo motor speed A speed not exceeding 1/2 of the rated speed will be automatically set.



Dwell time

An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.

A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.

6 - 10


(b) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.

Response mode

High mode

Basic mode

Low mode

Table 6.2 Response mode explanations

Explanation

This mode is for high-rigid system.

This mode is for standard system.

This mode is for low-rigid system.

6 - 11


Refer to the following table for selecting a response mode.

Low mode

Table 6.3 Guideline for response mode

Response mode

Basic mode High mode

Response


Guideline of corresponding machine

Low response

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

High response

(c) One-touch tuning execution

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.

When executing one-touch tuning in the amplifier command method, turn on

EM2, LSP, and LSN. When you turn off EM2, LSP, and LSN during one-touch tuning, "C008" will be displayed at status in error code, and the one-touch tuning will be canceled. When setting LSP and LSN to automatic on, enable the check box "LSP, LSN auto ON" in the one-touch tuning window of MR Configurator2.

When one-touch tuning is executed in the amplifier command method while magnetic pole detection is not being performed, magnetic pole detection will be performed, and then one-touch tuning will start after the magnetic pole detection is completed.

After the response mode is selected in (1) (b) in this section, clicking "Start" will start one-touch tuning. If "Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error code. (Refer to (1) (e) in this section for error codes.)

Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after servoon. Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the tuning is completed or canceled, the servo amplifier will be the servo-off status. When the servo-on command is inputted from outside, the amplifier will be the servo-on status.

6 - 12


After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. To return to the state in which control is performed from the controller, cycle the power.

During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be completed at 100%.

Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the following window will be displayed. Select whether or not to reflect the tuning result in the project.

6 - 13


After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition, settling time and overshoot amount will be displayed in "Adjustment result".

(d) Stop of one-touch tuning

During one-touch tuning, clicking the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C000" will be displayed at status in error code. After the one-touch tuning is stopped, parameters will return to the values at the start of the one-touch tuning. To stop one-touch tuning, and execute it again, stop the servo motor once. In addition, after returning the moving part to the tuning start position, execute it.

6 - 14


(e) If an error occurs

If a tuning error occurs during the one-touch tuning, the tuning will be stopped. With that, the following error code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning again, stop the servo motor once. In addition, after returning the moving part to the tuning start position, execute it.

Display

C000

C002

C003

C005

Name

Tuning canceled

Load to motor inertia ratio misestimated

Error detail

The stop button was clicked during one-touch tuning. been over 30 s.

2. The command speed is slow.

3. The operation interval of the continuous operation is short.

1. The estimation of the load to motor inertia ratio at one-touch tuning was a failure.

2. The load to motor inertia ratio was not estimated due to an oscillation or other influences.

Corrective action example

Servo-off during tuning

Control mode error one set in [Pr. PA10 In-position range] and

[Pr. PA25 One-touch tuning - Overshoot permissible level].

The one-touch tuning was attempted in the user command method during servo-off.

The servo amplifier will be servo-off status during one-touch tuning.

1. The one-touch tuning was attempted while the torque control mode was selected in the control modes.

2. During one-touch tuning, the control mode was attempted to change from the position control mode to the speed control mode.

Increase the in-position range or overshoot permissible level.

When executing one-touch tuning in the user command method, turn to servo-on, and then execute it.

Prevent the servo amplifier from being the servo-off status during one-touch tuning.

Select the position control mode or speed control mode for the control mode, and then execute one-touch tuning. Do not change the control mode during the one-touch tuning.

C004 Time-out Set one cycle time during the operation (time from the command start to the next command start) to 30 s or less.

Set the servo motor speed to 100 r/min or higher. Error is less likely to occur as the setting speed is higher.

When one-touch tuning by the amplifier command is used, set a permissible travel distance so that the servo motor speed is 100 r/min or higher. Set a permissible travel distance to two or more revolutions as a guide value to set the servo motor speed to 100 r/min.

Set the stop interval during operation to 200 ms or more. Error is less likely to occur as the setting time is longer.

Drive the motor with meeting conditions as follows.

The acceleration time constant/deceleration time constant to reach 2000 r/min (mm/s) is

5 s or less.

Speed is 150 r/min (mm/s) or higher.

The load to servo motor (mass of linear servo motor's primary side or direct drive motor) inertia ratio is 100 times or less.

The acceleration/deceleration torque is

10% or more of the rated torque.

Set to the auto tuning mode that does not estimate the load to motor inertia ratio as follows, and then execute the one-touch tuning.

Select "Auto tuning mode 2 (_ _ _ 2)",

"Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)" of "Gain adjustment mode selection" in [Pr. PA08].

Set [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] properly with manual setting.

6 - 15


Display

C006

C008

C009

Name

Amplifier command start error generation error

Stop signal

Parameter

C00A Alarm disabled

Error detail

One-touch tuning was attempted to start in the amplifier command method under the following speed condition.

Servo motor speed: 20 r/min (mm/s) or higher

1. One-touch tuning was executed in the amplifier command method when the permissible travel distance is set to 100 pulses or less in the encoder pulse unit, or the distance is set not to increase the servo motor speed to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher at the time of load to motor inertia ratio estimation.

2. The torque limit has been set to 0.

EM2, LSP, and LSN were turned off during one-touch tuning in the amplifier command method.

Parameters for manufacturer setting have been changed.

One-touch tuning was attempted to start in the amplifier command method during alarm or warning.

Alarm or warning occurred during one-touch tuning by the amplifier command method.

"One-touch tuning function selection" in [Pr.

PA21] is "Disabled (_ _ _ 0)".

Corrective action example

Execute the one-touch tuning in the amplifier command method while the servo motor is stopped.

Set a permissible travel distance to 100 pulses or more in the encoder pulse unit, or a distance so as to increase the servo motor speed to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher at the time of load to motor inertia ratio estimation, and then execute the one-touch tuning. Set a permissible travel distance to four or more revolutions as a guide value.

Load to motor inertia ratio will be estimated when "0000" or "0001" is set in [Pr. PA08

Auto tuning mode] at the start of one-touch tuning.

If the permissible travel distance is short and the servo motor speed cannot be increased to

150 r/min (mm/s) (50 r/min for direct drive motor) or higher, select "Auto tuning mode 2

(_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)" of "Gain adjustment mode selection" in [Pr. PA08].

Set the torque limit value to greater than 0.

Review the one-touch tuning start position and permissible travel distance for the amplifier command method.

After ensuring safety, turn on EM2, LSP, and

LSN.

Return the parameters for manufacturer setting to the initial values.

Start one-touch tuning when no alarm or warning occurs.

Prevent alarm or warning from occurring during one-touch tuning.

Select "Enabled (_ _ _ 1)".

(f) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier command method again, return the moving part to the tuning start position.

(g) If a warning occurs

If a warning which continues the motor driving occurs during one-touch tuning by the user command method, the tuning will be continued. If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will be stopped.

One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier command method regardless of the warning type. Remove the cause of the warning, and return the moving part to the tuning start position. Then, execute the tuning again.

6 - 16


(h) Initializing one-touch tuning

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize.

Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking "Start".

When the initialization of one-touch tuning is completed, the following window will be displayed.

(returning to initial value)

6 - 17


(2) When you use push buttons

POINT

Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the response mode selection ("AUTO.") without going through the initial screen of the one-touch tuning ("AUTO").

When you use push buttons, one-touch tuning can be executed in the user command method only. Tuning cannot be executed in the amplifier command method with the buttons.

(a) Response mode selection

Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to (1) (b) in this section for a guideline of response mode.

Response mode selection display

Low mode: This mode is for low-rigid system.

UP DOWN

Basic mode: This mode is for standard system.

High mode: This mode is for high-rigid system.

6 - 18


(b) One-touch tuning execution

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.

After the response mode is selected in (a), pushing the "SET" button will start one-touch tuning.


The one-touch tuning progress is displayed with 0% to 100%.

The decimal point moves right to left in rotation during the tuning.

To switch the display to the status display during the tuning, push the "MODE" button.

Complete

Completing the one-touch tuning will start writing the auto-tuned parameters to the servo amplifier.

(c) Stop of one-touch tuning

Stop symbol

Error code

2 s interval

The one-touch tuning mode can be stopped by pushing the "SET" button regardless of displayed item.

The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns with 2 s interval.

Initial screen

Pushing the "SET" button will switch to the initial screen.

6 - 19


(d) If an error occurs

Stop symbol

If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s interval.

2 s interval

Error code

Check the error cause referring to the table 6.2 of (1) (e) in this section.

Initial screen


(e) If an alarm occurs


If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated and the alarm No. will be displayed.

Alarm display

(f) If a warning occurs


If a warning occurs during the one-touch tuning, the alarm No. of the warning will be displayed.

When the warning is one which continue the motor driving, the one-touch tuning will be continued.

Alarm display (warning)

6 - 20


(g) Clearing one-touch tuning

Refer to table 6.1 for the parameters which you can clear.

You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset the parameters to before tuning with the back mode.

1) Switch to the initial screen "AUTO" of the one-touch tuning with the "MODE" button.

2) Select the clear mode or back mode with the "UP" or "DOWN" button.

One-touch tuning clear mode selection

Auto mode

UP DOWN

Clear mode

Back mode

To clear the one-touch tuning, push the "SET" button for 2 s.

One-touch tuning clear mode display (initializing)

The one-touch tuning clear mode is in progress.

The clear mode symbol blinks for 3 s.

Clearing one-touch tuning is completed, the initial screen will be displayed.

Initial screen

6 - 21


6.2.3 Caution for one-touch tuning

(1) Caution common for user command method and amplifier command method

(a) The tuning is not available in the torque control mode.

(b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring.

(c) You can execute the one-touch tuning during the following test operation modes marked by " ".

Test operation mode

How to one-touch tuning Output signal (DO) forced output

JOG operation



Program operation

MR Configurator2

Push buttons

(d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or unusual noise may occur during the tuning.

(2) Caution for amplifier command method

(a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error code, and the one-touch tuning cannot be executed.

(b) One-touch tuning is not available during the test operation mode. The following test operation modes cannot be executed during one-touch tuning.

1) Positioning operation

2) JOG operation

3) Program operation

4) Machine analyzer operation

5) Single-step feed

(c) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a value sufficient to prevent machine collision.

(d) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr. PA08 Auto tuning mode], the load to motor inertia ratio will not be estimated. An optimum acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] at the start of one-touch tuning. When the load to motor inertia ratio is incorrect, the optimum acceleration/deceleration command may not be generated, causing the tuning to fail.

(e) When one-touch tuning is started by using communication, if the communication is interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The parameter will return to the one at the start of the one-touch tuning.

(f) When one-touch tuning is started during the speed control mode, the mode will be switched to the position control mode automatically. The tuning result may differ from the one obtained by executing tuning by using the speed command.

6 - 22


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. This function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.

In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains automatically.

The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter Symbol Name

PB06

PB07

PB08

PB09

PB10


PG1 Model loop gain


VG2 Speed loop gain


POINT

The auto tuning mode 1 may not be performed properly if all of the following conditions are not satisfied.

The acceleration/deceleration time constant to reach 2000 r/min (mm/s) is 5 s or less.

Speed is 150 r/min (mm/s) or higher.

The load to servo motor (mass of linear servo motor's primary side or direct drive motor) inertia ratio is 100 times or less.

The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor inertia ratio in [Pr. PB06].

The following parameters are automatically adjusted in the auto tuning mode 2.


PB07

PB08

PB09

PB10

PG1 Model loop gain


VG2 Speed loop gain


6 - 23


6.3.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Command +

-

Loop gain

PG1, PG2,

VG2, VIC

Automatic setting

+

-

Current control

Current feedback

M

Load moment of inertia

Encoder

Servo motor

Set 0 or 1 to turn on.

Real-time auto tuning section

Gain table

Load to motor inertia ratio estimation section

Switch

Position/speed feedback

Speed feedback

[Pr. PA08]

0 0 0

[Pr. PA09]

Gain adjustment mode selection

Response level setting

[Pr. PB06 Load to motor inertia ratio]

When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status display screen of the MR Configurator2.

If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.

From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop gains are automatically set on the basis of the internal gain table.

The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.

At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value.

POINT

If sudden disturbance torque is imposed during operation, the load to motor inertia ratio may be misestimated temporarily. In such a case, set "Gain adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and then set the correct load to motor inertia ratio in [Pr. PB06].

When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load to motor inertia ratio estimation value are saved in the EEP-ROM.

6 - 24


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. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes

Load to motor inertia ratio estimation value stable?

No

Auto tuning conditions are not satisfied? (Estimation of load to motor inertia ratio is

difficult.)

No

Yes

Set [Pr. PA08] to "_ _ _ 2" and set

[Pr. PB06 Load to motor inertia ratio] manually.

Adjust response level setting so that desired response is achieved on vibration-free level.

Acceleration/deceleration repeated

Requested performance satisfied?

Yes

End

No

To 2 gain adjustment mode 2

6 - 25


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, trackability to a command improves and settling time decreases, but setting the response level too high will generate vibration.

Set a value to obtain the desired response level within the vibration-free range.

If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.

PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for settings of the adaptive tuning mode and machine resonance suppression filter.

[Pr. PA09]

Setting value


Response

Guideline for machine resonance frequency [Hz]

Reference

(setting value of

MR-J3)

Setting


1 Low

2 3.6 response

3

4 6.6

5 10.0 25

Guideline for frequency [Hz]

67.1

85.2

6 11.3 26

7 12.7 27

8 14.3 28

9 16.1 29

19 Middle 52.9

7

15

30

31

32

33

34

35

36

37

38

39 High

Reference

(setting value of

MR-J3)

17

19

108.0

121.7

137.1

154.4

173.9

195.9

220.6

248.5

279.9

21

22

23

24

25

26

27

315.3

355.1

400.0

446.6

501.2

28

29

30

31

32

571.5

642.7

6 - 26


6.4 Manual mode

If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.

POINT

If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. (Refer to section 7.2 to 7.3.)

(1) For speed control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol

PB06

PB07

PB09

PB10

Name


PG1 Model loop gain

VG2 Speed loop gain


(b) Adjustment procedure

Step Operation Description

1 Brief-adjust with auto tuning. Refer to section 6.2.3.

2

3

4

Change the setting of auto tuning to the manual mode ([Pr.

PA08]: _ _ _ 3).

Set the estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.)

Set a small value to the model loop gain.

Set a large value to the speed integral compensation.

5

6

7

8

Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.

Increase the model loop gain, and return slightly if overshoot takes place.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 7.

Increase the speed loop gain.

Decrease the time constant of the speed integral compensation.

Increase the model loop gain.

Suppression of machine resonance

Refer to section 7.2 and

7.3.

9 While checking the motor status, fine-adjust each gain. Fine

6 - 27


(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.

Speed loop gain

Speed loop response frequency [Hz] =

(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control.

Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting [ms] ≥

2000 to 3000

Speed loop gain/(1 + Load to motor inertia ratio)

3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value improves trackability to a speed command, but a too high value will make overshoot liable to occur at settling.

Model loop gain guideline ≤

Speed loop gain

(1 + Load to motor inertia ratio)

×

1

8

(2) For position control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol

PB06

PB07

PB08

PB09

PB10

Name


PG1 Model loop gain


VG2 Speed loop gain


6 - 28


(b) Adjustment procedure

Step Operation

1 Brief-adjust with auto tuning. Refer to section 6.2.3.

2

3

4

5

6

Change the setting of auto tuning to the manual mode ([Pr.

PA08]: _ _ _ 3).

Set the estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.)

Set a small value to the model loop gain and the position loop gain.

Set a large value to the speed integral compensation.

Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.

7

8

9

10

Increase the position loop gain, and return slightly if vibration takes place.

Increase the model loop gain, and return slightly if overshoot takes place.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8.

While checking the settling characteristic and motor status, fineadjust each gain.

Description

Increase the speed loop gain.

Decrease the time constant of the speed integral compensation.

Increase the position loop gain.

Increase the model loop gain.

Suppression of machine resonance

Refer to section 7.2 and

7.3.

Fine 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.

Speed loop gain

Speed loop response frequency [Hz] =

(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control.

Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting [ms] ≥

2000 to 3000

Speed loop gain/(1 + Load to motor inertia ratio)

6 - 29


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.

Position loop gain guideline ≤

Speed loop gain


×

1

8

4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Model loop gain guideline ≤

Speed loop gain


×

6.5 2 gain adjustment mode

1

8

The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command trackability. Other parameters for gain adjustment are set automatically.

(1) 2 gain adjustment mode 1 (interpolation mode)

The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability.

The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for gain adjustment to optimum gains using auto tuning response.

The following parameters are used for 2 gain adjustment mode 1.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.


PB06

PB08

PB09

PB10



VG2 Speed loop gain


(b) Manually adjusted parameter

The following parameters are adjustable manually.

Parameter Symbol

PA09

PB07

RSP

PG1


Model loop gain

Name

6 - 30


(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. PB06].

The following parameters are used for 2 gain adjustment mode 2.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.


PB08

PB09

PB10


VG2 Speed loop gain


(b) Manually adjusted parameter

The following parameters are adjustable manually.

Parameter Symbol

PA09

PB06

PB07

RSP

GD2

PG1



Model loop gain

Name

(3) Adjustment procedure of 2 gain adjustment mode

POINT

Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain adjustment mode.

Step Operation

1

2

3

4

Set to the auto tuning mode.

During operation, increase the response level setting value in [Pr.

PA09], and return the setting if vibration occurs.

Check value of the model loop gain and the load to motor inertia ratio in advance.

Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0).

Description

Select the auto tuning mode 1.

Adjustment in auto tuning mode 1.

Check the upper setting limits.

Select the 2 gain adjustment mode 1

(interpolation mode).

5

6

7

When the load to motor inertia ratio is different from the design value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4) and then set the load to motor inertia ratio manually in [Pr. PB06].

Set the model loop gain of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the smallest model loop gain.

Considering the interpolation characteristic and motor status, fine-adjust the model loop gain and response level setting.

Check the load to motor inertia ratio.

Set model loop gain.

Fine adjustment

6 - 31


(4) Parameter adjustment

[Pr. PB07 Model loop gain]

This parameter determines the response level of the position control loop. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Number of droop pulses is determined by the following expression.

Number of droop pulses [pulse] =

Position command frequency [pulse/s]

Model loop gain setting

Position command frequency differs depending on the operation mode.

Position command frequency

=

Speed [r/min]

60

× Encoder resolution (number of pulses per servo motor revolution)

6 - 32

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.



Torque

(Servo motor) speed

→

→

Thrust

(Linear servo motor) speed

7.1 Filter setting

The following filters are available with MR-J4 servo amplifiers.

Command pulse train

Command filter

+

-

Speed control

[Pr. PB18]

Low-pass filter setting

[Pr. PB13]


[Pr. PB15]


[Pr. PB46]


[Pr. PB49]

[Pr. PB48]


[Pr. PB17]


[Pr. PE41]

[Pr. PB50]


Robust filter

PWM

Load

M

Servo motor

Encoder

7 - 1


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. The optimum notch frequency is set at the point where vibration is minimal.

A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2. This allows the required notch frequency and notch characteristics to be determined.

If a mechanical system has a unique resonance point, increasing the servo system response level may cause resonance (vibration or unusual noise) in the mechanical system. at that resonance frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.

7 - 2


(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

Notch depth

Frequency

Notch frequency

You can set five machine resonance suppression filters at most.


Precaution

Parameter that is reset with vibration tough drive function

Parameter automatically adjusted with onetouch tuning

PB13 PB01/PB13/PB14 PB01/PB13/PB14 The filter can be set automatically with

"Filter tuning mode selection" in [Pr.

PB01].

PB15/PB16 PB15 PB15/PB16 Machine resonance suppression filter 2



PB46/PB47

PB48/PB49

PB46/PB47

PB48/PB49


PB50/PB51

Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.

Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation.

The shaft resonance suppression filter is enabled for the initial setting.

Enabling the robust filter disables the machine resonance suppression filter 5.

The robust filter is disabled for the initial setting.

PB51

7 - 3


(2) Parameter

(a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14])

Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1

([Pr. PB13]/[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.

(b) Machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in

[Pr. PB16].

How to set the machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).

(c) Machine resonance suppression filter 3 ([Pr. PB46]/[Pr. PB47])


[Pr. PB47].


(d) Machine resonance suppression filter 4 ([Pr. PB48]/[Pr. PB49])


[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.


(e) Machine resonance suppression filter 5 ([Pr. PB50]/[Pr. PB51])


[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance suppression filter 5.


7 - 4


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.

When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual setting.

Adaptive tuning generates the optimum filter with the currently set control gains.

If vibration occurs when the response setting is increased, execute adaptive tuning again.

During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual setting.

Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics.

Adaptive tuning in the high accuracy mode is available with servo amplifiers with software version C5 or later. The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

(1) Function

Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.

Machine resonance point Machine resonance point

Frequency Frequency

Frequency

Notch frequency

When machine resonance is large and frequency is low

Frequency

Notch frequency

When machine resonance is small and frequency is high

7 - 5


(2) Parameter

Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].

[Pr. PB01]

0 0

Filter tuning mode selection

Setting value

Filter tuning mode selection

0

1

2

Disabled

Automatic setting

Manual setting

Tuning accuracy selection (Note)

0: Standard

1: High accuracy

Automatically set parameter

PB13/PB14

Note. This digit is available with servo amplifier with software version C5 or later.

7 - 6


(3) Adaptive tuning mode procedure

Adaptive tuning

Operation

Is the target response reached?

Increase the response setting.

In the standard mode

Has vibration or unusual noise occurred?

Execute or re-execute adaptive tuning in the standard mode.

(Set [Pr. PB01] to "0 _ _ 1".)

In the high accuracy mode

Execute or re-execute adaptive tuning in the high accuracy mode.

(Set [Pr. PB01] to "1 _ _ 1".)

Tuning ends automatically after the predetermined period of time.

([Pr. PB01] will be "_ _ _ 2" or "_ _ _

0".)

Has vibration or unusual noise been resolved?

If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again.

Decrease the response until vibration or unusual noise is resolved.

Using the machine analyzer, set the filter manually.

Factor

The response has increased to the machine limit.

The machine is too complicated to provide the optimum filter.

End

7 - 7


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. It is recommended that [Pr. PB23] be set to "_ _ _ 0"

(automatic setting) because changing "Shaft resonance suppression filter selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may lower the performance.

(1) Function


When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use and the load to motor inertia ratio. The disabled setting increases the response of the servo amplifier for high resonance frequency.

(2) Parameter

Set "Shaft resonance suppression filter selection" in [Pr. PB23].

[Pr. PB23]

0 0 0

Shaft resonance suppression filter selection


1: Manual setting

2: Disabled

To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".

To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting values are as follows.

Shaft resonance suppression filter setting frequency selection

Setting value

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

Frequency [Hz]

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

Setting value

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Frequency [Hz]

391

375

360

346

333

321

310

300

290

562

529

500

473

450

428

409

7 - 8


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. The filter frequency of the low-pass filter is automatically adjusted to the value in the following equation.

VG2

Filter frequency ([rad/s]) =

1 + GD2

× 10

However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2 value.

To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].

(2) Parameter

Set "Low-pass filter selection" in [Pr. PB23].

[Pr. PB23]

0 0 0

Low-pass filter selection


1: Manual setting

2: Disabled

7.1.5 Advanced vibration suppression control II

POINT

The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is

"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)".

The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range, set manually.

Stop the servo motor before changing the vibration suppression control-related parameters. Otherwise, it may cause an unexpected operation.

For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after vibration damping.

Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small.

Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again.

When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].

7 - 9


(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

Load side t

Vibration suppression: off (normal)

Servo motor side

Load side t

Vibration suppression control: on

When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most.

In the vibration suppression control tuning mode, this mode shifts to the manual setting after the positioning operation is performed the predetermined number of times. For manual setting, adjust the vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.

PB52] to [Pr. PB55].

(2) Parameter

Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].

When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning mode selection" in addition.

[Pr. PB02]

0 0

Vibration suppression control 1 tuning mode

Setting value

Vibration suppression control 1 tuning mode selection

_ _ _ 0

_ _ _ 1

_ _ _ 2

Disabled

Automatic setting

Manual setting

Vibration suppression control 2 tuning mode

Setting value

_ _ 0 _

_ _ 1 _

_ _ 2 _

Vibration suppression control 2 tuning mode selection

Disabled

Automatic setting

Manual setting


PB19/PB20/PB21/PB22


PB52/PB53/PB54/PB55

7 - 10


(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

Yes

Is the target response reached?

No

Increase the response setting.

Has vibration of workpiece end/device increased?

No

Yes

Stop operation.

Execute or re-execute vibration suppression control tuning.

(Set [Pr. PB02] to "_ _ _ 1".)

Resume operation.

Tuning ends automatically after positioning operation is performed the predetermined number of times.

([Pr. PB02] will be "_ _ _ 2" or

"_ _ _ 0".)

Has vibration of workpiece end/device been resolved?

No

Yes

Decrease the response until vibration of workpiece end/device is resolved.

Using a machine analyzer or considering load-side vibration waveform, set the vibration suppression control manually.

Factor

Estimation cannot be made as load-side vibration has not been transmitted to the servo motor side.

The response of the model loop gain has increased to the load-side vibration frequency

(vibration suppression control limit).

End

7 - 11


(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.

The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.

Measure work-side vibration and device shake with the machine analyzer or external measuring instrument, and set the following parameters to adjust vibration suppression control manually.

Setting item

Vibration suppression control 1


Vibration suppression control - Vibration frequency

Vibration suppression control - Resonance frequency

Vibration suppression control - Vibration frequency damping

Vibration suppression control - Resonance frequency damping

[Pr. PB19]

[Pr. PB20]

[Pr. PB21]

[Pr. PB22]

[Pr. PB52]

[Pr. PB53]

[Pr. PB54]

[Pr. PB55]

7 - 12


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" and "Vibration suppression control -

Resonance frequency" as follows.

However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have the following usable range and recommended range.

Vibration suppression control



Usable range

[Pr. PB19] > 1/2 π × (0.9 × [Pr. PB07])

[Pr. PB20] > 1/2 π × (0.9 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52],

[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])

[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])

1.1 < [Pr. PB52]/[Pr. PB19] < 5.5

[Pr. PB07] < 2 π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])

Recommended setting range

[Pr. PB19] > 1/2 π × (1.5 × [Pr. PB07])

[Pr. PB20] > 1/2 π × (1.5 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52],

[Pr. PB52], [Pr. PB53] > 6.25 Hz

1.1 < [Pr. PB52]/[Pr. PB19] < 4

[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])

(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment.


Vibration frequency

(anti-resonance frequency)

[Pr. PB52]


Resonance frequency

[Pr. PB53]

Gain characteristics

Phase

-90 degrees

1 Hz 300 Hz


Vibration frequency

(anti-resonance frequency)

[Pr. PB19]

Resonance of more than

300 Hz is not the target of control.


Resonance frequency

[Pr. PB20]

(b) When vibration can be confirmed using monitor signal or external sensor

Motor-side vibration

(droop pulses)

Position command frequency

External acceleration pickup signal, etc.

t

Vibration cycle [Hz]

Vibration suppression control -

Vibration frequency

Vibration suppression control -

Resonance frequency

Vibration cycle [Hz]

Set the same value.

Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration suppression control - Resonance frequency damping".

7 - 13 t


7.1.6 Command notch filter

POINT

By using the advanced vibration suppression control II and the command notch filter, the load-side vibration of three frequencies can be suppressed.

The frequency range of machine vibration, which can be supported by the command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to the machine vibration frequency and within the range.

When [Pr. PB45 Command notch filter] is changed during the positioning operation, the changed setting is not reflected. The setting is reflected approximately 150 ms after the servo motor stops (after servo-lock).

(1) Function

Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vibration, such as work-side vibration and base shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be set.

Load side t

Command notch filter: disabled

Load side t

Command notch filter: enabled

7 - 14


(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]

0

Notch depth

Setting value

Depth

[dB]

E

F

C

D

A

B

8

9

6

7

4

5

2

3

0

1

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6

-40.0

-24.1

-18.1

-14.5

-12.0

-10.1

-8.5

-7.2

Command notch filter setting frequency

Setting value

1C

1D

1E

1F

18

19

1A

1B

14

15

16

17

10

11

12

13

0C

0D

0E

0F

08

09

0A

0B

04

05

06

07

00

01

02

03

Frequency

[Hz]

80

77

75

72

93

90

86

83

140

132

125

118

112

107

102

97

281

250

225

204

187

173

160

150

Disabled

2250

1125

750

562

450

375

321

Frequency

[Hz]

23.4

22.5

21.6

20.8

20.1

19.4

18.8

18.2

35.2

33.1

31.3

29.6

28.1

26.8

25.6

24.5

40

38

37

36

46

45

43

41

56

53

51

48

70

66

62

59

Setting value

3C

3D

3E

3F

38

39

3A

3B

34

35

36

37

30

31

32

33

2C

2D

2E

2F

28

29

2A

2B

24

25

26

27

20

21

22

23

Setting value

5C

5D

5E

5F

58

59

5A

5B

54

55

56

57

50

51

52

53

4C

4D

4E

4F

48

49

4A

4B

44

45

46

47

40

41

42

43

Frequency

[Hz]

5.0

4.9

4.7

4.5

5.9

5.6

5.4

5.2

7.0

6.7

6.4

6.1

8.8

8.3

7.8

7.4

11.7

11.3

10.8

10.4

10.0

9.7

9.4

9.1

17.6

16.5

15.6

14.8

14.1

13.4

12.8

12.2

7 - 15


7.2 Gain switching function

You can switch gains with the function. You can switch gains during rotation and during stop, and can use an input device to switch gains during operation.

7.2.1 Applications

The following shows when you use the function.

(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an input device to ensure stability of the servo system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7 - 16


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].

CDP

[Pr. PB26]

Input device (CDP)

GD2

[Pr. PB06]

GD2B

[Pr. PB29]

PG1

[Pr. PB07]

PG1B

[Pr. PB60]

PG2

[Pr. PB08]

PG2B

[Pr. PB30]

VG2

[Pr. PB09]

VG2B

[Pr. PB31]

VIC

[Pr. PB10]

VICB

[Pr. PB32]


Droop pulses

Model speed

CDL

[Pr. PB27]

Enabled

GD2 value

Enabled

PG1 value

Enabled

PG2 value

Enabled

VG2 value

Enabled

VIC value

+

-

+

-

+

-

Comparator

VRF11

[Pr. PB19]

VRF1B

[Pr. PB33]

VRF12

[Pr. PB20]

VRF2B

[Pr. PB34]

VRF13

[Pr. PB21]

VRF3B

[Pr. PB35]

VRF14

[Pr. PB22]

VRF4B

[Pr. PB36]

VRF21

[Pr. PB52]

VRF21B

[Pr. PB56]

VRF22

[Pr. PB53]

VRF22B

[Pr. PB57]

VRF23

[Pr. PB54]

VRF23B

[Pr. PB58]

VRF24

[Pr. PB55]

VRF24B

[Pr. PB59]

Changing

Enabled

VRF11 value

Enabled

VRF12 value

Enabled

VRF13 value

Enabled

VRF14 value

Enabled

VRF21 value

Enabled

VRF22 value

Enabled

VRF23 value

Enabled

VRF24 value

7 - 17


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.

(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description

PB26

PB27

PB28

CDP Gain switching function

CDL Gain switching condition

CDT Gain switching time constant

[kpulse/s]

/[pulse]

/[r/min]

Select a switching condition.

Set a switching condition values.

[ms] Set the filter time constant for a gain change at switching.

(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.

[Pr. PB26]

0

Gain switching selection

0: Disabled

1: Input device (gain switching (CDP))

2: Command frequency

3: Droop pulses



0: Gain after switching is enabled with gain switching condition or more

1: Gain after switching is enabled with gain switching condition or less

Gain switching time constant disabling condition selection (Note)

0: Switching time constant enabled

1: Switching time constant disabled

2: Return time constant disabled

Note. This parameter setting is available with servo amplifiers with software version B4 or later.

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or

"Servo motor speed" with the gain switching selection in [Pr. PB26 Gain switching function].

The setting unit is as follows.


Command frequency

Droop pulses

Servo motor speed

Unit

[kpulse/s]

[pulse]

[r/min]

(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. This parameter is used to suppress shock given to the machine if the gain difference is large at gain switching, for example.

7 - 18


(2) Switchable gain parameter

Loop gain

Before switching


PB06 Load to motor inertia ratio/ load to motor mass ratio

Model loop gain PB07

GD2 Load to motor inertia ratio/ load to motor mass ratio

PG1 Model loop gain

Position loop gain

Speed loop gain

PB08

PB09


VG2 Speed loop gain

After switching

Parameter Symbol

PB29

Name

PB60

PB30

PB31

GD2B Load to motor inertia ratio/ load to motor mass ratio

PG1B Model loop gain after gain switching

PG2B Position loop gain after gain switching

VG2B Speed loop gain after gain switching

Speed integral compensation compensation compensation after gain switching

Vibration suppression control 1 - Vibration frequency control 1 - Vibration frequency control 1 - Vibration frequency after gain switching

Vibration suppression control 1 - Resonance frequency control 1 - Resonance frequency control 1 - Resonance frequency after gain switching

Vibration suppression control 1 - Vibration frequency damping control 1 - Vibration frequency damping control 1 - Vibration frequency damping after gain switching

Vibration suppression control 1 - Resonance frequency damping control 1 - Resonance frequency damping control 1 - Resonance frequency damping after gain switching

Vibration suppression control 2 - Vibration frequency control 2 - Vibration frequency control 2 - Vibration frequency after gain switching

Vibration suppression control 2 - Resonance frequency control 2 - Resonance frequency control 2 - Resonance frequency after gain switching

Vibration suppression control 2 - Vibration frequency damping control 2 - Vibration frequency damping control 2 - Vibration frequency damping after gain switching

Vibration suppression control 2 - Resonance frequency damping control 2 - Resonance frequency damping control 2 - Resonance frequency damping after gain switching

(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral compensation to be switched.

(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]

These parameters are the same as in ordinary manual adjustment. Executing gain switching while the servo motor stops, You can change vibration frequency, resonance frequency, vibration frequency damping, and resonance frequency damping.

7 - 19


(c) [Pr. PB29 Load to motor inertia ratio after gain switching]

Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].

(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching], and [Pr. PB32 Speed integral compensation after gain switching]

Set the values of after switching position loop gain, speed loop gain and speed integral compensation.

(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]), and [Pr. PB60 Model loop gain after gain switching]

The gain switching vibration suppression control and gain switching model loop gain are used only with input device (CDP) on/off.

You can switch the vibration frequency, resonance frequency, vibration frequency damping, resonance frequency damping, and model loop gain of the vibration suppression control 1 and vibration suppression control 2.

7 - 20


7.2.4 Gain switching procedure

This operation will be described by way of setting examples.

(1) When you choose switching by input device (CDP)

(a) Setting example


PB07

PB08

PB09

PB10

PB20

PB22

PB53

PB55

PB29

PB60

PB30

PB31

PB32

PB26

PB28

PB34

PB36

Unit

4.00 [Multiplier]

VG2

VIC mass ratio

PG1 Model loop gain


Speed loop gain


100

120

[rad/s]

[rad/s]

3000

20

[rad/s]

[ms]

50 [Hz] frequency

VRF12 Vibration suppression control 1 -

Resonance frequency

50 [Hz]

0.20 frequency damping



0.20 frequency damping after gain switching

VRF4B Vibration suppression control 1 -


20 [Hz] frequency


Resonance frequency

20 [Hz]

0.10 frequency damping



GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

PG1B Model loop gain after gain switching



VICB Speed integral compensation after gain switching

CDP Gain switching function

0.10

10.00 [Multiplier]

50

84

4000

[rad/s]

[rad/s]

[rad/s]

50 [ms]

CDT Gain switching time constant frequency after gain switching

VRF2B Vibration suppression control 1 -


0001

(Switch by input device

(CDP) on/off.)

100 [ms]

60 [Hz]

60 [Hz]

0.15

0.15

30 [Hz] frequency after gain switching

30 [Hz]


0.05 frequency damping after gain switching

0.05


7 - 21


(b) Switching timing chart

CDP (gain switching)

OFF

Gain switching

Before-switching gain

ON

After-switching gain

63.4%

CDT = 100 ms

OFF

Model loop gain

Load to motor inertia ratio/load to motor mass ratio

Position loop gain

Speed loop gain


Vibration suppression control 1 - Vibration frequency


Resonance frequency

Vibration suppression control 1 - Vibration frequency damping



Vibration suppression control 2 - Vibration frequency


Resonance frequency

Vibration suppression control 2 - Vibration frequency damping



100

4.00

120

3000

20

50

50

0.20

0.20

20

20

0.10

0.10

→ 50 → 100

→ 10.00 → 4.00

→ 84 → 120

→ 4000 → 3000

→ 50 → 20

→ 60 → 50

→ 60 → 50

→ 0.15 → 0.20

→ 0.15 → 0.20

→ 30 → 20

→ 30 → 20

→ 0.05 → 0.10

→ 0.05 → 0.10

(2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching cannot be used.

(a) Setting example

Parameter Symbol Name Unit

4.00 [Multiplier]

PB08

PB09

PB10 motor mass ratio


VG2 Speed loop gain


120

3000

[rad/s]

[rad/s]

20 [ms]

10.00 [Multiplier]

PB30

PB31

PB32

PB26 motor mass ratio after gain switching



VICB Speed integral compensation after gain switching

CDP Gain switching selection

84 [rad/s]

4000 [rad/s]

50 [ms]

PB27

PB28

CDL Gain switching condition

CDT Gain switching time constant

0003

(switching by droop pulses)

50

100

[pulse]

[ms]

7 - 22


(b) Switching timing chart

Command pulses Droop pulses

Command pulses

Droop pulses

[pulse]

0

+CDL

-CDL

Gain switching



63.4%

CDT = 100 ms


Position loop gain

Speed loop gain


4.00

120

→ 10.00 → 4.00 → 10.00

→ 84 → 120 → 84

3000 → 4000 → 3000 → 4000

20 → 50 → 20 → 50

(3) When the gain switching time constant is disabled

(a) Switching time constant disabled was selected.

The gain switching time constant is disabled. The time constant is enabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.

PB28 (CDT)] = 100 [ms].

Command pulses

Droop pulses

Droop pulses [pulse]

+100 pulses

0

-100 pulses

Switching time constant disabled

Switching at 0 ms



63.4%

Gain switching

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)

CDT = 100 ms


Switching at 0 ms

7 - 23


(b) Return time constant disabled was selected.

The gain switching time constant is enabled. 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].

OFF OFF

CDP (Gain switching) ON


Return time constant disabled

Switching at 0 ms

63.4%


Gain switching

CDT = 100 ms

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)

7 - 24


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.

7.3.1 Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to varied vibration frequency caused by machine aging.

To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.

Set [Pr. PB13] and [Pr. PB15] as follows.

(1) One-touch tuning execution (section 6.1)

(2) Manual setting (section 4.2.2)

The vibration tough drive function operates when a detected machine resonance frequency is within ±30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance suppression filter 2].

To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation detection level].

POINT

Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is performed constantly. However, the number of write times to the EEPROM is limited to once per hour.

The vibration tough drive function does not reset [Pr. PB46 Machine resonance suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.

PB50 Machine resonance suppression filter 5].

The vibration tough drive function does not detect a vibration of 100 Hz or less.

7 - 25


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.

Precaution

Parameter that is reset with vibration tough drive function


PB01/PB13/PB14 The filter can be set automatically with

"Filter tuning mode selection" in [Pr.

PB01].

PB15/PB16

PB13

PB15 Machine resonance suppression filter 2



PB46/PB47

PB48/PB49


PB50/PB51

Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.

Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation.

The shaft resonance suppression filter is enabled for the initial setting.

Enabling the robust filter disables the machine resonance suppression filter 5.

The robust filter is disabled for the initial setting.

Updates the parameter whose setting is the closest to the machine resonance frequency.

Vibration tough drive

Command pulse train

Command filter

+

-

[Pr. PB13]


[Pr. PB15]


[Pr. PB46]


Load

[Pr. PB49]

[Pr. PB48]


[Pr. PB17]


[Pr. PE41]

[Pr. PB50]


Robust filter

PWM M

Servo motor

Encoder

Torque

ALM

(Malfunction)

WNG

(Warning)

MTTR

(During tough drive)

ON

OFF

ON

OFF

ON

OFF

5 s

[Pr. PF23 Vibration tough drive - Oscillation detection level]

Detects the machine resonance and reconfigures the filter automatically.

During tough drive (MTTR) is not turned on in the vibration tough drive function.

7 - 26


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. 10

Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus voltage is changed automatically.

POINT

MBR (Electromagnetic brake interlock) will not turn off during the instantaneous power failure tough drive.

When selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at instantaneous power failure" in [Pr. PA26], if an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until the occurrence of [AL. 10.2 Voltage drop in the main circuit power]. Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function -

Instantaneous power failure detection time].

When the load of instantaneous power failure is large, [AL. 10.2] caused by the bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].

The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr.

PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

MR-J4-03A6(-RJ) servo amplifier is not compatible with instantaneous power failure tough drive.

The setting range of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] differs depending on the software version of the servo amplifier as follows.

Software version C0 or earlier: Setting range 30 ms to 200 ms

Software version C1 or later: Setting range 30 ms to 500 ms

To comply with SEMI-F47 standard, it is unnecessary to change the initial value

(200 ms). However, when the instantaneous power failure time exceeds 200 ms, and the instantaneous power failure voltage is less than 70% of the rated input voltage, the power may be normally turned off even if a value larger than 200 ms is set in the parameter.

7 - 27


(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. PF25 SEMI-F47 function - Instantaneous power failure detection time].

MTTR (During tough drive) turns on after detecting the instantaneous power failure.

MBR (Electromagnetic brake interlock) turns off when the alarm occurs.

Instantaneous power failure time of the control circuit power supply


ON (energization)

OFF (power failure)

[Pr. PF25]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Note. Refer to table 7.1 for the undervoltage level.

7 - 28


(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. 10 Undervoltage] occurs when the bus voltage decrease lower than undervoltage level regardless of the enabled instantaneous power failure tough drive.



ON (energization)

OFF (power failure)

[Pr. PF25]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


7 - 29


(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power failure time of the control circuit power supply

The operation continues without alarming.



ON (energization)

OFF (power failure)

[Pr. PF25]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


7 - 30


7.4 Compliance with SEMI-F47 standard

POINT

The control circuit power supply of the MR-J4-_A_(-RJ) 100 W or more servo amplifier can 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.

Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase

100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr.

PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

Be sure to perform actual machine tests and detail checks for power supply instantaneous power failure of SEMI-F47 standard with your equipment.

The MR-J4-03A6(-RJ) servo amplifier is not compatible with SEMI-F47 standard.

The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test" of MR-J4 series.

This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation.

(1) Parameter setting

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.

Parameter

Setting value

Description

PA20 _ 1 _ _ Enable SEMI-F47 function selection.

Enabling SEMI-F47 function will change operation as follows.

(a) The voltage will drop in the control circuit power at "Rated voltage × 50% or less". After 200 ms, [AL.

10.1 Voltage drop in the control circuit power] will occur.

(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.

Table 7.1 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power]

Servo amplifier

MR-J4-10A(-RJ) to

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ) to

MR-J4-22KA(-RJ)

MR-J4-60A4(-RJ) to

MR-J4-22KA4(-RJ)

Bus voltage which triggers alarm

158 V DC

200 V DC

380 V DC

(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit power] occurs.

7 - 31


(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

Instantaneous power failure voltage

Rated voltage × 80%



Permissible time of instantaneous power failure [s]

1

0.5

0.2

7 - 32


(3) Calculation of tolerance against instantaneous power failure

Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.

Table 7.3 Tolerance against instantaneous power failure (instantaneous power failure voltage = rated voltage × 50%, instantaneous power failure time = 200 ms)

Servo amplifier

Instantaneous maximum output [W]

Tolerance against instantaneous power failure [W]

(voltage drop between lines)

MR-J4-10A(-RJ) 350

MR-J4-20A(-RJ) 700

250

420

MR-J4-40A(-RJ) 1400

MR-J4-60A(-RJ) 2100

MR-J4-70A(-RJ) 2625

MR-J4-100A(-RJ) 3000

MR-J4-200A(-RJ) 5400

MR-J4-350A(-RJ) 10500

MR-J4-500A(-RJ) 15000

MR-J4-700A(-RJ) 21000

630

410

1150

1190

2040

2600

4100

5900

MR-J4-11KA(-RJ) 40000

MR-J4-15KA(-RJ) 50000

MR-J4-22KA(-RJ) 56000

MR-J4-60A4(-RJ) 1900

MR-J4-100A4(-RJ) 3500

MR-J4-200A4(-RJ) 5400

MR-J4-350A4(-RJ) 10500

MR-J4-500A4(-RJ) 15000

MR-J4-700A4(-RJ) 21000

MR-J4-11KA4(-RJ) 40000

MR-J4-15KA4(-RJ) 50000

MR-J4-22KA4(-RJ) 56000

2600

3500

4300

190

200

350

730

890

1500

2400

3200

4200

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. This can be handled as a margin.

The following shows the conditions of tolerance against instantaneous power failure.

(a) Delta connection

For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines

(between L1 and L2, L2 and L3, or L3 and L1).

(b) Star connection

For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations, between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the lines and the neutral point (between L1 and N, L2 and N, or L3 and N).

7 - 33


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.

This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier with MR Configurator2.

(1) Summary

The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and drives the servo motor following the output of the motor model in the model adaptive control. At model adaptive control disabled, the servo amplifier drives the motor with PID control without using the model adaptive control.

The following shows the available parameters at model adaptive control disabled.


PB08

PB09

PB10

PG2

VG2

VIC

Position loop gain

Speed loop gain



Set [Pr. PB25] to "_ _ _ 2".

(3) Restrictions

The following functions are not available at model adaptive control disabled.

Function Explanation

Forced stop deceleration function

([Pr. PA04])

Disabling the model adaptive control while the forced stop deceleration function is enabled, [AL. 37] will occur.

The forced stop deceleration function is enabled at factory setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop deceleration function disabled).


([Pr. PB02]/[Pr. PB19]/[Pr. PB20])


([Pr. PB02]/[Pr. PB52]/[Pr. PB53])

The vibration suppression control uses the model adaptive control. Disabling the model adaptive control will also disable the vibration suppression control.

Overshoot amount compensation

([Pr. PB12])

Super trace control

([Pr. PA22])

The overshoot amount compensation uses data used by the model adaptive control. Disabling the model adaptive control will also disable the overshoot amount compensation.

The super trace control uses the model adaptive control.

Disabling the model adaptive control will also disable the super trace control.

7 - 34


7.6 Lost motion compensation function

POINT

The lost motion compensation function is enabled only in the position control 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.

This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y table.

Compensation

Travel direction

The locus before compensation The locus after compensation


Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.

(a) Lost motion compensation function selection ([Pr. PE48])

Select the lost motion compensation function.

0

[Pr. PE48]

0

Lost motion compensation selection

0: Lost motion compensation disabled

1: Lost motion compensation enabled

Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit

(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45])

Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when the reverse rotation switches to the forward rotation. When the heights of protrusions differ depending on the travel direction, set the different compensation for each travel direction. Set a value twice the usual friction torque and adjust the value while checking protrusions.

(c) Torque offset ([Pr. PE47])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque. The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors.

Set 0.00%.

7 - 35


(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.

(e) Lost motion compensation non-sensitive band ([Pr. PE50])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion compensation is triggered by the travel direction switching. By setting the lost motion compensation non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the setting value or less. This prevents unnecessary lost motion compensation.

When the value of this parameter is changed, the compensation timing is changed. Adjust the value of Lost motion compensation timing ([Pr. PE49]).

(f) Lost motion filter setting ([Pr. PE46])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set in this parameter, the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues.

(2) Adjustment procedure of the lost motion compensation function

(a) Measuring the load current

Measure the load currents during the forward direction feed and reverse direction feed with MR

Configurator2.

(b) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (2) (a) in this section and set a value twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.

Friction torque [%] =

|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|

2

(c) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.

7 - 36


(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. Different values can be set as the compensation for each of when the forward rotation

(CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the forward rotation (CCW).

Compensation

Travel direction

The locus before compensation The locus after compensation

(e) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value, or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant change points. In this case, you can suppress the quadrant projections by delaying the lost motion compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of

[Pr. PE49] from 0 ms (initial value) by approximately 0.5 ms to adjust the compensation timing.

Compensation

Travel direction

Before timing delay compensation After timing delay compensation

(f) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion compensation timing of (2) (e) in this section.

Compensation

Travel direction

Before timing delay compensation After timing delay compensation

7 - 37


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.

With the ideal model in the servo amplifier, the super trace control enables to set constant speed and uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed forward gain.

Control Position command (the same command) Droop pulses

Normal control

Time

Time

Droop pulses are always generated.

Feed forward gain

Super trace control

Time

Time

Time

Droop pulses are generated during acceleration/ deceleration.

Time

Droop pulses are almost 0 including the time of acceleration or deceleration.

7 - 38


(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. PD31] 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.

The following shows the adjustment procedure.

Step Operation

1

2

3

4

5

6

Execute the gain adjustment with one-touch tuning, auto tuning, etc. Refer to chapter 6 for details.

Change the setting of auto tuning mode to the manual mode ([Pr.

PA08]: _ _ _ 3).

Change the setting of feed forward gain ([Pr. PB04]), and adjust that droop pulses will be 0 at a constant speed.

Set the setting of INP (In-position) on condition selection ([Pr.

PD31]) to " _ 1 _ _".

Enable the super trace control. ([Pr. PA22]: _ _ 2 _)

Change the setting of model loop gain ([Pr. PB07]), and adjust droop pulses during acceleration/deceleration.

7 - 39


MEMO

7 - 40

8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT

Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.

[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm and warning are displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off.

8.1 Explanation for the lists

(1) No./Name/Detail No./Detail name

Indicates each No./Name/Detail No./Detail name of alarms or warnings.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or

"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.

(3) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated with alarm reset or cycling the power.

Alarm deactivation Explanation

Alarm reset

Cycling the power

1. Turning on RES (Reset) with input device

2. Pushing the "SET" button while the display of the servo amplifier is the current alarm display status

3. Pushing "Occurring Alarm Reset" in the "Alarm Display" window of MR

Configurator2

Turning the power off and then turning it on again.

(4) Alarm code

To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2.

Warnings ([AL. 91] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will not be outputted in normal condition.

When using an MR-D01 extension IO unit, you can output alarm codes by setting [Pr. Po12] to "_ _ _ 1".

Alarm codes are outputted by on/off of bit 0 to bit 3.

8 - 1

8. TROUBLESHOOTING

8.2 Alarm list

No. Name

No.

Detail name

Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

12

10.1

10 Undervoltage

10.2

11.1

11.2

Voltage drop in the control circuit power

Voltage drop in the main circuit power

Axis number setting error/station number setting error

Disabling control axis setting error

12.1 RAM error 1

12.2 RAM error 2

14

15

Memory error 1

(RAM)

Control process error

Memory error 2

(EEP-ROM)

EDB

SD

DB

DB

12.3 RAM error 3

DB

DB

DB

12.4 RAM error 4

12.5 RAM error 5

12.6 RAM error 6

DB

DB

DB

DB

DB

14.1 Control process error 1









14.A Control process error 10

14.B Control process error 11

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

15.1 EEP-ROM error at power on DB

15.2 EEP-ROM error during operation DB

15.4 Home position information read error

16.1

Encoder initial communication -

Receive data error 1

DB

DB

0 0 1 0

0 0 0 0

0 0 0 0

0 0 0 0

0 0 0 0

16

Encoder initial communication error 1

16.2

16.3

16.4

16.5

16.6

16.7

16.8

16.A

16.B

16.C

16.D

16.E

16.F






Encoder malfunction (Note 6)


Transmission data error 1






Incompatible encoder (Note 6)


Process error 1


Process error 2


Process error 3


Process error 4


Process error 5


Process error 6

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

0 1 1 0

8 - 2

8. TROUBLESHOOTING

No. Name

19

1A

1B

1E

1F

No.

Detail name

Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

Memory error 3

(Flash-ROM)

17.1 Board error 1

17.3 Board error 2

17.4 Board error 3

17.7 Board error 7

17.8 Board error 6

17.9 Board error 8

19.1 Flash-ROM error 1



1A.1 Servo motor combination error 1

1A.2

Servo motor control mode combination error

DB

DB

DB

DB

DB

DB

EDB

DB

DB

DB

DB

DB

Servo motor combination error

DB

1A.4 Servo motor combination error 2

Converter alarm 1B.1 Converter unit error

Encoder initial communication error 2

Encoder initial communication error 3 encoder

1F.2 Incompatible load-side encoder

DB

DB

DB

DB

DB

DB

0 0 0 0

0 0 0 0

0 1 1 0

0 0 1 0

0 1 1 0

0 1 1 0

EDB

EDB

EDB

20

Encoder normal communication error 1

20.5

20.6

Encoder normal communication

- Transmission data error 1


- Transmission data error 2

EDB

EDB

0 1 1 0

EDB

EDB

21

24

25

Encoder normal communication error 2

Main circuit error

Absolute position erased

21.1 Encoder data error 1

21.2 Encoder data update error

21.3 Encoder data waveform error

21.4 Encoder non-signal error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2

24.1

Ground fault detected at hardware detection circuit

24.2

25.1

25.2

Ground fault detected by software detection function

Servo motor encoder - Absolute position erased

Scale measurement encoder -

Absolute position erased

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

DB

DB

DB

DB

0 1 1 0

1 1 0 0

1 1 1 0

8 - 3

8. TROUBLESHOOTING

No. Name

27

28

2A

2B

No.

Detail name

Initial magnetic pole detection error

Linear encoder error 2

Linear encoder error 1

Encoder counter error

27.1

27.2

27.3

27.4

27.5

Initial magnetic pole detection -

Abnormal termination


Time out error


Limit switch error


Estimated error


Position deviation error

27.6

27.7


Speed deviation error


Current error

28.1

Linear encoder - Environment error

2A.1 Linear encoder error 1-1








2B.1 Encoder counter error 1

2B.2 Encoder counter error 2

Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

DB

DB

DB

DB

DB

DB

DB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

1 1 1 0

0 1 1 0

0 1 1 0

1 1 1 0

30 Regenerative error 30.2 Regeneration signal error DB

(Note 1) (Note 1)

DB

SD

(Note 1) (Note 1)

0 0 0 1

0 1 0 1 31 Overspeed 31.1

Overcurrent detected at

DB

32.2

32 Overcurrent

32.3

(during operation)

Overcurrent detected at software detection function

(during operation)

Overcurrent detected at hardware detection circuit

(during a stop)

Overcurrent detected at

33

34

35

36

Overvoltage

SSCNET receive error 1

Command frequency error

SSCNET receive error 2

DB

DB

DB

(during a stop)

33.1 Main circuit voltage error

34.1 SSCNET receive data error

34.2

34.3

SSCNET connector connection error

SSCNET communication data error

34.4 Hardware error signal detection

34.5

SSCNET receive data error

(safety observation function)

34.6

SSCNET communication data error (safety observation function)

35.1 Command frequency error

36.1

36.2

Continuous communication data error

Continuous communication data error (safety observation function)

EDB

SD

SD

SD

SD

SD

SD

SD

SD

SD

0 1 0 0

1 0 0 1

1 1 0 1

8 - 4

8. TROUBLESHOOTING

No. Name

No.

Detail name

Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

37.1 Parameter setting range error

37.3 Point table setting error

39.2

DB

DB

1 0 0 0

DB

Instruction argument external error

DB error

0 0 0 0

39.4

Non-correspondence instruction error

DB

DB

3A

Inrush current suppression circuit error

3A.1

Inrush current suppression circuit error

EDB 0 0 0 0

3D

Parameter setting error for driver communication

3D.1

3D.2

Parameter combination error for driver communication on slave

Parameter combination error for driver communication on master

DB

DB

3E

Operation mode error

DB

DB

EDB (Note

1 0 0 0

42

45

46

Servo control error

(for linear servo motor and direct drive motor)

Fully closed loop control error

(for fully closed loop control)

Main circuit device overheat

Servo motor

3E.6 Operation mode switch error

42.1

Servo control error by position deviation

42.2

42.3

42.8

42.9

42.A

45.1

45.2

Servo control error by speed deviation

Servo control error by torque/ thrust deviation

Fully closed loop control error by position deviation

Fully closed loop control error by speed deviation

Fully closed loop control error by position deviation during command stop

Main circuit device overheat error 1

Main circuit device overheat error 2

46.3 Thermistor disconnected error

EDB (Note

EDB (Note

EDB (Note

EDB (Note

EDB (Note

SD

SD

SD

SD

SD

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

0 1 1 0

0 0 1 1

0 0 1 1

47 Cooling

47.1 Cooling fan stop error error

50.3

Thermal overload error 4 during operation

DB

DB

SD

(Note 1) (Note 1)

(Note 1) (Note 1)

SD

SD

SD

SD

SD

SD

SD

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

0 0 1 1

0 0 1 1

8 - 5

8. TROUBLESHOOTING

No. Name

No.

Detail name

51.1

51.2

Thermal overload error 3 during operation

Thermal overload error 3 during a stop

52.1 Excess droop pulse 1


Stop

Type

(Note 2,

3)

DB

DB

SD

SD

SD

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

(Note 1) (Note 1)

(Note 1) (Note 1)

0 0 1 1

0 1 0 1


56.2 Over speed during forced stop

EDB

EDB

EDB

0 0 1 1

Forced stop error 0 1 1 0

EDB

61 Operation error

63 STO timing error

64

Functional safety unit setting error

61.1 Point table setting error

63.5 STO by functional safety unit

64.2 Compatibility mode setting error

64.3 Operation mode setting error

65.1

Functional safety unit communication error 1

DB

DB

DB

DB

DB

DB

DB

SD

0 1 0 1

0 1 1 0

1 0 0 0

SD

SD

Functional safety unit connection error

SD

SD

SD

SD

DB

DB

0 0 0 0


Encoder initial communication error


66.2 observation function)


Receive data error 2 (safety observation function)

Encoder initial communication - observation function)



Encoder initial communication - observation function)

DB

DB

DB

DB

DB

0 1 1 0

8 - 6

8. TROUBLESHOOTING

No. Name

No.

Detail name

Encoder normal communication error

1 (safety observation function)


67.1 observation function)

67.2


- Receive data error 2 (safety observation function)

Encoder normal communication observation function)


Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

DB

DB

DB 0 1 1 0

DB observation function)



68 STO diagnosis error 68.1 Mismatched STO signal error

69.1

Forward rotation-side software limit detection - Command excess error

Reverse rotation-side software limit detection - Command excess error

Forward rotation stroke end detection - Command excess error


69.4 error

DB

DB

SD

SD

SD

SD

0 0 0 0

SD

SD

70.1

Load-side encoder initial communication - Receive data error 1

Load-side encoder initial communication - Receive data error 2

Load-side encoder initial

70.3 error 3


70.4 malfunction (Note 6)

Load-side encoder initial data error 1


70.6

Load-side encoder data error 2

70 initial communication

Load-side encoder initial data error 3

Load-side encoder initial communication - Incompatible encoder (Note 6)

DB

DB

DB

DB

DB

DB

DB

DB

0 1 1 0

DB

DB

DB

DB

DB

DB

8 - 7

8. TROUBLESHOOTING

No. Name

No.

Detail name

71

Load-side encoder normal error 1


Load-side encoder normal

Load-side encoder normal communication error 1

71.5

71.6 error 3

Load-side encoder normal communication - Transmission data error 1

Load-side encoder normal communication - Transmission data error 2

Load-side encoder normal data error 3



72.1 Load-side encoder data error 1

72

Load-side encoder normal communication error 2

72.2

72.3

72.4

72.5

72.6

Load-side encoder data update error

Load-side encoder data waveform error

Load-side encoder non-signal error

Load-side encoder hardware error 1

Load-side encoder hardware error 2

74 Option card error 1

72.9 Load-side encoder data error 2

74.1 Option card error 1





75 Option card error 2

75.3 Option card connection error

75.4

79.1

Functional safety unit power voltage error

79

Functional safety unit diagnosis error

Abnormal temperature of functional safety unit

79.4 Servo amplifier error

79.5 Input device error

Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

Alarm code

ACD3

(Bit 3)

ACD2

(Bit 2)

ACD1 ACD0

(Bit 1) (Bit 0)

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

DB

DB

DB

DB

DB

EDB

DB

(Note 5)

DB

SD

SD

SD

(Note 5)

0 1 1 0

0 1 1 0

1 1 1 1 error (safety observation function)

79.7 Mismatched input signal error

79.8 Position feedback fixing error

7A.1

Parameter verification error


SD

DB

DB

DB

DB

1 0 0 0

Functional safety unit observation function)

DB

8 - 8

8. TROUBLESHOOTING

No. Name

No.

Detail name

7B

Encoder diagnosis error (safety

7B.2

Encoder diagnosis error 2


Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

ACD3

(Bit 3)

Alarm code

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

DB

DB

DB

0 1 1 0

7C

Functional safety unit communication diagnosis error


7C.1

7C.2

Functional safety unit communication setting error


Functional safety unit communication data error


7D.1 Stop observation error

7D

Safety observation error

7D.2

82

Master-slave operation error 1

82.1 Master-slave operation error 1

84.1

Network module undetected error

84

Network module initialization error

85

86

8A

Network module error

Network communication error

85.1 Network module error 1



86.1 Network communication error 1



USB communication time-out error/serial communication time-out

8A.1

USB communication time-out error/Serial communication timeout error communication time-out error

DB

SD

SD

DB

EDB

(Note 5)

(Note 5)

(Note 3)

DB

DB

DB

SD

SD

SD

SD

SD

SD

SD

SD

8D.1

CC-Link IE communication error

1

SD

CC-Link IE communication error

8D.3 Master station setting error 1

8D.5 Master station setting error 2

SD

DB

DB

SD

SD

8D.9 Synchronization error 1

8D.A Synchronization error 2

SD

SD

SD

0 0 0 0

1 1 1 1

0 0 0 0

8 - 9

8. TROUBLESHOOTING

No. Name

No.

Detail name

Stop

Type

(Note 2,

3)

Alarm deactivation

Alarm reset

Cycling the power

ACD3

(Bit 3)

Alarm code

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

8E

USB communication error/serial communication error/Modbus RTU communication error

8E.1

8E.2

8E.3

8E.4

8E.5

8E.6

8E.7

8E.8

USB communication receive error/Serial communication receive error

USB communication checksum error/Serial communication checksum error

USB communication character error/serial communication character error

USB communication command error/Serial communication command error

USB communication data number error/Serial communication data number error

Modbus RTU communication receive error

Modbus RTU communication message frame error

Modbus RTU communication

CRC error

SD

SD

SD

SD

SD

SD

SD

SD

0 0 0 0

88888 Watchdog 8888._ DB

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows three stop methods of DB, EDB, and SD.

DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

Coasts for MR-J4-03A6(-RJ).

Note that EDB is applied when an alarm below occurs:

[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2]

EDB: Electronic dynamic brake stop (available with specified servo motors)

Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will be DB.

Series

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43

HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43

HG-SR HG-SR51/HG-SR52

HG-AK HG-AK0136/HG-AK0236/HG-AK0336

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].

4. The alarm can be canceled by setting as follows:

For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".

When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".

5. Reset this while all the safety observation functions are stopped.

6. This alarm will occur only in the J3 compatibility mode.

8 - 10

8. TROUBLESHOOTING

8.3 Warning list

No. Name

Detail

No.

Detail name

90.1 Home position return incomplete

Stop method

(Note 2,

3)

92 incomplete warning

91

Servo amplifier overheat warning

(Note 1)

Battery cable disconnection warning

91.1

Main circuit device overheat warning

92.1

Encoder battery cable disconnection warning

93

ABS data transfer warning

93.1

Magnetic pole detection incomplete warning at ABS data transfer request

95.1 STO1 off detection

95.2 STO2 off detection

DB

DB

DB

DB

DB

96.1

In-position warning at home positioning

Home position setting warning

CC-Link IE warning

1

9D.2 Master station setting warning

Magnetic pole detection

97

98

Positioning specification warning

Software limit

97.1 positioning

Program operation disabled warning

97.2 Next station position warning

98.1

Forward rotation-side software stroke limit reached

9A

Optional unit input data error warning

99.1 Forward rotation stroke end off (Note 4)

99.4 Upper stroke limit off

(Note 4)

99.5 Lower stroke limit off

9A.1

9A.2

Optional unit input data sign error

Optional unit BCD input data error

9B.1 Excess droop pulse 1 warning

9B

Error excessive warning

9B.3 Excess droop pulse 2 warning

Error excessive warning during

0 torque limit

9C Converter warning 9C.1 Converter unit warning

9E

CC-Link IE warning

2

9E.1

CC-Link IE communication warning

9F.1 battery

9F.2 Battery degradation warning

8 - 11

8. TROUBLESHOOTING

No. Name

E0

Excessive regeneration warning

Detail

No.

Detail name

Stop method

(Note 2,

3)

E1 Overload warning 1

E1.4

Thermal overload warning 4 during operation

E2

E3

Servo motor overheat warning

Absolute position

E2.1

E3.1

E3.2

Servo motor temperature warning

Multi-revolution counter travel distance excess warning

Absolute position counter warning

Absolute positioning counter warning

ABS time-out warning

Servo forced stop warning

E5.1

Time-out during ABS data transfer

E6.1 Forced stop warning

E8 warning

Cooling fan speed reduction warning

E7.1

E8.1

Controller forced stop input warning

Decreased cooling fan speed warning

E9.1

Servo-on signal on during main circuit off

Main circuit off warning

E9.4 Converter unit forced stop

EA

EB

ABS servo-on warning

The other axis error warning

EA.1 ABS servo-on warning

EB.1 The other axis error warning

EC Overload warning 2 EC.1 Overload warning 2

ED

Output watt excess warning

ED.1 Output watt excess warning

F0

Tough drive warning

F0.1

Instantaneous power failure tough drive warning

F0.3 Vibration tough drive warning

SD

SD

SD

SD

DB

DB

DB

DB

DB

8 - 12

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Stop method

(Note 2,

3)

F2

Drive recorder -

Miswriting warning

F2.1

F2.2

Drive recorder - Area writing time-out warning

Drive recorder - Data miswriting warning

F3

Oscillation detection warning

F3.1 Oscillation detection warning

F4.4

Target position setting range error warning

Simple cam function - Cam data miswriting warning

F5.1

Cam data - Area writing time-out warning

F5.3 Cam data checksum error

F6.1

Cam axis one cycle current value restoration failed

Simple cam

Cam axis feed current value restoration failed function - Cam F6

F6.5 Cam No. external error

F7.1

Vibration failure prediction warning

Machine diagnosis warning

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows two stop methods of DB and SD.

DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

Coasts for MR-J4-03A6(-RJ).

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].

4. Quick stop or slow stop can be selected using [Pr. PD30].

8 - 13

8. TROUBLESHOOTING

MEMO

8 - 14

9. DIMENSIONS

9. DIMENSIONS

9.1 Servo amplifier

POINT

Only MR-J4-_A_-RJ are shown for dimensions. MR-J4-_A_ does not have CN2L,

CN7 and CN9 connectors. The dimensions of MR-J4-_A_ are the same as those of MR-J4-_A_-RJ except CN2L, CN7 and CN9 connectors.

9 - 1

9. DIMENSIONS

(1) 200 V class

(a) MR-J4-10A(-RJ)/MR-J4-20A(-RJ)

φ 6 mounting hole

Lock knob

6

40

Approx. 80 135

[Unit: mm]

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

Terminal

Approx. 38.5

6

With

MR-BAT6V1SET

Approx. 69.3

4

Mass: 0.8 [kg]

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 40

2-M5 screw

6

Screw size: M4

Tightening torque: 1.2 [N•m] Mounting hole process drawing

9 - 2

9. DIMENSIONS

(b) MR-J4-40A(-RJ)/MR-J4-60A(-RJ)

φ 6 mounting hole

Lock knob

6

40

Approx. 80 170

[Unit: mm]

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

Terminal

Approx. 38.5

6

With

MR-BAT6V1SET

Approx. 69.3

5

Mass: 1.0 [kg]

Mounting screw

Screw size: M5


Approx. 40

6

2-M5 screw

Screw size: M4


9 - 3

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

9. DIMENSIONS

(c) MR-J4-70A(-RJ)/MR-J4-100A(-RJ)

φ 6 mounting hole

Lock knob

12

60

[Unit: mm]

Approx. 80 185

Exhaust

Terminal

6

12 42

Approx. 38.5

With

MR-BAT6V1SET

Approx.

69.3

Cooling fan air intake

6

Mass: 1.4 [kg]

Mounting screw

Screw size: M5


Approx. 60

Screw size: M4


3-M5 screw

Approx. 12 42 ± 0.3

Approx. 6

Mounting hole process drawing

9 - 4

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

9. DIMENSIONS

(d) MR-J4-200A(-RJ)

[Unit: mm]

φ 6 mounting hole

Lock knob 45

90

85

Terminal

Approx. 80 195

Exhaust

6

6 78 6

Approx. 38.5

With

MR-BAT6V1SET

Approx.

69.3


6

Mass: 2.1 [kg]

Mounting screw

Screw size: M5


Approx. 90

Screw size: M4


3-M5 screw

Approx. 6 78 ± 0.3

Approx. 6


9 - 5

9. DIMENSIONS

(e) MR-J4-350A(-RJ)

[Unit: mm]

φ 6 mounting hole

Lock knob

45

90

85

Approx. 80 195

Exhaust

6

6

78 6

Approx. 38.5

With

MR-BAT6V1SET

Approx.

69.3


CNP1

L1

L2

L3

N-

P3

P4

CNP3

U

V

W

CNP2

P+

C

D

L11

L21

PE

Terminal

Screw size: M4


6

(R)

13 hole

Mounting hole dimensions

6

Mass: 2.3 [kg]

Mounting screw

Screw size: M5


Approx. 90

3-M5 screw

Approx. 6 78 ± 0.3

Approx. 6


9 - 6

9. DIMENSIONS

(f) MR-J4-500A(-RJ)

[Unit: mm]

Approx. 25

2 6 mounting hole 6

105

93 6

Approx. 80 200

Approx. 28

Cooling fan exhaust

6

TE2

TE1

TE3

TE4

21.8

6

With

MR-BAT6V1SET

Intake

180

PE

59 11

TE2

TE1

L1

L2

L3

N-

TE3

L11

L21

P3

P4

P+

C

TE4

D

U

V

W

PE

Terminal

TE2 Screw size: M3.5


TE1 Screw size: M4


TE3 Screw size: M4


TE4 Screw size: M4


PE Screw size: M4


Approx. 6

Mass: 4.0 [kg]

Mounting screw

Screw size: M5


Approx. 105

93 ± 0.5

Approx. 6

4-M5 screw


9 - 7

9. DIMENSIONS

(g) MR-J4-700A(-RJ)

[Unit: mm]

2 6 mounting hole

6

172

160 6

Approx. 80 200

Approx. 28

Cooling fan exhaust

6

6

Terminal

TE3 N- P3 P4

TE1 L1 L2 L3 P+ C U V W TE2

L11 L21

PE

TE3 Screw size: M4


TE1 Screw size: M4




PE Screw size: M4


With

MR-BAT6V1SET

TE3

Intake

102.1

148.7

82

TE1

46.5

PE 25

27

13

15.5

11

14.5

3 × 13 (= 39)

TE2

Built-in regenerative resistor lead terminal fixing screw

Screw size: M4


Approx. 6

Mass: 6.2 [kg]

Mounting screw

Screw size: M5


Approx. 172

160 ± 0.5

Approx. 6

4-M5 screw


9 - 8

9. DIMENSIONS

(h) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)

[Unit: mm]


220

196 12

Approx. 80

260

Approx. 28

Cooling fan exhaust

10.5

6 With

MR-BAT6V1SET

188 Intake

224.2

237.4

24.2

TE2

11

25.5

57.9

5 × 25.5 (= 127.5)

22.8

PE

TE1-1

TE1-2

Terminal

TE1-1 L1 L2 L3 U V W

TE1-2 P3 P4 P+ C N-

PE

TE2

L11 L21

TE1-1 Screw size: M6




TE2

PE

Screw size: M4


Screw size: M6


Approx. 139.5

Approx. 12

Mass: 13.4 [kg]

Mounting screw

Screw size: M5


Approx. 220

196 0.5

Approx. 12

4-M5 screw


9 - 9

9. DIMENSIONS

(i) MR-J4-22KA(-RJ)

[Unit: mm]


260

236 12

Approx. 80

260

Approx. 28

Cooling fan exhaust

2.3

12

With

MR-BAT6V1SET

Intake

188.5

223.4

235.4

TE2

21.7

11

25.5

22.8

59.9

5 × 25.5 (= 127.5)

TE1-1

TE1-2

PE

Terminal


TE1-2 P3 P4 P+ C N-

PE TE2

L11 L21





TE2

PE

Screw size: M4


Screw size: M8


9 - 10

Approx. 12

Mass: 18.2 [kg]

Mounting screw

Screw size: M10


Approx. 260

236 ± 0.5

Approx. 12

4-M10 screw

12 Mounting hole process drawing

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

9. DIMENSIONS

(2) 400 V class

(a) MR-J4-60A4(-RJ)/MR-J4-100A4(-RJ)

φ 6 mounting hole

Lock knob

12

60

Approx. 80 195

[Unit: mm]

Terminal

6

12 42

Approx. 38.5

With

MR-BAT6V1SET

Approx.

69.3

6

Mass: 1.7 [kg]

Mounting screw

Screw size: M5


Approx. 60

Screw size: M4


3-M5 screw

Approx. 12

42 ± 0.3

Approx. 6


9 - 11

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

9. DIMENSIONS

(b) MR-J4-200A4(-RJ)

[Unit: mm]

φ 6 mounting hole

Lock knob 45

90

85

Terminal

Approx. 80 195

Exhaust

6

6

78

Approx. 38.5

6

With

MR-BAT6V1SET

Approx.

69.3

Cooling fan air intake ox. 6

6

Mass: 2.1 [kg]

Mounting screw

Screw size: M5


Approx. 90

Screw size: M4


3-M5 screw ox. 6

Approx. 6 78 ± 0.3

Approx. 6


9 - 12

9. DIMENSIONS

(c) MR-J4-350A4(-RJ)

[Unit: mm]

2φ 6 mounting hole

Lock knob

6

CNP1

105

93 6

Approx. 80 200

Approx. 28

Cooling fan exhaust

6

CNP2

CNP3

With

MR-BAT6V1SET

6 Intake

L11

L21

CNP3

U

V

W

PE

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

Terminal

Screw size: M4


9 - 13

Approx. 6

Mass: 3.6 [kg]

Mounting screw

Screw size: M5


Approx. 105

93 ± 0.5

Approx. 6

4-M5 screw


9. DIMENSIONS

(d) MR-J4-500A4(-RJ)

Approx. 60

Approx. 28

Approx. 200

6


130

118 6

Approx. 38.5

Approx. 80

200

Approx. 28

Cooling fan exhaust

6

6 With

MR-BAT6V1SET

TE2

L11 L21

TE3

Terminal

N- P3 P4

TE1 L1 L2 L3 P+ C U V W

PE



TE3 Screw size: M4


TE1 Screw size: M4


PE Screw size: M4


[Unit: mm]

TE2

TE1

TE3

Intake

81.5

106.6

141.2

PE

26.6

18.3

37.8

11

28.6

15.4

13

3 × 13 (= 39)


Screw size: M4


Approx. 6

Mass: 4.3 [kg]

Mounting screw

Screw size: M5


Approx. 130

118 ± 0.5

Approx. 6

4-M5 screw


9 - 14

9. DIMENSIONS

(e) MR-J4-700A4(-RJ)

[Unit: mm]


6

172

160 6

Approx. 80 200

Approx. 28

Cooling fan exhaust

6

6

Terminal

TE3 N- P3 P4

TE1 L1 L2 L3 P+ C U V W TE2

L11 L21

PE

TE3 Screw size: M4


TE1 Screw size: M4




PE Screw size: M4


With

MR-BAT6V1SET

TE3

Intake

102.1

148.7

82

TE1

46.5

PE 25

27

13

15.5

11

14.5

3 × 13 (= 39)

TE2


Screw size: M4


Approx. 6

Mass: 6.5 [kg]

Mounting screw

Screw size: M5


Approx. 172

160 0.5

Approx. 6

4-M5 screw


9 - 15

9. DIMENSIONS

(f) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)

[Unit: mm]

2φ 6 mounting hole 12

220

196 12

Approx. 80 260

Approx. 28

Cooling fan exhaust

10.5

6 With

MR-BAT6V1SET

24.2

TE2

11

188

224.2

237.4

Intake 25.5

57.9

5 × 25.5 (= 127.5)

22.8

PE

TE1-1

TE1-2

Terminal


TE1-2 P3 P4 P+ C N-

PE

TE2

L11 L21





TE2

PE

Screw size: M4


Screw size: M6


Approx. 139.5

Approx. 12

Mass: 13.4 [kg]

Mounting screw

Screw size: M5


Approx. 220

196 0.5

Approx. 12

4-M5 screw


9 - 16

9. DIMENSIONS

(g) MR-J4-22KA4(-RJ)

[Unit: mm]


260

236 12

Approx. 80

260

Approx. 28

Cooling fan exhaust

2.3

12

With

MR-BAT6V1SET

Intake

188.5

223.4

235.4

TE2

21.7

11

25.5

22.8

59.9

5 × 25.5 (= 127.5)

TE1-1

TE1-2

PE

Terminal


TE1-2 P3 P4 P+ C N-

PE TE2

L11 L21





TE2

PE

Screw size: M4


Screw size: M8


9 - 17

Approx. 12

Mass: 18.2 [kg]

Mounting screw

Screw size: M10


Approx. 260

236 ± 0.5

Approx. 12

4-M10 screw

12 Mounting hole process drawing

9. DIMENSIONS

(3) 100 V class

(a) MR-J4-10A1(-RJ)/MR-J4-20A1(-RJ)

φ 6 mounting hole

Lock knob

6

40

Approx. 80 135

[Unit: mm]

CNP1

L1

L2

N-

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

6

Approx. 38.5

With

MR-BAT6V1SET

Approx. 69.3

4

Mass: 0.8 [kg]

Mounting screw

Screw size: M5


Approx. 40

2-M5 screw

6

Screw size: M4


9 - 18

9. DIMENSIONS

(b) MR-J4-40A1(-RJ)

φ 6 mounting hole

Lock knob

6

40

Approx. 80 170

[Unit: mm]

CNP1

L1

L2

N-

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

6

Approx. 38.5

With

MR-BAT6V1SET Approx. 69.3

5

Mass: 1.0 [kg]

Mounting screw

Screw size: M5


Approx. 40

2-M5 screw

6

Screw size: M4


9 - 19

9. DIMENSIONS

9.2 Connector

(1) Miniature delta ribbon (MDR) system (3M)

(2) One-touch lock type

[Unit: mm]

E

A C

Logo, etc., are indicated here.

B 12.7

kit

A B C D E

(b) Jack screw M2.6 type

This is not available as option.

A C

[Unit: mm]

E

F

Logo, etc., are indicated here.

B

12.7

kit

A B C D E F

9 - 20

9. DIMENSIONS

(2) SCR connector system (3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

39.5

34.8

[Unit: mm]

9 - 21

9. DIMENSIONS

MEMO

9 - 22

10. CHARACTERISTICS

10. CHARACTERISTICS

POINT

For the characteristics of the linear servo motor and the direct drive motor, refer to sections 15.4 and 16.5.

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.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque.

This servo amplifier has solid-state servo motor overload protection. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

10 - 1

10. CHARACTERISTICS

The following table shows combinations of each servo motor and graph of overload protection characteristics.

Rotary servo motor

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

Graph of overload protection characteristics

053

13

23

43

73

053

13

23

43

73

51

81

52

102

73

103

201

152

202

301

352

202

103

153

203

73 (Note)

103 (Note)

153 (Note)

203 (Note)

353

Characteristics c

502

702

502

353

503

353 (Note)

601

701M

503 (Note)

703

Characteristics d

1024

2024

3524

7024

12K1

15K1

20K1

25K1

11K1M

15K1M

22K1M

903

734

1034

Characteristics c

1034

(Note)

1534

(Note)

2034

(Note)

3534

3534

(Note)

Characteristics d

6014

701M4

5034

(Note)

7034

12K14

15K14

20K14

25K14

11K1M4

15K1M4

22K1M4

9034

Note. The combination is for increasing the maximum torque of the servo motor to 400%.

10 - 2

10. CHARACTERISTICS

The following graphs show overload protection characteristics.

1000 1000

Operating

100 100

Servo-lock

10

1

10

1

Servo-lock

Operating

0.1

0

1000

50 100 150 200 250

(Note 1, 2) Load ratio [%]

300 350

Characteristics a

0.1

0 50 100 150 200 250

(Note 1, 2, 3) Load ratio [%]

300 350 400

Characteristics b

1000

Operating

Operating

100 100

Servo-lock

Servo-lock

10 10

1 1

0.1

0 50 100 150 200 250


300 350 400

Characteristics c

0.1

0 50 100 150 200 250


300 350 400

Characteristics d

10 - 3

10. CHARACTERISTICS

10000

1000

Operating

100

Servo-lock

10

1

0 50 100 150 200

(Note 1) Load ratio [%]

250 300

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 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.

2. The load ratio ranging from 300% to 350% applies to the HG-KR servo motor.

3. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to

400% of rated torque.

Fig. 10.1 Electronic thermal protection characteristics

10 - 4

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. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Table 10.1 Power supply capacity and generated loss per servo motor at rated output


(Note 1)


[kVA]

(Note 2) Servo amplifier-generated heat [W]

At rated output

At rated output

[Generated heat in the cabinet when cooled outside the cabinet] (Note 3)

With servo-off

Area required for heat dissipation

[m 2 ]

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

MR-J4-40A(-RJ)

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

MR-J4-350A(-RJ)

MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

25 6.0

10 - 5

10. CHARACTERISTICS


(Note 1)


[kVA]

(Note 2) Servo amplifier-generated heat [W]

At rated output

At rated output

[Generated heat in the cabinet when cooled outside the cabinet] (Note 3)

With servo-off


[m 2 ]

MR-J4-11KA(-RJ)

HG-JR11K1M 16 530 160 45 11.0

MR-J4-15KA(-RJ)

HG-JR15K1M 22 640 195 45 13.0

HG-JR22K1M 33 850 260 55 17.0

MR-J4-22KA(-RJ)

MR-J4-60A4(-RJ)

18 0.8

MR-J4-100A4(-RJ) HG-JR734 1.3 60 18 1.2

MR-J4-200A4(-RJ)

MR-J4-350A4(-RJ)

MR-J4-500A4(-RJ)

MR-J4-700A4(-RJ)

HG-JR701M4 10 300

20 1.8

20 2.6

25 3.9

25 6.0

25 6.0

MR-J4-11KA4(-RJ)

HG-JR11K1M4 16 530 160 45 11.0

MR-J4-15KA4(-RJ)

MR-J4-22KA4(-RJ)

HG-JR12K14 18 570 170 45 11.5

HG-JR15K1M4 22 640 195 45 13.0

HG-JR15K14 22 640 195 45 12.8

HG-JR22K1M4 33 850 260 55 17.0

HG-JR20K14 30 800 240 55 16.0

HG-JR25K14 38 900 270 55 19.0

MR-J4-10A1(-RJ)

MR-J4-20A1(-RJ)

MR-J4-40A1(-RJ)

Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power factor improving AC reactor or power factor improving DC reactor is not used.

2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.

3. This value is applicable when the servo amplifier is cooled by using the panel through attachment.

10 - 6

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.

A =

K •

P

T

················································································································· (10.1)

A

P

Δ

K

T

: Heat dissipation area [m 2 ]

: Loss generated in the cabinet [W]

: Difference between internal and ambient temperatures [°C]

: Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier

(guideline) when the servo amplifier is operated at the ambient temperature of 40 °C under rated load.

(Outside the cabinet) (Inside the cabinet)

Air flow

Fig. 10.2 Temperature distribution in an enclosed type cabinet

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the temperature slope inside and outside the cabinet will be steeper.

10 - 7

10. CHARACTERISTICS

10.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance.

If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

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.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1

(Forced stop 1) frequently in other than emergency.

Servo motors for MR-J4 may have the different coasting distance from that of the previous model.

The electronic dynamic brake operates in the initial state for the HG series servo motors of 600 W or smaller capacity. The time constant " τ " for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12].

10 - 8

10. CHARACTERISTICS

10.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) (a), (b) in this section.)

A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.

ON

EM1 (Forced stop 1)

OFF

Dynamic brake time constant τ

Machine speed

V

0 t e

Time

Fig. 10.3 Dynamic brake operation diagram

L max

=

V

0

60

• t e

+ 1 + J L

M

··························································································· (10.2)

L max

: Maximum coasting distance ····················································································· [mm]

V

0

: Machine's fast feed speed ····················································································· [mm/min]

J

M

: Moment of inertia of the servo motor ·································································· [× 10 -4 kg•m 2 ]

J

L

: Load moment of inertia converted into equivalent value on servo motor shaft ·············· [× 10 -4 kg•m 2 ]

τ : Dynamic brake time constant ···························································································· [s] t e

: Delay time of control section ···························································································· [s]

For 7 kW or lower servo amplifier, there is internal relay delay time of about 10 ms. For 11 kW to 22 kW servo amplifier, there is delay caused by magnetic contactor built into the external dynamic brake

(about 50 ms) and delay caused by the external relay.

10 - 9

10. CHARACTERISTICS

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 10.2.

(a) 200 V class

50 50

40

30 73

43

20

053

23

10

13

0

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

40

30 73 43

20

23

10 053

0

13

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

HG-MR series

100

80

60 51 81

40

121

201

20

421

301

0

0 250 500 750 1000 1250 1500

Speed [r/min]

100

90

80

70

60

50

40

30

20

10

0

0

HG-SR 1000 r/min series

25K1

15K1

20K1

500

12K1

1000

601

1500

Speed [r/min]

801

2000

HG-JR1000 r/min series

260

220

180

140

100

60

20

0

0

73

903

53

503

353

703

103

203 153

1000 2000 3000 4000 5000 6000

Speed [r/min]

350

300

250

200

150

100

50

0

0

HG-KR series

102

52

202

352

152 502

702

500 1000 1500 2000 2500 3000

Speed [r/min]


40

30

20

10

0

0

80

70

60

50

701M

22K1M

15K1M

11K1M

500 1000 1500 2000 2500 3000

Speed [r/min]


18

16

14

12

10

8

6

4

2

0

0

103

153

503

353

203

500 1000 1500 2000 2500 3000

Speed [r/min]

HG-JR3000 r/min series HG-RR series

10 - 10

10. CHARACTERISTICS

100

90

80

70

60

50

40

30

20

10

0

0

72

352

502

152

202

500 1000 1500 2000

Speed [r/min]

HG-UR series

(b) 400 V class

100

80

3524

524

60

40 5024

2024

20

1024

0

1524

7024

0 500 1000 1500 2000 2500 3000

Speed [r/min]

HG-SR series

70

60

50

40

11K1M4

30

20

10

0

0

701M4

22K1M4

15K1M4

500 1000 1500 2000 2500 3000

Speed [r/min]


60

50

40

30

20

10

0

0

20K14

12K14

500

6014

15K14

25K14

1000

Speed [r/min]

1500

8014

2000


120

100

7034

80

534

9034

60

3534

1034

40

5034

20

0

2034

1534 734

0 1000 2000 3000 4000 5000 6000

Speed [r/min]


10 - 11

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.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor. The value in the parenthesis shows the value at the rated speed.

Permissible load to motor inertia Permissible load to motor inertia

Servo motor ratio [multiplier] ratio [multiplier]

HG-MR23

HG-SR51

HG-JR703

HG-JR11K1M

HG-SR52

HG-SR152

HG-SR352

HG-SR1024

HG-SR2024

HG-JR12K1 (30)

HG-JR15K1

HG-JR25K1

HG-JR734

HG-JR3534

HG-JR7034

HG-UR72

HG-UR202

HG-RR103

HG-JR15K1M4

HG-JR6014

HG-JR15K14

10

HG-RR353

Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed of the servo motor is 25 times.

10 - 12

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 8

5 × 10 7 a

1 × 10 7

5 × 10 6 a: Long bending life encoder cable

Long bending life motor power cable

Long bending life electromagnetic brake cable

1 × 10 6

5 × 10 5 b: Standard encoder cable

Standard motor power cable

Standard electromagnetic brake cable

1 × 10 5

5 × 10 4

1 × 10 4

5 × 10 3 b

1 × 10 3

4 7 10 20 40

Bend radius [mm]

70 100 200

10 - 13

10. CHARACTERISTICS

10.5 Inrush currents at power-on of main circuit and control circuit

POINT

For a servo amplifier of 600 W or less, 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. (Refer to section 11.10.)

When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.

(1) 200 V class

The following shows the inrush currents (reference data) that will flow when 240 V AC is applied at the power supply capacity. When you use a 1-phase 200 V AC power supply with MR-J4-10A(-RJ) to MR-

J4-200A(-RJ), the inrush currents of the main circuit power supply are the same.

Inrush currents (A

0-P

)

Servo amplifier Main circuit power supply

(L1/L2/L3)


(L11/L21)

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

MR-J4-40A(-RJ)

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

MR-J4-350A(-RJ)

30 A

(attenuated to approx. 3 A in 20 ms)

34 A


20 A to 30 A


MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

MR-J4-22KA(-RJ)

113 A


42 A


85 A


226 A


226 A


226 A


34 A


42 A


10 - 14

10. CHARACTERISTICS

(2) 400 V class

The following shows the inrush currents (reference data) that will flow when 480 V AC is applied at the power supply capacity.

Servo amplifier

Inrush currents (A

0-P

)


(L1/L2/L3)


(L11/L21)

MR-J4-60A4(-RJ)

MR-J4-100A4(-RJ)

MR-J4-200A4(-RJ)

MR-J4-350A4(-RJ)

MR-J4-500A4(-RJ)

MR-J4-700A4(-RJ)

MR-J4-11KA4(-RJ)

MR-J4-15KA4(-RJ)

MR-J4-22KA4(-RJ)

65 A


80 A


100 A


65 A


68 A


339 A


339 A


339 A


40 A to 50 A


41 A


38 A


(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.

Servo amplifier

Inrush currents (A

0-P

)


(L1/L2)


(L11/L21)

MR-J4-10A1(-RJ)

MR-J4-20A1(-RJ)

MR-J4-40A1(-RJ)

38 A


20 A to 30 A

(attenuated to approx. 0 A in 1 ms to 2 ms)

10 - 15

10. CHARACTERISTICS

MEMO

10 - 16

11. OPTIONS AND PERIPHERAL EQUIPMENT


WARNING

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 voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

Use the specified auxiliary equipment and options to prevent a malfunction or a fire.

POINT

We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.

11.1 Cable/connector sets

POINT

The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

Purchase the cable and connector options indicated in this section.

11 - 1


11.1.1 Combinations of cable/connector sets

For MR-J4-_A_ servo amplifier

4)

Operation panel

2)

3)

Servo amplifier 5)

Controller

1) (Packed with the

servo amplifier)

(Note 1)

CNP1

CN5

CN6

CN3

6)

7)

CNP2

CN8 (Note 2)

CN1

CNP3

Personal computer

Servo amplifier

Safety logic unit

MR-J3-D05

CN9

CN10

CN5

CN6

CN3

CN8

CN1

CN2

CN4

Battery

10)

CN2

CN4

9) Battery unit

MR-BT6VCASE and

MR-BAT6V1 battery

To 24 V DC power supply for electromagnetic brake

Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo motor power supply, electromagnetic brake, and encoder.

Refer to "Linear Encoder Instruction Manual" about options for linear encoder.

To CN2

Servo motor

Power connector

Brake connector

Encoder connector

Linear servo motor

Linear encoder

Power connector

To CN2

(The connection method changes depending on incremental system and absolute position detection system.)

Refer to "Direct Drive Motor Instruction Manual" about options for direct drive motor power and encoder.

Encoder connector

Direct drive motor

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.

11 - 2


For MR-J4-_A_-RJ servo amplifier

4)

Operation panel

2)

3)

Servo amplifier

5)

Controller

1) (Packed with the

servo amplifier)

(Note 1)

CNP1

CN5

CN6

CN3

6)

7)

CNP2

CN8

(Note 2)

CN1

CNP3

Personal computer

Safety logic unit

MR-J3-D05

CN9

CN10

Servo amplifier

CN5

CN6

CN3

CN8

CN1

CN4

CN2

CN2L Battery

10)

CN2

CN4

9) Battery unit

MR-BT6VCASE and

MR-BAT6V1 battery

To 24 V DC power supply for electromagnetic brake

Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo motor power supply, electromagnetic brake, and encoder.

Refer to "Linear Encoder Instruction Manual" about options for linear encoder.

To CN2

Servo motor

Power connector

Brake connector

Encoder connector

Linear servo motor

Linear encoder

Power connector

To CN2

(The connection method changes depending on incremental system and absolute position detection system.)

Refer to "Direct Drive Motor Instruction Manual" about options for direct drive motor power and encoder.

Encoder connector

Direct drive motor

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.

11 - 3


No. Name power connector set block cable

Model Description

CNP1 Connector:

06JFAT-SAXGDK-H7.5

(JST)

CNP2 Connector:

05JFAT-SAXGDK-H5.0

(JST)

Applicable wire size: 0.8 mm 2 to 2.1 mm 2

(AWG 18 to 14)

Insulator OD: to 3.9 mm

CNP3 Connector:

03JFAT-SAXGDK-H7.5

(JST)

Open tool

J-FAT-OT (N) or

J-FAT-OT

(JST)

Remark

Supplied with 200 V class and

100 V class servo amplifiers of 1 kW or less.

Supplied with 200 V class servo amplifiers of 2 kW and 3.5 kW.

CNP1 Connector:

06JFAT-SAXGFK-XL

(JST)

CNP3

Applicable wire size: mm 2 to 5.5 mm 2

(AWG 16 to 10)

CNP2 Connector:

05JFAT-SAXGDK-H5.0

(JST)

CNP2

Applicable wire size: mm 2 to 2.1 mm 2

(AWG 18 to 14)

Insulator OD: to 4.7 mm Insulator OD: to 3.9 mm

CNP3 Connector:

03JFAT-SAXGFK-XL

(JST)

Open tool

J-FAT-OT-EXL

(JST)

Supplied with 400 V class servo amplifiers of 3.5 kW or less.

CN1TBL_M

Cable length:

0.5 m, 1 m

(Refer to section

11.6.)

CNP1 connector:

06JFAT-SAXGDK-

HT10.5

(JST)

CNP2 connector:

05JFAT-SAXGDK-

HT7.5

(JST)

CNP3 connector:

03JFAT-SAXGDK-

HT10.5

(JST)


(AWG 16 to 14)


Junction terminal block connector

Connector: D7950-B500FL

(3M)

Open tool

J-FAT-OT-XL

(JST)

CN1 connector

Connector: 10150-6000EL

Shell kit: 10350-3210-000

(3M or equivalent)

For junction terminal block connection

3) CN1 connector set Shell kit: 10350-52F0-008

(3M or equivalent)

Refer to section 11.6. block

Cable length: 3 m mini-B connector (5 pins)

Personal computer connector

A connector

For connection with PC-AT compatible personal computer

11 - 4


No. Name Model

6) Monitor MR-J3CN6CBL1M

Cable length: 1 m

7) STO cable MR-D05UDL3M-B

Description

3 (Red)

2 (White)

1 (Black)

CN6 connector

Housing: 51004-0300

Terminal: 50011-8100

(Molex)

Connector set: 2069250-1

(TE Connectivity)

Remark

Connection cable for the CN8 connector

8) Short-circuit connector

9) Battery Housing: PAP-02V-O

Cable length:

0.3/1 m

Contact: SPHD-001G-P0.5

(JST)

(Refer to section

11.1.3.)

Supplied with servo amplifier

Connector: 10114-3000PE

Shell kit: 10314-52F0-008

(3M or equivalent)

For connection with battery unit

10) Junction battery cable

MR-BT6V2CBL_M

Cable length:

0.3/1 m

(Refer to section

11.1.3.)

Housing: PAP-02V-O


(JST)

Housing: PALR-02VF-O

Contact: SPAL-001GU-P0.5

(JST)

For battery junction

Housing: PAP-02V-O


(JST)

11 - 5


11.1.2 MR-D05UDL3M-B STO cable

This cable is for connecting an external device to the CN8 connector.

Cable model

MR-D05UDL3M-B

Cable length

3 m

Application

Connection cable for the CN8 connector

(1) Configuration diagram

Servo amplifier

MR-D05UDL3M-B

CN8

(2) Internal wiring diagram

(Note)

Yellow (with black dots)

Yellow (with red dots)

Gray (with black dots)

Gray (with red dots)

White (with black dots)

White (with red dots)

5

6

7

8

Plate

3

4

1

2

STOCOM

STO1

STO2

TOFB1

TOFB2

TOFCOM

Shield

CN8 connector

2

1

4 6 8

3 5 7

Viewed from the connection part

Note. Do not use the two core wires with orange sheath (with red or black dots).

11 - 6


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 Application/remark

0.3 m 1 m

(2) MR-BT6V1CBL_M

(a) Appearance

2) 1)

3)

(b) Internal wiring diagram

BT

LG

1

2

2)

(3) MR-BT6V2CBL_M

(a) Appearance

4)

2)

5)

1)

3)

(b) Internal wiring diagram

BT

LG

1

2

4)

Components Description

1) Cable VSVC 7/0.18 × 2C

2) Connector

3) Connector

Housing: PAP-02V-O

Contact: SPHD-001G-P0.5 (JST)


Shell kit: 10314-52F0-008 (3M or equivalent)

1)

White

Black

3)

7

14

Plate

BT

LG

SD

Components Description

1) Cable

2) Cable

VSVC 7/0.18 × 2C

3) Connector Housing: PAP-02V-O

4) Connector Contact: SPHD-001G-P0.5 (JST)

5) Connector

Housing: PALR-02VF-O

Contact: SPAL-001GU-P0.5 (JST)

1) 3)

White

Black

White

Black

1 BT

2 LG

1 BT

2 LG

2) 5)

11 - 7


11.2 Regenerative options

CAUTION

Do not use servo amplifiers with regenerative options other than the combinations 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 amplifier


MR-RB032

[40 Ω ]

MR-RB12

[40 Ω ]

MR-RB30

[13 Ω ]

MR-RB3N

[9 Ω ]

MR-RB31

[6.7 Ω ]

MR-RB32

[40 Ω ]

(Note 1)

MR-RB50

[13 Ω ]

MR-J4-10A

(-RJ)

MR-J4-20A

(-RJ)

MR-J4-40A

(-RJ)

MR-J4-60A

(-RJ)

MR-J4-70A

(-RJ)

MR-J4-100A

(-RJ)

MR-J4-200A

(-RJ)

MR-J4-350A

(-RJ)

MR-J4-500A

(-RJ)

MR-J4-700A

(-RJ)

(Note 1)

MR-RB5N

[9 Ω ]

(Note 1)

MR-RB51

[6.7 Ω ]

30

20 30 100 300

20 30 100 300

100 300 500

100

130

170

300

300

300

500

500

500

Servo amplifier

(Note 2) Regenerative power [W]

External regenerative resistor (accessory)

MR-RB5R

[3.2 Ω ]

MR-RB9F

[3 Ω ]

MR-RB9T

[2.5 Ω ]

MR-J4-11KA

(-RJ)

MR-J4-15KA

(-RJ)

500 (800)

850 (1300)

500 (800)

850 (1300)

MR-J4-22KA

850 (1300)

(-RJ)

Note 1. Always install a cooling fan.

850 (1300)

2. Values in parentheses assume the installation of a cooling fan.

11 - 8


(2) 400 V class

Servo amplifier


MR-

RB1H-4

[82 Ω ]

(Note 1)

MR-

RB3M-4

[120 Ω ]

Regenerative power [W]

(Note 1) (Note 1) (Note 1)

MR-

RB3G-4

[47 Ω ]

MR-

RB5G-4

[47 Ω ]

MR-

RB34-4

[26 Ω ]

(Note 1)

MR-

RB54-4

[26 Ω ]

(Note 1)

MR-

RB3U-4

[22 Ω ]

(Note 1)

MR-

RB5U-4

[22 Ω ]

MR-J4-200A4(-RJ) 100

MR-J4-350A4(-RJ) 100

300 500

300 500

Servo amplifier

(Note 2) Regenerative power [W]

External regenerative resistor

(accessory)

MR-RB5K-4

[10 Ω ]

MR-RB6K-4

[10 Ω ]

MR-J4-11KA4(-RJ) 500 (800) 500 (800)

MR-J4-15KA4(-RJ) 850 (1300) 850 (1300)

MR-J4-22KA4(-RJ) 850 (1300)

Note 1. Always install a cooling fan.

Servo amplifier


2. Values in parentheses assume the installation of a cooling fan.

(3) 100 V class


MR-RB032

[40 Ω ]

850 (1300)

MR-RB12

[40 Ω ]

MR-J4-10A1(-RJ) 30

MR-J4-20A1(-RJ) 10 30 100

MR-J4-40A1(-RJ) 10 30 100

11 - 9


11.2.2 Selection of regenerative option

A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section.

To select a regenerative option precisely, use the capacity selection software.

(1) Rotary servo motor

(a) Regenerative energy calculation

Servo motor

N

V

W

L

F

C

Feed speed of moving part

2)

V

1) 3)

Forward rotation

4) 8)

Time

Moving part 5)

Reverse rotation

7)

6)

V: Feed speed of moving part [mm/min]

N: Servo motor speed (N = V/ Δ S) [r/min]

Δ S: Travel distance per servo motor revolution ( Δ S = P

B

)

[mm/rev]

P

B

: Ball screw lead

L

B

: Ball screw length

D

B

: Ball screw diameter

W

L

: Moving part mass

[mm]

[mm]

[mm]

[kg]

[N]

[N•m]

F

C

: Load antidrag setting

T

L

: Load torque converted into equivalent value on servo motor shaft [N•m]

η : Drive system efficiency

µ: Friction coefficient

J

L

: Load moment of inertia converted into equivalent value on servo motor shaft

J

M

: Moment of inertia of the servo motor

[kg•cm 2 ]

π : Pi constant g: Gravitational acceleration

[kg•cm 2 ]

[m/s 2 ] t psa1 t

1 t psd1 t

2 t psa2 t

3 t psd2 t

4

11 - 10


Formulas for calculating torque and energy in operation

Regenerative power

1)

Torque applied to servo motor [N•m]

(Note 1, 2)

T

1

=

(J

L

/ η + J

M

) • N

9.55 • 10 4

•

1 t psa1

+ T

L

2) T

2

= T

L

3) T

3

=

-(J

L

• η + J

M

) • N

9.55 • 10 4

•

1 t psd1

+ T

L

4), 8)

5)

T

4

, T

8

= 0

T

5

=

(J

L

/ η + J

M

) • N

9.55 • 10 4

1

• t psa2

+ T

L

6) T

6

= T

L

7) T

7

=

-(J

L

• η + J

M

) • N

9.55 • 10 4

•

1 t psd2

+ T

L

Energy E [J]

E

1

=

0.1047

2

• N • T

1

• t psa1

E

2

= 0.1047 • N • T

2

• t

1

E

3

=

0.1047

2

• N • T

3

• t psd1

E

4

, E

8

= 0 (No regeneration)

E

5

=

0.1047

2

• N • T

5

• t psa2

E

6

= 0.1047 • N • T

6

• t

3

E

7

=

0.1047

2

• N • T

7

• t psd2

Note 1. Load torque converted into equivalent value on servo motor shaft T

L

can be calculated with the following expression.

T

L

= {(F

C

+ (µ × W

L

× g)) × Δ S}/(2000 × π × η )

2. Load moment of inertia converted into equivalent value on servo motor shaft J

L

can be calculated with the following expression.

J

L

= J

L1

+ J

L2

+ J

L3

J

L1

is the load moment of inertia of the moving part, J

L2

is the load moment of inertia of the ball screw, and J

L3

is the load moment of inertia of the coupling. J

L1

and J

L2

can be calculated with the following expressions.

J

L1

= W

L

× ( Δ S/(20 × π )) 2

J

L2

= {( π × 0.0078 × (L

B

/10))/32} × (D

B

/10) 4

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

11 - 11


(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.

Servo amplifier

Inverse efficiency [%]

Capacitor charging [J] amplifier

Inverse efficiency [%]

Capacitor charging [J]

MR-J4-10A(-RJ) 55 9 85 12

MR-J4-20A(-RJ) 75 9 85 12

MR-J4-200A(-RJ) 85 36

MR-J4-350A(-RJ) 85 40

MR-J4-500A(-RJ) 90 45

MR-J4-700A(-RJ) 90 70 MR-J4-10A1(-RJ) 55 4

MR-J4-11KA(-RJ) 90 120 MR-J4-20A1(-RJ) 75 4

MR-J4-15KA(-RJ) 90 170 MR-J4-40A1(-RJ) 85 10

MR-J4-22KA(-RJ) 90 250

Inverse efficiency ( η m

): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the electrolytic capacitor change with time, allow for approximately 10% higher inverse efficiency.

Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option.

ER [J] = η m

• Es - Ec

Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option.

PR [W] = ER/tf

11 - 12


(2) Linear servo motor

(a) Thrust and energy calculation

Linear servo motor secondary-side (magnet)

V

M

1

M

2

Load

F t

Feed speed

V

2)

1)

Positive direction

Linear servo motor primary-side (coil)

Linear servo motor

3)

4)

5)

Negative direction

6)

7)

8)

Time t psa1 t

1 t psd1 t

2 t psa2 t

3 t psd2 t

4

The following shows equations of the linear servo motor thrust and energy at the driving pattern above.

Section Thrust F of linear servo motor [N]

1) F

1

= (M

1

+ M

2

) • V/t psa1

+ F t

2) F

2

= F

1

3) F

3

= -(M

1

+ M

2

) • V/t psd1

+ F t

4), 8) F

4

, F

8

= 0

5) F

5

= (M

1

+ M

2

) • V/t psa2

+ F t

6) F

6

= F t

7) F

7

= -(M

1

+ M

2

) • V/t psd2

+ F t

Energy E [J]

E

1

= V/2 • F

1

• t psa1

E

2

= V • F

2

• t

1

E

3

= V/2 • F

3

• t psd1

E

4

, E

8

= 0 (No regeneration)

E

5

= V/2 • F

5

• t psa2

E

6

= V • F

6

• t

3

E

7

= V/2 • F

7

• t psd2

From the calculation results in 1) to 8), find the absolute value (Es) in the sum total of negative energies.

(b) Losses of servo motor and servo amplifier in regenerative mode

For inverse efficiency and capacitor charging energy, refer to (1) (b) in this section.

(c) Regenerative energy calculation

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative resistor.

ER [J] = η • Es - Ec

From the total of ER's whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the regenerative option can be calculated with the following equation.

PR [W] = total of positive ER's/one-cycle operation period (tf)

Select a regenerative option from the PR value. Regenerative option is not required when the energy consumption is equal to or less than the built-in regenerative energy.

11 - 13



Set [Pr. PA02] according to the option to be used.

[Pr. PA02]

0 0

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.

Supplied regenerative resistors or regenerative option is used with the servo

amplifier of 11 kW to 22 kW.

01: FR-BU2/FR-BU2-H/FR-RC/FR-RC-H/FR-CV/FR-CV-H

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30

06: MR-RB50 (Cooling fan is required)

08: MR-RB31

09: MR-RB51 (Cooling fan is required)

0B: MR-RB3N

0C: MR-RB5N (Cooling fan is required)

80: MR-RB1H-4

81: MR-RB3M-4 (Cooling fan is required.)







FA: Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative

resistor as standard accessory.

11.2.4 Connection of regenerative option

POINT

When the MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G-4, MR-

RB5G-4, MR-RB34-4, MR-RB54-4, MR-RB5K-4, or MR-RB6K-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.

For the sizes of wires used for wiring, refer to section 11.9.

The regenerative option generates heat of 100 °C higher than the ambient temperature. Fully consider heat dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires with a maximum length of 5 m for a connection with the servo amplifier.

11 - 14


(1) MR-J4-500A(-RJ) or less/MR-J4-350A4(-RJ) or less

Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.

Always remove the lead from across P+ to D.

Servo amplifier Regenerative option

P+

P

C

C

D

G3

(Note 3)

G4

5 m or less

(Note 1, 2)

Cooling fan

Note 1. When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB3M-4, MR-RB3G-4, or

MR-RB5G-4, forcibly cool it with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m 3 ).

2. When the ambient temperature is more than 55 °C and the regenerative load ratio is more than 60% in MR-RB30, MR-RB-31, MR-RB32 and MR-RB3N, forcefully cool the air with a cooling fan (1.0 m 3 /min or more, 92 mm × 92 mm). A cooling fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is required for the shaded area in the following graph.)

A cooling fan is required.

100

60

A cooling fan is not required.

0

0

35

Ambient temperature [°C]

55

3. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120 V AC/DC

Maximum current: 0.5 A/4.8 V DC

Maximum capacity: 2.4 VA

11 - 15


(2) MR-J4-500A4(-RJ)/MR-J4-700A(-RJ)/MR-J4-700A4(-RJ)

Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.

Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor.

Servo amplifier Regenerative option

P+

P

C

C

G3

(Note 2)

G4

5 m or less

(Note 1)

Cooling fan

Note 1. When using the MR-RB51, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-

4, forcibly cool it with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m 3 ).

2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications




When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires

(across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as shown below.

Accessory screw


11 - 16


(3) MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ)/MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ) (when using the supplied regenerative resistor)

CAUTION

The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.

It may cause a burn injury due to very high temperature without cooling.

It may cause an electric shock due to charged capacitor of the servo amplifier.

Do not use servo amplifiers with external regenerative resistors other than the combinations specified below. Otherwise, it may cause a fire.

When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors

(4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.

Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (1.0 m 3 /min or more, 92 mm × 92 mm) improves the regeneration capability. In this case, set "_ _ F A" in [Pr. PA02].

5 m or shorter

Servo amplifier

(Note)

Series connection

P+

C

Cooling fan

Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis, or use the thermal sensor built-in regenerative option. (MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-RB6K-4)

Servo amplifier Regenerative resistor Symbol (Note)


Resultant resistance [ Ω ]

Number of resistors

MR-J4-11KA(-RJ) GRZG400-0.8

Ω GR400 800 3.2

4


Ω GR400


Ω GR400

850 1300

3

2.5

5

MR-J4-11KA4(-RJ) GRZG400-2.5

Ω GR400 800 10 4

MR-J4-15KA4(-RJ)

GRZG400-2 Ω GR400 5

MR-J4-22KA4(-RJ)

Note. The following shows an indication example of symbol.

Symbol

GR400 R80K

Regenerative resistor

11 - 17


(4) MR-J4-11KA-PX to MR-J4-22KA-PX/MR-J4-11KA-RZ to MR-J4-22KA-RZ/MR-J4-11KA4-PX to MR-J4-

22KA4-PX/MR-J4-11KA4-RZ to MR-J4-22KA4-RZ (when using the regenerative option)

The MR-J4-11KA-PX to MR-J4-22KA-PX, MR-J4-11KA-RZ to MR-J4-22KA-RZ, MR-J4-11KA4-PX to

MR-J4-22KA4-PX, and MR-J4-11KA4-RZ to MR-J4-22KA4-RZ 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.

Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.

5 m or shorter

Servo amplifier

Regenerative option

P+

C

(Note)

P

C

G3

G4

Configure up a circuit which shuts off main circuit power when thermal protector operates.

Note. G3-G4 contact specifications




Servo amplifier

Regenerative option

Resistance

[ Ω ]

Regenerative power

[W]

Without cooling fans

With cooling fans

800

MR-J4-11KA-PX

MR-J4-11KA-RZ

MR-J4-15KA-PX

MR-J4-15KA-RZ

MR-J4-22KA-PX

MR-J4-22KA-RZ

MR-J4-11KA4-PX

MR-J4-11KA4-RZ

MR-J4-15KA4-PX

MR-J4-15KA4-RZ

MR-J4-22KA4-PX

MR-J4-22KA4-RZ

MR-RB5K-4 10 500 800

11 - 18


When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option.

Top

MR-RB5R/MR-RB9F/MR-RB9T/

MR-RB5K-4/MR-RB6K-4

Bottom

TE1

Cooling fan × 2

(1.0 m 3 /min or more,

92 mm × 92 mm)

Mounting screw 4-M3

TE1 terminal block

G4 G3 C P

11.2.5 Dimensions

(1) MR-RB12

TE1

15

40

36

φ 6 mounting hole

6

Approx. 20

5

149

169

[Unit: mm]

TE1 terminal

G3

G4

P

C

Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 14 to 12)

Tightening torque: 0.5 to 0.6 [N•m]

Mounting screw

Screw size: M5


Mass: 1.1 [kg]

2

11 - 19


(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)

P

C

G3

G4

10

7

90

100

A

101.5

82.5

318

B

Intake

Screw size: M4


Mounting screw

Screw size: M5


Regenerative option

Variable dimensions

A B

Mass

[kg]

MR-RB30

MR-RB31

MR-RB32

MR-RB3N

MR-RB34-4

MR-RB3M-4

MR-RB3G-4

MR-RB3U-4

(3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4

[Unit: mm]

Terminal block

Cooling fan mounting screw (2-M3 screw)

On opposite side

P

49 82.5

7 × 14 slotted hole

C

G3

G4

17 335

23 341

2.9

2.3

200

B

A 12

7

108

120

Intake

8

Approx. 30

Screw size: M4


Mounting screw

Screw size: M5


Regenerative option

Variable dimensions

A B

Mass

[kg]

MR-RB50

MR-RB51

MR-RB5N

MR-RB54-4

MR-RB5G-4

MR-RB5U-4

17 217

23 223

5.6

11 - 20


(4) MR-RB032

[Unit: mm]

TE1 terminal

φ 6 mounting hole

30

15

G3

G4

P

C

TE1

5


(AWG 24 to 12)


Mounting screw

Screw size: M5


Mass: 0.5 [kg]

6 1.6

Approx. 20 99

119

(5) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4

[Unit: mm]

2φ 10 mounting hole

15

15

10

230

260

230

Cooling fan intake

15 197

215

15

Screw for mounting cooling fan

4-M3 screw

2.3

15

TE1 terminal block

G4 G3 C P

Terminal screw size: M5


Mounting screw

Screw size: M8


Regenerative option

Mass

[kg]

MR-RB5R 10

MR-RB9F

MR-RB9T

11

MR-RB5K-4 10

MR-RB6K-4 11

82.5

82.5

11 - 21


(6) MR-RB1H-4

[Unit: mm]

15

40

36

φ 6 mounting hole

TE1 terminal

G3

G4

P

C

Applicable wire size: AWG 24 to 10


Mounting screw

Screw size: M5


Mass: 1.1 [kg]

6 6 2

Approx. 24 149

173

(7) GRZG400-0.8

Ω /GRZG400-0.6

Ω /GRZG400-0.5

Ω /GRZG400-2.5

Ω /GRZG400-2.0

Ω

(standard accessories)

[Unit: mm] Regenerative resistor

Variable dimensions

Mounting

10

Approx.

φ C

Approx. A

Approx. 2.4

GRZG400-0.8

Ω 10 5.5 39

GRZG400-0.6

Ω

16 8.2 46

GRZG400-0.5

Ω

GRZG400-2.5

Ω

10 5.5 39

GRZG400-2.0

Ω

Approx. 330

385

411

9.5

40

Approx.

φ 47

Tightening torque

[N•m]

Mass

[kg]

11 - 22


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. Combination of different voltage class units cannot be used.

When a brake unit and a resistor unit are installed horizontally or diagonally, the heat dissipation effect diminishes. Install them on a flat surface vertically.

Temperature of the resistor unit case rises to higher than +100 °C. Keep cables and flammable materials away from the case.

Ambient temperature condition of the brake unit is between -10 °C to 50 °C.

Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0 °C and 55 °C).

Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition.

Use the brake unit with a combination indicated in section 11.3.1.

For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter.

Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously.

Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability.

When using the brake unit, set [Pr. PA02] of the servo amplifier to "_ _ 0 1".

When using the brake unit, always refer to the FR-BU2 Instruction Manual.

11 - 23


11.3.1 Selection

Use a combination of servo amplifier, brake unit and resistor unit listed below.

Permissible

Number of continuous

Brake unit Resistor unit connected power units

[kW]

200 V class

FR-BU2-15K FR-BR-15K



Resultant resistance

[ Ω ]

Applicable servo amplifier

(Note 3)

1 0.99 8 MR-J4-500A(-RJ)

(Note 1)

2 (parallel) 1.98 4 MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

1 1.99 4 MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

1 3.91 2 MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

MR-J4-22KA(-RJ)

400 V class

FR-BU2-H30K FR-BR-H30K

FR-BU2-H55K FR-BR-H55K

FR-BU2-H75K MT-BR5-H75K

1

1

1

1.99

3.91

7.5

16 MR-J4-500A4(-RJ)

MR-J4-700A4(-RJ)

MR-J4-11KA4(-RJ)

(Note 2)

8 MR-J4-11KA4(-RJ)

MR-J4-15KA4(-RJ)

MR-J4-22KA4(-RJ)

6.5 MR-J4-22KA4(-RJ)

Note 1. Only when using servo motor HG-RR353/HG-UR352

2. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo motor speed to 1800 r/min or less.

3. When the brake unit is selected by using the capacity selection software, a brake unit other than the combinations listed may be shown. Refer to the combinations displayed on the capacity selection software for detailed combinations.

11.3.2 Brake unit parameter setting

Whether a parameter can be changed or not is listed below.

Parameter

Change possible/

No. Name impossible

0

1

2

3

Brake mode switchover

Monitor display data selection

Input terminal function selection 1

Input terminal function selection 2

77 Parameter write selection

78 Cumulative energization time carrying-over times

Remark

Impossible Do not change the parameter

Possible Refer to the FR-BU2 Instruction Manual.

Impossible Do not change the parameter

ECL Alarm history clear

C1 For manufacturer setting

11 - 24


11.3.3 Connection example

POINT


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.

(1) Combination with FR-BR-(H) resistor unit

(a) When connecting a brake unit to a servo amplifier

1) 200 V class

ALM

RA1

OFF

ON

MC

MC


SK

(Note 1)

Power supply

MCCB

(Note 9)

MC

(Note 11)

L1

L2

L3

L11

L21

Servo amplifier

CN1

46

47

48

DOCOM

DOCOM

ALM

24 V DC (Note 12)

RA1

(Note 10)


24 V DC (Note 12)

CN1

EM2 42

SON 15

DICOM

DICOM

20

21

P3

P4

P+

(Note 7)

N-

C

(Note 3)

(Note 2)

P

PR

FR-BR

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

(Note 4)

BUE

SD

(Note 8)

MSG

SD

A

B

C

(Note 6)

Note 1. For power supply specifications, refer to section 1.3.

2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.

3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.

5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A

Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.

6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A

Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.

7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier.


10. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.

11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.


11 - 25


2) 400 V class

ALM

RA1

OFF

ON

MC


(Note 1)

Power supply


MCCB

(Note 9)

MC

(Note 11)

Servo amplifier

CN1

L1

L2

L3

L11

L21

46

47

48

DOCOM

DOCOM

ALM

MC

SK

24 V DC (Note 12)

RA1

(Note 10)


CN1

EM2 42

SON

DICOM

15

20

24 V DC

(Note 12) DICOM

21

P3

P4

P+

(Note 7)

N-

C

(Note 3)

(Note 2)

P

PR

FR-BR-H

(Note 5)

TH1

TH2

FR-BU2-H

PR

P/+

N/-

(Note 4)

MSG

SD

A

B

BUE

SD

(Note 6)

C

(Note 8)


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. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.



5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A


6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A

Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.






11 - 26


(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.

Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units.

Do not connect the converter unit and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.


P+

N-

Brake unit

P/+

N/-

Brake unit

P/+

N/-

P+

N-

Brake unit

P/+

N/-

Brake unit

P/+

N/-

Connecting two cables to P+ and N- terminals

Passing wiring

11 - 27


ALM

RA1

OFF

ON

(Note 1)

Power supply

MCCB


(Note 11)

MC

(Note 13)

L1

L2

L3

L11

L21

Servo amplifier

CN1

46

47

48

DOCOM

DOCOM

ALM

MC

MC

SK

24 V DC (Note 14)

RA1

(Note 12)


24 V DC (Note 14)

CN1

EM2 42

SON

DICOM

15

20

DICOM

21

P3

P4

(Note 7)

P+

N-

C

(Note 3)

(Note 10)

Terminal block

(Note 2)

P

PR

FR-BR

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

BUE

SD

(Note 9)

MSG

(Note 4)

SD

A

(Note 8)

B

C

(Note 6)

P

PR

FR-BR

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

BUE

SD

(Note 9)

MSG

(Note 4)

SD

A

(Note 8)

B

C

(Note 6)

11 - 28






5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A


6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A

Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.


9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.

10. For the cable to connect the terminal block and the P+ and N- terminals of the servo amplifier, use the cable indicated in (4)

(b) in this section.


12. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.



11 - 29


(2) Combination with MT-BR5-(H) resistor unit

(a) 200 V class

ALM

RA1

OFF

ON

MC


MC

SK

RA2

(Note 1)

Power supply

MCCB

(Note 10)


24 V DC

(Note 12)

(Note 9)

MC

(Note 11)

Servo amplifier

CN1

L1

L2

L3

L11

L21

46

47

48

DOCOM

DOCOM

ALM

24 V DC (Note 12)

RA1

CN1

EM2 42

SON

DICOM

DICOM

15

20

21

P3

P4

P+

(Note 7)

N-

C

(Note 3)

(Note 2)

P

PR

MT-BR5

(Note 5) TH1

TH2

FR-BU2

PR MSG

P/+

N/-

(Note 4)

SD

A

B

C

BUE

SD

(Note 8) (Note 6)

SK

RA2


2. Do not connect a supplied regenerative resistor to the P+ and C terminals.



5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A

Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.








11 - 30


(b) 400 V class

ALM

RA1

OFF

ON

MC


MC

SK

RA2

(Note 1)

Power supply


MCCB

(Note 8)

MC

(Note 10)

Servo amplifier

CN1

L1

L2

L3

L11

L21

46

47

48

DOCOM

DOCOM

ALM

(Note 9)


CN1

EM2 42

SON 15

24 V DC

(Note 11)

DICOM

DICOM

20

21

P3

P4

(Note 6)

P+

N-

(Note 2)

24 V DC (Note 11)

RA1

P

PR

MT-BR5-H

(Note 4) TH1

TH2

FR-BU2-H

PR MSG

P/+

N/-

(Note 3)

SD

A

B

BUE

SD (Note 7)

C

(Note 5)

SK

RA2




4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A

Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.








11 - 31


(3) Connection instructions

Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter.

The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.


Brake unit Resistor unit Brake unit Resistor unit

P+

N-

P/+

N/-

P

PR

P

PR

P+

N-

Twist

P/+

N/-

P

PR

Twist

P

PR

5 m or shorter 5 m or shorter 10 m or shorter 10 m or shorter

11 - 32


(4) Cables

(a) Cables for the brake unit

For the brake unit, HIV cable (600 V grade heat-resistant PVC insulated wire) is recommended.

1) Main circuit terminal

N/P/+ PR

Brake unit

Main circuit terminal screw size

Crimp terminal

N/-, P/+,

PR,

Tightening torque

[N•m]

Wire size

N/-, P/+, PR,

HIV wire

[mm 2 ]

AWG

200 V class

FR-BU2-15K 12

FR-BU2-30K 10

Terminal block

FR-BU2-55K M6 14-6 4.4 14 6

400 V class

FR-BU2-H30K 12

FR-BU2-H55K 10

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.

A B C

PC BUE SD

RES SD MSG MSG

SD SD

Jumper

Insulator

6 mm

Core

Terminal block

Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it.

Screw size: M3

Tightening torque: 0.5 N•m to 0.6 N•m

Wire size: 0.3 mm 2 to 0.75 mm 2

Screw driver: Small flat-blade screw driver

(Tip thickness: 0.4 mm/Tip width 2.5 mm)

(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit

Brake unit

Wire size

HIV wire [mm 2 ] AWG

FR-BU2-15K 8 8

11 - 33


(5) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals

POINT

Always use recommended crimp terminals or equivalent since some crimp terminals cannot be installed depending on the size.

200 V class

Servo amplifier Brake unit

Number of connected units

Crimp terminal (Manufacturer)

2 8-4NS (JST) (Note 2)

MR-J4-700A(-RJ) FR-BU2-15K 2 8-4NS (JST) (Note 2)

MR-J4-11KA(-RJ) FR-BU2-15K 2 (JST)



400 V class

Note 1. Symbols in the applicable tool field indicate applicable tools in (4) (b) in this section.

2. Coat the crimping part with an insulation tube.

(Note 1)

Applicable tool a b a b a c a d c a d d a a a a a a d

(b) Applicable tool

Symbol

Servo amplifier-side crimp terminals

Applicable tool

Crimp terminal a

FDV5.5-S4

FDV5.5-6

YNT-1210S b 8-4NS c

YHT-8S

FVD8-6 YF-1

E-4

YNE-38 DH-111

DH-121 d

FVD14-6

FVD14-8

YF-1

E-4

YNE-38 DH-112

DH-122

JST

11 - 34


11.3.4 Dimensions

(1) FR-BU2-(H) Brake unit

FR-BU2-15K

φ 5 hole

(Screw size: M4)

[Unit: mm]

Rating plate

6 56

68

5

6 18.5

52

132.5

62

4

[Unit: mm]

FR-BU2-30K/FR-BU2-H30K

2φ 5 hole

(Screw size: M4)

Rating plate

6 96

108

5

6 18.5

52

129.5

59

5

[Unit: mm]

FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K

2φ 5 hole

(Screw size: M4)

6 158

170

5

6

Rating plate

18.5

52

142.5

72

5

11 - 35


(2) FR-BR-(H) Resistor unit

2φ C

(Note)

[Unit: mm]

Control circuit terminal

Main circuit terminal

(Note)

Approx. 35

C

W1 ± 1

C

Approx. 35

For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations.

(Refer to the following diagram. )

Eyebolt

204

200 V class

400 V class

(3) MT-BR5-(H) resistor unit

W ± 5

Note. Ventilation ports are provided on both sides and the top. The bottom is open.

W W1 H H1 H2 H3 D D1 C

Approximate mass [kg]

FR-BR-15K 170 100 450 410 20 432 220 3.2 6

FR-BR-30K 340 270 600 560 20 582 220 4 10

FR-BR-55K 480 410 700 620 40 670 450 3.2 12

FR-BR-H30K 340 270 600 560 20 582 220 4 10

FR-BR-H55K 480 410 700 620 40 670 450 3.2 12

15

30

70

30

70

[Unit: mm]

Resistance


NP

200 V class

400 V class

Resistor unit

M6

M4

193

37 60

480

510

10 21

189

4 φ 15 mounting hole 7.5

75 300

450

75

7.5

11 - 36


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)".

When using the FR-RC-(H) power regeneration converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_

_ _ 1".

(1) Selection example

The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5 kW to 22 kW.


Nominal regenerative power

[kW]

Servo amplifier 500

300

200 FR-RC-15K 15

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

100

FR-RC-H30K 30

MR-J4-15KA4(-RJ)

50

30

20

0 50 75 100

Nominal regenerative power [%]

150

11 - 37


(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

(Note 5)

Power supply

MCCB

Servo amplifier

(Note 7)

MC


(Note 10)

(Note 8)

Forced stop 1

(Note 6)

Servo-on

L11

L21

L1

L2

L3

CN1

EM1

SON

DICOM

CN1

DOCOM

ALM

24 V DC (Note 9)

RA

Malfunction

(Note 3)

(Note 8)

24 V DC

(Note 9)

(Note 2)

Ready

RD

SE

P3 P4 N-

(Note 4)

C

N/P/+

P+

RDY output

5 m or shorter

A

B

C

R/L1

S/L2

T/L3

Alarm output

B

C

FR-RC

B C

ALM

RA

RX

R

SX

S

(Note 1)

Phase detection terminals

TX

T


FR-RC

Operation ready

OFF

ON

MC

Forced stop 1

(Note 6)

MC

SK

11 - 38


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.


3. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.



6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with external circuit at EM1 (Forced stop 1) off.




10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual

(IB(NA)66330)".

11 - 39


(b) 400 V class

(Note 5)

Power supply

MCCB


Servo amplifier

(Note 7)

L11

L21

MC


(Note 10)

(Note 8)

Forced stop 1

(Note 6)

Servo-on

L1

L2

L3

CN1

EM1

SON

DICOM

CN1

DOCOM

ALM

(Note 9)

24 V DC

RA

Malfunction

(Note 3)

Lady

24 V DC

(Note 9)

(Note 2)

RD

SE

P3 P4 N-

(Note 4)

C

N/P/+

P+

RDY output

5 m or shorter

A

B

C

R/L1

S/L2

T/L3

Alarm output

B

C

(Note 8)

FR-RC-H

B C

RX

R

SX

S

TX

(Note 1)

Phase detection terminals

ALM

RA

Forced stop 1

(Note 6)

T


FR-RC-H

OFF

Operation ready

ON

MC

MC

SK

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. When using the servo amplifier of 7 kW and 5 kW, make sure to disconnect the wiring of built-in regenerative resistor across the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.

3. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.



6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with external circuit at EM1 (Forced stop 1) off.




10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual

(IB(NA)66330)".

11 - 40


(3) Dimensions

2φ D hole

Rating plate

Front cover

Mounting foot (removable)

Mounting foot

(movable)

Display panel window

Cooling fan

AA

A

D F

K

C

Heat generation area outside mounting dimension


FR-RC-15K

FR-RC-30K

FR-RC-55K

FR-RC-H15K

FR-RC-H30K

FR-RC-H55K

A AA B BA C D E EE K F


270 200 450 432 195 10 10 8 3.2 87

340 270 600 582 195 10 10 8 3.2 90

480 410 700 670 250 12 15 15 3.2 135

19

31

55

340 270 600 582 195 10 10 8 3.2 90

[Unit: mm]

31

480 410 700 670 250 12 15 15 3.2 135 55

(4) Mounting hole machining dimensions

The following shows mounting hole dimensions for mounting the heat generation area of the power regeneration converter outside a cabinet as measures against heat generation when the converter is mounted in an enclosed type cabinet.

[Unit: mm]

(AA) (2φ D hole)


(Mounting hole)

FR-RC-H15K

FR-RC-H30K

330 562 10 270 582 a

11 - 41


11.5 FR-CV-(H) power regeneration common converter

POINT

For details of the power regeneration common converter FR-CV-(H), refer to the

FR-CV Installation Guide (IB(NA)0600075).

Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Otherwise, the servo amplifier and FR-CV-(H) will malfunction.

Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier.

Two or more FR-CV-(H)'s cannot be installed to improve regeneration capability.

Two or more FR-CV-(H)'s cannot be connected to the same DC power supply line.

When using FR-CV-(H), set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop

1).

When using the FR-CV-(H) power regeneration common converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr.

PC27] to "_ _ _ 1".

11.5.1 Model designation


F R C V H 7 .

5 K

Capacity

Symbol Capacity [kW]

7.5K

7.5

11K

15K

11

15

22K

30K

37K

55K

22

30

37

55

Symbol

None

H

Voltage class

200 V class

400 V class

11 - 42


11.5.2 Selection example

(1) 200 V class

FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W to 22 kW. The following shows the restrictions on using the FR-CV.

(a) Up to six servo amplifiers can be connected to one FR-CV.

(b) FR-CV capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV.

(c) The total of used servo motor rated currents should be equal to or less than the applicable current

[A] of the FR-CV.

(d) Among the servo amplifiers connected to the FR-CV, the rated capacity of the servo amplifier with the maximum rated capacity should be equal to or less than the value of "Maximum servo amplifier capacity" in the following table.

The following table lists the restrictions.

FR-CV-_

Item

7.5K 11K 15K 22K 30K 37K 55K

Maximum number of connected servo amplifiers

Total of connectable servo amplifier capacities [kW]

Total of connectable servo motor rated currents [A]

Maximum servo amplifier capacity [kW]

6

3.75 5.5 7.5 11 15 18.5 27.5

3.5 5 7 11 15 15 22

When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).


Dedicated stand-alone reactor

FR-CV-7.5K(-AT) FR-CVL-7.5K

FR-CV-11K(-AT) FR-CVL-11K




FR-CV-37K FR-CVL-37K

FR-CV-55K FR-CVL-55K

11 - 43


(2) 400 V class

FR-CV-H power regeneration common converter can be used for the servo amplifier of 600 W to 22 kW.

The following shows the restrictions on using the FR-CV-H.

(a) Up to six servo amplifiers can be connected to one FR-CV-H.

(b) FR-CV-H capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV-H.

(c) When FR-CV-H capacity is less than the total of rated capacities of the connected servo amplifiers ×

2.5, make the maximum torque of the connected servo motors equal to or less than 200 % of the rated torque. When FR-CV-H capacity exceeds the total of rated capacities of the connected servo amplifiers × 2.5, the maximum torque of the connected servo amplifiers is not limited.

(d) The total of used servo motor rated currents should be equal to or less than the applicable current

[A] of the FR-CV-H.

(e) Among the servo amplifiers connected to the FR-CV-H, the rated capacity of the servo amplifier with the maximum rated capacity should be equal to or less than the value of "Maximum servo amplifier capacity" in the following table.

The following table lists the restrictions.

FR-CV-H_

Item

7.5K 11K 15K 22K 30K 37K 55K

Maximum number of connected servo amplifiers

Total capacity of connectable servo amplifiers [kW]

Total rated current of connectable servo motors [A]


6

3.75 5.5 7.5 11 15 18.5 27.5

17 23 31 43 57 71 110

3.5 5 7 11 15 15 22

When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H).


Dedicated stand-alone reactor

FR-CV-H7.5K(-AT) FR-CVL-H7.5K

FR-CV-H11K(-AT) FR-CVL-H11K




FR-CV-H37K FR-CVL-H37K

FR-CV-H55K FR-CVL-H55K

11 - 44



POINT

In this configuration, only the STO function is supported. The forced stop deceleration function is not available.

(a) 200 V class

POINT

When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).

3-phase

200 V AC to

230 V AC

MCCB

(Note 6)

MC

R/L11

S/L21

T/L31

FR-CVL

R2/L12

S2/L22

T2/L32

FR-CV

R2/L1

S2/L2

T2/L3

P/L+

N/L-

Servo amplifier

L11 U

L21 V

W

CN2

P4

N-

(Note 4)

Servo motor

U

V

W

24 V DC (Note 7)

R/L11

S/L21

T/MC1

P24

SD

DOCOM

ALM

24 V DC (Note 7)

RA2

(Note 1)

RDYB

RDYA

RA3

(Note 2)

(Note 1)

RA1 RA2 EM1 OFF ON

MC

MC

SK

A

B

C

RA1

(Note 1)

RA3 (Note 2) SON

SON

RA1 (Note 3)

EM1

EM1 (Note 1, 5)

DICOM

24 V DC (Note 7)

Note 1. Configure a sequence that will shut off main circuit power at the follow cases.

FR-CV or servo amplifier alarm occurs.

EM1 (forced stop 1) turns off.

2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV is ready.

3. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV.

4. When using FR-CV, always disconnect wiring between P3 and P4 terminals.

5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).



11 - 45


(b) 400 V class

POINT

When using the servo amplifier of 7 kW or less, be sure to disconnect the wiring of built-in regenerative resistor (3.5 kW or less: P+ and D, 5 kW/7 kW: P+ and C).

3-phase

380 V AC to

480 V AC

MCCB

(Note 6)

MC

R/L11

S/L21

T/L31

FR-CVL-H

R2/L12

S2/L22

T2/L32

FR-CV-H

R2/L1

S2/L2

T2/L3

P/L+

N/L-

Servo amplifier

L11 U

L21 V

W

CN2

P4

(Note 4)

N-

Servo motor

U

V

W

24 V DC (Note 7)


R/L11

S/L21

T/MC1

P24

SD

DOCOM

ALM

24 V DC (Note 7)

RA2

(Note 1)

RDYB

RDYA

RA3

(Note 2)

(Note 1)

RA1 RA2 EM1 OFF

ON

MC

MC

SK

A

B

C

RA1

(Note 1)

RA3 (Note 2) SON

SON

RA1 (Note 3)

EM1

EM1 (Note 1, 5)

DICOM

24 V DC (Note 7)

Note 1. Configure a sequence that will shut off main circuit power in the following.

An alarm occurred at FR-CV-H or servo amplifier.

EM1 (Forced stop 1) is enabled.

2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.

3. Configure a sequence that will make a stop with the forced stop input of the servo amplifier if an alarm occurs in the FR-CV-H.

4. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.

5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).



11 - 46


(4) Selection example of wires used for wiring

POINT

Selection conditions of wire size are as follows.

Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)

Construction condition: Single wire set in midair

(a) Wire sizes

1) Across P to P4, N to N

The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.

Total of servo amplifier capacities [kW]

1 or less

2

5

7

11

15

22

27.5

Wire [mm 2 ]

2 (AWG 14)

3.5 (AWG 12)

5.5 (AWG 10)

8 (AWG 8)

14 (AWG 6)

22 (AWG 4)

50 (AWG 1/0)

50 (AWG 1/0)

The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV-H and servo amplifier.

Total of servo amplifier capacities [kW]

2 or less

3.5

5

7

11

15

22

27.5

Wire [mm 2 ]

2 (AWG 14)

3.5 (AWG 12)

5.5 (AWG 10)

5.5 (AWG 10)

8 (AWG 8)

8 (AWG 8)

14 (AWG 6)

22 (AWG 4)

2) Grounding

For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible.


FR-CV-7.5K to FR-CV-15K

FR-CV-22K/FR-CV-30K

FR-CV-37K/FR-CV-55K

FR-CV-H7.5K to FR-CV-H15K

FR-CV-H22K/FR-CV-H30K

FR-CV-H37K/FR-CV-H55K

Grounding wire size

[mm 2 ]

8 (AWG 8)

22 (AWG 4)

38 (AWG 2)

3.5 (AWG 12)

8 (AWG 8)

14 (AWG 6)

11 - 47


(b) Example of selecting the wire sizes

When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4, N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.

1) 200 V class

Wire as short as possible.

FR-CV-55K

R2/L1 P/L+

S2/L2 N/L-

T2/L3

50 mm 2 22 mm 2 Servo amplifier (15 kW)

P4

N-

(Note)

First unit:

50 mm 2 assuming that the total of servo amplifier capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW

+ 2.0 kW = 27.5 kW.

22 mm 2

8 mm 2

R/L11

S/L21

T/MC1

8 mm 2

5.5 mm 2

Servo amplifier (7 kW)

P4

N-

(Note)

Second unit:

22 mm 2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW =

12.5 kW.

Servo amplifier (3.5 kW)

P4

N-

(Note)

Third unit:

8 mm 2 assuming that the total of servo amplifier capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.

Junction terminals

3.5 mm 2 Servo amplifier (2 kW)

P4

N-

(Note)

Fourth unit:

2 mm 2 assuming that the total of servo amplifier capacities is 2 kW since 2.0 kW = 2.0 kW.

Overall wiring length 5 m or less

Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).

2) 400 V class

FR-CV-H55K

R2/L1 P/L+

S2/L2 N/L-

T2/L3

R/L11

S/L21

T/MC1

22 mm 2

Wire as short as possible.

8 mm 2 Servo amplifier (15 kW)

P4

N-

(Note)

First unit:

22 mm 2 assuming that the total of servo amplifier capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW

+ 2.0 kW = 27.5 kW.

8 mm 2

5.5 mm 2

5.5 mm 2

3.5 mm 2

Servo amplifier (7 kW)

P4

N-

(Note)

Second unit:

8 mm 2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW =

12.5 kW.

Servo amplifier (3.5 kW)

P4

N-

(Note)

Third unit:

5.5 mm 2 assuming that the total of servo amplifier capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.

Junction terminals

2 mm 2 Servo amplifier (2 kW)

P4

N-

(Note)

Fourth unit:

2 mm 2 assuming that the total of servo amplifier capacities is 2 kW since 2.0 kW = 2.0 kW.

Overall wiring length 5 m or less

Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).

11 - 48


(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. In this case, interference can be reduced by installing the radio noise filter (FR-BIF(-H)) or line noise filter (FR-BSF01, FR-BLF).

(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo amplifiers should be 5 m or less, and the wiring must be twisted.

(6) Specifications


FR-CV-_

7.5K 11K 15K 22K 30K 37K 55K

Item

Total of connectable servo amplifier capacities

Maximum servo amplifier capacity

[kW] 3.75

[kW]

Total of connectable servo motor rated currents

Regenerative braking torque

Short-time rating

Continuous rating

Rated input AC voltage/frequency

Permissible AC voltage fluctuation


3.5

5.5

5

Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)

100% torque

3-phase 200 V AC to 220 V AC, 50 Hz, 200 V AC to 230 V AC, 60 Hz

3-phase 170 V AC to 242 V AC, 50 Hz, 170 V AC to 253 V AC, 60 Hz

7.5

7

11

11

±5%

15

15

18.5

15

27.5

22

IP rating (JEM 1030), cooling method

Ambient temperature

Ambient humidity

Altitude, vibration resistance

Molded-case circuit breaker or earthleakage current breaker

Magnetic contactor

30 AF

30 A

S-N20

S-T21

Open type (IP00), forced cooling



50 AF

50 A

S-N35

S-T35 and dirt

1000 m or less above sea level, 5.9 m/s 2

100 AF

75 A

S-N50

S-T50

100 AF

100 A

S-N65

S-T65

125AF

125 A

S-N80

S-T80

125AF

125 A

S-N95

S-T100

225 AF

175 A

S-N125

11 - 49



FR-CV-H_

Item

Total of connectable servo amplifier capacities


Total of connectable servo motor rated currents

Regenerative braking torque

Short-time rating

Continuous rating

Rated input AC voltage/frequency

Permissible AC voltage fluctuation

7.5K 11K 15K 22K 30K 37K 55K

3.5 5 7 11 15 15 22


Power supply capacity (Note 2) [kVA]

IP rating (JEM 1030), cooling method

Ambient temperature

17

Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)

100% torque



20

±5%

28 41 52

Open type (IP00), forced cooling


66 100

Ambient humidity 5 %RH to 90 %RH (non-condensing)

Ambience

Altitude, vibration resistance

Molded-case circuit breaker or earth-leakage current breaker

30AF

15A


30AF

20A

1000 m or less above sea level, 5.9 m/s 2

30AF

30A

50AF

50A

60AF

60A

100AF

75A

100AF

100A

S-N20 S-N20 S-N20 S-N25 S-N35 S-N50 S-N65

Magnetic contactor

S-T21 S-T21 S-T21 S-T25 S-T35 S-T50 S-T65

Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is activated in the time indicated in section 10.1.

2. The specified value is the power supply capacity of FR-CV-(H). The total power supply capacities of the connected servo amplifiers are actually required.

11 - 50


11.6 Junction terminal block MR-TB50

(1) Usage

Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set.

Servo amplifier


Cable clamp

MR-TB50

CN1

Junction terminal block cable

(MR-J2M-CN1TBL_M)

Ground the junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.14, (2) (c).

(2) Terminal labels

Use the following junction terminal block labels. This label is supplied with the junction terminal block

MR-TB50.


P15R LG LAR LBR LZR PG SON PC RES DICOM ZSP TLC TLA OP NP

LA LB LZ PP OPC TL DICOM INP INP LG LG LG NG

CR LSP LOP

DOCOM

RD

EMG LSN

DOCOM

ALM SD

Speed control mode

P15R LG LAR LBR LZR

VC LA LB LZ

Torque control mode

P15R LG LAR LBR LZR

VLA LA LB LZ

SON ST1 RES DICOM ZSP TLC TLA

SP2 ST2 DICOM SA SA LG LG

OP

LG

SON SR2 RES DICOM ZSP VLC TC

SP2 RS1 DICOM LG LG

OP

LG

SP1 LSP LOP

DOCOM

RD

EMG LSN

DOCOM

ALM SD

SP1

EMG

LOP

DOCOM

RD

DOCOM

ALM SD

(3) Dimensions

[Unit: mm]

235

2φ 4.5

2

1

50

49

MITSUBISHI

MR-TB50

1 3 5 7 9 1113 15 17 1921 23 2527 29 3133 35 3739 41 4345 47 49

2 4 6 8 10 1214 16 1820 22 2426 28 30 32 34 36 3840 42 4446 48 50

244 46.5

Terminal screw: M3.5

Applicable wire: 2 mm 2

Crimp terminal width: 7.2 mm or less.

11 - 51


(4) Junction terminal block cable MR-J2M-CN1TBL_M

(a) Model explanations

Model: M R J 2 M C N 1 T B L _ M

Symbol

05

1

Cable length [m]

0.5

1

(b) Connection diagram

1) MR-J4-_A_(-RJ) 100 W or more

10150-6000EL (Servo amplifier side)

Signal symbol

Position

P15R

Speed

P15R

VC

LG LG

LA

LAR

LB

LBR

LZ

LZR

PP

PG

OPC

LA

LAR

LB

LBR

LZ

LZR

Torque

P15R

VLA

LG

LA

LAR

LB

LBR

LZ

LZR

Pin No.

SON

LOP

PC

TL

RES

DICOM

DICOM

INP

ZSP

INP

TLC

TLA

LG

LG

OP

LG

NP

NG

PP2

NP2

CR

EMG

LSP

LSN

LOP

DOCOM

DOCOM

ALM

RD

SD

SON

SP2

ST1

ST2

RES

DICOM

DICOM

SA

ZSP

SA

TLC

TLA

LG

LG

OP

LG

SP1

EMG

LSP

LSN

LOP

DOCOM

DOCOM

ALM

RD

SD

SON

SP2

RS2

RS1

RES

DICOM

DICOM

ZSP

TLC

TC

LG

LG

OP

LG

SP1

EMG

LOP

DOCOM

DOCOM

ALM

RD

SD

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

37

38

39

40

33

34

35

36

49

50

Plate

D7950-B500FL (Junction terminal side)

Pin No.

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

49

50

37

38

39

40

33

34

35

36

11 - 52


2) MR-J4-03A6(-RJ)

OP

LG

NP

NG

PP2

NP2

RDP

RDN

CR

EMG

LSP

LSN

LOP

DOCOM

DOCOM

ALM

RD

10150-6000EL (Servo amplifier side)

RES

DICOM

DICOM

INP

ZSP

INP

TLC

MO1

TLA

LG

MO2

LG

TRE

PG

OPC

SDP

SDN

SON

LOP

PC

TL

LG

LA

LAR

LB

LBR

LZ

LZR

PP

Signal symbol

Position

P15R

Speed

P15R

VC

LG

LA

LAR

LB

LBR

LZ

LZR

Torque

P15R

VLA

LG

LA

LAR

LB

LBR

LZ

LZR

SDP

SDN

SON

SP2

ST1

ST2

RES

DICOM

DICOM

SA

ZSP

SA

TLC

MO1

TLA

LG

MO2

LG

TRE

SDP

SDN

SON

SP2

RS2

RS1

RES

DICOM

DICOM

ZSP

TLC

MO1

TC

LG

MO2

LG

TRE

Pin No.

SD

OP

LG

RDP

RDN

SP1

EMG

LSP

LSN

LOP

DOCOM

DOCOM

ALM

RD

SD

OP

LG

RDP

RDN

SP1

EMG

LOP

DOCOM

DOCOM

ALM

RD

SD

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

37

38

39

40

33

34

35

36

49

50

Plate

D7950-B500FL (Junction terminal side)

Pin No.

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

49

50

37

38

39

40

33

34

35

36

11 - 53


11.7 MR Configurator2

POINT

MR-J4-_A_-RJ servo amplifier is supported with software version 1.19V or later.

MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

11.7.1 Specifications

Adjustment

Others

Item Description

Project

Parameter

Monitor

Diagnosis

Test operation

Create/read/save/delete project, system setting, and print

Parameter setting, axis name setting, parameter converter (Note 1)

Display all, I/O monitor, graph, and ABS data display

Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life diagnosis, machine diagnosis, fully closed loop diagnosis (Note 2), and linear diagnosis (Note 3)

Jog operation (Note 4), positioning operation, motor-less operation (Note 5), DO forced output, and program operation, test mode information

One-touch tuning, tuning, and machine analyzer

Servo assistant, parameter setting range update, help display

Note 1. This is available only in the standard control mode for a rotary servo motor.

2. This is available only in the fully closed loop control mode.

3. This is available only in the linear servo motor control mode.

4. This is available in the standard control mode, fully closed loop control mode, and DD motor control mode.

5. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor control mode.

11 - 54


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

(Note 1, 2, 3, 4, 5)

Personal computer

OS

Microsoft ® Windows ® 10 Home

Microsoft ® Windows ® 10 Pro

Microsoft ® Windows ® 10 Enterprise

Microsoft ® Windows ® 10 Education

Microsoft ® Windows ® 8.1 Enterprise

Microsoft ® Windows ® 8.1 Pro

Microsoft ® Windows ® 8.1


Microsoft ® Windows ® 8 Pro

Microsoft ® Windows ® 8


Microsoft ® Windows ® 7 Ultimate

Microsoft ® Windows ® 7 Professional

Microsoft ® Windows ® 7 Home Premium

Microsoft ® Windows ® 7 Starter

Microsoft ® Windows Vista ® Enterprise

Microsoft ® Windows Vista ® Ultimate

Microsoft ® Windows Vista ® Business

Microsoft ® Windows Vista ® Home Premium

Microsoft ® Windows Vista ® Home Basic

Microsoft ® Windows ® XP Professional, Service Pack3 or later

Microsoft ® Windows ® XP Home Edition, Service Pack3 or later

Desktop personal computer: Intel ® Celeron ® processor 2.8 GHz or more

Laptop personal computer: Intel ® Pentium ® M processor 1.7 GHz or more

CPU

(recommended)

Memory

(recommended)

Hard Disk

512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)

1 GB or more

Communication interface

USB port

Browser Windows ® Internet Explorer ® 4.0 or more

Display

Keyboard

Mouse

One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.

Connectable with the above personal computer.



Printer Connectable with the above personal computer.

USB cable MR-J3USBCBL3M

Note 1. On some personal computers, MR Configurator2 may not run properly.

2. The following functions cannot be used.

Windows Program Compatibility mode

Fast User Switching

Remote Desktop

Large Fonts Mode (Display property)

DPI settings other than 96DPI (Display property)

For 64-bit operating system, this software is compatible with Windows ® 7 and Windows ® 8.

When ® 7 or later is used, the following functions cannot be used.

Windows XP Mode

Windows touch

4. When using this software with Windows Vista ® or later, log in as a user having USER authority or higher.

When ® 8 or later is used, the following functions cannot be used.

Hyper-V

Modern UI style

11 - 55


(2) Connection with servo amplifier

Servo amplifier

CN5

USB cable

MR-J3USBCBL3M

(Option)

To USB connector

Personal computer

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.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures. a) Disconnect the power plug of the personal computer from an AC power socket. b) Check that the power plug was disconnected and connect the device to the servo amplifier. c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function

When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

11 - 56


11.8 Battery

POINT

Refer to app. 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.

11.8.1 Selection of battery

The available batteries vary depending on servo amplifiers. Select a required battery.

(1) Applications of the batteries

MR-BAT6V1SET Battery

MR-BAT6V1SET-A Battery

For MR-BAT6V1

For transporting a servo motor and machine apart

For MR-BAT6V1

For absolute position data backup of multi-axis servo motor

MR-BAT6V1

(2) Combinations of batteries and the servo amplifier

MR-J4-_A_(-RJ)

Model

100 W or more

MR-J4-03A6(-RJ)

MR-BAT6V1SET

MR-BAT6V1BJ

MR-BAT6V1SET-A

MR-BT6VCASE

11 - 57


11.8.2 MR-BAT6V1SET battery

POINT

For the specifications and year and month of manufacture of the built-in MR-

BAT6V1 battery, refer to section 11.8.6.

(1) Parts identification and dimensions

[Unit: mm]

28 69.3

Rating plate

Connector for servo amplifier

Case

Mass: 34 [g] (including MR-BAT6V1 battery)

(2) Battery mounting

Connect as follows.

Servo amplifier

CN2

CN4

MR-BAT6V1SET

Encoder cable

Servo motor

11 - 58


(3) Battery replacement procedure

WARNING

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

N- with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

POINT

Replacing battery with the control circuit power off will erase the absolute position data.

Before replacing batteries, check that the new battery is within battery life.

Replace the battery while only control circuit power is on. Replacing battery with the control circuit power on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.

11 - 59


(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.

Install a battery, and insert the plug into the CN4 connector.

Install a battery, and insert the plug into the CN4 connector.

Install a battery, and pass the battery cable through a gap between the battery and servo amplifier.

For the servo amplifier with a battery holder on the bottom

For the servo amplifier with a battery holder on the front

2) Removal procedure

CAUTION

Pulling out the connector of the battery without the lock release lever pressed 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.

While pressing the lock release lever, slide the battery case toward you.

11 - 60


(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET reaches the end of its life, replace the built-in MR-BAT6V1 battery.

1) While pressing the locking part, open the cover.

Cover

Locking part

2) Replace the battery with a new MR-BAT6V1.

MR-BAT6V1

Projection

3) Press the cover until it is fixed with the projection of the locking part to close the cover.

11 - 61


11.8.3 MR-BAT6V1BJ battery for junction battery cable

POINT

MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors.

MR-BAT6V1BJ cannot be used for fully closed loop system.


[Unit: mm]

34.8

69.3

Orange: Connector for servo amplifier

Rating plate

Black: Connector for branch cable

Case

Mass: 66 [g]

(2) Year and month of manufacture of battery

Production year and month are indicated in a serial number (SERIAL) on the rating plate. The second digit from left in the number indicates the first digit of the year, the third digit from left indicates a month

(Oct.: X, Nov.: Y, Dec.: Z). For November 2013, the serial is like, "SERIAL: _ 3Y _ _ _ _ _ _".

(3) Specification list

Item Description

Battery pack

Nominal voltage

Nominal capacity

Storage temperature

Lithium content

Mercury content

Dangerous goods class

[V]

[mAh]

[°C]

Operating temperature [°C]

[g]

2CR17335A (CR17335A × 2 pcs. in series)

6

1650

0 to 55

0 to 55

1.2

Less than 1 ppm

Not subject to the dangerous goods (Class 9)


Operating humidity and storage humidity

(Note) Battery life


5 years from date of manufacture

Mass [g] 66

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

11 - 62



Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows.

Servo amplifier

MR-BT6VCBL03M Encoder cable

CN2

CN4

MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier HG series servo motors

(5) Transporting a servo motor and machine apart

POINT

Be sure to connect the connector for branch cable connection (black) when transporting a servo motor and machine apart. When the connector for branch cable connection (black) is not connected to the MR-BT6VCBL03M junction battery cable, no alarm will occur. However, the absolute position data will be erased when you transport a servo motor and machine apart.

When you transport a servo motor and machine apart, disconnect only CN2 and CN4 of the servo amplifier. When other connectors or cables are disconnected between the servo motor and battery, the absolute position data will be deleted.

Servo amplifier

CN2

CN4

Disconnect only CN2 and CN4.

MR-BT6VCBL03M Encoder cable

MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier

HG series servo motors

11 - 63



WARNING



CAUTION





The battery built in MR-BAT6V1BJ cannot be replaced. Do not disassemble the

MR-BAT6V1BJ. Otherwise, it may cause a malfunction.

POINT

To replace the MR-BAT6V1BJ, follow the procedures given in this section to avoid erasing absolute position data.


For MR-BAT6V1BJ, the battery can be replaced with the control circuit power supply off.

(a) Battery installation and removal procedure

The battery installation and removal procedure to the servo amplifier are the same as for the MR-

BAT6V1SET battery. Refer to (3) of section 11.8.3.

(b) Preparation for replacing MR-BAT6V1BJ

Prepare a new MR-BAT6V1BJ as follows.

Model

MR-BAT6V1BJ

Number and use

1 for replacement

Remark

Battery within two years from the production date.

(c) Procedures of replacing MR-BAT6V1BJ

Replace the product as follows regardless of on/off of the control circuit power supply. When it is replaced with other procedures, the absolute position data will be erased.

1) Remove the connector for branch cable connection (black) of the old MR-BAT6V1BJ.

Servo amplifier

Orange

CN2

CN4

Old MR-BAT6V1BJ

MR-BT6VCBL03M

Black

Orange

New MR-BAT6V1BJ

11 - 64


2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ.

Servo amplifier

Orange

CN2

CN4

Old MR-BAT6V1BJ

MR-BT6VCBL03M

Black

Orange

New MR-BAT6V1BJ

3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, performing 3) without [AL. 9F.1 Low battery] will trigger [AL. 9F.1].

Servo amplifier

Orange CN2

CN4

Old MR-BAT6V1BJ

MR-BT6VCBL03M

Black

Orange

New MR-BAT6V1BJ

4) Remove the old MR-BAT6V1BJ from servo amplifier and mount the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F.1] will occur after 3).

Servo amplifier

Orange

Old MR-BAT6V1BJ

Orange

Black

CN2

CN4

New MR-BAT6V1BJ

MR-BT6VCBL03M

Black

5) Mount the connector for servo amplifier (orange) of the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F.1] will be canceled.

Servo amplifier

Orange CN2

CN4

MR-BT6VCBL03M

Black

New MR-BAT6V1BJ

11 - 65


11.8.4 MR-BAT6V1SET-A battery

POINT

Use MR-BAT6V1SET-A for MR-J4-03A6(-RJ) servo amplifier.

The MR-BAT6V1SET-A cannot be used for MR-J4-_A_(-RJ) 100 W or more servo amplifiers.

For the specifications and year and month of manufacture of the built-in MR-

BAT6V1 battery, refer to section 11.8.6.


27.4

[Unit: mm]

51

Connector for servo amplifier

Case

Mass: 55 [g] (including MR-BAT6V1 battery)


Connect as follows.

CN2

CN4

Encoder cable

Servo motors

MR-BAT6V1SET-A

11 - 66



WARNING

Before replacing a battery, turn off the main circuit power supply and wait until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION





POINT




11 - 67


(a) Installation procedure

Insert the connector of the battery into CN4.

Insert the battery along the rails.

(b) Removal procedure

CAUTION

Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.


Pull the lock release lever, and slide the battery toward you.

11 - 68


(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET-A reaches the end of its life, replace the built-in MR-BAT6V1 battery.

Tab

1) While pressing the locking part, open the cover.

Cover

2) Replace the battery with a new MR-BAT6V1 battery.

3) Press the cover until it is fixed with the projection of the locking part to close the cover.

Projection

(four places)

11 - 69


11.8.5 MR-BT6VCASE battery case

POINT

MR-BT6VCASE cannot be used for MR-J4-03A6(-RJ) servo amplifiers.

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 11.8.6.

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does not have any batteries. Please prepare MR-BAT6V1 batteries separately.

(1) The number of connected servo motors

One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors, up to four axes can be connected. Servo motors and direct drive motors in the incremental system are included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following table for the number of connectable axes of each servo motor.

Servo motor Number of axes

0 1 2 3 4 5 6 7 8

4 4 4 4 4 3 2 1 0

(2) Dimensions

[Unit: mm]

2φ 5 mounting hole 2-M4 screw

25

Approx. 70 130

4.6

5

Approx. 25

5


Mounting screw

Screw size: M4

[Mass: 0.18 kg]

11 - 70



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. Linear servo motors are not counted as the axis

Nos.

(a) When using 1-axis servo amplifier

Servo amplifier

CN4

MR-BT6VCASE

CN10

MR-BT6V1CBL_M

(b) When using up to 8-axis servo amplifiers

Servo amplifier Servo amplifier Servo amplifier

CN4

MR-BT6VCASE

CN10

CN4

MR-BT6V2CBL_M

MR-BT6V1CBL_M

CN4

MR-BT6V2CBL_M

11 - 71



WARNING



CAUTION





POINT




11 - 72


(a) Assembling a battery unit

CAUTION

Do not mount new and old batteries together.

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

Battery case

Model

MR-BT6VCASE

Quantity

1

Remark

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.

2) Disassembly and assembly of the battery case MR-BT6VCASE a) Disassembly of the case

MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled.

Threads

Remove the two screws using a

Phillips screwdriver.

Cover Remove the cover.

CON2

CON3

CON1

CON4

CON5

BAT1

Parts identification

BAT2 BAT3

BAT4 BAT5

11 - 73

11. OPTIONS AND PERIPHERAL EQUIPMENT b) Mounting MR-BAT6V1

Securely mount an MR-BAT6V1 to the BAT1 holder.

BAT1

CON1

Click

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 direction, the connector will break.

Place the MR-BAT6V1 lead wire to the duct designed to store lead wires.

Insert MR-BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5.

Bring out the lead wire from the space between the ribs, and bend it as shown above to store it in the duct. Connect the lead wire to the connector. Be careful not to get the lead wire caught in the case or other parts.

When the lead wire is damaged, external short circuit may occur, and the battery can become hot.

11 - 74

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.

Threads d) Precautions for removal of battery

The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing the connector, pull out the connector while pressing the lock release lever.

3) Battery cable removal

CAUTION

Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.


Battery cable

11 - 75


11.8.6 MR-BAT6V1 battery

The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET and a primary lithium 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 an MR-BAT6V1 battery.

Rating plate

2CR17335A WK17

11-04

6V 1650mAh

The year and month of manufacture

Battery pack

Item Description

2CR17335A (CR17335A × 2 pcs. in series)

Nominal voltage

Nominal capacity

Storage temperature

[V]

[mAh]

[°C]

6

1650

0 to 55

Operating temperature

Lithium content

Mercury content

Dangerous goods class

[°C]

[g]

0 to 55

1.2

Less than 1 ppm

Not subject to the dangerous goods (Class 9)


Operating humidity and storage humidity

(Note) Battery life


5 years from date of manufacture

Mass [g] 34

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

11 - 76


11.9 Selection example of wires

POINT

To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard.

For the selection example when the MR-J4-_A-RJ servo amplifier is used with the DC power supply input, refer to app. 13.3.



Wire length: 30 m or less

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

1) Main circuit power supply lead

Power supply

Servo amplifier

L1

L2

L3

U

V

W

M

2) Control circuit power supply lead

L11

L21

4) Servo motor power supply lead

5) Power regeneration converter lead


Regenerative option

N-

3) Regenerative option lead

C

P+

11 - 77


(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)

Servo amplifier

1) L1/L2/L3/ 2) L11/L21 3) P+/C

4) U/V/W/

(Note 3)

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

MR-J4-40A(-RJ)

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

(3-phase power supply input)

MR-J4-200A(-RJ)


MR-J4-350A(-RJ)

2 (AWG 14)

3.5 (AWG 12)

1.25 to 2

(AWG 16 to 14)

(Note 4)

2 (AWG 14)

AWG 18 to 14

(Note 4)

AWG 16 to 10

MR-J4-500A(-RJ)

(Note 2)

MR-J4-700A(-RJ)

(Note 2)

MR-J4-11KA(-RJ)

(Note 2)

MR-J4-15KA(-RJ)

(Note 2)

5.5 (AWG 10): a

8 (AWG 8): b

14 (AWG 6): f

22 (AWG 4): h

1.25 (AWG 16): a

2 (AWG 14): d

(Note 4)

1.25 (AWG 16): c

2 (AWG 14): c

(Note 4)

2 (AWG 14): c

3.5 (AWG 12): g

5.5 (AWG 10): g

2 (AWG 14): c

3.5 (AWG 12): a

5.5 (AWG 10): a

2 (AWG 14): c

3.5 (AWG 12): a

5.5 (AWG 10): a

8 (AWG 8): b

14 (AWG 6): f

55 (AWG 10): g

(Note 5)

8 (AWG 8): k

22 (AWG 4): h

8 (AWG 8): k

(Note 5)

MR-J4-22KA(-RJ)

(Note 2)

38 (AWG 2): i 5.5 (AWG 10): j 38 (AWG 2): i

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to

(2) in this section.

2. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.

3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".

4. Be sure to use the size of 2 mm 2 when corresponding to IEC/EN/UL/CSA standard.

5. This is for connecting to the linear servo motor with natural cooling method.

Use wires 5) of the following sizes with the power regeneration converter (FR-RC).

FR-RC-15K

FR-RC-30K

FR-RC-55K

14 (AWG 6)

14 (AWG 6)

22 (AWG 4)

11 - 78


(b) 400 V class


Servo amplifier

1) L1/L2/L3/ 2) L11/L21 3) P+/C

4) U/V/W/

(Note 3)

MR-J4-60A4(-RJ)

MR-J4-100A4(-RJ)

MR-J4-200A4(-RJ)

MR-J4-350A4(-RJ)

MR-J4-500A4(-RJ)

(Note 2)

MR-J4-700A4(-RJ)

(Note 2)

MR-J4-11KA4(-RJ)

(Note 2)

MR-J4-15KA4(-RJ)

(Note 2)

2 (AWG 14)

2 (AWG 14): b

3.5 (AWG 12): a

5.5 (AWG 10): d

1.25 to 2

(AWG 16 to 14)

(Note 4)

1.25 (AWG 16): a

2 (AWG 14): c

(Note 4)

2 (AWG 14)

2 (AWG 14): b

2 (AWG 14): f

AWG 16 to 14

3.5 (AWG 12): a

5.5 (AWG 10): a

8 (AWG 8): g

MR-J4-22KA4(-RJ)

(Note 2)

8 (AWG 8): g

14 (AWG 6): i

1.25 (AWG 16): b

2 (AWG 14): b

(Note 4)

3.5 (AWG 12): d

3.5 (AWG 12): e

5.5 (AWG 10): e

(Note 5)

8 (AWG 8): h

(Note 6)

14 (AWG 6): i

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to

(2) in this section.


3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to each servo amplifier instruction manual.


5. This is for connecting to the linear servo motor with natural cooling method.

6. This is for connecting to the linear servo motor with liquid cooling method.

Use wires (5)) of the following sizes with the power regeneration converter (FR-RC-H).

FR-RC-H15K

FR-RC-H30K

FR-RC-H55K

14 (AWG 6)

(c) 100 V class


Servo amplifier

1) L1/L2/ 2) L11/L21 3) P+/C

4) U/V/W/

(Note 1)

MR-J4-10A1(-RJ)

MR-J4-20A1(-RJ)

MR-J4-40A1(-RJ)

2 (AWG 14)

1.25 to 2

(AWG 16 to 14)

(Note 2)

2 (AWG 14)

AWG 18 to 14

(Note 2)

Note 1. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to each servo amplifier instruction manual.


11 - 79


(2) Selection example of crimp terminals

(a) 200 V class

Symbol (Note 2)

Crimp terminal


Applicable tool a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S c FVD2-4 d FVD2-M3

YNT-1614 e FVD1.25-M3 YNT-2216 f FVD14-6 g FVD5.5-6 h FVD22-6 i FVD38-8 j FVD5.5-8 k FVD8-6

YF-1

YNT-1210S

YF-1

YF-1

YNT-1210S

YF-1/E-4

YNE-38

YNE-38

YNE-38

YNE-38

DH-122

DH-112

DH-123

DH-113

DH-124

DH-114

DH-121

DH-111

JST

Note 1. Coat the crimping part with an insulation tube.

2. Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

(b) 400 V class

Symbol Crimp terminal

(Note)


Manufacturer

Body Head Dice a FVD5.5-4 YNT-1210S b FVD2-4 c FVD2-M3

YNT-1614 d FVD5.5-6 YNT-1210S e FVD5.5-8 YNT-1210S f FVD2-6 g FVD8-6

YNT-1614 h FVD8-8 i FVD14-8 DH-122/DH-112

JST

Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

11 - 80


11.10 Molded-case circuit breakers, fuses, magnetic contactors

CAUTION

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed.

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.

POINT

For the selection when the MR-J4-_A-RJ servo amplifier is used with the DC power supply input, refer to app. 13.4.

11 - 81


(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.

Servo amplifier

Molded-case circuit breaker (Note 1, 4)

Frame, rated current

Power factor improving reactor is not used

Power factor improving reactor is used

Voltage AC

[V]

Fuse

[V]

Magnetic contactor

(Note 2)

MR-J4-10A(-RJ) 30 A frame 5 A





MR-J4-100A(-RJ)


30 A frame 15 A

MR-J4-100A(-RJ)


30 A frame 15 A

30 A frame 5 A

30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 10 A

30 A frame 10 A

30 A frame 15 A

10

15

20

30

S-N10

S-T10




30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

MR-J4-700A(-RJ) 100 A frame 75 A 60 A frame 60 A

MR-J4-11KA(-RJ) 100 A frame 100 A 100 A frame 100 A



240 T

40

70

125

150

200

250

350

300

MR-J4-60A4(-RJ) 30 A frame 5 A




30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 15 A

10

15

25

35

S-N10

S-T10



MR-J4-11KA4(-RJ) 50 A frame 50 A

MR-J4-15KA4(-RJ) 60 A frame 60 A

30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

60 A frame 60 A

MR-J4-22KA4(-RJ) 100 A frame 100 A 100 A frame 100 A

50

480 T 65

100

150

175

600



30 A frame 5 A

30 A frame 10 A 240 T

10

15 300

S-N10

S-T10

MR-J4-40A1(-RJ) 30 A frame 15 A 30 A frame 10 A 20

Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.

2. 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.

3. S-N18 can be used when auxiliary contact is not required.

4. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric generalpurpose products.

S-N20

(Note 3)

S-T21

S-N20

S-T21

S-N25

S-T35

S-N35

S-T35

S-N50

S-T50

S-N20

(Note 3)

S-T21

S-N20

S-T21

S-N35

S-T35

S-N50

S-T50

S-N65

S-T65

S-N95

S-T100

11 - 82


The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.

Servo amplifier

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

MR-J4-40A(-RJ)

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

MR-J4-350A(-RJ)

MR-J4-500A(-RJ)

MR-J4-60A4(-RJ)

MR-J4-100A4(-RJ)

MR-J4-200A4(-RJ)

MR-J4-350A4(-RJ)

MR-J4-500A4(-RJ)

MR-J4-700A4(-RJ)

Rated input voltage AC [V]

200 to 240

380 to 480

Input phase

3-phase

3-phase

Type E Combination motor controller

Model

Rated voltage

AC [V]

Rated current

[A]

(Heater design)

MMP-T32

240

480Y/277

SCCR

[kA]

1.6

2.5

4

6.3

6.3

8

18

50

25

32

2.5

4

8

25

50

13

18

25 25

(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.

Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)

Servo amplifier

Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

MR-J4-40A(-RJ)

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)


MR-J4-350A(-RJ)

MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

MR-J4-22KA(-RJ)

MR-J4-60A4(-RJ)

MR-J4-100A4(-RJ)

MR-J4-200A4(-RJ)

MR-J4-350A4(-RJ)


MR-J4-700A4(-RJ)

MR-J4-11KA4(-RJ)

MR-J4-15KA4(-RJ)

MR-J4-22KA4(-RJ)

MR-J4-10A1(-RJ)


240 1 300 1 250

480 1 600 1 600

240 1 300 1 250

MR-J4-40A1(-RJ)

Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.

11 - 83


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 be about 85%.

As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.

When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and

P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.

When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10 cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.

(1) 200 V class

2-d mounting hole

(Varnish is removed from right mounting hole (face and back side).) (Note 1)

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note 1)

D or less

P P1

D3

D or less

P P1

W1

W ± 2

Fig. 11.1

W1

W ± 2

D2

D1

Fig. 11.2

4-d mounting hole (Note 1)

D or less

D3 or less

FR-HEL

Servo amplifier

(Note 2)

P3

P4

5 m or less

W1

W ± 2

D2

D1 ± 2

Fig. 11.3

Note 1. Use this for grounding.

2. When using the Power factor improving DC reactor, remove the short bar across P3-P4.

11 - 84


Servo amplifier


MR-J4-15KA(-RJ) FR-HEL-22K

Dimensions

W W1 H

Dimensions [mm]

D

(Note 1)

D1 D2 D3 d

Terminal size

Mass

[kg]

Wire [mm

(Note 2)

2 ]

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4

85 74 81 61 21 M4 M4 0.5

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ) FR-HEL-2.2K


85 74 81 70 30 M4 M4 0.9

77 55 92 82 66 57 37 M4 M4 1.5


MR-J4-500A(-RJ) FR-HEL-11K

MR-J4-700A(-RJ) FR-HEL-15K

MR-J4-11KA(-RJ) FR-HEL-15K

Fig. 11.2

105 64 133 112 92 79 47 M6 M6

105 64 133 115 97 84 48.5 M6 M6

105 64 133 115 97 84 48.5 M6 M6

3.3 5.5 (AWG 10)

4.1 8

4.1 14

8)

6)

105 64 93 175 117 104

115

(Note 1)

135

M6

M6

M10

M10

5.6

7.8

22 (AWG 4)

38 (AWG 2)

Note 1. Maximum dimensions. The dimension varies depending on the input/output lines.

2. Selection conditions of wire size are as follows.



11 - 85


(2) 400 V class

P P1


(D3)

D or less

P P1


(D3)

D or less

W1

W ± 2.5

Fig. 11.4

D2

D1 ± 1

W1

W ± 2.5

Fig. 11.5

D2

D1 ± 1

P P1


D or less

(D3)

W1

W ± 2.5

6

D2

D1 ± 1

Fig. 11.6

FR-HEL-H

Servo amplifier

P3

(Note 2)

P4

5 m or less

Note 1. Use this for grounding.

2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.

11 - 86


Servo amplifier


Dimensions

Dimensions [mm]

W W1 H D D1 D2 D3 d

Terminal size

Mass

[kg]

Wire [mm 2 ]

(Note)

66 50 100 80 74 54 37 M4 M3.5

MR-J4-100A4(-RJ) FR-HEL-H2.2K

MR-J4-200A4(-RJ) FR-HEL-H3.7K

76 50 110 80

86 55 120 95

74

89

54

69

37

45

M4

M4

MR-J4-350A4(-RJ) FR-HEL-H7.5K Fig. 11.5 96 60 128 105 100 80 50 M5

M3.5

M4

M4

MR-J4-500A4(-RJ) FR-HEL-H11K

MR-J4-700A4(-RJ)

MR-J4-11KA4(-RJ)

FR-HEL-H15K

MR-J4-15KA4(-RJ) FR-HEL-H22K

Fig. 11.6

MR-J4-22KA4(-RJ) FR-HEL-H30K

Note. Selection conditions of wire size are as follows.

105 75 137 110 105 85 53 M5

105 75 152 125 115 95 62 M5

M5

M6

4.5 3.5 (AWG 12)

5.0

5.5 (AWG 10)

8 (AWG 8)

133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)

133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)



1.0 2 (AWG 14)

1.3 2 (AWG 14)

2.3 2 (AWG 14)

3.5 2 (AWG 14)

11 - 87


11.12 Power factor improving AC reactors

The following shows the advantages of using power factor improving AC reactor.

It improves the power factor by increasing the form factor of the servo amplifier's input current.

It decreases the power supply capacity.

The input power factor is improved to be about 80%.

When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.

(1) 200 V class/100 V class

Terminal layout

R X S Y T Z

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note 1)

D or less

3-phase

200 V AC to

240 V AC

MCCB MC

R

3-phase 200 V class

FR-HAL

Servo amplifier

X

L1

S Y

L2

T Z

L3

(Note)

1-phase

200 V AC to

240 V AC

MCCB MC

R

1-phase 200 V class

FR-HAL

Servo amplifier

X

L1

S Y

L2

T Z

L3

W1

W or less (Note 2)

Fig. 11.7

D2

D1

1-phase

100 V AC to

120 V AC

MCCB MC

R

Servo amplifier

1-phase 100 V class

FR-HAL

X

L1

S Y

Unassigned

T Z

L2

Note 1. Use this hole for grounding.

Terminal layout

R X S Y T Z

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note)

Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

D or less

4-d mounting hole (Note)

D or less

W1

W ± 2

Fig. 11.8

Note. Use this hole for grounding.

D2

D1

R

X

S

Y

T

Z

W1

W or less

Fig. 11.9

Note. Use this for grounding.

11 - 88

D2

D1 ± 2


Servo amplifier


Dimensions

MR-J4-10A(-RJ)

MR-J4-20A(-RJ)

MR-J4-10A1(-RJ)

MR-J4-40A(-RJ)

MR-J4-20A1(-RJ)

FR-HAL-0.4K

FR-HAL-0.75K

MR-J4-60A(-RJ)

MR-J4-70A(-RJ)

MR-J4-40A1(-RJ)

MR-J4-100A(-RJ)


MR-J4-100A(-RJ)


MR-J4-200A(-RJ)


FR-HAL-1.5K

FR-HAL-2.2K

FR-HAL-3.7K

MR-J4-200A(-RJ)


FR-HAL-5.5K

MR-J4-350A(-RJ) FR-HAL-7.5K

Fig. 11.7

115

(Note)

115

(Note)

115

(Note)

Dimensions [mm]

Terminal size

Mass

[kg]

40 115 77 71 57 M6 M4 1.5

40 115 83 81 67 M6 M4 2.2

40 115 83 81 67 M6 M4 2.3

MR-J4-700A(-RJ)

Fig. 11.8

MR-J4-11KA(-RJ) FR-HAL-15K

MR-J4-15KA(-RJ) FR-HAL-22K

160 75 167 126 124 107 M6 M6 7.0

185

(Note)

11.9

185

(Note)

75 150 158 100 87 M6 M8 9.0

75 150 168 100 87 M6 M10 9.7

Note. Maximum dimensions. The dimension varies depending on the input/output lines.

11 - 89


(2) 400 V class


( φ 5 groove)

R X S Y T Z

D or less

3-phase

380 V AC to

480 V AC

MCCB MC

FR-HAL-H

R X

Servo amplifier

3-phase

400 V class

L1

S Y

L2

T Z

L3

W1

W ± 0.5

150

125

Fig. 11.10

R X S Y T Z

D2

D1


( φ 6 groove)

D or less

W1

W ± 0.5

Note. Use this for grounding.

Fig. 11.11

D2

D1

R X S Y T Z


( φ 8 groove)

D or less

180

W1

W ± 0.5

Fig. 11.12

D2

D1

11 - 90


Servo amplifier


Dimensions

MR-J4-60A4(-RJ) FR-HAL-H1.5K

D

D1 D2 d

Terminal size

Mass

[kg]

135 120 115 59 59.6 45 M4 M3.5 1.5



MR-J4-500A4(-RJ) FR-HAL-H11K

Fig. 11.11

MR-J4-700A4(-RJ)

MR-J4-11KA4(-RJ)

FR-HAL-H15K

135 120 115 69 70.6 57 M4 M3.5 2.5

160 145 142 91 91 75 M4 M4 5.0

160 145 146 91 91 75 M4 M5 6.0

220 200 195 105 90 70 M5 M5 9.0

MR-J4-22KA4(-RJ) FR-HAL-H30K

Fig. 11.12

220 200 215 170 90 70 M5 M8 9.5

220 200 215 170 96 75 M5 M8 11

Note. Maximum dimensions. The dimension varies depending on the input/output lines.

11.13 Relays (recommended)

The following relays should be used with the interfaces

Digital input (interface DI-1)

Relay used for digital input command signals

Digital output (interface DO-1)

Relay used for digital output signals

To prevent defective contacts , use a relay for small signal (twin contacts).

(Ex.) Omron : type G2A , MY

Small relay with 12 V DC or 24 V DC of rated current 40 mA or less

(Ex.) Omron : type MY

11 - 91


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 devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.

Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral devices malfunctions due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques

Avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal.

Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)

(b) Reduction techniques for external noises that cause the servo amplifier to malfunction

If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.

Provide surge absorbers on the noise sources to suppress noises.

Attach data line filters to the signal cables.

Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings.

Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.

(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction

Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.

Noises produced by servo amplifier

Noises transmitted in the air Noise radiated directly from servo amplifier Route 1)

Noise radiated from the power supply cable Route 2)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Noise radiated from servo motor cable

Routes 4) and 5)

Route 6)

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Route 3)

Route 7)

Route 8)

11 - 92


5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor

power

supply

Sensor

8)

3)

Servo motor M

Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

Suppression techniques

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. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side or bundling them together.

4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.

5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.

When the power lines and the signal lines are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side or bundling them together.

4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.

When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required.

1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the servo amplifier.

2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.

If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit, leakage current may flow through, causing the equipment to malfunction. In this case, the malfunction may be prevented by the grounding wires disconnected from the equipment.

11 - 93


(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.

As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. These impedances are reference values and not guaranteed values.

Impedance [ Ω ]

10 MHz to 100 MHz

100 MHz to

500 MHz

80 150

39 ± 1

34 ± 1

Loop for fixing the cable band

[Unit: mm]

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo amplifier. Use the following surge killer or equivalent.

ON

OFF

MC

MC

Surge killer

SK

Relay

Surge killer

This distance should be short

(within 20 cm).

Rated voltage

AC [V]

C

[µF ± 20%]

R

[ Ω ± 30%]

50

(Ex.) CR-50500 Okaya Electric Industries)

Dimensions [Unit: mm]

Test voltage

Soldered

Band (clear)

15 ± 1

AWG 18 Twisted wire

Between terminals:

625 V AC, 50/60 Hz 60 s

Between terminal and case:

2000 V AC, 50/60 Hz 60 s

6 ± 1

300 min.

CR-50500

48 ± 1.5

6 ± 1

300 min.

16 ± 1

Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than 4 times the drive voltage of the relay or the like

Maximum current: Not less than twice the drive current of the relay or the like

+

φ 3.6

(18.5 + 5) max.

RA

Diode

-

11 - 94


(c) Cable clamp fitting AERSBAN-_SET

Generally, connecting the grounding of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the grounding plate as shown below.

Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the grounding plate with the cable clamp. If the cable is thin, clamp several cables in a bunch.

The clamp comes as a set with the grounding plate.

[Unit: mm]

Cable clamp

(A, B)

Cable

Earth plate

Strip the cable sheath of the clamped area.

cutter cable

Dimensions

External conductor

Clamp section diagram

2φ 5 hole installation hole

Earth plate

17.5

[Unit: mm] [Unit: mm]

Clamp section diagram

L or less 10

(Note) M4 screw

6

35

0 -0.

22

Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.

AERSBAN-DSET

AERSBAN-ESET

100

70

86

56

30 fittings Clamp L

Clamp A: 2 pcs.

Clamp B: 1 pc.

A

B

70

45

11 - 95


(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.

Connection diagram

The line noise filters can be mounted on lines of the main power supply (L1/L2/L3) and of the servo motor power (U/V/W). Pass each of the wires through the line noise filter an equal number of times in the same direction. For wires of the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the servo motor power lines, passes must be four times or less. Do not pass the grounding wire through the filter. Otherwise, the effect of the filter will drop.

Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in Example 2.

Place the line noise filters as close to the servo amplifier as possible for their best performance.


FR-BSF01 (for wire size 3.5 mm 2 (AWG 12) or less))

Approx. 110

95 ± 0.5

Approx. 65

33

2φ 5

Example 1

MCCB MC

Power supply

Line noise filter

Servo amplifier

L1

L2

L3

FR-BLF (for wire size 5.5 mm 2 (AWG 10) or more))

φ 7

(Number of passes: 4)

Example 2

MCCB MC

Power supply

Line noise filter

Servo amplifier

L1

L2

L3

130

85

Two filters are used

(Total number of passes: 4)

160

180

11 - 96


(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.

200 V class/100 V class: FR-BIF

400 V class: FR-BIF-H

Connection diagram

Make the connection cables as short as possible. Grounding is always required.

When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring.

MR-J4-350A(-RJ) or less/MR-J4-350A4(-RJ) or less/MR-J4-

40A1(-RJ) or less


Red White Blue Green

Leakage current: 4 mA

Power supply

MCCB MC

Terminal block Servo amplifier

L1

L2

L3

29

58 29

44

φ 5 hole

7

Radio noise filter

MR-J4-500A(-RJ) or less/MR-J4-500A4(-RJ) or less

Power supply

MCCB MC

Servo amplifier

L1

L2

L3

Radio noise filter

11 - 97


(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. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by

NIPPON CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.

Power supply voltage

200 V class/

100 V class

400 V class

Maximum rated

Varistor

Permissible circuit voltage

Surge current immunity

Energy immunity

AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J]

TND20V-431K 275 350

10000/1 time

TND20V-471K 300 385

7000/2 time

TND20V-102K 625 825

7500/1 time

6500/2 times

195

215

400

Rated pulse power

Maximum limit voltage

Static capacity

(reference

[A] [V] value)

Varistor voltage rating

(range)

V1 mA

[W]

1.0

710

1.0 100

1300

775 1200

100 1650

[pF]

560

[V]

430 (387 to 473)

470 (423 to 517)

1000 (900 to 1100)

D T

Model

TND20V-431K

D

Max.

H

Max.

T

Max.

E

± 1.0

L

Min.

(Note)

6.4 3.3

φ d

± 0.05 or less

[Unit: mm]

W

1.0 or less

W

φ d

E

Note. For special purpose items for lead length (L), contact the manufacturer.

11 - 98


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.

Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.

To minimize leakage currents, make the input and output wires as short as possible, and keep a distance of 30 cm or longer between the wires and ground.

Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA]………(11.1)

NV

Cable

Noise filter

Servo amplifier

Cable

M

Earth-leakage current breaker

Type

Mitsubishi

Electric products

K

Ig1 Ign Iga Ig2 Igm

Models provided with harmonic and surge reduction techniques

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

1

General models

BV-C1

NFB

NV-L

3

Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 11.13.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 11.13.)

Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H))

Iga: Leakage current of the servo amplifier (Found from table 11.5.)

Igm: Leakage current of the servo motor (Found from table 11.4.)

120

100

80

60

40

20

0

120

100

80

60

40

20

0

2 5.5 14

3.5 8 22

30

38100

60150

80

Cable size [mm 2 ]

2

3.5

5.5

8

14

22

38

30

60

100

80

150

200 V class/100 V class (Note) 400 V class

Note. "Ig1" of 100 V class servo amplifiers will be 1/2 of 200 V class servo amplifiers.

Fig. 11.13 Leakage current example (lg1, lg2) for CV cable run in metal conduit

11 - 99


Table 11.4 Servo motor leakage current example (lgm)

Servo motor power [kW]

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

Leakage current [mA]

0.1

0.2

0.3

0.5

0.7

1.0

1.3

2.3

Table 11.5 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]

0.1 to 0.6

0.75 to 3.5

0.1

0.15

5/7 2

11/15 5.5

22 7

Table 11.6 Earth-leakage current breaker selection example

Servo amplifier

Rated sensitivity current of earthleakage current breaker [mA]

MR-J4-10A(-RJ) to

MR-J4-350A(-RJ)

MR-J4-60A4(-RJ) to

MR-J4-350A4(-RJ)

MR-J4-10A1(-RJ) to

MR-J4-40A1(-RJ)

MR-J4-500A(-RJ)

MR-J4-500A4(-RJ)

MR-J4-700A(-RJ)

MR-J4-700A4(-RJ)

MR-J4-11KA(-RJ) to

MR-J4-22KA(-RJ)

MR-J4-11KA4(-RJ) to

MR-J4-22KA4(-RJ)

15

30

50

100

11 - 100


(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.

2 mm 2 × 5 m 2 mm 2 × 5 m

NV

Servo amplifier

MR-J4-40A

M

Servo motor

HG-KR43

Ig1 Iga Ig2 Igm

Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.

Ig1 = 20 •

5

1000

= 0.1 [mA]

Ig2 = 20 •

5

1000

= 0.1 [mA]

Ign = 0 (not used)

Iga = 0.1 [mA]

Igm = 0.1 [mA]

Insert these values in equation (11.1).

Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0 [mA] or more.

An earth-leakage current breaker having Ig of 15 [mA] is used with the NV-SP/SW/CP/CW/HW series.

11 - 101


11.16 EMC filter (recommended)

POINT

For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines".

It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current.

(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)

Servo amplifier Mass [kg]

Model Rated current [A]

Rated voltage

[VAC]

Leakage current

[mA]

MR-J4-10A(-RJ) to

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

MR-J4-350A(-RJ)

MR-J4-500A(-RJ)

MR-J4-700A(-RJ)

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

MR-J4-22KA(-RJ)

MR-J4-60A4(-RJ)

MR-J4-100A4(-RJ)

MR-J4-200A4(-RJ) to

MR-J4-700A4(-RJ)

HF3010A-UN

(Note)

HF3010A-UN

(Note)

HF3040A-UN

(Note)

HF3100A-UN

(Note)

TF3005C-TX 5

TF3020C-TX 20

MR-J4-11KA4(-RJ) TF3030C-TX



MR-J4-10A1(-RJ) to

MR-J4-40A1(-RJ)

HF3010A-UN

(Note)

10

250

3.5

30 5.5

40 6

100 12

30

40

60

5

6.5

500 5.5

6

7.5

12.5

10 250 5 3.5

Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.

Servo amplifier

Model

Recommended filter (COSEL)

Rated current [A]

Rated voltage

[VAC]

Leakage current

[mA]

Mass [kg]

MR-J4-11KA(-RJ) to

MR-J4-22KA(-RJ)

MR-J4-22KA4(-RJ)

FTB-100-355-L

(Note)

FTB-80-355-L

(Note)

100 500 40 5.3

Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.

11 - 102



EMC filter

(Note 1)

Power supply

MCCB

1

2

3 6

E

4

5

1 2 3 (Note 2)

Surge protector

Note 1. Refer to section 1.3 for the power supply specifications.

2. The example is when a surge protector is connected.

MC

Servo amplifier

L1

L2

L3

L11

L21

(3) Dimensions

(a) EMC filter

HF3010A-UN

3-M4 4-5.5 × 7 3-M4 M4

[Unit: mm]

IN

258 ± 4

273 ± 2

288 ± 4

300 ± 5

65 ± 4

Approx. 41

11 - 103


HF3030A-UN/HF-3040A-UN

6-R3.25 length: 8

3-M5 3-M5

HF3100A-UN

85 ± 1

210 ± 2

260 ± 5

85 ± 1

M8

2-6.5 × 8

[Unit: mm]

M4

2φ 6.5

M8

70 ± 2

140 ± 2

[Unit: mm]

380 ± 1

400 ± 5

M6

11 - 104


TF3005C-TX/TX3020C-TX/TF3030C-TX

3-M4 6-R3.25 length 8 M4 M4 3-M4

IN

100 ± 1

290 ± 2

308 ± 5

332 ± 5

100 ± 1

M4

[Unit: mm]

Approx. 67.5

± 3

150 ± 2

Approx. 160

170 ± 5

11 - 105


TF3040C-TX/TF3060C-TX

8-R3.25 Length 8 (for M6)

3-M6 M4 M4 3-M6

IN

100 ± 1 100 ± 1

390 ± 2

412 ± 5

438 ± 5

100 ± 1

M6

[Unit: mm]

Approx.

91.5

180 ± 2

Approx. 190

200 ± 5

11 - 106


FTB-100-355-L/FTB-80-355-L

3-M8 (option-S: hexagon socket head cap screw)

Input

350

309

Model plate

M6 (option-S: hexagon socket head cap screw)


Terminal block cover Terminal block cover

[Unit: mm]

3-M8 (option-S: hexagon socket head cap screw)

Output

M6 (option-S: hexagon socket head cap screw)


(Note)

2φ 6.5

Mounting hole

Mounting plate

Mounting hole

Note. No heat radiation holes on the opposite face.

335 ± 0.5

11 - 107


(b) Surge protector

RSPD-250-U4/RSPD-500-U4

φ 4.2 ± 0.5

Resin

[Unit: mm]

1 2 3

Lead

Case

1 2 3

41 ± 1

11 - 108


11.17 External dynamic brake

CAUTION

Use an external dynamic brake for a servo amplifier of MR-J4-11KA(-RJ) to MR-

J4-22KA(-RJ) and MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ). Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.

Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.

The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26],

[Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

POINT


Configure up a sequence which switches off the magnetic contactor of the external dynamic brake after (or as soon as) SON (Servo-on) has been turned off at a power failure or a malfunction.

For the braking time taken when the external dynamic brake is operated, refer to section 10.3.

The external dynamic brake is rated for a short duration. Do not use it very frequently.

When using the 400 V class external dynamic brake, the power supply voltage is restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz).

External dynamic brake operates at occurrence of alarm, [AL. E6 Servo forced stop warning], and when power is turned off. Do not use external 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 external dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.



(1) Selection of external dynamic brake

The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7 kW or less servo amplifier. Since it is not built in the

11 kW or more servo amplifier, purchase it separately. Assign DB (Dynamic brake interlock) to any of

CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 pins in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr.

PD47].

Servo amplifier External dynamic brake



Voltage

AC [V]

Fuse (Class T)

Current [A]

Voltage

AC [V]

Fuse (Class K5)

Current [A]

Voltage

AC [V]

MR-J4-11KA(-RJ) DBU-11K

MR-J4-15KA(-RJ) DBU-15K 30 A frame 5 A

MR-J4-22KA(-RJ) DBU-22K-R1

MR-J4-11KA4(-RJ) DBU-11K-4

MR-J4-15KA4(-RJ)

MR-J4-22KA4(-RJ)

DBU-22K-4

30 A frame 5 A

240

480

1

1

300

600

1

1

250

600

11 - 109



(a) 200 V class

ALM

RA1

Operation ready

OFF ON

MC

Servo amplifier

MC U

V

W

MCCB


SK

(Note 3)

MC

(Note 2)

Power supply

(Note 8)

(Note 8)

(Note 6)

L1

L2

L3

L11

L21

P3

P4

CN1

46

DOCOM

24 V DC (Note 5)

47

DOCOM

48 ALM

(Note 1,

7)

DB

RA1

RA2

SON

CN1

15

EM2 42

(Note 4)


DICOM

20

24 V DC

(Note 5)

DICOM

21

U

V

W

E

Servo motor

M

14 13 U V W

RA2

Dynamic brake interlock a b


Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].

2. Refer to section 1.3 for the power supply specifications.


4. Turn off EM2 when the main power circuit power supply is off.




8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 11.10 and (1) in this section.)

11 - 110


(b) 400 V class

ALM

RA1

Operation ready

OFF ON

MC

Servo amplifier

(Note 2)

Power supply


(Note 7) Step-down

MCCB transformer

(Note 10)

(Note 10)

MC

SK

(Note 3)

MC

(Note 6)

L1

L2

L3

L11

L21

P3

P4

U

V

W

CN1

46

DOCOM

24 V DC (Note 5)

47

DOCOM

48 ALM

(Note 1,

9)

DB

RA1

RA2

SON

CN1

15

EM2 42

(Note 4)


24 V DC

(Note 5)

DICOM

DICOM

20

21

U

V

W

E

Servo motor

M

14 13 U V W

RA2


(Note 8) a b


11 - 111


Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].



4. Turn off EM2 when the main power circuit power supply is off.




8. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-11K-4 and DBU-22K-4 is restricted as follows. When using these external dynamic brakes, use them within the range of the power supply.

External dynamic brake Power supply voltage

DBU-11K-4

DBU-22K-4

1-phase 380 V AC to 463 V AC, 50

Hz/60 Hz


10. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 11.10 and (1) in this section.)

11 - 112


(3) Timing chart

Coasting

Servo motor speed

Dynamic brake

Coasting

Dynamic brake

Alarm

Base circuit

Present

Absent

ON

OFF

DB (Dynamic brake interlock)

Dynamic brake

ON

OFF

Disabled

Enabled


Short

Open a. Timing chart at alarm occurrence b. Timing chart at emergency stop switch enabled

Coasting

Dynamic brake

Electro magnetic brake interlock

Servo motor speed

Base circuit

MBR


ALM (Malfunction)

Main circuit

Control circuit

(Note 1) 7 ms

ON

OFF

10 ms

ON

OFF (Valid)

(Note 2) 15 ms to 60 ms

ON

OFF

Power

ON

OFF

DB (Dynamic brake interlock)

Dynamic brake

ON

OFF

Disabled

Enabled

Electro magnetic brake operation delay time

Note 1. When powering off, DB (Dynamic brake interlock) will be turned off, and the base circuit is turned off earlier than usual before an output shortage occurs.

(Only when assigning the DB as the output signal)

2. Variable according to the operation status. c. Timing chart when both of the main and control circuit power are off

11 - 113


(4) Dimensions

(a) DBU-11K/DBU-15K/DBU-22K-R1

5

[Unit: mm]

D 100

C

5

D

G

F

2.3

Terminal block a b 13 14

Screw: M3.5


U V W

Screw: M4


External dynamic brake A B C

DBU-11K 200 190 140

DBU-15K/DBU-22K-R1 250 238 150

D

20

25

E

5

6

F

170

235

G

163.5

228




Mass

[kg]

2

6

(Note) Connection wire [mm 2 ]

5.5 (AWG 10) 2 (AWG 14)

5.5 (AWG 10) 2 (AWG 14)

11 - 114


(b) DBU-11K-4/DBU-22K-4

2φ 7 mounting hole

[Unit: mm]

25

51 73.75

7

150 25

200

15

170

15

195

210

2.3

15

Mass: 6.7 [kg]

Terminal block

TE1 a b 13 14

Screw: M3.5


TE2

U V W

Screw: M4



(Note) Connection wire [mm 2 ]

DBU-11K-4

DBU-22K-4

5.5 (AWG 10) 2 (AWG 14)

5.5 (AWG 10) 2 (AWG 14)




11 - 115


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. In addition, designing a compact cabinet is allowed.

In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet.

Please prepare screws for mounting. They do not come with.

The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment.

The panel through attachments are used for MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ) and MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ).

The following shows the combinations.

Servo amplifier Panel through attachment

MR-J4-11KA(-RJ)

MR-J4-15KA(-RJ)

MR-J4ACN15K

MR-J4-22KA(-RJ) MR-J3ACN

MR-J4-11KA4(-RJ)

MR-J4-15KA4(-RJ)

MR-J4ACN15K

MR-J4-22KA4(-RJ) MR-J3ACN

(1) MR-J4ACN15K

(a) Panel cut dimensions

[Unit: mm]

163

4-M10 Screw

Punched hole

196

218

(b) How to assemble the attachment for panel through attachments

Screw

(2 places)

Attachment

11 - 116


(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 - 117


(d) Mounting dimensional diagram

Servo amplifier

Attachment

196

240

Mounting hole

[Unit: mm]

20.6

Servo amplifier

Panel

3.2

155 108.3

Approx. 263.3

Panel

(2) MR-J3ACN

(a) Panel cut dimensions

203

[Unit: mm]

4-M10 Screw

Punched hole

236

255

270

11 - 118


(b) How to assemble the attachment for panel through attachment

Screw

(2 places)

Attachment

(c) Mounting method

Attachment

Fit using the assembling screws.

Servo amplifier

Attachment a. Assembling the panel through attachment

Servo amplifier b. Mounting it to inside cabinet

Punched hole

Cabinet

11 - 119


(d) Mounting dimensional diagram

20

Panel

[Unit: mm]

Servo amplifier Attachment Servo amplifier

236

280

Approx. 260

Mounting hole

155

3.2

105

Approx. 260

Panel

Approx. 11.5

11 - 120

12. ABSOLUTE POSITION DETECTION SYSTEM


CAUTION

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.

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. Use the MR-BAT6V1 battery with case to prevent getting burnt.

POINT

Refer to section 11.8 for the replacement procedure of the battery.

There are four types of batteries, MR-BAT6V1SET, MR-BAT6V1BJ, MR-

BAT6V1SET-A and MR-BT6VCASE available to construct the absolute position detection system. MR-BAT6V1BJ has the following advantages compared to other batteries.

You can disconnect the encoder cable from the servo amplifier.

You can replace the battery with the control circuit power supply off.

When absolute position data is erased from the encoder, always execute home position setting before operation. The absolute position data of the encoder will be erased in the followings. Additionally, when the battery is used out of specification, the absolute position data can be erased.

MR-BAT6V1SET , MR-BAT6V1SET-A and MR-BT6VCASE

The encoder cable was disconnected.

The battery was replaced when the control circuit power supply was off.

MR-BAT6V1BJ

A connector or cable was disconnected between the servo motor and battery.

The battery was replaced with procedures other than those of (6) in section

11.8.3.

If the following parameters are changed, the home position will be erased at the next power-on. Execute the home position return again after power-on.

[Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)]

[Pr. PA07 Electronic gear denominator (command pulse multiplication denominator)]

[Pr. PA14 Rotation direction selection/travel direction selection]

[Pr. PT08 Home position return position data]

[Pr. PT28 Number of stations per rotation]

12.1 Summary

12.1.1 Features

For normal operation, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the programmable controller power is on or off. Therefore, once home position return is made at the time of machine installation, home position return is not needed when power is switched on thereafter.

Even at a power failure or a malfunction, the system can be easily restored.

12 - 1


12.1.2 Restrictions

The system cannot be configured under the following conditions. Additionally, test operation cannot be performed in the absolute position detection system. To perform test operation, select incremental system in

[Pr. PA03].

(1) Speed control mode and torque control mode

(2) Control switch-over mode (position/speed, speed/torque, and torque/position)

(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning

(4) Changing electronic gear after home position setting.

(5) Using alarm code output.

(6) Using incremental value command method ([Pr. PT01] = "_ _ _ 1").

To configure absolute position detection system in incremental value command method, specify the incremental value command with the sub function of the point table or the command in the program. For details, refer to 4.2.2 and 5.2.2 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual (Positioning

Mode)".

12.1.3 Structure

The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each battery connection.

Positioning module I/O module

RD75P4, RD75D4

QD75P_N, QD75D_N

LD75P4, LD75D4

RX40C7, RX41C4, RX42C4

RY40NT5P, RY41NT2P, RY42NT2P

RY40PT5P, RY41PT1P, RY42PT1P

QX40, QX41, QX42

QY40, QY41P, QY42P, QY50

LX40C6, LX41C4, LX42C4

LY40NT5P, LY41NT1P, LY42NT1P

LY40PT5P, LY41PT1P, LY42PT1P

FX

2N

-_GM, FX

2N

-_PG FX

2N

series, FX

0N

series

Programmable controller Servo amplifier

RD75D_ etc.

CN1 CN2

I/O

CN4

Battery Servo motor

12 - 2



POINT

Set "_ _ _ 2" in [Pr. PA03] when using the absolute position detection system by communication. This parameter setting is supported by servo amplifier with software version A3 or later.

Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. Set "_ _ _ 2" when using the

ABS transfer system by communication. Refer to section 12.8 for the ABS transfer system by communication.

[Pr. PA03]

1

Absolute position detection system selection

0: Disabled (incremental system)

1: Enabled (absolute position detection system by DIO)

2: Enabled (absolute position detection system by communication-based)

(available for the software version A3 or later)

12.1.5 Confirmation of absolute position detection data

You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display" to open the absolute position data display screen.

12 - 3


12.2 Battery

12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery


General purpose programmable controller

CPU Positioning module

Current position

I/O module

Pulse train command Home position data

EEP-ROM memory

LSO

1XO

Backed up in the case of power failure

Input

Output

Step-down circuit

(6 V → 3.4 V)

MR-BAT6V1SET

Battery

Servo motor

Cumulative revolution counter

(1 pulse/rev)

Servo amplifier

Current position

LS

Detecting the number of revolutions

1X

Detecting the position within one revolution

High-speed serial communication

Counter within one revolution

(2) Specifications

(a) Specification list

Item Description

System

Maximum revolution range

(Note 1)

Maximum speed at power failure [r/min]

Rotary servo motor

Direct drive motor

Electronic battery backup type

Home position ± 32767 rev.

6000

(only when acceleration time until 6000 r/min is 0.2 s or more)

500


Rotary servo motor

Approximately 20,000 hours

(equipment power supply: off, ambient temperature: 20 °C)


(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3) (Note 2)

Battery backup time Approximately 5,000 hours


Direct drive motor


(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.

2. The data-holding time by the battery using MR-BAT6V1SET or MR-BAT6V1SET-A. Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification,

[AL. 25 Absolute position erased] may occur.

3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.

12 - 4


12.2.2 Using MR-BAT6V1BJ battery for junction battery cable

POINT

MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors.

MR-BAT6V1BJ cannot be used for fully closed loop system.


CPU


Positioning module

Current position

I/O module

Input


EEP-ROM memory

LSO

1XO


Servo amplifier

Current position

Output

Step-down circuit

(6 V → 3.4 V)

LS


1X


Primary lithium battery

Servo motor

Step-down circuit

MR-BAT6V1BJ

Battery


(1 pulse/rev)



(2) Specifications

(a) Specification list

Item Description

System Electronic battery backup type


(Note 1)


Rotary servo motor


6000


(Note 2)



Rotary servo motor

Battery backup time Approximately 29,000 hours



2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.


12 - 5


12.2.3 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.


CPU


Positioning module

Current position

I/O module

Input


EEP-ROM memory

LSO

1XO


Servo amplifier

Current position

Output

Step-down circuit

( 6 V → 3.4 V )

LS


1X


MR-BT6VCASE

Servo motor

MR-BAT6V1 × 5


(1 pulse/rev)



(2) Specification list

Item Description

System


(Note 1)


Rotary servo motor

Direct drive motor

Electronic battery backup type


6000


500


Rotary servo motor

Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or

10,000 hours/8 axes


Approximately 55,000 hours/2 axes or less, 38,000 hours/

3 axes, or 15,000 hours/8 axes

(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 4) (Note 2)

Battery backup time Approximately 10,000 hours/2 axes or less, 7,000 hours/



Direct drive motor

Approximately 15,000 hours/2 axes or less, 13,000 hours/




2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes

(including axis for using in the incremental system). Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.


12 - 6


12.3 Standard connection example

(Note) Stroke end in forward rotation

Stroke end in reverse rotation


Electromagnetic brake output

RA2

Output

Reset

Input

Servo amplifier

24 V DC

Reset

Forced stop 2

Servo-on

ABS transmission mode

ABS request




EM2

SON

ABSM

ABSR

ABSB0

ABSB1

ABST

DICOM

DOCOM

LSP

LSN

TL

RES

DOCOM

CN1

20

46

43

44

18

19

46

42

15

17

18

22

23

25

I/O unit

Proximity dog signal

Stop signal

Power supply (24 V)

Ready

Zero-point signal

Clear

Dog

Stop

Command pulses

(for differential line driver type)

Upper limit setting

Analog torque limit

+ 10 V/max. torque

DOCOM

DICOM

RD

P15R

OP

CR

DOCOM

47

21

49

1

33

41

47

PP

PG

NP

NG

P15R

TLA

LG

SD

1

27

28

Plate

10

11

35

36

Note. For operation, always turn on LSP and LSN.

12 - 7


12.4 Signal explanation

When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in section 3.5.

For the I/O interfaces (symbols in the I/O Category column in the table), refer to section 3.8.2.

CN1

I/O

Signal name Code connector Function/Application category pin No.

Control mode

ABS transfer mode

ABS request




ABSM

ABSR

(Note)

17

(Note)

18

While ABSM is on, the servo amplifier is in the

ABS transfer mode, and the functions of CN1-22,

CN1-23, and CN1-25 are as indicated in this table.

Turn on ABSR to request the absolute position data in the ABS transfer mode.

Indicates the lower bit of the absolute position

ABSB0 22 data (2 bits) which is sent from the servo to the programmable controller in the ABS transfer mode. If there is a signal, D01 turns on.

Indicates the upper bit of the absolute position

ABSB1 23 data (2 bits) which is sent from the servo to the programmable controller in the ABS transfer mode.

Indicates that the data to be sent is being

DI-1

DI-1

DO-1

DO-1

P

(Position control)

DO-1

Home position setting CR 41 completion of the ready state, ABST turns on.

When CR is turned on, the position control counter is cleared and the home position data is stored into the non-volatile memory (backup memory).

DI-1

Note. When "Used in absolute position detection system" is selected in [Pr. PA03], pin 17 acts as ABSM and pin 18 as

ABSR. They do not return to the original signals if data transfer ends.

12 - 8


12.5 Startup procedure

(1) Battery installation.



Set "_ _ _ 1" in [Pr. PA03] of the servo amplifier and switch power off, then on.

(3) Resetting of [AL. 25 Absolute position erased]

After connecting the encoder cable, [AL. 25] occurs at first power-on. Turn off the power, then on to reset the alarm.

(4) Confirmation of absolute position data transfer

When SON is turned on, the absolute position data is transferred to the programmable controller.

Transferring the proper absolute position data will trigger the followings.

(a) RD (Ready) turns on.

(b) The absolute position data ready contact of programmable controller turns on.

(c) The MR Configurator2 ABS data display window (refer to section 12.1.5) and programmable controller side ABS data registers show the same value (at the home position address of 0).

If any warning such as [AL. E5 ABS time-out warning] or programmable controller side transfer error occurs, refer to section 12.7 or chapter 8 and take corrective action.

(5) Home position setting

The home position must be set if.

(a) System set-up is performed;

(b) The servo amplifier has been changed;

(c) The servo motor has been changed; or

(d) [AL. 25 Absolute position erased] occurred.

In the absolute position detection system, the absolute position coordinates are made up by making home position setting at the time of system set-up. The motor shaft may operate unexpectedly if positioning operation is performed without home position setting.

Always make home position setting before starting.

For the home position setting method and types, refer to section 12.6.3.

12 - 9


12.6 Absolute position data transfer protocol

POINT

After switching on ABSM, turn on SON. When the ABS transfer mode is off, turning on SON does not switch on the base circuit.

12.6.1 Data transfer procedure

Each time SON is turned on (when the power is switched on for example), the programmable controller reads the position data (present position) of the servo amplifier.

Time-out monitoring is performed by the programmable controller.

Servo amplifier Programmable controller

ON (Servo-on) on

ABSM on

DI0 allocation change

ABST on

Every time the SON is turned

ON, ABSM is turned ON to set the data to be transmitted.

ABSR on

Transmission data set

ABST off

Watch dog timer

Reading 2 bits

Shift and addition

«Current position data»

The data is read in units of

2 bits; the read data is written to the lowest bits, and the register is shifted right until

32-bit data is configured.

16 times

ABSR off

ABST on

ABSR on

Transmission data set

ABST off

Watch dog timer

Reading 2 bits

Shift and addition

«Sum check data»

The data is read in units of

2 bits; the read data is written to the lowest bits, and the register is shifted right until

6-bit data is configured.

3 times

ABSR off

ABST on

DI0 allocation change

ABSM off

ABST off

Setting the current position

Sum check

A sum check is executed for the received 32-bit data.

After making sure that there are no errors in the data, the current position is set.

12 - 10


12.6.2 Transfer method

The following shows a sequence how to turn on the base circuit while it is off state because SON is off, EM2 is off, or an alarm is occurring. In the absolute position detection system, every time SON is turned on,

ABSM should always be turned on to read the current position in the servo amplifier to the controller. The servo amplifier transmits to the controller the current position latched when ABSM switches from off to on. At the same time, this data is set as a position command value inside the servo amplifier. Unless ABSM (ABS transfer mode) is turned on, the base circuit cannot be turned on.

(1) At power-on

(a) Timing chart

ON

Power supply

OFF

If SON is turned ON before ABSM is input

SON

ON

OFF

4)

ABSM

ON

OFF

2), 3)

During transfer of ABS During transfer of ABS

(Note) (Note)

ABSR

ON

OFF

(Note) (Note)

ABST

ON

OFF

ABSB0

ABSB1

(Note)

Absolute position data

95 ms

(Note)


95 ms

Base circuit

ON

OFF

RD

ON

OFF

1)

Operation enabled

Operation enabled

Note. For details, refer to (1) (b) in this section.

12 - 11


1) After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSMon is not received.

2) Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM is turned on.

If an alarm has occurred, ABSM is not received. ABSM allows data transmission even while a warning is occurring.

3) If ABSM is turned off during the ABS transfer mode, the ABS transfer mode is interrupted and

[AL. E5 ABS time-out warning] occurs.

If SON is turned off, RES is turned on, and EM2 is turned off during the ABS transfer mode, [AL.

E5 ABS time-out warning] occurs.

4) Note that if ABSM is turned on for a purpose other than absolute position data transmission, the output signals will be assigned the functions of absolute position data transmission.

CN1 Pin No.

22

23

25

Output signal

ABSM (ABS transfer mode): off ABSM (ABS transfer mode): on

Positioning completion


During torque limit control transmission data bit 03 transmission data bit 1 transmission data ready

5) ABSM is not accepted while the base circuit is on. For re-transferring, turn off SON signal and keep the base circuit in the off state for 20 ms or longer.

(b) Detailed description of absolute position data transfer

ON Servo-on in programmable controller OFF

SON

ABSM

ON

OFF

ON

OFF

1)

(Note)

During transfer of ABS

7)

3) 5)

ABSR

ON

OFF

2) 4) 6)

ABST

ON

OFF

ABSB0

ABSB1

Lower

2 bits

Checksum

Upper 2 bits

Note. If SON does not turn on within 1 s after ABSM off, [AL. EA ABS servo-on warning] will occur. But it will not influence the transfer. SON on will cancel [AL. EA] automatically.

12 - 12


1) The programmable controller turns on ABSM and SON at the leading edge of the internal servoon.

2) In response to ABS transfer mode, the servo detects and calculates the absolute position and turns on ABST to notify the programmable controller that the servo is ready for data transmission.

3) After acknowledging that ABST is turned on, the programmable controller will turn on ABSR.

4) In response to ABSR, the servo outputs the lower 2 bits of the absolute position data and ABST in the off state.

5) After acknowledging that ABST has been turned off, which implies that 2 bits of the absolute position data have been transmitted, the programmable controller reads the lower 2 bits of the absolute position data and then turns off ABSR.

6) The servo turns on ABST so that it can respond to the next request. Steps 3) to 6) are repeated until 32-bit data and the 6-bit checksum have been transmitted.

7) After receiving of the checksum, the programmable controller confirms that the 19th ABST is turned on, and then turns off ABSM. If ABSM is turned off during data transmission, ABSM is interrupted and the [AL. E5 ABS time-out warning] occurs.

(c) Checksum he checksum is the code which is used by the programmable controller to check for errors in the received absolute position data. The 6-bit checksum is transmitted following the 32-bit absolute position data.

At the programmable controller, calculate the sum of the received absolute position data using the ladder program and compare it with the checksum code sent from the servo.

The method of calculating the checksum is shown. Every time the programmable controller receives

2 bits of absolute position data, it adds the data to obtain the sum of the received data. The checksum is 6-bit data.

Example: absolute position data: -10 (FFFFFFF6H)

+

11 b

11 b

11 b

11 b

101101 b

11 b

11 b

11 b

11 b

10 b

01 b

11 b

11 b

11 b

11 b

11 b

11 b

«Appendix»

Decimal

Hexadecimal

- 10

FFFF FFF6

Binary 1111 1111 1111 0110

When the binary data of each 2 bits of the absolute position data is added up, "10 1101 b " is obtained.

Therefore, the checksum of "-10" (absolute position data) is "2DH"

12 - 13


(2) Transmission error

(a) [AL. E5 ABS time-out warning]

In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. E5] when a time-out error occurs.

[AL. E5 ABS time-out warning] is cleared when ABSM changes from off to on.

1) ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units checksum)

If the ABS request signal is not turned on by the programmable controller within 5 s after ABST is turned on, this is regarded as a transmission error and [AL. E5 ABS time-out warning] is output.

ON

ABSM

OFF

5 s

ABSR

ON

OFF

Signal is not turned ON

ABST

ON

OFF

[AL. E5]

Yes

No

2) ABS request on-time time-out check (applied to 32-bit absolute position data in 2-bit units checksum)

If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off, this is regarded as the transmission error and [AL. E5 ABS time-out warning] is output.

ON

ABSM

OFF

5 s

ABSR

ON

OFF

Signal is not turned OFF

ABST

ON

OFF

[AL. E5]

Yes

No

12 - 14


3) ABS transfer mode finish-time time-out check

If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for absolute position data transmission) is turned on, it is regarded as the transmission error and the

[AL. E5 ABS time-out warning] is output.

5 s

ABSM

ON

OFF

1 2 3

Signal is not turned OFF

4 18 19

ABSR

ON

OFF

ABST

ON

OFF

1 2 3 4 18 19

[AL. E5]

Yes

No

4) ABSM-off check during the ABS transfer

When the ABSM is turned on to start transferring and then the ABS transfer mode is turned off before the 19th ABS transmission data ready is turned on, [AL. E5 ABS time-out warning] occurs, regarding it as a transfer error.

ON

ABSM

OFF

1 2 3 4 18 19

ABSR

ON

OFF

1 2 3 4 18 19

ABST

ON

OFF

[AL. E5]

Yes

No

12 - 15


5) SON off, RES on, and EM2 off check during the ABS transfer

When the ABS transfer mode is turned on to start transferring and then SON is turned off, RES is turned on, or EM2 is turned on before the 19th ABST is turned on, [AL. E5 ABS time-out warning] occurs, regarding it as a transfer error.

ON

SON

OFF

ABSM

ABSR

ABST

ON

OFF

ON

OFF

ON

OFF

1

1

2

2

3 4

3 4

18

18

19

19

[AL. E5]

Yes

No

(b) Checksum error

If the checksum error occurs, the programmable controller should retry transmission of the absolute position data.

Using the ladder check program of the programmable controller, turn off ABSM. After a lapse of 10 ms or longer, turn off SON (off time should be longer than 20 ms) and then turn it on again.

If the absolute position data transmission fails even after retry, process the ABS checksum error.

The start command should be interlocked with ABST to disable positioning operation when an checksum error occurs.

The following shows an example of three retries.

20 ms or longer

20 ms or longer

20 ms or longer

SON

ON

OFF

10 ms or longer

Retry 1

10 ms or longer

Retry 2

10 ms or longer

Retry 3

10 ms or longer

ABSM

ON

OFF

ABSR

ON

OFF

ABST

ON

OFF

Yes

ABS checksum error

No

12 - 16


(3) At the time of alarm reset

If an alarm occurs, turn off SON by detecting ALM. If an alarm has occurred, ABSM cannot be accepted.

In the reset state, ABSM can be input.

ON

SON

OFF

RES

ABSM

ABSR

ABST

ON

OFF

ON

OFF

ON

OFF

ON

OFF


ABSB0

ABSB1


95 ms

Base circuit

ALM

RD

ON

OFF

ON

OFF

ON

OFF

Occurrence of alarm

Operation enabled

12 - 17


(4) At the time of forced stop reset

(a) If the power is switched on in the forced stop state he forced stop state can be reset while the absolute position data is being transferred. If the forced stop state is reset while the absolute position data is transmitted, the base circuit is turned on 95 ms after resetting. If ABSM is off when the base circuit is turned on, RD is turned on 5 ms after the turning on of the base circuit. If ABSM is on when the base circuit is turned on, it is turned off and then RES is turned on. The absolute position data can be transmitted after the forced stop state is reset.

The current position in the servo amplifier is updated even during an forced stop. When SON or

ABSM are turned on during an forced stop as shown below, the servo amplifier transmits to the controller the current position latched when ABSM switches from off to on, and at the same time, the servo amplifier sets this data as a position command value. However, since the base circuit is off during a forced stop, the servo-lock status is not encountered. Therefore, if the servo motor is rotated by external force or the like after ABSM is turned on, this travel distance is accumulated in the servo amplifier as droop pulses. If the forced stop is cleared in this status, the base circuit turns on and the motor returns to the original position rapidly to compensate for the droop pulses. To avoid this status, reread the absolute position data before clearing the forced stop.

ON

Power supply

OFF

SON

ON

OFF

Reset

EM2

ON

OFF

ABSM

ABSR

ABST

ON

OFF

ON

OFF

ON

OFF


ABSB0

ABSB1


95 ms

Base circuit

RD

ON

OFF

ON

OFF

5 ms

Operation enabled

12 - 18


(b) If forced stop is activated during servo-on

ABSM is permissible while in the forced stop state. In this case, the base circuit and RD are turned on after the forced stop state is reset.

ON

SON

OFF

EM2

ON

OFF

ABSM

ABSR

ABST

ON

OFF

ON

OFF

ON

OFF


ABSB0

ABSB1


95 ms

Base circuit

RD

ON

OFF

ON

OFF

Operation enabled

12 - 19


12.6.3 Home position setting

(1) Dog type home position return

Preset a home position return creep speed at which the machine will not be given impact.

On detection of a zero pulse, CR is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position absolute position data.

CR should be turned on after it has been confirmed that INP is on. If this condition is not satisfied, [AL.

96 Home position setting warning] will occur, but that warning will be reset automatically by making home position return correctly.

The number of home position setting times is limited to 1,000,000 times.

Servo motor

Proximity dog

DOG (Proximity dog)

INP (In-position)

CR (Home position setting)

ON

OFF

ON

OFF

ON

OFF

ABSB0 (ABS transmission data bit 0)


ABSV

(Absolute position undetermined)

ON

OFF


ON

OFF

20 ms or longer 20 ms or longer

Update

12 - 20


(2) Data set type home position return

POINT

Never make home position setting during command operation or servo motor rotation. It may cause home position sift.

It is possible to execute data set type home position return during the servo off.

Move the machine to the position where the home position is to be set by performing manual operation such as JOG operation. When CR is on for longer than 20 ms, the stop position is stored into the nonvolatile memory as the home position absolute position data.

When the servo on, set CR to on after confirming that INP is on. If this condition is not satisfied, [AL. 96

Home position setting warning] will occur, but that warning will be reset automatically by making home position return correctly.

The number of home position setting times is limited to 100,000 times.

Manual feed (JOG, etc.)

Servo motor

INP (In-position)

CR (Home position setting)



ABSV

(Absolute position undetermined)

ON

OFF


ON

OFF

ON

OFF

ON

OFF

20 ms or longer

Update

12 - 21


12.6.4 Use of servo motor with an electromagnetic brake

The timing charts at power on/off and SON on/off are given below.

Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When MBR is set for the CN1-23 pin, turning ABSM on will change the CN1-23 pin to ABSB1 (ABS transmission data bit

1). Therefore, configure an external sequence to generate the electromagnetic brake torque as soon as

ABSM and MBR turn off.

ON

Power supply

OFF

SON

ABSM

ABSR

ABST

ON

OFF

ON

OFF

ON

OFF

ON

OFF

During transmission of ABS

During transmission of ABS

ABSB0

ABSB1


95 ms


95 ms

Base circuit

ON

OFF

RD

MBR

ON

OFF

ON

OFF

Electromagnetic brake torque

ON

OFF

5 ms

Tb

5 ms

Tb

12 - 22


12.6.5 How to process the absolute position data at detection of stroke end

The servo amplifier stops the acceptance of the command pulse when off of LSP or LSN are detected, clears the droop pulses to 0 at the same time, and stops the servo motor. At this time, the programmable controller keeps outputting the command pulse. Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller, position mismatch will occur if the operation is continued. To prevent this difference in position data from occurring, do as described below. When the servo amplifier has detected the stroke end, perform JOG operation or the like to clear the stroke end.

After that, switch SON off once, then on again, or switch the power off once, then on again. This causes the absolute position data of the servo amplifier to be transferred to the programmable controller, restoring the normal data.

12.7 Absolute position data transfer errors

POINT

When the following alarm or warning occurs, refer to "MELSERVO-J4 Servo

Amplifier Instruction Manual (Troubleshooting)" to remove the failure.

[AL. 25 Absolute position erased]

[AL. 96 Home position setting warning]

[AL. E3 Absolute position counter warning]

[AL. E5 ABS time-out warning]

[AL. EA ABS servo-on warning]

12 - 23


(1) The off period of the ABS transmission data ready signal output from the servo amplifier is checked. If the off period is 1 s or longer, regard as a transfer fault and generate the ABS communication error.

Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo amplifier due to an ABS request on time time-out.

ON

ABSM

OFF

1 s

ABSR

ON

OFF

ABST

ON

OFF

The signal does not come ON

ABS communication error

YES

NO

(2) The time required for the ABS transfer mode signal to go off after it has been turned on (ABS transfer time) is checked. If the ABS transfer time is longer than 5 s, regard that a transfer fault has occurred, and generate the ABS communication error. Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo amplifier due to an ABS transfer mode completion time timeout.

5 s

ABSM

ON

OFF

1 2 3

The signal does not go OFF

4 18 19

ABSR

ON

OFF

ABST

ON

OFF

1 2 3 4 18 19

ABS communication

YES error

NO

12 - 24


(3) The time required for the ABS request signal to go off after it has been turned on (ABS transfer time) is checked. To detect [AL. E5 ABS time-out warning] at the servo amplifier. If the ABS request remains on for longer than 1 s, regard that a fault relating to the ABS request signal or the ABST has occurred and generate the ABS communication error.

Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo amplifier due to an ABS request off time time-out.

ON

ABSM

OFF

1 s

ABSR

ON

OFF

The signal does not go OFF

ABST

ON

OFF

ABS communication error

YES

NO

12 - 25


12.8 Communication-based absolute position transfer system

12.8.1 Serial communication command

The following commands are available for reading absolute position data using the serial communication function. When reading data, take care to specify the correct station number of the servo amplifier from where the data will be read.

When the master station sends the data No. to the slave station (servo amplifier), the slave station returns the data value to the master station.

(1) Transmission

Transmit command [0] [2] and data No. [9] [1].

(2) Reply

The absolute position data in the command pulse unit is returned in hexadecimal.

Data 32-bit length (hexadecimal representation)

12.8.2 Absolute position data transfer protocol

(1) Data transfer procedure

Every time SON turns on at power-on or like, the controller must read the current position data in the servo amplifier. Not performing this operation will cause a position shift.

Time-out monitoring should be performed by the controller.

Servo amplifier Controller

SON on

RD on

Absolute position data command transmission

Command [0][2] + data No.[9][1]

Absolute position

data acquisition

Watch dog timer

Absolute position data return

Current position acquisition

Current value change

Position command start

12 - 26


(2) Transfer method

The following shows a sequence how to turn on the base circuit while it is off state because SON is off,

EM2 is off, or an alarm is occurring. In the absolute position detection system, always give the serial communication command to read the current position in the servo amplifier to the controller every time

RD turns on. The servo amplifier sends the current position to the controller on receipt of the command.

At the same time, this data is set as a position command value in the servo amplifier.

(a) Sequence processing at power-on

Power supply

SON

Base circuit

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF

95 ms

5 ms


Absolute position data receive

Current position

Current position change


Pulse train command

During this period, get absolute position data.

1) The base circuit turns on after 95 ms.

2) After the base circuit is turned on, RD turns on.

3) After RD turned on and the controller acquired the absolute position data, give command pulses to the servo amplifier. If the controller gives command pulses before acquiring the absolute position data, a position shift can occur.

(b) Communication error

If a communication error occurs between the controller and servo amplifier, the servo amplifier sends the error code. The definition of the error code is the same as that of the communication function.


If a communication error has occurred, perform retry operation. If several retries do not result in a normal termination, perform error processing.

12 - 27


(c) At the time of alarm reset

If an alarm has occurred, detect ALM and turn off SON. After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the servo amplifier in accordance with the procedure in (a) in this section.

SON

RES

Base circuit

ALM

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

95 ms

5 ms





Current position

Pulse train command


12 - 28


(d) At the time of forced stop reset

210 ms after the forced stop is deactivated, the base circuit turns on, and RD turns on further 5 ms after that, turns on. Always get the current position data using RD as the trigger before the position command is issued.

1) When power is switched on in a forced stop status

Power supply

SON

EM2

Base circuit

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF



210 ms

5 ms

Current position



Pulse train command


2) When a forced stop is activated during servo on

SON

EM2

Base circuit

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF



Current position

Pulse train command

95 ms

5 ms




12 - 29


MEMO

12 - 30

13. USING STO FUNCTION


POINT


The MR-J4-03A6(-RJ) servo amplifier is not compatible with the STO function.

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

IEC/EN 62061 SIL CL3

13.1.2 Terms related to safety

The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier.

The purpose of this function is as follows.

(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

(2) Preventing unexpected start-up

13.1.3 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property.

Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these components are installed.

They must be familiar with all applicable local regulations and laws in which machines with these components are installed, particularly the standards mentioned in this manual.

The staff responsible for this work must be given express permission from the company to perform start-up, programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING

Improper installation of the safety related components or systems may cause improper operation in which safety is not assured, and may result in severe injuries or even death.

Protective Measures

This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon the drive axis, additional safety measures, such as brakes or counterbalances must be used.

13 - 1


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 Electric is not liable for any damages or injuries caused by these risks.

(1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the main circuit power supply (L1/L2/L3) of the servo amplifier.

(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee the stop control or the deceleration control of the servo motor.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety related component.

(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.

(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external or other forces.

(6) Safety is not assured until safety-related components of the system are completely installed or adjusted.

(7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the same as those being replaced. Once installed, make sure to verify the performance of the functions before commissioning the system.

(8) Perform all risk assessments to the machine or the whole system.

(9) To prevent accumulation of malfunctions, perform malfunction checks at regular intervals based on the risk assessments of the machine or the system. Regardless of the system safety level, malfunction checks should be performed at least once per year.

(10) 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.

(11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the

STO function may not function properly due to a sneak current, failing to bring the STO shut-off state.

(12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage (SELV) power supply with the reinforced insulation.

13 - 2


13.1.5 Specifications

(1) Specifications

Item Specifications

Functional safety

Safety performance (Note 2)

STO (IEC/EN 61800-5-2)

ISO/EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,

EN 62061 SIL CL3, EN 61800-5-2

Mean time to dangerous failure

(MTTFd)

Diagnostic converge (DC)


Number of on/off times of STO

MTTFd ≥ 100 [years] (314a) (Note 1)

DC = Medium, 97.6 [%] (Note 1)

PFH = 6.4 × 10 -9 [1/h]

1,000,000 times

LVD: EN 61800-5-1

CE marking EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Note 1. This is the value required by safety standards.


(2) Function block diagram (STO function)

CN8

Shut-off signal (STO1)

Monitor signal (TOFB1)

Shut-off signal (STO2)

Monitor signal (TOFB2)

Base power supply for upper arm

Shutoff

Base power supply for lower arm

Shutoff

Power module

M Servo motor

(3) Operation sequence (STO function)

Servo motor speed

EM2 (Forced stop 2)

STO1/STO2

Magnetic contactor

Base circuit

(Supplying energy to the servo motor)

0 r/min

ON

OFF

ON

OFF

ON

OFF

ON

OFF

13 - 3

(8 ms)


13.1.6 Maintenance

This servo amplifier has alarms and warnings for maintenance that supports the Drive safety function. (Refer to chapter 8.)

13.2 STO I/O signal connector (CN8) and signal layouts

13.2.1 Signal layouts

POINT


Servo amplifier

STO I/O signal connector

CN8

2 1

4

STO1

6

TOFB1

3

STOCOM

5

STO2

8

TOFCOM

7

TOFB2

13 - 4


13.2.2 Signal (device) explanations

(1) I/O device

Signal name

STOCOM

STO1

STO2

TOFCOM

TOFB1

TOFB2

Connector pin No.

Description

CN8-3 Common terminal for input signal of STO1 and STO2

CN8-4 Inputs STO state 1.

STO state (base shut-off): Open between STO1 and STOCOM.

STO release state (in driving): Close between STO1 and STOCOM.

Be sure to turn off STO1 after the servo motor stops by the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).

CN8-5 Inputs STO state 2.

STO state (base shut-off): Open between STO2 and STOCOM.

STO release state (in driving): Close between STO2 and STOCOM.

Be sure to turn off STO2 after the servo motor stops by the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).

CN8-8 Common terminal for monitor output signal in STO state

CN8-6 Monitor output signal in STO1 state

STO state (base shut-off): Between TOFB1 and TOFCOM is closed.

STO release state (in driving): Between TOFB1 and TOFCOM is opened.

CN8-7 Monitor output signal in STO2 state

STO state (base shut-off): Between TOFB2 and TOFCOM is closed.

STO release state (in driving): Between TOFB2 and TOFCOM is opened.

I/O division

DI-1

DI-1

DI-1

DO-1

DO-1

DO-1

(2) Signals and STO state

The following table shows the TOFB and STO states when the power is on in normal state and STO1 and STO2 are on (closed) or off (opened).

Input signal State

STO1 STO2

Off

Off

On

On

Between TOFB1 and TOFCOM

(Monitoring STO1 state)

Between TOFB2 and TOFCOM

(Monitoring STO2 state)

Between TOFB1 and TOFB2

(Monitoring STO state of servo amplifier)

Off On: STO state (base circuit shut-off) On: STO state (base circuit shut-off) On: STO state (base circuit shut-off)

On On: STO state (base circuit shut-off) Off: STO release state Off: STO state (base circuit shut-off)

Off Off: STO release state

On Off: STO release state

On: STO state (base circuit shut-off) Off: STO state (base circuit shut-off)

Off: STO release state Off: STO release state

(3) Test pulse of STO input signal

Set the test pulse off time inputted from outside to 1 ms or less.

13.2.3 How to pull out the STO cable

The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.

While pressing knob 1) of the STO cable plug in the direction of the arrow, pull out the plug 2).

(This figure shows the MR-J4-_B_(-RJ) servo amplifier.

This procedure also applies to the MR-J4-_A_(-RJ) servo amplifier.)

2)

1)

13 - 5


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.

STO1/STO2

EM2

ON

OFF

ON

OFF

Servo motor speed 0 r/min

If STO is turned off during operation, the servo motor is in dynamic brake stop

(stop category 0), and [AL. 63 STO timing error] will occur.

13.3.1 Connection example for CN8 connector

This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this connector is used with a certified external safety relay, power to the motor can be safely removed and unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and have forcibly guided or mirror contacts for the purpose of error detection.

In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of various safety standards. Refer to app. 5 for details.

The following diagram is for source interface. For sink interface, refer to section 13.4.1.

Servo amplifier

Forced stop 2

EM2

CN3

42

Approx.

6.2 k Ω

24 V DC

DICOM

20

DICOM

21

STO1

STO2

24 V DC

(Note 2)

(Note 2)

STO1

CN8

4

STO2

STOCOM

5

3

Approx.

3.0 k Ω

Approx.

3.0 k Ω

CN8 (Note 1)

6 TOFB1

8

TOFCOM

7 TOFB2

Door

(Note 3) Open

Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection examples, refer to section 13.3.2 to 13.3.3. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by

TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.

2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off 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).

3. Configure the interlock circuit so that the door is open after the servo motor is stopped.

13 - 6


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.

13 - 7



24 V

(Note 2)

S2

RESA MR-J3-D05

(Note 1) (Note 1)

SW1 SW2

S1

STOA

CN8A

1A

CN9

SDI1A+

1B SDI1A-

4A SDO1A+

4B SDO1A-

1B

6A

6B

8A

3A

CN10

SDI2A+

3B

1A

SDI2A-

SRESA+

SRESA-

SDO2A+

SDO2A-

TOFA

EM2

(A-axis)

(Note 2)

S4

RESB

S3

STOB

EM2

(B-axis)

Servo amplifier

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN1

EM2 (A-axis)

M

Servo motor

FG

CN8B

2A

CN9

SDI1B+

2B SDI1B-

3A SDO1B+

3B SDO1B-

4A

CN10

SDI2B+

4B

2A

SDI2B-

SRESB+

2B SRESB-

5A SDO2B+

5B

8B

SDO2B-

TOFB

Servo amplifier

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN1

EM2 (B-axis)

7A

7B

+24 V

0 V

M

Servo motor

0 V

Note 1. Set the delay time of STO output with SW1 and SW2. These switches for MR-J3-D05 are located where dented from the front panel.

2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

13 - 8


(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.

A-axis shutdown 1 and 2

B-axis shutdown 1 and 2

Energizing (close)

Shut-off (open)

EM2 input

STO1, STO2

Stop

Operation

Normal (close)

Shut-off (open)

STO shut-off

Servo amplifier

Shut off delay

Servo motor speed

0 r/min

Servo motor drivable STO status

13 - 9


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.

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.

24 V

S3

S4 EMG

S2 K3

Fuse KM1

+24V XS0 XS1 Z00 Z10 Z20 KM1

Safety relay module

MELSEC

(QS90SR2S)

Power supply

Control circuit

24G COM0 X0 COM1 X1 Z01 Z11 Z21

CN8

STO1

Servo amplifier

Control circuit

KM1

S1 or

EMG

(Note)

STO2

STOCOM

TOFB1

K3

TOFB2

TOFCOM

0 V

S1: STO shut-off switch (STO switch)

S2: Start switch (STO release switch)

S3: On switch

S4: Off switch

KM1: Magnetic contactor

K3: Safety relay

EMG: Emergency stop switch

CN1

EM1 or

EM2

20

M

Servo motor

Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.

13 - 10


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


This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink

(open-collector) type transistor output, relay switch, etc.

For transistor

Approx. 5 mA

Servo amplifier

STO1

STO2

Approx. 3.0 k Ω

Switch

TR

STOCOM

V

CES

I

CEO

1.0 V

100 µA

24 V DC ± 10%

500 mA



A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.


(a) When outputting two STO states by using each TOFB

Servo amplifier

TOFB1 Load


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

500 mA

Load


13 - 11


(b) When outputting two STO states by using one TOFB

Servo amplifier

TOFB1

TOFCOM

TOFB2

(Note)

24 V DC ± 10%

500 mA

Load



13.4.2 Source I/O interface



This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source

(open-collector) type transistor output, relay switch, etc.

Servo amplifier

STO1

STO2

Approx. 3.0 k Ω

Switch

TR

STOCOM

I

Approx. 5 mA

V

CES

CEO

1.0 V

100 µA

24 V DC ± 10%

500 mA


This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, current will be applied from the output to a load.


(a) When outputting two STO states by using each TOFB

Servo amplifier

TOFB1 Load


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

500 mA

Load


13 - 12


(b) When outputting two STO states by using one TOFB

Servo amplifier

TOFB1 Load


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

500 mA


13 - 13


MEMO

13 - 14

14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO

PROTOCOL)

CAUTION

The CN3 connector is designed for RS-422/RS-485 communication and parameter unit only. Do not connect the CN3 connector to an Ethernet port, etc.

Doing so may cause a malfunction.

POINT

RS-422 serial communication function is supported by servo amplifier with software version A3 or later.

The USB communication function (CN5 connector) and the RS-422 communication function (CN3 connector) are mutually exclusive functions. They cannot be used together.

You can operate servo driving, parameter change, monitor function, etc. using RS-422 communication

(Mitsubishi Electric general-purpose AC servo protocol) with the servo amplifier.

14 - 1


14.1 Structure

14.1.1 Configuration diagram

(1) Single axis

Operate the single-axis servo amplifier. It is recommended to use the following cable.

Personal computer

Servo amplifier

To RS-232C connector

10 m or less

RS-422/232C conversion cable

DSV-CABV (Diatrend)

CN3

(2) Multi-drop connection

(a) Diagrammatic sketch

Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.


CN3 CN3 CN3

Personal computer


To RS-232C connector

RS-422/232C conversion cable

DSV-CABV (Diatrend)

(Note 2)

Note 1. The BMJ-8 (Hachiko Electric) is recommended as the branch connector.

2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No. 6) on the receiving side (servo amplifier) with a

150 Ω resistor.

14 - 2


(b) Cable connection diagram

Wire the cables as follows.

(Note 3) 30 m or less

(Note 1)

The first axis servo amplifier

Connector for CN3

(RJ45 Connector)

(Note 4, 5)

1 LG

2

3

P5D

RDP

4

5

6

7

8

SDN

SDP

RDN

LG

NC

(Note 1)

The second axis servo amplifier

Connector for CN3

(RJ45 Connector)

(Note 4, 5)

1 LG

2

3

P5D

RDP

4

5

6

7

8

SDN

SDP

RDN

LG

NC

(Note 1, 7)

The n axis servo amplifier

Connector for CN3

(RJ45 Connector)

(Note 4, 5)

1 LG

2

3

P5D

RDP

4

5

6

7

8

SDN

SDP

RDN

LG

NC

(Note 8)

7

8

5

6

3

4

1

2

1 2 3 4 5 6 7 8

7

8

5

6

3

4

1

2

(Note 5)

7

8

5

6

3

4

1

2

1 2 3 4 5 6 7 8

7

8

5

6

3

4

1

2

(Note 5)

(Note 6) Branch connector (Note 6) Branch connector

1 2 3 4 5 6 7 8

7

8

5

6

3

4

1

2

(Note 6) Branch connector

7

8

5

6

3

4

1

2

RDP

(Note 2)

150

RDN

Note 1. Recommended connector (Hirose Electric)

Plug: TM10P-88P

Connection tool: CL250-0228-1

The following shows pin assignment viewed from connector wiring section.

8

7

LG

6

RDN

5

SDP

4

SDN

3

RDP

2

P5D

1

LG

2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No. 6) on the receiving side (servo amplifier) with a 150 Ω resistor.

3. The overall length is 30 m or less in low-noise environment.

4. The wiring between the branch connector and servo amplifier should be as short as possible.

5. Use the EIA568-compliant cable (10BASE-T cable, etc.).

6. Recommended branch connector: BMJ-8 (Hachiko Electric)

8. RS-422/232C conversion cable DSV-CABV (Diatrend)

14 - 3


14.1.2 Precautions for using RS-422/RS-232C/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.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures. a) Disconnect the power plug of the personal computer from an AC power socket. b) Check that the power plug was disconnected and connect the device to the servo amplifier. c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function

When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

14 - 4


14.2 Communication specifications

14.2.1 Outline of communication

Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal computer) is called a master station and the device (servo amplifier) which returns data in response to the command is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.

Item Definition

Baud rate [bps]

Transfer code

Transfer method

9600/19200/38400/57600/115200 asynchronous system

Start bit 1 bit

Data bit

Parity bit

Stop bit

Character method

8 bits

1 bit (even)

1 bit

Half-duplex communication method

(LSB) (MSB)

Start 0 1 2 3 4 5 6 7 Parity Stop

Next start

Data

1 frame (11 bits)


When the RS-422 communication function is used to operate the servo, set the communication specifications of the servo amplifier with the parameters.

To enable the parameter values, cycle the power after setting.

(1) Serial communication baud rate

Select the communication speed. Match this value to the communication speed of the sending end

(master station).

[Pr. PC21]

Serial communication baud rate

0: 9600 [bps] 3: 57600 [bps]

1: 19200 [bps] 4: 115200 [bps]

2: 38400 [bps]

(2) RS-422 communication response delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it returns data. Set "0" to return data in less than 800 μ s or "1" to return data in 800 μ s or longer.

[Pr. PC21]

RS-422 communication response delay time

0: Disabled

1: Enabled (responding after 800 s or longer delay time)

(3) Station No. setting

Set the station No. of the servo amplifier to [Pr. PC20]. The setting range is station No. 0 to 31.

14 - 5


14.3 Protocol

14.3.1 Transmission data configuration

Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier using the parameters. Transmission data is enabled for the servo amplifier of the specified station No.

When "*" is set as the station No. added to the transmission data, the transmission data is enabled for all servo amplifiers connected. However, when return data is required from the servo amplifier in response to the transmission data, set "0" to the station No. of the servo amplifier which must provide the return data.

(1) Transmission of data from the controller to the servo

10 frames + (data)

Controller side

(master station)

Data

No.

Data* Station No.

Servo side

(slave station)

Station No.

6 frames

Positive response: Error code = A

Negative response: Error code = other than A

(2) Transmission of data request from the controller to the servo

10 frames

Controller side

(master station)

Data

No.

Station No.

Servo side

(slave station)

Station No.

Data*

6 frames + (Data)

(3) Recovery of communication status by time-out

EOT causes the servo to return to the receive neutral status.

Controller side

(master station)

Servo side

(slave station)

(4) Data frames

The data length depends on the command.

Data

4 frames or Data

8 frames or 12 frames or 16 frames

14 - 6


14.3.2 Character codes

(1) Control codes

Code name

SOH

STX

ETX

EOT

(2) Codes for data

ASCII unit codes are used.

Hexadecimal

(ASCII code)

01H

02H

03H

04H

Description start of head start of text end of text end of transmission

Personal computer terminal key operation

(general) ctrl + A ctrl + B ctrl + C ctrl + D b8 to b5

0

0

0

0 b4

0

0

1

1

0

0

1

1

1

1

1

1

0

0

1

1 b2

0

0

0

0

1

1

0

0

1

1

1

1

1

1

0

0 b3

0

0

0

0

1

1

1

1

0

0

1

1

0

1

0

1 b1

0

1

0

1

0

1

0

1

0

1

0

1 b8 b7 b6 b5

0

0

0

0

0

1

0

0

1

0

0

0

10

11

12

13

14

15

5

6

3

4

R C

0

1

2

7

8

9

0

NUL

SOH

STX

ETX

1

DLE

DC

1

DC

2

DC

3

2

Space

‘

(

%

&

)

#

$

!

“

,

-

*

+

/

.

4

5

2

3

3

0

1

8

9

6

7

<

=

;

:

>

?

1

1

0

0

0

0

0

1

T

U

R

S

5

P

Q

V

W

X

Y

¥

]

Z

[

^

_

D

E

B

C

4

@

A

H

I

F

G

N

O

L

M

J

K

0

1

0

1

1

0

0

1

1

1

0

1 t u r s

7 p q x y v w

|

} z

{

¯

DEL d e b c

6

` a h i f g l m j k n o

(3) Station numbers

You may set 32 station Nos. from station 0 to station 31 and the ASCII unit codes are used to specify the stations.

For example, "30H" is transmitted in hexadecimal for the station No. "0" (axis 1).

14 - 7


14.3.3 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.

Receiving data from the master station, the slave station sends the error code corresponding to that data to the master station. The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred.

Error code

Error name Explanation Remark

Servo: normal Servo: alarm

[A]

[B]

[a]

[b]

Normal

Parity error

Data transmitted was processed normally. Positive response

Parity error occurred in the transmitted data.

[D] [d] Character error transmitted data.

The transmitted character is out of specifications.

Negative response

[F] [f] Data No. error specifications.

The transmitted data No. is out of specifications.

14.3.4 Checksum

The checksum is an ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).

Station No.

[0] [A] [1] [2] [5] [F] [5] [2]

STX or

SOH

ETX Check

02H 30H 41H 31H 32H 35H 46H 03H

Checksum range

30H + 41H + 31H + 32H + 35H + 46H + 03H

= 152H

Lower 2 digits 52 is sent after conversion into ASCII code [5] [2].

14.3.5 Time-out processing

The master station transmits EOT when the slave station does not start return processing (STX is not received) 300 [ms] after the master station has ended communication processing. 100 ms after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above communication processing three times. (communication error)

100 ms 100 ms 100 ms

300 ms 300 ms 300 ms 300 ms

*Time-out

Controller side

(master station)

Servo side

(slave station)

14 - 8


14.3.6 Retry processing

When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (retry processing). A communication error occurs if the above processing is repeated and results in the error three or more consecutive times.

*Communication error

Controller side

(master station)

Servo side

(slave station)

Station No.

Station No.

Station No.

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave station, the master station retransmits the message which was sent at the occurrence of the fault. A communication error occurs if the retry processing is performed three times.

14.3.7 Initialization

After the slave station is switched on, it cannot return to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after.

(1) Wait for 3.5 s or longer after the slave station is switched on.

(2) Check that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

14 - 9


14.3.8 Communication procedure example

The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0.

Data item Value Description

Station No.

Command

Data No.

0

3 3

1 0

Servo amplifier station 0

Reading command

Alarm history (last alarm)

Start

Station No.

Command Data No.

Data make-up

Data = [0] + 3 3

= [0] [3] [3]

+ STX + 1 0

STX [1] [0] ETX

+ ETX

Checksum calculation and addition

Checksum = 30H + 33H + 33H + 02H + 31H + 30H + 03H = FCH

Addition of SOH to make up transmission data Transmission data = SOH + 0 + 3 3 + STX + 1 0 + ETX + F C 46H 43H

Data transmission

Master station Slave station

Data receive


No

Is there receive data?

Yes

No

300 ms elapsed?

Yes

No

Yes

3 consecutive times?

Other than error code

[A] or [a]?

No

3 consecutive times?

No

Yes 100 ms after EOT transmission

Yes

Error processing

Receive data analysis

End

Error processing


14 - 10


14.4 Command and data No. list

POINT

Even if a command or data No. is the same between different model servo amplifiers, its description may differ.

14.4.1 Reading command

(1) Status display (command [0] [1])

Command

[0] [1]

Data No.

[0] [0]

[0] [1]

[0] [2]

[0] [3]

[0] [4]

[0] [5]

[0] [6]

[0] [7]

[0] [8]

[0] [9]

[0] [A]

[0] [B]

[0] [C]

[0] [D]

[0] [E]

[0] [F] (Note)

[1] [0] (Note)

[1] [1] (Note)

Description

Status display symbol and unit

[1] [2] (Note)

[1] [6] (Note)

[1] [7] (Note)

[1] [8] (Note)

[1] [E] (Note)

[1] [F] (Note)

[2] [0]

[2] [1]

[2] [2]

[2] [3]

[2] [8]

[2] [9]

Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.

Status display


Motor-side cumu. feedback pulses (after gear)

Servo motor speed

Servo motor speed

Droop pulses

Motor-side droop pulses









Peak load ratio


Instantaneous thrust

Position within one-revolution

Motor encoder position within one-revolution

Virtual position within one-revolution

ABS counter

Motor encoder ABS counter

Virtual ABS counter


Load to motor mass ratio

Bus voltage

Load-side cumulative feedback pulses

Load-side droop pulses


Z-phase counter


Temperature of motor thermistor

Motor-side cumu. feedback pulses (before gear)

Electrical angle

Motor-side/load-side position deviation

Motor-side/load-side speed deviation


Settling time



Unit power consumption


Frame length

16

14 - 11


Command

[0] [1]

Data No.

[8] [0]

[8] [1]

[8] [2]

[8] [3]

[8] [4]

[8] [5]

[8] [6]

[8] [7]

[8] [8]

[8] [9]

[8] [A]

[8] [B]

[8] [C]

[8] [D]

[8] [E]

[8] [F] (Note)

[9] [0] (Note)

[9] [1] (Note)

Description

Status display data value and processing information

[9] [2] (Note)

[9] [6] (Note)

[9] [7] (Note)

[9] [8] (Note)

[9] [E] (Note)

[9] [F] (Note)

[A] [0]

[A] [1]

[A] [2]

[A] [3]

[A] [8]

[A] [9]


Status display



Servo motor speed

Servo motor speed

Droop pulses










Peak load ratio






ABS counter


Virtual ABS counter



Bus voltage




Z-phase counter




Electrical angle




Settling time





Frame length

12

14 - 12


(2) Parameters (command [0] [4], [0] [5], [0] [6], [0] [7], [0] [8], and [0] [9])

Command Data No. Description

[0] [4] [0] [1] Parameter group reading

0000: Basic setting parameters ([Pr. PA_ _ ])

0001: Gain/filter parameters ([Pr. PB_ _ ])

0002: Extension setting parameters ([Pr. PC_ _ ])

0003: I/O setting parameters ([Pr. PD_ _ ])

0004: Extension setting 2 parameters ([Pr. PE_ _ ])

0005: Extension setting 3 parameters ([Pr. PF_ _ ])

000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) (Note)

[1] [5] [0] [1] to [F] [F] Current values of parameters

Reads the current values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Before reading the current values, therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].

The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter

No.

[1] [6] [0] [1] to [F] [F] Upper limit values of parameter setting ranges

Reads the permissible upper limit values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Before reading the upper limit values, therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].


No.

[1] [7] [0] [1] to [F] [F] Lower limit values of parameter setting ranges

Reads the permissible lower limit values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Before reading the lower limit values, therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].


No.

[0] [8] [0] [1] to [F] [F] Parameter symbols

Reads the symbols of the parameters in the parameter group specified with the command

[8] [5] + data No. [0] [0]. Before reading the symbols, therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].


No.

[0] [9] [0] [1] to [F] [F] Writing enable/disable of parameters

Reads writing enable/disable of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Before reading the lower limit values, therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].

0000: Writing enabled

0001: Writing disabled


(3) External I/O signals (command [1] [2])


[1] [2] [0] [0]

[4] [0]

[6] [0]

[8] [0]

[C] [0]

Input device status

External input pin status

Status of input device turned on by communication

Output device status

External output pin status

Frame length

4

12

12

12

12

4

Frame length

8

14 - 13


(4) Alarm history (command [3] [3])

Command

[3] [3]

Data No.

[1] [0]

Description

Alarm No. in alarm history

[2] [7]

[2] [8]

[2] [9]

[2] [A]

[2] [B]

[2] [C]

[2] [D]

[2] [E]

[2] [F]

[1] [F]

[2] [0]

[2] [1]

[2] [2]

[2] [3]

[2] [4]

[2] [5]

[2] [6]

[1] [1]

[1] [2]

[1] [3]

[1] [4]

[1] [5]

[1] [6]

[1] [7]

[1] [8]

[1] [9]

[1] [A]

[1] [B]

[1] [C]

[1] [D]

[1] [E]

Alarm occurrence time in alarm history

(5) Current alarm (command [0] [2])

Command Data No.

[0] [2] [0] [0] Current alarm No.

Description

Alarm occurrence sequence

Most recent alarm

First alarm in past

Second alarm in past

Third alarm in past

Fourth alarm in past

Fifth alarm in past

Sixth alarm in past

Seventh alarm in past

Eighth alarm in past

Ninth alarm in past

Tenth alarm in past

Eleventh alarm in past

Twelfth alarm in past

Thirteenth alarm in past

Fourteenth alarm in past

Fifteenth alarm in past

Most recent alarm

First alarm in past

Second alarm in past

Third alarm in past

Fourth alarm in past

Fifth alarm in past

Sixth alarm in past

Seventh alarm in past

Eighth alarm in past

Ninth alarm in past

Tenth alarm in past

Eleventh alarm in past

Twelfth alarm in past

Thirteenth alarm in past

Fourteenth alarm in past

Fifteenth alarm in past

8

Frame length

4

Frame length

4

14 - 14


(6) Status display at alarm occurrence (command [3] [5])


[3] [5] [0] [0]

[0] [1]

Status display symbol and unit

Status display



Servo motor speed

Servo motor speed

[0] [2]

[0] [3]

[0] [4]

[0] [5]

[0] [6]

[0] [7]

[0] [8]

[0] [9]

[0] [A]

[0] [B]

[0] [C]

[0] [D]

[0] [E]

[0] [F] (Note)

[1] [0] (Note)

[1] [1] (Note)

[1] [2] (Note)

[1] [6] (Note)

[1] [7] (Note)

[1] [8] (Note)

[1] [E] (Note)

[1] [F] (Note)

[2] [0]

[2] [1]

[2] [2]

[2] [3]

[2] [8]

[2] [9]


Droop pulses










Peak load ratio






ABS counter


Virtual ABS counter



Bus voltage




Z-phase counter




Electrical angle




Settling time





Frame length

16

14 - 15


Command

[3] [5]

Data No.

[8] [0]

[8] [1]

[8] [2]

[8] [3]

[8] [4]

[8] [5]

[8] [6]

[8] [7]

[8] [8]

[8] [9]

[8] [A]

[8] [B]

[8] [C]

[8] [D]

[8] [E]

[8] [F] (Note)

[9] [0] (Note)

[9] [1] (Note)

Description

Status display data value and processing information

[9] [2] (Note)

[9] [6] (Note)

[9] [7] (Note)

[9] [8] (Note)

[9] [E] (Note)

[9] [F] (Note)

[A] [0]

[A] [1]

[A] [2]

[A] [3]

[A] [8]

[A] [9]


(7) Test operation mode (command [0] [0])


Status display



Servo motor speed

Servo motor speed

Droop pulses










Peak load ratio






ABS counter


Virtual ABS counter



Bus voltage




Z-phase counter




Electrical angle




Settling time





[0] [0] [1] [2] Test operation mode reading

0000: Normal mode (not test operation mode)

0001: JOG operation

0002: Positioning operation

0003: Motor-less operation

0004: Output signal (DO) forced output

(8) Software version (command [0] [2])

Command Data No.

[0] [2] [9] [0]

[9] [1]

[7] [0]

Description

Servo motor-side pulse unit absolute position

Command unit absolute position

Software version

Frame length

12

Frame length

4

Frame length

8

8

16

14 - 16


14.4.2 Writing commands

(1) Status display (command [8] [1])

Command Data No.

[8] [1] [0] [0] Status display data deletion

Description

(2) Parameters (command [9] [4], [8] [5])


[9] [4] [0] [1] to [F] [F] Writing each parameter

Writes the values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Before writing the values, therefore, always specify the parameter group with the command [8]

[5] + data No. [0] [0].

[8] [5] [0] [0]

The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter No.

Parameter group writing







000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

(Note)


(3) External I/O signals (command [9] [2])


[9] [2] [6] [0] Communication input device signal

Setting range Frame length

1EA5 4


Depending on the parameter

12

0000 to 0005 4


Refer to section

14.5.5.

8

(4) Alarm history (command [8] [2])

Command Data No.

[8] [2] [2] [0] Alarm history clear

(5) Current alarm (command [8] [2])

Command Data No.

[8] [2] [0] [0] Alarm clear

Description Setting range Frame length

1EA5 4

Description Setting range Frame length

1EA5 4

(6) I/O device prohibition (command [9] [0])

Command Data No.

[9] [0] [0] [0]

[0] [3]

[1] [0]

[1] [3]

Description

Turns off the input device, external analog input signal or pulse train input, except EMG, LSP and LSN, independently of the external on/off status.

Disables all output devices (DO).

Cancels the prohibition of the input device, external analog input signal or pulse train input, except EMG, LSP and LSN.

Cancels the prohibition of the output device.


1EA5 4

1EA5 4

1EA5 4

1EA5 4

14 - 17


(7) Operation mode selection (command [8] [B])


[8] [B] [0] [0] Selection of test operation mode

0000: Test operation mode cancel

0001: JOG operation



(8) Test operation mode data (command [9] [2], [A] [0])


[9] [2] [0] [0] Input signal for test operation

[A] [0]

[A] [0]

[1] [0]

[1] [1]

[2] [0]

[2] [1]

Forced output of signal pin

Writes the servo motor speed in the test operation mode (JOG operation and positioning operation).

Writes the acceleration/deceleration time constant in the test operation mode (JOG operation and positioning operation).

Sets the travel distance in the test operation mode (Positioning operation).

Selects the positioning direction of test operation (positioning operation).

0 0

0: Forward rotation direction

1: Reverse rotation direction

0: Command pulse unit

1: Encoder pulse unit

[4] [0]

[4] [1]

This is a start command for test operation (positioning operation).

This is used to make a temporary stop during test operation

(positioning operation). " " in the data indicates a blank.

STOP: Temporary stop

GO □□ : Restart for remaining distance

CLR □ : Remaining distance clear


0000 to 0002, 0004 4


Refer to section

14.5.7.

8

8 Refer to section

14.5.9.

0000 to 7FFF 4

00000000 to

7FFFFFFF

00000000 to

7FFFFFFF

0000 to 0101

8

8

4

1EA5

STOP

GO

CLR

4

4

14 - 18


14.5 Detailed explanations of commands

14.5.1 Data processing

When the master station transmits a command data No. or a command + data No. + data to a slave station, the servo amplifier returns a response or data in accordance with the purpose.

When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.

Therefore, data must be processed in accordance with the application.

Since whether data must be processed or not and how to process data depend on the monitoring, parameters, etc., follow the detailed explanation of the corresponding command.

The following methods are how to process send and receive data when reading and writing data.

(1) Processing a read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information.

When the display type is 1, the eight-character data is used unchanged.

The following example indicates how to process the receive data "003000000929" given to show.

The receive data is as follows.

0 0 3 0 0 0 0 0 0 9 2 9


(Data conversion is required as indicated in the display type.)

Display type

0: Data must be converted into decimal.

1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point

1: First least significant digit (normally not used)

2: Second least significant digit

3: Third least significant digit

4: Forth least significant digit

5: Fifth least significant digit

6: Sixth least significant digit

Since the display type is "0" in this case, the hexadecimal data is converted into decimal.

00000929H → 2345

As the decimal point position is "3", a decimal point is placed in the third least significant digit. Hence,

"23.45" is displayed.

14 - 19


(2) Writing processed data

When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.

The data to be sent is the following value.

0

Data is transferred in hexadecimal.


0: No decimal point

1: First least significant digit





For example, here is described how to process the set data when a value of "15.5" is sent.

Since the decimal point position is the second least significant digit, the decimal point position data is "2".

As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.

155 → 9B

Hence, "0200009B" is transmitted.

14 - 20



(1) Reading the status display name and unit

The following shows how to read the status display name and unit.

(a) Transmission

Transmit the command [0] [1] and the data No. corresponding to the status display item to be read,

[0] [0] to [0] [E] and [2] [0] to [2] [9]. (Refer to section 14.4.1.)

(b) Return

The slave station returns the status display name and unit requested.

0 0

Unit characters (5 digits) Name characters (9 digits)

(2) Status display data reading

The following shows how to read the status display data and processing information.

(a) Transmission

Transmit the command [0] [1] and the data No. corresponding to the status display item to be read,

[8] [0] to [8] [E] and [A] [0] to [A] [9]. (Refer to section 14.4.1.)

(b) Return

The slave station returns the status display data requested.

0 0



Display type




0: No decimal point







(3) Status display data clear

To clear the cumulative feedback pulse data of the status display, send this command immediately after reading each status display item. The data of the status display item transmitted is cleared to "0".

Data

[8] [1] [0] [0] 1EA5

For example, after sending command [0] [1] and data No. [8] [0] and receiving the status display data, send command [8] [1], data No. [0] [0] and data [1EA5] to clear the cumulative feedback pulse value to

"0".

14 - 21


14.5.3 Parameter

(1) Specification of the parameter group

To read or write the parameter settings, etc., the group of the parameters to be operated must be specified in advance. Write data to the servo amplifier as follows to specify the parameter group.

Transmission data

Parameter group

[8] [5] [0] [0] 0000

0001

0002

0003

0004

0005

Basic setting parameters ([Pr. PA_ _ ])

Gain/filter parameters ([Pr. PB_ _ ])

Extension setting parameters ([Pr. PC_ _ ])

I/O setting parameters ([Pr. PD_ _ ])

Extension setting 2 parameters ([Pr. PE_ _ ])

Extension setting 3 parameters ([Pr. PF_ _ ])

(Note) ([Pr. PL_ _ ])


(2) Parameter group reading

The following shows how to read the parameter group set with slave station.

(a) Transmission


[0] [4] [0] [1]

(b) Return

The slave station returns the preset parameter group.

0 0 0

Parameter group







B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

(3) Reading symbols

The following shows how to read symbols of parameters. Specify a parameter group in advance. (Refer to (1) in this section.)

(a) Transmission

Transmit the command [0] [8] and the data No. [0] [1] to [F] [F] corresponding to the parameter No.


The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter No.

(b) Return

The slave station returns the symbol of the parameter requested.

0 0 0

Symbol characters (9 digits)

14 - 22


(4) Reading the setting

The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to

(1) in this section.)

(a) Transmission

Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F].



(b) Return

The slave station returns the data and processing information of the parameter No. requested.

0


0


0: No decimal point





Display type




Parameter writing type

0: Enabled after writing

1: Enabled when power is cycled after writing

Readable/unreadable

0: Readable

1: Unreadable

0 0 0

Sign

0: Sign

1: No sign

For example, data "00120000270F" means 999.9 (decimal display format) and data

"000000003ABC" means 3ABC (hexadecimal display format).

When the display type is "0" (hexadecimal) and the decimal point position is other than 0, the display type is a special hexadecimal display format and "F" of the data value is handled as a blank. Data

"0001FFFFF053" means 053 (special hexadecimal display format).

"008000000000" is transferred when the parameter that was read is the one inaccessible for reference in the parameter writing inhibit setting of [Pr. PA19].

14 - 23


(5) Reading the setting range

The following shows how to read the parameter setting range. Specify a parameter group in advance.

(Refer to (1) in this section.)

(a) Transmission

When reading an upper limit value, transmit the command [1] [6] and the data No. [0] [1] to [F] [F] corresponding to the parameter No. When reading an lower limit value, transmit the command [1] [7] and the data No. [0] [1] to [F] [F] corresponding to the parameter No. (Refer to section 14.4.1.)


(b) Return

The slave station returns the data and processing information of the parameter No. requested.


For example, data "FFFFFFEC" means "-20".

14 - 24


(6) Writing setting values

POINT

If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The

EEPROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000.

Write the parameter setting into EEP-ROM of the servo amplifier. Specify a parameter group in advance.


Write any value within the setting enabled range. For the setting enabled range, refer to chapter 5 or read the setting range by performing operation in (4) in this section.

Transmit command [9] [4], the data No. , and the set data.


When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.

Check the writing data is within the upper/lower limit value before writing. To prevent an error, read the parameter data to be written, confirm the decimal point position, and create transmission data.

On completion of writing, read the same parameter data to verify that data has been written correctly.

Data

[9] [4] [0] [1] to [F] [F] See below.

0 0


Writing mode

0: Writing to EEP-ROM

3: Writing to RAM

When the parameter data is changed frequently through communication, set "3" to the mode to change only the

RAM data in the servo amplifier.

When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.


0: No decimal point






14 - 25


14.5.4 External I/O signal status (DIO diagnosis)

(1) Reading input device status

The following shows how to read the status of the input devices.

(a) Transmission


[1] [2] [0] [0]

(b) Return

The slave station returns the status of the input devices. b31 b1b0

Command of each bit is transmitted to the master station as hexadecimal data.

1: On

0: Off

Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 SON 8

1 LSP

SP1 16

9 SP2

2 LSN 10 SP3 18

3

4

5

6

7

TL

TL1

PC

RES

CR

11

12

13

14

15

ST1/RS2 19

ST2/RS1 20

CM1

CM2

LOP

21

22

23

24

26

27 CDP

STAB2 28 CLD

30

31


(2) Reading external input pin status

The following shows how to read the on/off status of the external input pins.

(a) Transmission


[1] [2] [4] [0]

(b) Return

The on/off status of the input pins are returned. b31 b1b0

1: On

0: Off


Bit CN1 connector pin

0 43


8 18


16


24

1 44

2

3

4

42

15

19

9 45

10

11

12

17

18

19

20

25

26

27

28

5

6

7

41

16

17

13

14

15

21

22

23

29

30

31

14 - 26


(3) Reading the status of input devices switched on with communication

The following shows how to read the on/off status of the input devices switched on with communication.

(a) Transmission


[1] [2] [6] [0]

(b) Return

The slave station returns the status of the input devices. b31 b1b0

1: On

0: Off


Bit Symbol

0 SON

Bit Symbol

8 SP1

Bit Symbol

16

Bit Symbol

24

1 LSP

2

3

LSN

TL

9 SP2

10 SP3 18

11 ST1/RS2 19

4

5

6

TL1

PC

RES

12 ST2/RS1 20

13 CM1 21

14 CM2 22

26

27

STAB2 28 CLD

30

31

CDP

7 CR 15 LOP 23


(4) Reading external output pin status

The following shows how to read the on/off status of the external output pins.

(a) Transmission

Transmit command [1] [2] and data No. [C] [0].

[1] [2] [C] [0]

(b) Return

The slave station returns the status of the output devices. b31 b1b0

1: On

0: Off


Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit

0 24

1 24 17

2 23 10 18 26

3

4

5

6

7

49

25

22

48

33

8

11

12

13

14

19

20

21

22

23

27

28

29

30

31

CN1 connector pin

Note. This is available when devices are assigned to the CN1-13 pin and CN1-14 pin with MR-J4-_A_-RJ 100 W or more servo amplifiers with software version B3 or later. This is not available with the MR-J4-03A6(-RJ) servo amplifier.

14 - 27


(5) Reading output device status

The following shows how to read the on/off status of the output devices.

(a) Transmission


[1] [2] [8] [0]

(b) Return

The slave station returns the status of the input/output devices. b31 b1b0


1: On

0: Off

Bit Symbol

0 RD

Bit Symbol

8 ALM

Bit Symbol

16

Bit Symbol

24

25 CDPS 1

2

3

4

5

6

7

SA

ZSP

TLC

VLC

INP

WNG

9 OP 17

10 MBR 18

11 DB

12

13

ACD0 20

ACD1 21

14

15

ACD2

BWNG

22

23

27

28

29

30

ABSV


14 - 28


14.5.5 Input device on/off

POINT

The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.

Each input device can be switched on/off. However, when the device to be switched off is in the external input signal, also switch off the input signal.

Transmit command [9] [2], data No. [6] [0], and data.

Command Data No. Set data

[9] [2] [6] [0] See below. b31 b1b0

1: On

0: Off


Bit Symbol

0 SON

Bit Symbol

8 SP1

Bit Symbol

16

Bit Symbol

24

1 LSP

2

3

4

LSN

TL

TL1

9 SP2

10

11

12

SP3 18

ST1/RS2 19

ST2/RS1 20

26

27 CDP

STAB2 28 CLD

5

6

7

PC

RES

CR

13

14

15

CM1

CM2

LOP

21

22

23

30

31


14 - 29


14.5.6 Disabling/enabling I/O devices (DIO)

You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals

(devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and

LSN (Reverse rotation stroke end) cannot be disabled.

Signal Status

Input device (DI)

External analog input signal

Pulse train input

Off

0 V

None

(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs except

EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end).

Transmit the following communication commands.

(a) Disabling

Data

[9] [0] [0] [0] 1EA5

(b) Enabling

Data

[9] [0] [1] [0]

(2) Disabling/enabling the output devices (DO)


(a) Disabling

1EA5

Data

[9] [0] [0] [3] 1EA5

(b) Enabling

Data

[9] [0] [1] [3] 1EA5

14 - 30


14.5.7 Input devices on/off (test operation)

Each input devices can be turned on/off for test operation. However, when the device to be switched off is in the external input signal, also switch off the input signal.

Transmit command [9] [2], data No. [0] [0], and data.

Command Data No. Set data

[9] [2] [0] [0] See below. b31 b1b0

1: On

0: Off


Bit Symbol

2

3

4

5

6

7

LSN

TL

TL1

PC

RES

CR

Bit Symbol Bit Symbol

0 SON 8

1 LSP

SP1 16

9 SP2

10

11

12

13

14

15

SP3

ST1

ST2

CM1

CM2

LOP

18

19

20

21

22

23

Bit Symbol

24

26

31

27 CDP

STAB2 28 CLD

30


14 - 31



POINT

The test operation mode is used to check operation. Do not use it for actual operation.

If communication stops for longer than 0.5 s during test operation, the servo amplifier decelerates to a stop, resulting in servo-lock. To prevent this, continue communication all the time by monitoring the status display, etc.

Even during operation, you can switch the servo amplifier to the test operation mode. In this case, switching to the test operation mode will shut off the base circuit to coast the motor.

(1) How to prepare and cancel the test operation mode

(a) Preparing the test operation mode

Set the test operation mode type with the following procedure.

1) Selection of test operation mode

Send the command [8] [B] + data No. [0] [0] + data to select the test operation mode.

Transmission data

Selection of test operation mode

[8] [B] [0] [0]

0004 Output signal (DO) forced output (Note)

Note. Refer to section 14.5.9 for output signal (DO) forced output.

2) Check of test operation mode

Read the test operation mode set for the slave station, and check that it is set correctly. a) Transmission


[0] [0] [1] [2] b) Reply

The slave station returns the preset operation mode.

0 0 0

Test operation mode reading

0: Normal mode (not test operation mode)

1: JOG operation


3: Motor-less operation


(b) Cancel of test operation mode

To terminate the test operation mode, send the command [8] [B] + data No. [0] [0] + data.

[8] [B] [0] [0]

Transmission data

0000


Test operation mode cancel

14 - 32


(2) JOG operation

Transmit the command, data No., and data as follows to execute JOG operation.

Start

Command

Data No.

: [8] [B]

: [0] [0]

Data : 0001 (JOG operation)

Select the JOG operation in the test operation mode.

Servo motor speed setting

Command

Data No.

: [A] [0]

: [1] [0]

Data : Write the servo motor speed [r/min]

in hexadecimal.

Acceleration/deceleration time constant setting

Command

Data No.

: [A] [0]

: [1] [1]

Data : Write the acceleration/

deceleration time constant [ms] in

hexadecimal.

When LSP/LSN was turned Off by external input signal

When LSP/LSN was turned On by external input signal or automatically

Start

Command

Data No.

: [9] [2]

: [0] [0]

Data : Forward rotation direction

00000807

(Turn on SON, LSP, LSN,

and ST1.)


00001007

(Turn on SON, LSP, LSN,

and ST2.)

Start

Command

Data No.

: [9] [2]

: [0] [0]

Data : Forward rotation direction

00000801

(Turn on SON and ST1.)


00001001

(Turn on SON and ST2.)

Stop

Command

Data No.

: [9] [2]

: [0] [0]

Data : 00000007

(Turn on SON, LSP, and LSN.)

Stop

Command

Data No.

: [9] [2]

: [0] [0]

Data 00000001

(Turn on SON.)

Set the operation pattern.

Start

Stop

End

Command

Data No.

Data

: [8] [B]

: [0] [0]

0000

(Test operation mode is

canceled.)

Test operation mode is canceled.

14 - 33



(a) Operation procedure

Transmit the command, data No., and data as follows to execute positioning operation.

Start

Command

Data No.

:

:

Data :

[8] [B]

[0] [0]

0002 (Positioning operation)

Select the JOG operation in the test operation mode.

Servo motor speed setting

Command :

Data No.

Data :

:

[A] [0]

[1] [0]

Write the speed [r/min] in hexadecimal.

Acceleration/deceleration time constant setting

Command :

Data No.

Data :

:

[A] [0]

[1] [1]

Write the acceleration/ deceleration time constant [ms] in hexadecimal.

Travel distance setting

Command :

Data No.

Data :

:

[A] [0]

[2] [0]

Write the travel distance [pulse] in hexadecimal.

Rotation direction selection

Command :

Data No.

Data :

:

[A] [0]

[2] [1]

0000 (Forward rotation direction)

0001 (Reverse rotation direction)

When LSP/LSN was turned Off by external input signal

When LSP/LSN was turned On by external input signal or automatically

Enable input device.

Command :

Data No.

Data :

:

[9] [2]

[0] [0]

00000007

(SON, LSP, and LSN turned on.)

Enable input device.

Command :

Data No.

Data :

:

[9] [2]

[0] [0]

00000001

(SON turned on.)

Set the operation pattern.

Turn on SON (Servo-on) to make the servo amplifier ready.

(Note)

Start positioning operation

Command

Data No.

:

:

Data :

[A] [0]

[4] [0]

1EA5

End

Command

Data No.

:

:

Data :

[8] [B]

[0] [0]

0000

(Test operation mode is canceled.)

Note. It has 100 ms delay.

Start

Test operation mode is canceled.

14 - 34


(b) Temporary stop/restart/remaining distance clear

Transmit the following command, data No., and data during positioning operation to make deceleration to a stop.

Data

[A] [0] [4] [1] STOP

Transmit the following command, data No., and data during a temporary stop to restart.

[A] [0] [4] [1]

Note. " □ " indicates a blank.

GO

Transmit the following command, data No., and data during a temporary stop to stop positioning operation and erase the travel remaining distance.

[A] [0] [4] [1]

Note. " □ " indicates a blank.

CLR

14 - 35


14.5.9 Output signal pin on/off (output signal (DO) forced output)

In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Using command [9] [0], disable the external output signals in advance.

(1) Selecting output signal (DO) forced output in the test operation mode

Transmit command + [8] [B] + data No. [0] [0] + data "0004" to select output signal (DO) forced output.

0 0 0 4



(2) External output signal on/off


Command Data No.

[9] [2] [A] [0] b31

See below.

Set data b1b0


1: On

0: Off

Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin

0 24

1 24 17

2 23 10 18 26

3

4

5

6

7

49

25

22

48

33

8

11

12

13

14

19

20

21

22

23

27

28

29

30

31

Note. The MR-J4-_A_-RJ 100 W or more servo amplifier is available with software version B3 or later. This is not available with the

MR-J4-03A6(-RJ) servo amplifier.


Transmit command [8] [B] + data No. [0] [0] + data to stop output signal (DO) forced output.

Transmission data


[8] [B] [0] [0] 0000 Test operation mode cancel

14 - 36


14.5.10 Alarm history

(1) Alarm No. reading

The following shows how to read alarm Nos. which occurred in the past. Alarm Nos. and occurrence times of No. 0 (last alarm) to No. 15 (sixteenth alarm in the past) are read.

(a) Transmission

Transmit command [3] [3] + data No. [1] [0] to [1] [F]. Refer to section 14.4.1.

(b) Return

Alarm Nos. corresponding to the data No. is provided.

0 0

Alarm No. is transferred in hexadecimal.

For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm).

(2) Alarm occurrence time reading

The following shows how to read alarm occurrence times which occurred in the past.

Alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning with operation start, with the minute unit omitted.

(a) Transmission

Transmit command [3] [3] + data No. [2] [0] to [2] [F].


(b) Return

The alarm occurrence time is transferred in hexadecimal.

Hexadecimal must be converted into decimal.

For example, data "01F5" means that the alarm occurred in 501 hours after starting operation.

(3) Clearing the alarm history



Data

[8] [2] [2] [0] 1EA5

14 - 37


14.5.11 Current alarm

(1) Current alarm reading

The following shows how to read the alarm No. which is occurring currently.

(a) Transmission


[0] [2] [0] [0]

(b) Return

The slave station returns the alarm currently occurring.

0 0

Alarm No. is transferred in hexadecimal.

For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm).

(2) Reading status display at alarm occurrence

The following shows how to read the status display data at alarm occurrence. When the data No. corresponding to the status display item is transmitted, the data value and data processing information will be returned.

(a) Transmission

Transmit the command [3] [5] + the data No. corresponding to the status display item to read, [8] [0] to [8] [E] and [A] [0] to [A] [9]. Refer to section 14.4.1.

(b) Return

The slave station returns the status display data of requested alarm at occurrence.

0 0



Display type




0: No decimal point







(3) Current alarm reset

As by the reset (RES) on, reset the servo amplifier alarm to make the servo amplifier ready to operate.

After removing the cause of the alarm, reset the alarm with no command entered.

Data

[8] [2] [0] [0] 1EA5

14 - 38


14.5.12 Other commands

(1) Servo motor-side pulse unit absolute position

The following shows how to read the absolute position in the servo motor-side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position.

(a) Transmission


[0] [2] [9] [0]

(b) Return

The slave station returns the requested servo motor-side pulses.

Absolute position is sent back in hexadecimal in the servo motor-side pulse unit.

(Data must be converted into decimal.)

For example, data "000186A0" is 100000 pulses in the motor-side pulse unit.

(2) Command unit absolute position

The following shows how to read the absolute position in the command unit.

(a) Transmission


[0] [2] [9] [1]

(b) Return

The slave station returns the requested command pulses.

Absolute position is sent back in hexadecimal in the command unit.

(Data must be converted into decimal.)

For example, data "000186A0" is 100000 pulses in the command unit.

(3) Software version

The following shows how to read the software version of the servo amplifier.

(a) Transmission


[0] [2] [7] [0]

(b) Return

The slave station returns the requested software version.

Software version (15 digits)

Space

14 - 39


MEMO

14 - 40

15. USING A LINEAR SERVO MOTOR


WARNING

When using the linear servo motor, read "Linear Servo Motor Instruction Manual" and "Linear Encoder Instruction Manual".

POINT

The linear servo system is available for the servo amplifiers of which software version is A5 or later.

The MR-J4-03A6(-RJ) servo amplifier is not compatible with linear servo motor.

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, high speed, and efficiency. Therefore, the number of systems using a linear servo motor for a drive axis has been increasing. Since the linear servo system can obtain the characteristics of the high speed and the high acceleration/deceleration greater than the ball screw drive system. The linear servo system also does not have a ball screw wear which is a weak point in the ball screw drive system. This will extend the life of the equipment. In addition, since a response error due to backlash and friction does not occur, you can establish a high-accuracy system.

The following shows the differences between the linear servo motor and the rotary servo motor.

Category Item

Differences

Rotary servo motor

Remark

Motor pole adjustment

Home position return


Auto tuning

MR Configurator2

(SW1DNC-MRC2-_)

(software version

1.19V or later)


Reference home position

Required

1048576 pulses unit

(initial value)

Not required

(default setting)

One servo motor revolution unit

Automatically executed at the first servo-on after the power is turned on.

For the absolute position linear encoder, [Pr. PL01] can disable the magnetic pole detection. The timing of the magnetic pole detection can be changed with [Pr. PL01]. (Refer to (2) (b) of section 15.3.3.)

Home position return pitch can be changed with parameter setting.


Absolute position encoder battery

Not required Required The following alarms and warnings are not provided for the linear servo motor.

[AL. 25 Absolute position erased]

[AL. 92 Battery cable disconnection warning]

[AL. 9F Battery warning]

[AL. E3 Absolute position counter warning]


(J)



Motor speed

(Data display and setting)

Test operation function

Positioning operation mm/s unit

Supported Supported


Not supported

JOG operation Not supported r/min unit

Supported

Supported operation

15 - 1


15.1.2 Configuration including peripheral equipment

CAUTION

Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction.

POINT

Equipment other than the servo amplifier and linear servo motor are optional or recommended products.

When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".

(1) MR-J4-_A_

The configuration diagram is an example of MR-J4-20A. 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. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply

R S T

Personal computer


(MCCB) CN5

MR Configurator2

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D

(Note 5)

U

V

W

CN6

CN3

CN8

Analog monitor


To safety relay or


CN1


CN2

(Note 4)

SCALE

THM

(Note 6)

Thermistor

Linear servo motor

Encoder cable

Linear encoder

15 - 2




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.


4. For the branch cable, use the MR-J4THCBL03M (optional).

6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger

[AL. 16].

15 - 3


(2) When using serial linear encoder with MR-J4-_A_-RJ

The configuration diagram is an example of MR-J4-20A-RJ. 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. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply

R S T

Personal computer


(MCCB) CN5

MR Configurator2

(Note 3)

Magnetic contactor

(MC)

(Note 1)

CN6

Analog monitor

CN3

CN8


To safety relay or


Line noise filter

(FR-BSF01)

D

(Note 5)


DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

U

V

W

CN1


CN2

(Note 4)

SCALE

THM

(Note 6)

Thermistor

Linear servo motor

L11

L21

Encoder cable

Serial linear encoder



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.


4. For the branch cable, use the MR-J4THCBL03M (optional).

6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger

[AL. 16].

15 - 4


(3) When using A/B/Z-phase differential output linear encoder with MR-J4-_A_-RJ

The configuration diagram is an example of MR-J4-20A-RJ. 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. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply

R S T


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

CN6

Analog monitor

CN3

CN8


To safety relay or


Line noise filter

(FR-BSF01)

D

(Note 4)

L1

L2

L3


DC reactor

(FR-HEL)

Regenerative option

P+

C

P3

P4

U

V

W

CN1

CN2

CN2L

(Note 5)


Thermistor

Linear servo motor

L11

L21

Encoder cable

A/B/Z-phase differential output linear encoder


When not using the power factor improving DC reactor, short P3 and P4. 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. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration.

When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

5. Connect the thermistor to CN2 of servo amplifier and connect the encoder cable to CN2L correctly. Incorrect setting will trigger

[AL. 16].

15 - 5


15.2 Signals and wiring

WARNING



Ground the servo amplifier and the linear servo motor securely.

Do not attempt to wire the servo amplifier and the linear servo motor until they have been installed. Otherwise, it may cause an electric shock.



Wire the equipment correctly and securely. Otherwise, the linear servo motor may operate unexpectedly, resulting in injury.





24 V DC 24 V DC

DOCOM DOCOM



RA



RA

CAUTION



Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF

(-H)) with the power wire of the linear servo motor.



Connect the servo amplifier power output (U/V/W) to the linear servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Linear servo motor

V

W

M

Servo amplifier

U

V

W

U

Linear servo motor

V

W

M

15 - 6


CAUTION

Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction.



The cables such as power wires deriving from the primary side cannot stand the long-term bending action. Avoid the bending action by fixing the cables to the moving part, etc. Also, use the cable that stands the long-term bending action for the wiring to the servo amplifier.

This section does not describe the following items. For details of the items, refer to each section of the detailed description field.

Input power supply circuit

Explanation of power supply system

Section 3.1

Section 3.3

Alarm occurrence timing chart Section 3.8

Display and operation sections Section 4.5

15.3 Operation and functions

15.3.1 Startup

POINT

When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".

15 - 7


(1) Startup procedure

Start up the linear servo system in the following procedure.

Installation and wiring

Set the linear servo motor series and linear servo motor type.


(Note 1)

Set the linear encoder direction and the linear servo motor direction.


(Note 1)

Set the linear encoder resolution. (Refer to (4) in this section.)

(Note 1)

Positioning operation check using the test operation mode


Incremental linear encoder

What is the type of the linear encoder?

Absolute position linear encoder

Set "_ _ _ 1" in [Pr. PA03].

(Note 1)

Perform the magnetic pole detection.

(Refer to (3) in section 15.3.2.)

Release [AL. 93 ABS data transfer warning].

Change the setting to disable the magnetic pole detection.

(Refer to (3) in section 15.3.2.)

Positioning operation check using the controller (Refer to section 15.3.5.)

Home position return operation (Refer to section 15.3.3.)


Note 1. Use MR Configurator2.

2. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.

15 - 8


(2) Setting of linear servo motor series and linear servo motor type

To use the linear servo motor, set the linear servo motor series and linear servo motor type with [Pr.

PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. (Refer to section 5.2.1.)

(3) Setting of linear encoder direction and linear servo motor direction

POINT

If an incorrect value is set for [Pr. PC45], the servo motor may not operate properly, or [AL. 50] or [AL. 51] may occur at the positioning operation or the magnetic pole detection.

Set the first digit of [Pr. PC45] (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. PC45]

Encoder pulse count polarity selection

0: Linear servo motor positive direction and linear encoder increasing direction

1: Linear servo motor positive direction and linear encoder decreasing direction

(a) Parameter setting method

1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the travel direction of the linear servo motor under commands as shown below.

[Pr. PA14] setting

0

1

Travel direction of linear servo motor

Address increasing command

Address decreasing command

Positive direction

Negative direction

Negative direction

Positive direction

The positive/negative directions of the linear servo motor are as follows.

Negative direction

Positive direction

Secondary side

Primary side

Negative direction

Secondary side

Negative direction

Primary side

Positive direction

Table

Positive direction

Secondary side

Primary side

LM-H3 and LM-F series LM-U2 series LM-K2 series

2) Confirm the increasing direction of the linear encoder.

3) If the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, set [Pr. PC45] to "_ _ _ 0". If the positive direction of the linear servo motor does not match with the increasing direction of the linear encoder, set [Pr. PC45] to "_ _ _ 1".

15 - 9


(b) Confirmation method

Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure.

1) In servo-off status, move the linear servo motor in the positive direction manually.

2) Confirm the motor speed (in the positive and negative directions) at that time with MR

Configurator2.

3) When [Pr. PC45] 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. If the positive direction of the linear servo motor does not match with the increasing direction of the linear encoder, the motor speed will be a negative value. When [Pr. PC45] is set to "_ _ _ 1" 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 negative value.

(4) Linear encoder resolution setting

POINT

To enable the parameter values, cycle the power after setting.

If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning operation or the magnetic pole detection.

Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].

(a) Parameter setting

Set the values that apply to the following equation.

[Pr. PL02 Linear encoder resolution - Numerator]

[Pr. PL03 Linear encoder resolution - Denominator

= Linear encoder resolution [µm]

(b) Parameter setting example

When the linear encoder resolution is 0.5 μ m

[Pr. PL02]

[Pr. PL03]

= Linear encoder resolution = 0.5 µm =

1

2

The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].

Linear encoder resolution [µm]

Setting value [Pr. PL03] 100 50 20 10 5 2 1 1

15 - 10


15.3.2 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. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on.

The magnetic pole detection includes the following two methods. Each method has advantages and disadvantages. Select a magnetic pole detection method suitable for your usage.

The position detection method is selected the initial value.

Magnetic pole detection Advantage Disadvantage

Position detection method

Minute position detection method

1. The magnetic pole detection has a high degree of accuracy.

2. The adjustment procedure at the magnetic pole detection is simple.

1. The travel distance at the magnetic pole detection is short.

2. Even for equipment with small friction, the magnetic pole detection is available.

1. The travel distance at the magnetic pole detection is long.

2. For equipment with small friction, the initial magnetic pole detection error may occur.

1. The adjustment procedure at the magnetic pole detection is complex.

2. If a disturbance occurs during the magnetic pole detection, [AL. 27

Initial magnetic pole detection error] may occur.

15 - 11


(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


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.

2) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic pole detection method to "Position detection method".

3) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic pole detection at first servo-on". (Note)

4) Cycle the servo amplifier power.

5) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".

6) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.

The magnetic pole detection is carried out.

YES

Is [Pr. PL09] the final value?

NO

Has [AL. 27 Initial magnetic pole detection error] occurred?

NO

YES

Reset the alarm or cycle the servo amplifier power.

Have [AL. 32 Overcurrent], [AL.

50 Overload 1], [AL. 51 Overload 2], and

[AL. E1 Overload warning 1] occurred?

YES

NO

Cycle the servo amplifier power.


7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)

End

Note. For the incremental system, the [Pr. PL01] setting is not required.

Increase the value of [Pr. PL09] by five.

Set an approximately 70% of the value set for [Pr. PL09] as the final setting value.

If [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. E1 Overload warning

1] and the value set at [AL. 27

Initial magnetic pole detection error] as the final setting value.

15 - 12


(b) Magnetic pole detection by the minute position detection method



2) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole detection method to "Minute position detection method".

3) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic pole detection at first servo-on". (Note 1)


5) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection], set the load to mass of the linear servo motor primary side ratio. (Note 2)

6) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.


YES Is the response by the minute position detection method of [Pr.

PL17] the final value?

NO

Has an abnormal sound or vibration occurred during the magnetic pole detection?

NO

YES

Decrease the response by the minute position detection method of [Pr. PL17] by two as the final setting value.

Is the travel distance during the magnetic pole detection acceptable?

(Note 3)

Not acceptable

Increase the response by the minute position detection method of [Pr. PL17] by one.

Acceptable

7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)

End

Note 1. For the incremental system, the [Pr. PL01] setting is not required.

2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.

3. For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the response by the minute position detection method in [Pr. PL17].

15 - 13


(2) Operation at the magnetic pole detection

WARNING

Note that the magnetic pole detection automatically starts simultaneously with the turning-on of the servo-on command.

CAUTION

If the magnetic pole detection is not executed properly, the linear servo motor may operate unexpectedly.

POINT

Establish the machine configuration to use LSP (Upper stroke end) and LSN

(Lower stroke end). The machine may be damaged due to a collision without

LSP and LSN.

Assign LSP and LSN and perform the magnetic pole detection also in the torque control mode.

At the magnetic pole detection, whether the linear servo motor moves in the positive or negative direction is unpredictable.

Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole detection alarm, or others may occur.

After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator2.

When the absolute position linear encoder is used, if a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.

The accuracy of the magnetic pole detection improves with no load.

An alarm may occur when the linear encoder is not mounted properly, or when the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect.

For the machine that its friction becomes 30% or more of the continuous thrust, the linear servo motor may not operate properly after the magnetic pole detection.

For the horizontal shaft of the machine that its unbalanced thrust becomes 20% or more of the continuous thrust, the linear servo motor may not operate properly after the magnetic pole detection.

For the machine that multiple axes are connected like a tandem configuration, if you try to perform the magnetic pole detection simultaneously for multiple axes, the magnetic pole detection may not be executed. Perform the magnetic pole detection for each axis. At this time, set the axes that the magnetic pole detection is not performed for to servo-off.

15 - 14


(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 SON (Servo-on) after power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the magnetic pole detection.

1) Timing chart

SON (Servo-on)

Base circuit

RD (Ready)

ON

OFF

ON

OFF

ON

OFF

95 ms

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) Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on)

Servo-on position

(Magnetic pole detection start position)

LSN

(Note 1)

LSP

(Note 1)

(Note 2)

Magnetic pole detection completion position

Note 1. When you turn off LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) during the magnetic pole detection, the operation of the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 27

Initial magnetic pole detection error] occurs.

2. The following shows the pitch against the magnetic pole.

Linear servo motor series

LM-H3

LM-F

LM-U2

Medium thrust

(Continuous thrust:

Less than 400 N)

Large thrust

(Continuous thrust:

400 N or more)

LM-K2

Pitch against magnetic pole

[mm]

48 30 60 48

15 - 15


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 detection is executed.

Magnetic pole detection start position

Servo-on position

LSN LSP

(Note)


The linear servo motor reciprocates several times and returns to the magnetic pole detection start position to complete the magnetic pole detection and to go into the servo-lock status.

At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.

Note. For the pitch against magnetic pole, refer to (2) (a) 2) Note 2 in this section.

(b) For the absolute position linear encoder

POINT

The magnetic pole detection is required at the following timing.

When the system is set up (at the first startup of equipment)

After a servo amplifier is replaced

After a linear servo motor (primary-side or secondary-side) is replaced

After a linear encoder (scale or head) is replaced or remounted

If a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.

Perform the magnetic pole detection in the following procedure.

1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole detection at first servo-on).

[Pr. PL01]

1

Magnetic pole detection at first servo-on (Initial value)

2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.)

15 - 16


3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled).

[Pr. PL01]

0

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.

(3) Magnetic pole detection method setting

POINT

In the following cases, set the magnetic pole detection method to the minute position detection method.

When a shorten travel distance at the magnetic pole detection is required

When the magnetic pole detection by the position detection method is not completed

Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection method selection).

[Pr. PL08]

Magnetic pole detection method selection



(4) 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.

(a) Guideline of parameter settings

Set the parameters by referring to the following table.

[Pr. PL09] setting

(guide value)

Small ← Medium → Large

(10 or less (initial value) 50 or more)

Servo status

Thrust at operation

Overload, overcurrent alarm

Magnetic pole detection alarm

Magnetic pole detection accuracy

Small

Seldom occurs

Frequently occurs

Low

Large

Frequently occurs

Seldom occurs

High

(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL.

E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection by using MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off status is established.

15 - 17


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. However, if [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. 50

Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC

Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting value.

3) Perform the magnetic pole detection again with the final setting value to check there is no problem.

(c) Setting example

Linear encoder magnetic pole detection

[Pr. PL09] setting 30 35 40 45 65 70

Alarm

Occurring

Not occurring

While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.

An alarm has occurred when the setting value of [Pr. PL09] is set to "70".

In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70

× 0.7).

15.3.3 Home position return

POINT

Change the third digit value of [Pr. PL01] according to the linear encoder resolution.

The incremental linear encoder and the absolute position linear encoder have different reference home positions at the home position return.

For the linear encoder, a home position (reference mark) of the linear encoder is necessary in the home position return direction. In addition, install a dog so that the mover passes the dog, decelerates to the creep speed, and passes the home position (reference mark).

When you configure as follows, move the mover to LSN with JOG operation and perform home position to perform it in safe.

Returnable area:

Home position return can be performed when started from this area.

Non-returnable area:

Home position return cannot be performed when started from this area.

LSN

Dog

Home position return direction

LSP

Home position of linear encoder (reference mark)

15 - 18


(1) Incremental linear encoder

CAUTION

If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear encoder is large, it is very dangerous since the linear servo motor may crash into the stroke end.

(a) When the linear encoder home position (reference mark) exists in the home position return direction

When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier will be the home position (reference mark) of the linear encoder.

When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled

(1 _ _ _)" of "Linear scale multipoint Z-phase input function selection" in [Pr. PC28].


Home position return speed

Servo motor speed

Creep speed


0 r/min

ON

OFF


Equivalent to one servo motor revolution

Machine position

Linear encoder home position Home position

15 - 19


(b) When the linear encoder home position (reference mark) does not exist in the home position return direction

POINT

To execute a home position return securely, start a home position return after moving the linear servo motor to the opposite stroke end with JOG operation and others.

Change the third digit value of [Pr. PL01] according to the linear encoder resolution.

The home position return cannot be performed from the position which the home position of the linear encoder does not exist in the home position return direction. Move the mover to the stroke end on the opposite side of the home position return direction with the JOG operation from the controller and others, and then perform a home position return.



Servo motor speed

Creep speed

0 r/min

JOG operation


ON

OFF

LZ

(Encoder Z-phase pulse)

ON

OFF

Machine position

Stroke end Home position Home position start position

Linear encoder home position

Home position returnable area Home position non-returnable area

(c) Caution for passing the home position (reference mark)

An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoders. For details, refer to "Linear Encoder

Instruction Manual".)

Example: When Z-phase is recognized at startup

B A

Home position signal

A is recognized as the on position.

B is recognized as the on position.

The position which turns on LZ (Encoder Z-phase pulse) differs depending on the directions of home position passing. When you need to set the home position return completion to the same position each time such as dog type home position return, always start home position return with the same direction.

15 - 20


(d) Caution for linear encoder which does not have the home position (reference mark)

The linear encoder which does not have the home position (reference mark), LZ (Encoder Z-phase pulse) of the servo amplifier does not be outputted. It is depending on positioning controllers to use whether LZ (Encoder Z-phase pulse) is necessary or not for home position return. Check the specifications of controllers.

(2) Absolute position linear encoder

POINT

The data set type home position return can also be carried out.

The home position reference position using an absolute type linear encoder will be per 1048576 pulses based on the linear encoder home position (absolute position data = 0). You can change the stop interval at home position return with the third digit of [Pr. PL01].

[Pr. PL01]

Stop interval setting at the home position return

Setting value

Stop interval [pulse]

0

1

8192

131072

4

5

2 262144

3 1048576 (initial value)

6

4194304

16777216

67108864

15 - 21


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 μ m 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. The value inside a bold box indicates the recommended stop interval for each linear encoder resolution.

[Unit: mm]

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

_ 4 _ _

_ 5 _ _

_ 6 _ _

Pr. PL01

Linear encoder resolution [µm]

Stop interval

[pulse]

8192

131072

262144

1048576

4194304

16777216

67108864

0.001 0.005 0.01 0.02 0.05 0.1 0.2 0.5 1 2

0.008

0.131

0.262

0.041

0.655

1.311

0.082

1.311

2.621

0.164

2.621

5.243

0.410 0.819 1.638 4.096 8.192 16.384

6.554 13.107 26.214 65.536 131.072 262.144

13.107 26.214 52.429 131.072 262.144 524.288

1.049

4.194

5.243

20.972

10.486

41.943

20.972

83.886

52.429 104.858 209.715 524.288 1048.576 2097.152

209.715 419.430 838.861 2097.152 4194.304 8388.608

16.777 83.886 167.772 335.544 838.861 1677.722 3355.443 8388.608 16777.216 33554.432

67.109 335.544 671.089 1342.177 3355.443 6710.886 13421.773 33554.432 67108.864 134217.728

In the case of a proximity dog type home position return, the nearest reference home position after proximity dog off is the home position. The linear encoder home position can be set in any position.

LZ (Encoder Z-phase pulse) is outputted based on "Stop interval selection at the home position return" in [Pr. PL01].


Linear servo motor


Creep speed


0 mm/s

ON

OFF


(Note)

1048576 pulses

1048576 pulses × n

Linear servo motor position


Note. Changeable with [Pr. PL01].

15 - 22


15.3.4 Test operation mode in MR Configurator2

CAUTION

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 the linear servo motor alone.

If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT

The content described in this section indicates the environment where the servo amplifier and a personal computer are directly connected.

By using a personal computer and MR Configurator2, you can execute the positioning operation, the output signal (DO) forced output, and the program operation without connecting the controller.


Positioning operation can be performed when there is no command from the controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on, servo-off, or whether a controller is connected or not.

Exercise control on the positioning operation screen of MR Configurator2.

(a) Operation pattern

Item Initial value Setting range

Travel distance [pulse]

Speed [mm/s]

Acceleration/decelerati on time constant [ms]

1048576

10

1000

0 to 99999999

0 to Maximum speed

0 to 50000

Repeat pattern

Positive direction travel →

Negative direction travel

2.0




Positive direction travel

Negative direction travel →

Positive direction travel

Negative direction travel →


0.1 to 50.0 Dwell time [s]

Number of repeats

[time]

1 1 to 9999

(b) Operation method

Positive direction travel Click "Positive Direction Movement".

Negative direction travel Click "Reverse Direction Movement".

Forced stop Click "Forced Stop".


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.

15 - 23


(3) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using a controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on, servo-off, or whether a controller is connected or not.

Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of MR

Configurator2.

Forced stop Click "Forced Stop".

15.3.5 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. To detect this state and to stop operation, the linear servo control error detection function is used as a protective function.

The linear servo control error detection function has three different detection methods: the position deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with

[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with

[Pr. PL05], [Pr. PL06], and [Pr. PL07].

Servo amplifier

Servo amplifier internal value

1) Model feedback position [mm]

3) Model feedback speed [mm/s]

5) Command thrust [%]

Linear servo motor

Linear encoder

Linear encoder

2) Feedback position [mm]

4) Feedback speed [mm/s]

6) Feedback thrust [%]

Figure 15.1 Outline of linear servo control error detection function

15 - 24


(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.

[Pr. PL04]

1

Position deviation error detection enabled

When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to

1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 50 mm. Change the set value as necessary.

(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.

[Pr. PL04]

2

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. PL06 Speed deviation error detection level] (1 mm/s to 5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 1000 mm/s. Change the set value as necessary.

(c) Thrust deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.

[Pr. PL04]

4

Thrust deviation error detection enabled

When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 15.1, if the deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to

1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.

(d) Detecting multiple deviation errors

When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection methods, refer to (1) (a), (b), (c) in this section.

[Pr. PL04]

Setting value

1

2

3

4

5

6

7

Position deviation error detection

Speed deviation error detection

Thrust deviation error detection

15 - 25


(2) Auto tuning function

POINT

The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied.

Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s or less.

The linear servo motor speed is 150 mm/s or higher.

The load to mass of the linear servo motor primary-side ratio is 100 times or less.

The acceleration/deceleration thrust is 10% or less of the continuous thrust.

The auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.

Example) Mass of linear servo motor primary side

Load mass (excluding the mass of the linear servo motor primary side)

Mass ratio

= 2 kg

= 4 kg

= 4/2 = 2 times

For the parameters set by the auto tuning function, refer to chapter 6.

(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.

15 - 26


15.3.6 Absolute position detection system

When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required.

(1) Operating conditions of absolute position detection system

(a) Use an absolute type linear encoder.

(b) Perform the magnetic pole detection in the incremental system and disable the magnetic pole detection after the detection.

(c) Enable the absolute position detection system with [Pr. PA03 Absolute position detection system].

(2) Alarm detection

[AL. 25 Absolute position erased], [AL. 92 Battery cable disconnection warning], [AL. 9F Battery warning], and [AL. E3 Absolute position counter warning] are not provided for the linear servo motor.

(3) Backup

The linear encoder backs up the absolute position data. Therefore, the encoder battery need not be installed to the servo amplifier.

(4) Absolute position data transfer to controller

Refer to section 12.8 for absolute position data transfer to the controller.

15 - 27


15.4 Characteristics

15.4.1 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. 15.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph.

Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion.

This servo amplifier has solid-state linear servo motor overload protection. (The servo motor overload current

(full load current) is set on the basis of 120% rated current of the servo amplifier.)

1000 1000

100

10

1

0.1

0

1000

100

10

1

100

Operating

10

Servo-lock

1

50 100 150

Load ratio [%]

200 a. LM-H3 series

LM-K2 series

250 300

0.1

0

1000

100

Operating

10

Servo-lock

1

Servo-lock

100 200

Load ratio [%] b. LM-U2 series

300

Servo-lock

Operating

Operating

400

0.1

0 100 200 300

Load ratio [%]

400 500 600

0.1

0 50 100 150

Load ratio [%]

200 c. LM-F series (natural cooling) d. LM-F series (liquid cooling)


250 300

15 - 28


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. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the linear servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact enclosed type cabinet.

Table 15.1 Power supply capacity and generated loss per linear servo motor at rated output

Linear servo motor

(primary side)

LM-H3P2A-07P-BSS0

Servo amplifier

MR-J4-40A(-RJ)

Power supply capacity [kVA]

(Note 1)

Servo amplifier-generated heat [W]

(Note 2)

At rated output With servo-off


[m 2 ]

0.9 35 15 0.7

LM-H3P3B-24P-CSS0 1.3 50 15 1.0

LM-H3P3D-48P-CSS0 MR-J4-200A(-RJ) 3.5 90 20 1.8

LM-H3P7A-24P-ASS0 MR-J4-70A(-RJ) 1.3

LM-H3P7B-48P-ASS0

50 15 1.0

3.5 90 20 1.8

100 1.1

LM-H3P7D-96P-ASS0 MR-J4-350A(-RJ) 5.5

LM-U2PAB-05M-0SS0

MR-J4-20A(-RJ)

MR-J4-20A1(-RJ)

130 20 2.7

0.5 25 15 0.5

LM-U2PAD-10M-0SS0 MR-J4-40A(-RJ) 0.9 35 15 0.7

LM-U2PBB-07M-1SS0

MR-J4-20A(-RJ)

MR-J4-20A1(-RJ)

0.5 25 15 0.5

LM-U2PBD-15M-1SS0 MR-J4-60A(-RJ) 1.0

LM-U2PBF-22M-1SS0 MR-J4-70A(-RJ) 1.3

LM-U2P2B-40M-2SS0 MR-J4-200A(-RJ) 3.5

40

50

90

15

15

20

0.8

1.0

1.8

LM-U2P2C-60M-2SS0 MR-J4-350A(-RJ) 5.5

LM-U2P2D-80M-2SS0 MR-J4-500A(-RJ) 7.5

LM-FP2B-06M-1SS0 MR-J4-200A(-RJ) 3.5

LM-FP2D-12M-1SS0 MR-J4-500A(-RJ) 7.5

LM-FP2F-18M-1SS0 MR-J4-700A(-RJ) 10

130

195

90

195

300

20

25

20

25

25

2.7

3.9

1.8

3.9

6.0

LM-FP4B-12M-1SS0 MR-J4-500A(-RJ) 7.5

LM-FP4D-24M-1SS0 MR-J4-700A(-RJ) 10

LM-FP4F-36M-1SS0 MR-J4-11KA(-RJ) 14

195

300

460

25

25

45

3.9

6.0

9.2

LM-FP4H-48M-1SS0 MR-J4-15KA(-RJ) 18

LM-FP5H-60M-1SS0 MR-J4-22KA4(-RJ) 22

580

640

45

45

11.6

12.8

LM-K2P1A-01M-2SS1

MR-J4-40A(-RJ)

MR-J4-40A1(-RJ)

0.9 35 15 0.7

LM-K2P1C-03M-2SS1 MR-J4-200A(-RJ) 3.5 90 20 1.8

LM-K2P2A-02M-1SS1 MR-J4-70A(-RJ) 1.3

LM-K2P2C-07M-1SS1 MR-J4-350A(-RJ) 5.5

LM-K2P2E-12M-1SS1 MR-J4-500A(-RJ) 7.5

LM-K2P3C-14M-1SS1 MR-J4-350A(-RJ) 5.5

50

130

195

130

15

20

25

20

1.0

2.7

3.9

2.7

LM-K2P3E-24M-1SS1 MR-J4-500A(-RJ) 7.5

Note 1.

195 25 3.9

The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power factor improving AC reactor or power factor improving DC reactor are not used. regenerative option, refer to section 11.2.

15 - 29


15.4.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value is considered to be longer than the actual distance. However, if an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts. No linear servo motor with an electromagnetic brake is available.

POINT


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.

Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency.

The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below.

Lmax = V

0

• (0.03 + M • (A + B • V

0

2 ))

Lmax: Coasting distance of the machine [m]

V

0

: Speed when the brake is activated [m/s]

M: Full mass of the moving part [kg]

A: Coefficient (Refer to the following tables.)

B: Coefficient (Refer to the following tables.)

Linear servo motor

(primary side)

Coefficient A Coefficient B

Linear servo motor

(primary side)

Coefficient A Coefficient B

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-H3P3B-24P-CSS0

LM-H3P3C-36P-CSS0

LM-H3P3D-48P-CSS0

LM-H3P7A-24P-ASS0

LM-H3P7B-48P-ASS0

LM-H3P7C-72P-ASS0

LM-H3P7D-96P-ASS0

Linear servo motor

(primary side)

LM-FP2B-06M-1SS0

LM-FP2D-12M-1SS0

LM-FP2F-18M-1SS0

LM-FP4B-12M-1SS0

LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0

LM-FP4H-48M-1SS0

LM-FP5H-60M-1SS0

7.15 × 10 -3

2.81 × 10 -3

7.69 × 10 -3

7.22 × 10 -3

1.02 × 10 -3

7.69 × 10 -3

9.14 × 10 -4

7.19 × 10 -4

6.18 × 10 -4

Coefficient A

8.96 × 10 -4

5.55 × 10 -4

4.41 × 10 -4

5.02 × 10 -4

3.55 × 10 -4

1.79 × 10 -4

1.15 × 10 -4

1.95 × 10 -4

2.94 × 10 -3

1.47 × 10 -3

2.27 × 10 -4

1.13 × 10 -4

2.54 × 10 -4

2.14 × 10 -4

2.59 × 10 -4

1.47 × 10 -4

9.59 × 10 -5

LM-U2PAB-05M-0SS0

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

LM-U2PBB-07M-1SS0

LM-U2PBD-15M-1SS0

LM-U2PBF-22M-1SS0

LM-U2P2B-40M-2SS0

LM-U2P2C-60M-2SS0

LM-U2P2D-80M-2SS0

Coefficient B

1.19 × 10 -3

4.81 × 10 -4

2.69 × 10 -4

4.36 × 10 -4

1.54 × 10

4.00 × 10

-4

1.36 × 10 -4

1.19 × 10 -4

-5

Linear servo motor

(primary side)

LM-K2P1A-01M-2SS1

LM-K2P1C-03M-2SS1

LM-K2P2A-02M-1SS1

LM-K2P2C-07M-1SS1

LM-K2P2E-12M-1SS1

LM-K2P3C-14M-1SS1

LM-K2P3E-24M-1SS1

5.72 × 10 -2

2.82 × 10 -2

1.87 × 10 -2

3.13 × 10 -2

1.56 × 10 -2

4.58 × 10 -2

1.47 × 10 -3

1.07 × 10 -3

9.14 × 10 -4

Coefficient A

5.36 × 10 -3

1.17 × 10 -3

2.49 × 10 -2

6.85 × 10 -4

5.53 × 10 -4

2.92 × 10 -4

2.53 × 10 -4

1.72 × 10 -4

8.60 × 10 -5

5.93 × 10 -5

1.04 × 10 -4

5.18 × 10 -5

1.33 × 10 -5

1.27 × 10 -5

7.66 × 10 -6

5.38 × 10 -6

Coefficient B

6.56 × 10 -3

3.75 × 10 -4

1.02 × 10 -3

2.80 × 10 -4

1.14 × 10 -4

1.16 × 10 -4

5.52 × 10 -5

15 - 30


15.4.4 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 ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor mass ratio in the table are the values when the linear servo motor is used at the maximum speed.

Linear servo motor

(primary side)

Permissible load to motor mass ratio

[Multiplier]

40 LM-H3 series

LM-U2 series

LM-F series

LM-K2 series

100

50

When actual speed does not reach the maximum speed of the linear servo motor, calculate the permissible load to motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is

300 times.)

Permissible load to motor mass ratio of the dynamic brake = Value in the table × (Servo motor maximum speed 2 /Actual using speed 2 )

For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed:

3.0 m/s), the equation will be as follows.

Permissible load to motor mass ratio of dynamic brake = 40 × 3 2 /2 2 = 90 [times]

15 - 31


MEMO

15 - 32

16. USING A DIRECT DRIVE MOTOR


CAUTION

When using the direct drive motor, read "Direct Drive Motor Instruction Manual".

POINT

Refer to section 1.4 for the software version of the servo amplifier that is compatible with the direct drive servo system.

The MR-J4-03A6(-RJ) servo amplifier is not compatible with direct drive motor.


16.1.1 Summary

The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and efficiency. Therefore, the number of systems using a direct drive motor for a drive axis has been increasing. The direct drive servo system includes the following features.

(1) Performance

(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution encoder enables the high-accuracy control.

(b) The high-resolution encoder contributes to the high-accuracy indexing.

(c) Since reducer is no longer required, no backlash occurs. In addition, the settling time is reduced, and the high-frequency operation is enabled.

(d) Since reducer is no longer required, the motor does not deteriorate with time by reducer.

(2) Mechanism

(a) The motor's low profile design contributes to compact moving part of the machine and a low center of gravity for enhanced equipment stability.

(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed through.

(c) Lubrication and the maintenance due to abrasion are not required.

The following shows the differences between the direct drive motor and the rotary servo motor.

Category Item

Differences

Rotary servo motor

Remark

Motor pole adjustment

Magnetic pole detection Required Not required

(default setting)

Automatically executed at the first servo-on after the power is turned on.

For the absolute position detection system, [Pr. PL01] can disable the magnetic pole detection. (Refer to

(2) (b) of 16.3.3.)

Required Required Absolute position detection system

Absolute position encoder battery

Absolute position storage unit

(MR-BTAS01)

16 - 1



CAUTION

Connecting a direct drive motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction.

POINT

Equipment other than the servo amplifier and direct drive motor are optional or recommended products.

When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".

The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply

R S T


(MCCB)

(Note 7)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

Line noise filter

(FR-BSF01)

(Note 1)

CN6

CN3

CN8

Analog monitor


To safety relay or


D

(Note 5)

U

V

W


DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

CN1


CN2

CN4

(Note 6)

Absolute position storage unit

MR-BTAS01

(Note 4)

Battery unit Direct drive motor

16 - 2




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.


4. The battery unit is used for the absolute position detection system. (Refer to chapter 12.)

6. The absolute position storage unit is used for the absolute position detection system.

7. This is for MR-J4-_A_, MR-J4-_A_-RJ has a CN2L connector. However, CN2L is not used for the direct drive servo system.


WARNING



Ground the servo amplifier and the direct drive motor securely.

Do not attempt to wire the servo amplifier and direct drive motor until they have been installed. Otherwise, it may cause an electric shock.



CAUTION

Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly, resulting in injury.





24 V DC 24 V DC

DOCOM DOCOM



RA



RA



Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on the power wire of the direct drive motor.

16 - 3


CAUTION




Connect the servo amplifier power output (U/V/W) to the direct drive motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Direct drive motor

U

Servo amplifier

U

V

M V

W

W

Direct drive motor

U

V

W

M



This section does not describe the following items. For details of the items, refer to each section of the detailed description field.

Input power supply circuit

Explanation of power supply system

Section 3.1

Section 3.3

Alarm occurrence timing chart Section 3.8

Display and operation sections Section 4.5


POINT

When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".

For the test operation, refer to section 4.2.3, 4.3.3, 4.4.3, and 4.5.9.

After power on, the Z-phase mark of the direct drive motor must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation, install the direct drive motor in a position where the Zphase mark can pass over the connector area.

16 - 4



Start up the direct drive servo system in the following procedure.

Installation and wiring

Perform the magnetic pole detection. (Refer to section 16.3.2.) (Note 1, 4)

Positioning operation check using the test operation mode (Note 1, 4)

Incremental system

Absolute position detection system?


Perform this procedure once at startup.

Set "_ _ _ 1" in [Pr. PA03].

Release [AL. 25 Absolute position erased]. (Note 5)

Can you manually turn on the Z-phase pulse of the direct drive motor?

No

Perform the magnetic pole detection.

(Note 6)

Transfer of absolute position data

(Refer to section 16.4.)

No

Release [AL. 93 ABS data transfer warning]. (Note 7)

Yes

Turn on the Z-phase pulse of the direct drive motor by using the

JOG operation of controller. (Note 1, 2)

Turn on the Z-phase pulse of the direct drive motor manually. (Note 3)

Change the setting to disable the magnetic pole detection.



Home position return operation (Refer to the controller manual used.)


16 - 5


Note 1. Use MR Configurator2.

2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a warning will occur at the controller.

3 If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or the JOG operation.

For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1/L2/L3). Perform this operation by considering the safety.

4. Test operation cannot be performed in the absolute position detection system, either. To perform test operation, select

"Disabled (incremental system) (_ _ _ 0)" in [Pr. PA03]. Refer to section 16.3.2 (1) for details. occur at the first power on. Cancel the alarm by turning on/off the power.

6. When the magnetic pole detection is performed with absolute position detection system by DIO transfer, [AL. 93 ABS data transfer warning] will occur. Refer to section 16.4 for details.

7. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.

16.3.2 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.

Perform this operation by considering the safety.

When performing a magnetic pole detection without using LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ 1 _ _" to disable LSP and LSN.

Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic pole detection.

For the magnetic pole detection of vertical axis with direct drive motors, refer to section 2.1 of "Direct Drive Motor Instruction Manual".

Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.

Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.

16 - 6


(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



2) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic pole detection method to "Position detection method".

3) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole detection always enabled". (Note)


5) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".

6) Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.


YES

Is [Pr. PL09] the final value?

NO

Has [AL. 27 Initial magnetic pole detection error] occurred?

NO

YES


Have [AL. 32 Overcurrent], [AL. 50

Overload 1], [AL. 51 Overload 2], and

[AL. E1 Overload warning 1]

occurred?

YES

NO

Cycle the servo amplifier power.


7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)

End

Note. For the incremental system, the [Pr. PL01] setting is not required.

Increase the value of [Pr. PL09] by five.

Set an approximately 70% of the value set for [Pr. PL09] as the final setting value.

If [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. E1 Overload warning

1] and the value set at [AL. 27

Initial magnetic pole detection error] as the final setting value.

16 - 7


(b) Magnetic pole detection by the minute position detection method



2) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole detection method to "Minute position detection method".

3) [Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole detection always enabled". (Note 1)


5) Set the load inertia moment ratio of the direct drive motor with [Pr. PL17 Magnetic pole detection -

Minute position detection method - Function selection]. (Note 2)

6) Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.


YES

Is the response by the minute position detection method of [Pr.

PL17] the final value?

NO

Has an abnormal sound or vibration occurred during the magnetic pole detection?

YES

Decrease the response by the minute position detection method of [Pr. PL17] by two as the final setting value.

NO

Is the travel distance during the

magnetic pole detection acceptable?

(Note 3)

Acceptable

Not acceptable

Increase the response by the minute position detection method of [Pr. PL17] by one.

7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)

End

Note 1. For the incremental system, the [Pr. PL01] setting is not required.

2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.

3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle at the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the response by the minute position detection method in [Pr. PL17].

16 - 8


(2) Operation at the magnetic pole detection

WARNING

Note that the magnetic pole detection automatically starts simultaneously with the turning-on of the servo-on command.

CAUTION

If the magnetic pole detection is not executed properly, the direct drive motor may operates unexpectedly.

POINT

Establish the machine configuration to use LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). The machine may be damaged due to a collision without LSP and LSN.

Assign LSP and LSN and perform the magnetic pole detection also in the torque control mode.

At the magnetic pole detection, whether the motor rotates in the forward or reverse direction is unpredictable.

Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole detection alarm, or others may occur.

After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator2.

The accuracy of the magnetic pole detection improves with no load.

(a) Incremental system

POINT

For the incremental system, the magnetic pole detection is required every time the power is turned on.

By turning on SON (Servo-on) after power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the magnetic pole detection.

1) Timing chart

SON (Servo-on)

Base circuit

RD (Ready)

ON

OFF

ON

OFF

ON

OFF

95 ms

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.

16 - 9


2) Direct drive motor movement (when LSP and LSN are on)

Center of direct drive motor rotation part

(Note) LSN LSP (Note)

Servo-on position (Magnetic pole detection start position)


10 degrees or less

Note. When the stroke limit (LSP or LSN) is turned off during the magnetic pole detection, the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 27 Initial magnetic pole detection error] occurs.

3) Direct drive motor movement (when LSP or LSN is off)

When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.

LSN

Center of direct drive motor rotation part

LSP

Servo-on position

Magnetic pole detection start position

After the machine moves to the position where the stroke limit

(LSP or LSN) is set, the magnetic pole detection starts.


10 degrees or less

(b) Absolute position detection system

POINT

The magnetic pole detection is required in the following timings.

System 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.)

After a direct drive motor is replaced

When [AL. 25 Absolute position erased] has occurred

Turn on the Z-phase pulse of the direct drive motor in JOG operation from the controller after the magnetic pole detection.

Perform the magnetic pole detection in the following procedure.

1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole detection at first servo-on).

[Pr. PL01]

1

Magnetic pole detection at first servo-on (initial value)

16 - 10


2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.)

3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled).

[Pr. PL01]

0

Magnetic pole detection disabled

After the magnetic pole detection, by turning on the Z-phase pulse of the direct drive motor in

JOG operation and by disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after each power-on is not required.

(3) Magnetic pole detection method setting

Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection method selection).

[Pr. PL08]

Magnetic pole detection method selection



(4) 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.

(a) Guideline of parameter settings

Set the parameters by referring to the following table.

[Pr. PL09] setting

(guide value)

Small ← Medium → Large

(10 or less (initial value) 50 or more)

Servo status

Torques required for operation

Overload, overcurrent alarm

Magnetic pole detection alarm

Magnetic pole detection accuracy

Small

Seldom occurs

Frequently occurs

Low

Large

Frequently occurs

Seldom occurs

High

(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning

1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value.

When these alarms and warnings occur during the magnetic pole detection by using MR

Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off status is established.

2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],

[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51

Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting value.

3) Perform the magnetic pole detection again with the final setting value.

16 - 11


(c) Setting example


[Pr. PL09] setting value 30 35 40 45 65 70

Alarm

Existent

Non-existent

While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.

An alarm has occurred when the setting value of

[Pr. PL09] is set to "70".

In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70

× 0.7).

16.3.3 Function

(1) Servo control error detection function

POINT

For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)

If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function.

The servo control error detection function has three different detection methods: the position deviation, speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04

Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05],

[Pr. PL06], and [Pr. PL07].

Direct drive motor

Servo amplifier

Servo amplifier internal value

1) Model feedback position [rev]

3) Model feedback speed [r/min]

5) Command torque [%]

Encoder

2) Feedback position [rev]

4) Feedback speed [r/min]

6) Feedback torque [%]

Encoder

Figure 16.1 Outline of servo control error detection function

(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.

[Pr. PL04]

1

Position deviation error detection enabled

When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 16.1, if the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 (0.01 rev) to 1000 (10 rev)), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 0.09 rev. Change the set value as necessary.

16 - 12


(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.

[Pr. PL04]

2

Speed deviation error detection enabled

When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 16.1, if the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to 2000 r/min), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100 r/min. Change the set value as necessary.

(c) Torque deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection.

[Pr. PL04]

4

Torque deviation error detection enabled

When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 16.1, if the deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to

1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.

(d) Detecting multiple deviation errors

When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection methods, refer to (1) (a), (b), (c) in this section.

[Pr. PL04]

Setting value

1

2

3

6

7

4

5



Torque deviation error detection

16 - 13


16.4 Absolute position detection system

POINT

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 encoder cables and absolute position storage units, refer to "Direct Drive

Motor Instruction Manual".

Replacing the absolute position storage unit (MR-BTAS01) will erase the absolute position. Start up the direct drive motor again and perform home positioning.

Replace the battery while the control circuit power is on. Replacing the unit during control circuit power supply off will cause [AL. 25 Absolute position erased]. A battery cannot be replaced using battery connection cable (MR-

J3BTCBL03M).

[AL. 25 Absolute position erased] will occur if the encoder cable is disconnected.

When you use the system with absolute position detection system by DIO transfer (set [Pr. PA03] to "_ _ _

1") with the following conditions, the first servo-on after power on will trigger the magnetic pole detection and

[AL. 93 ABS data transfer warning] will occur.

Magnetic pole detection always enabled (Set [Pr. PL03] to "_ _ _ 1".)

The Z-phase pulse of the direct drive motor has not turned on.

When the magnetic pole detection is performed with absolute position detection system by DIO transfer, a deviation occurs between absolute position data of the servo amplifier side and controller side. If the operation is continued, positions will be mismatched. Therefore, [AL. 93 ABS data transfer warning] will occur on the servo amplifier side. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.

16 - 14


Timing chart at power on under the condition of performing magnetic pole detection

ON

Power

OFF

First servo-on after power on Second or later servo-on

SON (Servo-on)

ON

OFF

ABSM (ABS transfer mode)

ON

OFF

During ABS transfer

(Note 1)

ABSR (ABS request)

ON

OFF

ABSB0

(ABS transmission data bit 0)

ABSB1

(ABS transmission data bit 1)

(Note 1)

ABST

(ABS transmission data ready)

ON

OFF

Base circuit

RD (Ready)

(Note 1)


95 ms

ON

OFF

ON

OFF

15 s or less

Magnetic pole detection time

Operation possible

During ABS transfer

(Note 1)

(Note 1)

(Note 1)


95 ms

Operation possible

(Note 2)

Warning

Existent

Non-existent

Note 1. Refer to section 12.8.2 (1) (b) for details.

2. Performing the magnetic pole detection triggers [AL. 93 ABS data transfer warning].

For transferring absolute position data to the controller, refer to section 12.8.



An electronic thermal is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct drive motor power wires from overloads.



This servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

16 - 15


1000 1000

Operating

100 100

Servo-lock

10

1

10

1

Servo-lock

Operating

0.1

0

10000

50 100 150 200

(Note) Load ratio [%]

250

TM-RFM002C20/TM-RFM004C20/

TM-RFM006C20/TM-RFM006E20/

TM-RFM012E20/TM-RFM018E20/

TM-RFM012G20/TM-RFM040J10

300

0.1

0

1000

50 100 150 200


250

TM-RFM048G20/TM-RFM072G20/

TM-RFM120J10

300

Operating

1000 100

Operating

Servo-lock

100

10

Servo-lock

10

1

1

0 50 100 150 200


250 300

0.1

0 50 100 150 200


250 300 350

TM-RFM240J10 TM-RG2M002C30/TM-RU2M002C30/

TM-RG2M004E30/TM-RU2M004E30/

TM-RG2M009G30/TM-RU2M009G30

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.


16 - 16



Table 16.1 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. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the direct drive motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Table 16.1 Power supply capacity and generated loss per direct drive motor at rated output

Direct drive motor Servo amplifier

Power supply capacity [kVA]



Area required for heat dissipation [m 2 ]

TM-RG2M002C30 MR-J4-20A(-RJ)

TM-RU2M002C30 MR-J4-20A1(-RJ)

TM-RG2M004E30

TM-RU2M004E30

MR-J4-20A(-RJ)

MR-J4-20A1(-RJ)

TM-RG2M004E30

(Note)

TM-RU2M004E30

(Note)

TM-RG2M009G30

TM-RU2M009G30

TM-RFM002C20

TM-RFM004C20

MR-J4-40A(-RJ)

MR-J4-40A1(-RJ)

MR-J4-40A(-RJ)

MR-J4-40A1(-RJ)

MR-J4-20A(-RJ)

MR-J4-20A1(-RJ)

MR-J4-40A(-RJ)

MR-J4-40A1(-RJ)

TM-RFM006C20 MR-J4-60A(-RJ)

TM-RFM006E20 MR-J4-60A(-RJ)



TM-RFM012G20 MR-J4-70A(-RJ)



TM-RFM040J10 MR-J4-70A(-RJ)

0.25 25 15 0.5

0.5 25 15 0.5

0.7 35 15 0.7

0.9 35 15 0.7

0.25 25 15 0.5

0.38 35 15 0.7

0.53

0.46

0.81

1.3

0.71

2.7

3.8

1.2

TM-RFM120J10 MR-J4-350A(-RJ) 3.4

TM-RFM240J10 MR-J4-500A(-RJ) 6.6

Note. The combination increases the rated torque and the maximum torque.

40

40

50

50

50

90

110

50

90

160

15

15

15

15

15

20

20

15

20

25

0.8

0.8

1.0

1.0

1.0

1.8

2.2

1.0

1.8

3.2

16 - 17



CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance.

If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

POINT


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.

Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when using EM1 (Forced stop 1) frequently in other than emergency.

(1) Dynamic brake operation

(a) Calculation of coasting distance

Fig. 16.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 16.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ varies with the direct drive motor and machine operation speeds. (Refer to (1)

(b) in this section.)

EM1 (Forced stop 1)

ON

OFF


Machine speed

V

0

Time t e


L max

=

V

0

60

• t e

+

J

L

M

······················································································ (16.1)

L max

: Maximum coasting distance

V

0

: Machine's fast feed speed

J

M

: Moment of inertia of direct drive motor

J

L

: Load moment of inertia converted into equivalent value on direct drive motor rotor

τ : Dynamic brake time constant t e

: Delay time of control section

There is internal relay delay time of about 10 ms.

[mm]

[mm/min]

[kg•cm 2 ]

[kg•cm 2 ]

[s]

[s]

16 - 18


(b) Dynamic brake time constant


30

25

20

15

10

5

0

0

002 004

006

100 200 300

Speed [r/min]

400 500

70

60

50

40

30

20

10

0

0 100

018

006

012

200 300

Speed [r/min]

400 500

60

50

40

30

20

10

0

0

TM-RFM_C20 TM-RFM_E20

012

048

100 200

Speed [r/min]

072

300 400 500

80

70

60

50

40

30

20

10

0

0

040

240

50 100

Speed [r/min]

120

150 200

TM-RFM_G20 TM-RFM_J10

30

25

20

15

10

5

0

0 100 200 300 400 500 600

Speed [r/min]

30

25

20

15

10

5

0

0 100 200 300 400 500 600

Speed [r/min]

TM-RG2M004E30

TM-RU2M004E30

TM-RG2M002C30

TM-RU2M002C30

80

70

60

50

40

30

20

10

0

0 100 200 300 400 500 600

Speed [r/min]

TM-RG2M009G30

TM-RU2M009G30

16 - 19


(2) Permissible load to motor inertia ratio when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the direct drive motor.

The value in the parenthesis shows the value at the rated speed of the direct drive motor.

Direct drive motor

Permissible load to motor inertia ratio

[multiplier]

TM-RFM_C20

TM-RFM_E20

TM-RG2M002C30

TM-RU2M002C30

100 (300)

TM-RG2M_E30

TM-RG2M_G30

TM-RU2M_E30

TM-RU2M_G30

20 (80)

16 - 20

17. FULLY CLOSED LOOP SYSTEM


POINT

The fully closed loop system is available for the servo amplifiers of which software version is A5 or above.

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 control mode.

When fully closed loop control system is configured with MR-J4-_A_ servo amplifier, the following restrictions will be applied. However, these restrictions will not be applied for MR-J4-_A_-RJ servo amplifiers.

A/B/Z-phase differential output method encoder cannot be used.

The load-side encoder and servo motor encoder is compatible with only the two-wire type. The four-wire type load-side encoder and servo motor encoder cannot be used.

When you use the KG-KR and HG-MR series for driving and load-side encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, MR-

EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.

When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to app. 8.

The MR-J4-03A6(-RJ) servo amplifier is not compatible with the fully closed loop system.

17 - 1




A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the load-side encoder unit.

Controller

(Servo motor side)

Droop pulses

(Servo motor side)



Cumulative load-side feedback pulses

Electronic gear

CMX

CDV

+

-

+

-

+

+

+

-

Servo motor-side cumulative feedback pulses

(load-side encoder resolution unit)

S

+

-


([Pr. PE08])

(Note 2)

(Note 1, 2)


([Pr. PE01] and [Pr. PE08])

-

+

FBN

FBD

Servo motor

Load-side feedback pulses

Linear encoder

Encoder pulse setting

([Pr. PA15], [Pr. PA16] and [Pr. PC03])

Fully closed loop control error detection function selection ([Pr. PE03])

Control

Monitor

Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr.

PE01].

When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo motor encoder independently of whether the servo motor is at a stop or running.

2. When the fully closed loop system is enabled in [Pr. PE01], dual feedback control in which the servo motor feedback signal and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed.

In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is performed when the servo motor is operating to improve control performance. When "4500" is set as the filter value of [Pr.

PE08 Fully closed loop dual feedback filter], fully closed loop control is always performed.

The following table shows the functions of each control mode.

Control Description


Dual feedback control


Feature Position is controlled according to the servo motor-side data.

Advantage

Since this control is insusceptible to machine influence (such as machine resonance), the gains of the servo amplifier can be raised and the settling time shortened.

Disadvantage

If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy not obtained.

Feature Position is controlled according to the servo motor-side data and load-side data.

Advantage

Control is performed according to the servo motor-side data during operation, and according to the load side-data at a stop in sequence to raise the gains during operation and shorten the settling time. A stop is made with the load-side accuracy.

Feature Position is controlled according to the load-side data.

Advantage The load-side accuracy is obtained not only at a stop but also during operation.

Disadvantage

Since this control is susceptible to machine resonance or other influences, the gains of the servo amplifier may not rise.

17 - 2


17.1.2 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, the fully closed loop control and dual feedback control can be selected by the [Pr. PE08] settings on the fully closed loop system.

Semi closed loop system


Servo amplifier

Operation mode selection

([Pr. PA01])

"_ _ 0 _"

"_ _ 1 _"

(Refer to section 17.3.1 (2) (a))

Semi closed/fully closed switching command

OFF

CLD (Fully closed loop control selection)

ON


([Pr. PE01])

"_ _ _ 1"

"_ _ _ 0"


([Pr. PE08])

"1 to 4499"



(Refer to section 17.3.1 (2) (b))

"4500"

Dual feedback control


(2) Dual feedback filter equivalent block diagram

A dual feedback filter equivalent block diagram on the dual feedback control is shown below.

+

-

Position control unit

Servo motor

+

+ High-pass filter

Linear encoder

Low-pass filter


ω (Note)


Frequency [rad/s]

Dual feedback filter

Operation status Control status

Servo motor during a stop

(0 to ω )

In operation ( ω or more)



Note. " ω " (a dual feedback filter band) is set by [Pr. PE08].

17 - 3


17.1.3 System configuration

(1) For a linear encoder

(a) MR-J4-_A_ servo amplifier

Servo amplifier

Controller

(Note)

Two-wire type serial interface compatible linear encoder

CN2

Load-side encoder signal

Servo motor encoder signal

Linear encoder head

Servo motor

Table

Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.

In that case, a battery is not required.

(b) MR-J4-_A_-RJ servo amplifier

Servo amplifier

Controller

(Note)

A/B/Z-phase pulse train interface compatible linear encoder or two-wire/four-wire type serial interface compatible linear encoder

CN2L

CN2


(A/B/Z-phase pulse train interface

or serial interface)


Linear encoder head

Servo motor

Table

Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.

In that case, a battery is not required.

17 - 4


(2) For a rotary encoder


Servo amplifier


Drive part

Controller

CN2 (Note)

(Note) Servo motor


Two-wire type rotary encoder

HG-KR, HG-MR servo motor

(4194304 pulses/rev)

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.


Servo amplifier

Controller

Drive part

CN2L

CN2


Servo motor


A/B/Z-phase differential output, two-wire type, or four-wire type rotary encoder

HG-KR, HG-MR servo motor (4194304 pulses/rev) or synchronous encoder

Q171ENC-W8 (4194304 pulses/rev)

17 - 5


17.2 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.

17.2.1 Linear encoder

Refer to "Linear Encoder Instruction Manual" for usable linear encoders.

17.2.2 Rotary encoder

When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder.

Use a two-wire type encoder cable for MR-J4-_A_ servo amplifiers. Do not use MR-EKCBL30M-L, MR-

EKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type.

17 - 6


17.2.3 Configuration diagram of encoder cable

Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary, depending on the load-side encoder.

(1) Linear encoder

Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder.


MR-J4FCCBL03M branch cable

(Refer to section 17.2.4)

Servo amplifier

CN2 CN2 MOTOR

Encoder of rotary servo motor

Linear encoder

SCALE

Load-side encoder

Encoder cable

(Refer to the Linear Encoder Instruction Manual.)


You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ servo amplifier. You can also use a four-wire type linear encoder.

Servo amplifier

CN2


CN2L

Linear encoder

Load-side encoder

Encoder cable

(Refer to the Linear Encoder Instruction Manual.)

17 - 7


(2) Rotary encoder

Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.


MR-J4FCCBL03M branch cable

(Refer to section 17.2.4)

Servo amplifier

CN2 CN2 MOTOR (Note)


SCALE

(Note)

Servo motor

HG-KR

HG-MR

Load-side encoder

Encoder cable

(Refer to the Servo Motor Instruction Manual (Vol. 3).)

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.


You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ servo amplifier. You can also use a four-wire type linear encoder.

Servo amplifier

CN2


CN2L

Servo motor

HG-KR

HG-MR

Load-side encoder

Encoder cable

(Refer to the Servo Motor Instruction Manual (Vol. 3).)

17 - 8


17.2.4 MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector.

When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction

Manual".

0.3 m

SD

P5

LG

(Note 1)

CN2

Plate

1

2

(Note 2)

MOTOR

Plate SD

1

2

P5

LG

2

LG

1

P5

4

MRR

6

THM2

3

MR

5

THM1

8

MXR

10

SEL

7

MX

9

BAT

View seen from wiring side.

MR

MRR

THM1

THM2 6

MX 7

MXR

BAT

SEL

8

9

10

3

4

5

3

4

MR

MRR

5 THM1

6 THM2

10

SEL

9

BAT 7

8

6

THM2

5

THM1

4

MRR

2

LG

3

MR

1

P5


9 BAT

10 SEL

(Note 2)

SCALE

Plate SD

1

2

P5

LG

3 MX

4 MXR

9

10

BAT

SEL

10

SEL 8

9

BAT 7

6

5

4

MXR

2

LG

3

MX

1

P5


Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

17 - 9



17.3.1 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

Positioning operation check using MR Configurator2

Gain adjustment

Adjustment and operation check in fully closed loop system

Selection of fully closed loop system (Refer to (2) in this section.)

Selection of load-side encoder communication system (Refer to (3) in this section.)

Setting of load-side encoder polarity (Refer to (4) in this section.)

Positioning operation check using MR Configurator2

Gain adjustment

Adjustment of dual feedback switching filter.

(for dual feedback control) (Refer to (5) in this section.)


Home position return operation (Refer to section 17.3.2.)


Completion of fully closed loop system startup

Check that the servo equipment is normal.

Do as necessary.

17 - 10


(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.

[Pr. PA01] [Pr. PE01]

Semi closed loop control/fully closed loop control switching signal

Command unit Control method


"_ _ 0 _"


(standard control mode)

Servo motor encoder unit

"_ _ 1 _ "


(fully closed loop control

"_ _ _ 0"

"_ _ _ 1" Off

On

Load-side encoder unit mode)

Note. Applicable when the load-side encoder is set as the absolute position encoder.


Dual feedback control (fully closed loop control)


Dual feedback control (fully closed loop control)

(1) Operation mode selection

Select a operation mode.

(Note)

×

×

[Pr. PA01]

1 0 0

Operation mode selection

Set value Operation mode

0


(Standard control mode)

1


(Fully closed loop control mode)

Control unit

Servo motor-side resolution unit

Load-side encoder resolution unit

(b) Semi closed loop control/fully closed loop control selection

Select the semi closed loop control/fully closed loop control.

0

[Pr. PE01]

0 0

Fully closed loop control selection

0: Always enabled

1: Switching using the control command of controller

(switching between semi closed/fully closed)

Selection using the control command of controller

Control method

OFF

ON



When the operation mode selection in [Pr. PA01] is set to "_ _ 1 _"

(fully closed loop system), this setting is enabled.

17 - 11


(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 loadside encoder.

Select the cable to be connected to CN2L connector in [Pr. PC44].

[Pr. PC44]

0 0 0

Load-side encoder cable communication method selection

0: Two-wire type

1: Four-wire type

When using a load-side encoder of A/B/Z-phase differential output method, set "0".

Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37].

(4) Setting of load-side encoder polarity

CAUTION

Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.

PC45]. An abnormal operation and a machine collision may occur if an incorrect direction is set, which cause a fault and parts damaged.

POINT

"Encoder pulse count polarity selection" in [Pr. PC45] is not related to [Pr. PA14

Rotation direction selection]. Make sure to set the parameter according to the relationships between servo motor and linear encoder/rotary encoder.

Do not set an incorrect direction to "Encoder pulse count polarity selection" in

[Pr. PC45]. Doing so may cause [AL. 42 Fully closed loop control error] during the positioning operation.

(a) Parameter setting method

Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.

[Pr. PC45]

0 0 0

Encoder pulse count polarity selection

0: Load-side encoder pulse increasing direction in the servo motor CCW

1: Load-side encoder pulse decreasing direction in the servo motor CCW

Servo motor

Servo motor CCW direction

Linear encoder

Address increasing direction of linear encoder

(b) How to confirm the load-side encoder feedback direction

For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.

17 - 12


(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. Also, it may cause [AL. 42.8 Fully closed loop control error by position deviation] during the positioning operation.

The numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the electronic gear are set to the servo motor-side encoder pulse. Set the electronic gear so that the number of servo motor encoder pulses per servo motor revolution is converted to the number of load-side encoder pulses. The relational expression is shown below.

[Pr. PE04] × [Pr. PE34]

[Pr. PE05] × [Pr. PE35]

=

Number of load-side encoder pulses per servo motor revolution

Number of motor encoder pulses per servo motor revolution

Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution is within the following range.

4096 (2 12 ) ≤ Number of load-side encoder pulses per servo motor revolution ≤ 67108864 (2 26 )

(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05

μ m

Conditions

Servo motor resolution: 4194304 pulses/rev

Servo motor reduction ratio: 1/11

Ball screw lead: 20 mm

Linear encoder resolution: 0.05 µm

Linear encoder

Linear encoder head

Geared servo motor

Table

Calculate the number of linear encoder pulses per ball screw revolution.

Number of linear encoder pulses per ball screw revolution

= Ball screw lead/linear encoder resolution

= 20 mm/0.05 µm = 400000 pulses

[Pr. PE04] × [Pr. PE34]

[Pr. PE05] × [Pr. PE35]

=

400000

4194304

×

1

11

=

3125

32768

×

1

11

17 - 13


(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 pulses/rev

Drive part

Pulley diameter d2 = 20 mm

Servo motor

Pulley diameter d1 = 30 mm

Rotary encoder

(HG-KR or HG-MR servo motor)

4194304 pulses/rev

When the pulley diameters or reduction ratios differ, consider that in calculation.

[Pr. PE04] × [Pr. PE34]

[Pr. PE05] × [Pr. PE35]

=

4194304 × 30

4194304 × 20

=

1

1

×

3

2

17 - 14


(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 17.3.8 for the data displayed on the MR Configurator2.

No.

When checking the following items, the fully closed loop control mode must be set. For the setting of control mode, refer to (2) in this section.

Check item Confirmation method and description

1 Read of load-side encoder position data

2 Read of load-side encoder home position (reference mark, Z-phase)

3 Confirmation of load-side encoder feedback direction

(Setting of load-side encoder polarity)

4 Setting of load-side encoder electronic gear

With the load-side encoder in a normal state (mounting, connection, etc.), the load-side cumulative feedback pulses value is counted normally when the load-side encoder is moved. When it is not counted normally, the following factors can be considered.

1. An alarm occurred.

2. The installation of the load-side encoder was not correct.

3. The encoder cable was not wired correctly.

With the home position (reference mark, or Z-phase) of the load-side encoder in a normal condition (mounting, connection, etc.), the value of load-side encoder information 1 is cleared to 0 when the home position (reference mark, or Z-phase) is passed through by moving the load-side encoder. When it is not cleared, the following factors can be considered.

1. The installation of the load-side encoder was not correct.

2. The encoder cable was not wired correctly.

Confirm that the directions of the cumulative feedback pulses of servo motor encoder (after gear) and the load-side cumulative feedback pulses are matched by moving the device

(load-side encoder) manually in the servo-off status. If mismatched, reverse the polarity.

When the servo motor and load-side encoder operate synchronously, the servo motor-side cumulative feedback pulses (after gear) and load-side cumulative feedback pulses are matched and increased.

If mismatched, review the setting of fully closed loop control feedback electronic gear ([Pr.

PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) with the following method.

1) Check the servo motor-side cumulative feedback pulses (before gear).

2) Check the load-side cumulative feedback pulses.

3) Check that the ratio of above 1) and 2) has been that of the feedback electronic gear.

+

Command

Servo motor

Servo motor-side cumulative feedback pulses (after gear)

2) Load-side cumulative

feedback pulses

3) Electronic

gear

1) Servo motor-side cumulative

feedback pulses (before gear)

Linear encoder

17 - 15


(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. of MR Configurator2, adjust the dual feedback filter.

The dual feedback filter operates as described below depending on the setting.

[Pr. PE08] setting Control mode Vibration Settling time

1 to

4499

Dual feedback

Seldom occurs to

Frequently occurs

Long time to

Short time

Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting of the dual feedback filter should be less than half of the PG2 setting.

Reduction of settling time: Increase the dual feedback filter setting.

Droop pulses

Command

Time

Suppression of vibration: Decrease the dual feedback filter setting.

Command

Droop pulses

Time

Droop pulses

Command

Time

Command

Droop pulses

Time

17 - 16


17.3.2 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.

For the linear encoder, a home position (reference mark) of the linear encoder is necessary in the home position return direction.

POINT

When you configure as follows, move the mover to LSN with JOG operation and perform home position to perform it in safe.

Returnable area:

Home position return can be performed when started from this area.

Non-returnable area:

Home position return cannot be performed when started from this area.

LSN

Dog


LSP

Home position of linear encoder (reference mark)

(2) Load-side encoder types and home position return methods

(a) About proximity dog type home position return using absolute type linear encoder

When an absolute type linear encoder is used, the home position standard position is the position per servo motor revolution to the linear encoder home position (absolute position data = 0).

In the case of a proximity dog type home position return, the nearest position after proximity dog off is the home position.

The linear encoder home position may be set in any position.


Servo motor speed


Creep speed


0 r/min

ON

OFF



Machine position


17 - 17


(b) Home position return using incremental linear encoder

When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier will be the home position (reference mark) of the linear encoder. Two or more home positions

(reference marks) should not be set. In addition, the home position return cannot be executed without home position (reference mark).



Servo motor speed

Creep speed


0 r/min

ON

OFF



Machine position


1) Caution for passing the home position (reference mark)

An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoders. For details, refer to "Linear

Encoder Instruction Manual".)

Example: When Z-phase is recognized at startup

B A

Home position signal

A is recognized as the on position.

B is recognized as the on position.

The position which turns on a signal differs depending on the directions of home position passing.

When you need to set the home position return completion to the same position each time such as dog type home position return, always start home position return with the same direction.

2) Caution for linear encoder which does not have the home position (Z-phase)

The linear encoder which does not have the home position (Z-phase), LZ (Encoder Z-phase pulse) of the servo amplifier does not be outputted. The home position return can be performed depending on specifications of controllers even if LZ (Encoder Z-phase pulse) is not outputted.

Check the controller specifications of the home position return.

17 - 18


(c) About dog type home position return when using the rotary encoder of a serial communication servo motor

The home position for when using the rotary encoder of a serial communication servo motor for the load-side encoder is at the load-side Z-phase position.

Load-side encoder

Z-phase signal

ON

OFF



Machine position

Servo amplifier power-on position

Home position

17 - 19


17.3.3 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 predetect it and stop operation.

The fully closed loop control error detection function has two different detection methods, speed deviation and position deviation, and errors are detected only when the corresponding functions are enabled by setting

[Pr. PE03 Fully closed loop function selection 2].

The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].

(1) Parameter

The fully closed loop control error detection function is selected.

0

[Pr. PE03]

0 0

Fully closed loop control error detection function

0: Disabled

1: Speed deviation error detection

2: Position deviation error detection

3: Speed deviation error, position deviation error detection

(Initial value)

(2) Fully closed loop control error detection functions

Servo motor

1) Servo motor-side feedback speed [r/min]

2) Servo motor-side feedback position [pulse]

(load side equivalent value)

3) Load-side feedback speed [r/min]

4) Load-side feedback position [pulse]

Linear encoder

(a) Speed deviation error detection

Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.

[Pr. PE03]

1


The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)).

If the deviation is not less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully closed loop control speed deviation error detection level], the function generates [AL. 42.2 Servo control error by speed deviation] and stops the motor. The initial value of [Pr. PE06] is 400 r/min.

Change the set value as necessary.

17 - 20


(b) Position deviation error detection

Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.

[Pr. PE03]

2


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. PE07 Fully closed loop control position deviation error detection level], the function generates [AL. 42.1 Servo control error by position deviation] and stops the motor. The initial value of [Pr. PE07] is 100 kpulses. Change the set value as necessary.

(c) Detecting multiple deviation errors

When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error detection method, refer to (2) (a), (b) in this section.

[Pr. PE03]

Setting value

1

2

3



17.3.4 Auto tuning function

Refer to section 6.3 for the auto tuning function.

17.3.5 Machine analyzer function

Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2.


Test operation mode is enabled by MR Configurator2.

For details on the test operation, refer to section 4.5.9.

JOG operation

Remark

It drives in the load-side encoder resolution unit

Test operation mode


Program operation

The fully closed loop system is operated in the load-side encoder resolution unit.




Refer to section 4.5.9 (6).

17 - 21


17.3.7 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 (MR-BAT6V1SET) need not be installed to the servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery (MR-BAT6V1SET) to the servo amplifier. In this case, the battery life will be shorter because the power consumption is increased as the power is supplied to the two encoders of motor side and load side.

For the absolute position detection system with linear encoder, the restrictions mentioned in this section apply. Enable the absolute position detection system with [Pr. PA03 Absolute position detection system] and use this servo within the following restrictions.

(1) Using conditions

(a) Use an absolute type linear encoder with the load-side encoder.

(b) Select Always fully closed loop ([Pr. PA01] = _ _ 1 _ and [Pr. PE01] = _ _ _ 0).

(2) Absolute position detection range using encoder

Encoder type Absolute position detection enabled range

Linear encoder (serial interface)

Movable distance range of linear encoder (within 32-bit absolute position data)

(3) Alarm detection

The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.

(4) Absolute position data transfer to controller

It is the same process as rotary servo motors. (Refer to section 12.8.)

17 - 22


17.3.8 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" to constantly read the monitor display items from the servo amplifier.

Then, click "Monitor stop" to stop reading. Click "Parameter read" to read the parameter items from the servo amplifier, and then click "Parameter write" to write them. n) k) f) m) c) g) i) l) j) h) a) b) d) e)

Symbol Name a) Motor-side cumu. feedback pulses

(after gear) b) c) e) f)


Cumulative command pulses feedback pulses


Motor-side cumu. feedback pulses

(Before Gear)

Explanation

Feedback pulses from the servo motor encoder are counted and displayed. (load-side encoder unit)

When the set value exceeds 999999999, it starts with 0.

Click "Clear" to reset the value to 0.

The "-" symbol is indicated for reverse.

Droop pulses of the deviation counter between a servo motor-side position and a command are displayed.




The "-" symbol is indicated for reverse command.

Feedback pulses from the load-side encoder are counted and displayed.




Droop pulses of the deviation counter between a load-side position and a command are displayed.


Feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit)




Unit pulse pulse pulse pulse pulse pulse

17 - 23


Symbol Name g) Encoder information h) Polarity i) Z-phase pass status j) Fully closed loop changing device k) Parameter (Feedback pulse electronic gear) l) Parameter (Dual feedback filter) loop function)

Explanation

The load-side encoder information is displayed.

The display contents differ depending on the load-side encoder type.

ID: The ID No. of the load-side encoder is displayed.

Data 1: For the incremental type linear encoder, the counter from powering on is displayed. For the absolute position type linear encoder, the absolute position data is displayed.

Data 2: For the incremental type linear encoder, the distance (number of pulses) from the reference mark (Z-phase) is displayed. For the absolute position type linear encoder, "00000000" is displayed.

For address increasing direction in the servo motor CCW, it is indicated as "+" and for address decreasing direction in the servo motor CCW, as "-".

If the fully closed loop system is "disabled", the Z-phase pass status of the servo motor encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop control/fully closed loop control switching", the Z-phase pass status of the load-side encoder is displayed.

Only if the fully closed loop system is "Semi closed loop control/fully closed loop control switching", the device is displayed.

The state of the semi closed loop control/fully closed loop control switching signal and the inside state during selection are displayed.

The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) are displayed/set for servo motor encoder pulses in this parameter. (Refer to section

17.3.1 (5).)

The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this parameter.

The parameter for the fully closed loop control is displayed or set.

Click "Parameter setting" button to display the "Fully closed loop control-Basic" window.

Unit

1)

2)

3)

4)

5)

1) Fully closed loop function selection ([Pr. PE01])

"Always valid" or "Changing by input signal (CLD)" is selected here.

2) Setting of feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr.

PE35])

Setting of feedback pulse electronic gear

3) Load-side encoder cable communication method selection ([Pr. PC44])

This is used to select a load-side encoder cable to be connected to the CN2L connector.

4) Encoder pulse count polarity selection ([Pr. PC45])

Polarity of the load-side encoder cable information is selected.

5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function ([Pr. PC45])

Select the non-signal detection status for the pulse train signal from the A/B/Z-phase input interface encoder used as a linear encoder or load-side encoder.

This function is enabled only when you use an A/B/Z-phase input interface encoder. n) Parameter (electronic gear) Electronic gear ([Pr. PA05], [Pr. PA06], [Pr. PA07], [Pr. PA13], [Pr. PA21])

This is used to set parameters for the electronic gear.

17 - 24

18. MR-J4-03A6(-RJ) SERVO AMPLIFIER


The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of the detailed explanation field for details.

Normal gain adjustment

Special adjustment function

Chapter 6

Chapter 7

Absolute position detection system Chapter 12

Note. Refer to section 18.5.4 when operating one-touch tuning by using push button switch.


18.1.1 Summary

MR-J4-03A6(-RJ) servo amplifier is MELSERVO-J4 series 48 V DC and 24 V DC power compatible ultrasmall capacity servo amplifier.

The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to the machine.

The following shows the differences with 100 W or more MR-J4-_A_(-RJ) servo amplifier.

Differences

Related parameter

100 W or more

MR-J4-03A6(-RJ)

Power supply

Functional safety

Encoder

Status display 7-segment LED display digits 5-digits

Analog monitor output Output voltage range ± 10 V

Dynamic brake

Stop system

Stop with dynamic brake

5 V ± 4 V

Stop with electronic dynamic brake

Regenerative option

Operation mode

Function



STO function

Encoder resolution

Regenerative option selection

Fully closed loop control mode

Linear servo motor control mode

DD motor control mode

SEMI-F47 function

200 V AC/400 V AC/

100 V AC

200 V AC/400 V AC/

100 V AC

Compatible

4194304 pulses/rev

Compatible

Compatible

Compatible

Compatible

Compatible

48 V DC/24 V DC

24 V DC

262144 pulses/rev

[Pr. PC27]

[Pr. PC14]/[Pr. PC15]

[Pr. PF09]/[Pr. PF15]

[Pr. PA02]

[Pr. PA01]

[Pr. PA20]/[Pr. PF25]

J3A electronic gear setting value compatibility mode

Instantaneous power failure tough drive

Compatible [Pr. PA20]/[Pr. PF25]

18 - 1




48 V DC main circuit power supply

48 V DC

Circuit protector RA

Servo amplifier

PM

+


CHARGE lamp

Regene

-rative

TR

0

24

24 V DC

+


Inverter

Current detector


Circuit protector

Base amplifier

Regenerative brake

Overcurrent Overvoltage

Current detection

24 V DC

W

E

U

V

Servo motor

U

V

W

M

RA

24 V DC

B1

B

B2


Encoder


Model speed control

Virtual encoder

Virtual motor

Model torque Model position


Model speed


Current control

Stepdown circuit

MR-BAT6V1SET-A

Battery


A/D D/A

CN1

RS-422

I/F

USB

CN3

Analog

(two channel)

Analog monitor

(two channel)

Controller

RS-422

DI/O control

Servo-on


Start

Malfunction, etc

Personal computer

USB

18 - 2


18.1 3 Servo amplifier standard specifications

Model MR-J4-03A6(-RJ)

Rated output

Output


Rated voltage

Rated current

Voltage

Rated current


[A]

30 W

3-phase 13 V AC

2.4

48 V DC/24 V DC (Note 5)

For 48 V DC: 1.2 A

For 24 V DC: 2.4 A

For 48 V DC: 40.8 V DC to 55.2 V DC

For 24 V DC: 21.6 V DC to 26.4 V DC


Inrush current

Voltage

Rated current


[A]



Control method


Inrush current [A]

Voltage


Permissible regenerative power of servo amplifier built-in regenerative resistor [W]

Dynamic brake (Note 4)



24 V DC

0.2

21.6 V DC to 26.4 V DC

5.0


24 V DC ± 10%

0.3 (Note 1)


0.7



Analog monitor

Built-in (electronic dynamic brake)

USB: connection to a personal computer or others (MR Configurator2-compatible)

RS-422: 1: n communication (up to 32 axes)


Two channels









Error excessive

Torque limit

Speed control range



±3 rotation (this can be changed from parameter setting)


Analog speed command 1: 2000, internal speed command 1: 5000


Speed control mode

Torque control mode


Torque limit


Speed limit

±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less (ambient temperature 25 °C ± 10 °C) when using analog speed command





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, and error excessive protection

18 - 3



Model MR-J4-03A6(-RJ)

CE marking

UL standard


Close mounting

DIN rail mounting (width: 35 mm)

Ambient

LVD: EN 61800-5-1/EN 60950-1

EMC: EN 61800-3

UL 508C (NMMS2)


Possible (Note 2)

Possible

Environment

Ambient humidity

Ambience

Altitude

Operation

Storage


Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

1000 m or less above sea level

Vibration resistance 5.9 m/s 2 , at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [kg] 0.2


I/O points.

2. When closely mounting the servo amplifiers, operate them at the ambient temperatures 45 ˚ C or lower.

3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s to 4 Mpulses/s or lower, change the setting in [Pr. PA13].

4. This is an electronic dynamic brake. This will not operate during control circuit power supply off. In addition, It may not operate depending on alarms and warnings. Refer to chapter 8 for details.

5. Initial value is the 48 V DC setting. To use with 24 V DC, set [Pr. PC27] to "_ 1 _ _". The characteristics of the servo motor vary depending on whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".

18.1.4 Combinations of servo amplifiers and servo motors


MR-J4-03A6(-RJ) HG-AK0136

HG-AK0236

HG-AK0336

18 - 4


18.1.5 Function list

The following table lists the functions of MR-J4-03A6(-RJ) servo amplifier. For details of the functions, refer to each section indicated in the detailed explanation field.

Model adaptive control


Speed control mode

Torque control mode

Position/speed control switch mode

Speed/torque control switch mode

Torque/position control switch mode

Positioning mode

High-resolution encoder



This realizes a high response and stable control following the ideal model. The twodegree-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately. Additionally, this function can be disabled. Refer to section 7.5 for disabling this function.

This servo amplifier is used as a position control servo.

This servo amplifier is used as a speed control servo.

This servo amplifier is used as a torque control servo.

Section

18.3.5 (1)

Section 3.6.1

Section 4.2

Section

18.3.5 (2)

Section 3.6.2

Section 4.3

Section

18.3.5 (3)

Section 3.6.3

Section 4.4

Using an input device, control can be switched between position control and speed control.

Using an input device, control can be switched between speed control and torque control.

Using an input device, control can be switched between torque control and position control.

Positioning mode is compatible with MR-J4-03A6-RJ servo amplifier.

For details, refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning

Mode)".

High-resolution encoder of 262144 pluses/rev is used for the encoder of the rotary servo motor compatible with the MR-J4-03A6(-RJ) servo amplifier.

Setting a home position once makes home position return unnecessary at every power-on.

You can switch gains during rotation/stop, and can use input devices to switch gains during operation.

Section 3.6.4

Section 3.6.5

Section 3.6.6

Chapter 12

Section 7.2

Advanced vibration suppression control II

Machine resonance suppression filter

This function suppresses vibration at the arm end or residual vibration. Section 7.1.5

Section 7.1.1


Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

This is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system.


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 an MR Configurator2 installed personal computer and servo amplifier.


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.

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]


Suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]

Electronic gear Input pulses can be multiplied by 1/10 to 4000.

[Pr. PA06]

[Pr. PA07]


Speed can be increased and decreased smoothly. [Pr. PC03]

18 - 5


Auto tuning

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Brake unit This is not available with MR-J4-03A6(-RJ) servo amplifier.

Power regeneration converter This is not available with MR-J4-03A6(-RJ) servo amplifier.

Regenerative option This is not available with MR-J4-03A6(-RJ) servo amplifier.

Alarm history clear

Input signal selection

(device settings)

Output signal selection

(device settings)


Restart after instantaneous power failure

Command pulse selection

Torque limit

Speed limit

Status display


Automatic VC offset

Alarm code output

Test operation mode

Analog monitor output

MR Configurator2

Linear servo system

Direct drive servo system


One-touch tuning

SEMI-F47 function

Tough drive function

Drive recorder function

STO function


ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to specified pins.

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN1 connector.

Section 6.3

[Pr. PC18]

[Pr. PD03] to

[Pr. PD22]

[Pr. PD23] to

[Pr. PD26]

[Pr. PD28]

Section

18.5.9

Output signal can be forced on/off independently of the servo status.

Use this function for checking output signal wiring, etc.

This is not available with MR-J4-03A6(-RJ) servo amplifier.

Command pulse train form can be selected from among three different types.

Servo motor torque can be limited to any value.

Servo motor speed can be limited to any value.

Servo status is shown on the 3-digit, 7-segment LED display

Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.




[Pr. PA13]

Section 3.6.1

(5)

[Pr. PA11]

[Pr. PA12]

Section 3.6.3

(3)

[Pr. PC05] to

[Pr. PC11]

Section

18.5.3

On/off statuses of external I/O signals are shown on the display.

Jog operation, positioning operation, motor-less operation, DO forced output, and program operation

MR Configurator2 is required for the positioning operation and program operation.

Section

18.5.8

Voltage is automatically offset to stop the servo motor if it does not come to a stop when VC (Analog speed command) or VLA (Analog speed limit is 0 V.

Section

18.5.5

If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8

Section

18.5.10

Servo status is outputted in terms of voltage in real time.

Section 18.6

(3)

Section 11.7

Gain adjustment is performed just by one click on a certain button on MR

Configurator2 or operation section.

Section 6.2

Section

18.5.4


This function makes the equipment to continue operating even under the condition that an alarm occurs.

MR-J4-03A6(-RJ) servo amplifier is compatible with vibration tough drive. This is not compatible with instantaneous power failure tough drive.

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.

1. You are using the graph function of MR Configurator2.


3. [Pr. PF21] is set to "-1".


Section 7.3.1

[Pr. PA23]

18 - 6


Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Cumulative operation time can be checked. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor before they malfunction.


This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.

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.


Lost motion compensation function

This function improves the response delay occurred when the machine moving direction is reversed.

Super trace control

This function sets constant and uniform acceleration/deceleration droop pulses to almost 0.

High-resolution analog input This is not available with MR-J4-03A6(-RJ) servo amplifier.

Section 7.6

Section 7.7

18 - 7


18.1.6 Model definition

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

AC SERVO

SER.A4X001001

MODEL MR-J4-03A6

POWER : 30W

INPUT : 0.2A DC24V, 2.4A DC24V/1.2A DC48V

OUTPUT: 3PH13V 0-360Hz 2.4A

STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175


IP20

MSIP-REI-MEK-TC300A996G51

DATE: 2014-10


Serial number

Model

Capacity



Standard, Manual number

Ambient temperature

IP rating

KC certification number


Country of origin

(2) Model


M R J 4 0 3 A 6 R J

Series

Rated output

Symbol Rated output [W]

03 30


Symbol

-EB

-KS


None Standard

-RJ Positioning mode compatible

MR-J4-03A6 with a special coating specification (3C2) (Note)

MR-J4-03A6-RJ with a special coating specification (3C2) (Note)


Symbol Main circuit power supply

6 48 V DC /24 V DC

General-purpose interface

Note. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 10.3 for details.

18 - 8



(1)

(7)

(10)

Side

(8)

(9)

(2)

Detailed

(1)

Display


Operation section

Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and

"SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.

MODE

(2)

UP

DOWN





Section

18.5

Section

18.5

(3)

(4)

(5)

(6)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

SET Used to set data.

Push this button together with the "MODE" button for



Connect the personal computer.


Connect the battery for absolute position data backup.

Control circuit power voltage error lamp (24 V ERROR)

When a voltage value of the control circuit power voltage

(24 V DC) is out of permissible range, this will light in yellow.

Charge lamp (CHARGE)



Connect digital I/O signal, analog input signal, analog monitor output signal, and RS-422 communication controller.


Connect the servo motor encoder.

Power and servo motor power output connector (CNP1)

Connect input power and servo motor.

(10)

Rating plate

Section

11.7

Section

18.9

Section

18.4.3

Section

18.3.5

Section

18.3.6

Section

18.3.6

Section

18.3.1

Section

18.3.2

Section

18.1.6 (1)

18 - 9



CAUTION



POINT



+ -


+

MR Configurator2

Personal computer

Circuit protector

CN3

CN4

CN2

CNP1

Relay



+

CNP1

(Note)

24

0

PM

Circuit protector

PM 0 24

Note. Refer to section 18.3.2 for details.

CN1

MR-BAT6V1SET-A


Servo motor

18 - 10


18.2 Installation

WARNING

To prevent electric shock, ground equipment securely.

CAUTION


Do not hold the cables or connectors when carrying the servo amplifier.

Otherwise, it may drop.

Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.


Use the equipment within the specified environment. For the environment, refer to section 18.1.3.

Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.


Do not drop or strike the servo amplifier. Isolate it from all impact loads.

Do not install or operate the servo amplifier which has been damaged or has any parts missing.

When the equipment has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

The servo amplifier must be installed in a metal cabinet.

The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.

The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of the detailed explanation field for details.

Keep out foreign materials

Encoder cable stress

Inspection items

Parts having service life

Section 2.2

Section 2.3

Section 2.4

Section 2.5

18 - 11


18.2.1 Installation direction and clearances

When using heat generating equipment, install them with full consideration of heat generation so that the servo amplifier is not affected.


(1) Installation of one servo amplifier

Cabinet Cabinet

40 mm or more

Servo amplifier Wiring allowance

80 mm or more

10 mm or more

10 mm or more

Top

Bottom

40 mm or more

18 - 12


(2) Installation of two or more servo amplifiers

POINT

You can install MR-J4-03A6(-RJ) servo amplifiers without clearances between them. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 °C to 45 °C.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, operate at the ambient temperatures

0 °C to 45 °C.

Cabinet Cabinet

100 mm or more

10 mm or more 1 mm

100 mm or more

1 mm

30 mm or more

30 mm or more

30 mm or more

Top

Bottom

40 mm or more

Leaving clearance

40 mm or more

Mounting closely

18 - 13


18.2.2 Installation by DIN rail

To mount the servo amplifier to DIN rail, pull down the tab of hook. The hook may come off when the tab is pushed down from the back side of the servo amplifier.

CAUTION

The following explains mounting and removing procedure of servo amplifier using DIN rail.

Mounting servo amplifier to DIN rail

Wall

Upper tab

DIN rail

1) Pull down the hook.

Hook

Wall

Upper tab

DIN rail

2) Hang the upper tab on the back of the servo amplifier to the upper tab of DIN rail, and push toward to the wall.

Hook

3) Push up the hook, and fix the servo amplifier.

18 - 14


Removing servo amplifier from DIN rail

Wall

Upper tab

DIN rail

1) Pull down the hook.

Hook

Wall

Upper tab

DIN rail

2) Pull the servo amplifier forward.

Wall

Upper tab

DIN rail

3) Lift up and remove the servo amplifier.

18 - 15



WARNING

A person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and check to see if the charge lamp turned off.

Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.





Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.





24 V DC 24 V DC

DOCOM DOCOM



RA



RA

CAUTION



Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) with the power line of the servo motor.


Connect the servo amplifier power output (U/V/W) to the servo motor power input

(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W


18 - 16


The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.

Detailed explanation of signals

Forced stop deceleration function

Servo motor with an electromagnetic brake

Section 3.6

Section 3.7

Section 3.10

18.3.1 Input power supply circuit

CAUTION

Connect a circuit protector between the power supply and power supply voltage input terminals (24/PM) 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. If a circuit protector is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the built-in regenerative resistor.

Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit of the specification, the servo amplifier will break down.


POINT


18 - 17


Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc.

Malfunction

RA1

OFF

ON

RA2

RA2

24 V DC (Note 7)




24 V DC

(Note 1)

Circuit protector (Note 9) (Note 4)

48 V DC

(Note 1)

RA2

CNP1

24

0

PM

(Note 8)

CNP1

U

V

W

E

(Note 6)

CN2

(Note 2)

Encoder cable

U

V

W

Motor

M

Encoder


24 V DC

(Note 1)

Circuit protector (Note 9)

(Note 3)

Forced stop 2

(Note 5)


Servo-on

24 V DC (Note 7)

CN1

EM2

SON

DICOM

CN1

DOCOM

ALM

24 V DC (Note 7)

RA1

Malfunction (Note 3)

Note 1. Use reinforced insulating type for 24 V DC and 48 V DC power supply.







7. The illustration of the 24 V DC power supply is divided between input signal, output signal, and external emergency stop circuit for convenience. However, they can be configured by one. For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

8. The noiseless grounding ( ) terminals and E terminals are connected in the servo amplifier. Be sure to ground from the noiseless grounding ( ) terminal of CNP1 to the grounding terminal of the cabinet.

9. Circuit protectors are required for protection of power supplies, wires, servo amplifiers and others. When not using a circuit protector, configure an external protective circuit such as a power supply with protection function.

18 - 18


18.3.2 Explanation of power supply system

(1) Pin assignment

Servo amplifier

5

6

7

8

W

E

CNP1

0 24

PM

U

V

3

4

1

2

(2) Detailed explanation

Symbol

Connection target

(application)

24

PM

Description

Used to connect + of the control circuit power supply (24 V DC).

Control circuit power supply/main circuit power supply

Used to connect + of the main circuit power supply (48 V DC/24 V DC).

Set [Pr. PC27] according to the specification of main circuit power supply.


48 V DC setting value

_ _ 0 _ (Initial value)

24 V DC _ _ 1 _

0 Switch off - of the control circuit power supply and main circuit power supply.

U/V/W/E

Noiseless grounding

Servo motor power output

Connect to the grounding terminal of the cabinet to ground.

Connect the servo amplifier power output (U/V/W/E) to the servo motor power input (U/V/W ) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

18 - 19


(3) Wiring CNP1

POINT

For the wire sizes used for wiring, refer to section 18.8.3.

Use the servo amplifier power connector for wiring CNP1.

(a) Connector

Servo amplifier

CNP1

Connector

CNP1


Receptacle assembly Applicable wire size

Stripped length [mm]

DFMC 1,5/ 4-ST-3,5-LR or equivalent

AWG 24 to 16 10

Manufacturer

Phoenix Contact

(b) Cable connection procedure

1) Fabrication on cable insulator

Refer to table 18.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.

Insulator

Core

Stripped length 10 mm

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten the strands.

You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.

Servo amplifier Wire size

Ferrule model

(Phoenix Contact)

MR-J4-03A6(-RJ)

AWG 18

AWG 18

AI0.34-10TQ

AI0.5-10WH

Crimp terminal

(Phoenix Contact)

CRIMPFOX6

18 - 20


2) Inserting wire

When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the end with pushing down the release button with a small flat head screwdriver, etc.

The following show a connection example when using stranded wire to the CNP 1 connector.

Release button

Stranded wire

(c) Mounting connector

1) Mounting

Fit the CNP1 connector when the servo amplifier is fixed. While pushing the connector, make sure that the connector is locked to the top and bottom of the socket. After that, check that the connector cannot be pulled out.

Lock hook

Refer to the following example for a status of lock.

Locked

Locked

Locked

Good example

(Both are locked.)

Bad example

(Bottom is not locked.)

Unlocked

2) Disconnection

Pull out the CNP1 connector after unlocking the top and bottom of the connector.

18 - 21


18.3.3 Selection of main circuit power supply/control circuit power supply

The inrush current at power on will be large because a resistance for protecting inrush current is not built-in in the main circuit power supply of the servo amplifier. The main circuit capacitor capacity of the servo amplifier is approximately 270 μ F. When the load characteristic (overcurrent protection criteria) of the power unit is current fold back method, the power cannot be started. Be careful when selecting a power. Especially when the power is turned ON/OFF on the power unit output side, approximately 100 μ s to 300 μ s instantaneous current will flowed at power on due to capacitor charge. Therefore, a power unit such as one which operates overcurrent at 1 ms or less cannot be used.

A circuit to protect inrush current at power on is built-in in the control circuit power supply of servo amplifier.

In addition, when using main circuit power supply and control circuit power supply, use a reinforced insulating type.

18.3.4 Power-on sequence

POINT

The voltage of analog monitor output, output signal, etc. may be unstable at power-on.

(1) Power-on procedure

1) When wiring the power supply, use a circuit protector for the power supply (24/PM). Configure up an external sequence so that the relay connected to PM turns off when an alarm occurs.

2) Switch on the control circuit power supply (24/0) simultaneously with the main circuit power supply (PM/0) or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier receives the SON (Servo-on) within 2.5 s to 3.5 s after the main circuit power supply is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD

(Ready) will switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)

4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.

(2) Timing chart

SON (Servo-on) accepted

Main circuit


ON

OFF

Base circuit

ON

OFF

SON (Servo-on)

ON

OFF

RES (Reset)

RD (Ready)

ON

OFF

ON

OFF

ALM

(Malfunction)

No alarm (ON)

Alarm (OFF)

(2.5 s to 3.5 s)

5 ms

2.5 s to 3.5 s

10 ms

10 ms

95 ms

5 ms

10 ms 95 ms

10 ms 5 ms 10 ms

18 - 22


18.3.5 I/O signal connection example

(1) Position control mode

(a) For sink I/O interface

(Note 4)

24 V DC

Servo amplifier

Positioning module

RD75D/LD75D/QD75D

CLEARCOM

CLEAR

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

15

16

17

PULSE R- 18

PG0 9

PG0 COM 10

14

13

12

11

(Note 11)


Servo-on

Reset

(Note 5)

Proportion control




Upper limit setting

Analog torque limit


(Note 9)

MR Configurator2

Personal computer


DICOM

DOCOM

CR

(Note 7)

CN1

(Note 7)

CN1

47 DOCOM

20

46

41

48

23

ALM

ZSP

(Note 4)

24 V DC

(Note 2)

RA1

RA2

10 m or less

(Note 13)


EM2

SON

24 V DC (Note 4)

RES

PC

TL

LSP

LSN

DICOM

P15R

TLA

LG

SD

2 m or less

(Note 10)

USB cable

(option)

RD

PP

PG

NP

NG

LZ

LZR

LG

SD



49

10

11

35

36

8

9

3

Plate

25 TLC

24

4

5

6

7

INP

LA

LAR

LB

LBR

RA3

RA4

10 m or less

34

33

Plate

LG

OP

SD

(Note 7)

CN1

42

15

19

17

18

(Note 7)

CN1

26 MO1

28

2 m or less

LG

29 MO2 43

44

21

2 m or less

1

27

28

Plate

Limiting torque

In-position





Control common

Control common


(open collector)

Analog monitor 1

5 V ± 4 V DC

5 V ± 4 V DC

Analog monitor 2

(Note 12)

CN3

+

CNP1

6

(Note 1)

18 - 23


Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the grounding terminal (PE) of the cabinet.




3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one. For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.





10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.

11. This connection is not necessary for RD75D, LD75D and QD75D. However, to enhance noise tolerance, it is recommended to connect LG of servo amplifier and control common depending on the positioning module.

12. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position mismatch can occur. To avoid the position mismatch, check Encoder A-phase pulse and Encoder B-phase pulse on the controller side.



15. CLER and CLEARCOM of source interface are interchanged to sink interface.

18 - 24


(b) For source I/O interface

POINT

For notes, refer to (1) (a) in this section.

Positioning module

RD75D/LD75D/QD75D

(Note 15)


Servo-on

Reset

Proportion control


(Note 5)



Analog torque limit


(Note 9)

MR Configurator2

Upper limit setting

Personal computer

(Note 4,14)

24 V DC

CLEAR

CLEARCOM

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

11

15

16

17

13

14

12

PULSE R- 18

PG0 9

PG0 COM 10

(Note 11)


Servo amplifier

DICOM

DOCOM

CR

(Note 7)

CN1

(Note 7)

CN1

47 DOCOM

(Note 4,14)

24 V DC

(Note 2)

20

46

41

48 ALM

23 ZSP

RA1

RA2

10 m or less

(Note 13)


24 V DC (Note 4,14)

EM2

SON

RES

PC

TL

LSP

LSN

DICOM

P15R

TLA

LG

SD

2 m or less

(Note 10)

USB cable

(option)

RD

PP

PG

NP

NG

LZ

LZR

LG

SD

CN3



49

10

11

35

36

8

9

3

Plate

25 TLC

24

4

5

6

7

INP

LA

LAR

LB

LBR

RA3

RA4

10 m or less

34

33

Plate

LG

OP

SD

43

44

2 m or less

(Note 7)

CN1

42

15

19

17

18

(Note 7)

CN1

26 MO1

28 LG

29 MO2

2 m or less

21

1

27

28

Plate

Limiting torque

In-position





Control common

Control common


(open collector)

Analog monitor 1

5 V ± 4 V DC

5 V ± 4 V DC

Analog monitor 2

(Note 12)

+

CNP1

6

(Note 1)

18 - 25


(2) Speed control mode


Servo amplifier

(Note 7)

CN1

46 DOCOM

(Note 4)

24 V DC

(Note 3, 5)

(Note 5)

Forced stop 2

Servo-on

Reset

Speed selection 1

Speed selection 2





10 m or less

(Note 12)


24 V DC (Note 4)

EM2

SON

RES

SP1

SP2

ST1

ST2

LSP

LSN

DICOM

DICOM

17

18

43

44

20

21

(Note 7)

CN1

42

15

19

41

16

Upper limit setting

(Note 11) Analog speed command

±10 V/rated speed

Upper limit setting



P15R

VC

LG

TLA

SD

1

2

28

27

Plate

(Note 9)

MR Configurator2

Personal computer

2 m or less

(Note 10)

USB cable

(option)

CN3

+

47

48

23

25

24

49

8

9

4

5

6

7

34

33

Plate

DOCOM

ALM

ZSP

TLC

SA

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

SD

(Note 2)

2 m or less

(Note 7)

CN1

26 MO1

28 LG

29 MO2

RA1

RA2

RA3

RA4

RA5

10 m or less



Limiting torque

Speed reached

Ready

(




( (differential line driver)



Control common


(open collector)

Analog monitor 1

5 V ± 4 V DC

5 V ± 4 V DC

Analog monitor 2

CNP1

6

2 m or less

(Note 1)

18 - 26






3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.




(5).)



11. Use an external power supply when inputting a negative voltage.



18 - 27



POINT


Servo amplifier

(Note 7)

CN1

46 DOCOM

(Note 4,13)

24 V DC


Servo-on

(Note 5)

Reset

Speed selection 1

Speed selection 2





10 m or less

(Note 12)


EM2

SON

RES

SP1

SP2

ST1

ST2

LSP

LSN

24 V DC (Note 4,13)

DICOM

DICOM

18

43

44

20

21

(Note 7)

CN1

42

15

19

41

16

17

(Note 9)

MR Configurator2

+

Upper limit setting

(Note 11) Analog speed command

±10 V/rated speed

Upper limit setting



Personal computer

2 m or less

(Note 10)

USB cable

(option)

P15R

VC

LG

TLA

SD

47 DOCOM

48

23

25

24

49

ALM

ZSP

TLC

SA

RD

(Note 2)

10 m or less

6

7

4

5

8

9

LZ

LZR

LA

LAR

LB

LBR

1

2

28

27

34

33

Plate

LG

OP

SD

Plate

CN3

2 m or less

(Note 7)

CN1

26 MO1

28 LG

29 MO2

RA1

RA2

RA3

RA4

RA5



Limiting torque

Speed reached

Ready







Control common


(open collector)

Analog monitor 1

5 V ± 4 V DC

5 V ± 4 V DC

Analog monitor 2

CNP1

6

2 m or less

(Note 1)

18 - 28


(3) Torque control mode

POINT



Servo amplifier

(Note 6)

CN1

46 DOCOM

(Note 4)

24 V DC


Servo-on

Reset

Speed selection 1

Speed selection 2



10 m or less

(Note 10)


EM2

SON

RES

SP1

SP2

RS1

RS2

DICOM

24 V DC (Note 4) DICOM

(Note 6)

CN1

42

15

19

41

16

18

17

20

21

Upper limit setting

(Note 9) Analog torque command


Upper limit setting

(Note 9) Analog speed limit


P15R

TC

LG

VLA

SD

1

27

28

2

Plate

(Note 9)

MR Configurator2

+

Personal computer

2 m or less

(Note 8)

USB cable

(option)

CN3

47

DOCOM

48

23

25

49

8

9

4

5

6

7

34

33

Plate

ALM

ZSP

VLC

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

SD

2 m or less

(Note 6)

CN1

26 MO1

28 LG

29 MO2

(Note 2)

RA1

RA2

RA3

RA4

10 m or less



Limiting speed

Ready







Control common


(open collector)

Analog monitor 1

5 V ± 4 V DC

5 V ± 4 V DC

Analog monitor 2

2 m or less

CNP1

6

(Note 1)





3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.




9. Use an external power supply when inputting a negative voltage.



18 - 29



POINT


Servo amplifier

(Note 6)

CN1

46 DOCOM

(Note 4,11)

24 V DC


Servo-on

Reset

Speed selection 1

Speed selection 2



10 m or less

(Note 10)


EM2

SON

RES

SP1

SP2

RS1

RS2

24 V DC (Note 4,11)

DICOM

DICOM

(Note 6)

CN1

42

15

19

41

16

18

17

20

21

Upper limit setting

(Note 9) Analog torque command


Upper limit setting

(Note 9) Analog speed limit


P15R

TC

LG

VLA

SD

1

27

28

2

Plate

(Note 9)

MR Configurator2

+

Personal computer

2 m or less

(Note 8)

USB cable

(option)

CN3

47 DOCOM

48

23

25

49

8

9

4

5

6

7

34

33

Plate

ALM

ZSP

VLC

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

SD

2 m or less

(Note 6)

CN1

26 MO1

28 LG

29 MO2

(Note 2)

RA1

RA2

RA3

RA4

10 m or less



Limiting speed

Ready







Control common


(open collector)

Analog monitor 1

5 V ± 4 V DC

5 V ± 4 V DC

Analog monitor 2

2 m or less

CNP1

6

(Note 1)

18 - 30


18.3.6 Connectors and pin assignment

POINT


For the CN1 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Screw

CN2

1A

MR

2A

1B

MRR

2B

3A 3B

4A

P5

5A

SHD

4B

LG

5B

BAT

Cable

Screw

Ground plate

CN3 (USB connector) refer to section 11.7.

CN4

(Battery connector) refer to section 11.8.

The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier.

CN1

33

31

37

35

29

27

41

39

45

43

49

47

38

36

42

40

46

44

50

48

30

28

26

34

32

8

6

12

10

4

2

16

14

20

18

24

22

13

11

17

15

21

19

25

23

5

3

1

9

7

18 - 31


The device assignment of CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices will be changed using those parameters.

Pin No.

(Note 1)

I/O


P P/S S S/T T T/P

Related parameter

1 P15R P15R P15R P15R P15R P15R

3 LG LG LG LG LG LG

4 O LA LA LA LA LA LA

5 O LAR LAR LAR LAR LAR LAR

6 O LB LB LB LB LB LB

7 O LBR LBR LBR LBR LBR LBR

8 O LZ LZ LZ LZ LZ LZ

9

10

O LZR LZR LZR LZR LZR LZR

I PP PP/- (Note 4) (Note 4) (Note 4) -/PP PD43/PD44

12 OPC -/OPC

13 O SDP SDP SDP SDP SDP SDP

14 O SDN SDN SDN SDN SDN SDN


SP2 PD05/PD06

19

20

21

I RES RES RES RES RES RES

DICOM DICOM DICOM DICOM DICOM DICOM

DICOM DICOM DICOM DICOM DICOM DICOM

23 O ZSP ZSP ZSP ZSP ZSP ZSP

PD11/PD12

PD23

PD24

PD25

PD26

PC14 26 O MO1 MO1 MO1 MO1 MO1 MO1

(Note 3)

TLA

(Note 3)

TLA/TC

TC TC/TLA


29 O MO2 MO2 MO2 MO2 MO2 MO2


31

32

35

I TRE TRE TRE TRE TRE TRE

I



NP NP/- (Note 4) (Note 4) (Note 4) -/NP

PC15

PD45/PD46

37

38

I

I

PP2

NP2

PP2/-

NP2/-



-/PP2

-/NP2

39 I RDP RDP RDP RDP RDP RDP

PD43/PD44

PD45/PD46

40 I RDN RDN RDN RDN RDN RDN

41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR


43 I LSP LSP LSP LSP/- -/LSP

PD13/PD14

PD17/PD18

LSN PD19/PD20

45 I LOP LOP LOP LOP LOP LOP




49 O RD RD RD RD RD RD

50

PD21/PD22

PD28

18 - 32



2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode

3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22].

4. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD43] to [Pr. PD46] as necessary. When using this pin by DI, supply + of 24 V DC to CN1-12 pin.


18 - 33



The pin numbers in the connector pin No. column are those in the initial status.

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the control mode field of the table shows the followings.







[Pr. PA04], [Pr. PD03] to [Pr. PD26], [Pr. PD28]

(1) I/O device

(a) Input device


I/O division

Control mode

P S T

Forced stop 2

Forced stop 1

EM2 CN1-42 For details of device, refer to section 3.5.1 (1) (a).

EM1 (CN1-42)

DI-1

DI-1

DI-1

DI-1

DI-1

Reset RES


LSP CN1-43

LSN CN1-44 Reverse rotation stroke end


TL CN1-18

TL1 Internal torque limit selection




ST1 CN1-17

ST2 CN1-18

RS1 CN1-18

DI-1

DI-1

DI-1

DI-1


Speed selection

1

Speed selection

2

Speed selection

3

RS2 CN1-17

SP1 CN1-41

SP2 CN1-16

SP3

Proportional control

PC CN1-17

Clear CR


CM1


Gain switching

CM2

CDP

Control switching LOP CN1-45

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1 Refer to function and application column

18 - 34



Second acceleration/ deceleration selection

ABS transfer mode

ABS request

STAB2 For details of device, refer to section 3.5.1 (1) (a).

ABSM CN1-17

ABSR CN1-18

(b) Output device


Malfunction ALM CN1-48 For details of device, refer to section 3.5.1 (1) (b).

Speed reached

Limiting speed

Limiting torque


SA

VLC

TLC

CN1-24

CN1-25

ZSP CN1-23


MBR

Warning WNG

Battery warning BWNG

Alarm code ACD0 (CN1-24)

Variable gain selection





CDPS

ABSV

ABSB0 (CN1-22)

ABSB1 (CN1-23)

ABST (CN1-25)

I/O division

DI-1

Control mode

P S T

DI-1

DI-1

I/O division

Control mode

P S T

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DI-1

DO-1

DO-1

DO-1

DO-1

DO-1

18 - 35


(2) Input signal


Analog torque limit



Analog speed limit



TLA

(3) Output signal

PP

NP

PP2

NP2

PG

NG

CN1-27 Refer to section 3.5 (2) for details of signal.

TC

VC CN1-2

VLA

CN1-10

CN1-35

CN1-37

CN1-38

CN1-11

CN1-36


I/O division

Analog input

Analog input

Analog input

Analog input

DI-2

Control mode

P S T

Encoder Aphase pulse


Encoder Bphase pulse





(open-collector)

LA

LAR

LB

LBR

LZ

LZR

CN1-4

CN1-5

CN1-6

CN1-7

CN1-8

CN1-9

Refer to section 3.5 (3) for details of signal.

OP CN1-33

Analog monitor 1 MO1 CN1-26 This is used to output the data set in [Pr. PC14] to between MO1 and

LG in terms of voltage.

Output voltage: 5 V ± 4 V


Analog monitor 2 MO2 CN1-29 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in terms of voltage.

Output voltage: 5 V ± 4 V


(4) Communication


RS-422 I/F SDP CN1-13 These are terminals for RS-422 communication.

SDN CN1-14

I/O division

DO-2

Control mode

P S T

DO-2

DO-2

Analog output

Analog output

I/O division

Control mode

P S T

18 - 36


(5) Power supply



Open-collector sink interface power supply input

Digital I/F common


Control common

Shield

DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power

CN1-21 supply capacity changes depending on the number of I/O interface points to be used.


For source interface, connect - of the 24 V DC external power supply.

OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface, supply this terminal with the positive (+) power of 24 V DC.

Supply + of 24 V DC to this terminal when using CN1-10-pin and CN1-

35-pin by DI.

DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier.

CN1-47 This is separated from LG.


For source interface, connect + of the 24 V DC external power supply.

P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power for TC, TLA, VC, or VLA. Permissible current: 30 mA

LG

SD

CN1-3

CN1-28

CN1-30

Common terminal of TLA/TC/VC/VLA/OP/MO1/MO2/P15R. Pins are connected internally.

CN1-34

Plate Connect the external conductor of the shielded wire.

I/O division

Control mode

P S T

18 - 37


18.3.8 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

POINT


To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window, or cycle the RES (Reset). However, the alarm cannot be deactivated unless its cause is removed.

(1) When you use the forced stop deceleration function

POINT


(a) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

0 r/min


(Note 1)

Model speed command 0 and equal to or less than zero speed

Dynamic brake operating time

(Note 2)

Base circuit


ON

OFF


MBR


ALM (Malfunction)

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm Alarm No.

Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

2. If the servo motor speed is 5 r/min or higher, the electric dynamic brake will operate continuously for the time period set by [Pr. PF15].

18 - 38


(b) When the forced stop deceleration function is not enabled

Alarm occurrence

Servo motor speed

0 r/min

Braking by the dynamic brake

Dynamic brake

+ Braking by the electromagnetic brake

Braking by the electromagnetic brake

Dynamic brake operating time

Base circuit



MBR


ALM (Malfunction)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm Alarm No.


(2) When you do not use the forced stop deceleration function

POINT


The operation status during an alarm is the same as (1) (b) in this section.

18 - 39


18.3.9 Interfaces (Internal connection diagram)


Detailed explanation of interfaces

Source I/O interface

Section 3.9.2

Section 3.9.3

Servo amplifier

(Note 3)

(Note 4)

24 V DC

(Note 2)

(Note 1)

P S T

SON SON SON

CN1

15

SP2 SP2 16

PC ST1 RS2 17

TL ST2 RS1 18

RES RES

CR SP1

LSP

LSN

EM2

LSP

LSN

RES

SP1

19

41

42

43

44

LOP LOP LOP

OPC

PP

PP2

PG

DICOM

DICOM

45

12

20

21

10

37

11

35 NP

NP2

NG

38

36

Approximately

6.2 k Ω

Approximately

6.2 k Ω

Approximately

1.2 k Ω

Approximately

1.2 k Ω

Approximately

100 Ω

Approximately

100 Ω

Approximately

1.2 k Ω

Approximately

1.2 k Ω

Insulated

CN1

46

(Note 1)

P S

DOCOM

T

47

22

DOCOM

INP SA

23

24

25

48

ZSP ZSP ZSP

INP SA

TLC TLC TLC

49 RD

ALM

RD RD

(Note 4)

24 V DC

RA

RA

(Note 3)

(Note 1)

P S T

VC VLA

CN1

2

TLA TLA TC

P15R

LG

SD

27

1

3

Case

15 V DC

USB

(Note 1)

P S

D-

D+

GND

T CN3

2

3

5

(Note 1)

8

9

33

34

CN1 P

4

5

6

7

S

LA

LAR

LB

LBR

LZ

LZR

OP

LG

14

39

40

30

31

(Note 1)

CN1 P

13

S

SDP

SDN

RDP

RDN

LG

TRE

(Note 1)

CN1 P S

26 MO1

T

T

T

Differential line driver output

(35 mA or less)

Open-collector output

RS-422

(Note 5)

Analog monitor

29

28

MO2

LG

5 V

± 4 V DC

Servo motor

Encoder

5 V

± 4 V DC

CN2

1A

1B

4B

CNP1

8

6

(Note 1)

P S

MR

MRR

LG

E

T

M

18 - 40


Note 1. P: position control mode, S: speed control mode, T: torque control mode

2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.

24 V DC

DOCOM

OPC

PP

DICOM

DOCOM

PP2

PG

NP

NP2

NG

10

37

11

35

46

12

20

47

38

36

24 V DC

DOCOM

OPC

PP

DICOM

DOCOM

PP2

PG

NP

NP2

NG

10

37

11

35

46

12

20

47

38

36

For sink input interface For source input interface



For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

5. To use the RS-422 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to section

18.11.)

18 - 41


18.3.10 Grounding

WARNING


To prevent an electric shock, always connect the noiseless grounding terminal

(marked ) of the servo amplifier to the grounding terminal of the cabinet.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to "EMC Installation Guidelines".

Cabinet


24 V DC

(Note 1)

Circuit protector

Servo amplifier

CNP1

24

CN2

Servo motor

Encoder

0

PM

48 V DC

(Note 1)

RA

CNP1

U

V

W

E

(Note 2)

U

V

W

M


24 V DC

(Note 1)

Circuit protector Programmable controller

CN1

CNP1


Outer box

Note 1. For power supply specifications, refer to section 18.1.3. terminal of the cabinet.

18 - 42


18.4 Startup

WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

CAUTION

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.

The servo amplifier and servo motor may be hot while the power is on, and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.


Startup in position control mode

Startup in speed control mode

Startup in torque control mode

Section 4.2

Section 4.3

Section 4.4

18 - 43



When switching power on for the first time, follow this section to make a startup.

01. Wiring check

Check that the servo amplifiers and servo motors are wired correctly. (Refer to section 18.4.3.)

Set the main circuit power supply selection (48 V DC or 24 V DC) to servo

02. Setting of main circuit power supply selection amplifier. Set [Pr. PC27] according to the flow of 02-1 to 02-4.

Set this setting only when using 24 V DC.

(The initial value of the main circuit power supply selection is 48 V DC. When using 48 V DC, turn the control circuit power supply on and move on to

1. Turning on of control circuit power supply

2. Setting of 24 V DC main circuit power supply with [Pr. PC27]

3. Turning off of control circuit power supply

4. Turning on of control circuit power supply

Check of [Pr. PC27] procedure 03.)

To set the parameter to servo amplifier, turn on the control circuit power supply. At this time, do not turn on the main circuit power supply.

Set [Pr. PC027] setting to "_ 1 _ _".

To reflect the parameter setting, turn off the control circuit power supply.

Turn on the control circuit power supply on again, and check that [Pr. PC27]

03. Recheck of main circuit power supply voltage and wiring is changed to "24 V DC (_ 1 _ _)".

At this time, do not turn on the main circuit power supply.

Make sure that the main circuit power supply voltage of the servo amplifier to be turned on matches with the voltage set by [Pr. PC27] and that the servo amplifiers and servo motors are wired correctly by visual inspection, DO forced output function (section 18.5.9), etc.

04. Surrounding environment check

05. Turning on of main circuit power supply

06. Parameter setting

Check the surrounding environment of the servo amplifier and servo motor.


Turn on the main circuit power.

Set the parameters as necessary, such as the used operation mode. (Refer to sections 18.6, 4.2.4, 4.3.4, and 4.4.4.)

07. Test operation of the servo motor alone in test operation mode

08. Test operation of the servo motor alone by command

09. Test operation with the servo motor and machine connected

10. Gain adjustment

11. Actual operation

12. Stop

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

After connecting the servo motor with the machine, check machine motions with sending operation commands from the servo system controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation. Other conditions that stop the servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.

18 - 44


18.4.2 Troubleshooting when "24 V ERROR" lamp turns on

(1) When overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be shut off and the "24 V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn off. Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48 V DC).

(2) If the "24 V ERROR" lamp turns on with the 3-digit, 7-segment LED on, the control circuit power supply voltage (24 V DC) may be failure. Check that the voltage of the control circuit power supply is 21.6 V DC or more.

18 - 45


18.4.3 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

The power supplied to the power input terminals (24/0/PM) of the servo amplifier should satisfy the defined specifications. (Refer to section 18.1.3.)

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).

Servo amplifier

U

U

Servo motor

V

V

M

W

W

2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W).

Otherwise, the servo amplifier and servo motor will fail.


24 V DC

24 0 PM

M

U V W

48 V DC

3) The noiseless grounding terminal ( ) of the servo motor should be connected to the E terminal of the servo amplifier.


E M

4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN1 connector. You can use this function to check the wiring. In this case, switch on the control circuit power supply only.

For details of I/O signal connection, refer to section 18.3.5.

(b) A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector.

(c) Between plate and DOCOM of the CN1 connector should not be shorted.

Servo amplifier

CN1

DOCOM

Plate

18 - 46


18.4.4 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.

18.5 Display and operation sections

18.5.1 Summary

MR-J4-03A6(-RJ) servo amplifier has the display section (3-digit, 7-segment LED) and operation section (4 push buttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the


The operation section and display data are described below.

3-digit, 7-segment LED Displays data.

Decimal LED Displays the decimal points, alarm presence/absence, etc.

Lit to indicate the decimal point.

Decimal

Lit to indicate a negative when "-"

(negative) cannot be displayed.

Blinks to indicate alarm occurrence.

MODE

UP

DOWN

SET

Display mode change

Low/High switching





Display/data determination

Data clear


Blinks to indicate the test operation mode.

18 - 47


18.5.2 Display flowchart

Press the "MODE" button once to shift to the next display mode. Refer to section 18.5.3 and later for the description of the corresponding display mode.

To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr. PA19 Parameter writing inhibit].

Display mode transition Initial screen Function Reference

Status display

Servo status display.

"CL" appears at power-on.

(Note)

Section

18.5.3

One-touch tuning

One-touch tuning

Select this when performing the one-touch tuning.

Section 6.2

Section

18.5.4

Diagnosis

Sequence display, external signal display, output signal (DO) forced output, test operation, software version display, VC automatic offset, servo motor series ID display, servo motor type ID display, servo motor encoder ID display, drive recorder enabled/disabled display.

Current alarm display, alarm history display, parameter error number display.

Section

18.5.5

Alarms

Section

18.5.6

Display and setting of basic setting parameters.

Section

18.5.7

Button

MODE



Display and setting of gain/filter parameters.


Display and setting of extension setting parameters.

Display and setting of I/O setting parameters.




Display and setting of extension setting 3 parameters. Extension setting 3 parameters

Note. When the axis name is set to the servo amplifier with MR Configurator2, the axis name is displayed and the servo status is then displayed.

18 - 48



The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or

"DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s.

(1) Display transition

After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.


(100 kWh unit)

Cumulative feedback pulses (pulse unit)


Oscillation detection frequency (1 Hz unit)


(1000 pulses unit)

Servo motor speed

(10 r/min unit)

Peak load ratio


Oscillation detection frequency (1 kHz unit)

Number of tough drives (times)

Servo motor speed

(r/min unit)

Droop pulses

(pulse unit)

Droop pulses

(1000 pulses unit)


(pulse unit)

UP

DOWN


(1000 pulses unit)


(kpulses/s unit)


(1000 kpulses/s unit)






Within one-revolution position (pulse unit)


(1000 pulses unit)


(1000000 pulses unit) UP

ABS counter

(rev unit)

ABS counter

(1000 rev unit)


(0.1 times)


(100 times)

Bus voltage


Settling time

Number of tough drives (1000 times)


(1 W unit)


(1 kW unit)


(1 Wh unit)


(1 kWh unit)


(1000 kWh unit)


(pulse unit)

18 - 49


(2) Display examples

The following table shows the display examples.

Item Status

Displayed data

Servo amplifier display pulse unit

720000 pulses

1000 pulses unit



-680000 pulses

7.0 times

15.0 times pulse unit

Lit

The negative value is indicated by the lit decimal points in the upper two digits.

1000 pulses unit

Lit

The negative value is indicated by the lit decimal points in the upper two digits.

0.1 times

100 times

0.1 times

100 times pulse unit

Lit

At this time, the decimal point in the second digit blinks.

"0" in 100 times display.

Lit

At this time, the decimal point in the second digit blinks.

"0" in 100 times display.

Position within one-revolution 4194303 pulses 1000 pulses unit

1000000 pulses unit

18 - 50


The following table lists the servo statuses that may be shown. Refer to app. 8.3 (2) for the measurement point.

Status display Symbol Unit Description

Feedback pulses from the servo motor encoder are counted and displayed.


(1 pulse unit)


(1000 pulses unit)

Ch

1000 pulses

Negative value is indicated by the lit decimal points in the upper two digits.


The internal counter subtracts 500000000 when the number exceeds

2000000000. In addition, The internal counter adds 500000000 when the number exceeds -2000000000.

The servo motor speed is displayed.

Servo motor speed

(10 r/min unit)

Displays by 10 r/min unit.

Servo motor speed

(1 r/min unit)

Droop pulses (1 pulse unit)

Droop pulses

(1000 pulses unit)


(1 pulse unit)


(1000 pulses unit)


(1 kpulse/s unit)


(1000 kpulses/s unit)

EL

Eh

Ph pulse

1000 pulses

The numbers of droop pulses in the deviation counter are displayed.

When the count exceeds ±999, it starts from 0.




1000 pulses may not match the indication of the cumulative feedback pulses.

When the count exceeds ±999, it starts from 0.









Peak load ratio



(1 pulse unit) nh

1000 kpulses/s



Input voltage of VLA (Analog speed limit) voltage is displayed.

F V

2) Speed control mode

Input voltage of VC (Analog speed command) voltage is displayed.


1) Position control mode and speed control mode

Voltage of TLA (Analog torque limit) voltage is displayed.

U V


Voltage of TC (Analog torque command) voltage is displayed.

L

J b

T

%

%

%

%


The ratio of regenerative power to permissible regenerative power is displayed in %.

The continuous effective load current is displayed.

The effective value in the past 15 s is displayed relative to the rated current of

100 %.

The maximum occurrence torque is displayed.

The highest value in the past 15 s is displayed relative to the rated torque of

100 %.

The instantaneous torque is displayed.

The value of torque being occurred is displayed in real time considering a rated torque as 100%.

Position within one revolution is displayed in encoder pulses.


(1000 pulses unit)

Cy2

1000 pulses





18 - 51


Status display



ABS counter (1 rev unit)

ABS counter (1000 rev unit)


(0.1 times)


(100 times)

Bus voltage

Symbol Unit Description

Cy3

LSL

LSh

1000000 pulses



When the servo motor rotates in the CCW direction, the value is added. rev

1000 rev

The travel distance from the home position is displayed as multi-revolution counter value of the absolution position encoder in the absolution position detection system.

Negative value is indicated by the lit decimal points in the upper two digits. dCL dCh

Pn

0.1 times The estimated ratio of the load inertia moment to the servo motor shaft inertia

100 moment is displayed. times

V

The voltage of main circuit converter is displayed.

It is displayed rounding off 0.1 V unit.


Settling time

Oscillation detection frequency (1 Hz unit)

Oscillation detection frequency (1 kHz unit)

Number of tough drive operations (times)

Number of tough drive operations (1000 times)

ETh

ST

°C ms

Inside temperature of encoder detected by the encoder is displayed.

Displays settling time. When it exceeds 999 ms, "999" will be displayed. oFL Hz

Frequency at the time of oscillation detection is displayed. oFh kHz

Td1 times

Td2

1000 times

The number of tough drive functions activated is displayed.

Unit power consumption is displayed by increment of 1 W. Positive value indicate power running, and negative value indicate regeneration. The values in excess of


(1 W unit) actual value since the servo amplifier display is 3-digits.


Unit power consumption is displayed by increment of 1 kW. Positive value indicate power running, and negative value indicate regeneration. The values in


(1 kW unit) digits of the actual value since the servo amplifier display is 3-digits.


Unit total power consumption is displayed by increment of 1 Wh. Positive value is cumulated during power running and negative value during regeneration. The


1 (1 Wh unit) lower 3-digits of the actual value since the servo amplifier display is 3-digits.


Unit total power consumption is displayed by increment of 1 kWh. Positive value is cumulated during power running and negative value during regeneration. The


2 (1 kWh unit)


3 (1000 kWh unit)

TP3

1000 kWh lower 3-digits of the actual value since the servo amplifier display is 3-digits.


Unit total power consumption is displayed by increment of 1000 kWh. Positive value is cumulated during power running and negative value during regeneration.

The values in excess of ±99 can be counted. However, the counter shows only the lower 3-digits of the actual value since the servo amplifier display is 3-digits.


18 - 52


(4) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing

[Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.

Control mode Status display

Position

Position/speed

Speed

Speed/torque

Torque

Torque/position


Cumulative feedback pulses/servo motor speed

Servo motor speed

Servo motor speed/analog torque command voltage


Analog torque command voltage/ cumulative feedback pulses

18 - 53


18.5.4 One-touch tuning

The contents mentioned in this section is an operation method only for executing one-touch tuning in the user command method on MR-J4-03A6(-RJ) servo amplifier by using push button. Refer to section 6.2 for details of one-touch tuning.

POINT

Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the response mode selection ("AT.") without going through the initial screen of the one-touch tuning ("AT").

Push the "MODE" button during motor driving to switch to the initial screen ("AT") of the one-touch tuning.

Push the "SET" button for 2 s or more during displaying "AT" to switch to the response mode selection

("AT.").

(1) Response mode selection

Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to section

6.2.2 (1) (a) for a guideline of response mode.

Response mode selection display

Low mode: This mode is for low-rigid system.

UP DOWN

Basic mode: This mode is for standard system.

High mode: This mode is for high-rigid system.

18 - 54


(2) One-touch tuning execution

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.

After the response mode is selected in (1), pushing the "SET" button will start one-touch tuning.


The one-touch tuning progress is displayed with 0% to 100%.

The decimal point moves left to right in rotation during the tuning.

To switch the display to the status display during the tuning, push the "MODE" button.

Complete

Completing the one-touch tuning will start writing the auto-tuned parameters to the servo amplifier.

(3) Stop of one-touch tuning

Stop symbol

The one-touch tuning mode can be stopped by pushing the "SET" button regardless of displayed item.

Error code

2 s interval

The stop symbol and error code "C 00" (cancel during tuning) will be displayed by turns with 2 s interval.

Initial screen


18 - 55


(4) If an error occurs

Stop symbol

If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code from "C 01" to "C 0F" will be displayed by turns with 2 s interval.

2 s interval

Error code

Check the error cause referring to the table 6.2 of (1) (d) of section 6.2.2.

Initial screen


(5) If an alarm occurs


If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated and the alarm

No. will be displayed.

Alarm display

2 s interval

18 - 56


(6) If a warning occurs


If a warning occurs during the one-touch tuning, the alarm No. of the warning will be displayed.

When the warning is one which continue the motor driving, the one-touch tuning will be continued.

Alarm display (warning)

2 s interval

(7) Clearing one-touch tuning

Refer to table 6.1 of section 6.2 for the parameters which you can clear.

You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset the parameters to before tuning with the back mode.

(a) Push the "MODE" button to switch to the initial screen ("AT") of the one-touch tuning.

(b) Select the clear mode or back mode with the "UP" or "DOWN" button.

One-touch tuning clear mode selection

Auto mode

UP DOWN

Clear mode

Back mode

To clear the one-touch tuning, push the "SET" button for 2 s.

One-touch tuning clear mode display (initializing)

The one-touch tuning clear mode is in progress.

The clear mode symbol blinks for 3 s.

Initial screen

Clearing one-touch tuning is completed, the initial screen will be displayed.

18 - 57


18.5.5 Diagnostic mode

Sequence

Drive recorder enabled/disabled display



JOG operation


Test operation mode


Machine analyzer operation

For manufacturer adjustment


Not ready

Indicates that the servo amplifier is being initialized or an alarm has occurred.

Ready

Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.


When an alarm occurs in the status, the drive recorder will operate and write the status of occurrence.

Drive recorder disabled

The drive recorder will not operate on the following conditions.

1. You are using the graph function of MR

Configurator2.


3. [Pr. PF21] is set to "-1".

This indicates the on/off status of external I/O signal.

The upper segments correspond to the input signals and the lower segments to the output signals.

This allows digital output signal to be switched on/off forcibly.

For details, refer to section 18.5.9.

JOG operation can be performed when there is no command from an external controller.


Positioning operation can be performed when there is no command from an external controller.



Without connecting the servo motor, output signals or status display monitoring can be provided in response to the input device as if the servo motor is actually running.


Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured.

MR Configurator2 is required to perform machine analyzer operation.


This is for manufacturer adjustment.

18 - 58



Software version: lower "SET"

Indicates the version of the software.

The software version is displayed while the

"SET" button is pressed and held.

Press the "MODE" button to shift to the next display mode.

Press the "UP" or "DOWN" button to shift to the next diagnosis menu.

Software version: upper "SET"

Indicates the system number of the software.

The software system number is displayed while the "SET" button is pressed and held.

Press the "MODE" button to shift to the next display mode.


Automatic VC offset

If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC (Analog speed command) or VLA (Analog speed limit) of 0 V, this function automatically makes zeroadjustment of offset voltages.

When using this function, enable the function in the following procedure. When it is enabled, [Pr. PC37] value changes to the automatically adjusted offset voltage.

1) Press the "SET" button once.

2) Set the number in the first digit to "1" with

"UP" button.

3) Press the "SET" button.

This function cannot be used if the input voltage of VC or VLA is -0.4 V or less, or +0.4

V or more. (Note)

Note. Even if VC automatic offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To stop completely, turn off the ST1 or ST2.

18 - 59



Servo motor series ID "SET"

Displays the series ID of the servo motor currently connected.

Press the "SET" button to show the lower 3 digits of servo motor series ID.

For indication details, refer to app. 1 of "Servo

Motor Instruction Manual (Vol. 3)".


Servo motor type ID "SET"

Displays the type ID of the servo motor currently connected.

Press the "SET" button to show the lower 3 digits of servo motor type ID.




Servo motor encoder ID "SET"

Displays the encoder ID of the servo motor currently connected.

Press the "SET" button to show the lower 3 digits of servo motor encoder ID.




This is for manufacturer adjustment.

For manufacturer adjustment

18 - 60


18.5.6 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The alarm number that has occurred or the parameter numbers in error are displayed on the display.


Indicates no occurrence of an alarm.

Current alarm

2 s interval

Indicates the occurrence of [AL. 33.1 Main circuit voltage error].

Blinks at alarm occurrence.

The alarm number and detail number are displayed alternately by intervals of 2 s.

Alarm history

"SET"

"SET"

Indicates that the last alarm is [AL. 50.1

Thermal overload error 1 during operation].

When an alarm is recorded to alarm history, the second digit decimal point blinks.

Press and hold the "SET" button to show the detail number of [AL. 50].

Indicates the second last alarm is [AL. 33.1

Main circuit voltage error].

When an alarm is recorded to alarm history, the second digit decimal point blinks.

Press and hold the "SET" button to show the detail number of [AL. 33].

"SET"

Indicates that there is no third alarm in the past.

If there is no alarm history, the display will be as shown as in the left, when the "SET" button is pressed.

Indicates that there is no sixteenth alarm in the past.

"SET"

18 - 61



This indicates no occurrence of [AL. 37

Parameter error].

Parameter error No.

"SET"

The parameter error number is displayed.

The parameter group in which the parameter error has occurred is displayed. Press and hold the "SET" button to show the parameter number with the error.

The display example on the left is when the data of [Pr. PA12 reverse rotation torque limit] becomes error.

The parameter number is displayed by ascending order when several parameter errors occurred at the same time.

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the third digit remains blinking.

(3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the alarms that can be cleared.)

(a) Switch power off, then on.

(b) Press the "SET" button on the current alarm screen.

(c) Turn on RES (Reset).

(4) Use [Pr. PC18] to clear the alarm history.

(5) Push "UP" or "DOWN" to move to the next history.

18 - 62


18.5.7 Parameter mode

(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or

"DOWN" button changes the display as follows.

To status display mode

From an alarm mode




MODE




[Pr. PA01]

[Pr. PA02]

[Pr. PB01]

[Pr. PB02]

[Pr. PC01]

[Pr. PC02]

[Pr. PD01]

[Pr. PD02]

[Pr. PE01]

[Pr. PE02]

[Pr. PA31]

[Pr. PA32]

[Pr. PB63]

[Pr. PB64]

[Pr. PC79]

[Pr. PC80]

[Pr. PD47]

[Pr. PD48]

[Pr. PE63]

[Pr. PE64]

[Pr. PF01]

[Pr. PF02]

UP

DOWN

[Pr. PF47]

[Pr. PF48]

18 - 63


(2) Operation example

(a) Parameters of 3 or less decimal digits.

The following example gives the operation procedure to change [Pr. PA Reverse rotation torque limit].


Parameter number selection

Press "UP" or "DOWN" to select parameter number.

Press "SET" to display the item to set to the selected parameter number.

Parameter contents display

Press "UP" or "DOWN" to shift to the setting display of the next parameter number.

Press the "MODE" button to shift to the next display.

Press the "SET" button once to display the setting.

Press the "SET" button once when the setting is displayed. The setting blinks and is possible to be changed.

Changing the parameter contents

Press "UP" or "DOWN" to change the value and press "SET" to fix the setting. The setting will be displayed as it is after the setting is fixed.

To cancel the setting data, press "MODE" for 2 s while the display is blinking. The setting before the change will be displayed.

Press and hold "UP" or "DOWN" to change the data continuously. In that case, only the highest digit changes.

Example of pressing and holding the "UP" button

The first digit increases from 0 to 9.

The first digit does not change from 0.

The second digit increases from 0 to 9.

The first and second digits do not change from 0. The third digit increases from 0 to 9.

Example of pressing and holding the "DOWN" button

The first digit decreases from 9 to 0.

The first digit does not change from 0.

The second digit decreases from 9 to 0.

The first and second digits do not change from 0. The third digit decreases from 9 to

0.

18 - 64


(b) Parameters of 4 to 6 decimal digits

The following example gives the operation procedure to change [Pr. PB03 Positioning command acceleration/deceleration time constants (position smoothing)] to "65535".

Press "MODE" to switch to the gain/filter setting parameter screen.

Press "UP" or "DOWN" to select [Pr. PB03].

Upper 3 digit

Press the "SET" button once.


Lower 3 digits


…… The display blinks

(Note 1)

……





(Note 2)

…


Note 1. Pressing the "SET" button in either upper or lower 3-digit display makes the display blink.

2. Pressing the "SET" button in either upper or lower 3-digit display fix the setting.

The display can be switched between upper and lower 3-digit by pressing the "MODE" button.

Switching the display between upper and lower 3-digit is also possible by pressing the "MODE" button while the display is blinking.

The changed value will be canceled when "MODE" is pressed for 2 s or more while blinking.

To shift to the next parameter number, press the "UP" or "DOWN" button.

To change the screen to the other, press "UP" or "DOWN" to change the screen to other parameter number display screen and press "MODE".

18 - 65


(c) Parameters of 7 or more decimal digits

The following example gives the operation procedure to change the [Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)] to "12345678".


Upper 3 digit

Press "SET" once.

Press "MODE" once.

Middle 3 digits Press "MODE" once.

Lower 3 digits

Press "SET" once.


(Note 1)

……



Press "SET" once.


(Note 1)

……



Press "SET" once.


(Note 2)

…

Press "MODE" once.

Press "SET" once.


(Note 2)

…

Note 1. Pressing the "SET" button in upper, middle, or lower 3-digit display makes the display blink.

2. Pressing the "SET" button in upper, middle, or lower 3-digit display fix the setting.

The display can be switched among upper, middle, and lower 3-digits by pressing the "MODE" button.

Switching the display between upper, middle, and lower 3-digit is also possible by pressing the

"MODE" button while the display is blinking.




18 - 66


(d) Parameter of hexadecimal

The following example gives the operation procedure to change the [Pr. PA01 Operation mode] to

"1234".


Press "UP" or "DOWN" to select [Pr. PA01].

Upper 2 digit

Press "SET" once.

Press "MODE" once.

Lower 2 digits

Press "SET" once.


(Note 1)

……



Press "SET" once.


(Note 2)

Press "MODE" once.

…

Note 1. Pressing the "SET" button in upper, middle, or lower 2-digit display makes the display blink.

2. Pressing the "SET" button in upper, middle, or lower 2-digits display fix the setting.

The display can be switched among upper, middle, and lower 2-digits by pressing the "MODE" button.

Switch the display between upper, middle, and lower 2-digit is also possible by pressing the "MODE" button while the display is blinking.




18 - 67


18.5.8 External I/O signal display

POINT

The I/O signal settings can be changed using the I/O setting parameters [Pr.

PD03] to [Pr. PD26], and [Pr. PD28].

The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation

The display screen at power-on. Use the "MODE" button to display the diagnostic screen.

Press "UP" twice.

…… External I/O signal display screen

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.

CN1-35/

CN1-38

CN1-10/

CN1-37

CN1-18

CN1-45 CN1-17

CN1-41 CN1-42

CN1-16 CN1-19

CN1-44

CN1-15 CN1-43

Input signals

Output signals

CN1-33 CN1-48 CN1-22 CN1-25 CN1-23 CN1-49

CN1-24

Light on: on

Light off: off

The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off. The decimal point in the second digit blinks continuously. The signals corresponding to the pins in the respective control modes are indicated as follows:

18 - 68


(a) Control modes and I/O signals

Connector Pin No.

Signal input/output

(Note 1) I/O

(Note 2) Symbols of I/O signals in control modes

10 I PP PP/- (Note 3) (Note 3) (Note 3) -/PP PD43/PD44


16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06

17 I PC

18 I TL

19 I RES RES RES RES RES RES PD11/PD12

22 O INP SA SA/- -/INP PD23

23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24

24 O INP SA SA/- -/INP PD25

CN1 O TLC TLC TLC


35

37

38

I

I

I

NP

PP2

NP2

NP/-

PP2/-

NP2/-

(Note 3)

(Note 4)

(Note 4)

(Note 3)

(Note 4)

(Note 4)

(Note 3)

(Note 4)

(Note 4)

-/NP

-/PP2

-/NP2

PD45/PD46

PD43/PD44

PD45/PD46

41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14



44 I LSN LSN LSN LSN/- -/LSN PD19/PD20

45 I LOP LOP LOP LOP LOP LOP PD21/PD22


49 O RD RD RD RD RD RD PD28


2. P: position control mode, S: speed control mode, T: torque control mode

P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode

3. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with

[Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin.


(b) Symbol and signal names

SON Servo-on

LSP Forward rotation stroke end

LSN Reverse rotation stroke end

CR Clear

SP1 Speed selection 1

SP2

PC

Speed selection 2


ST2

RS2

TL




RES Reset

EM2 Forced stop 2

LOP Control switching

VLC

RD

ZSP

Limiting speed

Ready


INP In-position

SA Speed reached

ALM Malfunction

OP Encoder Z-phase pulse (open collector)

18 - 69


(3) Display data at initial values

(a) Position control mode

NP (CN1-35)/NP2 (CN1-38)

PC (CN1-17)

TL (CN1-18)

LOP (CN1-45)

OP (CN1-33)

ALM (CN1-48)

(b) Speed control mode

SP2 (CN1-16)

ST1 (CN1-17)

ST2 (CN1-18)

LOP (CN1-45)

OP (CN1-33)

ALM (CN1-48)

(c) Torque control mode

SP2 (CN1-16)

RS2 (CN1-17)

RS1 (CN1-18)

LOP (CN1-45)

OP (CN1-33)

ALM (CN1-48)

PP (CN1-10)/PP2 (CN1-37)

CR (CN1-41)

RES (CN1-19)

SON (CN1-15)

LSN (CN1-44)

LSP (CN1-43)

EM2 (CN1-42) Light on: on

Light off: off

RD (CN1-49)

INP (CN1-24)

ZSP (CN1-23)

TLC (CN1-25)

INP (CN1-22)

SP1 (CN1-41)

RES (CN1-19)

SON (CN1-15)

LSN (CN1-44)

LSP (CN1-43)


Light off: off

RD (CN1-49)

SA (CN1-24)

ZSP (CN1-23)

TLC (CN1-25)

SA (CN1-22)

SP1 (CN1-41)

RES (CN1-19)

SON (CN1-15)


Light off: off

RD (CN1-49)

ZSP (CN1-23)

VLC (CN1-25)

18 - 70


18.5.9 Output signal (DO) forced output

POINT

When the servo system is used in a vertical lift application, turning on MBR

(Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

Output signals can be switched on/off forcibly independently of the servo status. Use this function for checking output signal wiring, etc. This operation must be performed in the servo off state by turning off SON

(Servo-on).

The following shows the display at power-on. Use the "MODE" button to display the diagnostic screen.

Press the "UP" button three times.


…… Switch on/off the signal below the lit segment.

Always lit

CN1-33

CN1-48

CN1-22 CN1-24

CN1-25 CN1-23

…… Indicates on/off of output signal. Definitions of

CN1-49 on/off are the same as those for the external I/O signals. (Light on: on, light off: off)


…… The lit LED moves to the upper LED of CN1-24.

Press the "UP" button once.

…… CN1-24 switches on.

(Between CN1-24 and DOCOM are connected.)

Press the "DOWN" button once.

…… CN1-24 switches off.


18 - 71



CAUTION

The test operation mode is designed for checking servo operation. Do not use it for actual operation.

If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.

POINT

The test operation mode cannot be used in the absolute position detection system by DIO ([Pr. PA03: _ _ _ 1]).


Test operation cannot be performed if SON (Servo-on) is not turned off.




Program operation


Section 4.5.9 (3)

Section 4.5.9 (4)

Section 4.5.9 (5)

Section 4.5.9 (6)

(1) Mode switching

The following shows the display at power-on. Select JOG operation or motor-less operation in the following procedure. Use the "MODE" button to display the diagnostic screen.

Press "UP" four times.

Press "SET" for longer than 2 s.

…… When this screen appears,

JOG operation can be performed.

Blinks in the test operation mode.

18 - 72


(2) JOG operation

POINT

When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".

JOG operation can be performed when there is no command from the controller.

(a) Operation/drive

The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops rotating by releasing the button. The operation condition can be changed using MR Configurator2.

The initial operation condition and setting range for operation are listed below.

Item

Speed [r/min]

Acceleration/deceleration time constant [ms]

Initial setting

200

1000

Setting range

0 to instantaneous permissible speed

0 to 50000

The following table shows how to use the buttons.

Button Description

"UP"

"DOWN"

Press to start CCW rotation.

Release to stop.

Press to start CW rotation.

Release to stop.

If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor decelerates to a stop.

(b) Status display

Press the "MODE" button in the JOG operation-ready status to call the status display screen. When the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed during the JOG operation. Every time the "MODE" button is pushed, the next status display screen appears. When one cycle of the screen display is complete, it returns to the JOG operation-ready status screen. Refer to section 18.5.3 for details of status display. Note that the status display screen cannot be changed by the, "UP" or "DOWN" button during the JOG operation.

(c) Termination of JOG operation

To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next screen, and then hold down the "SET" button for 2 s or longer.

18 - 73


18.6 Dimensions

30

Approx. 80

[Unit: mm]

90

4

Terminal

5

CNP1

0 24

6

1

7

8

W

E

PM 2

U

V

3

4

CNP1

With MR-BAT6V1SET-A

Approx.

27.4

Approx. 51

Mass: 0.2 [kg]

Mounting screw

Screw size: M4


2-M4 screw

Approx. 30

Approx.

5

4


18 - 74




Cable bending life


Section 10.4

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.



This servo amplifier has servo motor overload protective function. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

1000

100

10

Servo-lock

1

Operation

0.1

0 50 100 150 200 250 300 350 400


HG-AK0136/HG-AK0236/HG-AK0336

Note. 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 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.


18 - 75



Table 18.4 indicates the required power supply capacities for main circuit and losses generated under rated load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is operated under the rated speed, required power supply capacities for main circuit will be less than the value of the table.

Table 18.4 Power supply capacity and generated heat per servo amplifier at rated output

Servo motor

Main circuit (48 V DC/24 V DC)

Required power supply capacity [W]

(Note)



Note. Heat generated during regeneration is not included in the servo amplifier-generated heat.


POINT

The dynamic brake of MR-J4-03A6(-RJ) is an electronic type.




The time constant " τ " for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr.

PF09] and [Pr. PF15].

18 - 76


(1) Dynamic brake operation

(a) Calculation of coasting distance

Fig. 18.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 18.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (1) (b) in this section.)

A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.

ON

EM1 (Forced stop 1)

OFF


Machine speed

V

0 t e

Time


L max

=

V

0

60

• t e

+

J

L

M

···························································································· (18.1)

L max

: Maximum coasting distance ······················································································ [mm]

V

0

: Machine's fast feed speed ····················································································· [mm/min]

J

M

: Moment of inertia of the servo motor ································································· [× 10 -4 kg•m 2 ]

J

L

: Load moment of inertia converted into equivalent value on servo motor shaft ············· [× 10 -4 kg•m 2 ]

τ : Dynamic brake time constant[s] t e

: Delay time of control section ···························································································· [s]

The processing delay time about 3.5 ms.

(b) Dynamic brake time constant


0.0025

0136

0.0020

0236

0.0015

0.0010

0336

0.0005

0

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

HG-AK series

18 - 77


(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 ratio is higher than this value, the servo amplifier may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor.

Servo motor

Permissible load to motor inertia ratio [multiplier]

HG-AK0136

HG-AK0236 30

HG-AK0336

18.7.4 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, use circuit protector. For circuit protectors, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. Refer to section

18.8.4 for details of the circuit protector.

This following table indicates the inrush current (reference data) when the power of output side of power unit is turned on in the conditions: main circuit of 55.2 V DC, control circuit of 26.4 V DC, and wiring length of 1 m.

Servo amplifier

MR-J4-03A6(-RJ)

Inrush current

Main circuit power supply (PM/0) Control circuit power supply (24/0)

70 A (attenuated to approx. 0 A in 1 ms) 0.5 A (attenuated to approx. 0 A in 60 ms)

18 - 78


18.8 Options and peripheral equipment

WARNING

Before connecting options and peripheral equipment, turn off the power and wait until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

Use the specified peripheral equipment and options to prevent a malfunction or a fire.

POINT

We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.


Junction terminal block MR-TB50

MR Configurator2

Section 11.6

Section 11.7

Relay (recommended)

Noise reduction techniques

Section 11.13

Section 11.14

18.8.1 Cable/connector sets

POINT

The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

Purchase the cable and connector options indicated in this section.

18 - 79



4)

2)

Operation panel

3)

Servo amplifier

Controller

CN1

1) Packed with the servo amplifier

CNP1

CN3

CN2

CN4

5)

Battery

Personal computer

(Note)

(Note)

Note. Refer to "Servo Motor Instruction Manual (Vol. 3)" for servo motor power cables and encoder cables.

No. Name Model Description

2) Junction terminal block cable

MR-J2M-

CN1TBL_M

Cable length: 0.5 m, 1 m

(Refer to section

11.6.)

Model: DFMC 1,5/ 4-ST-3,5-LR or equivalent

(Phoenix Contact)

Applicable wire size: AWG 24 to 16




(3M)

CN1 connector


Shell kit: 10350-3210-000

(3M or equivalent)

3) CN1 connector set Shell kit: 10350-52F0-008

(3M or equivalent)

Refer to section 11.6. block

Cable length: 3 m mini-B connector (5-pins)

Personal computer connector

A connector

HG-AK servo motor

Remark

Supplied with servo amplifier

For junction terminal block connection

For connection with PC-AT compatible personal computer

18 - 80


18.8.3 Selection example of wires

POINT

To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard.



Wire length: 30 m or less

The voltage drops because of the cable conductor resistance. Especially for main circuit/control circuit power supply wiring, wire to secure the required input voltage at servo amplifier input section. It is recommended that the cable length be as short as possible.

The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.

1) Main/control circuit power supply lead


+

-

Servo amplifier

CNP1

24 U

0 V

PM W

E

M


+

-

2) Servo motor power lead

The following shows the wire size selection example.

Table 18.5 Wire size selection example 1 (HIV wire)

Servo amplifier

MR-J4-03A6(-RJ)

1) 24/0/PM/

AWG 16

Wire [mm 2 ]

2) U/V/W/E

(Note)

AWG 19

Note. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to "Servo Motor Instruction

Manual (Vol. 3)".

18.8.4 Circuit protector

Power supply specification

Control circuit power supply (24 V DC)

Main circuit power supply (48 V DC)

Main circuit power supply (24 V DC)

Note. For operation characteristics, use an intermediate speed type.

Circuit protector (Note)

CP30-BA 1P 1-M 1A

CP30-BA 1P 1-M 3A

CP30-BA 1P 1-M 5A

18 - 81


18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol)

POINT

The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.

With MR-J4-03A6(-RJ) servo amplifier, driving servo, changing parameters, operating motor function, etc. is possible using RS-422 communication (Mitsubishi Electric general-purpose AC servo protocol).

In this section, only the configuration of operating RS-422 communication function with MR-J4-03A6(-RJ) servo amplifier is described. Refer to chapter 14 for details of the communication specification and protocol, etc.


(a) Diagrammatic sketch

Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.


CN1 CN1 CN1

RS-422 compatible controller

Axis No. 1 (station 0) Axis No. 2 (station 1)

(b) Cable connection diagram

Wire the cables as follows.

RS-422 compatible controller

(Note 4)

(Note 3) 30 m or less

(Note 1)

Axis No. 1 servo amplifier

CN1 connector

Plate SD

13 SDP

(Note 1)

Axis No. 2 servo amplifier

CN1 connector

Plate SD

13 SDP

14

39

40

31

3,28,

30,34

SDN

RDP

RDN

TRE

LG

14

39

40

31

3,28,

30,34

SDN

RDP

RDN

TRE

LG

Axis No. n (n - 1 station)

(n = 1 to 32)

(Note 1)

Axis No. n

(final axis) servo amplifier

CN1 connector

Plate SD

13 SDP

14

39

40

31

3,28,

30,34

SDN

RDP

RDN

TRE (Note 2)

LG

18 - 82


Note 1. Connector set MR-J3CN1 (3M or equivalent)


Shell kit: 10350-52F0-008

2. Connect between TRE and RDN of the final axis servo amplifier.

3. The overall length is 30 m or less in low-noise environment.

4. If the RS-422 compatible controller does not have a termination resistor, terminate it with a 150 Ω resistor.

18 - 83


MEMO

18 - 84

19. MR-D01 EXTENSION I/O UNIT


MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4-_A_-RJ servo amplifiers.

POINT

MR-D01 is used with servo amplifiers with software version B7 or later.

MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version

B7 or later.

MR-D01 cannot be used with the MR-J4-_A_ servo amplifier.

MR-D01 cannot be used with the MR-J4-DU_A_(-RJ) drive unit.

MR-D01 cannot be used with MR-J4-03A6(-RJ) servo amplifiers.

19 - 1


19.1 Function block diagram


The following illustration is an example of MR-J4-20A-RJ.

(Note 5)


Regenerative option

(Note 2)

Power supply

MCCB

Servo amplifier

MC

Diode stack

P3

L1

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 4)

Relay

P+ C

(Note 1)

D N-


Current detector

+

Charge lamp

Regenerative

TR

+

Cooling fan

(Note 3)


STO circuit

Base amplifier

Voltage detection


Current detection

U

V

W

U

V

W

Servo motor

M

RA

24 V DC

B1

B

B2


Encoder


Model speed control

Virtual encoder Stepdown circuit

Virtual motor


Battery




Current control

External encoder

Analog

(2 channels)

A/D USB RS-422

RS-485

I/F

CN1

D I/O control

CN5

Personal computer

USB

Servo-on

Command pulse train input

Start

Malfunction, etc.

CN3

Controller

RS-422

RS-485

D/A

CN6

Analog monitor

(2 channels)

CN10

DI/O control

Analog input

Analog output

CN7

CN20

MR-D01

19 - 2


Note 1. The built-in regenerative resistor is not provided for MR-J4-10A-RJ.


3. Servo amplifiers MR-J4-70A-RJ or more have a cooling fan.





19 - 3


19.2 Structure


(1) Interface

The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ. For servo amplifiers, refer to section 1.7.1.

Detailed

(1)

(2)

(3)

(1)

(2)

(3)

Analog input signal connector (CN20)

Connect analog input signals of analog torque limit and override.

Manufacturer setting connector (CN30)

This connector is attached on the MR-D01, but not for use.


Connect digital I/O signal and analog output signal.

Section

19.5.1

Section

19.5.1

(2) Rating plate

The following shows an example of the rating plate for explanation of each item.

Model

MODEL MR-D01

SER.A4X001001

IP20 MAN.: IB(NA)0300120

INPUT : 24VDC 0.8A

Max. Surrounding Air Temp. 55°C

KCC-REI-MEK-TC350A110G51


DATE:2014-10

Serial number

KC certification number


Country of origin

19 - 4


19.2.2 Installation and removal of the MR-D01 extension I/O unit

WARNING

Before installing or removing MR-D01, 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. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

Avoid installing and removing MR-D01 repeatedly. Any contact failure of the connector may be caused.

Avoid unsealing MR-D01 to be free of dust and dirt against the connector except installing. Make sure to use the pre-packing when storing.

Avoid using MR-D01 of which the hook and knobs for fixing are damaged. Any contact failure of the connector may be caused.

When mounting/dismounting MR-D01 to/from MR-J4-500A-RJ to MR-J4-22KA-RJ and MR-J4-350A4-RJ to MR-J4-22KA4-RJ servo amplifiers, avoid dropping out the installing screw inside it. Otherwise, it may cause a malfunction.

When mounting MR-D01 to MR-J4-500A-RJ to MR-J4-22KA-RJ and MR-J4-

350A4-RJ to MR-J4-22KA4-RJ servo amplifiers, avoid damaging the control board by the fixing plate. Otherwise, it may cause a malfunction.

Make sure to tighten MR-D01 with the enclosed installing screws when installing.

POINT

The internal circuits of the servo amplifier and MR-D01 may be damaged by static electricity. Always take the following precautions.



19 - 5


(1) For MR-J4-200A(4)-RJ or less and MR-J4-350A-RJ

(a) Installation of MR-D01

1)

Guide hole

MR-D01

2)

1) Remove the covers of CN7 and CN9 connectors.

Make sure to store the removed cover.

2) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-D01's guide pins.

2)

Guide pin

3) Push the four corners of the side of MR-D01 simultaneously to the servo amplifier until the four knobs click so that the

CN7 connector is connected straight.

4) Tighten the unit with the enclosed installing screw (M4).

Knob

(b) Removal of MR-D01 c) a)

1)

2) d) b)

3)

3)

4)

1) Remove the installing screw.

2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-D01 to the arrow direction. Avoid pulling out MR-D01 while it is tightened with the installation screw.

3) After removing MR-D01, make sure to cap the CN7 and

CN9 connectors to avoid dust and dirt.

19 - 6


(2) MR-J4-500A-RJ to MR-J4-700A-RJ and MR-J4-350A4-RJ to MR-J4-700A4-RJ

(a) Removal of the side cover

1) Keep pushing the knobs ( a), b)) and pull out the side cover to the arrow direction. a)

1) b)

(b) Installation of MR-D01

Guide hole

1)

1)

1)

Guide pin

1) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-D01's guide pins.

2) Push the four corners of the side of MR-D01 simultaneously to the servo amplifier until the four knobs click so that the

CN7 connector is connected straight.

3) Tighten the unit with the enclosed installing screw (M4).

2)

3) a)

Knob

(c) Removal of MR-D01 c)

2) d)

1) b)

1) Remove the installing screw.

2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-D01 to the arrow direction. Avoid pulling out MR-D01 while it is tightened with the installation screw.

19 - 7


(d) Installation of the side cover a)

1) a)

1)

1) Insert the side cover setting tabs into the sockets a) of the servo amplifier.

Side cover setting tab

2) Push the side cover at the supporting point a) until the knobs click.

2)

Knob

(3) MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ

CAUTION

Avoid touching any remained burr after cutting off the part a) of the case.

Otherwise, it may cause injury.

The installing screw holes for the MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ are covered and the screw holes for mounting are not shown at shipping. When installing the unit for the first time, cut off the part a) of the case after removing the side cover.

When cutting off the part a), avoid damaging the case of the servo amplifier. After cutting off it, inside of the servo amplifier has been exposed even though the side cover and the unit are installed. Avoid unwanted parts from entering through the opened area into the servo amplifier.

For installing or removing the unit, refer to (2) in this section. The side cover structure is the same for

MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ and for this unit. Install or remove the side cover with the same way as for the unit. a)

19 - 8


19.3 Configuration including peripheral equipment

CAUTION


POINT


The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ.

CN5

MR Configurator2

Personal computer

(Note 2)

Power supply


(MCCB)

R S T

CN6

Analog monitor

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

L1

L2

L3


(FR-HEL)

Regenerative option

P+

C

P3

P4

L11

L21

D (Note 5)

U

V

W

CN20

Analog output signal

CN3

CN8


To safety relay or


CN1

CN10


I/O signal

CN2

CN2L (Note 4)

CN4

Battery

Servo motor

19 - 9




2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to section 1.3.

3. Depending on the main circuit voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.

4. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

19 - 10


19.4 Installation direction and clearances

CAUTION

The equipment must be installed in the specified direction. Otherwise, it may cause malfunction.

Leave specified clearances between the servo amplifier and cabinet walls or other equipment. Otherwise, it may cause malfunction.

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier

Cabinet Cabinet

40 mm or more

Servo amplifier

Wiring allowance

80 mm or more

10 mm or more

(Note 2)

10 mm or more Top

Bottom

40 mm or more

(Note 1)

Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more.

2. To install the MR-J4-500A-RJ, leave a clearance of 25 mm or more between the left side and the wall.

19 - 11


(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible depending on the capacity of the servo amplifier. For the possibility of close mounting, refer to section 1.3.

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.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environmental conditions.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, operate the servo amplifiers at the ambient temperature of 0 °C to 45 °C or at 75% or less of the effective load ratio.

Cabinet Cabinet

30 mm or more

100 mm or more

10 mm or more

(Note 2)

30 mm or more

1 mm

100 mm or more

1 mm

30 mm or more

Top

Bottom

40 mm or more

(Note 1)

40 mm or more

Leaving clearance Mounting closely

Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more.

2. To install the MR-J4-500A-RJ, leave a clearance of 25 mm or more between the MR-J4-500A-RJ and the left side servo amplifier.

(2) Others

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected.


19 - 12



POINT

Input signals of the servo amplifier are valid even when the MR-D01 has been connected. When the same input devices have been assigned to the servo amplifier and MR-D01 and both input signals are turned on, the input signal that has turned on first is enabled. Even though turning off one of the input signals that have been turned on is attempted, the input signal cannot be turned off.

Refer to the following table for details. The following table shows ST1 (Forward rotation start) as an example.

Device

(Note)

Servo amplifier

(Note)

MR-D01

Servo motor

ST1

Note. 0: Off

1: On

19 - 13


19.5.1 I/O Signal Connection Example

(1) Position control mode


Positioning module

RD75D/LD75D/QD75D

CLEARCOM

CLEAR

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

14

13

12

11

15

16

17

PULSE R- 18

PG0 9

PG0 COM 10

(Note 11)

24 V DC (Note 4)

DICOM

DOCOM

CR

RD

PP

PG

NP

NG

LZ

LZR

LG

SD

Servo amplifier

49

10

11

35

36

8

9

3

Plate

(Note 7)

CN1

(Note 7)

CN1

47 DOCOM

20

48 ALM

46

41

23 ZSP

25 TLC

24 INP

13

(Note 24)

14

(Note 24)

4 LA

5

6

7

(Note 17)


Servo-on

(Note 5)

Reset





(Note 9)

Upper limit setting

Analog torque limit


MR Configurator2

Personal computer


34

33

Plate

10 m or less

(Note 13)


EM2

SON

RES

PC

TL

LSP

24 V DC (Note 4)

LSN

DICOM

P15R

TLA

LG

SD

2 m or less

(Note 7)

CN1

42

15

19

17

18

(Note 7)

CN6

3

1

43

44

2

21

1

27

28

Plate

(Note 10)

USB cable

(option)

CN5

+

LAR

LB

LBR

LG

OP

SD

MO1

LG

MO2

24 V DC (Note 4)

(Note 2)

2 m or less

RA1

RA2

10 m or less

2 m or less

RA3

RA4



Limiting torque

In-position





Control common

Control common


(open-collector)

± 10 V DC

± 10 V DC

(Note 16)

Analog monitor 1

Analog monitor 2

CN8

(Note 12)



(Note 1)

19 - 14


(Note 22)

Servo-on

Reset






MR-D01

24 V DC (Note 18, 19)

DICOMD

DICOMD

SON

RES

TL

TL1

CM1

CM2

PC

(Note 25)

(Note 25)

(Note 25)

(Note 25)

(Note 25)

(Note 25)

CN10

13

14

21

26

27

28

29

30

31

32

33

34

18

19

20

10 m or less

CN10

37

22

23

24

25

49

46

47

48

DOCOMD

ACD0

ACD1

ACD2

ACD3

INP

(Note 24)

(Note 24)

(Note 24)

24 V DC (Note 18, 19)

RA5

RA6

RA7

RA8

RA9

10 m or less

Alarm code

In-position (Note 23)

(Note 20, 21)

Upper limit setting

Analog torque limit


2 m or less

P15R

OTLA

LG

SD

CN20

13

12

9

Plate

CN20

4 OMO1

1 LG

14 OMO2

Plate SD

2 m or less

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

19 - 15





4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 500 mA or lower.

500 mA 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.

Refer to section 3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.





10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.



PRU03


Servo amplifier

CN3

11. This connection is not necessary for RD75D, LD75D, and QD75D. However, to enhance noise tolerance, it is recommended to connect LG of servo amplifier and control common depending on the positioning module.




15. CLEAR and CLEARCOM of source interface are interchanged to sink interface.

16. Disconnection of the command cable connected to the controller, or noise may cause a position mismatch. To avoid the position mismatch, check encoder A-phase pulse and encoder B-phase pulse on the controller side.

17. The devices can be changed by [Pr. PD03] to [Pr. PD14], [Pr. PD17] to [Pr. PD22], and [Pr. PD43] to [Pr. PD46].

18. Supply 24 V DC ± 10% to interfaces of the MR-D01 from outside. The total current capacity of these power supplies must be

800 mA or lower. 800 mA 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. Refer to section 3.8.2 (1) that gives the current value necessary for the interface.

D01. In this case, select an appropriate power supply capacity depending on the number of points of the input/output signals to be used.

20. The CN1-27 pin and CN20-12 pin are exclusive. The CN1-27 pin is set by default. Select this item with [Pr. Po11].

21. OTLA will be available when TL (External torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and [Pr.

Po28]. (Refer to section 19.5.3 (5).)

22. The devices can be changed by [Pr. Po02] to [Pr. Po07].

23. The device can be changed by [Pr. Po08] and [Pr. Po09].

24. Output devices are not assigned by default. Assign the output devices with [Pr. PD47], [Pr. Po08], and [Pr. Po09] as necessary.

25. Input devices are not assigned by default. Assign the input devices with [Pr. Po05], [Pr. Po06], [Pr. Po27], and [Pr. Po28] as necessary.

19 - 16



POINT


(Note 17)

Positioning module

RD75D/LD75D/QD75D

(Note 15)

CLEAR

CLEARCOM

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

15

16

17

PULSE R- 18

PG0 9

PG0 COM 10

13

14

12

11

(Note 11)


Servo-on

Reset

(Note 5)





Upper limit setting

Analog torque limit


(Note 9)

MR Configurator2

Personal computer

24 V DC (Note 4, 14)

DICOM

DOCOM

CR

Servo amplifier

CN1

(Note 7)

CN1

(Note 7)

47

DOCOM

20

48 ALM

46

41

23 ZSP

24 V DC (Note 4, 14)

(Note 2)

RA1

RA2




RD

PP

PG

NP

NG

LZ

LZR

LG

SD

10 m or less

(Note 13)


EM2

SON

RES

PC

TL

LSP

24 V DC (Note 4, 14)

LSN

DICOM

P15R

TLA

LG

SD

2 m or less

(Note 10)

USB cable

(option)

49

10

11

35

36

8

9

3

Plate

25 TLC

24 INP

13

(Note 24)

14 (Note 24)

6

7

4

5

LA

LAR

LB

LBR

34

33

Plate

LG

OP

SD

19

17

2 m or less

(Note 7)

CN1

42

15

(Note 7)

CN6

3 MO1

18

43

44

1 LG

2 MO2

2 m or less

21

1

27

28

Plate

RA3

RA4

10 m or less

Limiting torque

In-position





Control common

Control common


(open-collector)

± 10 V DC

± 10 V DC

(Note 16)

Analog monitor 1

Analog monitor 2

CN5

+

CN8

(Note 12)



(Note 1)

19 - 17


(Note 22)

Servo-on

Reset






MR-D01

24 V DC (Note 18, 19)

DICOMD

DICOMD

SON

RES

TL

TL1

CM1

CM2

PC

(Note 25)

(Note 25)

(Note 25)

(Note 25)

(Note 25)

CN10

13

14

21

26

27

28

29

30

34

18

19

20

31

32

(Note 25) 33

CN10

37

22

23

24

25

49

46

47

48

DOCOMD

ACD0

ACD1

ACD2

ACD3

INP

(Note 24)

(Note 24)

(Note 24)

24 V DC (Note 18, 19)

RA5

RA6

RA7

RA8

RA9

10 m or less

Alarm code

In-position (Note 23)

10 m or less

Upper limit setting

(Note 20, 21) Analog torque limit


2 m or less

P15R

OTLA

LG

SD

CN20

13

12

9

Plate

CN20

4 OMO1

1 LG

14 OMO2

Plate SD

2 m or less

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

19 - 18


(2) Speed control mode


(Note 14)

Servo amplifier

(Note 7)

CN1

46 DOCOM

24 V DC (Note 4)

47

DOCOM


Servo-on

Reset

Speed selection 1

Speed selection 2

(Note 5)





10 m or less

(Note 12)


24 V DC (Note 4)

EM2

SON

RES

SP1

SP2

ST1

ST2

LSP

LSN

DICOM

DICOM

17

18

43

44

20

21

(Note 7)

CN1

42

15

19

41

16

48

23

25

24

49

ALM

ZSP

TLC

SA

RD

4

5

6

7

13 (Note 22)

14

(Note 22)

8

9

LZ

LZR

LA

LAR

LB

LBR

(Note 2)

RA1

RA2

RA3

RA4

RA5

10 m or less

Upper limit setting


±10 V/Rated speed

Upper limit setting



P15R

VC

LG

TLA

1

2

28

27

SD Plate

34

33

Plate

LG

OP

SD



Limiting torque

Speed reached

Ready







Control common

Control common


(open-collector)

(Note 9)

MR Configurator2

+

Personal computer

2 m or less

(Note 10)

USB cable

(option)

CN5

2 m or less

(Note 7)

CN6

3

1

2

MO1

LG

MO2

± 10 V DC

Analog monitor 1

± 10 V DC

Analog monitor 2

CN8




(Note 1)

19 - 19


(Note 20)

Servo-on

Reset



Second acceleration/deceleration selection

Speed selection 1




MR-D01

24 V DC (Note 15, 16)

DICOMD

DICOMD

SON

RES

TL

TL1

STAB2

SP1

PC

ST1

ST2

(Note 23)

(Note 23)

(Note 23)

(Note 23)

(Note 23)

(Note 23)

CN10

13

14

21

26

27

28

31

36

18

19

20

31

32

34

35

32

33

10 m or less

CN10

37

22

23

24

25

49

46

47

48

DOCOMD

ACD0

ACD1

ACD2

ACD3

SA

(Note 22)

(Note 22)

(Note 22)

24 V DC (Note 15, 16)

RA5

RA6

RA7

RA8

RA9

10 m or less

Alarm code

Speed reached (Note 21)

(Note 17)

Upper limit setting


+10 V/Rated speed

Lower limit setting

Upper limit setting



P15R

OVC

CN20

13

2

N12R 15

CN20

4 OMO1

1 LG

14 OMO2

OTLA

LG

SD

12

9

Plate

Plate SD

2 m or less

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

2 m or less

19 - 20






500 mA 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. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.




(5).)





PRU03


Servo amplifier

CN3






800 mA or lower. 800 mA 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. Refer to section 3.8.2 (1) that gives the current value necessary for the interface.










19 - 21



POINT


Servo amplifier

(Note 7)

CN1

46 DOCOM

24 V DC (Note 4, 13)

(Note 12)


(Note 5)

Servo-on

Reset

Speed selection 1

Speed selection 2





10 m or less

(Note 12)


EM2

SON

RES

24 V DC (Note 4, 13)

SP1

SP2

ST1

ST2

LSP

LSN

DICOM

DICOM

41

16

17

18

43

(Note 7)

CN1

42

15

19

44

20

21

(Note 9)

MR Configurator2

+

Upper limit setting


±10 V/Rated speed

Upper limit setting



Personal computer

2 m or less

(Note 10)

USB cable

(option)

(Note 11) amplifier)

P15R


(Packed with the servo

VC

LG

TLA

SD

47

48

23

25

DOCOM

ALM

ZSP

TLC

(Note 2)

RA1

RA2

RA3

24 SA

49 RD

5

6

7

13

(Note 22)

14

(Note 22)

8 LZ

9

4

LZR

LA

LAR

LB

LBR

RA4

RA5

10 m or less

1

2

28

27

34

33

Plate

LG

OP

SD

Plate

CN5

2 m or less

(Note 7)

CN6

3

1

2

MO1

LG

MO2

CN8

2 m or less

(Note 1)



Limiting torque

Speed reached

Ready







Control common

Control common


(open-collector)

± 10 V DC

Analog monitor 1

± 10 V DC

Analog monitor 2

19 - 22


(Note 20)

Servo-on

Reset



Speed selection 1




MR-D01

24 V DC (Note 13, 14)

DICOMD

DICOMD

SON

RES

TL

TL1

CN10

13

14

21

26

27

28

STAB2

SP1

PC

ST1

ST2

(Note 23)

(Note 23)

(Note 23)

(Note 23)

(Note 23)

(Note 23)

36

18

19

20

31

32

34

35

31

32

33

10 m or less

CN10

37

22

23

24

25

49

46

47

48

DOCOMD

ACD0

ACD1

ACD2

ACD3

SA

(Note 22)

(Note 22)

(Note 22)

24 V DC (Note 13, 14)

RA5

RA6

RA7

RA8

RA9

10 m or less

Alarm code

Speed reached (Note 21)

(Note 15)

Upper limit setting


+10 V/Rated speed

Lower limit setting

Upper limit setting



P15R

OVC

CN20

13

2

N12R 15

CN20

4 OMO1

1 LG

14 OMO2

OTLA

LG

SD

12

9

Plate

Plate SD

2 m or less

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

2 m or less

19 - 23


(3) Torque control mode

POINT



Servo amplifier

(Note 6)

CN1

46 DOCOM

24 V DC (Note 4)

10 m or less


Servo-on

Reset

Speed selection 1

Speed selection 2



(Note 10)


EM2

SON

RES

SP1

SP2

RS1

RS2

DICOM

24 V DC (Note 4) DICOM

(Note 6)

CN1

42

15

19

41

16

18

17

20

21

Upper limit setting



Upper limit setting

Analog speed limit

0 to ±10 V/Rated speed

(Note 7)

MR Configurator2

+

Personal computer

2 m or less

(Note 8)

USB cable

(option)

SD

(Note 9)



P15R

TC

LG

VLA

1

27

28

2

Plate

47 DOCOM

48 ALM

23 ZSP

25 VLC

49 RD

13

(Note 20)

14 (Note 20)

8

9

4

5

6

7

LZ

LZR

LA

LAR

LB

LBR

34

33

Plate

(Note 1)

(Note 2)

RA1

RA2

RA3

RA4

10 m or less

LG

OP

SD

2 m or less

CN5

(Note 6)

CN6

3

1

2

MO1

LG

MO2

CN8

2 m or less



Limiting speed

Ready







Control common

Control common


(open-collector)

± 10 V DC

Analog monitor 1

± 10 V DC

Analog monitor 2

19 - 24


(Note 18)

Servo-on

Reset


Speed selection 1




MR-D01

24 V DC (Note 15, 16)

DICOMD

DICOMD

SON

RES

STAB2

SP1

PC

RS2

RS1

(Note 21)

(Note 21)

(Note 21)

(Note 21)

(Note 21)

(Note 21)

CN10

13

14

21

34

35

36

18

19

20

31

32

26

31

32

33

10 m or less

CN10

37

22

23

24

25

46

47

48

49

DOCOMD

ACD0

ACD1

ACD2

ACD3

(Note 20)

(Note 20)

(Note 20)

(Note 20)

24 V DC (Note 15, 16)

RA5

RA6

RA7

RA8

10 m or less

Alarm code

(Note 17)

Upper limit setting


+10 V/Rated speed

Lower limit setting

Upper limit setting



2 m or less

P15R

CN20

13

OVC 2

N12R 15

CN20

4 OMO1

1 LG

14 OMO2

OTLA

LG

SD

12

9

Plate

Plate SD

2 m or less

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

19 - 25






500 mA 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. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.






PRU03


Servo amplifier

CN3






800 mA or lower. 800 mA 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. Refer to section 3.8.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value necessary for the interface.










19 - 26



POINT


Servo amplifier

(Note 6)

CN1

46 DOCOM

24 V DC (Note 4, 11)


Servo-on

Reset

Speed selection 1

Speed selection 2



10 m or less

(Note 10)


24 V DC (Note 4, 11)

EM2

SON

RES

SP1

SP2

RS1

RS2

DICOM

DICOM

(Note 6)

CN1

42

15

19

41

16

18

17

20

21

Upper limit setting



Upper limit setting

Analog speed limit

0 to ±10 V/Rated speed

P15R

TC

LG

VLA

SD

1

27

28

2

Plate

(Note 7)

MR Configurator2

Personal computer

2 m or less

(Note 8)

USB cable

(option)

CN5

+

47

48

23

25

49

13

(Note 20)

14

(Note 20)

8 LZ

9

4

LZR

LA

5 LAR

6 LB

7 LBR

34

33

Plate

DOCOM

ALM

ZSP

VLC

RD

LG

OP

SD

10 m or less

2 m or less

(Note 6)

CN6

3 MO1

1 LG

2 MO2

(Note 2)

RA1

RA2

RA3

RA4



Limiting speed

Ready







Control common

Control common


(open-collector)

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

(Note 9)



CN8

2 m or less

(Note 1)

19 - 27


(Note 18)

Servo-on

Reset


Speed selection 1




MR-D01

24 V DC (Note 15, 16)

DICOMD

DICOMD

SON

RES

STAB2

SP1

PC

RS2

RS1

(Note 21)

(Note 21)

(Note 21)

(Note 21)

(Note 21)

(Note 21)

CN10

13

14

21

34

35

36

18

19

20

31

32

26

31

32

33

10 m or less

CN10

37

22

23

24

25

46

47

48

49

DOCOMD

ACD0

ACD1

ACD2

ACD3

(Note 20)

(Note 20)

(Note 20)

(Note 20)

24 V DC (Note 15, 16)

RA5

RA6

RA7

RA8

10 m or less

Alarm code

(Note 17)

Upper limit setting


+10 V/Rated speed

Lower limit setting

Upper limit setting



2 m or less

P15R

CN20

13

OVC 2

N12R 15

CN20

4 OMO1

1 LG

14 OMO2

OTLA

LG

SD

12

9

Plate

Plate SD

2 m or less

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

19 - 28


19.5.2 Connectors and pin assignment

POINT


The CN30 connector is for manufacturer setting. This connector is attached on the MR-D01 servo amplifier, but not for use.

For the pin assignment of the CN10 connector, refer to (2) in this section.

For details of each signal (device), refer to section 19.5.3.

(1) Pin assignment

The following shows the front view of the servo amplifier for when MR-J4-10A-RJ and MR-D01 are used.

CN20

CN30

For manufacturer setting

19

20

18

9

LG

7

10

8

17

16 6

15 5

N12R

14

13

OMO2

P15R

11

12

OTLA

LG

3

1

LG

4

OMO1

2

OVC

CN10

49

47

45

43

41

39

37

35

33

31

29

27

25

23

21

19

17

15

13

7

5

11

9

3

1

50

48

46

44

42

40

38

36

34

32

30

28

26

10

8

6

4

2

16

14

12

24

22

20

18

For the pin assignment, refer to (2) in this section.

19 - 29


(2) Pin assignment of the CN10 connector

Pin No.

(Note 1)

I/O


P S T

Related parameter

1

2

3

4

5

6

7

8

9

10

11

12

13 DICOMD DICOMD DICOMD

14 DICOMD DICOMD DICOMD

15

16

17

18

19

20

21 I SON SON SON

22 O ACD0 ACD0 ACD0

23 O ACD1 ACD1 ACD1

24 O ACD2 ACD2 ACD2

25 O ACD3 ACD3 ACD3

26 I RES RES RES

27 I TL TL

28 I TL1 TL1

29 I CM1

30 I CM2

31 I STAB2

32 I SP1 SP1

33

34 I PC PC

35 I ST1 RS2

36 I ST2 RS1

37 DOCOMD DOCOMD DOCOMD

38

39

40

41

42

43

44

45

46

47

48

49 O INP SA

Po27

Po27

Po28

Po02

Po02

Po03

Po03

Po04

Po04

Po05

Po05

Po06

Po06

Po07

Po07

Po08

Po08

Po09

Po09

Note 1. I: Input signal, O: Output signal

2. P: Position control mode



19 - 30



This section describes the signals (devices) of the MR-D01 extension I/O unit.

The connector pin No. column in the table lists the pin Nos. which devices are assigned to by default.

For the I/O interfaces (symbols in the I/O division column in the table), refer to section 19.5.4 (2).

The symbols in the control mode field of the table shows the followings.







[Pr. Po02] to [Pr. Po09], [Pr. Po27], and [Pr. Po28]

19 - 31


(1) I/O device

(a) Input device

Servo-on


SON CN10-21 Same as when a servo amplifier is used alone. Refer to section 3.5 (1)









Speed selection

1

Speed selection

2

Speed selection

3

LSP

LSN

TL CN10-27

TL1 CN10-28

ST1 CN10-35

ST2 CN10-36

RS1 CN10-36

RS2 CN10-35

SP1 CN10-32

SP2

SP3


PC CN10-34

Clear CR


CM1 CN10-29


CM2 CN10-30

Gain switching CDP

Control switching LOP

I/O division

Control mode

P S T

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1 Refer to function and application column

DI-1 Second acceleration/dec eleration selection


Motor-side/loadside deviation counter clear

STAB2 CN10-31

CLD

MECR

DI-1

DI-1

19 - 32


(b) Output device


Malfunction ALM Same as when a servo amplifier is used alone. Refer to section 3.5 (1)


Ready RD

Speed reached

Limiting speed

Limiting torque


SA

VLC

CN10-49

TLC

ZSP


MBR

Warning WNG

Battery warning BWNG

Alarm code 0

Alarm code 1

Alarm code 2

ACD0 (CN10-22) To use these signals, set [Pr. Po12] to "_ _ _ 1".

ACD1 (CN10-23) For details of the alarm codes, refer to chapter 8.

ACD2 (CN10-24)

Alarm code 3


During tough drive

During fully closed loop control

ACD3 (CN10-25)

ABSV Same as when a servo amplifier is used alone. Refer to section 3.5 (1)

(b).

MTTR

CLDS

(2) Input signal

Analog torque limit



Analog speed limit

I/O division

Control mode

P S T

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1


OTLA CN20-12 To use this signal, set [Pr. Po11] to "_ 1 _ _". When OTLA is enabled, torque is limited in the full servo motor output torque range. Apply 0 V to

+10 V DC between OTLA and LG. Connect + of the power supply to

OTLA. The maximum torque is generated at +10 V.

Resolution: 12 bits

OTC To use this signal, set [Pr. Po11] to "_ 1 _ _". This is used to control torque in the full servo motor output torque range. Apply 0 V to ±8 V DC between OTC and LG. The maximum torque is generated at ±8 V. (Refer to section 3.6.3 (1).) The torque at ±8 V can be changed with [Pr. PC13].

If a value equal to or larger than the maximum torque is input to OTC, the value is clamped at the maximum torque.

OVC CN20-2 To use this signal, set [Pr. Po11] to "_ _ 1 _". The signal controls the servo motor setting speed by applying -10 V to +10 V DC to between

OVC and LG. The percentage will be 0% with -10 V, 100% with 0 V, and

200% with +10 V to the servo motor setting speed.

Resolution: 12 bits

OVLA To use this signal, set [Pr. Po11] to "_ _ 1 _". Apply 0 V to ±10 V DC between OVLA and LG. Speed set in [Pr. PC12] is provided at ±10 V.

(Refer to section 3.6.3 (3).)

If a limited value equal to or larger than the permissible speed is input to

OVLA, the value is clamped at the permissible speed.

I/O division

Control mode

P S T

Analog input

Analog input

Analog input

Analog input

19 - 33


(3) Output signal


Analog monitor 1 OMO1 CN20-4 This signal outputs the data set in [Pr. Po13] to between OMO1 and LG in terms of voltage.


Analog monitor 2 OMO2 CN20-14 This signal outputs the data set in [Pr. Po14] to between OMO2 and LG in terms of voltage.


I/O division

Control mode

P S T

Analog output

Analog output

(4) Power supply

MR-D01 digital

I/F power supply input

MR-D01 digital

I/F power supply input


-12 V DC power supply

Control common


DICOMD CN10-13

CN10-14

Input 24 V DC (24 V DC ± 10% 500 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used.


For source interface, connect - of the 24 V DC external power supply.

DOCOMD CN10-37 Common terminal of input signals such as SON, RES, and others of the servo amplifier. This is separated from LG.


For source interface, connect + of the 24 V DC external power supply.

P15R CN20-13 This outputs 15 V DC to between P15R and LG. This is available as the power for TC/TLA/VC/VLA. Permissible current: 30 mA

N12R CN20-15 This outputs -12 V DC to between N12R and LG. This is available as the power for VC. However, the voltage varies within the range of -12 V to -15

V. Permissible current: 30 mA

LG CN20-1

CN20-9

Common terminal of OTLA, OVC, OMO1, OMO2, P15R, and N12R. Pins are connected internally.

I/O division

Control mode

P S T

Plate

19 - 34


(5) Torque limit

CAUTION

If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio] is set properly. Improper settings may cause an unexpected operation such as an overshoot.

POINT

To use OTLA (Analog torque limit), set [Pr. Po11] to "_ 1 _ _".

(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between the limit value and servo motor torque is as follows.

CW direction

Maximum torque CCW direction

100


0 100 [%]


A relation between the applied voltage of OTLA (Analog torque limit) and the torque limit value of the servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.

Therefore, use this function at the voltage of 0.05 V or more.

Maximum torque

MR-D01

±5%

0

0 0.05

OTLA applied voltage [V]

OTLA applied voltage vs. torque limit value

2 k Ω

2 k Ω

24 V DC

Equivalent to RRS10

(Japan Resistor)

TL

DICOMD

(Note)

P15R

OTLA

LG

SD

Connection example

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section

19.5.4 (5).

(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.

PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and OTLA (Analog torque limit).

When TL1 (Internal torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and

[Pr. Po28], you can select [Pr. PC35 internal torque limit 2/Internal thrust limit 2].

However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.

PA11] and [Pr. PA12] value will be enabled.

19 - 35


Input device (Note 1)

TL1 TL

0 0

Limit value status

Enabled torque limit value

CCW power running/

CW regeneration

CW power running/

CCW regeneration

Pr. PA11 Pr. PA12

Pr. PA11 Pr. PA12

0 1

OTLA (Note 2)

1 0

1 1

Pr. PC35

Pr. PC35

OTLA

OTLA

>

<

>

<

Pr. PA11

Pr. PA12

Pr. PA11

Pr. PA12

Pr. PC35

Pr. PC35

Pr. PA11

Pr. PC35 (Note 2)

Pr. PC35 (Note 2)

OTLA (Note 2)

Note 1. 0: Off

1: On

2. When [Pr. PD33] is set to "_ 2 _ _", the value in [Pr. PA11] is applied.

3. When [Pr. PD33] is set to "_ 1 _ _", the value in [Pr. PA12] is applied.

OTLA (Note 3)

Pr. PA12

Pr. PC35 (Note 3)

Pr. PC35 (Note 3)

OTLA (Note 3)

(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit, reverse rotation torque limit or analog torque limit.

19 - 36


19.5.4 Interface

(1) Internal connection diagram

The following shows an example of internal connection diagram of the position control mode. For the internal connection diagram of the servo amplifier, refer to section 3.9.1.

MR-D01

(Note 2)

(Note 1)

24 V DC

P S T

DICOMD

CN10

13

DOCOMD

TL

TL1

CM1

CM2

SON

RES

TL

TL1

STAB2 STAB2

SP1 SP1 32

(Note 3)

PC PC

33

34

ST1

ST2

RS2 35

RS1 36

(Note 3)

(Note 3)

(Note 3)

18

19

20

37

21

26

27

28

29

30

31

P S T CN20

Approx.

5.6 k Ω

<Insulated>

CN10

14

22

23

24

25

46

47

48

49

P S T

DICOMD

ACD0

ACD1

ACD2

ACD3

(Note 4)

(Note 4)

(Note 4)

INP

CN20 P S T

4

14

11

1

OMO1

OMO2

LG

LG

RA

RA

Analog monitor

(Note 1)

(Note 2)

± 10 V DC

± 10 V DC

OVC 2

OTLA

P15R

N12R

LG

SD

12

13

15

9

Plate

+ 15 V DC

- 12 V DC

Note 1. The devices can be changed by [Pr. Po02] to [Pr. Po09], [Pr. Po27], and [Pr. Po28].

2. This diagram shows sink I/O interface. For source I/O interface, refer to (5) in this section.

3. Input devices are not assigned by default. Assign the input devices with [Pr. Po06], [Pr. Po27], and [Pr. Po28] as necessary.

4. Output devices are not assigned by default. Assign the output devices with [Pr. Po08] and [Pr. Po09] as necessary.

19 - 37


(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 19.5.3. Refer to the following and make connection with the external device.

(a) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input.

MR-D01

For transistor

Approximately

5 mA

SON etc.

Switch

Approx.

5.6 k Ω

TR

DICOMD

I

V

CES

CEO

≤ 1.0 V

≤ 100 µA

24 V DC ± 10%

800 mA

(b) Digital output interface DO-1


A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.


The following shows a connection diagram for sink output.

MR-D01

INP etc.

Load


DOCOMD

(Note) 24 V DC ± 10%

800 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a high voltage (maximum of 26.4 V) from an external source.

19 - 38


(3) Analog input

Input impedance

10 k Ω to 12 k Ω

MR-D01

+15 V DC

P15R

Upper limit setting: 2 k Ω

2 k Ω

OTLA

LG

Approx.

10 k Ω

SD

2 k Ω

Upper limit setting: 2 k Ω

Lower limit setting: 2 k Ω

(4) Analog output

MR-D01

OMO1

(OMO2)

LG

P15R

MR-D01

+15 V DC

OVC

N12R

Approx.

10 k Ω

SD

- 12 V DC

Output voltage: ±10 V (Note)



Note. Output voltage range varies depending on the monitored signal. When connecting analog output to an external device, use the withstand voltage of 15 V DC or higher.

19 - 39





This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open-collector) type transistor output, relay switch, etc.

For transistor

TR Switch

MR-D01

SON etc.

Approx.

5.6 k Ω

DOCOMD

I

Approximately

5 mA

V

CES

CEO

≤ 1.0 V

≤ 100 µA

24 V DC ± 10%

800 mA


This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current will flow from the output terminal to a load.


MR-D01

INP etc.

Load


DOCOMD

(Note) 24 V DC ± 10%

800 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a high voltage (maximum of 26.4 V) from an external source.

19 - 40


19.6 Monitor display with MR Configurator2

The following shows how to display the input/output monitor with MR Configurator2 when MR-D01 has been connected.

(1) Initial setting

When MR-D01 has been connected, click "MR-D01" from the "Option unit" menu in the creating new project window of MR Configurator2.

(2) How to open the optional unit monitor window

Click "Monitor" in the menu bar and "I/O Monitor" from the menu.

19 - 41


The following window is displayed. Click "Option unit monitor" in the menu bar.

The following window is displayed. The input/output monitor on the MR-D01 side can be checked.

19 - 42


19.7 Dimensions

19.7.1 MR-D01 extension I/O unit

20

Approx. 80

CN20

CN30

CN10

79.5

103

98

94

[Unit: mm]

19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier

100 V/200 V 0.1 kW to 3.5 kW

400 V 0.6 kW to 2 kW

Servo amplifier

MR-D01

200 V 5 kW/7 kW

400 V 3.5 kW to 7 kW

Servo amplifier

L

MR-D01

Servo amplifier

MR-J4-10A1-RJ to MR-J4-40A1-RJ

MR-J4-10A-RJ to MR-J4-100A-RJ


MR-J4-200A-RJ/MR-J4-350A-RJ

MR-J4-200A4-RJ

MR-J4-500A-RJ/MR-J4-700A-RJ


MR-J4-11KA-RJ to MR-J4-22KA-RJ

MR-J4-11KA4-RJ to MR-J4-22KA4-RJ

L [mm]

20

15

10

0

L

19 - 43


19.8 Options peripheral equipment


MR-D01

Servo amplifier

CN20

CN5

CN6

CN30

CN3

CN8

CN1

CN10

1)

2)

4)

3)

CN2

CN4

2) Junction terminal block

(recommended)

Model Description


Shell kit: 10320-52F0-008

(3M or equivalent)

MR-J2HBUS_M

PS7DW-20V14B-F

(Toho Technology)

3) Junction terminal block cable

MR-J2M-

CN1TBL_M

Cable length: 0.5,

1 m

(Refer to section

19.9.3.)

Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary. Refer to section 19.8.2 for details.



(3M)

CN10 connector


Shell kit: 10350-3210-000

(3M or equivalent)

Application

For junction terminal block connection block


19 - 44


19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended)

(1) Usage

Always use the PS7DW-20V14B-F (Junction terminal block) (Toho Technology)) with the option cable

(MR-J2HBUS_M) as a set. A connection example is shown below.

MR-D01

AERSBAN-ESET

(Cable clamp fitting)

PS7DW-20V14B-F

(Junction terminal block)

CN20

MR-J2HBUS_M

Ground the option cable on the junction terminal block side with AERSBAN-ESET (cable clamp fitting).

For how to use the cable clamp fitting, refer to section 11.14 (2) (c).

(2) Connection of MR-J2HBUS_M cable and junction terminal block

MR-D01

CN20 (Note 1) MR-J2HBUS_M

PS7DW-20V14B-F

(Junction terminal block)

CN (Note 2) Terminal block

OVC

OMO1

LG

LG

OTLA

P15R 13

OMO2 14

N12R 15

16

9

10

11

12

SD

17

18

19

20

Shell

5

6

7

8

3

4

1

2

13

14

15

16

17

18

9

10

11

12

19

20

Shell

5

6

7

8

3

4

1

2

3

4

1

2

5

6

7

8

9

10

11

12

13

14

10

11

12

13

15

16

17

18

14

15

16

17

18

19

20

19

20

Shell Shell

8

9

6

7

3

4

1

2

5

13

14

15

16

17

18

9

10

11

12

19

20

5

6

7

8

3

4

1

2 OVC

OMO1

LG

LG

OTLA

P15R

OMO2

N12R

E SD

Connector: 10120-6000EL (3M)

Shell kit: 10320-3210-000 (3M)

Note 1. Symbol indicating cable length is put in _.

05: 0.5 m

1: 1 m

5: 5 m

2. Do not connect anything to the terminal where no signal has been assigned.

19 - 45


(3) Dimensions of junction terminal block

7.62

63

54

44.11

φ 4.5

TB.E ( φ 6)

M3 × 5L

6.2

1.42

M3 × 6L

[Unit: mm]

19 - 46


19.8.3 MR-TB50 (Junction terminal block)

(1) Usage

Always use MR-TB50 (Junction terminal block) with MR-J2M-CN1TBL_M (Junction terminal block cable) as a set.

MR-D01

Cable clamp


MR-TB50

CN10

MR-J2M-CN1TBL_M

Ground the junction terminal block cable on the junction terminal block side with the supplied AERSBAN-

ESET (cable clamp fitting). For how to use the cable clamp fitting, refer to section 11.14 (2) (c).

(2) Dimensions of MR-TB50

235 [Unit: mm]

2φ 4.5

2

1

50

49

MITSUBISHI

MR-TB50

1 3 5 7 9 11 13 15 1719 2123 25 2729 3133 35 37 39 4143 45 47 49

2 4 6 8 10 121416 18 20 22 24 26 2830 32 3436 38 40 42 44 4648 50

244 46.5

Terminal screw: M3.5

Applicable wire: 2 mm 2

Crimp terminal width: 7.2 mm or less

19 - 47


(3) Connection diagram of MR-J2M-CN1TBL_M cable and MR-TB50

The following connection diagram shows for position control mode as an example.

MR-D01

(Note 3)

(Note 3)

(Note 3)

SON

ACD0

ACD1

ACD2

ACD3

RES

TL

TL1

CM1

CM2

(Note 3)

(Note 3)

(Note 3)

PC

(Note 3)

(Note 3)

DOCOMD

CN10

Symbol

DICOMD

DICOMD

(Note 3)

(Note 3)

(Note 3)

INP

SD

SD

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

49

50

Plate

37

38

39

40

33

34

35

36

(Note 1)

MR-J2M-CN1TBL_M

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

37

38

39

40

41

33

34

35

36

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

46

47

48

49

50

42

43

44

45

10150-6000EL D7950-B500FL

MR-TB50

(Note 2)

Terminal block

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

49

50

37

38

39

40

33

34

35

36

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

49

50

37

38

39

40

33

34

35

36

Note 1. Symbol indicating cable length is put in _.

05: 0.5 m

1: 1 m

2. Do not connect anything to the terminal where no signal has been assigned.

3. Output devices are not assigned by default. Assign the output devices with

[Pr. Po05] to [Pr. Po09], [Pr. Po27], and [Pr. Po28] as necessary.

19 - 48

APPENDIX

APPENDIX

App. 1 Peripheral equipment manufacturer (for reference)

Names given in the table are as of February 2018.

For information, such as the delivery time, price, and specifications of the recommended products, contact each manufacturer.

NEC TOKIN

Manufacturer Reference

NEC TOKIN Corporation

Kitagawa Industries

JST

Junkosha

Kitagawa Industries Co., Ltd.

J.S.T. Mfg. Co., Ltd.

Purchase from Toa Electric Industrial Co. Ltd.,

Nagoya Branch

3M 3M

SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd.

Soshin Electric

TE Connectivity

Soshin Electric Co., Ltd.

TE Connectivity Ltd. Company

Molex Molex

Toho Technology Toho Technology Corp. Kyoto factory

App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation

Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the

International Maritime Organization (IMO).

To comply the instruction and code, we have modified the indication on the package for general-purpose AC servo batteries.

The above change will not affect the function and performance of the product.

(1) Target model

(a) Battery (cell) model Type

Lithium content

Mass of battery

Remark

ER6 MR-J3BAT Cell 0.65 g 16 g

ER17330

MR-BAT

A6BAT

Cell

Cell

0.48 g

0.48 g

13 g

13 g

Cells with more than 0.3 grams of lithium content must be handled as dangerous goods (Class 9) depending on packaging requirements.

App. - 1

APPENDIX

(b) Battery unit (assembled battery) model Type

Lithium content

Mass of battery

Remark

ER6 MR-J2M-BT

CR17335A

MR-BAT6V1

MR-BAT6V1SET(-A)

MR-BAT6V1BJ

Assembled battery

(Seven)

Assembled battery (Two)



4.55 g

1.20 g

1.20 g

1.20 g

112 g

34 g

34 g

34 g

Assembled batteries with more than two grams of lithium content must be handled as dangerous goods (Class

9) regardless of packaging requirements.

Assembled batteries with more than

0.3 grams of lithium content must be handled as dangerous goods (Class

9) depending on packaging requirements.

(2) Purpose

Safer transportation of lithium metal batteries.

(3) Change in regulations

The following points are changed for lithium metal batteries in transportation by sea or air based on the revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA

Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as

UN3091.

(a) Transportation of lithium metal batteries alone

Packaging requirement Classification Main requirement

Less than eight cells per package with less than one gram of lithium content

Less than two assembled batteries per package with less than two grams of lithium content

More than eight cells per package with less than one gram of lithium content

More than two assembled batteries per package with less than two grams of lithium content

Cells with more than one gram of lithium content

Assembled batteries with more than two grams of lithium content

UN3090 PI968 Section II

UN3090 PI968 Section IB

UN3090 PI968 Section IA

The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 ×

110 mm) must be attached on the package.

The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 ×

110 mm) must be attached on the package.

The Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).

The package must be compliant with Class 9

Packages, and the Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).

App. - 2

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.

Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements.

The special handling may be unnecessary depending on the number of batteries and gross mass per package.

Fig. app. 1 Example of Mitsubishi label with battery illustration

(Available until December 31, 2018)

* Place for UN number (s)

** Place for telephone number for additional information

Fig. app. 2 Example of Mitsubishi label with battery illustration

(Available from January 1, 2017)

The handling label shown in Fig. app. 1 has been changed to the one shown in Fig. app. 2 in accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017).

However, the label shown in Fig. app. 1 may be used until December 31, 2018 (for two years as an interim measure).

(4) Details of the package change

The following caution is added to the packages of the target batteries.

"Containing lithium metal battery. Regulations apply for transportation."

(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (Fig. app. 1) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be compliant with Class 9 Packages. Documentations like the handling label in the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation.

Please attach the documentations to the packages and the outer package.

The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.

When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.

App. - 3

APPENDIX

App. 3 Symbol for the new EU Battery Directive

Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained here.

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.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration.

This will be indicated as follows.

Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)

In the European Union there are separate collection systems for used batteries and accumulators. Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling center.

Please, help us to conserve the environment we live in!

App. - 4

APPENDIX

App. 4 Compliance with global standards

App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)

STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.)

The MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier. The servo amplifiers without the CN8 connector (such as MR-J4-03A6) do not support this function.

App. 4.2 About safety

This chapter explains safety of users and machine operators. Please read the section carefully before mounting the equipment.

App. 4.2.1 Professional engineer

Only professional engineers should mount MR-J4 servo amplifiers.

Here, professional engineers should meet all the conditions below.

(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on past experience.

(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the protective devices (e.g. light curtain) connected to the safety control system.

App. 4.2.2 Applications of the devices

MR-J4 servo amplifiers comply with the following standards.

IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1

ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (Except for MR-

J4-03A6 and MR-J4W2-0303B6. Refer to app. 4.8.1 for compatible models.)

MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or safety PLCs. (For combinations of the servo amplifiers and MR-D30 or MR-J3-D05, refer to each servo amplifier instruction manual.)

App. 4.2.3 Correct use

Use the MR-J4 servo amplifiers within specifications. Refer to section 1.3 for specifications such as voltage, temperature, etc. 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.

WARNING

If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.

It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.

App. - 5

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.

Table app. 1 Recommended wires

Servo amplifier (Note 7) L1/L2/L3

19/- (Note 5)

75 °C/60 °C stranded wire [AWG] (Note 2)

U/V/W/

(Note 3)

19/- (Note 6) MR-J4-03A6/MR-J4W2-0303B6

MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/

MR-J4-60_(4)/MR-J4-70_/MR-J4-100_(4)/

MR-J4-200_(4) (T)/MR-J4-350_4

MR-J4-200_ (S)

MR-J4-350_

MR-J4-500_ (Note 1)

MR-J4-700_ (Note 1)

MR-J4-11K_ (Note 1)

MR-J4-15K_ (Note 1)

MR-J4-22K_ (Note 1)

MR-J4-500_4 (Note 1)

MR-J4-700_4 (Note 1)

MR-J4-11K_4 (Note 1)

MR-J4-15K_4 (Note 1)

14/14

12/12

14/14 14/14

14/14

10: a/10: a

8: b/8: b

6: d/4: f

4: f/3: f

1: h/-: -

14: c/14: c

12: a/12: a

10: e/10: e

8: l/8: l

14: c/14: c

14: c/14: c

12: a/12: a

12: e/12: e

10: e/10: e

10: i/10: i

14: c/14: c

14: k/14: k

12: e/12: e

12/12

10: b/10: b

8: b/8: b

4: f/4: f

3: g/2: g

1: j/-: -

12: a/10: a

10: a/10: a

8: l/8: l

6: d/4: d

MR-J4-22K_4 (Note 1) 6: m/4: m 12: i/12: i 6: n/4: n

MR-J4W_-_B 14/14 (Note 4) 14/14 14/14 14/14

Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.

3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of the servo amplifiers.

4. Use the crimp terminal c for the PE terminal of the servo amplifier.

5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6.

6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6.

7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.

Table app. 2 Recommended crimp terminals

Symbol


Crimp terminal

(Note 2)

Applicable tool

Manufacturer a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S c FVD2-4 YNT-1614 d FVD14-6 YF-1 e FVD5.5-6 YNT-1210S f FVD22-6 YF-1 g FVD38-6 YF-1 h R60-8 YF-1

JST

Ltd.) j CB70-S8 YF-1 k FVD2-6 YNT-1614 l FVD8-6 YF-1 m FVD14-8 YF-1 n FVD22-8 YF-1


2. Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

App. - 6

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. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below and selecting a type E combination motor controller (motor circuit breaker), refer to section 11.10.

Servo amplifier (100 V class)

MR-J4-10_1/MR-J4-20_1/MR-J4-40_1

Molded-case circuit breaker (120 V AC)

NV50-SVFU-15A (50 A frame 15 A)

Fuse (300 V)

20 A

Servo amplifier (200 V class) (Note)

MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_ (T)/MR-J4-70_ (T)/

MR-J4W2-22B (T)

MR-J4-60_ (S)/MR-J4-70_ (S) /MR-J4-100_ (T)/MR-J4W2-22B (S)/

MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/

MR-J4W3-444B (T)

MR-J4-100_ (S)/MR-J4-200_ (T)/MR-J4W2-44B (S)/

MR-J4W2-1010B

MR-J4-200_ (S)/MR-J4-350_/MR-J4W2-77B (S)/

MR-J4W3-444B (S)

MR-J4-500_

MR-J4-700_

MR-J4-11K_

MR-J4-15K_

Molded-case circuit breaker (240 V AC)

NF50-SVFU-5A (50 A frame 5 A)






NF100-CVFU-60A (100 A frame 60 A)

NF100-CVFU-80A (100 A frame 80 A)

MR-J4-22K_ NF225-CWU-125A (225 A frame 125 A)

Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.

Servo amplifier (400 V class) Molded-case circuit breaker (480 V AC)

MR-J4-60_4/MR-J4-100_4

MR-J4-200_4

MR-J4-350_4

MR-J4-500_4

MR-J4-700_4

MR-J4-11K_4

MR-J4-15K_4

MR-J4-22K_4

NF100-HRU-5A (100 A frame 5 A)








Fuse (300 V)

10 A

15 A

30 A

40 A

60 A

80 A

125 A

150 A

300 A

Fuse (600 V)

10 A

15 A

20 A

30 A

40 A

60 A

80 A

125 A

(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of overvoltage category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MR-

J4W2-0303B6) set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals.

In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which can generate more than 1.2 A/2.4 A per axis.

App. - 7

APPENDIX

(d) Grounding

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. Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.

This product can cause a DC current in the protective earthing conductor. To protect direct/indirect contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the power supply side of the product.

The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the protective earthing conductor must comply with the local safety regulations.

PE terminals

PE terminals

(2) EU compliance

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this marking also applies to machines and equipment incorporating servos.

(a) EMC requirement

MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires

(max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m), use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary side for input and output of 200 V class and for output of 400 V class servo amplifiers. In addition, use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers. The following shows recommended products.

EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series

Surge protector: Okaya Electric Industries RSPD series

Line noise filter: Mitsubishi Electric FR-BLF

MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic premises; radio frequency interference is expected if used on such a network. The installer shall provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables.

Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other electric devices to the DC power supply.

(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the servo amplifiers are in compliance with EC directives (Machinery directive (2006/42/EC), EMC directive (2014/30/EU), Low-voltage directive (2014/35/EU), and RoHS directive (2011/65/EU)). For the copy of Declaration of

Conformity, contact your local sales office.

App. - 8

APPENDIX

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. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in app. 4.8.1. The servo amplifier needs to be installed at or below pollution degree 2. For connection, use copper wires.

(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical

Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR (25 kA and 50 kA) when using a type E combination motor controller (motor circuit breaker), refer to section 11.10.

(c) Overload protection characteristics

The MR-J4 servo amplifiers have solid-state servo motor overload protection. (It is set on the basis

(full load current) of 120% rated current of the servo amplifier.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.

Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper connection.

(e) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the

National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the

Canada Electrical Code and any applicable provincial codes.

This product complies with the Radio Wave Law (KC mark). Please note the following to use the product.

이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 , 가정외의

지역에서 사용하는 것을 목적으로 합니다 .

(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.

The seller and the user must note the above point, and use the product in a place except for home.)

In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the product and third party sensitive radio communications for an MR-J4-22K_(4).

App. - 9

APPENDIX

App. 4.2.4 General cautions for safety protection and protective measures

Observe the following items to ensure proper use of the MR-J4 servo amplifiers.

(1) For safety components and installing systems, only qualified personnel and professional engineers should perform.

(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards and directives applicable in the country.

(3) The item about noises of the test notices in the manuals should be observed.

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.


(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-

1 Table F.1 No. 5)

(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1 No.

1)

(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).

(7) Keep the required clearance/creepage distance depending on voltage you use.

App. 4.2.6 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable countryspecific waste disposal regulations. (Example: European Waste 16 02 14)

App. 4.2.7 Lithium battery transportation

To transport lithium batteries, take actions to comply with the instructions and regulations such as the United

Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime

Organization (IMO).

The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods

(Class 9) of the UN Recommendations.

App. - 10

APPENDIX

App. 4.3 Installation direction and clearances

CAUTION

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 direction to maintain pollution degree 2.

The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.

It may cause a burn injury due to very high temperature without cooling.

It may cause an electric shock due to charged capacitor of the servo amplifier.

To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited

Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.

Cabinet Top Cabinet

10 mm or more

(Note 2)

40 mm or more

10 mm or more

80 mm or longer for wiring

Servo amplifier

40 mm or more

(Note 1)

Bottom


2. When mounting MR-J4-500_, maintain a minimum clearance of 25 mm on the left side.

App. - 11

APPENDIX

App. 4.4 Electrical Installation and configuration diagram

WARNING

Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring.

CAUTION

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 specified in IEC/EN 60204-1.

Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction.

Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.

The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.

(1) 3-phase input for MR-J4 1-axis servo amplifier

(3-phase

230 V AC)

Power supply

(3-phase

400 V AC)

MCCB or fuse

To protective equipment

(Thermal signal) (Note 2)

MC

(Note 1)

Transformer (Note 3)

(star-connected)

MCCB or fuse

L1 L2L3

L11

L21

Servo amplifier

P+

C

D

N-

CN8

CN1

STO

PE

CN2

U/V/W/PE

Controller

Encoder cable

Cabinet side

Machine side

Servo motor

Encoder

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.

2. Please use a thermal sensor, etc. for thermal protection of the servo motor.

3. For 400 V class, a step-down transformer is not required.

(2) 1-phase input for MR-J4 1-axis servo amplifier

(1-phase

230 V AC)

Power supply

(3-phase

400 V AC)

MCCB or fuse


(Thermal signal) (Note 3)

(Note 1)

MCCB

(Note 2) or fuse

Transformer

(star-connected)

MC

L1 L2L3

(Note 2)

L11

L21

Servo amplifier

P+

C

D

N-

CN8

CN1

STO

PE

CN2

U/V/W/PE

Controller

Encoder cable

Cabinet side

Machine side

Servo motor

Encoder

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.

2. When using a 100 V class servo amplifier, step down the power supply voltage to

100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase

200 V AC servo amplifiers, connect the lines to L1 and L3.

3. Please use a thermal sensor, etc. for thermal protection of the servo motor.

App. - 12

APPENDIX

(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier

24 V DC

48 V DC


(Thermal signal) (Note)

Servo amplifier

CNP1

24

0

PM

U/V/W/E

CN1

CN2

Controller

Encoder cable

Servo motor

Cabinet side

Machine side

Encoder

Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.

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. - 13

APPENDIX

App. 4.5 Signal

App. 4.5.1 Signal

The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo amplifier instruction manual.

CN3

STO I/O signal connector

CN8

2

1

LG

12

11

LG

2 1

DI1

3

DI2

13

4

DOCOM

14

MBR

4

STO1

3

STOCOM

MO1

6

5

DICOM

MO2

16

15

ALM

6

TOFB1

5

STO2

LA

7

LAR

17

8

TOFCOM

7

TOFB2

8

LZ

LB

9

18

LZR

LBR

19

10 20

INP DI3

DICOM EM2

App. 4.5.2 I/O device

EM2

STOCOM

STO1

STO2

Input device

Forced stop 2

Common terminal for input signals STO1/STO2

STO1 state input

STO2 state input

TOFCOM

TOFB1

TOFB2

Output device

Common terminal for monitor output signal in STO state

Monitor output signal in STO1 state

Monitor output signal in STO2 state

Power supply

DICOM

DOCOM


Digital I/F common

SD Shield

CN3

CN8

CN8

20

3

4

5

8

6

7

CN3

5, 10

3

Plate

App. - 14

APPENDIX

App. 4.6 Maintenance and service

WARNING

To avoid an electric shock, only qualified personnel should attempt inspections.

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. Retighten any loose screws.(Except for MR-J4-03A6 and MR-

J4W2-0303B6)

Servo amplifier

L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE

MR-J4-10_(1)/MR-J4-20_(1)/

MR-J4-40_(1)/MR-J4-60_(4)/

MR-J4-70_/MR-J4-100_(4)/

MR-J4-200_(4)/MR-J4-350_(4)

MR-J4-500_

MR-J4-700_(4)/MR-J4-500_4

MR-J4-11K_(4)/MR-J4-15K_(4)

MR-J4-22K_(4)

1.2

1.2 0.8 1.2

3.0 1.2 3.0

6.0 1.2 6.0

(2) Servo motor bearings, brake section, etc. for unusual noise.

(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating conditions.

(4) Check that the connectors are securely connected to the servo motor.

(5) Check that the wires are not coming out from the connector.

(6) Check for dust accumulation on the servo amplifier.

(7) Check for unusual noise generated from the servo amplifier.

(8) Check the servo motor shaft and coupling for connection.

App. - 15

APPENDIX

App. 4.6.2 Parts having service life

Service life of the following parts is listed below. However, the service life varies depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor

Relay

Cooling fan

Battery backup time (Note 1)

10 years (Note 3)

Number of power-on, forced stop and controller forced stop times: 100 000 times

Number of on and off for STO: 1,000,000 times

10,000 hours to 30,000 hours (2 years to 3 years) (Note 4)

Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 °C)

Battery life (Note 2) 5 years from date of manufacture

Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or

MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.

2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 °C or less for use at the maximum 1000 m above sea level, 30 °C or less for over 1000 m to 2000 m).

4. For MR-J4W_-_B, this will reach the end of its life in 50,000 to 70,000 hours (7 to 8 years).

App. - 16

APPENDIX

App. 4.7 Transportation and storage

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.

For detailed information on transportation and handling of the battery, refer to app.

2 and app. 3.

Install the product in a load-bearing place of servo amplifier and servo motor in accordance with the instruction manual.

Do not get on or put heavy load on the equipment.


When you keep or use it, please fulfill the following environment.

Item Environment

Ambient temperature

Operation [°C]

Transportation (Note) [°C]

Storage (Note) [°C]

Operation, transportation, storage

0 to 55 Class 3K3 (IEC/EN 60721-3-3)

-20 to 65 Class 2K4 (IEC/EN 60721-3-2)

-20 to 65 Class 1K4 (IEC/EN 60721-3-1)

Ambient humidity

5 %RH to 90 %RH


Test condition

Operation

Transportation (Note)

Storage

Pollution degree

10 Hz to 57 Hz with constant amplitude of 0.075 mm

57 Hz to 150 Hz with constant acceleration of 9.8 m/s 2 to IEC/EN 61800-5-1

(Test Fc of IEC 60068-2-6)

Class 2M3 (IEC/EN 60721-3-2)

Class 1M2 (IEC/EN 60721-3-2)

2

IP rating

Operation, storage

Altitude

Transportation

Note. In regular transport packaging

IP20 (IEC/EN 60529), Terminal block IP00

Open type (UL 50)

Max. 2000 m above sea level


App. - 17

APPENDIX

App. 4.8 Technical data

App. 4.8.1 MR-J4 servo amplifier

Item

MR-J4-10_/

MR-J4-20_/

MR-J4-40_/

MR-J4-60_/

MR-J4-70_/

MR-J4-100_/

MR-J4-200_/

MR-J4W2-22B/

MR-J4W2-44B/

MR-J4W2-77B/

MR-J4W3-222B/

MR-J4W3-444B

MR-J4-350_/

MR-J4-500_/

MR-J4-700_/

MR-J4W2-1010B/

MR-J4-11K_/

MR-J4-15K_/

MR-J4-22K_

MR-J4-10_1/

MR-J4-20_1/

MR-J4-40_1

MR-J4-60_4/

MR-J4-100_4/

MR-J4-200_4/

MR-J4-350_4/

MR-J4-500_4/

MR-J4-700_4/

MR-J4-11K_4/

MR-J4-15K_4/

MR-J4-22K_4

MR-J4-03A6/

MR-J4W2-0303B6

Power supply

Main circuit (line voltage)

Control circuit (line voltage)

Interface (SELV)

3-phase or

1-phase

200 V AC to

240 V AC,

50 Hz/60 Hz

(Note 2)

3-phase

200 V AC to

240 V AC,

50 Hz/60 Hz

(Note 2)

1-phase

100 V AC to

120 V AC,

50 Hz/60 Hz

3-phase

380 V AC to

480 V AC,

50 Hz/60 Hz

48 V DC or

24 V DC

1-phase 200 V AC to 240 V AC,

50/60 Hz (Note 2)

1-phase

100 V AC to

120 V AC,

1-phase

380 V AC to

480 V AC,

24 V DC

50 Hz/60 Hz 50 Hz/60 Hz

24 V DC (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA;

MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA)


EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,

EN 62061 SIL CL 3, and EN 61800-5-2


Control method

Safety observation function (STO)

IEC/EN 61800-5-2 (Note 3)


Effectiveness of fault monitoring of a system or subsystem

Average probability of dangerous failures per hour

Mission time


Pollution degree

DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]

Overvoltage category

T

M

= 20 [years]


2 (IEC/EN 60664-1)

1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1),

3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)

II

(IEC/EN 60664-1)

Protective class I (IEC/EN 61800-5-1)

III

(IEC/EN 61800-5-1)

Short-circuit current rating

(SCCR)

100 kA 5 kA (Note 1)

Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the industrial cabinet.

2. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported.

3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.

App. - 18

APPENDIX

App. 4.8.2 Dimensions/mounting hole process drawing

H Front Side

Servo amplifier

MR-J4-03A6

MR-J4-10_(1)/MR-J4-20_(1) (Note)

MR-J4-40_(1)/MR-J4-60_ (Note)

W D

Variable dimension [mm]

30 100 90 0.2

40 (50)

40 (50)

168

168

135 (155)

170 (155)

0.8 (1.0)

1.0

MR-J4-500_ 105 250 200 4.0

MR-J4-700_ 172 300 200 6.2

MR-J4-11K_(4)/MR-J4-15K_(4) 220 400 260 13.4

MR-J4-22K_(4) 260 400 260 18.2

MR-J4-350_4

MR-J4-500_4

MR-J4-700_4

105 250 200 3.6

130 250 200 4.3

172 300 200 6.5

Note. The value in the parenthesis shows the value of MR-J4-_GF_. a1 e1 Variable dimensions [mm] c b c a

Servo amplifier d1 d e f

MR-J4-03A6

MR-J4-10_(1)/MR-J4-20_(1)/

MR-J4-40_(1)/MR-J4-60_

MR-J4-70_/MR-J4-100_

MR-J4-200_(4)/MR-J4-350_

MR-J4-500_

6

MR-J4-700_

MR-J4-11K_(4)/MR-J4-15K_(4)

MR-J4-22K_(4)

MR-J4-60_4/MR-J4-100_4

MR-J4-350_4

MR-J4-500_4

MR-J4-700_4

MR-J4W2-0303B6

MR-J4W2-22B/MR-J4W2-44B 6

MR-J4W2-77B/MR-J4W2-1010B 6

MR-J4W3-222B/MR-J4W3-444B 6

6

6

6

6

90 ± 0.5

156 ± 0.5

5

6

12 12 156 ± 0.5 6

6 45 156 ± 0.5 6

6

42 ± 0.3

78 ± 0.3

6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5

6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5

12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5

12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5

12 12 156 ± 0.5 6 42 ± 0.3

6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5

6

6

6

6

6

6

235 ± 0.5

285 ± 0.5

156 ± 0.5

156 ± 0.5

156 ± 0.5

156 ± 0.5

7.5

7.5

6

6

6

6

118 ± 0.5 118 ± 0.5

160 ± 0.5 160 ± 0.5

73 ± 0.3

73 ± 0.3

4

Screw size

M4

M5

M5

M5

M5

M5

M5

M5

M5

M5

M5

M5

M5

M10

M5

M5

4

App. - 19

APPENDIX

App. 4.9 Check list for user documentation

MR-J4 installation checklist for manufacturer/installer

The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items.

Maintain and keep this checklist with related documents of machines to use this for periodic inspection.

1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]

2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]

3. Does the protection instrument conform to the category required?

4. Are electric shock protective measures (protective class) effective?

5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]

Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.

Yes [ ], No [ ]

Yes [ ], No [ ]

App. - 20

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

1

1

1

1

App. 5.2 Terms related to safety

App. 5.2.1 Stop function for IEC/EN 61800-5-2

(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

This function is integrated into the MR-J4 series servo amplifiers.

The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers.

The purpose of this function is as follows.

1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

2) Preventing unexpected start-up

(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)

SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating. The delay time can be set with MR-J3-D05.

The purpose of this function is as follows. This function is available by using an MR-J4 series servo amplifier with MR-J3-D05.

Controlled stop according to stop category 1 of IEC/EN 60204-1

App. 5.2.2 Emergency operation for IEC/EN 60204-1

(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)

Emergency stop must override all other functions and actuation in all operation modes. Power to the machine driving part which may cause a hazardous state must be either removed immediately (stop category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1).

Restart must not be allowed even after the cause of the emergency state has been removed.

(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)

Removal of input power to driving device to remove electrical risk and to meet above mentioned safety standards.

App. - 21

APPENDIX

App. 5.3 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property.

Only qualified personnel are authorized to install, start-up, repair or service the machines in which these components are installed.

They must be familiar with all applicable local safety regulations and laws in which machines with these components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1.

The staff responsible for this work must be given express permission from the company to perform start-up, programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING

Improper installation of the safety related components or systems may cause improper operation in which safety is not assured, and may result in severe injuries or even death.

Protective Measures

As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the servo amplifier from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis, additional safety measures, such as brakes or counter-weights must be used.

App. 5.4 Residual risk

Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or injuries caused by the residual risks.

(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this delay time is the full responsibility of the company and/or individuals responsible for installation and commissioning of the safety related system. The system, as a whole, must pass safety standards certification.

(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo motor will stop with the dynamic brake or freewheeling.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety related component.

(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.

(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.

(6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the same as those being replaced. Once installed, be sure to verify the performance of the functions before commissioning the system.

App. - 22

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. Regardless of the system safety level, malfunction checks should be performed at least once per year.


App. 5.5 Block diagram and timing chart

(1) Function block diagram

A-axis circuit

+24V

SRESA+ SRESATOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+

Safety logic

TIMER1

DCDC power

B-axis circuit

TIMER2

0V

SW1 SW2

SDI1ASDI2ASDI1BSDI2BSTO1A- STO2ASDO1A- SDO2A-

(2) Operation sequence

Power supply

SDI

A-axis shutdown 1 and 2

B-axis shutdown 1 and 2

Energizing (close)

Shut-off (open)

SRES

STO

A-axis EMG start/reset

B-axis EMG start/reset

Release (close)

Normal (open)

A-axis STO state 1 and 2

B-axis STO state 1 and 2

Normal (close)

Shut-off (open)

15 ms or longer

50 ms or longer

10 ms or shorter Shut off delay (SW1 and SW2) (Note)

STO status Control enabled STO status

Control enabled

Note. Refer to App. 5.10.

App. 5.6 Maintenance and disposal

MR-J3-D05 is equipped with LED displays to check errors for maintenance.

Please dispose this unit according to your local laws and regulations.

App. 5.7 Functions and configuration

App. 5.7.1 Summary

MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO function.

App. - 23

APPENDIX

App. 5.7.2 Specifications

Safety logic unit model


Voltage



Compatible system

[A]

Shut-off input

Shut-off release input

Feedback input

Input type

Shut-off output

MR-J3-D05

24 V DC

24 V DC ± 10%

0.5 (Note 1, 2)

2 systems (A-axis, B-axis independent)

4 points (2 point × 2 systems) SDI_: (source/sink compatible) (Note 3)

2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)

2 points (1 point × 2 systems) TOF_: (source compatible) (Note 3)

Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 k Ω

STO_: (source compatible) (Note 3)

Output type

Delay time setting

Functional safety

Photocoupler insulation, open-collector type

Permissible current: 40 mA/1 output, Inrush current: 100 mA/1 output

A-axis: Select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s, or 30.8 s.

B-axis: Select from 0 s, 1.4 s, 2.8 s, 9.8 s, or 30.8 s.

Accuracy: ±2%

STO, SS1 (IEC/EN 61800-5-2)

EMG STOP, EMG OFF IEC/EN 60204-1)

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL

2

Safety performance

Standards certified by CB


(when delay time is set to 0 s)

(Note 4)


(MTTFd)

Diagnosis converge (DC avg)


10 ms or less (STO input off → shut-off output off)

516 years

93.1%

4.75 × 10 -9 [1/h]

Compliance with standards

CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Natural-cooling, open (IP rating: IP 00) Structure

Environment

Ambient temperature

Ambient humidity

Ambience

Altitude

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

5 %RH to 90 %RH (non-condensing), storage: 5 %RH to 90 %RH (non-condensing)




5.9 m/s 2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)

Mass [kg] 0.2 (including CN9 and CN10 connectors)

Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an appropriate capacity of power supply considering the inrush current.

2. Power-on duration of the safety logic unit is 100,000 times.

4. For the test pulse input, contact your local sales office.

App. - 24

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

Power supply

MCCB

Magnetic contactor

MR-J4_A_(-RJ)

CN1

L1

L2

L3

CN8

EM2 (Forced stop 2)

STO cable

MR-D05UDL3M-B

U

V

W

STO switch

CN9

STO release switch CN10

FG

Servo motor

App. - 25

APPENDIX


24 V DC

(Note 2)

S2

RESA MR-J3-D05

(Note 1) (Note 1)

SW1 SW2

S1

STOA

CN8A

1A

CN9

SDI1A+

1B SDI1A-

4A SDO1A+

4B SDO1A-

1B

6A

6B

8A

3A

CN10

SDI2A+

3B

1A

SDI2A-

SRESA+

SRESA-

SDO2A+

SDO2A-

TOFA

EM2

(A-axis)

(Note 2)

S4

RESB

S3

STOB

EM2

(B-axis)

MR-J4_A_(-RJ)

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN1

EM2 (A-axis)

M

Servo motor

FG

CN8B

2A

CN9

SDI1B+

2B SDI1B-

3A SDO1B+

3B SDO1B-

4A

CN10

SDI2B+

4B SDI2B-

2A SRESB+

2B SRESB-

5A SDO2B+

5B

8B

SDO2B-

TOFB

MR-J4_A_(-RJ)

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN1

EM2 (B-axis)

7A

7B

+24V

0V

M

Servo motor

0 V

Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.

2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

App. - 26

APPENDIX

App. 5.8 Signal

App. 5.8.1 Connector/pin assignment

(1) CN8A

Device Symbol No. Function/application

A-axis STO1

A-axis STO2

A-axis STO state

STO1A-

STO1A+

STO2A-

STO2A+

TOF2A

TOF1A

1

4

5

6

7

8

Outputs STO1 to A-axis driving device.

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.



STO state (base shutdown): Between STO2A+ and STO2A- is opened.

STO release state (in driving): Between STO2A+ and STO2A- is closed.

Inputs STO state of A-axis driving device.

STO state (base shutdown): Open between TOF2A and TOF1A.

STO release state (in driving): Close between TOF2A and TOF1A.

(2) CN8B


B-axis STO1

B-axis STO2

B-axis STO state

STO1B-

STO1B+

STO2B-

STO2B+

TOF2B

TOF1B

1

4

5

6

7

8

Outputs STO1 to B-axis driving device.

Outputs the same signal as B-axis STO2.

STO state (base shutdown): Between STO1B+ and STO1B- is opened.

STO release state (in driving): Between STO1B+ and STO1B- is closed.


Outputs the same signal as B-axis STO1.

STO state (base shutdown): Between STO2B+ and STO2B- is opened.

STO release state (in driving): Between STO2B+ and STO2B- is closed.

Inputs STO state of B-axis driving device.

STO state (base shutdown): Open between TOF2B and TOF1B.

STO release state (in driving): Close between TOF2B and TOF1B.

(3) CN9


A-axis shutdown 1

B-axis shutdown 1

SDI1A+

SDI1A-

SDI1B+

SDI1B-

A-axis SDO1 SDO1A+

SDO1A-

B-axis SDO1 SDO1B+

SDO1B-

1A

1B

2A

2B

4A

4B

3A

3B

Connect this device to a safety switch for A-axis driving device.

Input the same signal as A-axis shutdown 2.

STO state (base shutdown): Open between SDI1A+ and SDI1A-.

STO release state (in driving): Close between SDI1A+ and SDI1A-.

Connect this device to a safety switch for B-axis driving device.

Input the same signal as B-axis shutdown 2.

STO state (base shutdown): Open between SDI1B+ and SDI1B-.

STO release state (in driving): Close between SDI1B+ and SDI1B-.


Outputs the same signal as A-axis SDO2.

STO state (base shutdown): Between SDO1A+ and SDO1A- is opened.

STO release state (in driving): Between SDO1A+ and SDO1A- is closed.


Outputs the same signal as B-axis SDO2.

STO state (base shutdown): Between SDO1B+ and SDO1B- is opened.

STO release state (in driving): Between SDO1B+ and SDO1B- is closed.

I/O division

O

O

I

I/O division

O

O

I

I/O division

DI-1

DI-1

DO-1

DO-1

App. - 27

APPENDIX

(4) CN10

Device Symbol No.

A-axis shutdown 2

B-axis shutdown 2

A-axis EMG start/reset

B-axis EMG start/reset

SDI2A+

SDI2A-

SDI2B+

SDI2B-

SRESA+

SRESA-

SRESB+

SRESB-

A-axis SDO2 SDO2A+

SDO2A-

B-axis SDO2 SDO2B+

SDO2B-

Function/application

3A

3B

4A

4B

Connect this device to a safety switch for A-axis driving device.

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-.

Connect this device to a safety switch for B-axis driving device.

Input the same signal as B-axis shutdown 1.

STO state (base shutdown): Open between SDI2B+ and SDI2B-.

STO release state (in driving): Close between SDI2B+ and SDI2B-.

1A

1B

2A

2B

6A

6B

5A

5B

Signal for releasing STO state (base shutdown) on A-axis driving device.

Releases STO state (base shutdown) on A-axis driving device by switching between

SRESA+ and SRESA- from on (connected) to off (opened).

Signal for releasing STO state (base shutdown) on B-axis driving device.

Releases STO state (base shutdown) on B-axis driving device by switching between

SRESB+ and SRESB- from on (connected) to off (opened).



STO state (base shutdown): Between SDO2A+ and SDO2A- is opened.

STO release state (in driving): Between SDO2A+ and SDO2A- is closed.


Outputs the same signal as B-axis SDO1.

STO state (base shutdown): Between SDO2B+ and SDO2B- is opened.

STO release state (in driving): Between SDO2B+ and SDO2B- is closed.

7A Connect + side of 24 V DC. Control circuit power supply

Control circuit power GND

A-axis STO state

B-axis STO state

+24V

0V

TOFA

TOFB

App. 5.8.2 Interfaces

7B Connect - side of 24 V DC.

8A TOFA is internally connected with TOF2A.

8B TOFB is internally connected with TOF2B.

I/O division

DI-1

DI-1

DI-1

DI-1

DO-1

DO-1


(1) Sink I/O interface (CN9, CN10 connector)


This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc.

MR-J3-D05

For transistor

Approximately

5 mA

SRESA-, etc.

Approx. 5.4 k

Switch

TR

SRESA+, etc.

V

CES

I

CEO

1.0 V

100 µA

24 V DC ± 10%

200 mA

App. - 28

APPENDIX


This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.

MR-J3-D05

Load

If polarity of diode is reversed, MR-J3-D05 will malfunction.

SDO2B+, etc.

SDO2B-, etc.

(Note) 24 V DC ± 10%

200 mA


(2) Source I/O interfaces (CN9, CN10 connector)


This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.

MR-J3-D05

SRESA-, etc.

Approx. 5.4 k

Switch

SRESA+, etc.

I

Approximately 5 mA

V

CES

CEO

1.0 V

100 µA

24 V DC ± 10%

200 mA


This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, current will be applied from the output to a load. A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.

MR-J3-D05

Load

If polarity of diode is reversed, MR-J3-D05 will malfunction.

SDO2B+, etc.

SDO2B-, etc.

(Note) 24 V DC ± 10%

200 mA


App. - 29

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 2 to 0.5 mm 2 ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm ± 0.3 mm. Confirm the stripped length with gauge, etc. before using the wires.

(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively deformed wires.

(c) Smooth out the wire surface and stripped insulator surface.

(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires are connected with inserted connector, the connector and the printed board may malfunction.

(a) Using extraction tool (1891348-1 or 2040798-1)

1) Dimensions and mass

[Unit: mm]

7

100

15

Mass: Approx. 20 g

App. - 30

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. d) Insert wires in the wiring hole till the end. The wires should be slightly twisted in advance to prevent it from being loose.

It is easy to insert the wire if the wire is inserted diagonally while twisting the tool. e) Remove the tool.

App. - 31

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

Length: 120 mm or less

Width: 2.3 mm

Thickness: 0.25 mm

Angle in tip of the blade: 18 ± 1 degrees

Diameter: 2.5 mm ± 0.05 mm

Length: 120 mm or less

Width: 2.5 mm

Thickness: 0.3 mm

Angle in tip of the blade: 12 ± 1 degrees

2.5 mm ± 0.05 mm

2.3 mm ± 0.05 mm

18° ± 1°

12° ± 1°

0.25 mm

2.3 mm 0.3 mm

2.5 mm

Screwdriver diameter: φ 2.5 mm Screwdriver diameter: φ 2.3 mm

2) Connecting wires a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While depressing the spring, insert the wires until they hit the end. Note that the housing and spring may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the wire hole. Otherwise, the connector will be damaged. b) Pull the screwdriver out while pressing the wires. Connecting wires is completed. c) Pull the wire lightly to confirm that the wire is surely connected. d) To remove the wires, depress the spring by the screwdriver in the same way as connecting wires, and then pull the wires out.

Tool insertion slot

Screw driver

App. - 32

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. mm 2

Wire size

AWG

0.22 24

0.34 22

0.50 20

(5) Others

(a) Fix a cable tie keeping a distance of "A" × 1.5 or longer from the end of the connector.

A × 1.5 or more

(b) Be sure that wires are not pulled excessively when the connector is inserted.

App. 5.8.4 Wiring FG

Bottom face

Wire range wire: 0.4 mm to 1.2 mm (AWG 26 to AWG 16)

Stranded wire: 0.2 mm 2 to 1.25 mm 2 (AWG 24 to AWG 16), wire φ 0.18 mm or more

Lead wire

App. - 33

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.

LED

MR-J3-D05

A

SRES

SDI1

SDI2

TOF

SDO1

SDO2

SW

FAULT

B

POWER

SRES

SDI1

SDI2

TOF

SDO1

SDO2

SW

FAULT

POWER

Monitor LED for start/reset

Off: The start/reset is off. (The switch contact is opened.)

On: The start/reset is on. (The switch contact is closed.)

Monitor LED for shut-off 1

Off: The shut-off 1 is off. (The switch contact is closed.)

On: The shut-off 1 is on. (The switch contact is opened.)

Monitor LED for shut-off 2

Off: The shut-off 2 is off. (The switch contact is closed.)

On: The shut-off 2 is on. (The switch contact is opened.)

Monitor LED for STO state

Off: Not in STO state

On: In STO state

Monitor LED for SDO1


On: In STO state

Monitor LED for SDO2


On: In STO state

Monitor LED for confirming shutdown delay setting

Off: The settings of SW1 and SW2 do not match.

On: The settings of SW1 and SW2 match.

FAULT LED

Off: Normal operation (STO monitoring state)

On: Fault has occurred.

Power supply

Off: Power is not supplied to MR-J3-D05.

On: Power is being supplied to MR-J3-D05.

A-axis B-axis

App. 5.10 Rotary switch setting

Rotary switch is used to shut off the power after control stop by SS1 function.

Set the delay time for STO output after the STO shut-off switch is pressed. Set the same setting for SW1 and

SW2. The delay time is set according to the rotary switch setting as shown in the following table.

Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal or by another method so that end users will not change the setting after the shipment.

0 to F in the following table is the set value of the rotary switches (SW1 and SW2).

Rotary switch setting and delay time at A-axis/B-axis [s]

0 s

B-axis

1.4 s 2.8 s 5.6 s 9.8 s 30.8 s

A-axis

30.8 - - - - - F

App. - 34

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 Description Cause Action

Replace the 24 V DC power supply. Power is not supplied. Power LED does not turn on although power is supplied.

FAULT LED is on. FAULT LED of A-axis or Baxis is on, and will not turn off.

1. 24 V DC power supply is malfunctioning.

2. Wires between MR-J3-D05 and 24

V DC power supply are disconnected or are in contact with other wires.

3. MR-J3-D05 is malfunctioning.

1. The delay time settings are not matched.

2. Switch input error

3. TOF signal error

4. MR-J3-D05 is malfunctioning.

Check the wiring.

Replace the MR-J3-D05.

Check the settings of the rotary switch.

Check the wiring or sequence of the input signals.

Check the connection with the servo amplifier.

Replace the MR-J3-D05.

App. - 35

APPENDIX

App. 5.12 Dimensions

Rating plate

φ 5 mounting hole

9.75

22.5

19.5

CN8A

CN8B

CN9

CN10

Approx. 80 86

80 6

Approx. 22.5

9.75

[Unit: mm]

2-M4 screw

5

Pin assignment

CN8A

7 8

TOF2A TOF1A

5 6

STO2A- STO2A+

3 4

STO1A+

1

STO1A-

2

CN8B

7 8

TOF2B TOF1B

5 6

STO2B- STO2B+

3 4

STO1B+

1

STO1B-

2

CN9

1A 1B

SDI1A+ SDI1A-

2A 2B

SDI1B+ SDI1B-

3A 3B

SDO1B+ SDO1B-

4A 4B

SDO1A+ SDO1A-

CN10

1A 1B

SRESA+ SRESA-

2A 2B

SRESB+ SRESB-

3A 3B

SDI2A+ SDI2A-

4A 4B

SDI2B+ SDI2B-

5A 5B

SDO2B+ SDO2B-

6A 6B

SDO2A+ SDO2A-

7A

+24V

7B

0V

8A

TOFA

8B

TOFB

FG


Mounting screw

Screw size: M4

Tightening torque: 1.2 N•m

Mass: 0.2 [kg]

App. - 36

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

40 mm or

longer

100 mm or longer

10 mm or longer

80 mm or longer for wiring

Top

10 mm or longer

10 mm or longer

30 mm or longer

30 mm or longer

MR-J3-D05

40 mm or longer

40 mm or longer Bottom

App. 5.14 Combinations of cable/connector

POINT

MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.

MR-J3-D05 MR-J4_A_(-RJ)

CN9

CN10

1)

MR-J3-D05 attachment connector

2)

2)

MR-J4_A_(-RJ)

CN8

CN8

App. - 37

APPENDIX

No. Name

1) Connector

Model

MR-J3-D05 attachment connector

Connector for CN9: 1-1871940-4

(TE Connectivity)

MR-D05UDL3M-B Connector set: 2069250-1

Cable length: 3 m (TE Connectivity)

Description

Connector for CN10: 1-1871940-8

(TE Connectivity)

App. - 38

APPENDIX

App. 6 EC declaration of conformity

The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit comply with the safety component laid down in the Machinery directive.

App. - 39

APPENDIX

This certificate is valid until 2017-02-28. After March 2017, use the certificate shown on the previous page.

App. - 40

APPENDIX

App. - 41

APPENDIX

App. 7 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.

App. 7.1 Setting

Change the following digits of [Pr. PC14] and [Pr. PC15].

[Pr. PC14]

0 0

Analog monitor 1 output selection

(the signal provided to the output across MO1 and LG)

[Pr. PC15]

0 0

Analog monitor 2 output selection

(the signal provided to the output across MO2 and LG)

[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. The setting range is between -9999 mV and 9999 mV.

Parameter Description Setting range [mV]

PC39

PC40



-9999 to 9999

App. - 42

APPENDIX

App. 7.2 Set content

POINT


(servo motor) speed → (linear servo motor) speed

CCW direction → Positive direction

CW direction → Negative direction

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). The setting can be changed as listed below by setting the [Pr. PC14] and [Pr.

PC15] value.

Refer to App. 7.3 for the detection point.

(1) MR-J4-_A_(-RJ) 100 W or more

Setting

Output item value

Description

Setting value

Output item Description

00 Servo motor speed/


8 [V]

CCW direction

01 Torque/Thrust (Note 8)

8 [V]

Power running in

CCW direction

Maximum speed Maximum torque

0

Maximum speed

0

Maximum torque

-8 [V]

CW direction

02 Servo motor speed/


CW direction

8 [V]

CCW direction

Maximum speed 0 Maximum speed

CCW direction

8 [V]

(Note 8)

Maximum current command

(Maximum torque command)

0



CW direction

06 Servo motor-side droop pulses

(Note 1, 3, 5, 6)

(±10 V/100 pulses) 100 [pulse]

10 [V]

-8 [V]

CCW direction

0

100 [pulse]

03 Torque/Thrust (Note 8)

Power running in

CW direction

-8 [V]

Power running in

CW direction

8 [V]

Power running in

CCW direction frequency

(±10 V/±4 Mpulses/s)

Maximum torque

10 [V]

0 Maximum torque

CCW direction

4 [Mpulse/s]

0

4 [Mpulse/s]

CW direction


(Note 1, 3, 5, 6)

(±10 V/1000 pulses)

10 [V]

1000 [pulse]

-10 [V]

CCW direction

0

1000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

App. - 43

APPENDIX

Setting value

Output item


(Note 1, 3, 5, 6)

(±10 V/10000 pulses)

Description

10 [V]

10000 [pulse]

0

CCW direction

10000 [pulse]

Setting value

Output item


(Note 1, 3, 5, 6)

(±10 V/100000 pulses)

Description

10 [V]

100000 [pulse]

0

CCW direction

100000 [pulse]

0A Feedback position

(Note 1, 2, 3)

(±10 V/1 Mpulse)

CW direction

10 [V]

-10 [V]

CCW direction

1 M [pulse]

0

1 M [pulse]

0B Feedback position

(Note 1, 2, 3)

(±10 V/10 Mpulse)

CW direction

10 [V]

-10 [V]

CCW direction

10 M [pulse]

0

10 M [pulse]

0C Feedback position

(Note 1, 2, 3)

(±10 V/100 Mpulse)

0E Speed command 2

(Note 3)

(Note 3, 4, 5, 6)

(±10 V/1000 pulses)

CW direction

10 [V]

-10 [V]

CCW direction

CW direction

-10 [V]

(Note 7)

100 M [pulse]

0

100 M [pulse]

8 [V]

0

400 [V]

CW direction

8 [V]

-10 [V]

CCW direction

Maximum speed

0

Maximum speed

10 Load-side droop pulses

(Note 3, 4, 5, 6)

(±10 V/100 pulses)

100 [pulse]

10 [V]

0

CCW direction

100 [pulse]

CW direction

10 [V]

-8 [V]

CCW direction

1000 [pulse]

0

1000 [pulse]

(Note 3, 4, 5, 6)

(±10 V/10000 pulses)

CW direction

10 [V]

-10 [V]

CCW direction

10000 [pulse]

0

10000 [pulse]

CW direction


(Note 3, 4, 5, 6)

(±10 V/100000 pulses)

10 [V]

100000 [pulse]

-10 [V]

CCW direction

0

100000 [pulse]

CW direction


(Note 3, 4, 5, 6)

(±10 V/1 Mpulse)

1 [Mpulse]

10 [V]

-10 [V]

CCW direction

0

1 [Mpulse]

CW direction

15 Motor-side/load-side position deviation

(Note 3, 4, 5, 6)

(±10 V/100000 pulses)

10 [V]

100000 [pulse]

-10 [V]

CCW direction

0

100000 [pulse]

CW direction

-10 [V] side speed deviation

(Note 4)

-10 [V]

CW direction

CCW direction

8 [V]

Maximum speed

0

Maximum speed

-8 [V]

CW direction

App. - 44

APPENDIX

Setting value

Output item

17 Internal temperature of encoder

(±10 V/±128 ˚ C)

-128 [°C]

Description

10 [V]

0

128 [°C]

-10 [V]

Note 1. Encoder pulse unit.

3. This cannot be used in the torque control mode.

4. This can be used with MR Configurator2 with software version 1.19V or later.

5. This cannot be used in the speed control mode.

6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed loop control.

7. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.

8. For details on the maximum current command (maximum torque) for ±8 V, refer to app. 7.4 for details.

(2) MR-J4-03A6(-RJ)

Setting

Output item value

00 Servo motor speed

(5 V ± 3 V/max. speed)

Description

8 [V]

CCW direction

Setting value

Output item

01 Torque (Note 5)

(5 V ± 3 V/max. torque)

Description

8 [V]

Power running in

CCW direction

CW direction

5 [V]

Power running in CW direction

5 [V]

2 [V] 2 [V]

Maximum speed

0

Maximum speed

02 Servo motor speed

(5 V + 3 V/max. speed) CW direction 8 [V] CCW direction

Maximum torque

0

Maximum torque

03 Torque (Note 5)

(5 V + 3 V/max. torque) CW direction 8 [V] CCW direction

5 [V] 5 [V]

(Note 5)

(5 V ± 3 V/max. current command)

Maximum speed

0

Maximum speed

CW direction

8 [V]

5 [V]

CCW direction

2 [V]

06 Servo motor-side droop pulses (Note 1, 2, 3)

(5 V ± 4 V/100 pulses)



0 Maximum current command


CCW direction

9 [V]

5 [V]

CW direction

100 [pulse] 0

1 [V]

100 [pulse]

Maximum torque

0

Maximum torque

9 [V]

CCW direction frequency

(5 V ± 4 V/±4

Mpulses/s)


(5 V ± 4 V/1000 pulses)

5 [V]

CW direction

4 [Mpulse/s]

9 [V]

0

1 [V]

4 [Mpulse/s]

CCW direction

5 [V]

CW direction

1000 [pulse] 0

1 [V]

1000 [pulse]

App. - 45

APPENDIX

Setting value

Output item


(5 V ± 4 V/10000 pulses)

0A Feedback position

(Note 1, 2, 4)

(5 V ± 4 V/1 Mpulses)

Description

9 [V]

5 [V]

CCW direction

Setting value

Output item


(5 V ± 4 V/100000 pulses)

CW direction

10000 [pulse]

9 [V]

0

1 [V]

10000 [pulse]

CCW direction

0B Feedback position

(Note 1, 2, 4)

(5 V ± 4 V/10 Mpulses)

5 [V]

CW direction

Description

9 [V]

5 [V]

100000 [pulse]

9 [V]

5 [V]

CCW direction

0

1 [V]

100000 [pulse]

CCW direction

CW direction

CW direction

1 [Mpulse] 0

1 [V]

1 [Mpulse] 10 [Mpulse] 0

1 [V]

10 [Mpulse]

(Note 1, 2, 4)

(5 V ± 4 V/100

Mpulses)

9 [V]

5 [V]

CCW direction

0D Bus voltage

(5 V + 4 V/100 V)

9 [V]

5 [V]

CW direction

100 [Mpulse] 0

1 [V]

100 [Mpulse] 0 100 [V]

0E Speed command 2

(Note 2)

(5 V ± 3 V/max. speed)

8 [V]

CCW direction

17 Internal temperature of encoder

(5 V ± 4 V/±128 °C)

9 [V]

5 [V]

5 [V]

CW direction 2 [V]

Maximum speed

0

Maximum speed

-128 [°C] 0

1 [V]

128 [°C]

Note 1. Encoder pulse unit.

2. This cannot be used in the torque control mode.

3. This cannot be used in the speed control mode.

5. For details on the maximum current command (maximum torque) for ±5 V, refer to app. 7.4 for details.

App. - 46

APPENDIX

App. 7.3 Analog monitor block diagram

App. 7.3.1 MR-J4-_A_(-RJ) 100 W or more

(1) Semi closed loop control

Command pulse

Speed command

+

-

Droop pulses

Speed command 2

Position control

Speed command +

-

Speed control

Current command

+

-

Current control

+

PWM

Bus voltage

Current encoder

M Servo motor

Current feedback

Encoder


Differentiation

Position feedback

Feedback position

+

-

Home position

(CR input position)

(2) Fully closed loop control

Servo motor speed

Torque

Command pulse


Droop pulses

+

-

Speed command 2

Position control

Speed command +

-

Differentiation

Speed control

Current command

+

-

+

Bus voltage

Current control

PWM

Current encoder

Current feedback

Servo motor

M

Load-side encoder

Encoder


Servo motor speed

Torque

FBN

FBD

+ Semi closed loop

+

Fully closed loop

Servo motor-side droop pulses

+ -

Dual filter

-

+

Servo motor-side feedback pulses

(load-side resolution unit)

Position feedback


+ Load-side feedback pulses

Servo motor-side/ load-side speed deviation

Servo motor-side/ load-side position deviation

+

-

Differentiation

+

-

Differentiation

App. - 47

APPENDIX

App. 7.3.2 MR-J4-03A6(-RJ)

Command pulse


+

-

Droop pulses

Speed command 2

Position control

Speed command +

-

Differentiation

Speed control

Current command

+

-

Current control

+

Bus voltage

PWM

Current detector

Current feedback

M Servo motor


Encoder

Position feedback

Feedback position

+

-

Home position

(CR input position)

Servo motor speed

Torque

App. - 48

APPENDIX

App. 7.4 Values of the maximum current command (maximum torque) when the analog monitor is at the maximum/minimum voltage

Values of the maximum current command (maximum torque) when the analog monitor is at the maximum/minimum voltage are listed.

The current command (torque) outputs the maximum current command (maximum torque) at ±8 V (5 V ± 3 V for MR-J4-03A6). The maximum current command (maximum torque) may not match the rated current/maximum current ratio since it is created from the torque current in the servo amplifier.

App. 7.4.1 Rotary servo motor

(1) 200 V/100 V class

Servo motor

HG-KR series

HG-MR series



HG-UR series

HG-RR series

HG-JR 1000 r/min series

HG-KR053

HG-KR13

HG-KR23

HG-KR43

HG-KR73

HG-MR053

HG-MR13

HG-MR23

HG-MR43

HG-MR73

HG-SR51

HG-SR81

HG-SR121

HG-SR201

HG-SR301

HG-SR421

HG-SR52

HG-SR102

HG-SR152

HG-SR202

HG-SR352

HG-SR502

HG-SR702

HG-UR72

HG-UR152

HG-UR202

HG-UR352

HG-UR502

HG-RR103

HG-RR153

HG-RR203

HG-RR353

HG-RR503

HG-JR601

HG-JR801

HG-JR12K1

HG-JR15K1

HG-JR20K1

HG-JR25K1

HG-JR30K1

HG-JR37K1

Servo amplifier/drive unit


(maximum torque) [%]

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-70_(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-70_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

MR-J4-70_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-500_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-500_(-RJ)

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ)

MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ)




MR-J4-DU30K_(-RJ)

MR-J4-DU37K_(-RJ)

370

373

387

383

367

342

336

396

361

345

311

329

353

334

366

347

302

310

320

327

332

341

336

355

340

350

320

330

300

250

290

270

270

337

366

346

339

337

330

330

330

App. - 49

APPENDIX



Servo motor Servo amplifier/drive unit



HG-JR701M

HG-JR11K1M

HG-JR15K1M

HG-JR22K1M

HG-JR30K1M

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)




MR-J4-DU30K_(-RJ)

HG-JR37K1M

HG-JR53

MR-J4-DU37K_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

HG-JR73

MR-J4-70_(-RJ)

MR-J4-200_(-RJ)

HG-JR103

HG-JR153

HG-JR203

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

326

335

334

317

342

365

341

460

331

460

341

460

320

460

320

460

HG-JR353

HG-JR503

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

307

464

MR-J4-500_(-RJ) 342

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430

HG-JR703

HG-JR903

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ)

341

352

App. - 50

APPENDIX

(2) 400 V class






HG-SR524

HG-SR1024

HG-SR1524

HG-SR2024

HG-SR3524

HG-SR5024

HG-SR7024

HG-JR6014

HG-JR8014

HG-JR12K14

HG-JR15K14

HG-JR20K14

HG-JR25K14

HG-JR30K14

MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ)





MR-J4-DU30K_4(-RJ)

HG-JR37K14

HG-JR701M4

HG-JR11K1M4

HG-JR15K1M4

HG-JR22K1M4

HG-JR30K1M4

HG-JR37K1M4

HG-JR45K1M4

MR-J4-DU37K_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)




MR-J4-DU30K_4(-RJ)

MR-J4-DU37K_4(-RJ)

MR-J4-DU45K_4(-RJ)

HG-JR55K1M4

HG-JR534

MR-J4-DU55K_4(-RJ)

MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

HG-JR734

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

HG-JR1034

HG-JR1534

HG-JR2034

HG-JR3534

HG-JR5034

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-500_4(-RJ)



313

322

330

327

336

336

346

337

336

346

335

341

337

330

330

329

338

338

342

335

323

344

321

320

460

320

459

320

459

320

459

320

459

320

470

320

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-11K_4(-RJ)/MR-J4-DU900_4(-RJ)

337

336

HG-JR7034

HG-JR9034

(3) 24 V/48 V class

Servo motor

HG-AK series

HG-AK0136

HG-AK0236

HG-AK0336


MR-J4-03A6/MR-J4W2-0303B6

MR-J4-03A6/MR-J4W2-0303B6

MR-J4-03A6/MR-J4W2-0303B6



380

380

363

App. - 51

APPENDIX

App. 7.4.2 Servo motor with functional safety

(1) 200 V/100 V class

HG-KR series

HG-SR

1000 r/min series

HG-SR

2000 r/min series

HG-JR

1500 r/min series

HG-JR

3000 r/min series

Servo motor

HG-KR053W0C

HG-KR13W0C

HG-KR23W0C

HG-KR43W0C

HG-KR73W0C

HG-SR51W0C

HG-SR81W0C

HG-SR121W0C

HG-SR201W0C

HG-SR301W0C

HG-SR421W0C

HG-SR52W0C

HG-SR102W0C

HG-SR152W0C

HG-SR202W0C


MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-70_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

HG-SR352W0C

HG-SR502W0C

HG-SR702W0C

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

HG-JR701MW0C

HG-JR11K1MW0C

HG-JR15K1MW0C

HG-JR22K1MW0C

HG-JR53W0C

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)




MR-J4-60_(-RJ)

HG-JR73W0C

MR-J4-100_(-RJ)

MR-J4-70_(-RJ)

MR-J4-200_(-RJ)

HG-JR103W0C

HG-JR153W0C

HG-JR203W0C

HG-JR353W0C

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)



370

373

387

383

367

311

329

353

334

366

347

302

310

320

327

332

341

336

326

335

334

317

341

460

331

460

341

460

320

460

320

460

307

464

HG-JR503W0C

MR-J4-500_(-RJ) 342

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430

HG-JR703W0C

HG-JR903W0C

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ)

341

352

App. - 52

APPENDIX

(2) 400 V class

HG-SR

2000 r/min series

HG-JR

1500 r/min series

HG-JR

3000 r/min series




HG-SR524W0C

HG-SR1024W0C

HG-SR1524W0C

HG-SR2024W0C

HG-SR3524W0C

HG-SR5024W0C

MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

HG-SR7024W0C

HG-JR701M4W0C

HG-JR11K1M4W0C

HG-JR15K1M4W0C

HG-JR22K1M4W0C

HG-JR534W0C

HG-JR734W0C

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)




MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-100_4(-RJ)

HG-JR1034W0C

HG-JR1534W0C

MR-J4-200_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

HG-JR2034W0C

HG-JR3534W0C

HG-JR5034W0C

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-500_4(-RJ)

313

322

330

327

336

336

346

329

338

338

342

320

460

320

459

320

459

320

459

320

459

320

470

320

HG-JR7034W0C

HG-JR9034W0C

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

337

336

App. - 53

APPENDIX

App. 7.4.3 Linear servo motor (primary side)

(1) 200 V/100 V class

Linear servo motor (primary side) Servo amplifier/drive unit



LM-H3P2A-07P-BSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 390

LM-H3P3A-12P-CSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 340

LM-H3 series

LM-F series

LM-K2 series

LM-U2 series

LM-H3P3B-24P-CSS0 MR-J4-70_(-RJ)

LM-H3P3C-36P-CSS0 MR-J4-70_(-RJ)

LM-H3P3D-48P-CSS0 MR-J4-200_(-RJ)

LM-H3P7A-24P-ASS0 MR-J4-70_(-RJ)

LM-H3P7B-48P-ASS0 MR-J4-200_(-RJ)

LM-H3P7C-72P-ASS0 MR-J4-200_(-RJ)

LM-H3P7D-96P-ASS0 MR-J4-350_(-RJ)

LM-FP2B-06M-1SS0

(Natural cooling) MR-J4-200_(-RJ)

LM-FP2D-12M-1SS0

LM-FP2F-18M-1SS0

LM-FP4B-12M-1SS0

(Liquid cooling) MR-J4-200_(-RJ)



(Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

(Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)



(Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

(Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

(Natural cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ)

(Liquid cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ)



320

350

335

315

297

320

320

756

355

815

409

800

409

742

383

778

LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0

LM-FP4H-48M-1SS0

384

709

356

763

389

LM-K2P1A-01M-2SS1 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 400

LM-K2P1C-03M-2SS1 MR-J4-200_(-RJ) 375

LM-K2P2A-02M-1SS1 MR-J4-70_(-RJ) 366

LM-K2P2C-07M-1SS1 MR-J4-350_(-RJ)

LM-K2P2E-12M-1SS1 MR-J4-500_(-RJ)

LM-K2P3C-14M-1SS1 MR-J4-350_(-RJ)

LM-K2P3E-24M-1SS1 MR-J4-500_(-RJ)

380

405

354

359

LM-U2PAB-05M-0SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 315

LM-U2PAD-10M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 318

LM-U2PAF-15M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 334

LM-U2PBB-07M-1SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 325

LM-U2PBD-15M-1SS0 MR-J4-60_(-RJ)

LM-U2PBF-22M-1SS0 MR-J4-70_(-RJ)

LM-U2P2B-40M-2SS0 MR-J4-200_(-RJ)

LM-U2P2C-60M-2SS0 MR-J4-350_(-RJ)

LM-U2P2D-80M-2SS0 MR-J4-500_(-RJ)

320

322

424

434

432

(2) 400 V class

Linear servo motor (primary side)

LM-F series LM-FP5H-60M-1SS0






738

364

App. - 54

APPENDIX

App. 7.4.4 Direct drive motor

(1) 200 V/100 V class

TM-RFM series

TM-RG2M series

Direct drive motor

TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RFM006E20

TM-RFM012E20

TM-RFM018E20

TM-RFM012G20

TM-RFM048G20

TM-RFM072G20

TM-RFM040J10

TM-RFM120J10

TM-RFM240J10


MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-60_(-RJ)

MR-J4-60_(-RJ)

MR-J4-70_(-RJ)

MR-J4-100_(-RJ)

MR-J4-70_(-RJ)

MR-J4-350_(-RJ)

MR-J4-350_(-RJ)

MR-J4-70_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)



320

321

320

333

321

321

300

321

321

323

321

321

433 TM-RG2M002C30

TM-RG2M004E30

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

324

TM-RU2M series

TM-RG2M009G30

TM-RU2M002C30

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

TM-RU2M004E30

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

TM-RU2M009G30 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

324

433

324

324

App. - 55

APPENDIX

App. 8 Two-wire type encoder cable for HG-MR/HG-KR

Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_A_ servo amplifiers.

For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.

Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MR-

ECNM connector set. Use the internal wiring diagram in the section to fabricate a cable up to 50 m.

App. 8.1 Configuration diagram

Fabricate a two-wire type encoder cable.

Servo amplifier

CN2

CN2 MOTOR

Servo motor

HG-KR

HG-MR

For driving

SCALE

Servo motor

HG-KR

HG-MR

For load-side encoder

App. 8.2 Connector set

Connector set

Shell kit: 36310-3200-008

(3M)

(Molex)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

7

9

BAT

View seen from wiring side. (Note) or

2

LG

4

MRR

1 3

P5 MR

6

5

8 10

7 9

BAT

View seen from wiring side. (Note)

Housing: 1-172161-9

Connector pin: 170359-1

(TE Connectivity or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industrial)

1

MR

4

7

P5

2 3

MRR BAT

5 6

CONT

8 9

LG SHD

Note. Do not connect anything to the pins shown as. Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.


App. - 56

APPENDIX

App. 8.3 Internal wiring diagram

Servo amplifier-side connector

P5

LG

1

2

Servo motor-side connector

7

8

P5

LG

MR

MRR

BAT

SD

3

4

9

Plate

(Note)

1

2

3

9

MR

MRR

BAT

SHD

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.

App. 9 How to replace servo amplifier without magnetic pole detection

CAUTION

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 and after replacement are different, the servo motor may operate unexpectedly.

When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier before the replacement to the one after the replacement using MR Configurator2.

(1) Procedures

(a) Read the magnetic pole information of the servo amplifier before the replacement.

(b) Write the read magnetic pole information to the servo amplifier after the replacement.

(c) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no trouble.

(2) Migration method of the magnetic pole information

(a) How to read the magnetic pole information from the servo amplifier before the replacement

1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for operation mode.

2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".

App. - 57

APPENDIX

3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.

4) Click "Read All" of the magnetic pole information window. ( 2) in figure)

5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take notes.

(b) How to write the magnetic pole information to the servo amplifier after the replacement

1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for operation mode.

2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".

3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.

4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in figure) of the magnetic pole information window.

5) Click "Write All" ( 4) in figure) of the magnetic pole information window.

6) Cycle the power of the servo amplifier.

2) 3) 4) 1)

App. - 58

APPENDIX

App. 10 Special specification

App. 10.1 Amplifiers without dynamic brake

App. 10.1.1 Summary

This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_A_(-RJ).

App. 10.1.2 Model


M R J 4 6 0 A 4 E D

Series

Special specifications

Symbol

ED

RU


MR-J4_-A_ without a dynamic brake

MR-J4-_A_-RJ without a dynamic brake

Power supply

Symbol Power supply

None 3-phase 200 V AC to 240 V AC

1 1-phase 100 V AC to 120 V AC


Rated output


10

20

0.1

0.2

40

60

70

100

200

350

0.4

0.6

0.75

1

2

3.5

500

700

5

7


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.

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43

HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43

HG-SR HG-SR51/HG-SR52

Setting the following parameter disables the electronic dynamic brake.

Servo amplifier Parameter

MR-J4-_A_-ED

MR-J4-_A_-RU

[Pr. PF06]

Setting value

_ _ _ 2

When [Pr. PA04] is "2 _ _ _" (default), the motor can be a state of forced stop deceleration at an alarm occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration function.

App. - 59

APPENDIX

App. 10.2 Without regenerative resistor

App. 10.2.1 Summary

This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_A_(-RJ).

App. 10.2.2 Model


M R J 4 - 1 1 K A 4 - P X

Series


Symbol

PX

RZ


MR-J4-_A_-RJ without regenerative resistor

MR-J4-_A_-RJ without regenerative resistor

Power supply

Symbol Power supply



Rated output


11K

15K

11

15

22K 22


Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory. When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR-

RB5K-4, or MR-RB6K-4 regenerative option.

App. - 60

APPENDIX

App. 10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2)

App. 10.3.1 Summary

This section explains servo amplifiers with a special coating specification. Items not given in this section will be the same as MR-J4-_A_(-RJ).

App. 10.3.2 Model


M R J 4 - 6 0 A 4 - E B

Series

70

100

200

350

500

700

11K

15K

22K

Rated output


03 0.03

10

20

40

60

0.1

0.2

0.4

0.6

0.75

1

2

3.5

5

7

11

15

22


Symbol Special specifications

EB MR-J4-_A_ with a special coating specification (3C2)

KS MR-J4-_A_-RJ with a special coating specification (3C2)

Power supply

Symbol Power supply




6 48 V DC/24 V DC

App. - 61

APPENDIX


(a) Special coating

Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time, resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating specification, a urethane coating agent is applied to some parts capable of being coated technically (except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases. Use a servo amplifier with a special coating specification specifically for applications susceptible to corrosive gases, including tire manufacturing and water treatment. Although the special coating-specification products have the improved resistance to corrosive gases, proper operations in environments mentioned above are not guaranteed. Therefore, perform periodic inspections for any abnormality.

(b) Standard for corrosive gases

In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine, hydrogen chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the environmental parameter column of the table below.

The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.

Environmental parameter a) Sea salt b) Sulfur dioxide c) Hydrogen sulfide d) Chlorine e) Hydrogen chloride f) Hydrogen fluoride g) Ammonia h) Ozone i) Nitrogen oxides

Unit

Mean value

3C2

Maximum value

None Salt mist cm 3 /m 3 0.11 0.37 cm 3 /m 3 0.071 0.36 cm 3 /m 3 0.034 0.1 cm 3 /m 3 0.066 0.33 cm 3 /m 3 0.012 0.036 cm 3 /m 3 1.4 4.2 cm 3 /m 3 0.025 0.05 cm 3 /m 3 0.26 0.52

The special coating-specification products have the improved corrosion resistance in environments with corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical models and confirmed that their corrosive gas resistance was improved, compared with the standard models.

App. - 62

APPENDIX

App. 11 Driving on/off of main circuit power supply with DC power supply

App. 11.1 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

RA1

OFF

ON

MC

MC

Power supply

(Note 1)

(Note 2)

MCCB


24 V DC (Note 7, 8)

MC (Note 3)

Servo amplifier

L1

L2

L3

Forced stop 2

(Note 4)


Servo-on

CN1

EM2

SON

DICOM

CN1

DOCOM

ALM

24 V DC (Note 6)

(Note 5)



CN8

SK

24 V DC (Note 6)

RA1

Malfunction

(Note 2)







7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.

8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply designed exclusively for the magnetic contactor.

App. - 63

APPENDIX

App. 11.2 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.

Servo amplifier

Magnetic contactor

Magnetic contactor

MR-J4-10A(-RJ) MR-J4-60A4(-RJ)

MR-J4-20A(-RJ)

MR-J4-40A(-RJ) MR-J4-200A4(-RJ)

MR-J4-70A(-RJ)

MR-J4-100A(-RJ)

MR-J4-200A(-RJ)

MR-J4-700A4(-RJ)

MR-J4-11KA4(-RJ) SD-N25

MR-J4-500A(-RJ) SD-N35

MR-J4-700A(-RJ)

MR-J4-22KA4(-RJ) SD-N50

MR-J4-10A1(-RJ)

MR-J4-15KA(-RJ) SD-N65 MR-J4-40A1(-RJ)

MR-J4-22KA(-RJ) SD-N95

App. - 64

APPENDIX

App. 12 STO function with SIL 3 certification

The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the

IEC 61508:2010 functional safety standard.

App. 12.1 Target models

MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6)

App. 12.2 Change of the compliance

The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).

Table app. 3 Compliance with SIL 3

Safety performance

(Standards certified by CB)

Before change


IEC 61508 SIL 2,

EN 62061 SIL CL 2,

EN 61800-5-2 STO function

After change

EN ISO 13849-1 Category 3 PL e,

IEC 61508 SIL 3,

EN 62061 SIL CL 3,

EN 61800-5-2 STO function

App. 12.3 Schedule

For the products manufactured in Japan, this change has been made sequentially from the June 2015 production.

For the products manufactured and sold in China, this change has been made sequentially from the

December 2015 production.

There may be cases where both the former and new products exist in the distribution stage.

App. 12.4 Use with SIL 3

Set the safety level with [Pr. PF18 STO diagnosis error detection time].

To use the servo amplifier with SIL 3, set [Pr. PF18 STO diagnosis error detection time] within the range of 1 to 60, connect the TOFB output (CN8) of the servo amplifier to the input of a SIL 3-certified controller and execute the diagnosis. SIL 3 functional safety of the servo amplifiers is certified by TÜV SÜD.

App. 12.5 Use with SIL 2 (as conventional)

The servo amplifiers are still capable of SIL 2 as before regardless of whether the STO diagnosis function is enabled or not.

Either of the conventionally-used TÜV Rheinland certification or the new TÜV SÜD certification may be used.

App. - 65

APPENDIX

App. 12.6 How to check the country of origin, and the year and month of manufacture

The country of origin, and the year and month of manufacture are indicated on the packaging box (Fig. app.

2) and the rating plate (Fig. app. 3).

Manufacture month and year

Country of origin

Fig. app. 2 Indication example on the packaging box

AC SERVO

SER.A45001001

MODEL MR-J4-10B

POWER :100W

INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz

OUTPUT: 3PH170V 0-360Hz 1.1A

STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175


IP20

KCC-REI-MEK-TC300A624G51 DATE:2014-05

Serial number

Model

Capacity



Conforming standard, manual number

Ambient temperature

IP rating

Manufacture month and year


Country of origin

Fig. app. 3 Indication example on the rating plate

App. - 66

APPENDIX

App. 13 When using the servo amplifier with the DC power supply input

POINT

The DC power supply input is available with MR-J4-_A-RJ servo amplifiers with software version C2 or later.

When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, set [Pr. PC27] to "_ _ _ 1".

App. 13.1 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-J4-10A-RJ to MR-J4-100A-RJ

Malfunction

RA1

OFF

ON

MC

3-phase or 1-phase


MCCB


Servo amplifier

(Note 1)

AC/DC

Converter

(283 V DC to

340 V DC)

-

+

24 V DC (Note 7, 8)

MC (Note 3)

L1

L2

L3

MC

SK

(Note 9)

(Note 2)

Forced stop 2

Servo-on

(Note 4)


24 V DC (Note 6)

(Note 5)


(packed with the servo amplifier)

L11

L21

CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

ALM

24 V DC (Note 6)

RA1

Malfunction

(Note 2)



3. 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. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.






9. When wires used for L11 and L21 are thinner than wires used for L1 and L3, use a fuse. (Refer to app. 13.4.)

App. - 67

APPENDIX

(2) MR-J4-200A-RJ to MR-J4-22KA-RJ

Malfunction

RA1

3-phase or 1-phase


OFF

ON

MCCB


Servo amplifier

(Note 1)

AC/DC

Converter

(283 V DC to

340 V DC)

-

+

24 V DC (Note 7, 8)

MC (Note 3)

L1

L2

L3

N-

MC

(Note 9)

(Note 2)

Forced stop 2

Servo-on

(Note 4)


24 V DC (Note 6)

(Note 5)


(packed with the servo amplifier)

L11

L21

CN1

EM2

SON

DICOM

CN8

CN1

DOCOM

ALM

MC

SK

24 V DC (Note 6)

RA1

Malfunction

(Note 2)



3. 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 (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.






9. When wires used for L11 and L21 are thinner than wires used for L1/L2/L3, and N-, use a fuse. (Refer to app. 13.4.)

App. 13.2 Power supply capacity

The power supply capacity is the same as that for the AC power supply input. Refer to section 10.2 for details.

App. - 68

APPENDIX

App. 13.3 Selection example of wires

POINT



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. The following shows the wire size selection example.

Wire [mm 2 ] (Note 1)

Servo amplifier

L1/L2/L3/N-/ L11/L21

MR-J4-10A-RJ

MR-J4-20A-RJ

MR-J4-40A-RJ

MR-J4-60A-RJ

MR-J4-70A-RJ

MR-J4-100A-RJ

MR-J4-200A-RJ

MR-J4-350A-RJ

2 (AWG 14)

3.5 (AWG 12)

1.25 to 2

(AWG 16 to 14)

MR-J4-500A-RJ (Note 2) 5.5 (AWG 10): a

MR-J4-700A-RJ (Note 2) 8 (AWG 8): b

1.25 (AWG 16): a

2 (AWG 14): d

MR-J4-11KA-RJ (Note 2)



14 (AWG 6): e

22 (AWG 4): f

38 (AWG 2): g

1.25 (AWG 16): c

2 (AWG 14): c

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2) in this section.


(2) Selection example of crimp terminals

Symbol (Note 2)

Crimp terminal

Servo amplifier-side crimp terminal

Applicable tool a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S c FVD2-4 d FVD2-M3

YNT-1614 e FVD14-6 f FVD22-6 g FVD38-8

YF-1

YF-1

YF-1

YNE-38

YNE-38

YNE-38

DH-122

DH-112

DH-123

DH-113

DH-124

DH-114

JST


2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the recommended ones or equivalent ones.

App. - 69

APPENDIX

App. 13.4 Molded-case circuit breakers, fuses, magnetic contactors

(1) For main circuit power supply

CAUTION

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed.

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.

Servo amplifier

Molded-case circuit breaker (Note 1)


Power factor improving reactor is not used

Power factor improving reactor is used

Voltage AC

[V]

Fuse

[V]

Magnetic contactor

(Note 2)

MR-J4-10A-RJ

MR-J4-20A-RJ

MR-J4-40A-RJ

MR-J4-60A-RJ

MR-J4-70A-RJ

MR-J4-100A-RJ


30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 15 A

30 A frame 15 A

30 A frame 15 A

30 A frame 5 A

30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 10 A

30 A frame 10 A

MR-J4-100A-RJ


MR-J4-200A-RJ

MR-J4-350A-RJ

MR-J4-500A-RJ

MR-J4-700A-RJ

30 A frame 15 A

30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

100 A frame 75 A

30 A frame 15 A

30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

60 A frame 60 A

MR-J4-11KA-RJ 100 A frame 100 A 100 A frame 100 A

240 T

10

15

20

30

40

60

80

125

400

DUD-N30

DUD-N60

MR-J4-15KA-RJ 125 A frame 125 A 125 A frame 125 A 175

MR-J4-22KA-RJ 225 A frame 175 A 225 A frame 175 A 300

Note 1. Use a molded-case circuit breaker which has the same or higher operation characteristics than our lineup.

DUD-N120

DUD-N180

2. 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.

App. - 70

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.

Servo amplifier

Fuse (Class T)

Current [A] Voltage DC [V]

Fuse (Class K5)

Current [A] Voltage DC [V]

MR-J4-10A-RJ

MR-J4-20A-RJ

MR-J4-40A-RJ

MR-J4-60A-RJ

MR-J4-70A-RJ

MR-J4-100A-RJ

MR-J4-350A-RJ

MR-J4-500A-RJ

MR-J4-700A-RJ

MR-J4-11KA-RJ

MR-J4-15KA-RJ

MR-J4-22KA-RJ

App. - 71

APPENDIX

App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive

(1) Summary

The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling

Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法

(Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and

Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016.

The China RoHS directive restricts the use of six hazardous substances (lead, mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) and other hazardous substances specified by the State (currently no applicable substances). The EU

RoHS directive (2011/65/EU) also restricts the use of the above six hazardous substances.

(2) Status of our products for compliance with the China RoHS directive

The following tables show the content of six hazardous substances in our products and Environment-

Friendly Use Period marks. Table app. 4 is created based on the standard SJ/T11364.

Table app. 4 Names and the content of hazardous substances in the products

Part name

Substance name

Threshold standard

Hazardous substance (Note 1)

Lead

(Pb)

Mercury

(Hg)

Cadmium

(Cd)

Hexavalent chromium

(Cr(VI))

Threshold of cadmium: 0.01 wt% (100 ppm),

Environment-

PBB PBDE Friendly Use

Period mark

(Note 2)

Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)

Remark

Servo amplifier

Servo system controller

Servo motor

Mounting board

Heat sink

Resin cabinet

Plate and screw

Bracket

Cable product

Optional unit

Mounting board

Resin cabinet

Core and cable

Cable

Connector

Mounting board

Resin cabinet

Including connector set

Plate and screw

Note 1. : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of GB/T26572.

: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit requirement of GB/T26572.

2. Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product"

[SJ/T11364-2014]

Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.

Observe safety and usage precautions for the product, and use it within a limited number of years from the production date. Thereby, any of the hazardous substances in the product does not cause environmental pollution, or seriously affect human health or property.

Indicates that no certain hazardous substance is contained in the product.

App. - 72

APPENDIX

(3) Difference between the China RoHS directive and the EU RoHS directive

The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked " ") in the China RoHS directive.

The following shows some restriction exemptions and their examples according to the EU RoHS directive.

Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to

0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight, and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts

Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or more lead)

Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors, e.g. piezoelectronic devices

Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors

(4) Status of our products for compliance with the China RoHS directive (Chinese)

The following shows Table app. 5 in Chinese according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products".

表附.5 产品中所含有害物质的名称及含量

部件名称

物质名称

阈值

基准

铅

(Pb)

汞

(Hg)

有害物质 (注1)

镉

(Cd)

六价铬

(Cr(VI))

PBB

阈值：镉：0.01wt%(100ppm)、

镉以外：0.1wt%(1000ppm)、

PBDE

环境保护

使用期限标识

(注2)

备注

伺服放大器

伺服系统

控制器

电路板组件

散热片

树脂壳体

伺服电机

金属板、螺丝

托架

电路板组件

树脂壳体

铁心、电线

电缆电线

加工品连接器

选件

模块

电路板组件

树脂壳体

金属板、螺丝

注 1. : 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。

包括连接器组

件

: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。

2. 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示

该标志表示在中国制造/销售的产品中含有特定有害物质。

只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财

产产生深刻的影响。

该标志表示制造的产品中不含有特定有害物质。

App. - 73

APPENDIX

App. 15 Encoder output pulse setting method

For details of "Encoder output pulse setting selection" in [Pr. PC19], refer to the following table.

Setting value Servo motor/direct drive motor Linear servo motor

_ _ 0 _

(Output pulse setting)

_ _1 _

(Dividing ratio setting)

_ _ 2 _

(The same output pulse setting as the command pulse)

Set the output pulses per revolution with [Pr. PA15

Encoder output pulses].

Output pulse = a value set in [Pr. PA15] [pulse/rev]

Selecting "Load side encoder (_ 1 _ _)" of "Encoder selection for encoder output pulse" in [Pr. PC19] triggers

[AL. 37 Parameter error].

Set the dividing ratio to the resolution per servo motor revolution with [Pr. PA15 Encoder output pulses].

Output pulse =

Resolution per revolution

[Pr. PA15] setting

[pulse/rev]

Set the dividing ratio to the travel distance of the linear servo motor with [Pr. PA15 Encoder output pulses].

Output pulse =

Travel distance of linear servo motor

[Pr. PA15] setting

[pulse]

Feedback pulses from the encoder are processed as follows to be outputted. Feedback pulses are outputted in the same pulse unit as the command pulse.

Feedback pulse

Encoder

[Pr. PA06]/[Pr. PA07]

CDV

CMX

Output pulse

_ _ 3 _

(A-phase/Bphase pulse electronic gear setting)

_ _ 4 _

(A/B-phase pulse through output setting)

Set the A-phase/B-phase pulse electronic gear with [Pr.

PA15 Encoder output pulses] and [Pr. PA16 Encoder output pulses 2].

Output pulse = the servo motor resolution per revolution ×

[Pr. PA15] setting

[Pr. PA16] setting

[pulse/rev]

[AL. 37 Parameter error] occurs.

Set the A-phase/B-phase pulse electronic gear with [Pr.

PA15 Encoder output pulses] and [Pr. PA16 Encoder output pulses 2].

Output pulse = Travel direction of linear servo motor ×

[Pr. PA15] setting

[Pr. PA16] setting

[pulse]

A/B-phase pulse of A/B/Z-phase differential output encoder is outputted. This is enabled only when A/B/Zphase differential output encoder is used.

Output pulse = A/B-phase pulse of A/B/Z-phase differential output encoder [pulse]

The value set for "Encoder output pulse phase selection" in [Pr. PC19] is not applied.

When another encoder is connected, [AL. 37 Parameter error] occurs. Selecting "Standard control mode (_ _ 0 _)" of "Operation mode" in [Pr. PA01] triggers [AL. 37

Parameter error].

The values set for [Pr. PA15 Encoder output pulses] and

[Pr. PA16 Encoder output pulses 2] are not applied.

App. - 74

REVISIONS

Revision Date *Manual Number

Mar. 2012 SH(NA)030107ENG-A First edition

*The manual number is given on the bottom left of the back cover.

Revision

Jun. 2012 SH(NA)030107ENG-B 4. Additional instructions (2)

Wiring

4. Additional instructions (3)

Test run and adjustment

COMPLIANCE WITH CE

MARKING

COMPLIANCE WITH

UL/CSA STANDARD

COMPLIANCE WITH KC

MARK

Section 1.2 (1)

Section 1.2 (2)

Section 1.3

Section 1.5

Section 1.8

Chapter 2

Section 2.4

Section 2.5

Chapter 3

Section 3.1

Section 3.1 (1)

Section 3.1 (2)

Section 3.1 (3)

Section 3.1 (4)

Section 3.2.1 (1)

Section 3.2.1 (2)

Section 3.2.2 (1)

Section 3.2.2 (2)

Section 3.2.3 (1)

Section 3.2.3 (2)

Section 3.3.1

Section 3.3.3 (2) (a)

Section 3.5 (2)

Section 3.5 (4)

Section 3.9.1

Section 3.9.2 (1)

Section 3.9.2 (2)

Section 3.9.3 (1)

Section 3.9.3 (2)

Section 4.1.2 (1) (b) 4)

Section 4.2.2

Section 4.3.2

Section 4.4.2

Section 4.5.6

Section 4.5.9 (4)

Section 5.1.1

Section 5.1.3

Section 5.1.6

Section 5.2.1

The sentences are added.


The reference is changed.


Added.

The diagram is changed.


The table and Note are changed.

The item of detailed explanation is changed.

Note is changed.

CAUTION is changed.

POINT is changed to CAUTION.

The explanation of relay lifetime is changed.

The sentences are added to CAUTION.

The sentences are added to CAUTION.

The sentences are changed.

Note 10 is added.

Note 10 is added.

Note 10 is added.

Note 10 is added.

Note 9, 12, 13, 14, and 15 are changed and added.

The diagram is added.

Note 9, 12, 13, and 14 are changed and added.

Added.

Note 7, 10, 11, and 12 are changed and added.

Added.

The sentences of N- are changed.

The ferrule is added.

The sentences are added to TLA, TC, VC, VLA, PP, NP, PG, and NG.

"Available in the future" is deleted.

The part of diagram is changed.





Added.

Note is added.

Note is added.

"EM2 (Forced stop 2) off" in the table is changed. Note is added.

POINT is deleted.

(a) is deleted

PA25 is changed from "For manufacturer setting".

PC21 is changed from "For manufacturer setting".

PF09 and PF15 are changed from "For manufacturer setting".

The setting value is added to PA03, the diagram of PA06 is changed, and PA25 is added.

Revision Date *Manual Number Revision

Jun. 2012 SH(NA)030107ENG-B Section 5.2.3

Section 5.2.6

Section 7.3.1

Chapter 8

Section 10.3

Section 10.3.2

Section 11.3

Section 11.4

Section 11.5

Section 11.5 (3)

Section 11.5 (4)

Section 11.7 (1)

Section 11.7 (2)

Section 12.3

Section 12.8.4

Section 13.1.5

Section 13.3.2 (1)

Section 13.3.2 (2)

Section 13.3.3

Section 13.4.1 (1)

Section 13.4.1 (2)

Section 13.4.1 (2) (a)

Section 13.4.2 (1)

Section 13.4.2 (2)

Chapter 14

Appendix. 4

Appendix. 5

Appendix. 6

Appendix. 7.7.3 (1)

Appendix. 7.7.3 (2)

Appendix. 7.7.3 (3)

Appendix. 7.7.3 (4)

Appendix. 7.8.1 (1)

Appendix. 7.8.1 (2)

Appendix. 7.8.2

Appendix. 7.12

Appendix. 7.14

Appendix. 8

Jul. 2012 SH(NA)030107ENG-C Section 3.2.1 (2)

Section 3.2.2 (2)

Section 3.2.3 (2)

Sep. 2012 SH(NA)030107ENG-D Section 3.2.1

Section 3.2.2

Section 3.10.2 (1) (b)

Section 13.3.1

Section 13.4.1 (1)

Section 13.4.2 (1)

The sentences are added to PC12 and PC13, PC21 is added, and the sentences are added to the initial value in PC37.

PF09 and PF15 are added.

The sentences are added to POINT.

The sentences of the electronic dynamic brake are added.

The serial communication is added to [AL. 8A] and [AL. 8E].

The name of [AL. E1] is changed.

POINT is added.

The table is changed.





The connection destination of the servo amplifier is changed.

CAUTION is changed.

Note is added.

The sentences are added to POINT.


The value in table is changed.


Added.




Note is changed.



Added.




POINT and diagram are changed.


Deleted.

Deleted.

The pin number is changed and Note is deleted.

CAUTION is deleted.


The diagram is added.

POINT is changed.

TUV certificate of MR-J4 series is added.










Feb. 2013 SH(NA)030107ENG-E HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ servo amplifier are added.

Safety 4 (1)

Safety Instructions 4 (2)

COMPLIANCE WITH CE

MARKING

Two items are added to CAUTION.

The diagram in CAUTION is changed.



Feb. 2013 SH(NA)030107ENG-E COMPLIANCE WITH

UL/CSA STANDARD

COMPLIANCE WITH KC

MARK

Section 1.1

Section 1.2

Section 1.2 (1)

Section 1.2 (2)

Section 1.2 (3)

Section 1.3

Section 1.4

Section 1.5

Section 1.6 (2)

Section 1.7.1 (1)

Section 1.7.1 (1) to (4)

Section 1.7.1 (5), (6)

Section 1.7.2

Section 1.8 (1) to (4)

Section 1.8 (5), (4)

Chapter 2

Section 2.1 (1) (a), (b)


Chapter 3

Section 3.1


Section 3.1 (5)

Section 3.2.1 (1)

Section 3.2.1 (2)

Section 3.2.2 (1)

Section 3.2.2 (2)

Section 3.2.3 (1)

Section 3.2.3 (2)

Section 3.3.1

Section 3.3.2

Section 3.3.2 (2)

Section 3.4

Section 3.5 (1) (a)

Section 3.5 (1) (b)

Section 3.6.1 (5)

Section 3.6.2 (1)

Section 3.6.3 (1), (3)

Section 3.6.4 (3) (a)

Section 3.6.5 (4) (a)

Section 3.6.6 (1)

Section 3.7.3

Section 3.9.1

Section 3.10.1 (1)

Section 3.10.2 (1) (b)

Section 4.1.2 (1) (b) 5)

Section 4.1.2 (1) (c)

Section 4.5.1

Section 4.5.2

Section 4.5.3 (1)

Section 4.5.3 (3)

Section 4.5.4

Section 4.5.6

Section 4.5.9 (2) (b)

Section 4.5.9 (3)

Section 4.5.9 (3) (a) d)

Section 4.5.9 (4)

Chapter 5

Revision



The sentences and table of combination are added.

POINT is added.

CN2L connector, Note 5 and 6 are added.

CN2L connector, Note 3 and 4 are added.

11 kW to 22 kW and Note 5 are added.

Note 3 is changed. Note 10 and 11 kW to 22 kW are added. A part of specifications is added and changed.

POINT is added. The table of combination is changed.

Function item is added.

Table is changed and added.

Table item (17), (18), and Note are added. The diagram is changed.


11 kW to 22 kW are added.


CN2L connector and Note 4 are added.

11 kW to 22 kW are added.

Two items are added to CAUTION.

Note 1 and 2 are added.

Note 5 is added.

The diagram of CAUTION is changed. POINT is added.

CAUTION is added.

The connection diagram is changed. Note 11 is added.

Newly added.

The connection diagram is changed. Note 3 and 4 are changed.

The connection diagram is changed.






POINT is added.

Note is added.

Note 1, 2, and CN2L are added.

The content is added. The sentences are added.

The item is added.






Note is added.

The content is added.

Note 4 and 5 are added. The connection diagram is changed.


The content is changed.

Newly added.

4) is added.

The explanation is added.

The display content is added.



Note is added.






CAUTION is added. POINT is added.


Feb. 2013 SH(NA)030107ENG-E Section 5.1.1

Section 5.1.3

Section 5.1.1 to 5.1.6

Section 5.1.6

Section 5.2.1

Section 5.2.2

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Section 5.2.7

Section 6.2.2

Section 6.2.2 (1) (b)

Section 6.2.2 (1) (d)

Section 6.2.2 (1) (e)

Section 6.2.2 (2)

Section 6.2.2 (2) (b)

Section 6.3.1 (1)

Section 6.3.4

Section 7.1.5 (4)

Section 7.3.2

Section 7.4

Chapter 8

Section 8.1

Section 9.1


Section 9.1 (8), (9)

Chapter 10

Section 10.1

Section 10.2 (1)

Section 10.3.1 (1)

Section 10.3.1 (2)

Section 10.3.2

Section 10.5

Chapter 11

Section 11.1.1

Section 11.2.1

Section 11.2.2 (1) (b)

Section 11.2.3

Section 11.2.4 (3), (4)

Section 11.2.5 (5), (6)

Aug. 2013 SH(NA)030107ENG-F Safety Instructions 4 (1)

Section 1.1

Section 1.6 (1)

Section 1.7.1

Chapter 2


Section 3.4

Section 3.5 (2)

Revision

[Pr. PA17], [Pr. PA18], and [Pr. PA26] are added. [Pr. PA27] is changed. The operation mode is added.

[Pr. PC44] and [Pr. PC45] are added. The operation mode is added.

The operation mode is added.

The name of [Pr. PF25] is changed.

The content of [Pr. PA01] is added. The sentences of [Pr.

PA05] are added. [Pr. PA02], [Pr. PA13] and [Pr. PA19] are changed. The name of [Pr. PA20] is changed.

The sentences of [Pr. PB17] is changed.

The setting of [Pr. PC19] is changed. The sentences of [Pr.

PC20] is changed. The explanation of [Pr. PC22] is changed.

The sentences of [Pr. PC35], [Pr. PC43], and [Pr. PC60] are added. [Pr. PC36] and [Pr. PC27] are changed. [Pr. PC44] and [Pr. PC45] are added. The contents of Note 3 and 4 are added.

The content of [Pr. PD01] is added. [Pr. PD03], Note 3, and content are added. The content of [Pr. PD23] is added. The content of [Pr. PD30] is changed.

[Pr. PE01], [PR. PE03] to [Pr.PE08], [Pr. PE10], [Pr. PE34],

[Pr. PE35], and [Pr. PE39] are added.

The name of [Pr. PF25] is changed.

Newly added.

The display of MR Configurator2 is changed.

POINT is added.



POINT is added.

POINT is added.

The content of POINT is changed.



CAUTION is deleted.

Newly added.

The operation mode is added. [AL. 93] and [AL. 96.4] are added.

The name of [AL. F0.1] is changed.

POINT is added.


Newly added.

POINT is added.

The table is added. The graph is changed and added. Note 3 is added.

Note 3 and content are added to the table. Partially changed.

The appended sentence is added.


Note 2 and content are added to the table.

The sentences are added. The content of the table is added.

POINT is added.

The diagram is changed and added.

The content of the table is added. Note 2 is added.

The content of the table is added.

[Pr. PA02] is changed.

Newly added.

Newly added.

A sentence is changed. An item is deleted.

Table 1.1 is changed.


The content of the table is changed. Note 2 is added.

A sentence is changed. An item is deleted.

Note 1 is changed.

Note 2 is changed.

The sentences are added to Function and application of forward rotation pulse train/reverse rotation pulse train.

Revision Date

Aug. 2013

Oct. 2013

*Manual Number

SH(NA)030107ENG-F Section 3.9.1

Section 5.1.3

Section 5.2.1

Section 5.2.3

Section 5.2.6

Section 7.1.4 (4)

Section 7.3.2

Section 7.4 (3)


Section 11.2.4 (3)

Section 11.3.3 (1) (a)

Section 11.3.3 (1) (b)

Section 11.3.3 (2) (a)

Section 11.4

Section 11.4 (2)

Section 11.5 (5) (a)


Section 11.7.3

Section 11.10 (1)

Section 11.17 (2)

Section 14.1.1 (2) (b)

Section 15.1.2 (1)

Section 15.1.2 (2)

Section 15.1.2 (3)

Section 16.3.2

Section 17.1.3 (2) (a)

Section 17.1.3 (2) (b)

App. 4.2.1 (1)

App. 4.2.3 (4)

App. 4.3

SH(NA)030107ENG-G 400 V class is added.


About the manuals

Section 1.2 (1)

Section 1.2 (2)

Section 1.3 (2)

Section 1.4 (2)

Section 1.5

Section 1.6 (2)

Section 1.7.1 (1) (a)

Section 1.7.1 (2)

Section 1.8 (2)

Section 3.1.2

Section 3.3.1

Section 3.3.3 (1) (c)

Section 3.3.3 (2) (a)

Section 3.10.2 (1) (a)

Section 4.1

Section 4.1.2 (1) (c) 1) c)

Section 4.1.2 (1) (c) 2)

Section 4.1.2 (2) (c) 1) c)

Section 5.2.1

Revision

Note 6 is added.

Analog torque/thrust limit maximum output of [Pr. PC13] is deleted.

The sentences are added to [Pr. PA13].

Analog torque/thrust limit maximum output of [Pr. PC13] is deleted.

[Pr. PF23] is partly added.

POINT is deleted. Table is added.

POINT is added.

Newly added.

A dimension is changed.

CAUTION is added.

Note 3 is changed.

Note 3 is changed.

Note 3 is changed.

Note 4 is partly changed. POINT is added.

Model of Power factor improving reactor is deleted. Note 4 is changed. Note 10 is added.



Newly added.

Table and Note 3 are changed.

Note 6 is added.

Note 1 is partly added.

Note 6 is added.


Newly added.

POINT is added.

Note is added.


The title is changed.


CAUTION is added.

One item is added.



Newly added.

Newly added.

Newly added.


A combination is added.

The content of the table is changed.

Newly added.

Newly added.

Newly added.

The content of the 400 V class is added.

Newly added.


The content of the diagram is changed.

POINT is added.


Newly added.


A sentence is added to [Pr. PA01].

[Pr. PA02] The content is changed.

[Pr. PA17] The content is added.

[Pr. PA20] The content is changed.

Revision Date

Oct. 2013

*Manual Number

SH(NA)030107ENG-G Section 5.2.3

Chapter 6

Section 6.2

Chapter 7

Section 7.1.1 (1)

Section 7.1.3

Section 7.1.4 (1)

Section 7.3.1 (2)

Section 7.3.2 (1)

Section 7.3.2 (2) (a), (d)

Chapter 8

Section 9.1 (2)

Section 10.1

Section 10.2 (1)

Section 10.3.1 (2) (b)

Section 10.3.2 (2)

Section 10.5

Section 11.1.1

Section 11.2.1 (2)

Section 11.2.2 (1) (b)

Section 11.2.3

Section 11.2.4

Section 11.2.4 (1) to (4)

Section 11.2.5 (2), (3), (5)

Section 11.2.5 (6)

Section 11.2.5 (7)

Section 11.3

Section 11.3.1

Section 11.3.3 (1) (a) 2)

Section 11.3.3 (1) (b)

Section 11.3.3 (2) (b)

Section 11.3.3 (4)

Section 11.3.3 (5)

Section 11.3.4 (1) to (3)

Section 11.4 (1)

Section 11.4 (2) (b)

Section 11.4 (3), (4)

Section 11.5.1

Section 11.5.2 (2)

Section 11.5.2 (3) (b)

Section 11.5.2 (4) (a) 1), 2)

Section 11.5.2 (4) (b) 2)

Section 11.5.2 (6)

Section 11.8

Section 11.9




Section 11.10 (1), (2)

Section 11.11 (2)

Section 11.12 (2)

Section 11.14 (2) (e)

Section 11.14 (2) (f)

Revision

[Pr. PC14] The content is changed.

POINT is added.

POINT is added.

POINT is added.


POINT is added.



Note is added.

The sentences are changed and note is added.

The POINT is added. The content of the table is changed.

Note 2 of alarm table is changed.

Note 2 of warning table is changed.

Newly added.

The table is newly added.


Newly added.

Newly added.

The content of the table is added. POINT is added.


Newly added.






Newly added.


POINT is added.

The content of the table is added. Note is added.

Newly added.

POINT is added.

Newly added.





Newly added.



Newly added.

Newly added.


Newly added.


POINT is added.


Note 4 is changed.

The content is added. The content of Note 4 is changed.

Newly added.

The content of the table is added. The content of Note 1 is changed.

Newly added.

Newly added.



Revision Date

Oct. 2013

*Manual Number

SH(NA)030107ENG-G Section 11.15 (1)

Section 11.16

Section 11.16 (1)

Section 11.16 (2) (b)

Section 11.16 (3) (a)

Section 11.17

Section 11.17 (1)

Section 11.17 (2) (b)

Section 11.17 (4) (b)

Section 11.18

Chapter 12

Section 15.1.2 (1) to (3)

Section 15.4.1

Section 15.4.2

Section 15.4.3

Section 17.1.1

App. 4.2.3 (1)

App. 4.2.3 (1) (a)

App. 4.2.3 (1) (a) 2)

App. 4.2.3 (1) (b) 2)

App. 4.2.3 (4)

App. 4.3

App. 4.4 (1) (a)

App. 4.4 (1) (b)

App. 4.4 (2)

App. 4.4 (3)

App. 4.6.1 (1) (b)

App. 4.6.2

App. 4.8.1 (2)

App. 4.8.2

App. 4.8.2 (2)

App. 4.8.3

App. 4.8.3 (2)

App. 11 (2)

Revision

The graph is added.



Newly added.


POINT is added.


Newly added.

Newly added.


Note is added. POINT is added. The content is changed. The configuration is changed.








Newly added.

Newly added.


Note 2 is added.

Note is added.

Newly added.

Note is added.

Note is added.

Newly added.

The content of the table is added. The contents of Note 1 and

Note 2 are changed. Note 5 is added.

Newly added.


Newly added.


Newly added.

Note 7 is added.

Mar. 2014 SH(NA)030107ENG-H 100 V class MR-J4 series servo amplifiers are added.

Section 1.2 (3) Newly added.

Section 1.3 (1)

Section 1.3 (3)

Note 11 is added.

Newly added.

Section 1.4 (3)

Section 1.5

Section 1.6 (2)

Section 1.7.1 (3)

Newly added.

The content is added. Note is added.


Newly added.

Section 1.8 (3)

Chapter 2

Section 3.1.3

Section 3.3.1

Section 3.3.3 (1) (d)

Section 3.3.3 (2) (a)

Section 3.7.1

Section 3.11

Newly added.

POINT is changed.

Newly added.


Newly added.



The content of the note is changed.

Section 4.1.2 (1) (a) 2)

Section 4.1.2 (1) (b) 5)

Section 4.1.2 (1) (c) 3)

Section 5.2.1

Section 5.2.3

Section 5.2.5

Section 7.1.1 (1)

Section 7.2.3 (1)

Newly added.

Deleted.

Newly added.

The content of [Pr. PA13] is added.

The content of [Pr. PC14] is added.

[Pr. PE39] is deleted.

Caution for the table is changed.


Revision Date

Mar. 2014 SH(NA)030107ENG-H Section 7.3

Section 7.3.1 (2)

Section 7.4

Chapter 8

Section 9.1 (3)

Section 10.2 (1)

Section 10.3.2

Section 10.5

Section 11.1.1

Section 11.2.1 (3)

Section 11.2.2 (1) (b)



Section 11.7.2 (1)

Section 11.9 (1) (c)

Section 11.10 (1)

Section 11.12 (1)

Section 11.14 (2) (e)

Section 11.14 (2) (f)

Section 11.15 (1)

Section 11.16 (1)

Section 11.16 (2) (a)

App. 1

App. 4.2.3 (1) (a)

App. 4.2.3 (1) (a) 1)

App. 4.2.3 (1) (a) 2)

App. 4.2.3 (1) (b)

App. 4.2.3 (1) (b) 1)

App. 4.2.3 (1) (b) 3)

App. 4.4 (2)

App. 4.6.1 (1) (a)

App. 4.8.1 (1)

App. 4.8.2

App. 4.8.3

App. 10

Jan. 2015

*Manual Number Revision


Caution for the table is changed.

POINT is changed. Sentences are added.

POINT is added.

Newly added.


Sentences are added. (1) and (2) are combined. Note 1 and 2 are deleted.

POINT is added. (2) and (3) are added.

Use of 1) in the table is changed.

Newly added.


The sentences are added to Note 4.

The sentences are added to Note 4.

Note 1 is deleted.

Newly added.


Figure is added. The content of the table is added.



Note is added. The content is added to table 11.6.


The title and content of the Note 1 are changed.



The title is changed. The content of the table is changed.




Newly added.

Note 1 and 2 are added.





Newly added.

SH(NA)030107ENG-J The model adaptive control disabled, lost motion compensation function, super trace control,

MR-BT6VCASE, and HG-JR servo motor are added.

Safety Instructions 2




About the manuals

Section 1.2

Section 1.3


Note is added.


Note is added.

Section 1.4

Section 1.5

Section 1.6 (1)

Section 1.6 (2)

Section 1.8

Section 3.1

Section 3.1.1 (5)

Section 3.1.2





Note is added.


Note is added.


Section 3.2

Section 3.4

Section 3.5

Section 3.9.1

Section 3.10.1

Section 4.5.4

Note is added.

Note is changed.




Note is added.

CAUTION is added.


Revision Date

Jan. 2015

*Manual Number

SH(NA)030107ENG-J Section 4.5.7

Section 4.5.7 (2)

Section 4.5.7 (2) (a)

Section 4.5.8

Section 5.1

Section 5.2

Section 7.2.3 (1) (a)

Section 7.2.4 (3)

Section 7.3.2

Section 7.4

Section 7.5 to 7.7

Chapter 8

Section 10.1

Section 10.2 (1)

Section 10.3.1 (2)

Section 10.3.2

Section 11.1.1

Section 11.1.3

Section 11.2.4 (3)

Section 11.3.3

Section 11.4 (2)

Section 11.5.2 (3)

Section 11.7.2 (1)

Section 11.8

Section 11.8.1 (3)

Section 11.8.3

Section 11.10

Section 11.10 (1)

Section 11.17

Section 11.17 (2)

Chapter 12

Section 12.2.2 (2) (c)

Section 12.2.3

Section 13.3.3

Section 14.5.4 (4) (b)

Section 14.5.9 (2)

Section 15.1.2

Section 15.3.2

Section 15.4.2

Section 16.1.2

Section 16.3.2

Section 16.5.1

Section 16.5.2

App. 4

Revision

POINT is changed.


Note is added.


Note is added.


Note is added.

POINT is added.




Newly added.

POINT is added.

POINT is added.

Newly added.

The content of the chapter is changed.








Newly added.

CAUTION is changed.





POINT is added.

Newly added.

Newly added.

CAUTION is added.

Note 4 is added.

CAUTION is added.

Note is added.

POINT is changed.

Newly added.

Newly added.


Note is added.

Note is added.


POINT is added.



POINT is added.



The content of the section is changed.

Apr. 2015 SH(NA)030107ENG-K MR-J4-03A6(-RJ) servo amplifier is added.

Partially changed.

About the manuals

Section 1.2

Section 1.3

Section 1.5

Partially added.

Partially changed.

Partially added and partially changed.

Partially added.

Section 1.6 (2)

Section 1.7

Section 1.8

Section 3.2.1

Section 3.2.2

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Revision Date

Apr. 2015

*Manual Number

SH(NA)030107ENG-K Section 3.2.3

Section 3.3.3

Section 3.4

Section 3.5

Section 3.6.1

Section 3.6.1 (1)

Section 3.6.3 (3)

Section 3.7

Section 3.8.1

Section 3.9.1

Section 3.9.2

Section 3.9.3

Section 4.2.6

Section 4.3.6

Section 4.4.6

Section 4.5.3 (3)

Section 4.5.4

Section 4.5.7

Chapter 5

Section 5.1

Section 5.1.3

Section 5.1.4

Section 5.2.1

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Section 5.2.7

Section 7.3.2

Section 7.4

Section 8.2

Section 8.3

Section 9.1

Section 9.1 (1) (a) to (e)

Section 9.1 (2) (a) to (b)

Section 9.1 (3) (a) to (b)

Section 10.1

Section 10.3.1 (2)

Section 11.1.1

Section 11.3.2

Section 11.6 (4)

Revision

Partially changed.

Partially changed.



POINT is partially changed.



POINT is partially added.


Partially changed.



Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


POINT is added.


Pr. PC28 is added.

Pr. PD43 to Pr. PD46 are added.

Pr. PA01 to Pr. PA02 are partially added and partially changed.

Pr. PA06 to Pr. PA07 are partially added.

Pr. PA12 to Pr. PA13 are partially changed.

Pr. PA17 to Pr. PA21 are partially added.

Pr. PA26 is partially added.

Pr. PC14 is partially added and partially changed.

Pr. PC15 is partially changed.

Pr. PC19 to Pr. PC20 are partially changed.

Pr. PC22 is partially added.


Pr. PC28 is added.


Pr. PC44 to Pr. PC45 are partially added.


Pr. PD01 is partially added.

Pr. PD03 to Pr. PD28 are partially added and partially changed.

Pr. PD43 to Pr. PD46 are added.

Pr. PD47 is partially added and partially changed.

Pr. PE01 is partially added.

Pr. PE03 to Pr. PE10 are partially added.

Pr. PE34 to Pr. PE35 are partially added.

Pr. PF09 is partially added.



POINT is added.

Pr. PL17 is partially changed.


POINT is partially added and partially changed.

Partially added.

Partially added.


The dimensions are changed.



Partially changed.

Partially changed.

Partially changed.

Partially changed.



Apr. 2015 SH(NA)030107ENG-K Section 11.7

Section 11.8

Section 11.9 (1)

Section 11.12

Section 11.14 (2) (b)

Section 12.1

Section 12.2

Chapter 13

Section 13.3.3

Chapter 14

Section 14.3.3

Section 14.4.1

Section 14.4.2

Section 14.5.2

Section 14.5.3

Section 14.5.4

Section 14.5.5

Section 14.5.7

Section 14.5.9

Section 14.5.10

Section 14.5.11

Section 14.5.12

Chapter 15

Section 15.1.1

Section 15.1.2

Chapter 16

Section 16.1.1

Section 16.1.2

Section 16.5.1

Chapter 17

Section 17.3.1

Section 17.3.2

Section 17.3.6

Section 17.3.7

Chapter 18

App. 4

Partially changed.

The contents are entirely changed.

Partially changed.

Partially changed.

Partially changed.




Partially changed.


Partially changed.

Partially changed.

Partially added.

Partially added.

Partially changed.

Partially changed.


Partially added.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Newly added as MR-J4-03A6 servo amplifier.


Sep. 2015

App. 7

App. 11


Newly added.

SH(NA)030107ENG-L MR-J4-100A(-RJ)/MR-J4-200A(-RJ) are compatible with a 1-phase 200 V AC input, the contents of the one-touch tuning are changed, and operable environment is changed to maximum altitude of 2000 m above sea level.

Partially changed.

«About the manual» Partially added and partially changed.

Chapter 1

Section 1.3

Section 1.4

Section 1.5

Section 1.6 (2)

Section 1.7

Section 1.8 (1)

Section 2.5



POINT is added.


Partially added.

Partially changed.

Partially changed.

Partially changed.

Section 2.6

Chapter 3

Section 3.1

Section 3.1.1 (2)

Section 3.2.1

Section 3.2.2

Section 3.2.3

Section 3.3.1

Newly added.

CAUTION is partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Revision Date

Sep. 2015

*Manual Number

SH(NA)030107ENG-L Section 3.4

Section 3.5

Section 3.6.1

Section 3.9.1

Section 3.9.2

Section 3.9.3

Section 4.5.3

Section 4.5.7

Chapter 5

Section 5.1

Section 5.1.2

Section 5.1.6

Section 5.1.8

Section 5.2.1

Section 5.2.2

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Section 5.2.7

Section 5.2.8

Section 6.2

Section 6.3.1

Section 6.4

Section 6.5

Section 7.1.1

Section 7.1.5

Section 7.2.3

Section 7.3.2

Section 7.4

Chapter 8

Section 8.1

Section 8.2

Section 8.3

Section 9.1

Section 10.2

Section 10.5

Section 11.1.1

Section 11.2.2

Section 11.2.3

Section 11.3.3

Section 11.4

Section 11.5.2

Section 11.6

Section 11.7

Section 11.7.2

Section 11.8.3

Section 11.8.4

Section 11.8.5

Section 11.9

Section 11.10

Section 11.11

Section 11.12

Section 11.14

Section 11.15

Section 11.16

Section 12.2.3

Revision





Partially changed.

Partially changed.


Partially changed.




Partially changed.

[Pr. PF18] is added.

Newly added.



Partially changed.


Partially changed.

[Pr. PF18] is added.



Partially changed.

Newly added.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

POINT is partially added and partially changed.


Partially changed.

Partially added.


Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.




Partially changed.


Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Revision Date

Sep. 2015

*Manual Number

SH(NA)030107ENG-L Section 12.3

Chapter 13

Section 13.1.1

Section 13.1.5

Section 13.3.1

Section 13.3.2

Section 13.3.3

Chapter 14

Section 14.1.1

Section 14.3

Section 14.4

Section 14.5

Chapter 15

Section 15.1.1

Section 15.1.2

Section 15.3.3

Chapter 16

Section 16.1.2

Chapter 17

Section 17.1.2

Chapter 18

Section 18.1.1

Section 18.1.3

Section 18.1.4

Section 18.1.5

Section 18.1.6

Section 18.2.1

Section 18.3.1

Section 18.3.2

Section 18.3.5

Section 18.3.6

Section 18.3.7

Section 18.3.9

Section 18.4.1

Section 18.5.1

Section 18.5.4

Section 18.5.8

Section 18.7.3

Section 18.7.4

Section 18.8.3

Section 18.9

Chapter 19

App. 1

App. 2

App. 4

App. 5

App. 8

App. 11

Revision

Partially changed.


Partially changed.


Partially added.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially added.


Partially changed.


Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially changed.


Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.


Newly added.




Partially changed.

Partially changed.

Partially added.

Feb. 2016 SH(NA)030107ENG-M The schedule for the compliance with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard is added.

STO function of the servo amplifier

Partially added.

Chapter 14

Section 18.3.6

App. 6

App. 12

CAUTION is added.

Partially changed.

Partially added.

Newly added.

May 2016 SH(NA)030107ENG-N The adaptive filter II is improved, and the DC power supply input is added.

3. To prevent injury, note Partially changed. the following



May 2016 SH(NA)030107ENG-N (2)Wiring

(5)Corrective actions

(6)Maintenance, inspection and parts replacement

About the manuals

Section 1.3 (1)

Section 1.5

Section 1.7

Section 1.8

Section 2.4

Section 3.1

Section 3.3.1

Section 3.3.3

Section 3.5 (1) (b)

Chapter 4

Section 5.1.2

Section 5.1.3

Section 5.2.1

Section 5.2.2

Section 5.2.3

Section 5.2.5

Section 6.2.2 (1) (c)

Partially added.

Partially added.


Partially added.



Partially changed.

Partially added.

Partially added.


Partially added.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

[Pr. PA25] is partially changed.

[Pr. PB01] is partially added.

[Pr. PC03], [Pr. PC18], [Pr. PC26] and [Pr. PC27] are partially changed.



Section 7.1.2

Section 7.2.3 (1) (b)

Section 7.3.2

Section 7.6

Chapter 8

Section 10.5

Section 11.1.1

Section 11.2.2

Section 11.3.3

Section 11.4

Section 11.5.2

Section 11.8.3

Section 11.8.6

Section 11.9

Section 11.10

Section 11.14

Section 11.16

Section 13.1.5

Section 13.3.2

Section 14.5.3

Section 18.4

Chapter 19

Section 19.3

Section 19.5

Section 19.8.1

App. 4

Partially added and the diagrams are partially changed.

Partially changed.

POINT is added.

Partially changed.


POINT is changed.

Partially added.

Partially changed.

Partially changed.

Partially changed.

The diagrams are partially changed.

Partially changed.

Partially changed.

Partially changed.

POINT is added.

Partially changed.


Partially changed.

The diagram is partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.


App. 5.7.3 (2)

App. 13


Newly added.

Mar. 2017 SH(NA)030107ENG-P TM-RG2M series / TM-RU2M series direct drive motor is added.


(1) Transportation and Partially changed. installation

Relevant manuals

Section 1.3

Section 1.4

Section 1.5

Section 3.5

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Mar. 2017 SH(NA)030107ENG-P Section 3.6.1

Chapter 5

Section 5.2.3

Section 5.2.4

Section 6.2

Section 6.2.3

Section 10.1

Section 11.1.1

Section 11.1.3

Section 11.2.3

Section 11.5.2

Section 11.7

Section 11.8.3

Section 11.8.6

Section 11.10

Section 11.17

Section 13.3.3

Section 15.3.3

Chapter 16

Section 16.5.1

Section 16.5.2

Section 16.5.3

Section 17.3.2

Section 18.1.3

Chapter 19

App. 4.2.3

App. 4.4

App. 5.7.2

App. 6

App. 7.2

App. 7.3

App. 7.4

App. 13

App. 14

Oct. 2017

Partially changed.


[Pr. PC27] is partially changed.

[Pr. PD33] and [Pr. PD34] are partially changed.


Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.





Partially added.

Partially added.

Partially added.

Partially changed.

Partially changed.


Partially changed.

Partially added.

Partially changed.

Partially added and a diagram is changed.

Partially added.

Partially added.

Newly Added.


Added.

SH(NA)030107ENG-Q TM-RG2M002C30 and TM-RU2M002C30 are added.

3. To prevent injury, note Partially changed. the following

4. Additional instructions Partially changed.

Section 1.3

Section 1.4

Section 1.5

Section 1.6

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Chapter 2

Section 2.6

Chapter 3

Section 3.3.3

Section 3.6.1

Section 3.7

Section 3.8.1

Chapter 4


Partially changed.


Partially changed.

Partially added.

Partially added.

Partially changed.


Section 4.2.2

Section 4.3.2

Section 4.4.2

Section 4.5.9

Section 5.2.1

Section 5.2.2

Section 5.2.6

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Revision Date

Oct. 2017

*Manual Number

SH(NA)030107ENG-Q Chapter 6

Section 6.2.2

Section 7.1.5

Section 8.2

Section 10.1

Section 10.3

Section 11.2.2

Section 11.7.2

Section 11.8.4

Section 11.17

Chapter 12

Section 12.1.2

Section 15.2

Section 15.3.4

Section 16.2

Section 16.3.2

Section 16.5.1

Section 16.5.2

Section 16.5.3

Section 18.7.1

Section 19.5.3

App. 1

App. 2

App. 4.1

App. 4.2.2

App. 4.2.3

App. 4.3

App. 4.7

App. 7.2

App. 7.4

App. 7.4.4

Revision


Partially changed.

Partially changed.

Partially added.

Partially changed.

CAUTION is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.


Partially changed.


Partially changed.

Partially changed.

Partially changed.

CAUTION is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Feb. 2018 SH(NA)030107ENG-R FR-CV-H7.5K, FR-CV-H11K, and FR-CV-H15K are added.

Section 3.7

Section 3.7.1 (2)

POINT is added.


Section 3.7.2 (1)

Section 3.7.3 (1)

Section 3.8.1

Section 3.8.1 (1)




Note 2 is deleted. The diagram is changed.

Section 3.10.2 (1) (a)

Section 3.10.2 (1) (b)

Section 3.10.2 (1) (c)

Section 5.1

Section 5.2.3

Section 11.2.2

Section 11.5

Section 11.8.2 (4)

Section 18.2

App. 4.7

App. 5.10


POINT is added. The diagram is changed.



The sentences are added to PC16.

PC19 is partially changed.


FR-CV-H7.5K, FR-CV-H11K, and FR-CV-H15K are added.


CAUTION is added.



Nov. 2020 SH(NA)030107ENG-S The dimensions of MR-J4-500A(4)(-RJ), MR-J4-700A(4)(-RJ), and MR-J4-22KA(4)(-RJ) are changed.

Section 9.1 The diagrams are changed.

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.

 2012 MITSUBISHI ELECTRIC CORPORATION

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.

Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.

Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.

All other product names and company names are trademarks or registered trademarks of their respective companies.

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. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

For terms of warranty, please contact your local FA center.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.

(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030107ENG-S

MODEL

MR-J4-A INSTRUCTIONMANUAL

MODEL

CODE

1CW804

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030107ENG-S(2011)MEE Printed in Japan Specifications are subject to change without notice.

Mitsubishi Electric MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) SERVO AMPLIFIER Instruction Manual

General-Purpose AC Servo

General-Purpose Interface

MODEL

SERVO AMPLIFIER

INSTRUCTION MANUAL

EEP-ROM life

STO function of the servo amplifier

Compliance with global standards

1. FUNCTIONS AND CONFIGURATION

2. INSTALLATION

3. SIGNALS AND WIRING

4. STARTUP

5. PARAMETERS

6. NORMAL GAIN ADJUSTMENT

7. SPECIAL ADJUSTMENT FUNCTIONS

0 0

0 0

0

0

0

0

8. TROUBLESHOOTING

9. DIMENSIONS

10. CHARACTERISTICS

11. OPTIONS AND PERIPHERAL EQUIPMENT

0 0

2CR17335A WK17

6V 1650mAh

12. ABSOLUTE POSITION DETECTION SYSTEM

13. USING STO FUNCTION

14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO

PROTOCOL)

0

15. USING A LINEAR SERVO MOTOR

1

2

16. USING A DIRECT DRIVE MOTOR

2

17. FULLY CLOSED LOOP SYSTEM

1 0 0

0 0 0

0 0 0

0

0 0

1

2

18. MR-J4-03A6(-RJ) SERVO AMPLIFIER

19. MR-D01 EXTENSION I/O UNIT

APPENDIX

App. 1 Peripheral equipment manufacturer (for reference)

App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

App. 3 Symbol for the new EU Battery Directive

App. 4 Compliance with global standards

App. 5 MR-J3-D05 Safety logic unit

App. 6 EC declaration of conformity

App. 7 Analog monitor

0 0

0 0

App. 8 Two-wire type encoder cable for HG-MR/HG-KR

App. 9 How to replace servo amplifier without magnetic pole detection

App. 10 Special specification

App. 11 Driving on/off of main circuit power supply with DC power supply

App. 12 STO function with SIL 3 certification

App. 13 When using the servo amplifier with the DC power supply input

App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive

App. 15 Encoder output pulse setting method

MODEL

MODEL

CODE

1CW804

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